11:30:13.416[D] Searched Resource Path: D:/Mech-Mind/Mech-Vision1.6.2/Mech-Vision-1.6.2/resource
11:30:13.460[D] 尝试加载插件 mmind_add_pose_steps.dll
11:30:13.460[D] mmind::AddPoseStepsPlugin 插件加载成功
11:30:13.477[D] 尝试加载插件 mmind_camera2d_plugin.dll
11:30:13.702[D] mmind::Step2dAlgoPlugin 插件加载成功
11:30:13.727[D] 尝试加载插件 mmind_camera3d_plugin.dll
11:30:13.829[D] mmind::Step3dAlgoPlugin 插件加载成功
11:30:13.848[D] 尝试加载插件 mmind_step_1D_caliper_tool.dll
11:30:13.849[D] mmind::StepDetectLinePlugin 插件加载成功
11:30:13.866[D] 尝试加载插件 mmind_step_blob_analysis.dll
11:30:13.867[D] mmind::StepBlobAnalysisPlugin 插件加载成功
11:30:13.890[D] 尝试加载插件 mmind_step_deeplearning_common.dll
11:30:14.152[D] mmind::StepDeepLearningCommonPlugin 插件加载成功
11:30:14.167[D] 尝试加载插件 mmind_step_deeplearning_cpu.dll
11:30:14.168[D] mmind::StepDeeplearningCpuPlugin 插件加载成功
11:30:14.183[D] 尝试加载插件 mmind_step_deeplearning_gpu.dll
11:30:15.382[D] mmind::StepDeepLearningGpuPlugin 插件加载成功
11:30:15.400[D] 尝试加载插件 mmind_step_deeplearning_gpu_deprecated.dll
11:30:15.435[D] mmind::StepDeepLearningGpuDeprecatedPlugin 插件加载成功
11:30:15.457[D] 尝试加载插件 mmind_step_hdev_engine.dll
11:30:15.458[W] 无法加载库 D:\Mech-Mind\Mech-Vision1.6.2\Mech-Vision-1.6.2\vision_plugins\mmind_step_hdev_engine.dll：找不到指定的模块。
11:30:15.476[D] 尝试加载插件 mmind_step_js_engine.dll
11:30:15.477[D] mmind::StepJsEnginePlugin 插件加载成功
11:30:15.504[D] 尝试加载插件 mmind_step_measure_points_diff.dll
11:30:15.510[D] mmind::StepMeasureHeightDifferencesPlugin 插件加载成功
11:30:15.533[D] 尝试加载插件 mmind_step_old_version.dll
11:30:15.536[D] mmind::StepOldVersionPlugin 插件加载成功
11:30:15.555[D] 尝试加载插件 mmind_step_pixel_distance_transformation.dll
11:30:15.556[D] mmind::StepPixelDistanceTransformationPlugin 插件加载成功
11:30:15.580[D] 尝试加载插件 mmind_step_py_engine.dll
11:30:15.617[D] mmind::StepPyEnginePlugin 插件加载成功
11:30:15.634[D] 尝试加载插件 mmind_step_tools.dll
11:30:15.662[D] mmind::StepRepeatAccStatsPlugin 插件加载成功
11:30:15.691[D] 尝试加载插件 mmind_traj_tool.dll
11:30:15.692[D] mmind::TrajToolPlugin 插件加载成功
11:30:16.031[D] [Mech-Center] 开始接收Mech-Center的状态： 127.0.0.1:5307
11:30:16.549[D] [Mech-Vision] 服务端开始监听0.0.0.0:50079。
11:30:16.551[D] [Mech-Vision] 注册服务 成功.
11:30:16.656[D] 连接到相机 tcp://127.0.0.1:5577
11:30:16.733[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/calibration/NEC2022AA3000009-EyeToHand-2023-05-08/intri_param.json。
11:30:16.814[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/calibration/NEC2022AA3000009-EyeToHand-2023-05-08/extri_param.json。
11:30:16.821[D] 连接到相机 tcp://192.168.1.2:5577
11:30:16.822[D] sendAndRecvMsg {"cmd":"GetCameraInfo"}
11:30:17.080[D] 收到相机应答信息耗时： 0.258479
11:30:17.080[D] sendAndRecvMsg {"cmd":"GetCameraId"}
11:30:17.081[D] 收到相机应答信息耗时： 0.0009775
11:30:17.081[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
11:30:17.081[D] 收到相机应答信息耗时： 0.0005087
11:30:17.082[D] sendAndRecvMsg {"cmd":"GetCameraInfo"}
11:30:17.471[D] 收到相机应答信息耗时： 0.388505
11:30:17.471[D] sendAndRecvMsg {"cmd":"GetCameraId"}
11:30:17.472[D] 收到相机应答信息耗时： 0.0011623
11:30:17.472[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
11:30:17.473[D] 收到相机应答信息耗时： 0.0008427
11:30:17.473[D] sendAndRecvMsg {"cmd":"GetCameraId"}
11:30:17.474[D] 收到相机应答信息耗时： 0.0008342
11:30:17.474[D] sendAndRecvMsg {"cmd":"GetConfigGroup"}
11:30:17.475[D] 收到相机应答信息耗时： 0.0008086
11:30:17.475[W] [ setConfigGroupName ] Failed to set config group  to camera. No config group named  on the camera.
11:30:17.943[D] [Vis-模具毛胚定位工位1] 服务端开始监听0.0.0.0:50103。
11:30:17.945[D] [Vis-模具毛胚定位工位1] 注册服务 成功.
11:30:18.077[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/calibration/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
11:30:18.157[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/calibration/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
11:30:18.160[D] sendAndRecvMsg {"cmd":"GetCameraInfo"}
11:30:18.606[D] 收到相机应答信息耗时： 0.447072
11:30:18.606[D] sendAndRecvMsg {"cmd":"GetCameraId"}
11:30:18.608[D] 收到相机应答信息耗时： 0.0010754
11:30:18.608[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
11:30:18.609[D] 收到相机应答信息耗时： 0.0011663
11:30:18.609[D] sendAndRecvMsg {"cmd":"GetCameraInfo"}
11:30:18.861[D] 收到相机应答信息耗时： 0.251026
11:30:18.861[D] sendAndRecvMsg {"cmd":"GetCameraId"}
11:30:18.862[D] 收到相机应答信息耗时： 0.0010151
11:30:18.862[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
11:30:18.863[D] 收到相机应答信息耗时： 0.0007233
11:30:18.863[D] sendAndRecvMsg {"cmd":"GetCameraId"}
11:30:18.863[D] 收到相机应答信息耗时： 0.0007013
11:30:18.863[D] sendAndRecvMsg {"cmd":"GetConfigGroup"}
11:30:18.864[D] 收到相机应答信息耗时： 0.0006941
11:30:18.864[W] [ setConfigGroupName ] Failed to set config group  to camera. No config group named  on the camera.
11:30:19.034[D] [Vis-模具毛胚定位工位2] 服务端开始监听0.0.0.0:50107。
11:30:19.036[D] [Vis-模具毛胚定位工位2] 注册服务 成功.
11:30:19.183[I] Mech-Center已连接。
12:48:37.783[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:48:37.784[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:48:37.785[D] 收到相机应答信息耗时： 0.0012089
12:48:37.785[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:48:37.786[D] 收到相机应答信息耗时： 0.0006165
12:48:37.786[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:48:37.787[D] 收到相机应答信息耗时： 0.0009205
12:48:37.787[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:48:37.788[D] 收到相机应答信息耗时： 0.0011845
12:48:37.848[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:48:37.849[D] 收到相机应答信息耗时： 0.0009958
12:48:37.855[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:48:37.856[D] 收到相机应答信息耗时： 0.0009312
12:48:37.856[W] 从相机获取图像_1: “静态背景滤除设置”中未设置2D ROI，将在原始图像上处理。
12:48:37.857[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:48:39.693[D] 收到相机应答信息耗时： 1.83626
12:48:39.751[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:48:39.751[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：1.96801秒。
12:48:39.803[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.018"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:48:40.633[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:48:40.634[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:48:40.859[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数3）。耗时：0.226165秒。
12:48:40.864[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.229"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:48:57.017[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:48:57.018[D] Normal Filter Main Normal: 0 , 0 , -1
12:48:57.240[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:48:57.266[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数4）。耗时：0.249665秒。
12:48:57.274[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.256"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:49:11.927[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:49:11.928[I] 创建物体模型_1: 开始创建模型。请稍候。
12:49:12.082[I] 创建物体模型_1: 模型被成功创建。
12:49:12.492[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数24）。耗时：0.564568秒。
12:49:12.523[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.594"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:49:16.350[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:49:16.351[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:49:16.352[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:49:16.387[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:49:16.398[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:49:16.398[I] 创建物体模型_1: 开始创建模型。请稍候。
12:49:16.470[D] 收到相机应答信息耗时： 0.0721152
12:49:16.470[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:49:16.471[D] 收到相机应答信息耗时： 0.0009401
12:49:16.471[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:49:16.494[D] 收到相机应答信息耗时： 0.0226768
12:49:16.494[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:49:16.515[D] 收到相机应答信息耗时： 0.0206006
12:49:16.544[I] 创建物体模型_1: 模型被成功创建。
12:49:16.583[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:49:16.583[D] 收到相机应答信息耗时： 0.0007109
12:49:16.589[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:49:16.590[D] 收到相机应答信息耗时： 0.0007786
12:49:16.590[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:49:18.007[D] 收到相机应答信息耗时： 1.41737
12:49:18.058[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:49:18.058[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:49:18.307[D] Normal Filter Main Normal: 0 , 0 , -1
12:49:18.520[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:49:18.649[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:49:18.653[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:49:18.691[I] 数据重复并串接_2: 重复4次。
12:49:18.691[I] 数据重复并串接_1: 重复4次。
12:49:18.723[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:49:18.724[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:49:18.724[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:49:18.788[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:49:18.792[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195103
12:49:18.793[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122834
12:49:18.795[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.529537 [mm], validation score: 0.996438.
12:49:18.795[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184373
12:49:18.796[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113526
12:49:18.797[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.455794 [mm], validation score: 0.997463.
12:49:18.798[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190959
12:49:18.798[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123983
12:49:18.800[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.656558 [mm], validation score: 0.994487.
12:49:18.800[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182779
12:49:18.801[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109494
12:49:18.802[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.454799 [mm], validation score: 0.997464.
12:49:18.802[I] 3D精匹配_2: 匹配得分: ([0.9964382648468018], [0.9974634051322937], [0.9944869875907898], [0.9974638819694519])
12:49:18.808[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:49:18.809[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194477
12:49:18.809[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124288
12:49:18.811[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.537409 [mm], validation score: 0.961535.
12:49:18.811[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186047
12:49:18.812[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114446
12:49:18.813[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.457945 [mm], validation score: 0.972035.
12:49:18.814[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188826
12:49:18.814[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011863
12:49:18.816[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.642171 [mm], validation score: 0.94457.
12:49:18.816[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181009
12:49:18.817[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113293
12:49:18.818[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.450652 [mm], validation score: 0.973227.
12:49:18.818[I] 3D精匹配_1: 匹配得分: ([0.9615349769592285], [0.9720354080200195], [0.9445703029632568], [0.9732270836830139])
12:49:18.818[I] 调整位姿_1: 开始运行。
12:49:18.820[I] 调整位姿_1: 16个子步骤运行结束。
12:49:18.825[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1528077184009486,-0.1251760957872823,0.15168941487414123,0.7085530525414392,0.006571784133942582,0.006620360125531963,-0.7055958859143904],[0.15236345208578356,0.13317239682015586,0.15275661937076102,0.7042818858578176,0.005187192609874063,-0.004866630084779591,-0.7098848034695505],[0.08324023545515691,-0.1250277633075815,0.15222759765057114,0.7038476874326416,9.451624983062781e-05,0.004908278628600343,-0.7103339586161603],[0.08377566146881511,0.13512306274346675,0.152355070730539,0.6998953623642602,-0.02039029901842268,0.00688153732695115,-0.7139211174149195]]})
12:49:18.835[W] Debug stream operator already registered for type QXlsx::XlsxColor
12:49:18.835[W] Debug stream operator already registered for type QXlsx::XlsxColor
12:49:18.835[W] Debug stream operator already registered for type QXlsx::XlsxColor
12:49:18.849[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 1
12:49:18.856[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 1
12:49:18.863[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 1
12:49:18.864[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 1
12:49:18.865[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.47671秒。
12:49:18.902[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.512"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:49:33.272[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:49:33.275[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:49:33.275[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:49:33.275[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:49:33.324[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:49:33.325[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195103
12:49:33.325[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122834
12:49:33.327[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.529537 [mm], validation score: 0.996438.
12:49:33.327[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184373
12:49:33.327[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113526
12:49:33.329[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.455794 [mm], validation score: 0.997463.
12:49:33.329[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190959
12:49:33.330[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123983
12:49:33.331[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.656558 [mm], validation score: 0.994487.
12:49:33.332[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182779
12:49:33.332[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109494
12:49:33.334[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.454799 [mm], validation score: 0.997464.
12:49:33.334[I] 3D精匹配_2: 匹配得分: ([0.9964382648468018], [0.9974634051322937], [0.9944869875907898], [0.9974638819694519])
12:49:33.337[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:49:33.338[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194477
12:49:33.338[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124288
12:49:33.340[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.537409 [mm], validation score: 0.961535.
12:49:33.340[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186047
12:49:33.341[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114446
12:49:33.342[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.457945 [mm], validation score: 0.972035.
12:49:33.343[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188826
12:49:33.343[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011863
12:49:33.344[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.642171 [mm], validation score: 0.94457.
12:49:33.345[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181009
12:49:33.345[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113293
12:49:33.347[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.450652 [mm], validation score: 0.973227.
12:49:33.347[I] 3D精匹配_1: 匹配得分: ([0.9615349769592285], [0.9720354080200195], [0.9445703029632568], [0.9732270836830139])
12:49:33.347[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数7）。耗时：0.076149秒。
12:49:33.353[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.080"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:49:35.285[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:49:35.290[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:49:35.290[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194477
12:49:35.290[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124288
12:49:35.292[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.537409 [mm], validation score: 0.961535.
12:49:35.292[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186047
12:49:35.293[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114446
12:49:35.294[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.457945 [mm], validation score: 0.972035.
12:49:35.295[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188826
12:49:35.295[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011863
12:49:35.297[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.642171 [mm], validation score: 0.94457.
12:49:35.297[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181009
12:49:35.298[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113293
12:49:35.299[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.450652 [mm], validation score: 0.973227.
12:49:35.300[I] 3D精匹配_1: 匹配得分: ([0.9615349769592285], [0.9720354080200195], [0.9445703029632568], [0.9732270836830139])
12:49:35.300[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.014934秒。
12:49:35.403[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.117"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:52:20.572[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:52:20.574[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:52:20.575[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:52:20.603[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:52:20.615[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:20.615[I] 创建物体模型_1: 开始创建模型。请稍候。
12:52:20.617[D] 收到相机应答信息耗时： 0.0021195
12:52:20.617[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:20.618[D] 收到相机应答信息耗时： 0.0005917
12:52:20.618[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:52:20.618[D] 收到相机应答信息耗时： 0.0006515
12:52:20.618[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:52:20.619[D] 收到相机应答信息耗时： 0.0006928
12:52:20.691[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:52:20.692[D] 收到相机应答信息耗时： 0.0009202
12:52:20.699[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:20.700[D] 收到相机应答信息耗时： 0.0009078
12:52:20.700[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:52:20.783[I] 创建物体模型_1: 模型被成功创建。
12:52:22.170[D] 收到相机应答信息耗时： 1.46971
12:52:22.220[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:52:22.221[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:52:22.444[D] Normal Filter Main Normal: 0 , 0 , -1
12:52:22.632[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:52:22.779[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:22.780[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:22.820[I] 数据重复并串接_1: 重复4次。
12:52:22.820[I] 数据重复并串接_2: 重复4次。
12:52:22.847[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:52:22.847[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:52:22.847[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:52:22.894[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:22.895[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191855
12:52:22.895[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012308
12:52:22.896[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.655834 [mm], validation score: 0.994571.
12:52:22.897[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185591
12:52:22.898[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118069
12:52:22.899[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.638257 [mm], validation score: 0.99509.
12:52:22.900[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185784
12:52:22.900[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112624
12:52:22.902[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.565655 [mm], validation score: 0.995907.
12:52:22.902[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00206819
12:52:22.903[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00138791
12:52:22.904[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.12724 [mm], validation score: 0.872121.
12:52:22.904[I] 3D精匹配_2: 匹配得分: ([0.9945706725120544], [0.9950895309448242], [0.99590665102005], [0.8721207976341248])
12:52:22.907[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:22.908[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019226
12:52:22.908[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128008
12:52:22.909[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.647677 [mm], validation score: 0.945064.
12:52:22.910[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184915
12:52:22.910[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117321
12:52:22.912[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.627965 [mm], validation score: 0.949688.
12:52:22.912[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185859
12:52:22.913[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011248
12:52:22.914[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.559298 [mm], validation score: 0.956997.
12:52:22.915[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00207764
12:52:22.915[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00141074
12:52:22.917[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.678354 [mm], validation score: 0.764382.
12:52:22.917[I] 3D精匹配_1: 匹配得分: ([0.945063591003418], [0.9496875405311584], [0.9569972157478333], [0.764382004737854])
12:52:22.918[I] 调整位姿_1: 开始运行。
12:52:22.918[I] 调整位姿_1: 16个子步骤运行结束。
12:52:22.918[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数92）。耗时：2.31475秒。
12:52:22.924[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.318"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:52:24.022[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:52:24.024[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:52:24.025[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:52:24.057[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:52:24.058[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:24.058[I] 创建物体模型_1: 开始创建模型。请稍候。
12:52:24.060[D] 收到相机应答信息耗时： 0.0022356
12:52:24.060[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:24.061[D] 收到相机应答信息耗时： 0.0012056
12:52:24.061[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:52:24.062[D] 收到相机应答信息耗时： 0.0009268
12:52:24.063[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:52:24.064[D] 收到相机应答信息耗时： 0.0009762
12:52:24.134[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:52:24.135[D] 收到相机应答信息耗时： 0.0010105
12:52:24.143[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:24.144[D] 收到相机应答信息耗时： 0.0009677
12:52:24.145[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:52:24.232[I] 创建物体模型_1: 模型被成功创建。
12:52:25.874[D] 收到相机应答信息耗时： 1.72964
12:52:25.926[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:52:25.926[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:52:26.169[D] Normal Filter Main Normal: 0 , 0 , -1
12:52:26.387[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:52:26.531[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:26.532[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:26.571[I] 数据重复并串接_1: 重复4次。
12:52:26.571[I] 数据重复并串接_2: 重复4次。
12:52:26.598[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为179，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:52:26.598[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:52:26.598[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:52:26.648[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:26.648[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019149
12:52:26.648[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128694
12:52:26.650[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.758004 [mm], validation score: 0.99248.
12:52:26.650[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184327
12:52:26.651[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119225
12:52:26.652[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.515864 [mm], validation score: 0.996726.
12:52:26.653[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195019
12:52:26.653[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129672
12:52:26.655[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.639448 [mm], validation score: 0.994358.
12:52:26.655[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195332
12:52:26.656[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127038
12:52:26.657[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.562366 [mm], validation score: 0.995963.
12:52:26.657[I] 3D精匹配_2: 匹配得分: ([0.9924795031547546], [0.9967257976531982], [0.9943581223487854], [0.9959627985954285])
12:52:26.660[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:26.661[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191202
12:52:26.661[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012999
12:52:26.662[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.747434 [mm], validation score: 0.92503.
12:52:26.663[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184586
12:52:26.663[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011752
12:52:26.665[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.516071 [mm], validation score: 0.964862.
12:52:26.666[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194033
12:52:26.666[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127611
12:52:26.668[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.632538 [mm], validation score: 0.942358.
12:52:26.668[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019467
12:52:26.668[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126171
12:52:26.670[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.558622 [mm], validation score: 0.95722.
12:52:26.671[I] 3D精匹配_1: 匹配得分: ([0.9250301718711853], [0.9648618102073669], [0.9423575401306152], [0.9572201371192932])
12:52:26.671[I] 调整位姿_1: 开始运行。
12:52:26.671[I] 调整位姿_1: 16个子步骤运行结束。
12:52:26.671[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15158983671371382,-0.07278922192708434,0.15188475014595615,0.7087013598331222,-0.006956375580740892,0.0090140188197095,-0.7054167129251905],[0.08252670203130225,-0.0727332152833379,0.15236256196176612,0.7057733667234963,0.008400118356548456,-0.008727875817118697,-0.7083341139738352],[0.15142066977285862,0.18717727698182432,0.1522298240138571,0.7040025604782427,0.016339113150769212,-0.028286362634639302,-0.7094457765822744],[0.08180242734572399,0.1864024895921379,0.1525891243166999,-0.712066815038165,0.010280364427103459,-0.006528185882473113,0.7020060881628714]]})
12:52:26.689[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 1
12:52:26.691[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 1
12:52:26.695[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 1
12:52:26.699[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 1
12:52:26.700[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.64234秒。
12:52:26.714[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.656"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:52:28.069[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:52:28.071[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:52:28.072[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:52:28.101[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:52:28.102[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:28.102[I] 创建物体模型_1: 开始创建模型。请稍候。
12:52:28.104[D] 收到相机应答信息耗时： 0.0020086
12:52:28.104[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:28.105[D] 收到相机应答信息耗时： 0.0010907
12:52:28.105[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:52:28.106[D] 收到相机应答信息耗时： 0.0009097
12:52:28.106[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:52:28.107[D] 收到相机应答信息耗时： 0.0009436
12:52:28.183[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:52:28.185[D] 收到相机应答信息耗时： 0.0009296
12:52:28.192[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:28.194[D] 收到相机应答信息耗时： 0.0014933
12:52:28.194[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:52:28.260[I] 创建物体模型_1: 模型被成功创建。
12:52:29.884[D] 收到相机应答信息耗时： 1.69075
12:52:29.935[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:52:29.935[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:52:30.172[D] Normal Filter Main Normal: 0 , 0 , -1
12:52:30.390[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:52:30.529[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:30.529[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:30.574[I] 数据重复并串接_1: 重复4次。
12:52:30.574[I] 数据重复并串接_2: 重复4次。
12:52:30.584[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:52:30.584[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:52:30.584[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:52:30.634[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:30.635[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00198995
12:52:30.635[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00134125
12:52:30.637[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.699546 [mm], validation score: 0.993998.
12:52:30.638[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183087
12:52:30.638[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123847
12:52:30.640[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.479865 [mm], validation score: 0.996922.
12:52:30.640[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189457
12:52:30.641[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120735
12:52:30.642[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.605951 [mm], validation score: 0.994985.
12:52:30.643[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186087
12:52:30.643[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116405
12:52:30.644[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.464363 [mm], validation score: 0.997126.
12:52:30.645[I] 3D精匹配_2: 匹配得分: ([0.9939976930618286], [0.9969218969345093], [0.9949853420257568], [0.9971261620521545])
12:52:30.648[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:30.648[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00199195
12:52:30.649[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00133115
12:52:30.651[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.686672 [mm], validation score: 0.938983.
12:52:30.651[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183978
12:52:30.652[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011997
12:52:30.653[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.473548 [mm], validation score: 0.968157.
12:52:30.654[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188612
12:52:30.654[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118181
12:52:30.656[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.583133 [mm], validation score: 0.949875.
12:52:30.657[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018543
12:52:30.657[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116198
12:52:30.659[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.459833 [mm], validation score: 0.969024.
12:52:30.659[I] 3D精匹配_1: 匹配得分: ([0.9389833807945251], [0.9681569337844849], [0.9498745799064636], [0.9690237045288086])
12:52:30.659[I] 调整位姿_1: 开始运行。
12:52:30.659[I] 调整位姿_1: 16个子步骤运行结束。
12:52:30.659[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1519805297013991,-0.07248323890846295,0.1516547568609945,0.7092129080729607,0.002087984004404548,0.007800933715928425,-0.7049481092808546],[0.08290274613711271,-0.07288355217592715,0.15231676157873753,0.7108658362259181,-0.006493737549565452,0.007042757282791202,-0.703262393299485],[0.15126042188873412,0.18707233451525127,0.15230534362111614,0.7061744229322026,0.0018402124944920072,-0.011245920480106895,-0.7079462036672709],[0.08145976306333985,0.18679906532186358,0.152904595695875,0.7137079674949014,-0.023111690211125892,0.023955948032512577,-0.6996519845349874]]})
12:52:30.668[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 2
12:52:30.673[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 2
12:52:30.677[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 2
12:52:30.678[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 2
12:52:30.678[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.5768秒。
12:52:30.691[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.587"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:52:32.049[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:52:32.051[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:52:32.052[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:52:32.080[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:52:32.081[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:32.081[I] 创建物体模型_1: 开始创建模型。请稍候。
12:52:32.083[D] 收到相机应答信息耗时： 0.0020202
12:52:32.083[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:32.084[D] 收到相机应答信息耗时： 0.0009836
12:52:32.084[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:52:32.085[D] 收到相机应答信息耗时： 0.0010209
12:52:32.085[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:52:32.086[D] 收到相机应答信息耗时： 0.0011384
12:52:32.161[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:52:32.162[D] 收到相机应答信息耗时： 0.0009691
12:52:32.169[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:32.170[D] 收到相机应答信息耗时： 0.0008745
12:52:32.170[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:52:32.248[I] 创建物体模型_1: 模型被成功创建。
12:52:33.793[D] 收到相机应答信息耗时： 1.6231
12:52:33.843[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:52:33.843[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:52:34.081[D] Normal Filter Main Normal: 0 , 0 , -1
12:52:34.298[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:52:34.440[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:34.441[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:34.485[I] 数据重复并串接_2: 重复4次。
12:52:34.485[I] 数据重复并串接_1: 重复4次。
12:52:34.491[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:52:34.492[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:52:34.492[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:52:34.545[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:34.545[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188278
12:52:34.546[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117226
12:52:34.548[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.559915 [mm], validation score: 0.996145.
12:52:34.548[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178947
12:52:34.549[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116784
12:52:34.550[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.596866 [mm], validation score: 0.995607.
12:52:34.551[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187469
12:52:34.551[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122473
12:52:34.553[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.568841 [mm], validation score: 0.995711.
12:52:34.553[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00174954
12:52:34.554[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110539
12:52:34.556[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.457133 [mm], validation score: 0.997169.
12:52:34.556[I] 3D精匹配_2: 匹配得分: ([0.9961448311805725], [0.9956066608428955], [0.9957113265991211], [0.9971692562103271])
12:52:34.561[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:34.562[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187884
12:52:34.562[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117099
12:52:34.563[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.569908 [mm], validation score: 0.958282.
12:52:34.564[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179885
12:52:34.564[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113802
12:52:34.566[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.586544 [mm], validation score: 0.954074.
12:52:34.566[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187985
12:52:34.567[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121744
12:52:34.568[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.575491 [mm], validation score: 0.954453.
12:52:34.569[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00175881
12:52:34.570[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00106655
12:52:34.571[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.444954 [mm], validation score: 0.97119.
12:52:34.571[I] 3D精匹配_1: 匹配得分: ([0.9582821726799011], [0.9540740847587585], [0.954452633857727], [0.971189558506012])
12:52:34.572[I] 调整位姿_1: 开始运行。
12:52:34.572[I] 调整位姿_1: 16个子步骤运行结束。
12:52:34.572[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15167688019617914,-0.07225885325378037,0.1522201888906336,-0.7056935778204995,0.0009084980165278188,0.00021549811996504284,0.7085165505581479],[0.08256286489351795,-0.07221569021623944,0.15224043576253,0.7072621231779064,-0.003857094188522385,0.005629004257920916,-0.7069184721404338],[0.15127631196184366,0.187214728502125,0.15254019596010182,0.7067372172826435,0.0020488730978967364,-0.006231030676723787,-0.7074457449750616],[0.08199697639588352,0.18742029411271294,0.15266501069510108,0.7079174506632142,-0.013626945942456867,0.010493384603923135,-0.7060857442763745]]})
12:52:34.580[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 3
12:52:34.585[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 3
12:52:34.590[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 3
12:52:34.595[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 3
12:52:34.596[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.51472秒。
12:52:34.607[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.523"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:52:35.976[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:52:35.978[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:52:35.978[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:52:36.013[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:52:36.014[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:36.014[I] 创建物体模型_1: 开始创建模型。请稍候。
12:52:36.016[D] 收到相机应答信息耗时： 0.0021931
12:52:36.016[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:36.017[D] 收到相机应答信息耗时： 0.000974
12:52:36.017[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:52:36.018[D] 收到相机应答信息耗时： 0.000919
12:52:36.018[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:52:36.019[D] 收到相机应答信息耗时： 0.0010116
12:52:36.092[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:52:36.093[D] 收到相机应答信息耗时： 0.0011009
12:52:36.101[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:36.102[D] 收到相机应答信息耗时： 0.0010712
12:52:36.102[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:52:36.188[I] 创建物体模型_1: 模型被成功创建。
12:52:37.804[D] 收到相机应答信息耗时： 1.70177
12:52:37.854[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:52:37.854[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:52:38.100[D] Normal Filter Main Normal: 0 , 0 , -1
12:52:38.325[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:52:38.446[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:38.447[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:38.491[I] 数据重复并串接_2: 重复4次。
12:52:38.491[I] 数据重复并串接_1: 重复4次。
12:52:38.501[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:52:38.502[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:52:38.502[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:52:38.551[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:38.551[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183911
12:52:38.552[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122307
12:52:38.554[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.760097 [mm], validation score: 0.992746.
12:52:38.554[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187786
12:52:38.554[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123794
12:52:38.556[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.587471 [mm], validation score: 0.995741.
12:52:38.556[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183768
12:52:38.557[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123598
12:52:38.558[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.645654 [mm], validation score: 0.994812.
12:52:38.559[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177352
12:52:38.559[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114066
12:52:38.560[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.455735 [mm], validation score: 0.99745.
12:52:38.561[I] 3D精匹配_2: 匹配得分: ([0.9927459955215454], [0.9957413077354431], [0.9948120713233948], [0.9974501132965088])
12:52:38.564[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:38.564[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183112
12:52:38.565[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012328
12:52:38.566[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.741737 [mm], validation score: 0.929497.
12:52:38.567[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188492
12:52:38.567[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125507
12:52:38.569[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.583838 [mm], validation score: 0.955392.
12:52:38.570[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184002
12:52:38.570[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120878
12:52:38.572[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.626492 [mm], validation score: 0.947153.
12:52:38.572[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017732
12:52:38.573[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011339
12:52:38.574[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.449314 [mm], validation score: 0.972954.
12:52:38.574[I] 3D精匹配_1: 匹配得分: ([0.9294968843460083], [0.9553919434547424], [0.9471526145935059], [0.9729540348052979])
12:52:38.575[I] 调整位姿_1: 开始运行。
12:52:38.575[I] 调整位姿_1: 16个子步骤运行结束。
12:52:38.575[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1517753774408069,-0.07151329298133643,0.15178278418561209,-0.7078091602763951,0.00041768074990039365,-0.007680393796086954,0.7063618263487573],[0.08282894884285263,-0.07208609255449192,0.1523028936244437,0.7106937790013224,0.002054133273626038,-0.0008515625675602524,-0.7034979800017249],[0.15153410564322442,0.1876048499105584,0.1526054575341751,0.7032120994341317,0.018204343652693158,-0.021580506664327086,-0.7104193316723068],[0.08162920641390584,0.18792036579229193,0.15246523836020853,-0.7116043650165406,0.01681887742532564,-0.010729831763197927,0.7022971050501993]]})
12:52:38.587[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 4
12:52:38.594[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 4
12:52:38.597[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 4
12:52:38.599[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 4
12:52:38.600[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.58685秒。
12:52:38.613[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.598"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:52:39.864[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:52:39.866[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:52:39.866[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:52:39.895[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:52:39.896[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:39.896[I] 创建物体模型_1: 开始创建模型。请稍候。
12:52:39.898[D] 收到相机应答信息耗时： 0.0022418
12:52:39.898[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:39.899[D] 收到相机应答信息耗时： 0.0010517
12:52:39.899[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:52:39.900[D] 收到相机应答信息耗时： 0.0009875
12:52:39.900[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:52:39.901[D] 收到相机应答信息耗时： 0.0010065
12:52:39.972[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:52:39.973[D] 收到相机应答信息耗时： 0.0011515
12:52:39.981[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:39.982[D] 收到相机应答信息耗时： 0.0011386
12:52:39.982[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:52:40.076[I] 创建物体模型_1: 模型被成功创建。
12:52:41.411[D] 收到相机应答信息耗时： 1.42906
12:52:41.462[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:52:41.462[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:52:41.711[D] Normal Filter Main Normal: 0 , 0 , -1
12:52:41.925[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:52:42.048[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:42.049[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:42.091[I] 数据重复并串接_1: 重复4次。
12:52:42.091[I] 数据重复并串接_2: 重复4次。
12:52:42.096[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为179，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:52:42.096[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:52:42.096[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:52:42.147[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:42.148[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00199686
12:52:42.148[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00136278
12:52:42.150[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.764715 [mm], validation score: 0.992771.
12:52:42.150[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193586
12:52:42.151[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119955
12:52:42.152[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.500632 [mm], validation score: 0.996773.
12:52:42.153[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018705
12:52:42.153[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124849
12:52:42.154[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.580423 [mm], validation score: 0.995902.
12:52:42.155[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195281
12:52:42.155[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00132095
12:52:42.157[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.599858 [mm], validation score: 0.994928.
12:52:42.157[I] 3D精匹配_2: 匹配得分: ([0.9927711486816406], [0.9967729449272156], [0.9959022402763367], [0.9949284791946411])
12:52:42.164[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:42.164[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00199824
12:52:42.165[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00136607
12:52:42.167[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.767166 [mm], validation score: 0.925083.
12:52:42.167[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194152
12:52:42.168[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012115
12:52:42.169[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.500064 [mm], validation score: 0.965358.
12:52:42.170[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186731
12:52:42.170[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121496
12:52:42.172[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.573774 [mm], validation score: 0.956936.
12:52:42.172[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019684
12:52:42.173[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012691
12:52:42.174[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.596245 [mm], validation score: 0.947769.
12:52:42.174[I] 3D精匹配_1: 匹配得分: ([0.9250829219818115], [0.9653581976890564], [0.9569364786148071], [0.9477692246437073])
12:52:42.174[I] 调整位姿_1: 开始运行。
12:52:42.175[I] 调整位姿_1: 16个子步骤运行结束。
12:52:42.175[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15190355782038834,-0.07149670864413757,0.1519187629045251,0.7122019294274937,-0.009984386037662794,0.014320525837622448,-0.7017575409605086],[0.0827718751587847,-0.07163624445294878,0.15217400455768737,0.70787317898104,0.010663025742729437,-0.007589383675325905,-0.7062182832642576],[0.15128559912387263,0.18843641195677596,0.1517943943543878,0.7038426537495065,0.004090584916236106,-0.022128882255311837,-0.7099993651039596],[0.08231092374172543,0.18793632545580996,0.15250442311798484,0.7056644079002358,-0.0075069645528733795,0.0009371646076575639,-0.7085058296362207]]})
12:52:42.185[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 5
12:52:42.190[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 5
12:52:42.196[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 5
12:52:42.202[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 5
12:52:42.202[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.30717秒。
12:52:42.223[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.325"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:52:43.548[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:52:43.550[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:52:43.551[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:52:43.580[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:52:43.580[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:43.580[I] 创建物体模型_1: 开始创建模型。请稍候。
12:52:43.581[D] 收到相机应答信息耗时： 0.0011667
12:52:43.581[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:43.582[D] 收到相机应答信息耗时： 0.000695
12:52:43.582[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:52:43.583[D] 收到相机应答信息耗时： 0.0009021
12:52:43.583[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:52:43.584[D] 收到相机应答信息耗时： 0.0006666
12:52:43.656[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:52:43.657[D] 收到相机应答信息耗时： 0.0009726
12:52:43.667[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:43.668[D] 收到相机应答信息耗时： 0.0009468
12:52:43.668[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:52:43.743[I] 创建物体模型_1: 模型被成功创建。
12:52:45.149[D] 收到相机应答信息耗时： 1.48056
12:52:45.199[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:52:45.199[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:52:45.442[D] Normal Filter Main Normal: 0 , 0 , -1
12:52:45.657[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:52:45.770[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:45.771[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:45.808[I] 数据重复并串接_2: 重复4次。
12:52:45.808[I] 数据重复并串接_1: 重复4次。
12:52:45.812[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:52:45.813[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:52:45.813[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:52:45.859[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:45.860[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180979
12:52:45.860[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114169
12:52:45.862[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58572 [mm], validation score: 0.995904.
12:52:45.862[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00208297
12:52:45.862[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00153096
12:52:45.864[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.32894 [mm], validation score: 0.943723.
12:52:45.864[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181371
12:52:45.865[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116619
12:52:45.866[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.540601 [mm], validation score: 0.995819.
12:52:45.866[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00200142
12:52:45.867[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00137177
12:52:45.868[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.832153 [mm], validation score: 0.989089.
12:52:45.868[I] 3D精匹配_2: 匹配得分: ([0.9959038496017456], [0.9437232613563538], [0.9958189129829407], [0.98908931016922])
12:52:45.872[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:45.872[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181118
12:52:45.873[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114394
12:52:45.874[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.582728 [mm], validation score: 0.956965.
12:52:45.875[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00207648
12:52:45.875[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001508
12:52:45.877[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.85321 [mm], validation score: 0.803189.
12:52:45.877[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181726
12:52:45.878[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115357
12:52:45.879[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.525724 [mm], validation score: 0.95842.
12:52:45.879[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00201934
12:52:45.880[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00135923
12:52:45.881[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.745646 [mm], validation score: 0.900536.
12:52:45.881[I] 3D精匹配_1: 匹配得分: ([0.9569646120071411], [0.803189218044281], [0.9584203362464905], [0.9005361199378967])
12:52:45.882[I] 调整位姿_1: 开始运行。
12:52:45.882[I] 调整位姿_1: 16个子步骤运行结束。
12:52:45.882[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数92）。耗时：2.30319秒。
12:52:45.884[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.303"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:52:47.439[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:52:47.441[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:52:47.442[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:52:47.470[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:52:47.471[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:47.471[I] 创建物体模型_1: 开始创建模型。请稍候。
12:52:47.564[D] 收到相机应答信息耗时： 0.0924704
12:52:47.564[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:47.565[D] 收到相机应答信息耗时： 0.0009564
12:52:47.565[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:52:47.567[D] 收到相机应答信息耗时： 0.0015468
12:52:47.567[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:52:47.568[D] 收到相机应答信息耗时： 0.0009184
12:52:47.618[I] 创建物体模型_1: 模型被成功创建。
12:52:47.636[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:52:47.637[D] 收到相机应答信息耗时： 0.0007356
12:52:47.644[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:47.645[D] 收到相机应答信息耗时： 0.0008445
12:52:47.645[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:52:49.089[D] 收到相机应答信息耗时： 1.44354
12:52:49.139[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:52:49.139[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:52:49.374[D] Normal Filter Main Normal: 0 , 0 , -1
12:52:49.591[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:52:49.714[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:49.715[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:49.759[I] 数据重复并串接_1: 重复4次。
12:52:49.759[I] 数据重复并串接_2: 重复4次。
12:52:49.763[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:52:49.764[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:52:49.764[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:52:49.810[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:49.811[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017947
12:52:49.812[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119419
12:52:49.813[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.624535 [mm], validation score: 0.995169.
12:52:49.814[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188082
12:52:49.814[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121149
12:52:49.815[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.5254 [mm], validation score: 0.996254.
12:52:49.816[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018391
12:52:49.816[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114515
12:52:49.818[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511857 [mm], validation score: 0.996443.
12:52:49.818[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00175663
12:52:49.818[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00106341
12:52:49.820[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.461524 [mm], validation score: 0.997233.
12:52:49.820[I] 3D精匹配_2: 匹配得分: ([0.9951687455177307], [0.9962544441223145], [0.9964426755905151], [0.9972325563430786])
12:52:49.823[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:49.824[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180361
12:52:49.824[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011496
12:52:49.826[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.617761 [mm], validation score: 0.950738.
12:52:49.827[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188435
12:52:49.827[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120547
12:52:49.829[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.549248 [mm], validation score: 0.959623.
12:52:49.829[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183889
12:52:49.830[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115361
12:52:49.831[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.491447 [mm], validation score: 0.964565.
12:52:49.832[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017733
12:52:49.832[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117881
12:52:49.834[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.453251 [mm], validation score: 0.971671.
12:52:49.834[I] 3D精匹配_1: 匹配得分: ([0.9507375359535217], [0.9596225619316101], [0.9645646214485168], [0.9716708660125732])
12:52:49.834[I] 调整位姿_1: 开始运行。
12:52:49.834[I] 调整位姿_1: 16个子步骤运行结束。
12:52:49.834[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15181459656529117,-0.07107541336167514,0.15156013268092328,-0.7089188893639297,-0.00462085380596172,-0.0043091932701984515,0.7052617151572008],[0.08263643398113114,-0.07154008354246619,0.15226276585040632,0.7083499453165555,-0.002092910122417687,0.002998267379483873,-0.7058519569215441],[0.15146006087313627,0.1883390073982305,0.15243009268692087,0.7041557178284008,0.013823769700945078,-0.02077703480860263,-0.7096068934736942],[0.08173292998505359,0.18732435433623004,0.15279847179117723,0.7108502997041366,-0.006376622047163366,0.006088123154575319,-0.7032880809868991]]})
12:52:49.849[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 6
12:52:49.855[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 6
12:52:49.856[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 6
12:52:49.860[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 6
12:52:49.860[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.38948秒。
12:52:49.864[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.391"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:52:51.384[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:52:51.387[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:52:51.389[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:52:51.419[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:52:51.420[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:51.420[I] 创建物体模型_1: 开始创建模型。请稍候。
12:52:51.538[D] 收到相机应答信息耗时： 0.118764
12:52:51.538[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:51.539[D] 收到相机应答信息耗时： 0.0008628
12:52:51.539[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:52:51.540[D] 收到相机应答信息耗时： 0.0007839
12:52:51.540[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:52:51.541[D] 收到相机应答信息耗时： 0.0008701
12:52:51.610[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:52:51.611[D] 收到相机应答信息耗时： 0.0013283
12:52:51.615[I] 创建物体模型_1: 模型被成功创建。
12:52:51.620[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:51.620[D] 收到相机应答信息耗时： 0.00076
12:52:51.620[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:52:52.996[D] 收到相机应答信息耗时： 1.37553
12:52:53.046[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:52:53.046[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:52:53.284[D] Normal Filter Main Normal: 0 , 0 , -1
12:52:53.498[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:52:53.646[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:53.647[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:53.689[I] 数据重复并串接_1: 重复4次。
12:52:53.689[I] 数据重复并串接_2: 重复4次。
12:52:53.694[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:52:53.694[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:52:53.694[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:52:53.742[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:53.743[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180083
12:52:53.743[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112794
12:52:53.745[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.537886 [mm], validation score: 0.99639.
12:52:53.745[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186186
12:52:53.746[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121919
12:52:53.747[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.556412 [mm], validation score: 0.996292.
12:52:53.747[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184092
12:52:53.748[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127535
12:52:53.749[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.780337 [mm], validation score: 0.992249.
12:52:53.750[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189514
12:52:53.750[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121681
12:52:53.751[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.477436 [mm], validation score: 0.997118.
12:52:53.752[I] 3D精匹配_2: 匹配得分: ([0.9963899850845337], [0.996291995048523], [0.9922493100166321], [0.9971182942390442])
12:52:53.755[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:53.755[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179637
12:52:53.756[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011363
12:52:53.758[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542691 [mm], validation score: 0.961567.
12:52:53.758[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185838
12:52:53.759[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122006
12:52:53.761[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.557102 [mm], validation score: 0.95995.
12:52:53.761[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001827
12:52:53.762[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121339
12:52:53.763[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.735403 [mm], validation score: 0.927802.
12:52:53.764[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019002
12:52:53.764[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122177
12:52:53.765[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.459679 [mm], validation score: 0.970208.
12:52:53.766[I] 3D精匹配_1: 匹配得分: ([0.9615674614906311], [0.9599499702453613], [0.9278015494346619], [0.9702077507972717])
12:52:53.766[I] 调整位姿_1: 开始运行。
12:52:53.766[I] 调整位姿_1: 16个子步骤运行结束。
12:52:53.766[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15176340553187612,-0.07104477730949041,0.15175186498987636,0.7069747068949739,-0.0008716875562412331,0.008340349321051283,-0.7071891137063502],[0.08253859288669521,-0.07117734513046084,0.15207132774169385,0.7077198848765295,0.0010159230048110916,0.00392553336726878,-0.7064815090563817],[0.15116516460616158,0.18844131072484266,0.15245238389546367,0.7094463505335104,-8.676974500101617e-05,-0.0065443326783592316,-0.7047290542438918],[0.08243675648118781,0.18880588204943988,0.15205946160381623,-0.7057014849802458,0.009049138909641957,0.00471311202023708,0.7084358219039705]]})
12:52:53.777[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 7
12:52:53.783[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 7
12:52:53.789[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 7
12:52:53.789[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 7
12:52:53.790[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.37098秒。
12:52:53.798[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.376"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:52:55.020[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:52:55.022[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:52:55.022[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:52:55.050[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:52:55.051[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:55.051[I] 创建物体模型_1: 开始创建模型。请稍候。
12:52:55.053[D] 收到相机应答信息耗时： 0.0022268
12:52:55.053[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:55.055[D] 收到相机应答信息耗时： 0.001148
12:52:55.055[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:52:55.055[D] 收到相机应答信息耗时： 0.0008673
12:52:55.056[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:52:55.057[D] 收到相机应答信息耗时： 0.0010688
12:52:55.130[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:52:55.131[D] 收到相机应答信息耗时： 0.0010438
12:52:55.138[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:52:55.139[D] 收到相机应答信息耗时： 0.0009489
12:52:55.139[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:52:55.226[I] 创建物体模型_1: 模型被成功创建。
12:52:56.864[D] 收到相机应答信息耗时： 1.72573
12:52:56.915[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:52:56.915[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:52:57.146[D] Normal Filter Main Normal: 0 , 0 , -1
12:52:57.355[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:52:57.476[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:57.477[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:52:57.519[I] 数据重复并串接_1: 重复4次。
12:52:57.519[I] 数据重复并串接_2: 重复4次。
12:52:57.526[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:52:57.526[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:52:57.526[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:52:57.574[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:57.574[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185996
12:52:57.575[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121313
12:52:57.577[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.75114 [mm], validation score: 0.993141.
12:52:57.577[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184079
12:52:57.578[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119209
12:52:57.579[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506754 [mm], validation score: 0.996754.
12:52:57.579[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017827
12:52:57.580[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110051
12:52:57.581[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.515083 [mm], validation score: 0.996531.
12:52:57.582[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182148
12:52:57.582[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110332
12:52:57.583[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511215 [mm], validation score: 0.9964.
12:52:57.583[I] 3D精匹配_2: 匹配得分: ([0.993140697479248], [0.9967544674873352], [0.9965311884880066], [0.9964000582695007])
12:52:57.586[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:52:57.587[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185641
12:52:57.587[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122667
12:52:57.589[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.735272 [mm], validation score: 0.93126.
12:52:57.589[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183079
12:52:57.590[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111954
12:52:57.591[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.498976 [mm], validation score: 0.965948.
12:52:57.592[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177299
12:52:57.593[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110186
12:52:57.594[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.512202 [mm], validation score: 0.963006.
12:52:57.595[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181196
12:52:57.595[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115944
12:52:57.596[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511196 [mm], validation score: 0.962832.
12:52:57.597[I] 3D精匹配_1: 匹配得分: ([0.9312601685523987], [0.9659479260444641], [0.9630058407783508], [0.962831974029541])
12:52:57.597[I] 调整位姿_1: 开始运行。
12:52:57.597[I] 调整位姿_1: 16个子步骤运行结束。
12:52:57.597[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15193359772901793,-0.07056743340119001,0.15200438515513137,-0.7076743164410904,0.001513619709898357,-0.004995461102449724,0.7065195086997831],[0.0823448991903881,-0.07073450495176095,0.1523331022873735,0.7043462277323134,-0.0029804118846865017,0.003309644690636119,-0.7098426268380053],[0.15154512008857252,0.18880033036380028,0.15250266418478176,0.7019138243153299,0.013213927238793395,-0.01637429901495733,-0.7119510219767404],[0.08164177108369632,0.18912065190678182,0.15281046075387228,0.7121620264216827,-0.02985679524568738,0.030076690929155353,-0.7007347662014318]]})
12:52:57.608[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 8
12:52:57.619[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 8
12:52:57.626[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 8
12:52:57.626[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 8
12:52:57.627[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.57669秒。
12:52:57.641[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.588"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:53:39.789[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:53:39.816[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:53:39.816[I] 创建物体模型_1: 开始创建模型。请稍候。
12:53:39.816[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:53:39.819[D] 收到相机应答信息耗时： 0.0024352
12:53:39.819[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:53:39.820[D] 收到相机应答信息耗时： 0.000994
12:53:39.820[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:53:39.821[D] 收到相机应答信息耗时： 0.0009694
12:53:39.821[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:53:39.822[D] 收到相机应答信息耗时： 0.0010514
12:53:39.916[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:53:39.917[D] 收到相机应答信息耗时： 0.0010796
12:53:39.925[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:53:39.926[D] 收到相机应答信息耗时： 0.000896
12:53:39.926[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:53:40.006[I] 创建物体模型_1: 模型被成功创建。
12:53:41.667[D] 收到相机应答信息耗时： 1.74144
12:53:41.717[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:53:41.718[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:53:41.953[D] Normal Filter Main Normal: 0 , 0 , -1
12:53:42.159[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:53:42.283[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:53:42.284[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:53:42.326[I] 数据重复并串接_1: 重复4次。
12:53:42.326[I] 数据重复并串接_2: 重复4次。
12:53:42.338[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:53:42.338[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:53:42.338[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:53:42.387[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:53:42.388[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186559
12:53:42.388[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122189
12:53:42.390[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.614197 [mm], validation score: 0.99548.
12:53:42.391[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191065
12:53:42.391[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121846
12:53:42.393[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.552221 [mm], validation score: 0.996356.
12:53:42.393[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195691
12:53:42.394[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128843
12:53:42.395[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.701898 [mm], validation score: 0.993947.
12:53:42.396[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018522
12:53:42.396[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116961
12:53:42.398[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.425136 [mm], validation score: 0.997775.
12:53:42.398[I] 3D精匹配_2: 匹配得分: ([0.9954798817634583], [0.9963560104370117], [0.9939472675323486], [0.9977753758430481])
12:53:42.402[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:53:42.402[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185403
12:53:42.403[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118173
12:53:42.405[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.605509 [mm], validation score: 0.952937.
12:53:42.405[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190582
12:53:42.406[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122897
12:53:42.407[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.561274 [mm], validation score: 0.960339.
12:53:42.408[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195019
12:53:42.408[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128926
12:53:42.409[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.699595 [mm], validation score: 0.936754.
12:53:42.410[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185268
12:53:42.410[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117256
12:53:42.412[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.432301 [mm], validation score: 0.975228.
12:53:42.412[I] 3D精匹配_1: 匹配得分: ([0.952936589717865], [0.9603385329246521], [0.9367544054985046], [0.9752283096313477])
12:53:42.412[I] 调整位姿_1: 开始运行。
12:53:42.412[I] 调整位姿_1: 16个子步骤运行结束。
12:53:42.413[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.151678511581029,-0.048300775685744396,0.1518777372532285,0.7105191061624261,-0.0018321770794854052,0.008043685512654065,-0.7036295488598174],[0.08255375215968806,-0.04869453397456305,0.15238324000718428,0.7068804532292828,0.0026263914147950387,0.0013742697531018032,-0.7073268256563904],[0.15142181515082695,0.21076641885568936,0.15252767376669651,0.7051301521097535,0.0009021163590702385,-0.00779828981917559,-0.7090344430615814],[0.082370448259859,0.21116086654711436,0.1526510716380849,0.7059073942340566,-0.017885752666542368,0.009382894224160143,-0.7080161099249148]]})
12:53:42.425[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 9
12:53:42.436[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 9
12:53:42.440[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 9
12:53:42.446[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 9
12:53:42.446[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.63031秒。
12:53:42.476[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.657"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:54:10.866[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:54:10.868[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:54:10.868[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:54:10.894[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:54:10.894[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:10.895[I] 创建物体模型_1: 开始创建模型。请稍候。
12:54:10.896[D] 收到相机应答信息耗时： 0.00106
12:54:10.896[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:10.896[D] 收到相机应答信息耗时： 0.0006295
12:54:10.896[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:54:10.897[D] 收到相机应答信息耗时： 0.0010442
12:54:10.898[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:54:10.899[D] 收到相机应答信息耗时： 0.0009802
12:54:10.979[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:54:10.980[D] 收到相机应答信息耗时： 0.0010056
12:54:10.988[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:10.989[D] 收到相机应答信息耗时： 0.0009554
12:54:10.989[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:54:11.051[I] 创建物体模型_1: 模型被成功创建。
12:54:12.680[D] 收到相机应答信息耗时： 1.69138
12:54:12.731[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:54:12.731[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:54:12.986[D] Normal Filter Main Normal: 0 , 0 , -1
12:54:13.191[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:54:13.317[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:54:13.318[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:54:13.362[I] 数据重复并串接_1: 重复4次。
12:54:13.362[I] 数据重复并串接_2: 重复4次。
12:54:13.389[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:54:13.390[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:54:13.390[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:54:13.441[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:54:13.441[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00203158
12:54:13.442[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00137815
12:54:13.444[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.755839 [mm], validation score: 0.992732.
12:54:13.444[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193541
12:54:13.445[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119789
12:54:13.446[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.545968 [mm], validation score: 0.996173.
12:54:13.447[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192564
12:54:13.447[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130563
12:54:13.449[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.765063 [mm], validation score: 0.992714.
12:54:13.449[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0020956
12:54:13.450[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00137849
12:54:13.451[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.496515 [mm], validation score: 0.996962.
12:54:13.452[I] 3D精匹配_2: 匹配得分: ([0.9927322268486023], [0.9961727261543274], [0.9927138090133667], [0.9969618916511536])
12:54:13.455[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:54:13.456[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0020442
12:54:13.456[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00138567
12:54:13.458[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.745385 [mm], validation score: 0.928189.
12:54:13.458[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001926
12:54:13.459[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120951
12:54:13.460[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.558314 [mm], validation score: 0.956842.
12:54:13.461[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192696
12:54:13.461[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130802
12:54:13.463[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.742924 [mm], validation score: 0.92853.
12:54:13.463[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00207338
12:54:13.464[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00137647
12:54:13.465[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507226 [mm], validation score: 0.966103.
12:54:13.466[I] 3D精匹配_1: 匹配得分: ([0.9281892776489258], [0.9568421244621277], [0.9285295009613037], [0.9661033153533936])
12:54:13.466[I] 调整位姿_1: 开始运行。
12:54:13.466[I] 调整位姿_1: 16个子步骤运行结束。
12:54:13.466[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15169254386281913,-0.04146293742756815,0.15212105744077697,0.7085284884299246,-0.008745020332614518,0.013308372462787602,-0.7055025109274803],[0.08250508346738997,-0.04115399439072637,0.15254324730858682,0.7061206837045743,0.009831373019491456,-0.0075441472223146755,-0.7079830577011178],[0.15080811461396698,0.21790670505259782,0.15256131149920948,0.7079426384153691,-0.000221504298758164,-0.0051689396043315995,-0.7062509849286571],[0.0818329909310816,0.21814199476784732,0.15256567422361367,-0.709618749555112,0.014455581402705787,-0.0043269481774100785,0.7044242641800598]]})
12:54:13.477[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 10
12:54:13.485[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 10
12:54:13.492[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 10
12:54:13.500[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 10
12:54:13.500[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.606秒。
12:54:13.742[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.848"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:54:21.263[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:54:21.265[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:54:21.266[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:54:21.293[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:54:21.293[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:21.293[I] 创建物体模型_1: 开始创建模型。请稍候。
12:54:21.296[D] 收到相机应答信息耗时： 0.0022805
12:54:21.296[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:21.297[D] 收到相机应答信息耗时： 0.0009612
12:54:21.297[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:54:21.298[D] 收到相机应答信息耗时： 0.0009305
12:54:21.298[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:54:21.299[D] 收到相机应答信息耗时： 0.0009892
12:54:21.369[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:54:21.434[D] 收到相机应答信息耗时： 0.0643679
12:54:21.441[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:21.443[D] 收到相机应答信息耗时： 0.0014426
12:54:21.443[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:54:21.462[I] 创建物体模型_1: 模型被成功创建。
12:54:23.026[D] 收到相机应答信息耗时： 1.58336
12:54:23.076[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:54:23.076[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:54:23.328[D] Normal Filter Main Normal: 0 , 0 , -1
12:54:23.534[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:54:23.656[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:54:23.657[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:54:23.705[I] 数据重复并串接_1: 重复4次。
12:54:23.705[I] 数据重复并串接_2: 重复4次。
12:54:23.708[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:54:23.708[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:54:23.709[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:54:23.756[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:54:23.757[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181498
12:54:23.757[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122757
12:54:23.759[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.646847 [mm], validation score: 0.994768.
12:54:23.760[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181212
12:54:23.760[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115657
12:54:23.762[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.493735 [mm], validation score: 0.997044.
12:54:23.763[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185529
12:54:23.763[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125212
12:54:23.765[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.64669 [mm], validation score: 0.99471.
12:54:23.765[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183182
12:54:23.766[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115974
12:54:23.768[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.373418 [mm], validation score: 0.998271.
12:54:23.768[I] 3D精匹配_2: 匹配得分: ([0.9947676658630371], [0.997044026851654], [0.9947104454040527], [0.9982712864875793])
12:54:23.772[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:54:23.772[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181665
12:54:23.773[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121437
12:54:23.774[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.635408 [mm], validation score: 0.947414.
12:54:23.775[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181798
12:54:23.775[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118306
12:54:23.777[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.493432 [mm], validation score: 0.967916.
12:54:23.778[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186145
12:54:23.778[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012375
12:54:23.779[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.635362 [mm], validation score: 0.94704.
12:54:23.780[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018439
12:54:23.781[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113977
12:54:23.782[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.375413 [mm], validation score: 0.98111.
12:54:23.782[I] 3D精匹配_1: 匹配得分: ([0.9474135041236877], [0.9679158329963684], [0.9470400214195251], [0.9811102747917175])
12:54:23.783[I] 调整位姿_1: 开始运行。
12:54:23.783[I] 调整位姿_1: 16个子步骤运行结束。
12:54:23.783[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1520290722425794,-0.03993465764773527,0.151922156213409,-0.7105007948583351,-0.000985105517587851,-0.009873187512388349,0.7036264422555039],[0.0823402882525732,-0.04075378997934709,0.15246594049079532,0.7058785137540668,0.001889979640820297,0.0028041878006112653,-0.7083248466121218],[0.15159546276603256,0.21936534514800238,0.15266995386332094,0.70142047321951,0.017947520506400038,-0.024598902020986406,-0.7120969739266926],[0.08195590455872422,0.2191935821809547,0.1530354911053342,-0.7090982510708111,0.020395099320198663,-0.01812754656463641,0.7045815086330206]]})
12:54:23.794[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 11
12:54:23.802[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 11
12:54:23.809[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 11
12:54:23.810[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 11
12:54:23.810[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.5164秒。
12:54:23.843[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.550"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:54:25.528[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:54:25.530[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:54:25.530[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:54:25.566[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:54:25.567[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:25.567[I] 创建物体模型_1: 开始创建模型。请稍候。
12:54:25.569[D] 收到相机应答信息耗时： 0.0021788
12:54:25.569[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:25.570[D] 收到相机应答信息耗时： 0.0009239
12:54:25.570[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:54:25.571[D] 收到相机应答信息耗时： 0.0008879
12:54:25.571[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:54:25.572[D] 收到相机应答信息耗时： 0.0008888
12:54:25.643[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:54:25.644[D] 收到相机应答信息耗时： 0.0009948
12:54:25.651[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:25.652[D] 收到相机应答信息耗时： 0.0009571
12:54:25.652[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:54:25.727[I] 创建物体模型_1: 模型被成功创建。
12:54:27.130[D] 收到相机应答信息耗时： 1.47741
12:54:27.179[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:54:27.179[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:54:27.422[D] Normal Filter Main Normal: 0 , 0 , -1
12:54:27.617[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:54:27.737[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:54:27.737[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:54:27.784[I] 数据重复并串接_2: 重复4次。
12:54:27.784[I] 数据重复并串接_1: 重复4次。
12:54:27.787[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:54:27.787[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:54:27.787[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:54:27.838[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:54:27.839[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188561
12:54:27.839[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126372
12:54:27.841[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.654246 [mm], validation score: 0.994479.
12:54:27.842[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0020431
12:54:27.842[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00147912
12:54:27.844[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.650903 [mm], validation score: 0.994862.
12:54:27.844[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178371
12:54:27.845[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117255
12:54:27.846[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.553581 [mm], validation score: 0.996145.
12:54:27.847[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186127
12:54:27.847[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121123
12:54:27.849[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.643373 [mm], validation score: 0.994609.
12:54:27.849[I] 3D精匹配_2: 匹配得分: ([0.9944785833358765], [0.9948621392250061], [0.9961453080177307], [0.9946087598800659])
12:54:27.854[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:54:27.855[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018858
12:54:27.855[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124714
12:54:27.857[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.661903 [mm], validation score: 0.942463.
12:54:27.857[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00205681
12:54:27.858[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00149402
12:54:27.859[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.728248 [mm], validation score: 0.93448.
12:54:27.860[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177245
12:54:27.860[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109933
12:54:27.862[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.546054 [mm], validation score: 0.960159.
12:54:27.862[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185211
12:54:27.863[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119616
12:54:27.864[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.63605 [mm], validation score: 0.945981.
12:54:27.864[I] 3D精匹配_1: 匹配得分: ([0.9424633979797363], [0.9344795942306519], [0.9601587057113647], [0.9459812641143799])
12:54:27.865[I] 调整位姿_1: 开始运行。
12:54:27.865[I] 调整位姿_1: 16个子步骤运行结束。
12:54:27.865[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1512881401577808,-0.03392883920750012,0.15213853718545578,0.7068246828182305,-0.005796822815446089,0.006251486514291084,-0.7073373901615237],[0.08251549668905983,-0.034234486140164805,0.1528404582137346,0.706029384630691,0.0014166221309401125,-0.004928760021541185,-0.7081639700976011],[0.15132365048407137,0.22543881468688737,0.15259613483299095,0.7026170083868012,0.014657440006629689,-0.02279198317112281,-0.7110520546916105],[0.08202603352327313,0.22561343410686854,0.1528291420595742,0.707190681267167,-0.025611661378311456,0.02043470967590962,-0.7062632694475768]]})
12:54:27.877[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 12
12:54:27.884[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 12
12:54:27.892[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 12
12:54:27.893[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 12
12:54:27.893[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.32632秒。
12:54:27.940[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.374"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:54:29.451[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:54:29.453[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:54:29.453[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:54:29.480[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:54:29.481[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:29.481[I] 创建物体模型_1: 开始创建模型。请稍候。
12:54:29.566[D] 收到相机应答信息耗时： 0.085151
12:54:29.566[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:29.567[D] 收到相机应答信息耗时： 0.0007828
12:54:29.567[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:54:29.568[D] 收到相机应答信息耗时： 0.0007529
12:54:29.568[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:54:29.569[D] 收到相机应答信息耗时： 0.0008888
12:54:29.637[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:54:29.638[D] 收到相机应答信息耗时： 0.0006676
12:54:29.647[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:29.648[D] 收到相机应答信息耗时： 0.0008394
12:54:29.648[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:54:29.659[I] 创建物体模型_1: 模型被成功创建。
12:54:31.146[D] 收到相机应答信息耗时： 1.49811
12:54:31.198[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:54:31.199[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:54:31.442[D] Normal Filter Main Normal: 0 , 0 , -1
12:54:31.646[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:54:31.784[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:54:31.785[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:54:31.822[I] 数据重复并串接_1: 重复4次。
12:54:31.822[I] 数据重复并串接_2: 重复4次。
12:54:31.847[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:54:31.848[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:54:31.848[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:54:31.902[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:54:31.902[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192404
12:54:31.903[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012294
12:54:31.904[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.69942 [mm], validation score: 0.994045.
12:54:31.905[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00223089
12:54:31.905[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00154939
12:54:31.907[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.687111 [mm], validation score: 0.994498.
12:54:31.907[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186058
12:54:31.908[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120033
12:54:31.909[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.616342 [mm], validation score: 0.995175.
12:54:31.910[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195292
12:54:31.910[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127159
12:54:31.911[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.465706 [mm], validation score: 0.997027.
12:54:31.912[I] 3D精匹配_2: 匹配得分: ([0.9940447211265564], [0.9944982528686523], [0.9951745867729187], [0.9970269203186035])
12:54:31.916[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:54:31.916[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193236
12:54:31.917[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124961
12:54:31.919[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.7055 [mm], validation score: 0.936063.
12:54:31.920[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00207952
12:54:31.920[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00145214
12:54:31.922[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.727268 [mm], validation score: 0.933581.
12:54:31.922[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186442
12:54:31.923[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122575
12:54:31.924[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.621215 [mm], validation score: 0.948738.
12:54:31.925[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197111
12:54:31.926[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123479
12:54:31.927[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.457296 [mm], validation score: 0.969128.
12:54:31.927[I] 3D精匹配_1: 匹配得分: ([0.9360625147819519], [0.9335806965827942], [0.9487379789352417], [0.969127893447876])
12:54:31.928[I] 调整位姿_1: 开始运行。
12:54:31.928[I] 调整位姿_1: 16个子步骤运行结束。
12:54:31.928[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15144840669163903,-0.032548976379603106,0.15223570082514004,0.7063483131073628,0.0013718259556663621,0.0016822225825366133,-0.7078611084041226],[0.08243748328318258,-0.03328167513695249,0.1522733526500113,0.7073412157860364,0.005231397103572984,0.003213497100727297,-0.706845605752105],[0.15073643574343376,0.22710621075683868,0.15230887348212518,0.708900849238708,0.014293953882028282,-0.02966780290482985,-0.7045389203598744],[0.08152662018597051,0.22613829612892533,0.15322159301097638,0.7138967050860514,-0.020899330793658005,0.023716074766587554,-0.6995371757364404]]})
12:54:31.945[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 13
12:54:31.948[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 13
12:54:31.957[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 13
12:54:31.961[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 13
12:54:31.961[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数108）。耗时：2.48014秒。
12:54:32.001[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.519"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:54:33.483[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
12:54:33.485[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
12:54:33.485[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
12:54:33.524[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:54:33.525[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:33.525[I] 创建物体模型_1: 开始创建模型。请稍候。
12:54:33.546[D] 收到相机应答信息耗时： 0.0220222
12:54:33.546[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:33.547[D] 收到相机应答信息耗时： 0.0010643
12:54:33.547[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:54:33.548[D] 收到相机应答信息耗时： 0.0007236
12:54:33.548[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:54:33.549[D] 收到相机应答信息耗时： 0.000732
12:54:33.616[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:54:33.617[D] 收到相机应答信息耗时： 0.000936
12:54:33.625[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:54:33.625[D] 收到相机应答信息耗时： 0.0006124
12:54:33.625[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:54:33.700[I] 创建物体模型_1: 模型被成功创建。
12:54:35.022[D] 收到相机应答信息耗时： 1.39574
12:54:35.074[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:54:35.075[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:54:35.322[D] Normal Filter Main Normal: 0 , 0 , -1
12:54:35.514[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:54:35.655[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:54:35.656[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
12:54:35.694[I] 数据重复并串接_1: 重复4次。
12:54:35.694[I] 数据重复并串接_2: 重复4次。
12:54:35.700[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
12:54:35.701[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
12:54:35.701[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
12:54:35.755[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:54:35.756[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194048
12:54:35.756[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128009
12:54:35.758[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.670468 [mm], validation score: 0.994413.
12:54:35.759[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00201173
12:54:35.759[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00139233
12:54:35.761[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.689003 [mm], validation score: 0.994296.
12:54:35.761[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185172
12:54:35.762[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116378
12:54:35.763[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.584135 [mm], validation score: 0.995567.
12:54:35.764[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00222029
12:54:35.765[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00169755
12:54:35.766[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.32434 [mm], validation score: 0.946921.
12:54:35.766[I] 3D精匹配_2: 匹配得分: ([0.9944126009941101], [0.9942958950996399], [0.9955665469169617], [0.9469209313392639])
12:54:35.771[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
12:54:35.771[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194713
12:54:35.771[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00131047
12:54:35.773[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.676278 [mm], validation score: 0.940583.
12:54:35.774[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00201262
12:54:35.774[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014029
12:54:35.776[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.691049 [mm], validation score: 0.939427.
12:54:35.776[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184029
12:54:35.777[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121341
12:54:35.778[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.580835 [mm], validation score: 0.953242.
12:54:35.778[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00223771
12:54:35.778[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00173912
12:54:35.780[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.873668 [mm], validation score: 0.811318.
12:54:35.780[I] 3D精匹配_1: 匹配得分: ([0.940583348274231], [0.9394270777702332], [0.9532421827316284], [0.8113177418708801])
12:54:35.780[I] 调整位姿_1: 开始运行。
12:54:35.781[I] 调整位姿_1: 16个子步骤运行结束。
12:54:35.781[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数92）。耗时：2.2571秒。
12:54:35.838[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.312"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:56:27.390[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:56:27.391[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:56:27.496[D] 收到相机应答信息耗时： 0.104483
12:56:27.496[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:56:27.497[D] 收到相机应答信息耗时： 0.0009507
12:56:27.497[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
12:56:27.498[D] 收到相机应答信息耗时： 0.0009386
12:56:27.498[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
12:56:27.499[D] 收到相机应答信息耗时： 0.0009008
12:56:27.558[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
12:56:27.560[D] 收到相机应答信息耗时： 0.0009754
12:56:27.566[D] sendAndRecvMsg {"cmd":"GetCameraId"}
12:56:27.566[D] 收到相机应答信息耗时： 0.000752
12:56:27.566[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
12:56:29.007[D] 收到相机应答信息耗时： 1.44057
12:56:29.054[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
12:56:29.055[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：1.66472秒。
12:56:29.104[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"1.712"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:56:30.257[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:56:30.258[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:56:30.414[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数3）。耗时：0.157179秒。
12:56:30.444[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.184"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:56:36.498[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:56:36.499[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:56:36.650[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数3）。耗时：0.15226秒。
12:56:36.660[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.162"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:56:39.337[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:56:39.339[D] Normal Filter Main Normal: 0 , 0 , -1
12:56:39.340[W] 点过滤_4: 无输出。 自动填充输出。
12:56:39.341[W] 点云聚类_1: 第1个输入为空！
12:56:39.341[W] 点云聚类_1: 无输出。 自动填充输出。
12:56:39.342[W] 获取最高层点云_2: 第1个输入为空！
12:56:39.342[W] 获取最高层点云_2: 无输出。 自动填充输出。
12:56:39.342[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数4）。耗时：0.004774秒。
12:56:39.352[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.014"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:56:39.966[W] 当前数据流为空数组： 获取最高层点云_2[0]-->[0]接受所有参数_4
12:58:46.316[W] 当前数据流为空数组： 获取最高层点云_2[0]-->[0]接受所有参数_4
12:59:22.990[D] 相机数据路径D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-10合法。
12:59:23.003[W] [ reloadParameterGroup ] 虚拟模式下的标定参数组路径为空。
12:59:28.292[I] 相机参数组 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08 已更新。
12:59:28.296[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08/intri_param.json。
12:59:28.378[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08/extri_param.json。
12:59:28.382[D] 相机数据路径D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-13合法。
12:59:32.738[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:59:32.844[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00000.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00000.jpg
12:59:32.879[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.141083秒。
12:59:32.940[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.201"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:59:33.542[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:59:33.542[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
12:59:33.778[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数3）。耗时：0.236695秒。
12:59:33.821[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.278"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
12:59:51.057[I] 工程(Vis-模具毛胚定位工位1)开始执行。
12:59:51.058[D] Normal Filter Main Normal: 0 , 0 , -1
12:59:51.267[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
12:59:51.289[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数4）。耗时：0.231143秒。
12:59:51.317[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.258"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:00:02.812[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:00:02.813[D] Normal Filter Main Normal: 0 , 0 , -1
13:00:02.858[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.045208秒。
13:00:02.974[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.161"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:02:33.541[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:02:33.541[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.0004秒。
13:02:33.558[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.016"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:04:03.434[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:04:03.435[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.000738秒。
13:04:03.464[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.027"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:04:50.119[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:04:50.119[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.000439秒。
13:04:50.136[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.015"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:05:00.300[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:05:00.335[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.034927秒。
13:05:00.339[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.038"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:05:20.855[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:05:20.856[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.000703秒。
13:05:20.875[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.017"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:05:29.113[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:05:29.140[I] 数据重复并串接_1: 重复4次。
13:05:29.140[I] 数据重复并串接_2: 重复4次。
13:05:29.155[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
13:05:29.155[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:05:29.155[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:05:29.203[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:05:29.204[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190937
13:05:29.204[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127733
13:05:29.206[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.727507 [mm], validation score: 0.993427.
13:05:29.207[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192777
13:05:29.207[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126424
13:05:29.208[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.684993 [mm], validation score: 0.993999.
13:05:29.209[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183723
13:05:29.209[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120797
13:05:29.211[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.591231 [mm], validation score: 0.995611.
13:05:29.211[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194807
13:05:29.212[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130433
13:05:29.214[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588918 [mm], validation score: 0.995561.
13:05:29.214[I] 3D精匹配_2: 匹配得分: ([0.9934265613555908], [0.9939987659454346], [0.9956111311912537], [0.9955611228942871])
13:05:29.219[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:05:29.219[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191382
13:05:29.220[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127492
13:05:29.221[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.718807 [mm], validation score: 0.933058.
13:05:29.222[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019208
13:05:29.222[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122314
13:05:29.224[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.696582 [mm], validation score: 0.935398.
13:05:29.224[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001857
13:05:29.225[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118549
13:05:29.227[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.577583 [mm], validation score: 0.954556.
13:05:29.227[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193548
13:05:29.228[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126679
13:05:29.230[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.579903 [mm], validation score: 0.954011.
13:05:29.230[I] 3D精匹配_1: 匹配得分: ([0.9330579042434692], [0.9353984594345093], [0.9545562267303467], [0.9540109634399414])
13:05:29.230[I] 调整位姿_1: 开始运行。
13:05:29.230[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1512851213243933,-0.0327062747055519,0.15179591967150174,0.7074508170931421,-0.003521897835211781,0.013497431123659824,-0.7066249054363609],[0.1510527484567994,0.2272308714944298,0.1524045258762794,0.7067334766826354,0.008461784048578119,-0.021086082140761166,-0.7071149611532362],[0.08168209163132747,0.22662135928936122,0.15329808362884534,0.7113053440063692,-0.030658805270717286,0.03401784177686107,-0.7013897145583193]]})
13:05:29.231[I] 调整位姿_1: 16个子步骤运行结束。
13:05:29.231[W] 通过统计数据检查位姿重复精度_2: 新旧数据个数不一致，请检查输入数据。
13:05:29.231[W] 通过统计数据检查位姿重复精度_1: 新旧数据个数不一致，请检查输入数据。
13:05:29.231[W] 通过统计数据检查位姿重复精度_2: 无输出。 自动填充输出。
13:05:29.231[W] 通过统计数据检查位姿重复精度_1: 无输出。 自动填充输出。
13:05:29.243[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 14
13:05:29.251[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 14
13:05:29.251[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数69）。耗时：0.138284秒。
13:05:29.285[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.169"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:10:42.511[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:10:42.511[D] Normal Filter Main Normal: -0.0921754 , 0.0115649 , -0.995676
13:10:42.558[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.04714秒。
13:10:42.635[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.122"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:10:46.279[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:10:46.279[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.000375秒。
13:10:46.292[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.012"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:10:47.178[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:10:47.179[D] Normal Filter Main Normal: -0.0921754 , 0.0115649 , -0.995676
13:10:47.199[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.020608秒。
13:10:47.203[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.023"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:11:24.661[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:11:24.661[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.000423秒。
13:11:24.665[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.004"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:11:25.496[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:11:25.496[D] Normal Filter Main Normal: -0.0921754 , 0.0115649 , -0.995676
13:11:25.517[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.020416秒。
13:11:25.533[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.036"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:11:26.649[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:11:26.650[D] Normal Filter Main Normal: -0.0921754 , 0.0115649 , -0.995676
13:11:26.701[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.05138秒。
13:11:26.769[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.118"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:11:52.307[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:11:52.307[D] Normal Filter Main Normal: 0 , 0 , 1
13:11:52.330[W] 点过滤_4: 无输出。 自动填充输出。
13:11:52.331[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.023691秒。
13:11:52.386[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.078"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:11:57.869[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:11:57.870[D] Normal Filter Main Normal: 0 , 0 , -1
13:11:57.889[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.020176秒。
13:11:57.905[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.033"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:12:03.150[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:12:03.150[D] Normal Filter Main Normal: 0 , 0 , -1
13:12:03.195[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.044452秒。
13:12:03.265[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.114"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:12:33.771[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:12:33.772[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:12:33.801[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.030622秒。
13:12:33.909[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.137"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:13:14.399[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:13:14.400[D] Normal Filter Main Normal: 0 , 0 , -1
13:13:14.615[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:13:14.642[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数4）。耗时：0.24202秒。
13:13:14.667[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.266"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:14:22.590[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:14:22.591[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.000963秒。
13:14:22.605[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.013"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:14:23.648[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:14:23.675[I] 数据重复并串接_2: 重复4次。
13:14:23.675[I] 数据重复并串接_1: 重复4次。
13:14:23.700[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数39）。耗时：0.052283秒。
13:14:23.749[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.100"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:15:25.170[W] 当前数据流中没有数据： 3D方法估计点云边缘_4[1]-->[0]提取长方体内点云_7
13:15:30.030[W] 当前数据流中没有数据： 提取长方体内点云_7[0]-->[0]输入分配器_3
13:15:31.424[W] 当前数据流中没有数据： 提取长方体内点云_7[0]-->[0]输入分配器_3
13:15:33.013[I] 工程(Vis-模具毛胚定位工位2)开始执行。
13:15:37.906[I] 工程(Vis-模具毛胚定位工位2)开始执行。
13:15:39.332[I] 工程(Vis-模具毛胚定位工位2)开始执行。
13:25:19.266[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/calibration/NEC2022AA3000009-EyeToHand-2023-05-08/intri_param.json。
13:25:19.348[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/calibration/NEC2022AA3000009-EyeToHand-2023-05-08/extri_param.json。
13:25:22.969[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:25:22.971[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:25:22.971[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:25:23.000[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:25:23.001[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:25:23.001[I] 创建物体模型_1: 开始创建模型。请稍候。
13:25:23.002[D] 收到相机应答信息耗时： 0.001119
13:25:23.002[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:25:23.003[D] 收到相机应答信息耗时： 0.0007641
13:25:23.003[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:25:23.004[D] 收到相机应答信息耗时： 0.0008212
13:25:23.004[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:25:23.005[D] 收到相机应答信息耗时： 0.0006756
13:25:23.081[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:25:23.081[D] 收到相机应答信息耗时： 0.0008251
13:25:23.091[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:25:23.093[D] 收到相机应答信息耗时： 0.0018418
13:25:23.093[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:25:23.174[I] 创建物体模型_1: 模型被成功创建。
13:25:24.874[D] 收到相机应答信息耗时： 1.78108
13:25:24.932[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:25:24.932[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:25:25.183[D] Normal Filter Main Normal: 0 , 0 , -1
13:25:25.443[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:25:25.673[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:25:25.674[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:25:25.742[I] 数据重复并串接_2: 重复4次。
13:25:25.742[I] 数据重复并串接_1: 重复4次。
13:25:25.767[I] [ printSampleResult ] 采样结束。
采样后点云中点数：295.
对应的采样采样间隔：0.5625。
13:25:25.767[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:25:25.767[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:25:25.934[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:25:25.934[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179445
13:25:25.935[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117262
13:25:25.937[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.557031 [mm], validation score: 0.995791.
13:25:25.938[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192852
13:25:25.939[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011763
13:25:25.941[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506393 [mm], validation score: 0.996801.
13:25:25.942[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188534
13:25:25.942[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124886
13:25:25.944[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.65516 [mm], validation score: 0.992678.
13:25:25.945[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186896
13:25:25.946[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124066
13:25:25.947[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.806632 [mm], validation score: 0.991028.
13:25:25.948[I] 3D精匹配_2: 匹配得分: ([0.9957906007766724], [0.9968011379241943], [0.9926779270172119], [0.9910282492637634])
13:25:25.952[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:25:25.952[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018036
13:25:25.953[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114711
13:25:25.955[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.551817 [mm], validation score: 0.955776.
13:25:25.956[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192105
13:25:25.957[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116605
13:25:25.959[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511732 [mm], validation score: 0.965482.
13:25:25.960[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188678
13:25:25.961[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125739
13:25:25.963[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.659901 [mm], validation score: 0.93269.
13:25:25.964[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186435
13:25:25.965[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012465
13:25:25.967[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.768335 [mm], validation score: 0.908506.
13:25:25.967[I] 3D精匹配_1: 匹配得分: ([0.955775797367096], [0.9654819369316101], [0.932690441608429], [0.9085057377815247])
13:25:25.968[I] 调整位姿_1: 开始运行。
13:25:25.968[I] 调整位姿_1: 16个子步骤运行结束。
13:25:25.968[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15340229937739736,-0.11070171658887215,0.15405411837030658,0.7068942003700889,0.002748226946712013,0.006963172129313704,0.7072796836935716],[0.15279391617090027,0.11697141930328868,0.15414691186618046,0.9999988318183044,-0.00015351490550904318,0.0015196208560916483,-5.956218659908252e-05],[-0.01073452279772899,-0.11054470132904506,0.15483521488773389,0.7011208419807522,0.0016963390641431793,0.0081106306145983,0.7129943232908759],[-0.011498883776158722,0.11721456007662268,0.1543562038222972,0.7087594062900944,-0.003215206140829717,0.0022540426991216438,0.7054393565263385]]})
13:25:26.001[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 15
13:25:26.005[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 15
13:25:26.007[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 14
13:25:26.008[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 14
13:25:26.008[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：3.00758秒。
13:25:26.021[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"3.017"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:25:49.154[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:25:49.156[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:25:49.157[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:25:49.192[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:25:49.193[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:25:49.193[I] 创建物体模型_1: 开始创建模型。请稍候。
13:25:49.195[D] 收到相机应答信息耗时： 0.0018643
13:25:49.195[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:25:49.195[D] 收到相机应答信息耗时： 0.0005191
13:25:49.195[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:25:49.196[D] 收到相机应答信息耗时： 0.0005519
13:25:49.196[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:25:49.197[D] 收到相机应答信息耗时： 0.0009253
13:25:49.267[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:25:49.268[D] 收到相机应答信息耗时： 0.0009515
13:25:49.276[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:25:49.277[D] 收到相机应答信息耗时： 0.0008927
13:25:49.277[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:25:49.371[I] 创建物体模型_1: 模型被成功创建。
13:25:50.914[D] 收到相机应答信息耗时： 1.63753
13:25:50.967[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:25:50.967[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:25:51.225[D] Normal Filter Main Normal: 0 , 0 , -1
13:25:51.493[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:25:51.687[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:25:51.688[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:25:51.760[I] 数据重复并串接_1: 重复4次。
13:25:51.760[I] 数据重复并串接_2: 重复4次。
13:25:51.762[I] [ printSampleResult ] 采样结束。
采样后点云中点数：294.
对应的采样采样间隔：0.5625。
13:25:51.763[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:25:51.763[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:25:51.914[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:25:51.914[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180249
13:25:51.915[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114392
13:25:51.917[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.573663 [mm], validation score: 0.995714.
13:25:51.918[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189791
13:25:51.918[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119093
13:25:51.920[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.475634 [mm], validation score: 0.99728.
13:25:51.921[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190519
13:25:51.922[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126577
13:25:51.923[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.59426 [mm], validation score: 0.993948.
13:25:51.924[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018802
13:25:51.925[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121824
13:25:51.927[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.710299 [mm], validation score: 0.993589.
13:25:51.927[I] 3D精匹配_2: 匹配得分: ([0.9957144260406494], [0.9972804188728333], [0.9939479231834412], [0.9935886263847351])
13:25:51.931[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:25:51.932[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018018
13:25:51.932[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114154
13:25:51.935[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.563144 [mm], validation score: 0.955299.
13:25:51.936[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190111
13:25:51.936[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121376
13:25:51.938[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.474332 [mm], validation score: 0.970575.
13:25:51.939[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189355
13:25:51.940[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126565
13:25:51.942[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.577346 [mm], validation score: 0.941839.
13:25:51.943[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188682
13:25:51.943[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012603
13:25:51.945[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.710636 [mm], validation score: 0.933413.
13:25:51.945[I] 3D精匹配_1: 匹配得分: ([0.9552994966506958], [0.9705747365951538], [0.9418385624885559], [0.9334131479263306])
13:25:51.946[I] 调整位姿_1: 开始运行。
13:25:51.946[I] 调整位姿_1: 16个子步骤运行结束。
13:25:51.946[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1535071518981625,-0.11065743545900034,0.15395873856376396,0.7072089711270896,-0.006279807428035231,0.004178872988161232,-0.7069643358731603],[0.15266977780218333,0.11696585634798154,0.15412692615804824,0.7071106996634103,-0.001983755956599137,0.00012977874341268546,-0.7071000680888845],[-0.01130367226455567,-0.11041010282430344,0.1545978232354861,0.9999965740220059,-0.0021894277340205022,-0.0009303521034264548,0.0010921517342207753],[-0.011576576575794438,0.11708352140411829,0.15442986098893852,-0.7065083279075796,0.0023311659510802584,0.002762027502878767,0.7076954991142785]]})
13:25:51.963[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 1
13:25:51.969[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 1
13:25:51.970[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 1
13:25:51.975[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 1
13:25:51.975[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.78341秒。
13:25:52.017[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.822"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:25:53.821[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:25:53.823[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:25:53.823[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:25:53.847[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:25:53.848[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:25:53.848[I] 创建物体模型_1: 开始创建模型。请稍候。
13:25:53.850[D] 收到相机应答信息耗时： 0.0022508
13:25:53.850[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:25:53.852[D] 收到相机应答信息耗时： 0.0010112
13:25:53.852[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:25:53.852[D] 收到相机应答信息耗时： 0.0009709
13:25:53.853[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:25:53.854[D] 收到相机应答信息耗时： 0.0009314
13:25:53.925[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:25:53.926[D] 收到相机应答信息耗时： 0.0010825
13:25:53.934[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:25:53.935[D] 收到相机应答信息耗时： 0.0009392
13:25:53.935[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:25:54.014[I] 创建物体模型_1: 模型被成功创建。
13:25:55.390[D] 收到相机应答信息耗时： 1.4548
13:25:55.442[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:25:55.443[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:25:55.691[D] Normal Filter Main Normal: 0 , 0 , -1
13:25:55.928[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:25:56.145[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:25:56.146[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:25:56.211[I] 数据重复并串接_1: 重复4次。
13:25:56.211[I] 数据重复并串接_2: 重复4次。
13:25:56.214[I] [ printSampleResult ] 采样结束。
采样后点云中点数：295.
对应的采样采样间隔：0.5625。
13:25:56.214[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:25:56.214[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:25:56.377[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:25:56.378[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180588
13:25:56.379[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011478
13:25:56.381[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.559373 [mm], validation score: 0.995584.
13:25:56.382[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193607
13:25:56.382[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125619
13:25:56.384[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.533403 [mm], validation score: 0.996495.
13:25:56.385[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187218
13:25:56.386[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126699
13:25:56.388[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.71185 [mm], validation score: 0.991645.
13:25:56.389[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189855
13:25:56.389[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130215
13:25:56.391[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.827991 [mm], validation score: 0.991514.
13:25:56.391[I] 3D精匹配_2: 匹配得分: ([0.9955839514732361], [0.9964948892593384], [0.9916447997093201], [0.9915139079093933])
13:25:56.396[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:25:56.397[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179409
13:25:56.398[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117483
13:25:56.400[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.536918 [mm], validation score: 0.954737.
13:25:56.401[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193396
13:25:56.402[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126346
13:25:56.404[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.536055 [mm], validation score: 0.962386.
13:25:56.405[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018788
13:25:56.406[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129794
13:25:56.408[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.676383 [mm], validation score: 0.922361.
