[19:07:52.624] Init: frame zero: 0.000000, 0.000000 0.000000
[19:07:52.624] Init: Selected first frame. 
[19:07:52.624] frame process finished the id is: 0 the obs is:0 
[19:07:52.655] Init: px average disparity is:0.032512 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:52.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:52.655] frame process finished the id is: 1 the obs is:0 
[19:07:52.752] Init: px average disparity is:0.031284 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:52.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:52.752] frame process finished the id is: 2 the obs is:0 
[19:07:52.850] Init: px average disparity is:0.036556 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:52.850] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:52.850] frame process finished the id is: 3 the obs is:0 
[19:07:52.952] Init: px average disparity is:0.032202 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:52.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:52.952] frame process finished the id is: 4 the obs is:0 
[19:07:53.049] Init: px average disparity is:0.041515 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:53.049] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:53.049] frame process finished the id is: 5 the obs is:0 
[19:07:53.150] Init: px average disparity is:0.030973 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:53.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:53.150] frame process finished the id is: 6 the obs is:0 
[19:07:53.247] Init: px average disparity is:0.031908 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:53.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:53.247] frame process finished the id is: 7 the obs is:0 
[19:07:53.350] Init: px average disparity is:0.035828 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:53.350] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:53.350] frame process finished the id is: 8 the obs is:0 
[19:07:53.447] Init: px average disparity is:0.031084 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:53.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:53.447] frame process finished the id is: 9 the obs is:0 
[19:07:53.549] Init: px average disparity is:0.040163 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:53.549] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:53.549] frame process finished the id is: 10 the obs is:0 
[19:07:53.651] Init: px average disparity is:0.036231 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:53.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:53.651] frame process finished the id is: 11 the obs is:0 
[19:07:53.750] Init: px average disparity is:0.032094 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:53.750] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:53.750] frame process finished the id is: 12 the obs is:0 
[19:07:53.846] Init: px average disparity is:0.039061 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:53.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:53.846] frame process finished the id is: 13 the obs is:0 
[19:07:53.917] Odometry x=0.000000, y=0.000000, theta=-0.000000
[19:07:53.958] Init: px average disparity is:0.039995 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:53.958] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:53.958] frame process finished the id is: 14 the obs is:0 
[19:07:54.048] Init: px average disparity is:0.032783 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:54.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:54.048] frame process finished the id is: 15 the obs is:0 
[19:07:54.140] Odometry x=0.000002, y=0.019215, theta=-0.000002
[19:07:54.155] Init: px average disparity is:0.152070 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:54.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:54.155] frame process finished the id is: 16 the obs is:0 
[19:07:54.251] Init: px average disparity is:6.438189 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:54.251] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:54.251] frame process finished the id is: 17 the obs is:0 
[19:07:54.357] Init: px average disparity is:4.621185 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:54.357] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:54.357] frame process finished the id is: 18 the obs is:0 
[19:07:54.408] Odometry x=-0.000077, y=0.051753, theta=0.002548
[19:07:54.457] Init: px average disparity is:4.962524 ,While minimum is: 10.000000  KLT tracked : 896
