[20:26:18.382] Init: frame zero: 0.000000, 0.000000 0.000000
[20:26:18.382] Init: Selected first frame. 
[20:26:18.482] Init: px average disparity is:0.183281 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:18.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:18.580] Init: px average disparity is:0.203786 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:18.580] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:18.679] Init: px average disparity is:0.218158 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:18.679] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:18.779] Init: px average disparity is:0.231354 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:18.779] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:18.879] Init: px average disparity is:0.217143 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:18.879] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:18.980] Init: px average disparity is:0.219727 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:18.980] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:19.081] Init: px average disparity is:0.212728 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:19.081] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:19.180] Init: px average disparity is:0.205983 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:19.180] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:19.280] Init: px average disparity is:0.228904 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:19.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:19.380] Init: px average disparity is:0.218745 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:19.380] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:19.481] Init: px average disparity is:0.228341 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:19.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:19.583] Init: px average disparity is:0.240148 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:19.583] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:19.680] Init: px average disparity is:0.225364 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:19.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:19.781] Init: px average disparity is:0.238703 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:19.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:19.844] Odometry x=0.000443, y=-0.000919, theta=0.038783
[20:26:19.881] Init: px average disparity is:0.260262 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:19.881] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:19.951] Odometry x=0.000471, y=-0.000980, theta=0.041528
[20:26:19.981] Init: px average disparity is:0.223023 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:19.982] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:20.047] Odometry x=0.000661, y=0.002877, theta=0.044034
[20:26:20.085] Init: px average disparity is:0.373465 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:20.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:20.150] Odometry x=0.000811, y=0.006988, theta=0.052960
[20:26:20.183] Init: px average disparity is:1.968736 ,While minimum is: 40.000000  KLT tracked : 234
[20:26:20.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:20.250] Odometry x=0.001219, y=0.010984, theta=0.030677
[20:26:20.283] Init: px average disparity is:6.665859 ,While minimum is: 40.000000  KLT tracked : 228
[20:26:20.283] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:20.344] Odometry x=0.001325, y=0.015033, theta=0.044060
[20:26:20.381] Init: px average disparity is:7.063381 ,While minimum is: 40.000000  KLT tracked : 228
[20:26:20.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:20.444] Odometry x=0.001579, y=0.018577, theta=0.029801
[20:26:20.486] Init: px average disparity is:10.049305 ,While minimum is: 40.000000  KLT tracked : 228
[20:26:20.486] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:20.551] Odometry x=0.001721, y=0.022180, theta=0.023238
[20:26:20.582] Init: px average disparity is:14.572293 ,While minimum is: 40.000000  KLT tracked : 227
[20:26:20.582] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:20.647] Odometry x=0.001853, y=0.025970, theta=0.011273
[20:26:20.682] Init: px average disparity is:22.915131 ,While minimum is: 40.000000  KLT tracked : 225
[20:26:20.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:20.751] Odometry x=0.001954, y=0.029823, theta=0.001853
[20:26:20.782] Init: px average disparity is:19.574565 ,While minimum is: 40.000000  KLT tracked : 225
[20:26:20.782] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:20.850] Odometry x=0.002023, y=0.033524, theta=0.028001
[20:26:20.884] Init: px average disparity is:20.358456 ,While minimum is: 40.000000  KLT tracked : 225
[20:26:20.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:20.947] Odometry x=0.002056, y=0.037355, theta=0.025605
[20:26:20.986] Init: px average disparity is:18.825429 ,While minimum is: 40.000000  KLT tracked : 225
[20:26:20.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:21.046] Odometry x=0.002134, y=0.041015, theta=0.061922
[20:26:21.084] Init: px average disparity is:19.066505 ,While minimum is: 40.000000  KLT tracked : 225
[20:26:21.084] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:21.147] Odometry x=0.000997, y=0.044811, theta=0.027884
[20:26:21.183] Init: px average disparity is:21.366737 ,While minimum is: 40.000000  KLT tracked : 225
[20:26:21.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:21.245] Odometry x=0.001095, y=0.048511, theta=0.031714
[20:26:21.282] Init: px average disparity is:23.134167 ,While minimum is: 40.000000  KLT tracked : 225
[20:26:21.282] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:21.348] Odometry x=0.001338, y=0.052256, theta=0.032864
[20:26:21.383] Init: px average disparity is:24.833204 ,While minimum is: 40.000000  KLT tracked : 225
[20:26:21.383] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:21.445] Odometry x=0.001444, y=0.055990, theta=0.039945
[20:26:21.483] Init: px average disparity is:28.355931 ,While minimum is: 40.000000  KLT tracked : 224
[20:26:21.483] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:21.547] Odometry x=0.001617, y=0.059765, theta=0.046460
[20:26:21.584] Init: px average disparity is:29.760549 ,While minimum is: 40.000000  KLT tracked : 223
[20:26:21.584] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:21.647] Odometry x=0.001792, y=0.063472, theta=0.059846
[20:26:21.684] Init: px average disparity is:33.736273 ,While minimum is: 40.000000  KLT tracked : 220
[20:26:21.684] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:21.749] Odometry x=0.002021, y=0.067208, theta=0.067284
[20:26:21.783] Init: px average disparity is:37.115707 ,While minimum is: 40.000000  KLT tracked : 218
[20:26:21.783] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:21.848] Odometry x=0.002223, y=0.070920, theta=0.055016
[20:26:21.883] Init: px average disparity is:39.323552 ,While minimum is: 40.000000  KLT tracked : 216
[20:26:21.883] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:21.946] Odometry x=0.002490, y=0.074381, theta=0.052462
[20:26:21.984] Init: px average disparity is:39.344921 ,While minimum is: 40.000000  KLT tracked : 215
[20:26:21.984] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:26:22.048] Odometry x=0.002596, y=0.078112, theta=0.068657
[20:26:22.150] Odometry x=0.003064, y=0.081773, theta=0.053755
[20:26:22.155] homography: x=60.780251 y=129.688619 z=1.095745 roll=-0.000000 pitch=0.005269 yaw=-0.000000 	 ekf: x=0.000332 z=0.008554 pitch=0.054555
[20:26:22.155] homography after fuse: x=0.000332 y=0.000000 z=0.008554 pitch=0.054555	 number of outlier: 136
[20:26:22.155] Init finished: Homography RANSAC (inlier) is:76 ,While 30 inliers minimum required.  px average disparity is:40.713021 ,While minimum is: 40.000000  KLT tracked: 212
[20:26:22.155] Init: distance between the first and current frame is x:0.000332 ,z=0.008554,angle between two frames: 0.054555 
[20:26:22.155] Init: Selected Second frame. 	 The number of features: 72
[20:26:22.248] Odometry x=0.003231, y=0.085483, theta=0.046744
[20:26:22.342] After Reprojection Map nPoint:90 ,nCell:38 ,nMatches:32 ,distance between two frames x:-0.000032 ,z=0.000066,angle between two frames:0.000152
[20:26:22.343] n deleted obs = 23 	 n obs with reprojection error less than 0.5 px =89 	 error init =0.305262 	 error end=0.260938
[20:26:22.343] After pose optimization, distance between two frames x:-0.027677 ,z=0.001473,angle between two frames:0.018440
[20:26:22.343] Update EKF and 3D points, distance between two frames x:-0.026065 ,z=0.001409,angle between two frames:0.017732
[20:26:22.350] Odometry x=-0.157729, y=0.095618, theta=0.039929
[20:26:22.452] Odometry x=-0.157549, y=0.099567, theta=0.015335
[20:26:22.499] After Reprojection Map nPoint:75 ,nCell:63 ,nMatches:27 ,distance between two frames x:0.009889 ,z=-0.000344,angle between two frames:0.003062
[20:26:22.500] n deleted obs = 16 	 n obs with reprojection error less than 0.5 px =47 	 error init =0.325387 	 error end=0.325387
[20:26:22.500] After pose optimization, distance between two frames x:0.009889 ,z=-0.000344,angle between two frames:0.003062
[20:26:22.500] Update EKF and 3D points, distance between two frames x:0.009895 ,z=-0.000303,angle between two frames:0.002020
[20:26:22.548] Odometry x=-0.157954, y=0.099089, theta=0.045372
[20:26:22.650] Odometry x=-0.157765, y=0.102848, theta=0.019014
[20:26:22.656] After Reprojection Map nPoint:87 ,nCell:65 ,nMatches:30 ,distance between two frames x:-0.000003 ,z=0.000394,angle between two frames:0.005717
[20:26:22.656] n deleted obs = 21 	 n obs with reprojection error less than 0.5 px =55 	 error init =0.325391 	 error end=0.325391
[20:26:22.656] After pose optimization, distance between two frames x:-0.000003 ,z=0.000394,angle between two frames:0.005717
[20:26:22.657] Update EKF and 3D points, distance between two frames x:0.000002 ,z=0.000430,angle between two frames:0.006609
[20:26:22.747] Odometry x=-0.158080, y=0.103014, theta=0.051206
[20:26:22.828] After Reprojection Map nPoint:87 ,nCell:76 ,nMatches:26 ,distance between two frames x:0.000022 ,z=0.000263,angle between two frames:0.005530
[20:26:22.828] n deleted obs = 17 	 n obs with reprojection error less than 0.5 px =44 	 error init =0.353213 	 error end=0.353213
[20:26:22.828] After pose optimization, distance between two frames x:0.000022 ,z=0.000263,angle between two frames:0.005530
[20:26:22.828] Update EKF and 3D points, distance between two frames x:0.000022 ,z=0.000282,angle between two frames:0.003755
[20:26:22.849] Odometry x=-0.158137, y=0.104930, theta=0.042737
[20:26:22.951] Odometry x=-0.157738, y=0.108581, theta=0.069178
[20:26:22.978] After Reprojection Map nPoint:82 ,nCell:70 ,nMatches:31 ,distance between two frames x:0.000006 ,z=0.000046,angle between two frames:0.000003
[20:26:22.978] n deleted obs = 21 	 n obs with reprojection error less than 0.5 px =51 	 error init =0.419265 	 error end=0.419265
[20:26:22.978] After pose optimization, distance between two frames x:0.000006 ,z=0.000046,angle between two frames:0.000003
[20:26:22.978] Update EKF and 3D points, distance between two frames x:0.000009 ,z=0.000094,angle between two frames:0.002743
[20:26:23.053] Odometry x=-0.157903, y=0.107559, theta=0.057089
[20:26:23.139] After Reprojection Map nPoint:94 ,nCell:80 ,nMatches:38 ,distance between two frames x:0.000305 ,z=0.000340,angle between two frames:0.017593
[20:26:23.139] n deleted obs = 27 	 n obs with reprojection error less than 0.5 px =56 	 error init =0.427664 	 error end=0.409156
[20:26:23.139] After pose optimization, distance between two frames x:-0.005643 ,z=0.032195,angle between two frames:0.017558
[20:26:23.139] Update EKF and 3D points, distance between two frames x:-0.005312 ,z=0.030360,angle between two frames:0.017926
[20:26:23.148] Odometry x=-0.190710, y=0.294845, theta=0.051781
[20:26:23.249] Odometry x=-0.190660, y=0.298527, theta=0.066686
[20:26:23.295] After Reprojection Map nPoint:94 ,nCell:79 ,nMatches:34 ,distance between two frames x:0.001981 ,z=-0.011319,angle between two frames:0.002582
[20:26:23.295] n deleted obs = 23 	 n obs with reprojection error less than 0.5 px =56 	 error init =0.392428 	 error end=0.377328
[20:26:23.295] After pose optimization, distance between two frames x:-0.015167 ,z=-0.008780,angle between two frames:0.009734
[20:26:23.295] Update EKF and 3D points, distance between two frames x:-0.014163 ,z=-0.008886,angle between two frames:0.008092
[20:26:23.351] Odometry x=-0.290711, y=0.312773, theta=0.048111
[20:26:23.447] Odometry x=-0.290520, y=0.316378, theta=0.039049