13:25:56.409[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190729
13:25:56.409[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126327
13:25:56.411[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.83002 [mm], validation score: 0.912045.
13:25:56.412[I] 3D精匹配_1: 匹配得分: ([0.9547370672225952], [0.9623859524726868], [0.922361433506012], [0.9120454788208008])
13:25:56.412[I] 调整位姿_1: 开始运行。
13:25:56.412[I] 调整位姿_1: 16个子步骤运行结束。
13:25:56.412[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.153697015303223,-0.11039622522997042,0.15403635646526315,0.7081442574063724,-0.00606709140459419,0.0028147139098851325,-0.7060361028232697],[0.1528150834653973,0.11701974697488295,0.15401840388330967,0.7072745893638187,-0.003535761647199098,0.0008787234855390262,-0.7069295449157944],[-0.011266223026520195,-0.11038107170094288,0.15467455432883082,0.7078945610635433,-0.001717253018809086,-0.001732726390405758,-0.7063139097582455],[-0.011453216997219816,0.11700549484350996,0.1543609895696243,0.7053426282976147,-0.001768160875806773,-0.004513953138605885,-0.7088499661708337]]})
13:25:56.422[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 2
13:25:56.426[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 2
13:25:56.431[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 2
13:25:56.432[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 2
13:25:56.432[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.58394秒。
13:25:56.463[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.614"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:26:12.042[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:26:12.044[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:26:12.045[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:26:12.072[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:26:12.073[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:12.073[I] 创建物体模型_1: 开始创建模型。请稍候。
13:26:12.076[D] 收到相机应答信息耗时： 0.0028688
13:26:12.076[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:12.077[D] 收到相机应答信息耗时： 0.0014596
13:26:12.077[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:26:12.078[D] 收到相机应答信息耗时： 0.0010755
13:26:12.079[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:26:12.080[D] 收到相机应答信息耗时： 0.0011658
13:26:12.150[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:26:12.151[D] 收到相机应答信息耗时： 0.0010714
13:26:12.159[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:12.160[D] 收到相机应答信息耗时： 0.0009286
13:26:12.160[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:26:12.241[I] 创建物体模型_1: 模型被成功创建。
13:26:13.899[D] 收到相机应答信息耗时： 1.7382
13:26:13.949[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:26:13.949[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:26:14.194[D] Normal Filter Main Normal: 0 , 0 , -1
13:26:14.430[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:26:14.643[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:14.644[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:14.710[I] 数据重复并串接_1: 重复4次。
13:26:14.710[I] 数据重复并串接_2: 重复4次。
13:26:14.744[I] [ printSampleResult ] 采样结束。
采样后点云中点数：295.
对应的采样采样间隔：0.5625。
13:26:14.744[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:26:14.744[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:26:14.897[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:14.898[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179758
13:26:14.899[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115167
13:26:14.901[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542682 [mm], validation score: 0.996369.
13:26:14.902[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190894
13:26:14.903[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121
13:26:14.905[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.46903 [mm], validation score: 0.997208.
13:26:14.906[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189202
13:26:14.907[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124482
13:26:14.908[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.652532 [mm], validation score: 0.993712.
13:26:14.909[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018663
13:26:14.910[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122797
13:26:14.912[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.72148 [mm], validation score: 0.993467.
13:26:14.912[I] 3D精匹配_2: 匹配得分: ([0.996368944644928], [0.9972075819969177], [0.993711531162262], [0.9934672117233276])
13:26:14.916[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:14.916[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179299
13:26:14.917[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117
13:26:14.919[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54188 [mm], validation score: 0.96117.
13:26:14.920[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191132
13:26:14.920[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118493
13:26:14.922[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.470052 [mm], validation score: 0.969856.
13:26:14.923[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188987
13:26:14.924[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125346
13:26:14.925[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.651506 [mm], validation score: 0.937204.
13:26:14.926[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186508
13:26:14.927[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124453
13:26:14.929[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.721414 [mm], validation score: 0.932222.
13:26:14.929[I] 3D精匹配_1: 匹配得分: ([0.9611700773239136], [0.969855546951294], [0.9372043609619141], [0.9322220087051392])
13:26:14.929[I] 调整位姿_1: 开始运行。
13:26:14.929[I] 调整位姿_1: 16个子步骤运行结束。
13:26:14.930[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1536600959302699,-0.11064865803599658,0.15394334418051625,0.7082299803918483,-0.006732887055025774,0.003230578728563055,-0.705942296839582],[0.15267626306906726,0.1173244270356004,0.15395056217769443,0.7086427691053457,-0.004694962341292382,0.0005075149411761229,-0.7055516462682982],[-0.01125236023467327,-0.11070196754353237,0.1545712119596223,0.708106223168632,0.0023887315578658254,-0.005204269712318811,-0.7060827049632088],[-0.011513381947796483,0.11736718630733725,0.15401479030707277,0.7061777891538603,-0.0026587776796047694,-0.007272358035649618,-0.7079922131038008]]})
13:26:14.938[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 3
13:26:14.943[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 3
13:26:14.950[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 3
13:26:14.953[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 3
13:26:14.953[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.88104秒。
13:26:15.000[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.925"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:26:18.807[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:26:18.809[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:26:18.810[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:26:18.835[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:26:18.836[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:18.836[I] 创建物体模型_1: 开始创建模型。请稍候。
13:26:18.838[D] 收到相机应答信息耗时： 0.002197
13:26:18.838[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:18.839[D] 收到相机应答信息耗时： 0.001107
13:26:18.839[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:26:18.840[D] 收到相机应答信息耗时： 0.0009855
13:26:18.840[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:26:18.841[D] 收到相机应答信息耗时： 0.0009817
13:26:18.913[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:26:18.914[D] 收到相机应答信息耗时： 0.0009571
13:26:18.922[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:18.923[D] 收到相机应答信息耗时： 0.0010531
13:26:18.923[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:26:19.004[I] 创建物体模型_1: 模型被成功创建。
13:26:20.317[D] 收到相机应答信息耗时： 1.39385
13:26:20.369[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:26:20.370[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:26:20.609[D] Normal Filter Main Normal: 0 , 0 , -1
13:26:20.841[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:26:21.032[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:21.033[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:21.101[I] 数据重复并串接_2: 重复4次。
13:26:21.101[I] 数据重复并串接_1: 重复4次。
13:26:21.128[I] [ printSampleResult ] 采样结束。
采样后点云中点数：295.
对应的采样采样间隔：0.5625。
13:26:21.128[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:26:21.129[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:26:21.281[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:21.282[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185298
13:26:21.282[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115278
13:26:21.284[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.582307 [mm], validation score: 0.995344.
13:26:21.285[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194405
13:26:21.286[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124652
13:26:21.288[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.517715 [mm], validation score: 0.996827.
13:26:21.288[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186924
13:26:21.289[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119929
13:26:21.291[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589212 [mm], validation score: 0.995281.
13:26:21.292[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189521
13:26:21.292[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130151
13:26:21.294[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.828236 [mm], validation score: 0.991418.
13:26:21.294[I] 3D精匹配_2: 匹配得分: ([0.9953442215919495], [0.996826708316803], [0.9952810406684875], [0.9914184212684631])
13:26:21.298[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:21.299[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183868
13:26:21.299[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113687
13:26:21.301[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.575586 [mm], validation score: 0.952039.
13:26:21.302[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193727
13:26:21.303[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124563
13:26:21.306[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.516658 [mm], validation score: 0.965926.
13:26:21.306[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187305
13:26:21.307[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119457
13:26:21.309[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58168 [mm], validation score: 0.951506.
13:26:21.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189668
13:26:21.311[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128502
13:26:21.313[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.833342 [mm], validation score: 0.911702.
13:26:21.313[I] 3D精匹配_1: 匹配得分: ([0.952039361000061], [0.965925931930542], [0.9515056610107422], [0.911702036857605])
13:26:21.313[I] 调整位姿_1: 开始运行。
13:26:21.313[I] 调整位姿_1: 16个子步骤运行结束。
13:26:21.314[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15352570315483627,-0.11051564241256759,0.15392800644007365,0.7064390826357008,0.0033311131054560767,0.006140407217097571,0.7077393740703675],[0.15278610157096886,0.11724280408785853,0.1540908569790005,0.9999972066711305,-0.0016713653494175723,0.0016114056966560486,0.00044335029725162123],[-0.011042692424608369,-0.11048619369558257,0.15459762715288128,0.705214980547732,-0.00238583620515594,0.0010191560890082116,0.7089887871592402],[-0.011238166927896628,0.11721125359125352,0.154250863479638,-0.7097105742541263,0.005279216192050315,-0.0021107053641239515,-0.7044704220839432]]})
13:26:21.324[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 4
13:26:21.334[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 4
13:26:21.336[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 4
13:26:21.336[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 4
13:26:21.336[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.50086秒。
13:26:21.365[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.527"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:26:22.994[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:26:22.995[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:26:22.996[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:26:23.021[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:26:23.022[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:23.022[I] 创建物体模型_1: 开始创建模型。请稍候。
13:26:23.024[D] 收到相机应答信息耗时： 0.0021046
13:26:23.024[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:23.025[D] 收到相机应答信息耗时： 0.0010341
13:26:23.025[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:26:23.026[D] 收到相机应答信息耗时： 0.0009485
13:26:23.026[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:26:23.027[D] 收到相机应答信息耗时： 0.0010044
13:26:23.101[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:26:23.102[D] 收到相机应答信息耗时： 0.0009844
13:26:23.114[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:23.115[D] 收到相机应答信息耗时： 0.000927
13:26:23.115[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:26:23.194[I] 创建物体模型_1: 模型被成功创建。
13:26:24.771[D] 收到相机应答信息耗时： 1.65525
13:26:24.821[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:26:24.822[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:26:25.066[D] Normal Filter Main Normal: 0 , 0 , -1
13:26:25.320[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:26:25.567[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:25.568[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:25.656[I] 数据重复并串接_1: 重复4次。
13:26:25.656[I] 数据重复并串接_2: 重复4次。
13:26:25.659[I] [ printSampleResult ] 采样结束。
采样后点云中点数：294.
对应的采样采样间隔：0.5625。
13:26:25.659[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:26:25.659[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:26:25.805[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:25.806[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177819
13:26:25.807[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117843
13:26:25.809[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.547182 [mm], validation score: 0.995964.
13:26:25.810[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018937
13:26:25.810[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114061
13:26:25.812[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.488313 [mm], validation score: 0.997146.
13:26:25.813[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184864
13:26:25.814[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111052
13:26:25.815[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50149 [mm], validation score: 0.99675.
13:26:25.816[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188319
13:26:25.817[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122195
13:26:25.819[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.731819 [mm], validation score: 0.993346.
13:26:25.819[I] 3D精匹配_2: 匹配得分: ([0.9959639310836792], [0.9971458911895752], [0.9967504739761353], [0.9933457970619202])
13:26:25.824[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:25.824[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178159
13:26:25.825[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117606
13:26:25.827[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.549957 [mm], validation score: 0.957159.
13:26:25.828[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189147
13:26:25.829[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113567
13:26:25.830[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.484653 [mm], validation score: 0.969486.
13:26:25.831[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018405
13:26:25.832[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111987
13:26:25.834[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510034 [mm], validation score: 0.9649.
13:26:25.835[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189186
13:26:25.836[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127408
13:26:25.838[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.729802 [mm], validation score: 0.930755.
13:26:25.838[I] 3D精匹配_1: 匹配得分: ([0.9571587443351746], [0.969485878944397], [0.9649000763893127], [0.9307549595832825])
13:26:25.839[I] 调整位姿_1: 开始运行。
13:26:25.839[I] 调整位姿_1: 16个子步骤运行结束。
13:26:25.839[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15356108189765177,-0.1106762746048878,0.15400669027024638,0.7066070001502676,0.002626281287578743,0.006567181271098249,0.7075708601372654],[0.1524909663707763,0.11733433123930448,0.15388694941871806,0.999972573742357,-0.003868511342226818,0.0034945155218426387,0.00526067907673633],[-0.0111647791492753,-0.11061540915429549,0.15462852979488018,0.7049382051460359,-0.0008836240712133041,0.0018214755410987304,0.7092658375819602],[-0.011806662787775084,0.11681353118692114,0.1545118636443943,0.9999975405932234,-0.00175907450689116,0.0008308781759418725,0.0010649440550397678]]})
13:26:25.850[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 5
13:26:25.855[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 5
13:26:25.861[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 5
13:26:25.862[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 5
13:26:25.862[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.84043秒。
13:26:25.890[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.866"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:26:27.857[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:26:27.859[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:26:27.860[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:26:27.903[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:26:27.904[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:27.904[I] 创建物体模型_1: 开始创建模型。请稍候。
13:26:27.906[D] 收到相机应答信息耗时： 0.0021543
13:26:27.906[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:27.907[D] 收到相机应答信息耗时： 0.0010468
13:26:27.907[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:26:27.908[D] 收到相机应答信息耗时： 0.0011024
13:26:27.908[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:26:27.909[D] 收到相机应答信息耗时： 0.0009714
13:26:27.986[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:26:27.987[D] 收到相机应答信息耗时： 0.0010633
13:26:27.996[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:27.997[D] 收到相机应答信息耗时： 0.0009241
13:26:27.997[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:26:28.070[I] 创建物体模型_1: 模型被成功创建。
13:26:29.779[D] 收到相机应答信息耗时： 1.78207
13:26:29.828[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:26:29.828[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:26:30.080[D] Normal Filter Main Normal: 0 , 0 , -1
13:26:30.342[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:26:30.536[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:30.537[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:30.614[I] 数据重复并串接_1: 重复4次。
13:26:30.614[I] 数据重复并串接_2: 重复4次。
13:26:30.646[I] [ printSampleResult ] 采样结束。
采样后点云中点数：295.
对应的采样采样间隔：0.5625。
13:26:30.646[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:26:30.646[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:26:30.796[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:30.797[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180161
13:26:30.798[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114555
13:26:30.800[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.523331 [mm], validation score: 0.996287.
13:26:30.801[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191034
13:26:30.802[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118777
13:26:30.803[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.491759 [mm], validation score: 0.997131.
13:26:30.804[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183296
13:26:30.805[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114826
13:26:30.807[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508957 [mm], validation score: 0.996515.
13:26:30.808[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018872
13:26:30.808[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125671
13:26:30.810[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.762516 [mm], validation score: 0.992819.
13:26:30.810[I] 3D精匹配_2: 匹配得分: ([0.9962870478630066], [0.9971314072608948], [0.9965147376060486], [0.9928193688392639])
13:26:30.814[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:30.815[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180009
13:26:30.816[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115113
13:26:30.818[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.525919 [mm], validation score: 0.961611.
13:26:30.819[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191203
13:26:30.819[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116971
13:26:30.821[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.491341 [mm], validation score: 0.968969.
13:26:30.822[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018456
13:26:30.823[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113579
13:26:30.825[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511243 [mm], validation score: 0.963143.
13:26:30.826[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188705
13:26:30.827[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126193
13:26:30.829[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.768163 [mm], validation score: 0.924688.
13:26:30.829[I] 3D精匹配_1: 匹配得分: ([0.9616113305091858], [0.9689694046974182], [0.9631425142288208], [0.9246882200241089])
13:26:30.829[I] 调整位姿_1: 开始运行。
13:26:30.830[I] 调整位姿_1: 16个子步骤运行结束。
13:26:30.830[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15355970707385902,-0.11063179702667378,0.15400399474288684,0.707893036221196,-0.006658225377662001,0.002178607002727954,-0.7062849077927998],[0.15259588136566024,0.11723580549432276,0.1540526276115659,0.7084574461558605,-0.0020133633857405456,0.0007543027593446556,-0.7057502563807826],[-0.011206089282195852,-0.11070150236420892,0.15462323132906364,0.7085133176707501,-0.0005719163254541919,-0.003459499115216892,-0.7056887298666285],[-0.011533594684085088,0.11708914072660452,0.15435880991736828,0.7071146939242586,-0.002043653094485352,-0.002756512508621139,-0.7070905421211777]]})
13:26:30.841[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 6
13:26:30.847[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 6
13:26:30.854[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 6
13:26:30.859[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 6
13:26:30.859[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.95645秒。
13:26:30.879[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.975"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:26:32.089[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:26:32.091[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:26:32.092[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:26:32.118[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:26:32.118[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:32.118[I] 创建物体模型_1: 开始创建模型。请稍候。
13:26:32.120[D] 收到相机应答信息耗时： 0.0022341
13:26:32.120[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:32.121[D] 收到相机应答信息耗时： 0.0011226
13:26:32.122[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:26:32.123[D] 收到相机应答信息耗时： 0.0009378
13:26:32.123[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:26:32.124[D] 收到相机应答信息耗时： 0.0010947
13:26:32.197[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:26:32.198[D] 收到相机应答信息耗时： 0.0009931
13:26:32.206[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:32.207[D] 收到相机应答信息耗时： 0.0009457
13:26:32.207[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:26:32.290[I] 创建物体模型_1: 模型被成功创建。
13:26:33.863[D] 收到相机应答信息耗时： 1.65549
13:26:33.918[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:26:33.919[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:26:34.158[D] Normal Filter Main Normal: 0 , 0 , -1
13:26:34.417[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:26:34.606[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:34.607[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:34.670[I] 数据重复并串接_1: 重复4次。
13:26:34.670[I] 数据重复并串接_2: 重复4次。
13:26:34.708[I] [ printSampleResult ] 采样结束。
采样后点云中点数：294.
对应的采样采样间隔：0.5625。
13:26:34.708[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:26:34.708[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:26:34.858[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:34.859[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177264
13:26:34.859[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116821
13:26:34.861[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.519463 [mm], validation score: 0.996361.
13:26:34.862[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190816
13:26:34.863[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122446
13:26:34.864[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.489717 [mm], validation score: 0.997043.
13:26:34.865[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185848
13:26:34.866[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114212
13:26:34.868[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.526208 [mm], validation score: 0.996008.
13:26:34.868[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188179
13:26:34.869[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125489
13:26:34.871[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.765738 [mm], validation score: 0.992762.
13:26:34.871[I] 3D精匹配_2: 匹配得分: ([0.996361255645752], [0.9970431923866272], [0.99600750207901], [0.9927623867988586])
13:26:34.875[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:34.876[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178233
13:26:34.877[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116677
13:26:34.879[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.520386 [mm], validation score: 0.962113.
13:26:34.880[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190277
13:26:34.881[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123758
13:26:34.883[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.489345 [mm], validation score: 0.967943.
13:26:34.883[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186104
13:26:34.884[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114874
13:26:34.886[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.517087 [mm], validation score: 0.958415.
13:26:34.887[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018842
13:26:34.888[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126341
13:26:34.890[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.771477 [mm], validation score: 0.924307.
13:26:34.890[I] 3D精匹配_1: 匹配得分: ([0.9621130228042603], [0.9679426550865173], [0.9584152102470398], [0.9243068695068359])
13:26:34.890[I] 调整位姿_1: 开始运行。
13:26:34.890[I] 调整位姿_1: 16个子步骤运行结束。
13:26:34.890[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15363397433323572,-0.11052631294881979,0.15417397569969937,0.7087814284892693,-0.006760728502513508,0.000569896068712241,-0.7053955304630848],[0.15276736654809703,0.11705147625813422,0.15407303510851178,0.7077885776938083,-0.002326179783456843,0.00015400325008817304,-0.7064204799245205],[-0.011004324092736772,-0.11077964954668743,0.15454557587559625,0.9999879308192546,-0.0022452982139428697,-0.002948068329688635,0.0032257936848727963],[-0.011664378458306916,0.11704189821687136,0.1544422350560597,-0.9999943026249536,0.003298699418113434,-0.00029735649413628276,0.0006518273523941692]]})
13:26:34.902[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 7
13:26:34.908[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 7
13:26:34.916[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 7
13:26:34.925[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 7
13:26:34.925[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.80781秒。
13:26:34.949[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.829"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:26:36.207[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:26:36.209[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:26:36.210[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:26:36.246[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:26:36.247[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:36.247[I] 创建物体模型_1: 开始创建模型。请稍候。
13:26:36.249[D] 收到相机应答信息耗时： 0.0019874
13:26:36.249[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:36.250[D] 收到相机应答信息耗时： 0.0009423
13:26:36.250[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:26:36.251[D] 收到相机应答信息耗时： 0.0009104
13:26:36.251[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:26:36.252[D] 收到相机应答信息耗时： 0.0011117
13:26:36.326[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:26:36.419[I] 创建物体模型_1: 模型被成功创建。
13:26:36.466[D] 收到相机应答信息耗时： 0.14074
13:26:36.471[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:36.494[D] 收到相机应答信息耗时： 0.0225598
13:26:36.494[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:26:38.005[D] 收到相机应答信息耗时： 1.51088
13:26:38.056[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:26:38.057[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:26:38.305[D] Normal Filter Main Normal: 0 , 0 , -1
13:26:38.566[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:26:38.774[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:38.775[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:38.846[I] 数据重复并串接_1: 重复4次。
13:26:38.846[I] 数据重复并串接_2: 重复4次。
13:26:38.849[I] [ printSampleResult ] 采样结束。
采样后点云中点数：295.
对应的采样采样间隔：0.5625。
13:26:38.849[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:26:38.849[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:26:38.997[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:38.997[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180815
13:26:38.998[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114159
13:26:39.000[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.553349 [mm], validation score: 0.996013.
13:26:39.001[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190621
13:26:39.001[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121719
13:26:39.003[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.499027 [mm], validation score: 0.996957.
13:26:39.004[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183293
13:26:39.005[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112721
13:26:39.007[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507237 [mm], validation score: 0.996632.
13:26:39.007[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187546
13:26:39.008[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118861
13:26:39.010[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.743458 [mm], validation score: 0.993288.
13:26:39.010[I] 3D精匹配_2: 匹配得分: ([0.9960129857063293], [0.9969569444656372], [0.9966315627098083], [0.9932882189750671])
13:26:39.016[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:39.016[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180336
13:26:39.017[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115588
13:26:39.019[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.555618 [mm], validation score: 0.958654.
13:26:39.020[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190311
13:26:39.021[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123188
13:26:39.023[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.501686 [mm], validation score: 0.96711.
13:26:39.024[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182991
13:26:39.025[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113931
13:26:39.027[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507226 [mm], validation score: 0.964296.
13:26:39.028[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187819
13:26:39.028[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121408
13:26:39.030[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.732744 [mm], validation score: 0.931433.
13:26:39.031[I] 3D精匹配_1: 匹配得分: ([0.9586536288261414], [0.9671103358268738], [0.9642958641052246], [0.9314332008361816])
13:26:39.031[I] 调整位姿_1: 开始运行。
13:26:39.031[I] 调整位姿_1: 16个子步骤运行结束。
13:26:39.031[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15361224027896153,-0.11062467516848165,0.15407605586197515,0.7074700161032135,-0.005819738913151322,0.00079535473343058,-0.7067189500535197],[0.15267625476177382,0.11734381631842324,0.15398458796301084,0.7083221950923241,-0.0030612591796800553,0.0004748582252879696,-0.705882476862468],[-0.01121051875220952,-0.11067272587471924,0.15467700186828104,0.9999893918357129,-0.002599219583568722,0.0009203033690167695,0.0036896226540132303],[-0.011507994419422435,0.11717664675325175,0.15420196608407588,-0.706097821482923,0.0019322918915935915,0.005043442639279458,0.7080937059679739]]})
13:26:39.041[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 8
13:26:39.048[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 8
13:26:39.061[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 8
13:26:39.061[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 8
13:26:39.061[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.81388秒。
13:26:39.063[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.815"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:26:40.298[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:26:40.300[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:26:40.301[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:26:40.332[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:26:40.332[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:40.333[I] 创建物体模型_1: 开始创建模型。请稍候。
13:26:40.472[D] 收到相机应答信息耗时： 0.139497
13:26:40.473[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:40.474[D] 收到相机应答信息耗时： 0.0011221
13:26:40.474[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:26:40.474[I] 创建物体模型_1: 模型被成功创建。
13:26:40.475[D] 收到相机应答信息耗时： 0.0008495
13:26:40.475[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:26:40.498[D] 收到相机应答信息耗时： 0.0228259
13:26:40.562[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:26:40.564[D] 收到相机应答信息耗时： 0.001119
13:26:40.569[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:40.569[D] 收到相机应答信息耗时： 0.0006063
13:26:40.570[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:26:42.005[D] 收到相机应答信息耗时： 1.43485
13:26:42.056[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:26:42.056[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:26:42.303[D] Normal Filter Main Normal: 0 , 0 , -1
13:26:42.567[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:26:42.767[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:42.768[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:42.853[I] 数据重复并串接_1: 重复4次。
13:26:42.853[I] 数据重复并串接_2: 重复4次。
13:26:42.856[I] [ printSampleResult ] 采样结束。
采样后点云中点数：295.
对应的采样采样间隔：0.5625。
13:26:42.856[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:26:42.856[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:26:43.013[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:43.013[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179853
13:26:43.014[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116264
13:26:43.016[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.552609 [mm], validation score: 0.996128.
13:26:43.017[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192374
13:26:43.018[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011467
13:26:43.019[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.45494 [mm], validation score: 0.997516.
13:26:43.020[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186163
13:26:43.021[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115459
13:26:43.023[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.531992 [mm], validation score: 0.995529.
13:26:43.024[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187056
13:26:43.025[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121661
13:26:43.027[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.798058 [mm], validation score: 0.99188.
13:26:43.027[I] 3D精匹配_2: 匹配得分: ([0.996128499507904], [0.9975159168243408], [0.9955285787582397], [0.991880476474762])
13:26:43.032[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:43.032[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178612
13:26:43.033[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117305
13:26:43.035[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.552015 [mm], validation score: 0.95885.
13:26:43.036[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192446
13:26:43.037[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011425
13:26:43.039[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.454212 [mm], validation score: 0.973141.
13:26:43.040[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186329
13:26:43.041[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116543
13:26:43.043[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.532935 [mm], validation score: 0.955616.
13:26:43.044[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186711
13:26:43.045[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124819
13:26:43.046[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.792121 [mm], validation score: 0.91756.
13:26:43.047[I] 3D精匹配_1: 匹配得分: ([0.9588497281074524], [0.9731413125991821], [0.9556164145469666], [0.917560338973999])
13:26:43.047[I] 调整位姿_1: 开始运行。
13:26:43.047[I] 调整位姿_1: 16个子步骤运行结束。
13:26:43.047[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15357534632797362,-0.11065958739345197,0.1539847670006822,0.7061896364583966,0.002577827755473817,0.006142649051826021,0.7079913982708026],[0.1526487742068633,0.1172839294383273,0.1539569857081473,0.9999884646965732,-0.002302167167239789,0.002971028311062607,0.0029905669862005935],[-0.011341275899640152,-0.11071787154597193,0.1546092416295377,0.7062169508510382,-0.004502147022586769,-0.0011509030316450724,0.7079802429623733],[-0.011744027159476374,0.1169280480469124,0.15443522768772855,0.9999952316909223,-0.0030682326430257426,-0.00012758471519625587,-0.0003259846736932626]]})
13:26:43.063[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 9
13:26:43.065[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 9
13:26:43.072[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 9
13:26:43.074[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 9
13:26:43.075[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.74248秒。
13:26:43.083[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.749"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:26:44.040[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:26:44.042[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:26:44.042[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:26:44.068[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:26:44.068[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:44.068[I] 创建物体模型_1: 开始创建模型。请稍候。
13:26:44.071[D] 收到相机应答信息耗时： 0.0021603
13:26:44.071[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:44.072[D] 收到相机应答信息耗时： 0.0010727
13:26:44.072[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:26:44.073[D] 收到相机应答信息耗时： 0.0010476
13:26:44.073[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:26:44.074[D] 收到相机应答信息耗时： 0.0009157
13:26:44.149[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:26:44.150[D] 收到相机应答信息耗时： 0.0009992
13:26:44.157[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:44.158[D] 收到相机应答信息耗时： 0.0009308
13:26:44.158[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:26:44.230[I] 创建物体模型_1: 模型被成功创建。
13:26:45.880[D] 收到相机应答信息耗时： 1.72181
13:26:45.931[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:26:45.931[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:26:46.175[D] Normal Filter Main Normal: 0 , 0 , -1
13:26:46.424[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:26:46.617[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:46.618[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:46.694[I] 数据重复并串接_1: 重复4次。
13:26:46.694[I] 数据重复并串接_2: 重复4次。
13:26:46.721[I] [ printSampleResult ] 采样结束。
采样后点云中点数：295.
对应的采样采样间隔：0.5625。
13:26:46.721[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:26:46.721[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:26:46.864[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:46.864[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179397
13:26:46.865[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116742
13:26:46.868[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.541533 [mm], validation score: 0.996327.
13:26:46.869[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192218
13:26:46.870[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116809
13:26:46.872[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.531804 [mm], validation score: 0.996605.
13:26:46.873[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185114
13:26:46.874[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117436
13:26:46.875[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.605782 [mm], validation score: 0.994986.
13:26:46.876[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186533
13:26:46.877[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123675
13:26:46.879[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.669342 [mm], validation score: 0.994082.
13:26:46.879[I] 3D精匹配_2: 匹配得分: ([0.9963269233703613], [0.9966045022010803], [0.9949862957000732], [0.9940820336341858])
13:26:46.883[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:46.884[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180793
13:26:46.885[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113998
13:26:46.886[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.541042 [mm], validation score: 0.961285.
13:26:46.887[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191127
13:26:46.888[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118265
13:26:46.890[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.530283 [mm], validation score: 0.963597.
13:26:46.891[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185165
13:26:46.891[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011686
13:26:46.893[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.5979 [mm], validation score: 0.949388.
13:26:46.894[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018596
13:26:46.895[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126352
13:26:46.897[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.680596 [mm], validation score: 0.937299.
13:26:46.897[I] 3D精匹配_1: 匹配得分: ([0.9612851142883301], [0.9635970592498779], [0.9493881464004517], [0.9372990131378174])
13:26:46.897[I] 调整位姿_1: 开始运行。
13:26:46.898[I] 调整位姿_1: 16个子步骤运行结束。
13:26:46.898[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1538583045545336,-0.11028930781185123,0.15393379802686247,0.7046265395326767,0.0020680487771361934,0.006219148337722066,0.709548085160135],[0.1529016085513291,0.11699024647286163,0.15405720138558654,0.9999982503164275,-0.0008987352699855559,0.0016061000638585218,0.00033478587620255906],[-0.01132576266643573,-0.11050697323837036,0.15448559367216297,0.7060780103498806,-0.0011503761220034233,0.000857487151365981,0.7081326038609699],[-0.011347982465663951,0.11725487970680804,0.15427790298902844,0.9999841757473081,-0.003959642080246543,-0.001227150849488326,-0.003803102728769254]]})
13:26:46.909[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 10
13:26:46.918[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 10
13:26:46.923[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 10
13:26:46.923[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 10
13:26:46.923[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.85569秒。
13:26:46.925[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.856"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:26:47.883[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:26:47.884[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:26:47.887[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:26:47.914[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:26:47.914[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:47.914[I] 创建物体模型_1: 开始创建模型。请稍候。
13:26:47.916[D] 收到相机应答信息耗时： 0.00206
13:26:47.917[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:47.917[D] 收到相机应答信息耗时： 0.000934
13:26:47.918[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:26:47.919[D] 收到相机应答信息耗时： 0.0009418
13:26:47.919[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:26:47.920[D] 收到相机应答信息耗时： 0.0011972
13:26:47.994[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:26:47.995[D] 收到相机应答信息耗时： 0.0009255
13:26:48.002[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:48.003[D] 收到相机应答信息耗时： 0.0008866
13:26:48.003[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:26:48.082[I] 创建物体模型_1: 模型被成功创建。
13:26:49.674[D] 收到相机应答信息耗时： 1.67126
13:26:49.725[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:26:49.725[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:26:49.970[D] Normal Filter Main Normal: 0 , 0 , -1
13:26:50.229[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:26:50.445[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:50.446[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:50.536[I] 数据重复并串接_1: 重复4次。
13:26:50.536[I] 数据重复并串接_2: 重复4次。
13:26:50.539[I] [ printSampleResult ] 采样结束。
采样后点云中点数：294.
对应的采样采样间隔：0.5625。
13:26:50.539[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:26:50.540[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:26:50.683[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:50.683[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179009
13:26:50.684[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011708
13:26:50.686[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.539481 [mm], validation score: 0.996519.
13:26:50.687[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191831
13:26:50.688[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113144
13:26:50.689[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.4777 [mm], validation score: 0.997198.
13:26:50.690[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183887
13:26:50.691[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112181
13:26:50.693[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.528021 [mm], validation score: 0.996308.
13:26:50.694[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018791
13:26:50.694[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121661
13:26:50.696[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.673602 [mm], validation score: 0.994183.
13:26:50.696[I] 3D精匹配_2: 匹配得分: ([0.996519148349762], [0.9971977472305298], [0.9963079690933228], [0.9941828846931458])
13:26:50.702[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:50.702[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179011
13:26:50.703[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011723
13:26:50.705[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.539018 [mm], validation score: 0.962616.
13:26:50.706[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191661
13:26:50.707[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115243
13:26:50.709[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.474323 [mm], validation score: 0.970078.
13:26:50.710[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183762
13:26:50.711[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112989
13:26:50.712[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.523424 [mm], validation score: 0.961136.
13:26:50.713[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187668
13:26:50.714[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119616
13:26:50.716[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.668539 [mm], validation score: 0.939253.
13:26:50.716[I] 3D精匹配_1: 匹配得分: ([0.9626163840293884], [0.9700775742530823], [0.961135745048523], [0.9392528533935547])
13:26:50.716[I] 调整位姿_1: 开始运行。
13:26:50.717[I] 调整位姿_1: 16个子步骤运行结束。
13:26:50.717[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1536476263570389,-0.11064903685737085,0.1539409285163027,0.7082520640581217,-0.006673023650190816,0.002901493905583998,-0.7059221386568703],[0.15274106323354694,0.11727231328441673,0.15393569189411083,0.7079581068536887,-0.003438199962939576,0.000386522510468982,-0.7062459545523109],[-0.011254142755265373,-0.11056407702012785,0.1544646630910278,0.7089416697651832,-0.001615964171232028,0.00019575758455936632,-0.7052652403240353],[-0.011607020727028905,0.11687438189341923,0.15450227056791044,0.7076240984562557,-0.0018188463470192179,-0.0009380245105420478,-0.7065861215676079]]})
13:26:50.729[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 11
13:26:50.739[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 11
13:26:50.744[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 11
13:26:50.745[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 11
13:26:50.745[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.83134秒。
13:26:50.747[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.833"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:26:51.770[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:26:51.773[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:26:51.775[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:26:51.798[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:26:51.799[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:51.799[I] 创建物体模型_1: 开始创建模型。请稍候。
13:26:51.801[D] 收到相机应答信息耗时： 0.0022512
13:26:51.801[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:51.802[D] 收到相机应答信息耗时： 0.0010191
13:26:51.802[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:26:51.803[D] 收到相机应答信息耗时： 0.0010317
13:26:51.803[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:26:51.804[D] 收到相机应答信息耗时： 0.0009978
13:26:51.879[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:26:51.880[D] 收到相机应答信息耗时： 0.0010411
13:26:51.888[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:51.889[D] 收到相机应答信息耗时： 0.0009525
13:26:51.889[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:26:51.970[I] 创建物体模型_1: 模型被成功创建。
13:26:53.376[D] 收到相机应答信息耗时： 1.48711
13:26:53.427[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:26:53.427[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:26:53.679[D] Normal Filter Main Normal: 0 , 0 , -1
13:26:53.931[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:26:54.139[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:54.140[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:54.205[I] 数据重复并串接_2: 重复4次。
13:26:54.205[I] 数据重复并串接_1: 重复4次。
13:26:54.228[I] [ printSampleResult ] 采样结束。
采样后点云中点数：295.
对应的采样采样间隔：0.5625。
13:26:54.229[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:26:54.229[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:26:54.378[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:54.378[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182089
13:26:54.379[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113279
13:26:54.381[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.626382 [mm], validation score: 0.993692.
13:26:54.382[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191513
13:26:54.382[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115273
13:26:54.384[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.532067 [mm], validation score: 0.996508.
13:26:54.385[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187465
13:26:54.386[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120785
13:26:54.388[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.52173 [mm], validation score: 0.995766.
13:26:54.389[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188712
13:26:54.389[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001282
13:26:54.391[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.743727 [mm], validation score: 0.992597.
13:26:54.391[I] 3D精匹配_2: 匹配得分: ([0.9936916828155518], [0.9965077638626099], [0.995765745639801], [0.9925965070724487])
13:26:54.395[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:54.396[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182119
13:26:54.397[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112826
13:26:54.399[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.600386 [mm], validation score: 0.940243.
13:26:54.400[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190843
13:26:54.400[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120486
13:26:54.401[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.528877 [mm], validation score: 0.96285.
13:26:54.402[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187487
13:26:54.403[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012154
13:26:54.404[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.494724 [mm], validation score: 0.95764.
13:26:54.405[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189232
13:26:54.406[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129708
13:26:54.409[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.744167 [mm], validation score: 0.924346.
13:26:54.409[I] 3D精匹配_1: 匹配得分: ([0.9402432441711426], [0.9628502726554871], [0.9576404094696045], [0.9243464469909668])
13:26:54.409[I] 调整位姿_1: 开始运行。
13:26:54.409[I] 调整位姿_1: 16个子步骤运行结束。
13:26:54.409[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15368077357062973,-0.1104062523649518,0.15391814726851716,0.7057542512003722,0.0020868648051433287,0.005251273268608525,0.7084341931590716],[0.15260219420289795,0.11713283719782407,0.15399544241573104,0.9999939533600808,-0.001550922860070119,0.0020710333931197,0.002323510757985703],[-0.011197014560210716,-0.11050182947233664,0.15445509242565003,0.7051879244250683,-0.002907301406464524,-0.001077187256515125,0.7090136659551851],[-0.01188215725139262,0.11653352978374276,0.15448692304582168,0.9999941506815342,-0.0018847086735162117,0.000925150974536119,0.0027001058511776986]]})
13:26:54.422[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 12
13:26:54.434[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 12
13:26:54.443[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 12
13:26:54.444[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 12
13:26:54.444[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.64622秒。
13:26:54.446[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.646"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:26:55.719[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:26:55.721[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:26:55.722[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:26:55.748[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:26:55.748[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:55.748[I] 创建物体模型_1: 开始创建模型。请稍候。
13:26:55.750[D] 收到相机应答信息耗时： 0.0022199
13:26:55.750[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:55.752[D] 收到相机应答信息耗时： 0.001211
13:26:55.752[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:26:55.753[D] 收到相机应答信息耗时： 0.0009068
13:26:55.753[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:26:55.754[D] 收到相机应答信息耗时： 0.001047
13:26:55.833[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:26:55.834[D] 收到相机应答信息耗时： 0.0009166
13:26:55.843[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:26:55.844[D] 收到相机应答信息耗时： 0.0009046
13:26:55.844[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:26:55.920[I] 创建物体模型_1: 模型被成功创建。
13:26:57.332[D] 收到相机应答信息耗时： 1.48815
13:26:57.385[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:26:57.385[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:26:57.630[D] Normal Filter Main Normal: 0 , 0 , -1
13:26:57.865[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:26:58.087[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:58.088[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:26:58.151[I] 数据重复并串接_1: 重复4次。
13:26:58.151[I] 数据重复并串接_2: 重复4次。
13:26:58.154[I] [ printSampleResult ] 采样结束。
采样后点云中点数：295.
对应的采样采样间隔：0.5625。
13:26:58.154[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:26:58.154[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:26:58.304[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:58.305[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183508
13:26:58.306[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113453
13:26:58.308[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.540068 [mm], validation score: 0.995928.
13:26:58.309[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191297
13:26:58.309[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011732
13:26:58.311[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.520732 [mm], validation score: 0.996574.
13:26:58.312[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185339
13:26:58.313[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115836
13:26:58.315[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.618381 [mm], validation score: 0.994462.
13:26:58.316[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189744
13:26:58.316[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129213
13:26:58.318[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.773038 [mm], validation score: 0.992696.
13:26:58.318[I] 3D精匹配_2: 匹配得分: ([0.9959283471107483], [0.9965739250183105], [0.9944621920585632], [0.9926958084106445])
13:26:58.324[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:26:58.325[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184461
13:26:58.325[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115244
13:26:58.327[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.541463 [mm], validation score: 0.958678.
13:26:58.328[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190949
13:26:58.329[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120192
13:26:58.330[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.519499 [mm], validation score: 0.963579.
13:26:58.331[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185294
13:26:58.332[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116462
13:26:58.334[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.615289 [mm], validation score: 0.943945.
13:26:58.335[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189503
13:26:58.336[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129288
13:26:58.338[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.767596 [mm], validation score: 0.924951.
13:26:58.338[I] 3D精匹配_1: 匹配得分: ([0.9586783051490784], [0.9635785818099976], [0.9439447522163391], [0.9249513149261475])
13:26:58.338[I] 调整位姿_1: 开始运行。
13:26:58.338[I] 调整位姿_1: 16个子步骤运行结束。
13:26:58.338[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1537592254137704,-0.11026898494808782,0.1538432670946117,0.9999646925358088,-0.001971035584194696,0.006891899615579909,0.0043852502984803605],[0.15273943285324632,0.11713357762428771,0.15400690452783894,0.9999965772448061,-0.0012779461924641439,0.001980358624013124,0.0011360158105678253],[-0.011085567414688413,-0.11070116579646425,0.1546623628162611,0.7052366463931399,-0.003474195024027507,0.0013788657471210074,0.7089621296531602],[-0.011381075148921685,0.11718446344324487,0.1542753265143535,-0.7085162630971834,0.0036666279266975668,-0.002440335661187754,-0.7056807390940415]]})
13:26:58.356[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 13
13:26:58.358[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 13
13:26:58.368[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 13
13:26:58.368[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 13
13:26:58.368[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.62087秒。
13:26:58.373[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.624"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:27:03.511[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
13:27:03.513[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
13:27:03.514[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:27:03.539[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:27:03.540[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:27:03.540[I] 创建物体模型_1: 开始创建模型。请稍候。
13:27:03.561[D] 收到相机应答信息耗时： 0.0216309
13:27:03.562[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:27:03.563[D] 收到相机应答信息耗时： 0.001324
13:27:03.563[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
13:27:03.564[D] 收到相机应答信息耗时： 0.0006008
13:27:03.564[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
13:27:03.565[D] 收到相机应答信息耗时： 0.0011077
13:27:03.639[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
13:27:03.641[D] 收到相机应答信息耗时： 0.0009727
13:27:03.648[D] sendAndRecvMsg {"cmd":"GetCameraId"}
13:27:03.649[D] 收到相机应答信息耗时： 0.0009532
13:27:03.649[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
13:27:03.704[I] 创建物体模型_1: 模型被成功创建。
13:27:05.125[D] 收到相机应答信息耗时： 1.4763
13:27:05.182[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
13:27:05.182[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:27:05.453[D] Normal Filter Main Normal: 0 , 0 , -1
13:27:05.692[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:27:05.924[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:27:05.925[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:27:06.003[I] 数据重复并串接_1: 重复4次。
13:27:06.003[I] 数据重复并串接_2: 重复4次。
13:27:06.007[I] [ printSampleResult ] 采样结束。
采样后点云中点数：294.
对应的采样采样间隔：0.5625。
13:27:06.007[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:27:06.007[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:27:06.162[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:27:06.163[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177852
13:27:06.164[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118664
13:27:06.166[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.523678 [mm], validation score: 0.996432.
13:27:06.167[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192096
13:27:06.168[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117376
13:27:06.169[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.563681 [mm], validation score: 0.996188.
13:27:06.170[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184283
13:27:06.171[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116674
13:27:06.173[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.609511 [mm], validation score: 0.994516.
13:27:06.173[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190885
13:27:06.174[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121099
13:27:06.176[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.777196 [mm], validation score: 0.992556.
13:27:06.176[I] 3D精匹配_2: 匹配得分: ([0.9964317679405212], [0.9961877465248108], [0.994516134262085], [0.9925557971000671])
13:27:06.180[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:27:06.181[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178123
13:27:06.181[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118137
13:27:06.183[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.52161 [mm], validation score: 0.962322.
13:27:06.184[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192281
13:27:06.185[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118746
13:27:06.187[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.566345 [mm], validation score: 0.958886.
13:27:06.188[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184847
13:27:06.188[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115824
13:27:06.190[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.60518 [mm], validation score: 0.944413.
13:27:06.191[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190501
13:27:06.192[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122337
13:27:06.194[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.776482 [mm], validation score: 0.92318.
13:27:06.194[I] 3D精匹配_1: 匹配得分: ([0.9623215198516846], [0.9588861465454102], [0.9444127082824707], [0.9231799840927124])
13:27:06.194[I] 调整位姿_1: 开始运行。
13:27:06.195[I] 调整位姿_1: 16个子步骤运行结束。
13:27:06.195[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15360807497506238,-0.11036680384220324,0.15377896840670457,0.7092981131087491,-0.006170238723862019,0.004394822521168523,-0.7048679311966647],[0.15285348032046658,0.11690867094245835,0.1540226407337586,0.7066210765640089,-0.0030069839618998015,0.00011649297373145674,-0.7075857535538437],[-0.010959652861615099,-0.11067478363873082,0.15439095761411914,0.7090868316635922,0.0027489713835066156,-0.0036063261951921437,-0.7051065896224451],[-0.011085964375509162,0.11730667345067525,0.15433255724442918,-0.7040189625198202,0.0015781748293260522,0.0033996919335749906,0.7101712834742766]]})
13:27:06.209[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 14
13:27:06.216[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 14
13:27:06.225[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 14
13:27:06.226[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 14
13:27:06.226[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.68664秒。
13:27:06.233[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.693"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:32:07.222[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08/intri_param.json。
13:32:07.304[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08/extri_param.json。
13:32:13.882[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:32:13.920[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:32:13.920[I] 创建物体模型_1: 开始创建模型。请稍候。
13:32:14.048[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00001.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00001.jpg
13:32:14.085[I] 创建物体模型_1: 模型被成功创建。
13:32:14.123[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:32:14.123[W] 保存图像_1: 由于正在使用虚拟相机，图片不会被保存。
13:32:14.123[W] 保存步骤参数到文件_1: 第1个输入为空！
13:32:14.371[D] Normal Filter Main Normal: 0 , 0 , -1
13:32:14.553[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:32:14.697[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:32:14.699[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:32:14.738[I] 数据重复并串接_1: 重复4次。
13:32:14.738[I] 数据重复并串接_2: 重复4次。
13:32:14.755[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
13:32:14.755[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:32:14.755[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:32:14.801[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:32:14.802[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191627
13:32:14.802[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121377
13:32:14.805[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.681946 [mm], validation score: 0.994249.
13:32:14.805[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185086
13:32:14.805[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116571
13:32:14.807[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.656974 [mm], validation score: 0.994756.
13:32:14.808[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182814
13:32:14.808[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117393
13:32:14.809[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.586774 [mm], validation score: 0.995607.
13:32:14.810[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188477
13:32:14.810[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119757
13:32:14.812[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.69797 [mm], validation score: 0.993652.
13:32:14.812[I] 3D精匹配_2: 匹配得分: ([0.9942492842674255], [0.9947564601898193], [0.9956072568893433], [0.993651807308197])
13:32:14.816[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:32:14.817[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019101
13:32:14.817[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118857
13:32:14.819[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.668248 [mm], validation score: 0.941267.
13:32:14.819[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184689
13:32:14.820[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118233
13:32:14.821[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.651958 [mm], validation score: 0.945401.
13:32:14.821[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182047
13:32:14.821[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113385
13:32:14.823[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588607 [mm], validation score: 0.953407.
13:32:14.823[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186718
13:32:14.824[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124015
13:32:14.826[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.676398 [mm], validation score: 0.936708.
13:32:14.826[I] 3D精匹配_1: 匹配得分: ([0.9412667155265808], [0.9454012513160706], [0.9534065127372742], [0.9367081522941589])
13:32:14.826[I] 调整位姿_1: 开始运行。
13:32:14.826[I] 调整位姿_1: 16个子步骤运行结束。
13:32:14.827[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1518730457343665,-0.07574371034720886,0.15187758283217234,0.7091838394971544,0.0031900529918956503,0.0014256296648270414,-0.7050149451877188],[0.08270282827361598,-0.07581870202610816,0.15219414694729427,0.7094062000897436,-0.004591395371411431,0.005629417230364192,-0.7047624223980877],[0.15087227039884732,0.18196497886596014,0.1522311227157107,0.710110588055959,-0.003107739156983874,-0.005058134498281741,-0.7040651319043925],[0.08219627897461446,0.18226537528208028,0.15254000305600202,0.7054465288752576,-0.00687614198188337,0.004459150308609498,-0.7087157607587204]]})
13:32:14.831[W] 通过统计数据检查位姿重复精度_3: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点21.xlsx.
13:32:14.831[W] 通过统计数据检查位姿重复精度_3: 无输出。 自动填充输出。
13:32:14.834[W] 通过统计数据检查位姿重复精度_2: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点11.xlsx.
13:32:14.834[W] 通过统计数据检查位姿重复精度_4: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点31.xlsx.
13:32:14.834[W] 通过统计数据检查位姿重复精度_2: 无输出。 自动填充输出。
13:32:14.834[W] 通过统计数据检查位姿重复精度_4: 无输出。 自动填充输出。
13:32:14.834[W] 通过统计数据检查位姿重复精度_1: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点41.xlsx.
13:32:14.835[W] 通过统计数据检查位姿重复精度_1: 无输出。 自动填充输出。
13:32:14.835[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：0.915477秒。
13:32:14.845[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.922"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:32:23.920[I] 位姿步骤编辑器 : 运行了16个步骤。
13:32:59.152[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:32:59.178[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:32:59.178[I] 创建物体模型_1: 开始创建模型。请稍候。
13:32:59.306[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00016.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00016.jpg
13:32:59.314[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:32:59.314[W] 保存图像_1: 由于正在使用虚拟相机，图片不会被保存。
13:32:59.314[W] 保存步骤参数到文件_1: 第1个输入为空！
13:32:59.338[I] 创建物体模型_1: 模型被成功创建。
13:32:59.588[D] Normal Filter Main Normal: 0 , 0 , -1
13:32:59.779[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:32:59.899[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:32:59.900[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:32:59.943[I] 数据重复并串接_1: 重复4次。
13:32:59.943[I] 数据重复并串接_2: 重复4次。
13:32:59.954[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
13:32:59.954[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:32:59.954[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:33:00.001[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:33:00.001[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190937
13:33:00.002[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127733
13:33:00.004[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.727507 [mm], validation score: 0.993427.
13:33:00.004[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192777
13:33:00.005[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126424
13:33:00.007[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.684993 [mm], validation score: 0.993999.
13:33:00.007[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183723
13:33:00.008[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120797
13:33:00.009[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.591231 [mm], validation score: 0.995611.
13:33:00.010[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194807
13:33:00.010[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130433
13:33:00.012[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588918 [mm], validation score: 0.995561.
13:33:00.012[I] 3D精匹配_2: 匹配得分: ([0.9934265613555908], [0.9939987659454346], [0.9956111311912537], [0.9955611228942871])
13:33:00.016[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:33:00.016[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191382
13:33:00.016[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127492
13:33:00.018[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.718807 [mm], validation score: 0.933058.
13:33:00.019[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019208
13:33:00.019[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122314
13:33:00.021[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.696582 [mm], validation score: 0.935398.
13:33:00.021[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001857
13:33:00.022[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118549
13:33:00.023[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.577583 [mm], validation score: 0.954556.
13:33:00.024[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193548
13:33:00.024[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126679
13:33:00.026[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.579903 [mm], validation score: 0.954011.
13:33:00.027[I] 3D精匹配_1: 匹配得分: ([0.9330579042434692], [0.9353984594345093], [0.9545562267303467], [0.9540109634399414])
13:33:00.027[I] 调整位姿_1: 开始运行。
13:33:00.027[I] 调整位姿_1: 16个子步骤运行结束。
13:33:00.027[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15135211245893943,-0.03295224629211593,0.1517740690164182,-0.706147070612153,0.004046633446960622,-0.015450816906235234,0.7078850271622867],[0.08272290881461566,-0.03245389648453767,0.15228679128704958,0.709491933747868,0.0009021018197945625,0.006403490316999046,-0.7046838847815226],[0.15124431956441564,0.22731169059963297,0.15241219921092086,0.7057590719603324,0.009300448702254637,-0.023639297968637184,-0.7079963400973037],[0.08169041561904845,0.22660218788284828,0.15329181362365074,0.7107016902114429,-0.02909149072000126,0.03153532054025169,-0.7021839618338791]]})
13:33:00.032[W] 通过统计数据检查位姿重复精度_3: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点21.xlsx.
13:33:00.032[W] 通过统计数据检查位姿重复精度_3: 无输出。 自动填充输出。
13:33:00.033[W] 通过统计数据检查位姿重复精度_4: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点31.xlsx.
13:33:00.033[W] 通过统计数据检查位姿重复精度_4: 无输出。 自动填充输出。
13:33:00.034[W] 通过统计数据检查位姿重复精度_1: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点41.xlsx.
13:33:00.034[W] 通过统计数据检查位姿重复精度_1: 无输出。 自动填充输出。
13:33:00.035[W] 通过统计数据检查位姿重复精度_2: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点11.xlsx.
13:33:00.036[W] 通过统计数据检查位姿重复精度_2: 无输出。 自动填充输出。
13:33:00.036[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：0.85783秒。
13:33:00.051[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.870"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:33:21.061[I] 相机参数组 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-12/NEC2022AA3000009-EyeToHand-2023-05-08 已更新。
13:33:21.065[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-12/NEC2022AA3000009-EyeToHand-2023-05-08/intri_param.json。
13:33:21.147[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-12/NEC2022AA3000009-EyeToHand-2023-05-08/extri_param.json。
13:33:21.154[D] 相机数据路径D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-12合法。
13:33:27.380[I] 相机参数组 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08 已更新。
13:33:27.383[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08/intri_param.json。
13:33:27.465[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08/extri_param.json。
13:33:27.472[D] 相机数据路径D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/data/2023-05-13合法。
13:33:31.990[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:33:32.019[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:33:32.019[I] 创建物体模型_1: 开始创建模型。请稍候。
13:33:32.127[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00031.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00031.jpg
13:33:32.127[W] 保存图像_1: 由于正在使用虚拟相机，图片不会被保存。
13:33:32.128[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:33:32.128[W] 保存步骤参数到文件_1: 第1个输入为空！
13:33:32.190[I] 创建物体模型_1: 模型被成功创建。
13:33:32.404[D] Normal Filter Main Normal: 0 , 0 , -1
13:33:32.635[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:33:32.817[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:33:32.818[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:33:32.882[I] 数据重复并串接_1: 重复4次。
13:33:32.882[I] 数据重复并串接_2: 重复4次。
13:33:32.885[I] [ printSampleResult ] 采样结束。
采样后点云中点数：294.
对应的采样采样间隔：0.5625。
13:33:32.885[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:33:32.885[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:33:33.027[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:33:33.028[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177852
13:33:33.029[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118664
13:33:33.031[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.523678 [mm], validation score: 0.996432.
13:33:33.031[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192096
13:33:33.032[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117376
13:33:33.034[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.563681 [mm], validation score: 0.996188.
13:33:33.035[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184283
13:33:33.035[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116674
13:33:33.037[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.609511 [mm], validation score: 0.994516.
13:33:33.038[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190885
13:33:33.039[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121099
13:33:33.041[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.777196 [mm], validation score: 0.992556.
13:33:33.041[I] 3D精匹配_2: 匹配得分: ([0.9964317679405212], [0.9961877465248108], [0.994516134262085], [0.9925557971000671])
13:33:33.045[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:33:33.045[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178123
13:33:33.046[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118137
13:33:33.048[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.52161 [mm], validation score: 0.962322.
13:33:33.048[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192281
13:33:33.049[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118746
13:33:33.051[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.566345 [mm], validation score: 0.958886.
13:33:33.052[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184847
13:33:33.052[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115824
13:33:33.054[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.60518 [mm], validation score: 0.944413.
13:33:33.055[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190501
13:33:33.056[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122337
13:33:33.058[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.776482 [mm], validation score: 0.92318.
13:33:33.058[I] 3D精匹配_1: 匹配得分: ([0.9623215198516846], [0.9588861465454102], [0.9444127082824707], [0.9231799840927124])
13:33:33.059[I] 调整位姿_1: 开始运行。
13:33:33.059[I] 调整位姿_1: 16个子步骤运行结束。
13:33:33.059[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15360807497506238,-0.11036680384220324,0.15377896840670457,0.7092981131087491,-0.006170238723862019,0.004394822521168523,-0.7048679311966647],[0.15285348032046658,0.11690867094245835,0.1540226407337586,0.7066210765640089,-0.0030069839618998015,0.00011649297373145674,-0.7075857535538437],[-0.010959652861615099,-0.11067478363873082,0.15439095761411914,0.7090868316635922,0.0027489713835066156,-0.0036063261951921437,-0.7051065896224451],[-0.011085964375509162,0.11730667345067525,0.15433255724442918,-0.7040189625198202,0.0015781748293260522,0.0033996919335749906,0.7101712834742766]]})
13:33:33.064[W] 通过统计数据检查位姿重复精度_3: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点21.xlsx.
13:33:33.064[W] 通过统计数据检查位姿重复精度_3: 无输出。 自动填充输出。
13:33:33.065[W] 通过统计数据检查位姿重复精度_4: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点31.xlsx.
13:33:33.065[W] 通过统计数据检查位姿重复精度_2: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点11.xlsx.
13:33:33.065[W] 通过统计数据检查位姿重复精度_4: 无输出。 自动填充输出。
13:33:33.065[W] 通过统计数据检查位姿重复精度_2: 无输出。 自动填充输出。
13:33:33.067[W] 通过统计数据检查位姿重复精度_1: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点41.xlsx.
13:33:33.067[W] 通过统计数据检查位姿重复精度_1: 无输出。 自动填充输出。
13:33:33.067[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：1.04845秒。
13:33:33.068[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"1.049"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:33:53.746[I] 位姿步骤编辑器 : 运行了16个步骤。
13:35:06.509[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:35:06.539[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:35:06.539[I] 创建物体模型_1: 开始创建模型。请稍候。
13:35:06.666[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00000.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00000.jpg
13:35:06.673[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:35:06.674[W] 保存图像_1: 由于正在使用虚拟相机，图片不会被保存。
13:35:06.674[W] 保存步骤参数到文件_1: 第1个输入为空！
13:35:06.697[I] 创建物体模型_1: 模型被成功创建。
13:35:06.942[D] Normal Filter Main Normal: 0 , 0 , -1
13:35:07.152[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:35:07.270[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:35:07.271[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:35:07.308[I] 数据重复并串接_1: 重复4次。
13:35:07.308[I] 数据重复并串接_2: 重复4次。
13:35:07.311[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
13:35:07.311[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:35:07.311[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:35:07.357[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:35:07.357[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186999
13:35:07.357[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118057
13:35:07.359[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.603683 [mm], validation score: 0.99491.
13:35:07.360[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183127
13:35:07.360[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00107879
13:35:07.361[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.459222 [mm], validation score: 0.997392.
13:35:07.362[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018993
13:35:07.362[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123214
13:35:07.364[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.678377 [mm], validation score: 0.994162.
13:35:07.364[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181091
13:35:07.365[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011277
13:35:07.367[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.463642 [mm], validation score: 0.997279.
13:35:07.367[I] 3D精匹配_2: 匹配得分: ([0.9949095845222473], [0.9973919987678528], [0.9941617846488953], [0.997279167175293])
13:35:07.371[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:35:07.372[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186486
13:35:07.372[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116829
13:35:07.374[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.621784 [mm], validation score: 0.94632.
13:35:07.374[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183507
13:35:07.374[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108467
13:35:07.376[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.463572 [mm], validation score: 0.970983.
13:35:07.377[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187614
13:35:07.377[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119286
13:35:07.378[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.656143 [mm], validation score: 0.942245.
13:35:07.379[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018116
13:35:07.379[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114736
13:35:07.381[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.46093 [mm], validation score: 0.971042.
13:35:07.381[I] 3D精匹配_1: 匹配得分: ([0.9463202953338623], [0.9709830284118652], [0.9422453045845032], [0.9710415005683899])
13:35:07.381[I] 调整位姿_1: 开始运行。
13:35:07.382[I] 调整位姿_1: 16个子步骤运行结束。
13:35:07.382[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1529849902355655,-0.12516165393853854,0.1517300942348263,-0.7095497392720364,-0.006846038437860488,-0.0059262840426428836,0.704597174571498],[0.15256932381731408,0.13346588306363782,0.15282956169590522,0.7032360977598949,0.010019882365398141,-0.008634756124172516,-0.7108333375352447],[0.08327934864244455,-0.12513239569327775,0.15220656820206746,0.7048885193295216,0.001187107386829361,0.00473737256530411,-0.70930129239602],[0.08358751379700392,0.1350870058444733,0.15244447164171127,-0.7015507113983961,0.019520414224995283,-0.00770728157724225,0.7123104313258218]]})
13:35:07.386[W] 通过统计数据检查位姿重复精度_3: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点21.xlsx.
13:35:07.386[W] 通过统计数据检查位姿重复精度_3: 无输出。 自动填充输出。
13:35:07.387[W] 通过统计数据检查位姿重复精度_4: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点31.xlsx.
13:35:07.387[W] 通过统计数据检查位姿重复精度_4: 无输出。 自动填充输出。
13:35:07.388[W] 通过统计数据检查位姿重复精度_1: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点41.xlsx.
13:35:07.389[W] 通过统计数据检查位姿重复精度_1: 无输出。 自动填充输出。
13:35:07.389[W] 通过统计数据检查位姿重复精度_2: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点11.xlsx.
13:35:07.390[W] 通过统计数据检查位姿重复精度_2: 无输出。 自动填充输出。
13:35:07.390[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：0.850288秒。
13:35:07.407[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.865"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:35:24.331[I] 位姿步骤编辑器 : 运行了16个步骤。
13:36:11.810[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
13:36:11.838[I] 工程(Vis-模具毛胚定位工位1)开始执行。
13:36:11.838[I] 创建物体模型_1: 开始创建模型。请稍候。
13:36:11.952[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00001.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00001.jpg
13:36:11.958[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
13:36:11.959[W] 保存图像_1: 由于正在使用虚拟相机，图片不会被保存。
13:36:11.959[W] 保存步骤参数到文件_1: 第1个输入为空！
13:36:12.021[I] 创建物体模型_1: 模型被成功创建。
13:36:12.227[D] Normal Filter Main Normal: 0 , 0 , -1
13:36:12.402[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
13:36:12.540[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:36:12.541[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
13:36:12.582[I] 数据重复并串接_1: 重复4次。
13:36:12.582[I] 数据重复并串接_2: 重复4次。
13:36:12.586[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为176，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
13:36:12.586[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
13:36:12.586[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
13:36:12.630[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:36:12.630[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191627
13:36:12.630[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121377
13:36:12.632[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.681946 [mm], validation score: 0.994249.
13:36:12.633[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185086
13:36:12.633[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116571
13:36:12.635[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.656974 [mm], validation score: 0.994756.
13:36:12.635[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182814
13:36:12.635[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117393
13:36:12.637[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.586774 [mm], validation score: 0.995607.
13:36:12.637[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188477
13:36:12.638[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119757
13:36:12.639[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.69797 [mm], validation score: 0.993652.
13:36:12.639[I] 3D精匹配_2: 匹配得分: ([0.9942492842674255], [0.9947564601898193], [0.9956072568893433], [0.993651807308197])
13:36:12.643[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
13:36:12.643[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019101
13:36:12.644[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118857
13:36:12.645[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.668248 [mm], validation score: 0.941267.
13:36:12.646[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184689
13:36:12.646[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118233
13:36:12.648[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.651958 [mm], validation score: 0.945401.
13:36:12.649[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182047
13:36:12.649[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113385
13:36:12.651[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588607 [mm], validation score: 0.953407.
13:36:12.651[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186718
13:36:12.651[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124015
13:36:12.653[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.676398 [mm], validation score: 0.936708.
13:36:12.653[I] 3D精匹配_1: 匹配得分: ([0.9412667155265808], [0.9454012513160706], [0.9534065127372742], [0.9367081522941589])
13:36:12.653[I] 调整位姿_1: 开始运行。
13:36:12.653[I] 调整位姿_1: 16个子步骤运行结束。
13:36:12.654[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1518730457343665,-0.07574371034720886,0.15187758283217234,0.7091838394971544,0.0031900529918956503,0.0014256296648270414,-0.7050149451877188],[0.08270282827361598,-0.07581870202610816,0.15219414694729427,0.7094062000897436,-0.004591395371411431,0.005629417230364192,-0.7047624223980877],[0.15087227039884732,0.18196497886596014,0.1522311227157107,0.710110588055959,-0.003107739156983874,-0.005058134498281741,-0.7040651319043925],[0.08219627897461446,0.18226537528208028,0.15254000305600202,0.7054465288752576,-0.00687614198188337,0.004459150308609498,-0.7087157607587204]]})
13:36:12.659[W] 通过统计数据检查位姿重复精度_4: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点31.xlsx.
13:36:12.659[W] 通过统计数据检查位姿重复精度_4: 无输出。 自动填充输出。
13:36:12.660[W] 通过统计数据检查位姿重复精度_2: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点11.xlsx.
13:36:12.660[W] 通过统计数据检查位姿重复精度_3: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点21.xlsx.
13:36:12.660[W] 通过统计数据检查位姿重复精度_3: 无输出。 自动填充输出。
13:36:12.660[W] 通过统计数据检查位姿重复精度_2: 无输出。 自动填充输出。
13:36:12.661[W] 通过统计数据检查位姿重复精度_1: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/点41.xlsx.
13:36:12.661[W] 通过统计数据检查位姿重复精度_1: 无输出。 自动填充输出。
13:36:12.661[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：0.823702秒。
13:36:12.678[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.840"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
13:36:21.987[I] 位姿步骤编辑器 : 运行了16个步骤。
13:37:44.817[I] 位姿步骤编辑器 : 运行了16个步骤。
13:54:06.674[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/calibration/NEC2022AA3000009-EyeToHand-2023-05-08/intri_param.json。
13:54:06.756[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/calibration/NEC2022AA3000009-EyeToHand-2023-05-08/extri_param.json。
14:05:45.832[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:05:45.834[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:05:45.835[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:05:45.870[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:05:45.871[I] 创建物体模型_1: 开始创建模型。请稍候。
14:05:45.872[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:05:45.873[D] 收到相机应答信息耗时： 0.0013446
14:05:45.873[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:05:45.874[D] 收到相机应答信息耗时： 0.0008745
14:05:45.874[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:05:45.875[D] 收到相机应答信息耗时： 0.0007378
14:05:45.875[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:05:45.876[D] 收到相机应答信息耗时： 0.0006906
14:05:45.955[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:05:45.955[D] 收到相机应答信息耗时： 0.0006252
14:05:45.969[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:05:45.969[D] 收到相机应答信息耗时： 0.0006944
14:05:45.969[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:05:46.045[I] 创建物体模型_1: 模型被成功创建。
14:05:47.733[D] 收到相机应答信息耗时： 1.76361
14:05:47.784[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:05:47.785[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:05:48.022[D] Normal Filter Main Normal: 0 , 0 , -1
14:05:48.320[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:05:48.563[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:05:48.564[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:05:48.691[I] 数据重复并串接_1: 重复4次。
14:05:48.691[I] 数据重复并串接_2: 重复4次。
14:05:48.694[I] [ printSampleResult ] 采样结束。
采样后点云中点数：289.
对应的采样采样间隔：0.75。
14:05:48.695[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:05:48.695[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:05:48.844[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:05:48.845[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179298
14:05:48.846[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113711
14:05:48.848[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.56973 [mm], validation score: 0.995948.
14:05:48.849[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185305
14:05:48.850[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115497
14:05:48.852[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.435806 [mm], validation score: 0.997693.
14:05:48.854[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001825
14:05:48.855[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118772
14:05:48.857[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.604197 [mm], validation score: 0.994811.
14:05:48.858[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189379
14:05:48.859[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122085
14:05:48.861[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.591829 [mm], validation score: 0.995371.
14:05:48.861[I] 3D精匹配_2: 匹配得分: ([0.9959484934806824], [0.9976925849914551], [0.9948112964630127], [0.9953705668449402])
14:05:48.866[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:05:48.867[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179006
14:05:48.868[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111245
14:05:48.871[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.570422 [mm], validation score: 0.956826.
14:05:48.872[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186261
14:05:48.872[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114268
14:05:48.875[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.437714 [mm], validation score: 0.974793.
14:05:48.876[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183054
14:05:48.877[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118509
14:05:48.879[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.603556 [mm], validation score: 0.946902.
14:05:48.880[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189175
14:05:48.881[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120682
14:05:48.883[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.595474 [mm], validation score: 0.951646.
14:05:48.883[I] 3D精匹配_1: 匹配得分: ([0.956825852394104], [0.9747931957244873], [0.9469023942947388], [0.9516459107398987])
14:05:48.883[I] 调整位姿_1: 开始运行。
14:05:48.884[I] 调整位姿_1: 16个子步骤运行结束。
14:05:48.884[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15197722710558378,-0.14663079886286992,0.25921746457489747,0.7185953209845213,-0.005509685858556273,-0.0006169155579534846,-0.6954063757516804],[0.14468453761178096,0.0674274352841209,0.25874858594952843,0.9998285815523293,-0.001995383384080448,0.006199561526078295,0.017331802938302943],[-0.09254486353506375,-0.15404384974308635,0.2597652911860131,0.7182899951488918,0.004397910836712761,-0.00386289101675248,-0.6957192101144469],[-0.09971822906053149,0.05945906593539457,0.2606478599005462,-0.7196184440097086,0.0016703774628598449,-0.007364270708653227,0.694328648693914]]})
14:05:48.903[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 15
14:05:48.909[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 15
14:05:48.916[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 15
14:05:48.916[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 15
14:05:48.916[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：3.04554秒。
14:05:48.925[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"3.054"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:06:12.271[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:06:12.273[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:06:12.274[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:06:12.315[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:06:12.327[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:06:12.327[I] 创建物体模型_1: 开始创建模型。请稍候。
14:06:12.453[D] 收到相机应答信息耗时： 0.124971
14:06:12.453[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:06:12.454[D] 收到相机应答信息耗时： 0.0011903
14:06:12.454[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:06:12.455[D] 收到相机应答信息耗时： 0.0010101
14:06:12.455[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:06:12.465[I] 创建物体模型_1: 模型被成功创建。
14:06:12.477[D] 收到相机应答信息耗时： 0.0214117
14:06:12.538[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:06:12.540[D] 收到相机应答信息耗时： 0.0012542
14:06:12.546[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:06:12.547[D] 收到相机应答信息耗时： 0.0009406
14:06:12.547[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:06:14.013[D] 收到相机应答信息耗时： 1.46582
14:06:14.062[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:06:14.062[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:06:14.298[D] Normal Filter Main Normal: 0 , 0 , -1
14:06:14.579[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:06:14.808[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:06:14.809[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:06:14.824[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数39）。耗时：2.50886秒。
14:06:14.834[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.516"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:06:17.905[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:06:17.907[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:06:17.907[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:06:17.945[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:06:17.945[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:06:17.945[I] 创建物体模型_1: 开始创建模型。请稍候。
14:06:17.948[D] 收到相机应答信息耗时： 0.0024603
14:06:17.948[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:06:17.949[D] 收到相机应答信息耗时： 0.0011233
14:06:17.949[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:06:17.950[D] 收到相机应答信息耗时： 0.0009649
14:06:17.950[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:06:17.951[D] 收到相机应答信息耗时： 0.0010202
14:06:18.024[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:06:18.025[D] 收到相机应答信息耗时： 0.0009957
14:06:18.032[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:06:18.033[D] 收到相机应答信息耗时： 0.0009379
14:06:18.033[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:06:18.120[I] 创建物体模型_1: 模型被成功创建。
14:06:21.293[D] 收到相机应答信息耗时： 3.26043
14:06:21.293[W] [ handlerReplyError ] [0x0105 | MISSING_FRAME_CAM2D] -> Get frame failed with status: 2. Retrieved 18 frame of camera 0 : 28961,28962,28963,28964,28965,28966,28967,28968,28969,28970,28971,28972,28973,28974,28975,28976,28977,28979,
14:06:21.294[E] [ captureRawDepthImg ] 请求深度图为空！
14:06:21.294[I] 从相机获取图像_1: 获取图像失败，尝试次数：1。
14:06:22.295[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:06:22.297[D] 收到相机应答信息耗时： 0.002155
14:06:22.297[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:06:23.910[D] 收到相机应答信息耗时： 1.61239
14:06:23.960[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:06:23.960[W] 从相机获取图像_1: 无效的深度图像。
14:06:23.961[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:06:24.194[D] Normal Filter Main Normal: 0 , 0 , -1
14:06:24.472[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:06:24.698[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:06:24.699[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:06:24.783[I] 数据重复并串接_2: 重复4次。
14:06:24.783[I] 数据重复并串接_1: 重复4次。
14:06:24.790[I] [ printSampleResult ] 采样结束。
采样后点云中点数：288.
对应的采样采样间隔：0.75。
14:06:24.791[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:06:24.791[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:06:24.937[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:06:24.938[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178158
14:06:24.939[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112439
14:06:24.942[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543004 [mm], validation score: 0.996379.
14:06:24.943[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186784
14:06:24.944[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111725
14:06:24.946[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440539 [mm], validation score: 0.997641.
14:06:24.947[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179469
14:06:24.948[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116483
14:06:24.950[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588472 [mm], validation score: 0.995369.
14:06:24.951[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185055
14:06:24.952[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115676
14:06:24.954[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509977 [mm], validation score: 0.996769.
14:06:24.955[I] 3D精匹配_2: 匹配得分: ([0.9963786005973816], [0.9976405501365662], [0.9953687787055969], [0.9967688322067261])
14:06:24.958[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:06:24.959[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178045
14:06:24.960[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112647
14:06:24.962[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543434 [mm], validation score: 0.961031.
14:06:24.963[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186078
14:06:24.964[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114436
14:06:24.966[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439226 [mm], validation score: 0.974365.
14:06:24.967[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179867
14:06:24.968[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117686
14:06:24.970[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588369 [mm], validation score: 0.951941.
14:06:24.972[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184511
14:06:24.972[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114923
14:06:24.975[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510553 [mm], validation score: 0.965227.
14:06:24.975[I] 3D精匹配_1: 匹配得分: ([0.9610306024551392], [0.9743649363517761], [0.9519405961036682], [0.9652272462844849])
14:06:24.975[I] 调整位姿_1: 开始运行。
14:06:24.976[I] 调整位姿_1: 16个子步骤运行结束。
14:06:24.976[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15198990961612924,-0.14667768312431742,0.25916862339441726,0.7182012654238337,-0.005611518558068823,-0.0004289919515662981,-0.6958126681578756],[0.14441885490727296,0.06758419179285752,0.25867180916875543,0.9997882797945556,-0.0020363749160690232,0.007349068450744241,0.019111252066518924],[-0.09291715028062647,-0.15390820802873365,0.25975746470690675,0.7172635079680825,0.004632901547210702,-0.004541381398897331,-0.6967718222026232],[-0.09983943598560896,0.059384296572253886,0.26058604354216586,0.7200523411516525,-0.0009763955681550297,0.006742437941945782,-0.6938863107053758]]})
14:06:24.992[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 1
14:06:24.999[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 1
14:06:25.003[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 1
14:06:25.005[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 1
14:06:25.005[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：7.06014秒。
14:06:25.030[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"7.084"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:09:22.204[W] 无法打开 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位1/depth_image_roi.json: 系统找不到指定的文件。
14:09:24.525[D] 调用GXInitLib库失败。
14:09:35.756[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:09:35.864[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.108472秒。
14:09:35.897[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.140"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:11:20.177[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:11:20.186[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178158
14:11:20.187[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177738
14:11:20.187[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178266
14:11:20.187[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178148
14:11:20.187[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178179
14:11:20.187[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178109
14:11:20.187[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112439
14:11:20.187[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112701
14:11:20.187[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112148
14:11:20.188[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112524
14:11:20.188[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111606
14:11:20.188[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178257
14:11:20.188[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112463
14:11:20.189[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179045
14:11:20.189[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011195
14:11:20.190[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110462
14:11:20.192[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543785 [mm], validation score: 0.996365.
14:11:20.192[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543561 [mm], validation score: 0.996373.
14:11:20.193[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178075
14:11:20.193[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017825
14:11:20.193[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542862 [mm], validation score: 0.996379.
14:11:20.193[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111967
14:11:20.194[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001125
14:11:20.195[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178029
14:11:20.195[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543326 [mm], validation score: 0.996373.
14:11:20.195[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544065 [mm], validation score: 0.996363.
14:11:20.195[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543207 [mm], validation score: 0.996375.
14:11:20.196[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011224
14:11:20.196[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543004 [mm], validation score: 0.996379.
14:11:20.196[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178087
14:11:20.196[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178169
14:11:20.196[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017844
14:11:20.197[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543876 [mm], validation score: 0.996368.
14:11:20.197[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112291
14:11:20.197[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178025
14:11:20.197[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111293
14:11:20.197[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111893
14:11:20.197[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543998 [mm], validation score: 0.996363.
14:11:20.198[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177786
14:11:20.198[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111279
14:11:20.198[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54337 [mm], validation score: 0.996372.
14:11:20.198[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543191 [mm], validation score: 0.996375.
14:11:20.198[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178173
14:11:20.199[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543609 [mm], validation score: 0.99637.
14:11:20.199[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112342
14:11:20.199[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543173 [mm], validation score: 0.996376.
14:11:20.199[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178106
14:11:20.199[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017807
14:11:20.200[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011279
14:11:20.200[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543589 [mm], validation score: 0.996371.
14:11:20.200[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178028
14:11:20.200[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112399
14:11:20.200[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179235
14:11:20.201[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017826
14:11:20.201[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011145
14:11:20.201[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011177
14:11:20.201[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111144
14:11:20.202[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111616
14:11:20.202[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543983 [mm], validation score: 0.996367.
14:11:20.203[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54327 [mm], validation score: 0.996373.
14:11:20.203[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542985 [mm], validation score: 0.996378.
14:11:20.203[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543024 [mm], validation score: 0.996376.
14:11:20.203[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543283 [mm], validation score: 0.996376.
14:11:20.203[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54382 [mm], validation score: 0.996368.
14:11:20.203[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54358 [mm], validation score: 0.996369.
14:11:20.203[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178169
14:11:20.203[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017817
14:11:20.204[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178102
14:11:20.204[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178334
14:11:20.204[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178107
14:11:20.204[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178417
14:11:20.204[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111424
14:11:20.204[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179229
14:11:20.204[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111626
14:11:20.204[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113298
14:11:20.204[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111168
14:11:20.205[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111651
14:11:20.205[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111197
14:11:20.205[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110492
14:11:20.206[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542837 [mm], validation score: 0.996379.
14:11:20.206[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542809 [mm], validation score: 0.99638.
14:11:20.206[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543235 [mm], validation score: 0.996374.
14:11:20.206[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543275 [mm], validation score: 0.996374.
14:11:20.206[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543363 [mm], validation score: 0.99637.
14:11:20.206[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544283 [mm], validation score: 0.996366.
14:11:20.206[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543408 [mm], validation score: 0.996371.
14:11:20.207[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178082
14:11:20.207[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178325
14:11:20.207[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178168
14:11:20.207[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177895
14:11:20.207[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017814
14:11:20.207[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178316
14:11:20.207[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178126
14:11:20.207[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111906
14:11:20.207[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111488
14:11:20.207[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112736
14:11:20.207[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112511
14:11:20.208[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112536
14:11:20.208[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112193
14:11:20.208[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011278
14:11:20.209[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543126 [mm], validation score: 0.996376.
14:11:20.209[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543775 [mm], validation score: 0.99637.
14:11:20.209[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543723 [mm], validation score: 0.996369.
14:11:20.209[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543154 [mm], validation score: 0.996377.
14:11:20.209[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543239 [mm], validation score: 0.996375.
14:11:20.209[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543093 [mm], validation score: 0.996373.
14:11:20.210[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178581
14:11:20.210[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178422
14:11:20.210[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178057
14:11:20.210[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178058
14:11:20.210[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178035
14:11:20.211[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179227
14:11:20.211[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111063
14:11:20.211[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110575
14:11:20.211[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112684
14:11:20.211[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112104
14:11:20.211[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112112
14:11:20.211[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011014
14:11:20.212[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543136 [mm], validation score: 0.996377.
14:11:20.212[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543284 [mm], validation score: 0.996377.
14:11:20.212[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544339 [mm], validation score: 0.99636.
14:11:20.212[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543712 [mm], validation score: 0.996371.
14:11:20.212[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544823 [mm], validation score: 0.99636.
14:11:20.212[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543557 [mm], validation score: 0.996369.
14:11:20.213[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177942
14:11:20.213[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177911
14:11:20.213[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178427
14:11:20.213[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178292
14:11:20.213[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177889
14:11:20.213[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178022
14:11:20.214[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112481
14:11:20.214[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113091
14:11:20.214[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111165
14:11:20.214[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111205
14:11:20.214[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112735
14:11:20.214[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112925
14:11:20.215[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543503 [mm], validation score: 0.996369.
14:11:20.215[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543498 [mm], validation score: 0.996372.
14:11:20.215[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543647 [mm], validation score: 0.996371.
14:11:20.215[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.545722 [mm], validation score: 0.99635.
14:11:20.215[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543379 [mm], validation score: 0.99637.
14:11:20.215[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543356 [mm], validation score: 0.996371.
14:11:20.216[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001782
14:11:20.216[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178123
14:11:20.216[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017806
14:11:20.216[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179529
14:11:20.216[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178349
14:11:20.216[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178548
14:11:20.216[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111738
14:11:20.217[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112402
14:11:20.217[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112174
14:11:20.217[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011295
14:11:20.217[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112177
14:11:20.217[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110495
14:11:20.218[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543829 [mm], validation score: 0.996368.
14:11:20.218[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543235 [mm], validation score: 0.996377.
14:11:20.218[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543054 [mm], validation score: 0.996377.
14:11:20.218[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543909 [mm], validation score: 0.996368.
14:11:20.218[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543097 [mm], validation score: 0.996372.
14:11:20.218[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54399 [mm], validation score: 0.996365.
14:11:20.218[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177946
14:11:20.218[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178282
14:11:20.219[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178097
14:11:20.219[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017805
14:11:20.219[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179408
14:11:20.219[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177945
14:11:20.219[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112704
14:11:20.219[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111921
14:11:20.219[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112847
14:11:20.219[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112734
14:11:20.219[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111783
14:11:20.220[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011271
14:11:20.220[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543061 [mm], validation score: 0.996373.
14:11:20.220[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543844 [mm], validation score: 0.996369.
14:11:20.220[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543992 [mm], validation score: 0.996365.
14:11:20.220[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54337 [mm], validation score: 0.996375.
14:11:20.220[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.547051 [mm], validation score: 0.996342.
14:11:20.220[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543128 [mm], validation score: 0.996378.
14:11:20.221[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017789
14:11:20.221[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178087
14:11:20.221[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178091
14:11:20.221[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178206
14:11:20.221[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017825
14:11:20.221[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179391
14:11:20.222[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112954
14:11:20.222[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112594
14:11:20.222[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113007
14:11:20.222[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111814
14:11:20.222[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112231
14:11:20.222[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111478
14:11:20.223[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543471 [mm], validation score: 0.996371.
14:11:20.223[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543316 [mm], validation score: 0.996375.
14:11:20.223[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.545093 [mm], validation score: 0.996356.
14:11:20.223[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543038 [mm], validation score: 0.996379.
14:11:20.223[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543968 [mm], validation score: 0.996365.
14:11:20.223[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543363 [mm], validation score: 0.996373.
14:11:20.224[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178309
14:11:20.224[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178389
14:11:20.224[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178181
14:11:20.224[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178292
14:11:20.224[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177958
14:11:20.225[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011204
14:11:20.225[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110901
14:11:20.225[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112611
14:11:20.226[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111218
14:11:20.226[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178094
14:11:20.226[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111986
14:11:20.226[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544161 [mm], validation score: 0.996367.
14:11:20.226[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543314 [mm], validation score: 0.996374.
14:11:20.227[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542801 [mm], validation score: 0.996382.
14:11:20.227[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544378 [mm], validation score: 0.996364.
14:11:20.227[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111615
14:11:20.227[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544417 [mm], validation score: 0.996363.
14:11:20.227[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179482
14:11:20.227[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178467
14:11:20.227[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178169
14:11:20.227[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178288
14:11:20.227[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177909
14:11:20.227[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112931
14:11:20.227[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111527
14:11:20.227[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112655
14:11:20.227[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111667
14:11:20.228[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112551
14:11:20.228[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54328 [mm], validation score: 0.996372.
14:11:20.228[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542962 [mm], validation score: 0.996377.
14:11:20.228[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543971 [mm], validation score: 0.996366.
14:11:20.228[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54345 [mm], validation score: 0.996369.
14:11:20.228[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542944 [mm], validation score: 0.996377.
14:11:20.229[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178052
14:11:20.229[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179306
14:11:20.229[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544277 [mm], validation score: 0.996367.
14:11:20.229[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543323 [mm], validation score: 0.996374.
14:11:20.229[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178132
14:11:20.229[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178095
14:11:20.229[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178337
14:11:20.230[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110678
14:11:20.230[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178105
14:11:20.230[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178378
14:11:20.230[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112599
14:11:20.231[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111781
14:11:20.231[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112368
14:11:20.231[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112846
14:11:20.231[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111208
14:11:20.232[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.5441 [mm], validation score: 0.996367.
14:11:20.232[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111621
14:11:20.233[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.547011 [mm], validation score: 0.996342.
14:11:20.233[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543512 [mm], validation score: 0.996372.
14:11:20.233[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543035 [mm], validation score: 0.996379.
14:11:20.233[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177974
14:11:20.233[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543542 [mm], validation score: 0.99637.
14:11:20.233[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543183 [mm], validation score: 0.996374.
14:11:20.233[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178241
14:11:20.233[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179652
14:11:20.234[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177999
14:11:20.234[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112583
14:11:20.234[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001784
14:11:20.234[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178059
14:11:20.234[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111937
14:11:20.234[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113304
14:11:20.234[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543309 [mm], validation score: 0.996372.
14:11:20.234[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112621
14:11:20.235[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111195
14:11:20.235[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011244
14:11:20.235[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543042 [mm], validation score: 0.996376.
14:11:20.236[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544029 [mm], validation score: 0.996363.
14:11:20.236[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542848 [mm], validation score: 0.996381.
14:11:20.236[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542796 [mm], validation score: 0.996382.
14:11:20.236[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178231
14:11:20.236[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543035 [mm], validation score: 0.996376.
14:11:20.236[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178081
14:11:20.236[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178225
14:11:20.237[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178243
14:11:20.237[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111786
14:11:20.237[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179737
14:11:20.237[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178292
14:11:20.237[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113142
14:11:20.237[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001119
14:11:20.237[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111941
14:11:20.238[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542913 [mm], validation score: 0.99638.
14:11:20.238[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543353 [mm], validation score: 0.996371.
14:11:20.238[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113331
14:11:20.238[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112281
14:11:20.238[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54348 [mm], validation score: 0.996371.
14:11:20.238[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543741 [mm], validation score: 0.996367.
14:11:20.239[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017824
14:11:20.239[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178147
14:11:20.239[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543635 [mm], validation score: 0.99637.
14:11:20.239[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544003 [mm], validation score: 0.996363.
14:11:20.239[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178218
14:11:20.239[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178304
14:11:20.240[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011107
14:11:20.240[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011363
14:11:20.240[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178533
14:11:20.240[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178124
14:11:20.240[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111459
14:11:20.240[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110995
14:11:20.241[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543073 [mm], validation score: 0.996376.
14:11:20.241[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110782
14:11:20.241[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54322 [mm], validation score: 0.996373.
14:11:20.241[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112834
14:11:20.241[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.545498 [mm], validation score: 0.996353.
14:11:20.242[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543062 [mm], validation score: 0.996379.
14:11:20.242[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543604 [mm], validation score: 0.99637.
14:11:20.242[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180067
14:11:20.242[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177886
14:11:20.242[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543827 [mm], validation score: 0.996367.
14:11:20.242[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178505
14:11:20.242[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178272
14:11:20.242[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178367
14:11:20.243[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114591
14:11:20.243[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111961
14:11:20.243[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178036
14:11:20.243[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111633
14:11:20.243[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111472
14:11:20.243[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001114
14:11:20.244[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.546021 [mm], validation score: 0.996351.
14:11:20.244[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543772 [mm], validation score: 0.996369.
14:11:20.244[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111941
14:11:20.244[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542783 [mm], validation score: 0.996381.
