[13:31:33.982] Init: frame zero: 0.000000, 0.000000 0.000000
[13:31:33.982] Init: Selected first frame. 
[13:31:33.982] frame process finished the id is: 0 the obs is:0 
[13:31:34.087] Init: px average disparity is:0.171924 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:34.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:34.087] frame process finished the id is: 1 the obs is:0 
[13:31:34.177] Init: px average disparity is:0.197214 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:34.177] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:34.177] frame process finished the id is: 2 the obs is:0 
[13:31:34.278] Init: px average disparity is:0.300773 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:34.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:34.279] frame process finished the id is: 3 the obs is:0 
[13:31:34.378] Init: px average disparity is:0.346792 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:34.378] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:34.378] frame process finished the id is: 4 the obs is:0 
[13:31:34.478] Init: px average disparity is:0.344977 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:34.478] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:34.478] frame process finished the id is: 5 the obs is:0 
[13:31:34.580] Init: px average disparity is:0.356134 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:34.580] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:34.580] frame process finished the id is: 6 the obs is:0 
[13:31:34.682] Init: px average disparity is:0.357122 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:34.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:34.682] frame process finished the id is: 7 the obs is:0 
[13:31:34.781] Init: px average disparity is:0.434690 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:34.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:34.781] frame process finished the id is: 8 the obs is:0 
[13:31:34.880] Init: px average disparity is:0.401477 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:34.880] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:34.880] frame process finished the id is: 9 the obs is:0 
[13:31:34.978] Init: px average disparity is:0.514230 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:34.978] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:34.978] frame process finished the id is: 10 the obs is:0 
[13:31:35.088] Init: px average disparity is:0.487374 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:35.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:35.088] frame process finished the id is: 11 the obs is:0 
[13:31:35.188] Init: px average disparity is:0.528610 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:35.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:35.188] frame process finished the id is: 12 the obs is:0 
[13:31:35.288] Init: px average disparity is:0.524849 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:35.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:35.288] frame process finished the id is: 13 the obs is:0 
[13:31:35.388] Init: px average disparity is:0.564045 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:35.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:35.388] frame process finished the id is: 14 the obs is:0 
[13:31:35.488] Init: px average disparity is:0.529731 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:35.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:35.489] frame process finished the id is: 15 the obs is:0 
[13:31:35.588] Init: px average disparity is:0.596839 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:35.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:35.588] frame process finished the id is: 16 the obs is:0 
[13:31:35.689] Init: px average disparity is:0.598733 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:35.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:35.689] frame process finished the id is: 17 the obs is:0 
[13:31:35.788] Init: px average disparity is:0.532942 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:35.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:35.789] frame process finished the id is: 18 the obs is:0 
[13:31:35.889] Init: px average disparity is:0.561542 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:35.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:35.889] frame process finished the id is: 19 the obs is:0 
[13:31:35.988] Init: px average disparity is:0.553948 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:35.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:35.988] frame process finished the id is: 20 the obs is:0 
[13:31:36.089] Init: px average disparity is:0.554106 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:36.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:36.089] frame process finished the id is: 21 the obs is:0 
[13:31:36.186] Init: px average disparity is:0.537530 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:36.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:36.186] frame process finished the id is: 22 the obs is:0 
[13:31:36.289] Init: px average disparity is:0.532027 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:36.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:36.289] frame process finished the id is: 23 the obs is:0 
[13:31:36.389] Init: px average disparity is:0.536972 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:36.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:36.389] frame process finished the id is: 24 the obs is:0 
[13:31:36.488] Init: px average disparity is:0.488394 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:36.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:36.488] frame process finished the id is: 25 the obs is:0 
[13:31:36.589] Init: px average disparity is:0.554650 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:36.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:36.589] frame process finished the id is: 26 the obs is:0 
[13:31:36.688] Init: px average disparity is:0.497258 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:36.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:36.688] frame process finished the id is: 27 the obs is:0 
[13:31:36.789] Init: px average disparity is:0.478406 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:36.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:36.790] frame process finished the id is: 28 the obs is:0 
[13:31:36.889] Init: px average disparity is:0.536003 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:36.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:36.890] frame process finished the id is: 29 the obs is:0 
[13:31:36.988] Init: px average disparity is:0.527197 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:36.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:36.988] frame process finished the id is: 30 the obs is:0 
[13:31:37.089] Init: px average disparity is:0.493819 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:37.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:37.089] frame process finished the id is: 31 the obs is:0 
[13:31:37.189] Init: px average disparity is:0.562226 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:37.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:37.189] frame process finished the id is: 32 the obs is:0 
[13:31:37.289] Init: px average disparity is:0.507723 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:37.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:37.289] frame process finished the id is: 33 the obs is:0 
[13:31:37.389] Init: px average disparity is:0.527498 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:37.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:37.389] frame process finished the id is: 34 the obs is:0 
[13:31:37.490] Init: px average disparity is:0.523116 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:37.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:37.490] frame process finished the id is: 35 the obs is:0 
[13:31:37.581] Init: px average disparity is:0.536801 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:37.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:37.581] frame process finished the id is: 36 the obs is:0 
[13:31:37.688] Init: px average disparity is:0.510002 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:37.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:37.688] frame process finished the id is: 37 the obs is:0 
[13:31:37.789] Init: px average disparity is:0.506828 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:37.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:37.789] frame process finished the id is: 38 the obs is:0 
[13:31:37.888] Init: px average disparity is:0.495384 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:37.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:37.888] frame process finished the id is: 39 the obs is:0 
[13:31:37.988] Init: px average disparity is:0.559384 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:37.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:37.988] frame process finished the id is: 40 the obs is:0 
[13:31:38.094] Init: px average disparity is:0.507849 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:38.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:38.094] frame process finished the id is: 41 the obs is:0 
[13:31:38.188] Init: px average disparity is:0.510538 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:38.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:38.188] frame process finished the id is: 42 the obs is:0 
[13:31:38.288] Init: px average disparity is:0.518728 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:38.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:38.288] frame process finished the id is: 43 the obs is:0 
[13:31:38.388] Init: px average disparity is:0.514651 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:38.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:38.388] frame process finished the id is: 44 the obs is:0 
[13:31:38.488] Init: px average disparity is:0.518479 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:38.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:38.488] frame process finished the id is: 45 the obs is:0 
[13:31:38.589] Init: px average disparity is:0.528163 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:38.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:38.589] frame process finished the id is: 46 the obs is:0 
[13:31:38.693] Init: px average disparity is:0.505184 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:38.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:38.693] frame process finished the id is: 47 the obs is:0 
[13:31:38.794] Init: px average disparity is:0.514183 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:38.794] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:38.794] frame process finished the id is: 48 the obs is:0 
[13:31:38.877] Init: px average disparity is:0.509565 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:38.877] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:38.877] frame process finished the id is: 49 the obs is:0 
[13:31:38.993] Init: px average disparity is:0.504711 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:38.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:38.993] frame process finished the id is: 50 the obs is:0 
[13:31:39.088] Init: px average disparity is:0.498120 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:39.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:39.089] frame process finished the id is: 51 the obs is:0 
[13:31:39.188] Init: px average disparity is:0.518064 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:39.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:39.188] frame process finished the id is: 52 the obs is:0 
[13:31:39.289] Init: px average disparity is:0.574171 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:39.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:39.289] frame process finished the id is: 53 the obs is:0 
[13:31:39.389] Init: px average disparity is:0.534647 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:39.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:39.389] frame process finished the id is: 54 the obs is:0 
[13:31:39.489] Init: px average disparity is:0.540708 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:39.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:39.489] frame process finished the id is: 55 the obs is:0 
[13:31:39.595] Init: px average disparity is:0.503344 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:39.596] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:39.596] frame process finished the id is: 56 the obs is:0 
[13:31:39.688] Init: px average disparity is:0.516396 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:39.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:39.688] frame process finished the id is: 57 the obs is:0 
[13:31:39.790] Init: px average disparity is:0.491501 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:39.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:39.790] frame process finished the id is: 58 the obs is:0 
[13:31:39.889] Init: px average disparity is:0.500469 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:39.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:39.889] frame process finished the id is: 59 the obs is:0 
[13:31:39.989] Init: px average disparity is:0.502337 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:39.989] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:39.989] frame process finished the id is: 60 the obs is:0 
[13:31:40.088] Init: px average disparity is:0.522458 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:40.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:40.089] frame process finished the id is: 61 the obs is:0 
[13:31:40.190] Init: px average disparity is:0.545939 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:40.190] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:40.190] frame process finished the id is: 62 the obs is:0 