[20:26:23.465] After Reprojection Map nPoint:94 ,nCell:80 ,nMatches:33 ,distance between two frames x:0.006295 ,z=-0.000334,angle between two frames:0.010378
[20:26:23.465] n deleted obs = 20 	 n obs with reprojection error less than 0.5 px =56 	 error init =0.366349 	 error end=0.366349
[20:26:23.465] After pose optimization, distance between two frames x:0.006295 ,z=-0.000334,angle between two frames:0.010378
[20:26:23.465] Update EKF and 3D points, distance between two frames x:0.006292 ,z=-0.000311,angle between two frames:0.009493
[20:26:23.546] Odometry x=-0.290012, y=0.317727, theta=0.026565
[20:26:23.624] After Reprojection Map nPoint:79 ,nCell:66 ,nMatches:27 ,distance between two frames x:0.000672 ,z=0.000389,angle between two frames:0.005549
[20:26:23.624] n deleted obs = 20 	 n obs with reprojection error less than 0.5 px =43 	 error init =0.362340 	 error end=0.360541
[20:26:23.624] After pose optimization, distance between two frames x:-0.004353 ,z=0.001355,angle between two frames:0.006623
[20:26:23.624] Update EKF and 3D points, distance between two frames x:-0.004100 ,z=0.001306,angle between two frames:0.007532
[20:26:23.649] Odometry x=-0.315220, y=0.326353, theta=0.042627
[20:26:23.744] Odometry x=-0.314954, y=0.330013, theta=0.026597
[20:26:23.790] After Reprojection Map nPoint:78 ,nCell:69 ,nMatches:29 ,distance between two frames x:0.001555 ,z=-0.000304,angle between two frames:0.004734
[20:26:23.791] n deleted obs = 19 	 n obs with reprojection error less than 0.5 px =46 	 error init =0.376198 	 error end=0.376198
[20:26:23.791] After pose optimization, distance between two frames x:0.001555 ,z=-0.000304,angle between two frames:0.004734
[20:26:23.791] Update EKF and 3D points, distance between two frames x:0.001557 ,z=-0.000261,angle between two frames:0.005829
[20:26:23.847] Odometry x=-0.315039, y=0.329436, theta=0.036689
[20:26:23.949] Odometry x=-0.314934, y=0.333085, theta=0.013694
[20:26:23.958] After Reprojection Map nPoint:82 ,nCell:67 ,nMatches:28 ,distance between two frames x:0.001333 ,z=0.000246,angle between two frames:0.005534
[20:26:23.958] n deleted obs = 23 	 n obs with reprojection error less than 0.5 px =45 	 error init =0.420962 	 error end=0.420962
[20:26:23.958] After pose optimization, distance between two frames x:0.001333 ,z=0.000246,angle between two frames:0.005534
[20:26:23.958] Update EKF and 3D points, distance between two frames x:0.001257 ,z=0.000292,angle between two frames:0.006506
[20:26:24.049] Odometry x=-0.307322, y=0.332495, theta=0.028975
[20:26:24.153] Odometry x=-0.307186, y=0.336210, theta=0.035624
[20:26:24.160] After Reprojection Map nPoint:83 ,nCell:69 ,nMatches:27 ,distance between two frames x:0.001148 ,z=0.000541,angle between two frames:0.004612
[20:26:24.160] n deleted obs = 14 	 n obs with reprojection error less than 0.5 px =53 	 error init =0.305335 	 error end=0.303935
[20:26:24.160] After pose optimization, distance between two frames x:0.006865 ,z=0.002055,angle between two frames:0.001485
[20:26:24.160] Update EKF and 3D points, distance between two frames x:0.006440 ,z=0.001996,angle between two frames:0.001680
[20:26:24.250] Odometry x=-0.264465, y=0.345917, theta=0.016430
[20:26:24.318] After Reprojection Map nPoint:85 ,nCell:70 ,nMatches:31 ,distance between two frames x:-0.002154 ,z=-0.000101,angle between two frames:0.001408
[20:26:24.318] n deleted obs = 22 	 n obs with reprojection error less than 0.5 px =49 	 error init =0.338817 	 error end=0.338805
[20:26:24.318] After pose optimization, distance between two frames x:-0.003332 ,z=0.000317,angle between two frames:0.001052
[20:26:24.318] Update EKF and 3D points, distance between two frames x:-0.003290 ,z=0.000298,angle between two frames:0.001440
[20:26:24.349] Odometry x=-0.268625, y=0.351384, theta=0.047162
[20:26:24.449] Odometry x=-0.268450, y=0.355331, theta=0.046059
[20:26:24.501] After Reprojection Map nPoint:76 ,nCell:67 ,nMatches:24 ,distance between two frames x:0.001417 ,z=0.000034,angle between two frames:0.004533
[20:26:24.501] n deleted obs = 16 	 n obs with reprojection error less than 0.5 px =38 	 error init =0.335495 	 error end=0.334641
[20:26:24.501] After pose optimization, distance between two frames x:-0.006819 ,z=0.001336,angle between two frames:0.001230
[20:26:24.501] Update EKF and 3D points, distance between two frames x:-0.006404 ,z=0.001295,angle between two frames:0.000376
[20:26:24.546] Odometry x=-0.309653, y=0.362908, theta=0.060226
[20:26:24.649] Odometry x=-0.309380, y=0.366441, theta=0.103329
[20:26:24.654] After Reprojection Map nPoint:72 ,nCell:56 ,nMatches:22 ,distance between two frames x:0.002637 ,z=-0.000257,angle between two frames:0.011473
[20:26:24.655] n deleted obs = 15 	 n obs with reprojection error less than 0.5 px =42 	 error init =0.304821 	 error end=0.304821
[20:26:24.655] After pose optimization, distance between two frames x:0.002637 ,z=-0.000257,angle between two frames:0.011473
[20:26:24.655] Update EKF and 3D points, distance between two frames x:0.002637 ,z=-0.000214,angle between two frames:0.014721
[20:26:24.747] Odometry x=-0.308978, y=0.365980, theta=0.061949
[20:26:24.805] After Reprojection Map nPoint:65 ,nCell:57 ,nMatches:21 ,distance between two frames x:-0.000128 ,z=-0.000026,angle between two frames:0.000081
[20:26:24.805] n deleted obs = 13 	 n obs with reprojection error less than 0.5 px =36 	 error init =0.381178 	 error end=0.381178
[20:26:24.806] After pose optimization, distance between two frames x:-0.000128 ,z=-0.000026,angle between two frames:0.000081
[20:26:24.806] Update EKF and 3D points, distance between two frames x:-0.000119 ,z=0.000013,angle between two frames:0.001065
[20:26:24.849] Odometry x=-0.309482, y=0.365882, theta=0.044370
[20:26:24.946] Odometry x=-0.309370, y=0.369528, theta=0.038888
[20:26:24.976] After Reprojection Map nPoint:68 ,nCell:59 ,nMatches:27 ,distance between two frames x:0.000126 ,z=0.000211,angle between two frames:0.006288
[20:26:24.976] n deleted obs = 20 	 n obs with reprojection error less than 0.5 px =40 	 error init =0.409366 	 error end=0.400701
[20:26:24.976] After pose optimization, distance between two frames x:-0.015630 ,z=0.005382,angle between two frames:0.002225
[20:26:24.976] Update EKF and 3D points, distance between two frames x:-0.014715 ,z=0.005125,angle between two frames:0.002190
[20:26:25.051] Odometry x=-0.400576, y=0.398903, theta=0.037977
[20:26:25.149] Odometry x=-0.400483, y=0.402731, theta=0.032411
[20:26:25.154] After Reprojection Map nPoint:79 ,nCell:65 ,nMatches:30 ,distance between two frames x:0.005802 ,z=-0.001842,angle between two frames:0.000350
[20:26:25.155] n deleted obs = 25 	 n obs with reprojection error less than 0.5 px =42 	 error init =0.397108 	 error end=0.397108
[20:26:25.155] After pose optimization, distance between two frames x:0.005802 ,z=-0.001842,angle between two frames:0.000350
[20:26:25.155] Update EKF and 3D points, distance between two frames x:0.005796 ,z=-0.001782,angle between two frames:0.000763
[20:26:25.247] Odometry x=-0.399565, y=0.400602, theta=0.024986
[20:26:25.311] After Reprojection Map nPoint:76 ,nCell:63 ,nMatches:27 ,distance between two frames x:0.000328 ,z=-0.000167,angle between two frames:0.000360
[20:26:25.311] n deleted obs = 21 	 n obs with reprojection error less than 0.5 px =42 	 error init =0.362728 	 error end=0.362728
[20:26:25.311] After pose optimization, distance between two frames x:0.000328 ,z=-0.000167,angle between two frames:0.000360
[20:26:25.311] Update EKF and 3D points, distance between two frames x:0.000308 ,z=-0.000115,angle between two frames:0.000796
[20:26:25.344] Odometry x=-0.397459, y=0.399023, theta=0.043598
[20:26:25.449] Odometry x=-0.397189, y=0.402555, theta=0.047466
[20:26:25.475] After Reprojection Map nPoint:82 ,nCell:68 ,nMatches:27 ,distance between two frames x:-0.000091 ,z=0.000301,angle between two frames:0.006816
[20:26:25.475] n deleted obs = 17 	 n obs with reprojection error less than 0.5 px =48 	 error init =0.285619 	 error end=0.285619
[20:26:25.475] After pose optimization, distance between two frames x:-0.000091 ,z=0.000301,angle between two frames:0.006816
[20:26:25.475] Update EKF and 3D points, distance between two frames x:-0.000090 ,z=0.000345,angle between two frames:0.006695
[20:26:25.549] Odometry x=-0.397126, y=0.402000, theta=0.032941
[20:26:25.633] After Reprojection Map nPoint:81 ,nCell:69 ,nMatches:34 ,distance between two frames x:-0.000106 ,z=0.000564,angle between two frames:0.001555
[20:26:25.633] n deleted obs = 23 	 n obs with reprojection error less than 0.5 px =52 	 error init =0.386485 	 error end=0.386485
[20:26:25.633] After pose optimization, distance between two frames x:-0.000106 ,z=0.000564,angle between two frames:0.001555
[20:26:25.633] Update EKF and 3D points, distance between two frames x:-0.000099 ,z=0.000569,angle between two frames:0.001785
[20:26:25.645] Odometry x=-0.397643, y=0.405241, theta=0.039566
[20:26:25.746] Odometry x=-0.397473, y=0.408701, theta=0.011582
[20:26:25.816] After Reprojection Map nPoint:90 ,nCell:78 ,nMatches:35 ,distance between two frames x:0.001168 ,z=0.000455,angle between two frames:0.001100
[20:26:25.817] n deleted obs = 29 	 n obs with reprojection error less than 0.5 px =50 	 error init =0.435829 	 error end=0.435829
[20:26:25.817] After pose optimization, distance between two frames x:0.001168 ,z=0.000455,angle between two frames:0.001100
[20:26:25.817] Update EKF and 3D points, distance between two frames x:0.001104 ,z=0.000472,angle between two frames:0.001883
[20:26:25.850] Odometry x=-0.390950, y=0.410705, theta=0.040400
[20:26:25.951] Odometry x=-0.390716, y=0.414516, theta=0.019141
[20:26:25.968] After Reprojection Map nPoint:90 ,nCell:81 ,nMatches:34 ,distance between two frames x:-0.000450 ,z=0.000085,angle between two frames:0.004101
[20:26:25.968] n deleted obs = 24 	 n obs with reprojection error less than 0.5 px =50 	 error init =0.384922 	 error end=0.384922
[20:26:25.968] After pose optimization, distance between two frames x:-0.000450 ,z=0.000085,angle between two frames:0.004101
[20:26:25.968] Update EKF and 3D points, distance between two frames x:-0.000444 ,z=0.000130,angle between two frames:0.004606
[20:26:26.048] Odometry x=-0.391250, y=0.413779, theta=0.068831
[20:26:26.141] After Reprojection Map nPoint:91 ,nCell:77 ,nMatches:33 ,distance between two frames x:-0.000171 ,z=0.000307,angle between two frames:0.002032
[20:26:26.142] n deleted obs = 20 	 n obs with reprojection error less than 0.5 px =58 	 error init =0.355546 	 error end=0.353849
[20:26:26.142] After pose optimization, distance between two frames x:0.005319 ,z=0.002808,angle between two frames:0.002423
[20:26:26.142] Update EKF and 3D points, distance between two frames x:0.005012 ,z=0.002681,angle between two frames:0.003877
[20:26:26.146] Odometry x=-0.341393, y=0.437791, theta=0.039505
[20:26:26.246] Odometry x=-0.341278, y=0.442277, theta=0.095781
[20:26:26.292] After Reprojection Map nPoint:100 ,nCell:84 ,nMatches:36 ,distance between two frames x:-0.000073 ,z=-0.000049,angle between two frames:0.000044
[20:26:26.292] n deleted obs = 27 	 n obs with reprojection error less than 0.5 px =59 	 error init =0.370878 	 error end=0.370878
[20:26:26.292] After pose optimization, distance between two frames x:-0.000073 ,z=-0.000049,angle between two frames:0.000044
[20:26:26.292] Update EKF and 3D points, distance between two frames x:-0.000064 ,z=0.000002,angle between two frames:0.004075
[20:26:26.347] Odometry x=-0.341529, y=0.440999, theta=0.070561
[20:26:26.447] Odometry x=-0.341244, y=0.444580, theta=0.055790
[20:26:26.455] After Reprojection Map nPoint:42 ,nCell:42 ,nMatches:0 ,distance between two frames x:0.000032 ,z=0.000309,angle between two frames:0.026329
[20:26:26.456] After pose optimization, distance between two frames x:0.000032 ,z=0.000309,angle between two frames:0.026329
[20:26:26.460] Image Alignment failed 0
[20:26:26.534] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000003,angle between two frames:0.001136
[20:26:26.538] Image Alignment failed 0
[20:26:26.544] Odometry x=-0.341038, y=0.448274, theta=0.056517
[20:26:26.609] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:26:26.613] Image Alignment failed 0
[20:26:26.647] Odometry x=-0.340734, y=0.451938, theta=0.071958
[20:26:26.684] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:26:26.689] Image Alignment failed 0
[20:26:26.745] Odometry x=-0.340493, y=0.455490, theta=0.081977
[20:26:26.759] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:26:26.775] Image Alignment failed 0
[20:26:26.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000003,angle between two frames:0.000936
[20:26:26.850] Odometry x=-0.340238, y=0.458996, theta=0.083293