14:11:20.244[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.5441 [mm], validation score: 0.996362.
14:11:20.244[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543299 [mm], validation score: 0.996374.
14:11:20.245[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177957
14:11:20.245[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178193
14:11:20.245[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543076 [mm], validation score: 0.996377.
14:11:20.245[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179877
14:11:20.245[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177939
14:11:20.245[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178302
14:11:20.246[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112452
14:11:20.246[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111674
14:11:20.246[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178241
14:11:20.246[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113968
14:11:20.246[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001123
14:11:20.246[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111212
14:11:20.247[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543317 [mm], validation score: 0.996374.
14:11:20.247[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544026 [mm], validation score: 0.996362.
14:11:20.247[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111917
14:11:20.247[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54296 [mm], validation score: 0.996378.
14:11:20.247[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544134 [mm], validation score: 0.996368.
14:11:20.247[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544342 [mm], validation score: 0.996363.
14:11:20.248[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178183
14:11:20.248[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178251
14:11:20.248[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543249 [mm], validation score: 0.996372.
14:11:20.248[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543386 [mm], validation score: 0.996372.
14:11:20.248[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178436
14:11:20.248[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178341
14:11:20.248[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179925
14:11:20.249[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112007
14:11:20.249[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111465
14:11:20.249[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178354
14:11:20.249[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177983
14:11:20.249[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110791
14:11:20.249[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111307
14:11:20.249[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114553
14:11:20.250[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543866 [mm], validation score: 0.996366.
14:11:20.250[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111222
14:11:20.250[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112302
14:11:20.250[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543854 [mm], validation score: 0.996367.
14:11:20.250[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543437 [mm], validation score: 0.996373.
14:11:20.250[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54365 [mm], validation score: 0.996371.
14:11:20.251[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178339
14:11:20.251[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.5431 [mm], validation score: 0.996374.
14:11:20.251[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54285 [mm], validation score: 0.996381.
14:11:20.251[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178074
14:11:20.251[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178008
14:11:20.251[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178313
14:11:20.252[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110313
14:11:20.252[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177177
14:11:20.252[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177894
14:11:20.252[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112155
14:11:20.252[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112526
14:11:20.252[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110734
14:11:20.253[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111232
14:11:20.253[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543204 [mm], validation score: 0.996373.
14:11:20.253[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112966
14:11:20.253[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543401 [mm], validation score: 0.996372.
14:11:20.253[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544734 [mm], validation score: 0.996362.
14:11:20.253[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543609 [mm], validation score: 0.996366.
14:11:20.253[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543143 [mm], validation score: 0.996376.
14:11:20.254[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178353
14:11:20.254[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178588
14:11:20.254[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177875
14:11:20.254[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543761 [mm], validation score: 0.99637.
14:11:20.254[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178296
14:11:20.254[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178034
14:11:20.255[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110953
14:11:20.255[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111454
14:11:20.255[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112553
14:11:20.256[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112061
14:11:20.256[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112344
14:11:20.256[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177981
14:11:20.256[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543833 [mm], validation score: 0.996366.
14:11:20.256[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543414 [mm], validation score: 0.996372.
14:11:20.256[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543953 [mm], validation score: 0.996365.
14:11:20.256[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543263 [mm], validation score: 0.996375.
14:11:20.257[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112468
14:11:20.257[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178152
14:11:20.257[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178726
14:11:20.257[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017856
14:11:20.257[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543667 [mm], validation score: 0.99637.
14:11:20.257[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178011
14:11:20.258[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113025
14:11:20.258[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109629
14:11:20.258[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110666
14:11:20.258[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113345
14:11:20.258[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182416
14:11:20.259[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543115 [mm], validation score: 0.996374.
14:11:20.259[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543627 [mm], validation score: 0.99637.
14:11:20.259[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543389 [mm], validation score: 0.996373.
14:11:20.259[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544282 [mm], validation score: 0.996361.
14:11:20.259[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116494
14:11:20.259[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.547344 [mm], validation score: 0.996336.
14:11:20.260[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177872
14:11:20.260[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177986
14:11:20.260[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178301
14:11:20.260[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187547
14:11:20.260[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177959
14:11:20.261[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111815
14:11:20.261[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116965
14:11:20.261[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113005
14:11:20.261[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112791
14:11:20.263[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111344
14:11:20.263[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54344 [mm], validation score: 0.996373.
14:11:20.263[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544442 [mm], validation score: 0.996362.
14:11:20.263[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543162 [mm], validation score: 0.996374.
14:11:20.263[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543266 [mm], validation score: 0.996374.
14:11:20.263[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544314 [mm], validation score: 0.996364.
14:11:20.263[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544129 [mm], validation score: 0.996366.
14:11:20.264[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017881
14:11:20.264[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017824
14:11:20.264[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179192
14:11:20.264[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177714
14:11:20.264[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178131
14:11:20.264[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178357
14:11:20.264[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543319 [mm], validation score: 0.996376.
14:11:20.265[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109869
14:11:20.265[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111554
14:11:20.265[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110558
14:11:20.265[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112407
14:11:20.265[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112949
14:11:20.265[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111064
14:11:20.266[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017814
14:11:20.266[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543003 [mm], validation score: 0.996376.
14:11:20.266[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542944 [mm], validation score: 0.996377.
14:11:20.266[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543071 [mm], validation score: 0.996377.
14:11:20.266[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543146 [mm], validation score: 0.996376.
14:11:20.266[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543994 [mm], validation score: 0.996365.
14:11:20.266[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543564 [mm], validation score: 0.996371.
14:11:20.266[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112526
14:11:20.267[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179611
14:11:20.267[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178299
14:11:20.267[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178024
14:11:20.267[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178255
14:11:20.267[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178776
14:11:20.267[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178009
14:11:20.268[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111902
14:11:20.268[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111922
14:11:20.268[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111801
14:11:20.268[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111929
14:11:20.268[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109567
14:11:20.268[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112768
14:11:20.269[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544607 [mm], validation score: 0.996362.
14:11:20.269[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543673 [mm], validation score: 0.99637.
14:11:20.269[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54325 [mm], validation score: 0.996374.
14:11:20.269[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543188 [mm], validation score: 0.996376.
14:11:20.269[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544055 [mm], validation score: 0.996364.
14:11:20.269[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544047 [mm], validation score: 0.996363.
14:11:20.269[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543939 [mm], validation score: 0.996365.
14:11:20.270[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179426
14:11:20.270[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178242
14:11:20.270[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178449
14:11:20.270[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177915
14:11:20.270[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177925
14:11:20.270[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178265
14:11:20.270[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543481 [mm], validation score: 0.996375.
14:11:20.270[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111238
14:11:20.271[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011076
14:11:20.270[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112301
14:11:20.271[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112972
14:11:20.271[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112474
14:11:20.271[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112173
14:11:20.271[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178223
14:11:20.272[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543489 [mm], validation score: 0.996371.
14:11:20.272[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543385 [mm], validation score: 0.996372.
14:11:20.272[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543743 [mm], validation score: 0.996369.
14:11:20.272[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543835 [mm], validation score: 0.996366.
14:11:20.272[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543103 [mm], validation score: 0.996372.
14:11:20.272[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543507 [mm], validation score: 0.996372.
14:11:20.272[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111883
14:11:20.272[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179563
14:11:20.272[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178504
14:11:20.272[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178038
14:11:20.272[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178237
14:11:20.273[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178208
14:11:20.273[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178037
14:11:20.273[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113339
14:11:20.273[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110378
14:11:20.273[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112283
14:11:20.273[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111729
14:11:20.273[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111776
14:11:20.273[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111937
14:11:20.275[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543497 [mm], validation score: 0.99637.
14:11:20.275[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543625 [mm], validation score: 0.99637.
14:11:20.275[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54323 [mm], validation score: 0.996373.
14:11:20.275[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543113 [mm], validation score: 0.996376.
14:11:20.275[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543559 [mm], validation score: 0.996372.
14:11:20.275[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543463 [mm], validation score: 0.996373.
14:11:20.275[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544027 [mm], validation score: 0.996363.
14:11:20.276[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179478
14:11:20.276[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178075
14:11:20.276[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178131
14:11:20.276[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178184
14:11:20.276[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178776
14:11:20.276[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178023
14:11:20.276[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111585
14:11:20.276[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111391
14:11:20.276[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112184
14:11:20.276[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111982
14:11:20.277[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109567
14:11:20.277[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112825
14:11:20.277[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543743 [mm], validation score: 0.996368.
14:11:20.277[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54315 [mm], validation score: 0.996372.
14:11:20.277[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543596 [mm], validation score: 0.996368.
14:11:20.277[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542885 [mm], validation score: 0.996379.
14:11:20.278[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543939 [mm], validation score: 0.996365.
14:11:20.278[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543982 [mm], validation score: 0.996368.
14:11:20.278[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017808
14:11:20.279[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017819
14:11:20.279[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178246
14:11:20.279[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111327
14:11:20.280[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112156
14:11:20.281[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543111 [mm], validation score: 0.996374.
14:11:20.281[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543569 [mm], validation score: 0.996367.
14:11:20.281[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111822
14:11:20.282[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178523
14:11:20.282[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543778 [mm], validation score: 0.996369.
14:11:20.282[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110184
14:11:20.283[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178061
14:11:20.283[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543695 [mm], validation score: 0.996366.
14:11:20.284[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011135
14:11:20.285[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542988 [mm], validation score: 0.996376.
14:11:20.286[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177976
14:11:20.286[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113219
14:11:20.288[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.545069 [mm], validation score: 0.996359.
14:11:20.290[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186879
14:11:20.290[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186804
14:11:20.290[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187022
14:11:20.290[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186923
14:11:20.290[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187091
14:11:20.290[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186784
14:11:20.290[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186948
14:11:20.291[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112764
14:11:20.291[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112798
14:11:20.291[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111738
14:11:20.291[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112649
14:11:20.291[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112152
14:11:20.291[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111725
14:11:20.291[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112535
14:11:20.294[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187226
14:11:20.295[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440792 [mm], validation score: 0.99764.
14:11:20.296[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112731
14:11:20.296[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186872
14:11:20.297[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112914
14:11:20.298[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439142 [mm], validation score: 0.997641.
14:11:20.298[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439288 [mm], validation score: 0.997642.
14:11:20.298[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440539 [mm], validation score: 0.997641.
14:11:20.299[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018667
14:11:20.299[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187155
14:11:20.299[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439588 [mm], validation score: 0.997638.
14:11:20.299[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439898 [mm], validation score: 0.997642.
14:11:20.299[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187352
14:11:20.300[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001116
14:11:20.300[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439437 [mm], validation score: 0.997639.
14:11:20.300[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112039
14:11:20.300[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113805
14:11:20.300[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018716
14:11:20.300[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187081
14:11:20.301[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018716
14:11:20.301[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439319 [mm], validation score: 0.997639.
14:11:20.301[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439146 [mm], validation score: 0.997643.
14:11:20.301[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439839 [mm], validation score: 0.997636.
14:11:20.301[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440215 [mm], validation score: 0.997641.
14:11:20.301[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011268
14:11:20.302[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011148
14:11:20.302[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111971
14:11:20.302[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186726
14:11:20.302[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186882
14:11:20.302[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186775
14:11:20.302[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186966
14:11:20.302[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439386 [mm], validation score: 0.997642.
14:11:20.303[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113036
14:11:20.303[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112932
14:11:20.303[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.44033 [mm], validation score: 0.997642.
14:11:20.303[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114077
14:11:20.303[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111115
14:11:20.303[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186977
14:11:20.304[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439564 [mm], validation score: 0.997638.
14:11:20.304[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439174 [mm], validation score: 0.997642.
14:11:20.304[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186999
14:11:20.304[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439429 [mm], validation score: 0.997638.
14:11:20.304[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440419 [mm], validation score: 0.997642.
14:11:20.304[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112921
14:11:20.305[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018684
14:11:20.305[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187045
14:11:20.305[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112181
14:11:20.305[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018661
14:11:20.305[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186666
14:11:20.305[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439462 [mm], validation score: 0.99764.
14:11:20.305[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439422 [mm], validation score: 0.99764.
14:11:20.306[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011279
14:11:20.306[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112059
14:11:20.306[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112639
14:11:20.306[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112622
14:11:20.306[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439312 [mm], validation score: 0.997641.
14:11:20.306[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018707
14:11:20.306[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187016
14:11:20.307[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186874
14:11:20.307[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011347
14:11:20.307[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439901 [mm], validation score: 0.997635.
14:11:20.307[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112263
14:11:20.308[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112637
14:11:20.308[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187026
14:11:20.309[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113201
14:11:20.309[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439659 [mm], validation score: 0.997636.
14:11:20.309[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439442 [mm], validation score: 0.997639.
14:11:20.309[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439775 [mm], validation score: 0.997639.
14:11:20.309[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439622 [mm], validation score: 0.997638.
14:11:20.309[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439878 [mm], validation score: 0.997639.
14:11:20.309[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439369 [mm], validation score: 0.997641.
14:11:20.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187413
14:11:20.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186788
14:11:20.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186464
14:11:20.310[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439455 [mm], validation score: 0.997637.
14:11:20.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186913
14:11:20.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186929
14:11:20.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187036
14:11:20.311[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113601
14:11:20.311[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011264
14:11:20.311[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113787
14:11:20.311[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112324
14:11:20.311[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011238
14:11:20.311[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113232
14:11:20.311[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186876
14:11:20.312[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43947 [mm], validation score: 0.99764.
14:11:20.312[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439634 [mm], validation score: 0.997637.
14:11:20.312[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439761 [mm], validation score: 0.99764.
14:11:20.312[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111397
14:11:20.312[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439878 [mm], validation score: 0.997639.
14:11:20.312[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439041 [mm], validation score: 0.997641.
14:11:20.312[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439593 [mm], validation score: 0.997642.
14:11:20.312[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43982 [mm], validation score: 0.997633.
14:11:20.313[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186762
14:11:20.313[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186662
14:11:20.313[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187674
14:11:20.313[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018679
14:11:20.313[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187051
14:11:20.313[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187219
14:11:20.313[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186815
14:11:20.314[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112201
14:11:20.314[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112917
14:11:20.314[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112352
14:11:20.314[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114323
14:11:20.314[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112784
14:11:20.314[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112988
14:11:20.314[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111766
14:11:20.315[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43911 [mm], validation score: 0.997643.
14:11:20.315[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439376 [mm], validation score: 0.997641.
14:11:20.315[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439453 [mm], validation score: 0.997638.
14:11:20.315[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440483 [mm], validation score: 0.997631.
14:11:20.315[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43986 [mm], validation score: 0.997633.
14:11:20.315[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439382 [mm], validation score: 0.997638.
14:11:20.315[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43956 [mm], validation score: 0.997637.
14:11:20.316[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187154
14:11:20.316[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186819
14:11:20.316[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187033
14:11:20.316[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186857
14:11:20.316[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187227
14:11:20.316[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187178
14:11:20.316[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187065
14:11:20.317[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112847
14:11:20.317[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112768
14:11:20.317[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112758
14:11:20.317[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113035
14:11:20.317[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113612
14:11:20.317[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011233
14:11:20.318[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112081
14:11:20.318[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440731 [mm], validation score: 0.99764.
14:11:20.318[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439535 [mm], validation score: 0.997644.
14:11:20.318[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43937 [mm], validation score: 0.99764.
14:11:20.318[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439719 [mm], validation score: 0.997639.
14:11:20.318[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439087 [mm], validation score: 0.99764.
14:11:20.318[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439482 [mm], validation score: 0.997638.
14:11:20.319[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440295 [mm], validation score: 0.997642.
14:11:20.319[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018706
14:11:20.319[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187164
14:11:20.319[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188944
14:11:20.319[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186937
14:11:20.319[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186921
14:11:20.319[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186578
14:11:20.319[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187396
14:11:20.320[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011231
14:11:20.320[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116578
14:11:20.320[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011266
14:11:20.320[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112609
14:11:20.320[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112547
14:11:20.320[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114302
14:11:20.320[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112983
14:11:20.321[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439405 [mm], validation score: 0.997643.
14:11:20.321[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.4392 [mm], validation score: 0.997641.
14:11:20.321[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43916 [mm], validation score: 0.997639.
14:11:20.321[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440025 [mm], validation score: 0.997643.
14:11:20.321[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439596 [mm], validation score: 0.997636.
14:11:20.322[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187105
14:11:20.322[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189854
14:11:20.322[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186872
14:11:20.322[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186888
14:11:20.322[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018715
14:11:20.323[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114058
14:11:20.323[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113082
14:11:20.323[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112351
14:11:20.323[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112716
14:11:20.324[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112452
14:11:20.324[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439232 [mm], validation score: 0.997639.
14:11:20.324[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439905 [mm], validation score: 0.997632.
14:11:20.324[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439447 [mm], validation score: 0.997642.
14:11:20.324[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439578 [mm], validation score: 0.997636.
14:11:20.324[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439236 [mm], validation score: 0.997644.
14:11:20.325[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439728 [mm], validation score: 0.997641.
14:11:20.325[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186921
14:11:20.325[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186926
14:11:20.325[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019113
14:11:20.325[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439218 [mm], validation score: 0.997639.
14:11:20.325[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186803
14:11:20.326[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186907
14:11:20.326[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186789
14:11:20.326[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112336
14:11:20.326[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112743
14:11:20.326[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011939
14:11:20.326[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113155
14:11:20.326[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187076
14:11:20.327[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112229
14:11:20.327[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111464
14:11:20.327[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112153
14:11:20.327[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439597 [mm], validation score: 0.997636.
14:11:20.327[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439026 [mm], validation score: 0.99764.
14:11:20.327[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439376 [mm], validation score: 0.99764.
14:11:20.327[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440079 [mm], validation score: 0.99764.
14:11:20.327[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439567 [mm], validation score: 0.997634.
14:11:20.328[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439997 [mm], validation score: 0.997633.
14:11:20.328[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187095
14:11:20.328[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187044
14:11:20.328[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439155 [mm], validation score: 0.99764.
14:11:20.328[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186819
14:11:20.328[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440207 [mm], validation score: 0.997634.
14:11:20.328[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189115
14:11:20.328[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187229
14:11:20.329[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112002
14:11:20.329[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187193
14:11:20.329[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112422
14:11:20.329[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186873
14:11:20.329[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114181
14:11:20.329[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186972
14:11:20.329[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116036
14:11:20.329[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112657
14:11:20.330[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011287
14:11:20.330[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113187
14:11:20.330[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112819
14:11:20.331[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439992 [mm], validation score: 0.997631.
14:11:20.331[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440073 [mm], validation score: 0.997636.
14:11:20.331[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439372 [mm], validation score: 0.997642.
14:11:20.331[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439927 [mm], validation score: 0.997643.
14:11:20.331[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439965 [mm], validation score: 0.997641.
14:11:20.331[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.441245 [mm], validation score: 0.997637.
14:11:20.332[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186882
14:11:20.332[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191629
14:11:20.332[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186978
14:11:20.332[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186661
14:11:20.332[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187351
14:11:20.332[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186962
14:11:20.333[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439649 [mm], validation score: 0.997635.
14:11:20.333[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440004 [mm], validation score: 0.997641.
14:11:20.333[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118996
14:11:20.333[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113156
14:11:20.333[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112013
14:11:20.333[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112877
14:11:20.333[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112896
14:11:20.333[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112411
14:11:20.333[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186882
14:11:20.334[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186715
14:11:20.334[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439996 [mm], validation score: 0.997636.
14:11:20.334[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439672 [mm], validation score: 0.997642.
14:11:20.334[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440599 [mm], validation score: 0.997641.
14:11:20.334[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43964 [mm], validation score: 0.997645.
14:11:20.334[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439457 [mm], validation score: 0.997635.
14:11:20.334[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112286
14:11:20.335[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113291
14:11:20.335[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191475
14:11:20.335[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186911
14:11:20.335[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186888
14:11:20.335[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187297
14:11:20.335[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186917
14:11:20.335[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440019 [mm], validation score: 0.997631.
14:11:20.336[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439401 [mm], validation score: 0.997637.
14:11:20.336[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118808
14:11:20.336[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113011
14:11:20.336[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011325
14:11:20.336[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113521
14:11:20.336[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112624
14:11:20.336[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018708
14:11:20.337[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187199
14:11:20.337[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439201 [mm], validation score: 0.997638.
14:11:20.337[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439876 [mm], validation score: 0.997636.
14:11:20.337[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440039 [mm], validation score: 0.997638.
14:11:20.337[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439608 [mm], validation score: 0.997641.
14:11:20.337[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440047 [mm], validation score: 0.99763.
14:11:20.337[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111769
14:11:20.337[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112349
14:11:20.338[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191273
14:11:20.338[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187094
14:11:20.338[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018683
14:11:20.338[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187169
14:11:20.338[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187012
14:11:20.338[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43967 [mm], validation score: 0.997637.
14:11:20.338[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439516 [mm], validation score: 0.997644.
14:11:20.339[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118535
14:11:20.339[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112952
14:11:20.339[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112414
14:11:20.339[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112797
14:11:20.339[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112042
14:11:20.339[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018715
14:11:20.340[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439228 [mm], validation score: 0.997639.
14:11:20.340[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439424 [mm], validation score: 0.997637.
14:11:20.340[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.44025 [mm], validation score: 0.99763.
14:11:20.340[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439544 [mm], validation score: 0.997639.
14:11:20.340[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439436 [mm], validation score: 0.997639.
14:11:20.340[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111576
14:11:20.340[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187016
14:11:20.341[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186904
14:11:20.341[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186833
14:11:20.341[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018709
14:11:20.341[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192362
14:11:20.341[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187105
14:11:20.341[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112181
14:11:20.341[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113235
14:11:20.342[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113445
14:11:20.342[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112538
14:11:20.342[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116065
14:11:20.342[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439785 [mm], validation score: 0.997637.
14:11:20.342[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112528
14:11:20.343[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439559 [mm], validation score: 0.997643.
14:11:20.343[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439874 [mm], validation score: 0.997637.
14:11:20.343[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440052 [mm], validation score: 0.997634.
14:11:20.343[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439645 [mm], validation score: 0.997641.
14:11:20.343[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.44001 [mm], validation score: 0.99764.
14:11:20.343[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187046
14:11:20.343[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439349 [mm], validation score: 0.997638.
14:11:20.344[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186887
14:11:20.344[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187025
14:11:20.344[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00196564
14:11:20.344[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186875
14:11:20.344[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112584
14:11:20.344[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018691
14:11:20.344[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187151
14:11:20.345[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112614
14:11:20.345[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113166
14:11:20.345[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112397
14:11:20.345[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121202
14:11:20.345[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001134
14:11:20.345[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112417
14:11:20.346[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440072 [mm], validation score: 0.997631.
14:11:20.346[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439584 [mm], validation score: 0.997637.
14:11:20.346[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439521 [mm], validation score: 0.997634.
14:11:20.346[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439301 [mm], validation score: 0.997638.
14:11:20.346[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439399 [mm], validation score: 0.997636.
14:11:20.346[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439305 [mm], validation score: 0.997639.
14:11:20.346[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186961
14:11:20.346[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00229852
14:11:20.346[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187025
14:11:20.347[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186842
14:11:20.347[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187184
14:11:20.347[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187055
14:11:20.347[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113187
14:11:20.347[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014377
14:11:20.347[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111779
14:11:20.347[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011289
14:11:20.347[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112379
14:11:20.348[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011387
14:11:20.348[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440232 [mm], validation score: 0.997638.
14:11:20.348[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440043 [mm], validation score: 0.997631.
14:11:20.348[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439628 [mm], validation score: 0.997635.
14:11:20.348[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439496 [mm], validation score: 0.997636.
14:11:20.348[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439349 [mm], validation score: 0.997643.
14:11:20.348[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439752 [mm], validation score: 0.997645.
14:11:20.348[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43997 [mm], validation score: 0.997632.
14:11:20.349[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00264992
14:11:20.349[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187118
14:11:20.349[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187056
14:11:20.349[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187086
14:11:20.349[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187157
14:11:20.349[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187268
14:11:20.350[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187238
14:11:20.350[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00157282
14:11:20.350[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111915
14:11:20.350[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113452
14:11:20.350[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112701
14:11:20.350[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113415
14:11:20.350[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112594
14:11:20.350[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111957
14:11:20.351[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439588 [mm], validation score: 0.99764.
14:11:20.351[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43981 [mm], validation score: 0.997644.
14:11:20.351[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439428 [mm], validation score: 0.997641.
14:11:20.351[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439437 [mm], validation score: 0.997638.
14:11:20.352[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00218368
14:11:20.352[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186868
14:11:20.352[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187324
14:11:20.353[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186872
14:11:20.353[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00135686
14:11:20.353[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113578
14:11:20.353[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112269
14:11:20.354[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439914 [mm], validation score: 0.997637.
14:11:20.354[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439433 [mm], validation score: 0.997638.
14:11:20.354[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112029
14:11:20.354[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439812 [mm], validation score: 0.997645.
14:11:20.355[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439531 [mm], validation score: 0.997639.
14:11:20.355[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43918 [mm], validation score: 0.997642.
14:11:20.355[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186779
14:11:20.355[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186729
14:11:20.355[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186693
14:11:20.355[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187037
14:11:20.355[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187426
14:11:20.356[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112624
14:11:20.356[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113498
14:11:20.356[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.441805 [mm], validation score: 0.997629.
14:11:20.356[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439438 [mm], validation score: 0.997637.
14:11:20.356[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112734
14:11:20.356[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113155
14:11:20.357[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111548
14:11:20.357[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440034 [mm], validation score: 0.997635.
14:11:20.357[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439697 [mm], validation score: 0.997636.
14:11:20.357[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189042
14:11:20.357[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187141
14:11:20.357[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439352 [mm], validation score: 0.997637.
14:11:20.358[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187001
14:11:20.358[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187088
14:11:20.358[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011676
14:11:20.358[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186995
14:11:20.358[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112423
14:11:20.359[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112896
14:11:20.359[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113049
14:11:20.359[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111985
14:11:20.360[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439413 [mm], validation score: 0.99764.
14:11:20.360[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439441 [mm], validation score: 0.997635.
14:11:20.360[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439766 [mm], validation score: 0.997644.
14:11:20.360[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439846 [mm], validation score: 0.997633.
14:11:20.360[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439518 [mm], validation score: 0.997643.
14:11:20.360[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440274 [mm], validation score: 0.997643.
14:11:20.360[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439652 [mm], validation score: 0.997645.
14:11:20.361[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186937
14:11:20.361[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018717
14:11:20.361[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186893
14:11:20.361[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187016
14:11:20.361[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187451
14:11:20.361[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186964
14:11:20.361[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187195
14:11:20.362[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112744
14:11:20.362[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112864
14:11:20.362[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111985
14:11:20.362[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112838
14:11:20.362[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113245
14:11:20.362[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111859
14:11:20.362[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112344
14:11:20.363[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439406 [mm], validation score: 0.99764.
14:11:20.363[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.441714 [mm], validation score: 0.997634.
14:11:20.363[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439311 [mm], validation score: 0.997641.
14:11:20.363[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440284 [mm], validation score: 0.997642.
14:11:20.363[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439319 [mm], validation score: 0.997641.
14:11:20.363[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439826 [mm], validation score: 0.997641.
14:11:20.364[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186775
14:11:20.364[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186873
14:11:20.364[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187307
14:11:20.364[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018691
14:11:20.364[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187277
14:11:20.364[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186938
14:11:20.364[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011315
14:11:20.365[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112825
14:11:20.365[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113811
14:11:20.365[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112531
14:11:20.365[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113335
14:11:20.365[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112909
14:11:20.366[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440103 [mm], validation score: 0.997635.
14:11:20.366[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439048 [mm], validation score: 0.99764.
14:11:20.366[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439493 [mm], validation score: 0.997635.
14:11:20.366[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440056 [mm], validation score: 0.997641.
14:11:20.366[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440675 [mm], validation score: 0.997639.
14:11:20.366[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187129
14:11:20.366[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187174
14:11:20.367[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186918
14:11:20.367[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187058
14:11:20.367[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187012
14:11:20.367[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011301
14:11:20.367[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111785
14:11:20.367[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112743
14:11:20.368[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112483
14:11:20.368[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011184
14:11:20.368[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439317 [mm], validation score: 0.997643.
14:11:20.368[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.44002 [mm], validation score: 0.997628.
14:11:20.368[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43937 [mm], validation score: 0.997639.
14:11:20.368[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439937 [mm], validation score: 0.997638.
14:11:20.368[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439381 [mm], validation score: 0.997641.
14:11:20.368[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439341 [mm], validation score: 0.997641.
14:11:20.369[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186907
14:11:20.369[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018699
14:11:20.369[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186973
14:11:20.369[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018699
14:11:20.369[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187125
14:11:20.369[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187143
14:11:20.370[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113272
14:11:20.370[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111967
14:11:20.370[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112631
14:11:20.370[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111967
14:11:20.370[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112247
14:11:20.370[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113623
14:11:20.371[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439393 [mm], validation score: 0.997642.
14:11:20.371[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440077 [mm], validation score: 0.997634.
14:11:20.371[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439232 [mm], validation score: 0.997641.
14:11:20.371[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.43934 [mm], validation score: 0.997639.
14:11:20.371[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439772 [mm], validation score: 0.997638.
14:11:20.371[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439232 [mm], validation score: 0.997641.
14:11:20.371[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440023 [mm], validation score: 0.99764.
14:11:20.371[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439773 [mm], validation score: 0.997635.
14:11:20.372[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186824
14:11:20.372[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186899
14:11:20.372[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186951
14:11:20.372[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187129
14:11:20.372[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187184
14:11:20.372[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018714
14:11:20.372[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187089
14:11:20.373[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112844
14:11:20.373[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011209
14:11:20.373[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113433
14:11:20.373[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111779
14:11:20.373[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112561
14:11:20.373[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111836
14:11:20.374[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112876
14:11:20.374[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439323 [mm], validation score: 0.997643.
14:11:20.374[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440014 [mm], validation score: 0.997635.
14:11:20.374[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439358 [mm], validation score: 0.997644.
14:11:20.375[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439473 [mm], validation score: 0.997639.
14:11:20.374[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440645 [mm], validation score: 0.99764.
14:11:20.375[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439296 [mm], validation score: 0.997638.
14:11:20.376[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018704
14:11:20.376[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187173
14:11:20.376[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187371
14:11:20.377[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111466
14:11:20.377[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112089
14:11:20.377[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111786
14:11:20.378[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440125 [mm], validation score: 0.997634.
14:11:20.378[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.44085 [mm], validation score: 0.997639.
14:11:20.378[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439411 [mm], validation score: 0.997644.
14:11:20.379[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186867
14:11:20.379[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187185
14:11:20.379[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439357 [mm], validation score: 0.997641.
14:11:20.380[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113116
14:11:20.380[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187165
14:11:20.380[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112131
14:11:20.381[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112456
14:11:20.381[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439246 [mm], validation score: 0.997639.
14:11:20.381[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439095 [mm], validation score: 0.997641.
14:11:20.381[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187438
14:11:20.382[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187194
14:11:20.382[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112993
14:11:20.382[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439594 [mm], validation score: 0.997636.
14:11:20.382[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111784
14:11:20.383[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439689 [mm], validation score: 0.997638.
14:11:20.384[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439404 [mm], validation score: 0.997641.
14:11:20.384[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187102
14:11:20.385[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187022
14:11:20.385[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113025
14:11:20.386[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111772
14:11:20.386[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440144 [mm], validation score: 0.997642.
14:11:20.387[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439478 [mm], validation score: 0.997644.
14:11:20.387[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186935
14:11:20.388[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187146
14:11:20.388[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113006
14:11:20.388[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111975
14:11:20.389[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439982 [mm], validation score: 0.997638.
14:11:20.389[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.439194 [mm], validation score: 0.997641.
14:11:20.391[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179523
14:11:20.391[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017923
14:11:20.391[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179354
14:11:20.392[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179358
14:11:20.392[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179177
14:11:20.392[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179469
14:11:20.392[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116343
14:11:20.392[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178938
14:11:20.392[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116011
14:11:20.392[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116118
14:11:20.392[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116463
14:11:20.392[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116896
14:11:20.393[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116483
14:11:20.393[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116075
14:11:20.394[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179315
14:11:20.395[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011627
14:11:20.397[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588549 [mm], validation score: 0.995364.
14:11:20.398[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179122
14:11:20.398[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589306 [mm], validation score: 0.995343.
14:11:20.399[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588399 [mm], validation score: 0.99537.
14:11:20.399[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116788
14:11:20.399[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58844 [mm], validation score: 0.995369.
14:11:20.399[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179632
14:11:20.400[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179175
14:11:20.400[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588472 [mm], validation score: 0.995369.
14:11:20.400[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589436 [mm], validation score: 0.995344.
14:11:20.400[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179382
14:11:20.400[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116213
14:11:20.400[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588749 [mm], validation score: 0.995351.
14:11:20.401[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011673
14:11:20.401[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179512
14:11:20.401[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179214
14:11:20.401[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011738
14:11:20.402[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179082
14:11:20.402[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118618
14:11:20.402[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588186 [mm], validation score: 0.995377.
14:11:20.402[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588836 [mm], validation score: 0.995351.
14:11:20.402[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589231 [mm], validation score: 0.995355.
14:11:20.402[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116329
14:11:20.402[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117932
14:11:20.403[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179451
14:11:20.403[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179176
14:11:20.403[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179375
14:11:20.403[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589807 [mm], validation score: 0.995341.
14:11:20.403[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588046 [mm], validation score: 0.995372.
14:11:20.404[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117434
14:11:20.404[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116917
14:11:20.404[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117525
14:11:20.404[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179325
14:11:20.404[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179289
14:11:20.405[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589698 [mm], validation score: 0.99535.
14:11:20.405[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589076 [mm], validation score: 0.995355.
14:11:20.405[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588997 [mm], validation score: 0.995362.
14:11:20.405[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116697
14:11:20.405[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116876
14:11:20.405[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001793
14:11:20.406[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179181
14:11:20.406[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179339
14:11:20.406[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58891 [mm], validation score: 0.995366.
14:11:20.406[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589255 [mm], validation score: 0.995358.
14:11:20.406[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588945 [mm], validation score: 0.99536.
14:11:20.406[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115887
14:11:20.406[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116473
14:11:20.407[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116949
14:11:20.407[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178741
14:11:20.407[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179479
14:11:20.407[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179618
14:11:20.407[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588442 [mm], validation score: 0.99537.
14:11:20.407[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588615 [mm], validation score: 0.995365.
14:11:20.408[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116958
14:11:20.408[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116162
14:11:20.408[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116443
14:11:20.408[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179494
14:11:20.408[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179499
14:11:20.409[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.5885 [mm], validation score: 0.995379.
14:11:20.409[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588632 [mm], validation score: 0.995364.
14:11:20.409[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589059 [mm], validation score: 0.995345.
14:11:20.409[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011636
14:11:20.409[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117843
14:11:20.410[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179448
14:11:20.410[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179519
14:11:20.410[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179117
14:11:20.410[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589435 [mm], validation score: 0.995333.
14:11:20.410[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589115 [mm], validation score: 0.995343.
14:11:20.410[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588696 [mm], validation score: 0.995362.
14:11:20.411[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116267
14:11:20.411[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117835
14:11:20.411[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117556
14:11:20.411[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179219
14:11:20.411[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179372
14:11:20.412[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179354
14:11:20.412[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589641 [mm], validation score: 0.995329.
14:11:20.412[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589287 [mm], validation score: 0.995367.
14:11:20.412[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115462
14:11:20.412[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116638
14:11:20.412[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117562
14:11:20.413[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179199
14:11:20.413[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589282 [mm], validation score: 0.995365.
14:11:20.413[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588053 [mm], validation score: 0.995371.
14:11:20.413[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588133 [mm], validation score: 0.995373.
14:11:20.413[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179596
14:11:20.414[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115936
14:11:20.414[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179539
14:11:20.414[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178847
14:11:20.415[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179094
14:11:20.415[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118002
14:11:20.415[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588686 [mm], validation score: 0.995364.
14:11:20.415[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117532
14:11:20.415[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117295
14:11:20.416[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117264
14:11:20.416[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589406 [mm], validation score: 0.995343.
14:11:20.416[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179354
14:11:20.416[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588379 [mm], validation score: 0.995365.
14:11:20.416[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589709 [mm], validation score: 0.99534.
14:11:20.416[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58955 [mm], validation score: 0.995348.
14:11:20.417[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116197
14:11:20.417[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179296
14:11:20.417[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179345
14:11:20.417[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179215
14:11:20.417[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179213
14:11:20.418[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589035 [mm], validation score: 0.99536.
14:11:20.418[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116174
14:11:20.418[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117836
14:11:20.418[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116493
14:11:20.418[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116518
14:11:20.419[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179271
14:11:20.419[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588382 [mm], validation score: 0.995369.
14:11:20.419[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588867 [mm], validation score: 0.99536.
14:11:20.419[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589722 [mm], validation score: 0.995333.
14:11:20.419[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589584 [mm], validation score: 0.995329.
14:11:20.420[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116332
14:11:20.420[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179182
14:11:20.420[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179082
14:11:20.420[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179076
14:11:20.420[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179246
14:11:20.421[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588323 [mm], validation score: 0.99537.
14:11:20.421[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589501 [mm], validation score: 0.995364.
14:11:20.421[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116094
14:11:20.421[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117665
14:11:20.421[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117806
14:11:20.421[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115667
14:11:20.421[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179235
14:11:20.422[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179375
14:11:20.422[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588807 [mm], validation score: 0.995363.
14:11:20.422[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589002 [mm], validation score: 0.995354.
14:11:20.422[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588295 [mm], validation score: 0.995378.
14:11:20.422[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115366
14:11:20.422[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116695
14:11:20.423[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179441
14:11:20.423[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179284
14:11:20.423[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179159
14:11:20.423[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58938 [mm], validation score: 0.995354.
14:11:20.423[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588915 [mm], validation score: 0.995362.
14:11:20.424[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115557
14:11:20.424[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116533
14:11:20.424[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116604
14:11:20.424[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179303
14:11:20.424[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179128
14:11:20.424[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.587833 [mm], validation score: 0.995376.
14:11:20.425[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589412 [mm], validation score: 0.995353.
14:11:20.425[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588505 [mm], validation score: 0.995369.
14:11:20.425[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589377 [mm], validation score: 0.995353.
14:11:20.425[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116285
14:11:20.425[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116871
14:11:20.425[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179161
14:11:20.426[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179127
14:11:20.426[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179412
14:11:20.426[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179188
14:11:20.426[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589223 [mm], validation score: 0.995352.
14:11:20.426[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116209
14:11:20.427[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011812
14:11:20.427[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117087
14:11:20.427[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116666
14:11:20.427[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179282
14:11:20.427[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588915 [mm], validation score: 0.99535.
14:11:20.428[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588869 [mm], validation score: 0.995363.
14:11:20.428[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588512 [mm], validation score: 0.995372.
14:11:20.428[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588939 [mm], validation score: 0.995347.
14:11:20.428[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116539
14:11:20.428[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179285
14:11:20.429[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179624
14:11:20.429[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179148
14:11:20.429[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179221
14:11:20.429[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588584 [mm], validation score: 0.995367.
14:11:20.429[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116892
14:11:20.429[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588352 [mm], validation score: 0.995368.
14:11:20.430[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116481
14:11:20.430[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116984
14:11:20.430[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116152
14:11:20.430[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179196
14:11:20.430[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179247
14:11:20.430[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588734 [mm], validation score: 0.99536.
14:11:20.431[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589115 [mm], validation score: 0.995349.
14:11:20.431[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588422 [mm], validation score: 0.99537.
14:11:20.431[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116147
14:11:20.431[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116012
14:11:20.431[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179228
14:11:20.432[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179083
14:11:20.432[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179293
14:11:20.432[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589465 [mm], validation score: 0.995345.
14:11:20.432[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588673 [mm], validation score: 0.995367.
14:11:20.432[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115173
14:11:20.433[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117364
14:11:20.433[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116338
14:11:20.433[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179021
14:11:20.433[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179083
14:11:20.433[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589026 [mm], validation score: 0.995343.
14:11:20.434[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588852 [mm], validation score: 0.995348.
14:11:20.434[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588584 [mm], validation score: 0.995353.
14:11:20.434[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589559 [mm], validation score: 0.995351.
14:11:20.434[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116821
14:11:20.434[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117673
14:11:20.434[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179162
14:11:20.435[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179356
14:11:20.435[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179041
14:11:20.435[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017955
14:11:20.435[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589489 [mm], validation score: 0.995343.
14:11:20.435[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117196
14:11:20.436[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117251
14:11:20.436[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116573
14:11:20.436[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116657
14:11:20.436[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179178
14:11:20.436[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589158 [mm], validation score: 0.995347.
14:11:20.436[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588624 [mm], validation score: 0.995364.
14:11:20.437[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588557 [mm], validation score: 0.995364.
14:11:20.437[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588904 [mm], validation score: 0.995356.
14:11:20.437[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116285
14:11:20.437[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179301
14:11:20.437[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179407
14:11:20.437[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179241
14:11:20.438[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179146
14:11:20.438[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588982 [mm], validation score: 0.99536.
14:11:20.438[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589502 [mm], validation score: 0.995332.
14:11:20.438[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116247
14:11:20.438[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117403
14:11:20.438[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115831
14:11:20.439[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011672
14:11:20.439[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179065
14:11:20.439[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179078
14:11:20.439[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588963 [mm], validation score: 0.995358.
14:11:20.439[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588362 [mm], validation score: 0.995373.
14:11:20.440[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117824
14:11:20.440[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117782
14:11:20.440[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588351 [mm], validation score: 0.995367.
14:11:20.440[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179503
14:11:20.440[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179073
14:11:20.441[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589215 [mm], validation score: 0.995355.
14:11:20.441[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179188
14:11:20.441[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588458 [mm], validation score: 0.995359.
14:11:20.441[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116849
14:11:20.441[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117496
14:11:20.442[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116177
14:11:20.442[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179359
14:11:20.442[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179411
14:11:20.442[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589072 [mm], validation score: 0.995359.
14:11:20.442[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589763 [mm], validation score: 0.995343.
14:11:20.442[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589392 [mm], validation score: 0.995361.
14:11:20.442[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117071
14:11:20.443[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116611
14:11:20.443[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58909 [mm], validation score: 0.995359.
14:11:20.443[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179179
14:11:20.443[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179462
14:11:20.444[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179502
14:11:20.444[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588311 [mm], validation score: 0.99537.
14:11:20.444[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117439
14:11:20.444[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179153
14:11:20.444[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117197
14:11:20.444[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117043
14:11:20.445[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179543
14:11:20.445[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116443
14:11:20.446[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589572 [mm], validation score: 0.995328.
14:11:20.446[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118173
14:11:20.446[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589041 [mm], validation score: 0.995353.
14:11:20.446[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58855 [mm], validation score: 0.995365.
14:11:20.446[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588997 [mm], validation score: 0.995365.
14:11:20.447[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178967
14:11:20.447[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589227 [mm], validation score: 0.995353.
14:11:20.447[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589003 [mm], validation score: 0.995361.
14:11:20.447[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179007
14:11:20.447[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179324
14:11:20.447[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179068
14:11:20.448[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179483
14:11:20.448[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116752
14:11:20.448[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179343
14:11:20.448[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011702
14:11:20.448[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011778
14:11:20.449[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117013
14:11:20.449[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011684
14:11:20.449[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588625 [mm], validation score: 0.995362.
14:11:20.450[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116582
14:11:20.450[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589052 [mm], validation score: 0.995347.
14:11:20.451[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58873 [mm], validation score: 0.995364.
14:11:20.451[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589255 [mm], validation score: 0.995341.
14:11:20.451[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179514
14:11:20.451[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588794 [mm], validation score: 0.995362.
14:11:20.451[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58976 [mm], validation score: 0.995343.
14:11:20.451[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179269
14:11:20.451[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179282
14:11:20.451[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179439
14:11:20.451[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179133
14:11:20.451[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011721
14:11:20.452[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178994
14:11:20.452[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116261
14:11:20.452[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116017
14:11:20.452[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117398
14:11:20.452[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117204
14:11:20.453[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588745 [mm], validation score: 0.995364.
14:11:20.453[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116491
14:11:20.453[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589585 [mm], validation score: 0.995334.
14:11:20.453[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588685 [mm], validation score: 0.995362.
14:11:20.453[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179418
14:11:20.454[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588242 [mm], validation score: 0.99537.
14:11:20.454[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179428
14:11:20.454[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017923
14:11:20.454[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117689
14:11:20.455[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116791
14:11:20.455[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179191
14:11:20.455[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115511
14:11:20.455[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588873 [mm], validation score: 0.995359.
14:11:20.455[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588635 [mm], validation score: 0.995355.
14:11:20.455[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589209 [mm], validation score: 0.995353.
14:11:20.456[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58821 [mm], validation score: 0.995371.
14:11:20.456[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116511
14:11:20.456[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588353 [mm], validation score: 0.995371.
14:11:20.456[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179477
14:11:20.456[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179248
14:11:20.456[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017912
14:11:20.457[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179329
14:11:20.457[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589367 [mm], validation score: 0.995344.
14:11:20.457[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178985
14:11:20.457[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116695
14:11:20.457[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115825
14:11:20.457[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117562
14:11:20.458[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116888
14:11:20.458[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179108
14:11:20.458[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117067
14:11:20.458[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.587897 [mm], validation score: 0.995381.
14:11:20.459[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588779 [mm], validation score: 0.995366.
14:11:20.459[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117774
14:11:20.459[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588449 [mm], validation score: 0.99537.
14:11:20.459[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588454 [mm], validation score: 0.995357.
14:11:20.459[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589375 [mm], validation score: 0.995343.
14:11:20.459[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179582
14:11:20.459[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178983
14:11:20.460[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588359 [mm], validation score: 0.99537.
14:11:20.460[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179283
14:11:20.460[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017944
14:11:20.460[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116605
14:11:20.460[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017938
14:11:20.460[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116574
14:11:20.461[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179343
14:11:20.461[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115588
14:11:20.461[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116735
14:11:20.461[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588673 [mm], validation score: 0.995362.
14:11:20.461[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116819
14:11:20.461[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589675 [mm], validation score: 0.995342.
14:11:20.461[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117253
14:11:20.462[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179004
14:11:20.462[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589017 [mm], validation score: 0.99535.
14:11:20.462[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179233
14:11:20.462[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58959 [mm], validation score: 0.995331.
14:11:20.463[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117555
14:11:20.463[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179328
14:11:20.463[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115722
14:11:20.463[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179401
14:11:20.464[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116706
14:11:20.464[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589678 [mm], validation score: 0.995343.
14:11:20.464[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589329 [mm], validation score: 0.995349.
14:11:20.464[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588705 [mm], validation score: 0.995363.
14:11:20.464[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588833 [mm], validation score: 0.995362.
14:11:20.464[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116483
14:11:20.465[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58945 [mm], validation score: 0.995342.
14:11:20.465[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179662
14:11:20.465[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179133
14:11:20.465[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179309
14:11:20.465[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179354
14:11:20.465[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588186 [mm], validation score: 0.995377.
14:11:20.466[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179137
14:11:20.466[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116844
14:11:20.466[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115864
14:11:20.466[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115051
14:11:20.466[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117188
14:11:20.466[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179061
14:11:20.467[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011707
14:11:20.467[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588722 [mm], validation score: 0.995367.
14:11:20.467[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58838 [mm], validation score: 0.995371.
14:11:20.467[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116587
14:11:20.468[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588054 [mm], validation score: 0.995376.
14:11:20.468[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179333
14:11:20.468[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589105 [mm], validation score: 0.995361.
14:11:20.468[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588949 [mm], validation score: 0.995353.
14:11:20.468[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179043
14:11:20.468[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589618 [mm], validation score: 0.995346.
14:11:20.468[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179356
14:11:20.468[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011671
14:11:20.469[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179298
14:11:20.469[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117656
14:11:20.469[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179166
14:11:20.469[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001792
14:11:20.469[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116565
14:11:20.469[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588648 [mm], validation score: 0.995363.
14:11:20.470[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116389
14:11:20.470[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589385 [mm], validation score: 0.995338.
14:11:20.470[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115953
14:11:20.470[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116202
14:11:20.470[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179389
14:11:20.470[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589026 [mm], validation score: 0.995364.
14:11:20.471[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001794
14:11:20.471[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588806 [mm], validation score: 0.995364.
14:11:20.471[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116228
14:11:20.471[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179184
14:11:20.472[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116666
14:11:20.472[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179338
14:11:20.472[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58951 [mm], validation score: 0.99533.
14:11:20.472[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588765 [mm], validation score: 0.995351.
14:11:20.472[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589775 [mm], validation score: 0.99533.
14:11:20.472[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116954
14:11:20.473[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589208 [mm], validation score: 0.995342.
14:11:20.473[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116354
14:11:20.473[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179622
14:11:20.473[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179349
14:11:20.473[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179543
14:11:20.473[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58876 [mm], validation score: 0.995358.
14:11:20.474[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179087
14:11:20.474[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116856
14:11:20.474[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117127
14:11:20.475[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179451
14:11:20.475[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116853
14:11:20.475[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116384
14:11:20.475[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588409 [mm], validation score: 0.995365.
14:11:20.476[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011733
14:11:20.476[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58914 [mm], validation score: 0.995344.
14:11:20.476[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589604 [mm], validation score: 0.995332.
14:11:20.476[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179343
14:11:20.477[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.5889 [mm], validation score: 0.995359.
14:11:20.477[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589213 [mm], validation score: 0.995355.
14:11:20.477[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58908 [mm], validation score: 0.995359.
14:11:20.477[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179444
14:11:20.477[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179286
14:11:20.477[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116667
14:11:20.478[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179298
14:11:20.478[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117069
14:11:20.478[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179307
14:11:20.478[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017928
14:11:20.478[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116694
14:11:20.479[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116757
14:11:20.479[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011643
14:11:20.479[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115505
14:11:20.479[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589687 [mm], validation score: 0.995328.
14:11:20.480[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589352 [mm], validation score: 0.995355.
14:11:20.480[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588556 [mm], validation score: 0.995364.
14:11:20.480[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589114 [mm], validation score: 0.995342.
14:11:20.480[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588219 [mm], validation score: 0.995371.
14:11:20.480[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179261
14:11:20.481[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017909
14:11:20.481[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179432
14:11:20.481[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179219
14:11:20.481[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115869
14:11:20.481[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179122
14:11:20.482[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117068
14:11:20.482[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011763
14:11:20.482[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588495 [mm], validation score: 0.995364.
14:11:20.482[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116709
14:11:20.482[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011656
14:11:20.483[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588436 [mm], validation score: 0.995362.
14:11:20.483[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.587985 [mm], validation score: 0.995381.
14:11:20.483[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179257
14:11:20.483[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588725 [mm], validation score: 0.995367.
14:11:20.483[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588084 [mm], validation score: 0.995377.
14:11:20.483[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58874 [mm], validation score: 0.995361.
14:11:20.484[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178917
14:11:20.484[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179357
14:11:20.484[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116849
14:11:20.484[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179462
14:11:20.484[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179096
14:11:20.484[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179084
14:11:20.485[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116822
14:11:20.485[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117182
14:11:20.485[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589333 [mm], validation score: 0.995335.
14:11:20.485[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116397
14:11:20.485[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117721
14:11:20.485[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116893
14:11:20.486[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58909 [mm], validation score: 0.995364.
14:11:20.486[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179174
14:11:20.486[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58927 [mm], validation score: 0.995357.
14:11:20.486[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589739 [mm], validation score: 0.995342.
14:11:20.486[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588504 [mm], validation score: 0.995364.
14:11:20.486[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179179
14:11:20.487[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116977
14:11:20.487[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179412
14:11:20.487[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179374
14:11:20.487[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179054
14:11:20.487[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116232
14:11:20.488[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.5895 [mm], validation score: 0.995335.
14:11:20.488[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588323 [mm], validation score: 0.99537.
14:11:20.488[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116909
14:11:20.488[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116488
14:11:20.488[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116432
14:11:20.488[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588921 [mm], validation score: 0.995364.
14:11:20.488[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179204
14:11:20.489[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001793
14:11:20.489[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589339 [mm], validation score: 0.995342.
14:11:20.489[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588379 [mm], validation score: 0.995363.
14:11:20.489[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589129 [mm], validation score: 0.995361.
14:11:20.489[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116702
14:11:20.489[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116394
14:11:20.489[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180066
14:11:20.490[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179329
14:11:20.490[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179372
14:11:20.490[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588116 [mm], validation score: 0.995372.
14:11:20.490[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58852 [mm], validation score: 0.995362.
14:11:20.491[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116233
14:11:20.491[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011604
14:11:20.491[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117334
14:11:20.491[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179452
14:11:20.491[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179544
14:11:20.492[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588577 [mm], validation score: 0.995368.
14:11:20.492[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58938 [mm], validation score: 0.995335.
14:11:20.492[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588385 [mm], validation score: 0.995364.
14:11:20.492[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588335 [mm], validation score: 0.995367.
14:11:20.492[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117231
14:11:20.492[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117732
14:11:20.493[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017918
14:11:20.493[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179174
14:11:20.493[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179435
14:11:20.493[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589211 [mm], validation score: 0.995354.
14:11:20.494[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588647 [mm], validation score: 0.995366.
14:11:20.494[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117571
14:11:20.494[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116977
14:11:20.494[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117297
14:11:20.495[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589138 [mm], validation score: 0.99536.
14:11:20.495[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589339 [mm], validation score: 0.995342.
14:11:20.495[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589477 [mm], validation score: 0.995344.
14:11:20.495[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588451 [mm], validation score: 0.995368.
14:11:20.495[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179397
14:11:20.496[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179274
14:11:20.496[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179276
14:11:20.496[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116813
14:11:20.497[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116114
14:11:20.497[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011576
14:11:20.497[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58874 [mm], validation score: 0.995361.
14:11:20.498[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588289 [mm], validation score: 0.995372.
14:11:20.498[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588892 [mm], validation score: 0.995352.
14:11:20.500[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001856
14:11:20.500[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185055
14:11:20.500[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184885
14:11:20.500[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186917
14:11:20.500[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185054
14:11:20.500[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184761
14:11:20.500[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184775
14:11:20.501[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018472
14:11:20.501[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115038
14:11:20.501[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115676
14:11:20.501[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117204
14:11:20.501[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115977
14:11:20.501[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115446
14:11:20.501[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114652
14:11:20.501[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114787
14:11:20.502[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115863
14:11:20.506[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505131 [mm], validation score: 0.996803.
14:11:20.506[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509977 [mm], validation score: 0.996769.
14:11:20.506[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507062 [mm], validation score: 0.996794.
14:11:20.507[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185526
14:11:20.507[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184855
14:11:20.508[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115956
14:11:20.508[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184896
14:11:20.508[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115426
14:11:20.508[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506138 [mm], validation score: 0.996795.
14:11:20.509[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116152
14:11:20.509[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508312 [mm], validation score: 0.996783.
14:11:20.509[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508946 [mm], validation score: 0.996778.
14:11:20.509[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505754 [mm], validation score: 0.996798.
14:11:20.510[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184959
14:11:20.510[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185342
14:11:20.510[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187096
14:11:20.511[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115055
14:11:20.511[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184909
14:11:20.511[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115943
14:11:20.511[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508616 [mm], validation score: 0.996779.
14:11:20.511[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116306
14:11:20.512[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116109
14:11:20.512[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506571 [mm], validation score: 0.996796.
14:11:20.512[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509797 [mm], validation score: 0.996772.
14:11:20.512[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018469
14:11:20.512[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507539 [mm], validation score: 0.996789.
14:11:20.513[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505826 [mm], validation score: 0.996801.
14:11:20.513[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184814
14:11:20.513[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185342
14:11:20.513[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115929
14:11:20.513[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185114
14:11:20.514[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115163
14:11:20.514[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116235
14:11:20.514[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018503
14:11:20.514[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115592
14:11:20.515[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510248 [mm], validation score: 0.996767.
14:11:20.515[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511926 [mm], validation score: 0.996752.
14:11:20.515[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115558
14:11:20.515[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510495 [mm], validation score: 0.996765.
14:11:20.515[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.512537 [mm], validation score: 0.996747.
14:11:20.515[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508001 [mm], validation score: 0.996785.
14:11:20.515[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508413 [mm], validation score: 0.996782.
14:11:20.516[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184889
14:11:20.516[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184548
14:11:20.516[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185234
14:11:20.516[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185118
14:11:20.516[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184782
14:11:20.516[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184631
14:11:20.516[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116324
14:11:20.517[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115551
14:11:20.517[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115728
14:11:20.517[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114587
14:11:20.517[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011521
14:11:20.517[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011538
14:11:20.518[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.513601 [mm], validation score: 0.996736.
14:11:20.518[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506724 [mm], validation score: 0.996794.
14:11:20.518[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508912 [mm], validation score: 0.996777.
14:11:20.518[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505586 [mm], validation score: 0.9968.
14:11:20.518[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508367 [mm], validation score: 0.99678.
14:11:20.518[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509613 [mm], validation score: 0.996771.
14:11:20.518[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508262 [mm], validation score: 0.996783.
14:11:20.518[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507439 [mm], validation score: 0.996789.
14:11:20.519[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185023
14:11:20.519[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185154
14:11:20.519[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185024
14:11:20.519[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184989
14:11:20.519[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184696
14:11:20.519[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184884
14:11:20.519[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186724
14:11:20.520[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115494
14:11:20.520[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185189
14:11:20.520[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116043
14:11:20.520[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115613
14:11:20.520[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116067
14:11:20.520[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115849
14:11:20.520[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115841
14:11:20.520[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116349
14:11:20.521[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115498
14:11:20.521[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511527 [mm], validation score: 0.996756.
14:11:20.521[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507649 [mm], validation score: 0.996787.
14:11:20.521[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506005 [mm], validation score: 0.996798.
14:11:20.521[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507374 [mm], validation score: 0.996789.
14:11:20.521[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509566 [mm], validation score: 0.996773.
14:11:20.522[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507394 [mm], validation score: 0.996789.
14:11:20.522[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509395 [mm], validation score: 0.996773.
14:11:20.522[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185279
14:11:20.522[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184939
14:11:20.522[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018597
14:11:20.522[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184944
14:11:20.522[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184546
14:11:20.522[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018491
14:11:20.523[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184884
14:11:20.523[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114869
14:11:20.523[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115422
14:11:20.523[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115566
14:11:20.523[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117256
14:11:20.523[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011569
14:11:20.523[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116954
14:11:20.523[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116258
14:11:20.524[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511754 [mm], validation score: 0.996754.
14:11:20.524[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506154 [mm], validation score: 0.9968.
14:11:20.524[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505771 [mm], validation score: 0.996798.
14:11:20.524[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510655 [mm], validation score: 0.996763.
14:11:20.524[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508702 [mm], validation score: 0.996779.
14:11:20.524[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510708 [mm], validation score: 0.996765.
14:11:20.524[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507652 [mm], validation score: 0.996789.
14:11:20.525[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185241
14:11:20.525[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185035
14:11:20.525[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184756
14:11:20.525[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184853
14:11:20.525[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186056
14:11:20.525[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185228
14:11:20.525[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184866
14:11:20.526[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115902
14:11:20.526[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115879
14:11:20.526[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116062
14:11:20.526[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115756
14:11:20.526[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115207
14:11:20.526[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011472
14:11:20.526[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114592
14:11:20.527[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50974 [mm], validation score: 0.99677.
14:11:20.527[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50576 [mm], validation score: 0.996798.
14:11:20.527[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50894 [mm], validation score: 0.996776.
14:11:20.527[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511025 [mm], validation score: 0.99676.
14:11:20.527[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508882 [mm], validation score: 0.996778.
14:11:20.527[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508476 [mm], validation score: 0.99678.
14:11:20.527[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509934 [mm], validation score: 0.996771.
14:11:20.528[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185149
14:11:20.528[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184715
14:11:20.528[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185273
14:11:20.528[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185705
14:11:20.528[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184623
14:11:20.529[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184604
14:11:20.529[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116467
14:11:20.529[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115705
14:11:20.529[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116128
14:11:20.529[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114994
14:11:20.529[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011531
14:11:20.529[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114907
14:11:20.530[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511423 [mm], validation score: 0.996757.
14:11:20.531[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510563 [mm], validation score: 0.996764.
14:11:20.531[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511085 [mm], validation score: 0.996759.
14:11:20.531[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511066 [mm], validation score: 0.99676.
14:11:20.531[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.51003 [mm], validation score: 0.996768.
14:11:20.531[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506582 [mm], validation score: 0.996795.
14:11:20.531[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185054
14:11:20.532[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185195
14:11:20.532[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184337
14:11:20.532[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185278
14:11:20.532[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184826
14:11:20.532[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184556
14:11:20.532[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184825
14:11:20.532[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115455
14:11:20.532[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115677
14:11:20.533[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114761
14:11:20.533[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115288
14:11:20.533[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115048
14:11:20.533[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115902
14:11:20.533[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114835
14:11:20.533[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510324 [mm], validation score: 0.996767.
14:11:20.534[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509917 [mm], validation score: 0.996769.
14:11:20.534[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506937 [mm], validation score: 0.996791.
14:11:20.534[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184652
14:11:20.534[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50828 [mm], validation score: 0.996781.
14:11:20.534[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510915 [mm], validation score: 0.996761.
14:11:20.535[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185393
14:11:20.535[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115847
14:11:20.535[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185219
14:11:20.535[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184285
14:11:20.535[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018492
14:11:20.536[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116511
14:11:20.536[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116411
14:11:20.536[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511816 [mm], validation score: 0.996753.
14:11:20.536[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505361 [mm], validation score: 0.996802.
14:11:20.536[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505618 [mm], validation score: 0.996802.
14:11:20.536[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114179
14:11:20.536[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115757
14:11:20.536[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507293 [mm], validation score: 0.99679.
14:11:20.537[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184789
14:11:20.537[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185074
14:11:20.537[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.513643 [mm], validation score: 0.996736.
14:11:20.537[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184661
14:11:20.537[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506607 [mm], validation score: 0.996796.
14:11:20.537[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508303 [mm], validation score: 0.996781.
14:11:20.537[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184815
14:11:20.538[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114663
14:11:20.538[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115337
14:11:20.538[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185128
14:11:20.538[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114867
14:11:20.538[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183656
14:11:20.538[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018483
14:11:20.538[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011537
14:11:20.539[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115302
14:11:20.539[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114573
14:11:20.539[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115215
14:11:20.539[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508411 [mm], validation score: 0.996782.
14:11:20.540[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506859 [mm], validation score: 0.996795.
14:11:20.540[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509314 [mm], validation score: 0.996773.
14:11:20.540[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505987 [mm], validation score: 0.996801.
14:11:20.540[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508616 [mm], validation score: 0.996779.
14:11:20.540[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511419 [mm], validation score: 0.996757.
14:11:20.540[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508259 [mm], validation score: 0.996781.
14:11:20.540[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185287
14:11:20.541[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018498
14:11:20.541[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185071
14:11:20.541[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185203
14:11:20.541[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184586
14:11:20.541[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018353
14:11:20.541[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185144
14:11:20.541[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116032
14:11:20.542[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116401
14:11:20.542[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115648
14:11:20.542[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115008
14:11:20.542[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001161
14:11:20.542[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505601 [mm], validation score: 0.9968.
14:11:20.542[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114056
14:11:20.542[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011531
14:11:20.543[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506936 [mm], validation score: 0.996793.
14:11:20.543[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50714 [mm], validation score: 0.996793.
14:11:20.543[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018464
14:11:20.543[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506903 [mm], validation score: 0.996792.
14:11:20.543[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511233 [mm], validation score: 0.996758.
14:11:20.544[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018505
14:11:20.544[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184438
14:11:20.544[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115122
14:11:20.544[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001851
14:11:20.544[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185118
14:11:20.545[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114489
14:11:20.545[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011532
14:11:20.545[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505961 [mm], validation score: 0.996798.
14:11:20.545[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509425 [mm], validation score: 0.996773.
14:11:20.545[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115778
14:11:20.545[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115958
14:11:20.546[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511453 [mm], validation score: 0.996757.
14:11:20.546[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183525
14:11:20.546[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184624
14:11:20.546[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.51109 [mm], validation score: 0.99676.
14:11:20.546[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506766 [mm], validation score: 0.996796.
14:11:20.547[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185407
14:11:20.547[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114429
14:11:20.547[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114431
14:11:20.547[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185193
14:11:20.547[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184785
14:11:20.548[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011596
14:11:20.548[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508132 [mm], validation score: 0.996785.
14:11:20.548[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506546 [mm], validation score: 0.996797.
14:11:20.548[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117087
14:11:20.548[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114972
14:11:20.549[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184836
14:11:20.549[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184995
14:11:20.549[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511309 [mm], validation score: 0.996758.
14:11:20.550[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508261 [mm], validation score: 0.996784.
14:11:20.550[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510585 [mm], validation score: 0.996765.
14:11:20.550[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506812 [mm], validation score: 0.996792.
14:11:20.550[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506524 [mm], validation score: 0.996794.
14:11:20.550[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011524
14:11:20.550[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115
14:11:20.550[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184748
14:11:20.551[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184892
14:11:20.551[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183662
14:11:20.551[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185259
14:11:20.551[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184751
14:11:20.551[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507661 [mm], validation score: 0.996788.
14:11:20.551[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115392
14:11:20.551[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116387
14:11:20.552[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114959
14:11:20.552[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116065
14:11:20.552[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115425
14:11:20.552[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184725
14:11:20.552[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505287 [mm], validation score: 0.996801.
14:11:20.553[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506293 [mm], validation score: 0.996797.
14:11:20.553[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50667 [mm], validation score: 0.996794.
14:11:20.553[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507672 [mm], validation score: 0.996787.
14:11:20.553[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507561 [mm], validation score: 0.99679.
14:11:20.553[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115711
14:11:20.553[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184935
14:11:20.554[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185209
14:11:20.554[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018467
14:11:20.554[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183529
14:11:20.554[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185073
14:11:20.554[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508719 [mm], validation score: 0.996778.
14:11:20.554[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50537 [mm], validation score: 0.9968.
14:11:20.554[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116399
14:11:20.554[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115851
14:11:20.555[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115459
14:11:20.555[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011373
14:11:20.555[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115284
14:11:20.555[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185647
14:11:20.555[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184991
14:11:20.556[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510595 [mm], validation score: 0.996764.
14:11:20.556[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507122 [mm], validation score: 0.996793.
14:11:20.556[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115842
14:11:20.556[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507527 [mm], validation score: 0.996788.
14:11:20.556[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116445
14:11:20.557[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184935
14:11:20.557[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184787
14:11:20.557[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185149
14:11:20.557[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507583 [mm], validation score: 0.996786.
14:11:20.557[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50856 [mm], validation score: 0.996782.
14:11:20.557[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510214 [mm], validation score: 0.996767.
14:11:20.557[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011625
14:11:20.558[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011551
14:11:20.558[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116435
14:11:20.558[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183786
14:11:20.558[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184761
14:11:20.558[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018631
14:11:20.558[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506926 [mm], validation score: 0.996793.
14:11:20.559[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509765 [mm], validation score: 0.996771.
14:11:20.559[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114677
14:11:20.559[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115549
14:11:20.559[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011636
14:11:20.559[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018518
14:11:20.560[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184617
14:11:20.560[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508874 [mm], validation score: 0.996778.
14:11:20.560[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509147 [mm], validation score: 0.996775.
14:11:20.560[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116516
14:11:20.560[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511113 [mm], validation score: 0.996759.
14:11:20.560[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506154 [mm], validation score: 0.9968.
14:11:20.560[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509066 [mm], validation score: 0.996776.
14:11:20.561[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115179
14:11:20.561[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185363
14:11:20.561[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185131
14:11:20.561[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183522
14:11:20.561[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184746
14:11:20.562[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184441
14:11:20.562[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509295 [mm], validation score: 0.996776.
14:11:20.562[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115444
14:11:20.562[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115651
14:11:20.562[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114167
14:11:20.562[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115955
14:11:20.562[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115608
14:11:20.563[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00209642
14:11:20.563[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507351 [mm], validation score: 0.99679.
14:11:20.563[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.513324 [mm], validation score: 0.996739.
14:11:20.563[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506148 [mm], validation score: 0.996796.
14:11:20.564[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508333 [mm], validation score: 0.996783.
14:11:20.564[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507263 [mm], validation score: 0.996789.
14:11:20.564[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509435 [mm], validation score: 0.996773.
14:11:20.564[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130804
14:11:20.564[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185423
14:11:20.564[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184896
14:11:20.564[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018513
14:11:20.565[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506353 [mm], validation score: 0.996797.
14:11:20.565[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184915
14:11:20.565[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185075
14:11:20.565[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116244
14:11:20.565[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115437
14:11:20.565[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183384
14:11:20.565[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115852
14:11:20.566[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115924
14:11:20.566[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184715
14:11:20.566[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115091
14:11:20.566[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.516321 [mm], validation score: 0.996705.
14:11:20.566[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508816 [mm], validation score: 0.996778.
14:11:20.566[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505992 [mm], validation score: 0.996797.
14:11:20.567[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115747
14:11:20.567[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114354
14:11:20.567[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00240408
14:11:20.567[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185572
14:11:20.567[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184829
14:11:20.568[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511504 [mm], validation score: 0.996756.
14:11:20.568[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510058 [mm], validation score: 0.996769.
14:11:20.568[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00148766
14:11:20.568[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114717
14:11:20.568[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507581 [mm], validation score: 0.996787.
14:11:20.568[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116431
14:11:20.569[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018501
14:11:20.569[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184979
14:11:20.569[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509144 [mm], validation score: 0.996776.
14:11:20.569[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509662 [mm], validation score: 0.996772.
14:11:20.569[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185272
14:11:20.570[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116444
14:11:20.570[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114376
14:11:20.570[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508444 [mm], validation score: 0.996781.
14:11:20.570[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.514597 [mm], validation score: 0.996726.
14:11:20.570[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184789
14:11:20.570[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183392
14:11:20.570[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115541
14:11:20.571[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510894 [mm], validation score: 0.996763.
14:11:20.571[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00252976
14:11:20.571[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115542
14:11:20.571[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115323
14:11:20.571[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185928
14:11:20.571[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509458 [mm], validation score: 0.996773.
14:11:20.572[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00155332
14:11:20.572[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184879
14:11:20.572[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508812 [mm], validation score: 0.996776.
14:11:20.572[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509779 [mm], validation score: 0.99677.
14:11:20.572[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117022
14:11:20.572[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185088
14:11:20.573[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510485 [mm], validation score: 0.996764.
14:11:20.573[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50971 [mm], validation score: 0.99677.
14:11:20.573[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011588
14:11:20.573[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184596
14:11:20.573[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184961
14:11:20.573[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115325
14:11:20.574[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193744
14:11:20.574[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184835
14:11:20.574[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509023 [mm], validation score: 0.996777.
14:11:20.574[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115438
14:11:20.574[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115118
14:11:20.574[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.512372 [mm], validation score: 0.99675.
14:11:20.574[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510894 [mm], validation score: 0.996761.
14:11:20.574[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119812
14:11:20.574[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114871
14:11:20.575[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185546
14:11:20.575[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510052 [mm], validation score: 0.996768.
14:11:20.575[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185765
14:11:20.575[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184861
14:11:20.575[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116001
14:11:20.575[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511068 [mm], validation score: 0.99676.
14:11:20.575[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505859 [mm], validation score: 0.996797.
14:11:20.576[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115638
14:11:20.576[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185328
14:11:20.576[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011703
14:11:20.576[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506735 [mm], validation score: 0.996796.
14:11:20.576[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50944 [mm], validation score: 0.996774.
14:11:20.576[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185093
14:11:20.576[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184911
14:11:20.577[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115581
14:11:20.577[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506199 [mm], validation score: 0.9968.
14:11:20.577[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195905
14:11:20.577[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115286
14:11:20.577[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115907
14:11:20.577[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018487
14:11:20.578[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506624 [mm], validation score: 0.996794.
14:11:20.578[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00222506
14:11:20.578[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115282
14:11:20.578[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122357
14:11:20.578[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.512409 [mm], validation score: 0.99675.
14:11:20.578[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507492 [mm], validation score: 0.996788.
14:11:20.579[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184901
14:11:20.579[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00136605
14:11:20.579[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185636
14:11:20.579[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.512072 [mm], validation score: 0.996751.
14:11:20.579[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510239 [mm], validation score: 0.996767.
14:11:20.579[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018468
14:11:20.580[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116195
14:11:20.580[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510426 [mm], validation score: 0.996766.
14:11:20.580[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507018 [mm], validation score: 0.996792.
14:11:20.580[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116334
14:11:20.580[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011594
14:11:20.580[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184786
14:11:20.580[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184766
14:11:20.581[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197848
14:11:20.581[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184596
14:11:20.581[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50939 [mm], validation score: 0.996773.
14:11:20.581[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011458
14:11:20.581[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115627
14:11:20.581[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511867 [mm], validation score: 0.996753.
14:11:20.581[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507224 [mm], validation score: 0.996793.
14:11:20.582[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012314
14:11:20.582[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114484
14:11:20.582[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00200027
14:11:20.582[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185538
14:11:20.582[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184934
14:11:20.582[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50986 [mm], validation score: 0.99677.
14:11:20.583[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508609 [mm], validation score: 0.996778.
14:11:20.583[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124211
14:11:20.583[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505917 [mm], validation score: 0.996798.
14:11:20.583[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115291
14:11:20.583[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116235
14:11:20.583[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185004
14:11:20.584[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184596
14:11:20.584[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509286 [mm], validation score: 0.996774.
14:11:20.584[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50682 [mm], validation score: 0.996795.
14:11:20.584[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184924
14:11:20.584[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115564
14:11:20.584[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.514166 [mm], validation score: 0.996732.
14:11:20.585[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114192
14:11:20.585[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508077 [mm], validation score: 0.996784.
14:11:20.585[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00200027
14:11:20.585[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115572
14:11:20.585[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018478
14:11:20.585[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510514 [mm], validation score: 0.996764.
14:11:20.586[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115531
14:11:20.586[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508664 [mm], validation score: 0.996779.
14:11:20.586[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508195 [mm], validation score: 0.996781.
14:11:20.586[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184984
14:11:20.586[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124211
14:11:20.587[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185863
14:11:20.587[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115581
14:11:20.587[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018475
14:11:20.587[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116971
14:11:20.588[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114247
14:11:20.588[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508203 [mm], validation score: 0.996783.
14:11:20.589[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509635 [mm], validation score: 0.996771.
14:11:20.589[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.514166 [mm], validation score: 0.996732.
14:11:20.589[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507468 [mm], validation score: 0.996788.
14:11:20.589[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506357 [mm], validation score: 0.996798.
14:11:20.589[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184796
14:11:20.589[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508064 [mm], validation score: 0.996783.
14:11:20.590[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184646
14:11:20.590[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185125
14:11:20.590[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018495
14:11:20.590[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186574
14:11:20.590[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115636
14:11:20.590[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184498
14:11:20.591[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115941
14:11:20.591[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115499
14:11:20.591[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115079
14:11:20.591[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115846
14:11:20.591[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506032 [mm], validation score: 0.996797.
14:11:20.591[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114323
14:11:20.592[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510048 [mm], validation score: 0.996769.
14:11:20.592[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511698 [mm], validation score: 0.996754.
14:11:20.592[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.508589 [mm], validation score: 0.996781.
14:11:20.592[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.507099 [mm], validation score: 0.996791.
14:11:20.592[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018488
14:11:20.592[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.50964 [mm], validation score: 0.996773.
14:11:20.593[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186542
14:11:20.593[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184742
14:11:20.593[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115926
14:11:20.593[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184621
14:11:20.594[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115539
14:11:20.594[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116419
14:11:20.594[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.511475 [mm], validation score: 0.996757.
14:11:20.594[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114716
14:11:20.595[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509415 [mm], validation score: 0.996773.
14:11:20.595[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.506945 [mm], validation score: 0.996793.
14:11:20.595[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184731
14:11:20.595[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510246 [mm], validation score: 0.996768.
14:11:20.596[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115031
14:11:20.596[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018479
14:11:20.597[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505267 [mm], validation score: 0.996802.
14:11:20.597[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116263
14:11:20.598[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509528 [mm], validation score: 0.996772.
14:11:20.599[I] 3D精匹配_2: 匹配得分: ([0.9963821768760681], [0.9976453185081482], [0.9953811764717102], [0.996802806854248])
14:11:20.599[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.421951秒。
14:11:20.681[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.503"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:12:01.297[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:12:01.316[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178158
14:12:01.317[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112439
14:12:01.320[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543004 [mm], validation score: 0.996379.
14:12:01.321[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186784
14:12:01.322[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111725
14:12:01.324[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.440539 [mm], validation score: 0.997641.
14:12:01.325[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179469
14:12:01.326[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116483
14:12:01.328[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588472 [mm], validation score: 0.995369.
14:12:01.329[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185055
14:12:01.330[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115676
14:12:01.332[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.509977 [mm], validation score: 0.996769.
14:12:01.332[I] 3D精匹配_2: 匹配得分: ([0.9963786005973816], [0.9976405501365662], [0.9953687787055969], [0.9967688322067261])
14:12:01.332[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.035242秒。
14:12:01.411[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.113"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:13:14.000[I] 工程(Vis-模具毛胚定位工位2)开始执行。
14:13:30.430[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:13:30.432[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:13:30.432[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:13:30.462[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:13:30.472[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:13:30.473[I] 创建物体模型_1: 开始创建模型。请稍候。
14:13:30.517[D] 收到相机应答信息耗时： 0.0440231
14:13:30.517[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:13:30.518[D] 收到相机应答信息耗时： 0.0009265
14:13:30.518[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:13:30.519[D] 收到相机应答信息耗时： 0.0006886
14:13:30.519[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:13:30.542[D] 收到相机应答信息耗时： 0.0229771
14:13:30.609[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:13:30.611[D] 收到相机应答信息耗时： 0.0011007
14:13:30.618[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:13:30.619[D] 收到相机应答信息耗时： 0.0007959
14:13:30.619[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:13:30.649[I] 创建物体模型_1: 模型被成功创建。
14:13:32.126[D] 收到相机应答信息耗时： 1.50671
14:13:32.177[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:13:32.411[D] Normal Filter Main Normal: 0 , 0 , -1
14:13:32.641[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:13:32.901[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:13:32.902[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:13:33.010[I] 数据重复并串接_2: 重复4次。
14:13:33.010[I] 数据重复并串接_1: 重复4次。
14:13:33.016[I] [ printSampleResult ] 采样结束。
采样后点云中点数：312.
对应的采样采样间隔：0.5625。
14:13:33.016[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:13:33.016[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:13:33.139[W] 3D粗匹配V2_1: [1号输入点云将被忽略。] 错误: 1号输入点云的点数为0，该值小于下限10。
14:13:33.139[W] 3D粗匹配V2_1: [3号输入点云将被忽略。] 错误: 3号输入点云的点数为0，该值小于下限10。
14:13:33.139[W] 3D粗匹配V2_1: [4号输入点云将被忽略。] 错误: 4号输入点云的点数为0，该值小于下限10。
14:13:33.140[W] [ selectBestCandidates ] The input candidates are empty.
14:13:33.142[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
14:13:33.143[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
14:13:33.143[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
14:13:33.143[W] [ compute ] Model cloud list is empty!
14:13:33.143[I] 3D精匹配_2: 匹配得分: ([], [], [], [])
14:13:33.143[W] 3D精匹配_2: 无输出。 自动填充输出。
14:13:33.144[W] 将PoseList转换为PoseLists_1: 第1个输入为空！
14:13:33.144[W] 将PoseList转换为PoseLists_1: 无输出。 自动填充输出。
14:13:33.148[W] 3D精匹配_1: 第2个输入为空！
14:13:33.148[W] 3D精匹配_1: 无输出。 自动填充输出。
14:13:33.148[I] 调整位姿_1: 开始运行。
14:13:33.148[W] 子步骤/快捷坐标系变换_0: 第1个输入为空！
14:13:33.148[W] 子步骤/快捷坐标系变换_0: 自动填充输出。
14:13:33.148[W] Sub-step / 翻转位姿的坐标轴方向_0: 第1个输入为空！
14:13:33.149[W] Sub-step / 翻转位姿的坐标轴方向_0: 自动填充输出。
14:13:33.149[W] Sub-step / 限制输出的个数_1: 1号输入端口的数据数量0小于设置的输出个数1，请修改参数“输出结果个数”。
14:13:33.149[W] Sub-step / 限制输出的个数_1: 自动填充输出。
14:13:33.149[E] Can't fill output for abstract data type.
14:13:33.149[W] 调整位姿_1: 未能为步骤在自身坐标系下，旋转位姿获取输入。 详细：Result_3数据不可用。
14:13:33.149[W] 调整位姿_1: 无输出。 自动填充输出。
14:13:33.149[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数93）。耗时：2.68688秒。
14:13:33.156[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.693"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:13:43.074[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:13:43.094[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.019355秒。
14:13:43.158[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.083"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:13:52.259[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:13:52.324[I] 数据重复并串接_1: 重复4次。
14:13:52.324[I] 数据重复并串接_2: 重复4次。
14:13:52.388[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数39）。耗时：0.12852秒。
14:13:52.403[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.143"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:13:57.999[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:13:58.008[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.009811秒。
14:13:58.076[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.077"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:14:23.558[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:14:23.585[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.026761秒。
14:14:23.660[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.100"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:14:31.144[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:14:31.146[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:14:31.146[I] 工程(Vis-模具毛胚定位工位2)开始执行。
14:14:31.146[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
14:14:31.147[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:14:31.147[I] 创建物体模型_1: 开始创建模型。请稍候。
14:14:31.147[I] 创建物体模型_2: 开始创建模型。请稍候。
14:14:31.148[D] 收到相机应答信息耗时： 0.0011478
14:14:31.148[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:14:31.149[D] 收到相机应答信息耗时： 0.0008722
14:14:31.149[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:14:31.150[D] 收到相机应答信息耗时： 0.0006819
14:14:31.150[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:14:31.151[D] 收到相机应答信息耗时： 0.000827
14:14:31.158[I] 创建物体模型_2: 模型被成功创建。
14:14:31.232[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:14:31.233[D] 收到相机应答信息耗时： 0.000883
14:14:31.241[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:14:31.242[D] 收到相机应答信息耗时： 0.0013034
14:14:31.242[W] 从相机获取图像_1: “静态背景滤除设置”中未设置2D ROI，将在原始图像上处理。
14:14:31.243[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:14:31.308[I] 创建物体模型_1: 模型被成功创建。
14:14:32.875[D] 收到相机应答信息耗时： 1.63303
14:14:32.916[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:14:32.916[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:14:33.074[D] Normal Filter Main Normal: 0 , 0 , -1
14:14:33.075[W] 获取最高层点云_2: 第1个输入为空！
14:14:33.075[W] 获取最高层点云_2: 无输出。 自动填充输出。
14:14:33.075[W] 计算平面点云的位姿和尺寸_2: 第1个输入为空！
14:14:33.075[W] 计算平面点云的位姿和尺寸_2: 无输出。 自动填充输出。
14:14:33.075[W] 分解物体尺寸_2: 第1个输入为空！
14:14:33.075[W] 分解物体尺寸_2: 无输出。 自动填充输出。
14:14:33.076[W] 数值运算_4: 第1个输入为空！
14:14:33.076[W] 数值运算_3: 第1个输入为空！
14:14:33.076[W] 数值运算_4: 第1个输入为空！
14:14:33.076[W] 数值运算_3: 第1个输入为空！
14:14:33.076[W] 数值运算_4: 无输出。 自动填充输出。
14:14:33.076[W] 数值运算_3: 无输出。 自动填充输出。
14:14:33.076[W] 提取长方体内点云_5: 第3个输入为空！
14:14:33.076[W] 提取长方体内点云_5: 无输出。 自动填充输出。
14:14:33.076[W] 计算平面点云的位姿和尺寸_6: 第1个输入为空！
14:14:33.076[W] 计算平面点云的位姿和尺寸_6: 无输出。 自动填充输出。
14:14:33.076[W] 分解物体尺寸_1: 第1个输入为空！
14:14:33.077[W] 分解物体尺寸_1: 无输出。 自动填充输出。
14:14:33.077[W] 数值运算_2: 第1个输入为空！
14:14:33.077[W] 数值运算_1: 第1个输入为空！
14:14:33.077[W] 数值运算_2: 第1个输入为空！
14:14:33.077[W] 数值运算_1: 第1个输入为空！
14:14:33.077[W] 数值运算_2: 无输出。 自动填充输出。
14:14:33.077[W] 数值运算_1: 无输出。 自动填充输出。
14:14:33.077[W] 沿指定方向移动位姿_3: 第1个输入为空！
14:14:33.077[W] 数值运算_9: 第1个输入为空！
14:14:33.077[W] 数值运算_9: 第1个输入为空！
14:14:33.077[W] 沿指定方向移动位姿_3: 无输出。 自动填充输出。
14:14:33.077[W] 数值运算_9: 无输出。 自动填充输出。
14:14:33.077[W] 沿指定方向移动位姿_7: 第1个输入为空！
14:14:33.077[W] 根据阈值对数值进行二分类_2: 第1个输入为空！
14:14:33.077[W] 沿指定方向移动位姿_7: 无输出。 自动填充输出。
14:14:33.077[W] 根据阈值对数值进行二分类_2: 无输出。 自动填充输出。
14:14:33.077[W] 根据布尔值触发控制流_5: 第1个输入为空！
14:14:33.077[W] 根据布尔值触发控制流_4: 第1个输入为空！
14:14:33.077[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数33）。耗时：1.93109秒。
14:14:33.078[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"1.931"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
14:14:37.951[W] 当前数据流中没有数据： 接受所有参数_5[0]-->[0]输出_1
14:14:38.736[W] 当前数据流中没有数据： 接受所有参数_5[0]-->[0]输出_1
14:14:42.311[W] 当前数据流中没有数据： 接受所有参数_5[0]-->[0]输出_1
14:14:45.682[W] 当前数据流中没有数据： 提取长方体内点云_7[0]-->[0]输入分配器_3
14:35:16.925[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:35:16.928[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:35:16.928[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
14:35:16.950[I] 工程(Vis-模具毛胚定位工位2)开始执行。
14:35:16.960[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:16.960[I] 创建物体模型_1: 开始创建模型。请稍候。
14:35:16.960[I] 创建物体模型_2: 开始创建模型。请稍候。
14:35:16.961[D] 收到相机应答信息耗时： 0.0011648
14:35:16.961[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:16.962[D] 收到相机应答信息耗时： 0.0007093
14:35:16.962[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:35:16.963[D] 收到相机应答信息耗时： 0.0009104
14:35:16.963[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:35:16.964[D] 收到相机应答信息耗时： 0.0010246
14:35:16.971[I] 创建物体模型_2: 模型被成功创建。
14:35:17.041[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:35:17.042[D] 收到相机应答信息耗时： 0.0013013
14:35:17.050[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:17.051[D] 收到相机应答信息耗时： 0.0010581
14:35:17.051[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:35:17.115[I] 创建物体模型_1: 模型被成功创建。
14:35:18.780[D] 收到相机应答信息耗时： 1.72925
14:35:18.833[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:35:18.834[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:35:19.074[D] Normal Filter Main Normal: 0 , 0 , -1
14:35:19.312[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:35:19.509[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:19.510[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:19.569[I] 数据重复并串接_1: 重复4次。
14:35:19.569[I] 数据重复并串接_2: 重复4次。
14:35:19.570[I] [ orthographicProjection ] 最小值点的X和Y为(-0.110565, -0.0757822)。
最大点的X和Y是(0.110532, 0.0756098)。
14:35:19.575[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.5。
14:35:19.575[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:35:19.576[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:35:19.719[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:19.720[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190577
14:35:19.721[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125102
14:35:19.723[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.6292 [mm], validation score: 0.99505.
14:35:19.723[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178118
14:35:19.724[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111638
14:35:19.726[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.595725 [mm], validation score: 0.995488.
14:35:19.727[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181747
14:35:19.727[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116189
14:35:19.729[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.5722 [mm], validation score: 0.996103.
14:35:19.730[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191948
14:35:19.730[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123959
14:35:19.732[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.625968 [mm], validation score: 0.995015.
14:35:19.732[I] 3D精匹配_2: 匹配得分: ([0.9950499534606934], [0.9954882264137268], [0.9961025714874268], [0.9950153231620789])
14:35:19.736[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:19.736[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190874
14:35:19.737[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127244
14:35:19.739[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.62845 [mm], validation score: 0.948084.
14:35:19.740[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177718
14:35:19.741[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110666
14:35:19.743[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.613751 [mm], validation score: 0.949914.
14:35:19.743[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180684
14:35:19.744[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011655
14:35:19.746[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.573488 [mm], validation score: 0.957648.
