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MIT-SPARK / Kimera-VIO-ROS

ROS wrapper for Kimera-VIO
BSD 2-Clause "Simplified" License
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Kimera VIO ROS Wrapper Crashes after ~20 Seconds #133

Open njcich opened 3 years ago

njcich commented 3 years ago

Hello, I'm working on a project with an Intel D435i camera, and am attempting to run the Kimera ROS wrapper alongside the D435i ROS wrapper on an NVIDIA Jetson AGX Xavier. The only two ROS packages that I've launched are the D435i wrapper (which I haven't had issues with) and the Kimera wrapper. The Kimera wrapper works for about twenty seconds--I've been able to print out odometry measurements that seem correct--but then suddenly stops publishing any information. The error message describing the cause of this seems to be "Backend did not return an output: shutting down backend." I'm unsure of how to proceed. Any help is appreciated!

Note: the Kimera wrapper continues to run after the error message below (final line of the output that I have attached), but no longer publishes any information.

`roslaunch kimera_vio_ros kimera_vio_ros_realsense_IR.launch ... logging to /home/unitree/.ros/log/4eb76b04-7889-11eb-84db-48b02d0790cc/roslaunch-nx-31707.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:35337/

SUMMARY

PARAMETERS

NODES / velo_link_broadcaster (tf/static_transform_publisher) /kimera_vio_ros/ kimera_vio_ros_node (kimera_vio_ros/kimera_vio_ros_node) posegraph_viewer (pose_graph_tools/visualizer_node)