[20:26:26.874] Image Alignment failed 0
[20:26:26.946] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000040 ,z=0.000379,angle between two frames:0.006652
[20:26:26.947] Odometry x=-0.339681, y=0.462686, theta=0.079786
[20:26:26.976] Image Alignment failed 0
[20:26:27.046] Odometry x=-0.339479, y=0.466459, theta=0.061437
[20:26:27.047] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000028 ,z=0.000377,angle between two frames:0.008706
[20:26:27.074] Image Alignment failed 0
[20:26:27.146] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000023 ,z=0.000378,angle between two frames:0.001478
[20:26:27.147] Odometry x=-0.339150, y=0.470031, theta=0.062642
[20:26:27.175] Image Alignment failed 0
[20:26:27.246] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000028 ,z=0.000377,angle between two frames:0.008755
[20:26:27.247] Odometry x=-0.338811, y=0.473455, theta=0.049585
[20:26:27.275] Image Alignment failed 0
[20:26:27.347] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000018 ,z=0.000375,angle between two frames:0.000394
[20:26:27.347] Odometry x=-0.338634, y=0.477240, theta=0.055516
[20:26:27.375] Image Alignment failed 0
[20:26:27.446] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000028 ,z=0.000385,angle between two frames:0.002513
[20:26:27.447] Odometry x=-0.338252, y=0.480959, theta=0.028304
[20:26:27.475] Image Alignment failed 0
[20:26:27.547] Odometry x=-0.338077, y=0.484520, theta=0.012243
[20:26:27.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000010 ,z=0.000383,angle between two frames:0.005225
[20:26:27.574] Image Alignment failed 0
[20:26:27.646] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=0.000380,angle between two frames:0.000275
[20:26:27.650] Odometry x=-0.337939, y=0.488150, theta=0.017254
[20:26:27.675] Image Alignment failed 0
[20:26:27.744] Odometry x=-0.337783, y=0.491751, theta=0.016420
[20:26:27.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000019 ,z=0.000369,angle between two frames:0.000244
[20:26:27.776] Image Alignment failed 0
[20:26:27.847] Odometry x=-0.337725, y=0.495466, theta=0.039475
[20:26:27.853] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000375,angle between two frames:0.007033
[20:26:27.875] Image Alignment failed 0
[20:26:27.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000006,angle between two frames:0.002815
[20:26:27.947] Odometry x=-0.337539, y=0.499315, theta=0.054883
[20:26:27.975] Image Alignment failed 0
[20:26:28.046] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=0.000379,angle between two frames:0.002434
[20:26:28.047] Odometry x=-0.337345, y=0.503026, theta=0.062999
[20:26:28.075] Image Alignment failed 0
[20:26:28.144] Odometry x=-0.337028, y=0.506762, theta=0.083284
[20:26:28.146] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000028 ,z=0.000389,angle between two frames:0.009758
[20:26:28.174] Image Alignment failed 0
[20:26:28.245] Odometry x=-0.336783, y=0.510291, theta=0.100198
[20:26:28.246] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000036 ,z=0.000357,angle between two frames:0.002893
[20:26:28.275] Image Alignment failed 0
[20:26:28.345] Odometry x=-0.336179, y=0.513884, theta=0.103435
[20:26:28.347] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000044 ,z=0.000371,angle between two frames:0.008816
[20:26:28.375] Image Alignment failed 0
[20:26:28.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000036 ,z=0.000376,angle between two frames:0.003956
[20:26:28.453] Odometry x=-0.335867, y=0.517592, theta=0.110613
[20:26:28.480] Image Alignment failed 0
[20:26:28.547] Odometry x=-0.335342, y=0.521517, theta=0.110144
[20:26:28.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000048 ,z=0.000397,angle between two frames:0.004515
[20:26:28.576] Image Alignment failed 0
[20:26:28.645] Odometry x=-0.334934, y=0.524957, theta=0.121207
[20:26:28.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000038 ,z=0.000357,angle between two frames:0.001281
[20:26:28.675] Image Alignment failed 0
[20:26:28.745] Odometry x=-0.334400, y=0.528599, theta=0.110286
[20:26:28.745] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000058 ,z=0.000369,angle between two frames:0.001471
[20:26:28.775] Image Alignment failed 0
[20:26:28.846] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000040 ,z=0.000381,angle between two frames:0.002592
[20:26:28.846] Odometry x=-0.333820, y=0.532172, theta=0.108280
[20:26:28.882] Image Alignment failed 0
[20:26:28.949] Odometry x=-0.333451, y=0.535933, theta=0.092565
[20:26:28.953] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000042 ,z=0.000379,angle between two frames:0.000607
[20:26:28.974] Image Alignment failed 0
[20:26:29.046] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000026 ,z=0.000324,angle between two frames:0.006903
[20:26:29.046] Odometry x=-0.333125, y=0.539115, theta=0.088932
[20:26:29.076] Image Alignment failed 0
[20:26:29.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000039 ,z=0.000420,angle between two frames:0.003204
[20:26:29.147] Odometry x=-0.332595, y=0.543163, theta=0.068169
[20:26:29.175] Image Alignment failed 0
[20:26:29.245] Odometry x=-0.332383, y=0.546854, theta=0.055777
[20:26:29.247] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000033 ,z=0.000380,angle between two frames:0.013506
[20:26:29.277] Image Alignment failed 0
[20:26:29.348] Odometry x=-0.332013, y=0.550579, theta=0.048119
[20:26:29.359] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=0.000387,angle between two frames:0.009021
[20:26:29.380] Image Alignment failed 0
[20:26:29.447] Odometry x=-0.331844, y=0.554267, theta=0.048946
[20:26:29.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000005,angle between two frames:0.002141
[20:26:29.476] Image Alignment failed 0
[20:26:29.547] Odometry x=-0.331621, y=0.557991, theta=0.078460
[20:26:29.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=0.000378,angle between two frames:0.008768
[20:26:29.575] Image Alignment failed 0
[20:26:29.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000037 ,z=0.000381,angle between two frames:0.001115
[20:26:29.651] Odometry x=-0.331280, y=0.561690, theta=0.084943
[20:26:29.675] Image Alignment failed 0
[20:26:29.747] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000032 ,z=0.000386,angle between two frames:0.007977
[20:26:29.749] Odometry x=-0.330815, y=0.565481, theta=0.112422
[20:26:29.775] Image Alignment failed 0
[20:26:29.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000050 ,z=0.000366,angle between two frames:0.005274
[20:26:29.849] Odometry x=-0.330339, y=0.568998, theta=0.118879
[20:26:29.876] Image Alignment failed 0
[20:26:29.946] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000050 ,z=0.000372,angle between two frames:0.000620
[20:26:29.952] Odometry x=-0.329845, y=0.572711, theta=0.131927
[20:26:29.975] Image Alignment failed 0
[20:26:30.046] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000054 ,z=0.000371,angle between two frames:0.012417
[20:26:30.052] Odometry x=-0.329246, y=0.576279, theta=0.154070
[20:26:30.076] Image Alignment failed 0
[20:26:30.145] Odometry x=-0.328596, y=0.580011, theta=0.165453
[20:26:30.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000057 ,z=0.000381,angle between two frames:0.003397
[20:26:30.175] Image Alignment failed 0
[20:26:30.247] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000062 ,z=0.000357,angle between two frames:0.004275
[20:26:30.254] Odometry x=-0.328049, y=0.583451, theta=0.168518
[20:26:30.277] Image Alignment failed 0
[20:26:30.347] Odometry x=-0.327254, y=0.587310, theta=0.171655
[20:26:30.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000070 ,z=0.000396,angle between two frames:0.003066
[20:26:30.376] Image Alignment failed 0
[20:26:30.446] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000069 ,z=0.000348,angle between two frames:0.007360
[20:26:30.451] Odometry x=-0.326605, y=0.590643, theta=0.152303
[20:26:30.476] Image Alignment failed 0
[20:26:30.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000070 ,z=0.000389,angle between two frames:0.003430
[20:26:30.549] Odometry x=-0.325852, y=0.594464, theta=0.164298
[20:26:30.575] Image Alignment failed 0
[20:26:30.646] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000065 ,z=0.000343,angle between two frames:0.005416
[20:26:30.651] Odometry x=-0.325179, y=0.597777, theta=0.139993
[20:26:30.676] Image Alignment failed 0
[20:26:30.745] Odometry x=-0.324555, y=0.601702, theta=0.141925
[20:26:30.746] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000058 ,z=0.000402,angle between two frames:0.002324
[20:26:30.776] Image Alignment failed 0
[20:26:30.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000057 ,z=0.000356,angle between two frames:0.002863
[20:26:30.847] Odometry x=-0.323808, y=0.605239, theta=0.115686
[20:26:30.875] Image Alignment failed 0
[20:26:30.946] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000045 ,z=0.000378,angle between two frames:0.011314
[20:26:30.951] Odometry x=-0.323504, y=0.608869, theta=0.119219
[20:26:30.976] Image Alignment failed 0
[20:26:31.047] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000050 ,z=0.000402,angle between two frames:0.001733
[20:26:31.047] Odometry x=-0.322728, y=0.612742, theta=0.105907
[20:26:31.076] Image Alignment failed 0
[20:26:31.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000034 ,z=0.000338,angle between two frames:0.003359
[20:26:31.153] Odometry x=-0.322550, y=0.616093, theta=0.124818
[20:26:31.176] Image Alignment failed 0
[20:26:31.247] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000057 ,z=0.000406,angle between two frames:0.010021
[20:26:31.252] Odometry x=-0.321733, y=0.620118, theta=0.120367
[20:26:31.276] Image Alignment failed 0
[20:26:31.346] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000040 ,z=0.000367,angle between two frames:0.004501
[20:26:31.349] Odometry x=-0.321461, y=0.623576, theta=0.126655
[20:26:31.375] Image Alignment failed 0
[20:26:31.446] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000053 ,z=0.000366,angle between two frames:0.013500
[20:26:31.449] Odometry x=-0.320789, y=0.627155, theta=0.163555
[20:26:31.475] Image Alignment failed 0
[20:26:31.546] Odometry x=-0.320036, y=0.630698, theta=0.183001
[20:26:31.546] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000065 ,z=0.000378,angle between two frames:0.001294
[20:26:31.576] Image Alignment failed 0
[20:26:31.646] Odometry x=-0.319491, y=0.634385, theta=0.166072
[20:26:31.647] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000056 ,z=0.000364,angle between two frames:0.005035
[20:26:31.675] Image Alignment failed 0
[20:26:31.746] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000065 ,z=0.000379,angle between two frames:0.001354
[20:26:31.749] Odometry x=-0.318759, y=0.638076, theta=0.188485
[20:26:31.778] Image Alignment failed 0
[20:26:31.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000069 ,z=0.000373,angle between two frames:0.001593
[20:26:31.850] Odometry x=-0.318000, y=0.641775, theta=0.174558
[20:26:31.876] Image Alignment failed 0
[20:26:31.946] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000072 ,z=0.000397,angle between two frames:0.002291
[20:26:31.948] Odometry x=-0.317324, y=0.645648, theta=0.187219
[20:26:31.975] Image Alignment failed 0
[20:26:32.047] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000081 ,z=0.000373,angle between two frames:0.001196
[20:26:32.048] Odometry x=-0.316487, y=0.649407, theta=0.175675
[20:26:32.076] Image Alignment failed 0
[20:26:32.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000068 ,z=0.000368,angle between two frames:0.005149
[20:26:32.148] Odometry x=-0.315747, y=0.652916, theta=0.186240
[20:26:32.175] Image Alignment failed 0
[20:26:32.246] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000080 ,z=0.000377,angle between two frames:0.001919
[20:26:32.248] Odometry x=-0.314894, y=0.656784, theta=0.163917
[20:26:32.276] Image Alignment failed 0
[20:26:32.347] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000057 ,z=0.000381,angle between two frames:0.000073
[20:26:32.348] Odometry x=-0.314244, y=0.660564, theta=0.168834
[20:26:32.375] Image Alignment failed 0
[20:26:32.446] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000071 ,z=0.000371,angle between two frames:0.008145
[20:26:32.448] Odometry x=-0.313622, y=0.664078, theta=0.147114
[20:26:32.476] Image Alignment failed 0
[20:26:32.546] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000062 ,z=0.000387,angle between two frames:0.003559
[20:26:32.546] Odometry x=-0.312879, y=0.667930, theta=0.143685
[20:26:32.576] Image Alignment failed 0