14:35:19.747[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192491
14:35:19.747[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124274
14:35:19.749[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.630465 [mm], validation score: 0.947365.
14:35:19.749[I] 3D精匹配_1: 匹配得分: ([0.94808429479599], [0.9499142169952393], [0.9576484560966492], [0.9473645091056824])
14:35:19.749[I] 调整位姿_4: 开始运行。
14:35:19.750[I] 调整位姿_4: 14个子步骤运行结束。
14:35:19.754[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.11122484348216835,-0.27559058906786726,0.17718664033199216,0.9999716956416178,-0.007090064352387389,0.00222140736083205,0.0011850115797490957],[0.11104009929648652,-0.1274825589404388,0.17700500440526623,0.7065867973356101,0.0019682636389344015,0.0031209140937492347,-0.7076167632726578],[-0.10865620443337731,-0.2758013230629316,0.17759368486487914,0.7081465192760885,-0.0014169870657092854,0.004138170638695838,-0.7060519633345561],[-0.10928436189478141,-0.12768348992713036,0.17823876769218638,0.708915573532175,0.00044742972636154,0.002842257781106002,-0.7052874810890248]]})
14:35:19.773[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 1
14:35:19.781[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 1
14:35:19.781[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 1
14:35:19.785[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 1
14:35:19.785[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.83454秒。
14:35:19.810[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.857"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
14:35:22.195[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:35:22.196[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:35:22.197[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
14:35:22.239[I] 工程(Vis-模具毛胚定位工位2)开始执行。
14:35:22.239[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:22.239[I] 创建物体模型_2: 开始创建模型。请稍候。
14:35:22.239[I] 创建物体模型_1: 开始创建模型。请稍候。
14:35:22.242[D] 收到相机应答信息耗时： 0.0022682
14:35:22.242[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:22.243[D] 收到相机应答信息耗时： 0.0009942
14:35:22.243[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:35:22.244[D] 收到相机应答信息耗时： 0.0010185
14:35:22.244[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:35:22.245[D] 收到相机应答信息耗时： 0.0010795
14:35:22.250[I] 创建物体模型_2: 模型被成功创建。
14:35:22.324[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:35:22.394[I] 创建物体模型_1: 模型被成功创建。
14:35:22.492[D] 收到相机应答信息耗时： 0.168202
14:35:22.499[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:22.500[D] 收到相机应答信息耗时： 0.0012063
14:35:22.500[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:35:24.006[D] 收到相机应答信息耗时： 1.50757
14:35:24.057[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:35:24.058[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:35:24.293[D] Normal Filter Main Normal: 0 , 0 , -1
14:35:24.520[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:35:24.685[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:24.686[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:24.745[I] 数据重复并串接_2: 重复4次。
14:35:24.745[I] 数据重复并串接_1: 重复4次。
14:35:24.747[I] [ orthographicProjection ] 最小值点的X和Y为(-0.110578, -0.0756175)。
最大点的X和Y是(0.110533, 0.075506)。
14:35:24.751[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.5。
14:35:24.751[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:35:24.751[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:35:24.894[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:24.895[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188553
14:35:24.895[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011727
14:35:24.897[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.6007 [mm], validation score: 0.995424.
14:35:24.898[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017881
14:35:24.898[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112734
14:35:24.900[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.586115 [mm], validation score: 0.995861.
14:35:24.901[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179894
14:35:24.902[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114985
14:35:24.903[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.553123 [mm], validation score: 0.996225.
14:35:24.904[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019325
14:35:24.905[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127397
14:35:24.906[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.665546 [mm], validation score: 0.994257.
14:35:24.906[I] 3D精匹配_2: 匹配得分: ([0.9954238533973694], [0.995860755443573], [0.9962251782417297], [0.9942565560340881])
14:35:24.910[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:24.911[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188842
14:35:24.912[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113261
14:35:24.913[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.602737 [mm], validation score: 0.950696.
14:35:24.914[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178871
14:35:24.915[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111857
14:35:24.917[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.587903 [mm], validation score: 0.955291.
14:35:24.918[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178963
14:35:24.918[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114855
14:35:24.920[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.557336 [mm], validation score: 0.959352.
14:35:24.921[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193167
14:35:24.922[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127105
14:35:24.924[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.653473 [mm], validation score: 0.941826.
14:35:24.924[I] 3D精匹配_1: 匹配得分: ([0.9506963491439819], [0.9552914500236511], [0.9593523740768433], [0.9418258666992188])
14:35:24.924[I] 调整位姿_4: 开始运行。
14:35:24.924[I] 调整位姿_4: 14个子步骤运行结束。
14:35:24.924[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.11114283753485085,-0.27569421791592463,0.17730406053064973,0.9999694502546583,-0.007680519152134829,0.000891353490261319,0.0011461552711666272],[0.11116467122586214,-0.12740464080374178,0.17680502081788996,0.7074019995910018,0.0030791623831766973,-0.0008181101844061011,0.7068042589213768],[-0.10834738815968792,-0.27595850701799984,0.1776671735594082,-0.999976264096487,-0.0007667411016252834,-0.0045490083658983205,-0.0051176043830669146],[-0.10907499091502906,-0.1275070579257577,0.17813853385018463,0.9999989605181034,0.0014371582564359827,8.641850023173578e-05,7.791470742818962e-05]]})
14:35:24.933[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 2
14:35:24.937[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 2
14:35:24.942[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 2
14:35:24.942[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 2
14:35:24.942[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.70358秒。
14:35:24.956[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.716"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
14:35:26.331[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:35:26.333[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:35:26.334[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
14:35:26.369[I] 工程(Vis-模具毛胚定位工位2)开始执行。
14:35:26.369[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:26.369[I] 创建物体模型_2: 开始创建模型。请稍候。
14:35:26.369[I] 创建物体模型_1: 开始创建模型。请稍候。
14:35:26.386[I] 创建物体模型_2: 模型被成功创建。
14:35:26.482[D] 收到相机应答信息耗时： 0.112394
14:35:26.482[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:26.483[D] 收到相机应答信息耗时： 0.0008439
14:35:26.483[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:35:26.484[D] 收到相机应答信息耗时： 0.0005484
14:35:26.484[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:35:26.484[D] 收到相机应答信息耗时： 0.0008396
14:35:26.551[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:35:26.552[I] 创建物体模型_1: 模型被成功创建。
14:35:26.553[D] 收到相机应答信息耗时： 0.0015236
14:35:26.558[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:26.560[D] 收到相机应答信息耗时： 0.0014727
14:35:26.560[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:35:27.990[D] 收到相机应答信息耗时： 1.43045
14:35:28.042[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:35:28.043[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:35:28.280[D] Normal Filter Main Normal: 0 , 0 , -1
14:35:28.513[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:35:28.719[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:28.720[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:28.770[I] 数据重复并串接_1: 重复4次。
14:35:28.770[I] 数据重复并串接_2: 重复4次。
14:35:28.782[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.5。
14:35:28.782[I] [ orthographicProjection ] 最小值点的X和Y为(-0.110576, -0.0756207)。
最大点的X和Y是(0.110539, 0.075505)。
14:35:28.783[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:35:28.783[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:35:28.931[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:28.932[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001884
14:35:28.932[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117506
14:35:28.934[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.635354 [mm], validation score: 0.995003.
14:35:28.935[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179895
14:35:28.935[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119774
14:35:28.937[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.631247 [mm], validation score: 0.995242.
14:35:28.938[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182639
14:35:28.938[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115315
14:35:28.940[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.566882 [mm], validation score: 0.995698.
14:35:28.941[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018997
14:35:28.941[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122605
14:35:28.943[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.583958 [mm], validation score: 0.995514.
14:35:28.943[I] 3D精匹配_2: 匹配得分: ([0.995003342628479], [0.9952415823936462], [0.9956981539726257], [0.9955136179924011])
14:35:28.947[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:28.948[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018914
14:35:28.949[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118407
14:35:28.951[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.628048 [mm], validation score: 0.94752.
14:35:28.952[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179156
14:35:28.952[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115515
14:35:28.954[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.641519 [mm], validation score: 0.948467.
14:35:28.955[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180922
14:35:28.956[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116096
14:35:28.957[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.576478 [mm], validation score: 0.95415.
14:35:28.958[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189366
14:35:28.959[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120706
14:35:28.961[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.576588 [mm], validation score: 0.953536.
14:35:28.961[I] 3D精匹配_1: 匹配得分: ([0.9475202560424805], [0.948466956615448], [0.9541502594947815], [0.953535795211792])
14:35:28.961[I] 调整位姿_4: 开始运行。
14:35:28.961[I] 调整位姿_4: 14个子步骤运行结束。
14:35:28.961[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.11125738509968633,-0.27544382979665294,0.17701419811562102,0.9999775100996142,-0.004842678639038321,0.0034834713911417042,0.0030648304426489355],[0.11100157187171332,-0.12752687160844184,0.17691379957886122,0.7070065977752181,0.004411384545888836,0.0002117658941158101,0.7071931599951355],[-0.10856012393602332,-0.2756617845357716,0.17755073171680413,-0.9999898646199148,-0.002632154315973662,-0.0036307175029937884,-0.00040038920434710154],[-0.10909976859692791,-0.12751250261108205,0.17815072564834966,0.9999969212255823,0.0023014382664689856,0.0009139685692400408,0.00015994598130326048]]})
14:35:28.970[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 3
14:35:28.975[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 3
14:35:28.981[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 3
14:35:28.981[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 3
14:35:28.981[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.61262秒。
14:35:28.988[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.618"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
14:35:30.057[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:35:30.059[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:35:30.060[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
14:35:30.094[I] 工程(Vis-模具毛胚定位工位2)开始执行。
14:35:30.095[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:30.095[I] 创建物体模型_1: 开始创建模型。请稍候。
14:35:30.095[I] 创建物体模型_2: 开始创建模型。请稍候。
14:35:30.097[D] 收到相机应答信息耗时： 0.0020832
14:35:30.097[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:30.098[D] 收到相机应答信息耗时： 0.0010007
14:35:30.098[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:35:30.099[D] 收到相机应答信息耗时： 0.0008751
14:35:30.099[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:35:30.100[D] 收到相机应答信息耗时： 0.0009945
14:35:30.106[I] 创建物体模型_2: 模型被成功创建。
14:35:30.180[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:35:30.181[D] 收到相机应答信息耗时： 0.0009521
14:35:30.189[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:30.190[D] 收到相机应答信息耗时： 0.0009499
14:35:30.190[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:35:30.259[I] 创建物体模型_1: 模型被成功创建。
14:35:31.865[D] 收到相机应答信息耗时： 1.6756
14:35:31.917[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:35:31.917[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:35:32.159[D] Normal Filter Main Normal: 0 , 0 , -1
14:35:32.395[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:35:32.561[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:32.562[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:32.627[I] 数据重复并串接_1: 重复4次。
14:35:32.627[I] 数据重复并串接_2: 重复4次。
14:35:32.631[I] [ orthographicProjection ] 最小值点的X和Y为(-0.110579, -0.0755872)。
最大点的X和Y是(0.11059, 0.0755089)。
14:35:32.648[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.5。
14:35:32.649[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:35:32.649[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:35:32.793[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:32.793[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190246
14:35:32.794[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123036
14:35:32.796[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.612688 [mm], validation score: 0.995442.
14:35:32.797[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178617
14:35:32.797[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114072
14:35:32.799[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.660198 [mm], validation score: 0.994662.
14:35:32.800[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181741
14:35:32.800[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119247
14:35:32.802[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.585228 [mm], validation score: 0.995785.
14:35:32.802[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192808
14:35:32.803[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126632
14:35:32.805[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.65132 [mm], validation score: 0.994426.
14:35:32.805[I] 3D精匹配_2: 匹配得分: ([0.9954420924186707], [0.994661808013916], [0.9957853555679321], [0.9944257736206055])
14:35:32.809[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:32.809[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189983
14:35:32.810[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119617
14:35:32.812[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.609617 [mm], validation score: 0.951769.
14:35:32.813[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176965
14:35:32.813[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114159
14:35:32.815[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.673671 [mm], validation score: 0.941761.
14:35:32.816[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181426
14:35:32.817[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120405
14:35:32.819[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.597496 [mm], validation score: 0.953133.
14:35:32.819[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192557
14:35:32.820[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124795
14:35:32.822[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.659133 [mm], validation score: 0.941277.
14:35:32.822[I] 3D精匹配_1: 匹配得分: ([0.9517693519592285], [0.9417609572410583], [0.9531333446502686], [0.9412773847579956])
14:35:32.823[I] 调整位姿_4: 开始运行。
14:35:32.823[I] 调整位姿_4: 14个子步骤运行结束。
14:35:32.823[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.11121625523221537,-0.27556427841011394,0.17697361741375728,0.9999742262405913,-0.005027706894067265,0.00458383783856424,0.002292912686519488],[0.11079498318722623,-0.12749795829309016,0.17703082161340045,0.7057918066817449,0.0032761117326156027,-0.002696159537759444,0.7084066088318071],[-0.1085398540326643,-0.27582823801082745,0.17754739038877876,-0.9999897453258024,-0.0020316672919382787,-0.0032798190638590706,-0.0023715729271034996],[-0.10911259806818421,-0.12735096370319482,0.17799938607418353,0.9999988230416411,0.00034505089754801834,0.0014401387793698934,0.0004010679582562392]]})
14:35:32.833[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 4
14:35:32.837[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 4
14:35:32.843[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 4
14:35:32.844[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 4
14:35:32.844[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.74943秒。
14:35:32.863[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.765"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
14:35:33.929[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:35:33.931[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:35:33.931[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
14:35:33.981[I] 工程(Vis-模具毛胚定位工位2)开始执行。
14:35:33.981[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:33.981[I] 创建物体模型_2: 开始创建模型。请稍候。
14:35:33.981[I] 创建物体模型_1: 开始创建模型。请稍候。
14:35:33.983[D] 收到相机应答信息耗时： 0.0021744
14:35:33.984[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:33.985[D] 收到相机应答信息耗时： 0.0010574
14:35:33.985[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:35:33.986[D] 收到相机应答信息耗时： 0.0010592
14:35:33.986[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:35:33.987[D] 收到相机应答信息耗时： 0.0010588
14:35:33.994[I] 创建物体模型_2: 模型被成功创建。
14:35:34.060[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:35:34.061[D] 收到相机应答信息耗时： 0.0009261
14:35:34.069[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:34.070[D] 收到相机应答信息耗时： 0.0008909
14:35:34.070[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:35:34.147[I] 创建物体模型_1: 模型被成功创建。
14:35:35.811[D] 收到相机应答信息耗时： 1.74168
14:35:35.866[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:35:35.867[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:35:36.106[D] Normal Filter Main Normal: 0 , 0 , -1
14:35:36.341[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:35:36.506[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:36.507[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:36.566[I] 数据重复并串接_1: 重复4次。
14:35:36.566[I] 数据重复并串接_2: 重复4次。
14:35:36.570[I] [ orthographicProjection ] 最小值点的X和Y为(-0.1106, -0.075717)。
最大点的X和Y是(0.110562, 0.0756079)。
14:35:36.591[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.5。
14:35:36.592[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:35:36.592[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:35:36.729[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:36.730[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189096
14:35:36.731[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115401
14:35:36.733[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.543984 [mm], validation score: 0.996265.
14:35:36.733[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178316
14:35:36.734[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110452
14:35:36.736[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.593498 [mm], validation score: 0.9956.
14:35:36.736[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182686
14:35:36.737[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121427
14:35:36.739[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.724426 [mm], validation score: 0.993807.
14:35:36.739[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192762
14:35:36.740[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127323
14:35:36.742[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.701772 [mm], validation score: 0.993712.
14:35:36.742[I] 3D精匹配_2: 匹配得分: ([0.9962654113769531], [0.9956001043319702], [0.9938074946403503], [0.9937117695808411])
14:35:36.745[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:36.746[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188751
14:35:36.747[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114002
14:35:36.748[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.550102 [mm], validation score: 0.959257.
14:35:36.749[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177184
14:35:36.750[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110653
14:35:36.752[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.606686 [mm], validation score: 0.951806.
14:35:36.752[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183732
14:35:36.753[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012033
14:35:36.755[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.708733 [mm], validation score: 0.936977.
14:35:36.756[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019178
14:35:36.756[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126102
14:35:36.758[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.685386 [mm], validation score: 0.937191.
14:35:36.758[I] 3D精匹配_1: 匹配得分: ([0.9592574238777161], [0.9518063068389893], [0.9369767904281616], [0.9371910691261292])
14:35:36.759[I] 调整位姿_4: 开始运行。
14:35:36.759[I] 调整位姿_4: 14个子步骤运行结束。
14:35:36.759[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.11127609682337175,-0.2756629044440084,0.1771906768282534,0.9999674921532088,-0.00757121460049424,0.0022548079990083324,0.0016146786625432237],[0.11094632539776256,-0.12753447763110243,0.17705550742396792,0.7070424728403147,0.002340042274745517,-0.0036771064018779236,0.7071576519352066],[-0.10842604604364028,-0.27599956106545276,0.17757107960033758,-0.9999860451140135,-0.0016232835985361637,-0.00270808122663936,-0.0042356609471641046],[-0.10887418833686585,-0.12752441997866457,0.1782611435564454,0.7066132667950434,0.005101826260231012,0.0008122589258230482,0.7075810927332107]]})
14:35:36.769[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 5
14:35:36.774[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 5
14:35:36.780[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 5
14:35:36.780[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 5
14:35:36.780[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.80018秒。
14:35:36.797[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.816"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
14:35:38.073[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:35:38.075[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:35:38.075[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
14:35:38.111[I] 工程(Vis-模具毛胚定位工位2)开始执行。
14:35:38.111[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:38.111[I] 创建物体模型_1: 开始创建模型。请稍候。
14:35:38.111[I] 创建物体模型_2: 开始创建模型。请稍候。
14:35:38.114[D] 收到相机应答信息耗时： 0.002425
14:35:38.114[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:38.115[D] 收到相机应答信息耗时： 0.0011492
14:35:38.115[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:35:38.116[D] 收到相机应答信息耗时： 0.0010468
14:35:38.116[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:35:38.117[D] 收到相机应答信息耗时： 0.0009622
14:35:38.122[I] 创建物体模型_2: 模型被成功创建。
14:35:38.201[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:35:38.202[D] 收到相机应答信息耗时： 0.0009602
14:35:38.208[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:38.209[D] 收到相机应答信息耗时： 0.0009002
14:35:38.209[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:35:38.266[I] 创建物体模型_1: 模型被成功创建。
14:35:39.867[D] 收到相机应答信息耗时： 1.65752
14:35:39.918[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:35:39.918[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:35:40.156[D] Normal Filter Main Normal: 0 , 0 , -1
14:35:40.391[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:35:40.552[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:40.553[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:40.613[I] 数据重复并串接_1: 重复4次。
14:35:40.613[I] 数据重复并串接_2: 重复4次。
14:35:40.616[I] [ orthographicProjection ] 最小值点的X和Y为(-0.110589, -0.0758058)。
最大点的X和Y是(0.110575, 0.0756307)。
14:35:40.617[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.5。
14:35:40.618[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:35:40.618[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:35:40.769[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:40.769[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190458
14:35:40.770[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123238
14:35:40.772[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.590864 [mm], validation score: 0.99562.
14:35:40.773[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177372
14:35:40.773[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108815
14:35:40.775[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.580194 [mm], validation score: 0.995819.
14:35:40.775[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185086
14:35:40.776[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115531
14:35:40.778[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.606515 [mm], validation score: 0.995354.
14:35:40.778[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191602
14:35:40.779[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124614
14:35:40.780[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.621858 [mm], validation score: 0.99514.
14:35:40.781[I] 3D精匹配_2: 匹配得分: ([0.9956204891204834], [0.9958193898200989], [0.9953541159629822], [0.9951395392417908])
14:35:40.784[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:40.784[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189091
14:35:40.785[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115621
14:35:40.787[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.590966 [mm], validation score: 0.953706.
14:35:40.788[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177034
14:35:40.788[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011214
14:35:40.791[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.591509 [mm], validation score: 0.954177.
14:35:40.792[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185164
14:35:40.793[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117184
14:35:40.794[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.600103 [mm], validation score: 0.952157.
14:35:40.795[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191074
14:35:40.796[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122617
14:35:40.798[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.618913 [mm], validation score: 0.949413.
14:35:40.798[I] 3D精匹配_1: 匹配得分: ([0.9537061452865601], [0.9541773200035095], [0.9521570801734924], [0.9494134187698364])
14:35:40.798[I] 调整位姿_4: 开始运行。
14:35:40.798[I] 调整位姿_4: 14个子步骤运行结束。
14:35:40.798[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.11149984966058155,-0.27548226995871206,0.17678851229516912,0.9999660082951823,-0.00313450759853012,0.006427446700709865,0.004104271582610841],[0.11125903775201867,-0.12785011947104313,0.17707491544510479,0.7057931018180579,0.004059439129478945,0.004044102781139235,-0.7083948500749381],[-0.1086255421650651,-0.2758093915411747,0.1774465236030176,0.7080652044533198,0.0010343016873319546,0.003536741402790309,-0.7061374426574107],[-0.10921317941415652,-0.1276970877625508,0.1781143303222339,0.7079051753951432,0.0010368085127483368,0.0016610117925808438,-0.7063047704190479]]})
14:35:40.809[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 6
14:35:40.817[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 6
14:35:40.821[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 6
14:35:40.821[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 6
14:35:40.821[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.71066秒。
14:35:40.827[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.715"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
14:35:42.041[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:35:42.043[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:35:42.044[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
14:35:42.076[I] 工程(Vis-模具毛胚定位工位2)开始执行。
14:35:42.076[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:42.076[I] 创建物体模型_2: 开始创建模型。请稍候。
14:35:42.076[I] 创建物体模型_1: 开始创建模型。请稍候。
14:35:42.079[D] 收到相机应答信息耗时： 0.0021713
14:35:42.079[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:42.080[D] 收到相机应答信息耗时： 0.0011144
14:35:42.080[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:35:42.081[D] 收到相机应答信息耗时： 0.0009085
14:35:42.081[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:35:42.082[D] 收到相机应答信息耗时： 0.0009865
14:35:42.091[I] 创建物体模型_2: 模型被成功创建。
14:35:42.156[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:35:42.157[D] 收到相机应答信息耗时： 0.0009643
14:35:42.164[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:42.165[D] 收到相机应答信息耗时： 0.000932
14:35:42.165[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:35:42.255[I] 创建物体模型_1: 模型被成功创建。
14:35:43.815[D] 收到相机应答信息耗时： 1.65012
14:35:43.867[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:35:43.868[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:35:44.104[D] Normal Filter Main Normal: 0 , 0 , -1
14:35:44.341[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:35:44.513[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:44.515[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:44.571[I] 数据重复并串接_1: 重复4次。
14:35:44.571[I] 数据重复并串接_2: 重复4次。
14:35:44.575[I] [ orthographicProjection ] 最小值点的X和Y为(-0.110558, -0.0757567)。
最大点的X和Y是(0.110537, 0.075648)。
14:35:44.596[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.5。
14:35:44.597[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:35:44.597[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:35:44.738[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:44.738[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188935
14:35:44.739[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114887
14:35:44.741[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.61388 [mm], validation score: 0.995366.
14:35:44.742[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177166
14:35:44.742[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113614
14:35:44.744[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.596392 [mm], validation score: 0.995423.
14:35:44.745[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182573
14:35:44.745[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113538
14:35:44.747[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.560852 [mm], validation score: 0.996018.
14:35:44.748[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192173
14:35:44.748[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125139
14:35:44.750[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.609391 [mm], validation score: 0.994926.
14:35:44.751[I] 3D精匹配_2: 匹配得分: ([0.995365560054779], [0.9954233765602112], [0.9960178136825562], [0.9949259757995605])
14:35:44.754[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:44.755[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188872
14:35:44.756[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115692
14:35:44.758[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.610429 [mm], validation score: 0.95131.
14:35:44.759[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017491
14:35:44.759[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108376
14:35:44.762[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.614493 [mm], validation score: 0.950454.
14:35:44.762[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018334
14:35:44.763[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117462
14:35:44.765[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.565276 [mm], validation score: 0.956999.
14:35:44.766[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190699
14:35:44.766[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125179
14:35:44.768[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.60155 [mm], validation score: 0.949043.
14:35:44.768[I] 3D精匹配_1: 匹配得分: ([0.9513098001480103], [0.9504536390304565], [0.9569987058639526], [0.9490430355072021])
14:35:44.768[I] 调整位姿_4: 开始运行。
14:35:44.769[I] 调整位姿_4: 14个子步骤运行结束。
14:35:44.769[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.11138340927840007,-0.27556864365826605,0.1769517205885367,0.999975952670048,-0.0039250190762013535,0.004254773822151965,0.00381905833987295],[0.11109162622103212,-0.12765714846307424,0.1770388161441372,0.7072175500877604,0.0016284828571880511,0.0034959492392540896,-0.7069854759684718],[-0.10868458523215344,-0.27567599135124854,0.1774971811516335,0.7076745980808761,-2.024562307656288e-05,0.004129313383184502,-0.706526440830185],[-0.10894752699703615,-0.12770526931055667,0.17826830286744677,0.7069216347799417,0.0014965409611598186,0.0030088563934539273,-0.7072838959204586]]})
14:35:44.779[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 7
14:35:44.786[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 7
14:35:44.792[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 7
14:35:44.798[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 7
14:35:44.799[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.72277秒。
14:35:44.833[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.754"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
14:35:45.965[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:35:45.967[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:35:45.968[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
14:35:46.009[I] 工程(Vis-模具毛胚定位工位2)开始执行。
14:35:46.010[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:46.010[I] 创建物体模型_2: 开始创建模型。请稍候。
14:35:46.010[I] 创建物体模型_1: 开始创建模型。请稍候。
14:35:46.012[D] 收到相机应答信息耗时： 0.0021114
14:35:46.012[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:46.013[D] 收到相机应答信息耗时： 0.0009342
14:35:46.013[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:35:46.014[D] 收到相机应答信息耗时： 0.0008865
14:35:46.014[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:35:46.015[D] 收到相机应答信息耗时： 0.001008
14:35:46.022[I] 创建物体模型_2: 模型被成功创建。
14:35:46.088[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:35:46.089[D] 收到相机应答信息耗时： 0.0009638
14:35:46.096[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:46.097[D] 收到相机应答信息耗时： 0.0009439
14:35:46.098[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:35:46.178[I] 创建物体模型_1: 模型被成功创建。
14:35:47.798[D] 收到相机应答信息耗时： 1.70033
14:35:47.852[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:35:47.852[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:35:48.093[D] Normal Filter Main Normal: 0 , 0 , -1
14:35:48.338[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:35:48.503[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:48.504[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:48.562[I] 数据重复并串接_2: 重复4次。
14:35:48.562[I] 数据重复并串接_1: 重复4次。
14:35:48.566[I] [ orthographicProjection ] 最小值点的X和Y为(-0.110707, -0.0759495)。
最大点的X和Y是(0.110648, 0.0758873)。
14:35:48.587[I] [ printSampleResult ] 采样结束。
采样后点云中点数：303.
对应的采样采样间隔：0.5。
14:35:48.587[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:35:48.587[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:35:48.727[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:48.728[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187709
14:35:48.728[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120111
14:35:48.730[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589299 [mm], validation score: 0.995664.
14:35:48.731[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177606
14:35:48.732[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110424
14:35:48.733[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.603898 [mm], validation score: 0.995355.
14:35:48.734[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181981
14:35:48.735[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115319
14:35:48.737[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.57758 [mm], validation score: 0.996023.
14:35:48.737[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192221
14:35:48.738[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123132
14:35:48.740[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.658366 [mm], validation score: 0.994536.
14:35:48.740[I] 3D精匹配_2: 匹配得分: ([0.9956637024879456], [0.9953545928001404], [0.9960229992866516], [0.9945359826087952])
14:35:48.744[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:48.744[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186948
14:35:48.745[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012293
14:35:48.747[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.590121 [mm], validation score: 0.95408.
14:35:48.747[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177986
14:35:48.748[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109749
14:35:48.750[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.605485 [mm], validation score: 0.950793.
14:35:48.750[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181522
14:35:48.751[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116044
14:35:48.753[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.575293 [mm], validation score: 0.957661.
14:35:48.753[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192568
14:35:48.754[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123747
14:35:48.756[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.660489 [mm], validation score: 0.94299.
14:35:48.756[I] 3D精匹配_1: 匹配得分: ([0.954079806804657], [0.9507933855056763], [0.9576607346534729], [0.9429898858070374])
14:35:48.756[I] 调整位姿_4: 开始运行。
14:35:48.757[I] 调整位姿_4: 14个子步骤运行结束。
14:35:48.757[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.11141771119021865,-0.27566687912843424,0.17688751505042033,0.7051529002472394,0.0010032239642252033,0.006617986282051547,0.7090236830121796],[0.1109228640037395,-0.12731866468403566,0.17685753150683015,0.9999927136329907,0.002790807212843867,0.0019630477404791354,0.0017118760458904037],[-0.10849623975778655,-0.2759698146709143,0.17769041059617408,-0.999982272316845,-0.0004908005921807924,-0.004442484972963054,-0.003934271733687383],[-0.10922605125123244,-0.12766362583840282,0.17805350848977408,0.9999978633468257,0.0008657407697272609,-0.0009236684813366153,0.0016342066087500255]]})
14:35:48.768[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 8
14:35:48.775[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 8
14:35:48.781[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 8
14:35:48.781[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 8
14:35:48.781[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.77289秒。
14:35:48.797[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.788"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
14:35:49.709[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:35:49.711[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:35:49.711[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
14:35:49.750[I] 工程(Vis-模具毛胚定位工位2)开始执行。
14:35:49.750[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:49.750[I] 创建物体模型_2: 开始创建模型。请稍候。
14:35:49.750[I] 创建物体模型_1: 开始创建模型。请稍候。
14:35:49.752[D] 收到相机应答信息耗时： 0.0020938
14:35:49.753[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:49.754[D] 收到相机应答信息耗时： 0.0009704
14:35:49.754[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:35:49.755[D] 收到相机应答信息耗时： 0.001338
14:35:49.755[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:35:49.756[D] 收到相机应答信息耗时： 0.0011869
14:35:49.761[I] 创建物体模型_2: 模型被成功创建。
14:35:49.828[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:35:49.829[D] 收到相机应答信息耗时： 0.0009818
14:35:49.837[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:49.838[D] 收到相机应答信息耗时： 0.0009488
14:35:49.838[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:35:49.918[I] 创建物体模型_1: 模型被成功创建。
14:35:51.317[D] 收到相机应答信息耗时： 1.47869
14:35:51.371[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:35:51.371[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:35:51.615[D] Normal Filter Main Normal: 0 , 0 , -1
14:35:51.864[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:35:52.067[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:52.068[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:52.119[I] [ orthographicProjection ] 最小值点的X和Y为(-0.11057, -0.0757077)。
最大点的X和Y是(0.110559, 0.0756559)。
14:35:52.125[I] 数据重复并串接_2: 重复4次。
14:35:52.125[I] 数据重复并串接_1: 重复4次。
14:35:52.153[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.5。
14:35:52.154[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:35:52.154[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:35:52.293[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:52.294[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188303
14:35:52.294[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116562
14:35:52.296[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.591143 [mm], validation score: 0.995563.
14:35:52.297[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178255
14:35:52.298[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110596
14:35:52.299[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.595315 [mm], validation score: 0.995674.
14:35:52.300[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183491
14:35:52.301[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117152
14:35:52.302[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.585145 [mm], validation score: 0.995911.
14:35:52.303[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192949
14:35:52.304[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012488
14:35:52.305[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.614055 [mm], validation score: 0.995212.
14:35:52.306[I] 3D精匹配_2: 匹配得分: ([0.9955632090568542], [0.9956744313240051], [0.9959108233451843], [0.995212197303772])
14:35:52.309[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:52.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187572
14:35:52.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121287
14:35:52.312[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.591987 [mm], validation score: 0.953112.
14:35:52.313[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176914
14:35:52.314[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113616
14:35:52.315[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.602599 [mm], validation score: 0.952893.
14:35:52.316[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182835
14:35:52.317[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011653
14:35:52.318[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.584093 [mm], validation score: 0.956105.
14:35:52.319[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192827
14:35:52.320[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125475
14:35:52.322[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.617575 [mm], validation score: 0.947369.
14:35:52.322[I] 3D精匹配_1: 匹配得分: ([0.9531115889549255], [0.9528934955596924], [0.956104576587677], [0.9473686218261719])
14:35:52.322[I] 调整位姿_4: 开始运行。
14:35:52.323[I] 调整位姿_4: 14个子步骤运行结束。
14:35:52.323[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.11127859005384896,-0.275630170103069,0.17701147879071022,0.9999779262261396,-0.005111676700694027,0.0032678490614954894,0.002709055977281494],[0.1108913976063693,-0.12755657453702166,0.17684568205177564,0.7077039659268191,-0.00042583568460547415,0.0037233012233560715,-0.7064991523727552],[-0.1085875173459865,-0.27585644597685793,0.17759049407061167,0.7083832514641649,-0.0020733235325262624,0.004051695227184688,-0.7058133281118835],[-0.10894896104144661,-0.127514401197607,0.17827423054787817,-0.9999934951763434,-0.0031981544385068323,-0.0014727650328681652,0.0007825447884431479]]})
14:35:52.335[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 9
14:35:52.341[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 9
14:35:52.348[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 9
14:35:52.348[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 9
14:35:52.349[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.59914秒。
14:35:52.363[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.613"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
14:35:53.696[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:35:53.697[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:35:53.698[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
14:35:53.728[I] 工程(Vis-模具毛胚定位工位2)开始执行。
14:35:53.728[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:53.728[I] 创建物体模型_2: 开始创建模型。请稍候。
14:35:53.728[I] 创建物体模型_1: 开始创建模型。请稍候。
14:35:53.730[D] 收到相机应答信息耗时： 0.0021286
14:35:53.730[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:53.731[D] 收到相机应答信息耗时： 0.0009609
14:35:53.731[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:35:53.732[D] 收到相机应答信息耗时： 0.000846
14:35:53.732[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:35:53.733[D] 收到相机应答信息耗时： 0.0010128
14:35:53.740[I] 创建物体模型_2: 模型被成功创建。
14:35:53.811[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:35:53.812[D] 收到相机应答信息耗时： 0.0010758
14:35:53.819[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:35:53.820[D] 收到相机应答信息耗时： 0.0009147
14:35:53.820[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:35:53.895[I] 创建物体模型_1: 模型被成功创建。
14:35:55.299[D] 收到相机应答信息耗时： 1.4794
14:35:55.351[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:35:55.351[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
14:35:55.590[D] Normal Filter Main Normal: 0 , 0 , -1
14:35:55.819[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:35:55.987[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:55.988[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:35:56.052[I] 数据重复并串接_1: 重复4次。
14:35:56.052[I] 数据重复并串接_2: 重复4次。
14:35:56.056[I] [ orthographicProjection ] 最小值点的X和Y为(-0.110586, -0.0756473)。
最大点的X和Y是(0.110544, 0.0755127)。
14:35:56.077[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.5。
14:35:56.077[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:35:56.077[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:35:56.217[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:56.218[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194227
14:35:56.219[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122213
14:35:56.221[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.679466 [mm], validation score: 0.994068.
14:35:56.221[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177806
14:35:56.222[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00107932
14:35:56.224[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.540574 [mm], validation score: 0.996411.
14:35:56.225[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182768
14:35:56.226[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114629
14:35:56.228[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.574572 [mm], validation score: 0.996067.
14:35:56.228[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192876
14:35:56.229[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123868
14:35:56.231[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.590412 [mm], validation score: 0.995727.
14:35:56.231[I] 3D精匹配_2: 匹配得分: ([0.9940683841705322], [0.9964108467102051], [0.9960672855377197], [0.9957266449928284])
14:35:56.234[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:35:56.235[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194221
14:35:56.236[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122483
14:35:56.237[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.68063 [mm], validation score: 0.938659.
14:35:56.238[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177041
14:35:56.239[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111614
14:35:56.241[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.540249 [mm], validation score: 0.961188.
14:35:56.241[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181539
14:35:56.242[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115201
14:35:56.244[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.572024 [mm], validation score: 0.958428.
14:35:56.244[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192732
14:35:56.245[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124375
14:35:56.247[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588524 [mm], validation score: 0.954844.
14:35:56.247[I] 3D精匹配_1: 匹配得分: ([0.9386588931083679], [0.9611881375312805], [0.9584275484085083], [0.9548442959785461])
14:35:56.247[I] 调整位姿_4: 开始运行。
14:35:56.247[I] 调整位姿_4: 14个子步骤运行结束。
14:35:56.248[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1112649622594798,-0.2757295844391066,0.17711616275339281,0.9999762952592772,-0.0061005142545709195,0.0027569217339427077,0.0016099776127688754],[0.11116003520527962,-0.12758120161510808,0.17690347134923123,0.7074376126362658,0.0038659330791843785,-0.001491518499528567,0.7067636480192607],[-0.10841381892130159,-0.2757507923770807,0.177632622582919,-0.9999858721223996,-0.001526531405701756,-0.004917304653319566,-0.001321125430501785],[-0.10944885755981436,-0.1279258227510346,0.1780360462820454,0.7041115854917585,-0.0003099833375885164,-0.001014824630473682,0.7100885502650931]]})
14:35:56.260[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 10
14:35:56.271[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 10
14:35:56.275[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 10
14:35:56.275[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 10
14:35:56.275[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.54813秒。
14:35:56.280[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.551"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
14:36:41.835[I] 工程(Vis-模具毛胚定位工位2)开始执行。
14:36:41.839[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
14:36:41.840[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194221
14:36:41.841[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122483
14:36:41.843[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.68063 [mm], validation score: 0.938659.
14:36:41.843[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177041
14:36:41.844[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111614
14:36:41.846[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.540249 [mm], validation score: 0.961188.
14:36:41.847[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181539
14:36:41.848[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115201
14:36:41.850[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.572024 [mm], validation score: 0.958428.
14:36:41.851[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192732
14:36:41.852[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124375
14:36:41.854[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588524 [mm], validation score: 0.954844.
14:36:41.854[I] 3D精匹配_1: 匹配得分: ([0.9386588931083679], [0.9611881375312805], [0.9584275484085083], [0.9548442959785461])
14:36:41.855[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.019518秒。
14:36:41.931[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.094"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
14:39:37.884[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:39:37.886[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:39:37.886[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:39:37.926[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:39:37.936[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:39:37.936[I] 创建物体模型_1: 开始创建模型。请稍候。
14:39:37.937[D] 收到相机应答信息耗时： 0.0012601
14:39:37.937[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:39:37.938[D] 收到相机应答信息耗时： 0.0007194
14:39:37.938[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:39:37.939[D] 收到相机应答信息耗时： 0.0009601
14:39:37.939[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:39:37.940[D] 收到相机应答信息耗时： 0.0010364
14:39:38.015[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:39:38.016[D] 收到相机应答信息耗时： 0.0009719
14:39:38.024[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:39:38.025[D] 收到相机应答信息耗时： 0.0009267
14:39:38.025[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:39:38.099[I] 创建物体模型_1: 模型被成功创建。
14:39:41.324[D] 收到相机应答信息耗时： 3.299
14:39:41.324[W] [ handlerReplyError ] [0x0105 | MISSING_FRAME_CAM2D] -> Get frame failed with status: 2. Retrieved 18 frame of camera 0 : 29585,29586,29587,29588,29589,29590,29591,29592,29593,29594,29595,29596,29597,29598,29599,29600,29601,29603,
14:39:41.325[E] [ captureRawDepthImg ] 请求深度图为空！
14:39:41.325[I] 从相机获取图像_1: 获取图像失败，尝试次数：1。
14:39:42.326[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:39:42.465[D] 收到相机应答信息耗时： 0.138618
14:39:42.465[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:39:43.923[D] 收到相机应答信息耗时： 1.45884
14:39:43.976[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:39:43.976[W] 从相机获取图像_1: 无效的深度图像。
14:39:44.209[D] Normal Filter Main Normal: 0 , 0 , -1
14:39:44.440[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:39:44.623[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:39:44.624[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:39:44.679[I] 数据重复并串接_2: 重复4次。
14:39:44.679[I] 数据重复并串接_1: 重复4次。
14:39:44.717[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.5625。
14:39:44.717[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:39:44.717[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:39:44.865[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182827
14:39:44.865[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128184
14:39:44.867[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.854653 [mm], validation score: 0.990852.
14:39:44.868[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00173032
14:39:44.869[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113787
14:39:44.871[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.595225 [mm], validation score: 0.99543.
14:39:44.871[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018414
14:39:44.872[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122638
14:39:44.874[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.702941 [mm], validation score: 0.993319.
14:39:44.875[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178658
14:39:44.875[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116007
14:39:44.877[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.619029 [mm], validation score: 0.994903.
14:39:44.877[I] 3D精匹配_2: 匹配得分: ([0.9908517003059387], [0.9954304099082947], [0.9933188557624817], [0.9949031472206116])
14:39:44.884[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182452
14:39:44.884[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129615
14:39:44.886[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.852682 [mm], validation score: 0.907854.
14:39:44.887[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017374
14:39:44.888[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108606
14:39:44.890[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.595038 [mm], validation score: 0.951896.
14:39:44.891[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185235
14:39:44.891[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121053
14:39:44.893[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.698015 [mm], validation score: 0.932506.
14:39:44.894[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177338
14:39:44.895[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109055
14:39:44.896[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.613836 [mm], validation score: 0.947248.
14:39:44.896[I] 3D精匹配_1: 匹配得分: ([0.9078537821769714], [0.9518957138061523], [0.9325056672096252], [0.947248101234436])
14:39:44.897[I] 调整位姿_1: 开始运行。
14:39:44.897[I] 调整位姿_1: 16个子步骤运行结束。
14:39:44.897[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1538846521865139,-0.0976917718484033,0.1532112395050278,0.7055303362745011,0.00562684269744621,-0.0024327328875253466,0.7086532050646108],[0.15304507404610732,0.13113781393378227,0.1532501470220391,0.9999667808227153,-0.007335746697880277,0.0034952617294452364,0.000638135473484791],[-0.011885999917543466,-0.09784984107174924,0.1545927565513534,0.7081528044392653,0.0011223909976136115,0.008584108169867152,0.7060061323318517],[-0.012452759909692461,0.13007577966242645,0.15418870623559933,0.9999917649697166,-0.002639008320227775,0.000645576041395215,0.0030147735257557064]]})
14:39:44.916[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 2
14:39:44.919[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 2
14:39:44.924[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 2
14:39:44.933[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 2
14:39:44.933[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：7.00698秒。
14:39:44.940[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"7.013"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:40:05.332[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:40:05.333[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:40:05.334[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:40:05.375[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:40:05.376[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:05.376[I] 创建物体模型_1: 开始创建模型。请稍候。
14:40:05.463[D] 收到相机应答信息耗时： 0.086777
14:40:05.463[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:05.464[D] 收到相机应答信息耗时： 0.0011076
14:40:05.464[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:40:05.487[D] 收到相机应答信息耗时： 0.0224174
14:40:05.487[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:40:05.488[D] 收到相机应答信息耗时： 0.0010698
14:40:05.524[I] 创建物体模型_1: 模型被成功创建。
14:40:05.555[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:40:05.556[D] 收到相机应答信息耗时： 0.0007674
14:40:05.562[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:05.563[D] 收到相机应答信息耗时： 0.000852
14:40:05.563[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:40:07.020[D] 收到相机应答信息耗时： 1.45749
14:40:07.070[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:40:07.300[D] Normal Filter Main Normal: 0 , 0 , -1
14:40:07.549[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:40:07.764[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:07.765[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:07.827[I] 数据重复并串接_1: 重复4次。
14:40:07.827[I] 数据重复并串接_2: 重复4次。
14:40:07.831[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.5625。
14:40:07.831[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:40:07.831[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:40:07.983[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184102
14:40:07.984[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128506
14:40:07.986[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.820636 [mm], validation score: 0.991612.
14:40:07.987[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00172297
14:40:07.988[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111479
14:40:07.989[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.560042 [mm], validation score: 0.996124.
14:40:07.990[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017908
14:40:07.991[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117832
14:40:07.993[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.701 [mm], validation score: 0.992838.
14:40:07.993[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177779
14:40:07.994[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112945
14:40:07.996[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.596107 [mm], validation score: 0.995298.
14:40:07.996[I] 3D精匹配_2: 匹配得分: ([0.9916120767593384], [0.9961235523223877], [0.9928379654884338], [0.995297908782959])
14:40:08.002[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183713
14:40:08.003[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128238
14:40:08.005[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.823853 [mm], validation score: 0.913398.
14:40:08.006[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00172278
14:40:08.007[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011114
14:40:08.009[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.561628 [mm], validation score: 0.958244.
14:40:08.010[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178633
14:40:08.011[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117582
14:40:08.013[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.703834 [mm], validation score: 0.929023.
14:40:08.013[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177765
14:40:08.014[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110508
14:40:08.016[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.593567 [mm], validation score: 0.950851.
14:40:08.016[I] 3D精匹配_1: 匹配得分: ([0.913398027420044], [0.9582435488700867], [0.9290227890014648], [0.950850784778595])
14:40:08.016[I] 调整位姿_1: 开始运行。
14:40:08.016[I] 调整位姿_1: 16个子步骤运行结束。
14:40:08.017[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15377659718900635,-0.09767926062672741,0.1532604958700825,0.7080719360336748,0.0019284533144763548,0.0036948618737959347,-0.7061280071382743],[0.15318296205967633,0.1309436199662598,0.1535752563002124,0.7047942535314592,-0.0022637854098148686,-0.003035491733946718,-0.7094016642598074],[-0.012039564751033377,-0.0976578509494592,0.1544931193652308,0.9999708906820878,-0.004007825561338539,0.006327959300775505,-0.0014532906949444372],[-0.012117426880352035,0.13094292325773954,0.1540270695887973,0.7067902485082006,-0.00388975825406667,-0.0019453757381083675,-0.7074098033726126]]})
14:40:08.035[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 1
14:40:08.039[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 1
14:40:08.042[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 1
14:40:08.048[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 1
14:40:08.048[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.6731秒。
14:40:08.066[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.689"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:40:08.678[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:40:08.679[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:40:08.680[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:40:08.710[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:40:08.711[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:08.711[I] 创建物体模型_1: 开始创建模型。请稍候。
14:40:08.713[D] 收到相机应答信息耗时： 0.0021483
14:40:08.713[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:08.714[D] 收到相机应答信息耗时： 0.001019
14:40:08.714[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:40:08.714[D] 收到相机应答信息耗时： 0.000911
14:40:08.714[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:40:08.715[D] 收到相机应答信息耗时： 0.000912
14:40:08.790[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:40:08.791[D] 收到相机应答信息耗时： 0.0010103
14:40:08.798[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:08.799[D] 收到相机应答信息耗时： 0.0009841
14:40:08.799[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:40:08.881[I] 创建物体模型_1: 模型被成功创建。
14:40:10.305[D] 收到相机应答信息耗时： 1.50611
14:40:10.356[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:40:10.583[D] Normal Filter Main Normal: 0 , 0 , -1
14:40:10.831[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:40:11.039[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:11.040[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:11.109[I] 数据重复并串接_2: 重复4次。
14:40:11.109[I] 数据重复并串接_1: 重复4次。
14:40:11.136[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.5625。
14:40:11.136[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:40:11.136[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:40:11.280[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182441
14:40:11.281[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124269
14:40:11.283[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.692496 [mm], validation score: 0.993632.
14:40:11.284[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00171623
14:40:11.285[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00106309
14:40:11.287[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.540707 [mm], validation score: 0.996201.
14:40:11.288[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177315
14:40:11.289[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115703
14:40:11.291[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.665006 [mm], validation score: 0.994381.
14:40:11.292[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176179
14:40:11.293[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112852
14:40:11.295[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.585118 [mm], validation score: 0.995451.
14:40:11.295[I] 3D精匹配_2: 匹配得分: ([0.9936321377754211], [0.9962005615234375], [0.994380533695221], [0.9954513907432556])
14:40:11.300[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181899
14:40:11.301[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125017
14:40:11.302[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.689527 [mm], validation score: 0.935128.
14:40:11.303[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00172362
14:40:11.304[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111198
14:40:11.306[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.541913 [mm], validation score: 0.959518.
14:40:11.306[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177952
14:40:11.307[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115413
14:40:11.309[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.657089 [mm], validation score: 0.94178.
14:40:11.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177039
14:40:11.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108147
14:40:11.312[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.580672 [mm], validation score: 0.95234.
14:40:11.312[I] 3D精匹配_1: 匹配得分: ([0.935127854347229], [0.9595175981521606], [0.9417798519134521], [0.9523399472236633])
14:40:11.312[I] 调整位姿_1: 开始运行。
14:40:11.313[I] 调整位姿_1: 16个子步骤运行结束。
14:40:11.313[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15386897664877622,-0.09781190494081657,0.1531440975399192,0.70838758361385,0.001519073149163594,0.004904700635597979,-0.7058049785246435],[0.15320311898165523,0.13080577819368783,0.15372121811519013,0.7053036457529163,-0.0017347683935720682,-0.0016699432091425756,-0.7089012407634391],[-0.011967884260527195,-0.09779620696318983,0.15448506824299924,0.7058836763419396,-0.007558536936061859,0.001385703598522349,-0.7082860889632883],[-0.012185160321552299,0.13068454716417544,0.15414283011293706,-0.7079682548153478,0.003481275971098828,-0.00018714889877548746,0.7062356517952058]]})
14:40:11.322[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 2
14:40:11.327[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 2
14:40:11.335[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 2
14:40:11.336[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 2
14:40:11.337[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.62756秒。
14:40:11.370[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.658"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:40:11.897[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:40:11.899[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:40:11.900[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:40:11.929[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:40:11.929[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:11.929[I] 创建物体模型_1: 开始创建模型。请稍候。
14:40:11.931[D] 收到相机应答信息耗时： 0.002158
14:40:11.932[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:11.933[D] 收到相机应答信息耗时： 0.0009989
14:40:11.933[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:40:11.934[D] 收到相机应答信息耗时： 0.0008556
14:40:11.934[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:40:11.935[D] 收到相机应答信息耗时： 0.0009411
14:40:12.006[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:40:12.008[D] 收到相机应答信息耗时： 0.0013608
14:40:12.022[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:12.023[D] 收到相机应答信息耗时： 0.0011076
14:40:12.023[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:40:12.101[I] 创建物体模型_1: 模型被成功创建。
14:40:15.258[D] 收到相机应答信息耗时： 3.23523
14:40:15.258[W] [ handlerReplyError ] [0x0105 | MISSING_FRAME_CAM2D] -> Get frame failed with status: 2. Retrieved 18 frame of camera 0 : 29741,29742,29743,29744,29745,29746,29747,29748,29749,29750,29751,29752,29753,29754,29755,29756,29757,29759,
14:40:15.259[E] [ captureRawDepthImg ] 请求深度图为空！
14:40:15.259[I] 从相机获取图像_1: 获取图像失败，尝试次数：1。
14:40:16.260[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:16.262[D] 收到相机应答信息耗时： 0.0019645
14:40:16.262[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:40:17.888[D] 收到相机应答信息耗时： 1.62644
14:40:17.939[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:40:17.939[W] 从相机获取图像_1: 无效的深度图像。
14:40:18.167[D] Normal Filter Main Normal: 0 , 0 , -1
14:40:18.414[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:40:18.605[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:18.606[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:18.675[I] 数据重复并串接_1: 重复4次。
14:40:18.675[I] 数据重复并串接_2: 重复4次。
14:40:18.713[I] [ printSampleResult ] 采样结束。
采样后点云中点数：295.
对应的采样采样间隔：0.5625。
14:40:18.714[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:40:18.714[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:40:18.862[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181435
14:40:18.863[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123686
14:40:18.865[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.784112 [mm], validation score: 0.992527.
14:40:18.866[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00172431
14:40:18.867[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110604
14:40:18.868[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.563993 [mm], validation score: 0.99608.
14:40:18.869[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179934
14:40:18.870[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117334
14:40:18.872[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.672484 [mm], validation score: 0.994269.
14:40:18.872[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177261
14:40:18.873[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109568
14:40:18.875[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.615014 [mm], validation score: 0.995067.
14:40:18.875[I] 3D精匹配_2: 匹配得分: ([0.9925270080566406], [0.9960801601409912], [0.9942688345909119], [0.9950671792030334])
14:40:18.880[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181618
14:40:18.881[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122276
14:40:18.883[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.783232 [mm], validation score: 0.922537.
14:40:18.884[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00171828
14:40:18.884[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00105486
14:40:18.886[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.563638 [mm], validation score: 0.958256.
14:40:18.887[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180409
14:40:18.888[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117662
14:40:18.889[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.668927 [mm], validation score: 0.940456.
14:40:18.890[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176137
14:40:18.891[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113285
14:40:18.893[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.615147 [mm], validation score: 0.948275.
14:40:18.893[I] 3D精匹配_1: 匹配得分: ([0.9225371479988098], [0.9582555294036865], [0.9404560327529907], [0.9482754468917847])
14:40:18.893[I] 调整位姿_1: 开始运行。
14:40:18.893[I] 调整位姿_1: 16个子步骤运行结束。
14:40:18.893[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15388540271919954,-0.09783379744723633,0.15323251979257724,0.7052915143859184,0.0034059776506526894,-0.002389584698548498,0.7089051903720479],[0.15315426244242009,0.13105262892540165,0.15342490865554814,0.99998357140018,-0.005475692866654048,0.0012034679977351546,-0.00119389369250128],[-0.011931699951383407,-0.09777673537494116,0.15455225702320097,0.7087147882483639,0.0012796417560435305,0.008295353233195803,0.7054451775650533],[-0.011997880392093818,0.13064458455344818,0.15400532405731426,0.7067968449880773,-0.002050188689391808,0.0026721857495026593,0.7074085637483887]]})
14:40:18.902[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 3
14:40:18.907[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 3
14:40:18.913[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 3
14:40:18.918[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 3
14:40:18.919[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：6.99035秒。
14:40:19.010[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"7.081"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:40:20.391[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:40:20.393[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:40:20.394[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:40:20.422[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:40:20.423[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:20.423[I] 创建物体模型_1: 开始创建模型。请稍候。
14:40:20.508[D] 收到相机应答信息耗时： 0.084683
14:40:20.508[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:20.531[D] 收到相机应答信息耗时： 0.0232124
14:40:20.531[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:40:20.533[D] 收到相机应答信息耗时： 0.001247
14:40:20.533[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:40:20.534[D] 收到相机应答信息耗时： 0.0013737
14:40:20.602[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:40:20.603[D] 收到相机应答信息耗时： 0.0008517
14:40:20.603[I] 创建物体模型_1: 模型被成功创建。
14:40:20.608[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:20.609[D] 收到相机应答信息耗时： 0.0008483
14:40:20.609[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:40:22.003[D] 收到相机应答信息耗时： 1.3934
14:40:22.052[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:40:22.279[D] Normal Filter Main Normal: 0 , 0 , -1
14:40:22.527[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:40:22.743[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:22.744[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:22.814[I] 数据重复并串接_1: 重复4次。
14:40:22.814[I] 数据重复并串接_2: 重复4次。
14:40:22.817[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.5625。
14:40:22.817[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:40:22.817[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:40:22.968[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018118
14:40:22.968[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122986
14:40:22.971[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.743764 [mm], validation score: 0.993264.
14:40:22.972[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001744
14:40:22.972[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00104535
14:40:22.975[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.562869 [mm], validation score: 0.996062.
14:40:22.976[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178847
14:40:22.976[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118388
14:40:22.978[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.716681 [mm], validation score: 0.993273.
14:40:22.979[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176643
14:40:22.980[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011217
14:40:22.982[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.645408 [mm], validation score: 0.99458.
14:40:22.982[I] 3D精匹配_2: 匹配得分: ([0.9932639598846436], [0.9960619807243347], [0.9932727217674255], [0.994579553604126])
14:40:22.986[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180553
14:40:22.987[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120519
14:40:22.989[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.740551 [mm], validation score: 0.93002.
14:40:22.990[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00174101
14:40:22.991[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00104959
14:40:22.992[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.564229 [mm], validation score: 0.95787.
14:40:22.993[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178278
14:40:22.994[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011778
14:40:22.996[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.717823 [mm], validation score: 0.931463.
14:40:22.997[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00175798
14:40:22.998[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117816
14:40:23.000[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.648731 [mm], validation score: 0.943168.
14:40:23.000[I] 3D精匹配_1: 匹配得分: ([0.9300197958946228], [0.9578700065612793], [0.9314632415771484], [0.9431684613227844])
14:40:23.000[I] 调整位姿_1: 开始运行。
14:40:23.001[I] 调整位姿_1: 16个子步骤运行结束。
14:40:23.001[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1539009668534709,-0.09772605773344403,0.15327788105821338,0.7047965657349862,0.002702409610631577,-0.0014005351635739067,0.7094029436164764],[0.15293172733175484,0.13112848281479406,0.15334133150232465,0.9999758491519541,-0.0062213561502322025,0.002782149330407834,0.001362162098584585],[-0.011841870481986067,-0.09793440843648785,0.15460443611108832,0.7083943936726591,0.0014253855713738531,0.00904075171583037,0.7057574768272253],[-0.01198901154566142,0.13104885862288732,0.15381710756135836,0.708754304231269,-0.004760570206907485,0.004906977185760176,0.7054222811762136]]})
14:40:23.011[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 4
14:40:23.020[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 4
14:40:23.022[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 4
14:40:23.022[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 4
14:40:23.022[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.60007秒。
14:40:23.042[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.617"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:40:23.736[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:40:23.738[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:40:23.738[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:40:23.767[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:40:23.767[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:23.767[I] 创建物体模型_1: 开始创建模型。请稍候。
14:40:23.769[D] 收到相机应答信息耗时： 0.0021091
14:40:23.770[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:23.771[D] 收到相机应答信息耗时： 0.000973
14:40:23.771[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:40:23.772[D] 收到相机应答信息耗时： 0.000916
14:40:23.772[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:40:23.773[D] 收到相机应答信息耗时： 0.000963
14:40:23.846[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:40:23.847[D] 收到相机应答信息耗时： 0.0010382
14:40:23.855[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:23.856[D] 收到相机应答信息耗时： 0.0010195
14:40:23.856[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:40:23.936[I] 创建物体模型_1: 模型被成功创建。
14:40:25.301[D] 收到相机应答信息耗时： 1.4449
14:40:25.357[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:40:25.585[D] Normal Filter Main Normal: 0 , 0 , -1
14:40:25.835[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:40:26.034[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:26.035[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:26.127[I] 数据重复并串接_1: 重复4次。
14:40:26.127[I] 数据重复并串接_2: 重复4次。
14:40:26.130[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.5625。
14:40:26.130[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:40:26.130[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:40:26.278[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182218
14:40:26.279[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125362
14:40:26.281[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.688565 [mm], validation score: 0.993457.
14:40:26.282[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00172453
14:40:26.283[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112535
14:40:26.285[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.571652 [mm], validation score: 0.996041.
14:40:26.285[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178075
14:40:26.286[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116037
14:40:26.287[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.686474 [mm], validation score: 0.993963.
14:40:26.288[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177626
14:40:26.288[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109884
14:40:26.291[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.650858 [mm], validation score: 0.994504.
14:40:26.291[I] 3D精匹配_2: 匹配得分: ([0.9934567809104919], [0.9960407018661499], [0.9939630627632141], [0.9945043325424194])
14:40:26.296[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182195
14:40:26.297[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124303
14:40:26.299[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.68113 [mm], validation score: 0.933945.
14:40:26.300[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00172455
14:40:26.300[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112197
14:40:26.302[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.572833 [mm], validation score: 0.957536.
14:40:26.303[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177965
14:40:26.304[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116575
14:40:26.306[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.688255 [mm], validation score: 0.937579.
14:40:26.307[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176102
14:40:26.308[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114497
14:40:26.310[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.65339 [mm], validation score: 0.94248.
14:40:26.310[I] 3D精匹配_1: 匹配得分: ([0.9339454174041748], [0.957535982131958], [0.9375788569450378], [0.9424799084663391])
14:40:26.310[I] 调整位姿_1: 开始运行。
14:40:26.311[I] 调整位姿_1: 16个子步骤运行结束。
14:40:26.311[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15393196051010438,-0.09776181094937433,0.15306403249941591,0.9999840517760037,0.005091975994776926,0.0019224251218493936,0.0015074003336799646],[0.15293187116771623,0.13097895546591812,0.15363789852481946,0.7072173925110461,-0.003115930274078587,-0.0024230488963005495,-0.7069851338906992],[-0.012098921855235256,-0.09773084581798894,0.15465507379893695,0.999951291937983,-0.005688541002939851,0.0077711379928363505,-0.0021595525302211594],[-0.012164764299709509,0.13084218731201597,0.15392449611260184,-0.9999843645733629,0.005446266795678221,-0.001160124325408148,-0.0005127361388074737]]})
14:40:26.326[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 5
14:40:26.327[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 5
14:40:26.334[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 5
14:40:26.334[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 5
14:40:26.334[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.56763秒。
14:40:26.355[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.586"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:40:27.084[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:40:27.086[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:40:27.087[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:40:27.115[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:40:27.115[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:27.116[I] 创建物体模型_1: 开始创建模型。请稍候。
14:40:27.118[D] 收到相机应答信息耗时： 0.002099
14:40:27.118[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:27.119[D] 收到相机应答信息耗时： 0.0009493
14:40:27.119[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:40:27.120[D] 收到相机应答信息耗时： 0.0008691
14:40:27.120[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:40:27.121[D] 收到相机应答信息耗时： 0.0008883
14:40:27.190[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:40:27.191[D] 收到相机应答信息耗时： 0.0010305
14:40:27.199[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:27.200[D] 收到相机应答信息耗时： 0.0008959
14:40:27.200[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:40:27.295[I] 创建物体模型_1: 模型被成功创建。
14:40:28.867[D] 收到相机应答信息耗时： 1.66627
14:40:28.917[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:40:29.145[D] Normal Filter Main Normal: 0 , 0 , -1
14:40:29.393[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:40:29.581[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:29.583[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:29.643[I] 数据重复并串接_1: 重复4次。
14:40:29.643[I] 数据重复并串接_2: 重复4次。
14:40:29.677[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.5625。
14:40:29.677[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:40:29.678[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:40:29.829[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178627
14:40:29.830[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113968
14:40:29.832[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.728891 [mm], validation score: 0.99324.
14:40:29.832[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00171148
14:40:29.833[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00103145
14:40:29.835[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.534097 [mm], validation score: 0.996651.
14:40:29.836[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179362
14:40:29.837[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115346
14:40:29.839[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.704028 [mm], validation score: 0.993756.
14:40:29.839[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177785
14:40:29.840[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112113
14:40:29.842[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.650229 [mm], validation score: 0.994134.
14:40:29.842[I] 3D精匹配_2: 匹配得分: ([0.9932395815849304], [0.9966505169868469], [0.9937559366226196], [0.9941337704658508])
14:40:29.847[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179765
14:40:29.848[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116125
14:40:29.850[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.742145 [mm], validation score: 0.928468.
14:40:29.851[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00169991
14:40:29.851[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108251
14:40:29.853[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.533947 [mm], validation score: 0.963902.
14:40:29.854[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179104
14:40:29.855[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115205
14:40:29.857[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.702788 [mm], validation score: 0.935008.
14:40:29.858[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177949
14:40:29.859[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113447
14:40:29.861[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.647449 [mm], validation score: 0.940158.
14:40:29.861[I] 3D精匹配_1: 匹配得分: ([0.9284681677818298], [0.9639023542404175], [0.9350077509880066], [0.9401583671569824])
14:40:29.861[I] 调整位姿_1: 开始运行。
14:40:29.861[I] 调整位姿_1: 16个子步骤运行结束。
14:40:29.862[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15382156385502227,-0.09779631208673858,0.15313836860230068,0.7087713880644473,0.0013204353304683723,0.004009005933376131,-0.7054256188877472],[0.15323055476391773,0.13117992561466246,0.15340718784911456,0.7053864056277644,-0.004375415364072504,-0.0025420373943088673,-0.708804918536702],[-0.011727118263824415,-0.09800850515093287,0.15449275189076817,0.9999681313001623,-0.004517856648215275,0.006556079517457237,0.0005858128903322101],[-0.012052044021813167,0.130973777905173,0.1539440160984331,0.7069831492228982,-0.0037933894796298396,-0.002588540518883558,-0.7072154808607563]]})
14:40:29.877[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 6
14:40:29.878[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 6
14:40:29.885[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 6
14:40:29.886[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 6
14:40:29.886[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.77078秒。
14:40:29.903[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.786"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:40:30.521[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:40:30.523[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:40:30.524[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:40:30.553[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:40:30.553[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:30.553[I] 创建物体模型_1: 开始创建模型。请稍候。
14:40:30.555[D] 收到相机应答信息耗时： 0.0021686
14:40:30.556[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:30.557[D] 收到相机应答信息耗时： 0.00097
14:40:30.557[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:40:30.558[D] 收到相机应答信息耗时： 0.001004
14:40:30.558[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:40:30.559[D] 收到相机应答信息耗时： 0.0009902
14:40:30.630[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:40:30.631[D] 收到相机应答信息耗时： 0.0009175
14:40:30.639[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:30.640[D] 收到相机应答信息耗时： 0.0009373
14:40:30.641[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:40:30.719[I] 创建物体模型_1: 模型被成功创建。
14:40:31.996[D] 收到相机应答信息耗时： 1.35533
14:40:32.046[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:40:32.284[D] Normal Filter Main Normal: 0 , 0 , -1
14:40:32.538[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:40:32.725[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:32.726[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:32.799[I] 数据重复并串接_1: 重复4次。
14:40:32.799[I] 数据重复并串接_2: 重复4次。
14:40:32.801[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.5625。
14:40:32.802[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:40:32.802[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:40:32.962[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180707
14:40:32.963[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120612
14:40:32.965[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.741015 [mm], validation score: 0.992702.
14:40:32.966[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00171452
14:40:32.967[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00104158
14:40:32.969[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.539183 [mm], validation score: 0.996506.
14:40:32.969[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181194
14:40:32.970[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122649
14:40:32.972[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.753963 [mm], validation score: 0.992847.
14:40:32.973[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177038
14:40:32.973[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108597
14:40:32.975[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.610153 [mm], validation score: 0.994943.
14:40:32.976[I] 3D精匹配_2: 匹配得分: ([0.9927019476890564], [0.996505856513977], [0.9928468465805054], [0.9949430823326111])
14:40:32.981[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181303
14:40:32.981[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123273
14:40:32.983[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.733866 [mm], validation score: 0.924426.
14:40:32.984[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00171778
14:40:32.985[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00106743
14:40:32.987[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.538652 [mm], validation score: 0.962382.
14:40:32.988[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180939
14:40:32.988[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120119
14:40:32.991[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.767791 [mm], validation score: 0.925417.
14:40:32.992[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177305
14:40:32.993[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108316
14:40:32.995[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.608267 [mm], validation score: 0.947349.
14:40:32.995[I] 3D精匹配_1: 匹配得分: ([0.9244261980056763], [0.9623817801475525], [0.9254172444343567], [0.947349488735199])
14:40:32.995[I] 调整位姿_1: 开始运行。
14:40:32.996[I] 调整位姿_1: 16个子步骤运行结束。
14:40:32.996[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15375086200271926,-0.09795504841683864,0.15322703419564143,0.706237268446284,0.003189419901583287,-0.001596313490356576,0.7079662421623383],[0.15323665990534582,0.13097178862589484,0.15343320561776674,0.9999809733639649,-0.0052251482084905675,0.0026834608333503873,-0.0018840844493401843],[-0.011918801584649391,-0.09787515410875638,0.15455583438483544,0.7081373595851903,0.0014449435302500242,0.008388372884115034,0.7060233900504053],[-0.012039014924164315,0.13100076877469197,0.15384941983365974,0.9999798938891068,-0.005567338997639338,0.002833161384834353,-0.0010907568856128294]]})
14:40:33.007[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 7
14:40:33.013[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 7
14:40:33.018[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 7
14:40:33.019[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 7
14:40:33.020[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.46728秒。
14:40:33.028[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.475"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:40:33.565[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:40:33.566[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:40:33.567[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:40:33.596[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:40:33.596[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:33.596[I] 创建物体模型_1: 开始创建模型。请稍候。
14:40:33.598[D] 收到相机应答信息耗时： 0.0020132
14:40:33.598[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:33.599[D] 收到相机应答信息耗时： 0.0008996
14:40:33.599[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:40:33.600[D] 收到相机应答信息耗时： 0.0008543
14:40:33.600[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:40:33.601[D] 收到相机应答信息耗时： 0.0009124
14:40:33.681[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:40:33.682[D] 收到相机应答信息耗时： 0.0008193
14:40:33.689[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:33.690[D] 收到相机应答信息耗时： 0.0007578
14:40:33.690[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:40:33.751[I] 创建物体模型_1: 模型被成功创建。
14:40:35.154[D] 收到相机应答信息耗时： 1.46489
14:40:35.205[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:40:35.434[D] Normal Filter Main Normal: 0 , 0 , -1
14:40:35.689[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:40:35.910[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:35.911[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:35.982[I] 数据重复并串接_1: 重复4次。
14:40:35.982[I] 数据重复并串接_2: 重复4次。
14:40:35.986[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.5625。
14:40:35.986[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:40:35.986[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:40:36.144[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180467
14:40:36.144[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011912
14:40:36.147[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.691094 [mm], validation score: 0.993983.
14:40:36.147[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00172188
14:40:36.148[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108867
14:40:36.150[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.567567 [mm], validation score: 0.995957.
14:40:36.151[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179581
14:40:36.152[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116186
14:40:36.153[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.759118 [mm], validation score: 0.992596.
14:40:36.154[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178153
14:40:36.155[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116801
14:40:36.157[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.618557 [mm], validation score: 0.995181.
14:40:36.157[I] 3D精匹配_2: 匹配得分: ([0.9939834475517273], [0.995956540107727], [0.9925961494445801], [0.995181143283844])
14:40:36.163[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181557
14:40:36.163[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121401
14:40:36.166[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.687515 [mm], validation score: 0.937731.
14:40:36.167[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00172685
14:40:36.167[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114102
14:40:36.169[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.56715 [mm], validation score: 0.957509.
14:40:36.170[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179278
14:40:36.171[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116886
14:40:36.173[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.752647 [mm], validation score: 0.925044.
14:40:36.174[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177043
14:40:36.175[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109702
14:40:36.177[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.61679 [mm], validation score: 0.949267.
14:40:36.177[I] 3D精匹配_1: 匹配得分: ([0.937731146812439], [0.9575086236000061], [0.9250442981719971], [0.9492670297622681])
14:40:36.177[I] 调整位姿_1: 开始运行。
14:40:36.177[I] 调整位姿_1: 16个子步骤运行结束。
14:40:36.177[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15391833342764405,-0.09775215486209213,0.15318327185502723,0.704705275675189,0.004152275276752474,-0.0011039486474595161,0.7094871488215736],[0.1533249121272622,0.13076047589872766,0.15362551247689793,0.999985955922505,-0.004227156760434388,0.000665518686913457,-0.0031266896797282895],[-0.011827960369448332,-0.0976192164061386,0.1544623273620609,-0.9999713224073841,0.0041501636898603565,-0.006265402076664526,0.0009355431650491183],[-0.011942522950800331,0.13109474028254686,0.15385068537020818,0.7076699976272937,-0.004121378748793374,0.004457709974300226,0.7065170327155458]]})
14:40:36.189[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 8
14:40:36.198[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 8
14:40:36.202[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 8
14:40:36.202[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 8
14:40:36.203[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.60701秒。
14:40:36.216[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.618"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:40:36.824[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:40:36.826[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:40:36.827[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:40:36.856[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:40:36.856[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:36.856[I] 创建物体模型_1: 开始创建模型。请稍候。
14:40:36.858[D] 收到相机应答信息耗时： 0.0021944
14:40:36.858[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:36.859[D] 收到相机应答信息耗时： 0.0009937
14:40:36.859[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:40:36.860[D] 收到相机应答信息耗时： 0.0008748
14:40:36.860[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:40:36.861[D] 收到相机应答信息耗时： 0.0010057
14:40:36.934[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:40:36.935[D] 收到相机应答信息耗时： 0.001043
14:40:36.942[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:36.943[D] 收到相机应答信息耗时： 0.0009413
14:40:36.943[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:40:37.021[I] 创建物体模型_1: 模型被成功创建。
14:40:38.337[D] 收到相机应答信息耗时： 1.3949
14:40:38.388[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:40:38.620[D] Normal Filter Main Normal: 0 , 0 , -1
14:40:38.864[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:40:39.051[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:39.052[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:39.152[I] 数据重复并串接_2: 重复4次。
14:40:39.152[I] 数据重复并串接_1: 重复4次。
14:40:39.156[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.5625。
14:40:39.157[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:40:39.157[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:40:39.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179726
14:40:39.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116036
14:40:39.312[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.695427 [mm], validation score: 0.994053.
14:40:39.313[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00171706
14:40:39.314[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00103644
14:40:39.316[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.566156 [mm], validation score: 0.996282.
14:40:39.316[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177926
14:40:39.317[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114262
14:40:39.319[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.672476 [mm], validation score: 0.994044.
14:40:39.320[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177764
14:40:39.320[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109611
14:40:39.322[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.605444 [mm], validation score: 0.995207.
14:40:39.322[I] 3D精匹配_2: 匹配得分: ([0.9940529465675354], [0.9962820410728455], [0.9940436482429504], [0.9952074885368347])
14:40:39.328[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180505
14:40:39.328[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011924
14:40:39.331[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.698818 [mm], validation score: 0.93722.
14:40:39.332[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00171843
14:40:39.332[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00106031
14:40:39.334[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.566202 [mm], validation score: 0.960053.
14:40:39.335[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177841
14:40:39.336[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115758
14:40:39.338[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.66655 [mm], validation score: 0.938535.
14:40:39.339[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177495
14:40:39.340[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108634
14:40:39.342[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.605246 [mm], validation score: 0.949865.
14:40:39.342[I] 3D精匹配_1: 匹配得分: ([0.9372204542160034], [0.9600526094436646], [0.9385348558425903], [0.9498649835586548])
14:40:39.342[I] 调整位姿_1: 开始运行。
14:40:39.343[I] 调整位姿_1: 16个子步骤运行结束。
14:40:39.343[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15366062758888027,-0.09773245177713089,0.15315955248229707,0.7051197317224253,0.0035799520802973564,-0.00010474373865857877,0.7090792176531098],[0.1534768055674867,0.13060312747347588,0.153638556890747,0.9999840030088463,-0.004022358729574068,0.0006786472725039683,-0.003918391830030565],[-0.011937346717693559,-0.09779054856716882,0.1545447575690453,-0.9999675131203722,0.004765218521131275,-0.006411664078056759,0.0010751558358403854],[-0.012165189398429158,0.13061420653006536,0.15413737316503617,-0.7060920672435762,0.001715870976977279,-0.004102342634664378,-0.7081060790216533]]})
14:40:39.355[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 9
14:40:39.360[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 9
14:40:39.369[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 9
14:40:39.370[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 9
14:40:39.370[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.51392秒。
14:40:39.374[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.518"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
14:40:40.078[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
14:40:40.079[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
14:40:40.080[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
14:40:40.117[I] 工程(Vis-模具毛胚定位工位1)开始执行。
14:40:40.117[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:40.117[I] 创建物体模型_1: 开始创建模型。请稍候。
14:40:40.119[D] 收到相机应答信息耗时： 0.0022293
14:40:40.119[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:40.120[D] 收到相机应答信息耗时： 0.0009834
14:40:40.120[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
14:40:40.121[D] 收到相机应答信息耗时： 0.0009547
14:40:40.121[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
14:40:40.122[D] 收到相机应答信息耗时： 0.000982
14:40:40.192[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
14:40:40.194[D] 收到相机应答信息耗时： 0.0010412
14:40:40.201[D] sendAndRecvMsg {"cmd":"GetCameraId"}
14:40:40.202[D] 收到相机应答信息耗时： 0.0009074
14:40:40.202[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
14:40:40.279[I] 创建物体模型_1: 模型被成功创建。
14:40:41.891[D] 收到相机应答信息耗时： 1.68822
14:40:41.941[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
14:40:42.166[D] Normal Filter Main Normal: 0 , 0 , -1
14:40:42.409[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
14:40:42.631[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:42.632[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
14:40:42.703[I] 数据重复并串接_1: 重复4次。
14:40:42.703[I] 数据重复并串接_2: 重复4次。
14:40:42.706[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.5625。
14:40:42.706[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
14:40:42.706[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
14:40:42.852[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179133
14:40:42.853[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115709
14:40:42.855[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.710385 [mm], validation score: 0.993529.
14:40:42.856[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00173092
14:40:42.857[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011431
14:40:42.859[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.550645 [mm], validation score: 0.996332.
14:40:42.860[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183793
14:40:42.860[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126505
14:40:42.862[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.876681 [mm], validation score: 0.990367.
14:40:42.863[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177909
14:40:42.864[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110964
14:40:42.865[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589133 [mm], validation score: 0.995332.
14:40:42.866[I] 3D精匹配_2: 匹配得分: ([0.9935293793678284], [0.9963322877883911], [0.9903669953346252], [0.995331883430481])
14:40:42.870[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180518
14:40:42.871[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117392
14:40:42.873[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.704585 [mm], validation score: 0.933729.
14:40:42.874[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00172362
14:40:42.875[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109705
14:40:42.876[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.550715 [mm], validation score: 0.960607.
14:40:42.877[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183806
14:40:42.878[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126806
14:40:42.880[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.880757 [mm], validation score: 0.902764.
14:40:42.881[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178346
14:40:42.882[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001162
14:40:42.884[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589116 [mm], validation score: 0.951047.
14:40:42.884[I] 3D精匹配_1: 匹配得分: ([0.9337291121482849], [0.9606072902679443], [0.9027636647224426], [0.9510467648506165])
14:40:42.884[I] 调整位姿_1: 开始运行。
14:40:42.884[I] 调整位姿_1: 16个子步骤运行结束。
14:40:42.884[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15395142884729113,-0.09767811583344724,0.1532287598813904,0.7042507483415472,0.002679742904337406,-0.0014717502124976804,0.7099447417860414],[0.15329211728504394,0.1308878154253914,0.15372377423796935,0.9999924951687893,-0.0035040935864881634,0.0006838670765162529,-0.00150441352597519],[-0.011909355780338415,-0.0979352817174837,0.15460945333189313,0.7080950839269563,0.0011800086758422777,0.009214855167836976,0.7060559794678021],[-0.01178107216789679,0.13135442266476,0.15353287345894384,-0.7090603967674981,0.006772220119778195,-0.004576691264950791,-0.7051003791430217]]})
14:40:42.897[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 10
14:40:42.903[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 10
14:40:42.912[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 10
14:40:42.912[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 10
14:40:42.913[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.79658秒。
14:40:42.922[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.805"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
15:20:14.514[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:20:14.516[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:20:14.517[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:20:14.546[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:20:14.546[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:14.546[I] 创建物体模型_1: 开始创建模型。请稍候。
15:20:14.546[I] 创建物体模型_2: 开始创建模型。请稍候。
15:20:14.556[I] 创建物体模型_2: 模型被成功创建。
15:20:14.572[D] 收到相机应答信息耗时： 0.0258049
15:20:14.572[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:14.573[D] 收到相机应答信息耗时： 0.0008759
15:20:14.573[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:20:14.574[D] 收到相机应答信息耗时： 0.0008698
15:20:14.574[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:20:14.575[D] 收到相机应答信息耗时： 0.0007983
15:20:14.644[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:20:14.646[D] 收到相机应答信息耗时： 0.0012422
15:20:14.655[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:14.656[D] 收到相机应答信息耗时： 0.0008192
15:20:14.656[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:20:14.749[I] 创建物体模型_1: 模型被成功创建。
15:20:16.161[D] 收到相机应答信息耗时： 1.50469
15:20:16.213[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:20:16.213[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:20:16.450[D] Normal Filter Main Normal: 0 , 0 , -1
15:20:16.698[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:20:16.951[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:16.953[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:17.031[I] 数据重复并串接_2: 重复4次。
15:20:17.031[I] 数据重复并串接_1: 重复4次。
15:20:17.049[I] [ orthographicProjection ] 最小值点的X和Y为(-0.146362, -0.108131)。
最大点的X和Y是(0.146273, 0.108051)。
15:20:17.050[I] [ printSampleResult ] 采样结束。
采样后点云中点数：320.
对应的采样采样间隔：0.673438。
15:20:17.051[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:20:17.051[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:20:17.244[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:17.245[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182301
15:20:17.246[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120509
15:20:17.248[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.774073 [mm], validation score: 0.992324.
15:20:17.249[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186481
15:20:17.250[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123927
15:20:17.252[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589362 [mm], validation score: 0.995413.
15:20:17.253[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185673
15:20:17.254[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125021
15:20:17.256[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.706075 [mm], validation score: 0.99301.
15:20:17.257[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191539
15:20:17.258[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121278
15:20:17.260[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.668674 [mm], validation score: 0.994299.
15:20:17.261[I] 3D精匹配_2: 匹配得分: ([0.9923235177993774], [0.995413064956665], [0.9930103421211243], [0.99429851770401])
15:20:17.266[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:17.267[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181575
15:20:17.268[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120845
15:20:17.271[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.772188 [mm], validation score: 0.921368.
15:20:17.272[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185868
15:20:17.273[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001201
15:20:17.275[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.585093 [mm], validation score: 0.952457.
15:20:17.276[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185563
15:20:17.277[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124874
15:20:17.279[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.701117 [mm], validation score: 0.929524.
15:20:17.280[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191585
15:20:17.281[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121162
15:20:17.283[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.668452 [mm], validation score: 0.940338.
15:20:17.283[I] 3D精匹配_1: 匹配得分: ([0.9213679432868958], [0.9524573087692261], [0.9295243620872498], [0.9403383731842041])
15:20:17.283[I] 调整位姿_4: 开始运行。
15:20:17.283[I] 调整位姿_4: 14个子步骤运行结束。
15:20:17.283[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1559572795771456,-0.31839953665872167,0.15028478177624272,0.7053960848127729,0.004878296445347451,0.004038234644044343,0.7087850579798944],[0.15445565484344267,-0.028069280433341993,0.14952000248015462,0.9999845526921511,-0.004915503465992951,-0.002584030254464624,-0.0002345003168772175],[-0.05731160580822747,-0.31949602929475895,0.15239380910159417,0.7059677077131182,-0.004033666588007176,-0.00015636505833404018,0.7082325188454075],[-0.05891883180989826,-0.03016978697019228,0.15145399733924836,0.9999693874064883,-0.0033644092167758642,0.00551720574332671,0.0044119656957429315]]})
15:20:17.301[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 1
15:20:17.304[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 1
15:20:17.308[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 1
15:20:17.311[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 1
15:20:17.311[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.7663秒。
15:20:17.346[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.800"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:20:18.987[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:20:18.988[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:20:18.989[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:20:19.032[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:20:19.032[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:19.032[I] 创建物体模型_2: 开始创建模型。请稍候。
15:20:19.032[I] 创建物体模型_1: 开始创建模型。请稍候。
15:20:19.034[D] 收到相机应答信息耗时： 0.0021232
15:20:19.035[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:19.035[D] 收到相机应答信息耗时： 0.0008583
15:20:19.035[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:20:19.036[D] 收到相机应答信息耗时： 0.0009146
15:20:19.036[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:20:19.038[D] 收到相机应答信息耗时： 0.001041
15:20:19.043[I] 创建物体模型_2: 模型被成功创建。
15:20:19.109[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:20:19.111[D] 收到相机应答信息耗时： 0.0012448
15:20:19.118[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:19.119[D] 收到相机应答信息耗时： 0.0009867
15:20:19.119[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:20:19.210[I] 创建物体模型_1: 模型被成功创建。
15:20:20.806[D] 收到相机应答信息耗时： 1.68785
15:20:20.859[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:20:20.859[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:20:21.110[D] Normal Filter Main Normal: 0 , 0 , -1
15:20:21.355[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:20:21.641[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:21.642[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:21.726[I] [ orthographicProjection ] 最小值点的X和Y为(-0.146404, -0.108111)。
最大点的X和Y是(0.146229, 0.108085)。
15:20:21.732[I] 数据重复并串接_2: 重复4次。
15:20:21.732[I] 数据重复并串接_1: 重复4次。
15:20:21.737[I] [ printSampleResult ] 采样结束。
采样后点云中点数：320.
对应的采样采样间隔：0.673438。
15:20:21.737[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:20:21.737[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:20:21.920[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:21.921[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180119
15:20:21.922[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123359
15:20:21.924[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.734748 [mm], validation score: 0.993129.
15:20:21.925[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182834
15:20:21.926[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119554
15:20:21.928[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.571338 [mm], validation score: 0.995775.
15:20:21.929[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181693
15:20:21.930[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116813
15:20:21.932[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.638182 [mm], validation score: 0.994322.
15:20:21.933[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193962
15:20:21.934[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127095
15:20:21.936[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.692249 [mm], validation score: 0.993937.
15:20:21.936[I] 3D精匹配_2: 匹配得分: ([0.9931288361549377], [0.9957754015922546], [0.9943222999572754], [0.9939368963241577])
15:20:21.942[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:21.943[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180049
15:20:21.944[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123082
15:20:21.946[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.733798 [mm], validation score: 0.929272.
15:20:21.947[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018276
15:20:21.948[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118786
15:20:21.950[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.569809 [mm], validation score: 0.955519.
15:20:21.952[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182087
15:20:21.952[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117303
15:20:21.955[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.638433 [mm], validation score: 0.942051.
15:20:21.956[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019417
15:20:21.957[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125351
15:20:21.959[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.694508 [mm], validation score: 0.936134.
15:20:21.959[I] 3D精匹配_1: 匹配得分: ([0.9292722940444946], [0.955519437789917], [0.9420508742332458], [0.9361342787742615])
15:20:21.960[I] 调整位姿_4: 开始运行。
15:20:21.960[I] 调整位姿_4: 14个子步骤运行结束。
15:20:21.960[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1561260514106528,-0.31851601152005216,0.15009296665555372,0.7088415504970638,-0.004527798202187997,0.009078694221328683,-0.7052947842169222],[0.15451343349875407,-0.028087375676928147,0.14937206593891927,0.7065821894905457,-0.004259730852072985,-0.004239322787691331,-0.7076054637508928],[-0.057575350266827946,-0.31891548698707883,0.15217889551150288,0.9999983001871126,-0.00142839708437077,-0.0009716038053825755,-0.0006444305301796572],[-0.059267436629398054,-0.030274863279609498,0.1513765963619207,-0.9999583135367088,0.004266388646873593,-0.005288192896442829,-0.006099519048687891]]})
15:20:21.969[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 2
15:20:21.973[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 2
15:20:21.983[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 2
15:20:21.985[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 2
15:20:21.985[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.95321秒。
15:20:22.000[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.967"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:20:26.447[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:20:26.449[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:20:26.450[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:20:26.491[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:20:26.492[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:26.492[I] 创建物体模型_2: 开始创建模型。请稍候。
15:20:26.492[I] 创建物体模型_1: 开始创建模型。请稍候。
15:20:26.502[I] 创建物体模型_2: 模型被成功创建。
15:20:26.559[D] 收到相机应答信息耗时： 0.0663878
15:20:26.559[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:26.560[D] 收到相机应答信息耗时： 0.0010689
15:20:26.560[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:20:26.561[D] 收到相机应答信息耗时： 0.0009586
15:20:26.561[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:20:26.562[D] 收到相机应答信息耗时： 0.0006648
15:20:26.631[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:20:26.632[D] 收到相机应答信息耗时： 0.0007714
15:20:26.639[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:26.640[D] 收到相机应答信息耗时： 0.0007286
15:20:26.640[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:20:26.668[I] 创建物体模型_1: 模型被成功创建。
15:20:28.007[D] 收到相机应答信息耗时： 1.36701
15:20:28.059[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:20:28.060[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:20:28.293[D] Normal Filter Main Normal: 0 , 0 , -1
15:20:28.534[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:20:28.788[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:28.789[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:28.901[I] 数据重复并串接_1: 重复4次。
15:20:28.901[I] 数据重复并串接_2: 重复4次。
15:20:28.906[I] [ orthographicProjection ] 最小值点的X和Y为(-0.146353, -0.108066)。
最大点的X和Y是(0.146229, 0.108051)。
15:20:28.937[I] [ printSampleResult ] 采样结束。
采样后点云中点数：320.
对应的采样采样间隔：0.673438。
15:20:28.937[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:20:28.937[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:20:29.118[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:29.119[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179717
15:20:29.120[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122057
15:20:29.122[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.766403 [mm], validation score: 0.99266.