[13:31:40.279] Init: px average disparity is:0.534511 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:40.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:40.279] frame process finished the id is: 63 the obs is:0 
[13:31:40.388] Init: px average disparity is:0.493620 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:40.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:40.388] frame process finished the id is: 64 the obs is:0 
[13:31:40.488] Init: px average disparity is:0.508335 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:40.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:40.489] frame process finished the id is: 65 the obs is:0 
[13:31:40.588] Init: px average disparity is:0.527201 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:40.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:40.588] frame process finished the id is: 66 the obs is:0 
[13:31:40.688] Init: px average disparity is:0.534781 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:40.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:40.688] frame process finished the id is: 67 the obs is:0 
[13:31:40.795] Init: px average disparity is:0.527935 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:40.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:40.795] frame process finished the id is: 68 the obs is:0 
[13:31:40.888] Init: px average disparity is:0.524864 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:40.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:40.888] frame process finished the id is: 69 the obs is:0 
[13:31:40.988] Init: px average disparity is:0.495727 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:40.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:40.988] frame process finished the id is: 70 the obs is:0 
[13:31:41.088] Init: px average disparity is:0.489154 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:41.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:41.088] frame process finished the id is: 71 the obs is:0 
[13:31:41.189] Init: px average disparity is:0.546246 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:41.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:41.189] frame process finished the id is: 72 the obs is:0 
[13:31:41.289] Init: px average disparity is:0.448256 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:41.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:41.289] frame process finished the id is: 73 the obs is:0 
[13:31:41.392] Init: px average disparity is:0.512867 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:41.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:41.393] frame process finished the id is: 74 the obs is:0 
[13:31:41.490] Init: px average disparity is:0.530945 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:41.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:41.490] frame process finished the id is: 75 the obs is:0 
[13:31:41.590] Init: px average disparity is:0.558546 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:41.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:41.590] frame process finished the id is: 76 the obs is:0 
[13:31:41.684] Init: px average disparity is:0.539629 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:41.684] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:41.684] frame process finished the id is: 77 the obs is:0 
[13:31:41.789] Init: px average disparity is:0.539964 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:41.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:41.789] frame process finished the id is: 78 the obs is:0 
[13:31:41.837] Odometry x=0.000000, y=0.000000, theta=0.000000
[13:31:41.888] Init: px average disparity is:0.507625 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:41.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:41.889] frame process finished the id is: 79 the obs is:0 
[13:31:41.937] Odometry x=0.000000, y=0.000000, theta=0.000000
[13:31:41.994] Init: px average disparity is:0.526847 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:41.994] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:41.994] frame process finished the id is: 80 the obs is:0 
[13:31:42.037] Odometry x=0.000001, y=0.013358, theta=0.000968
[13:31:42.091] Init: px average disparity is:6.463798 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:42.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:42.091] frame process finished the id is: 81 the obs is:0 
[13:31:42.137] Odometry x=-0.000379, y=0.024747, theta=-0.001854
[13:31:42.189] Init: px average disparity is:3.496661 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:42.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:42.189] frame process finished the id is: 82 the obs is:0 
[13:31:42.234] Odometry x=-0.000473, y=0.036436, theta=0.002181
[13:31:42.289] Init: px average disparity is:5.282629 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:42.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:42.289] frame process finished the id is: 83 the obs is:0 
[13:31:42.335] Odometry x=-0.000540, y=0.048596, theta=0.006035
[13:31:42.392] Init: px average disparity is:5.620252 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:42.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:42.392] frame process finished the id is: 84 the obs is:0 
[13:31:42.428] Odometry x=-0.000101, y=0.058768, theta=-0.001412
[13:31:42.490] Init: px average disparity is:7.615593 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:42.491] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:42.491] frame process finished the id is: 85 the obs is:0 
[13:31:42.533] Odometry x=-0.000116, y=0.072021, theta=-0.004844
[13:31:42.590] Init: px average disparity is:8.932544 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:42.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:42.590] frame process finished the id is: 86 the obs is:0 
[13:31:42.635] Odometry x=0.000074, y=0.082783, theta=0.002949
[13:31:42.690] Init: px average disparity is:12.753211 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:42.690] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:42.690] frame process finished the id is: 87 the obs is:0 
[13:31:42.734] Odometry x=0.000648, y=0.094070, theta=0.003317
[13:31:42.795] Init: px average disparity is:10.715972 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:42.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:42.795] frame process finished the id is: 88 the obs is:0 
[13:31:42.838] Odometry x=0.000636, y=0.105444, theta=-0.010203
[13:31:42.892] Init: px average disparity is:11.875664 ,While minimum is: 40.000000  KLT tracked : 298
[13:31:42.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:42.892] frame process finished the id is: 89 the obs is:0 
[13:31:42.932] Odometry x=0.000713, y=0.115948, theta=-0.006330
[13:31:42.979] Init: px average disparity is:15.491363 ,While minimum is: 40.000000  KLT tracked : 293
[13:31:42.979] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:42.979] frame process finished the id is: 90 the obs is:0 
[13:31:43.034] Odometry x=0.000720, y=0.125916, theta=0.001035
[13:31:43.092] Init: px average disparity is:21.209539 ,While minimum is: 40.000000  KLT tracked : 293
[13:31:43.092] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:43.092] frame process finished the id is: 91 the obs is:0 
[13:31:43.129] Odometry x=0.000734, y=0.136189, theta=-0.005571
[13:31:43.198] Init: px average disparity is:21.705830 ,While minimum is: 40.000000  KLT tracked : 293
[13:31:43.198] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:43.198] frame process finished the id is: 92 the obs is:0 
[13:31:43.232] Odometry x=0.000708, y=0.146964, theta=-0.004452
[13:31:43.293] Init: px average disparity is:22.121128 ,While minimum is: 40.000000  KLT tracked : 293
[13:31:43.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:43.293] frame process finished the id is: 93 the obs is:0 
[13:31:43.333] Odometry x=0.000978, y=0.158654, theta=-0.009256
[13:31:43.393] Init: px average disparity is:24.239584 ,While minimum is: 40.000000  KLT tracked : 289
[13:31:43.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:43.393] frame process finished the id is: 94 the obs is:0 
[13:31:43.434] Odometry x=0.000989, y=0.169295, theta=0.001291
[13:31:43.493] Init: px average disparity is:26.022915 ,While minimum is: 40.000000  KLT tracked : 289
[13:31:43.493] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:43.493] frame process finished the id is: 95 the obs is:0 
[13:31:43.533] Odometry x=0.001012, y=0.180329, theta=-0.007750
[13:31:43.594] Init: px average disparity is:25.834814 ,While minimum is: 40.000000  KLT tracked : 287
[13:31:43.594] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:43.594] frame process finished the id is: 96 the obs is:0 
[13:31:43.634] Odometry x=0.000950, y=0.191231, theta=-0.014290
[13:31:43.693] Init: px average disparity is:25.559168 ,While minimum is: 40.000000  KLT tracked : 274
[13:31:43.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:43.693] frame process finished the id is: 97 the obs is:0 
[13:31:43.734] Odometry x=0.000909, y=0.202059, theta=-0.002956
[13:31:43.795] Init: px average disparity is:28.963259 ,While minimum is: 40.000000  KLT tracked : 274
[13:31:43.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:43.795] frame process finished the id is: 98 the obs is:0 
[13:31:43.834] Odometry x=0.000893, y=0.212784, theta=-0.007865
[13:31:43.893] Init: px average disparity is:31.308741 ,While minimum is: 40.000000  KLT tracked : 272
[13:31:43.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:43.893] frame process finished the id is: 99 the obs is:0 
[13:31:43.936] Odometry x=0.000859, y=0.222637, theta=-0.006993
[13:31:43.993] Init: px average disparity is:30.035295 ,While minimum is: 40.000000  KLT tracked : 270
[13:31:43.994] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:43.994] frame process finished the id is: 100 the obs is:0 
[13:31:44.047] Odometry x=0.000849, y=0.233458, theta=-0.004882
[13:31:44.095] Init: px average disparity is:28.858631 ,While minimum is: 40.000000  KLT tracked : 264
[13:31:44.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:44.095] frame process finished the id is: 101 the obs is:0 
[13:31:44.139] Odometry x=0.001041, y=0.246076, theta=-0.012074
[13:31:44.186] Init: px average disparity is:30.670175 ,While minimum is: 40.000000  KLT tracked : 264
[13:31:44.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:44.186] frame process finished the id is: 102 the obs is:0 
[13:31:44.235] Odometry x=0.000983, y=0.255844, theta=-0.011264
[13:31:44.293] Init: px average disparity is:31.336828 ,While minimum is: 40.000000  KLT tracked : 264
[13:31:44.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:44.293] frame process finished the id is: 103 the obs is:0 
[13:31:44.329] Odometry x=0.003729, y=0.268275, theta=-0.015097
[13:31:44.393] Init: px average disparity is:31.224998 ,While minimum is: 40.000000  KLT tracked : 263
[13:31:44.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:44.393] frame process finished the id is: 104 the obs is:0 
[13:31:44.431] Odometry x=0.003755, y=0.278359, theta=-0.012060
[13:31:44.494] Init: px average disparity is:30.524775 ,While minimum is: 40.000000  KLT tracked : 263
[13:31:44.494] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:44.494] frame process finished the id is: 105 the obs is:0 
[13:31:44.536] Odometry x=0.003234, y=0.290059, theta=-0.019604
[13:31:44.594] Init: px average disparity is:31.933799 ,While minimum is: 40.000000  KLT tracked : 263
[13:31:44.594] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:44.594] frame process finished the id is: 106 the obs is:0 
[13:31:44.635] Odometry x=0.003157, y=0.301683, theta=-0.008852
[13:31:44.695] Init: px average disparity is:35.169790 ,While minimum is: 40.000000  KLT tracked : 263
[13:31:44.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:44.695] frame process finished the id is: 107 the obs is:0 
[13:31:44.736] Odometry x=0.012102, y=0.302457, theta=-0.027739
[13:31:44.796] Init: px average disparity is:35.597564 ,While minimum is: 40.000000  KLT tracked : 263
[13:31:44.796] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:44.796] frame process finished the id is: 108 the obs is:0 
[13:31:44.830] Odometry x=0.012286, y=0.315497, theta=-0.025933
[13:31:44.896] Init: px average disparity is:36.489848 ,While minimum is: 40.000000  KLT tracked : 263
[13:31:44.896] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:44.896] frame process finished the id is: 109 the obs is:0 
[13:31:44.936] Odometry x=0.011944, y=0.326197, theta=-0.000946
[13:31:44.996] Init: px average disparity is:36.630540 ,While minimum is: 40.000000  KLT tracked : 263
[13:31:44.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:44.996] frame process finished the id is: 110 the obs is:0 
[13:31:45.030] Odometry x=0.011932, y=0.337527, theta=-0.006210
[13:31:45.097] Init: px average disparity is:38.454056 ,While minimum is: 40.000000  KLT tracked : 263
[13:31:45.097] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:45.097] frame process finished the id is: 111 the obs is:0 
[13:31:45.139] Odometry x=0.011212, y=0.348290, theta=-0.006745
[13:31:45.197] Init: px average disparity is:39.769759 ,While minimum is: 40.000000  KLT tracked : 263
[13:31:45.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:31:45.197] frame process finished the id is: 112 the obs is:0 
[13:31:45.240] Odometry x=0.011199, y=0.361337, theta=-0.002237
[13:31:45.336] Odometry x=0.011184, y=0.372625, theta=-0.010608
[13:31:45.347] Init finished: Homography RANSAC (inlier) is:41 ,While 20 inliers minimum required.  px average disparity is:43.051408 ,While minimum is: 40.000000  KLT tracked: 263
[13:31:45.347] Init: distance between the first and current frame is x:0.011184 ,z=0.372625,angle between two frames: -0.010608 
[13:31:45.350] Init: Selected Second frame. 	 The number of features: 41 depth mean:-1.166683 min:-1.718554
[13:31:45.350] frame process finished the id is: 113 the obs is:41 
[13:31:45.433] Odometry x=0.011103, y=0.382883, theta=-0.020550
[13:31:45.519] After Reprojection Map nPoint:34 ,nCell:34 ,nMatches:2 ,distance between ekf and vo x:-0.000385 ,z=-0.000053,angle between two frames:0.000184