ROS_MASTER_URI=http://localhost:11311

process[kimera_vio_ros/kimera_vio_ros_node-1]: started with pid [31723] process[kimera_vio_ros/posegraph_viewer-2]: started with pid [31724] [ INFO] [1614384171.746155098]: Initializing pose graph visualizer process[velo_link_broadcaster-3]: started with pid [31730] I0226 19:02:52.765061 31723 RegularVioBackEnd.cpp:114] Using Regular VIO backend. I0226 19:02:52.765475 31723 PipelineModule.h:449] MISO Pipeline Module: Display has no output queue registered. I0226 19:02:52.766374 31723 Pipeline.cpp:479] Pipeline Modules launched (parallel_run set to 1). I0226 19:02:52.768501 31723 KimeraVioRos.cpp:117] Statistics ----------- # Log Hz {avg +- std } [min,max] Display [ms] 0 Mesher [ms] 0 VioBackEnd [ms] 0 VioFrontEnd [ms] 0 Visualizer [ms] 0 backend_input_queue Size [#] 0 data_provider_left_frame_queue Size [#] 0 data_provider_right_frame_queue Size [#] 0 display_input_queue Size [#] 0 mesher_backend Size [#] 0 mesher_frontend Size [#] 0 stereo_frontend_input_queue Size [#] 0 visualizer_backend_queue Size [#] 0 visualizer_frontend_queue Size [#] 0 visualizer_mesher_queue Size [#] 0 I0226 19:02:52.768951 31756 Pipeline.h:199] Spinning Kimera-VIO. I0226 19:02:53.403529 31748 VioBackEnd.h:167] ------------------- Initialize Pipeline: timestamp = 1614384173096156597-------------------- W0226 19:02:53.403997 31748 InitializationFromImu.cpp:25] InitializationFromImu: assumes that the vehicle is stationary and upright along some axis,and gravity vector is along a single axis! W0226 19:02:53.408495 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:53.544896 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:53.547595 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:53.670823 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:53.673785 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:53.768594 31723 KimeraVioRos.cpp:117] Statistics ----------- # Log Hz {avg +- std } [min,max] Data Provider [ms] 0 Display [ms] 5 5.42871 {28.8000 +- 64.3988} [0,144] Mesher [ms] 3 3.26405 {8.33333 +- 3.78594} [4,11] VioBackEnd [ms] 3 3.30664 {3.33333 +- 0.577350} [3,4] VioFrontEnd Frame Rate [ms] 0 VioFrontEnd Keyframe Rate [ms] 2 7.49468 {132.500 +- 10.6066} [125,140] VioFrontEnd [ms] 3 3.31706 {155.667 +- 40.8207} [125,202] Visualizer [ms] 3 3.26785 {0.00000 +- 0.00000} [0,0] backend_input_queue Size [#] 3 2.99596 {1.00000 +- 0.00000} [1,1] data_provider_left_frame_queue Size [#] 5 5.94807 {1.00000 +- 0.00000} [1,1] data_provider_right_frame_queue Size [#] 5 5.94483 {1.00000 +- 0.00000} [1,1] display_input_queue Size [#] 5 4.92165 {1.60000 +- 0.894427} [1,3] mesher_backend Size [#] 3 3.30335 {1.00000 +- 0.00000} [1,1] mesher_frontend Size [#] 3 3.31499 {1.00000 +- 0.00000} [1,1] stereo_frontend_input_queue Size [#] 4 3.88906 {1.00000 +- 0.00000} [1,1] visualizer_backend_queue Size [#] 3 3.30344 {1.00000 +- 0.00000} [1,1] visualizer_frontend_queue Size [#] 3 3.31512 {1.00000 +- 0.00000} [1,1] visualizer_mesher_queue Size [#] 3 3.26080 {1.00000 +- 0.00000} [1,1] I0226 19:02:53.802217 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:53.804059 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:53.972949 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:53.976109 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. W0226 19:02:54.110000 31747 FeatureDetector.cpp:150] No corners extracted for frame with id: 6 I0226 19:02:54.115406 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:54.117331 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:54.273427 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:54.275944 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:54.442203 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:54.444512 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. W0226 19:02:54.603935 31747 FeatureDetector.cpp:150] No corners extracted for frame with id: 9 I0226 19:02:54.608356 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:54.610678 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:54.768627 31723 KimeraVioRos.cpp:117] Statistics ----------- # Log Hz {avg +- std } [min,max] Data Provider [ms] 0 Display [ms] 17 9.20624 {8.47059 +- 34.9251} [0,144] Mesher [ms] 9 4.87000 {5.55556 +- 2.87711} [3,11] VioBackEnd [ms] 9 4.88002 {2.55556 +- 0.726483} [2,4] VioFrontEnd Frame Rate [ms] 0 VioFrontEnd Keyframe Rate [ms] 8 6.64248 {106.375 +- 20.2198} [85,140] VioFrontEnd [ms] 9 4.88613 {117.333 +- 36.9053} [85,202] Visualizer [ms] 9 4.87049 {0.00000 +- 0.00000} [0,0] backend_input_queue Size [#] 9 4.64185 {1.00000 +- 0.00000} [1,1] data_provider_left_frame_queue Size [#] 11 5.96856 {1.00000 +- 0.00000} [1,1] data_provider_right_frame_queue Size [#] 11 5.96730 {1.00000 +- 0.00000} [1,1] display_input_queue Size [#] 17 8.73700 {1.17647 +- 0.528594} [1,3] mesher_backend Size [#] 9 4.87768 {1.00000 +- 0.00000} [1,1] mesher_frontend Size [#] 9 4.88463 {1.00000 +- 0.00000} [1,1] stereo_frontend_input_queue Size [#] 10 4.95715 {1.00000 +- 0.00000} [1,1] visualizer_backend_queue Size [#] 9 4.87769 {1.00000 +- 0.00000} [1,1] visualizer_frontend_queue Size [#] 9 4.88472 {1.00000 +- 0.00000} [1,1] visualizer_mesher_queue Size [#] 9 4.86741 {1.00000 +- 0.00000} [1,1] I0226 19:02:54.774395 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:54.776968 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:54.961925 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:54.964344 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. W0226 19:02:55.096158 31747 FeatureDetector.cpp:150] No corners extracted for frame with id: 12 I0226 19:02:55.102813 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:55.105397 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. W0226 19:02:55.274760 31747 FeatureDetector.cpp:150] No corners extracted for frame with id: 13 I0226 19:02:55.280066 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:55.282838 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:55.455956 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:55.458938 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:55.604403 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:55.606956 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:55.768805 31723 KimeraVioRos.cpp:117] Statistics ----------- # Log Hz {avg +- std } [min,max] Data Provider [ms] 0 Display [ms] 29 10.1998 {5.06897 +- 26.7220} [0,144] Mesher [ms] 15 5.27108 {5.00000 +- 2.39046} [3,11] VioBackEnd [ms] 15 5.28085 {2.40000 +- 0.632456} [2,4] VioFrontEnd Frame Rate [ms] 0 VioFrontEnd Keyframe Rate [ms] 14 6.36529 {99.7143 +- 18.2269} [83,140] VioFrontEnd [ms] 15 5.28551 {106.867 +- 31.5795} [83,202] Visualizer [ms] 15 5.27315 {0.00000 +- 0.00000} [0,0] backend_input_queue Size [#] 15 5.11094 {1.00000 +- 0.00000} [1,1] data_provider_left_frame_queue Size [#] 17 5.98839 {1.00000 +- 0.00000} [1,1] data_provider_right_frame_queue Size [#] 17 5.98820 {1.00000 +- 0.00000} [1,1] display_input_queue Size [#] 29 9.85561 {1.10345 +- 0.409253} [1,3] mesher_backend Size [#] 15 5.27918 {1.00000 +- 0.00000} [1,1] mesher_frontend Size [#] 15 5.28446 {1.00000 +- 0.00000} [1,1] stereo_frontend_input_queue Size [#] 16 5.29772 {1.00000 +- 0.00000} [1,1] visualizer_backend_queue Size [#] 15 5.27921 {1.00000 +- 0.00000} [1,1] visualizer_frontend_queue Size [#] 15 5.28452 {1.00000 +- 0.00000} [1,1] visualizer_mesher_queue Size [#] 15 5.26936 {1.00000 +- 0.00000} [1,1] I0226 19:02:55.773484 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:55.776110 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. W0226 19:02:55.952035 31747 FeatureDetector.cpp:150] No corners extracted for frame with id: 17 I0226 19:02:55.956240 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:55.958632 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. W0226 19:02:56.099934 31747 FeatureDetector.cpp:150] No corners extracted for frame with id: 18 I0226 19:02:56.105439 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:56.108304 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:56.278633 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:56.281329 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. W0226 19:02:56.429728 31747 FeatureDetector.cpp:150] No corners extracted for frame with id: 20 I0226 19:02:56.434888 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:56.437984 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:56.609093 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:56.611858 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:56.765198 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:56.768330 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:56.768592 31723 KimeraVioRos.cpp:117] Statistics ----------- # Log Hz {avg +- std } [min,max] Data Provider [ms] 0 Display [ms] 42 10.5083 {3.54762 +- 22.2033} [0,144] Mesher [ms] 21 5.45361 {4.76190 +- 2.07135} [3,11] VioBackEnd [ms] 22 5.49729 {2.63636 +- 1.32900} [2,8] VioFrontEnd Frame Rate [ms] 0 VioFrontEnd Keyframe Rate [ms] 21 6.25065 {95.5238 +- 16.3848} [80,140] VioFrontEnd [ms] 22 5.50384 {100.636 +- 27.6811} [81,202] Visualizer [ms] 21 5.45562 {0.00000 +- 0.00000} [0,0] backend_input_queue Size [#] 22 5.37353 {1.00000 +- 0.00000} [1,1] data_provider_left_frame_queue Size [#] 23 5.99091 {1.00000 +- 0.00000} [1,1] data_provider_right_frame_queue Size [#] 23 5.99017 {1.00000 +- 0.00000} [1,1] display_input_queue Size [#] 42 10.2590 {1.07143 +- 0.341650} [1,3] mesher_backend Size [#] 22 5.49614 {1.00000 +- 0.00000} [1,1] mesher_frontend Size [#] 22 5.50306 {1.00000 +- 0.00000} [1,1] stereo_frontend_input_queue Size [#] 22 5.48305 {1.00000 +- 0.00000} [1,1] visualizer_backend_queue Size [#] 22 5.49608 {1.00000 +- 0.00000} [1,1] visualizer_frontend_queue