[19:07:54.457] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:54.457] frame process finished the id is: 19 the obs is:0 
[19:07:54.553] Init: px average disparity is:9.757717 ,While minimum is: 10.000000  KLT tracked : 895
[19:07:54.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:54.553] frame process finished the id is: 20 the obs is:0 
[19:07:54.684] Odometry x=-0.000142, y=0.082503, theta=0.000328
[19:07:54.741] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:12.627500 ,While minimum is: 10.000000  KLT tracked: 895
[19:07:54.741] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:54.741] frame process finished the id is: 21 the obs is:0 
[19:07:54.839] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:15.604936 ,While minimum is: 10.000000  KLT tracked: 888
[19:07:54.839] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:54.839] frame process finished the id is: 22 the obs is:0 
[19:07:54.894] Odometry x=0.000084, y=0.112105, theta=0.003193
[19:07:54.946] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:19.846154 ,While minimum is: 10.000000  KLT tracked: 888
[19:07:54.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:54.946] frame process finished the id is: 23 the obs is:0 
[19:07:55.054] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:29.051805 ,While minimum is: 10.000000  KLT tracked: 888
[19:07:55.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:55.054] frame process finished the id is: 24 the obs is:0 
[19:07:55.194] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:27.308837 ,While minimum is: 10.000000  KLT tracked: 888
[19:07:55.194] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:55.194] frame process finished the id is: 25 the obs is:0 
[19:07:55.197] Odometry x=0.000025, y=0.141120, theta=0.009788
[19:07:55.304] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:28.646685 ,While minimum is: 10.000000  KLT tracked: 887
[19:07:55.304] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:55.304] frame process finished the id is: 26 the obs is:0 
[19:07:55.419] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:34.191057 ,While minimum is: 10.000000  KLT tracked: 887
[19:07:55.419] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:55.419] frame process finished the id is: 27 the obs is:0 
[19:07:55.425] Odometry x=-0.000361, y=0.170199, theta=0.014686
[19:07:55.547] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:41.345493 ,While minimum is: 10.000000  KLT tracked: 883
[19:07:55.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:55.547] frame process finished the id is: 28 the obs is:0 
[19:07:55.661] Odometry x=-0.000705, y=0.199401, theta=0.015152
[19:07:55.681] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:47.654688 ,While minimum is: 10.000000  KLT tracked: 847
[19:07:55.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:55.681] frame process finished the id is: 29 the obs is:0 
[19:07:55.796] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:43.551931 ,While minimum is: 10.000000  KLT tracked: 786
[19:07:55.796] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:55.796] frame process finished the id is: 30 the obs is:0 
[19:07:55.906] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:47.016634 ,While minimum is: 10.000000  KLT tracked: 760
[19:07:55.907] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:55.907] frame process finished the id is: 31 the obs is:0 
[19:07:55.919] Odometry x=-0.001338, y=0.228181, theta=0.024783
[19:07:56.020] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:44.933811 ,While minimum is: 10.000000  KLT tracked: 753
[19:07:56.020] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:56.020] frame process finished the id is: 32 the obs is:0 
[19:07:56.134] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:49.476444 ,While minimum is: 10.000000  KLT tracked: 751
[19:07:56.134] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:56.134] frame process finished the id is: 33 the obs is:0 
[19:07:56.146] Odometry x=-0.002141, y=0.256590, theta=0.034493
[19:07:56.252] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:50.914915 ,While minimum is: 10.000000  KLT tracked: 737
[19:07:56.252] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:56.252] frame process finished the id is: 34 the obs is:0 
[19:07:56.363] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:45.043391 ,While minimum is: 10.000000  KLT tracked: 737