[20:26:32.647] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000057 ,z=0.000372,angle between two frames:0.003521
[20:26:32.649] Odometry x=-0.312309, y=0.671603, theta=0.137786
[20:26:32.676] Image Alignment failed 0
[20:26:32.746] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000053 ,z=0.000375,angle between two frames:0.002786
[20:26:32.748] Odometry x=-0.311747, y=0.675212, theta=0.141214
[20:26:32.775] Image Alignment failed 0
[20:26:32.845] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000058 ,z=0.000367,angle between two frames:0.001980
[20:26:32.848] Odometry x=-0.311192, y=0.678883, theta=0.151212
[20:26:32.876] Image Alignment failed 0
[20:26:32.946] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000061 ,z=0.000383,angle between two frames:0.003198
[20:26:32.948] Odometry x=-0.310501, y=0.682710, theta=0.141412
[20:26:32.975] Image Alignment failed 0
[20:26:33.046] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000056 ,z=0.000367,angle between two frames:0.005945
[20:26:33.048] Odometry x=-0.309937, y=0.686316, theta=0.155319
[20:26:33.076] Image Alignment failed 0
[20:26:33.146] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000058 ,z=0.000380,angle between two frames:0.002575
[20:26:33.148] Odometry x=-0.309332, y=0.690019, theta=0.162056
[20:26:33.175] Image Alignment failed 0
[20:26:33.246] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000072 ,z=0.000361,angle between two frames:0.000634
[20:26:33.248] Odometry x=-0.308702, y=0.693526, theta=0.173067
[20:26:33.276] Image Alignment failed 0
[20:26:33.346] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000068 ,z=0.000374,angle between two frames:0.007214
[20:26:33.348] Odometry x=-0.307939, y=0.697259, theta=0.187426
[20:26:33.376] Image Alignment failed 0
[20:26:33.446] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000071 ,z=0.000369,angle between two frames:0.001555
[20:26:33.448] Odometry x=-0.307158, y=0.700934, theta=0.214673
[20:26:33.476] Image Alignment failed 0
[20:26:33.546] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000082 ,z=0.000370,angle between two frames:0.011072
[20:26:33.548] Odometry x=-0.306245, y=0.704533, theta=0.218648
[20:26:33.576] Image Alignment failed 0
[20:26:33.646] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000087 ,z=0.000375,angle between two frames:0.006704
[20:26:33.648] Odometry x=-0.305470, y=0.708385, theta=0.219653
[20:26:33.676] Image Alignment failed 0
[20:26:33.746] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000081 ,z=0.000369,angle between two frames:0.011518
[20:26:33.749] Odometry x=-0.304553, y=0.711955, theta=0.227889
[20:26:33.775] Image Alignment failed 0
[20:26:33.845] Odometry x=-0.303731, y=0.715579, theta=0.227437
[20:26:33.846] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000086 ,z=0.000367,angle between two frames:0.002123
[20:26:33.879] Image Alignment failed 0
[20:26:33.947] Odometry x=-0.302857, y=0.718770, theta=0.205765
[20:26:33.955] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000080 ,z=0.000335,angle between two frames:0.007614
[20:26:33.975] Image Alignment failed 0
[20:26:34.046] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.006074
[20:26:34.047] Odometry x=-0.302041, y=0.722780, theta=0.227366
[20:26:34.076] Image Alignment failed 0
[20:26:34.146] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000091 ,z=0.000352,angle between two frames:0.008079
[20:26:34.149] Odometry x=-0.301154, y=0.726200, theta=0.208544
[20:26:34.175] Image Alignment failed 0
[20:26:34.245] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000090 ,z=0.000383,angle between two frames:0.003949
[20:26:34.249] Odometry x=-0.300164, y=0.729973, theta=0.200028
[20:26:34.274] Image Alignment failed 0
[20:26:34.344] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000076 ,z=0.000391,angle between two frames:0.007245
[20:26:34.345] Odometry x=-0.299364, y=0.733738, theta=0.184437
[20:26:34.375] Image Alignment failed 0
[20:26:34.444] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000072 ,z=0.000358,angle between two frames:0.008846
[20:26:34.445] Odometry x=-0.298652, y=0.737170, theta=0.156131
[20:26:34.476] Image Alignment failed 0
[20:26:34.545] Odometry x=-0.298148, y=0.740655, theta=0.185284
[20:26:34.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000054 ,z=0.000347,angle between two frames:0.007972
[20:26:34.576] Image Alignment failed 0
[20:26:34.645] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000073 ,z=0.000413,angle between two frames:0.006658
[20:26:34.649] Odometry x=-0.297364, y=0.744666, theta=0.149874
[20:26:34.676] Image Alignment failed 0
[20:26:34.746] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000040 ,z=0.000369,angle between two frames:0.012308
[20:26:34.749] Odometry x=-0.296855, y=0.748276, theta=0.199246
[20:26:34.775] Image Alignment failed 0
[20:26:34.846] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000077 ,z=0.000374,angle between two frames:0.003774
[20:26:34.850] Odometry x=-0.296091, y=0.752036, theta=0.205367
[20:26:34.876] Image Alignment failed 0
[20:26:34.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000073 ,z=0.000360,angle between two frames:0.008556
[20:26:34.949] Odometry x=-0.295251, y=0.755518, theta=0.234933
[20:26:34.975] Image Alignment failed 0
[20:26:35.046] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000086 ,z=0.000360,angle between two frames:0.003706
[20:26:35.051] Odometry x=-0.294386, y=0.759016, theta=0.242291
[20:26:35.085] Image Alignment failed 0
[20:26:35.152] Odometry x=-0.293595, y=0.762659, theta=0.265259
[20:26:35.155] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000088 ,z=0.000365,angle between two frames:0.009662
[20:26:35.175] Image Alignment failed 0
[20:26:35.246] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000103 ,z=0.000371,angle between two frames:0.001369
[20:26:35.248] Odometry x=-0.292548, y=0.766260, theta=0.268082
[20:26:35.276] Image Alignment failed 0
[20:26:35.346] Odometry x=-0.291584, y=0.769715, theta=0.270635
[20:26:35.346] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000096 ,z=0.000347,angle between two frames:0.000221
[20:26:35.376] Image Alignment failed 0
[20:26:35.445] Odometry x=-0.290578, y=0.773131, theta=0.266183
[20:26:35.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000099 ,z=0.000359,angle between two frames:0.000379
[20:26:35.476] Image Alignment failed 0
[20:26:35.545] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000093 ,z=0.000309,angle between two frames:0.012606
[20:26:35.549] Odometry x=-0.289557, y=0.776198, theta=0.299909
[20:26:35.576] Image Alignment failed 0
[20:26:35.645] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000101 ,z=0.000369,angle between two frames:0.005426
[20:26:35.647] Odometry x=-0.288493, y=0.780076, theta=0.307521
[20:26:35.676] Image Alignment failed 0
[20:26:35.746] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000124 ,z=0.000380,angle between two frames:0.000027
[20:26:35.749] Odometry x=-0.287125, y=0.784216, theta=0.299509
[20:26:35.776] Image Alignment failed 0
[20:26:35.845] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000124 ,z=0.000398,angle between two frames:0.004189
[20:26:35.847] Odometry x=-0.285722, y=0.788678, theta=0.282971
[20:26:35.878] Image Alignment failed 0
[20:26:35.947] Odometry x=-0.284401, y=0.792635, theta=0.257038
[20:26:35.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000121 ,z=0.000374,angle between two frames:0.008747
[20:26:35.985] Image Alignment failed 0
[20:26:36.046] Odometry x=-0.283256, y=0.797012, theta=0.240256
[20:26:36.054] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000103 ,z=0.000414,angle between two frames:0.007204
[20:26:36.078] Image Alignment failed 0
[20:26:36.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000007,angle between two frames:0.001126
[20:26:36.150] Odometry x=-0.282223, y=0.801159, theta=0.237364
[20:26:36.176] Image Alignment failed 0
[20:26:36.245] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000097 ,z=0.000366,angle between two frames:0.009025
[20:26:36.248] Odometry x=-0.281274, y=0.805134, theta=0.270034
[20:26:36.276] Image Alignment failed 0
[20:26:36.346] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000107 ,z=0.000416,angle between two frames:0.010994
[20:26:36.349] Odometry x=-0.280183, y=0.809670, theta=0.291596
[20:26:36.375] Image Alignment failed 0
[20:26:36.444] Odometry x=-0.278895, y=0.813738, theta=0.282535
[20:26:36.446] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000127 ,z=0.000399,angle between two frames:0.001457
[20:26:36.476] Image Alignment failed 0
[20:26:36.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000095 ,z=0.000363,angle between two frames:0.001686
[20:26:36.549] Odometry x=-0.277930, y=0.817292, theta=0.273245
[20:26:36.578] Image Alignment failed 0
[20:26:36.650] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000108 ,z=0.000383,angle between two frames:0.002135
[20:26:36.654] Odometry x=-0.276820, y=0.821011, theta=0.266324
[20:26:36.675] Image Alignment failed 0
[20:26:36.745] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000106 ,z=0.000386,angle between two frames:0.001143
[20:26:36.748] Odometry x=-0.275667, y=0.824810, theta=0.261432
[20:26:36.776] Image Alignment failed 0
[20:26:36.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000093 ,z=0.000331,angle between two frames:0.001490
[20:26:36.848] Odometry x=-0.274705, y=0.828089, theta=0.266027
[20:26:36.875] Image Alignment failed 0
[20:26:36.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000095 ,z=0.000367,angle between two frames:0.001184
[20:26:36.947] Odometry x=-0.273780, y=0.831596, theta=0.266113
[20:26:36.976] Image Alignment failed 0
[20:26:37.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000100 ,z=0.000365,angle between two frames:0.002661
[20:26:37.055] Odometry x=-0.272806, y=0.835233, theta=0.267497
[20:26:37.076] Image Alignment failed 0
[20:26:37.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000107 ,z=0.000392,angle between two frames:0.000845
[20:26:37.148] Odometry x=-0.271687, y=0.839082, theta=0.271429
[20:26:37.181] Image Alignment failed 0
[20:26:37.245] Odometry x=-0.270671, y=0.842468, theta=0.277093
[20:26:37.252] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000100 ,z=0.000342,angle between two frames:0.001564
[20:26:37.275] Image Alignment failed 0
[20:26:37.346] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.000927
[20:26:37.348] Odometry x=-0.269615, y=0.845926, theta=0.285538
[20:26:37.376] Image Alignment failed 0
[20:26:37.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000112 ,z=0.000370,angle between two frames:0.005905
[20:26:37.447] Odometry x=-0.268603, y=0.849516, theta=0.292848
[20:26:37.476] Image Alignment failed 0
[20:26:37.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000110 ,z=0.000361,angle between two frames:0.003124
[20:26:37.547] Odometry x=-0.267446, y=0.853089, theta=0.291641
[20:26:37.577] Image Alignment failed 0
[20:26:37.647] Odometry x=-0.266348, y=0.856726, theta=0.289333
[20:26:37.647] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000111 ,z=0.000365,angle between two frames:0.000530
[20:26:37.676] Image Alignment failed 0
[20:26:37.746] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000109 ,z=0.000364,angle between two frames:0.000966
[20:26:37.750] Odometry x=-0.265230, y=0.860292, theta=0.289032
[20:26:37.776] Image Alignment failed 0
[20:26:37.845] Odometry x=-0.264141, y=0.863862, theta=0.288357
[20:26:37.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000110 ,z=0.000360,angle between two frames:0.000910
[20:26:37.876] Image Alignment failed 0
[20:26:37.946] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000106 ,z=0.000359,angle between two frames:0.002380
[20:26:37.948] Odometry x=-0.263024, y=0.867417, theta=0.285063
[20:26:37.977] Image Alignment failed 0
[20:26:38.046] Odometry x=-0.261952, y=0.870987, theta=0.280666
[20:26:38.047] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000109 ,z=0.000363,angle between two frames:0.000466
[20:26:38.076] Image Alignment failed 0
[20:26:38.145] Odometry x=-0.260827, y=0.874416, theta=0.271183
[20:26:38.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000108 ,z=0.000361,angle between two frames:0.005869
[20:26:38.176] Image Alignment failed 0
[20:26:38.247] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000102 ,z=0.000367,angle between two frames:0.000376
[20:26:38.248] Odometry x=-0.259806, y=0.878014, theta=0.271216
[20:26:38.276] Image Alignment failed 0
[20:26:38.346] Odometry x=-0.258741, y=0.881554, theta=0.273463
[20:26:38.347] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000104 ,z=0.000361,angle between two frames:0.000615