[13:31:45.519] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.494634 	 error end=0.494634
[13:31:45.519] After pose optimization, distance between ekf and vo x:-0.000385 ,z=-0.000053,angle between two frames:0.000184
[13:31:45.519] frame process finished the id is: 113 the obs is:41 
[13:31:45.538] Odometry x=0.011058, y=0.393770, theta=-0.007742
[13:31:45.632] Odometry x=0.011012, y=0.405237, theta=-0.012077
[13:31:45.666] After Reprojection Map nPoint:35 ,nCell:35 ,nMatches:2 ,distance between ekf and vo x:-0.000411 ,z=-0.000048,angle between two frames:0.000210
[13:31:45.666] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.264979 	 error end=0.264979
[13:31:45.666] After pose optimization, distance between ekf and vo x:-0.000411 ,z=-0.000048,angle between two frames:0.000210
[13:31:45.666] frame process finished the id is: 113 the obs is:41 
[13:31:45.729] Odometry x=0.010950, y=0.416674, theta=-0.003471
[13:31:45.814] After Reprojection Map nPoint:36 ,nCell:36 ,nMatches:4 ,distance between ekf and vo x:-0.000322 ,z=-0.000043,angle between two frames:0.000166
[13:31:45.814] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.351533 	 error end=0.289038
[13:31:45.814] After pose optimization, distance between ekf and vo x:0.148594 ,z=0.009374,angle between two frames:0.038685
[13:31:45.814] Update EKF and 3D points the number of feature in the new frame: 4 and number of obs: 4
[13:31:45.814] key frame check new frame:0.151427 0.426127 -0.040401, key close:0.011184 0.372625 -0.010608
[13:31:45.814] Choose frame as a key frame Scene Depth mean:-8.976423 ,depth min:-19.242695
[13:31:45.814] frame process finished the id is: 116 the obs is:4 
[13:31:45.829] Odometry x=0.151427, y=0.426127, theta=-0.040401
[13:31:45.932] Odometry x=0.151024, y=0.438969, theta=-0.036906
[13:31:45.966] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000034 ,z=-0.000017,angle between two frames:0.000004
[13:31:45.966] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000017,angle between two frames:0.000004
[13:31:45.966] frame process finished the id is: 116 the obs is:4 
[13:31:46.030] Odometry x=0.150758, y=0.450396, theta=-0.039649
[13:31:46.116] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000032 ,z=-0.000015,angle between two frames:0.000004
[13:31:46.116] After pose optimization, distance between ekf and vo x:-0.000032 ,z=-0.000015,angle between two frames:0.000004
[13:31:46.116] frame process finished the id is: 116 the obs is:4 
[13:31:46.134] Odometry x=0.150522, y=0.460995, theta=-0.042980
[13:31:46.231] Odometry x=0.150553, y=0.473595, theta=-0.029659
[13:31:46.266] After Reprojection Map nPoint:4 ,nCell:3 ,nMatches:1 ,distance between ekf and vo x:-0.000033 ,z=-0.000025,angle between two frames:0.000005
[13:31:46.266] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.122376 	 error end=0.122376
[13:31:46.266] After pose optimization, distance between ekf and vo x:-0.000033 ,z=-0.000025,angle between two frames:0.000005
[13:31:46.266] frame process finished the id is: 116 the obs is:4 
[13:31:46.331] Odometry x=0.150544, y=0.484835, theta=-0.031517
[13:31:46.425] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000134 ,z=-0.000108,angle between two frames:0.000001
[13:31:46.425] After pose optimization, distance between ekf and vo x:0.000134 ,z=-0.000108,angle between two frames:0.000001
[13:31:46.425] frame process finished the id is: 116 the obs is:4 
[13:31:46.433] Odometry x=0.150350, y=0.496165, theta=-0.036165
[13:31:46.532] Odometry x=0.150158, y=0.508306, theta=-0.028657
[13:31:46.577] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000034 ,z=-0.000012,angle between two frames:0.000004
[13:31:46.577] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000012,angle between two frames:0.000004
[13:31:46.577] frame process finished the id is: 116 the obs is:4 
[13:31:46.629] Odometry x=0.150088, y=0.519132, theta=-0.032593
[13:31:46.727] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000034 ,z=-0.000011,angle between two frames:0.000004
[13:31:46.727] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000011,angle between two frames:0.000004
[13:31:46.727] frame process finished the id is: 116 the obs is:4 
[13:31:46.732] Odometry x=0.149922, y=0.532709, theta=-0.038311
[13:31:46.828] Odometry x=0.149735, y=0.543536, theta=-0.028547
[13:31:46.877] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000037 ,z=-0.000007,angle between two frames:0.000004
[13:31:46.877] After pose optimization, distance between ekf and vo x:-0.000037 ,z=-0.000007,angle between two frames:0.000004
[13:31:46.877] frame process finished the id is: 116 the obs is:4 
[13:31:46.932] Odometry x=0.149705, y=0.554070, theta=-0.032064
[13:31:47.028] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000039 ,z=-0.000014,angle between two frames:0.000004
[13:31:47.028] After pose optimization, distance between ekf and vo x:-0.000039 ,z=-0.000014,angle between two frames:0.000004
[13:31:47.028] frame process finished the id is: 116 the obs is:4 
[13:31:47.029] Odometry x=0.149424, y=0.570711, theta=-0.029268
[13:31:47.130] Odometry x=0.149226, y=0.584016, theta=-0.033424
[13:31:47.178] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000036 ,z=-0.000017,angle between two frames:0.000004
[13:31:47.178] After pose optimization, distance between ekf and vo x:-0.000036 ,z=-0.000017,angle between two frames:0.000004
[13:31:47.178] frame process finished the id is: 116 the obs is:4 
[13:31:47.229] Odometry x=0.149469, y=0.594338, theta=-0.030218
[13:31:47.329] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000039 ,z=-0.000013,angle between two frames:0.000004
[13:31:47.329] After pose optimization, distance between ekf and vo x:-0.000039 ,z=-0.000013,angle between two frames:0.000004
[13:31:47.329] frame process finished the id is: 116 the obs is:4 
[13:31:47.337] Odometry x=0.149358, y=0.603562, theta=-0.023059
[13:31:47.434] Odometry x=0.149237, y=0.614533, theta=-0.027683
[13:31:47.479] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000021 ,z=-0.000007,angle between two frames:0.000002
[13:31:47.479] After pose optimization, distance between ekf and vo x:-0.000021 ,z=-0.000007,angle between two frames:0.000002
[13:31:47.479] frame process finished the id is: 116 the obs is:4 
[13:31:47.531] Odometry x=0.148879, y=0.643311, theta=-0.034184
[13:31:47.629] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000026 ,z=-0.000010,angle between two frames:0.000003
[13:31:47.629] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000010,angle between two frames:0.000003
[13:31:47.629] frame process finished the id is: 116 the obs is:4 
[13:31:47.632] Odometry x=0.148250, y=0.653547, theta=-0.027548
[13:31:47.733] Odometry x=0.148082, y=0.663984, theta=-0.038348
[13:31:47.781] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000038 ,z=-0.000012,angle between two frames:0.000004
[13:31:47.781] After pose optimization, distance between ekf and vo x:-0.000038 ,z=-0.000012,angle between two frames:0.000004
[13:31:47.781] frame process finished the id is: 116 the obs is:4 
[13:31:47.829] Odometry x=0.146868, y=0.674688, theta=-0.033372
[13:31:47.932] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:2 ,distance between ekf and vo x:-0.000026 ,z=-0.000009,angle between two frames:0.000003
[13:31:47.932] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.097363 	 error end=0.097363
[13:31:47.932] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000009,angle between two frames:0.000003
[13:31:47.932] frame process finished the id is: 116 the obs is:4 
[13:31:47.933] Odometry x=0.146706, y=0.685162, theta=-0.030956
[13:31:48.032] Odometry x=0.146558, y=0.696430, theta=-0.022003
[13:31:48.083] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000028 ,z=-0.000010,angle between two frames:0.000003
[13:31:48.083] After pose optimization, distance between ekf and vo x:-0.000028 ,z=-0.000010,angle between two frames:0.000003
[13:31:48.083] frame process finished the id is: 116 the obs is:4 
[13:31:48.131] Odometry x=0.146463, y=0.707758, theta=-0.020143
[13:31:48.231] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:0.027285 ,z=0.018053,angle between two frames:0.004876
[13:31:48.231] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.228122 	 error end=0.228122
[13:31:48.231] After pose optimization, distance between ekf and vo x:0.027285 ,z=0.018053,angle between two frames:0.004876
[13:31:48.231] Update EKF and 3D points the number of feature in the new frame: 6 and number of obs: 6
[13:31:48.231] key frame check new frame:0.172240 0.725409 -0.016289, key close:0.151427 0.426127 -0.040401
[13:31:48.231] Choose frame as a key frame Scene Depth mean:1.606597 ,depth min:1.160308
[13:31:48.231] frame process finished the id is: 132 the obs is:6 
[13:31:48.239] Odometry x=0.172240, y=0.725409, theta=-0.016289
[13:31:48.332] Odometry x=0.172405, y=0.739503, theta=-0.018433
[13:31:48.391] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000024 ,z=-0.002968,angle between two frames:0.008175
[13:31:48.392] After pose optimization, distance between ekf and vo x:0.000024 ,z=-0.002968,angle between two frames:0.008175
[13:31:48.392] frame process finished the id is: 132 the obs is:6 
[13:31:48.435] Odometry x=0.172367, y=0.749647, theta=-0.018341
[13:31:48.533] Odometry x=0.169602, y=0.767142, theta=-0.036925
[13:31:48.548] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000105 ,z=-0.001989,angle between two frames:0.005107
[13:31:48.548] After pose optimization, distance between ekf and vo x:0.000105 ,z=-0.001989,angle between two frames:0.005107
[13:31:48.548] frame process finished the id is: 132 the obs is:6 
[13:31:48.633] Odometry x=0.169234, y=0.777713, theta=-0.030689
[13:31:48.703] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000663 ,z=-0.002699,angle between two frames:0.005193
[13:31:48.703] After pose optimization, distance between ekf and vo x:0.000663 ,z=-0.002699,angle between two frames:0.005193
[13:31:48.703] frame process finished the id is: 132 the obs is:6 
[13:31:48.730] Odometry x=0.167790, y=0.790296, theta=-0.032166
[13:31:48.836] Odometry x=0.167594, y=0.800714, theta=-0.029090
[13:31:48.863] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000666 ,z=-0.002749,angle between two frames:0.005682
[13:31:48.863] After pose optimization, distance between ekf and vo x:0.000666 ,z=-0.002749,angle between two frames:0.005682
[13:31:48.863] frame process finished the id is: 132 the obs is:6 
[13:31:48.933] Odometry x=0.167434, y=0.812113, theta=-0.029519
[13:31:49.028] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001214 ,z=-0.004490,angle between two frames:0.009011
[13:31:49.028] After pose optimization, distance between ekf and vo x:0.001214 ,z=-0.004490,angle between two frames:0.009011
[13:31:49.028] frame process finished the id is: 132 the obs is:6 
[13:31:49.033] Odometry x=0.167253, y=0.823296, theta=-0.038777
[13:31:49.132] Odometry x=0.166916, y=0.833727, theta=-0.038114
[13:31:49.185] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000406 ,z=-0.001544,angle between two frames:0.002749
[13:31:49.185] After pose optimization, distance between ekf and vo x:0.000406 ,z=-0.001544,angle between two frames:0.002749
[13:31:49.185] frame process finished the id is: 132 the obs is:6 
[13:31:49.233] Odometry x=0.166716, y=0.844584, theta=-0.036845
[13:31:49.330] Odometry x=0.165672, y=0.859115, theta=-0.038654
[13:31:49.344] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000896 ,z=-0.002836,angle between two frames:0.004921
[13:31:49.345] After pose optimization, distance between ekf and vo x:0.000896 ,z=-0.002836,angle between two frames:0.004921
[13:31:49.345] frame process finished the id is: 132 the obs is:6 
[13:31:49.432] Odometry x=0.164022, y=0.876934, theta=-0.031443
[13:31:49.501] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000568 ,z=-0.001358,angle between two frames:0.002557
[13:31:49.501] After pose optimization, distance between ekf and vo x:0.000568 ,z=-0.001358,angle between two frames:0.002557
[13:31:49.501] frame process finished the id is: 132 the obs is:6 
[13:31:49.529] Odometry x=0.163798, y=0.887781, theta=-0.032489
[13:31:49.633] Odometry x=0.166198, y=0.898623, theta=-0.045122
[13:31:49.650] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000142 ,z=-0.000334,angle between two frames:0.000547
[13:31:49.650] After pose optimization, distance between ekf and vo x:0.000142 ,z=-0.000334,angle between two frames:0.000547
[13:31:49.650] frame process finished the id is: 132 the obs is:6 
[13:31:49.735] Odometry x=0.166002, y=0.909218, theta=-0.036784
[13:31:49.810] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001340 ,z=-0.002561,angle between two frames:0.005109
[13:31:49.810] After pose optimization, distance between ekf and vo x:0.001340 ,z=-0.002561,angle between two frames:0.005109
[13:31:49.810] frame process finished the id is: 132 the obs is:6 
[13:31:49.837] Odometry x=0.165790, y=0.920099, theta=-0.043548
[13:31:49.930] Odometry x=0.165603, y=0.930161, theta=-0.033116
[13:31:49.969] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001236 ,z=-0.002319,angle between two frames:0.004442
[13:31:49.969] After pose optimization, distance between ekf and vo x:0.001236 ,z=-0.002319,angle between two frames:0.004442
[13:31:49.969] frame process finished the id is: 132 the obs is:6 
[13:31:50.032] Odometry x=0.165349, y=0.942757, theta=-0.043861
[13:31:50.130] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001449 ,z=-0.003006,angle between two frames:0.005087
[13:31:50.130] After pose optimization, distance between ekf and vo x:0.001449 ,z=-0.003006,angle between two frames:0.005087
[13:31:50.130] frame process finished the id is: 132 the obs is:6 
[13:31:50.132] Odometry x=0.165122, y=0.953585, theta=-0.037836
[13:31:50.235] Odometry x=0.166859, y=0.964641, theta=-0.041200
[13:31:50.286] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000814 ,z=-0.001495,angle between two frames:0.002897
[13:31:50.286] After pose optimization, distance between ekf and vo x:0.000814 ,z=-0.001495,angle between two frames:0.002897