15:20:29.123[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184386
15:20:29.124[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115436
15:20:29.126[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.60067 [mm], validation score: 0.995342.
15:20:29.127[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180113
15:20:29.128[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115808
15:20:29.130[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.63688 [mm], validation score: 0.994681.
15:20:29.131[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00199005
15:20:29.132[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00131567
15:20:29.134[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.787121 [mm], validation score: 0.991663.
15:20:29.134[I] 3D精匹配_2: 匹配得分: ([0.992659866809845], [0.9953417778015137], [0.9946809411048889], [0.9916632771492004])
15:20:29.140[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:29.141[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017985
15:20:29.142[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124792
15:20:29.145[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.770705 [mm], validation score: 0.923132.
15:20:29.146[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184444
15:20:29.147[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115326
15:20:29.149[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.598587 [mm], validation score: 0.951464.
15:20:29.151[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180496
15:20:29.152[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115268
15:20:29.154[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.64195 [mm], validation score: 0.944165.
15:20:29.155[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00199509
15:20:29.156[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00133825
15:20:29.158[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.779002 [mm], validation score: 0.914777.
15:20:29.158[I] 3D精匹配_1: 匹配得分: ([0.9231318831443787], [0.9514644145965576], [0.9441649913787842], [0.9147774577140808])
15:20:29.159[I] 调整位姿_4: 开始运行。
15:20:29.159[I] 调整位姿_4: 14个子步骤运行结束。
15:20:29.159[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.156014738389592,-0.3185463058111342,0.15003088142872634,0.7087940567188092,-0.004652246914131009,0.009175384065039961,-0.7053404526085276],[0.1544088555300129,-0.027847372533688065,0.14914391675254945,0.7080899666721093,-0.006753455560109702,-0.004261308040815063,-0.7060770717068147],[-0.05725349770789995,-0.31913266067716617,0.15214054808297206,0.7076532221436076,0.0008163469717213401,-0.0027983057398653045,-0.7065539047039358],[-0.05930876605006433,-0.030399577441654533,0.15142763362405054,-0.9999528902124678,0.0036714608219629626,-0.0062014943503166005,-0.006502245688104761]]})
15:20:29.168[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 3
15:20:29.174[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 3
15:20:29.178[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 3
15:20:29.179[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 3
15:20:29.179[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.68716秒。
15:20:29.197[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.704"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:20:33.619[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:20:33.621[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:20:33.621[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:20:33.662[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:20:33.662[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:33.662[I] 创建物体模型_2: 开始创建模型。请稍候。
15:20:33.662[I] 创建物体模型_1: 开始创建模型。请稍候。
15:20:33.664[D] 收到相机应答信息耗时： 0.0019566
15:20:33.664[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:33.665[D] 收到相机应答信息耗时： 0.0009217
15:20:33.665[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:20:33.666[D] 收到相机应答信息耗时： 0.0008581
15:20:33.666[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:20:33.667[D] 收到相机应答信息耗时： 0.0008725
15:20:33.673[I] 创建物体模型_2: 模型被成功创建。
15:20:33.739[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:20:33.740[D] 收到相机应答信息耗时： 0.0008973
15:20:33.748[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:33.749[D] 收到相机应答信息耗时： 0.0009387
15:20:33.749[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:20:33.831[I] 创建物体模型_1: 模型被成功创建。
15:20:35.198[D] 收到相机应答信息耗时： 1.44858
15:20:35.251[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:20:35.252[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:20:35.487[D] Normal Filter Main Normal: 0 , 0 , -1
15:20:35.735[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:20:36.038[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:36.039[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:36.135[I] 数据重复并串接_1: 重复4次。
15:20:36.135[I] 数据重复并串接_2: 重复4次。
15:20:36.138[I] [ printSampleResult ] 采样结束。
采样后点云中点数：320.
对应的采样采样间隔：0.673438。
15:20:36.138[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:20:36.138[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:20:36.139[I] [ orthographicProjection ] 最小值点的X和Y为(-0.146296, -0.108102)。
最大点的X和Y是(0.146262, 0.108085)。
15:20:36.319[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:36.321[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181355
15:20:36.321[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119539
15:20:36.324[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.783797 [mm], validation score: 0.992319.
15:20:36.325[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186648
15:20:36.326[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012245
15:20:36.328[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.603656 [mm], validation score: 0.995219.
15:20:36.329[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183055
15:20:36.330[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123862
15:20:36.332[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.672365 [mm], validation score: 0.994112.
15:20:36.333[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191103
15:20:36.334[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121427
15:20:36.336[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.70481 [mm], validation score: 0.993512.
15:20:36.336[I] 3D精匹配_2: 匹配得分: ([0.9923187494277954], [0.995219349861145], [0.994111955165863], [0.9935122728347778])
15:20:36.340[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:36.341[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182432
15:20:36.342[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120632
15:20:36.345[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.780295 [mm], validation score: 0.921548.
15:20:36.346[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186626
15:20:36.347[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122398
15:20:36.349[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.601031 [mm], validation score: 0.950337.
15:20:36.351[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183268
15:20:36.352[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012436
15:20:36.355[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.67659 [mm], validation score: 0.937711.
15:20:36.356[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191429
15:20:36.357[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121885
15:20:36.359[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.704977 [mm], validation score: 0.932439.
15:20:36.359[I] 3D精匹配_1: 匹配得分: ([0.9215477108955383], [0.9503369331359863], [0.9377110600471497], [0.9324389696121216])
15:20:36.359[I] 调整位姿_4: 开始运行。
15:20:36.360[I] 调整位姿_4: 14个子步骤运行结束。
15:20:36.360[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15596032809718838,-0.31833671555043436,0.15025632295136493,0.7082708864900603,-0.0032676008171413145,0.005428718547787011,-0.7059123197327082],[0.1544498315679592,-0.02821463894492107,0.14932022016025748,0.7068142144320577,-0.005752675790516158,-0.0036811508107681586,-0.7073662574131953],[-0.05752433622396752,-0.31923080218345745,0.15229642444862046,0.7071560337497991,6.963882758616914e-05,-0.003647484425611035,-0.7070481135955682],[-0.05892865193735903,-0.029922173373844698,0.15120505413296836,-0.9999707446060818,0.005295471839735103,-0.004435674948018476,-0.0032852241488616147]]})
15:20:36.369[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 4
15:20:36.374[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 4
15:20:36.383[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 4
15:20:36.385[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 4
15:20:36.385[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.7242秒。
15:20:36.400[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.738"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:20:37.922[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:20:37.923[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:20:37.924[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:20:37.980[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:20:37.981[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:37.981[I] 创建物体模型_2: 开始创建模型。请稍候。
15:20:37.981[I] 创建物体模型_1: 开始创建模型。请稍候。
15:20:37.983[D] 收到相机应答信息耗时： 0.0017433
15:20:37.983[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:37.984[D] 收到相机应答信息耗时： 0.0009053
15:20:37.984[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:20:37.985[D] 收到相机应答信息耗时： 0.0008485
15:20:37.985[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:20:37.986[D] 收到相机应答信息耗时： 0.0009357
15:20:37.992[I] 创建物体模型_2: 模型被成功创建。
15:20:38.059[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:20:38.059[D] 收到相机应答信息耗时： 0.0008881
15:20:38.067[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:38.068[D] 收到相机应答信息耗时： 0.0008988
15:20:38.068[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:20:38.150[I] 创建物体模型_1: 模型被成功创建。
15:20:39.789[D] 收到相机应答信息耗时： 1.72161
15:20:39.841[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:20:39.841[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:20:40.077[D] Normal Filter Main Normal: 0 , 0 , -1
15:20:40.323[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:20:40.607[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:40.608[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:40.715[I] [ orthographicProjection ] 最小值点的X和Y为(-0.146348, -0.108151)。
最大点的X和Y是(0.146284, 0.108151)。
15:20:40.756[I] 数据重复并串接_1: 重复4次。
15:20:40.756[I] 数据重复并串接_2: 重复4次。
15:20:40.759[I] [ printSampleResult ] 采样结束。
采样后点云中点数：320.
对应的采样采样间隔：0.673438。
15:20:40.760[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:20:40.760[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:20:40.925[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:40.926[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180055
15:20:40.927[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124078
15:20:40.929[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.770264 [mm], validation score: 0.992705.
15:20:40.930[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185396
15:20:40.931[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116643
15:20:40.933[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.616038 [mm], validation score: 0.994943.
15:20:40.934[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179377
15:20:40.935[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116526
15:20:40.937[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.596766 [mm], validation score: 0.9954.
15:20:40.938[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195709
15:20:40.939[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00131115
15:20:40.941[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.770171 [mm], validation score: 0.992231.
15:20:40.941[I] 3D精匹配_2: 匹配得分: ([0.9927048087120056], [0.9949434995651245], [0.9954004287719727], [0.9922305345535278])
15:20:40.946[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:40.947[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180807
15:20:40.948[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121952
15:20:40.950[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.770403 [mm], validation score: 0.9243.
15:20:40.951[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185774
15:20:40.952[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119903
15:20:40.954[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.615187 [mm], validation score: 0.947627.
15:20:40.956[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178814
15:20:40.956[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119416
15:20:40.959[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.600159 [mm], validation score: 0.951452.
15:20:40.960[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019554
15:20:40.961[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130502
15:20:40.963[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.778928 [mm], validation score: 0.918447.
15:20:40.964[I] 3D精匹配_1: 匹配得分: ([0.9243000149726868], [0.9476271271705627], [0.9514521956443787], [0.9184467792510986])
15:20:40.964[I] 调整位姿_4: 开始运行。
15:20:40.964[I] 调整位姿_4: 14个子步骤运行结束。
15:20:40.964[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15600530401805526,-0.31842535268766337,0.1501041090416364,0.7087221328374985,-0.004181352091846172,0.007799035121324656,-0.7054322290426827],[0.15445118520371356,-0.02824947360870071,0.14954053881270202,0.7067609870899128,-0.0041800980399254025,-0.003041273158377996,-0.7074335195378042],[-0.05723127658849719,-0.3190699818207666,0.15213000349155292,0.7079422847048245,-3.466101534766813e-05,-0.001948498386500278,-0.7062676006157758],[-0.058901116228063585,-0.030070736103769733,0.15131283128268302,-0.9999743054432592,0.003969356262295142,-0.004485184098647801,-0.003939008471140271]]})
15:20:40.974[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 5
15:20:40.981[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 5
15:20:40.992[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 5
15:20:40.992[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 5
15:20:40.992[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：3.0113秒。
15:20:41.008[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"3.027"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:20:42.341[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:20:42.343[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:20:42.344[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:20:42.384[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:20:42.384[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:42.384[I] 创建物体模型_2: 开始创建模型。请稍候。
15:20:42.384[I] 创建物体模型_1: 开始创建模型。请稍候。
15:20:42.394[I] 创建物体模型_2: 模型被成功创建。
15:20:42.504[D] 收到相机应答信息耗时： 0.119608
15:20:42.505[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:42.505[D] 收到相机应答信息耗时： 0.0009238
15:20:42.505[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:20:42.506[D] 收到相机应答信息耗时： 0.000872
15:20:42.506[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:20:42.526[I] 创建物体模型_1: 模型被成功创建。
15:20:42.530[D] 收到相机应答信息耗时： 0.0231444
15:20:42.593[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:20:42.594[D] 收到相机应答信息耗时： 0.0008323
15:20:42.599[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:42.600[D] 收到相机应答信息耗时： 0.0006669
15:20:42.600[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:20:43.999[D] 收到相机应答信息耗时： 1.39861
15:20:44.049[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:20:44.050[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:20:44.286[D] Normal Filter Main Normal: 0 , 0 , -1
15:20:44.536[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:20:44.795[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:44.796[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:44.889[I] 数据重复并串接_1: 重复4次。
15:20:44.889[I] 数据重复并串接_2: 重复4次。
15:20:44.894[I] [ orthographicProjection ] 最小值点的X和Y为(-0.146327, -0.107757)。
最大点的X和Y是(0.146277, 0.10772)。
15:20:44.933[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673438。
15:20:44.934[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:20:44.934[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:20:45.098[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:45.099[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179948
15:20:45.100[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001232
15:20:45.102[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.762116 [mm], validation score: 0.992698.
15:20:45.103[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018942
15:20:45.104[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126039
15:20:45.106[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.643593 [mm], validation score: 0.994395.
15:20:45.107[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178729
15:20:45.108[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119727
15:20:45.110[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.596563 [mm], validation score: 0.995424.
15:20:45.111[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189012
15:20:45.112[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012569
15:20:45.114[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.667601 [mm], validation score: 0.994101.
15:20:45.114[I] 3D精匹配_2: 匹配得分: ([0.9926984906196594], [0.9943946003913879], [0.9954244494438171], [0.99410080909729])
15:20:45.119[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:45.120[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180021
15:20:45.120[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123198
15:20:45.123[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.761294 [mm], validation score: 0.924857.
15:20:45.124[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188787
15:20:45.125[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120497
15:20:45.128[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.638667 [mm], validation score: 0.942257.
15:20:45.129[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178977
15:20:45.130[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120682
15:20:45.132[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.591197 [mm], validation score: 0.952599.
15:20:45.133[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189498
15:20:45.134[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126323
15:20:45.137[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.670588 [mm], validation score: 0.938251.
15:20:45.137[I] 3D精匹配_1: 匹配得分: ([0.924857497215271], [0.9422569870948792], [0.952599048614502], [0.9382510781288147])
15:20:45.137[I] 调整位姿_4: 开始运行。
15:20:45.137[I] 调整位姿_4: 14个子步骤运行结束。
15:20:45.137[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15597534018003426,-0.3184918808877846,0.15013841799450978,0.999957928152249,0.002788111838560682,0.00859916128292864,0.0015565291734145335],[0.154327806590862,-0.02793462622389035,0.1495613961493205,0.999986362201126,-0.004917696074462418,-0.0017004862423058258,0.00044723999941637116],[-0.05767825605631305,-0.319053712124708,0.15226118428397628,0.7078476740124057,-0.003137736494031996,0.00011119683723112171,0.7063581334140528],[-0.05920102082497954,-0.030168460652364757,0.15142531282091687,0.9999637745861806,-0.0038456673202419784,0.005379434590720339,0.00535929488876089]]})
15:20:45.148[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 6
15:20:45.153[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 6
15:20:45.160[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 6
15:20:45.160[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 6
15:20:45.160[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.77588秒。
15:20:45.190[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.804"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:20:46.593[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:20:46.595[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:20:46.596[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:20:46.643[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:20:46.644[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:46.644[I] 创建物体模型_2: 开始创建模型。请稍候。
15:20:46.644[I] 创建物体模型_1: 开始创建模型。请稍候。
15:20:46.646[D] 收到相机应答信息耗时： 0.00213
15:20:46.646[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:46.647[D] 收到相机应答信息耗时： 0.0009896
15:20:46.647[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:20:46.648[D] 收到相机应答信息耗时： 0.0009276
15:20:46.648[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:20:46.649[D] 收到相机应答信息耗时： 0.00095
15:20:46.655[I] 创建物体模型_2: 模型被成功创建。
15:20:46.724[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:20:46.726[D] 收到相机应答信息耗时： 0.0013156
15:20:46.734[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:46.735[D] 收到相机应答信息耗时： 0.0010443
15:20:46.735[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:20:46.813[I] 创建物体模型_1: 模型被成功创建。
15:20:48.223[D] 收到相机应答信息耗时： 1.48827
15:20:48.273[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:20:48.274[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:20:48.511[D] Normal Filter Main Normal: 0 , 0 , -1
15:20:48.759[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:20:49.042[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:49.043[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:49.114[I] [ orthographicProjection ] 最小值点的X和Y为(-0.146464, -0.10779)。
最大点的X和Y是(0.146396, 0.107747)。
15:20:49.153[I] 数据重复并串接_1: 重复4次。
15:20:49.153[I] 数据重复并串接_2: 重复4次。
15:20:49.156[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673438。
15:20:49.156[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:20:49.156[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:20:49.338[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:49.339[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178905
15:20:49.339[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120453
15:20:49.342[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.721078 [mm], validation score: 0.993359.
15:20:49.343[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185383
15:20:49.344[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116084
15:20:49.346[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.593531 [mm], validation score: 0.995576.
15:20:49.347[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182874
15:20:49.348[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122002
15:20:49.350[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.623051 [mm], validation score: 0.994939.
15:20:49.351[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193259
15:20:49.352[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00131649
15:20:49.354[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.696221 [mm], validation score: 0.993518.
15:20:49.354[I] 3D精匹配_2: 匹配得分: ([0.9933592677116394], [0.9955763220787048], [0.9949385523796082], [0.9935181736946106])
15:20:49.359[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:49.360[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179264
15:20:49.361[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121767
15:20:49.364[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.727659 [mm], validation score: 0.930992.
15:20:49.365[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184892
15:20:49.366[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113561
15:20:49.368[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.592943 [mm], validation score: 0.952962.
15:20:49.369[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182698
15:20:49.370[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121367
15:20:49.372[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.622672 [mm], validation score: 0.947394.
15:20:49.373[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192538
15:20:49.374[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128654
15:20:49.376[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.690966 [mm], validation score: 0.933693.
15:20:49.376[I] 3D精匹配_1: 匹配得分: ([0.9309924840927124], [0.9529620409011841], [0.9473939538002014], [0.9336933493614197])
15:20:49.377[I] 调整位姿_4: 开始运行。
15:20:49.377[I] 调整位姿_4: 14个子步骤运行结束。
15:20:49.377[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15611793596741555,-0.3184311380132209,0.15004433753248114,0.9999466776704591,0.002139881122991911,0.009534054478440268,0.0033413365279253973],[0.1544756294815076,-0.02804860607109713,0.14957161173941058,0.9999893918721396,-0.004237866190071677,-0.001790122179430996,-0.00022824531981985308],[-0.057614247455991086,-0.3189769174053756,0.15210655672392503,-0.9999966484032957,0.0014211272346121074,0.0021177274049031278,0.00044588136886807836],[-0.059024109419109905,-0.03025929573827119,0.1514823907841123,0.9999722008130572,-0.0032656503211568595,0.005396604715920602,0.003976152236918887]]})
15:20:49.388[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 7
15:20:49.400[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 7
15:20:49.405[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 7
15:20:49.406[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 7
15:20:49.406[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.76246秒。
15:20:49.418[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.773"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:20:50.934[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:20:50.936[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:20:50.937[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:20:50.968[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:20:50.969[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:50.969[I] 创建物体模型_2: 开始创建模型。请稍候。
15:20:50.969[I] 创建物体模型_1: 开始创建模型。请稍候。
15:20:50.971[D] 收到相机应答信息耗时： 0.0021032
15:20:50.971[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:50.972[D] 收到相机应答信息耗时： 0.0010542
15:20:50.972[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:20:50.973[D] 收到相机应答信息耗时： 0.0009161
15:20:50.973[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:20:50.974[D] 收到相机应答信息耗时： 0.0009798
15:20:50.980[I] 创建物体模型_2: 模型被成功创建。
15:20:51.048[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:20:51.049[D] 收到相机应答信息耗时： 0.0009568
15:20:51.057[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:51.058[D] 收到相机应答信息耗时： 0.0009204
15:20:51.058[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:20:51.145[I] 创建物体模型_1: 模型被成功创建。
15:20:52.781[D] 收到相机应答信息耗时： 1.72234
15:20:52.832[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:20:52.832[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:20:53.067[D] Normal Filter Main Normal: 0 , 0 , -1
15:20:53.316[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:20:53.590[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:53.591[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:53.699[I] 数据重复并串接_1: 重复4次。
15:20:53.699[I] 数据重复并串接_2: 重复4次。
15:20:53.702[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673438。
15:20:53.702[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:20:53.702[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:20:53.718[I] [ orthographicProjection ] 最小值点的X和Y为(-0.146322, -0.107779)。
最大点的X和Y是(0.146254, 0.107697)。
15:20:53.896[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:53.897[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180678
15:20:53.898[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123243
15:20:53.900[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.771742 [mm], validation score: 0.992771.
15:20:53.901[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186292
15:20:53.902[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123214
15:20:53.904[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.594229 [mm], validation score: 0.99544.
15:20:53.905[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181434
15:20:53.906[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118043
15:20:53.908[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.66685 [mm], validation score: 0.994234.
15:20:53.910[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193705
15:20:53.910[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00131569
15:20:53.912[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.714385 [mm], validation score: 0.993792.
15:20:53.913[I] 3D精匹配_2: 匹配得分: ([0.9927714467048645], [0.9954400658607483], [0.9942344427108765], [0.9937919974327087])
15:20:53.917[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:53.918[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179796
15:20:53.919[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123404
15:20:53.921[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.773875 [mm], validation score: 0.924479.
15:20:53.922[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186786
15:20:53.923[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124187
15:20:53.925[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.594544 [mm], validation score: 0.951748.
15:20:53.926[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182022
15:20:53.927[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117864
15:20:53.930[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.668682 [mm], validation score: 0.939923.
15:20:53.931[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193828
15:20:53.932[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130186
15:20:53.934[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.712588 [mm], validation score: 0.934749.
15:20:53.935[I] 3D精匹配_1: 匹配得分: ([0.924479067325592], [0.9517478346824646], [0.9399234652519226], [0.93474942445755])
15:20:53.935[I] 调整位姿_4: 开始运行。
15:20:53.935[I] 调整位姿_4: 14个子步骤运行结束。
15:20:53.935[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15614107689174234,-0.3184197734165207,0.15015256321961745,0.9999590855609358,0.0024036312724183455,0.0081528419478787,0.0030953075802052656],[0.15396194706695637,-0.0277467817428101,0.14923085136753222,0.9999716464149663,-0.006540687574278614,0.0018313507892586782,0.0032514499049590695],[-0.057285961601949376,-0.31961025088513617,0.15258240382516153,-0.9999852722753408,0.004625197226616173,0.001449211626891246,-0.002441837151111576],[-0.0593389510299957,-0.03020140417054965,0.1513827344605181,0.9999444030343883,-0.0035176325805522015,0.007118560731022737,0.006938529696393531]]})
15:20:53.946[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 8
15:20:53.951[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 8
15:20:53.959[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 8
15:20:53.959[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 8
15:20:53.959[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.9912秒。
15:20:53.975[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"3.006"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:20:55.134[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:20:55.136[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:20:55.137[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:20:55.178[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:20:55.178[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:55.179[I] 创建物体模型_2: 开始创建模型。请稍候。
15:20:55.179[I] 创建物体模型_1: 开始创建模型。请稍候。
15:20:55.181[D] 收到相机应答信息耗时： 0.0021258
15:20:55.181[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:55.182[D] 收到相机应答信息耗时： 0.0010412
15:20:55.182[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:20:55.183[D] 收到相机应答信息耗时： 0.0009624
15:20:55.183[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:20:55.184[D] 收到相机应答信息耗时： 0.0011125
15:20:55.189[I] 创建物体模型_2: 模型被成功创建。
15:20:55.258[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:20:55.259[D] 收到相机应答信息耗时： 0.0009385
15:20:55.267[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:55.268[D] 收到相机应答信息耗时： 0.0009229
15:20:55.268[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:20:55.347[I] 创建物体模型_1: 模型被成功创建。
15:20:56.880[D] 收到相机应答信息耗时： 1.61218
15:20:56.931[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:20:56.932[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:20:57.163[D] Normal Filter Main Normal: 0 , 0 , -1
15:20:57.408[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:20:57.655[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:57.656[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:20:57.752[I] [ orthographicProjection ] 最小值点的X和Y为(-0.146332, -0.107767)。
最大点的X和Y是(0.146252, 0.107737)。
15:20:57.792[I] 数据重复并串接_1: 重复4次。
15:20:57.792[I] 数据重复并串接_2: 重复4次。
15:20:57.795[I] [ printSampleResult ] 采样结束。
采样后点云中点数：320.
对应的采样采样间隔：0.673438。
15:20:57.796[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:20:57.796[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:20:57.973[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:57.974[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181962
15:20:57.975[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120516
15:20:57.977[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.765083 [mm], validation score: 0.99291.
15:20:57.978[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184927
15:20:57.979[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114559
15:20:57.981[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589984 [mm], validation score: 0.995625.
15:20:57.982[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183058
15:20:57.983[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124101
15:20:57.985[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.662762 [mm], validation score: 0.994258.
15:20:57.986[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195049
15:20:57.987[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126558
15:20:57.989[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.780398 [mm], validation score: 0.991273.
15:20:57.990[I] 3D精匹配_2: 匹配得分: ([0.9929103851318359], [0.9956251978874207], [0.9942584037780762], [0.9912731051445007])
15:20:57.995[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:20:57.996[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181988
15:20:57.997[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120126
15:20:57.999[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.771187 [mm], validation score: 0.925231.
15:20:58.000[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185559
15:20:58.001[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118054
15:20:58.003[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.585437 [mm], validation score: 0.953781.
15:20:58.004[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182571
15:20:58.005[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012273
15:20:58.008[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.656639 [mm], validation score: 0.941319.
15:20:58.009[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195129
15:20:58.010[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128037
15:20:58.012[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.739892 [mm], validation score: 0.913935.
15:20:58.012[I] 3D精匹配_1: 匹配得分: ([0.9252314567565918], [0.953781008720398], [0.941318690776825], [0.9139354825019836])
15:20:58.012[I] 调整位姿_4: 开始运行。
15:20:58.012[I] 调整位姿_4: 14个子步骤运行结束。
15:20:58.012[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1561956386499552,-0.3184105562320534,0.14994689490415736,0.7096554967315573,-0.004538273176115765,0.009679869920924815,-0.7044677282555816],[0.1543519310573577,-0.02818009877596155,0.14940846217273163,0.7066249266351265,-0.003390040553744467,-0.0032715469167139697,-0.7075726235968416],[-0.057627825989073594,-0.3189611289048937,0.1522022804952079,0.7056663920584211,0.0006034156313811252,-0.003667009045101117,-0.70853449602224],[-0.0592104450455695,-0.030444078198128572,0.15149235738812195,-0.999958256628516,0.00333374881158631,-0.005889296671494591,-0.006138998618281592]]})
15:20:58.024[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 9
15:20:58.030[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 9
15:20:58.038[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 9
15:20:58.043[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 9
15:20:58.044[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.86497秒。
15:20:58.071[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.890"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:20:59.319[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:20:59.321[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:20:59.322[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:20:59.354[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:20:59.354[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:59.354[I] 创建物体模型_1: 开始创建模型。请稍候。
15:20:59.354[I] 创建物体模型_2: 开始创建模型。请稍候。
15:20:59.366[I] 创建物体模型_2: 模型被成功创建。
15:20:59.499[I] 创建物体模型_1: 模型被成功创建。
15:20:59.506[D] 收到相机应答信息耗时： 0.15114
15:20:59.506[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:59.507[D] 收到相机应答信息耗时： 0.0010331
15:20:59.507[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:20:59.508[D] 收到相机应答信息耗时： 0.0009087
15:20:59.508[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:20:59.530[D] 收到相机应答信息耗时： 0.0222908
15:20:59.592[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:20:59.593[D] 收到相机应答信息耗时： 0.0010657
15:20:59.599[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:20:59.600[D] 收到相机应答信息耗时： 0.0008948
15:20:59.600[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:21:01.008[D] 收到相机应答信息耗时： 1.40692
15:21:01.062[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:21:01.062[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:21:01.295[D] Normal Filter Main Normal: 0 , 0 , -1
15:21:01.536[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:21:01.817[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:21:01.818[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:21:01.946[I] 数据重复并串接_2: 重复4次。
15:21:01.946[I] 数据重复并串接_1: 重复4次。
15:21:01.949[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673438。
15:21:01.950[I] [ orthographicProjection ] 最小值点的X和Y为(-0.146341, -0.107743)。
最大点的X和Y是(0.14628, 0.107713)。
15:21:01.950[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:21:01.950[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:21:02.121[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:21:02.122[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179641
15:21:02.123[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124289
15:21:02.125[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.816923 [mm], validation score: 0.992225.
15:21:02.126[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184297
15:21:02.127[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114842
15:21:02.129[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.572509 [mm], validation score: 0.995899.
15:21:02.130[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180093
15:21:02.131[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112693
15:21:02.133[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.552732 [mm], validation score: 0.996064.
15:21:02.135[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00207383
15:21:02.136[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00142604
15:21:02.138[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.802858 [mm], validation score: 0.991653.
15:21:02.138[I] 3D精匹配_2: 匹配得分: ([0.9922252893447876], [0.995899498462677], [0.9960637092590332], [0.9916531443595886])
15:21:02.144[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:21:02.145[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179777
15:21:02.145[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124906
15:21:02.147[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.819097 [mm], validation score: 0.918167.
15:21:02.149[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184557
15:21:02.149[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112885
15:21:02.152[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.582865 [mm], validation score: 0.955207.
15:21:02.153[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179971
15:21:02.154[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113883
15:21:02.156[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.547817 [mm], validation score: 0.958485.
15:21:02.157[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00206896
15:21:02.158[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00141019
15:21:02.160[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.801914 [mm], validation score: 0.915624.
15:21:02.160[I] 3D精匹配_1: 匹配得分: ([0.9181667566299438], [0.9552069902420044], [0.9584848880767822], [0.91562420129776])
15:21:02.161[I] 调整位姿_4: 开始运行。
15:21:02.161[I] 调整位姿_4: 14个子步骤运行结束。
15:21:02.161[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15619253736236716,-0.3184775537962522,0.1501155621501089,0.9999471075115682,0.001319257684656572,0.009531989444490385,0.0036308285059944447],[0.1541512762356079,-0.02770801599658847,0.14892117934546967,0.9999496097599057,-0.009087553200927963,0.0036787564690199323,0.002158950827254702],[-0.0569284303048706,-0.31913585230938935,0.15224732428638643,-0.9999900122572687,0.00267918406788863,-0.0024456024860799496,-0.0026108211203375643],[-0.05912385216671453,-0.030346169139322605,0.15137707553831836,-0.7037138804571386,-5.661982797331919e-06,-0.005483236508660611,-0.7104623202797586]]})
15:21:02.173[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 10
15:21:02.179[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 10
15:21:02.188[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 10
15:21:02.188[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 10
15:21:02.188[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.83524秒。
15:21:02.202[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.846"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:23:33.581[I] 工程(Vis-模具毛胚定位工位1)开始执行。
15:23:33.594[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180518
15:23:33.595[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117392
15:23:33.598[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.704585 [mm], validation score: 0.933729.
15:23:33.599[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00172362
15:23:33.599[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109705
15:23:33.600[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.550715 [mm], validation score: 0.960607.
15:23:33.601[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183806
15:23:33.602[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126806
15:23:33.604[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.880757 [mm], validation score: 0.902764.
15:23:33.604[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178346
15:23:33.605[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001162
15:23:33.607[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589116 [mm], validation score: 0.951047.
15:23:33.607[I] 3D精匹配_1: 匹配得分: ([0.9337291121482849], [0.9606072902679443], [0.9027636647224426], [0.9510467648506165])
15:23:33.607[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.027731秒。
15:23:33.628[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.046"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
15:23:49.296[I] 工程(Vis-模具毛胚定位工位1)开始执行。
15:23:49.302[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180518
15:23:49.303[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117392
15:23:49.305[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.704585 [mm], validation score: 0.933729.
15:23:49.306[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00172362
15:23:49.306[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109705
15:23:49.308[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.550715 [mm], validation score: 0.960607.
15:23:49.309[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183806
15:23:49.310[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126806
15:23:49.312[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.880757 [mm], validation score: 0.902764.
15:23:49.313[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178346
15:23:49.314[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001162
15:23:49.316[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589116 [mm], validation score: 0.951047.
15:23:49.316[I] 3D精匹配_1: 匹配得分: ([0.9337291121482849], [0.9606072902679443], [0.9027636647224426], [0.9510467648506165])
15:23:49.316[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.021193秒。
15:23:49.347[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.051"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
15:26:51.563[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:26:51.564[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000629秒。
15:26:51.577[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.011"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:27:01.395[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:27:01.395[D] Normal Filter Main Normal: 0 , 0 , -1
15:27:01.448[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.053153秒。
15:27:01.570[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.175"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:27:36.097[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:27:36.098[D] Normal Filter Main Normal: 0 , 0 , -1
15:27:36.154[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.056902秒。
15:27:36.237[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.139"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:27:42.843[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:27:42.844[D] Normal Filter Main Normal: 0 , 0 , -1
15:27:42.901[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.057168秒。
15:27:42.983[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.140"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:27:49.841[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:27:49.841[D] Normal Filter Main Normal: 0 , 0 , -1
15:27:49.902[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.060844秒。
15:27:49.988[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.146"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:28:00.451[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:28:00.451[D] Normal Filter Main Normal: 0 , 0 , -1
15:28:00.507[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.056004秒。
15:28:00.586[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.133"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:28:27.924[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:28:28.888[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:28:28.889[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000447秒。
15:28:28.892[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.003"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:28:30.142[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:28:30.342[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.199753秒。
15:28:30.463[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.318"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:29:08.134[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:29:08.335[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.201792秒。
15:29:08.419[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.284"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:30:11.713[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:30:11.909[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.196926秒。
15:30:11.997[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.284"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:30:20.014[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:30:20.206[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.192471秒。
15:30:20.289[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.275"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:30:27.931[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:30:28.109[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.177035秒。
15:30:28.118[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.186"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:30:30.481[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:30:30.481[D] Normal Filter Main Normal: 0 , 0 , -1
15:30:30.926[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:30:30.965[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数5）。耗时：0.484841秒。
15:30:30.994[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.512"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:30:49.415[D] 相机数据路径D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-12合法。
15:30:49.419[W] [ reloadParameterGroup ] 虚拟模式下的标定参数组路径为空。
15:30:57.556[I] 相机参数组 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0) 已更新。
15:30:57.560[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
15:30:57.642[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
15:30:57.646[D] 相机数据路径D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13合法。
15:30:59.420[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:30:59.502[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00000.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00000.jpg
15:30:59.519[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.098468秒。
15:30:59.582[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.159"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:31:00.494[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:31:00.495[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:31:00.650[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数3）。耗时：0.155672秒。
15:31:00.656[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.161"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:31:01.606[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:31:01.609[D] Normal Filter Main Normal: 0 , 0 , -1
15:31:01.615[W] 获取最高层点云_2: 第1个输入为空！
15:31:01.615[W] 获取最高层点云_2: 无输出。 自动填充输出。
15:31:01.616[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数5）。耗时：0.009803秒。
15:31:01.618[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.011"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:31:05.265[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:31:05.362[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00001.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00001.jpg
15:31:05.374[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.10791秒。
15:31:05.438[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.172"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:31:06.364[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:31:06.365[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:31:06.592[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数3）。耗时：0.227965秒。
15:31:06.657[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.291"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:31:07.739[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:31:07.740[D] Normal Filter Main Normal: 0 , 0 , -1
15:31:08.171[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:31:08.206[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数5）。耗时：0.466701秒。
15:31:08.216[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.474"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:31:21.759[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:31:21.948[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.188429秒。
15:31:22.030[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.269"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:31:49.868[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:31:50.055[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.187012秒。
15:31:50.145[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.276"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:32:04.111[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:32:04.111[D] Normal Filter Main Normal: 0 , 0 , -1
15:32:04.165[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.053594秒。
15:32:04.248[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.136"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:32:48.708[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:32:48.709[D] Normal Filter Main Normal: 0 , 0 , -1
15:32:48.769[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.060557秒。
15:32:48.846[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.138"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:33:39.939[I] 工程(Vis-模具毛胚定位工位1)开始执行。
15:33:39.940[D] Normal Filter Main Normal: 0 , 0 , -1
15:33:39.997[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.057053秒。
15:33:40.117[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.176"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
15:34:21.395[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:34:21.396[D] Normal Filter Main Normal: 0 , 0 , -1
15:34:21.454[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.059491秒。
15:34:21.530[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.134"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:34:26.639[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:34:26.863[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.223849秒。
15:34:26.868[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.227"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:34:27.793[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:34:28.030[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.23756秒。
15:34:28.149[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.353"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:34:33.105[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:34:33.106[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:34:33.140[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.034997秒。
15:34:33.230[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.123"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:39:02.336[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:39:02.435[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00002.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00002.jpg
15:39:02.444[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.108127秒。
15:39:02.505[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.167"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:39:04.745[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:39:04.746[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:39:04.992[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数3）。耗时：0.247289秒。
15:39:05.033[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.286"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:39:08.884[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:39:08.886[D] Normal Filter Main Normal: 0 , 0 , -1
15:39:09.127[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:39:09.157[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数4）。耗时：0.273034秒。
15:39:09.173[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.287"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:39:30.682[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:39:30.682[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000456秒。
15:39:30.687[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.003"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:39:36.625[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:39:36.871[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.246486秒。
15:39:36.952[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.326"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:39:46.625[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:39:46.830[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.204551秒。
15:39:46.918[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.291"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:39:55.081[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:39:55.278[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.196597秒。
15:39:55.358[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.275"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:40:06.590[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:40:06.788[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.198947秒。
15:40:06.863[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.272"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:40:20.989[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:40:20.989[D] Normal Filter Main Normal: 0 , 0 , -1
15:40:21.042[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.05282秒。
15:40:21.113[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.123"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:40:23.800[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:40:24.008[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.208336秒。
15:40:24.090[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.289"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:40:30.348[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:40:30.349[D] Normal Filter Main Normal: 0 , 0 , -1
15:40:30.402[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.053544秒。
15:40:30.484[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.134"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:40:43.868[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:40:43.868[D] Normal Filter Main Normal: -0.0943734 , 0.00850433 , -0.995501
15:40:43.921[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.052757秒。
15:40:43.992[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.122"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:40:50.812[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:40:50.812[D] Normal Filter Main Normal: 0 , 0 , -1
15:40:50.865[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.052845秒。
15:40:50.948[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.135"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:40:55.103[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:40:55.104[D] Normal Filter Main Normal: -0.0943734 , 0.00850433 , -0.995501
15:40:55.158[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.054524秒。
15:40:55.231[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.126"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:41:09.841[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:41:09.841[D] Normal Filter Main Normal: -0.0943734 , 0.00850433 , -0.995501
15:41:09.894[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.053312秒。
15:41:09.980[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.136"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:41:15.332[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:41:15.333[D] Normal Filter Main Normal: 0 , 0 , -1
15:41:15.384[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.05123秒。
15:41:15.464[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.132"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:41:36.313[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:41:36.495[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.182986秒。
15:41:36.570[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.255"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:41:59.502[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:41:59.691[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.18951秒。
15:41:59.778[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.276"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:42:59.223[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:42:59.224[D] Normal Filter Main Normal: 0 , 0 , -1
15:42:59.279[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.055547秒。
15:42:59.363[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.137"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:43:13.563[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:43:13.758[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.195531秒。
15:43:13.835[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.271"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:48:51.546[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:48:51.548[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:48:51.549[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:48:51.587[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:48:51.587[I] 创建物体模型_2: 开始创建模型。请稍候。
15:48:51.588[I] 创建物体模型_1: 开始创建模型。请稍候。
15:48:51.598[I] 创建物体模型_2: 模型被成功创建。
15:48:51.695[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00003.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00003.jpg
15:48:51.698[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:48:51.699[W] 保存图像_1: 由于正在使用虚拟相机，图片不会被保存。
15:48:51.699[W] 保存步骤参数到文件_1: 第1个输入为空！
15:48:51.751[I] 创建物体模型_1: 模型被成功创建。
15:48:51.965[D] Normal Filter Main Normal: 0 , 0 , -1
15:48:52.217[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:48:52.425[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:48:52.426[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:48:52.493[I] [ orthographicProjection ] 最小值点的X和Y为(-0.110576, -0.0756207)。
最大点的X和Y是(0.110539, 0.075505)。
15:48:52.496[I] 数据重复并串接_2: 重复4次。
15:48:52.496[I] 数据重复并串接_1: 重复4次。
15:48:52.519[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.336719。
15:48:52.519[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:48:52.520[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:48:52.680[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:48:52.680[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189764
15:48:52.681[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120416
15:48:52.683[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.628635 [mm], validation score: 0.995073.
15:48:52.684[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179895
15:48:52.685[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119774
15:48:52.687[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.631247 [mm], validation score: 0.995242.
15:48:52.687[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181833
15:48:52.688[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116806
15:48:52.690[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.576274 [mm], validation score: 0.995656.
15:48:52.690[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189136
15:48:52.691[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119746
15:48:52.693[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.582542 [mm], validation score: 0.995589.
15:48:52.693[I] 3D精匹配_2: 匹配得分: ([0.9950733780860901], [0.9952415823936462], [0.9956561326980591], [0.9955891370773315])
15:48:52.697[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:48:52.698[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188966
15:48:52.699[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116586
15:48:52.701[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.627886 [mm], validation score: 0.947526.
15:48:52.702[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179156
15:48:52.702[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115515
15:48:52.704[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.641519 [mm], validation score: 0.948467.
15:48:52.704[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180628
15:48:52.705[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117405
15:48:52.707[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.571661 [mm], validation score: 0.954498.
15:48:52.707[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189607
15:48:52.708[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119809
15:48:52.710[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.57596 [mm], validation score: 0.953649.
15:48:52.710[I] 3D精匹配_1: 匹配得分: ([0.9475260376930237], [0.948466956615448], [0.9544980525970459], [0.9536493420600891])
15:48:52.711[I] 调整位姿_4: 开始运行。
15:48:52.711[I] 调整位姿_4: 14个子步骤运行结束。
15:48:52.711[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.11125738509968633,-0.27544382979665294,0.17701419811562102,0.9999775100996142,-0.004842678639038321,0.0034834713911417042,0.0030648304426489355],[0.11104393943364417,-0.12753534551374066,0.17691432450424682,0.999990664825584,0.0029369159384790462,0.0031636835783805,-0.00018945361800459803],[-0.10857713843895148,-0.27565942081718187,0.17757356235453425,0.7074057407758505,-0.0009011712083702596,0.004497843402397599,-0.7067928092535685],[-0.10904500815394452,-0.12741429635802354,0.1781542732189103,0.7064900019196145,0.001139891732923344,0.0023382075019129263,-0.7077182423960541]]})
15:48:52.732[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 1
15:48:52.737[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 1
15:48:52.739[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 1
15:48:52.746[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 1
15:48:52.746[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：1.15942秒。
15:48:52.760[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"1.170"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:48:55.617[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:48:55.618[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:48:55.622[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:48:55.661[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:48:55.662[I] 创建物体模型_1: 开始创建模型。请稍候。
15:48:55.662[I] 创建物体模型_2: 开始创建模型。请稍候。
15:48:55.672[I] 创建物体模型_2: 模型被成功创建。
15:48:55.764[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00004.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00004.jpg
15:48:55.770[W] 保存图像_1: 由于正在使用虚拟相机，图片不会被保存。
15:48:55.771[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:48:55.771[W] 保存步骤参数到文件_1: 第1个输入为空！
15:48:55.834[I] 创建物体模型_1: 模型被成功创建。
15:48:56.040[D] Normal Filter Main Normal: 0 , 0 , -1
15:48:56.288[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:48:56.493[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:48:56.494[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:48:56.559[I] 数据重复并串接_1: 重复4次。
15:48:56.559[I] 数据重复并串接_2: 重复4次。
15:48:56.560[I] [ orthographicProjection ] 最小值点的X和Y为(-0.110579, -0.0755872)。
最大点的X和Y是(0.11059, 0.0755089)。
15:48:56.561[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.336719。
15:48:56.562[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:48:56.562[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:48:56.722[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:48:56.723[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189853
15:48:56.724[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120155
15:48:56.726[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.611731 [mm], validation score: 0.995442.
15:48:56.726[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017743
15:48:56.727[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111605
15:48:56.729[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.680006 [mm], validation score: 0.994434.
15:48:56.730[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181511
15:48:56.731[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119414
15:48:56.732[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.585513 [mm], validation score: 0.995746.
15:48:56.733[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001931
15:48:56.734[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127072
15:48:56.735[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.651639 [mm], validation score: 0.994429.
15:48:56.736[I] 3D精匹配_2: 匹配得分: ([0.9954415559768677], [0.9944340586662292], [0.9957457780838013], [0.9944291710853577])
15:48:56.740[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:48:56.741[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190079
15:48:56.741[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120856
15:48:56.743[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.608651 [mm], validation score: 0.951955.
15:48:56.744[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177141
15:48:56.745[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111812
15:48:56.747[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.683219 [mm], validation score: 0.940286.
15:48:56.747[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181369
15:48:56.748[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120235
15:48:56.751[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.59536 [mm], validation score: 0.953529.
15:48:56.751[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192624
15:48:56.752[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125501
15:48:56.754[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.651643 [mm], validation score: 0.942224.
15:48:56.754[I] 3D精匹配_1: 匹配得分: ([0.9519553184509277], [0.9402858018875122], [0.9535285830497742], [0.9422241449356079])
15:48:56.754[I] 调整位姿_4: 开始运行。
15:48:56.755[I] 调整位姿_4: 14个子步骤运行结束。
15:48:56.755[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.11082579910187743,-0.2759641833982873,0.17706142576826567,-0.7081153970299959,0.0011274805054990334,-0.006876044865037263,-0.7060623437656015],[0.11095417646289546,-0.1276288896691387,0.1770216191854148,0.7068255130316201,0.003426744290662232,-0.0027856614285304213,0.7073741525116386],[-0.10866971426057179,-0.2757450923635429,0.17752425397488603,-0.9999929753716346,-0.0022047230207957453,-0.0027588253854989066,-0.0012559005865189269],[-0.10911425276612602,-0.12737023869120837,0.17803220404200681,0.999998473397376,0.0007210864034833957,0.0015330430828292012,0.00042780395351822123]]})
15:48:56.764[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 2
15:48:56.769[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 2
15:48:56.779[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 2
15:48:56.779[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 2
15:48:56.779[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：1.11802秒。
15:48:56.795[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"1.132"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:48:58.416[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:48:58.418[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:48:58.419[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:48:58.447[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:48:58.448[I] 创建物体模型_2: 开始创建模型。请稍候。
15:48:58.448[I] 创建物体模型_1: 开始创建模型。请稍候。
15:48:58.458[I] 创建物体模型_2: 模型被成功创建。
15:48:58.550[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00005.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00005.jpg
15:48:58.560[W] 保存图像_1: 由于正在使用虚拟相机，图片不会被保存。
15:48:58.560[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:48:58.560[W] 保存步骤参数到文件_1: 第1个输入为空！
15:48:58.632[I] 创建物体模型_1: 模型被成功创建。
15:48:58.852[D] Normal Filter Main Normal: 0 , 0 , -1
15:48:59.106[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:48:59.281[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:48:59.282[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:48:59.344[I] 数据重复并串接_1: 重复4次。
15:48:59.344[I] 数据重复并串接_2: 重复4次。
15:48:59.346[I] [ orthographicProjection ] 最小值点的X和Y为(-0.1106, -0.075717)。
最大点的X和Y是(0.110562, 0.0756079)。
15:48:59.347[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.336719。
15:48:59.347[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:48:59.347[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:48:59.513[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:48:59.513[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018931
15:48:59.514[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115302
15:48:59.516[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.550249 [mm], validation score: 0.996166.
15:48:59.517[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177991
15:48:59.518[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108739
15:48:59.519[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.595427 [mm], validation score: 0.995586.
15:48:59.520[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183421
15:48:59.521[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121514
15:48:59.522[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.705234 [mm], validation score: 0.994034.
15:48:59.523[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192762
15:48:59.524[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127323
15:48:59.525[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.701772 [mm], validation score: 0.993712.
15:48:59.526[I] 3D精匹配_2: 匹配得分: ([0.9961659908294678], [0.9955864548683167], [0.9940339922904968], [0.9937117695808411])
15:48:59.529[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:48:59.530[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189211
15:48:59.531[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114404
15:48:59.533[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.549472 [mm], validation score: 0.959199.
15:48:59.534[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017688
15:48:59.534[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113874
15:48:59.536[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.608674 [mm], validation score: 0.951606.
15:48:59.537[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184061
15:48:59.538[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012272
15:48:59.539[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.718016 [mm], validation score: 0.935657.
15:48:59.540[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019178
15:48:59.541[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126102
15:48:59.543[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.685386 [mm], validation score: 0.937191.
15:48:59.543[I] 3D精匹配_1: 匹配得分: ([0.9591988325119019], [0.9516059756278992], [0.9356570243835449], [0.9371910691261292])
15:48:59.544[I] 调整位姿_4: 开始运行。
15:48:59.544[I] 调整位姿_4: 14个子步骤运行结束。
15:48:59.544[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.11134726192783626,-0.2755926885568115,0.17714991620890008,0.9999682920637871,-0.00712489869570038,0.002702162495612989,0.0023127912694058113],[0.11094632539776256,-0.12753447763110243,0.17705550742396792,0.7071576519352067,0.003677106401877926,0.002340042274745518,-0.7070424728403147],[-0.10846781271643674,-0.2759818816681624,0.17756154236194854,0.7099937688961477,-0.0006521355041949641,0.003039229132518252,-0.7042010976519477],[-0.10894941220388892,-0.12752895497547975,0.17830815829101487,-0.9999763591868619,-0.0033321110627985654,-0.005889115399110637,-0.0012232837240312689]]})
15:48:59.554[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 3
15:48:59.563[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 3
15:48:59.572[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 3
15:48:59.572[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 3
15:48:59.573[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：1.1256秒。
15:48:59.591[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"1.142"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:49:05.057[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/calibration/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
15:49:05.140[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/calibration/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
15:49:23.078[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:49:23.080[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:49:23.080[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:49:23.108[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:49:23.108[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:23.109[I] 创建物体模型_1: 开始创建模型。请稍候。
15:49:23.109[I] 创建物体模型_2: 开始创建模型。请稍候。
15:49:23.110[D] 收到相机应答信息耗时： 0.0014633
15:49:23.110[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:23.111[D] 收到相机应答信息耗时： 0.0006716
15:49:23.111[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:49:23.112[D] 收到相机应答信息耗时： 0.0006929
15:49:23.112[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:49:23.112[D] 收到相机应答信息耗时： 0.0006802
15:49:23.120[I] 创建物体模型_2: 模型被成功创建。
15:49:23.186[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:49:23.187[D] 收到相机应答信息耗时： 0.0006116
15:49:23.194[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:23.194[D] 收到相机应答信息耗时： 0.0006776
15:49:23.194[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:49:23.278[I] 创建物体模型_1: 模型被成功创建。
15:49:24.862[D] 收到相机应答信息耗时： 1.66817
15:49:24.913[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:49:24.913[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:49:25.160[D] Normal Filter Main Normal: 0 , 0 , -1
15:49:25.423[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:49:25.673[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:25.674[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:25.763[I] 数据重复并串接_1: 重复4次。
15:49:25.763[I] 数据重复并串接_2: 重复4次。
15:49:25.767[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124044, -0.120788)。
最大点的X和Y是(0.123975, 0.120736)。
15:49:25.772[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:49:25.773[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:49:25.773[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:49:25.966[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:25.967[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191135
15:49:25.968[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012811
15:49:25.971[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.755788 [mm], validation score: 0.990816.
15:49:25.972[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182252
15:49:25.973[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011375
15:49:25.975[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.680143 [mm], validation score: 0.994435.
15:49:25.976[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019326
15:49:25.977[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124878
15:49:25.979[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.613592 [mm], validation score: 0.995005.
15:49:25.980[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018078
15:49:25.981[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117208
15:49:25.983[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.572018 [mm], validation score: 0.995821.
15:49:25.983[I] 3D精匹配_2: 匹配得分: ([0.9908158183097839], [0.9944348931312561], [0.9950054287910461], [0.9958207011222839])
15:49:25.988[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:25.990[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190725
15:49:25.991[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129921
15:49:25.993[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.753861 [mm], validation score: 0.912144.
15:49:25.994[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182044
15:49:25.995[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114364
15:49:25.998[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.675416 [mm], validation score: 0.941299.
15:49:25.999[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193592
15:49:26.000[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123455
15:49:26.002[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.620552 [mm], validation score: 0.946969.
15:49:26.003[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180517
15:49:26.004[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120079
15:49:26.007[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.572504 [mm], validation score: 0.955652.
15:49:26.007[I] 3D精匹配_1: 匹配得分: ([0.9121441841125488], [0.9412992000579834], [0.9469687342643738], [0.9556522965431213])
15:49:26.007[I] 调整位姿_4: 开始运行。
15:49:26.007[I] 调整位姿_4: 14个子步骤运行结束。
15:49:26.008[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1552936277595445,-0.3024558725004686,0.15981992715245807,0.7055861164016507,0.0005847347736813802,0.005960394828035383,0.7085988739194939],[0.15440481813291082,-0.057307618370155904,0.15909824648930315,0.9999969387562707,-0.0011928842822059513,-0.0007814401211746827,0.0020220921129889824],[-0.08427572506132078,-0.3037174777299738,0.16099982438552995,0.7060533048472956,-0.00013119124720881257,0.0056175603728966855,0.7081363968322244],[-0.08523780539806744,-0.05773067649522568,0.16030984790882785,0.9999928874902251,-0.0005882123855062667,0.003678663212882802,0.0005885678532691121]]})
15:49:26.026[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 1
15:49:26.029[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 1
15:49:26.033[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 1
15:49:26.037[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 1
15:49:26.037[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.92949秒。
15:49:26.052[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.943"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:49:27.336[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:49:27.338[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:49:27.339[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:49:27.380[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:49:27.380[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:27.380[I] 创建物体模型_2: 开始创建模型。请稍候。
15:49:27.380[I] 创建物体模型_1: 开始创建模型。请稍候。
15:49:27.390[I] 创建物体模型_2: 模型被成功创建。
15:49:27.505[D] 收到相机应答信息耗时： 0.125422
15:49:27.505[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:27.506[D] 收到相机应答信息耗时： 0.0008054
15:49:27.506[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:49:27.507[D] 收到相机应答信息耗时： 0.0007976
15:49:27.507[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:49:27.508[D] 收到相机应答信息耗时： 0.000831
15:49:27.539[I] 创建物体模型_1: 模型被成功创建。
15:49:27.571[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:49:27.572[D] 收到相机应答信息耗时： 0.001008
15:49:27.578[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:27.579[D] 收到相机应答信息耗时： 0.0007524
15:49:27.579[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:49:28.985[D] 收到相机应答信息耗时： 1.40588
15:49:29.034[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:49:29.035[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:49:29.269[D] Normal Filter Main Normal: 0 , 0 , -1
15:49:29.528[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:49:29.777[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:29.778[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:29.875[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124148, -0.120767)。
最大点的X和Y是(0.124067, 0.120773)。
15:49:29.912[I] 数据重复并串接_1: 重复4次。
15:49:29.912[I] 数据重复并串接_2: 重复4次。
15:49:29.915[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:49:29.915[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:49:29.915[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:49:30.090[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:30.091[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194017
15:49:30.092[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00131289
15:49:30.093[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.866132 [mm], validation score: 0.989425.
15:49:30.094[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184082
15:49:30.095[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124357
15:49:30.097[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.666785 [mm], validation score: 0.994496.
15:49:30.099[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191062
15:49:30.099[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128008
15:49:30.102[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.677828 [mm], validation score: 0.993926.
15:49:30.103[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188271
15:49:30.104[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122499
15:49:30.106[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.571585 [mm], validation score: 0.99606.
15:49:30.106[I] 3D精匹配_2: 匹配得分: ([0.9894254207611084], [0.9944956302642822], [0.9939258694648743], [0.9960600733757019])
15:49:30.111[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:30.112[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193224
15:49:30.113[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00133032
15:49:30.116[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.877232 [mm], validation score: 0.895605.
15:49:30.117[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018395
15:49:30.118[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012421
15:49:30.120[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.669945 [mm], validation score: 0.941783.
15:49:30.121[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190802
15:49:30.122[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130113
15:49:30.125[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.67509 [mm], validation score: 0.93715.
15:49:30.126[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018925
15:49:30.127[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118841
15:49:30.130[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.562493 [mm], validation score: 0.95826.
15:49:30.130[I] 3D精匹配_1: 匹配得分: ([0.8956047892570496], [0.9417833089828491], [0.9371499419212341], [0.958260178565979])
15:49:30.130[I] 调整位姿_4: 开始运行。
15:49:30.130[I] 调整位姿_4: 14个子步骤运行结束。
15:49:30.131[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15536182750542085,-0.3023297509953389,0.15963599875655676,0.99996341660624,-0.0030904940205172056,0.0073411374839685165,0.003118011598166715],[0.15460806679019784,-0.056962331217314054,0.15869914453751854,0.9999936837739256,-0.0031169341363664026,-0.0016994058991699826,0.00017074376629455656],[-0.0843869456422362,-0.30360822071547544,0.1609603574711298,0.7065347601096009,-0.0004040674214544106,0.005160999546511315,0.7076594050601381],[-0.08535837813887387,-0.0577097761512553,0.16040121831996235,0.9999804793513762,0.0004887793177822089,0.006164996645479384,0.0008915308921770894]]})
15:49:30.139[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 2
15:49:30.144[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 2
15:49:30.149[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 2
15:49:30.152[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 2
15:49:30.153[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.77339秒。
15:49:30.164[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.781"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:49:31.461[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:49:31.463[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:49:31.463[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:49:31.502[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:49:31.503[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:31.503[I] 创建物体模型_1: 开始创建模型。请稍候。
15:49:31.503[I] 创建物体模型_2: 开始创建模型。请稍候。
15:49:31.514[I] 创建物体模型_2: 模型被成功创建。
15:49:31.546[D] 收到相机应答信息耗时： 0.0424402
15:49:31.546[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:31.547[D] 收到相机应答信息耗时： 0.0007961
15:49:31.547[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:49:31.547[D] 收到相机应答信息耗时： 0.000584
15:49:31.547[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:49:31.548[D] 收到相机应答信息耗时： 0.0008635
15:49:31.616[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:49:31.617[D] 收到相机应答信息耗时： 0.0007766
15:49:31.624[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:31.625[D] 收到相机应答信息耗时： 0.0008021
15:49:31.625[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:49:31.683[I] 创建物体模型_1: 模型被成功创建。
15:49:33.022[D] 收到相机应答信息耗时： 1.39597
15:49:33.080[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:49:33.081[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:49:33.318[D] Normal Filter Main Normal: 0 , 0 , -1
15:49:33.585[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:49:33.839[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:33.840[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:33.942[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124016, -0.120765)。
最大点的X和Y是(0.123931, 0.120752)。
15:49:33.943[I] 数据重复并串接_1: 重复4次。
15:49:33.943[I] 数据重复并串接_2: 重复4次。
15:49:33.946[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:49:33.946[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:49:33.946[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:49:34.138[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:34.139[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186042
15:49:34.140[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118593
15:49:34.143[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.552391 [mm], validation score: 0.99561.
15:49:34.144[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184848
15:49:34.145[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120818
15:49:34.147[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.704688 [mm], validation score: 0.99415.
15:49:34.148[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192522
15:49:34.149[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127224
15:49:34.151[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.641849 [mm], validation score: 0.994384.
15:49:34.153[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001801
15:49:34.154[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115826
15:49:34.156[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.532557 [mm], validation score: 0.996601.
15:49:34.156[I] 3D精匹配_2: 匹配得分: ([0.9956104755401611], [0.9941495060920715], [0.9943839311599731], [0.9966012239456177])
15:49:34.161[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:34.162[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018587
15:49:34.163[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119701
15:49:34.165[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.558768 [mm], validation score: 0.954808.
15:49:34.167[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184859
15:49:34.168[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120809
15:49:34.170[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.705237 [mm], validation score: 0.937935.
15:49:34.172[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193289
15:49:34.173[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012691
15:49:34.175[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.636413 [mm], validation score: 0.942342.
15:49:34.176[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180474
15:49:34.177[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117883
15:49:34.179[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.533434 [mm], validation score: 0.963528.
15:49:34.180[I] 3D精匹配_1: 匹配得分: ([0.9548084139823914], [0.9379348754882812], [0.9423424601554871], [0.9635278582572937])
15:49:34.180[I] 调整位姿_4: 开始运行。
15:49:34.180[I] 调整位姿_4: 14个子步骤运行结束。
15:49:34.180[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15522052185024113,-0.30240870357361105,0.15982056287699153,0.7084415639445168,-0.005462679995199102,-0.0004468924323613012,-0.7057481915600429],[0.15469807780939385,-0.0576866445881646,0.15920588308255645,0.7066931955837299,-0.0001250047074656548,-3.2657956605861076e-05,-0.7075201132285479],[-0.0844134134847116,-0.3034568427965034,0.16070340436006614,0.7069913149753616,-0.003368555480713637,-0.0001103683733934133,-0.7072141975400413],[-0.08489468989480614,-0.05770910040771942,0.1601589350000001,-0.9999959353982787,0.0010564662513859251,-0.0013035589423379787,0.002305168120795792]]})
15:49:34.189[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 3
15:49:34.199[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 3
15:49:34.204[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 3
15:49:34.205[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 3
15:49:34.205[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.70221秒。
15:49:34.218[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.715"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:49:35.693[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:49:35.695[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:49:35.696[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:49:35.733[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:49:35.734[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:35.734[I] 创建物体模型_2: 开始创建模型。请稍候。
15:49:35.734[I] 创建物体模型_1: 开始创建模型。请稍候。
15:49:35.736[D] 收到相机应答信息耗时： 0.0021469
15:49:35.736[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:35.737[D] 收到相机应答信息耗时： 0.0009831
15:49:35.737[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:49:35.738[D] 收到相机应答信息耗时： 0.0009453
15:49:35.738[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:49:35.739[D] 收到相机应答信息耗时： 0.0010679
15:49:35.744[I] 创建物体模型_2: 模型被成功创建。
15:49:35.818[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:49:35.819[D] 收到相机应答信息耗时： 0.0009818
15:49:35.827[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:35.828[D] 收到相机应答信息耗时： 0.0008909
15:49:35.828[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:49:35.907[I] 创建物体模型_1: 模型被成功创建。
15:49:37.309[D] 收到相机应答信息耗时： 1.48012
15:49:37.358[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:49:37.358[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:49:37.601[D] Normal Filter Main Normal: 0 , 0 , -1
15:49:37.863[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:49:38.138[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:38.140[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:38.224[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124009, -0.120769)。
最大点的X和Y是(0.123925, 0.120748)。
15:49:38.236[I] 数据重复并串接_1: 重复4次。
15:49:38.236[I] 数据重复并串接_2: 重复4次。
15:49:38.239[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:49:38.239[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:49:38.239[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:49:38.429[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:38.430[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187237
15:49:38.431[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123148
15:49:38.433[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.648699 [mm], validation score: 0.993636.
15:49:38.435[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178401
15:49:38.436[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114388
15:49:38.438[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.651565 [mm], validation score: 0.994751.
15:49:38.439[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189792
15:49:38.440[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123679
15:49:38.442[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.575814 [mm], validation score: 0.995737.
15:49:38.443[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182213
15:49:38.444[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110855
15:49:38.446[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.558605 [mm], validation score: 0.996027.
15:49:38.447[I] 3D精匹配_2: 匹配得分: ([0.993636429309845], [0.9947514533996582], [0.9957373738288879], [0.9960267543792725])
15:49:38.451[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:38.453[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185995
15:49:38.454[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012162
15:49:38.456[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.644205 [mm], validation score: 0.936914.
15:49:38.457[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177757
15:49:38.458[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118757
15:49:38.460[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.661878 [mm], validation score: 0.943738.
15:49:38.461[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188163
15:49:38.462[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118948
15:49:38.464[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.57426 [mm], validation score: 0.955558.
15:49:38.466[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181683
15:49:38.467[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112085
15:49:38.469[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.556081 [mm], validation score: 0.957986.
15:49:38.469[I] 3D精匹配_1: 匹配得分: ([0.9369138479232788], [0.9437382221221924], [0.9555577635765076], [0.957986056804657])
15:49:38.469[I] 调整位姿_4: 开始运行。
15:49:38.470[I] 调整位姿_4: 14个子步骤运行结束。
15:49:38.470[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.155344990520279,-0.3026368619462942,0.1600015911747925,0.705247026834678,5.684554738267025e-05,0.0077507733002573735,0.7089192855485582],[0.15462656849161482,-0.0574318275474851,0.15904752289778656,0.999999104140067,-0.0009310729582450127,-0.0002787070884886708,0.0009204045682146278],[-0.08444176544817826,-0.303490186159911,0.1607213714397948,0.7072137579752426,-0.0003532227290240124,0.0032312849119573066,0.7069923157729912],[-0.08551190113908841,-0.05794154467250657,0.16034871249827187,0.9999902200399783,0.00018752913952249298,0.004109824101531344,0.0016229612047115073]]})
15:49:38.480[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 4
15:49:38.486[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 4
15:49:38.491[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 4
15:49:38.491[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 4
15:49:38.491[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.75786秒。
15:49:38.511[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.774"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:49:39.771[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:49:39.773[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:49:39.774[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:49:39.803[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:49:39.803[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:39.803[I] 创建物体模型_1: 开始创建模型。请稍候。
15:49:39.803[I] 创建物体模型_2: 开始创建模型。请稍候。
15:49:39.805[D] 收到相机应答信息耗时： 0.0021137
15:49:39.805[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:39.807[D] 收到相机应答信息耗时： 0.0010474
15:49:39.807[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:49:39.808[D] 收到相机应答信息耗时： 0.0009685
15:49:39.808[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:49:39.809[D] 收到相机应答信息耗时： 0.001017
15:49:39.813[I] 创建物体模型_2: 模型被成功创建。
15:49:39.885[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:49:39.887[D] 收到相机应答信息耗时： 0.0010012
15:49:39.897[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:39.898[D] 收到相机应答信息耗时： 0.0009268
15:49:39.898[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:49:39.980[I] 创建物体模型_1: 模型被成功创建。
15:49:41.374[D] 收到相机应答信息耗时： 1.47593
15:49:41.427[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:49:41.427[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:49:41.668[D] Normal Filter Main Normal: 0 , 0 , -1
15:49:41.930[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:49:42.196[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:42.197[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:42.273[I] 数据重复并串接_1: 重复4次。
15:49:42.273[I] 数据重复并串接_2: 重复4次。
15:49:42.282[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124148, -0.120795)。
最大点的X和Y是(0.12405, 0.120754)。
15:49:42.287[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:49:42.288[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:49:42.288[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:49:42.465[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:42.466[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019018
15:49:42.467[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127604
15:49:42.470[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.596266 [mm], validation score: 0.9949.
15:49:42.471[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185249
15:49:42.472[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120755
15:49:42.474[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.731438 [mm], validation score: 0.993614.
15:49:42.476[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189385
15:49:42.477[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124238
15:49:42.479[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.551886 [mm], validation score: 0.995884.
15:49:42.480[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183316
15:49:42.481[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118533
15:49:42.483[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.549061 [mm], validation score: 0.996182.
15:49:42.483[I] 3D精匹配_2: 匹配得分: ([0.9949000477790833], [0.9936137199401855], [0.9958838820457458], [0.9961815476417542])
15:49:42.489[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:42.490[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189848
15:49:42.492[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128508
15:49:42.494[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.600198 [mm], validation score: 0.948198.
15:49:42.495[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184723
15:49:42.496[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123161
15:49:42.499[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.71328 [mm], validation score: 0.934552.
15:49:42.500[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189316
15:49:42.501[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124124
15:49:42.504[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.552847 [mm], validation score: 0.957016.
15:49:42.505[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183451
15:49:42.506[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119308
15:49:42.508[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.550213 [mm], validation score: 0.959433.
15:49:42.509[I] 3D精匹配_1: 匹配得分: ([0.9481984972953796], [0.9345516562461853], [0.9570159912109375], [0.959433376789093])
15:49:42.509[I] 调整位姿_4: 开始运行。
15:49:42.509[I] 调整位姿_4: 14个子步骤运行结束。
15:49:42.509[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15545833750625507,-0.3022412132269533,0.15976112098759243,0.7093620533324833,-0.005030999507758722,-0.0005210027391649927,-0.704826145153556],[0.15482774653171677,-0.05761411542859011,0.15906361068592245,0.7066324216646361,-0.0012938388486270058,-0.00013405856075555684,-0.7075796270821454],[-0.08446322550242423,-0.3034167065005431,0.16061421957488387,0.7070303439645343,-0.0027041878661190196,-6.606078023951689e-05,-0.7071780367894289],[-0.08511421796609406,-0.05792728502113819,0.16027746724733616,-0.7063965898487091,0.001619139741166265,-0.0014121061202541465,0.7078129994517792]]})
15:49:42.525[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 5
15:49:42.526[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 5
15:49:42.531[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 5
15:49:42.532[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 5
15:49:42.533[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.7307秒。
15:49:42.547[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.744"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:49:43.708[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:49:43.710[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:49:43.711[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:49:43.749[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:49:43.750[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:43.750[I] 创建物体模型_2: 开始创建模型。请稍候。
15:49:43.750[I] 创建物体模型_1: 开始创建模型。请稍候。
15:49:43.752[D] 收到相机应答信息耗时： 0.0022117
15:49:43.752[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:43.753[D] 收到相机应答信息耗时： 0.0009957
15:49:43.753[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:49:43.754[D] 收到相机应答信息耗时： 0.0009033
15:49:43.754[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:49:43.755[D] 收到相机应答信息耗时： 0.0010461
15:49:43.761[I] 创建物体模型_2: 模型被成功创建。
15:49:43.829[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:49:43.830[D] 收到相机应答信息耗时： 0.0009239
15:49:43.838[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:43.839[D] 收到相机应答信息耗时： 0.0009217
15:49:43.840[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:49:43.909[I] 创建物体模型_1: 模型被成功创建。
15:49:45.276[D] 收到相机应答信息耗时： 1.43702
15:49:45.335[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:49:45.336[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:49:45.578[D] Normal Filter Main Normal: 0 , 0 , -1
15:49:45.838[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:49:46.086[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:46.087[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:46.201[I] 数据重复并串接_1: 重复4次。
15:49:46.201[I] 数据重复并串接_2: 重复4次。
15:49:46.225[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:49:46.226[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:49:46.226[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:49:46.227[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124131, -0.120792)。
最大点的X和Y是(0.123926, 0.120743)。
15:49:46.410[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:46.411[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184307
15:49:46.412[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116501
15:49:46.414[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.557515 [mm], validation score: 0.995717.
15:49:46.416[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00205836
15:49:46.417[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00147378
15:49:46.419[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.810701 [mm], validation score: 0.988919.
15:49:46.420[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190852
15:49:46.421[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128867
15:49:46.423[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.733201 [mm], validation score: 0.992933.
15:49:46.424[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179817
15:49:46.425[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116126
15:49:46.427[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.565599 [mm], validation score: 0.995953.
15:49:46.427[I] 3D精匹配_2: 匹配得分: ([0.9957166314125061], [0.9889187216758728], [0.9929332137107849], [0.9959533214569092])
15:49:46.433[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:46.434[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184988
15:49:46.435[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119102
15:49:46.438[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.557749 [mm], validation score: 0.95524.
15:49:46.439[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00204794
15:49:46.440[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00147286
15:49:46.442[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.743964 [mm], validation score: 0.897615.
15:49:46.443[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191522
15:49:46.444[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128467
15:49:46.447[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.731183 [mm], validation score: 0.928147.
15:49:46.449[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180102
15:49:46.450[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118249
15:49:46.453[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.565301 [mm], validation score: 0.956834.
15:49:46.453[I] 3D精匹配_1: 匹配得分: ([0.9552403092384338], [0.8976152539253235], [0.9281466603279114], [0.9568343162536621])
15:49:46.453[I] 调整位姿_4: 开始运行。
15:49:46.453[I] 调整位姿_4: 14个子步骤运行结束。
15:49:46.453[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1551538229050728,-0.3013954555493565,0.15939931633035842,0.708052056949961,-0.0029960707339642106,0.0005810977290829121,-0.7061536451329243],[0.1542669706412879,-0.05738402081559673,0.1590426770463682,0.7089514332031528,-0.0020413418304773027,0.0006803154164311623,-0.705254021933701],[-0.08432819842912762,-0.30362020520426564,0.16089542439417315,0.7080377658366036,-0.005124082115400834,-0.00011538054136019537,-0.7061559690457314],[-0.08561704428857195,-0.05813561475953589,0.16033037947086237,-0.9999873249146722,-8.378614980991659e-05,-0.004385810143111476,-0.002471367894090409]]})
15:49:46.464[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 6
15:49:46.469[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 6
15:49:46.485[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 6
15:49:46.486[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 6
15:49:46.486[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.73665秒。
15:49:46.498[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.745"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:49:47.575[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:49:47.577[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:49:47.578[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:49:47.607[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:49:47.607[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:47.607[I] 创建物体模型_2: 开始创建模型。请稍候。
15:49:47.607[I] 创建物体模型_1: 开始创建模型。请稍候。
15:49:47.609[D] 收到相机应答信息耗时： 0.0020016
15:49:47.609[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:47.610[D] 收到相机应答信息耗时： 0.0007605
15:49:47.610[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:49:47.611[D] 收到相机应答信息耗时： 0.0009789
15:49:47.611[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:49:47.612[D] 收到相机应答信息耗时： 0.0010627
15:49:47.618[I] 创建物体模型_2: 模型被成功创建。
15:49:47.685[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:49:47.686[D] 收到相机应答信息耗时： 0.0011186
15:49:47.694[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:47.695[D] 收到相机应答信息耗时： 0.0009445
15:49:47.695[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:49:47.774[I] 创建物体模型_1: 模型被成功创建。
15:49:49.126[D] 收到相机应答信息耗时： 1.43076
15:49:49.176[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:49:49.176[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:49:49.413[D] Normal Filter Main Normal: 0 , 0 , -1
15:49:49.675[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:49:49.938[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:49.939[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:50.032[I] 数据重复并串接_1: 重复4次。
15:49:50.032[I] 数据重复并串接_2: 重复4次。
15:49:50.038[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124085, -0.12081)。
最大点的X和Y是(0.124055, 0.120749)。
15:49:50.059[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:49:50.059[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:49:50.059[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:49:50.258[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:50.259[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189298
15:49:50.260[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125416
15:49:50.263[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.685379 [mm], validation score: 0.993663.
15:49:50.264[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180921
15:49:50.265[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121554
15:49:50.267[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.62418 [mm], validation score: 0.995204.
15:49:50.268[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019053
15:49:50.269[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125516
15:49:50.271[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.594805 [mm], validation score: 0.995226.
15:49:50.272[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183607
15:49:50.273[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119825
15:49:50.275[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.56104 [mm], validation score: 0.99601.
15:49:50.276[I] 3D精匹配_2: 匹配得分: ([0.993663489818573], [0.9952042102813721], [0.995226263999939], [0.9960097074508667])
15:49:50.281[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:50.282[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189202
15:49:50.283[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125542
15:49:50.285[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.678528 [mm], validation score: 0.934953.
15:49:50.286[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181444
15:49:50.287[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012085
15:49:50.290[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.621286 [mm], validation score: 0.948962.
15:49:50.291[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190833
15:49:50.292[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124904
15:49:50.295[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.590737 [mm], validation score: 0.951252.
15:49:50.296[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183171
15:49:50.297[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116948
15:49:50.299[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.560844 [mm], validation score: 0.95773.
15:49:50.300[I] 3D精匹配_1: 匹配得分: ([0.9349527359008789], [0.948961615562439], [0.9512524604797363], [0.9577303528785706])
15:49:50.300[I] 调整位姿_4: 开始运行。
15:49:50.300[I] 调整位姿_4: 14个子步骤运行结束。
15:49:50.300[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.155273342048555,-0.30295465600933413,0.16009195337690763,0.7080527051833172,-0.008643644410414878,0.0003026569366570671,-0.7061066226092708],[0.15485402259431733,-0.057795529085738755,0.15929153109653837,0.705444896382911,0.0020256127543995424,-0.0010849544127270604,-0.7087610443119706],[-0.08457644144795459,-0.30330111035206064,0.1606447184076294,0.9999944752404083,-0.002166972078358665,0.0020168406589444856,-0.0015119769911503603],[-0.08520213181092334,-0.05784139531473786,0.16027353582904658,-0.9999969345569236,0.00030813386821829873,-0.0024530826443575635,0.00013533593475423868]]})
15:49:50.311[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 7
15:49:50.317[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 7
15:49:50.324[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 7
15:49:50.325[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 7
15:49:50.325[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.71874秒。
15:49:50.350[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.740"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:49:51.444[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:49:51.446[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:49:51.447[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:49:51.487[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:49:51.487[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:51.487[I] 创建物体模型_1: 开始创建模型。请稍候。
15:49:51.487[I] 创建物体模型_2: 开始创建模型。请稍候。
15:49:51.497[I] 创建物体模型_2: 模型被成功创建。
15:49:51.556[D] 收到相机应答信息耗时： 0.0684641
15:49:51.556[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:51.557[D] 收到相机应答信息耗时： 0.0008683
15:49:51.557[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:49:51.558[D] 收到相机应答信息耗时： 0.0008187
15:49:51.558[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:49:51.558[D] 收到相机应答信息耗时： 0.0007231
15:49:51.627[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:49:51.628[D] 收到相机应答信息耗时： 0.0006657
15:49:51.635[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:51.635[D] 收到相机应答信息耗时： 0.0005851
15:49:51.636[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:49:51.657[I] 创建物体模型_1: 模型被成功创建。
15:49:53.001[D] 收到相机应答信息耗时： 1.36575
15:49:53.054[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:49:53.054[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:49:53.291[D] Normal Filter Main Normal: 0 , 0 , -1
15:49:53.549[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:49:53.824[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:53.825[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:53.921[I] 数据重复并串接_1: 重复4次。
15:49:53.921[I] 数据重复并串接_2: 重复4次。
15:49:53.925[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124146, -0.1208)。
最大点的X和Y是(0.124072, 0.120739)。
15:49:53.958[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:49:53.959[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:49:53.959[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:49:54.140[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:54.141[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185303
15:49:54.142[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119857
15:49:54.145[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.611327 [mm], validation score: 0.99512.
15:49:54.146[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180585
15:49:54.147[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122664
15:49:54.150[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.686746 [mm], validation score: 0.99424.
15:49:54.151[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191279
15:49:54.152[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128614
15:49:54.154[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.627966 [mm], validation score: 0.995029.
15:49:54.155[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018519
15:49:54.156[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115624
15:49:54.158[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.561053 [mm], validation score: 0.995978.
15:49:54.158[I] 3D精匹配_2: 匹配得分: ([0.9951201677322388], [0.9942401647567749], [0.9950286746025085], [0.995977520942688])
15:49:54.163[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:54.164[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018515
15:49:54.165[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012033
15:49:54.168[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.616807 [mm], validation score: 0.94854.
15:49:54.169[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180799
15:49:54.170[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122369
15:49:54.172[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.694116 [mm], validation score: 0.938604.
15:49:54.173[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190636
15:49:54.174[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126491
15:49:54.177[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.633529 [mm], validation score: 0.94692.
15:49:54.178[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184917
15:49:54.179[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115919
15:49:54.181[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.559896 [mm], validation score: 0.957043.
15:49:54.182[I] 3D精匹配_1: 匹配得分: ([0.9485399127006531], [0.9386043548583984], [0.9469202160835266], [0.9570432305335999])
15:49:54.182[I] 调整位姿_4: 开始运行。
15:49:54.182[I] 调整位姿_4: 14个子步骤运行结束。
15:49:54.182[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15509008591851908,-0.3027842041852601,0.15993048143103072,0.7061969106062249,0.0009387782859503271,0.008145881853542734,0.7079679983970897],[0.15413712400954296,-0.05732458481814403,0.15904972901435332,0.9999964617417201,-0.0008582039619530191,0.0009532881684469509,0.0023305003041652617],[-0.08455646379020601,-0.3034335189784203,0.16081633023613406,0.7071771805138122,3.9053013877789373e-05,0.0046751097297103575,0.7070209170770074],[-0.085429578729624,-0.05796143635428493,0.1604003362866917,0.999987972901034,0.0006319871148956022,0.00463976833036108,0.0014584907980909698]]})
15:49:54.193[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 8
15:49:54.199[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 8
15:49:54.207[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 8
15:49:54.208[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 8
15:49:54.209[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.72184秒。
15:49:54.230[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.742"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:49:55.808[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:49:55.810[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:49:55.811[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:49:55.852[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:49:55.853[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:55.853[I] 创建物体模型_2: 开始创建模型。请稍候。
15:49:55.853[I] 创建物体模型_1: 开始创建模型。请稍候。
15:49:55.855[D] 收到相机应答信息耗时： 0.0023043
15:49:55.855[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:55.856[D] 收到相机应答信息耗时： 0.0010427
15:49:55.856[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:49:55.857[D] 收到相机应答信息耗时： 0.0008116
15:49:55.857[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:49:55.858[D] 收到相机应答信息耗时： 0.001011
15:49:55.863[I] 创建物体模型_2: 模型被成功创建。
15:49:55.931[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:49:55.932[D] 收到相机应答信息耗时： 0.000925
15:49:55.939[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:49:55.940[D] 收到相机应答信息耗时： 0.0010106
15:49:55.940[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:49:56.026[I] 创建物体模型_1: 模型被成功创建。
15:49:57.392[D] 收到相机应答信息耗时： 1.45182
15:49:57.442[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:49:57.443[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:49:57.688[D] Normal Filter Main Normal: 0 , 0 , -1
15:49:57.946[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:49:58.197[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:58.198[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:49:58.288[I] 数据重复并串接_1: 重复4次。
15:49:58.288[I] 数据重复并串接_2: 重复4次。
15:49:58.295[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:49:58.295[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:49:58.295[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124199, -0.120753)。
最大点的X和Y是(0.124037, 0.12073)。
15:49:58.295[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:49:58.425[W] 3D粗匹配V2_1: [1号输入点云将被忽略。] 错误: 1号输入点云的点数为0，该值小于下限10。
15:49:58.426[W] 3D粗匹配V2_1: [3号输入点云将被忽略。] 错误: 3号输入点云的点数为0，该值小于下限10。
15:49:58.426[W] 3D粗匹配V2_1: [4号输入点云将被忽略。] 错误: 4号输入点云的点数为0，该值小于下限10。
15:49:58.430[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
15:49:58.430[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
15:49:58.430[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
15:49:58.430[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:49:58.431[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00290119
15:49:58.431[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0027736
15:49:58.434[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 4.0599 [mm], validation score: 0.0831652.
15:49:58.434[I] 3D精匹配_2: 匹配得分: ([], [0.083165243268013], [], [])
15:49:58.434[W] 3D精匹配_2: 无输出。 自动填充输出。
15:49:58.434[W] 将PoseList转换为PoseLists_1: 第1个输入为空！
15:49:58.434[W] 将PoseList转换为PoseLists_1: 无输出。 自动填充输出。
15:49:58.437[W] 3D精匹配_1: 第2个输入为空！
15:49:58.437[W] 3D精匹配_1: 无输出。 自动填充输出。
15:49:58.437[I] 调整位姿_4: 开始运行。
15:49:58.437[W] 子步骤/快捷坐标系变换_0: 第1个输入为空！
15:49:58.437[W] 子步骤/快捷坐标系变换_0: 自动填充输出。
15:49:58.437[W] Sub-step / 翻转位姿的坐标轴方向_0: 第1个输入为空！
15:49:58.437[W] Sub-step / 翻转位姿的坐标轴方向_0: 自动填充输出。
15:49:58.438[W] Sub-step / 限制输出的个数_1: 1号输入端口的数据数量0小于设置的输出个数1，请修改参数“输出结果个数”。
15:49:58.438[W] Sub-step / 限制输出的个数_1: 自动填充输出。
15:49:58.438[E] Can't fill output for abstract data type.
15:49:58.438[W] 调整位姿_4: 未能为步骤在自身坐标系下，旋转位姿获取输入。 详细：Result_3数据不可用。
15:49:58.438[W] 调整位姿_4: 无输出。 自动填充输出。
15:49:58.438[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数101）。耗时：2.58594秒。
15:49:58.439[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.586"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:50:00.715[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:50:00.718[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:50:00.719[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:50:00.748[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:50:00.749[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:50:00.749[I] 创建物体模型_2: 开始创建模型。请稍候。
15:50:00.749[I] 创建物体模型_1: 开始创建模型。请稍候。
15:50:00.751[D] 收到相机应答信息耗时： 0.0019254
15:50:00.751[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:50:00.751[D] 收到相机应答信息耗时： 0.0009642
15:50:00.751[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:50:00.752[D] 收到相机应答信息耗时： 0.0008469
15:50:00.752[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:50:00.753[D] 收到相机应答信息耗时： 0.0010163
15:50:00.758[I] 创建物体模型_2: 模型被成功创建。
15:50:00.830[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:50:00.832[D] 收到相机应答信息耗时： 0.0016339
15:50:00.840[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:50:00.841[D] 收到相机应答信息耗时： 0.0008703
15:50:00.841[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:50:00.919[I] 创建物体模型_1: 模型被成功创建。
15:50:02.291[D] 收到相机应答信息耗时： 1.45013
15:50:02.341[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:50:02.342[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:50:02.586[D] Normal Filter Main Normal: 0 , 0 , -1
15:50:02.855[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:50:03.115[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:50:03.116[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:50:03.209[I] 数据重复并串接_1: 重复4次。
15:50:03.209[I] 数据重复并串接_2: 重复4次。
15:50:03.212[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:50:03.212[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:50:03.212[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:50:03.213[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124115, -0.120511)。
最大点的X和Y是(0.124044, 0.120459)。
15:50:03.342[W] 3D粗匹配V2_1: [1号输入点云将被忽略。] 错误: 1号输入点云的点数为0，该值小于下限10。
15:50:03.343[W] 3D粗匹配V2_1: [3号输入点云将被忽略。] 错误: 3号输入点云的点数为0，该值小于下限10。
15:50:03.343[W] 3D粗匹配V2_1: [4号输入点云将被忽略。] 错误: 4号输入点云的点数为0，该值小于下限10。
15:50:03.346[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
15:50:03.346[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
15:50:03.346[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
15:50:03.346[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:50:03.347[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00289977
15:50:03.348[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00254271
15:50:03.350[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 4.37856 [mm], validation score: 0.0814877.
15:50:03.350[I] 3D精匹配_2: 匹配得分: ([], [0.0814877450466156], [], [])
15:50:03.350[W] 3D精匹配_2: 无输出。 自动填充输出。
15:50:03.350[W] 将PoseList转换为PoseLists_1: 第1个输入为空！
15:50:03.350[W] 将PoseList转换为PoseLists_1: 无输出。 自动填充输出。
15:50:03.353[W] 3D精匹配_1: 第2个输入为空！
15:50:03.353[W] 3D精匹配_1: 无输出。 自动填充输出。
15:50:03.354[I] 调整位姿_4: 开始运行。
15:50:03.354[W] 子步骤/快捷坐标系变换_0: 第1个输入为空！
15:50:03.354[W] 子步骤/快捷坐标系变换_0: 自动填充输出。
15:50:03.354[W] Sub-step / 翻转位姿的坐标轴方向_0: 第1个输入为空！
15:50:03.354[W] Sub-step / 翻转位姿的坐标轴方向_0: 自动填充输出。
15:50:03.354[W] Sub-step / 限制输出的个数_1: 1号输入端口的数据数量0小于设置的输出个数1，请修改参数“输出结果个数”。
15:50:03.354[W] Sub-step / 限制输出的个数_1: 自动填充输出。
15:50:03.354[E] Can't fill output for abstract data type.
15:50:03.354[W] 调整位姿_4: 未能为步骤在自身坐标系下，旋转位姿获取输入。 详细：Result_3数据不可用。
15:50:03.354[W] 调整位姿_4: 无输出。 自动填充输出。
15:50:03.354[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数101）。耗时：2.60618秒。
15:50:03.358[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.607"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:50:08.169[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:50:08.171[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:50:08.172[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:50:08.201[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:50:08.201[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:50:08.201[I] 创建物体模型_2: 开始创建模型。请稍候。
15:50:08.201[I] 创建物体模型_1: 开始创建模型。请稍候。
15:50:08.204[D] 收到相机应答信息耗时： 0.0023204
15:50:08.204[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:50:08.205[D] 收到相机应答信息耗时： 0.0009952
15:50:08.205[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:50:08.206[D] 收到相机应答信息耗时： 0.0009245
15:50:08.206[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:50:08.207[D] 收到相机应答信息耗时： 0.0010192
15:50:08.212[I] 创建物体模型_2: 模型被成功创建。
15:50:08.280[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:50:08.281[D] 收到相机应答信息耗时： 0.0009605
15:50:08.289[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:50:08.290[D] 收到相机应答信息耗时： 0.0009137
15:50:08.290[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:50:08.367[I] 创建物体模型_1: 模型被成功创建。
15:50:09.897[D] 收到相机应答信息耗时： 1.60715
15:50:09.949[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:50:09.949[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:50:10.190[D] Normal Filter Main Normal: 0 , 0 , -1
15:50:10.448[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:50:10.729[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:50:10.730[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:50:10.829[I] 数据重复并串接_1: 重复4次。
15:50:10.829[I] 数据重复并串接_2: 重复4次。
15:50:10.871[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:50:10.871[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:50:10.872[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:50:10.874[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124107, -0.120779)。
最大点的X和Y是(0.124034, 0.120728)。
15:50:11.047[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:50:11.048[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186536
15:50:11.049[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117115
15:50:11.051[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58324 [mm], validation score: 0.995248.