[20:26:38.376] Image Alignment failed 0
[20:26:38.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000103 ,z=0.000363,angle between two frames:0.001957
[20:26:38.447] Odometry x=-0.257709, y=0.885134, theta=0.279415
[20:26:38.476] Image Alignment failed 0
[20:26:38.546] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000107 ,z=0.000366,angle between two frames:0.000460
[20:26:38.550] Odometry x=-0.256646, y=0.888767, theta=0.279510
[20:26:38.577] Image Alignment failed 0
[20:26:38.647] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000107 ,z=0.000368,angle between two frames:0.002750
[20:26:38.649] Odometry x=-0.255585, y=0.892469, theta=0.288003
[20:26:38.681] Image Alignment failed 0
[20:26:38.747] Odometry x=-0.254506, y=0.895864, theta=0.277493
[20:26:38.749] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000108 ,z=0.000363,angle between two frames:0.005399
[20:26:38.777] Image Alignment failed 0
[20:26:38.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000105 ,z=0.000357,angle between two frames:0.007974
[20:26:38.850] Odometry x=-0.253469, y=0.899329, theta=0.306083
[20:26:38.877] Image Alignment failed 0
[20:26:38.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000118 ,z=0.000362,angle between two frames:0.010106
[20:26:38.947] Odometry x=-0.252183, y=0.903006, theta=0.331145
[20:26:38.977] Image Alignment failed 0
[20:26:39.047] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000121 ,z=0.000349,angle between two frames:0.004771
[20:26:39.051] Odometry x=-0.251006, y=0.906503, theta=0.340921
[20:26:39.076] Image Alignment failed 0
[20:26:39.146] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000136 ,z=0.000374,angle between two frames:0.000214
[20:26:39.149] Odometry x=-0.249613, y=0.910203, theta=0.351524
[20:26:39.179] Image Alignment failed 0
[20:26:39.249] Odometry x=-0.248501, y=0.913572, theta=0.358441
[20:26:39.249] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000120 ,z=0.000339,angle between two frames:0.008200
[20:26:39.277] Image Alignment failed 0
[20:26:39.346] Odometry x=-0.247133, y=0.917128, theta=0.356343
[20:26:39.347] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000138 ,z=0.000359,angle between two frames:0.004406
[20:26:39.376] Image Alignment failed 0
[20:26:39.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000135 ,z=0.000352,angle between two frames:0.000438
[20:26:39.449] Odometry x=-0.245756, y=0.920653, theta=0.355649
[20:26:39.476] Image Alignment failed 0
[20:26:39.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000134 ,z=0.000348,angle between two frames:0.000514
[20:26:39.549] Odometry x=-0.244406, y=0.924039, theta=0.361506
[20:26:39.575] Image Alignment failed 0
[20:26:39.648] Odometry x=-0.243030, y=0.927844, theta=0.356176
[20:26:39.673] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000143 ,z=0.000382,angle between two frames:0.001400
[20:26:39.677] Image Alignment failed 0
[20:26:39.747] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000466
[20:26:39.747] Odometry x=-0.241764, y=0.931140, theta=0.349754
[20:26:39.775] Image Alignment failed 0
[20:26:39.846] Odometry x=-0.240518, y=0.934696, theta=0.347069
[20:26:39.846] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000133 ,z=0.000363,angle between two frames:0.000550
[20:26:39.876] Image Alignment failed 0
[20:26:39.946] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000126 ,z=0.000349,angle between two frames:0.002852
[20:26:39.947] Odometry x=-0.239245, y=0.938073, theta=0.336554
[20:26:39.975] Image Alignment failed 0
[20:26:40.045] Odometry x=-0.237985, y=0.941644, theta=0.332623
[20:26:40.046] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000129 ,z=0.000361,angle between two frames:0.001096
[20:26:40.076] Image Alignment failed 0
[20:26:40.146] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000128 ,z=0.000365,angle between two frames:0.003166
[20:26:40.148] Odometry x=-0.236696, y=0.945178, theta=0.323450
[20:26:40.181] Image Alignment failed 0
[20:26:40.248] Odometry x=-0.235562, y=0.948645, theta=0.326688
[20:26:40.252] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000118 ,z=0.000350,angle between two frames:0.000912
[20:26:40.276] Image Alignment failed 0
[20:26:40.346] Odometry x=-0.234348, y=0.952133, theta=0.329698
[20:26:40.346] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000121 ,z=0.000358,angle between two frames:0.000234
[20:26:40.376] Image Alignment failed 0
[20:26:40.445] Odometry x=-0.233167, y=0.955698, theta=0.341206
[20:26:40.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000124 ,z=0.000359,angle between two frames:0.003902
[20:26:40.476] Image Alignment failed 0
[20:26:40.545] Odometry x=-0.231891, y=0.959141, theta=0.336227
[20:26:40.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000125 ,z=0.000359,angle between two frames:0.001727
[20:26:40.576] Image Alignment failed 0
[20:26:40.646] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000124 ,z=0.000347,angle between two frames:0.005635
[20:26:40.648] Odometry x=-0.230695, y=0.962528, theta=0.353604
[20:26:40.676] Image Alignment failed 0
[20:26:40.746] Odometry x=-0.229334, y=0.965872, theta=0.374155
[20:26:40.746] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000136 ,z=0.000353,angle between two frames:0.002841
[20:26:40.776] Image Alignment failed 0
[20:26:40.847] Odometry x=-0.227897, y=0.969451, theta=0.392411
[20:26:40.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000138 ,z=0.000355,angle between two frames:0.012142
[20:26:40.876] Image Alignment failed 0
[20:26:40.945] Odometry x=-0.226442, y=0.972816, theta=0.399531
[20:26:40.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000146 ,z=0.000347,angle between two frames:0.000334
[20:26:40.975] Image Alignment failed 0
[20:26:41.046] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000145 ,z=0.000348,angle between two frames:0.001946
[20:26:41.048] Odometry x=-0.225022, y=0.976224, theta=0.399298
[20:26:41.075] Image Alignment failed 0
[20:26:41.146] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000150 ,z=0.000348,angle between two frames:0.000042
[20:26:41.146] Odometry x=-0.223555, y=0.979539, theta=0.403180
[20:26:41.177] Image Alignment failed 0
[20:26:41.245] Odometry x=-0.222074, y=0.982969, theta=0.404623
[20:26:41.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000147 ,z=0.000347,angle between two frames:0.000584
[20:26:41.276] Image Alignment failed 0
[20:26:41.346] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000153 ,z=0.000346,angle between two frames:0.000010
[20:26:41.347] Odometry x=-0.220554, y=0.986333, theta=0.405130
[20:26:41.376] Image Alignment failed 0
[20:26:41.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000152 ,z=0.000347,angle between two frames:0.000738
[20:26:41.447] Odometry x=-0.219028, y=0.989734, theta=0.399619
[20:26:41.478] Image Alignment failed 0
[20:26:41.549] Odometry x=-0.217477, y=0.993111, theta=0.400287
[20:26:41.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000151 ,z=0.000347,angle between two frames:0.000950
[20:26:41.578] Image Alignment failed 0
[20:26:41.647] Odometry x=-0.216029, y=0.996499, theta=0.399447
[20:26:41.649] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000147 ,z=0.000347,angle between two frames:0.000090
[20:26:41.677] Image Alignment failed 0
[20:26:41.745] Odometry x=-0.214514, y=0.999848, theta=0.397964
[20:26:41.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000149 ,z=0.000348,angle between two frames:0.000849
[20:26:41.776] Image Alignment failed 0
[20:26:41.846] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000146 ,z=0.000350,angle between two frames:0.000773
[20:26:41.848] Odometry x=-0.213071, y=1.003294, theta=0.391119
[20:26:41.876] Image Alignment failed 0
[20:26:41.946] Odometry x=-0.211522, y=1.006826, theta=0.386287
[20:26:41.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000149 ,z=0.000357,angle between two frames:0.002762
[20:26:41.977] Image Alignment failed 0
[20:26:42.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000144 ,z=0.000352,angle between two frames:0.000221
[20:26:42.050] Odometry x=-0.210098, y=1.010267, theta=0.383780
[20:26:42.076] Image Alignment failed 0
[20:26:42.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000144 ,z=0.000353,angle between two frames:0.000877
[20:26:42.149] Odometry x=-0.208645, y=1.013744, theta=0.383427
[20:26:42.175] Image Alignment failed 0
[20:26:42.243] Odometry x=-0.207197, y=1.017284, theta=0.380982
[20:26:42.246] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000142 ,z=0.000354,angle between two frames:0.000128
[20:26:42.280] Image Alignment failed 0
[20:26:42.349] Odometry x=-0.205794, y=1.020464, theta=0.387899
[20:26:42.351] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000131 ,z=0.000329,angle between two frames:0.000402
[20:26:42.375] Image Alignment failed 0
[20:26:42.445] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000151 ,z=0.000373,angle between two frames:0.004823
[20:26:42.452] Odometry x=-0.204311, y=1.024136, theta=0.394831
[20:26:42.476] Image Alignment failed 0
[20:26:42.545] Odometry x=-0.202745, y=1.027626, theta=0.401103
[20:26:42.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000153 ,z=0.000358,angle between two frames:0.001154
[20:26:42.580] Image Alignment failed 0
[20:26:42.643] Odometry x=-0.201358, y=1.031032, theta=0.403700
[20:26:42.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000140 ,z=0.000341,angle between two frames:0.001264
[20:26:42.676] Image Alignment failed 0
[20:26:42.747] Odometry x=-0.199872, y=1.034458, theta=0.407550
[20:26:42.755] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000002,angle between two frames:0.000591
[20:26:42.777] Image Alignment failed 0
[20:26:42.845] Odometry x=-0.198316, y=1.038022, theta=0.409782
[20:26:42.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.001558
[20:26:42.876] Image Alignment failed 0
[20:26:42.947] Odometry x=-0.196828, y=1.041396, theta=0.414511
[20:26:42.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000147 ,z=0.000341,angle between two frames:0.000641
[20:26:42.976] Image Alignment failed 0
[20:26:43.044] Odometry x=-0.195224, y=1.044934, theta=0.416467
[20:26:43.053] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000160 ,z=0.000355,angle between two frames:0.002052
[20:26:43.076] Image Alignment failed 0
[20:26:43.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.000643
[20:26:43.147] Odometry x=-0.193678, y=1.048411, theta=0.418007
[20:26:43.177] Image Alignment failed 0
[20:26:43.245] Odometry x=-0.192167, y=1.051800, theta=0.415971
[20:26:43.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000154 ,z=0.000348,angle between two frames:0.000997
[20:26:43.276] Image Alignment failed 0
[20:26:43.347] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000154 ,z=0.000345,angle between two frames:0.002286
[20:26:43.348] Odometry x=-0.190624, y=1.055179, theta=0.413461
[20:26:43.377] Image Alignment failed 0
[20:26:43.445] Odometry x=-0.189123, y=1.058621, theta=0.415329
[20:26:43.448] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000153 ,z=0.000349,angle between two frames:0.001788
[20:26:43.476] Image Alignment failed 0
[20:26:43.546] Odometry x=-0.187638, y=1.061926, theta=0.411483
[20:26:43.559] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000152 ,z=0.000344,angle between two frames:0.001462
[20:26:43.576] Image Alignment failed 0
[20:26:43.648] Odometry x=-0.186143, y=1.065303, theta=0.405428
[20:26:43.664] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.000346
[20:26:43.676] Image Alignment failed 0
[20:26:43.744] Odometry x=-0.184618, y=1.068650, theta=0.392503
[20:26:43.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.001705
[20:26:43.776] Image Alignment failed 0
[20:26:43.847] Odometry x=-0.183152, y=1.072120, theta=0.398626
[20:26:43.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000003,angle between two frames:0.000722
[20:26:43.877] Image Alignment failed 0
[20:26:43.947] Odometry x=-0.181682, y=1.075405, theta=0.409358
[20:26:43.948] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000153 ,z=0.000346,angle between two frames:0.003396
[20:26:43.977] Image Alignment failed 0
[20:26:44.047] Odometry x=-0.180182, y=1.078876, theta=0.417578
[20:26:44.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000151 ,z=0.000347,angle between two frames:0.002548
[20:26:44.077] Image Alignment failed 0
[20:26:44.143] Odometry x=-0.178594, y=1.082260, theta=0.426282
[20:26:44.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000155 ,z=0.000352,angle between two frames:0.002176
[20:26:44.177] Image Alignment failed 0
[20:26:44.245] Odometry x=-0.177148, y=1.085352, theta=0.453517