Size [#] 22 5.50311 {1.00000 +- 0.00000} [1,1] visualizer_mesher_queue Size [#] 21 5.45277 {1.00000 +- 0.00000} [1,1] I0226 19:02:56.940306 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:56.944068 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:57.124358 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:57.127485 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:57.272318 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:57.276439 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:57.434577 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:57.438602 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:57.601152 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:57.605566 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:57.765533 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. I0226 19:02:57.768767 31723 KimeraVioRos.cpp:117] Statistics ----------- # Log Hz {avg +- std } [min,max] Data Provider [ms] 0 Display [ms] 54 10.8070 {2.75926 +- 19.5853} [0,144] Mesher [ms] 27 5.57328 {4.77778 +- 1.82574} [3,11] VioBackEnd [ms] 27 5.57960 {3.03704 +- 1.58069} [2,8] VioFrontEnd Frame Rate [ms] 0 VioFrontEnd Keyframe Rate [ms] 27 6.19048 {94.0000 +- 15.0640} [80,140] VioFrontEnd [ms] 28 5.60096 {98.2143 +- 25.0634} [81,202] Visualizer [ms] 27 5.57340 {0.00000 +- 0.00000} [0,0] backend_input_queue Size [#] 28 5.49442 {1.00000 +- 0.00000} [1,1] data_provider_left_frame_queue Size [#] 29 5.99159 {1.00000 +- 0.00000} [1,1] data_provider_right_frame_queue Size [#] 29 5.99151 {1.00000 +- 0.00000} [1,1] display_input_queue Size [#] 54 10.5969 {1.05556 +- 0.301985} [1,3] mesher_backend Size [#] 27 5.57856 {1.00000 +- 0.00000} [1,1] mesher_frontend Size [#] 28 5.60033 {1.00000 +- 0.00000} [1,1] stereo_frontend_input_queue Size [#] 28 5.58873 {1.00000 +- 0.00000} [1,1] visualizer_backend_queue Size [#] 27 5.57859 {1.00000 +- 0.00000} [1,1] visualizer_frontend_queue Size [#] 28 5.60037 {1.00000 +- 0.00000} [1,1] visualizer_mesher_queue Size [#] 27 5.57215 {1.00000 +- 0.00000} [1,1] W0226 19:02:57.770913 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:57.939929 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:57.944933 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:58.114457 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:58.117874 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:58.276329 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:58.291903 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:58.479502 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:58.490584 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:58.604835 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:58.616634 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:58.767962 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. I0226 19:02:58.768663 31723 KimeraVioRos.cpp:117] Statistics ----------- # Log Hz {avg +- std } [min,max] Data Provider [ms] 0 Display [ms] 66 11.0016 {2.28788 +- 17.7146} [0,144] Mesher [ms] 33 5.63748 {4.72727 +- 1.68213} [3,11] VioBackEnd [ms] 33 5.64083 {4.15152 +- 3.23188} [2,15] VioFrontEnd Frame Rate [ms] 0 VioFrontEnd Keyframe Rate [ms] 33 6.15229 {93.3636 +- 14.4456} [80,140] VioFrontEnd [ms] 34 5.66532 {96.8824 +- 23.3196} [81,202] Visualizer [ms] 33 5.63762 {0.00000 +- 0.00000} [0,0] backend_input_queue Size [#] 34 5.57527 {1.00000 +- 0.00000} [1,1] data_provider_left_frame_queue Size [#] 35 5.99383 {1.00000 +- 0.00000} [1,1] data_provider_right_frame_queue Size [#] 35 5.99378 {1.00000 +- 0.00000} [1,1] display_input_queue Size [#] 66 10.8230 {1.04545 +- 0.273542} [1,3] mesher_backend Size [#] 33 5.63996 {1.00000 +- 0.00000} [1,1] mesher_frontend Size [#] 34 5.66479 {1.00000 +- 0.00000} [1,1] stereo_frontend_input_queue Size [#] 34 5.65274 {1.00000 +- 0.00000} [1,1] visualizer_backend_queue Size [#] 33 5.63999 {1.00000 +- 0.00000} [1,1] visualizer_frontend_queue Size [#] 34 5.66482 {1.00000 +- 0.00000} [1,1] visualizer_mesher_queue Size [#] 33 5.63653 {1.00000 +- 0.00000} [1,1] W0226 19:02:58.781391 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:58.947358 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:58.958439 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:59.126986 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:59.145711 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:59.284935 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:59.289383 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:59.454133 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:59.472345 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:59.610395 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:59.623772 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:59.768633 31723 KimeraVioRos.cpp:117] Statistics ----------- # Log Hz {avg +- std } [min,max] Data Provider [ms] 0 Display [ms] 77 11.2270 {1.98701 +- 16.4000} [0,144] Mesher [ms] 39 5.68503 {4.43590 +- 1.74409} [2,11] VioBackEnd [ms] 39 5.68686 {5.79487 +- 5.13081} [2,20] VioFrontEnd Frame Rate [ms] 0 VioFrontEnd Keyframe Rate [ms] 38 6.12404 {93.7895 +- 13.6563} [80,140] VioFrontEnd [ms] 39 5.69854 {96.8718 +- 21.8321} [81,202] Visualizer [ms] 39 5.68522 {0.00000 +- 0.00000} [0,0] backend_input_queue Size [#] 39 5.61895 {1.00000 +- 0.00000} [1,1] data_provider_left_frame_queue Size [#] 41 5.99211 {1.00000 +- 0.00000} [1,1] data_provider_right_frame_queue Size [#] 41 5.99205 {1.00000 +- 0.00000} [1,1] display_input_queue Size [#] 77 11.0667 {1.03896 +- 0.253479} [1,3] mesher_backend Size [#] 39 5.68612 {1.00000 +- 0.00000} [1,1] mesher_frontend Size [#] 39 5.69807 {1.00000 +- 0.00000} [1,1] stereo_frontend_input_queue Size [#] 40 5.69351 {1.00000 +- 0.00000} [1,1] visualizer_backend_queue Size [#] 39 5.68613 {1.00000 +- 0.00000} [1,1] visualizer_frontend_queue Size [#] 39 5.69809 {1.00000 +- 0.00000} [1,1] visualizer_mesher_queue Size [#] 39 5.68422 {1.00000 +- 0.00000} [1,1] I0226 19:02:59.794530 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:59.810343 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:02:59.958626 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:02:59.976907 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:03:00.120702 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:03:00.136996 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:03:00.285576 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:03:00.299451 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. W0226 19:03:00.435556 31747 FeatureDetector.cpp:150] No corners extracted for frame with id: 44 I0226 19:03:00.440253 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:03:00.452178 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:03:00.608902 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:03:00.622804 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:03:00.768638 31723 KimeraVioRos.cpp:117] Statistics ----------- # Log Hz {avg +- std } [min,max] Data Provider [ms] 0 Display [ms] 89 11.3234 {1.76404 +- 15.2524} [0,144] Mesher [ms] 45 5.72446 {4.31111 +- 1.67634} [2,11] VioBackEnd [ms] 45 5.72420 {7.24444 +- 6.08708} [2,20] VioFrontEnd Frame Rate [ms] 0 VioFrontEnd Keyframe Rate [ms] 44 6.10712 {93.8864 +- 12.9511} [80,140] VioFrontEnd [ms] 45 5.73814 {96.5778 +- 20.4656} [81,202] Visualizer [ms] 45 5.72442 {0.00000 +- 0.00000} [0,0] backend_input_queue Size [#] 45 5.66808 {1.00000 +- 0.00000} [1,1] data_provider_left_frame_queue Size [#] 47 5.99362 {1.00000 +- 0.00000} [1,1] data_provider_right_frame_queue Size [#] 47 5.99357 {1.00000 +- 0.00000} [1,1] display_input_queue Size [#] 89 11.1824 {1.03371 +- 0.235943} [1,3] mesher_backend Size [#] 45 5.72356 {1.00000 +- 0.00000} [1,1] mesher_frontend Size [#] 45 5.73772 {1.00000 +- 0.00000} [1,1] stereo_frontend_input_queue Size [#] 46 5.73891 {1.00000 +- 0.00000} [1,1] visualizer_backend_queue Size [#] 45 5.72356 {1.00000 +- 0.00000} [1,1] visualizer_frontend_queue Size [#] 45 5.73775 {1.00000 +- 0.00000} [1,1] visualizer_mesher_queue Size [#] 45 5.72374 {1.00000 +- 0.00000} [1,1] I0226 19:03:00.792948 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:03:00.805807 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:03:00.948195 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:03:00.963219 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:03:01.105082 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:03:01.117084 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:03:01.264400 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:03:01.277279 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:03:01.495280 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:03:01.507716 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:03:01.608079 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:03:01.619432 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. I0226 19:03:01.768605 31723 KimeraVioRos.cpp:117] Statistics ----------- # Log Hz {avg +- std } [min,max] Data Provider [ms] 0 Display [ms] 101 11.4061 {1.57426 +- 14.3893} [0,144] Mesher [ms] 51 5.75844 {4.21569 +- 1.61634} [2,11] VioBackEnd [ms] 51 5.76079 {8.07843 +- 6.31773} [2,23] VioFrontEnd Frame Rate [ms] 0 VioFrontEnd Keyframe Rate [ms] 50 6.09460 {94.5200 +- 14.0164} [80,140] VioFrontEnd [ms] 51 5.76821 {96.8824 +- 20.3624} [81,202] Visualizer [ms] 51 5.75857 {0.00000 +- 0.00000} [0,0] backend_input_queue Size [#] 51 5.70566 {1.00000 +- 0.00000} [1,1] data_provider_left_frame_queue Size [#] 53 5.99331 {1.00000 +- 0.00000} [1,1] data_provider_right_frame_queue Size [#] 53 5.99327 {1.00000 +- 0.00000} [1,1] display_input_queue Size [#] 101 11.2796 {1.02970 +- 0.222702} [1,3] mesher_backend Size [#] 51 5.76021 {1.00000 +- 0.00000} [1,1] mesher_frontend Size [#] 51 5.76784 {1.00000 +- 0.00000} [1,1] stereo_frontend_input_queue Size [#] 52 5.76721 {1.00000 +- 0.00000} [1,1] visualizer_backend_queue Size [#] 51 5.76022 {1.00000 +- 0.00000} [1,1] visualizer_frontend_queue Size [#] 51 5.76786 {1.00000 +- 0.00000} [1,1] visualizer_mesher_queue Size [#] 51 5.75780 {1.00000 +- 0.00000} [1,1] I0226 19:03:01.813184 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:03:01.828388 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. W0226 19:03:01.926630 31747 FeatureDetector.cpp:150] No corners extracted for frame with id: 53 I0226 19:03:01.932108 31748 RegularVioBackEnd.cpp:212] Tracker has a LOW_DISPARITY status. W0226 19:03:01.943296 31749 Mesher.cpp:1380] Missing landmark information to build 3D Mesh. W0226 19:03:02.092730 31747 FeatureDetector.cpp:150] No corners extracted for frame with id: 54 E0226 19:03:02.116001 31748 VioBackEnd.cpp:1250] Attempting to at the key "x10", which does not exist in the Values. I0226 19:03:02.116216 31748 VioBackEnd.cpp:1661] =============== START:CATCHING EXCEPTION =============== I0226 19:03:02.116256 31748 VioBackEnd.cpp:1688] Nr of factors in graph (smoother getFactors): 454, with factors: I0226 19:03:02.116297 31748 VioBackEnd.cpp:1690] [ Slot # 106: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x51 x52 x53 Slot # 108: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x51 x52 x53 Slot # 109: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x51 x52 x53 Slot # 110: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 112: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 156: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 157: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 158: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 159: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 160: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 161: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 162: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 163: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 164: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 165: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 166: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 167: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 168: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 169: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 170: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 171: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 172: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 173: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 174: Linear Container Factor: Factor b22 v22 x22 Slot # 175: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 176: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 177: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 178: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 179: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 180: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 181: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 182: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 183: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 184: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 185: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 186: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 187: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 188: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 189: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 190: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 191: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 192: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 193: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 194: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 195: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 196: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 197: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 198: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 199: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 200: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 201: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 202: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 203: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 204: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 205: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 206: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 207: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 208: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 209: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 210: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 211: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 212: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 213: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 214: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 215: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 216: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 217: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 218: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 219: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 220: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 221: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 222: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 223: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 224: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 225: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 226: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 227: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 228: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 229: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 230: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 231: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 232: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 233: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 234: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 235: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 236: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 237: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 238: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 239: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 240: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 241: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 242: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 243: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 244: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 245: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 246: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 247: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 248: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 249: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 250: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 251: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 252: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 253: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 254: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 255: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 256: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 257: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 258: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 259: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 260: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 261: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 262: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 263: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 264: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 265: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 266: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 267: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 268: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 269: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 270: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 271: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 272: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 273: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 274: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 275: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 276: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 277: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 278: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 279: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 280: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 281: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 282: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 283: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 284: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 285: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 286: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 287: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 288: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 289: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 290: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 291: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 292: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 293: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 294: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 