15:50:11.052[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180833
15:50:11.054[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122609
15:50:11.056[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.709771 [mm], validation score: 0.993769.
15:50:11.057[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191113
15:50:11.058[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127851
15:50:11.060[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.686257 [mm], validation score: 0.993825.
15:50:11.061[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184477
15:50:11.062[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011948
15:50:11.064[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.576624 [mm], validation score: 0.996009.
15:50:11.064[I] 3D精匹配_2: 匹配得分: ([0.9952476024627686], [0.9937690496444702], [0.9938247799873352], [0.996009349822998])
15:50:11.069[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:50:11.070[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186643
15:50:11.071[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011767
15:50:11.074[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.579363 [mm], validation score: 0.950889.
15:50:11.075[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180841
15:50:11.076[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012195
15:50:11.078[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.711555 [mm], validation score: 0.934325.
15:50:11.079[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191155
15:50:11.080[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012954
15:50:11.083[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.68333 [mm], validation score: 0.936665.
15:50:11.084[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184396
15:50:11.085[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121409
15:50:11.087[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.570866 [mm], validation score: 0.957825.
15:50:11.088[I] 3D精匹配_1: 匹配得分: ([0.9508887529373169], [0.9343248009681702], [0.9366650581359863], [0.9578246474266052])
15:50:11.088[I] 调整位姿_4: 开始运行。
15:50:11.088[I] 调整位姿_4: 14个子步骤运行结束。
15:50:11.088[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15528980649007748,-0.3025726603128232,0.15991773706680013,0.7083071937814281,-0.007177302302165209,0.0008378540802155103,-0.705867341339491],[0.1544676365961573,-0.05725035379929729,0.15913311368294725,0.7080756573114768,-0.0003634675821181647,-0.0004365680452351522,-0.7061363471898177],[-0.08409131096462233,-0.30376802397739017,0.1610270704864496,0.9999798838442019,-0.004232636017845437,0.004176457464176424,0.0022076916301174087],[-0.0854525939248555,-0.0578982045162811,0.16035676916281227,-0.9999862625391421,-0.0002610470229789441,-0.005055370152984395,-0.0013600809042383802]]})
15:50:11.102[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 9
15:50:11.112[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 9
15:50:11.115[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 9
15:50:11.117[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 9
15:50:11.117[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.91673秒。
15:50:11.135[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.932"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:50:13.347[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:50:13.349[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:50:13.350[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:50:13.387[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:50:13.388[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:50:13.388[I] 创建物体模型_2: 开始创建模型。请稍候。
15:50:13.388[I] 创建物体模型_1: 开始创建模型。请稍候。
15:50:13.399[I] 创建物体模型_2: 模型被成功创建。
15:50:13.497[D] 收到相机应答信息耗时： 0.109492
15:50:13.497[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:50:13.498[D] 收到相机应答信息耗时： 0.0010057
15:50:13.498[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:50:13.521[D] 收到相机应答信息耗时： 0.0228352
15:50:13.521[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:50:13.528[I] 创建物体模型_1: 模型被成功创建。
15:50:13.545[D] 收到相机应答信息耗时： 0.0234619
15:50:13.609[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:50:13.610[D] 收到相机应答信息耗时： 0.0010532
15:50:13.615[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:50:13.616[D] 收到相机应答信息耗时： 0.0009454
15:50:13.616[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:50:15.002[D] 收到相机应答信息耗时： 1.3854
15:50:15.053[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:50:15.053[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:50:15.294[D] Normal Filter Main Normal: 0 , 0 , -1
15:50:15.557[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:50:15.803[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:50:15.804[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:50:15.904[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124075, -0.120511)。
最大点的X和Y是(0.123996, 0.120481)。
15:50:15.921[I] 数据重复并串接_1: 重复4次。
15:50:15.921[I] 数据重复并串接_2: 重复4次。
15:50:15.924[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:50:15.925[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:50:15.925[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:50:16.122[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:50:16.123[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189511
15:50:16.124[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126387
15:50:16.127[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.645362 [mm], validation score: 0.994536.
15:50:16.128[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193415
15:50:16.129[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128713
15:50:16.132[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.688505 [mm], validation score: 0.993669.
15:50:16.133[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187279
15:50:16.134[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117295
15:50:16.136[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.595595 [mm], validation score: 0.994787.
15:50:16.137[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181168
15:50:16.138[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114186
15:50:16.140[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544222 [mm], validation score: 0.99617.
15:50:16.140[I] 3D精匹配_2: 匹配得分: ([0.9945362210273743], [0.9936687350273132], [0.99478679895401], [0.9961702227592468])
15:50:16.146[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:50:16.147[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188255
15:50:16.148[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123663
15:50:16.150[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.641181 [mm], validation score: 0.943088.
15:50:16.151[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019288
15:50:16.152[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128389
15:50:16.155[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.686788 [mm], validation score: 0.934655.
15:50:16.156[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187165
15:50:16.157[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117791
15:50:16.159[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588572 [mm], validation score: 0.94902.
15:50:16.160[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181016
15:50:16.161[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011483
15:50:16.164[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544851 [mm], validation score: 0.959442.
15:50:16.165[I] 3D精匹配_1: 匹配得分: ([0.9430878758430481], [0.9346550107002258], [0.9490199089050293], [0.9594419002532959])
15:50:16.165[I] 调整位姿_4: 开始运行。
15:50:16.165[I] 调整位姿_4: 14个子步骤运行结束。
15:50:16.165[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15547426488230093,-0.30184098266886605,0.15967280698308106,0.7048792026488905,-0.0003382990460180169,0.0042024287914361365,0.7093148347659685],[0.15475597344004097,-0.05741270727719879,0.1592405276851685,0.9999970020317954,3.5118506428385987e-06,-0.002318504050675931,-0.0007876890600923003],[-0.08417244976578665,-0.3038115775276391,0.16098540303305509,-0.9999805813851744,0.00402407244667959,-0.004060725238668341,-0.002480766825715192],[-0.0852996873659247,-0.05778853555661761,0.16023788843622921,-0.7073370379744348,-0.0011503903962633098,-0.0019841727466326942,-0.7068727285516109]]})
15:50:16.177[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 10
15:50:16.184[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 10
15:50:16.192[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 10
15:50:16.192[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 10
15:50:16.192[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.80541秒。
15:50:16.208[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.818"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:51:46.054[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
15:51:46.135[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
15:51:51.854[I] 相机参数组 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-12/NEC2022AA3000009-EyeToHand-2023-05-08(0) 已更新。
15:51:51.858[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-12/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
15:51:51.939[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-12/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
15:51:51.947[D] 相机数据路径D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-12合法。
15:51:56.176[I] 相机参数组 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0) 已更新。
15:51:56.180[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
15:51:56.261[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
15:51:56.268[D] 相机数据路径D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13合法。
15:52:07.849[I] 相机参数组 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-12/NEC2022AA3000009-EyeToHand-2023-05-08(0) 已更新。
15:52:07.852[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-12/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
15:52:07.933[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-12/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
15:52:07.940[D] 相机数据路径D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-12合法。
15:52:17.990[I] 相机参数组 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0) 已更新。
15:52:17.993[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
15:52:18.076[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
15:52:18.083[D] 相机数据路径D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13合法。
15:52:28.846[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
15:52:28.848[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
15:52:28.849[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:52:28.897[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:52:28.898[I] 创建物体模型_2: 开始创建模型。请稍候。
15:52:28.898[I] 创建物体模型_1: 开始创建模型。请稍候。
15:52:28.908[I] 创建物体模型_2: 模型被成功创建。
15:52:29.010[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00026.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00026.jpg
15:52:29.012[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:52:29.013[W] 保存图像_1: 由于正在使用虚拟相机，图片不会被保存。
15:52:29.013[W] 保存步骤参数到文件_1: 第1个输入为空！
15:52:29.063[I] 创建物体模型_1: 模型被成功创建。
15:52:29.284[D] Normal Filter Main Normal: 0 , 0 , -1
15:52:29.548[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:52:29.825[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:52:29.826[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:52:29.928[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124131, -0.120792)。
最大点的X和Y是(0.123926, 0.120743)。
15:52:29.928[I] 数据重复并串接_1: 重复4次。
15:52:29.928[I] 数据重复并串接_2: 重复4次。
15:52:29.979[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:52:29.979[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:52:29.979[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:52:30.155[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:52:30.156[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184307
15:52:30.157[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116501
15:52:30.159[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.557515 [mm], validation score: 0.995717.
15:52:30.161[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00205836
15:52:30.161[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00147378
15:52:30.164[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.810701 [mm], validation score: 0.988919.
15:52:30.165[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190852
15:52:30.166[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128867
15:52:30.168[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.733201 [mm], validation score: 0.992933.
15:52:30.169[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179817
15:52:30.170[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116126
15:52:30.172[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.565599 [mm], validation score: 0.995953.
15:52:30.173[I] 3D精匹配_2: 匹配得分: ([0.9957166314125061], [0.9889187216758728], [0.9929332137107849], [0.9959533214569092])
15:52:30.178[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:52:30.179[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184988
15:52:30.180[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119102
15:52:30.183[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.557749 [mm], validation score: 0.95524.
15:52:30.184[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00204794
15:52:30.185[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00147286
15:52:30.188[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.743964 [mm], validation score: 0.897615.
15:52:30.190[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191522
15:52:30.191[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128467
15:52:30.193[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.731183 [mm], validation score: 0.928147.
15:52:30.194[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180102
15:52:30.195[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118249
15:52:30.198[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.565301 [mm], validation score: 0.956834.
15:52:30.198[I] 3D精匹配_1: 匹配得分: ([0.9552403092384338], [0.8976152539253235], [0.9281466603279114], [0.9568343162536621])
15:52:30.198[I] 调整位姿_4: 开始运行。
15:52:30.198[I] 调整位姿_4: 14个子步骤运行结束。
15:52:30.199[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1551538229050728,-0.3013954555493565,0.15939931633035842,0.708052056949961,-0.0029960707339642106,0.0005810977290829121,-0.7061536451329243],[0.1542669706412879,-0.05738402081559673,0.1590426770463682,0.7089514332031528,-0.0020413418304773027,0.0006803154164311623,-0.705254021933701],[-0.08432819842912762,-0.30362020520426564,0.16089542439417315,0.7080377658366036,-0.005124082115400834,-0.00011538054136019537,-0.7061559690457314],[-0.08561704428857195,-0.05813561475953589,0.16033037947086237,-0.9999873249146722,-8.378614980991659e-05,-0.004385810143111476,-0.002471367894090409]]})
15:52:30.203[W] 通过统计数据检查位姿重复精度_9: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/点11.xlsx.
15:52:30.204[W] 通过统计数据检查位姿重复精度_9: 无输出。 自动填充输出。
15:52:30.211[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 11
15:52:30.218[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 11
15:52:30.226[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 11
15:52:30.226[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：1.32849秒。
15:52:30.238[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"1.339"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:52:52.800[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:52:52.801[D] Normal Filter Main Normal: 0 , 0 , -1
15:52:52.856[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.055497秒。
15:52:52.937[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.136"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:53:08.973[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:53:08.973[D] Normal Filter Main Normal: 0 , 0 , -1
15:53:09.028[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.055473秒。
15:53:09.111[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.137"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:53:49.966[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:53:50.207[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.240309秒。
15:53:50.220[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.252"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:53:51.232[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:53:51.233[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:53:51.281[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.048111秒。
15:53:51.299[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.065"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:53:55.743[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:53:55.744[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:53:55.977[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数3）。耗时：0.233804秒。
15:53:56.033[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.288"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:53:56.872[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:53:56.874[D] Normal Filter Main Normal: 0 , 0 , -1
15:53:57.144[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:53:57.179[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数4）。耗时：0.307895秒。
15:53:57.202[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.330"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:54:00.616[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:54:00.617[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000561秒。
15:54:00.640[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.023"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:54:01.548[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:54:01.624[I] 数据重复并串接_1: 重复4次。
15:54:01.624[I] 数据重复并串接_2: 重复4次。
15:54:01.701[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数39）。耗时：0.152785秒。
15:54:01.720[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.169"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:54:08.502[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:54:08.567[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.065178秒。
15:54:08.635[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.131"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:54:49.217[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:54:49.342[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.124183秒。
15:54:49.432[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.214"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:54:59.876[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:54:59.998[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.121662秒。
15:55:00.011[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.134"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:55:25.088[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:55:25.146[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.057455秒。
15:55:25.148[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.058"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:55:38.430[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:55:38.525[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00027.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00027.jpg
15:55:38.537[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.107493秒。
15:55:38.618[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.186"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:55:39.707[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:55:39.708[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:55:39.938[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数3）。耗时：0.23162秒。
15:55:39.988[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.279"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:55:45.885[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:55:45.887[D] Normal Filter Main Normal: 0 , 0 , -1
15:55:46.153[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:55:46.188[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数4）。耗时：0.30205秒。
15:55:46.212[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.325"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:55:57.213[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:55:57.213[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000585秒。
15:55:57.231[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.018"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:55:58.676[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:55:58.751[I] 数据重复并串接_1: 重复4次。
15:55:58.751[I] 数据重复并串接_2: 重复4次。
15:55:58.825[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数39）。耗时：0.147984秒。
15:55:58.844[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.165"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:56:04.933[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:56:04.941[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:56:04.942[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184988
15:56:04.943[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119102
15:56:04.946[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.557749 [mm], validation score: 0.95524.
15:56:04.948[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00204794
15:56:04.949[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00147286
15:56:04.951[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.743964 [mm], validation score: 0.897615.
15:56:04.952[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191522
15:56:04.953[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128467
15:56:04.955[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.731183 [mm], validation score: 0.928147.
15:56:04.956[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180102
15:56:04.957[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118249
15:56:04.959[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.565301 [mm], validation score: 0.956834.
15:56:04.960[I] 3D精匹配_1: 匹配得分: ([0.9552403092384338], [0.8976152539253235], [0.9281466603279114], [0.9568343162536621])
15:56:04.960[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.026303秒。
15:56:04.977[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.042"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:56:26.207[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
15:56:26.243[I] 工程(Vis-模具毛胚定位工位1)开始执行。
15:56:26.243[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:56:26.243[I] 创建物体模型_1: 开始创建模型。请稍候。
15:56:26.244[D] 收到相机应答信息耗时： 0.0011448
15:56:26.244[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:56:26.245[D] 收到相机应答信息耗时： 0.000667
15:56:26.245[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
15:56:26.246[D] 收到相机应答信息耗时： 0.0005593
15:56:26.246[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
15:56:26.246[D] 收到相机应答信息耗时： 0.0007235
15:56:26.321[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
15:56:26.408[I] 创建物体模型_1: 模型被成功创建。
15:56:26.466[D] 收到相机应答信息耗时： 0.144691
15:56:26.472[D] sendAndRecvMsg {"cmd":"GetCameraId"}
15:56:26.473[D] 收到相机应答信息耗时： 0.0008126
15:56:26.473[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
15:56:28.012[D] 收到相机应答信息耗时： 1.53908
15:56:28.052[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
15:56:28.190[D] Normal Filter Main Normal: 0 , 0 , -1
15:56:28.190[W] 点过滤_4: 无输出。 自动填充输出。
15:56:28.190[W] 点云聚类_1: 第1个输入为空！
15:56:28.190[W] 点云聚类_1: 无输出。 自动填充输出。
15:56:28.190[W] 获取最高层点云_2: 第1个输入为空！
15:56:28.190[W] 获取最高层点云_2: 无输出。 自动填充输出。
15:56:28.190[W] 计算平面点云的位姿和尺寸_2: 第1个输入为空！
15:56:28.191[W] 计算平面点云的位姿和尺寸_1: 第1个输入为空！
15:56:28.191[W] 计算平面点云的位姿和尺寸_2: 无输出。 自动填充输出。
15:56:28.191[W] 计算平面点云的位姿和尺寸_1: 无输出。 自动填充输出。
15:56:28.191[W] 分解物体尺寸_2: 第1个输入为空！
15:56:28.191[W] 分解物体尺寸_2: 无输出。 自动填充输出。
15:56:28.191[W] 数值运算_4: 第1个输入为空！
15:56:28.191[W] 数值运算_3: 第1个输入为空！
15:56:28.191[W] 数值运算_4: 第1个输入为空！
15:56:28.191[W] 数值运算_3: 第1个输入为空！
15:56:28.191[W] 数值运算_4: 无输出。 自动填充输出。
15:56:28.191[W] 数值运算_3: 无输出。 自动填充输出。
15:56:28.191[W] 提取长方体内点云_5: 第3个输入为空！
15:56:28.191[W] 提取长方体内点云_5: 无输出。 自动填充输出。
15:56:28.191[W] 计算平面点云的位姿和尺寸_6: 第1个输入为空！
15:56:28.191[W] 计算平面点云的位姿和尺寸_6: 无输出。 自动填充输出。
15:56:28.192[W] 分解物体尺寸_1: 第1个输入为空！
15:56:28.192[W] 分解物体尺寸_1: 无输出。 自动填充输出。
15:56:28.192[W] 数值运算_2: 第1个输入为空！
15:56:28.192[W] 数值运算_1: 第1个输入为空！
15:56:28.192[W] 数值运算_2: 第1个输入为空！
15:56:28.192[W] 数值运算_1: 第1个输入为空！
15:56:28.192[W] 数值运算_2: 无输出。 自动填充输出。
15:56:28.192[W] 数值运算_1: 无输出。 自动填充输出。
15:56:28.192[W] 沿指定方向移动位姿_3: 第1个输入为空！
15:56:28.192[W] 数值运算_9: 第1个输入为空！
15:56:28.192[W] 沿指定方向移动位姿_3: 无输出。 自动填充输出。
15:56:28.192[W] 数值运算_9: 第1个输入为空！
15:56:28.192[W] 沿指定方向移动位姿_7: 第1个输入为空！
15:56:28.192[W] 数值运算_9: 无输出。 自动填充输出。
15:56:28.192[W] 沿指定方向移动位姿_7: 无输出。 自动填充输出。
15:56:28.192[W] 根据阈值对数值进行二分类_2: 第1个输入为空！
15:56:28.192[W] 根据阈值对数值进行二分类_2: 无输出。 自动填充输出。
15:56:28.193[W] 根据布尔值触发控制流_4: 第1个输入为空！
15:56:28.193[W] 根据布尔值触发控制流_5: 第1个输入为空！
15:56:28.193[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数34）。耗时：1.9495秒。
15:56:28.197[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"1.950"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
15:56:33.497[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
15:56:33.538[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:56:33.538[I] 创建物体模型_2: 开始创建模型。请稍候。
15:56:33.538[I] 创建物体模型_1: 开始创建模型。请稍候。
15:56:33.550[I] 创建物体模型_2: 模型被成功创建。
15:56:33.651[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00026.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00026.jpg
15:56:33.703[I] 创建物体模型_1: 模型被成功创建。
15:56:33.803[W] 保存图像_1: 由于正在使用虚拟相机，图片不会被保存。
15:56:33.804[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
15:56:33.804[W] 保存步骤参数到文件_1: 第1个输入为空！
15:56:34.074[D] Normal Filter Main Normal: 0 , 0 , -1
15:56:34.344[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
15:56:34.612[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:56:34.613[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
15:56:34.696[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124183, -0.120786)。
最大点的X和Y是(0.124081, 0.120745)。
15:56:34.707[I] 数据重复并串接_2: 重复4次。
15:56:34.707[I] 数据重复并串接_1: 重复4次。
15:56:34.710[I] [ printSampleResult ] 采样结束。
采样后点云中点数：297.
对应的采样采样间隔：0.336719。
15:56:34.710[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
15:56:34.711[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
15:56:34.890[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:56:34.891[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192902
15:56:34.892[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001286
15:56:34.894[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.692171 [mm], validation score: 0.993551.
15:56:34.896[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00204663
15:56:34.897[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00148846
15:56:34.899[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.776561 [mm], validation score: 0.991371.
15:56:34.900[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193797
15:56:34.901[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128319
15:56:34.903[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.742029 [mm], validation score: 0.992825.
15:56:34.905[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018057
15:56:34.905[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011802
15:56:34.908[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.56524 [mm], validation score: 0.996006.
15:56:34.908[I] 3D精匹配_2: 匹配得分: ([0.9935512542724609], [0.991371214389801], [0.9928250312805176], [0.9960062503814697])
15:56:34.912[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:56:34.913[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192383
15:56:34.914[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130483
15:56:34.917[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.693685 [mm], validation score: 0.933112.
15:56:34.918[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00205422
15:56:34.919[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00146119
15:56:34.921[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.746194 [mm], validation score: 0.916401.
15:56:34.923[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194831
15:56:34.924[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125887
15:56:34.926[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.73675 [mm], validation score: 0.926969.
15:56:34.927[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181038
15:56:34.929[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115024
15:56:34.931[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.565568 [mm], validation score: 0.957323.
15:56:34.931[I] 3D精匹配_1: 匹配得分: ([0.9331119060516357], [0.9164014458656311], [0.9269694685935974], [0.9573231339454651])
15:56:34.931[I] 调整位姿_4: 开始运行。
15:56:34.931[I] 调整位姿_4: 14个子步骤运行结束。
15:56:34.932[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15539416338015974,-0.3019442806264346,0.15952560012173,0.7091230258496045,-0.004618188842938773,0.0010376177125108908,-0.7050688830824933],[0.15456135714699223,-0.057106456695570136,0.15908144458010898,0.7073085157344862,0.0020552299199034394,-0.0030526585898202597,-0.7068954101385782],[-0.08414439595597537,-0.303774392007451,0.1608889517490768,0.9999844391102983,-0.003653452449146841,0.003456035624597013,0.0024144647867742008],[-0.08554664372819393,-0.05757680257714553,0.16030333545314268,-0.9999679950548908,0.00011642686898848172,-0.007722755997697806,-0.002086708050133274]]})
15:56:34.937[W] 通过统计数据检查位姿重复精度_9: 保存文件失败. 请关闭文件 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/点11.xlsx.
15:56:34.937[W] 通过统计数据检查位姿重复精度_9: 无输出。 自动填充输出。
15:56:34.946[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 12
15:56:34.953[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 12
15:56:34.962[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 12
15:56:34.962[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：1.42417秒。
15:56:34.963[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"1.424"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:56:58.304[I] 工程(Vis-模具毛胚定位工位2)开始执行。
15:56:58.310[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
15:56:58.311[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192383
15:56:58.312[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130483
15:56:58.314[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.693685 [mm], validation score: 0.933112.
15:56:58.316[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00205422
15:56:58.317[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00146119
15:56:58.319[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.746194 [mm], validation score: 0.916401.
15:56:58.321[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194831
15:56:58.322[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125887
15:56:58.324[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.73675 [mm], validation score: 0.926969.
15:56:58.325[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181038
15:56:58.326[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115024
15:56:58.328[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.565568 [mm], validation score: 0.957323.
15:56:58.328[I] 3D精匹配_1: 匹配得分: ([0.9331119060516357], [0.9164014458656311], [0.9269694685935974], [0.9573231339454651])
15:56:58.328[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.024414秒。
15:56:58.402[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.097"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
15:58:32.646[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/calibration/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
15:58:32.729[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/calibration/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
16:00:27.533[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:00:27.535[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:00:27.535[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:00:27.557[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:00:27.558[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:27.558[I] 创建物体模型_1: 开始创建模型。请稍候。
16:00:27.560[D] 收到相机应答信息耗时： 0.0012785
16:00:27.560[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:27.561[D] 收到相机应答信息耗时： 0.0009386
16:00:27.561[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:00:27.561[D] 收到相机应答信息耗时： 0.0005837
16:00:27.561[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:00:27.562[D] 收到相机应答信息耗时： 0.0005725
16:00:27.638[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:00:27.639[D] 收到相机应答信息耗时： 0.0010236
16:00:27.647[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:27.648[D] 收到相机应答信息耗时： 0.0009746
16:00:27.648[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:00:27.730[I] 创建物体模型_1: 模型被成功创建。
16:00:29.121[D] 收到相机应答信息耗时： 1.47231
16:00:29.177[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:00:29.421[D] Normal Filter Main Normal: 0 , 0 , -1
16:00:29.641[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:00:29.786[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:29.787[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:29.828[I] 数据重复并串接_1: 重复4次。
16:00:29.828[I] 数据重复并串接_2: 重复4次。
16:00:29.844[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为263，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:00:29.844[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:00:29.844[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:00:29.944[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187976
16:00:29.944[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124667
16:00:29.946[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.837877 [mm], validation score: 0.991918.
16:00:29.947[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176708
16:00:29.948[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112986
16:00:29.949[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.581344 [mm], validation score: 0.995346.
16:00:29.950[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188818
16:00:29.951[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121342
16:00:29.952[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.660485 [mm], validation score: 0.994583.
16:00:29.953[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177281
16:00:29.954[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108715
16:00:29.955[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588629 [mm], validation score: 0.995394.
16:00:29.956[I] 3D精匹配_2: 匹配得分: ([0.9919179081916809], [0.995346188545227], [0.9945827126502991], [0.9953935146331787])
16:00:29.960[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188423
16:00:29.961[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123548
16:00:29.963[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.839272 [mm], validation score: 0.915297.
16:00:29.964[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177385
16:00:29.964[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00107113
16:00:29.966[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.578009 [mm], validation score: 0.951519.
16:00:29.967[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189954
16:00:29.967[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120272
16:00:29.969[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.655157 [mm], validation score: 0.943592.
16:00:29.970[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176588
16:00:29.970[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011504
16:00:29.972[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.593927 [mm], validation score: 0.950792.
16:00:29.973[I] 3D精匹配_1: 匹配得分: ([0.9152973294258118], [0.951518714427948], [0.9435921311378479], [0.9507915377616882])
16:00:29.973[I] 调整位姿_1: 开始运行。
16:00:29.973[I] 调整位姿_1: 16个子步骤运行结束。
16:00:29.973[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1545820245559989,-0.12526346029765204,0.18577429224269548,0.7033360249305572,0.0031757970884456754,0.0012314531873440942,0.710849374952797],[0.1535008682531689,0.013031649567618292,0.18591058486242074,0.9999863366038433,0.00079332074962013,0.005048890841435914,0.0010981571310068605],[0.023676663087836475,-0.12560757156986355,0.18696036928571935,-0.9999587899379221,0.004615240841306046,-0.0067654081031874235,0.0039175542225176],[0.022980962781595102,0.012386801653987506,0.18664929096435756,0.9999897450680827,0.000560870031850366,0.0034768282382798823,0.002847252865407359]]})
16:00:29.994[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 1
16:00:29.998[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 1
16:00:30.001[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 1
16:00:30.002[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 1
16:00:30.002[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.44385秒。
16:00:30.013[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.452"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:00:31.773[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:00:31.775[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:00:31.775[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:00:31.817[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:00:31.818[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:31.818[I] 创建物体模型_1: 开始创建模型。请稍候。
16:00:31.820[D] 收到相机应答信息耗时： 0.0023401
16:00:31.820[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:31.821[D] 收到相机应答信息耗时： 0.0010098
16:00:31.821[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:00:31.822[D] 收到相机应答信息耗时： 0.000961
16:00:31.822[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:00:31.823[D] 收到相机应答信息耗时： 0.0009902
16:00:31.898[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:00:31.899[D] 收到相机应答信息耗时： 0.0009665
16:00:31.907[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:31.908[D] 收到相机应答信息耗时： 0.0009753
16:00:31.908[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:00:31.974[I] 创建物体模型_1: 模型被成功创建。
16:00:33.341[D] 收到相机应答信息耗时： 1.43256
16:00:33.396[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:00:33.639[D] Normal Filter Main Normal: 0 , 0 , -1
16:00:33.852[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:00:33.983[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:33.984[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:34.031[I] 数据重复并串接_1: 重复4次。
16:00:34.031[I] 数据重复并串接_2: 重复4次。
16:00:34.044[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为265，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:00:34.044[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:00:34.044[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:00:34.144[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187675
16:00:34.144[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121922
16:00:34.145[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.782363 [mm], validation score: 0.992815.
16:00:34.146[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017464
16:00:34.147[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00106964
16:00:34.148[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54518 [mm], validation score: 0.995552.
16:00:34.149[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190468
16:00:34.150[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012408
16:00:34.151[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.686076 [mm], validation score: 0.994022.
16:00:34.152[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179484
16:00:34.152[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115124
16:00:34.154[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.559549 [mm], validation score: 0.996064.
16:00:34.154[I] 3D精匹配_2: 匹配得分: ([0.9928152561187744], [0.9955517053604126], [0.9940224885940552], [0.9960635900497437])
16:00:34.159[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187772
16:00:34.160[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122777
16:00:34.162[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.782032 [mm], validation score: 0.924544.
16:00:34.163[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00173906
16:00:34.163[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114104
16:00:34.165[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.552904 [mm], validation score: 0.953809.
16:00:34.166[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190866
16:00:34.166[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123848
16:00:34.168[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.683189 [mm], validation score: 0.938296.
16:00:34.169[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178926
16:00:34.169[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118398
16:00:34.171[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.562937 [mm], validation score: 0.957411.
16:00:34.172[I] 3D精匹配_1: 匹配得分: ([0.9245439171791077], [0.953809380531311], [0.938295841217041], [0.9574107527732849])
16:00:34.172[I] 调整位姿_1: 开始运行。
16:00:34.172[I] 调整位姿_1: 16个子步骤运行结束。
16:00:34.172[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15443544505464696,-0.1256703874309372,0.18583368494650299,0.7062659529422696,0.0025872750412526562,-0.0004817693717978394,0.7079417190847566],[0.15415340647062153,0.01356551380463969,0.18598469257540295,0.999947933957414,0.010034911975117772,-0.000269319997795614,0.0018323162087713896],[0.023695463820494728,-0.1258886739045559,0.1869245082402744,0.7071468114752959,0.00021736365836418775,0.008495142459062455,0.7070156803975162],[0.023023946052952604,0.012380629358987566,0.18673173577927615,0.9999912838880729,0.00036464949820533656,0.0029948202144012594,0.0028862138712650366]]})
16:00:34.181[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 2
16:00:34.185[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 2
16:00:34.191[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 2
16:00:34.195[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 2
16:00:34.195[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.37871秒。
16:00:34.207[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.390"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:00:35.481[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:00:35.483[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:00:35.484[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:00:35.528[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:00:35.528[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:35.528[I] 创建物体模型_1: 开始创建模型。请稍候。
16:00:35.551[D] 收到相机应答信息耗时： 0.023002
16:00:35.552[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:35.552[D] 收到相机应答信息耗时： 0.000791
16:00:35.552[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:00:35.553[D] 收到相机应答信息耗时： 0.0006374
16:00:35.553[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:00:35.554[D] 收到相机应答信息耗时： 0.0008767
16:00:35.626[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:00:35.627[D] 收到相机应答信息耗时： 0.0007734
16:00:35.634[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:35.635[D] 收到相机应答信息耗时： 0.0006695
16:00:35.635[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:00:35.689[I] 创建物体模型_1: 模型被成功创建。
16:00:37.004[D] 收到相机应答信息耗时： 1.36942
16:00:37.056[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:00:37.292[D] Normal Filter Main Normal: 0 , 0 , -1
16:00:37.502[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:00:37.643[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:37.644[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:37.692[I] 数据重复并串接_2: 重复4次。
16:00:37.692[I] 数据重复并串接_1: 重复4次。
16:00:37.699[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为265，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:00:37.699[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:00:37.699[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:00:37.799[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189146
16:00:37.800[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012513
16:00:37.802[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.837309 [mm], validation score: 0.991723.
16:00:37.802[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00173305
16:00:37.803[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112561
16:00:37.805[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.546376 [mm], validation score: 0.995885.
16:00:37.805[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188322
16:00:37.806[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121747
16:00:37.808[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.713838 [mm], validation score: 0.993388.
16:00:37.809[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176656
16:00:37.809[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111468
16:00:37.811[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.519685 [mm], validation score: 0.996376.
16:00:37.811[I] 3D精匹配_2: 匹配得分: ([0.9917231202125549], [0.9958851933479309], [0.9933876991271973], [0.996376097202301])
16:00:37.816[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018869
16:00:37.816[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012486
16:00:37.818[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.82761 [mm], validation score: 0.914896.
16:00:37.819[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00173276
16:00:37.819[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111895
16:00:37.821[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542208 [mm], validation score: 0.95694.
16:00:37.822[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189273
16:00:37.823[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122138
16:00:37.825[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.711748 [mm], validation score: 0.932172.
16:00:37.825[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177284
16:00:37.826[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00107845
16:00:37.828[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.518833 [mm], validation score: 0.961359.
16:00:37.828[I] 3D精匹配_1: 匹配得分: ([0.9148958325386047], [0.9569398760795593], [0.9321722388267517], [0.9613587856292725])
16:00:37.828[I] 调整位姿_1: 开始运行。
16:00:37.828[I] 调整位姿_1: 16个子步骤运行结束。
16:00:37.829[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15464838891580573,-0.12546229452923455,0.18562104018338688,0.709459414710297,-0.0008344296210584471,0.00484605694952364,-0.7047291382780846],[0.15362889699698262,0.013463417945556971,0.1861937469407462,0.7089042913800097,0.009963384530015582,0.004317880940488645,-0.7052210947893554],[0.023875654093435866,-0.12593217092209655,0.1869861175464449,0.7069065708592233,-0.007809511924697758,0.002132303080617678,-0.7072606060591274],[0.023244264002290738,0.012679733369844931,0.1867727898979259,-0.9999848506910105,-0.001373387228256324,-0.005234355961710808,-0.0010068334841429251]]})
16:00:37.838[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 3
16:00:37.846[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 3
16:00:37.849[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 3
16:00:37.849[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 3
16:00:37.850[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.32178秒。
16:00:37.866[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.335"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:00:39.004[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:00:39.006[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:00:39.008[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:00:39.049[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:00:39.050[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:39.050[I] 创建物体模型_1: 开始创建模型。请稍候。
16:00:39.052[D] 收到相机应答信息耗时： 0.0021078
16:00:39.052[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:39.053[D] 收到相机应答信息耗时： 0.0010298
16:00:39.053[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:00:39.054[D] 收到相机应答信息耗时： 0.001015
16:00:39.054[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:00:39.055[D] 收到相机应答信息耗时： 0.0009752
16:00:39.130[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:00:39.131[D] 收到相机应答信息耗时： 0.0008593
16:00:39.139[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:39.140[D] 收到相机应答信息耗时： 0.0009789
16:00:39.140[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:00:39.219[I] 创建物体模型_1: 模型被成功创建。
16:00:40.856[D] 收到相机应答信息耗时： 1.71535
16:00:40.907[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:00:41.140[D] Normal Filter Main Normal: 0 , 0 , -1
16:00:41.356[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:00:41.498[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:41.499[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:41.543[I] 数据重复并串接_1: 重复4次。
16:00:41.543[I] 数据重复并串接_2: 重复4次。
16:00:41.558[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为263，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:00:41.559[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:00:41.559[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:00:41.657[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185244
16:00:41.657[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012519
16:00:41.659[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.774354 [mm], validation score: 0.99279.
16:00:41.660[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00174926
16:00:41.660[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00105298
16:00:41.662[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510157 [mm], validation score: 0.996314.
16:00:41.662[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188319
16:00:41.663[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011969
16:00:41.665[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.686784 [mm], validation score: 0.994105.
16:00:41.666[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017851
16:00:41.666[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114861
16:00:41.668[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.547257 [mm], validation score: 0.99596.
16:00:41.668[I] 3D精匹配_2: 匹配得分: ([0.9927902817726135], [0.9963144063949585], [0.9941046237945557], [0.9959597587585449])
16:00:41.673[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186342
16:00:41.673[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122003
16:00:41.676[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.775583 [mm], validation score: 0.923805.
16:00:41.676[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00173947
16:00:41.677[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108231
16:00:41.679[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.514055 [mm], validation score: 0.961068.
16:00:41.679[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188633
16:00:41.680[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120906
16:00:41.681[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.688354 [mm], validation score: 0.939252.
16:00:41.682[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177701
16:00:41.683[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108775
16:00:41.684[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.539716 [mm], validation score: 0.958018.
16:00:41.685[I] 3D精匹配_1: 匹配得分: ([0.923804521560669], [0.9610679745674133], [0.9392520785331726], [0.9580177664756775])
16:00:41.685[I] 调整位姿_1: 开始运行。
16:00:41.685[I] 调整位姿_1: 16个子步骤运行结束。
16:00:41.685[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1545465729844503,-0.1253112061486483,0.18570667535613672,0.7042594972507379,0.003378364555423799,5.878490753314985e-05,0.7099346052485419],[0.15373766957177612,0.013433566266510849,0.1860254187496675,0.9999499097466831,0.009553159200130185,0.0011243156514515185,0.00276605517169487],[0.023723856130011267,-0.12571336493349664,0.18694624547836303,-0.9999598149507968,0.005503565848649186,-0.006814998598546522,0.0019065782486701265],[0.02299605349097436,0.01232106910493111,0.18651329405062156,0.999990934449851,-0.0012211652317476122,0.0020264685996299035,0.0035402257845243497]]})
16:00:41.695[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 4
16:00:41.700[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 4
16:00:41.707[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 4
16:00:41.707[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 4
16:00:41.707[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.65786秒。
16:00:41.713[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.663"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:00:42.685[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:00:42.686[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:00:42.687[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:00:42.716[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:00:42.716[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:42.716[I] 创建物体模型_1: 开始创建模型。请稍候。
16:00:42.718[D] 收到相机应答信息耗时： 0.0021139
16:00:42.719[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:42.720[D] 收到相机应答信息耗时： 0.0010399
16:00:42.720[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:00:42.721[D] 收到相机应答信息耗时： 0.0009169
16:00:42.721[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:00:42.722[D] 收到相机应答信息耗时： 0.0009044
16:00:42.797[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:00:42.798[D] 收到相机应答信息耗时： 0.0009363
16:00:42.805[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:42.806[D] 收到相机应答信息耗时： 0.0009368
16:00:42.806[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:00:42.874[I] 创建物体模型_1: 模型被成功创建。
16:00:44.288[D] 收到相机应答信息耗时： 1.48211
16:00:44.340[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:00:44.569[D] Normal Filter Main Normal: 0 , 0 , -1
16:00:44.784[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:00:44.930[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:44.931[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:44.969[I] 数据重复并串接_1: 重复4次。
16:00:44.969[I] 数据重复并串接_2: 重复4次。
16:00:44.987[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为263，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:00:44.988[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:00:44.988[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:00:45.083[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190978
16:00:45.084[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012602
16:00:45.086[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.89532 [mm], validation score: 0.989784.
16:00:45.087[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00173726
16:00:45.087[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113885
16:00:45.089[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.51449 [mm], validation score: 0.996202.
16:00:45.089[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189835
16:00:45.090[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125576
16:00:45.092[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.81203 [mm], validation score: 0.99103.
16:00:45.092[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177282
16:00:45.093[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00105768
16:00:45.095[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.535949 [mm], validation score: 0.996276.
16:00:45.095[I] 3D精匹配_2: 匹配得分: ([0.9897841215133667], [0.996201753616333], [0.9910300374031067], [0.9962755441665649])
16:00:45.099[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190093
16:00:45.100[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124251
16:00:45.101[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.862927 [mm], validation score: 0.898243.
16:00:45.102[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00174183
16:00:45.103[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001084
16:00:45.105[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.510712 [mm], validation score: 0.960396.
16:00:45.106[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190125
16:00:45.106[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012426
16:00:45.108[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.765189 [mm], validation score: 0.911293.
16:00:45.109[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177724
16:00:45.110[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00106796
16:00:45.111[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.533814 [mm], validation score: 0.960285.
16:00:45.112[I] 3D精匹配_1: 匹配得分: ([0.898243248462677], [0.9603964686393738], [0.9112928509712219], [0.9602845311164856])
16:00:45.112[I] 调整位姿_1: 开始运行。
16:00:45.112[I] 调整位姿_1: 16个子步骤运行结束。
16:00:45.112[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15463718132277388,-0.12535023575587553,0.1857005750381433,0.9999778877695213,0.004775921930307042,0.002903106149331307,0.0036036809525770153],[0.15358409422825822,0.013460734547647596,0.18576575980114973,0.7092112025493184,0.0012960777509645497,0.005209186201523606,-0.7049756412388523],[0.02375846669790377,-0.12590780291669637,0.18687574616602864,0.999964696808772,-0.005604598681810822,0.006251116323498499,0.00034227834544203176],[0.022891048239225983,0.012395151879908445,0.18638235517641144,-0.710308490113783,0.0025664860192565063,-0.0006046900614842736,0.703885570509645]]})
16:00:45.124[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 5
16:00:45.128[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 5
16:00:45.135[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 5
16:00:45.139[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 5
16:00:45.139[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.42407秒。
16:00:45.143[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.427"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:00:48.168[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:00:48.170[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:00:48.171[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:00:48.199[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:00:48.200[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:48.200[I] 创建物体模型_1: 开始创建模型。请稍候。
16:00:48.202[D] 收到相机应答信息耗时： 0.0021687
16:00:48.202[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:48.203[D] 收到相机应答信息耗时： 0.0010253
16:00:48.203[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:00:48.204[D] 收到相机应答信息耗时： 0.0009965
16:00:48.204[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:00:48.205[D] 收到相机应答信息耗时： 0.0009519
16:00:48.284[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:00:48.285[D] 收到相机应答信息耗时： 0.0010845
16:00:48.293[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:48.294[D] 收到相机应答信息耗时： 0.0009437
16:00:48.294[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:00:48.362[I] 创建物体模型_1: 模型被成功创建。
16:00:49.914[D] 收到相机应答信息耗时： 1.62071
16:00:49.970[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:00:50.201[D] Normal Filter Main Normal: 0 , 0 , -1
16:00:50.411[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:00:50.554[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:50.556[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:50.596[I] 数据重复并串接_2: 重复4次。
16:00:50.596[I] 数据重复并串接_1: 重复4次。
16:00:50.614[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为265，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:00:50.615[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:00:50.615[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:00:50.711[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187562
16:00:50.711[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125092
16:00:50.713[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.844345 [mm], validation score: 0.991398.
16:00:50.714[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00173415
16:00:50.715[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115568
16:00:50.716[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.550107 [mm], validation score: 0.995832.
16:00:50.717[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191303
16:00:50.718[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124537
16:00:50.719[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.724422 [mm], validation score: 0.992898.
16:00:50.720[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180178
16:00:50.720[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110214
16:00:50.723[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.555622 [mm], validation score: 0.996104.
16:00:50.723[I] 3D精匹配_2: 匹配得分: ([0.9913977980613708], [0.9958317875862122], [0.9928978085517883], [0.9961035847663879])
16:00:50.727[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188334
16:00:50.728[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125042
16:00:50.730[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.840163 [mm], validation score: 0.911855.
16:00:50.731[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00173495
16:00:50.731[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115454
16:00:50.733[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.550459 [mm], validation score: 0.956058.
16:00:50.734[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192348
16:00:50.734[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127059
16:00:50.737[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.697642 [mm], validation score: 0.928291.
16:00:50.738[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179555
16:00:50.738[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112617
16:00:50.740[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.554751 [mm], validation score: 0.958439.
16:00:50.740[I] 3D精匹配_1: 匹配得分: ([0.9118545055389404], [0.9560583829879761], [0.9282907843589783], [0.9584386944770813])
16:00:50.741[I] 调整位姿_1: 开始运行。
16:00:50.741[I] 调整位姿_1: 16个子步骤运行结束。
16:00:50.741[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15480655925640044,-0.12539834096830574,0.1855885415157308,0.710442296825461,0.0004143302736581006,0.006287970200305385,-0.7037272430725898],[0.15387102527520408,0.013574376271367677,0.18590991126002598,0.7092413827478685,0.0021102360720546007,0.006961292745578303,-0.7049281866296184],[0.023722399483174395,-0.12585669037529476,0.18689506055928606,0.9999683040460523,-0.004917954597629659,0.006260622698012136,-9.606912525295679e-05],[0.023180650765897315,0.01256971598648296,0.18670246144734626,-0.9999805605660972,-0.003660559252299584,-0.004656729569021558,-0.001947733450850382]]})
16:00:50.752[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 6
16:00:50.757[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 6
16:00:50.764[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 6
16:00:50.764[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 6
16:00:50.764[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.56537秒。
16:00:50.879[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.677"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:00:52.149[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:00:52.152[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:00:52.152[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:00:52.194[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:00:52.195[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:52.195[I] 创建物体模型_1: 开始创建模型。请稍候。
16:00:52.197[D] 收到相机应答信息耗时： 0.0021227
16:00:52.197[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:52.198[D] 收到相机应答信息耗时： 0.0010631
16:00:52.198[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:00:52.199[D] 收到相机应答信息耗时： 0.000905
16:00:52.199[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:00:52.200[D] 收到相机应答信息耗时： 0.0008843
16:00:52.273[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:00:52.274[D] 收到相机应答信息耗时： 0.0010672
16:00:52.282[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:52.283[D] 收到相机应答信息耗时： 0.0009593
16:00:52.283[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:00:52.348[I] 创建物体模型_1: 模型被成功创建。
16:00:53.882[D] 收到相机应答信息耗时： 1.59801
16:00:53.935[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:00:54.175[D] Normal Filter Main Normal: 0 , 0 , -1
16:00:54.388[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:00:54.539[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:54.541[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:54.580[I] 数据重复并串接_1: 重复4次。
16:00:54.580[I] 数据重复并串接_2: 重复4次。
16:00:54.599[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为263，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:00:54.600[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:00:54.600[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:00:54.698[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187482
16:00:54.699[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120982
16:00:54.701[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.781718 [mm], validation score: 0.992809.
16:00:54.701[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00174178
16:00:54.702[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109346
16:00:54.704[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.512828 [mm], validation score: 0.996504.
16:00:54.704[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192543
16:00:54.705[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127954
16:00:54.706[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.777363 [mm], validation score: 0.992842.
16:00:54.707[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177916
16:00:54.708[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110727
16:00:54.708[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.558053 [mm], validation score: 0.995678.
16:00:54.708[I] 3D精匹配_2: 匹配得分: ([0.9928090572357178], [0.9965039491653442], [0.9928417205810547], [0.9956778883934021])
16:00:54.713[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018745
16:00:54.713[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121635
16:00:54.715[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.781419 [mm], validation score: 0.924529.
16:00:54.716[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00174171
16:00:54.717[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108783
16:00:54.718[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.521901 [mm], validation score: 0.962124.
16:00:54.719[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192035
16:00:54.720[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126534
16:00:54.722[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.778089 [mm], validation score: 0.92534.
16:00:54.723[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017785
16:00:54.723[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110214
16:00:54.725[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.55504 [mm], validation score: 0.9547.
16:00:54.726[I] 3D精匹配_1: 匹配得分: ([0.9245293736457825], [0.962123692035675], [0.9253398180007935], [0.9546997547149658])
16:00:54.726[I] 调整位姿_1: 开始运行。
16:00:54.726[I] 调整位姿_1: 16个子步骤运行结束。
16:00:54.726[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1546051143561854,-0.12524717991434922,0.1856322396893384,0.702704367302897,0.006065981837448459,-0.0007326006416566652,0.7114557184632664],[0.15392037884436122,0.013313100759617585,0.18596289933235854,0.9999727157845718,0.007232672380516322,0.0005097867883901396,0.0014128885639447808],[0.023916323830558,-0.1259199747231257,0.1869742257336624,-0.9999589806616795,0.005279503594646142,-0.007242722604166978,-0.0013064475219108419],[0.023195465364344928,0.01221890492939351,0.18665689314788692,0.9999878055239223,0.0006706951237732727,0.003983848011971388,0.0028404095688360593]]})
16:00:54.737[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 7
16:00:54.743[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 7
16:00:54.754[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 7
16:00:54.756[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 7
16:00:54.756[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.56194秒。
16:00:54.759[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.564"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:00:55.794[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:00:55.795[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:00:55.796[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:00:55.833[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:00:55.833[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:55.833[I] 创建物体模型_1: 开始创建模型。请稍候。
16:00:55.836[D] 收到相机应答信息耗时： 0.0023195
16:00:55.836[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:55.837[D] 收到相机应答信息耗时： 0.0010151
16:00:55.837[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:00:55.838[D] 收到相机应答信息耗时： 0.0008886
16:00:55.838[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:00:55.839[D] 收到相机应答信息耗时： 0.0009704
16:00:55.909[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:00:55.910[D] 收到相机应答信息耗时： 0.0009861
16:00:55.918[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:55.919[D] 收到相机应答信息耗时： 0.0008369
16:00:55.919[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:00:56.001[I] 创建物体模型_1: 模型被成功创建。
16:00:57.358[D] 收到相机应答信息耗时： 1.43898
16:00:57.410[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:00:57.647[D] Normal Filter Main Normal: 0 , 0 , -1
16:00:57.858[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:00:57.979[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:57.980[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:00:58.021[I] 数据重复并串接_1: 重复4次。
16:00:58.021[I] 数据重复并串接_2: 重复4次。
16:00:58.036[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为265，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:00:58.036[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:00:58.036[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:00:58.134[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192344
16:00:58.135[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129489
16:00:58.137[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.832206 [mm], validation score: 0.991632.
16:00:58.138[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00171613
16:00:58.138[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0010291
16:00:58.140[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.485042 [mm], validation score: 0.996805.
16:00:58.141[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187414
16:00:58.141[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120768
16:00:58.143[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.662996 [mm], validation score: 0.99473.
16:00:58.144[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00175995
16:00:58.144[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114343
16:00:58.146[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.537868 [mm], validation score: 0.99626.
16:00:58.146[I] 3D精匹配_2: 匹配得分: ([0.9916324019432068], [0.9968050718307495], [0.99472975730896], [0.9962596297264099])
16:00:58.152[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191955
16:00:58.153[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126856
16:00:58.155[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.838274 [mm], validation score: 0.912328.
16:00:58.156[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00172379
16:00:58.156[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00105374
16:00:58.158[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.486358 [mm], validation score: 0.965759.
16:00:58.159[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187246
16:00:58.159[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120265
16:00:58.161[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.659528 [mm], validation score: 0.944498.
16:00:58.162[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00174733
16:00:58.163[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00105417
16:00:58.165[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.53473 [mm], validation score: 0.960192.
16:00:58.165[I] 3D精匹配_1: 匹配得分: ([0.9123281836509705], [0.9657592177391052], [0.9444977045059204], [0.9601924419403076])
16:00:58.165[I] 调整位姿_1: 开始运行。
16:00:58.166[I] 调整位姿_1: 16个子步骤运行结束。
16:00:58.166[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1547053280876348,-0.12550888062139118,0.18560572807593068,0.7093837393825314,-0.0007401969964100155,0.004822610054426232,-0.7048055794616879],[0.1535673077918935,0.013586339607636194,0.1858980688606735,0.7105310804092051,0.0019876387576863754,0.0050393106408523035,-0.7036449661675708],[0.02371483878222344,-0.12587184978239427,0.18694086979138724,0.9999632982020257,-0.005169757733512678,0.006801498054405929,-0.0006445759289442967],[0.02303118054641358,0.012454619232148884,0.18654505614572847,-0.9999922710770807,0.0012805722675513441,-0.002685295606171544,-0.002570429590089125]]})
16:00:58.177[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 8
16:00:58.183[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 8
16:00:58.191[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 8
16:00:58.193[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 8
16:00:58.193[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.36012秒。
16:00:58.208[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.373"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:00:59.282[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:00:59.284[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:00:59.285[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:00:59.313[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:00:59.313[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:59.314[I] 创建物体模型_1: 开始创建模型。请稍候。
16:00:59.454[I] 创建物体模型_1: 模型被成功创建。
16:00:59.472[D] 收到相机应答信息耗时： 0.157964
16:00:59.472[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:59.473[D] 收到相机应答信息耗时： 0.0009791
16:00:59.473[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:00:59.492[D] 收到相机应答信息耗时： 0.0184874
16:00:59.492[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:00:59.493[D] 收到相机应答信息耗时： 0.0011239
16:00:59.559[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:00:59.560[D] 收到相机应答信息耗时： 0.001479
16:00:59.566[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:00:59.568[D] 收到相机应答信息耗时： 0.0014628
16:00:59.568[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:01:01.001[D] 收到相机应答信息耗时： 1.43291
16:01:01.053[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:01:01.294[D] Normal Filter Main Normal: 0 , 0 , -1
16:01:01.504[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:01:01.647[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:01:01.648[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:01:01.687[I] 数据重复并串接_1: 重复4次。
16:01:01.687[I] 数据重复并串接_2: 重复4次。
16:01:01.702[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为265，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:01:01.702[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:01:01.702[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:01:01.798[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188862
16:01:01.798[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124783
16:01:01.801[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.875152 [mm], validation score: 0.990764.
16:01:01.801[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00174797
16:01:01.802[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00106129
16:01:01.804[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.554658 [mm], validation score: 0.995801.
16:01:01.804[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187872
16:01:01.805[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121641
16:01:01.807[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.710635 [mm], validation score: 0.993855.
16:01:01.807[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176935
16:01:01.808[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110945
16:01:01.810[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.54909 [mm], validation score: 0.995883.
16:01:01.810[I] 3D精匹配_2: 匹配得分: ([0.9907643795013428], [0.9958009719848633], [0.9938547611236572], [0.9958834052085876])
16:01:01.815[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190015
16:01:01.815[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125625
16:01:01.817[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.881679 [mm], validation score: 0.905048.
16:01:01.818[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001757
16:01:01.818[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112845
16:01:01.820[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.553632 [mm], validation score: 0.955984.
16:01:01.821[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187788
16:01:01.822[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122028
16:01:01.823[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.707264 [mm], validation score: 0.935752.
16:01:01.824[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176908
16:01:01.825[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111015
16:01:01.827[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.550716 [mm], validation score: 0.956419.
16:01:01.827[I] 3D精匹配_1: 匹配得分: ([0.9050478339195251], [0.9559836387634277], [0.9357519745826721], [0.9564192295074463])
16:01:01.827[I] 调整位姿_1: 开始运行。
16:01:01.827[I] 调整位姿_1: 16个子步骤运行结束。
16:01:01.828[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15475039378732017,-0.1253592633637848,0.18559611107726637,0.7035638668175763,0.005962028826776854,-0.0004212935613876947,0.7106068969780011],[0.15368280003571397,0.013353812623689953,0.18597181719901523,0.9999602986955225,0.00780825705844302,0.0030425695846593194,0.0030290138316820814],[0.0238906074711486,-0.12596648882551412,0.18695203904934243,-0.9999559406095392,0.0054539450482447085,-0.007639303542035551,0.00011119574900913515],[0.02313473059806634,0.012762828079435545,0.18677463333929922,-0.7060523920067219,-0.0068934139426951695,-0.004392564971814892,-0.7081124246606487]]})
16:01:01.839[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 9
16:01:01.846[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 9
16:01:01.854[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 9
16:01:01.854[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 9
16:01:01.854[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.54129秒。
16:01:01.870[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.554"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:01:02.796[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:01:02.798[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:01:02.798[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:01:02.834[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:01:02.835[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:01:02.835[I] 创建物体模型_1: 开始创建模型。请稍候。
16:01:02.837[D] 收到相机应答信息耗时： 0.002086
16:01:02.837[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:01:02.838[D] 收到相机应答信息耗时： 0.0009431
16:01:02.838[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:01:02.839[D] 收到相机应答信息耗时： 0.0010722
16:01:02.839[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:01:02.840[D] 收到相机应答信息耗时： 0.0010158
16:01:02.915[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:01:02.916[D] 收到相机应答信息耗时： 0.0010354
16:01:02.924[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:01:02.926[D] 收到相机应答信息耗时： 0.0015078
16:01:02.926[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:01:03.004[I] 创建物体模型_1: 模型被成功创建。
16:01:04.331[D] 收到相机应答信息耗时： 1.4053
16:01:04.384[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:01:04.622[D] Normal Filter Main Normal: 0 , 0 , -1
16:01:04.833[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:01:04.976[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:01:04.977[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:01:05.026[I] 数据重复并串接_1: 重复4次。
16:01:05.026[I] 数据重复并串接_2: 重复4次。
16:01:05.029[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为263，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:01:05.030[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:01:05.030[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:01:05.128[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184862
16:01:05.128[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123467
16:01:05.130[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.76903 [mm], validation score: 0.993277.
16:01:05.131[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017332
16:01:05.131[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114311
16:01:05.133[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505684 [mm], validation score: 0.996667.
16:01:05.134[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189619
16:01:05.134[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121505
16:01:05.136[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.720953 [mm], validation score: 0.993406.
16:01:05.137[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180462
16:01:05.138[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113432
16:01:05.140[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.608968 [mm], validation score: 0.994879.
16:01:05.140[I] 3D精匹配_2: 匹配得分: ([0.9932766556739807], [0.9966670870780945], [0.9934059977531433], [0.9948787093162537])
16:01:05.145[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185194
16:01:05.145[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122804
16:01:05.147[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.770051 [mm], validation score: 0.928817.
16:01:05.148[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00173175
16:01:05.149[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112994
16:01:05.151[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.504658 [mm], validation score: 0.964394.
16:01:05.151[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189087
16:01:05.152[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121683
16:01:05.154[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.717103 [mm], validation score: 0.932788.
16:01:05.154[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181321
16:01:05.155[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117133
16:01:05.157[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.609386 [mm], validation score: 0.946425.
16:01:05.157[I] 3D精匹配_1: 匹配得分: ([0.9288172125816345], [0.9643941521644592], [0.9327877759933472], [0.946425199508667])
16:01:05.157[I] 调整位姿_1: 开始运行。
16:01:05.158[I] 调整位姿_1: 16个子步骤运行结束。
16:01:05.158[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15492886310025578,-0.1252675052031247,0.18563686461546713,0.9999736148533003,0.002576388528404271,0.0034875963479439683,0.005828249401663377],[0.15357743812751068,0.013294140780731656,0.18589870225250116,0.7046435533379792,0.0009764785257354922,-0.0009410787380010569,-0.7095601620720573],[0.02404670870111808,-0.1258879796699878,0.18688449506966776,0.7059081783268911,-0.007408418812345134,0.0013459166239152688,-0.7082633321091476],[0.02330286020367861,0.012586978245740482,0.18672523800155783,0.7081350304964452,-0.002977775219579481,0.003911738602388697,-0.7060599193692039]]})
16:01:05.170[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 10
16:01:05.176[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 10
16:01:05.184[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 10
16:01:05.184[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 10
16:01:05.185[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.35091秒。
16:01:05.199[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.362"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:02:12.521[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:02:12.572[I] 数据重复并串接_1: 重复4次。
16:02:12.572[I] 数据重复并串接_2: 重复4次。
16:02:12.584[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数39）。耗时：0.062936秒。
16:02:12.599[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.077"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:08:40.227[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:08:40.234[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为263，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:08:40.234[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:08:40.235[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:08:40.332[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184862
16:08:40.332[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123467
16:08:40.335[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.76903 [mm], validation score: 0.993277.
16:08:40.336[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0017332
16:08:40.336[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114311
16:08:40.338[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.505684 [mm], validation score: 0.996667.
16:08:40.339[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189619
16:08:40.340[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121505
16:08:40.342[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.720953 [mm], validation score: 0.993406.
16:08:40.342[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180462
16:08:40.343[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113432
16:08:40.345[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.608968 [mm], validation score: 0.994879.
16:08:40.345[I] 3D精匹配_2: 匹配得分: ([0.9932766556739807], [0.9966670870780945], [0.9934059977531433], [0.9948787093162537])
16:08:40.352[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185194
16:08:40.352[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122804
16:08:40.354[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.770051 [mm], validation score: 0.928817.
16:08:40.355[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00173175
16:08:40.355[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112994
16:08:40.357[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.504658 [mm], validation score: 0.964394.
16:08:40.358[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189087
16:08:40.358[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121683
16:08:40.360[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.717103 [mm], validation score: 0.932788.
16:08:40.361[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181321
16:08:40.361[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117133
16:08:40.363[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.609386 [mm], validation score: 0.946425.
16:08:40.363[I] 3D精匹配_1: 匹配得分: ([0.9288172125816345], [0.9643941521644592], [0.9327877759933472], [0.946425199508667])
16:08:40.364[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数7）。耗时：0.135912秒。
16:08:40.387[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.156"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:08:42.385[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:08:42.390[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185194
16:08:42.390[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122804
16:08:42.392[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.770051 [mm], validation score: 0.928817.
16:08:42.393[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00173175
16:08:42.393[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112994
16:08:42.395[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.504658 [mm], validation score: 0.964394.
16:08:42.396[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189087
16:08:42.396[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121683
16:08:42.398[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.717103 [mm], validation score: 0.932788.
16:08:42.399[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181321
16:08:42.400[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117133
16:08:42.401[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.609386 [mm], validation score: 0.946425.
16:08:42.402[I] 3D精匹配_1: 匹配得分: ([0.9288172125816345], [0.9643941521644592], [0.9327877759933472], [0.946425199508667])
16:08:42.402[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.01675秒。
16:08:42.413[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.027"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:08:56.553[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:08:56.558[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185194
16:08:56.558[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122804
16:08:56.560[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.770051 [mm], validation score: 0.928817.
16:08:56.561[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00173175
16:08:56.562[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112994
16:08:56.563[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.504658 [mm], validation score: 0.964394.
16:08:56.564[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189087
16:08:56.565[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121683
16:08:56.567[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.717103 [mm], validation score: 0.932788.
16:08:56.567[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181321
16:08:56.568[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117133
16:08:56.570[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.609386 [mm], validation score: 0.946425.
16:08:56.571[I] 3D精匹配_1: 匹配得分: ([0.9288172125816345], [0.9643941521644592], [0.9327877759933472], [0.946425199508667])
16:08:56.571[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.0177秒。
16:08:56.604[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.050"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:14:35.113[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:14:35.115[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:14:35.116[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:14:35.145[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:14:35.145[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:14:35.146[I] 创建物体模型_1: 开始创建模型。请稍候。
16:14:35.147[D] 收到相机应答信息耗时： 0.001154
16:14:35.147[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:14:35.147[D] 收到相机应答信息耗时： 0.0006787
16:14:35.147[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:14:35.148[D] 收到相机应答信息耗时： 0.0006735
16:14:35.148[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:14:35.149[D] 收到相机应答信息耗时： 0.0006437
16:14:35.221[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:14:35.222[D] 收到相机应答信息耗时： 0.0006667
16:14:35.230[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:14:35.230[D] 收到相机应答信息耗时： 0.0006585
16:14:35.230[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:14:35.300[I] 创建物体模型_1: 模型被成功创建。
16:14:36.943[D] 收到相机应答信息耗时： 1.7123
16:14:36.996[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:14:37.234[D] Normal Filter Main Normal: 0 , 0 , -1
16:14:37.471[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:14:37.628[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:14:37.629[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:14:37.679[I] 数据重复并串接_2: 重复4次。
16:14:37.679[I] 数据重复并串接_1: 重复4次。
16:14:37.682[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:14:37.682[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:14:37.683[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:14:37.785[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189291
16:14:37.786[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126347
16:14:37.788[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.66524 [mm], validation score: 0.994026.
16:14:37.788[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019153
16:14:37.789[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124685
16:14:37.791[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.580346 [mm], validation score: 0.995734.
16:14:37.792[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181867
16:14:37.792[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118868
16:14:37.794[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.550274 [mm], validation score: 0.99614.
16:14:37.795[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188417
16:14:37.795[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125119
16:14:37.797[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.604817 [mm], validation score: 0.99524.
16:14:37.797[I] 3D精匹配_2: 匹配得分: ([0.9940257668495178], [0.9957338571548462], [0.9961401224136353], [0.9952399134635925])
16:14:37.802[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189793
16:14:37.803[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012499
16:14:37.805[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.657217 [mm], validation score: 0.939724.
16:14:37.806[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191295
16:14:37.806[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122946
16:14:37.808[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.582339 [mm], validation score: 0.954386.
16:14:37.809[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182258
16:14:37.809[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119102
16:14:37.811[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.548905 [mm], validation score: 0.959.
16:14:37.811[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187078
16:14:37.812[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116161
16:14:37.814[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.603758 [mm], validation score: 0.95027.
16:14:37.814[I] 3D精匹配_1: 匹配得分: ([0.9397242069244385], [0.954386293888092], [0.9589999318122864], [0.9502699375152588])
16:14:37.814[I] 调整位姿_1: 开始运行。
16:14:37.814[I] 调整位姿_1: 16个子步骤运行结束。
16:14:37.815[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15370783521247516,-0.13796387285442932,0.20154454488407247,0.7100366243791599,0.016128100390055956,-0.0003082483247642681,0.7039799580961278],[0.1530390532122362,0.030475582147237612,0.20262350480058955,0.9999714962307944,-0.0048671392479885806,0.0022183665030040232,0.005328839605898472],[0.021942287931235482,-0.1378160427199082,0.20229002146841113,-0.9999552483623413,-0.006549687225188781,0.005547417436513177,-0.003978571307050711],[0.01946700681178526,0.02962422316005278,0.20330255639864148,-0.7005096384741075,-0.004020369036925127,-0.003975311965692943,-0.7136205433789378]]})
16:14:37.832[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 11
16:14:37.836[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 11
16:14:37.839[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 11
16:14:37.840[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 11
16:14:37.841[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.69655秒。
16:14:37.855[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.708"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:20:42.854[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:20:42.856[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:20:42.857[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:20:42.889[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:20:42.890[I] 创建物体模型_1: 开始创建模型。请稍候。
16:20:42.890[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:20:42.891[I] 创建物体模型_2: 开始创建模型。请稍候。
16:20:42.893[D] 收到相机应答信息耗时： 0.0022488
16:20:42.893[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:20:42.894[D] 收到相机应答信息耗时： 0.000981
16:20:42.894[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:20:42.895[D] 收到相机应答信息耗时： 0.0010507
16:20:42.895[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:20:42.896[D] 收到相机应答信息耗时： 0.0009322
16:20:42.905[I] 创建物体模型_2: 模型被成功创建。
16:20:42.976[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:20:42.977[D] 收到相机应答信息耗时： 0.0010761
16:20:42.984[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:20:42.985[D] 收到相机应答信息耗时： 0.0009594
16:20:42.985[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:20:43.063[I] 创建物体模型_1: 模型被成功创建。
16:20:44.680[D] 收到相机应答信息耗时： 1.6949
16:20:44.733[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:20:44.733[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:20:44.977[D] Normal Filter Main Normal: 0 , 0 , -1
16:20:45.235[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:20:45.419[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:20:45.420[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:20:45.495[I] 数据重复并串接_1: 重复4次。
16:20:45.495[I] 数据重复并串接_2: 重复4次。
16:20:45.497[I] [ orthographicProjection ] 最小值点的X和Y为(-0.0933886, -0.0757494)。
最大点的X和Y是(0.0933583, 0.07577)。
16:20:45.503[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.336719。
16:20:45.503[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:20:45.503[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:20:45.659[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:20:45.660[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185409
16:20:45.661[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120993
16:20:45.663[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.755688 [mm], validation score: 0.992286.
16:20:45.663[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187347
16:20:45.664[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119675
16:20:45.666[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.65237 [mm], validation score: 0.99488.
16:20:45.667[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186154
16:20:45.667[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120579
16:20:45.669[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.797675 [mm], validation score: 0.991303.
16:20:45.670[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186133
16:20:45.670[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122677
16:20:45.672[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.586407 [mm], validation score: 0.995829.
16:20:45.672[I] 3D精匹配_2: 匹配得分: ([0.9922859072685242], [0.994879961013794], [0.9913029670715332], [0.9958287477493286])
16:20:45.677[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:20:45.677[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185458
16:20:45.678[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121491
16:20:45.680[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.759788 [mm], validation score: 0.92296.
16:20:45.681[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187736
16:20:45.681[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115928
16:20:45.683[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.649257 [mm], validation score: 0.946366.
16:20:45.684[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185243
16:20:45.685[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121737
16:20:45.687[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.773247 [mm], validation score: 0.916223.
16:20:45.688[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186298
16:20:45.688[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120972
16:20:45.690[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588279 [mm], validation score: 0.955217.
16:20:45.690[I] 3D精匹配_1: 匹配得分: ([0.9229601621627808], [0.9463663101196289], [0.9162234663963318], [0.955216646194458])
16:20:45.691[I] 调整位姿_4: 开始运行。
16:20:45.691[I] 调整位姿_4: 14个子步骤运行结束。
16:20:45.691[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15636894650093935,-0.2624422116064784,0.2260432905765266,0.7079588543191926,-0.014806470853910672,0.005859920639088611,-0.7060741394088954],[0.15457040028636312,-0.0786813846049591,0.22499714493193457,0.7137462059526749,-0.011957109928180098,0.004433130116157053,-0.7002883180288676],[0.006969921555376929,-0.26317715575485856,0.22679877277198046,0.7086598297262249,0.00407082218315702,-0.01056371011960354,-0.7054594830092372],[0.005967043021628662,-0.08065535863789924,0.2265681161160471,0.7104012573217992,-0.0031589953944507775,0.000983396782419317,-0.7037891071013147]]})
16:20:45.710[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 1
16:20:45.713[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 1
16:20:45.717[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 1
16:20:45.719[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 1
16:20:45.720[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.82997秒。
16:20:45.730[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.841"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:20:47.399[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:20:47.400[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:20:47.401[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:20:47.432[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:20:47.433[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:20:47.433[I] 创建物体模型_2: 开始创建模型。请稍候。
16:20:47.433[I] 创建物体模型_1: 开始创建模型。请稍候。
16:20:47.442[I] 创建物体模型_2: 模型被成功创建。
16:20:47.539[D] 收到相机应答信息耗时： 0.106294
16:20:47.539[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:20:47.563[D] 收到相机应答信息耗时： 0.0237433
16:20:47.563[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:20:47.564[D] 收到相机应答信息耗时： 0.0011888
16:20:47.564[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:20:47.565[D] 收到相机应答信息耗时： 0.0007682
16:20:47.603[I] 创建物体模型_1: 模型被成功创建。
16:20:47.636[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:20:47.637[D] 收到相机应答信息耗时： 0.0008873
16:20:47.642[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:20:47.643[D] 收到相机应答信息耗时： 0.0007161
16:20:47.643[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:20:49.128[D] 收到相机应答信息耗时： 1.48456
16:20:49.180[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:20:49.180[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:20:49.428[D] Normal Filter Main Normal: 0 , 0 , -1
16:20:49.679[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:20:49.834[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:20:49.836[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:20:49.896[I] 数据重复并串接_1: 重复4次。
16:20:49.896[I] 数据重复并串接_2: 重复4次。
16:20:49.898[I] [ orthographicProjection ] 最小值点的X和Y为(-0.0930627, -0.0758274)。
最大点的X和Y是(0.0929989, 0.0757941)。
16:20:49.921[I] [ printSampleResult ] 采样结束。
采样后点云中点数：303.
对应的采样采样间隔：0.336719。
16:20:49.921[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:20:49.921[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:20:50.077[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:20:50.078[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188602
16:20:50.078[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126415
16:20:50.080[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.699996 [mm], validation score: 0.993648.
16:20:50.081[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185803
16:20:50.081[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120356
16:20:50.083[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.63303 [mm], validation score: 0.995137.
16:20:50.084[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185574
16:20:50.085[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121869
16:20:50.086[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.779978 [mm], validation score: 0.991652.
16:20:50.087[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018584
16:20:50.088[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126432
16:20:50.089[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.690182 [mm], validation score: 0.994506.
16:20:50.090[I] 3D精匹配_2: 匹配得分: ([0.9936475157737732], [0.9951374530792236], [0.9916515946388245], [0.9945056438446045])
16:20:50.093[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:20:50.094[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188057
16:20:50.094[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124184
16:20:50.096[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.713291 [mm], validation score: 0.933804.
16:20:50.097[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185261
16:20:50.098[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119009
16:20:50.099[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.631944 [mm], validation score: 0.948566.
16:20:50.100[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185793
16:20:50.101[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120167
16:20:50.103[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.760846 [mm], validation score: 0.915831.
16:20:50.104[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186362
16:20:50.104[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124821
16:20:50.106[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.700586 [mm], validation score: 0.940794.
16:20:50.107[I] 3D精匹配_1: 匹配得分: ([0.9338043928146362], [0.9485655426979065], [0.9158312082290649], [0.9407939314842224])
16:20:50.107[I] 调整位姿_4: 开始运行。
16:20:50.107[I] 调整位姿_4: 14个子步骤运行结束。
16:20:50.107[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15636106077829576,-0.2625282867919775,0.22597229068743152,0.7067567213182262,0.006420104160387383,0.013589163405438094,0.707297005346425],[0.15497795552718951,-0.07917843108454434,0.2251724054960813,0.9999343686968434,-0.0027655731280611905,0.009126461937244219,0.006349613895870465],[0.00724945537065555,-0.2631528543573204,0.2269474050138125,0.7036481393762272,-0.007752804714355362,-0.0009840292140719875,0.7105056098708445],[0.006264105804090696,-0.08038888521772251,0.2265573525925002,-0.7056389953178465,-0.0026432589547461024,-0.003309512105939455,-0.7085588674193035]]})
16:20:50.116[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 2
16:20:50.121[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 2
16:20:50.126[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 2
16:20:50.126[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 2
16:20:50.126[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.69357秒。
16:20:50.140[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.707"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:20:51.523[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:20:51.524[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:20:51.525[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:20:51.557[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:20:51.558[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:20:51.558[I] 创建物体模型_2: 开始创建模型。请稍候。
16:20:51.558[I] 创建物体模型_1: 开始创建模型。请稍候。
16:20:51.560[D] 收到相机应答信息耗时： 0.0022204
16:20:51.560[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:20:51.561[D] 收到相机应答信息耗时： 0.0009803
16:20:51.561[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:20:51.562[D] 收到相机应答信息耗时： 0.0009878
16:20:51.562[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:20:51.563[D] 收到相机应答信息耗时： 0.0009981
16:20:51.568[I] 创建物体模型_2: 模型被成功创建。
16:20:51.638[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:20:51.639[D] 收到相机应答信息耗时： 0.0010283
16:20:51.646[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:20:51.647[D] 收到相机应答信息耗时： 0.0010065
16:20:51.647[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:20:51.726[I] 创建物体模型_1: 模型被成功创建。
16:20:53.077[D] 收到相机应答信息耗时： 1.42991
16:20:53.129[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:20:53.129[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:20:53.371[D] Normal Filter Main Normal: 0 , 0 , -1
16:20:53.592[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:20:53.741[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:20:53.742[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:20:53.812[I] 数据重复并串接_1: 重复4次。
16:20:53.812[I] 数据重复并串接_2: 重复4次。
16:20:53.813[I] [ orthographicProjection ] 最小值点的X和Y为(-0.0931042, -0.0756489)。
最大点的X和Y是(0.0930594, 0.0755652)。
16:20:53.817[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.336719。
16:20:53.818[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:20:53.818[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:20:53.980[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:20:53.981[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192544
16:20:53.982[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00131156
16:20:53.984[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.745069 [mm], validation score: 0.992636.
16:20:53.984[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190865
16:20:53.985[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130798
16:20:53.987[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.745436 [mm], validation score: 0.993122.
16:20:53.987[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188541
16:20:53.988[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127197
16:20:53.990[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.840146 [mm], validation score: 0.989983.
16:20:53.990[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195229
16:20:53.991[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00139495
16:20:53.993[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.956519 [mm], validation score: 0.988239.
16:20:53.993[I] 3D精匹配_2: 匹配得分: ([0.9926358461380005], [0.9931216239929199], [0.989982545375824], [0.9882387518882751])
16:20:53.997[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:20:53.998[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001915
16:20:53.999[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129919
16:20:54.001[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.748301 [mm], validation score: 0.926982.
16:20:54.002[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190212
16:20:54.003[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012831
16:20:54.005[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.745013 [mm], validation score: 0.928992.
16:20:54.006[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187757
16:20:54.006[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126045
16:20:54.009[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.828039 [mm], validation score: 0.906403.
16:20:54.009[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193799
16:20:54.010[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0013657
16:20:54.012[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.904235 [mm], validation score: 0.892911.
16:20:54.012[I] 3D精匹配_1: 匹配得分: ([0.926982045173645], [0.9289922118186951], [0.9064029455184937], [0.8929111957550049])
16:20:54.012[I] 调整位姿_4: 开始运行。
16:20:54.013[I] 调整位姿_4: 14个子步骤运行结束。
16:20:54.013[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15644797717837827,-0.26208301334823164,0.22578559520179842,0.9998962601854725,-0.0015341767873210416,0.013960063773188097,0.0031987166395089917],[0.1544334226917842,-0.07900131648969433,0.22511899620811304,0.7146406193876657,-0.010141716247842448,0.005612047782015631,-0.6993957646657966],[0.007423020317032569,-0.2628446175806053,0.2268019713115743,0.7126701913920215,-0.0008257340927422212,-0.005926083250154788,-0.7014737329378627],[0.006545496209905806,-0.08044995436304832,0.2263876534613789,0.7079340633653338,-0.002913333227783223,-0.002488862417300397,-0.7062681360364556]]})
16:20:54.022[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 3
16:20:54.034[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 3
16:20:54.036[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 3
16:20:54.037[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 3
16:20:54.037[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.48049秒。
16:20:54.055[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.497"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:20:56.393[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:20:56.395[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:20:56.395[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:20:56.438[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:20:56.438[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:20:56.438[I] 创建物体模型_2: 开始创建模型。请稍候。
16:20:56.438[I] 创建物体模型_1: 开始创建模型。请稍候。
16:20:56.449[I] 创建物体模型_2: 模型被成功创建。
16:20:56.535[D] 收到相机应答信息耗时： 0.0958293
16:20:56.535[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:20:56.536[D] 收到相机应答信息耗时： 0.001035
16:20:56.536[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:20:56.537[D] 收到相机应答信息耗时： 0.0008413
16:20:56.537[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:20:56.561[D] 收到相机应答信息耗时： 0.0245843
16:20:56.601[I] 创建物体模型_1: 模型被成功创建。
16:20:56.637[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:20:56.638[D] 收到相机应答信息耗时： 0.0010499
16:20:56.644[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:20:56.644[D] 收到相机应答信息耗时： 0.0006386
16:20:56.645[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:20:58.126[D] 收到相机应答信息耗时： 1.48098
16:20:58.179[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:20:58.179[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:20:58.417[D] Normal Filter Main Normal: 0 , 0 , -1
16:20:58.667[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:20:58.840[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:20:58.841[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:20:58.902[I] 数据重复并串接_1: 重复4次。
16:20:58.902[I] 数据重复并串接_2: 重复4次。
16:20:58.904[I] [ orthographicProjection ] 最小值点的X和Y为(-0.0931067, -0.0755627)。
最大点的X和Y是(0.0930823, 0.0755049)。
16:20:58.905[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.336719。
16:20:58.905[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:20:58.905[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:20:59.056[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:20:59.057[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185804
16:20:59.057[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119051
16:20:59.059[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.63804 [mm], validation score: 0.994834.
16:20:59.060[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185333
16:20:59.061[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119382
16:20:59.062[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.659259 [mm], validation score: 0.994629.
16:20:59.063[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018645
16:20:59.064[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123153
16:20:59.065[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.887574 [mm], validation score: 0.990247.
16:20:59.066[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018723
16:20:59.066[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117459
16:20:59.068[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.630985 [mm], validation score: 0.995173.
16:20:59.069[I] 3D精匹配_2: 匹配得分: ([0.9948341250419617], [0.9946285486221313], [0.990246593952179], [0.995173454284668])
16:20:59.074[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:20:59.074[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185884
16:20:59.075[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116736
16:20:59.077[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.644324 [mm], validation score: 0.945406.
16:20:59.078[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185646
16:20:59.079[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122182
16:20:59.080[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.657941 [mm], validation score: 0.943756.
16:20:59.081[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185425
16:20:59.082[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124037
16:20:59.084[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.869549 [mm], validation score: 0.905725.
16:20:59.084[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186438
16:20:59.085[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123576
16:20:59.087[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.646564 [mm], validation score: 0.946534.
16:20:59.087[I] 3D精匹配_1: 匹配得分: ([0.9454060196876526], [0.943756103515625], [0.9057247042655945], [0.9465337991714478])
16:20:59.087[I] 调整位姿_4: 开始运行。
16:20:59.088[I] 调整位姿_4: 14个子步骤运行结束。
16:20:59.088[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1564550859437672,-0.2622031069851093,0.22605103651963443,0.999875945633067,-0.005679356637930735,0.01456391118534573,0.0019315132783534472],[0.15489944112275747,-0.07917025146197204,0.22521970758755838,0.9999393273287103,-0.001853117961646368,0.008861051145008174,0.0062760965441914784],[0.006946823157553905,-0.2631704723665545,0.22674758799327943,0.7055758035283062,-0.01046212593244376,-0.004813989029043727,0.7085408632577146],[0.006236977897105908,-0.08019033037902157,0.22607533096578658,0.7051557502656214,-0.004654063597839193,0.005459281803249546,0.7090161520033006]]})
16:20:59.098[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 4
16:20:59.104[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 4
16:20:59.109[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 4
16:20:59.115[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 4
16:20:59.115[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.67695秒。
16:20:59.132[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.693"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:21:01.042[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:21:01.044[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:21:01.044[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:21:01.074[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:21:01.075[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:01.075[I] 创建物体模型_1: 开始创建模型。请稍候。
16:21:01.075[I] 创建物体模型_2: 开始创建模型。请稍候。
16:21:01.077[D] 收到相机应答信息耗时： 0.0021704
16:21:01.077[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:01.078[D] 收到相机应答信息耗时： 0.000972
16:21:01.078[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:21:01.079[D] 收到相机应答信息耗时： 0.0009264
16:21:01.079[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:21:01.080[D] 收到相机应答信息耗时： 0.0009121
16:21:01.087[I] 创建物体模型_2: 模型被成功创建。
16:21:01.152[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:21:01.153[D] 收到相机应答信息耗时： 0.000999
16:21:01.160[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:01.161[D] 收到相机应答信息耗时： 0.0009301
16:21:01.161[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:21:01.251[I] 创建物体模型_1: 模型被成功创建。
16:21:02.830[D] 收到相机应答信息耗时： 1.66819
16:21:02.881[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:21:02.881[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:21:03.119[D] Normal Filter Main Normal: 0 , 0 , -1
16:21:03.384[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:21:03.571[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:21:03.572[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:21:03.632[I] [ orthographicProjection ] 最小值点的X和Y为(-0.0930517, -0.0758668)。
最大点的X和Y是(0.0930505, 0.0758543)。
16:21:03.637[I] 数据重复并串接_1: 重复4次。
16:21:03.637[I] 数据重复并串接_2: 重复4次。
16:21:03.657[I] [ printSampleResult ] 采样结束。
采样后点云中点数：303.
对应的采样采样间隔：0.336719。
16:21:03.658[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:21:03.658[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:21:03.811[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:21:03.811[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185319
16:21:03.812[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119547
16:21:03.814[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.675475 [mm], validation score: 0.994672.
16:21:03.815[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187988
16:21:03.816[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011559
16:21:03.817[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.623462 [mm], validation score: 0.995177.
16:21:03.818[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185507
16:21:03.819[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122928
16:21:03.821[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.824363 [mm], validation score: 0.990796.
16:21:03.822[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189095
16:21:03.822[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120299
16:21:03.824[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.664485 [mm], validation score: 0.994639.
16:21:03.824[I] 3D精匹配_2: 匹配得分: ([0.994671642780304], [0.9951770305633545], [0.9907962083816528], [0.9946389198303223])
16:21:03.829[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:21:03.829[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185052
16:21:03.830[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120336
16:21:03.832[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.674182 [mm], validation score: 0.943564.
16:21:03.833[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187729
16:21:03.834[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117096
16:21:03.836[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.625258 [mm], validation score: 0.948912.
16:21:03.836[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184214
16:21:03.837[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125784
16:21:03.839[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.828904 [mm], validation score: 0.908982.
16:21:03.840[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188539
16:21:03.840[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011755
16:21:03.842[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.66434 [mm], validation score: 0.943433.
16:21:03.842[I] 3D精匹配_1: 匹配得分: ([0.9435635209083557], [0.9489116072654724], [0.9089816212654114], [0.9434325098991394])
16:21:03.842[I] 调整位姿_4: 开始运行。
16:21:03.843[I] 调整位姿_4: 14个子步骤运行结束。
16:21:03.843[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15638749567001445,-0.26249434645149416,0.22601593183958313,0.708634083231573,-0.013461546598756634,0.00678089715688813,-0.7054151559751645],[0.15485664480213485,-0.07901731308985052,0.22505392070475816,0.7118653526554435,-0.009465733993583391,0.005100696995988301,-0.7022336523258188],[0.007030189850950108,-0.26320321134936464,0.22681051031600075,0.9999380794059957,-0.004530622615942255,-0.00948152909836454,0.00366216036379357],[0.00625350907423055,-0.08029917974773476,0.22647389072775725,-0.7080667982029419,0.0027463595151448494,-0.0007779714034666955,0.7061396898295262]]})
16:21:03.853[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 5
16:21:03.858[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 5
16:21:03.865[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 5
16:21:03.865[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 5
16:21:03.865[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.79033秒。
16:21:03.887[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.810"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:21:05.175[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:21:05.177[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:21:05.178[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:21:05.209[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:21:05.209[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:05.209[I] 创建物体模型_2: 开始创建模型。请稍候。
16:21:05.209[I] 创建物体模型_1: 开始创建模型。请稍候。
16:21:05.211[D] 收到相机应答信息耗时： 0.0021725
16:21:05.211[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:05.212[D] 收到相机应答信息耗时： 0.0009769
16:21:05.212[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:21:05.214[D] 收到相机应答信息耗时： 0.0011955
16:21:05.214[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:21:05.215[D] 收到相机应答信息耗时： 0.0009113
16:21:05.219[I] 创建物体模型_2: 模型被成功创建。
16:21:05.293[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:21:05.294[D] 收到相机应答信息耗时： 0.0010044
16:21:05.301[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:05.380[I] 创建物体模型_1: 模型被成功创建。
16:21:05.445[D] 收到相机应答信息耗时： 0.14322
16:21:05.445[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:21:06.997[D] 收到相机应答信息耗时： 1.5524
16:21:07.047[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:21:07.048[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:21:07.278[D] Normal Filter Main Normal: 0 , 0 , -1
16:21:07.534[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:21:07.692[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:21:07.693[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:21:07.754[I] 数据重复并串接_1: 重复4次。
16:21:07.754[I] 数据重复并串接_2: 重复4次。
16:21:07.756[I] [ orthographicProjection ] 最小值点的X和Y为(-0.0934223, -0.0755987)。
最大点的X和Y是(0.0933051, 0.0755371)。
16:21:07.757[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.336719。
16:21:07.757[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:21:07.758[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:21:07.909[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:21:07.910[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186672
16:21:07.911[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122633
16:21:07.913[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.685069 [mm], validation score: 0.993604.
16:21:07.914[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187008
16:21:07.915[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120808
16:21:07.916[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.592108 [mm], validation score: 0.995839.
16:21:07.917[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186796
16:21:07.918[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122353
16:21:07.919[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.775063 [mm], validation score: 0.992183.
16:21:07.920[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185351
16:21:07.921[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121859
16:21:07.922[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.668078 [mm], validation score: 0.994738.
16:21:07.923[I] 3D精匹配_2: 匹配得分: ([0.9936042428016663], [0.9958393573760986], [0.9921825528144836], [0.9947384595870972])
16:21:07.926[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:21:07.927[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187237
16:21:07.927[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122067
16:21:07.929[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.693887 [mm], validation score: 0.934947.
16:21:07.930[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187019
16:21:07.931[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120656
16:21:07.933[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.59446 [mm], validation score: 0.954973.
16:21:07.933[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187334
16:21:07.934[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122295
16:21:07.936[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.787308 [mm], validation score: 0.91995.
16:21:07.937[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185397
16:21:07.937[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122117
16:21:07.939[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.660502 [mm], validation score: 0.945259.