[13:31:50.286] frame process finished the id is: 132 the obs is:6 
[13:31:50.336] Odometry x=0.166694, y=0.974028, theta=-0.040183
[13:31:50.434] Odometry x=0.166407, y=0.989113, theta=-0.029965
[13:31:50.443] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000917 ,z=-0.001317,angle between two frames:0.002863
[13:31:50.443] After pose optimization, distance between ekf and vo x:0.000917 ,z=-0.001317,angle between two frames:0.002863
[13:31:50.443] frame process finished the id is: 132 the obs is:6 
[13:31:50.531] Odometry x=0.166186, y=1.004899, theta=-0.031004
[13:31:50.601] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001183 ,z=-0.001856,angle between two frames:0.003531
[13:31:50.602] After pose optimization, distance between ekf and vo x:0.001183 ,z=-0.001856,angle between two frames:0.003531
[13:31:50.602] frame process finished the id is: 132 the obs is:6 
[13:31:50.626] Odometry x=0.165954, y=1.017345, theta=-0.035705
[13:31:50.733] Odometry x=0.165767, y=1.028200, theta=-0.034188
[13:31:50.763] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.002390 ,z=-0.003348,angle between two frames:0.006339
[13:31:50.763] After pose optimization, distance between ekf and vo x:0.002390 ,z=-0.003348,angle between two frames:0.006339
[13:31:50.763] frame process finished the id is: 132 the obs is:6 
[13:31:50.767] Image Alignment failed 0
[13:31:50.767] frame process finished the id is: 132 the obs is:6 
[13:31:50.772] Image Alignment failed 0
[13:31:50.772] frame process finished the id is: 132 the obs is:6 
[13:31:50.834] Odometry x=0.165850, y=1.039101, theta=-0.037945
[13:31:50.877] Image Alignment failed 0
[13:31:50.877] frame process finished the id is: 132 the obs is:6 
[13:31:50.933] Odometry x=0.164810, y=1.056104, theta=-0.044028
[13:31:50.979] Image Alignment failed 0
[13:31:50.979] frame process finished the id is: 132 the obs is:6 
[13:31:51.032] Odometry x=0.164588, y=1.067472, theta=-0.038145
[13:31:51.077] Image Alignment failed 0
[13:31:51.077] frame process finished the id is: 132 the obs is:6 
[13:31:51.134] Odometry x=0.164316, y=1.080481, theta=-0.046219
[13:31:51.179] Image Alignment failed 0
[13:31:51.179] frame process finished the id is: 132 the obs is:6 
[13:31:51.235] Odometry x=0.163840, y=1.091759, theta=-0.039428
[13:31:51.277] Image Alignment failed 0
[13:31:51.277] frame process finished the id is: 132 the obs is:6 
[13:31:51.336] Odometry x=0.164374, y=1.102525, theta=-0.042736
[13:31:51.377] Image Alignment failed 0
[13:31:51.377] frame process finished the id is: 132 the obs is:6 
[13:31:51.432] Odometry x=0.164163, y=1.112959, theta=-0.034725
[13:31:51.477] Image Alignment failed 0
[13:31:51.477] frame process finished the id is: 132 the obs is:6 
[13:31:51.532] Odometry x=0.163908, y=1.127455, theta=-0.043803
[13:31:51.574] Image Alignment failed 0
[13:31:51.574] frame process finished the id is: 132 the obs is:6 
[13:31:51.635] Odometry x=0.163861, y=1.133207, theta=-0.047203
[13:31:51.679] Image Alignment failed 0
[13:31:51.679] frame process finished the id is: 132 the obs is:6 
[13:31:51.736] Odometry x=0.163634, y=1.143829, theta=-0.035927
[13:31:51.778] Image Alignment failed 0
[13:31:51.778] frame process finished the id is: 132 the obs is:6 
[13:31:51.836] Odometry x=0.163458, y=1.157960, theta=-0.036866
[13:31:51.877] Image Alignment failed 0
[13:31:51.877] frame process finished the id is: 132 the obs is:6 
[13:31:51.933] Odometry x=0.163229, y=1.168674, theta=-0.049463
[13:31:51.977] Image Alignment failed 0
[13:31:51.977] frame process finished the id is: 132 the obs is:6 
[13:31:52.034] Odometry x=0.162869, y=1.183886, theta=-0.032232
[13:31:52.078] Image Alignment failed 0
[13:31:52.078] frame process finished the id is: 132 the obs is:6 
[13:31:52.133] Odometry x=0.162285, y=1.216888, theta=-0.023771
[13:31:52.177] Image Alignment failed 0
[13:31:52.177] frame process finished the id is: 132 the obs is:6 
[13:31:52.234] Odometry x=0.147397, y=1.175944, theta=-0.030983
[13:31:52.277] Image Alignment failed 0
[13:31:52.278] frame process finished the id is: 132 the obs is:6 
[13:31:52.335] Odometry x=0.144997, y=1.146450, theta=-0.046472
[13:31:52.377] Image Alignment failed 0
[13:31:52.377] frame process finished the id is: 132 the obs is:6 
[13:31:52.435] Odometry x=0.144904, y=1.112047, theta=-0.075575
[13:31:52.477] Image Alignment failed 0
[13:31:52.477] frame process finished the id is: 132 the obs is:6 
[13:31:52.534] Odometry x=0.143760, y=1.140767, theta=-0.036977
[13:31:52.578] Image Alignment failed 0
[13:31:52.578] frame process finished the id is: 132 the obs is:6 
[13:31:52.637] Odometry x=0.143638, y=1.151519, theta=-0.050382
[13:31:52.678] Image Alignment failed 0
[13:31:52.678] frame process finished the id is: 132 the obs is:6 
[13:31:52.733] Odometry x=0.143932, y=1.163325, theta=-0.047382
[13:31:52.777] Image Alignment failed 0
[13:31:52.778] frame process finished the id is: 132 the obs is:6 
[13:31:52.835] Odometry x=0.149495, y=1.186545, theta=-0.040314
[13:31:52.878] Image Alignment failed 0
[13:31:52.878] frame process finished the id is: 132 the obs is:6 
[13:31:52.935] Odometry x=0.150560, y=1.196737, theta=-0.021245
[13:31:52.978] Image Alignment failed 0
[13:31:52.978] frame process finished the id is: 132 the obs is:6 
[13:31:53.032] Odometry x=0.150424, y=1.207084, theta=-0.017175
[13:31:53.077] Image Alignment failed 0
[13:31:53.077] frame process finished the id is: 132 the obs is:6 
[13:31:53.127] Odometry x=0.150302, y=1.219157, theta=-0.037785
[13:31:53.177] Image Alignment failed 0
[13:31:53.177] frame process finished the id is: 132 the obs is:6 
[13:31:53.234] Odometry x=0.151036, y=1.242648, theta=-0.040855
[13:31:53.277] Image Alignment failed 0
[13:31:53.277] frame process finished the id is: 132 the obs is:6 
[13:31:53.334] Odometry x=0.141193, y=1.238172, theta=-0.047573
[13:31:53.377] Image Alignment failed 0
[13:31:53.377] frame process finished the id is: 132 the obs is:6 
[13:31:53.427] Odometry x=0.138954, y=1.248674, theta=-0.023905
[13:31:53.477] Image Alignment failed 0
[13:31:53.477] frame process finished the id is: 132 the obs is:6 
[13:31:53.527] Odometry x=0.144926, y=1.271890, theta=-0.033264
[13:31:53.577] Image Alignment failed 0
[13:31:53.577] frame process finished the id is: 132 the obs is:6 
[13:31:53.634] Odometry x=0.141697, y=1.280833, theta=-0.033528
[13:31:53.680] Image Alignment failed 0
[13:31:53.680] frame process finished the id is: 132 the obs is:6 
[13:31:53.733] Odometry x=0.141312, y=1.293651, theta=-0.026060
[13:31:53.777] Image Alignment failed 0
[13:31:53.777] frame process finished the id is: 132 the obs is:6 
[13:31:53.837] Odometry x=0.152038, y=1.279021, theta=-0.018128
[13:31:53.875] Image Alignment failed 0
[13:31:53.875] frame process finished the id is: 132 the obs is:6 
[13:31:53.934] Odometry x=0.151788, y=1.292158, theta=-0.030923
[13:31:53.983] Image Alignment failed 0
[13:31:53.984] frame process finished the id is: 132 the obs is:6 
[13:31:54.033] Odometry x=0.148149, y=1.323869, theta=-0.024339
[13:31:54.080] Image Alignment failed 0
[13:31:54.080] frame process finished the id is: 132 the obs is:6 
[13:31:54.134] Odometry x=0.149398, y=1.323204, theta=-0.027806
[13:31:54.175] Image Alignment failed 0
[13:31:54.175] frame process finished the id is: 132 the obs is:6 
[13:31:54.236] Odometry x=0.182469, y=1.310036, theta=-0.042150
[13:31:54.280] Image Alignment failed 0
[13:31:54.280] frame process finished the id is: 132 the obs is:6 
[13:31:54.340] Odometry x=0.182611, y=1.319307, theta=-0.022783
[13:31:54.379] Image Alignment failed 0
[13:31:54.379] frame process finished the id is: 132 the obs is:6 
[13:31:54.431] Odometry x=0.191530, y=1.346618, theta=-0.006943
[13:31:54.479] Image Alignment failed 0
[13:31:54.479] frame process finished the id is: 132 the obs is:6 
[13:31:54.542] Odometry x=0.194186, y=1.365345, theta=-0.025150
[13:31:54.584] Image Alignment failed 0
[13:31:54.584] frame process finished the id is: 132 the obs is:6 
[13:31:54.636] Odometry x=0.193926, y=1.377759, theta=-0.025588
[13:31:54.679] Image Alignment failed 0
[13:31:54.679] frame process finished the id is: 132 the obs is:6 
[13:31:54.737] Odometry x=0.194326, y=1.385772, theta=-0.035158
[13:31:54.779] Image Alignment failed 0
[13:31:54.779] frame process finished the id is: 132 the obs is:6 
[13:31:54.837] Odometry x=0.194881, y=1.396287, theta=-0.041544
[13:31:54.880] Image Alignment failed 0
[13:31:54.880] frame process finished the id is: 132 the obs is:6 
[13:31:54.935] Odometry x=0.201442, y=1.382261, theta=-0.041369
[13:31:54.980] Image Alignment failed 0
[13:31:54.980] frame process finished the id is: 132 the obs is:6 
[13:31:55.036] Odometry x=0.204497, y=1.403032, theta=-0.035086
[13:31:55.080] Image Alignment failed 0
[13:31:55.080] frame process finished the id is: 132 the obs is:6 
[13:31:55.136] Odometry x=0.195285, y=1.414455, theta=-0.010089
[13:31:55.180] Image Alignment failed 0
[13:31:55.180] frame process finished the id is: 132 the obs is:6 
[13:31:55.237] Odometry x=0.195171, y=1.425334, theta=-0.018988
[13:31:55.280] Image Alignment failed 0
[13:31:55.280] frame process finished the id is: 132 the obs is:6 
[13:31:55.334] Odometry x=0.194935, y=1.435451, theta=-0.026107
[13:31:55.383] Image Alignment failed 0
[13:31:55.383] frame process finished the id is: 132 the obs is:6 
[13:31:55.439] Odometry x=0.194474, y=1.446163, theta=-0.045578
[13:31:55.480] Image Alignment failed 0
[13:31:55.480] frame process finished the id is: 132 the obs is:6 
[13:31:55.531] Odometry x=0.194226, y=1.457594, theta=-0.035192
[13:31:55.579] Image Alignment failed 0
[13:31:55.580] frame process finished the id is: 132 the obs is:6 
[13:31:55.637] Odometry x=0.194727, y=1.447068, theta=-0.009738
[13:31:55.680] Image Alignment failed 0
[13:31:55.680] frame process finished the id is: 132 the obs is:6 
[13:31:55.733] Odometry x=0.189323, y=1.446279, theta=-0.001121
[13:31:55.787] Image Alignment failed 0
[13:31:55.787] frame process finished the id is: 132 the obs is:6 
[13:31:55.833] Odometry x=0.189233, y=1.453525, theta=-0.015651
[13:31:55.910] Image Alignment failed 0
[13:31:55.910] frame process finished the id is: 132 the obs is:6 
[13:31:55.935] Odometry x=0.200884, y=1.466505, theta=-0.009450
[13:31:56.010] Image Alignment failed 0
[13:31:56.010] frame process finished the id is: 132 the obs is:6 
[13:31:56.040] Odometry x=0.201379, y=1.477408, theta=-0.012175
[13:31:56.110] Image Alignment failed 0
[13:31:56.110] frame process finished the id is: 132 the obs is:6 
[13:31:56.135] Odometry x=0.200886, y=1.481735, theta=-0.026614
[13:31:56.211] Image Alignment failed 0
[13:31:56.211] frame process finished the id is: 132 the obs is:6 
[13:31:56.227] Odometry x=0.200690, y=1.493090, theta=-0.033570
[13:31:56.308] Image Alignment failed 0
[13:31:56.308] frame process finished the id is: 132 the obs is:6 
[13:31:56.337] Odometry x=0.200897, y=1.495295, theta=-0.023547
[13:31:56.410] Image Alignment failed 0
[13:31:56.410] frame process finished the id is: 132 the obs is:6 
[13:31:56.436] Odometry x=0.189788, y=1.507214, theta=-0.031200
[13:31:56.511] Image Alignment failed 0
[13:31:56.511] frame process finished the id is: 132 the obs is:6 
[13:31:56.531] Odometry x=0.189925, y=1.517555, theta=-0.034418
[13:31:56.611] Image Alignment failed 0
[13:31:56.611] frame process finished the id is: 132 the obs is:6 
[13:31:56.633] Odometry x=0.189743, y=1.529421, theta=-0.021008
[13:31:56.711] Image Alignment failed 0
[13:31:56.711] frame process finished the id is: 132 the obs is:6 
[13:31:56.730] Odometry x=0.193385, y=1.540331, theta=-0.016291
[13:31:56.812] Image Alignment failed 0
[13:31:56.812] frame process finished the id is: 132 the obs is:6 
[13:31:56.830] Odometry x=0.183211, y=1.513424, theta=-0.032518
[13:31:56.912] Image Alignment failed 0
[13:31:56.912] frame process finished the id is: 132 the obs is:6 
[13:31:56.929] Odometry x=0.181340, y=1.539923, theta=-0.030691
[13:31:57.011] Image Alignment failed 0
[13:31:57.011] frame process finished the id is: 132 the obs is:6 
[13:31:57.034] Odometry x=0.179424, y=1.562031, theta=-0.027946
[13:31:57.111] Image Alignment failed 0
[13:31:57.111] frame process finished the id is: 132 the obs is:6 
[13:31:57.134] Odometry x=0.179078, y=1.560396, theta=-0.031748
[13:31:57.211] Image Alignment failed 0
[13:31:57.211] frame process finished the id is: 132 the obs is:6 
[13:31:57.229] Odometry x=0.178732, y=1.571097, theta=-0.037384
[13:31:57.311] Image Alignment failed 0
[13:31:57.311] frame process finished the id is: 132 the obs is:6 
[13:31:57.334] Odometry x=0.178577, y=1.581299, theta=-0.039251
[13:31:57.411] Image Alignment failed 0
[13:31:57.411] frame process finished the id is: 132 the obs is:6 
[13:31:57.434] Odometry x=0.178356, y=1.592678, theta=-0.023707
[13:31:57.511] Image Alignment failed 0
[13:31:57.511] frame process finished the id is: 132 the obs is:6 
[13:31:57.530] Odometry x=0.176868, y=1.603339, theta=-0.027694
[13:31:57.611] Image Alignment failed 0
[13:31:57.611] frame process finished the id is: 132 the obs is:6 
[13:31:57.629] Odometry x=0.175604, y=1.625606, theta=-0.034193
[13:31:57.711] Image Alignment failed 0
[13:31:57.711] frame process finished the id is: 132 the obs is:6 
[13:31:57.730] Odometry x=0.181476, y=1.636461, theta=-0.035725
[13:31:57.811] Image Alignment failed 0
[13:31:57.811] frame process finished the id is: 132 the obs is:6 
[13:31:57.831] Odometry x=0.179265, y=1.675509, theta=-0.034807
[13:31:57.912] Image Alignment failed 0
[13:31:57.912] frame process finished the id is: 132 the obs is:6 
[13:31:57.928] Odometry x=0.178635, y=1.686384, theta=-0.043521
[13:31:58.011] Image Alignment failed 0
[13:31:58.011] frame process finished the id is: 132 the obs is:6 
[13:31:58.034] Odometry x=0.169763, y=1.695537, theta=-0.030773
[13:31:58.111] Image Alignment failed 0
[13:31:58.111] frame process finished the id is: 132 the obs is:6 
[13:31:58.130] Odometry x=0.180738, y=1.727773, theta=-0.010000
[13:31:58.212] Image Alignment failed 0
[13:31:58.212] frame process finished the id is: 132 the obs is:6 