[19:07:56.363] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:56.363] frame process finished the id is: 35 the obs is:0 
[19:07:56.388] Odometry x=-0.003079, y=0.284319, theta=0.034810
[19:07:56.474] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:42.854049 ,While minimum is: 10.000000  KLT tracked: 734
[19:07:56.474] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:56.474] frame process finished the id is: 36 the obs is:0 
[19:07:56.635] Odometry x=-0.003642, y=0.310262, theta=0.038457
[19:07:56.652] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:84.759268 ,While minimum is: 10.000000  KLT tracked: 718
[19:07:56.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:56.652] frame process finished the id is: 37 the obs is:0 
[19:07:56.769] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:41.534774 ,While minimum is: 10.000000  KLT tracked: 698
[19:07:56.769] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:56.769] frame process finished the id is: 38 the obs is:0 
[19:07:56.878] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:41.890483 ,While minimum is: 10.000000  KLT tracked: 694
[19:07:56.878] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:56.878] frame process finished the id is: 39 the obs is:0 
[19:07:56.889] Odometry x=-0.004564, y=0.336417, theta=0.035257
[19:07:56.994] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:50.036648 ,While minimum is: 10.000000  KLT tracked: 694
[19:07:56.994] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:56.994] frame process finished the id is: 40 the obs is:0 
[19:07:57.103] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:50.460980 ,While minimum is: 10.000000  KLT tracked: 694
[19:07:57.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:57.103] frame process finished the id is: 41 the obs is:0 
[19:07:57.210] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:55.866775 ,While minimum is: 10.000000  KLT tracked: 694
[19:07:57.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:57.210] frame process finished the id is: 42 the obs is:0 
[19:07:57.227] Odometry x=-0.004899, y=0.361293, theta=0.040091
[19:07:57.319] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:55.873502 ,While minimum is: 10.000000  KLT tracked: 694
[19:07:57.319] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:07:57.319] frame process finished the id is: 43 the obs is:0 
[19:07:57.392] Odometry x=-0.004733, y=0.385165, theta=0.053182
[19:07:57.427] Init finished: Homography RANSAC (inlier) is:132 ,While 40 inliers minimum required.  px average disparity is:54.897266 ,While minimum is: 10.000000  KLT tracked: 692
[19:07:57.427] Init: distance between the first and current frame is x:-0.006247 ,z=0.436171,angle between two frames: 0.051089 
[19:07:57.427] Init: Selected Second frame. 	 The number of features: 132 depth mean:0.833198 min:0.519654
[19:07:57.427] frame process finished the id is: 44 the obs is:132 
[19:07:57.570] After Reprojection Map nMatches:70 ,distance between ekf and vo x:-0.001390 ,z=0.002815,angle between two frames:0.000268
[19:07:57.570]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =53 	 error init =0.083212 	 error end=0.035462
[19:07:57.570] After pose optimization, distance between ekf and vo x:-0.001390 ,z=0.002815,angle between two frames:0.000268
[19:07:57.570] Update EKF and 3D points the number of feature in the new frame: 53 and number of obs: 53
[19:07:57.570] frame Scene Depth mean:0.731697 ,depth min:0.514046
[19:07:57.571] need key frame pitch dis: 0.058935 translation dif:0.436229
[19:07:57.571] Choose frame as a key frame Scene Depth mean:0.731697 ,depth min:0.514046
[19:07:57.571] frame process finished the id is: 45 the obs is:53 
[19:07:57.641] Odometry x=-0.007188, y=0.436170, theta=0.058935
[19:07:57.725] After Reprojection Map nMatches:64 ,distance between ekf and vo x:-0.003230 ,z=0.002067,angle between two frames:0.001707
[19:07:57.725]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =57 	 error init =0.021342 	 error end=0.047718
[19:07:57.725] After pose optimization, distance between ekf and vo x:-0.003230 ,z=0.002067,angle between two frames:0.001707
[19:07:57.725] Update EKF and 3D points the number of feature in the new frame: 57 and number of obs: 57
[19:07:57.725] frame Scene Depth mean:0.721604 ,depth min:0.350223
[19:07:57.725] need key frame pitch dis: 0.056694 translation dif:0.785248
[19:07:57.725] Choose frame as a key frame Scene Depth mean:0.721604 ,depth min:0.350223
[19:07:57.725] frame process finished the id is: 46 the obs is:57 
