Krzysztof Lis / Adynathos comments

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                                            Krzysztof Lis / Adynathos

void dso::CoarseInitializer::makeNN(): Assertion `ret_index[0]>=0 && ret_index[0] < numPoints[lvl+1]' failed

I did further tests and I believe the problem is related to **pyramid levels** and coarsest resolution. **(1)** When running the TUM dataset with standard settings, the pyramid is as...

void dso::CoarseInitializer::makeNN(): Assertion `ret_index[0]>=0 && ret_index[0] < numPoints[lvl+1]' failed

Setting `PYR_LEVELS` to `6` (as opposed to default 7) in [settings.h](https://github.com/JakobEngel/dso/blob/master/src/util/settings.h#L50) restricts the pyramid level and prevents the crash.