[20:26:44.247] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000146 ,z=0.000321,angle between two frames:0.010946
[20:26:44.277] Image Alignment failed 0
[20:26:44.344] Odometry x=-0.175538, y=1.088664, theta=0.462892
[20:26:44.347] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000167 ,z=0.000343,angle between two frames:0.002730
[20:26:44.376] Image Alignment failed 0
[20:26:44.446] Odometry x=-0.173841, y=1.091990, theta=0.471393
[20:26:44.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000166 ,z=0.000336,angle between two frames:0.002431
[20:26:44.477] Image Alignment failed 0
[20:26:44.548] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000176 ,z=0.000341,angle between two frames:0.000764
[20:26:44.549] Odometry x=-0.172127, y=1.095307, theta=0.475145
[20:26:44.576] Image Alignment failed 0
[20:26:44.646] Odometry x=-0.170376, y=1.098647, theta=0.479638
[20:26:44.647] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000176 ,z=0.000338,angle between two frames:0.000819
[20:26:44.677] Image Alignment failed 0
[20:26:44.745] Odometry x=-0.168594, y=1.101915, theta=0.477352
[20:26:44.747] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000176 ,z=0.000339,angle between two frames:0.000656
[20:26:44.777] Image Alignment failed 0
[20:26:44.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000169 ,z=0.000331,angle between two frames:0.008326
[20:26:44.851] Odometry x=-0.166933, y=1.105154, theta=0.493731
[20:26:44.878] Image Alignment failed 0
[20:26:44.951] Odometry x=-0.165107, y=1.108638, theta=0.491710
[20:26:44.967] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000185 ,z=0.000348,angle between two frames:0.001800
[20:26:44.976] Image Alignment failed 0
[20:26:45.048] Odometry x=-0.163339, y=1.111927, theta=0.490370
[20:26:45.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000092
[20:26:45.075] Image Alignment failed 0
[20:26:45.143] Odometry x=-0.161675, y=1.115038, theta=0.485266
[20:26:45.149] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000174 ,z=0.000326,angle between two frames:0.000847
[20:26:45.177] Image Alignment failed 0
[20:26:45.249] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000005,angle between two frames:0.001518
[20:26:45.250] Odometry x=-0.160087, y=1.118067, theta=0.481160
[20:26:45.276] Image Alignment failed 0
[20:26:45.346] Odometry x=-0.158363, y=1.121309, theta=0.472694
[20:26:45.351] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000178 ,z=0.000339,angle between two frames:0.002388
[20:26:45.375] Image Alignment failed 0
[20:26:45.447] Odometry x=-0.156711, y=1.124509, theta=0.467592
[20:26:45.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000167 ,z=0.000327,angle between two frames:0.001302
[20:26:45.477] Image Alignment failed 0
[20:26:45.550] Odometry x=-0.154906, y=1.127961, theta=0.458741
[20:26:45.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000180 ,z=0.000354,angle between two frames:0.002216
[20:26:45.581] Image Alignment failed 0
[20:26:45.652] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000172 ,z=0.000345,angle between two frames:0.001632
[20:26:45.653] Odometry x=-0.153201, y=1.131335, theta=0.455663
[20:26:45.677] Image Alignment failed 0
[20:26:45.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000173 ,z=0.000351,angle between two frames:0.001006
[20:26:45.750] Odometry x=-0.151515, y=1.134681, theta=0.453994
[20:26:45.778] Image Alignment failed 0
[20:26:45.851] Odometry x=-0.149904, y=1.137877, theta=0.455486
[20:26:45.854] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000160 ,z=0.000324,angle between two frames:0.000907
[20:26:45.876] Image Alignment failed 0
[20:26:45.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000170 ,z=0.000339,angle between two frames:0.001227
[20:26:45.949] Odometry x=-0.148202, y=1.141074, theta=0.466719
[20:26:45.977] Image Alignment failed 0
[20:26:46.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000165 ,z=0.000337,angle between two frames:0.004130
[20:26:46.051] Odometry x=-0.146533, y=1.144403, theta=0.476535
[20:26:46.077] Image Alignment failed 0
[20:26:46.148] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000183 ,z=0.000346,angle between two frames:0.002273
[20:26:46.154] Odometry x=-0.144788, y=1.147724, theta=0.484764
[20:26:46.177] Image Alignment failed 0
[20:26:46.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000177 ,z=0.000335,angle between two frames:0.003272
[20:26:46.251] Odometry x=-0.142975, y=1.151027, theta=0.498190
[20:26:46.281] Image Alignment failed 0
[20:26:46.351] Odometry x=-0.141164, y=1.154286, theta=0.508063
[20:26:46.357] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000182 ,z=0.000335,angle between two frames:0.002786
[20:26:46.377] Image Alignment failed 0
[20:26:46.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.001782
[20:26:46.449] Odometry x=-0.139251, y=1.157542, theta=0.512532
[20:26:46.477] Image Alignment failed 0
[20:26:46.547] Odometry x=-0.137543, y=1.160440, theta=0.517752
[20:26:46.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000178 ,z=0.000311,angle between two frames:0.002954
[20:26:46.577] Image Alignment failed 0
[20:26:46.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000198 ,z=0.000340,angle between two frames:0.002727
[20:26:46.651] Odometry x=-0.135533, y=1.163809, theta=0.518755
[20:26:46.677] Image Alignment failed 0
[20:26:46.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000186 ,z=0.000328,angle between two frames:0.001360
[20:26:46.749] Odometry x=-0.133724, y=1.166998, theta=0.514019
[20:26:46.777] Image Alignment failed 0
[20:26:46.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000188 ,z=0.000330,angle between two frames:0.001489
[20:26:46.850] Odometry x=-0.131873, y=1.170209, theta=0.508310
[20:26:46.877] Image Alignment failed 0
[20:26:46.948] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000185 ,z=0.000324,angle between two frames:0.002230
[20:26:46.953] Odometry x=-0.130063, y=1.173349, theta=0.505586
[20:26:46.978] Image Alignment failed 0
[20:26:47.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000187 ,z=0.000335,angle between two frames:0.000466
[20:26:47.051] Odometry x=-0.128199, y=1.176571, theta=0.501229
[20:26:47.078] Image Alignment failed 0
[20:26:47.145] Odometry x=-0.126427, y=1.179763, theta=0.493909
[20:26:47.149] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000183 ,z=0.000328,angle between two frames:0.001452
[20:26:47.177] Image Alignment failed 0
[20:26:47.247] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000171 ,z=0.000320,angle between two frames:0.003023
[20:26:47.251] Odometry x=-0.124683, y=1.182864, theta=0.485042
[20:26:47.278] Image Alignment failed 0
[20:26:47.351] Odometry x=-0.122878, y=1.186263, theta=0.478707
[20:26:47.351] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000185 ,z=0.000347,angle between two frames:0.002784
[20:26:47.377] Image Alignment failed 0
[20:26:47.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000177 ,z=0.000338,angle between two frames:0.001218
[20:26:47.454] Odometry x=-0.121068, y=1.189539, theta=0.486028
[20:26:47.477] Image Alignment failed 0
[20:26:47.544] Odometry x=-0.119289, y=1.192827, theta=0.494612
[20:26:47.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000179 ,z=0.000338,angle between two frames:0.003335
[20:26:47.575] Image Alignment failed 0
[20:26:47.649] Odometry x=-0.117616, y=1.195761, theta=0.502749
[20:26:47.650] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000165 ,z=0.000297,angle between two frames:0.000489
[20:26:47.686] Image Alignment failed 0
[20:26:47.749] Odometry x=-0.115688, y=1.199302, theta=0.516650
[20:26:47.768] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000193 ,z=0.000351,angle between two frames:0.005974
[20:26:47.776] Image Alignment failed 0
[20:26:47.843] Odometry x=-0.113734, y=1.202577, theta=0.525736
[20:26:47.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.000577
[20:26:47.876] Image Alignment failed 0
[20:26:47.944] Odometry x=-0.111935, y=1.205765, theta=0.540376
[20:26:47.946] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000186 ,z=0.000323,angle between two frames:0.005452
[20:26:47.981] Image Alignment failed 0
[20:26:48.047] Odometry x=-0.110057, y=1.208871, theta=0.544725
[20:26:48.052] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000187 ,z=0.000312,angle between two frames:0.003124
[20:26:48.076] Image Alignment failed 0
[20:26:48.146] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000201 ,z=0.000335,angle between two frames:0.002996
[20:26:48.149] Odometry x=-0.108032, y=1.212165, theta=0.542908
[20:26:48.176] Image Alignment failed 0
[20:26:48.246] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000209 ,z=0.000342,angle between two frames:0.001944
[20:26:48.252] Odometry x=-0.105961, y=1.215580, theta=0.547039
[20:26:48.277] Image Alignment failed 0
[20:26:48.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000198 ,z=0.000326,angle between two frames:0.000074
[20:26:48.349] Odometry x=-0.104008, y=1.218773, theta=0.548930
[20:26:48.376] Image Alignment failed 0
[20:26:48.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000189 ,z=0.000316,angle between two frames:0.000621
[20:26:48.449] Odometry x=-0.102126, y=1.221874, theta=0.545922
[20:26:48.476] Image Alignment failed 0
[20:26:48.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000203 ,z=0.000333,angle between two frames:0.000563
[20:26:48.549] Odometry x=-0.100113, y=1.225194, theta=0.542891
[20:26:48.576] Image Alignment failed 0
[20:26:48.648] Odometry x=-0.098150, y=1.228391, theta=0.537720
[20:26:48.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000194 ,z=0.000322,angle between two frames:0.001118
[20:26:48.676] Image Alignment failed 0
[20:26:48.746] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000190 ,z=0.000324,angle between two frames:0.002489
[20:26:48.751] Odometry x=-0.096300, y=1.231594, theta=0.529503
[20:26:48.776] Image Alignment failed 0
[20:26:48.848] Odometry x=-0.094385, y=1.234905, theta=0.527039
[20:26:48.857] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000195 ,z=0.000336,angle between two frames:0.001156
[20:26:48.876] Image Alignment failed 0
[20:26:48.946] Odometry x=-0.092623, y=1.238025, theta=0.515966
[20:26:48.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000003,angle between two frames:0.001559
[20:26:48.976] Image Alignment failed 0
[20:26:49.047] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000184 ,z=0.000324,angle between two frames:0.003493
[20:26:49.049] Odometry x=-0.090786, y=1.241166, theta=0.508315
[20:26:49.076] Image Alignment failed 0
[20:26:49.148] Odometry x=-0.088907, y=1.244581, theta=0.514585
[20:26:49.160] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000190 ,z=0.000342,angle between two frames:0.002233
[20:26:49.178] Image Alignment failed 0
[20:26:49.248] Odometry x=-0.087058, y=1.247785, theta=0.519515
[20:26:49.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000215
[20:26:49.277] Image Alignment failed 0
[20:26:49.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000189 ,z=0.000332,angle between two frames:0.007000
[20:26:49.351] Odometry x=-0.085183, y=1.251056, theta=0.536860
[20:26:49.376] Image Alignment failed 0
[20:26:49.449] Odometry x=-0.083183, y=1.254358, theta=0.541401
[20:26:49.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000202 ,z=0.000339,angle between two frames:0.000342
[20:26:49.476] Image Alignment failed 0
[20:26:49.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000190 ,z=0.000315,angle between two frames:0.005664
[20:26:49.550] Odometry x=-0.081301, y=1.257544, theta=0.560540
[20:26:49.576] Image Alignment failed 0
[20:26:49.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000199 ,z=0.000318,angle between two frames:0.003068
[20:26:49.648] Odometry x=-0.079337, y=1.260694, theta=0.571261
[20:26:49.678] Image Alignment failed 0
[20:26:49.748] Odometry x=-0.077388, y=1.263725, theta=0.583134
[20:26:49.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000200 ,z=0.000312,angle between two frames:0.005273
[20:26:49.776] Image Alignment failed 0
[20:26:49.843] Odometry x=-0.075312, y=1.266819, theta=0.581332
[20:26:49.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000209 ,z=0.000313,angle between two frames:0.000249
[20:26:49.877] Image Alignment failed 0
[20:26:49.948] Odometry x=-0.073355, y=1.269822, theta=0.583638
[20:26:49.952] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000197 ,z=0.000306,angle between two frames:0.000294
[20:26:49.976] Image Alignment failed 0
[20:26:50.043] Odometry x=-0.071069, y=1.273110, theta=0.583048
[20:26:50.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000225 ,z=0.000334,angle between two frames:0.000027