[19:07:57.884] Odometry x=-0.002575, y=0.447790, theta=0.054150
[19:07:57.890] After Reprojection Map nMatches:78 ,distance between ekf and vo x:-0.002836 ,z=0.003202,angle between two frames:0.000173
[19:07:57.891]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =69 	 error init =0.004715 	 error end=0.005971
[19:07:57.891] After pose optimization, distance between ekf and vo x:-0.002836 ,z=0.003202,angle between two frames:0.000173
[19:07:57.891] Update EKF and 3D points the number of feature in the new frame: 69 and number of obs: 69
[19:07:57.891] frame Scene Depth mean:0.834815 ,depth min:0.250172
[19:07:57.892] need key frame pitch dis: 2.899390 translation dif:0.869348
[19:07:57.892] Choose frame as a key frame Scene Depth mean:0.834815 ,depth min:0.250172
[19:07:57.892] frame process finished the id is: 47 the obs is:69 
[19:07:58.032] After Reprojection Map nMatches:82 ,distance between ekf and vo x:-0.001697 ,z=0.002509,angle between two frames:0.000069
[19:07:58.032]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =66 	 error init =0.019267 	 error end=0.056642
[19:07:58.032] After pose optimization, distance between ekf and vo x:-0.001697 ,z=0.002509,angle between two frames:0.000069
[19:07:58.032] Update EKF and 3D points the number of feature in the new frame: 66 and number of obs: 66
[19:07:58.032] frame Scene Depth mean:0.764360 ,depth min:0.213546
[19:07:58.033] need key frame pitch dis: 2.896245 translation dif:0.871927
[19:07:58.033] Choose frame as a key frame Scene Depth mean:0.764360 ,depth min:0.213546
[19:07:58.033] frame process finished the id is: 48 the obs is:66 
[19:07:58.165] Odometry x=-0.005055, y=0.487625, theta=0.057294
[19:07:58.205] After Reprojection Map nMatches:77 ,distance between ekf and vo x:-0.004788 ,z=0.004709,angle between two frames:0.000458
[19:07:58.205]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =62 	 error init =0.041164 	 error end=0.082425
[19:07:58.205] After pose optimization, distance between ekf and vo x:-0.004788 ,z=0.004709,angle between two frames:0.000458
[19:07:58.205] Update EKF and 3D points the number of feature in the new frame: 62 and number of obs: 62
[19:07:58.205] frame Scene Depth mean:0.538488 ,depth min:0.155249
[19:07:58.206] need key frame pitch dis: 0.899303 translation dif:1.395660
[19:07:58.206] Choose frame as a key frame Scene Depth mean:0.538488 ,depth min:0.155249
[19:07:58.206] frame process finished the id is: 49 the obs is:62 
[19:07:58.387] Odometry x=-0.007392, y=0.516207, theta=0.059347
[19:07:58.404] After Reprojection Map nMatches:66 ,distance between ekf and vo x:-0.005603 ,z=0.006762,angle between two frames:0.000056
[19:07:58.404]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =58 	 error init =0.035684 	 error end=0.127969
[19:07:58.404] After pose optimization, distance between ekf and vo x:-0.005603 ,z=0.006762,angle between two frames:0.000056
[19:07:58.404] Update EKF and 3D points the number of feature in the new frame: 58 and number of obs: 58
[19:07:58.404] frame Scene Depth mean:0.534527 ,depth min:0.061689
[19:07:58.406] need key frame pitch dis: 0.199591 translation dif:0.420229
[19:07:58.406] Choose frame as a key frame Scene Depth mean:0.534527 ,depth min:0.061689
[19:07:58.406] frame process finished the id is: 50 the obs is:57 
[19:07:58.592] After Reprojection Map nMatches:76 ,distance between ekf and vo x:-0.004301 ,z=0.005403,angle between two frames:0.000201
[19:07:58.592]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =47 	 error init =0.064996 	 error end=0.110783
[19:07:58.592] After pose optimization, distance between ekf and vo x:-0.004301 ,z=0.005403,angle between two frames:0.000201
[19:07:58.592] Update EKF and 3D points the number of feature in the new frame: 47 and number of obs: 47
[19:07:58.592] frame Scene Depth mean:0.680989 ,depth min:0.061062
[19:07:58.593] need key frame pitch dis: 0.184793 translation dif:0.808032
[19:07:58.593] Choose frame as a key frame Scene Depth mean:0.680989 ,depth min:0.061062
[19:07:58.593] frame process finished the id is: 51 the obs is:47 
[19:07:58.648] Odometry x=-0.009693, y=0.547924, theta=0.060366
[19:07:58.890] After Reprojection Map nMatches:81 ,distance between ekf and vo x:-0.010686 ,z=0.012267,angle between two frames:0.000436
[19:07:58.890]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =64 	 error init =0.034569 	 error end=0.049451
[19:07:58.890] After pose optimization, distance between ekf and vo x:-0.010686 ,z=0.012267,angle between two frames:0.000436