295: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 296: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 297: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 298: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 299: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 300: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 301: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 302: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 303: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x51 x52 x53 Slot # 304: Smart Factor (valid: yes, deg: no isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 305: Smart Factor (valid: yes, deg: no isCheir: no): Factor x51 x52 x53 Slot # 306: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 307: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 308: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 309: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 310: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 311: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 312: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 313: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 314: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 315: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 316: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 317: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 318: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 319: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 320: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 321: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 322: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 323: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 324: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 325: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 326: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 327: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 328: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 329: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 330: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 331: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 332: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 333: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 334: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 335: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 336: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 337: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 338: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 339: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 340: Smart Factor (valid: yes, deg: no isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 341: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 342: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 343: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 344: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 345: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 346: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 347: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 348: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 349: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 350: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 351: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 352: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 353: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 354: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 355: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 356: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 357: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 358: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 359: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 360: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 361: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 362: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 363: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 364: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 365: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 366: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 367: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 368: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 369: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 370: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 371: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 372: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 373: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 374: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x46 x47 x48 x49 x50 x51 x52 x53 Slot # 375: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 376: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 377: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 378: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 379: Smart Factor (valid: yes, deg: no isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 380: Smart Factor (valid: NO!, deg: no isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 381: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 382: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 383: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 384: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 385: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 386: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 387: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 388: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 389: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 390: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 391: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 392: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 393: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 394: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 395: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 396: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 397: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 398: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 399: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 400: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 401: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 402: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 403: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 404: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x46 x47 x48 x49 x50 x51 x52 x53 Slot # 405: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x46 x47 x48 x49 x50 x51 x52 x53 Slot # 406: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x46 x47 x48 x49 x50 x51 x52 x53 Slot # 407: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x46 x47 x48 x49 x50 x51 x52 x53 Slot # 408: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x47 x48 x49 x50 x51 x52 x53 Slot # 409: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x47 x48 x49 x50 x51 x52 x53 Slot # 410: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 411: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x47 x48 x49 x50 x51 x52 x53 Slot # 412: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x47 x48 x49 x50 x51 x52 x53 Slot # 413: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 414: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 415: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 416: Smart Factor (valid: yes, deg: no isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 417: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 418: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 419: Smart Factor (valid: NO!, deg: no isCheir: no): Factor x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 420: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 421: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 422: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 423: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 424: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 425: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 426: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 427: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 428: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 429: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 430: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 431: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 432: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 433: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 434: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 435: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 436: Smart Factor (valid: yes, deg: no isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 437: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 438: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 439: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 440: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 441: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 442: Smart Factor (valid: NO!, deg: no isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 443: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 444: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 445: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 446: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 447: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 448: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 449: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 450: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53