[20:26:50.076] Image Alignment failed 0
[20:26:50.148] Odometry x=-0.069170, y=1.275972, theta=0.599174
[20:26:50.149] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000005,angle between two frames:0.005297
[20:26:50.175] Image Alignment failed 0
[20:26:50.250] Odometry x=-0.066974, y=1.279220, theta=0.599505
[20:26:50.252] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000220 ,z=0.000324,angle between two frames:0.001800
[20:26:50.277] Image Alignment failed 0
[20:26:50.347] Odometry x=-0.064863, y=1.282334, theta=0.598035
[20:26:50.357] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000222 ,z=0.000325,angle between two frames:0.001749
[20:26:50.376] Image Alignment failed 0
[20:26:50.447] Odometry x=-0.062708, y=1.285495, theta=0.598288
[20:26:50.452] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.000437
[20:26:50.478] Image Alignment failed 0
[20:26:50.549] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000004,angle between two frames:0.002241
[20:26:50.551] Odometry x=-0.060883, y=1.288231, theta=0.591243
[20:26:50.576] Image Alignment failed 0
[20:26:50.645] Odometry x=-0.058611, y=1.291593, theta=0.588995
[20:26:50.646] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000226 ,z=0.000338,angle between two frames:0.001500
[20:26:50.676] Image Alignment failed 0
[20:26:50.743] Odometry x=-0.056624, y=1.294573, theta=0.588015
[20:26:50.747] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000202 ,z=0.000303,angle between two frames:0.000234
[20:26:50.777] Image Alignment failed 0
[20:26:50.849] Odometry x=-0.054503, y=1.297732, theta=0.581817
[20:26:50.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000210 ,z=0.000318,angle between two frames:0.001715
[20:26:50.880] Image Alignment failed 0
[20:26:50.944] Odometry x=-0.052271, y=1.301111, theta=0.576195
[20:26:50.968] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000226 ,z=0.000341,angle between two frames:0.001032
[20:26:50.978] Image Alignment failed 0
[20:26:51.047] Odometry x=-0.050277, y=1.304198, theta=0.570145
[20:26:51.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000573
[20:26:51.079] Image Alignment failed 0
[20:26:51.149] Odometry x=-0.048209, y=1.307424, theta=0.572879
[20:26:51.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000209 ,z=0.000323,angle between two frames:0.001095
[20:26:51.181] Image Alignment failed 0
[20:26:51.246] Odometry x=-0.046133, y=1.310621, theta=0.568205
[20:26:51.265] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000206 ,z=0.000320,angle between two frames:0.001212
[20:26:51.278] Image Alignment failed 0
[20:26:51.345] Odometry x=-0.044157, y=1.313601, theta=0.569191
[20:26:51.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000323
[20:26:51.378] Image Alignment failed 0
[20:26:51.447] Odometry x=-0.042095, y=1.316738, theta=0.581668
[20:26:51.449] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000206 ,z=0.000319,angle between two frames:0.004518
[20:26:51.478] Image Alignment failed 0
[20:26:51.549] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000210 ,z=0.000317,angle between two frames:0.005874
[20:26:51.549] Odometry x=-0.040007, y=1.319828, theta=0.600623
[20:26:51.578] Image Alignment failed 0
[20:26:51.651] Odometry x=-0.037824, y=1.322916, theta=0.611576
[20:26:51.658] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000218 ,z=0.000315,angle between two frames:0.003399
[20:26:51.682] Image Alignment failed 0
[20:26:51.749] Odometry x=-0.035695, y=1.325874, theta=0.628664
[20:26:51.756] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000004,angle between two frames:0.003081
[20:26:51.778] Image Alignment failed 0
[20:26:51.846] Odometry x=-0.033389, y=1.328953, theta=0.636510
[20:26:51.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000001,angle between two frames:0.003340
[20:26:51.880] Image Alignment failed 0
[20:26:51.955] Odometry x=-0.031313, y=1.331684, theta=0.637994
[20:26:51.956] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000213 ,z=0.000289,angle between two frames:0.000868
[20:26:51.978] Image Alignment failed 0
[20:26:52.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000249 ,z=0.000333,angle between two frames:0.003202
[20:26:52.052] Odometry x=-0.028752, y=1.334998, theta=0.642090
[20:26:52.082] Image Alignment failed 0
[20:26:52.145] Odometry x=-0.026556, y=1.337829, theta=0.639443
[20:26:52.153] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000221 ,z=0.000290,angle between two frames:0.000971
[20:26:52.182] Image Alignment failed 0
[20:26:52.248] Odometry x=-0.024312, y=1.340686, theta=0.639780
[20:26:52.257] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.000851
[20:26:52.281] Image Alignment failed 0
[20:26:52.346] Odometry x=-0.021938, y=1.343820, theta=0.641161
[20:26:52.351] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.000055
[20:26:52.378] Image Alignment failed 0
[20:26:52.449] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000095
[20:26:52.449] Odometry x=-0.019736, y=1.346733, theta=0.639148
[20:26:52.482] Image Alignment failed 0
[20:26:52.549] Odometry x=-0.017454, y=1.349770, theta=0.631148
[20:26:52.552] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000236 ,z=0.000315,angle between two frames:0.001767
[20:26:52.578] Image Alignment failed 0
[20:26:52.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000224 ,z=0.000309,angle between two frames:0.004407
[20:26:52.652] Odometry x=-0.015184, y=1.352814, theta=0.619100
[20:26:52.676] Image Alignment failed 0
[20:26:52.746] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000223 ,z=0.000309,angle between two frames:0.001892
[20:26:52.752] Odometry x=-0.012993, y=1.355674, theta=0.611063
[20:26:52.776] Image Alignment failed 0
[20:26:52.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000219 ,z=0.000306,angle between two frames:0.001111
[20:26:52.847] Odometry x=-0.010809, y=1.358676, theta=0.609010
[20:26:52.877] Image Alignment failed 0
[20:26:52.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000207 ,z=0.000298,angle between two frames:0.002085
[20:26:52.951] Odometry x=-0.008741, y=1.361567, theta=0.615336
[20:26:52.977] Image Alignment failed 0
[20:26:53.047] Odometry x=-0.006548, y=1.364670, theta=0.620855
[20:26:53.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000229 ,z=0.000314,angle between two frames:0.000062
[20:26:53.076] Image Alignment failed 0
[20:26:53.147] Odometry x=-0.004432, y=1.367579, theta=0.631236
[20:26:53.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000214 ,z=0.000298,angle between two frames:0.003736
[20:26:53.176] Image Alignment failed 0
[20:26:53.249] Odometry x=-0.002234, y=1.370415, theta=0.635265
[20:26:53.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000219 ,z=0.000291,angle between two frames:0.001148
[20:26:53.277] Image Alignment failed 0
[20:26:53.347] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000234 ,z=0.000311,angle between two frames:0.004811
[20:26:53.352] Odometry x=0.000115, y=1.373412, theta=0.652977
[20:26:53.376] Image Alignment failed 0
[20:26:53.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000244 ,z=0.000321,angle between two frames:0.001418
[20:26:53.448] Odometry x=0.002453, y=1.376591, theta=0.660672
[20:26:53.476] Image Alignment failed 0
[20:26:53.546] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000223 ,z=0.000285,angle between two frames:0.004420
[20:26:53.552] Odometry x=0.004620, y=1.379353, theta=0.674373
[20:26:53.577] Image Alignment failed 0
[20:26:53.646] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000241 ,z=0.000299,angle between two frames:0.003068
[20:26:53.650] Odometry x=0.007046, y=1.382309, theta=0.681076
[20:26:53.682] Image Alignment failed 0
[20:26:53.749] Odometry x=0.009392, y=1.385136, theta=0.680553
[20:26:53.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000240 ,z=0.000294,angle between two frames:0.000163
[20:26:53.777] Image Alignment failed 0
[20:26:53.846] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000243 ,z=0.000294,angle between two frames:0.001012
[20:26:53.847] Odometry x=0.011839, y=1.388017, theta=0.678382
[20:26:53.877] Image Alignment failed 0
[20:26:53.946] Odometry x=0.014086, y=1.390792, theta=0.683457
[20:26:53.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000226 ,z=0.000281,angle between two frames:0.001176
[20:26:53.977] Image Alignment failed 0
[20:26:54.047] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000245 ,z=0.000301,angle between two frames:0.001451
[20:26:54.047] Odometry x=0.016508, y=1.393776, theta=0.676055
[20:26:54.077] Image Alignment failed 0
[20:26:54.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000239 ,z=0.000295,angle between two frames:0.001852
[20:26:54.151] Odometry x=0.018862, y=1.396663, theta=0.668750
[20:26:54.177] Image Alignment failed 0
[20:26:54.247] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000239 ,z=0.000301,angle between two frames:0.001100
[20:26:54.249] Odometry x=0.021235, y=1.399621, theta=0.663468
[20:26:54.282] Image Alignment failed 0
[20:26:54.345] Odometry x=0.023579, y=1.402538, theta=0.652667
[20:26:54.351] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000235 ,z=0.000297,angle between two frames:0.002851
[20:26:54.377] Image Alignment failed 0
[20:26:54.446] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.003167
[20:26:54.449] Odometry x=0.025790, y=1.405312, theta=0.643965
[20:26:54.478] Image Alignment failed 0
[20:26:54.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000231 ,z=0.000297,angle between two frames:0.001954
[20:26:54.547] Odometry x=0.028089, y=1.408193, theta=0.652656
[20:26:54.577] Image Alignment failed 0
[20:26:54.647] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000232 ,z=0.000305,angle between two frames:0.001439
[20:26:54.652] Odometry x=0.030399, y=1.411185, theta=0.656381
[20:26:54.678] Image Alignment failed 0
[20:26:54.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000234 ,z=0.000296,angle between two frames:0.001569
[20:26:54.751] Odometry x=0.032742, y=1.414046, theta=0.663875
[20:26:54.777] Image Alignment failed 0
[20:26:54.846] Odometry x=0.035136, y=1.417067, theta=0.669817
[20:26:54.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000239 ,z=0.000303,angle between two frames:0.001048
[20:26:54.877] Image Alignment failed 0
[20:26:54.946] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000229 ,z=0.000283,angle between two frames:0.003420
[20:26:54.950] Odometry x=0.037412, y=1.419829, theta=0.682456
[20:26:54.977] Image Alignment failed 0
[20:26:55.047] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000259 ,z=0.000313,angle between two frames:0.001270
[20:26:55.049] Odometry x=0.040007, y=1.422862, theta=0.688172
[20:26:55.082] Image Alignment failed 0
[20:26:55.152] Odometry x=0.042176, y=1.425474, theta=0.704062
[20:26:55.156] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000226 ,z=0.000272,angle between two frames:0.007538
[20:26:55.181] Image Alignment failed 0
[20:26:55.250] Odometry x=0.044732, y=1.428345, theta=0.713369
[20:26:55.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000253 ,z=0.000295,angle between two frames:0.003402
[20:26:55.277] Image Alignment failed 0
[20:26:55.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000251 ,z=0.000285,angle between two frames:0.000637
[20:26:55.348] Odometry x=0.047232, y=1.431104, theta=0.717563
[20:26:55.377] Image Alignment failed 0
[20:26:55.446] Odometry x=0.049650, y=1.433683, theta=0.724084
[20:26:55.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000242 ,z=0.000269,angle between two frames:0.001394
[20:26:55.477] Image Alignment failed 0
[20:26:55.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000254 ,z=0.000288,angle between two frames:0.002126
[20:26:55.550] Odometry x=0.052201, y=1.436505, theta=0.725752
[20:26:55.578] Image Alignment failed 0
[20:26:55.645] Odometry x=0.054761, y=1.439301, theta=0.722763
[20:26:55.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000256 ,z=0.000284,angle between two frames:0.000582
[20:26:55.678] Image Alignment failed 0
[20:26:55.746] Odometry x=0.057220, y=1.441981, theta=0.713808
[20:26:55.747] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000239 ,z=0.000275,angle between two frames:0.000983
[20:26:55.777] Image Alignment failed 0
[20:26:55.846] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000258 ,z=0.000296,angle between two frames:0.002882
[20:26:55.848] Odometry x=0.059780, y=1.444818, theta=0.705695
[20:26:55.882] Image Alignment failed 0
[20:26:55.950] Odometry x=0.062336, y=1.447646, theta=0.700844
[20:26:55.956] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000252 ,z=0.000290,angle between two frames:0.001547