[19:07:58.890] Update EKF and 3D points the number of feature in the new frame: 64 and number of obs: 64
[19:07:58.890] frame Scene Depth mean:2.366307 ,depth min:0.069239
[19:07:58.892] need key frame pitch dis: 0.092998 translation dif:1.345032
[19:07:58.892] Choose frame as a key frame Scene Depth mean:2.366307 ,depth min:0.069239
[19:07:58.892] frame process finished the id is: 52 the obs is:64 
[19:07:58.900] Odometry x=-0.012816, y=0.561274, theta=0.057861
[19:07:59.204] Odometry x=-0.015035, y=0.575016, theta=0.063807
[19:07:59.204] After Reprojection Map nMatches:112 ,distance between ekf and vo x:-0.011155 ,z=0.013549,angle between two frames:0.000363
[19:07:59.204]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =78 	 error init =0.042854 	 error end=0.058138
[19:07:59.204] After pose optimization, distance between ekf and vo x:-0.011155 ,z=0.013549,angle between two frames:0.000363
[19:07:59.204] Update EKF and 3D points the number of feature in the new frame: 78 and number of obs: 78
[19:07:59.204] frame Scene Depth mean:3.510809 ,depth min:0.129117
[19:07:59.206] need key frame pitch dis: 0.386819 translation dif:0.588260
[19:07:59.206] Choose frame as a key frame Scene Depth mean:3.510809 ,depth min:0.129117
[19:07:59.206] frame process finished the id is: 53 the obs is:78 
[19:07:59.377] Odometry x=-0.018068, y=0.612951, theta=0.073087
[19:07:59.581] After Reprojection Map nMatches:107 ,distance between ekf and vo x:-0.012535 ,z=0.018159,angle between two frames:0.000005
[19:07:59.582]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =80 	 error init =0.029941 	 error end=0.022475
[19:07:59.582] After pose optimization, distance between ekf and vo x:-0.012535 ,z=0.018159,angle between two frames:0.000005
[19:07:59.582] Update EKF and 3D points the number of feature in the new frame: 80 and number of obs: 80
[19:07:59.582] frame Scene Depth mean:2.765662 ,depth min:0.074678
[19:07:59.583] need key frame pitch dis: 0.143444 translation dif:0.530452
[19:07:59.583] Choose frame as a key frame Scene Depth mean:2.765662 ,depth min:0.074678
[19:07:59.583] frame process finished the id is: 54 the obs is:80 
[19:07:59.664] Odometry x=-0.023157, y=0.632555, theta=0.054065
[19:07:59.819] After Reprojection Map nMatches:96 ,distance between ekf and vo x:-0.004103 ,z=0.004044,angle between two frames:0.000114
[19:07:59.820]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =70 	 error init =0.015743 	 error end=0.012158
[19:07:59.820] After pose optimization, distance between ekf and vo x:-0.003501 ,z=0.003844,angle between two frames:0.000089
[19:07:59.820] Update EKF and 3D points the number of feature in the new frame: 70 and number of obs: 70
[19:07:59.820] frame Scene Depth mean:3.670456 ,depth min:0.218147
[19:07:59.821] need key frame pitch dis: 0.114498 translation dif:0.582214
[19:07:59.821] Choose frame as a key frame Scene Depth mean:3.670456 ,depth min:0.218147
[19:07:59.821] frame process finished the id is: 55 the obs is:70 
[19:07:59.876] Odometry x=-0.024516, y=0.644025, theta=0.047813
[19:08:00.075] After Reprojection Map nMatches:93 ,distance between ekf and vo x:-0.009974 ,z=0.015692,angle between two frames:0.000060
[19:08:00.075]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =77 	 error init =0.006148 	 error end=0.001906
[19:08:00.075] After pose optimization, distance between ekf and vo x:-0.009974 ,z=0.015692,angle between two frames:0.000060
[19:08:00.075] Update EKF and 3D points the number of feature in the new frame: 77 and number of obs: 77
[19:08:00.075] frame Scene Depth mean:5.045044 ,depth min:0.560106
[19:08:00.077] need key frame pitch dis: 3.152453 translation dif:0.974316
[19:08:00.077] Choose frame as a key frame Scene Depth mean:5.045044 ,depth min:0.560106
[19:08:00.077] frame process finished the id is: 56 the obs is:77 
[19:08:00.135] Odometry x=-0.027592, y=0.658807, theta=0.044892
[19:08:00.313] After Reprojection Map nMatches:105 ,distance between ekf and vo x:0.053407 ,z=-0.064597,angle between two frames:0.000585
[19:08:00.314]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =78 	 error init =0.043283 	 error end=0.020017
[19:08:00.314] After pose optimization, distance between ekf and vo x:0.051066 ,z=-0.062995,angle between two frames:0.000527
[19:08:00.314] Update EKF and 3D points the number of feature in the new frame: 78 and number of obs: 78
[19:08:00.314] frame Scene Depth mean:4.666186 ,depth min:0.224751