I0226 19:03:02.147876 31748 VioBackEnd.cpp:1697] ] I0226 19:03:02.147918 31748 VioBackEnd.cpp:1700] Nr of new factors to add: 302 with factors: I0226 19:03:02.147939 31748 VioBackEnd.cpp:1702] [ (slot # wrt to new_factors_tmp graph) Slot # 0: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x51 x52 x53 Slot # 1: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x51 x52 x53 Slot # 2: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x51 x52 x53 Slot # 3: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 4: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 5: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 6: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 7: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 8: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 9: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 10: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 11: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 12: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 13: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 14: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 15: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 16: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 17: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 18: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 19: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 20: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 21: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 22: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 23: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 24: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 25: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 26: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 27: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 28: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 29: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 30: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 31: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 32: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 33: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 34: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 35: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 36: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 37: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 38: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 39: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 40: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 41: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 42: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 43: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 44: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 45: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 46: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 47: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 48: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 49: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 50: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 51: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 52: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 53: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 54: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 55: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 56: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 57: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 58: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 59: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 60: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 61: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 62: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 63: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 64: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 65: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 66: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 67: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 68: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 69: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 70: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 71: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 72: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 73: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 74: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 75: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 76: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 77: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 78: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 79: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 80: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 81: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 82: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 83: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 84: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 85: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 86: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 87: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 88: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 89: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 90: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 91: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 92: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 93: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 94: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 95: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 96: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 97: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 98: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 99: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 100: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 101: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 102: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 103: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 104: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 105: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 106: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 107: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 108: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 109: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 110: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 111: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 112: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 113: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 114: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 115: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 116: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 117: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 118: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 119: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 120: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 121: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 122: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 123: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 124: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 125: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 126: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 127: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 128: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 129: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 130: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 131: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 132: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 133: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 134: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 135: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 136: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 137: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 138: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 139: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 140: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 141: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 142: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 143: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 144: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 145: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 146: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 147: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 148: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 149: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 150: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 151: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x51 x52 x53 Slot # 152: Smart Factor (valid: yes, deg: no isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 153: Smart Factor (valid: yes, deg: no isCheir: no): Factor x51 x52 x53 Slot # 154: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 155: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 156: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 157: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 158: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 159: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 160: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 161: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 162: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 163: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 164: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 165: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 166: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 167: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 168: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 169: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 170: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 171: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 172: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 173: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 174: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 175: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 176: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 177: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 178: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 179: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 180: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 181: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 182: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 183: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 184: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 185: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 186: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 187: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 188: Smart Factor (valid: yes, deg: no isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 189: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 190: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 191: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 192: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 193: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 194: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 195: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 196: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 197: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 198: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 199: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 200: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 201: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 202: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 203: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 204: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 205: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 206: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 207: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 208: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x50 x51 x52 x53 Slot # 209: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 210: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 211: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 212: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 213: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 214: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 215: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 216: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 217: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 218: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 219: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 220: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 221: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 222: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x46 x47 x48 x49 x50 x51 x52 x53 Slot # 223: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 224: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 225: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 226: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 227: Smart Factor (valid: yes, deg: no isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 228: Smart Factor (valid: NO!, deg: no isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 229: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 230: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x51 x52 x53 Slot # 231: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 232: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 233: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 234: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 235: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 236: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 237: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 238: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 239: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 240: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 241: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 242: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 243: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 244: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 245: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 246: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 247: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 248: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 249: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 250: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 251: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 252: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x46 x47 x48 x49 x50 x51 x52 x53 Slot # 253: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x46 x47 x48 x49 x50 x51 x52 x53 Slot # 254: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x46 x47 x48 x49 x50 x51 x52 x53 Slot # 255: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x46 x47 x48 x49 x50 x51 x52 x53 Slot # 256: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x47 x48 x49 x50 x51 x52 x53 Slot # 257: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x47 x48 x49 x50 x51 x52 x53 Slot # 258: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 259: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x47 x48 x49 x50 x51 x52 x53 Slot # 260: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x47 x48 x49 x50 x51 x52 x53 Slot # 261: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 262: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 263: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 264: Smart Factor (valid: yes, deg: no isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 265: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 266: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 267: Smart Factor (valid: NO!, deg: no isCheir: no): Factor x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 268: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 269: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 270: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 271: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 272: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 273: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 274: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 275: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 276: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 277: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 278: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 279: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 280: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 281: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 282: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 283: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 284: Smart Factor (valid: yes, deg: no isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 285: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 286: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 287: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 288: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 289: Smart Factor (valid: NO!, deg: no isCheir: YES!): Factor x49 x50 x51 x52 x53 Slot # 290: Smart Factor (valid: NO!, deg: no isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 291: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 292: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 293: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 294: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 295: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 296: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53 Slot # 297: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 x53 Slot # 298: Smart Factor (valid: NO!, deg: YES! isCheir: no): Factor x49 x50 x51 x52 x53