[13:31:58.232] Odometry x=0.184222, y=1.738343, theta=0.001048
[13:31:58.312] Image Alignment failed 0
[13:31:58.312] frame process finished the id is: 132 the obs is:6 
[13:31:58.335] Odometry x=0.185835, y=1.761133, theta=-0.019306
[13:31:58.411] Image Alignment failed 0
[13:31:58.411] frame process finished the id is: 132 the obs is:6 
[13:31:58.430] Odometry x=0.185452, y=1.772430, theta=-0.037155
[13:31:58.517] Image Alignment failed 0
[13:31:58.517] frame process finished the id is: 132 the obs is:6 
[13:31:58.530] Odometry x=0.181195, y=1.782214, theta=-0.026639
[13:31:58.612] Image Alignment failed 0
[13:31:58.612] frame process finished the id is: 132 the obs is:6 
[13:31:58.633] Odometry x=0.181601, y=1.813473, theta=-0.041432
[13:31:58.707] Image Alignment failed 0
[13:31:58.707] frame process finished the id is: 132 the obs is:6 
[13:31:58.738] Odometry x=0.187673, y=1.830356, theta=-0.029675
[13:31:58.811] Image Alignment failed 0
[13:31:58.811] frame process finished the id is: 132 the obs is:6 
[13:31:58.837] Odometry x=0.193245, y=1.840896, theta=-0.043037
[13:31:58.912] Image Alignment failed 0
[13:31:58.912] frame process finished the id is: 132 the obs is:6 
[13:31:59.010] Image Alignment failed 0
[13:31:59.010] frame process finished the id is: 132 the obs is:6 
[13:31:59.110] Image Alignment failed 0
[13:31:59.110] frame process finished the id is: 132 the obs is:6 
[13:31:59.212] Image Alignment failed 0
[13:31:59.212] frame process finished the id is: 132 the obs is:6 
[13:31:59.310] Image Alignment failed 0
[13:31:59.310] frame process finished the id is: 132 the obs is:6 
[13:31:59.411] Image Alignment failed 0
[13:31:59.411] frame process finished the id is: 132 the obs is:6 
[13:31:59.510] Image Alignment failed 0
[13:31:59.510] frame process finished the id is: 132 the obs is:6 
[13:31:59.610] Image Alignment failed 0
[13:31:59.610] frame process finished the id is: 132 the obs is:6 
[13:31:59.710] Image Alignment failed 0
[13:31:59.710] frame process finished the id is: 132 the obs is:6 
[13:31:59.815] Image Alignment failed 0
[13:31:59.815] frame process finished the id is: 132 the obs is:6 
[13:31:59.913] Image Alignment failed 0
[13:31:59.913] frame process finished the id is: 132 the obs is:6 
[13:32:00.016] Image Alignment failed 0
[13:32:00.016] frame process finished the id is: 132 the obs is:6 
[13:32:00.111] Image Alignment failed 0
[13:32:00.111] frame process finished the id is: 132 the obs is:6 
[13:32:00.211] Image Alignment failed 0
[13:32:00.211] frame process finished the id is: 132 the obs is:6 
[13:32:00.312] Image Alignment failed 0
[13:32:00.312] frame process finished the id is: 132 the obs is:6 
[13:32:00.413] Image Alignment failed 0
[13:32:00.413] frame process finished the id is: 132 the obs is:6 
[13:32:00.512] Image Alignment failed 0
[13:32:00.512] frame process finished the id is: 132 the obs is:6 
[13:32:00.612] Image Alignment failed 0
[13:32:00.612] frame process finished the id is: 132 the obs is:6 
[13:32:00.712] Image Alignment failed 0
[13:32:00.712] frame process finished the id is: 132 the obs is:6 
[13:32:00.811] Image Alignment failed 0
[13:32:00.811] frame process finished the id is: 132 the obs is:6 
[13:32:00.912] Image Alignment failed 0
[13:32:00.912] frame process finished the id is: 132 the obs is:6 
[13:32:01.017] Image Alignment failed 0
[13:32:01.017] frame process finished the id is: 132 the obs is:6 
[13:32:01.113] Image Alignment failed 0
[13:32:01.113] frame process finished the id is: 132 the obs is:6 
[13:32:01.212] Image Alignment failed 0
[13:32:01.212] frame process finished the id is: 132 the obs is:6 
[13:32:01.312] Image Alignment failed 0
[13:32:01.312] frame process finished the id is: 132 the obs is:6 
[13:32:01.411] Image Alignment failed 0
[13:32:01.411] frame process finished the id is: 132 the obs is:6 
[13:32:01.511] Image Alignment failed 0
[13:32:01.511] frame process finished the id is: 132 the obs is:6 
[13:32:01.613] Image Alignment failed 0
[13:32:01.613] frame process finished the id is: 132 the obs is:6 
[13:32:01.713] Image Alignment failed 0
[13:32:01.713] frame process finished the id is: 132 the obs is:6 
[13:32:01.811] Image Alignment failed 0
[13:32:01.812] frame process finished the id is: 132 the obs is:6 
[13:32:01.911] Image Alignment failed 0
[13:32:01.911] frame process finished the id is: 132 the obs is:6 
[13:32:02.006] Image Alignment failed 0
[13:32:02.006] frame process finished the id is: 132 the obs is:6 
[13:32:02.117] Image Alignment failed 0
[13:32:02.117] frame process finished the id is: 132 the obs is:6 
[13:32:02.212] Image Alignment failed 0
[13:32:02.212] frame process finished the id is: 132 the obs is:6 
[13:32:02.312] Image Alignment failed 0
[13:32:02.312] frame process finished the id is: 132 the obs is:6 
[13:32:02.417] Image Alignment failed 0
[13:32:02.417] frame process finished the id is: 132 the obs is:6 
[13:32:02.512] Image Alignment failed 0
[13:32:02.512] frame process finished the id is: 132 the obs is:6 
[13:32:02.611] Image Alignment failed 0
[13:32:02.611] frame process finished the id is: 132 the obs is:6 
[13:32:02.712] Image Alignment failed 0
[13:32:02.712] frame process finished the id is: 132 the obs is:6 
[13:32:02.811] Image Alignment failed 0
[13:32:02.812] frame process finished the id is: 132 the obs is:6 
[13:32:02.912] Image Alignment failed 0
[13:32:02.912] frame process finished the id is: 132 the obs is:6 
[13:32:03.012] Image Alignment failed 0
[13:32:03.012] frame process finished the id is: 132 the obs is:6 
[13:32:03.112] Image Alignment failed 0
[13:32:03.112] frame process finished the id is: 132 the obs is:6 
[13:32:03.212] Image Alignment failed 0
[13:32:03.212] frame process finished the id is: 132 the obs is:6 
[13:32:03.313] Image Alignment failed 0
[13:32:03.313] frame process finished the id is: 132 the obs is:6 
[13:32:03.412] Image Alignment failed 0
[13:32:03.412] frame process finished the id is: 132 the obs is:6 
[13:32:03.512] Image Alignment failed 0
[13:32:03.512] frame process finished the id is: 132 the obs is:6 
[13:32:03.611] Image Alignment failed 0
[13:32:03.611] frame process finished the id is: 132 the obs is:6 
[13:32:03.712] Image Alignment failed 0
[13:32:03.712] frame process finished the id is: 132 the obs is:6 
[13:32:03.812] Image Alignment failed 0
[13:32:03.812] frame process finished the id is: 132 the obs is:6 
[13:32:03.915] Image Alignment failed 0
[13:32:03.915] frame process finished the id is: 132 the obs is:6 
[13:32:04.013] Image Alignment failed 0
[13:32:04.014] frame process finished the id is: 132 the obs is:6 
[13:32:04.112] Image Alignment failed 0
[13:32:04.112] frame process finished the id is: 132 the obs is:6 
[13:32:04.211] Image Alignment failed 0
[13:32:04.211] frame process finished the id is: 132 the obs is:6 
[13:32:04.311] Image Alignment failed 0
[13:32:04.311] frame process finished the id is: 132 the obs is:6 
[13:32:04.411] Image Alignment failed 0
[13:32:04.412] frame process finished the id is: 132 the obs is:6 
[13:32:04.511] Image Alignment failed 0
[13:32:04.511] frame process finished the id is: 132 the obs is:6 
[13:32:04.611] Image Alignment failed 0
[13:32:04.611] frame process finished the id is: 132 the obs is:6 
[13:32:04.711] Image Alignment failed 0
[13:32:04.711] frame process finished the id is: 132 the obs is:6 
[13:32:04.811] Image Alignment failed 0
[13:32:04.812] frame process finished the id is: 132 the obs is:6 
[13:32:04.912] Image Alignment failed 0
[13:32:04.912] frame process finished the id is: 132 the obs is:6 
[13:32:05.012] Image Alignment failed 0
[13:32:05.012] frame process finished the id is: 132 the obs is:6 
[13:32:05.113] Image Alignment failed 0
[13:32:05.113] frame process finished the id is: 132 the obs is:6 
[13:32:05.213] Image Alignment failed 0
[13:32:05.213] frame process finished the id is: 132 the obs is:6 
[13:32:05.313] Image Alignment failed 0
[13:32:05.313] frame process finished the id is: 132 the obs is:6 
[13:32:05.412] Image Alignment failed 0
[13:32:05.412] frame process finished the id is: 132 the obs is:6 
[13:32:05.512] Image Alignment failed 0
[13:32:05.512] frame process finished the id is: 132 the obs is:6 
[13:32:05.612] Image Alignment failed 0
[13:32:05.612] frame process finished the id is: 132 the obs is:6 
[13:32:05.717] Image Alignment failed 0
[13:32:05.717] frame process finished the id is: 132 the obs is:6 
[13:32:05.807] Image Alignment failed 0
[13:32:05.807] frame process finished the id is: 132 the obs is:6 
[13:32:05.912] Image Alignment failed 0
[13:32:05.912] frame process finished the id is: 132 the obs is:6 
[13:32:06.012] Image Alignment failed 0
[13:32:06.012] frame process finished the id is: 132 the obs is:6 
[13:32:06.112] Image Alignment failed 0
[13:32:06.112] frame process finished the id is: 132 the obs is:6 
[13:32:06.212] Image Alignment failed 0
[13:32:06.212] frame process finished the id is: 132 the obs is:6 
[13:32:06.313] Image Alignment failed 0
[13:32:06.313] frame process finished the id is: 132 the obs is:6 
[13:32:06.412] Image Alignment failed 0
[13:32:06.412] frame process finished the id is: 132 the obs is:6 
[13:32:06.512] Image Alignment failed 0
[13:32:06.512] frame process finished the id is: 132 the obs is:6 
[13:32:06.612] Image Alignment failed 0
[13:32:06.612] frame process finished the id is: 132 the obs is:6 
[13:32:06.713] Image Alignment failed 0
[13:32:06.713] frame process finished the id is: 132 the obs is:6 
[13:32:06.812] Image Alignment failed 0
[13:32:06.812] frame process finished the id is: 132 the obs is:6 
[13:32:06.912] Image Alignment failed 0
[13:32:06.912] frame process finished the id is: 132 the obs is:6 
[13:32:07.011] Image Alignment failed 0
[13:32:07.011] frame process finished the id is: 132 the obs is:6 
[13:32:07.113] Image Alignment failed 0
[13:32:07.113] frame process finished the id is: 132 the obs is:6 
[13:32:07.213] Image Alignment failed 0
[13:32:07.213] frame process finished the id is: 132 the obs is:6 
[13:32:07.311] Image Alignment failed 0
[13:32:07.311] frame process finished the id is: 132 the obs is:6 
[13:32:07.413] Image Alignment failed 0
[13:32:07.413] frame process finished the id is: 132 the obs is:6 
[13:32:07.519] Image Alignment failed 0
[13:32:07.519] frame process finished the id is: 132 the obs is:6 
[13:32:07.612] Image Alignment failed 0
[13:32:07.612] frame process finished the id is: 132 the obs is:6 
[13:32:07.712] Image Alignment failed 0
[13:32:07.712] frame process finished the id is: 132 the obs is:6 
[13:32:07.813] Image Alignment failed 0
[13:32:07.813] frame process finished the id is: 132 the obs is:6 
[13:32:07.912] Image Alignment failed 0
[13:32:07.912] frame process finished the id is: 132 the obs is:6 
[13:32:08.012] Image Alignment failed 0
[13:32:08.012] frame process finished the id is: 132 the obs is:6 
[13:32:08.118] Image Alignment failed 0
[13:32:08.118] frame process finished the id is: 132 the obs is:6 
[13:32:08.213] Image Alignment failed 0
[13:32:08.213] frame process finished the id is: 132 the obs is:6 
[13:32:08.312] Image Alignment failed 0
[13:32:08.312] frame process finished the id is: 132 the obs is:6 
[13:32:08.412] Image Alignment failed 0
[13:32:08.412] frame process finished the id is: 132 the obs is:6 
[13:32:08.512] Image Alignment failed 0
[13:32:08.512] frame process finished the id is: 132 the obs is:6 
[13:32:08.612] Image Alignment failed 0
[13:32:08.612] frame process finished the id is: 132 the obs is:6 
[13:32:08.712] Image Alignment failed 0
[13:32:08.712] frame process finished the id is: 132 the obs is:6 
[13:32:08.812] Image Alignment failed 0
[13:32:08.812] frame process finished the id is: 132 the obs is:6 
[13:32:08.912] Image Alignment failed 0
[13:32:08.912] frame process finished the id is: 132 the obs is:6 
[13:32:09.012] Image Alignment failed 0
[13:32:09.012] frame process finished the id is: 132 the obs is:6 
[13:32:09.112] Image Alignment failed 0
[13:32:09.112] frame process finished the id is: 132 the obs is:6 
[13:32:09.212] Image Alignment failed 0
[13:32:09.212] frame process finished the id is: 132 the obs is:6 
[13:32:09.312] Image Alignment failed 0
[13:32:09.312] frame process finished the id is: 132 the obs is:6 
[13:32:09.415] Image Alignment failed 0
[13:32:09.415] frame process finished the id is: 132 the obs is:6 
[13:32:09.515] Image Alignment failed 0
[13:32:09.515] frame process finished the id is: 132 the obs is:6 
[13:32:09.615] Image Alignment failed 0
[13:32:09.615] frame process finished the id is: 132 the obs is:6 
[13:32:09.712] Image Alignment failed 0
[13:32:09.712] frame process finished the id is: 132 the obs is:6 
[13:32:09.812] Image Alignment failed 0
[13:32:09.812] frame process finished the id is: 132 the obs is:6 
[13:32:09.917] Image Alignment failed 0
[13:32:09.917] frame process finished the id is: 132 the obs is:6 
[13:32:10.012] Image Alignment failed 0
[13:32:10.012] frame process finished the id is: 132 the obs is:6 
[13:32:10.111] Image Alignment failed 0
[13:32:10.111] frame process finished the id is: 132 the obs is:6 
[13:32:10.212] Image Alignment failed 0
[13:32:10.212] frame process finished the id is: 132 the obs is:6 
[13:32:10.313] Image Alignment failed 0
[13:32:10.313] frame process finished the id is: 132 the obs is:6 
[13:32:10.413] Image Alignment failed 0
[13:32:10.413] frame process finished the id is: 132 the obs is:6 
[13:32:10.513] Image Alignment failed 0
[13:32:10.513] frame process finished the id is: 132 the obs is:6 
[13:32:10.613] Image Alignment failed 0
[13:32:10.613] frame process finished the id is: 132 the obs is:6 
[13:32:10.713] Image Alignment failed 0
[13:32:10.713] frame process finished the id is: 132 the obs is:6 
[13:32:10.813] Image Alignment failed 0
[13:32:10.813] frame process finished the id is: 132 the obs is:6 
[13:32:10.913] Image Alignment failed 0
[13:32:10.913] frame process finished the id is: 132 the obs is:6 
[13:32:11.011] Image Alignment failed 0
[13:32:11.011] frame process finished the id is: 132 the obs is:6 
[13:32:11.112] Image Alignment failed 0