[19:08:00.316] need key frame pitch dis: 0.028099 translation dif:1.088520
[19:08:00.316] Choose frame as a key frame Scene Depth mean:4.666186 ,depth min:0.224751
[19:08:00.316] frame process finished the id is: 57 the obs is:78 
[19:08:00.399] Odometry x=-0.015336, y=0.653386, theta=0.052759
[19:08:00.564] After Reprojection Map nMatches:91 ,distance between ekf and vo x:0.001511 ,z=0.030346,angle between two frames:0.013907
[19:08:00.564]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =63 	 error init =0.003694 	 error end=0.005815
[19:08:00.564] After pose optimization, distance between ekf and vo x:0.001511 ,z=0.030346,angle between two frames:0.013907
[19:08:00.564] Update EKF and 3D points the number of feature in the new frame: 63 and number of obs: 63
[19:08:00.564] frame Scene Depth mean:5.800218 ,depth min:0.365645
[19:08:00.565] need key frame pitch dis: 0.000625 translation dif:1.101400
[19:08:00.565] Choose frame as a key frame Scene Depth mean:5.800218 ,depth min:0.365645
[19:08:00.565] frame process finished the id is: 58 the obs is:63 
[19:08:00.629] Odometry x=-0.016559, y=0.671883, theta=0.063667
[19:08:00.827] After Reprojection Map nMatches:99 ,distance between ekf and vo x:-0.024355 ,z=0.023808,angle between two frames:0.090794
[19:08:00.828]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =68 	 error init =0.075980 	 error end=0.098288
[19:08:00.828] After pose optimization, distance between ekf and vo x:-0.024355 ,z=0.023808,angle between two frames:0.090794
[19:08:00.828] Update EKF and 3D points the number of feature in the new frame: 68 and number of obs: 68
[19:08:00.828] frame Scene Depth mean:5.089148 ,depth min:0.226421
[19:08:00.829] need key frame pitch dis: 0.077510 translation dif:0.364371
[19:08:00.829] Choose frame as a key frame Scene Depth mean:5.089148 ,depth min:0.226421
[19:08:00.829] frame process finished the id is: 59 the obs is:68 
[19:08:00.881] Odometry x=-0.022926, y=0.691473, theta=0.079642
[19:08:01.073] After Reprojection Map nMatches:107 ,distance between ekf and vo x:-0.000908 ,z=0.001122,angle between two frames:0.000000
[19:08:01.073]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =79 	 error init =0.002461 	 error end=0.001102
[19:08:01.073] After pose optimization, distance between ekf and vo x:-0.000908 ,z=0.001122,angle between two frames:0.000000
[19:08:01.073] Update EKF and 3D points the number of feature in the new frame: 79 and number of obs: 79
[19:08:01.073] frame Scene Depth mean:4.891886 ,depth min:0.146433
[19:08:01.075] need key frame pitch dis: 3.192513 translation dif:0.354364
[19:08:01.075] Choose frame as a key frame Scene Depth mean:4.891886 ,depth min:0.146433
[19:08:01.075] frame process finished the id is: 60 the obs is:79 
[19:08:01.211] Odometry x=-0.023849, y=0.702552, theta=0.083727
[19:08:01.350] After Reprojection Map nMatches:116 ,distance between ekf and vo x:-0.003668 ,z=0.003348,angle between two frames:0.000041
[19:08:01.350]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =95 	 error init =0.016130 	 error end=0.018447
[19:08:01.350] After pose optimization, distance between ekf and vo x:-0.003668 ,z=0.003348,angle between two frames:0.000041
[19:08:01.350] Update EKF and 3D points the number of feature in the new frame: 95 and number of obs: 95
[19:08:01.350] frame Scene Depth mean:4.480419 ,depth min:0.113790
[19:08:01.352] need key frame pitch dis: 3.007979 translation dif:0.900980
[19:08:01.352] Choose frame as a key frame Scene Depth mean:4.480419 ,depth min:0.113790
[19:08:01.352] frame process finished the id is: 61 the obs is:95 
[19:08:01.376] Odometry x=-0.028121, y=0.712562, theta=0.098333
[19:08:01.559] After Reprojection Map nMatches:102 ,distance between ekf and vo x:-0.008865 ,z=0.004952,angle between two frames:0.000180
[19:08:01.560]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =69 	 error init =0.060537 	 error end=0.053306
[19:08:01.560] After pose optimization, distance between ekf and vo x:-0.008865 ,z=0.004952,angle between two frames:0.000180
[19:08:01.560] Update EKF and 3D points the number of feature in the new frame: 69 and number of obs: 69
[19:08:01.560] frame Scene Depth mean:5.611353 ,depth min:0.348617
[19:08:01.561] need key frame pitch dis: 0.170699 translation dif:1.583821
[19:08:01.561] Choose frame as a key frame Scene Depth mean:5.611353 ,depth min:0.348617
[19:08:01.561] frame process finished the id is: 62 the obs is:69 
[19:08:01.681] Odometry x=-0.032396, y=0.723334, theta=0.111041