I0226 19:03:02.174692 31748 VioBackEnd.cpp:1709] ] I0226 19:03:02.174732 31748 VioBackEnd.cpp:1712] Nr deleted slots: 0, with slots: I0226 19:03:02.174757 31748 VioBackEnd.cpp:1714] [

I0226 19:03:02.174788 31748 VioBackEnd.cpp:1741] ] I0226 19:03:02.174808 31748 VioBackEnd.cpp:1744] Nr of values in state_ : 93, with keys: [ b22 b23 b24 b25 b26 b27 b28 b29 b30 b31 b32 b33 b34 b35 b36 b37 b38 b39 b40 b41 b42 b43 b44 b45 b46 b47 b48 b49 b50 b51 b52 v22 v23 v24 v25 v26 v27 v28 v29 v30 v31 v32 v33 v34 v35 v36 v37 v38 v39 v40 v41 v42 v43 v44 v45 v46 v47 v48 v49 v50 v51 v52 x22 x23 x24 x25 x26 x27 x28 x29 x30 x31 x32 x33 x34 x35 x36 x37 x38 x39 x40 x41 x42 x43 x44 x45 x46 x47 x48 x49 x50 x51 x52 I0226 19:03:02.175400 31748 VioBackEnd.cpp:1750] ] I0226 19:03:02.175421 31748 VioBackEnd.cpp:1753] Nr values in newvalues : 3, with keys: [ b53 v53 x53 I0226 19:03:02.175482 31748 VioBackEnd.cpp:1761] ] I0226 19:03:02.175499 31748 VioBackEnd.cpp:1772] =============== END: CATCHING EXCEPTION =============== E0226 19:03:02.176074 31748 VioBackEndModule.cpp:34] Backend did not return an output: shutting down backend.`