[13:32:11.112] frame process finished the id is: 132 the obs is:6 
[13:32:11.216] Image Alignment failed 0
[13:32:11.216] frame process finished the id is: 132 the obs is:6 
[13:32:11.313] Image Alignment failed 0
[13:32:11.313] frame process finished the id is: 132 the obs is:6 
[13:32:11.414] Image Alignment failed 0
[13:32:11.414] frame process finished the id is: 132 the obs is:6 
[13:32:11.515] Image Alignment failed 0
[13:32:11.515] frame process finished the id is: 132 the obs is:6 
[13:32:11.611] Image Alignment failed 0
[13:32:11.611] frame process finished the id is: 132 the obs is:6 
[13:32:11.718] Image Alignment failed 0
[13:32:11.718] frame process finished the id is: 132 the obs is:6 
[13:32:11.811] Image Alignment failed 0
[13:32:11.811] frame process finished the id is: 132 the obs is:6 
[13:32:11.913] Image Alignment failed 0
[13:32:11.913] frame process finished the id is: 132 the obs is:6 
[13:32:12.012] Image Alignment failed 0
[13:32:12.012] frame process finished the id is: 132 the obs is:6 
[13:32:12.112] Image Alignment failed 0
[13:32:12.112] frame process finished the id is: 132 the obs is:6 
[13:32:12.213] Image Alignment failed 0
[13:32:12.213] frame process finished the id is: 132 the obs is:6 
[13:32:12.318] Image Alignment failed 0
[13:32:12.318] frame process finished the id is: 132 the obs is:6 
[13:32:12.412] Image Alignment failed 0
[13:32:12.413] frame process finished the id is: 132 the obs is:6 
[13:32:12.514] Image Alignment failed 0
[13:32:12.514] frame process finished the id is: 132 the obs is:6 
[13:32:12.613] Image Alignment failed 0
[13:32:12.613] frame process finished the id is: 132 the obs is:6 
[13:32:12.712] Image Alignment failed 0
[13:32:12.712] frame process finished the id is: 132 the obs is:6 
[13:32:12.808] Image Alignment failed 0
[13:32:12.808] frame process finished the id is: 132 the obs is:6 
[13:32:12.909] Image Alignment failed 0
[13:32:12.909] frame process finished the id is: 132 the obs is:6 
[13:32:13.012] Image Alignment failed 0
[13:32:13.013] frame process finished the id is: 132 the obs is:6 
[13:32:13.114] Image Alignment failed 0
[13:32:13.114] frame process finished the id is: 132 the obs is:6 
[13:32:13.213] Image Alignment failed 0
[13:32:13.213] frame process finished the id is: 132 the obs is:6 
[13:32:13.312] Image Alignment failed 0
[13:32:13.312] frame process finished the id is: 132 the obs is:6 
[13:32:13.414] Image Alignment failed 0
[13:32:13.414] frame process finished the id is: 132 the obs is:6 
[13:32:13.513] Image Alignment failed 0
[13:32:13.513] frame process finished the id is: 132 the obs is:6 
[13:32:13.612] Image Alignment failed 0
[13:32:13.612] frame process finished the id is: 132 the obs is:6 
[13:32:13.711] Image Alignment failed 0
[13:32:13.711] frame process finished the id is: 132 the obs is:6 
[13:32:13.813] Image Alignment failed 0
[13:32:13.813] frame process finished the id is: 132 the obs is:6 
[13:32:13.914] Image Alignment failed 0
[13:32:13.914] frame process finished the id is: 132 the obs is:6 
[13:32:14.015] Image Alignment failed 0
[13:32:14.015] frame process finished the id is: 132 the obs is:6 
[13:32:14.112] Image Alignment failed 0
[13:32:14.112] frame process finished the id is: 132 the obs is:6 
[13:32:14.214] Image Alignment failed 0
[13:32:14.214] frame process finished the id is: 132 the obs is:6 
[13:32:14.308] Image Alignment failed 0
[13:32:14.308] frame process finished the id is: 132 the obs is:6 
[13:32:14.408] Image Alignment failed 0
[13:32:14.408] frame process finished the id is: 132 the obs is:6 
[13:32:14.508] Image Alignment failed 0
[13:32:14.508] frame process finished the id is: 132 the obs is:6 
[13:32:14.608] Image Alignment failed 0
[13:32:14.608] frame process finished the id is: 132 the obs is:6 
[13:32:14.709] Image Alignment failed 0
[13:32:14.709] frame process finished the id is: 132 the obs is:6 
[13:32:14.811] Image Alignment failed 0
[13:32:14.811] frame process finished the id is: 132 the obs is:6 
[13:32:14.908] Image Alignment failed 0
[13:32:14.908] frame process finished the id is: 132 the obs is:6 
[13:32:15.008] Image Alignment failed 0
[13:32:15.008] frame process finished the id is: 132 the obs is:6 
[13:32:15.108] Image Alignment failed 0
[13:32:15.108] frame process finished the id is: 132 the obs is:6 
[13:32:15.207] Image Alignment failed 0
[13:32:15.207] frame process finished the id is: 132 the obs is:6 
[13:32:15.308] Image Alignment failed 0
[13:32:15.308] frame process finished the id is: 132 the obs is:6 
[13:32:15.408] Image Alignment failed 0
[13:32:15.408] frame process finished the id is: 132 the obs is:6 
[13:32:15.508] Image Alignment failed 0
[13:32:15.509] frame process finished the id is: 132 the obs is:6 
[13:32:15.607] Image Alignment failed 0
[13:32:15.607] frame process finished the id is: 132 the obs is:6 
[13:32:15.709] Image Alignment failed 0
[13:32:15.709] frame process finished the id is: 132 the obs is:6 
[13:32:15.809] Image Alignment failed 0
[13:32:15.809] frame process finished the id is: 132 the obs is:6 
[13:32:15.908] Image Alignment failed 0
[13:32:15.908] frame process finished the id is: 132 the obs is:6 
[13:32:16.008] Image Alignment failed 0
[13:32:16.008] frame process finished the id is: 132 the obs is:6 
[13:32:16.109] Image Alignment failed 0
[13:32:16.109] frame process finished the id is: 132 the obs is:6 
[13:32:16.209] Image Alignment failed 0
[13:32:16.209] frame process finished the id is: 132 the obs is:6 
[13:32:16.307] Image Alignment failed 0
[13:32:16.307] frame process finished the id is: 132 the obs is:6 
[13:32:16.409] Image Alignment failed 0
[13:32:16.409] frame process finished the id is: 132 the obs is:6 
[13:32:16.509] Image Alignment failed 0
[13:32:16.509] frame process finished the id is: 132 the obs is:6 
[13:32:16.607] Image Alignment failed 0
[13:32:16.607] frame process finished the id is: 132 the obs is:6 
[13:32:16.708] Image Alignment failed 0
[13:32:16.708] frame process finished the id is: 132 the obs is:6 
[13:32:16.809] Image Alignment failed 0
[13:32:16.809] frame process finished the id is: 132 the obs is:6 
[13:32:16.907] Image Alignment failed 0
[13:32:16.907] frame process finished the id is: 132 the obs is:6 
[13:32:17.009] Image Alignment failed 0
[13:32:17.009] frame process finished the id is: 132 the obs is:6 
[13:32:17.107] Image Alignment failed 0
[13:32:17.108] frame process finished the id is: 132 the obs is:6 
[13:32:17.209] Image Alignment failed 0
[13:32:17.209] frame process finished the id is: 132 the obs is:6 
[13:32:17.309] Image Alignment failed 0
[13:32:17.309] frame process finished the id is: 132 the obs is:6 
[13:32:17.407] Image Alignment failed 0
[13:32:17.407] frame process finished the id is: 132 the obs is:6 
[13:32:17.508] Image Alignment failed 0
[13:32:17.508] frame process finished the id is: 132 the obs is:6 
[13:32:17.609] Image Alignment failed 0
[13:32:17.609] frame process finished the id is: 132 the obs is:6 
[13:32:17.707] Image Alignment failed 0
[13:32:17.707] frame process finished the id is: 132 the obs is:6 
[13:32:17.807] Image Alignment failed 0
[13:32:17.807] frame process finished the id is: 132 the obs is:6 
[13:32:17.911] Image Alignment failed 0
[13:32:17.911] frame process finished the id is: 132 the obs is:6 
[13:32:18.007] Image Alignment failed 0
[13:32:18.007] frame process finished the id is: 132 the obs is:6 
[13:32:18.111] Image Alignment failed 0
[13:32:18.111] frame process finished the id is: 132 the obs is:6 
[13:32:18.208] Image Alignment failed 0
[13:32:18.208] frame process finished the id is: 132 the obs is:6 
[13:32:18.308] Image Alignment failed 0
[13:32:18.308] frame process finished the id is: 132 the obs is:6 
[13:32:18.408] Image Alignment failed 0
[13:32:18.408] frame process finished the id is: 132 the obs is:6 
[13:32:18.508] Image Alignment failed 0
[13:32:18.508] frame process finished the id is: 132 the obs is:6 
[13:32:18.611] Image Alignment failed 0
[13:32:18.611] frame process finished the id is: 132 the obs is:6 
[13:32:18.708] Image Alignment failed 0
[13:32:18.708] frame process finished the id is: 132 the obs is:6 
[13:32:18.808] Image Alignment failed 0
[13:32:18.808] frame process finished the id is: 132 the obs is:6 
[13:32:18.908] Image Alignment failed 0
[13:32:18.908] frame process finished the id is: 132 the obs is:6 
[13:32:19.008] Image Alignment failed 0
[13:32:19.008] frame process finished the id is: 132 the obs is:6 
[13:32:19.108] Image Alignment failed 0
[13:32:19.108] frame process finished the id is: 132 the obs is:6 
[13:32:19.209] Image Alignment failed 0
[13:32:19.209] frame process finished the id is: 132 the obs is:6 
[13:32:19.308] Image Alignment failed 0
[13:32:19.308] frame process finished the id is: 132 the obs is:6 
[13:32:19.409] Image Alignment failed 0
[13:32:19.409] frame process finished the id is: 132 the obs is:6 
[13:32:19.508] Image Alignment failed 0
[13:32:19.508] frame process finished the id is: 132 the obs is:6 
[13:32:19.608] Image Alignment failed 0
[13:32:19.608] frame process finished the id is: 132 the obs is:6 
[13:32:19.708] Image Alignment failed 0
[13:32:19.708] frame process finished the id is: 132 the obs is:6 
[13:32:19.808] Image Alignment failed 0
[13:32:19.808] frame process finished the id is: 132 the obs is:6 
[13:32:19.908] Image Alignment failed 0
[13:32:19.908] frame process finished the id is: 132 the obs is:6 
[13:32:20.008] Image Alignment failed 0
[13:32:20.008] frame process finished the id is: 132 the obs is:6 
[13:32:20.109] Image Alignment failed 0
[13:32:20.109] frame process finished the id is: 132 the obs is:6 
[13:32:20.207] Image Alignment failed 0
[13:32:20.207] frame process finished the id is: 132 the obs is:6 
[13:32:20.310] Image Alignment failed 0
[13:32:20.310] frame process finished the id is: 132 the obs is:6 
[13:32:20.410] Image Alignment failed 0
[13:32:20.410] frame process finished the id is: 132 the obs is:6 
[13:32:20.508] Image Alignment failed 0
[13:32:20.508] frame process finished the id is: 132 the obs is:6 
[13:32:20.608] Image Alignment failed 0
[13:32:20.608] frame process finished the id is: 132 the obs is:6 
[13:32:20.708] Image Alignment failed 0
[13:32:20.708] frame process finished the id is: 132 the obs is:6 
[13:32:20.807] Image Alignment failed 0
[13:32:20.807] frame process finished the id is: 132 the obs is:6 
[13:32:20.908] Image Alignment failed 0
[13:32:20.908] frame process finished the id is: 132 the obs is:6 
[13:32:21.020] Image Alignment failed 0
[13:32:21.020] frame process finished the id is: 132 the obs is:6 
[13:32:21.109] Image Alignment failed 0
[13:32:21.109] frame process finished the id is: 132 the obs is:6 
[13:32:21.208] Image Alignment failed 0
[13:32:21.208] frame process finished the id is: 132 the obs is:6 
[13:32:21.311] Image Alignment failed 0
[13:32:21.311] frame process finished the id is: 132 the obs is:6 
[13:32:21.409] Image Alignment failed 0
[13:32:21.409] frame process finished the id is: 132 the obs is:6 
[13:32:21.509] Image Alignment failed 0
[13:32:21.509] frame process finished the id is: 132 the obs is:6 
[13:32:21.608] Image Alignment failed 0
[13:32:21.608] frame process finished the id is: 132 the obs is:6 
[13:32:21.708] Image Alignment failed 0
[13:32:21.708] frame process finished the id is: 132 the obs is:6 
[13:32:21.807] Image Alignment failed 0
[13:32:21.807] frame process finished the id is: 132 the obs is:6 
[13:32:21.908] Image Alignment failed 0
[13:32:21.908] frame process finished the id is: 132 the obs is:6 
[13:32:22.009] Image Alignment failed 0
[13:32:22.009] frame process finished the id is: 132 the obs is:6 
[13:32:22.107] Image Alignment failed 0
[13:32:22.107] frame process finished the id is: 132 the obs is:6 
[13:32:22.207] Image Alignment failed 0
[13:32:22.207] frame process finished the id is: 132 the obs is:6 
[13:32:22.309] Image Alignment failed 0
[13:32:22.309] frame process finished the id is: 132 the obs is:6 
[13:32:22.407] Image Alignment failed 0
[13:32:22.407] frame process finished the id is: 132 the obs is:6 
[13:32:22.508] Image Alignment failed 0
[13:32:22.508] frame process finished the id is: 132 the obs is:6 
[13:32:22.607] Image Alignment failed 0
[13:32:22.608] frame process finished the id is: 132 the obs is:6 
[13:32:22.707] Image Alignment failed 0
[13:32:22.707] frame process finished the id is: 132 the obs is:6 
[13:32:22.808] Image Alignment failed 0
[13:32:22.808] frame process finished the id is: 132 the obs is:6 
[13:32:22.909] Image Alignment failed 0
[13:32:22.909] frame process finished the id is: 132 the obs is:6 
[13:32:23.011] Image Alignment failed 0
[13:32:23.011] frame process finished the id is: 132 the obs is:6 
[13:32:23.089] Odometry x=0.192482, y=1.860166, theta=-0.046015
[13:32:23.108] Image Alignment failed 0
[13:32:23.108] frame process finished the id is: 132 the obs is:6 
[13:32:23.192] Odometry x=6.709942, y=0.746288, theta=0.016354
[13:32:23.209] Image Alignment failed 0
[13:32:23.209] frame process finished the id is: 132 the obs is:6 
[13:32:23.294] Odometry x=6.705150, y=0.735871, theta=0.045953
[13:32:23.308] Image Alignment failed 0
[13:32:23.308] frame process finished the id is: 132 the obs is:6 
[13:32:23.393] Odometry x=6.704867, y=0.724649, theta=0.046050
[13:32:23.408] Image Alignment failed 0
[13:32:23.408] frame process finished the id is: 132 the obs is:6 
[13:32:23.493] Odometry x=6.717712, y=0.713586, theta=0.071742
[13:32:23.508] Image Alignment failed 0
[13:32:23.508] frame process finished the id is: 132 the obs is:6 
[13:32:23.592] Odometry x=6.717392, y=0.703158, theta=0.065747
[13:32:23.612] Image Alignment failed 0
[13:32:23.612] frame process finished the id is: 132 the obs is:6 
[13:32:23.693] Odometry x=6.715869, y=0.692697, theta=0.067398
[13:32:23.709] Image Alignment failed 0
[13:32:23.709] frame process finished the id is: 132 the obs is:6 
[13:32:23.791] Odometry x=6.716219, y=0.692871, theta=0.022948
[13:32:23.810] Image Alignment failed 0
[13:32:23.810] frame process finished the id is: 132 the obs is:6 
[13:32:23.894] Odometry x=6.715983, y=0.668093, theta=0.042780