16:21:07.939[I] 3D精匹配_1: 匹配得分: ([0.9349468946456909], [0.9549732804298401], [0.9199498891830444], [0.9452586770057678])
16:21:07.939[I] 调整位姿_4: 开始运行。
16:21:07.940[I] 调整位姿_4: 14个子步骤运行结束。
16:21:07.940[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15642502427746915,-0.26242444608621,0.22588394386837285,0.9998661201933362,-0.003728667364852585,0.015828104580724457,0.0018192950802495837],[0.154668822344602,-0.07905146088351976,0.22532060128008702,0.7116388749059614,-0.00739793016883572,0.004221484617208013,-0.7024938159296645],[0.006841145809936944,-0.26304613163308654,0.22682166341734167,0.9999364957846224,-0.004838171060431304,-0.009931826499188097,0.002226055069069749],[0.006192701144330112,-0.08037805564095568,0.22622112150194296,-0.9999845568042328,0.005382797488416919,0.0011636953847210044,-0.0007466306265506442]]})
16:21:07.951[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 6
16:21:07.956[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 6
16:21:07.963[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 6
16:21:07.963[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 6
16:21:07.964[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.75503秒。
16:21:07.981[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.771"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:21:10.339[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:21:10.341[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:21:10.342[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:21:10.373[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:21:10.373[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:10.373[I] 创建物体模型_2: 开始创建模型。请稍候。
16:21:10.373[I] 创建物体模型_1: 开始创建模型。请稍候。
16:21:10.383[I] 创建物体模型_2: 模型被成功创建。
16:21:10.485[D] 收到相机应答信息耗时： 0.112488
16:21:10.485[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:10.486[D] 收到相机应答信息耗时： 0.0010422
16:21:10.486[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:21:10.487[D] 收到相机应答信息耗时： 0.0008667
16:21:10.487[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:21:10.488[D] 收到相机应答信息耗时： 0.0008335
16:21:10.534[I] 创建物体模型_1: 模型被成功创建。
16:21:10.557[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:21:10.559[D] 收到相机应答信息耗时： 0.0012234
16:21:10.565[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:10.565[D] 收到相机应答信息耗时： 0.0007157
16:21:10.565[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:21:12.019[D] 收到相机应答信息耗时： 1.45398
16:21:12.073[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:21:12.073[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:21:12.314[D] Normal Filter Main Normal: 0 , 0 , -1
16:21:12.566[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:21:12.752[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:21:12.753[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:21:12.816[I] 数据重复并串接_1: 重复4次。
16:21:12.816[I] 数据重复并串接_2: 重复4次。
16:21:12.817[I] [ orthographicProjection ] 最小值点的X和Y为(-0.0933433, -0.0758334)。
最大点的X和Y是(0.0932951, 0.0757717)。
16:21:12.818[I] [ printSampleResult ] 采样结束。
采样后点云中点数：303.
对应的采样采样间隔：0.336719。
16:21:12.819[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:21:12.819[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:21:12.986[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:21:12.987[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184126
16:21:12.988[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118572
16:21:12.990[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.593334 [mm], validation score: 0.995487.
16:21:12.990[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188728
16:21:12.991[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115251
16:21:12.993[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.637948 [mm], validation score: 0.995219.
16:21:12.994[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184742
16:21:12.994[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124519
16:21:12.996[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.850081 [mm], validation score: 0.990965.
16:21:12.997[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187313
16:21:12.997[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117797
16:21:12.999[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.619271 [mm], validation score: 0.995296.
16:21:12.999[I] 3D精匹配_2: 匹配得分: ([0.9954869151115417], [0.9952190518379211], [0.9909648895263672], [0.995296061038971])
16:21:13.003[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:21:13.004[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184641
16:21:13.005[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001186
16:21:13.006[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.591233 [mm], validation score: 0.952989.
16:21:13.007[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188952
16:21:13.008[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115562
16:21:13.010[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.63533 [mm], validation score: 0.949404.
16:21:13.011[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185019
16:21:13.012[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123411
16:21:13.014[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.836061 [mm], validation score: 0.909985.
16:21:13.014[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186906
16:21:13.015[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120388
16:21:13.017[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.618348 [mm], validation score: 0.949943.
16:21:13.017[I] 3D精匹配_1: 匹配得分: ([0.9529885053634644], [0.9494044780731201], [0.9099852442741394], [0.949943482875824])
16:21:13.018[I] 调整位姿_4: 开始运行。
16:21:13.018[I] 调整位姿_4: 14个子步骤运行结束。
16:21:13.018[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15635839268800153,-0.2624971060981241,0.22591587600546448,0.70650357562844,0.006696746368945556,0.014754323870649727,0.7075239650636712],[0.15509535829155102,-0.07936583611283074,0.2253042287211,0.999955290783322,-0.0006025965896641443,0.008308162320609783,0.004475237496117446],[0.006838083297165121,-0.26317164944945176,0.22677098094416026,-0.9999245667231212,0.004985530238811107,0.010845921079623417,-0.0028933281455727545],[0.006281876491482603,-0.0802503952885955,0.22619841535703467,0.9999933282954235,-0.0035803649185946053,0.0005469856173876379,0.0004745086150199145]]})
16:21:13.028[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 7
16:21:13.034[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 7
16:21:13.041[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 7
16:21:13.041[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 7
16:21:13.041[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.66947秒。
16:21:13.056[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.681"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:21:14.245[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:21:14.246[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:21:14.247[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:21:14.281[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:21:14.282[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:14.282[I] 创建物体模型_2: 开始创建模型。请稍候。
16:21:14.282[I] 创建物体模型_1: 开始创建模型。请稍候。
16:21:14.284[D] 收到相机应答信息耗时： 0.0021654
16:21:14.284[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:14.285[D] 收到相机应答信息耗时： 0.0009897
16:21:14.285[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:21:14.286[D] 收到相机应答信息耗时： 0.0009173
16:21:14.286[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:21:14.287[D] 收到相机应答信息耗时： 0.0009763
16:21:14.293[I] 创建物体模型_2: 模型被成功创建。
16:21:14.367[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:21:14.443[I] 创建物体模型_1: 模型被成功创建。
16:21:14.447[D] 收到相机应答信息耗时： 0.0794089
16:21:14.455[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:14.456[D] 收到相机应答信息耗时： 0.0011959
16:21:14.456[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:21:15.934[D] 收到相机应答信息耗时： 1.47772
16:21:15.987[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:21:15.987[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:21:16.222[D] Normal Filter Main Normal: 0 , 0 , -1
16:21:16.477[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:21:16.627[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:21:16.628[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:21:16.691[I] 数据重复并串接_1: 重复4次。
16:21:16.691[I] 数据重复并串接_2: 重复4次。
16:21:16.693[I] [ orthographicProjection ] 最小值点的X和Y为(-0.0930867, -0.0755577)。
最大点的X和Y是(0.0930938, 0.0755678)。
16:21:16.694[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.336719。
16:21:16.694[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:21:16.694[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:21:16.851[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:21:16.852[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185235
16:21:16.853[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122489
16:21:16.855[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.72338 [mm], validation score: 0.993339.
16:21:16.855[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018459
16:21:16.856[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115484
16:21:16.858[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.618245 [mm], validation score: 0.995426.
16:21:16.858[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018264
16:21:16.859[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125069
16:21:16.861[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.780796 [mm], validation score: 0.992319.
16:21:16.861[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018688
16:21:16.862[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121479
16:21:16.863[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.67781 [mm], validation score: 0.99473.
16:21:16.864[I] 3D精匹配_2: 匹配得分: ([0.9933386445045471], [0.9954264760017395], [0.9923186898231506], [0.9947301149368286])
16:21:16.867[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:21:16.868[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185114
16:21:16.868[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012334
16:21:16.870[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.711153 [mm], validation score: 0.933918.
16:21:16.871[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185881
16:21:16.872[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119578
16:21:16.873[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.612727 [mm], validation score: 0.952129.
16:21:16.874[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181496
16:21:16.875[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125252
16:21:16.876[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.772366 [mm], validation score: 0.921055.
16:21:16.877[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185986
16:21:16.878[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124902
16:21:16.880[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.677337 [mm], validation score: 0.944133.
16:21:16.880[I] 3D精匹配_1: 匹配得分: ([0.9339184761047363], [0.9521288871765137], [0.9210550785064697], [0.9441328048706055])
16:21:16.881[I] 调整位姿_4: 开始运行。
16:21:16.881[I] 调整位姿_4: 14个子步骤运行结束。
16:21:16.881[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1565528231511197,-0.2620664910965245,0.22590106398797394,0.9998797577338718,-0.004029844204531709,0.014562570286115347,0.0034874025295638655],[0.1547908984202956,-0.07879529558785019,0.2249471579480362,0.7121136927174144,-0.00962600628498939,0.004040184198982644,-0.7019865422919498],[0.007267804825452473,-0.26327978230461213,0.22676623567544896,0.9999286172449117,-0.003133568066688169,-0.010378917418988236,0.005021876050908697],[0.006468316114445864,-0.0800003624086678,0.22608818593809898,0.7074966367558371,-0.005489279327583894,-0.003625129065385425,-0.7066860938428798]]})
16:21:16.893[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 8
16:21:16.899[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 8
16:21:16.907[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 8
16:21:16.915[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 8
16:21:16.915[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.63416秒。
16:21:16.928[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.645"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:21:17.878[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:21:17.880[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:21:17.880[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:21:17.920[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:21:17.921[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:17.921[I] 创建物体模型_2: 开始创建模型。请稍候。
16:21:17.921[I] 创建物体模型_1: 开始创建模型。请稍候。
16:21:17.923[D] 收到相机应答信息耗时： 0.002125
16:21:17.923[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:17.924[D] 收到相机应答信息耗时： 0.0009486
16:21:17.924[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:21:17.925[D] 收到相机应答信息耗时： 0.0010626
16:21:17.925[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:21:17.926[D] 收到相机应答信息耗时： 0.0009522
16:21:17.932[I] 创建物体模型_2: 模型被成功创建。
16:21:17.998[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:21:17.999[D] 收到相机应答信息耗时： 0.0010069
16:21:18.006[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:18.007[D] 收到相机应答信息耗时： 0.0009357
16:21:18.008[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:21:18.094[I] 创建物体模型_1: 模型被成功创建。
16:21:21.137[D] 收到相机应答信息耗时： 3.12948
16:21:21.137[W] [ handlerReplyError ] [0x0105 | MISSING_FRAME_CAM2D] -> Get frame failed with status: 2. Retrieved 18 frame of camera 0 : 31965,31966,31967,31968,31969,31970,31971,31972,31973,31974,31975,31976,31977,31978,31979,31980,31981,31983,
16:21:21.139[E] [ captureRawDepthImg ] 请求深度图为空！
16:21:21.139[I] 从相机获取图像_1: 获取图像失败，尝试次数：1。
16:21:22.139[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:22.141[D] 收到相机应答信息耗时： 0.0022932
16:21:22.141[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:21:23.869[D] 收到相机应答信息耗时： 1.72771
16:21:23.920[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:21:23.920[W] 从相机获取图像_1: 无效的深度图像。
16:21:23.920[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:21:24.155[D] Normal Filter Main Normal: 0 , 0 , -1
16:21:24.408[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:21:24.563[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:21:24.564[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:21:24.626[I] 数据重复并串接_2: 重复4次。
16:21:24.626[I] 数据重复并串接_1: 重复4次。
16:21:24.627[I] [ orthographicProjection ] 最小值点的X和Y为(-0.0934167, -0.0757286)。
最大点的X和Y是(0.0933877, 0.0757172)。
16:21:24.629[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.336719。
16:21:24.629[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:21:24.629[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:21:24.780[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:21:24.780[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188152
16:21:24.781[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012987
16:21:24.783[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.904622 [mm], validation score: 0.989503.
16:21:24.783[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188212
16:21:24.784[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114866
16:21:24.786[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.654435 [mm], validation score: 0.994386.
16:21:24.786[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185934
16:21:24.787[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120611
16:21:24.789[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.696239 [mm], validation score: 0.993682.
16:21:24.789[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186767
16:21:24.790[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122298
16:21:24.792[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.616419 [mm], validation score: 0.995531.
16:21:24.792[I] 3D精匹配_2: 匹配得分: ([0.9895026683807373], [0.9943857192993164], [0.9936816692352295], [0.9955306649208069])
16:21:24.797[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:21:24.797[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188139
16:21:24.798[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128991
16:21:24.800[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.894374 [mm], validation score: 0.898397.
16:21:24.801[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188483
16:21:24.802[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115656
16:21:24.803[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.649337 [mm], validation score: 0.942656.
16:21:24.804[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185171
16:21:24.805[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121759
16:21:24.807[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.664167 [mm], validation score: 0.93905.
16:21:24.808[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187049
16:21:24.808[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121062
16:21:24.810[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.617614 [mm], validation score: 0.951879.
16:21:24.810[I] 3D精匹配_1: 匹配得分: ([0.8983969688415527], [0.9426562786102295], [0.9390501379966736], [0.9518792033195496])
16:21:24.810[I] 调整位姿_4: 开始运行。
16:21:24.811[I] 调整位姿_4: 14个子步骤运行结束。
16:21:24.811[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1565451909209498,-0.2625065970511792,0.22597743010025573,0.9998790314137863,-0.005530291783915562,0.014501895852467228,0.0010165768528151429],[0.15431287663158055,-0.07827713221924351,0.22471719202613372,0.7155127327337953,-0.013533467513634961,0.003637038036248307,-0.6984591230037707],[0.007083688474115474,-0.2632315747057503,0.22669704595295337,0.7095204752962675,0.0047664067239773554,-0.010391725195897613,-0.7045920724431641],[0.006039155831712738,-0.08062614363704065,0.22643112692934686,-0.9999912754589183,0.003122152920715473,-0.001058498397488325,-0.0025652969277943304]]})
16:21:24.823[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 9
16:21:24.830[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 9
16:21:24.837[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 9
16:21:24.837[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 9
16:21:24.837[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：6.91687秒。
16:21:24.855[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"6.932"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:21:26.081[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:21:26.083[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:21:26.083[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:21:26.114[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:21:26.114[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:26.114[I] 创建物体模型_2: 开始创建模型。请稍候。
16:21:26.114[I] 创建物体模型_1: 开始创建模型。请稍候。
16:21:26.116[D] 收到相机应答信息耗时： 0.0021432
16:21:26.116[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:26.118[D] 收到相机应答信息耗时： 0.0010916
16:21:26.118[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:21:26.119[D] 收到相机应答信息耗时： 0.0010791
16:21:26.119[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:21:26.120[D] 收到相机应答信息耗时： 0.0009789
16:21:26.125[I] 创建物体模型_2: 模型被成功创建。
16:21:26.192[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:21:26.193[D] 收到相机应答信息耗时： 0.0010307
16:21:26.201[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:21:26.202[D] 收到相机应答信息耗时： 0.0009037
16:21:26.202[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:21:26.285[I] 创建物体模型_1: 模型被成功创建。
16:21:27.819[D] 收到相机应答信息耗时： 1.61602
16:21:27.871[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:21:27.871[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:21:28.113[D] Normal Filter Main Normal: 0 , 0 , -1
16:21:28.370[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:21:28.545[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:21:28.546[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:21:28.608[I] 数据重复并串接_1: 重复4次。
16:21:28.608[I] 数据重复并串接_2: 重复4次。
16:21:28.609[I] [ orthographicProjection ] 最小值点的X和Y为(-0.093092, -0.0756228)。
最大点的X和Y是(0.0930393, 0.0755421)。
16:21:28.610[I] [ printSampleResult ] 采样结束。
采样后点云中点数：301.
对应的采样采样间隔：0.336719。
16:21:28.611[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:21:28.611[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:21:28.762[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:21:28.763[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182846
16:21:28.764[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125143
16:21:28.766[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.756119 [mm], validation score: 0.99287.
16:21:28.766[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184937
16:21:28.767[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116657
16:21:28.768[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.598359 [mm], validation score: 0.995554.
16:21:28.769[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185138
16:21:28.770[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122736
16:21:28.772[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.804229 [mm], validation score: 0.99141.
16:21:28.772[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185538
16:21:28.773[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124982
16:21:28.774[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.653161 [mm], validation score: 0.994827.
16:21:28.775[I] 3D精匹配_2: 匹配得分: ([0.9928702116012573], [0.9955542683601379], [0.9914097189903259], [0.9948267936706543])
16:21:28.778[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:21:28.779[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183419
16:21:28.779[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124995
16:21:28.782[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.744927 [mm], validation score: 0.928441.
16:21:28.783[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018718
16:21:28.783[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119288
16:21:28.785[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.59925 [mm], validation score: 0.952992.
16:21:28.786[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018478
16:21:28.787[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121949
16:21:28.789[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.792854 [mm], validation score: 0.91533.
16:21:28.789[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185211
16:21:28.790[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122348
16:21:28.792[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.660603 [mm], validation score: 0.944505.
16:21:28.792[I] 3D精匹配_1: 匹配得分: ([0.9284405708312988], [0.9529920220375061], [0.9153304696083069], [0.9445047974586487])
16:21:28.792[I] 调整位姿_4: 开始运行。
16:21:28.793[I] 调整位姿_4: 14个子步骤运行结束。
16:21:28.793[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15657952090009578,-0.2621545532522468,0.22583039695960072,0.9998666252613562,-0.003644956099175255,0.01549169851836453,0.003667868661481999],[0.15476810520404383,-0.07874162924812116,0.22503814725925908,0.7121149650616349,-0.00821498134609713,0.0025278209360187105,-0.7020102568610128],[0.007033258610873533,-0.26323902461128024,0.2267934138068517,0.7096368690842163,0.0034174572884661182,-0.010126076210327678,-0.7044865489153183],[0.006138013047032015,-0.08060627988573527,0.22637770060553875,-0.9999895436842811,0.0032432849959919637,-0.0010109096956505306,-0.003061320977162879]]})
16:21:28.805[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 10
16:21:28.812[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 10
16:21:28.820[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 10
16:21:28.825[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 10
16:21:28.826[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.71184秒。
16:21:28.835[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.718"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:21:58.488[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:21:58.493[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:21:58.494[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183419
16:21:58.495[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124995
16:21:58.497[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.744927 [mm], validation score: 0.928441.
16:21:58.498[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018718
16:21:58.499[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119288
16:21:58.501[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.59925 [mm], validation score: 0.952992.
16:21:58.502[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018478
16:21:58.502[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121949
16:21:58.505[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.792854 [mm], validation score: 0.91533.
16:21:58.506[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185211
16:21:58.506[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122348
16:21:58.508[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.660603 [mm], validation score: 0.944505.
16:21:58.508[I] 3D精匹配_1: 匹配得分: ([0.9284405708312988], [0.9529920220375061], [0.9153304696083069], [0.9445047974586487])
16:21:58.509[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.020099秒。
16:21:58.532[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.043"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:22:59.775[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:22:59.789[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:22:59.790[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183419
16:22:59.790[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124995
16:22:59.792[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.744927 [mm], validation score: 0.928441.
16:22:59.793[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018718
16:22:59.794[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119288
16:22:59.796[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.59925 [mm], validation score: 0.952992.
16:22:59.797[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018478
16:22:59.797[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121949
16:22:59.799[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.792854 [mm], validation score: 0.91533.
16:22:59.800[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185211
16:22:59.800[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122348
16:22:59.802[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.660603 [mm], validation score: 0.944505.
16:22:59.803[I] 3D精匹配_1: 匹配得分: ([0.9284405708312988], [0.9529920220375061], [0.9153304696083069], [0.9445047974586487])
16:22:59.803[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.027196秒。
16:22:59.826[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.049"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:24:40.980[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:24:40.982[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:24:40.982[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:24:41.015[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:24:41.015[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:41.015[I] 创建物体模型_1: 开始创建模型。请稍候。
16:24:41.017[D] 收到相机应答信息耗时： 0.0022285
16:24:41.017[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:41.018[D] 收到相机应答信息耗时： 0.0006659
16:24:41.018[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:24:41.019[D] 收到相机应答信息耗时： 0.0006335
16:24:41.019[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:24:41.020[D] 收到相机应答信息耗时： 0.0006852
16:24:41.094[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:24:41.095[D] 收到相机应答信息耗时： 0.0005887
16:24:41.102[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:41.103[D] 收到相机应答信息耗时： 0.0006523
16:24:41.103[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:24:41.173[I] 创建物体模型_1: 模型被成功创建。
16:24:42.885[D] 收到相机应答信息耗时： 1.78158
16:24:42.936[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:24:43.173[D] Normal Filter Main Normal: 0 , 0 , -1
16:24:43.435[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:24:43.657[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:24:43.658[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:24:43.767[I] 数据重复并串接_1: 重复4次。
16:24:43.767[I] 数据重复并串接_2: 重复4次。
16:24:43.770[I] [ printSampleResult ] 采样结束。
采样后点云中点数：305.
对应的采样采样间隔：0.625。
16:24:43.770[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:24:43.770[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:24:43.938[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184303
16:24:43.939[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116459
16:24:43.941[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.58143 [mm], validation score: 0.995247.
16:24:43.942[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176115
16:24:43.942[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115719
16:24:43.945[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.537635 [mm], validation score: 0.99631.
16:24:43.946[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181544
16:24:43.946[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119398
16:24:43.949[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.584986 [mm], validation score: 0.995694.
16:24:43.949[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182125
16:24:43.950[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118396
16:24:43.952[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.618117 [mm], validation score: 0.995524.
16:24:43.953[I] 3D精匹配_2: 匹配得分: ([0.9952468872070312], [0.9963103532791138], [0.9956936836242676], [0.9955236315727234])
16:24:43.958[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185778
16:24:43.959[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116751
16:24:43.961[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.589046 [mm], validation score: 0.951156.
16:24:43.962[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176617
16:24:43.963[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112972
16:24:43.965[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.538544 [mm], validation score: 0.960611.
16:24:43.966[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181567
16:24:43.967[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117611
16:24:43.969[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.594938 [mm], validation score: 0.953788.
16:24:43.970[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018161
16:24:43.971[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113873
16:24:43.973[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.619463 [mm], validation score: 0.952012.
16:24:43.973[I] 3D精匹配_1: 匹配得分: ([0.951156497001648], [0.960610568523407], [0.9537875056266785], [0.9520115852355957])
16:24:43.974[I] 调整位姿_1: 开始运行。
16:24:43.974[I] 调整位姿_1: 16个子步骤运行结束。
16:24:43.974[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15450904864643344,-0.10718834936894675,0.15100179133135083,0.7096049840654874,0.004861512665327799,-0.0016593271375546972,-0.7045809952854777],[0.15296325952323414,0.13006486367065115,0.1512508365222669,0.7087723169036567,-0.0006387307255305086,-0.003487162197305007,-0.7054284049525453],[-0.035190281814326596,-0.10789478333527089,0.15190362681519365,0.9999438614992768,-0.00025069763326169886,0.010564842580516966,-0.0007714284556408824],[-0.03567899498802228,0.12935817486860063,0.15205196866109394,-0.999969303650114,0.0019162040756807454,-0.0075972980776642315,-3.1326754249488676e-05]]})
16:24:43.994[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 1
16:24:43.998[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 1
16:24:44.001[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 1
16:24:44.003[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 1
16:24:44.004[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.98903秒。
16:24:44.018[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"3.001"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:24:46.060[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:24:46.061[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:24:46.062[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:24:46.092[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:24:46.092[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:46.092[I] 创建物体模型_1: 开始创建模型。请稍候。
16:24:46.094[D] 收到相机应答信息耗时： 0.0020528
16:24:46.094[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:46.095[D] 收到相机应答信息耗时： 0.0009906
16:24:46.095[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:24:46.096[D] 收到相机应答信息耗时： 0.0010085
16:24:46.097[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:24:46.097[D] 收到相机应答信息耗时： 0.000944
16:24:46.171[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:24:46.172[D] 收到相机应答信息耗时： 0.0009366
16:24:46.179[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:46.180[D] 收到相机应答信息耗时： 0.0008931
16:24:46.180[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:24:46.270[I] 创建物体模型_1: 模型被成功创建。
16:24:47.842[D] 收到相机应答信息耗时： 1.66286
16:24:47.896[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:24:48.129[D] Normal Filter Main Normal: 0 , 0 , -1
16:24:48.388[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:24:48.625[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:24:48.626[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:24:48.706[I] 数据重复并串接_2: 重复4次。
16:24:48.706[I] 数据重复并串接_1: 重复4次。
16:24:48.708[I] [ printSampleResult ] 采样结束。
采样后点云中点数：305.
对应的采样采样间隔：0.625。
16:24:48.709[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:24:48.709[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:24:48.869[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186628
16:24:48.870[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120638
16:24:48.872[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.639851 [mm], validation score: 0.994599.
16:24:48.873[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176748
16:24:48.873[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114327
16:24:48.875[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.570925 [mm], validation score: 0.995759.
16:24:48.876[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180771
16:24:48.877[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120313
16:24:48.879[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.572338 [mm], validation score: 0.996075.
16:24:48.880[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180104
16:24:48.881[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00112206
16:24:48.883[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.610613 [mm], validation score: 0.995426.
16:24:48.883[I] 3D精匹配_2: 匹配得分: ([0.9945990443229675], [0.995758593082428], [0.9960752129554749], [0.9954262971878052])
16:24:48.889[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186356
16:24:48.890[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118797
16:24:48.892[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.63808 [mm], validation score: 0.94415.
16:24:48.893[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177099
16:24:48.894[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111273
16:24:48.896[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.571519 [mm], validation score: 0.954982.
16:24:48.897[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001811
16:24:48.897[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120409
16:24:48.899[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.573649 [mm], validation score: 0.957837.
16:24:48.900[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181071
16:24:48.901[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108971
16:24:48.903[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.610214 [mm], validation score: 0.951307.
16:24:48.903[I] 3D精匹配_1: 匹配得分: ([0.9441503286361694], [0.9549822211265564], [0.957836925983429], [0.9513068199157715])
16:24:48.903[I] 调整位姿_1: 开始运行。
16:24:48.904[I] 调整位姿_1: 16个子步骤运行结束。
16:24:48.904[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1545971647859316,-0.10714230504310421,0.15107711158243542,0.7101945680704583,0.005003242901816586,-0.0029386781210819614,-0.7039815389728495],[0.1528377221992671,0.1303134722342193,0.1509194660710167,0.7097242260051883,-0.003506259889517109,-0.0032905676090959923,-0.7044632008328993],[-0.03538200956323401,-0.1077284645658361,0.15190193448037936,0.9999393435401558,-0.0011001891539395515,0.010635493047098649,-0.0026429362324552675],[-0.03581998611561405,0.1291763837520187,0.15204398665788932,-0.7081116356404191,0.006305195860490866,-0.003985794084507952,0.7060610946804273]]})
16:24:48.913[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 2
16:24:48.917[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 2
16:24:48.922[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 2
16:24:48.927[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 2
16:24:48.927[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.83478秒。
16:24:48.946[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.852"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:24:50.050[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:24:50.052[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:24:50.053[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:24:50.093[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:24:50.093[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:50.093[I] 创建物体模型_1: 开始创建模型。请稍候。
16:24:50.095[D] 收到相机应答信息耗时： 0.0020726
16:24:50.096[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:50.097[D] 收到相机应答信息耗时： 0.0010723
16:24:50.097[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:24:50.098[D] 收到相机应答信息耗时： 0.0009343
16:24:50.098[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:24:50.099[D] 收到相机应答信息耗时： 0.0009955
16:24:50.171[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:24:50.172[D] 收到相机应答信息耗时： 0.0010679
16:24:50.184[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:50.185[D] 收到相机应答信息耗时： 0.0009052
16:24:50.185[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:24:50.266[I] 创建物体模型_1: 模型被成功创建。
16:24:51.861[D] 收到相机应答信息耗时： 1.67583
16:24:51.915[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:24:52.141[D] Normal Filter Main Normal: 0 , 0 , -1
16:24:52.398[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:24:52.615[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:24:52.617[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:24:52.687[I] 数据重复并串接_1: 重复4次。
16:24:52.687[I] 数据重复并串接_2: 重复4次。
16:24:52.694[I] [ printSampleResult ] 采样结束。
采样后点云中点数：305.
对应的采样采样间隔：0.625。
16:24:52.695[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:24:52.695[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:24:52.858[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186667
16:24:52.859[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122
16:24:52.861[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.588932 [mm], validation score: 0.995636.
16:24:52.862[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177178
16:24:52.863[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110804
16:24:52.865[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.537047 [mm], validation score: 0.99636.
16:24:52.866[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181524
16:24:52.866[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120067
16:24:52.868[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.606204 [mm], validation score: 0.995577.
16:24:52.869[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181984
16:24:52.870[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118047
16:24:52.872[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.624277 [mm], validation score: 0.995455.
16:24:52.872[I] 3D精匹配_2: 匹配得分: ([0.9956355094909668], [0.9963597059249878], [0.995576798915863], [0.9954545497894287])
16:24:52.879[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186091
16:24:52.879[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117085
16:24:52.881[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.590083 [mm], validation score: 0.953853.
16:24:52.882[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177479
16:24:52.883[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00107017
16:24:52.885[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.537045 [mm], validation score: 0.960989.
16:24:52.886[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182102
16:24:52.887[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119257
16:24:52.889[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.608254 [mm], validation score: 0.952642.
16:24:52.890[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180934
16:24:52.891[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011104
16:24:52.893[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.625773 [mm], validation score: 0.951144.
16:24:52.893[I] 3D精匹配_1: 匹配得分: ([0.953852653503418], [0.9609888195991516], [0.9526418447494507], [0.951143741607666])
16:24:52.893[I] 调整位姿_1: 开始运行。
16:24:52.893[I] 调整位姿_1: 16个子步骤运行结束。
16:24:52.894[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15466033146659183,-0.10713493311361114,0.15105863740706593,0.7040049843222146,-0.0030076878493709392,-0.004578852137924519,0.7101739012216501],[0.15270220613865837,0.1300841931664911,0.1510469088799864,0.9999814745624642,-0.0034934671489087743,-0.000511223827430695,0.00495831315643841],[-0.03515153917019184,-0.1079399920983202,0.15182143165570738,-0.9999502275544956,0.00017152059665239956,-0.00997561434413787,-1.0621783463343914e-05],[-0.03597125878873732,0.12932643425627305,0.1521085860171305,0.9999529583297109,-0.0014279962953740728,0.009444730624599567,0.0016849384764135548]]})
16:24:52.903[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 3
16:24:52.908[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 3
16:24:52.919[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 3
16:24:52.920[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 3
16:24:52.920[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.8267秒。
16:24:52.935[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.838"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:24:54.281[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:24:54.283[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:24:54.284[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:24:54.314[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:24:54.314[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:54.314[I] 创建物体模型_1: 开始创建模型。请稍候。
16:24:54.459[I] 创建物体模型_1: 模型被成功创建。
16:24:54.475[D] 收到相机应答信息耗时： 0.160203
16:24:54.475[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:54.476[D] 收到相机应答信息耗时： 0.0008662
16:24:54.476[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:24:54.477[D] 收到相机应答信息耗时： 0.0007874
16:24:54.477[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:24:54.478[D] 收到相机应答信息耗时： 0.0008289
16:24:54.560[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:24:54.561[D] 收到相机应答信息耗时： 0.0010841
16:24:54.567[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:54.568[D] 收到相机应答信息耗时： 0.0008605
16:24:54.568[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:24:55.992[D] 收到相机应答信息耗时： 1.4234
16:24:56.044[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:24:56.282[D] Normal Filter Main Normal: 0 , 0 , -1
16:24:56.547[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:24:56.754[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:24:56.755[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:24:56.816[I] 数据重复并串接_1: 重复4次。
16:24:56.816[I] 数据重复并串接_2: 重复4次。
16:24:56.869[I] [ printSampleResult ] 采样结束。
采样后点云中点数：305.
对应的采样采样间隔：0.625。
16:24:56.869[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:24:56.869[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:24:57.028[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186391
16:24:57.028[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120064
16:24:57.031[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.625871 [mm], validation score: 0.994367.
16:24:57.031[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179635
16:24:57.032[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117151
16:24:57.034[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.521038 [mm], validation score: 0.996477.
16:24:57.035[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018097
16:24:57.036[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121738
16:24:57.038[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.59763 [mm], validation score: 0.995528.
16:24:57.039[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181202
16:24:57.040[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109191
16:24:57.042[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.542536 [mm], validation score: 0.996344.
16:24:57.042[I] 3D精匹配_2: 匹配得分: ([0.9943670034408569], [0.9964773058891296], [0.9955282211303711], [0.9963438510894775])
16:24:57.048[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186311
16:24:57.049[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118841
16:24:57.051[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.598978 [mm], validation score: 0.943848.
16:24:57.052[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180267
16:24:57.053[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011204
16:24:57.054[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.525368 [mm], validation score: 0.961966.
16:24:57.055[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181252
16:24:57.056[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120983
16:24:57.058[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.598004 [mm], validation score: 0.953451.
16:24:57.059[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180553
16:24:57.060[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00107736
16:24:57.062[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.539579 [mm], validation score: 0.960975.
16:24:57.062[I] 3D精匹配_1: 匹配得分: ([0.9438475966453552], [0.9619662165641785], [0.9534514546394348], [0.9609748721122742])
16:24:57.062[I] 调整位姿_1: 开始运行。
16:24:57.063[I] 调整位姿_1: 16个子步骤运行结束。
16:24:57.063[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15446453052276965,-0.10728800760225302,0.1510731219573882,0.7085134051848242,0.004759072748745558,-0.0023435572093213116,-0.7056774147155226],[0.15282683399156466,0.12997660366264097,0.15110552689963241,0.70899829960565,-0.0007505188727882999,-0.0027591222837308315,-0.7052043924437381],[-0.03531912768665818,-0.10814677467148073,0.15169238836952914,0.7081507464003114,-0.003606670152185657,0.009431973192184981,-0.7059890581197398],[-0.036047949803834814,0.12915296625901085,0.15219048827223114,-0.9999467917569175,0.0007158008977155264,-0.010038325545386844,-0.0022656796700660175]]})
16:24:57.073[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 4
16:24:57.081[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 4
16:24:57.084[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 4
16:24:57.084[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 4
16:24:57.085[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.77032秒。
16:24:57.104[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.788"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:24:58.298[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:24:58.299[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:24:58.300[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:24:58.330[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:24:58.330[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:58.330[I] 创建物体模型_1: 开始创建模型。请稍候。
16:24:58.470[I] 创建物体模型_1: 模型被成功创建。
16:24:58.478[D] 收到相机应答信息耗时： 0.147424
16:24:58.478[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:58.479[D] 收到相机应答信息耗时： 0.0009149
16:24:58.479[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:24:58.480[D] 收到相机应答信息耗时： 0.0007626
16:24:58.480[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:24:58.481[D] 收到相机应答信息耗时： 0.0008758
16:24:58.562[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:24:58.563[D] 收到相机应答信息耗时： 0.0009822
16:24:58.569[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:24:58.570[D] 收到相机应答信息耗时： 0.0009642
16:24:58.570[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:24:59.988[D] 收到相机应答信息耗时： 1.41812
16:25:00.043[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:25:00.276[D] Normal Filter Main Normal: 0 , 0 , -1
16:25:00.533[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:25:00.749[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:25:00.750[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:25:00.827[I] 数据重复并串接_1: 重复4次。
16:25:00.827[I] 数据重复并串接_2: 重复4次。
16:25:00.830[I] [ printSampleResult ] 采样结束。
采样后点云中点数：305.
对应的采样采样间隔：0.625。
16:25:00.830[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:25:00.830[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:25:00.992[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183199
16:25:00.992[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122395
16:25:00.995[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.72698 [mm], validation score: 0.993265.
16:25:00.996[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177602
16:25:00.996[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00107056
16:25:00.999[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.52427 [mm], validation score: 0.996546.
16:25:01.000[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180352
16:25:01.000[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120683
16:25:01.002[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.629033 [mm], validation score: 0.994732.
16:25:01.003[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182
16:25:01.004[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118034
16:25:01.006[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.60542 [mm], validation score: 0.995469.
16:25:01.006[I] 3D精匹配_2: 匹配得分: ([0.9932654500007629], [0.99654620885849], [0.994732141494751], [0.9954694509506226])
16:25:01.012[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183371
16:25:01.012[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121586
16:25:01.015[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.730689 [mm], validation score: 0.930487.
16:25:01.016[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177494
16:25:01.016[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108228
16:25:01.018[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.524769 [mm], validation score: 0.962828.
16:25:01.019[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018102
16:25:01.020[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121505
16:25:01.022[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.639652 [mm], validation score: 0.945518.
16:25:01.023[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181411
16:25:01.024[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011246
16:25:01.026[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.610378 [mm], validation score: 0.951724.
16:25:01.026[I] 3D精匹配_1: 匹配得分: ([0.9304871559143066], [0.9628279805183411], [0.9455181360244751], [0.951723575592041])
16:25:01.026[I] 调整位姿_1: 开始运行。
16:25:01.027[I] 调整位姿_1: 16个子步骤运行结束。
16:25:01.027[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15448616157791006,-0.1070650276765037,0.15098441361847903,0.9999750951270978,0.0006945260257130436,-0.005219032444414608,0.004699836113659316],[0.15290438467669984,0.13049294099733186,0.1509209599891237,0.708662436482514,0.0004795180020644666,-0.006029413971403675,-0.7055217695778877],[-0.03513433224158291,-0.1081123692283906,0.15170552423746764,0.9999495447070944,0.002759017595875922,0.009593030203718165,0.0011267801431176726],[-0.03624372365764573,0.12901452312186668,0.15227837820653023,-0.9999236956477784,-0.0001610544934555091,-0.011557814613248679,-0.0043581951430717225]]})
16:25:01.037[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 5
16:25:01.042[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 5
16:25:01.049[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 5
16:25:01.049[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 5
16:25:01.049[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.7191秒。
16:25:01.070[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.737"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:25:02.223[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:25:02.225[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:25:02.226[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:25:02.256[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:25:02.256[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:02.256[I] 创建物体模型_1: 开始创建模型。请稍候。
16:25:02.258[D] 收到相机应答信息耗时： 0.0022608
16:25:02.259[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:02.260[D] 收到相机应答信息耗时： 0.0010152
16:25:02.260[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:25:02.261[D] 收到相机应答信息耗时： 0.0009259
16:25:02.261[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:25:02.262[D] 收到相机应答信息耗时： 0.000994
16:25:02.342[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:25:02.412[I] 创建物体模型_1: 模型被成功创建。
16:25:02.453[D] 收到相机应答信息耗时： 0.111416
16:25:02.469[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:02.470[D] 收到相机应答信息耗时： 0.0013686
16:25:02.470[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:25:03.947[D] 收到相机应答信息耗时： 1.47605
16:25:03.999[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:25:04.230[D] Normal Filter Main Normal: 0 , 0 , -1
16:25:04.484[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:25:04.692[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:25:04.693[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:25:04.774[I] 数据重复并串接_1: 重复4次。
16:25:04.774[I] 数据重复并串接_2: 重复4次。
16:25:04.802[I] [ printSampleResult ] 采样结束。
采样后点云中点数：305.
对应的采样采样间隔：0.625。
16:25:04.802[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:25:04.802[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:25:04.970[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183622
16:25:04.970[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111906
16:25:04.973[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.554275 [mm], validation score: 0.996028.
16:25:04.973[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176389
16:25:04.974[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115766
16:25:04.976[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.545613 [mm], validation score: 0.996264.
16:25:04.977[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180175
16:25:04.978[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118362
16:25:04.980[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.563151 [mm], validation score: 0.996129.
16:25:04.981[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184679
16:25:04.982[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011428
16:25:04.984[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.594581 [mm], validation score: 0.995714.
16:25:04.984[I] 3D精匹配_2: 匹配得分: ([0.9960283637046814], [0.9962643980979919], [0.9961292147636414], [0.9957137107849121])
16:25:04.989[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183366
16:25:04.990[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00110926
16:25:04.992[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.560875 [mm], validation score: 0.957727.
16:25:04.993[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00177762
16:25:04.993[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00107335
16:25:04.995[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.544045 [mm], validation score: 0.960131.
16:25:04.996[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179229
16:25:04.997[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115877
16:25:04.999[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.557975 [mm], validation score: 0.959301.
16:25:05.000[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186197
16:25:05.001[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124047
16:25:05.003[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.594333 [mm], validation score: 0.954035.
16:25:05.003[I] 3D精匹配_1: 匹配得分: ([0.9577268958091736], [0.9601306915283203], [0.9593014121055603], [0.954035222530365])
16:25:05.003[I] 调整位姿_1: 开始运行。
16:25:05.003[I] 调整位姿_1: 16个子步骤运行结束。
16:25:05.003[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1544831533026484,-0.10724168922084257,0.15089492227294588,0.704769065812619,-0.0017152289885094601,-0.004733028734339887,0.7094189314517374],[0.15304090316762592,0.13005663786051241,0.1510968550115832,0.9999870367041236,-0.0040820600819671815,-0.001820096464898991,0.002439356073077714],[-0.035363712433633954,-0.10786567710741621,0.15167454587976859,0.7072233102909997,0.0088961559320523,0.004393068940753162,0.706920609924449],[-0.03617646597971383,0.12903292621173942,0.1522398382725294,0.9999440622945203,-0.0005315130746293929,0.010049247621129713,0.0032561323733961756]]})
16:25:05.014[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 6
16:25:05.020[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 6
16:25:05.026[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 6
16:25:05.026[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 6
16:25:05.026[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.77099秒。
16:25:05.041[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.783"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:25:06.101[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:25:06.103[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:25:06.105[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:25:06.133[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:25:06.134[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:06.134[I] 创建物体模型_1: 开始创建模型。请稍候。
16:25:06.136[D] 收到相机应答信息耗时： 0.0020521
16:25:06.136[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:06.137[D] 收到相机应答信息耗时： 0.0009822
16:25:06.137[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:25:06.138[D] 收到相机应答信息耗时： 0.0009811
16:25:06.138[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:25:06.139[D] 收到相机应答信息耗时： 0.0009792
16:25:06.216[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:25:06.217[D] 收到相机应答信息耗时： 0.0009643
16:25:06.226[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:06.227[D] 收到相机应答信息耗时： 0.0009399
16:25:06.227[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:25:06.290[I] 创建物体模型_1: 模型被成功创建。
16:25:07.847[D] 收到相机应答信息耗时： 1.61969
16:25:07.898[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:25:08.131[D] Normal Filter Main Normal: 0 , 0 , -1
16:25:08.349[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:25:08.545[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:25:08.546[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:25:08.618[I] 数据重复并串接_1: 重复4次。
16:25:08.618[I] 数据重复并串接_2: 重复4次。
16:25:08.620[I] [ printSampleResult ] 采样结束。
采样后点云中点数：305.
对应的采样采样间隔：0.625。
16:25:08.621[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:25:08.621[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:25:08.783[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188375
16:25:08.784[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127457
16:25:08.786[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.700645 [mm], validation score: 0.993856.
16:25:08.787[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179967
16:25:08.788[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118808
16:25:08.790[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.644058 [mm], validation score: 0.994603.
16:25:08.791[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187783
16:25:08.792[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126667
16:25:08.794[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.662491 [mm], validation score: 0.993508.
16:25:08.795[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00199781
16:25:08.796[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00132468
16:25:08.797[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.817368 [mm], validation score: 0.991269.
16:25:08.798[I] 3D精匹配_2: 匹配得分: ([0.9938558340072632], [0.9946033954620361], [0.9935082197189331], [0.9912692904472351])
16:25:08.804[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189091
16:25:08.805[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128348
16:25:08.807[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.706224 [mm], validation score: 0.935873.
16:25:08.808[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179922
16:25:08.808[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011937
16:25:08.810[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.644068 [mm], validation score: 0.943502.
16:25:08.811[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187445
16:25:08.812[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127343
16:25:08.814[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.657014 [mm], validation score: 0.935211.
16:25:08.815[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00200151
16:25:08.816[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00135025
16:25:08.818[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.803055 [mm], validation score: 0.911316.
16:25:08.819[I] 3D精匹配_1: 匹配得分: ([0.9358726739883423], [0.9435017704963684], [0.9352108240127563], [0.9113155007362366])
16:25:08.819[I] 调整位姿_1: 开始运行。
16:25:08.819[I] 调整位姿_1: 16个子步骤运行结束。
16:25:08.819[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15439582793409495,-0.10708913969100733,0.15086865897593937,0.9999832682692167,0.0019848406815645286,-0.004118521130459776,0.003544202700544397],[0.15257407118163663,0.13037509775082676,0.15086733190903678,0.9999824563725006,-0.004171519082416988,-0.0001892361195018552,0.004201138590399167],[-0.03433115132605116,-0.10808289457283618,0.15147113736800244,0.7048556787848298,0.006463346460867281,0.00374354371228203,0.7093114147663057],[-0.03556988274844896,0.12896131764690047,0.15201883226490231,0.7059887154523434,0.0048521683725515265,0.005730115822467402,0.7081832784588289]]})
16:25:08.830[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 7
16:25:08.836[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 7
16:25:08.844[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 7
16:25:08.848[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 7
16:25:08.849[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.71651秒。
16:25:08.865[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.732"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:25:09.987[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:25:09.989[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:25:09.989[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:25:10.029[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:25:10.029[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:10.029[I] 创建物体模型_1: 开始创建模型。请稍候。
16:25:10.031[D] 收到相机应答信息耗时： 0.0020394
16:25:10.031[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:10.032[D] 收到相机应答信息耗时： 0.000997
16:25:10.033[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:25:10.033[D] 收到相机应答信息耗时： 0.000895
16:25:10.034[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:25:10.035[D] 收到相机应答信息耗时： 0.001006
16:25:10.115[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:25:10.116[D] 收到相机应答信息耗时： 0.0009507
16:25:10.124[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:10.125[D] 收到相机应答信息耗时： 0.0009321
16:25:10.125[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:25:10.192[I] 创建物体模型_1: 模型被成功创建。
16:25:11.801[D] 收到相机应答信息耗时： 1.67632
16:25:11.854[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:25:12.087[D] Normal Filter Main Normal: 0 , 0 , -1
16:25:12.344[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:25:12.551[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:25:12.552[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:25:12.635[I] 数据重复并串接_1: 重复4次。
16:25:12.635[I] 数据重复并串接_2: 重复4次。
16:25:12.662[I] [ printSampleResult ] 采样结束。
采样后点云中点数：305.
对应的采样采样间隔：0.625。
16:25:12.663[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:25:12.663[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:25:12.842[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185807
16:25:12.843[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011465
16:25:12.845[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.602726 [mm], validation score: 0.995374.
16:25:12.846[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178133
16:25:12.846[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00108893
16:25:12.848[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.558749 [mm], validation score: 0.995997.
16:25:12.849[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180916
16:25:12.850[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122112
16:25:12.852[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.618598 [mm], validation score: 0.995403.
16:25:12.853[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00179933
16:25:12.854[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113898
16:25:12.856[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.578507 [mm], validation score: 0.996028.
16:25:12.856[I] 3D精匹配_2: 匹配得分: ([0.995373547077179], [0.9959970116615295], [0.9954032301902771], [0.9960280060768127])
16:25:12.863[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186381
16:25:12.863[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118327
16:25:12.865[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.603191 [mm], validation score: 0.951249.
16:25:12.866[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00178324
16:25:12.867[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00107599
16:25:12.869[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.55998 [mm], validation score: 0.957228.
16:25:12.870[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181592
16:25:12.871[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118955
16:25:12.873[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.613789 [mm], validation score: 0.951638.
16:25:12.874[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00180739
16:25:12.874[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109294
16:25:12.876[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.579073 [mm], validation score: 0.95719.
16:25:12.876[I] 3D精匹配_1: 匹配得分: ([0.9512488842010498], [0.9572278261184692], [0.9516376256942749], [0.957189679145813])
16:25:12.876[I] 调整位姿_1: 开始运行。
16:25:12.876[I] 调整位姿_1: 16个子步骤运行结束。
16:25:12.876[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1546189506331279,-0.10709253469658345,0.15096077695228893,0.9999776784987473,0.002154161872496032,-0.004646219433376907,0.0042912394316911295],[0.15299202944648232,0.1299270218195393,0.15119911947778863,0.708355068101131,0.00020430605596136577,-0.0028482041861119835,-0.7058505107226261],[-0.03516443584405063,-0.10811056404507272,0.15170013023273343,0.7076247911569463,-0.005410736706292958,0.00788344107392658,-0.7065236940295899],[-0.03614747291523201,0.12906960514069168,0.152184389400692,-0.9999343867809019,0.0008756264254161305,-0.010955395794394453,-0.0032302808629389684]]})
16:25:12.888[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 8
16:25:12.894[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 8
16:25:12.901[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 8
16:25:12.903[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 8
16:25:12.904[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.87518秒。
16:25:12.911[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.881"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:25:14.074[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:25:14.076[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:25:14.077[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:25:14.106[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:25:14.107[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:14.107[I] 创建物体模型_1: 开始创建模型。请稍候。
16:25:14.109[D] 收到相机应答信息耗时： 0.0021951
16:25:14.109[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:14.110[D] 收到相机应答信息耗时： 0.0010088
16:25:14.110[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:25:14.111[D] 收到相机应答信息耗时： 0.0009583
16:25:14.111[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:25:14.112[D] 收到相机应答信息耗时： 0.0009043
16:25:14.185[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:25:14.186[D] 收到相机应答信息耗时： 0.0009191
16:25:14.194[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:14.195[D] 收到相机应答信息耗时： 0.000885
16:25:14.195[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:25:14.276[I] 创建物体模型_1: 模型被成功创建。
16:25:15.809[D] 收到相机应答信息耗时： 1.6145
16:25:15.860[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:25:16.093[D] Normal Filter Main Normal: 0 , 0 , -1
16:25:16.345[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:25:16.587[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:25:16.588[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:25:16.649[I] 数据重复并串接_2: 重复4次。
16:25:16.649[I] 数据重复并串接_1: 重复4次。
16:25:16.694[I] [ printSampleResult ] 采样结束。
采样后点云中点数：305.
对应的采样采样间隔：0.625。
16:25:16.694[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:25:16.694[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:25:16.850[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185504
16:25:16.851[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117312
16:25:16.853[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.640964 [mm], validation score: 0.994866.
16:25:16.854[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00175723
16:25:16.855[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00114292
16:25:16.857[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.572968 [mm], validation score: 0.995726.
16:25:16.858[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182743
16:25:16.859[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111773
16:25:16.860[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.570498 [mm], validation score: 0.995777.
16:25:16.861[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00182555
16:25:16.862[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119325
16:25:16.864[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.633954 [mm], validation score: 0.995043.
16:25:16.864[I] 3D精匹配_2: 匹配得分: ([0.9948664307594299], [0.9957260489463806], [0.9957771301269531], [0.9950428605079651])
16:25:16.870[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185946
16:25:16.870[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119315
16:25:16.872[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.631759 [mm], validation score: 0.946971.
16:25:16.873[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00176095
16:25:16.874[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116629
16:25:16.876[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.572453 [mm], validation score: 0.954622.
16:25:16.877[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018372
16:25:16.877[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00109893
16:25:16.879[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.572144 [mm], validation score: 0.956001.
16:25:16.880[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00183061
16:25:16.881[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119149
16:25:16.883[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.633828 [mm], validation score: 0.947589.
16:25:16.883[I] 3D精匹配_1: 匹配得分: ([0.9469711780548096], [0.9546221494674683], [0.9560006856918335], [0.9475888013839722])
16:25:16.883[I] 调整位姿_1: 开始运行。
16:25:16.884[I] 调整位姿_1: 16个子步骤运行结束。
16:25:16.884[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1545551460574205,-0.10700476101349124,0.15100148347097098,0.9999712614992218,0.000702131939816067,-0.005187408302908578,0.005483974971968343],[0.15300387276424773,0.1299426373550599,0.1510404841889028,0.9999929937305304,-0.0032161014029020267,-0.0014180518807136895,0.0012877540449194314],[-0.03518711353518336,-0.10801667045697563,0.15162173994301154,-0.9999561980771163,-0.0027191287154256145,-0.008935520221056328,-0.000603940876761694],[-0.036114144760455255,0.12871081737220888,0.1522780076462653,0.9999490381620033,0.0005812727752987785,0.009201966113272607,0.004111814744796889]]})
16:25:16.895[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 9
16:25:16.902[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 9
16:25:16.909[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 9
16:25:16.909[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 9
16:25:16.910[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.80303秒。
16:25:16.928[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.820"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:25:18.217[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:25:18.219[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:25:18.220[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:25:18.250[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:25:18.250[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:18.250[I] 创建物体模型_1: 开始创建模型。请稍候。
16:25:18.252[D] 收到相机应答信息耗时： 0.0020954
16:25:18.252[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:18.253[D] 收到相机应答信息耗时： 0.0009572
16:25:18.253[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:25:18.254[D] 收到相机应答信息耗时： 0.0009065
16:25:18.255[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:25:18.255[D] 收到相机应答信息耗时： 0.0009436
16:25:18.332[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:25:18.415[I] 创建物体模型_1: 模型被成功创建。
16:25:18.440[D] 收到相机应答信息耗时： 0.107476
16:25:18.447[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:25:18.448[D] 收到相机应答信息耗时： 0.0013008
16:25:18.449[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:25:19.936[D] 收到相机应答信息耗时： 1.48748
16:25:19.988[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:25:20.228[D] Normal Filter Main Normal: 0 , 0 , -1
16:25:20.460[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:25:20.697[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:25:20.698[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:25:20.792[I] 数据重复并串接_1: 重复4次。
16:25:20.792[I] 数据重复并串接_2: 重复4次。
16:25:20.796[I] [ printSampleResult ] 采样结束。
采样后点云中点数：305.
对应的采样采样间隔：0.625。
16:25:20.796[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:25:20.796[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:25:20.957[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00184537
16:25:20.958[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00115834
16:25:20.960[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.618791 [mm], validation score: 0.995128.
16:25:20.961[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00181142
16:25:20.961[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113183
16:25:20.963[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.608426 [mm], validation score: 0.995363.
16:25:20.964[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186806
16:25:20.965[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0011953
16:25:20.967[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.62038 [mm], validation score: 0.995017.
16:25:20.968[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191524
16:25:20.969[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121314
16:25:20.971[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.713037 [mm], validation score: 0.993619.
16:25:20.971[I] 3D精匹配_2: 匹配得分: ([0.9951276779174805], [0.9953625202178955], [0.9950171709060669], [0.9936193227767944])
16:25:20.976[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185579
16:25:20.977[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117256
16:25:20.979[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.624667 [mm], validation score: 0.94827.
16:25:20.980[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001815
16:25:20.981[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00113634
16:25:20.983[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.606135 [mm], validation score: 0.95093.
16:25:20.984[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185951
16:25:20.985[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00117836
16:25:20.987[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.629602 [mm], validation score: 0.947349.
16:25:20.987[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019174
16:25:20.988[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123849
16:25:20.990[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.722744 [mm], validation score: 0.933227.
16:25:20.990[I] 3D精匹配_1: 匹配得分: ([0.9482695460319519], [0.9509298205375671], [0.9473488330841064], [0.9332267045974731])
16:25:20.991[I] 调整位姿_1: 开始运行。
16:25:20.991[I] 调整位姿_1: 16个子步骤运行结束。
16:25:20.991[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15441516176171532,-0.10705123823200688,0.15085414503301497,0.7102359138642179,0.00350461221758854,-0.002064332810952766,-0.7039519890452113],[0.15277937878803635,0.13020380952234192,0.1508024850426244,0.7088289632105419,-0.002429060125933084,-0.0022656974572700748,-0.7053725733226409],[-0.035171771365074656,-0.10771954874082093,0.1517496370389464,0.7071313862061931,-0.005651693194626043,0.0074248644867253785,-0.7070206025240677],[-0.03600832814253348,0.12888743756622167,0.15212776004845652,0.7090559459057187,-0.00634761233363488,0.00578433008285639,-0.7050999325761562]]})
16:25:21.006[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 10
16:25:21.011[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 10
16:25:21.018[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 10
16:25:21.021[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 10
16:25:21.021[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.77128秒。
16:25:21.031[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.779"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:31:59.762[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:31:59.764[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:31:59.765[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:31:59.796[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:31:59.797[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:31:59.797[I] 创建物体模型_1: 开始创建模型。请稍候。
16:31:59.799[D] 收到相机应答信息耗时： 0.0021677
16:31:59.799[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:31:59.800[D] 收到相机应答信息耗时： 0.0009202
16:31:59.800[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:31:59.801[D] 收到相机应答信息耗时： 0.0009576
16:31:59.801[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:31:59.802[D] 收到相机应答信息耗时： 0.0009087
16:31:59.878[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:31:59.879[D] 收到相机应答信息耗时： 0.0009399
16:31:59.887[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:31:59.887[D] 收到相机应答信息耗时： 0.0008705
16:31:59.888[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:31:59.967[I] 创建物体模型_1: 模型被成功创建。
16:32:01.372[D] 收到相机应答信息耗时： 1.48412
16:32:01.425[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:32:01.671[D] Normal Filter Main Normal: 0 , 0 , -1
16:32:01.950[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:32:02.225[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:02.227[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:02.320[I] 数据重复并串接_2: 重复4次。
16:32:02.320[I] 数据重复并串接_1: 重复4次。
16:32:02.324[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673828。
16:32:02.325[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:32:02.325[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:32:02.508[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00198142
16:32:02.509[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00136869
16:32:02.511[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.833596 [mm], validation score: 0.989869.
16:32:02.512[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189864
16:32:02.513[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123306
16:32:02.515[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.722952 [mm], validation score: 0.993358.
16:32:02.516[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019605
16:32:02.517[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125708
16:32:02.519[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.778948 [mm], validation score: 0.99227.
16:32:02.521[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193095
16:32:02.522[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129206
16:32:02.524[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.711808 [mm], validation score: 0.993459.
16:32:02.525[I] 3D精匹配_2: 匹配得分: ([0.9898685812950134], [0.9933584928512573], [0.9922704696655273], [0.9934592843055725])
16:32:02.531[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197606
16:32:02.532[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0013408
16:32:02.534[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.811604 [mm], validation score: 0.900547.
16:32:02.536[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190471
16:32:02.536[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127166
16:32:02.539[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.725648 [mm], validation score: 0.931417.
16:32:02.540[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019595
16:32:02.541[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125635
16:32:02.543[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.780816 [mm], validation score: 0.920687.
16:32:02.544[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192944
16:32:02.545[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128643
16:32:02.547[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.713177 [mm], validation score: 0.931689.
16:32:02.547[I] 3D精匹配_1: 匹配得分: ([0.9005469083786011], [0.9314168691635132], [0.9206870198249817], [0.9316888451576233])
16:32:02.547[I] 调整位姿_1: 开始运行。
16:32:02.548[I] 调整位姿_1: 16个子步骤运行结束。
16:32:02.548[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.153421406595932,-0.13792773409937678,0.1509446222151316,0.9999715348147596,0.00044151899598215977,0.007445480967730533,0.0011399273438792992],[0.15210734624042102,0.14463158524234915,0.15076898181649656,0.9999817277357375,-0.00527667227281714,-0.0003471327390445131,0.0029292359476096874],[-0.060707400595041344,-0.13790631962950697,0.15159756449843753,0.706759473555841,0.00231248376204764,-0.004515090013441365,0.7074357305933108],[-0.06091186175906271,0.14328091769332202,0.15188446305546965,-0.7059022904071156,-0.0010210510224023346,-0.006098241616792348,-0.7082822356250293]]})
16:32:02.565[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 1
16:32:02.573[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 1
16:32:02.573[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 1
16:32:02.574[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 1
16:32:02.574[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.77762秒。
16:32:02.588[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.790"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:32:03.959[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:32:03.960[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:32:03.961[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:32:03.994[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:32:03.995[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:03.995[I] 创建物体模型_1: 开始创建模型。请稍候。
16:32:03.997[D] 收到相机应答信息耗时： 0.002182
16:32:03.997[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:03.998[D] 收到相机应答信息耗时： 0.0010056
16:32:03.998[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:32:03.999[D] 收到相机应答信息耗时： 0.0008549
16:32:03.999[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:32:04.000[D] 收到相机应答信息耗时： 0.0009108
16:32:04.077[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:32:04.078[D] 收到相机应答信息耗时： 0.0009529
16:32:04.086[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:04.087[D] 收到相机应答信息耗时： 0.0009227
16:32:04.087[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:32:04.170[I] 创建物体模型_1: 模型被成功创建。
16:32:05.770[D] 收到相机应答信息耗时： 1.68356
16:32:05.821[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:32:06.052[D] Normal Filter Main Normal: 0 , 0 , -1
16:32:06.331[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:32:06.603[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:06.604[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:06.750[I] 数据重复并串接_1: 重复4次。
16:32:06.750[I] 数据重复并串接_2: 重复4次。
16:32:06.752[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673828。
16:32:06.753[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:32:06.753[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:32:06.921[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194626
16:32:06.922[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122421
16:32:06.924[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.675016 [mm], validation score: 0.994033.
16:32:06.925[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191794
16:32:06.926[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012347
16:32:06.928[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.75623 [mm], validation score: 0.992733.
16:32:06.929[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019611
16:32:06.929[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124623
16:32:06.931[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.710458 [mm], validation score: 0.993526.
16:32:06.933[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019648
16:32:06.934[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00132878
16:32:06.936[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.768299 [mm], validation score: 0.99282.
16:32:06.936[I] 3D精匹配_2: 匹配得分: ([0.9940330982208252], [0.9927329421043396], [0.9935263395309448], [0.9928200244903564])
16:32:06.942[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019439
16:32:06.943[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122448
16:32:06.945[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.676797 [mm], validation score: 0.938438.
16:32:06.946[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019188
16:32:06.947[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122922
16:32:06.949[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.758418 [mm], validation score: 0.925197.
16:32:06.950[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194858
16:32:06.951[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125469
16:32:06.953[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.708422 [mm], validation score: 0.933344.
16:32:06.954[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195657
16:32:06.955[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127549
16:32:06.957[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.772778 [mm], validation score: 0.924995.
16:32:06.957[I] 3D精匹配_1: 匹配得分: ([0.938438355922699], [0.9251973032951355], [0.9333441853523254], [0.9249951839447021])
16:32:06.957[I] 调整位姿_1: 开始运行。
16:32:06.957[I] 调整位姿_1: 16个子步骤运行结束。
16:32:06.958[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15344879580549245,-0.13777083545833615,0.1509257732385243,0.706110088414062,0.004615498702741321,0.005343691059850603,0.708066864905757],[0.15190659913914398,0.14454535791723272,0.15084916154386718,0.9999834458543898,-0.0045277840510698705,-0.00016129366417218585,0.0035469949423537206],[-0.06044362573726819,-0.1380617704790935,0.1516617109618299,0.7059723816453225,0.002445494904046124,-0.003029750561565795,0.7082286611824182],[-0.0610175680221265,0.1432341322235693,0.15186406710930078,0.7055857847756498,0.001133717054890836,0.006222031059324512,0.7085962893902751]]})
16:32:06.966[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 2
16:32:06.971[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 2
16:32:06.976[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 2
16:32:06.982[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 2
16:32:06.982[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.98809秒。
16:32:06.994[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.999"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:32:08.012[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:32:08.014[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:32:08.014[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:32:08.051[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:32:08.052[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:08.052[I] 创建物体模型_1: 开始创建模型。请稍候。
16:32:08.054[D] 收到相机应答信息耗时： 0.0020001
16:32:08.054[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:08.055[D] 收到相机应答信息耗时： 0.0011002
16:32:08.055[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:32:08.056[D] 收到相机应答信息耗时： 0.0009026
16:32:08.056[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:32:08.057[D] 收到相机应答信息耗时： 0.0009422
16:32:08.135[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:32:08.136[D] 收到相机应答信息耗时： 0.0010086
16:32:08.143[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:08.144[D] 收到相机应答信息耗时： 0.0009461
16:32:08.144[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:32:08.208[I] 创建物体模型_1: 模型被成功创建。
16:32:09.775[D] 收到相机应答信息耗时： 1.63106
16:32:09.826[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:32:10.060[D] Normal Filter Main Normal: 0 , 0 , -1
16:32:10.335[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:32:10.615[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:10.616[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:10.703[I] 数据重复并串接_1: 重复4次。
16:32:10.703[I] 数据重复并串接_2: 重复4次。
16:32:10.747[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673828。
16:32:10.747[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:32:10.747[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:32:10.928[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00196277
16:32:10.929[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012945
16:32:10.932[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.748441 [mm], validation score: 0.992999.
16:32:10.933[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189991
16:32:10.934[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125391
16:32:10.937[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.774185 [mm], validation score: 0.992122.
16:32:10.938[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194548
16:32:10.938[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123275
16:32:10.940[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.66941 [mm], validation score: 0.99457.
16:32:10.941[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194203
16:32:10.942[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125635
16:32:10.944[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.790879 [mm], validation score: 0.992653.
16:32:10.945[I] 3D精匹配_2: 匹配得分: ([0.9929991960525513], [0.9921218156814575], [0.9945698976516724], [0.9926528334617615])
16:32:10.950[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197062
16:32:10.951[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130435
16:32:10.953[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.748873 [mm], validation score: 0.927144.
16:32:10.954[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189572
16:32:10.955[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012135
16:32:10.957[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.778433 [mm], validation score: 0.920093.
16:32:10.958[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193911
16:32:10.959[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124335
16:32:10.962[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.672273 [mm], validation score: 0.942909.
16:32:10.963[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193776
16:32:10.964[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127474
16:32:10.966[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.788371 [mm], validation score: 0.924268.
16:32:10.966[I] 3D精匹配_1: 匹配得分: ([0.9271442294120789], [0.9200932383537292], [0.9429090619087219], [0.9242680668830872])
16:32:10.967[I] 调整位姿_1: 开始运行。
16:32:10.967[I] 调整位姿_1: 16个子步骤运行结束。
16:32:10.967[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15345005202706916,-0.13779010158460045,0.15105904281869842,0.7060315001383465,0.0030875961374321353,0.005121904155819808,0.7081551762575108],[0.1519774595055569,0.14478313886773608,0.150578362302364,0.9999736967563041,-0.0064228752997719865,-0.0002137093664890538,0.0033625580621217677],[-0.06045900681581967,-0.13775961490627772,0.15154457947700384,-0.9999970855444006,-0.002058815493662778,0.0005361400375314649,0.0011413743183597501],[-0.060932248751687484,0.14344278036559413,0.15170653769836417,0.7064140745332923,-0.0005416792618991514,0.006863887782834835,0.7077653205189931]]})
16:32:10.981[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 3
16:32:10.982[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 3
16:32:10.987[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 3
16:32:10.987[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 3
16:32:10.987[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.93591秒。
16:32:11.008[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.956"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:32:12.422[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:32:12.424[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:32:12.425[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:32:12.470[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:32:12.470[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:12.470[I] 创建物体模型_1: 开始创建模型。请稍候。
16:32:12.545[D] 收到相机应答信息耗时： 0.0751924
16:32:12.546[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:12.547[D] 收到相机应答信息耗时： 0.0012446
16:32:12.547[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:32:12.548[D] 收到相机应答信息耗时： 0.0010392
16:32:12.548[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:32:12.549[D] 收到相机应答信息耗时： 0.0010422
16:32:12.621[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:32:12.622[D] 收到相机应答信息耗时： 0.0009814
16:32:12.631[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:12.632[D] 收到相机应答信息耗时： 0.0008737
16:32:12.632[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:32:12.637[I] 创建物体模型_1: 模型被成功创建。
16:32:14.025[D] 收到相机应答信息耗时： 1.39264
16:32:14.075[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:32:14.299[D] Normal Filter Main Normal: 0 , 0 , -1
16:32:14.578[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:32:14.838[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:14.840[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:14.944[I] 数据重复并串接_1: 重复4次。
16:32:14.944[I] 数据重复并串接_2: 重复4次。
16:32:14.951[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673828。
16:32:14.951[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:32:14.951[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:32:15.127[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019122
16:32:15.128[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129818
16:32:15.130[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.690734 [mm], validation score: 0.993749.
16:32:15.131[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191645
16:32:15.132[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123255
16:32:15.134[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.784255 [mm], validation score: 0.992366.
16:32:15.135[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193343
16:32:15.136[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126207
16:32:15.138[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.642475 [mm], validation score: 0.994848.
16:32:15.139[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194559
16:32:15.140[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124128
16:32:15.142[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.764898 [mm], validation score: 0.992818.
16:32:15.142[I] 3D精匹配_2: 匹配得分: ([0.9937485456466675], [0.9923660755157471], [0.9948480725288391], [0.9928179979324341])
16:32:15.147[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190544
16:32:15.148[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128651
16:32:15.150[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.684955 [mm], validation score: 0.936542.
16:32:15.151[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019096
16:32:15.152[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00131058
16:32:15.154[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.816113 [mm], validation score: 0.917487.
16:32:15.155[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193191
16:32:15.156[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125605
16:32:15.158[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.63601 [mm], validation score: 0.946502.
16:32:15.159[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195411
16:32:15.160[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128596
16:32:15.162[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.763033 [mm], validation score: 0.925838.
16:32:15.162[I] 3D精匹配_1: 匹配得分: ([0.936541736125946], [0.9174872040748596], [0.9465022683143616], [0.9258382320404053])
16:32:15.162[I] 调整位姿_1: 开始运行。
16:32:15.162[I] 调整位姿_1: 16个子步骤运行结束。
16:32:15.163[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15327333312244193,-0.13780900851034042,0.15085878693322363,0.9999718457790006,-0.00027325542520899315,0.007303229003222142,0.0017017129423156925],[0.15188796940164012,0.14442201536028046,0.15088485617617287,0.9999835455893071,-0.004018520644454356,-7.5735144244235e-06,0.004093896079461812],[-0.06071446424180768,-0.13774387660930557,0.1515757785132814,0.7074940279366838,0.0012802307025878133,-0.002595229037624547,0.7067133975166435],[-0.06080881137061788,0.1432190723024215,0.15176213248896242,0.70620410229194,0.00043957036927553574,0.005466669087425136,0.7079870678289356]]})
16:32:15.178[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 4
16:32:15.181[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 4
16:32:15.183[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 4
16:32:15.184[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 4
16:32:15.184[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.71434秒。
16:32:15.200[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.729"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:32:16.274[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:32:16.276[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:32:16.276[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:32:16.306[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:32:16.307[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:16.307[I] 创建物体模型_1: 开始创建模型。请稍候。
16:32:16.455[I] 创建物体模型_1: 模型被成功创建。
16:32:16.485[D] 收到相机应答信息耗时： 0.178254
16:32:16.486[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:16.486[D] 收到相机应答信息耗时： 0.0009434
16:32:16.487[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:32:16.487[D] 收到相机应答信息耗时： 0.0008169
16:32:16.487[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:32:16.488[D] 收到相机应答信息耗时： 0.0008554
16:32:16.556[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:32:16.557[D] 收到相机应答信息耗时： 0.0010206
16:32:16.564[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:16.565[D] 收到相机应答信息耗时： 0.0008403
16:32:16.565[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:32:18.003[D] 收到相机应答信息耗时： 1.4385
16:32:18.055[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:32:18.298[D] Normal Filter Main Normal: 0 , 0 , -1
16:32:18.576[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:32:18.861[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:18.862[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:18.955[I] 数据重复并串接_1: 重复4次。
16:32:18.955[I] 数据重复并串接_2: 重复4次。
16:32:19.003[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673828。
16:32:19.004[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:32:19.004[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:32:19.168[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193615
16:32:19.169[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128562
16:32:19.172[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.749956 [mm], validation score: 0.992857.
16:32:19.172[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194989
16:32:19.173[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127401
16:32:19.175[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.776703 [mm], validation score: 0.992538.
16:32:19.176[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194457
16:32:19.177[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122797
16:32:19.179[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.682217 [mm], validation score: 0.993928.
16:32:19.180[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195405
16:32:19.181[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126994
16:32:19.183[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.769608 [mm], validation score: 0.992495.
16:32:19.183[I] 3D精匹配_2: 匹配得分: ([0.9928572177886963], [0.9925379753112793], [0.9939276576042175], [0.9924952983856201])
16:32:19.188[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193938
16:32:19.189[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.001263
16:32:19.191[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.755304 [mm], validation score: 0.926246.
16:32:19.192[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194815
16:32:19.193[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127474
16:32:19.195[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.776514 [mm], validation score: 0.923531.
16:32:19.196[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193526
16:32:19.197[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125413
16:32:19.199[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.682134 [mm], validation score: 0.937418.
16:32:19.200[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195851
16:32:19.200[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128851
16:32:19.202[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.774443 [mm], validation score: 0.922837.
16:32:19.203[I] 3D精匹配_1: 匹配得分: ([0.9262457489967346], [0.9235307574272156], [0.9374184012413025], [0.9228372573852539])
16:32:19.203[I] 调整位姿_1: 开始运行。
16:32:19.203[I] 调整位姿_1: 16个子步骤运行结束。
16:32:19.203[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15334710666875342,-0.13774650912126044,0.15062421529242687,0.9999500002093178,0.0016181972543908396,0.009677868896671384,0.0019280489231544569],[0.15219931539722747,0.14435511039985305,0.150872003436876,0.7086984943274273,-0.0009698043204759651,-0.003373928046581437,-0.7055027428913048],[-0.060611281984974424,-0.13795549007702004,0.15168575293774178,0.70728303613557,0.0015677635168180291,0.0017841070610653705,-0.7069264925537875],[-0.060885479792419935,0.14317290582863815,0.15189103630781675,-0.9999809874175445,0.002902731938595933,-0.0049175812900791845,-0.0023273042304630073]]})
16:32:19.221[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 5
16:32:19.223[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 5
16:32:19.230[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 5
16:32:19.231[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 5
16:32:19.232[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.92565秒。
16:32:19.244[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.937"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:32:20.336[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:32:20.338[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:32:20.338[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:32:20.378[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:32:20.378[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:20.379[I] 创建物体模型_1: 开始创建模型。请稍候。
16:32:20.462[D] 收到相机应答信息耗时： 0.0827891
16:32:20.462[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:20.463[D] 收到相机应答信息耗时： 0.0010374
16:32:20.463[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:32:20.464[D] 收到相机应答信息耗时： 0.0008431
16:32:20.464[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:32:20.465[D] 收到相机应答信息耗时： 0.0008556
16:32:20.535[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:32:20.537[D] 收到相机应答信息耗时： 0.0014823
16:32:20.549[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:20.551[D] 收到相机应答信息耗时： 0.0010261
16:32:20.551[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:32:20.556[I] 创建物体模型_1: 模型被成功创建。
16:32:21.934[D] 收到相机应答信息耗时： 1.38416
16:32:21.984[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:32:22.213[D] Normal Filter Main Normal: 0 , 0 , -1
16:32:22.484[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:32:22.744[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:22.745[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:22.891[I] 数据重复并串接_1: 重复4次。
16:32:22.891[I] 数据重复并串接_2: 重复4次。
16:32:22.898[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673828。
16:32:22.898[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:32:22.898[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:32:23.067[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019629
16:32:23.068[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127359
16:32:23.070[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.728776 [mm], validation score: 0.993461.
16:32:23.071[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192554
16:32:23.072[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126641
16:32:23.074[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.825115 [mm], validation score: 0.991435.
16:32:23.075[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194415
16:32:23.076[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124839
16:32:23.078[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.718562 [mm], validation score: 0.993592.
16:32:23.079[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195103
16:32:23.080[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126243
16:32:23.082[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.749338 [mm], validation score: 0.993166.
16:32:23.082[I] 3D精匹配_2: 匹配得分: ([0.993461012840271], [0.9914345741271973], [0.993591845035553], [0.9931659698486328])
16:32:23.090[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001962
16:32:23.091[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126972
16:32:23.093[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.728197 [mm], validation score: 0.932171.
16:32:23.094[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193109
16:32:23.095[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129117
16:32:23.097[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.823767 [mm], validation score: 0.913144.
16:32:23.098[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194714
16:32:23.098[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124405
16:32:23.100[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.720397 [mm], validation score: 0.933613.
16:32:23.101[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019465
16:32:23.102[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123393
16:32:23.104[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.752907 [mm], validation score: 0.928199.
16:32:23.104[I] 3D精匹配_1: 匹配得分: ([0.9321709275245667], [0.9131439924240112], [0.9336133599281311], [0.9281986355781555])
16:32:23.105[I] 调整位姿_1: 开始运行。
16:32:23.105[I] 调整位姿_1: 16个子步骤运行结束。
16:32:23.105[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15338621932758414,-0.1377326729644742,0.15103267898351436,0.7071698298534758,-0.003093063290847406,0.0016724573326150306,-0.7070349832865096],[0.15208891381566314,0.14443929214438161,0.15091189350196021,0.7093408267014263,-0.001680822728896656,-0.003730650098186675,-0.7048537782117197],[-0.060666735817530404,-0.13777861275368666,0.1514958963936004,0.7073561524106189,0.00307343070294407,0.0029259118697902756,-0.7068445845518587],[-0.06107878829251797,0.14313580352365876,0.1518184539957026,-0.708997197914428,0.005966038143994651,-0.0013991372734528116,0.7051846723754093]]})
16:32:23.116[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 6
16:32:23.126[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 6
16:32:23.130[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 6
16:32:23.137[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 6
16:32:23.137[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.7588秒。
16:32:23.148[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.769"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:32:24.969[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:32:24.971[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:32:24.972[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:32:25.016[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:32:25.017[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:25.017[I] 创建物体模型_1: 开始创建模型。请稍候。
16:32:25.019[D] 收到相机应答信息耗时： 0.0022499
16:32:25.019[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:25.020[D] 收到相机应答信息耗时： 0.0011019
16:32:25.020[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:32:25.021[D] 收到相机应答信息耗时： 0.0009016
16:32:25.021[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:32:25.022[D] 收到相机应答信息耗时： 0.0010076
16:32:25.095[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:32:25.096[D] 收到相机应答信息耗时： 0.0009809
16:32:25.103[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:25.104[D] 收到相机应答信息耗时： 0.0009452
16:32:25.104[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:32:25.183[I] 创建物体模型_1: 模型被成功创建。
16:32:26.805[D] 收到相机应答信息耗时： 1.70118
16:32:26.856[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:32:27.085[D] Normal Filter Main Normal: 0 , 0 , -1
16:32:27.358[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:32:27.634[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:27.635[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:27.725[I] 数据重复并串接_1: 重复4次。
16:32:27.725[I] 数据重复并串接_2: 重复4次。
16:32:27.736[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673828。
16:32:27.737[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:32:27.737[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:32:27.919[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00196574
16:32:27.920[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012857
16:32:27.922[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.771101 [mm], validation score: 0.991879.
16:32:27.923[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019378
16:32:27.924[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00131915
16:32:27.926[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.788136 [mm], validation score: 0.992257.
16:32:27.927[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193435
16:32:27.928[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126027
16:32:27.930[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.68328 [mm], validation score: 0.994181.
16:32:27.931[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193116
16:32:27.932[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129044
16:32:27.934[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.720646 [mm], validation score: 0.99354.
16:32:27.934[I] 3D精匹配_2: 匹配得分: ([0.9918794631958008], [0.9922574758529663], [0.9941814541816711], [0.9935396909713745])
16:32:27.941[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00196436
16:32:27.942[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012693
16:32:27.944[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.767082 [mm], validation score: 0.920225.
16:32:27.945[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194438
16:32:27.946[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128958
16:32:27.948[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.785211 [mm], validation score: 0.921014.
16:32:27.949[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001941
16:32:27.950[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012421
16:32:27.952[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.683837 [mm], validation score: 0.939248.
16:32:27.953[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193628
16:32:27.953[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129095
16:32:27.955[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.722075 [mm], validation score: 0.932563.
16:32:27.956[I] 3D精匹配_1: 匹配得分: ([0.9202247858047485], [0.9210141897201538], [0.9392476677894592], [0.9325631260871887])
16:32:27.956[I] 调整位姿_1: 开始运行。
16:32:27.956[I] 调整位姿_1: 16个子步骤运行结束。
16:32:27.956[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15337830350848386,-0.13779004021782496,0.15092648480655835,0.7076282483267071,-0.0041473017058821175,0.003954920148840552,-0.7065616892142204],[0.1521886341773387,0.1443717196226921,0.15091711589367107,0.7091840197639228,-0.0016733479832930238,-0.0036120292375833025,-0.7050121837690453],[-0.06056464086386873,-0.1379415812668763,0.15159796186467944,0.7077257670821109,0.0024204866286509415,0.0024052343111191565,-0.7064790122151026],[-0.060648743594387974,0.14357886224554198,0.15153203021507,0.7063362695801497,-0.006466979912254559,-0.0027235390847720736,-0.7078416735268318]]})
16:32:27.973[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 7
16:32:27.981[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 7
16:32:27.984[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 7
16:32:27.989[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 7
16:32:27.990[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.97337秒。
16:32:28.007[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.990"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:32:29.218[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:32:29.220[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:32:29.221[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:32:29.250[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:32:29.250[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:29.250[I] 创建物体模型_1: 开始创建模型。请稍候。
16:32:29.253[D] 收到相机应答信息耗时： 0.002247
16:32:29.253[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:29.254[D] 收到相机应答信息耗时： 0.0010046
16:32:29.254[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:32:29.255[D] 收到相机应答信息耗时： 0.0008769
16:32:29.255[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:32:29.256[D] 收到相机应答信息耗时： 0.000894
16:32:29.331[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:32:29.422[I] 创建物体模型_1: 模型被成功创建。
16:32:29.446[D] 收到相机应答信息耗时： 0.11447
16:32:29.456[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:29.458[D] 收到相机应答信息耗时： 0.0012895
16:32:29.458[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:32:30.927[D] 收到相机应答信息耗时： 1.46966
16:32:30.984[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:32:31.226[D] Normal Filter Main Normal: 0 , 0 , -1
16:32:31.500[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:32:31.767[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:31.768[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:31.913[I] 数据重复并串接_1: 重复4次。
16:32:31.913[I] 数据重复并串接_2: 重复4次。
16:32:31.916[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673828。
16:32:31.917[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:32:31.917[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:32:32.096[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00198595
16:32:32.097[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00134868
16:32:32.099[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.754686 [mm], validation score: 0.99309.
16:32:32.100[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193216
16:32:32.101[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129231
16:32:32.103[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.805473 [mm], validation score: 0.991795.
16:32:32.104[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194131
16:32:32.105[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126722
16:32:32.107[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.698037 [mm], validation score: 0.99409.
16:32:32.108[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019308
16:32:32.109[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129939
16:32:32.112[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.760487 [mm], validation score: 0.993038.
16:32:32.112[I] 3D精匹配_2: 匹配得分: ([0.9930900931358337], [0.9917945861816406], [0.9940895438194275], [0.9930384755134583])
16:32:32.118[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197719
16:32:32.118[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00131244
16:32:32.121[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.75651 [mm], validation score: 0.928327.
16:32:32.122[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192841
16:32:32.123[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128094
16:32:32.125[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.808783 [mm], validation score: 0.916325.
16:32:32.126[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001939
16:32:32.127[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127163
16:32:32.129[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.699264 [mm], validation score: 0.93798.
16:32:32.130[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193359
16:32:32.131[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127066
16:32:32.133[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.758537 [mm], validation score: 0.927646.
16:32:32.133[I] 3D精匹配_1: 匹配得分: ([0.9283273220062256], [0.9163248538970947], [0.9379799962043762], [0.9276463389396667])
16:32:32.133[I] 调整位姿_1: 开始运行。
16:32:32.134[I] 调整位姿_1: 16个子步骤运行结束。
16:32:32.134[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1534202599951628,-0.13764829030555306,0.15101135618354378,0.7066704493591313,0.000709141798546779,0.00225300331199916,0.7075389014722439],[0.1518266291537851,0.1447254504833495,0.1508295402314872,0.9999818224899572,-0.004090531120574403,-0.0016620932848602846,0.004106055373150841],[-0.06053373846070717,-0.13774513624781595,0.15148895061738177,0.7069208224371768,0.0024767481536821616,-0.002388888832441734,0.7072843202938087],[-0.06061731253595783,0.14357124022375456,0.15157535737453087,0.7072131337297901,-0.0012486708949872782,0.006618940675049812,0.7069683259704255]]})
16:32:32.153[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 8
16:32:32.165[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 8
16:32:32.166[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 8
16:32:32.176[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 8
16:32:32.177[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.92584秒。
16:32:32.185[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.934"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:32:33.369[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:32:33.370[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:32:33.371[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:32:33.410[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:32:33.411[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:33.411[I] 创建物体模型_1: 开始创建模型。请稍候。
16:32:33.505[D] 收到相机应答信息耗时： 0.0944583
16:32:33.505[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:33.528[D] 收到相机应答信息耗时： 0.0228833
16:32:33.529[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:32:33.551[D] 收到相机应答信息耗时： 0.0221001
16:32:33.551[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:32:33.552[D] 收到相机应答信息耗时： 0.0009287
16:32:33.572[I] 创建物体模型_1: 模型被成功创建。
16:32:33.621[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:32:33.622[D] 收到相机应答信息耗时： 0.0009431
16:32:33.627[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:33.628[D] 收到相机应答信息耗时： 0.0007617
16:32:33.628[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:32:35.011[D] 收到相机应答信息耗时： 1.38317
16:32:35.064[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:32:35.297[D] Normal Filter Main Normal: 0 , 0 , -1
16:32:35.572[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:32:35.854[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:35.855[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:35.952[I] 数据重复并串接_1: 重复4次。
16:32:35.952[I] 数据重复并串接_2: 重复4次。
16:32:35.996[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673828。
16:32:35.996[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:32:35.996[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:32:36.170[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193119
16:32:36.171[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124143
16:32:36.173[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.665128 [mm], validation score: 0.994441.
16:32:36.174[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192732
16:32:36.175[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124315
16:32:36.177[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.781 [mm], validation score: 0.992625.
16:32:36.178[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194574
16:32:36.179[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123678
16:32:36.181[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.674948 [mm], validation score: 0.99408.
16:32:36.183[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195
16:32:36.183[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122315
16:32:36.186[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.741735 [mm], validation score: 0.993187.
16:32:36.186[I] 3D精匹配_2: 匹配得分: ([0.9944407939910889], [0.9926247596740723], [0.9940798282623291], [0.9931871294975281])
16:32:36.193[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019108
16:32:36.194[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128418
16:32:36.196[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.661133 [mm], validation score: 0.942137.
16:32:36.197[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193152
16:32:36.198[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126809
16:32:36.200[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.788943 [mm], validation score: 0.922901.
16:32:36.201[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193251
16:32:36.202[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125875
16:32:36.204[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.672241 [mm], validation score: 0.938892.
16:32:36.205[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195025
16:32:36.206[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123365
16:32:36.208[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.742502 [mm], validation score: 0.929117.
16:32:36.208[I] 3D精匹配_1: 匹配得分: ([0.942136824131012], [0.9229010343551636], [0.9388917684555054], [0.9291168451309204])
16:32:36.208[I] 调整位姿_1: 开始运行。
16:32:36.209[I] 调整位姿_1: 16个子步骤运行结束。
16:32:36.209[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1535334485662067,-0.1376208061912951,0.1506462855598294,0.7057582675228422,0.006406181270729297,0.0042815057220418375,0.7084108252796781],[0.1518546820065957,0.14415135960195957,0.15094463275820025,0.9999939965159763,-0.0021982147211938308,-0.00019598529487780195,0.0026713992229883687],[-0.06067647269634821,-0.13797514386353785,0.15151684572850566,0.7067496369232452,0.001907372106292487,-0.004659278939135682,0.7074458309724333],[-0.06089274024538532,0.1432529598689453,0.15174849936644064,0.7056591948349135,0.0012359334613508965,0.004844619803436503,0.708533769747343]]})
16:32:36.220[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 9
16:32:36.227[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 9
16:32:36.234[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 9
16:32:36.238[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 9
16:32:36.239[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.82787秒。
16:32:36.249[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.836"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:32:37.348[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:32:37.350[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:32:37.351[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
16:32:37.389[I] 工程(Vis-模具毛胚定位工位1)开始执行。
16:32:37.390[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:37.390[I] 创建物体模型_1: 开始创建模型。请稍候。
16:32:37.519[D] 收到相机应答信息耗时： 0.129963
16:32:37.519[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:37.520[D] 收到相机应答信息耗时： 0.0012273
16:32:37.521[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:32:37.528[I] 创建物体模型_1: 模型被成功创建。
16:32:37.541[D] 收到相机应答信息耗时： 0.0201245
16:32:37.541[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:32:37.542[D] 收到相机应答信息耗时： 0.0008836
16:32:37.606[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:32:37.607[D] 收到相机应答信息耗时： 0.0011245
16:32:37.616[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:32:37.616[D] 收到相机应答信息耗时： 0.0006775
16:32:37.616[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:32:38.996[D] 收到相机应答信息耗时： 1.38005
16:32:39.047[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:32:39.279[D] Normal Filter Main Normal: 0 , 0 , -1
16:32:39.550[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:32:39.807[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:39.808[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:32:39.949[I] 数据重复并串接_1: 重复4次。
16:32:39.949[I] 数据重复并串接_2: 重复4次。
16:32:39.952[I] [ printSampleResult ] 采样结束。
采样后点云中点数：319.
对应的采样采样间隔：0.673828。
16:32:39.953[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:32:39.953[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:32:40.131[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195855
16:32:40.132[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126469
16:32:40.134[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.752496 [mm], validation score: 0.992844.