[19:08:01.753] After Reprojection Map nMatches:116 ,distance between ekf and vo x:-0.003390 ,z=0.003295,angle between two frames:0.000275
[19:08:01.753]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =91 	 error init =0.007008 	 error end=0.003137
[19:08:01.753] After pose optimization, distance between ekf and vo x:-0.003390 ,z=0.003295,angle between two frames:0.000275
[19:08:01.753] Update EKF and 3D points the number of feature in the new frame: 91 and number of obs: 91
[19:08:01.753] frame Scene Depth mean:7.593545 ,depth min:0.122070
[19:08:01.755] need key frame pitch dis: 0.821111 translation dif:9.168117
[19:08:01.755] Choose frame as a key frame Scene Depth mean:7.593545 ,depth min:0.122070
[19:08:01.755] frame process finished the id is: 63 the obs is:91 
[19:08:01.881] Odometry x=-0.034840, y=0.734009, theta=0.105084
[19:08:01.954] After Reprojection Map nMatches:90 ,distance between ekf and vo x:-0.101104 ,z=-0.102155,angle between two frames:0.100334
[19:08:01.954]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =85 	 error init =0.015975 	 error end=0.008779
[19:08:01.954] After pose optimization, distance between ekf and vo x:-0.101104 ,z=-0.102155,angle between two frames:0.100334
[19:08:01.954] Update EKF and 3D points the number of feature in the new frame: 85 and number of obs: 85
[19:08:01.954] frame Scene Depth mean:5.735229 ,depth min:0.985120
[19:08:01.957] need key frame pitch dis: 0.067839 translation dif:1.311483
[19:08:01.957] Choose frame as a key frame Scene Depth mean:5.735229 ,depth min:0.985120
[19:08:01.957] frame process finished the id is: 64 the obs is:85 
[19:08:02.132] Odometry x=-0.061584, y=0.722479, theta=0.083069
[19:08:02.147] After Reprojection Map nMatches:128 ,distance between ekf and vo x:-0.097477 ,z=-0.102294,angle between two frames:0.100068
[19:08:02.148]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =92 	 error init =0.046503 	 error end=0.023565
[19:08:02.148] After pose optimization, distance between ekf and vo x:-0.097477 ,z=-0.102294,angle between two frames:0.100068
[19:08:02.148] Update EKF and 3D points the number of feature in the new frame: 92 and number of obs: 92
[19:08:02.148] frame Scene Depth mean:5.785500 ,depth min:0.062565
[19:08:02.150] need key frame pitch dis: 0.081041 translation dif:1.293830
[19:08:02.150] Choose frame as a key frame Scene Depth mean:5.785500 ,depth min:0.062565
[19:08:02.150] frame process finished the id is: 65 the obs is:88 
[19:08:02.354] After Reprojection Map nMatches:116 ,distance between ekf and vo x:-0.118465 ,z=-0.117924,angle between two frames:0.112572
[19:08:02.354]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =93 	 error init =0.008306 	 error end=0.004353
[19:08:02.354] After pose optimization, distance between ekf and vo x:-0.118465 ,z=-0.117924,angle between two frames:0.112572
[19:08:02.354] Update EKF and 3D points the number of feature in the new frame: 93 and number of obs: 93
[19:08:02.354] frame Scene Depth mean:7.021753 ,depth min:0.084580
[19:08:02.356] need key frame pitch dis: 1.129401 translation dif:12.814132
[19:08:02.356] Choose frame as a key frame Scene Depth mean:7.021753 ,depth min:0.084580
[19:08:02.356] frame process finished the id is: 66 the obs is:93 
[19:08:02.385] Odometry x=-0.110877, y=0.705604, theta=0.068262
[19:08:02.555] After Reprojection Map nMatches:115 ,distance between ekf and vo x:-0.098352 ,z=-0.100945,angle between two frames:0.099982
[19:08:02.555]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =86 	 error init =0.021539 	 error end=0.016114
[19:08:02.555] After pose optimization, distance between ekf and vo x:-0.098352 ,z=-0.100945,angle between two frames:0.099982
[19:08:02.555] Update EKF and 3D points the number of feature in the new frame: 86 and number of obs: 86
[19:08:02.555] frame Scene Depth mean:7.025957 ,depth min:0.380767
[19:08:02.558] need key frame pitch dis: 3.118916 translation dif:1.558271
[19:08:02.558] Choose frame as a key frame Scene Depth mean:7.025957 ,depth min:0.380767
[19:08:02.558] frame process finished the id is: 67 the obs is:86 
[19:08:02.619] Odometry x=-0.135874, y=0.691414, theta=0.044983
[19:08:02.798] After Reprojection Map nMatches:114 ,distance between ekf and vo x:-0.101259 ,z=-0.098835,angle between two frames:0.100012
[19:08:02.799]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =90 	 error init =0.037696 	 error end=0.010383