[13:32:23.910] Image Alignment failed 0
[13:32:23.910] frame process finished the id is: 132 the obs is:6 
[13:32:23.991] Odometry x=6.715965, y=0.659374, theta=0.020835
[13:32:24.013] Image Alignment failed 0
[13:32:24.013] frame process finished the id is: 132 the obs is:6 
[13:32:24.092] Odometry x=6.709707, y=0.648500, theta=0.064729
[13:32:24.111] Image Alignment failed 0
[13:32:24.112] frame process finished the id is: 132 the obs is:6 
[13:32:24.194] Odometry x=6.707841, y=0.640176, theta=0.068105
[13:32:24.212] Image Alignment failed 0
[13:32:24.212] frame process finished the id is: 132 the obs is:6 
[13:32:24.291] Odometry x=6.707407, y=0.626314, theta=0.047261
[13:32:24.311] Image Alignment failed 0
[13:32:24.311] frame process finished the id is: 132 the obs is:6 
[13:32:24.393] Odometry x=6.707115, y=0.617198, theta=0.067016
[13:32:24.411] Image Alignment failed 0
[13:32:24.411] frame process finished the id is: 132 the obs is:6 
[13:32:24.493] Odometry x=6.706865, y=0.604704, theta=0.035132
[13:32:24.509] Image Alignment failed 0
[13:32:24.509] frame process finished the id is: 132 the obs is:6 
[13:32:24.592] Odometry x=6.705334, y=0.593976, theta=0.059153
[13:32:24.609] Image Alignment failed 0
[13:32:24.609] frame process finished the id is: 132 the obs is:6 
[13:32:24.692] Odometry x=6.699207, y=0.583302, theta=0.047421
[13:32:24.709] Image Alignment failed 0
[13:32:24.709] frame process finished the id is: 132 the obs is:6 
[13:32:24.788] Odometry x=6.701627, y=0.593873, theta=0.051086
[13:32:24.809] Image Alignment failed 0
[13:32:24.809] frame process finished the id is: 132 the obs is:6 
[13:32:24.891] Odometry x=6.707086, y=0.604222, theta=0.044666
[13:32:24.909] Image Alignment failed 0
[13:32:24.909] frame process finished the id is: 132 the obs is:6 
[13:32:24.996] Odometry x=6.706800, y=0.593595, theta=0.060313
[13:32:25.010] Image Alignment failed 0
[13:32:25.010] frame process finished the id is: 132 the obs is:6 
[13:32:25.095] Odometry x=6.707801, y=0.601922, theta=0.056694
[13:32:25.111] Image Alignment failed 0
[13:32:25.111] frame process finished the id is: 132 the obs is:6 
[13:32:25.192] Odometry x=6.697894, y=0.570863, theta=0.068951
[13:32:25.211] Image Alignment failed 0
[13:32:25.211] frame process finished the id is: 132 the obs is:6 
[13:32:25.290] Odometry x=6.704555, y=0.580698, theta=0.074229
[13:32:25.310] Image Alignment failed 0
[13:32:25.310] frame process finished the id is: 132 the obs is:6 
[13:32:25.393] Odometry x=6.704839, y=0.580098, theta=0.039880
[13:32:25.411] Image Alignment failed 0
[13:32:25.411] frame process finished the id is: 132 the obs is:6 
[13:32:25.494] Odometry x=6.705992, y=0.597111, theta=0.032491
[13:32:25.509] Image Alignment failed 0
[13:32:25.509] frame process finished the id is: 132 the obs is:6 
[13:32:25.592] Odometry x=6.704330, y=0.586187, theta=0.055670
[13:32:25.610] Image Alignment failed 0
[13:32:25.610] frame process finished the id is: 132 the obs is:6 
[13:32:25.691] Odometry x=6.703943, y=0.572523, theta=0.045123
[13:32:25.708] Image Alignment failed 0
[13:32:25.708] frame process finished the id is: 132 the obs is:6 
[13:32:25.791] Odometry x=6.703700, y=0.558728, theta=0.055223
[13:32:25.810] Image Alignment failed 0
[13:32:25.811] frame process finished the id is: 132 the obs is:6 
[13:32:25.889] Odometry x=6.704197, y=0.568435, theta=0.036968
[13:32:25.908] Image Alignment failed 0
[13:32:25.908] frame process finished the id is: 132 the obs is:6 
[13:32:25.993] Odometry x=6.709224, y=0.561458, theta=0.037330
[13:32:26.009] Image Alignment failed 0
[13:32:26.009] frame process finished the id is: 132 the obs is:6 
[13:32:26.094] Odometry x=6.708824, y=0.536439, theta=0.052067
[13:32:26.108] Image Alignment failed 0
[13:32:26.108] frame process finished the id is: 132 the obs is:6 
[13:32:26.197] Odometry x=6.700322, y=0.513763, theta=0.055663
[13:32:26.210] Image Alignment failed 0
[13:32:26.210] frame process finished the id is: 132 the obs is:6 
[13:32:26.296] Odometry x=6.698343, y=0.517088, theta=0.032916
[13:32:26.308] Image Alignment failed 0
[13:32:26.308] frame process finished the id is: 132 the obs is:6 
[13:32:26.393] Odometry x=6.699460, y=0.510530, theta=0.044975
[13:32:26.410] Image Alignment failed 0
[13:32:26.410] frame process finished the id is: 132 the obs is:6 
[13:32:26.493] Odometry x=6.700153, y=0.499743, theta=0.044682
[13:32:26.510] Image Alignment failed 0
[13:32:26.510] frame process finished the id is: 132 the obs is:6 
[13:32:26.595] Odometry x=6.706841, y=0.483752, theta=0.048594
[13:32:26.609] Image Alignment failed 0
[13:32:26.609] frame process finished the id is: 132 the obs is:6 
[13:32:26.693] Odometry x=6.714064, y=0.494470, theta=0.033692
[13:32:26.709] Image Alignment failed 0
[13:32:26.709] frame process finished the id is: 132 the obs is:6 
[13:32:26.793] Odometry x=6.729612, y=0.480380, theta=0.049272
[13:32:26.810] Image Alignment failed 0
[13:32:26.810] frame process finished the id is: 132 the obs is:6 
[13:32:26.895] Odometry x=6.726950, y=0.462547, theta=0.053007
[13:32:26.909] Image Alignment failed 0
[13:32:26.909] frame process finished the id is: 132 the obs is:6 
[13:32:26.997] Odometry x=6.726242, y=0.460459, theta=0.048443
[13:32:27.011] Image Alignment failed 0
[13:32:27.011] frame process finished the id is: 132 the obs is:6 
[13:32:27.094] Odometry x=6.727058, y=0.450992, theta=0.038315
[13:32:27.111] Image Alignment failed 0
[13:32:27.111] frame process finished the id is: 132 the obs is:6 
[13:32:27.196] Odometry x=6.727833, y=0.425444, theta=0.050422
[13:32:27.209] Image Alignment failed 0
[13:32:27.209] frame process finished the id is: 132 the obs is:6 
[13:32:27.288] Odometry x=6.726101, y=0.374464, theta=0.038752
[13:32:27.309] Image Alignment failed 0
[13:32:27.309] frame process finished the id is: 132 the obs is:6 
[13:32:27.390] Odometry x=6.717039, y=0.350969, theta=0.036505
[13:32:27.409] Image Alignment failed 0
[13:32:27.409] frame process finished the id is: 132 the obs is:6 
[13:32:27.492] Odometry x=6.716935, y=0.341208, theta=0.033160
[13:32:27.509] Image Alignment failed 0
[13:32:27.509] frame process finished the id is: 132 the obs is:6 
[13:32:27.594] Odometry x=6.716699, y=0.330493, theta=0.052807
[13:32:27.609] Image Alignment failed 0
[13:32:27.609] frame process finished the id is: 132 the obs is:6 
[13:32:27.689] Odometry x=6.716375, y=0.319258, theta=0.055886
[13:32:27.710] Image Alignment failed 0
[13:32:27.710] frame process finished the id is: 132 the obs is:6 
[13:32:27.791] Odometry x=6.712349, y=0.312715, theta=0.024699
[13:32:27.809] Image Alignment failed 0
[13:32:27.809] frame process finished the id is: 132 the obs is:6 
[13:32:27.893] Odometry x=6.701842, y=0.306568, theta=0.038789
[13:32:27.909] Image Alignment failed 0
[13:32:27.909] frame process finished the id is: 132 the obs is:6 
[13:32:27.990] Odometry x=6.701320, y=0.299872, theta=0.046355
[13:32:28.009] Image Alignment failed 0
[13:32:28.009] frame process finished the id is: 132 the obs is:6 
[13:32:28.097] Odometry x=6.701212, y=0.295271, theta=0.038948
[13:32:28.111] Image Alignment failed 0
[13:32:28.111] frame process finished the id is: 132 the obs is:6 
[13:32:28.194] Odometry x=6.701539, y=0.323343, theta=0.055204
[13:32:28.209] Image Alignment failed 0
[13:32:28.209] frame process finished the id is: 132 the obs is:6 
[13:32:28.292] Odometry x=6.701341, y=0.331463, theta=0.024555
[13:32:28.312] Image Alignment failed 0
[13:32:28.312] frame process finished the id is: 132 the obs is:6 
[13:32:28.395] Odometry x=6.701749, y=0.313291, theta=0.025542
[13:32:28.412] Image Alignment failed 0
[13:32:28.412] frame process finished the id is: 132 the obs is:6 
[13:32:28.493] Odometry x=6.691212, y=0.313998, theta=0.056315
[13:32:28.510] Image Alignment failed 0
[13:32:28.510] frame process finished the id is: 132 the obs is:6 
[13:32:28.594] Odometry x=6.691259, y=0.304834, theta=0.045511
[13:32:28.609] Image Alignment failed 0
[13:32:28.609] frame process finished the id is: 132 the obs is:6 
[13:32:28.694] Odometry x=6.692866, y=0.293910, theta=0.045959
[13:32:28.710] Image Alignment failed 0
[13:32:28.710] frame process finished the id is: 132 the obs is:6 
[13:32:28.787] Odometry x=6.693636, y=0.283993, theta=0.045671
[13:32:28.809] Image Alignment failed 0
[13:32:28.809] frame process finished the id is: 132 the obs is:6 
[13:32:28.889] Odometry x=6.693889, y=0.295616, theta=0.046135
[13:32:28.911] Image Alignment failed 0
[13:32:28.911] frame process finished the id is: 132 the obs is:6 
[13:32:28.991] Odometry x=6.696191, y=0.338872, theta=0.046472
[13:32:29.008] Image Alignment failed 0
[13:32:29.008] frame process finished the id is: 132 the obs is:6 
[13:32:29.094] Odometry x=6.695405, y=0.294903, theta=0.051124
[13:32:29.109] Image Alignment failed 0
[13:32:29.109] frame process finished the id is: 132 the obs is:6 
[13:32:29.193] Odometry x=6.695142, y=0.284585, theta=0.045641
[13:32:29.209] Image Alignment failed 0
[13:32:29.209] frame process finished the id is: 132 the obs is:6 
[13:32:29.295] Odometry x=6.695124, y=0.273888, theta=0.045984
[13:32:29.311] Image Alignment failed 0
[13:32:29.311] frame process finished the id is: 132 the obs is:6 
[13:32:29.393] Odometry x=6.695181, y=0.276111, theta=0.047794
[13:32:29.409] Image Alignment failed 0
[13:32:29.409] frame process finished the id is: 132 the obs is:6 
[13:32:29.491] Odometry x=6.695540, y=0.294068, theta=0.048573
[13:32:29.509] Image Alignment failed 0
[13:32:29.509] frame process finished the id is: 132 the obs is:6 
[13:32:29.593] Odometry x=6.690394, y=0.288139, theta=0.049629
[13:32:29.609] Image Alignment failed 0
[13:32:29.609] frame process finished the id is: 132 the obs is:6 
[13:32:29.695] Odometry x=6.689791, y=0.277491, theta=0.059229
[13:32:29.709] Image Alignment failed 0
[13:32:29.709] frame process finished the id is: 132 the obs is:6 
[13:32:29.795] Odometry x=6.699992, y=0.262946, theta=0.030971
[13:32:29.809] Image Alignment failed 0
[13:32:29.809] frame process finished the id is: 132 the obs is:6 
[13:32:29.893] Odometry x=6.714272, y=0.257360, theta=0.031673
[13:32:29.911] Image Alignment failed 0
[13:32:29.911] frame process finished the id is: 132 the obs is:6 
[13:32:29.990] Odometry x=6.712114, y=0.251600, theta=0.041908
[13:32:30.011] Image Alignment failed 0
[13:32:30.011] frame process finished the id is: 132 the obs is:6 
[13:32:30.093] Odometry x=6.709742, y=0.247438, theta=0.039195
[13:32:30.120] Image Alignment failed 0
[13:32:30.120] frame process finished the id is: 132 the obs is:6 
[13:32:30.190] Odometry x=6.723217, y=0.270111, theta=0.040386
[13:32:30.211] Image Alignment failed 0
[13:32:30.211] frame process finished the id is: 132 the obs is:6 
[13:32:30.294] Odometry x=6.730249, y=0.259978, theta=0.031947
[13:32:30.311] Image Alignment failed 0
[13:32:30.311] frame process finished the id is: 132 the obs is:6 
[13:32:30.395] Odometry x=6.729631, y=0.265008, theta=0.038080
[13:32:30.409] Image Alignment failed 0
[13:32:30.409] frame process finished the id is: 132 the obs is:6 
[13:32:30.493] Odometry x=6.729991, y=0.301180, theta=0.046489
[13:32:30.511] Image Alignment failed 0
[13:32:30.511] frame process finished the id is: 132 the obs is:6 
[13:32:30.595] Odometry x=6.725242, y=0.283215, theta=0.034914
[13:32:30.610] Image Alignment failed 0
[13:32:30.610] frame process finished the id is: 132 the obs is:6 
[13:32:30.693] Odometry x=6.736042, y=0.279217, theta=0.047342
[13:32:30.709] Image Alignment failed 0
[13:32:30.709] frame process finished the id is: 132 the obs is:6 
[13:32:30.790] Odometry x=6.736127, y=0.283055, theta=0.042745
[13:32:30.810] Image Alignment failed 0
[13:32:30.810] frame process finished the id is: 132 the obs is:6 
[13:32:30.893] Odometry x=6.735863, y=0.270586, theta=0.037369
[13:32:30.910] Image Alignment failed 0
[13:32:30.910] frame process finished the id is: 132 the obs is:6 
[13:32:30.995] Odometry x=6.735591, y=0.254966, theta=0.041838
[13:32:31.009] Image Alignment failed 0
[13:32:31.009] frame process finished the id is: 132 the obs is:6 
[13:32:31.093] Odometry x=6.728811, y=0.217006, theta=0.040740
[13:32:31.112] Image Alignment failed 0
[13:32:31.112] frame process finished the id is: 132 the obs is:6 
[13:32:31.192] Odometry x=6.729451, y=0.236140, theta=0.056583
[13:32:31.210] Image Alignment failed 0
[13:32:31.210] frame process finished the id is: 132 the obs is:6 
[13:32:31.292] Odometry x=6.722818, y=0.225381, theta=0.043662
[13:32:31.311] Image Alignment failed 0
[13:32:31.311] frame process finished the id is: 132 the obs is:6 
[13:32:31.389] Odometry x=6.722299, y=0.191041, theta=0.066248
[13:32:31.408] Image Alignment failed 0
[13:32:31.408] frame process finished the id is: 132 the obs is:6 
[13:32:31.493] Odometry x=6.724712, y=0.175369, theta=0.046538
[13:32:31.511] Image Alignment failed 0
[13:32:31.511] frame process finished the id is: 132 the obs is:6 
[13:32:31.595] Odometry x=6.724565, y=0.169242, theta=0.045186
[13:32:31.609] Image Alignment failed 0
[13:32:31.609] frame process finished the id is: 132 the obs is:6 
[13:32:31.693] Odometry x=6.724371, y=0.161406, theta=0.056843
[13:32:31.714] Image Alignment failed 0
[13:32:31.714] frame process finished the id is: 132 the obs is:6 
[13:32:31.806] Odometry x=6.724156, y=0.151063, theta=0.058847
[13:32:31.813] Image Alignment failed 0
[13:32:31.813] frame process finished the id is: 132 the obs is:6 
[13:32:31.892] Odometry x=6.723957, y=0.143679, theta=0.053531
[13:32:31.909] Image Alignment failed 0
[13:32:31.909] frame process finished the id is: 132 the obs is:6 
[13:32:31.996] Odometry x=6.723593, y=0.130954, theta=0.061730
[13:32:32.011] Image Alignment failed 0
[13:32:32.011] frame process finished the id is: 132 the obs is:6 
[13:32:32.093] Odometry x=6.724185, y=0.119491, theta=0.066331
[13:32:32.110] Image Alignment failed 0
[13:32:32.110] frame process finished the id is: 132 the obs is:6 
[13:32:32.191] Odometry x=6.724025, y=0.111377, theta=0.056275
[13:32:32.210] Image Alignment failed 0
[13:32:32.210] frame process finished the id is: 132 the obs is:6 