16:32:40.135[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190536
16:32:40.136[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127177
16:32:40.138[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.743352 [mm], validation score: 0.992872.
16:32:40.139[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194072
16:32:40.140[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124274
16:32:40.142[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.622076 [mm], validation score: 0.995314.
16:32:40.143[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195705
16:32:40.144[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129922
16:32:40.145[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.72069 [mm], validation score: 0.993653.
16:32:40.146[I] 3D精匹配_2: 匹配得分: ([0.9928435683250427], [0.9928724765777588], [0.9953144788742065], [0.9936525821685791])
16:32:40.152[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195719
16:32:40.153[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128019
16:32:40.155[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.751344 [mm], validation score: 0.926657.
16:32:40.156[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191082
16:32:40.157[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012652
16:32:40.159[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.749195 [mm], validation score: 0.926555.
16:32:40.160[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019373
16:32:40.161[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124564
16:32:40.163[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.621516 [mm], validation score: 0.950434.
16:32:40.164[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195211
16:32:40.165[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126321
16:32:40.167[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.721977 [mm], validation score: 0.933476.
16:32:40.167[I] 3D精匹配_1: 匹配得分: ([0.9266573190689087], [0.926555335521698], [0.9504337310791016], [0.933476448059082])
16:32:40.167[I] 调整位姿_1: 开始运行。
16:32:40.168[I] 调整位姿_1: 16个子步骤运行结束。
16:32:40.168[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.1535651609115281,-0.13777879947708468,0.15079959946008747,0.7082207594642702,-0.004522051352369173,0.005633107075073392,-0.705954088464752],[0.15188327180207767,0.14454336935540404,0.15069081107891136,0.7095416113463339,-0.0023759794201990547,-0.003035102682525973,-0.704652995907595],[-0.060544712506104686,-0.13795044306957252,0.15163129303996592,0.7081871349095809,0.0017583077856722954,0.0033084458301385895,-0.706014833051317],[-0.060987942102889284,0.14354542842585585,0.15171136875525248,-0.9999743939005548,0.004797654188820005,-0.004997753899487337,-0.0017934640957998132]]})
16:32:40.180[I] 通过统计数据检查位姿重复精度_3: 计入统计的数据个数: 10
16:32:40.187[I] 通过统计数据检查位姿重复精度_4: 计入统计的数据个数: 10
16:32:40.199[I] 通过统计数据检查位姿重复精度_2: 计入统计的数据个数: 10
16:32:40.202[I] 通过统计数据检查位姿重复精度_1: 计入统计的数据个数: 10
16:32:40.202[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数109）。耗时：2.8135秒。
16:32:40.211[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.821"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
16:36:09.782[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:36:09.783[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:36:09.784[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:36:09.828[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:36:09.829[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:09.829[I] 创建物体模型_2: 开始创建模型。请稍候。
16:36:09.829[I] 创建物体模型_1: 开始创建模型。请稍候。
16:36:09.830[D] 收到相机应答信息耗时： 0.0011578
16:36:09.830[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:09.830[D] 收到相机应答信息耗时： 0.0005794
16:36:09.830[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:36:09.831[D] 收到相机应答信息耗时： 0.0009524
16:36:09.832[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:36:09.833[D] 收到相机应答信息耗时： 0.0009772
16:36:09.839[I] 创建物体模型_2: 模型被成功创建。
16:36:09.908[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:36:09.909[D] 收到相机应答信息耗时： 0.0009701
16:36:09.916[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:09.917[D] 收到相机应答信息耗时： 0.0008987
16:36:09.917[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:36:10.012[I] 创建物体模型_1: 模型被成功创建。
16:36:11.364[D] 收到相机应答信息耗时： 1.44787
16:36:11.417[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:36:11.418[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:36:11.658[D] Normal Filter Main Normal: 0 , 0 , -1
16:36:11.892[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:36:12.042[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:12.043[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:12.090[I] 数据重复并串接_1: 重复4次。
16:36:12.090[I] 数据重复并串接_2: 重复4次。
16:36:12.091[I] [ orthographicProjection ] 最小值点的X和Y为(-0.125609, -0.054318)。
最大点的X和Y是(0.125546, 0.0541728)。
16:36:12.107[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:36:12.107[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:36:12.107[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:36:12.208[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:36:12.209[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195379
16:36:12.210[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00132647
16:36:12.212[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.85498 [mm], validation score: 0.990862.
16:36:12.213[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189489
16:36:12.213[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127174
16:36:12.215[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.698805 [mm], validation score: 0.994116.
16:36:12.216[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195685
16:36:12.216[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127157
16:36:12.218[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.642547 [mm], validation score: 0.993705.
16:36:12.219[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195855
16:36:12.219[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00139891
16:36:12.221[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.965046 [mm], validation score: 0.988228.
16:36:12.221[I] 3D精匹配_2: 匹配得分: ([0.9908623099327087], [0.9941160678863525], [0.9937046766281128], [0.9882276058197021])
16:36:12.224[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:36:12.225[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019637
16:36:12.226[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00133149
16:36:12.227[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.850975 [mm], validation score: 0.906882.
16:36:12.228[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019011
16:36:12.229[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126065
16:36:12.230[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.700145 [mm], validation score: 0.93811.
16:36:12.231[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194794
16:36:12.232[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124669
16:36:12.233[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.611185 [mm], validation score: 0.938447.
16:36:12.234[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195282
16:36:12.235[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00138492
16:36:12.235[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.940385 [mm], validation score: 0.884547.
16:36:12.236[I] 3D精匹配_1: 匹配得分: ([0.9068818688392639], [0.9381095170974731], [0.9384465217590332], [0.8845470547676086])
16:36:12.236[I] 调整位姿_4: 开始运行。
16:36:12.236[I] 调整位姿_4: 14个子步骤运行结束。
16:36:12.236[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.09951015364820692,-0.2850363689512569,0.13558484191562048,0.9997467305466881,0.01743645619779351,0.003611952798120267,-0.013762214700204615],[0.10383143841465313,-0.1816261255395417,0.1355002188216874,0.9994872740640603,-0.008634183289394963,0.008503935933932356,-0.029636513569416822],[-0.14917041809868542,-0.2776404470332472,0.13736660691116076,-0.9998619078457284,-0.004427663626045924,-0.003216894189723691,0.01569116393666386],[-0.1464619192730574,-0.17466040045789277,0.1380792346584685,0.9999315909481807,0.005157156356869812,0.004521737332510538,-0.009474758764581502]]})
16:36:12.255[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 1
16:36:12.258[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 1
16:36:12.261[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 1
16:36:12.267[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 1
16:36:12.267[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.43941秒。
16:36:12.281[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.453"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:36:13.694[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:36:13.695[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:36:13.696[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:36:13.725[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:36:13.726[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:13.726[I] 创建物体模型_2: 开始创建模型。请稍候。
16:36:13.726[I] 创建物体模型_1: 开始创建模型。请稍候。
16:36:13.728[D] 收到相机应答信息耗时： 0.0021292
16:36:13.728[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:13.729[D] 收到相机应答信息耗时： 0.000975
16:36:13.729[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:36:13.730[D] 收到相机应答信息耗时： 0.0010621
16:36:13.730[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:36:13.731[D] 收到相机应答信息耗时： 0.0009768
16:36:13.735[I] 创建物体模型_2: 模型被成功创建。
16:36:13.803[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:36:13.804[D] 收到相机应答信息耗时： 0.0010391
16:36:13.812[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:13.813[D] 收到相机应答信息耗时： 0.0008989
16:36:13.813[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:36:13.913[I] 创建物体模型_1: 模型被成功创建。
16:36:15.294[D] 收到相机应答信息耗时： 1.48114
16:36:15.346[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:36:15.346[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:36:15.590[D] Normal Filter Main Normal: 0 , 0 , -1
16:36:15.814[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:36:15.995[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:15.996[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:16.039[I] 数据重复并串接_1: 重复4次。
16:36:16.039[I] 数据重复并串接_2: 重复4次。
16:36:16.040[I] [ orthographicProjection ] 最小值点的X和Y为(-0.12549, -0.0541103)。
最大点的X和Y是(0.125496, 0.0539697)。
16:36:16.057[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:36:16.057[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:36:16.057[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:36:16.152[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:36:16.152[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00198908
16:36:16.153[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00137255
16:36:16.155[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.931881 [mm], validation score: 0.989047.
16:36:16.156[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193635
16:36:16.156[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126284
16:36:16.158[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.679361 [mm], validation score: 0.994269.
16:36:16.159[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019172
16:36:16.159[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128452
16:36:16.161[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.702994 [mm], validation score: 0.993008.
16:36:16.162[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191143
16:36:16.162[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00135641
16:36:16.164[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.00645 [mm], validation score: 0.987516.
16:36:16.165[I] 3D精匹配_2: 匹配得分: ([0.9890468120574951], [0.9942693710327148], [0.9930079579353333], [0.9875155687332153])
16:36:16.168[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:36:16.169[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019888
16:36:16.169[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00136681
16:36:16.171[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.923554 [mm], validation score: 0.891035.
16:36:16.172[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193831
16:36:16.172[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127981
16:36:16.174[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.679728 [mm], validation score: 0.939744.
16:36:16.175[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192787
16:36:16.175[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126194
16:36:16.177[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.680483 [mm], validation score: 0.929903.
16:36:16.178[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191432
16:36:16.178[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00134765
16:36:16.180[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.984386 [mm], validation score: 0.876807.
16:36:16.180[I] 3D精匹配_1: 匹配得分: ([0.8910353779792786], [0.9397439360618591], [0.9299034476280212], [0.8768073320388794])
16:36:16.180[I] 调整位姿_4: 开始运行。
16:36:16.181[I] 调整位姿_4: 14个子步骤运行结束。
16:36:16.181[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.09972026853332022,-0.2849125006734598,0.13565446144191995,0.9997798922273022,0.016722251396395334,0.002439642215145102,-0.01243308296689982],[0.104167243266971,-0.18213172764067484,0.13559726097050362,0.9992873474321995,-0.008515530417373901,0.009772182101348741,-0.03545119829578941],[-0.1492595358939802,-0.27798909066272887,0.13768229830678935,-0.9999140799718441,0.0008243762716057789,-0.005119924177778178,0.012039080290883292],[-0.14678651444653745,-0.17471059348410867,0.13792683423823204,0.99994505436015,0.0057925104163425575,0.0021295396246198924,-0.008473496606514816]]})
16:36:16.190[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 2
16:36:16.199[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 2
16:36:16.202[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 2
16:36:16.205[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 2
16:36:16.205[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.48001秒。
16:36:16.225[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.499"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:36:19.393[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:36:19.394[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:36:19.395[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:36:19.425[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:36:19.425[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:19.425[I] 创建物体模型_2: 开始创建模型。请稍候。
16:36:19.425[I] 创建物体模型_1: 开始创建模型。请稍候。
16:36:19.435[I] 创建物体模型_2: 模型被成功创建。
16:36:19.507[D] 收到相机应答信息耗时： 0.0813926
16:36:19.507[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:19.531[D] 收到相机应答信息耗时： 0.0239107
16:36:19.531[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:36:19.532[D] 收到相机应答信息耗时： 0.0010376
16:36:19.533[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:36:19.533[D] 收到相机应答信息耗时： 0.0008732
16:36:19.593[I] 创建物体模型_1: 模型被成功创建。
16:36:19.608[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:36:19.609[D] 收到相机应答信息耗时： 0.00106
16:36:19.615[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:19.616[D] 收到相机应答信息耗时： 0.0008806
16:36:19.616[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:36:21.011[D] 收到相机应答信息耗时： 1.39432
16:36:21.065[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:36:21.065[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:36:21.316[D] Normal Filter Main Normal: 0 , 0 , -1
16:36:21.548[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:36:21.725[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:21.726[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:21.771[I] 数据重复并串接_2: 重复4次。
16:36:21.771[I] 数据重复并串接_1: 重复4次。
16:36:21.774[I] [ orthographicProjection ] 最小值点的X和Y为(-0.125658, -0.0542474)。
最大点的X和Y是(0.125607, 0.0540912)。
16:36:21.792[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:36:21.792[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:36:21.792[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:36:21.869[W] 3D粗匹配V2_1: [1号输入点云将被忽略。] 错误: 1号输入点云的点数为0，该值小于下限10。
16:36:21.870[W] 3D粗匹配V2_1: [2号输入点云将被忽略。] 错误: 2号输入点云的点数为0，该值小于下限10。
16:36:21.870[W] 3D粗匹配V2_1: [4号输入点云将被忽略。] 错误: 4号输入点云的点数为0，该值小于下限10。
16:36:21.873[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
16:36:21.873[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
16:36:21.873[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
16:36:21.873[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:36:21.873[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00285297
16:36:21.874[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0024268
16:36:21.876[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 3.73448 [mm], validation score: 0.196215.
16:36:21.876[I] 3D精匹配_2: 匹配得分: ([], [], [0.1962154656648636], [])
16:36:21.876[W] 3D精匹配_2: 无输出。 自动填充输出。
16:36:21.876[W] 将PoseList转换为PoseLists_1: 第1个输入为空！
16:36:21.876[W] 将PoseList转换为PoseLists_1: 无输出。 自动填充输出。
16:36:21.879[W] 3D精匹配_1: 第2个输入为空！
16:36:21.879[W] 3D精匹配_1: 无输出。 自动填充输出。
16:36:21.879[I] 调整位姿_4: 开始运行。
16:36:21.879[W] 子步骤/快捷坐标系变换_0: 第1个输入为空！
16:36:21.879[W] 子步骤/快捷坐标系变换_0: 自动填充输出。
16:36:21.879[W] Sub-step / 翻转位姿的坐标轴方向_0: 第1个输入为空！
16:36:21.879[W] Sub-step / 翻转位姿的坐标轴方向_0: 自动填充输出。
16:36:21.879[W] Sub-step / 限制输出的个数_1: 1号输入端口的数据数量0小于设置的输出个数1，请修改参数“输出结果个数”。
16:36:21.879[W] Sub-step / 限制输出的个数_1: 自动填充输出。
16:36:21.879[E] Can't fill output for abstract data type.
16:36:21.879[W] 调整位姿_4: 未能为步骤在自身坐标系下，旋转位姿获取输入。 详细：Result_3数据不可用。
16:36:21.880[W] 调整位姿_4: 无输出。 自动填充输出。
16:36:21.880[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数101）。耗时：2.4544秒。
16:36:21.881[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.455"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:36:30.494[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:36:30.528[I] 数据重复并串接_1: 重复4次。
16:36:30.529[I] 数据重复并串接_2: 重复4次。
16:36:30.559[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数39）。耗时：0.065263秒。
16:36:30.568[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.074"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:36:39.118[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:36:39.118[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000506秒。
16:36:39.190[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.072"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:36:43.117[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:36:43.119[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:36:43.120[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:36:43.149[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:36:43.150[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:43.150[I] 创建物体模型_2: 开始创建模型。请稍候。
16:36:43.150[I] 创建物体模型_1: 开始创建模型。请稍候。
16:36:43.152[D] 收到相机应答信息耗时： 0.0021421
16:36:43.152[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:43.153[D] 收到相机应答信息耗时： 0.0011378
16:36:43.153[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:36:43.154[D] 收到相机应答信息耗时： 0.0009249
16:36:43.154[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:36:43.155[D] 收到相机应答信息耗时： 0.0009451
16:36:43.161[I] 创建物体模型_2: 模型被成功创建。
16:36:43.234[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:36:43.235[D] 收到相机应答信息耗时： 0.0009986
16:36:43.243[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:43.244[D] 收到相机应答信息耗时： 0.0008978
16:36:43.244[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:36:43.324[I] 创建物体模型_1: 模型被成功创建。
16:36:44.904[D] 收到相机应答信息耗时： 1.66005
16:36:44.955[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:36:44.955[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:36:45.200[D] Normal Filter Main Normal: 0 , 0 , -1
16:36:45.432[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:36:45.613[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:45.614[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:45.667[I] [ orthographicProjection ] 最小值点的X和Y为(-0.125584, -0.0541419)。
最大点的X和Y是(0.125558, 0.0540077)。
16:36:45.668[I] 数据重复并串接_2: 重复4次。
16:36:45.668[I] 数据重复并串接_1: 重复4次。
16:36:45.699[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:36:45.699[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:36:45.699[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:36:45.801[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:36:45.802[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197586
16:36:45.803[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00136425
16:36:45.805[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.950461 [mm], validation score: 0.987272.
16:36:45.806[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189744
16:36:45.806[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128032
16:36:45.808[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.728478 [mm], validation score: 0.993599.
16:36:45.809[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195136
16:36:45.810[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130844
16:36:45.811[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.675744 [mm], validation score: 0.993307.
16:36:45.812[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00201049
16:36:45.813[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00142684
16:36:45.814[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.04585 [mm], validation score: 0.985794.
16:36:45.815[I] 3D精匹配_2: 匹配得分: ([0.9872716665267944], [0.993598997592926], [0.9933065176010132], [0.9857941269874573])
16:36:45.819[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:36:45.819[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019798
16:36:45.820[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00136948
16:36:45.822[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.955522 [mm], validation score: 0.879227.
16:36:45.823[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189082
16:36:45.823[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126216
16:36:45.825[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.72835 [mm], validation score: 0.932802.
16:36:45.826[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194352
16:36:45.827[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129967
16:36:45.828[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.664203 [mm], validation score: 0.933427.
16:36:45.829[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00201145
16:36:45.830[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00144103
16:36:45.831[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.00743 [mm], validation score: 0.861919.
16:36:45.832[I] 3D精匹配_1: 匹配得分: ([0.8792267441749573], [0.9328019618988037], [0.9334266781806946], [0.8619186282157898])
16:36:45.832[I] 调整位姿_4: 开始运行。
16:36:45.832[I] 调整位姿_4: 14个子步骤运行结束。
16:36:45.832[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.09995077633370793,-0.2848066685080223,0.1355696089995706,0.9997840287983478,0.017743030038065745,0.003331258433774026,-0.010294822099488949],[0.10396152741025835,-0.18131923408392295,0.13536213157598942,0.9993937828213926,-0.010314127423759674,0.011494413850583845,-0.03120198845690264],[-0.14925004057041022,-0.2779402644704139,0.13762640407404514,-0.9999021434704168,0.0013275933383043383,-0.003647917293420867,0.013440002924653078],[-0.14644285821272404,-0.1743810236468184,0.13807077427341685,0.9998953350440992,0.006291131258072286,0.0040007553958920595,-0.012398974990078988]]})
16:36:45.843[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 3
16:36:45.851[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 3
16:36:45.854[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 3
16:36:45.866[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 3
16:36:45.866[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.71705秒。
16:36:45.886[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.733"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:36:47.439[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:36:47.440[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:36:47.441[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:36:47.484[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:36:47.484[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:47.484[I] 创建物体模型_2: 开始创建模型。请稍候。
16:36:47.484[I] 创建物体模型_1: 开始创建模型。请稍候。
16:36:47.495[I] 创建物体模型_2: 模型被成功创建。
16:36:47.549[D] 收到相机应答信息耗时： 0.0647143
16:36:47.549[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:47.550[D] 收到相机应答信息耗时： 0.0006632
16:36:47.550[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:36:47.551[D] 收到相机应答信息耗时： 0.0007401
16:36:47.551[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:36:47.552[D] 收到相机应答信息耗时： 0.0006936
16:36:47.625[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:36:47.626[D] 收到相机应答信息耗时： 0.0009346
16:36:47.633[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:47.634[D] 收到相机应答信息耗时： 0.0007184
16:36:47.634[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:36:47.657[I] 创建物体模型_1: 模型被成功创建。
16:36:49.002[D] 收到相机应答信息耗时： 1.36868
16:36:49.053[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:36:49.053[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:36:49.298[D] Normal Filter Main Normal: 0 , 0 , -1
16:36:49.559[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:36:49.710[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:49.711[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:49.763[I] [ orthographicProjection ] 最小值点的X和Y为(-0.125672, -0.0541282)。
最大点的X和Y是(0.125659, 0.0539977)。
16:36:49.764[I] 数据重复并串接_1: 重复4次。
16:36:49.764[I] 数据重复并串接_2: 重复4次。
16:36:49.784[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:36:49.784[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:36:49.785[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:36:49.884[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:36:49.885[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192866
16:36:49.885[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00129889
16:36:49.887[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.877574 [mm], validation score: 0.990092.
16:36:49.888[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188594
16:36:49.889[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123546
16:36:49.891[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.696893 [mm], validation score: 0.993986.
16:36:49.891[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190009
16:36:49.892[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121773
16:36:49.894[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.623955 [mm], validation score: 0.994303.
16:36:49.894[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197799
16:36:49.895[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0013841
16:36:49.897[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.998511 [mm], validation score: 0.987473.
16:36:49.897[I] 3D精匹配_2: 匹配得分: ([0.9900923371315002], [0.9939861297607422], [0.9943028688430786], [0.9874729514122009])
16:36:49.901[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:36:49.902[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192774
16:36:49.902[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012809
16:36:49.904[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.876696 [mm], validation score: 0.900139.
16:36:49.905[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187671
16:36:49.906[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120753
16:36:49.907[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.696041 [mm], validation score: 0.93681.
16:36:49.908[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190354
16:36:49.909[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121778
16:36:49.911[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.60411 [mm], validation score: 0.941634.
16:36:49.911[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197312
16:36:49.912[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00138585
16:36:49.913[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.969775 [mm], validation score: 0.876773.
16:36:49.914[I] 3D精匹配_1: 匹配得分: ([0.9001385569572449], [0.9368104338645935], [0.9416341781616211], [0.8767725825309753])
16:36:49.914[I] 调整位姿_4: 开始运行。
16:36:49.914[I] 调整位姿_4: 14个子步骤运行结束。
16:36:49.914[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.09976803139952188,-0.2849954899862482,0.13545522149373257,0.9997340966718999,0.018789305527222133,0.004259527700768074,-0.012671005216295604],[0.10393326629884754,-0.1818100114797642,0.1355625711458881,0.9994413330670802,-0.007117511779568337,0.00850141459383692,-0.03152917273047978],[-0.14941263895357287,-0.27772644154491244,0.13736928682181793,-0.9998716342910634,-0.0036611238467217627,-0.003794708437241281,0.015129814941812474],[-0.14632441602866103,-0.17421942149797512,0.13795095197202611,0.9998742696755636,0.005788244426403719,0.0028604194146460054,-0.014483061416378668]]})
16:36:49.930[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 4
16:36:49.935[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 4
16:36:49.938[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 4
16:36:49.939[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 4
16:36:49.939[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.45479秒。
16:36:49.957[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.471"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:36:51.606[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:36:51.608[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:36:51.609[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:36:51.648[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:36:51.649[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:51.649[I] 创建物体模型_2: 开始创建模型。请稍候。
16:36:51.649[I] 创建物体模型_1: 开始创建模型。请稍候。
16:36:51.651[D] 收到相机应答信息耗时： 0.0020921
16:36:51.651[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:51.652[D] 收到相机应答信息耗时： 0.001076
16:36:51.652[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:36:51.653[D] 收到相机应答信息耗时： 0.0010013
16:36:51.653[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:36:51.654[D] 收到相机应答信息耗时： 0.0009303
16:36:51.659[I] 创建物体模型_2: 模型被成功创建。
16:36:51.731[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:36:51.733[D] 收到相机应答信息耗时： 0.0013893
16:36:51.740[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:51.741[D] 收到相机应答信息耗时： 0.0010296
16:36:51.741[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:36:51.807[I] 创建物体模型_1: 模型被成功创建。
16:36:53.243[D] 收到相机应答信息耗时： 1.50197
16:36:53.294[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:36:53.294[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:36:53.534[D] Normal Filter Main Normal: 0 , 0 , -1
16:36:53.763[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:36:53.936[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:53.937[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:53.986[I] 数据重复并串接_2: 重复4次。
16:36:53.986[I] 数据重复并串接_1: 重复4次。
16:36:53.990[I] [ orthographicProjection ] 最小值点的X和Y为(-0.125593, -0.0541634)。
最大点的X和Y是(0.125528, 0.0539803)。
16:36:54.007[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:36:54.007[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:36:54.007[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:36:54.107[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:36:54.108[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00201289
16:36:54.108[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00142424
16:36:54.110[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.973349 [mm], validation score: 0.987285.
16:36:54.111[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193277
16:36:54.112[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126214
16:36:54.113[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.748714 [mm], validation score: 0.993255.
16:36:54.114[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186802
16:36:54.115[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122777
16:36:54.116[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.599104 [mm], validation score: 0.99462.
16:36:54.117[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0020597
16:36:54.118[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00151669
16:36:54.120[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.1669 [mm], validation score: 0.983896.
16:36:54.120[I] 3D精匹配_2: 匹配得分: ([0.9872845411300659], [0.9932550191879272], [0.9946203827857971], [0.9838964939117432])
16:36:54.123[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:36:54.124[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00201132
16:36:54.124[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00145816
16:36:54.126[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.952519 [mm], validation score: 0.877166.
16:36:54.127[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00191888
16:36:54.127[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123424
16:36:54.129[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.742866 [mm], validation score: 0.929973.
16:36:54.130[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187128
16:36:54.131[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122245
16:36:54.132[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.580078 [mm], validation score: 0.9459.
16:36:54.133[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00205938
16:36:54.134[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00150564
16:36:54.136[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.16953 [mm], validation score: 0.841143.
16:36:54.136[I] 3D精匹配_1: 匹配得分: ([0.8771662712097168], [0.9299734234809875], [0.9459004998207092], [0.8411430716514587])
16:36:54.136[I] 调整位姿_4: 开始运行。
16:36:54.136[I] 调整位姿_4: 14个子步骤运行结束。
16:36:54.136[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数101）。耗时：2.48793秒。
16:36:54.148[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.497"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:36:55.369[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:36:55.372[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:36:55.373[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:36:55.402[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:36:55.403[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:55.403[I] 创建物体模型_2: 开始创建模型。请稍候。
16:36:55.403[I] 创建物体模型_1: 开始创建模型。请稍候。
16:36:55.413[I] 创建物体模型_2: 模型被成功创建。
16:36:55.532[D] 收到相机应答信息耗时： 0.129452
16:36:55.532[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:55.532[D] 收到相机应答信息耗时： 0.0006883
16:36:55.532[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:36:55.533[D] 收到相机应答信息耗时： 0.0008135
16:36:55.533[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:36:55.534[D] 收到相机应答信息耗时： 0.0005925
16:36:55.547[I] 创建物体模型_1: 模型被成功创建。
16:36:55.600[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:36:55.601[D] 收到相机应答信息耗时： 0.0008482
16:36:55.607[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:55.608[D] 收到相机应答信息耗时： 0.0008548
16:36:55.608[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:36:57.002[D] 收到相机应答信息耗时： 1.39411
16:36:57.055[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:36:57.055[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:36:57.303[D] Normal Filter Main Normal: 0 , 0 , -1
16:36:57.527[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:36:57.673[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:57.674[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:36:57.722[I] 数据重复并串接_1: 重复4次。
16:36:57.722[I] 数据重复并串接_2: 重复4次。
16:36:57.722[I] [ orthographicProjection ] 最小值点的X和Y为(-0.125628, -0.0541468)。
最大点的X和Y是(0.125613, 0.0540036)。
16:36:57.739[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:36:57.739[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:36:57.739[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:36:57.836[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:36:57.836[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00196335
16:36:57.837[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00133377
16:36:57.839[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.88998 [mm], validation score: 0.989891.
16:36:57.840[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193785
16:36:57.840[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127381
16:36:57.842[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.742064 [mm], validation score: 0.993169.
16:36:57.843[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190575
16:36:57.844[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121118
16:36:57.846[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.685307 [mm], validation score: 0.993177.
16:36:57.846[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019879
16:36:57.847[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00146393
16:36:57.849[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.09266 [mm], validation score: 0.985171.
16:36:57.849[I] 3D精匹配_2: 匹配得分: ([0.9898914694786072], [0.9931686520576477], [0.9931772947311401], [0.985170841217041])
16:36:57.853[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:36:57.853[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00196478
16:36:57.854[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00135615
16:36:57.856[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.892919 [mm], validation score: 0.897425.
16:36:57.856[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193631
16:36:57.857[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128103
16:36:57.859[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.750904 [mm], validation score: 0.928429.
16:36:57.859[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189943
16:36:57.860[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121247
16:36:57.862[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.649692 [mm], validation score: 0.933113.
16:36:57.862[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00198759
16:36:57.863[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00146455
16:36:57.865[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.08581 [mm], validation score: 0.855878.
16:36:57.865[I] 3D精匹配_1: 匹配得分: ([0.8974254727363586], [0.9284293055534363], [0.9331129193305969], [0.855877697467804])
16:36:57.865[I] 调整位姿_4: 开始运行。
16:36:57.866[I] 调整位姿_4: 14个子步骤运行结束。
16:36:57.866[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.09955585275886285,-0.2849202139548688,0.1355891597896801,0.999774037336556,0.01754999995387945,0.002166481857246341,-0.011797377918156767],[0.10412420312798523,-0.18147627487700727,0.13515285203951377,0.9992895799148955,-0.01471879957721799,0.009273995947016679,-0.033431802399686184],[-0.14938396375131993,-0.2777000866643376,0.13750182989724347,-0.9998759506404471,0.0012990701287882464,-0.005364027162280031,0.014752049358137504],[-0.14665713770875335,-0.1745318836848079,0.1378289430011015,0.999950520347081,0.003129956074854456,0.0003883765787540333,-0.009434479116760203]]})
16:36:57.877[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 5
16:36:57.882[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 5
16:36:57.888[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 5
16:36:57.888[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 5
16:36:57.888[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.48655秒。
16:36:57.890[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.487"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:36:59.519[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:36:59.521[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:36:59.521[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:36:59.550[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:36:59.550[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:59.550[I] 创建物体模型_2: 开始创建模型。请稍候。
16:36:59.550[I] 创建物体模型_1: 开始创建模型。请稍候。
16:36:59.552[D] 收到相机应答信息耗时： 0.0011826
16:36:59.552[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:59.552[D] 收到相机应答信息耗时： 0.0005655
16:36:59.552[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:36:59.553[D] 收到相机应答信息耗时： 0.0009201
16:36:59.553[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:36:59.554[D] 收到相机应答信息耗时： 0.0010685
16:36:59.563[I] 创建物体模型_2: 模型被成功创建。
16:36:59.630[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:36:59.631[D] 收到相机应答信息耗时： 0.0010713
16:36:59.638[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:36:59.639[D] 收到相机应答信息耗时： 0.0010892
16:36:59.639[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:36:59.712[I] 创建物体模型_1: 模型被成功创建。
16:37:01.027[D] 收到相机应答信息耗时： 1.38729
16:37:01.077[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:37:01.078[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:37:01.323[D] Normal Filter Main Normal: 0 , 0 , -1
16:37:01.585[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:37:01.733[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:37:01.734[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:37:01.791[I] [ orthographicProjection ] 最小值点的X和Y为(-0.125495, -0.054271)。
最大点的X和Y是(0.125529, 0.0541548)。
16:37:01.809[I] 数据重复并串接_1: 重复4次。
16:37:01.809[I] 数据重复并串接_2: 重复4次。
16:37:01.813[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:37:01.813[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:37:01.814[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:37:01.914[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:37:01.915[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197678
16:37:01.916[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00131874
16:37:01.918[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.859898 [mm], validation score: 0.990136.
16:37:01.918[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188977
16:37:01.919[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123362
16:37:01.921[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.714945 [mm], validation score: 0.993868.
16:37:01.921[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186334
16:37:01.922[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120208
16:37:01.924[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.603771 [mm], validation score: 0.994137.
16:37:01.924[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195764
16:37:01.925[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00140192
16:37:01.927[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.981233 [mm], validation score: 0.98785.
16:37:01.927[I] 3D精匹配_2: 匹配得分: ([0.9901358485221863], [0.993868350982666], [0.9941372275352478], [0.9878504872322083])
16:37:01.930[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:37:01.931[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00196938
16:37:01.932[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00131002
16:37:01.934[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.851785 [mm], validation score: 0.901502.
16:37:01.935[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189327
16:37:01.936[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00123671
16:37:01.937[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.711877 [mm], validation score: 0.935417.
16:37:01.938[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00185922
16:37:01.939[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119553
16:37:01.940[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.566862 [mm], validation score: 0.944245.
16:37:01.941[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00196196
16:37:01.942[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00139235
16:37:01.943[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.96076 [mm], validation score: 0.880511.
16:37:01.944[I] 3D精匹配_1: 匹配得分: ([0.9015015959739685], [0.9354173541069031], [0.9442446231842041], [0.8805114030838013])
16:37:01.944[I] 调整位姿_4: 开始运行。
16:37:01.944[I] 调整位姿_4: 14个子步骤运行结束。
16:37:01.944[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.0997818768719036,-0.2849088265750288,0.1354959508025253,0.9997597817035879,0.017695193737217844,0.0036748550029251713,-0.01239977609894688],[0.10375189548680849,-0.1816589932418052,0.13525593888587073,0.9994333100433876,-0.011092184972282398,0.012289555520916592,-0.02930851469038359],[-0.14931455722793383,-0.27808721300436545,0.1372879036952881,-0.9999179729112341,-0.0045682066478552955,-0.001575751410244867,0.011861532135521873],[-0.14648290934575753,-0.17455552882213649,0.13794511133917764,0.9999101635265137,0.006150537139318078,0.0021503851519705996,-0.01171373608105147]]})
16:37:01.958[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 6
16:37:01.962[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 6
16:37:01.968[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 6
16:37:01.969[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 6
16:37:01.969[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.41859秒。
16:37:01.986[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.432"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:37:05.037[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:37:05.039[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:37:05.040[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:37:05.070[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:37:05.071[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:37:05.071[I] 创建物体模型_1: 开始创建模型。请稍候。
16:37:05.071[I] 创建物体模型_2: 开始创建模型。请稍候。
16:37:05.073[D] 收到相机应答信息耗时： 0.002358
16:37:05.073[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:37:05.074[D] 收到相机应答信息耗时： 0.0010047
16:37:05.074[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:37:05.075[D] 收到相机应答信息耗时： 0.0009253
16:37:05.075[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:37:05.076[D] 收到相机应答信息耗时： 0.0009129
16:37:05.085[I] 创建物体模型_2: 模型被成功创建。
16:37:05.156[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:37:05.157[D] 收到相机应答信息耗时： 0.0010176
16:37:05.164[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:37:05.165[D] 收到相机应答信息耗时： 0.0009649
16:37:05.165[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:37:05.231[I] 创建物体模型_1: 模型被成功创建。
16:37:06.870[D] 收到相机应答信息耗时： 1.70393
16:37:06.923[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:37:06.923[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:37:07.161[D] Normal Filter Main Normal: 0 , 0 , -1
16:37:07.420[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:37:07.574[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:37:07.575[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:37:07.627[I] 数据重复并串接_2: 重复4次。
16:37:07.627[I] 数据重复并串接_1: 重复4次。
16:37:07.630[I] [ orthographicProjection ] 最小值点的X和Y为(-0.125603, -0.0540963)。
最大点的X和Y是(0.125613, 0.053986)。
16:37:07.633[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:37:07.634[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:37:07.634[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:37:07.730[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:37:07.730[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195825
16:37:07.731[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130751
16:37:07.733[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.880052 [mm], validation score: 0.989451.
16:37:07.734[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186821
16:37:07.734[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119172
16:37:07.736[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.69755 [mm], validation score: 0.993958.
16:37:07.737[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188861
16:37:07.737[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121787
16:37:07.739[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.592935 [mm], validation score: 0.994879.
16:37:07.740[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019628
16:37:07.741[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014363
16:37:07.743[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.05037 [mm], validation score: 0.985828.
16:37:07.743[I] 3D精匹配_2: 匹配得分: ([0.9894514679908752], [0.9939578175544739], [0.9948788285255432], [0.9858279228210449])
16:37:07.747[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:37:07.748[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195961
16:37:07.748[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00133523
16:37:07.750[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.880699 [mm], validation score: 0.896472.
16:37:07.751[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187422
16:37:07.751[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00116912
16:37:07.753[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.697478 [mm], validation score: 0.936668.
16:37:07.754[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189314
16:37:07.754[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120745
16:37:07.756[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.573043 [mm], validation score: 0.949209.
16:37:07.757[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00196756
16:37:07.757[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00145011
16:37:07.759[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.04518 [mm], validation score: 0.862372.
16:37:07.759[I] 3D精匹配_1: 匹配得分: ([0.8964716196060181], [0.9366676211357117], [0.9492089748382568], [0.8623715043067932])
16:37:07.760[I] 调整位姿_4: 开始运行。
16:37:07.760[I] 调整位姿_4: 14个子步骤运行结束。
16:37:07.760[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.09992666829202833,-0.2849571106222919,0.13534033533075962,0.9997178524558441,0.02056289155321985,0.004393061089333693,-0.011049162244753996],[0.10381533946331166,-0.18164335652722738,0.13544267365222007,0.9994645338793449,-0.009532123369928407,0.008275377180561419,-0.03018778352122592],[-0.1494156358484364,-0.27785638868632156,0.13742122475871632,-0.9998733461941754,-0.002912577086146069,-0.004598481594419967,0.014955347946667358],[-0.14632233406051703,-0.17432680113366691,0.13804546108123006,0.9998704026402336,0.0068758908946250545,0.0037334556738353964,-0.014069874100138114]]})
16:37:07.770[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 7
16:37:07.776[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 7
16:37:07.784[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 7
16:37:07.791[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 7
16:37:07.792[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.72225秒。
16:37:07.800[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.730"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:37:09.121[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:37:09.122[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:37:09.123[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:37:09.159[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:37:09.160[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:37:09.160[I] 创建物体模型_2: 开始创建模型。请稍候。
16:37:09.160[I] 创建物体模型_1: 开始创建模型。请稍候。
16:37:09.162[D] 收到相机应答信息耗时： 0.0023639
16:37:09.162[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:37:09.163[D] 收到相机应答信息耗时： 0.0010172
16:37:09.163[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:37:09.164[D] 收到相机应答信息耗时： 0.0009192
16:37:09.164[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:37:09.166[D] 收到相机应答信息耗时： 0.0011084
16:37:09.170[I] 创建物体模型_2: 模型被成功创建。
16:37:09.241[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:37:09.242[D] 收到相机应答信息耗时： 0.0009149
16:37:09.250[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:37:09.252[D] 收到相机应答信息耗时： 0.0009822
16:37:09.252[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:37:09.331[I] 创建物体模型_1: 模型被成功创建。
16:37:10.885[D] 收到相机应答信息耗时： 1.63434
16:37:10.940[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:37:10.940[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:37:11.187[D] Normal Filter Main Normal: 0 , 0 , -1
16:37:11.444[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:37:11.625[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:37:11.626[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:37:11.698[I] 数据重复并串接_1: 重复4次。
16:37:11.698[I] 数据重复并串接_2: 重复4次。
16:37:11.700[I] [ orthographicProjection ] 最小值点的X和Y为(-0.125618, -0.0543149)。
最大点的X和Y是(0.125581, 0.054165)。
16:37:11.701[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为271，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:37:11.701[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:37:11.701[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:37:11.802[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:37:11.803[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00196909
16:37:11.803[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00136458
16:37:11.805[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.925978 [mm], validation score: 0.98838.
16:37:11.806[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187594
16:37:11.807[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012147
16:37:11.808[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.754919 [mm], validation score: 0.992934.
16:37:11.809[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001903
16:37:11.810[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121959
16:37:11.811[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.6464 [mm], validation score: 0.993191.
16:37:11.812[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195081
16:37:11.813[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00138686
16:37:11.814[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.06273 [mm], validation score: 0.985659.
16:37:11.815[I] 3D精匹配_2: 匹配得分: ([0.9883801341056824], [0.9929340481758118], [0.9931908845901489], [0.9856592416763306])
16:37:11.818[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:37:11.819[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197809
16:37:11.820[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00134558
16:37:11.822[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.917467 [mm], validation score: 0.885522.
16:37:11.822[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.001881
16:37:11.823[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122018
16:37:11.825[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.755176 [mm], validation score: 0.926385.
16:37:11.825[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190055
16:37:11.826[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120697
16:37:11.828[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.594906 [mm], validation score: 0.936405.
16:37:11.828[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193863
16:37:11.829[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00139179
16:37:11.831[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.02881 [mm], validation score: 0.862784.
16:37:11.831[I] 3D精匹配_1: 匹配得分: ([0.8855220079421997], [0.9263851642608643], [0.9364047646522522], [0.8627840280532837])
16:37:11.831[I] 调整位姿_4: 开始运行。
16:37:11.831[I] 调整位姿_4: 14个子步骤运行结束。
16:37:11.831[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.09964708857467032,-0.2848847652440006,0.1356847048835026,0.9997969524905812,0.015857083889620732,0.0013205919956088864,-0.012363766329296366],[0.10390218583948184,-0.18180189336664687,0.13531730742446824,0.9992752117874235,-0.011119063845440275,0.01223682797339342,-0.0342881549160976],[-0.149396257330881,-0.27778181209135844,0.1373280806205459,-0.999874374947952,-0.0044738245383044595,-0.002742861288763741,0.014956467777959497],[-0.14663680565707052,-0.17456745665294912,0.13784944143099875,0.9999231274158761,0.0050668136154910165,0.0014296655849020184,-0.01122598391923103]]})
16:37:11.849[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 8
16:37:11.855[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 8
16:37:11.857[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 8
16:37:11.858[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 8
16:37:11.859[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.69941秒。
16:37:11.860[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.700"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:37:13.612[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:37:13.614[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:37:13.617[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:37:13.644[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:37:13.645[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:37:13.645[I] 创建物体模型_2: 开始创建模型。请稍候。
16:37:13.645[I] 创建物体模型_1: 开始创建模型。请稍候。
16:37:13.647[D] 收到相机应答信息耗时： 0.002155
16:37:13.647[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:37:13.648[D] 收到相机应答信息耗时： 0.0009854
16:37:13.648[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:37:13.649[D] 收到相机应答信息耗时： 0.0011633
16:37:13.650[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:37:13.651[D] 收到相机应答信息耗时： 0.0010528
16:37:13.655[I] 创建物体模型_2: 模型被成功创建。
16:37:13.726[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:37:13.727[D] 收到相机应答信息耗时： 0.0011191
16:37:13.743[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:37:13.744[D] 收到相机应答信息耗时： 0.0009988
16:37:13.744[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:37:13.822[I] 创建物体模型_1: 模型被成功创建。
16:37:15.223[D] 收到相机应答信息耗时： 1.47807
16:37:15.274[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:37:15.275[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:37:15.518[D] Normal Filter Main Normal: 0 , 0 , -1
16:37:15.782[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:37:15.942[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:37:15.943[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:37:15.992[I] 数据重复并串接_2: 重复4次。
16:37:15.992[I] 数据重复并串接_1: 重复4次。
16:37:16.016[I] [ orthographicProjection ] 最小值点的X和Y为(-0.12574, -0.0541521)。
最大点的X和Y是(0.125769, 0.0540478)。
16:37:16.021[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:37:16.022[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:37:16.022[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:37:16.122[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:37:16.122[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00195006
16:37:16.123[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00131593
16:37:16.125[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.882613 [mm], validation score: 0.989742.
16:37:16.126[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188791
16:37:16.126[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122589
16:37:16.128[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.72755 [mm], validation score: 0.993429.
16:37:16.128[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188327
16:37:16.129[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118597
16:37:16.131[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.608234 [mm], validation score: 0.994299.
16:37:16.131[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00198959
16:37:16.132[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00141411
16:37:16.133[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.02541 [mm], validation score: 0.986893.
16:37:16.134[I] 3D精匹配_2: 匹配得分: ([0.9897421002388], [0.9934290051460266], [0.9942994117736816], [0.9868932962417603])
16:37:16.137[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:37:16.137[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00194655
16:37:16.138[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00130466
16:37:16.140[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.884093 [mm], validation score: 0.897476.
16:37:16.140[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187819
16:37:16.141[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121076
16:37:16.143[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.732859 [mm], validation score: 0.930997.
16:37:16.143[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186611
16:37:16.144[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00119641
16:37:16.146[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.584341 [mm], validation score: 0.94434.
16:37:16.147[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00199473
16:37:16.148[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014354
16:37:16.150[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.987106 [mm], validation score: 0.872523.
16:37:16.150[I] 3D精匹配_1: 匹配得分: ([0.8974761962890625], [0.9309974312782288], [0.9443399906158447], [0.8725230693817139])
16:37:16.151[I] 调整位姿_4: 开始运行。
16:37:16.151[I] 调整位姿_4: 14个子步骤运行结束。
16:37:16.151[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.10000441387463971,-0.28492479329694637,0.1354494521479519,0.9997422669202429,0.019130245695117915,0.003509820624948775,-0.011709594015117234],[0.10399643140714715,-0.18206958821527305,0.13578217682118154,0.9993258560518191,-0.006015786076499266,0.007881737220313947,-0.03534857794270296],[-0.14946231534196092,-0.2778675099875738,0.13731080824111563,-0.9998853096931293,-0.0019239745901393677,-0.0036666269206778617,0.014567828550487433],[-0.14647741917730359,-0.17432963287474104,0.13788745269736258,0.9998981575840973,0.004571760457437801,0.0023683366322790347,-0.013310313589240645]]})
16:37:16.169[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 9
16:37:16.173[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 9
16:37:16.176[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 9
16:37:16.179[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 9
16:37:16.179[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.53535秒。
16:37:16.184[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.539"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:37:17.349[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
16:37:17.350[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
16:37:17.351[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
16:37:17.391[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:37:17.392[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:37:17.392[I] 创建物体模型_2: 开始创建模型。请稍候。
16:37:17.392[I] 创建物体模型_1: 开始创建模型。请稍候。
16:37:17.401[I] 创建物体模型_2: 模型被成功创建。
16:37:17.496[D] 收到相机应答信息耗时： 0.104955
16:37:17.496[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:37:17.497[D] 收到相机应答信息耗时： 0.0009901
16:37:17.497[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
16:37:17.520[D] 收到相机应答信息耗时： 0.0227472
16:37:17.520[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
16:37:17.522[D] 收到相机应答信息耗时： 0.0012358
16:37:17.556[I] 创建物体模型_1: 模型被成功创建。
16:37:17.588[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:37:17.589[D] 收到相机应答信息耗时： 0.0007721
16:37:17.595[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:37:17.596[D] 收到相机应答信息耗时： 0.0008843
16:37:17.596[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
16:37:18.999[D] 收到相机应答信息耗时： 1.40301
16:37:19.053[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
16:37:19.053[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:37:19.305[D] Normal Filter Main Normal: 0 , 0 , -1
16:37:19.536[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:37:19.710[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:37:19.711[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
16:37:19.763[I] [ orthographicProjection ] 最小值点的X和Y为(-0.125474, -0.054121)。
最大点的X和Y是(0.1255, 0.0539896)。
16:37:19.779[I] 数据重复并串接_2: 重复4次。
16:37:19.779[I] 数据重复并串接_1: 重复4次。
16:37:19.782[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:37:19.782[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:37:19.782[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:37:19.880[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:37:19.881[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00201376
16:37:19.882[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00142635
16:37:19.884[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.01235 [mm], validation score: 0.983876.
16:37:19.885[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190549
16:37:19.885[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125684
16:37:19.887[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.739204 [mm], validation score: 0.99341.
16:37:19.888[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018904
16:37:19.888[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121498
16:37:19.890[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.606301 [mm], validation score: 0.994176.
16:37:19.891[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00199143
16:37:19.891[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00145107
16:37:19.893[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.09255 [mm], validation score: 0.986052.
16:37:19.893[I] 3D精匹配_2: 匹配得分: ([0.9838760495185852], [0.9934095740318298], [0.9941755533218384], [0.9860522150993347])
16:37:19.897[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:37:19.898[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00201114
16:37:19.898[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00144528
16:37:19.901[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.947681 [mm], validation score: 0.85122.
16:37:19.901[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189958
16:37:19.902[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124527
16:37:19.904[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.737045 [mm], validation score: 0.93122.
16:37:19.904[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188077
16:37:19.905[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120355
16:37:19.907[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.601332 [mm], validation score: 0.942124.
16:37:19.907[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00198403
16:37:19.908[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00141374
16:37:19.909[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.06321 [mm], validation score: 0.862783.
16:37:19.910[I] 3D精匹配_1: 匹配得分: ([0.8512201905250549], [0.9312195777893066], [0.9421243071556091], [0.8627832531929016])
16:37:19.910[I] 调整位姿_4: 开始运行。
16:37:19.910[I] 调整位姿_4: 14个子步骤运行结束。
16:37:19.910[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.09987127324306222,-0.2847920412538789,0.13549853592312466,0.999766627580496,0.01764690143104174,0.004206948883027181,-0.011729400125351671],[0.10391641208255889,-0.18163633208526012,0.1354923847341878,0.9992968479690834,-0.010539378301080916,0.010171826976632348,-0.03451470816968705],[-0.14941786608046878,-0.2781108213502179,0.1375974707331522,-0.9999024454947497,0.00023703597970385471,-0.004034322415001931,0.013370398281744073],[-0.14623316994731306,-0.17423075877920818,0.13794255656330057,0.999861979003024,0.004931313280336958,0.0019007968930294197,-0.015750938532649812]]})
16:37:19.923[I] 通过统计数据检查位姿重复精度_11: 计入统计的数据个数: 10
16:37:19.929[I] 通过统计数据检查位姿重复精度_12: 计入统计的数据个数: 10
16:37:19.940[I] 通过统计数据检查位姿重复精度_10: 计入统计的数据个数: 10
16:37:19.944[I] 通过统计数据检查位姿重复精度_9: 计入统计的数据个数: 10
16:37:19.944[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数117）。耗时：2.55304秒。
16:37:19.951[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.559"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:38:33.329[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:38:33.329[D] Normal Filter Main Normal: 0 , 0 , -1
16:38:33.573[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:38:33.604[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数4）。耗时：0.275806秒。
16:38:33.626[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.296"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:39:48.226[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具定位/calibration/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
16:39:48.308[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具定位/calibration/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
16:39:48.311[D] sendAndRecvMsg {"cmd":"GetCameraInfo"}
16:39:48.801[D] 收到相机应答信息耗时： 0.489579
16:39:48.801[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:39:48.802[D] 收到相机应答信息耗时： 0.0008925
16:39:48.802[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:39:48.802[D] 收到相机应答信息耗时： 0.0004616
16:39:48.802[D] sendAndRecvMsg {"cmd":"GetCameraInfo"}
16:39:49.060[D] 收到相机应答信息耗时： 0.257626
16:39:49.060[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:39:49.061[D] 收到相机应答信息耗时： 0.0009676
16:39:49.061[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
16:39:49.062[D] 收到相机应答信息耗时： 0.000794
16:39:49.062[D] sendAndRecvMsg {"cmd":"GetCameraId"}
16:39:49.062[D] 收到相机应答信息耗时： 0.0006874
16:39:49.062[D] sendAndRecvMsg {"cmd":"GetConfigGroup"}
16:39:49.063[D] 收到相机应答信息耗时： 0.0006498
16:39:49.063[W] [ setConfigGroupName ] Failed to set config group  to camera. No config group named  on the camera.
16:39:49.218[D] [Vis-模具定位] 服务端开始监听0.0.0.0:56960。
16:39:49.220[D] [Vis-模具定位] 注册服务 成功.
16:53:35.603[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:53:35.639[I] 数据重复并串接_2: 重复4次。
16:53:35.639[I] 数据重复并串接_1: 重复4次。
16:53:35.667[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数39）。耗时：0.064117秒。
16:53:35.693[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.087"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:53:49.427[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:53:49.432[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:53:49.433[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00201114
16:53:49.434[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00144528
16:53:49.435[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.947681 [mm], validation score: 0.85122.
16:53:49.436[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189958
16:53:49.437[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124527
16:53:49.439[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.737045 [mm], validation score: 0.93122.
16:53:49.439[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188077
16:53:49.440[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120355
16:53:49.442[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.601332 [mm], validation score: 0.942124.
16:53:49.443[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00198403
16:53:49.443[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00141374
16:53:49.445[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.06321 [mm], validation score: 0.862783.
16:53:49.446[I] 3D精匹配_1: 匹配得分: ([0.8512201905250549], [0.9312195777893066], [0.9421243071556091], [0.8627832531929016])
16:53:49.446[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.019035秒。
16:53:49.471[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.042"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:53:57.326[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
16:53:57.409[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
16:54:07.145[I] 相机参数组 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-12/NEC2022AA3000009-EyeToHand-2023-05-08(0) 已更新。
16:54:07.149[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-12/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
16:54:07.233[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-12/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
16:54:07.240[D] 相机数据路径D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-12合法。
16:54:15.699[I] 相机参数组 D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0) 已更新。
16:54:15.703[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
16:54:15.785[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
16:54:15.793[D] 相机数据路径D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/data/2023-05-13合法。
16:54:22.618[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:22.713[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00037.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00037.jpg
16:54:22.727[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.109342秒。
16:54:22.793[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.173"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:24.709[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:24.808[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00038.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00038.jpg
16:54:24.824[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.114662秒。
16:54:24.886[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.176"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:25.320[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:25.422[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00039.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00039.jpg
16:54:25.428[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.10743秒。
16:54:25.478[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.155"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:26.555[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:26.652[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00040.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00040.jpg
16:54:26.664[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.108452秒。
16:54:26.713[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.156"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:27.565[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:27.667[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00041.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00041.jpg
16:54:27.674[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.108994秒。
16:54:27.740[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.171"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:29.168[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:29.267[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00042.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00042.jpg
16:54:29.270[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.102351秒。
16:54:29.337[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.168"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:29.760[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:29.855[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00043.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00043.jpg
16:54:29.862[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.102864秒。
16:54:29.928[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.168"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:30.087[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:30.187[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00044.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00044.jpg
16:54:30.189[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.102008秒。
16:54:30.236[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.149"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:32.436[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:32.437[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:54:32.676[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数3）。耗时：0.23994秒。
16:54:32.682[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.242"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:33.565[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:33.567[D] Normal Filter Main Normal: 0 , 0 , -1
16:54:33.802[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:54:33.834[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数4）。耗时：0.268399秒。
16:54:33.847[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.280"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:36.324[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:36.325[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000654秒。
16:54:36.350[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.023"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:42.118[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:42.122[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:54:42.123[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:54:42.123[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:54:42.216[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:54:42.217[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00201376
16:54:42.218[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00142635
16:54:42.220[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.01235 [mm], validation score: 0.983876.
16:54:42.220[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00190549
16:54:42.221[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125684
16:54:42.223[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.739204 [mm], validation score: 0.99341.
16:54:42.223[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0018904
16:54:42.224[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121498
16:54:42.226[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.606301 [mm], validation score: 0.994176.
16:54:42.227[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00199143
16:54:42.228[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00145107
16:54:42.230[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.09255 [mm], validation score: 0.986052.
16:54:42.230[I] 3D精匹配_2: 匹配得分: ([0.9838760495185852], [0.9934095740318298], [0.9941755533218384], [0.9860522150993347])
16:54:42.234[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:54:42.235[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00201114
16:54:42.235[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00144528
16:54:42.238[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.947681 [mm], validation score: 0.85122.
16:54:42.238[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189958
16:54:42.239[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124527
16:54:42.241[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.737045 [mm], validation score: 0.93122.
16:54:42.242[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188077
16:54:42.242[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00120355
16:54:42.244[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.601332 [mm], validation score: 0.942124.
16:54:42.245[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00198403
16:54:42.245[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00141374
16:54:42.247[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.06321 [mm], validation score: 0.862783.
16:54:42.247[I] 3D精匹配_1: 匹配得分: ([0.8512201905250549], [0.9312195777893066], [0.9421243071556091], [0.8627832531929016])
16:54:42.247[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数7）。耗时：0.129799秒。
16:54:42.271[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.152"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:45.410[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:45.506[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200) , data/2023-05-13/depth/depth_image_00045.png 彩色图尺寸: (1920 * 1200) , data/2023-05-13/color/rgb_image_00045.jpg
16:54:45.518[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.109352秒。
16:54:45.598[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.187"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:46.513[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:46.514[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:54:46.758[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数3）。耗时：0.245003秒。
16:54:46.782[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.268"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:47.731[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:47.732[D] Normal Filter Main Normal: 0 , 0 , -1
16:54:47.970[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:54:47.998[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数4）。耗时：0.2674秒。
16:54:48.021[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.289"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:49.370[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:49.370[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000524秒。
16:54:49.383[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.010"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:50.611[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:50.645[I] 数据重复并串接_2: 重复4次。
16:54:50.645[I] 数据重复并串接_1: 重复4次。
16:54:50.664[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数39）。耗时：0.052607秒。
16:54:50.690[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.076"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:51.910[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:51.913[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:54:51.913[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:54:51.913[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:54:51.987[W] 3D粗匹配V2_1: [1号输入点云将被忽略。] 错误: 1号输入点云的点数为0，该值小于下限10。
16:54:51.987[W] 3D粗匹配V2_1: [2号输入点云将被忽略。] 错误: 2号输入点云的点数为0，该值小于下限10。
16:54:51.988[W] 3D粗匹配V2_1: [4号输入点云将被忽略。] 错误: 4号输入点云的点数为0，该值小于下限10。
16:54:51.991[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
16:54:51.991[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
16:54:51.991[W] [ calcEdgeCloudTangent ] The input point cloud is empty.
16:54:51.991[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
16:54:51.991[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00285297
16:54:51.992[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0024268
16:54:51.993[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 3.73448 [mm], validation score: 0.196215.
16:54:51.994[I] 3D精匹配_2: 匹配得分: ([], [], [0.1962154656648636], [])
16:54:51.994[W] 3D精匹配_2: 无输出。 自动填充输出。
16:54:51.994[W] 将PoseList转换为PoseLists_1: 第1个输入为空！
16:54:51.994[W] 将PoseList转换为PoseLists_1: 无输出。 自动填充输出。
16:54:51.996[W] 3D精匹配_1: 第2个输入为空！
16:54:51.996[W] 3D精匹配_1: 无输出。 自动填充输出。
16:54:51.996[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数7）。耗时：0.086145秒。
16:54:52.026[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.113"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:54:55.611[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:54:55.614[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
16:54:55.615[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
16:54:55.615[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
16:54:55.691[W] 3D粗匹配V2_1: [1号输入点云将被忽略。] 错误: 1号输入点云的点数为0，该值小于下限10。
16:54:55.691[W] 3D粗匹配V2_1: [2号输入点云将被忽略。] 错误: 2号输入点云的点数为0，该值小于下限10。
16:54:55.691[W] 3D粗匹配V2_1: [4号输入点云将被忽略。] 错误: 4号输入点云的点数为0，该值小于下限10。
16:54:55.692[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.080296秒。
16:54:55.761[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.148"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:55:05.560[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:55:05.560[D] Normal Filter Main Normal: 0 , 0 , -1
16:55:05.797[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:55:05.829[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数4）。耗时：0.269046秒。
16:55:05.840[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.279"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:55:08.862[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:55:08.862[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000534秒。
16:55:08.887[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.022"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:55:11.710[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:55:11.744[I] 数据重复并串接_2: 重复4次。
16:55:11.744[I] 数据重复并串接_1: 重复4次。
16:55:11.773[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数39）。耗时：0.063028秒。
16:55:11.782[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.070"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:55:25.992[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:55:26.007[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.015502秒。
16:55:26.037[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.044"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:55:33.546[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:55:33.547[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000513秒。
16:55:33.574[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.026"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:55:54.541[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:55:54.559[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.017806秒。
16:55:54.571[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.029"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:56:18.825[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:56:18.840[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.01495秒。
16:56:18.855[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.027"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:56:21.126[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:56:21.160[I] 数据重复并串接_2: 重复4次。
16:56:21.160[I] 数据重复并串接_1: 重复4次。
16:56:21.187[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数40）。耗时：0.060704秒。
16:56:21.203[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.075"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:56:35.188[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:56:35.188[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000567秒。
16:56:35.198[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.008"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:56:35.933[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:56:35.966[I] 数据重复并串接_1: 重复4次。
16:56:35.966[I] 数据重复并串接_2: 重复4次。
16:56:35.992[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数40）。耗时：0.059329秒。
16:56:36.029[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.093"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:56:44.988[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:56:45.019[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.03064秒。
16:56:45.272[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.283"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:56:54.045[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:56:54.075[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.030364秒。
16:56:54.289[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.242"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:56:57.365[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:56:57.381[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.016107秒。
16:56:57.410[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.045"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:57:29.579[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:57:29.809[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.230423秒。
16:57:29.916[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.336"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:57:34.298[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:57:34.299[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:57:34.329[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.03064秒。
16:57:34.431[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.132"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:57:39.573[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:57:39.574[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
16:57:39.809[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数3）。耗时：0.235842秒。
16:57:39.861[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.287"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:57:40.448[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:57:40.451[D] Normal Filter Main Normal: 0 , 0 , -1
16:57:40.696[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
16:57:40.723[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数4）。耗时：0.274752秒。
16:57:40.727[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.279"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:57:42.277[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:57:42.278[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000568秒。
16:57:42.293[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.013"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:57:43.413[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:57:43.455[I] 数据重复并串接_2: 重复4次。
16:57:43.455[I] 数据重复并串接_1: 重复4次。
16:57:43.478[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数39）。耗时：0.065818秒。
16:57:43.496[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.081"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:57:58.498[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:57:58.533[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.03459秒。
16:57:58.539[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.040"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:58:21.366[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:58:21.368[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数23）。耗时：0.001649秒。
16:58:21.387[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.019"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:58:32.623[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:58:32.639[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.016078秒。
16:58:32.668[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.044"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:58:40.024[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:58:40.060[I] 数据重复并串接_2: 重复4次。
16:58:40.060[I] 数据重复并串接_1: 重复4次。
16:58:40.090[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数39）。耗时：0.066305秒。
16:58:40.103[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.077"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:59:33.693[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:59:33.694[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000622秒。
16:59:33.714[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.018"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
16:59:50.247[I] 工程(Vis-模具毛胚定位工位2)开始执行。
16:59:50.248[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000584秒。
16:59:50.272[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.023"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:00:06.673[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:00:06.674[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000581秒。
17:00:06.692[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.018"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:00:18.108[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:00:18.109[W] 提取长方体内点云_7: 输入长度不匹配！第1个输入长度为2，第2个输入长度为4。
17:00:18.109[W] 提取长方体内点云_7: 无输出。 自动填充输出。
17:00:18.109[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.00071秒。
17:00:18.124[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.015"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:00:22.350[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:00:22.351[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000608秒。
17:00:22.370[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.020"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:00:25.781[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:00:25.782[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000588秒。
17:00:25.801[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.019"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:00:31.620[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:00:31.621[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000528秒。
17:00:31.640[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.019"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:00:36.481[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:00:36.482[W] 提取长方体内点云_7: 输入长度不匹配！第1个输入长度为2，第2个输入长度为4。
17:00:36.482[W] 提取长方体内点云_7: 无输出。 自动填充输出。
17:00:36.482[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000736秒。
17:00:36.497[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.015"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:00:39.839[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:00:39.839[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000594秒。
17:00:39.862[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.022"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:00:49.607[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:00:49.607[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000545秒。
17:00:49.629[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.021"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:01:02.948[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:01:02.981[I] 数据重复并串接_2: 重复4次。
17:01:02.981[I] 数据重复并串接_1: 重复4次。
17:01:03.004[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数39）。耗时：0.055852秒。
17:01:03.021[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.072"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:01:14.023[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:01:14.023[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000579秒。
17:01:14.046[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.020"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:01:43.798[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:01:46.508[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:01:53.105[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:01:53.137[I] 数据重复并串接_1: 重复4次。
17:01:53.137[I] 数据重复并串接_2: 重复4次。
17:01:53.159[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数40）。耗时：0.054676秒。
17:01:53.182[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.075"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:01:55.262[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:01:55.268[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
17:01:55.268[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
17:01:55.268[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
17:01:55.268[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
17:01:55.268[W] [ compute ] Model cloud list is empty!
17:01:55.269[W] [ compute ] Model cloud list is empty!
17:01:55.269[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00278316
17:01:55.270[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00199922
17:01:55.271[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.84616 [mm], validation score: 0.989552.
17:01:55.271[W] [ compute ] Model cloud list is empty!
17:01:55.272[I] 3D精匹配_2: 匹配得分: ([], [], [0.9895524978637695], [])
17:01:55.275[W] 3D精匹配_1: 输入长度不匹配！第1个输入长度为4，第2个输入长度为1。
17:01:55.275[W] 3D精匹配_1: 无输出。 自动填充输出。
17:01:55.364[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数7）。耗时：0.10226秒。
17:01:55.367[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.104"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:01:59.026[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:01:59.029[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
17:01:59.029[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
17:01:59.029[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
17:01:59.118[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.091849秒。
17:01:59.139[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.111"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:02:07.658[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:02:07.663[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
17:02:07.664[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.002001
17:02:07.665[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014148
17:02:07.667[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.976731 [mm], validation score: 0.987339.
17:02:07.667[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189984
17:02:07.668[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122753
17:02:07.670[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.724955 [mm], validation score: 0.993607.
17:02:07.670[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197396
17:02:07.671[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00134557
17:02:07.673[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.791263 [mm], validation score: 0.991321.
17:02:07.673[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197396
17:02:07.674[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014255
17:02:07.676[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.07046 [mm], validation score: 0.985804.
17:02:07.676[I] 3D精匹配_2: 匹配得分: ([0.9873388409614563], [0.9936065673828125], [0.9913212656974792], [0.9858037233352661])
17:02:07.676[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.018598秒。
17:02:07.743[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.084"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:02:19.108[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:02:19.112[W] 3D精匹配_1: 输入长度不匹配！第1个输入长度为4，第2个输入长度为1。
17:02:19.112[W] 3D精匹配_1: 无输出。 自动填充输出。
17:02:19.112[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.004366秒。
17:02:19.126[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.015"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:02:28.428[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:02:28.428[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000405秒。
17:02:28.437[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.007"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:02:30.280[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:02:30.285[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
17:02:30.285[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00200379
17:02:30.286[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014253
17:02:30.289[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.973736 [mm], validation score: 0.951339.
17:02:30.289[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188806
17:02:30.290[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124595
17:02:30.292[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.722069 [mm], validation score: 0.974846.
17:02:30.293[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00199556
17:02:30.293[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00135807
17:02:30.295[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.780967 [mm], validation score: 0.968197.
17:02:30.296[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197792
17:02:30.297[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00140476
17:02:30.299[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.07663 [mm], validation score: 0.945311.
17:02:30.299[I] 3D精匹配_1: 匹配得分: ([0.9513387084007263], [0.9748455286026001], [0.9681974649429321], [0.9453113079071045])
17:02:30.299[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.019027秒。
17:02:30.315[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.032"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:02:37.857[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:02:37.862[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
17:02:37.862[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00200379
17:02:37.863[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014253
17:02:37.865[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.965789 [mm], validation score: 0.877217.
17:02:37.866[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188806
17:02:37.867[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124595
17:02:37.868[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.722069 [mm], validation score: 0.93284.
17:02:37.869[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00199556
17:02:37.870[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00135807
17:02:37.872[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.748204 [mm], validation score: 0.917451.
17:02:37.872[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197792
17:02:37.873[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00140476
17:02:37.875[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.04746 [mm], validation score: 0.859904.
17:02:37.875[I] 3D精匹配_1: 匹配得分: ([0.8772166967391968], [0.9328404664993286], [0.9174506068229675], [0.8599035143852234])
17:02:37.875[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.018056秒。
17:02:37.901[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.044"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:02:41.347[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:02:41.349[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
17:02:41.350[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
17:02:41.350[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
17:02:41.439[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.091851秒。
17:02:41.455[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.107"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:02:43.464[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:02:43.468[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
17:02:43.468[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
17:02:43.469[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
17:02:43.469[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
17:02:43.470[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.002001
17:02:43.471[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014148
17:02:43.473[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.976731 [mm], validation score: 0.987339.
17:02:43.473[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189984
17:02:43.474[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122753
17:02:43.476[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.724955 [mm], validation score: 0.993607.
17:02:43.477[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197396
17:02:43.477[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00134557
17:02:43.479[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.791263 [mm], validation score: 0.991321.
17:02:43.480[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197396
17:02:43.480[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014255
17:02:43.482[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.07046 [mm], validation score: 0.985804.
17:02:43.482[I] 3D精匹配_2: 匹配得分: ([0.9873388409614563], [0.9936065673828125], [0.9913212656974792], [0.9858037233352661])
17:02:43.488[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
17:02:43.488[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00200379
17:02:43.489[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014253
17:02:43.491[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.965789 [mm], validation score: 0.877217.
17:02:43.492[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188806
17:02:43.493[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124595
17:02:43.494[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.722069 [mm], validation score: 0.93284.
17:02:43.495[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00199556
17:02:43.496[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00135807
17:02:43.498[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.748204 [mm], validation score: 0.917451.
17:02:43.499[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197792
17:02:43.499[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00140476
17:02:43.501[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.04746 [mm], validation score: 0.859904.
17:02:43.502[I] 3D精匹配_1: 匹配得分: ([0.8772166967391968], [0.9328404664993286], [0.9174506068229675], [0.8599035143852234])
17:02:43.568[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数7）。耗时：0.104744秒。
17:02:43.581[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.117"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:02:44.701[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:02:44.735[I] 数据重复并串接_2: 重复4次。
17:02:44.735[I] 数据重复并串接_1: 重复4次。
17:02:44.762[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数40）。耗时：0.060656秒。
17:02:44.774[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.072"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:02:45.473[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:02:45.477[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为269，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
17:02:45.477[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
17:02:45.477[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
17:02:45.479[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
17:02:45.479[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.002001
17:02:45.480[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014148
17:02:45.482[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.976731 [mm], validation score: 0.987339.
17:02:45.483[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189984
17:02:45.483[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00122753
17:02:45.485[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.724955 [mm], validation score: 0.993607.
17:02:45.486[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197396
17:02:45.486[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00134557
17:02:45.488[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.791263 [mm], validation score: 0.991321.
17:02:45.489[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197396
17:02:45.490[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014255
17:02:45.491[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.07046 [mm], validation score: 0.985804.
17:02:45.491[I] 3D精匹配_2: 匹配得分: ([0.9873388409614563], [0.9936065673828125], [0.9913212656974792], [0.9858037233352661])
17:02:45.495[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
17:02:45.496[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00200379
17:02:45.496[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0014253
17:02:45.499[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.965789 [mm], validation score: 0.877217.
17:02:45.500[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188806
17:02:45.501[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124595
17:02:45.503[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.722069 [mm], validation score: 0.93284.
17:02:45.504[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00199556
17:02:45.504[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00135807
17:02:45.506[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.748204 [mm], validation score: 0.917451.
17:02:45.507[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197792
17:02:45.507[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00140476
17:02:45.509[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 1.04746 [mm], validation score: 0.859904.
17:02:45.509[I] 3D精匹配_1: 匹配得分: ([0.8772166967391968], [0.9328404664993286], [0.9174506068229675], [0.8599035143852234])
17:02:45.574[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数7）。耗时：0.100946秒。
17:02:45.581[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.106"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:03:52.919[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:03:52.920[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.00053秒。
17:03:52.942[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.020"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:04:00.908[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:04:00.909[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000469秒。
17:04:00.914[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.003"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:04:02.087[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:04:02.087[D] Normal Filter Main Normal: 0 , 0 , -1
17:04:02.149[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.06195秒。
17:04:02.276[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.186"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:32:59.541[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:32:59.542[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
17:32:59.783[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数3）。耗时：0.242311秒。
17:32:59.819[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.275"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:33:00.492[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:33:00.495[D] Normal Filter Main Normal: 0 , 0 , -1
17:33:00.737[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
17:33:00.764[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数4）。耗时：0.271266秒。
17:33:00.768[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.273"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:33:04.704[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:33:04.705[D] Normal Filter Main Normal: 0 , 0 , -1
17:33:04.761[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.056849秒。
17:33:04.843[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.138"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:38:14.201[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:38:14.227[I] 数据重复并串接_2: 重复4次。
17:38:14.227[I] 数据重复并串接_1: 重复4次。
17:38:14.264[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数40）。耗时：0.062262秒。
17:38:14.276[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.074"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:38:17.341[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:38:17.342[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.000529秒。
17:38:17.367[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.022"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
17:38:18.294[I] 工程(Vis-模具毛胚定位工位2)开始执行。
17:38:18.327[I] 数据重复并串接_2: 重复4次。
17:38:18.327[I] 数据重复并串接_1: 重复4次。
17:38:18.354[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数40）。耗时：0.060301秒。
17:38:18.368[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.071"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
18:04:00.880[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
18:04:00.882[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
18:04:00.883[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位1","running":true,"source_app":"Mech-Vision"})
18:04:00.911[I] 工程(Vis-模具毛胚定位工位1)开始执行。
18:04:00.911[D] sendAndRecvMsg {"cmd":"GetCameraId"}
18:04:00.912[I] 创建物体模型_1: 开始创建模型。请稍候。
18:04:00.914[D] 收到相机应答信息耗时： 0.0020372
18:04:00.914[D] sendAndRecvMsg {"cmd":"GetCameraId"}
18:04:00.915[D] 收到相机应答信息耗时： 0.0009343
18:04:00.915[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
18:04:00.916[D] 收到相机应答信息耗时： 0.0009311
18:04:00.916[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
18:04:00.917[D] 收到相机应答信息耗时： 0.0009535
18:04:00.992[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
18:04:00.993[D] 收到相机应答信息耗时： 0.00101
18:04:01.003[D] sendAndRecvMsg {"cmd":"GetCameraId"}
18:04:01.004[D] 收到相机应答信息耗时： 0.0008758
18:04:01.004[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
18:04:01.079[I] 创建物体模型_1: 模型被成功创建。
18:04:04.288[D] 收到相机应答信息耗时： 3.28395
18:04:04.288[W] [ handlerReplyError ] [0x0105 | MISSING_FRAME_CAM2D] -> Get frame failed with status: 2. Retrieved 18 frame of camera 0 : 33566,33567,33568,33569,33570,33571,33572,33573,33574,33575,33576,33577,33578,33579,33580,33581,33582,33584,
18:04:04.289[E] [ captureRawDepthImg ] 请求深度图为空！
18:04:04.289[I] 从相机获取图像_1: 获取图像失败，尝试次数：1。
18:04:05.291[D] sendAndRecvMsg {"cmd":"GetCameraId"}
18:04:05.474[D] 收到相机应答信息耗时： 0.184024
18:04:05.474[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
18:04:06.965[D] 收到相机应答信息耗时： 1.49025
18:04:07.018[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
18:04:07.018[W] 从相机获取图像_1: 无效的深度图像。
18:04:07.270[D] Normal Filter Main Normal: 0 , 0 , -1
18:04:07.527[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
18:04:07.680[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
18:04:07.682[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
18:04:07.741[I] 数据重复并串接_2: 重复4次。
18:04:07.741[I] 数据重复并串接_1: 重复4次。
18:04:07.745[I] [ checkAndPrintIfExpectedPointCountTooLow ] 模型点云的点数为271，该值小于期待点数300。模型点云采样将被跳过，而场景点云将会使用默认的采样率0.001mm。
18:04:07.745[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
18:04:07.745[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
18:04:07.855[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00192772
18:04:07.856[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118092
18:04:07.858[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.618569 [mm], validation score: 0.995091.
18:04:07.859[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197524
18:04:07.859[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126952
18:04:07.861[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.83406 [mm], validation score: 0.991389.
18:04:07.862[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189127
18:04:07.863[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128521
18:04:07.864[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.812745 [mm], validation score: 0.992075.
18:04:07.865[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00175431
18:04:07.866[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111742
18:04:07.868[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.500424 [mm], validation score: 0.996229.
18:04:07.868[I] 3D精匹配_2: 匹配得分: ([0.9950907230377197], [0.9913887977600098], [0.9920751452445984], [0.9962286949157715])
18:04:07.873[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00193934
18:04:07.874[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118445
18:04:07.876[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.616304 [mm], validation score: 0.948684.
18:04:07.877[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00197754
18:04:07.877[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.0012496
18:04:07.879[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.834864 [mm], validation score: 0.911611.
18:04:07.879[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189767
18:04:07.880[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00127502
18:04:07.882[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.818606 [mm], validation score: 0.916987.
18:04:07.883[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00175307
18:04:07.883[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00111691
18:04:07.885[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.502475 [mm], validation score: 0.960897.
18:04:07.886[I] 3D精匹配_1: 匹配得分: ([0.9486835598945618], [0.9116110801696777], [0.9169867038726807], [0.9608967304229736])
18:04:07.886[I] 调整位姿_1: 开始运行。
18:04:07.886[I] 调整位姿_1: 16个子步骤运行结束。
18:04:07.886[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.029714213623272007,-0.09445172150456974,0.1742520274104422,0.9999981269186755,-0.001306342876743094,-0.0013851204724242428,-0.0003479492863841529],[0.028707843701365643,0.03908799022459014,0.17382638492828462,0.7036103177464149,-0.0016795911892497583,0.005446064719784243,0.71056318516603],[-0.13896126117721636,-0.09518309413114415,0.1746466350897118,-0.9999821113988439,0.00015753495612348995,-0.0035436611541584144,-0.00481607004436641],[-0.1395056866942593,0.038730951743338404,0.17422579712063402,0.7085501025874807,0.0005766747710430325,0.011598251918638315,0.7055649510299603]]})
18:04:07.886[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数95）。耗时：6.9748秒。
18:04:07.902[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"6.987"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
18:04:36.290[I] 工程(Vis-模具毛胚定位工位1)开始执行。
18:04:36.290[D] Normal Filter Main Normal: 0 , 0 , -1
18:04:36.345[I] 工程(Vis-模具毛胚定位工位1)执行结束（步骤数1）。耗时：0.054757秒。
18:04:36.473[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.183"},"project_dir":"Vis-模具毛胚定位工位1","running":false,"source_app":"Mech-Vision"})
18:05:45.135[D] 成功加载相机内参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/calibration/NEC2022AA3000009-EyeToHand-2023-05-08(0)/intri_param.json。
18:05:45.217[D] 成功加载相机外参文件。路径：D:/projects/晓光摸具定位/Vis-模具毛胚定位工位2/calibration/NEC2022AA3000009-EyeToHand-2023-05-08(0)/extri_param.json。
18:05:47.798[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
18:05:47.800[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
18:05:47.800[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
18:05:47.834[I] 工程(Vis-模具毛胚定位工位2)开始执行。
18:05:47.835[D] sendAndRecvMsg {"cmd":"GetCameraId"}
18:05:47.835[I] 创建物体模型_1: 开始创建模型。请稍候。
18:05:47.835[I] 创建物体模型_2: 开始创建模型。请稍候。
18:05:47.837[D] 收到相机应答信息耗时： 0.0021067
18:05:47.837[D] sendAndRecvMsg {"cmd":"GetCameraId"}
18:05:47.838[D] 收到相机应答信息耗时： 0.0007637
18:05:47.838[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
18:05:47.839[D] 收到相机应答信息耗时： 0.0007113
18:05:47.839[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
18:05:47.839[D] 收到相机应答信息耗时： 0.0006215
18:05:47.845[I] 创建物体模型_2: 模型被成功创建。
18:05:47.915[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
18:05:47.916[D] 收到相机应答信息耗时： 0.000619
18:05:47.923[D] sendAndRecvMsg {"cmd":"GetCameraId"}
18:05:47.924[D] 收到相机应答信息耗时： 0.0005911
18:05:47.924[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
18:05:47.993[I] 创建物体模型_1: 模型被成功创建。
18:05:49.622[D] 收到相机应答信息耗时： 1.6977
18:05:49.676[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
18:05:49.676[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
18:05:49.923[D] Normal Filter Main Normal: 0 , 0 , -1
18:05:50.218[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
18:05:50.495[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
18:05:50.496[W] 超出文件数量限制警告！ 文件数已达到最大文件数：1。  文件索引将从零开始，这可能会覆盖旧文件。
18:05:50.583[I] 数据重复并串接_1: 重复4次。
18:05:50.583[I] 数据重复并串接_2: 重复4次。
18:05:50.600[I] [ printSampleResult ] 采样结束。
采样后点云中点数：322.
对应的采样采样间隔：0.75。
18:05:50.601[I] [ updateVoxelLength ] “位姿验证设置->体素长度”应该在“位姿验证设置->体素长度下限”和“位姿验证设置->体素长度上限”规定的范围[0.001,0.015]内。请调整该范围。
18:05:50.601[I] [ updateVoxelLength ] “位姿验证设置->体素长度”被设置为1mm。
18:05:50.604[I] [ orthographicProjection ] 最小值点的X和Y为(-0.124598, -0.121019)。
最大点的X和Y是(0.124576, 0.121004)。
18:05:50.800[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
18:05:50.801[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186808
18:05:50.802[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00126218
18:05:50.804[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.695788 [mm], validation score: 0.993423.
18:05:50.806[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00189703
18:05:50.807[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124333
18:05:50.809[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.585978 [mm], validation score: 0.995532.
18:05:50.810[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187326
18:05:50.811[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128723
18:05:50.814[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.707093 [mm], validation score: 0.992266.
18:05:50.815[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188824
18:05:50.816[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00121148
18:05:50.818[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.527726 [mm], validation score: 0.996016.
18:05:50.818[I] 3D精匹配_2: 匹配得分: ([0.9934231042861938], [0.9955322742462158], [0.9922657608985901], [0.996015727519989])
18:05:50.823[W] 3D精匹配 ：非法参数！参数对称性需要大于零。解決方法：请调整对称性参数。
18:05:50.824[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00186674
18:05:50.825[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00125311
18:05:50.827[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.698991 [mm], validation score: 0.932462.
18:05:50.829[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.0019033
18:05:50.830[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00124291
18:05:50.832[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.5839 [mm], validation score: 0.953236.
18:05:50.832[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00187272
18:05:50.833[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00128735
18:05:50.836[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.706146 [mm], validation score: 0.92613.
18:05:50.837[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  10    sigma :  0.00188145
18:05:50.838[D] [ mmind::FilterRegPrivate::Pt2PtAutoUpdateStd ] iteration :  20    sigma :  0.00118082
18:05:50.840[I] [ getCandidate ] Local matching iteration count: 30, mean square error: 0.528507 [mm], validation score: 0.957938.
18:05:50.841[I] 3D精匹配_1: 匹配得分: ([0.9324619174003601], [0.9532362222671509], [0.9261298179626465], [0.9579376578330994])
18:05:50.841[I] 调整位姿_4: 开始运行。
18:05:50.841[I] 调整位姿_4: 14个子步骤运行结束。
18:05:50.841[I] 输出 (1) : QJsonObject({"noCloudInRoi":false,"poses":[[0.15559874967331896,-0.30130242171137345,0.15992520946906463,0.999988442224441,-0.002432709515590274,0.003994725271461889,0.0011133337117835707],[0.1548523399636628,-0.05496597873464186,0.1589137039488584,0.9999858568715636,-0.0031488546870391473,-0.004099907150418063,0.0012496128851131605],[-0.08448278274691845,-0.3019208949731287,0.16064295023517405,0.7065759674173967,-0.003609876038565548,-0.0018394031939877506,0.7076255985046375],[-0.08536756018190515,-0.05582563204178472,0.16007983056752728,0.999987856719072,-0.0021282654495514194,0.004419522614470388,-0.00047404686789675267]]})
18:05:50.841[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数104）。耗时：3.00797秒。
18:05:50.865[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"3.031"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
18:05:55.821[I] 工程(Vis-模具毛胚定位工位2)开始执行。
18:05:55.822[D] Normal Filter Main Normal: 0 , 0 , -1
18:05:55.882[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.060882秒。
18:05:55.970[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.145"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
18:08:48.456[I] 工程(Vis-模具毛胚定位工位2)开始执行。
18:08:48.456[D] Normal Filter Main Normal: 0 , 0 , -1
18:08:48.514[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.058109秒。
18:08:48.597[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.139"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
18:12:56.265[D] From revision cf3831a38 2022-11-04 16:09:03 +0800
18:12:56.267[I] [Version checking] 当前版本信息：Mech-Center V1.6.1 Mech-Viz V1.6.2。 版本检查通过。
18:12:56.268[D] Notify Mech-Center when execution status changed: QJsonObject({"project_dir":"Vis-模具毛胚定位工位2","running":true,"source_app":"Mech-Vision"})
18:12:56.307[I] 工程(Vis-模具毛胚定位工位2)开始执行。
18:12:56.308[I] 创建物体模型_1: 开始创建模型。请稍候。
18:12:56.308[D] sendAndRecvMsg {"cmd":"GetCameraId"}
18:12:56.309[I] 创建物体模型_2: 开始创建模型。请稍候。
18:12:56.321[I] 创建物体模型_2: 模型被成功创建。
18:12:56.460[I] 创建物体模型_1: 模型被成功创建。
18:12:56.478[D] 收到相机应答信息耗时： 0.168883
18:12:56.478[D] sendAndRecvMsg {"cmd":"GetCameraId"}
18:12:56.498[D] 收到相机应答信息耗时： 0.0201815
18:12:56.498[D] sendAndRecvMsg {"cmd":"GetGroupIntri"}
18:12:56.521[D] 收到相机应答信息耗时： 0.0241581
18:12:56.522[D] sendAndRecvMsg {"cmd":"GetOffsetParams"}
18:12:56.523[D] 收到相机应答信息耗时： 0.0010761
18:12:56.591[D] sendAndRecvMsg {"cmd":"GetImageFormat"}
18:12:56.592[D] 收到相机应答信息耗时： 0.0010698
18:12:56.600[D] sendAndRecvMsg {"cmd":"GetCameraId"}
18:12:56.601[D] 收到相机应答信息耗时： 0.001003
18:12:56.601[D] sendAndRecvMsg {"cmd":"CaptureImage","image_type":8195}
18:12:58.128[D] 收到相机应答信息耗时： 1.52671
18:12:58.180[I] 从相机获取图像_1: 深度图尺寸: (1920 * 1200)  彩色图尺寸: (1920 * 1200) 
18:12:58.180[W] 将深度图转换为点云_1: 未设置2D ROI文件，将在输入的深度图上直接处理。
18:12:58.422[D] Normal Filter Main Normal: 0 , 0 , -1
18:12:58.681[D] 获取最高层点云_2: 垂直方向: (0, 0, -1) .
18:12:58.722[W] 提取长方体内点云_5: 输入长度不匹配！第2个输入长度为1，第3个输入长度为4。
18:12:58.723[W] 提取长方体内点云_5: 无输出。 自动填充输出。
18:12:58.723[W] 计算平面点云的位姿和尺寸_6: 第1个输入为空！
18:12:58.723[W] 计算平面点云的位姿和尺寸_6: 无输出。 自动填充输出。
18:12:58.723[W] 分解物体尺寸_1: 第1个输入为空！
18:12:58.723[W] 分解物体尺寸_1: 无输出。 自动填充输出。
18:12:58.723[W] 数值运算_2: 第1个输入为空！
18:12:58.723[W] 数值运算_1: 第1个输入为空！
18:12:58.723[W] 数值运算_2: 第1个输入为空！
18:12:58.723[W] 数值运算_1: 第1个输入为空！
18:12:58.723[W] 数值运算_2: 无输出。 自动填充输出。
18:12:58.723[W] 数值运算_1: 无输出。 自动填充输出。
18:12:58.723[W] 数值运算_9: 第1个输入为空！
18:12:58.723[W] 沿指定方向移动位姿_3: 第1个输入为空！
18:12:58.724[W] 数值运算_9: 第1个输入为空！
18:12:58.724[W] 沿指定方向移动位姿_3: 无输出。 自动填充输出。
18:12:58.724[W] 数值运算_9: 无输出。 自动填充输出。
18:12:58.724[W] 沿指定方向移动位姿_7: 第1个输入为空！
18:12:58.724[W] 根据阈值对数值进行二分类_2: 第1个输入为空！
18:12:58.724[W] 沿指定方向移动位姿_7: 无输出。 自动填充输出。
18:12:58.724[W] 根据阈值对数值进行二分类_2: 无输出。 自动填充输出。
18:12:58.724[W] 根据布尔值触发控制流_4: 第1个输入为空！
18:12:58.724[W] 根据布尔值触发控制流_5: 第1个输入为空！
18:12:58.724[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数33）。耗时：2.41609秒。
18:12:58.725[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"2.416"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})
18:13:08.061[I] 工程(Vis-模具毛胚定位工位2)开始执行。
18:13:08.062[D] Normal Filter Main Normal: 0 , 0 , -1
18:13:08.118[I] 工程(Vis-模具毛胚定位工位2)执行结束（步骤数1）。耗时：0.057726秒。
18:13:08.202[D] Notify Mech-Center when execution status changed: QJsonObject({"exit_info":{"error_code":"CV-E0000","exitCode":0,"total_exec_time":"0.140"},"project_dir":"Vis-模具毛胚定位工位2","running":false,"source_app":"Mech-Vision"})