koledickarlo commented 3 years ago

Did you perhaps find the solution to this problem?

njcich commented 3 years ago

I am running Kimera on a quadrupedal robot, and by starting the robot's movement before launching Kimera, I am usually able to avoid this issue. It doesn't work every time, but it usually will stop Kimera from crashing.

martinakos commented 3 years ago

I also have this exception. Is there any way to avoid it starting from a stationary camera?

soldierofhell commented 3 years ago

Also got this error. I noticed that on my rosbag it appears when robot starts to move. I thought that starting from stationary state is the preferred way to use VIO to properly initialize imu, see for example this message at the beginning

W0913 10:19:27.229720 28225 InitializationFromImu.cpp:25] InitializationFromImu: assumes that the vehicle is stationary and upright along some axis,and gravity vector is along a single axis!

This error seems related to gtsam. Also first notification is from 2021, so I wonder if maybe downgrade of gtsam could help, because rosinstall clone "develop" branch. Anybody tried?

Regards,

soldierofhell commented 3 years ago

The error is triggered by this smoother_->update() and originates in gtsam Values.cpp when trying to access value by key Values-inl.h. In VioBackend newvalues are inserted here and cleared here. Maybe they are cleared to early (?)

I noticed that when I cut most part of stationary rosbag and leave only short interval then the error is gone.

@ToniRV any idea what might be the cause?

soldierofhell commented 3 years ago

Here is an issue on gtsam repo also with smart factors, but might not be related

BBlumhofer commented 3 years ago

Hi all,

Did anyone found a solution for this error? I am facing the same error that my kimera crashes when I start moving my camera.

Regards, Benjamin