[13:32:32.293] Odometry x=6.723840, y=0.105100, theta=0.048726
[13:32:32.309] Image Alignment failed 0
[13:32:32.309] frame process finished the id is: 132 the obs is:6 
[13:32:32.390] Odometry x=6.725762, y=0.094542, theta=0.046953
[13:32:32.494] Odometry x=6.725611, y=0.083771, theta=0.052585
[13:32:32.500] Image Alignment failed 0
[13:32:32.500] frame process finished the id is: 132 the obs is:6 
[13:32:32.514] Image Alignment failed 0
[13:32:32.514] frame process finished the id is: 132 the obs is:6 
[13:32:32.595] Odometry x=6.725585, y=0.082706, theta=0.052538
[13:32:32.609] Image Alignment failed 0
[13:32:32.609] frame process finished the id is: 132 the obs is:6 
[13:32:32.692] Odometry x=6.726732, y=0.060286, theta=0.068904
[13:32:32.711] Image Alignment failed 0
[13:32:32.711] frame process finished the id is: 132 the obs is:6 
[13:32:32.792] Odometry x=6.726435, y=0.052362, theta=0.070456
[13:32:32.811] Image Alignment failed 0
[13:32:32.811] frame process finished the id is: 132 the obs is:6 
[13:32:32.894] Odometry x=6.726099, y=0.042405, theta=0.062709
[13:32:32.910] Image Alignment failed 0
[13:32:32.910] frame process finished the id is: 132 the obs is:6 
[13:32:32.996] Odometry x=6.726073, y=0.033582, theta=0.056545
[13:32:33.009] Image Alignment failed 0
[13:32:33.009] frame process finished the id is: 132 the obs is:6 
[13:32:33.092] Odometry x=6.725756, y=0.022810, theta=0.064303
[13:32:33.110] Image Alignment failed 0
[13:32:33.110] frame process finished the id is: 132 the obs is:6 
[13:32:33.194] Odometry x=6.725461, y=0.012138, theta=0.069708
[13:32:33.211] Image Alignment failed 0
[13:32:33.211] frame process finished the id is: 132 the obs is:6 
[13:32:33.291] Odometry x=6.724971, y=0.001750, theta=0.064360
[13:32:33.309] Image Alignment failed 0
[13:32:33.309] frame process finished the id is: 132 the obs is:6 
[13:32:33.392] Odometry x=6.724551, y=-0.008029, theta=0.061717
[13:32:33.410] Image Alignment failed 0
[13:32:33.410] frame process finished the id is: 132 the obs is:6 
[13:32:33.494] Odometry x=6.724181, y=-0.017942, theta=0.065191
[13:32:33.510] Image Alignment failed 0
[13:32:33.510] frame process finished the id is: 132 the obs is:6 
[13:32:33.591] Odometry x=6.724720, y=-0.029128, theta=0.064417
[13:32:33.612] Image Alignment failed 0
[13:32:33.612] frame process finished the id is: 132 the obs is:6 
[13:32:33.694] Odometry x=6.724410, y=-0.039871, theta=0.061394
[13:32:33.710] Image Alignment failed 0
[13:32:33.710] frame process finished the id is: 132 the obs is:6 
[13:32:33.795] Odometry x=6.721094, y=-0.048074, theta=0.061043
[13:32:33.810] Image Alignment failed 0
[13:32:33.810] frame process finished the id is: 132 the obs is:6 
[13:32:33.894] Odometry x=6.720761, y=-0.058767, theta=0.063556
[13:32:33.911] Image Alignment failed 0
[13:32:33.911] frame process finished the id is: 132 the obs is:6 
[13:32:33.997] Odometry x=6.720779, y=-0.065793, theta=0.060139
[13:32:34.011] Image Alignment failed 0
[13:32:34.011] frame process finished the id is: 132 the obs is:6 
[13:32:34.090] Odometry x=6.720068, y=-0.076325, theta=0.061904
[13:32:34.112] Image Alignment failed 0
[13:32:34.112] frame process finished the id is: 132 the obs is:6 
[13:32:34.188] Odometry x=6.719808, y=-0.085760, theta=0.061346
[13:32:34.210] Image Alignment failed 0
[13:32:34.210] frame process finished the id is: 132 the obs is:6 
[13:32:34.294] Odometry x=6.720033, y=-0.093947, theta=0.063819
[13:32:34.309] Image Alignment failed 0
[13:32:34.309] frame process finished the id is: 132 the obs is:6 
[13:32:34.392] Odometry x=6.721452, y=-0.105155, theta=0.064938
[13:32:34.409] Image Alignment failed 0
[13:32:34.409] frame process finished the id is: 132 the obs is:6 
[13:32:34.494] Odometry x=6.720942, y=-0.115564, theta=0.056913
[13:32:34.511] Image Alignment failed 0
[13:32:34.511] frame process finished the id is: 132 the obs is:6 
[13:32:34.595] Odometry x=6.720779, y=-0.121121, theta=0.058331
[13:32:34.611] Image Alignment failed 0
[13:32:34.611] frame process finished the id is: 132 the obs is:6 
[13:32:34.692] Odometry x=6.724977, y=-0.126004, theta=0.068254
[13:32:34.712] Image Alignment failed 0
[13:32:34.712] frame process finished the id is: 132 the obs is:6 
[13:32:34.795] Odometry x=6.724648, y=-0.135904, theta=0.058128
[13:32:34.812] Image Alignment failed 0
[13:32:34.812] frame process finished the id is: 132 the obs is:6 
[13:32:34.892] Odometry x=6.724491, y=-0.146673, theta=0.063752
[13:32:34.910] Image Alignment failed 0
[13:32:34.910] frame process finished the id is: 132 the obs is:6 
[13:32:34.991] Odometry x=6.717721, y=-0.156732, theta=0.064367
[13:32:35.010] Image Alignment failed 0
[13:32:35.010] frame process finished the id is: 132 the obs is:6 
[13:32:35.089] Odometry x=6.715511, y=-0.167269, theta=0.070117
[13:32:35.113] Image Alignment failed 0
[13:32:35.113] frame process finished the id is: 132 the obs is:6 
[13:32:35.191] Odometry x=6.715131, y=-0.178060, theta=0.065662
[13:32:35.210] Image Alignment failed 0
[13:32:35.210] frame process finished the id is: 132 the obs is:6 
[13:32:35.293] Odometry x=6.715174, y=-0.188625, theta=0.049899
[13:32:35.312] Image Alignment failed 0
[13:32:35.312] frame process finished the id is: 132 the obs is:6 
[13:32:35.389] Odometry x=6.714973, y=-0.197600, theta=0.049066
[13:32:35.410] Image Alignment failed 0
[13:32:35.410] frame process finished the id is: 132 the obs is:6 
[13:32:35.488] Odometry x=6.715649, y=-0.207835, theta=0.065287
[13:32:35.512] Image Alignment failed 0
[13:32:35.512] frame process finished the id is: 132 the obs is:6 
[13:32:35.590] Odometry x=6.714851, y=-0.218692, theta=0.058618
[13:32:35.614] Image Alignment failed 0
[13:32:35.614] frame process finished the id is: 132 the obs is:6 
[13:32:35.692] Odometry x=6.714503, y=-0.229423, theta=0.064775
[13:32:35.711] Image Alignment failed 0
[13:32:35.711] frame process finished the id is: 132 the obs is:6 
[13:32:35.794] Odometry x=6.714004, y=-0.239946, theta=0.046508
[13:32:35.810] Image Alignment failed 0
[13:32:35.810] frame process finished the id is: 132 the obs is:6 
[13:32:35.891] Odometry x=6.713669, y=-0.250801, theta=0.051542
[13:32:35.911] Image Alignment failed 0
[13:32:35.911] frame process finished the id is: 132 the obs is:6 
[13:32:35.998] Odometry x=6.713526, y=-0.259767, theta=0.060577
[13:32:36.011] Image Alignment failed 0
[13:32:36.011] frame process finished the id is: 132 the obs is:6 
[13:32:36.095] Odometry x=6.713466, y=-0.271111, theta=0.055927
[13:32:36.111] Image Alignment failed 0
[13:32:36.111] frame process finished the id is: 132 the obs is:6 
[13:32:36.192] Odometry x=6.713175, y=-0.281593, theta=0.053371
[13:32:36.210] Image Alignment failed 0
[13:32:36.210] frame process finished the id is: 132 the obs is:6 
[13:32:36.294] Odometry x=6.711656, y=-0.291886, theta=0.052419
[13:32:36.311] Image Alignment failed 0
[13:32:36.311] frame process finished the id is: 132 the obs is:6 
[13:32:36.396] Odometry x=6.711743, y=-0.302688, theta=0.048407
[13:32:36.412] Image Alignment failed 0
[13:32:36.412] frame process finished the id is: 132 the obs is:6 
[13:32:36.496] Odometry x=6.711249, y=-0.313505, theta=0.053562
[13:32:36.512] Image Alignment failed 0
[13:32:36.512] frame process finished the id is: 132 the obs is:6 
[13:32:36.589] Odometry x=6.710944, y=-0.323859, theta=0.061934
[13:32:36.609] Image Alignment failed 0
[13:32:36.609] frame process finished the id is: 132 the obs is:6 
[13:32:36.688] Odometry x=6.711640, y=-0.334318, theta=0.056272
[13:32:36.711] Image Alignment failed 0
[13:32:36.711] frame process finished the id is: 132 the obs is:6 
[13:32:36.791] Odometry x=6.709509, y=-0.343888, theta=0.060927
[13:32:36.809] Image Alignment failed 0
[13:32:36.809] frame process finished the id is: 132 the obs is:6 
[13:32:36.893] Odometry x=6.708808, y=-0.354895, theta=0.043312
[13:32:36.919] Image Alignment failed 0
[13:32:36.919] frame process finished the id is: 132 the obs is:6 
[13:32:36.991] Odometry x=6.708990, y=-0.365621, theta=0.053752
[13:32:37.009] Image Alignment failed 0
[13:32:37.009] frame process finished the id is: 132 the obs is:6 
[13:32:37.092] Odometry x=6.708792, y=-0.374720, theta=0.046819
[13:32:37.109] Image Alignment failed 0
[13:32:37.109] frame process finished the id is: 132 the obs is:6 
[13:32:37.189] Odometry x=6.708555, y=-0.385330, theta=0.045259
[13:32:37.209] Image Alignment failed 0
[13:32:37.209] frame process finished the id is: 132 the obs is:6 
[13:32:37.295] Odometry x=6.708283, y=-0.394260, theta=0.057564
[13:32:37.309] Image Alignment failed 0
[13:32:37.309] frame process finished the id is: 132 the obs is:6 
[13:32:37.392] Odometry x=6.708318, y=-0.405997, theta=0.044110
[13:32:37.411] Image Alignment failed 0
[13:32:37.411] frame process finished the id is: 132 the obs is:6 
[13:32:37.489] Odometry x=6.708055, y=-0.415943, theta=0.045187
[13:32:37.513] Image Alignment failed 0
[13:32:37.513] frame process finished the id is: 132 the obs is:6 
[13:32:37.589] Odometry x=6.707871, y=-0.425069, theta=0.041943
[13:32:37.611] Image Alignment failed 0
[13:32:37.611] frame process finished the id is: 132 the obs is:6 
[13:32:37.691] Odometry x=6.707955, y=-0.436053, theta=0.040114
[13:32:37.711] Image Alignment failed 0
[13:32:37.711] frame process finished the id is: 132 the obs is:6 
[13:32:37.793] Odometry x=6.707512, y=-0.445465, theta=0.062885
[13:32:37.810] Image Alignment failed 0
[13:32:37.810] frame process finished the id is: 132 the obs is:6 
[13:32:37.893] Odometry x=6.707347, y=-0.453843, theta=0.054308
[13:32:37.910] Image Alignment failed 0
[13:32:37.910] frame process finished the id is: 132 the obs is:6 
[13:32:37.989] Odometry x=6.706789, y=-0.464163, theta=0.059315
[13:32:38.010] Image Alignment failed 0
[13:32:38.010] frame process finished the id is: 132 the obs is:6 
[13:32:38.096] Odometry x=6.706594, y=-0.474786, theta=0.049564
[13:32:38.110] Image Alignment failed 0
[13:32:38.110] frame process finished the id is: 132 the obs is:6 
[13:32:38.191] Odometry x=6.706321, y=-0.486139, theta=0.049953
[13:32:38.210] Image Alignment failed 0
[13:32:38.210] frame process finished the id is: 132 the obs is:6 
[13:32:38.293] Odometry x=6.707084, y=-0.496514, theta=0.048915
[13:32:38.310] Image Alignment failed 0
[13:32:38.310] frame process finished the id is: 132 the obs is:6 
[13:32:38.393] Odometry x=6.706836, y=-0.507057, theta=0.064356
[13:32:38.410] Image Alignment failed 0
[13:32:38.410] frame process finished the id is: 132 the obs is:6 
[13:32:38.489] Odometry x=6.706544, y=-0.517389, theta=0.058930
[13:32:38.510] Image Alignment failed 0
[13:32:38.510] frame process finished the id is: 132 the obs is:6 
[13:32:38.591] Odometry x=6.706109, y=-0.527867, theta=0.064152
[13:32:38.610] Image Alignment failed 0
[13:32:38.610] frame process finished the id is: 132 the obs is:6 
[13:32:38.693] Odometry x=6.705753, y=-0.538615, theta=0.063897
[13:32:38.710] Image Alignment failed 0
[13:32:38.710] frame process finished the id is: 132 the obs is:6 
[13:32:38.794] Odometry x=6.705235, y=-0.549399, theta=0.063217
[13:32:38.810] Image Alignment failed 0
[13:32:38.810] frame process finished the id is: 132 the obs is:6 
[13:32:38.896] Odometry x=6.704986, y=-0.557025, theta=0.063137
[13:32:38.913] Image Alignment failed 0
[13:32:38.913] frame process finished the id is: 132 the obs is:6 
[13:32:38.994] Odometry x=6.705285, y=-0.567997, theta=0.061773
[13:32:39.010] Image Alignment failed 0
[13:32:39.010] frame process finished the id is: 132 the obs is:6 
[13:32:39.092] Odometry x=6.702055, y=-0.578122, theta=0.067730
[13:32:39.110] Image Alignment failed 0
[13:32:39.110] frame process finished the id is: 132 the obs is:6 
[13:32:39.194] Odometry x=6.700827, y=-0.588735, theta=0.058194
[13:32:39.210] Image Alignment failed 0
[13:32:39.210] frame process finished the id is: 132 the obs is:6 
[13:32:39.295] Odometry x=6.700415, y=-0.599280, theta=0.061172
[13:32:39.311] Image Alignment failed 0
[13:32:39.311] frame process finished the id is: 132 the obs is:6 
[13:32:39.388] Odometry x=6.700034, y=-0.610051, theta=0.064604
[13:32:39.409] Image Alignment failed 0
[13:32:39.409] frame process finished the id is: 132 the obs is:6 
[13:32:39.497] Odometry x=6.699699, y=-0.620267, theta=0.057456
[13:32:39.510] Image Alignment failed 0
[13:32:39.510] frame process finished the id is: 132 the obs is:6 
[13:32:39.593] Odometry x=6.699444, y=-0.631615, theta=0.061515
[13:32:39.610] Image Alignment failed 0
[13:32:39.610] frame process finished the id is: 132 the obs is:6 
[13:32:39.689] Odometry x=6.699101, y=-0.642005, theta=0.068365
[13:32:39.711] Image Alignment failed 0
[13:32:39.711] frame process finished the id is: 132 the obs is:6 
[13:32:39.795] Odometry x=6.698746, y=-0.652456, theta=0.056615
[13:32:39.811] Image Alignment failed 0
[13:32:39.811] frame process finished the id is: 132 the obs is:6 
[13:32:39.889] Odometry x=6.698209, y=-0.663017, theta=0.054171
[13:32:39.910] Image Alignment failed 0
[13:32:39.910] frame process finished the id is: 132 the obs is:6 
[13:32:39.992] Odometry x=6.697937, y=-0.673293, theta=0.056328
[13:32:40.016] Image Alignment failed 0
[13:32:40.016] frame process finished the id is: 132 the obs is:6 
[13:32:40.091] Odometry x=6.697819, y=-0.685433, theta=0.062816
[13:32:40.109] Image Alignment failed 0
[13:32:40.110] frame process finished the id is: 132 the obs is:6 
[13:32:40.220] Image Alignment failed 0
[13:32:40.220] frame process finished the id is: 132 the obs is:6 
[13:32:40.309] Image Alignment failed 0
[13:32:40.309] frame process finished the id is: 132 the obs is:6 
[13:32:40.410] Image Alignment failed 0
[13:32:40.410] frame process finished the id is: 132 the obs is:6 
[13:32:40.510] Image Alignment failed 0
[13:32:40.510] frame process finished the id is: 132 the obs is:6 
[13:32:40.610] Image Alignment failed 0
[13:32:40.610] frame process finished the id is: 132 the obs is:6 
[13:32:40.711] Image Alignment failed 0
[13:32:40.711] frame process finished the id is: 132 the obs is:6 
[13:32:40.812] Image Alignment failed 0
[13:32:40.812] fram