[20:26:55.976] Image Alignment failed 0
[20:26:56.046] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000005,angle between two frames:0.000690
[20:26:56.048] Odometry x=0.064828, y=1.450436, theta=0.699536
[20:26:56.077] Image Alignment failed 0
[20:26:56.146] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000236 ,z=0.000275,angle between two frames:0.001198
[20:26:56.155] Odometry x=0.067192, y=1.453097, theta=0.691428
[20:26:56.176] Image Alignment failed 0
[20:26:56.247] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000260 ,z=0.000311,angle between two frames:0.002490
[20:26:56.248] Odometry x=0.069769, y=1.456121, theta=0.687545
[20:26:56.276] Image Alignment failed 0
[20:26:56.346] Odometry x=0.072061, y=1.458769, theta=0.691773
[20:26:56.346] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000227 ,z=0.000271,angle between two frames:0.001268
[20:26:56.381] Image Alignment failed 0
[20:26:56.450] Odometry x=0.074508, y=1.461534, theta=0.700459
[20:26:56.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000243 ,z=0.000288,angle between two frames:0.001324
[20:26:56.479] Image Alignment failed 0
[20:26:56.545] Odometry x=0.076979, y=1.464390, theta=0.705109
[20:26:56.549] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000247 ,z=0.000292,angle between two frames:0.003769
[20:26:56.578] Image Alignment failed 0
[20:26:56.645] Odometry x=0.079402, y=1.467090, theta=0.709744
[20:26:56.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000241 ,z=0.000279,angle between two frames:0.000192
[20:26:56.677] Image Alignment failed 0
[20:26:56.747] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000247 ,z=0.000286,angle between two frames:0.003184
[20:26:56.750] Odometry x=0.081862, y=1.469899, theta=0.716368
[20:26:56.777] Image Alignment failed 0
[20:26:56.844] Odometry x=0.084388, y=1.472758, theta=0.726591
[20:26:56.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000261 ,z=0.000296,angle between two frames:0.002826
[20:26:56.878] Image Alignment failed 0
[20:26:56.945] Odometry x=0.086831, y=1.475335, theta=0.733738
[20:26:56.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000242 ,z=0.000267,angle between two frames:0.002254
[20:26:56.982] Image Alignment failed 0
[20:26:57.048] Odometry x=0.089329, y=1.477994, theta=0.752722
[20:26:57.053] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000254 ,z=0.000277,angle between two frames:0.005311
[20:26:57.078] Image Alignment failed 0
[20:26:57.146] Odometry x=0.092057, y=1.480850, theta=0.758488
[20:26:57.148] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000272 ,z=0.000288,angle between two frames:0.002526
[20:26:57.178] Image Alignment failed 0
[20:26:57.246] Odometry x=0.094634, y=1.483495, theta=0.758424
[20:26:57.247] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000264 ,z=0.000274,angle between two frames:0.000712
[20:26:57.278] Image Alignment failed 0
[20:26:57.346] Odometry x=0.097222, y=1.486078, theta=0.757827
[20:26:57.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000260 ,z=0.000271,angle between two frames:0.000312
[20:26:57.377] Image Alignment failed 0
[20:26:57.446] Odometry x=0.099767, y=1.488671, theta=0.748108
[20:26:57.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000263 ,z=0.000272,angle between two frames:0.001326
[20:26:57.477] Image Alignment failed 0
[20:26:57.546] Odometry x=0.102405, y=1.491320, theta=0.745393
[20:26:57.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000262 ,z=0.000274,angle between two frames:0.000765
[20:26:57.587] Image Alignment failed 0
[20:26:57.646] Odometry x=0.104915, y=1.493965, theta=0.739812
[20:26:57.664] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000255 ,z=0.000273,angle between two frames:0.000912
[20:26:57.677] Image Alignment failed 0
[20:26:57.746] Odometry x=0.107516, y=1.496710, theta=0.733920
[20:26:57.747] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.001049
[20:26:57.777] Image Alignment failed 0
[20:26:57.846] Odometry x=0.110089, y=1.499461, theta=0.726276
[20:26:57.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000256 ,z=0.000281,angle between two frames:0.001458
[20:26:57.878] Image Alignment failed 0
[20:26:57.946] Odometry x=0.112665, y=1.502262, theta=0.718606
[20:26:57.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000255 ,z=0.000284,angle between two frames:0.002734
[20:26:57.977] Image Alignment failed 0
[20:26:58.047] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000255 ,z=0.000285,angle between two frames:0.001084
[20:26:58.051] Odometry x=0.115266, y=1.505028, theta=0.727125
[20:26:58.077] Image Alignment failed 0
[20:26:58.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000269 ,z=0.000300,angle between two frames:0.001583
[20:26:58.149] Odometry x=0.117982, y=1.507985, theta=0.729654
[20:26:58.177] Image Alignment failed 0
[20:26:58.247] Odometry x=0.120440, y=1.510549, theta=0.738755
[20:26:58.247] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000243 ,z=0.000267,angle between two frames:0.000852
[20:26:58.277] Image Alignment failed 0
[20:26:58.347] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000259 ,z=0.000281,angle between two frames:0.003028
[20:26:58.349] Odometry x=0.123025, y=1.513290, theta=0.743680
[20:26:58.376] Image Alignment failed 0
[20:26:58.446] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000256 ,z=0.000278,angle between two frames:0.000585
[20:26:58.453] Odometry x=0.125496, y=1.515942, theta=0.749754
[20:26:58.477] Image Alignment failed 0
[20:26:58.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000267 ,z=0.000283,angle between two frames:0.003607
[20:26:58.550] Odometry x=0.128117, y=1.518663, theta=0.759418
[20:26:58.578] Image Alignment failed 0
[20:26:58.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000254 ,z=0.000267,angle between two frames:0.003138
[20:26:58.650] Odometry x=0.130665, y=1.521206, theta=0.771037
[20:26:58.677] Image Alignment failed 0
[20:26:58.746] Odometry x=0.133449, y=1.523979, theta=0.776325
[20:26:58.747] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000279 ,z=0.000282,angle between two frames:0.000977
[20:26:58.776] Image Alignment failed 0
[20:26:58.843] Odometry x=0.135993, y=1.526480, theta=0.794332
[20:26:58.846] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000253 ,z=0.000255,angle between two frames:0.005350
[20:26:58.878] Image Alignment failed 0
[20:26:58.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000270 ,z=0.000255,angle between two frames:0.003959
[20:26:58.958] Odometry x=0.138826, y=1.529093, theta=0.813124
[20:26:58.976] Image Alignment failed 0
[20:26:59.046] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000309 ,z=0.000289,angle between two frames:0.006875
[20:26:59.050] Odometry x=0.141947, y=1.531932, theta=0.813794
[20:26:59.078] Image Alignment failed 0
[20:26:59.145] Odometry x=0.144958, y=1.534761, theta=0.860707
[20:26:59.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000273 ,z=0.000245,angle between two frames:0.004349
[20:26:59.176] Image Alignment failed 0
[20:26:59.246] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000254 ,z=0.000188,angle between two frames:0.003269
[20:26:59.248] Odometry x=0.146755, y=1.535944, theta=0.838561
[20:26:59.278] Image Alignment failed 0
[20:26:59.347] Odometry x=0.148875, y=1.537664, theta=0.828675
[20:26:59.347] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000260 ,z=0.000233,angle between two frames:0.005073
[20:26:59.378] Image Alignment failed 0
[20:26:59.445] Odometry x=0.151338, y=1.539738, theta=0.785850
[20:26:59.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000288 ,z=0.000257,angle between two frames:0.008314
[20:26:59.478] Image Alignment failed 0
[20:26:59.547] Odometry x=0.153424, y=1.541836, theta=0.784065
[20:26:59.548] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000240 ,z=0.000243,angle between two frames:0.008101
[20:26:59.578] Image Alignment failed 0
[20:26:59.646] Odometry x=0.155761, y=1.543929, theta=0.785910
[20:26:59.647] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000259 ,z=0.000251,angle between two frames:0.000746
[20:26:59.678] Image Alignment failed 0
[20:26:59.746] Odometry x=0.158034, y=1.546096, theta=0.798711
[20:26:59.746] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000252 ,z=0.000249,angle between two frames:0.017876
[20:26:59.778] Image Alignment failed 0
[20:26:59.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000281 ,z=0.000272,angle between two frames:0.000909
[20:26:59.849] Odometry x=0.160799, y=1.548726, theta=0.792710
[20:26:59.878] Image Alignment failed 0
[20:26:59.947] Odometry x=0.163670, y=1.551254, theta=0.783065
[20:26:59.948] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000278 ,z=0.000261,angle between two frames:0.001491
[20:26:59.978] Image Alignment failed 0
[20:27:00.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000258 ,z=0.000264,angle between two frames:0.003252
[20:27:00.078] Image Alignment failed 0
[20:27:00.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000000,angle between two frames:0.005016
[20:27:00.178] Image Alignment failed 0
[20:27:00.247] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.011448
[20:27:00.282] Image Alignment failed 0
[20:27:00.352] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000005,angle between two frames:0.004696
[20:27:00.378] Image Alignment failed 0
[20:27:00.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000000,angle between two frames:0.007350
[20:27:00.478] Image Alignment failed 0
[20:27:00.548] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000004,angle between two frames:0.004113
[20:27:00.578] Image Alignment failed 0
[20:27:00.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=-0.000000,angle between two frames:0.005539
[20:27:00.679] Image Alignment failed 0
[20:27:00.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000008,angle between two frames:0.005355
[20:27:00.777] Image Alignment failed 0
[20:27:00.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000002,angle between two frames:0.001398
[20:27:00.876] Image Alignment failed 0
[20:27:00.946] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000015,angle between two frames:0.004001
[20:27:00.977] Image Alignment failed 0
[20:27:01.047] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=0.000000,angle between two frames:0.001460
[20:27:01.077] Image Alignment failed 0
[20:27:01.146] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.002544
[20:27:01.177] Image Alignment failed 0
[20:27:01.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000004,angle between two frames:0.000588
[20:27:01.278] Image Alignment failed 0
[20:27:01.347] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000004,angle between two frames:0.000787
[20:27:01.381] Image Alignment failed 0
[20:27:01.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000004,angle between two frames:0.000839
[20:27:01.477] Image Alignment failed 0
[20:27:01.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000563
[20:27:01.577] Image Alignment failed 0
[20:27:01.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000004,angle between two frames:0.000847
[20:27:01.677] Image Alignment failed 0
[20:27:01.747] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000679
[20:27:01.777] Image Alignment failed 0
[20:27:01.846] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000666
[20:27:01.878] Image Alignment failed 0
[20:27:01.946] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000703
[20:27:01.977] Image Alignment failed 0
[20:27:02.047] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000004,angle between two frames:0.000810
[20:27:02.078] Image Alignment failed 0
[20:27:02.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000681
[20:27:02.177] Image Alignment failed 0
[20:27:02.247] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000670
[20:27:02.278] Image Alignment failed 0
[20:27:02.347] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000006,angle between two frames:0.000947
[20:27:02.378] Image Alignment failed 0
[20:27:02.447] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000004,angle between two frames:0.000787
[20:27:02.477] Image Alignment failed 0
[20:27:02.548] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000665
[20:27:02.577] Image Alignment failed 0
[20:27:02.647] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000005,angle between two frames:0.000950
[20:27:02.677] Image Alignment failed 0
[20:27:02.747] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000668
[20:27:02.778] Image Alignment failed 0
[20:27:02.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000004,angle between two frames:0.000875