[19:08:02.799] After pose optimization, distance between ekf and vo x:-0.101511 ,z=-0.098945,angle between two frames:0.100014
[19:08:02.799] Update EKF and 3D points the number of feature in the new frame: 90 and number of obs: 90
[19:08:02.799] frame Scene Depth mean:8.221427 ,depth min:0.819303
[19:08:02.801] need key frame pitch dis: 0.103740 translation dif:3.859285
[19:08:02.801] Choose frame as a key frame Scene Depth mean:8.221427 ,depth min:0.819303
[19:08:02.801] frame process finished the id is: 68 the obs is:90 
[19:08:02.871] Odometry x=-0.161017, y=0.677627, theta=0.024364
[19:08:03.102] After Reprojection Map nMatches:120 ,distance between ekf and vo x:-0.102840 ,z=-0.098162,angle between two frames:0.100025
[19:08:03.102]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =92 	 error init =0.015864 	 error end=0.007383
[19:08:03.102] After pose optimization, distance between ekf and vo x:-0.102840 ,z=-0.098162,angle between two frames:0.100025
[19:08:03.102] Update EKF and 3D points the number of feature in the new frame: 92 and number of obs: 92
[19:08:03.102] frame Scene Depth mean:6.946818 ,depth min:0.109610
[19:08:03.105] need key frame pitch dis: 0.244416 translation dif:4.877928
[19:08:03.105] Choose frame as a key frame Scene Depth mean:6.946818 ,depth min:0.109610
[19:08:03.105] frame process finished the id is: 69 the obs is:85 
[19:08:03.336] After Reprojection Map nMatches:127 ,distance between ekf and vo x:-0.107066 ,z=-0.094740,angle between two frames:0.100101
[19:08:03.336]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =83 	 error init =0.022660 	 error end=0.008130
[19:08:03.336] After pose optimization, distance between ekf and vo x:-0.107066 ,z=-0.094740,angle between two frames:0.100101
[19:08:03.336] Update EKF and 3D points the number of feature in the new frame: 83 and number of obs: 83
[19:08:03.336] frame Scene Depth mean:6.787710 ,depth min:1.093623
[19:08:03.338] need key frame pitch dis: 0.116302 translation dif:2.099660
[19:08:03.338] Choose frame as a key frame Scene Depth mean:6.787710 ,depth min:1.093623
[19:08:03.338] frame process finished the id is: 70 the obs is:83 
[19:08:03.591] After Reprojection Map nMatches:126 ,distance between ekf and vo x:-0.003460 ,z=0.000914,angle between two frames:0.000312
[19:08:03.591]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =105 	 error init =0.007198 	 error end=0.009588
[19:08:03.591] After pose optimization, distance between ekf and vo x:-0.003460 ,z=0.000914,angle between two frames:0.000312
[19:08:03.591] Update EKF and 3D points the number of feature in the new frame: 105 and number of obs: 105
[19:08:03.591] frame Scene Depth mean:5.725837 ,depth min:0.325688
[19:08:03.594] need key frame pitch dis: 0.097244 translation dif:1.562784
[19:08:03.594] Choose frame as a key frame Scene Depth mean:5.725837 ,depth min:0.325688
[19:08:03.594] frame process finished the id is: 71 the obs is:104 
[19:08:03.760] After Reprojection Map nMatches:130 ,distance between ekf and vo x:0.003235 ,z=0.020704,angle between two frames:0.002148
[19:08:03.760]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =111 	 error init =0.005062 	 error end=0.002840
[19:08:03.760] After pose optimization, distance between ekf and vo x:0.003235 ,z=0.020704,angle between two frames:0.002148
[19:08:03.760] Update EKF and 3D points the number of feature in the new frame: 111 and number of obs: 111
[19:08:03.760] frame Scene Depth mean:5.470644 ,depth min:0.260229
[19:08:03.762] need key frame pitch dis: 0.338371 translation dif:1.982902
[19:08:03.762] Choose frame as a key frame Scene Depth mean:5.470644 ,depth min:0.260229
[19:08:03.762] frame process finished the id is: 72 the obs is:111 
[19:08:03.902] After Reprojection Map nMatches:140 ,distance between ekf and vo x:-0.014747 ,z=0.023405,angle between two frames:0.001605
[19:08:03.902]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =115 	 error init =0.039046 	 error end=0.006603
[19:08:03.902] After pose optimization, distance between ekf and vo x:-0.014747 ,z=0.023405,angle between two frames:0.001605
[19:08:03.902] Update EKF and 3D points the number of feature in the new frame: 115 and number of obs: 115
[19:08:03.902] frame Scene Depth mean:3.742446 ,depth min:0.127611
[19:08:03.905] need key frame pitch dis: 0.137961 translation dif:0.715047
[19:08:03.905] Choose frame as a key frame Scene Depth mean:3.742446 ,depth min:0.127611
[19:08:03.905] frame process finished the id is: 73 the obs is:115 
[19:08:04.132] After Reprojection Map nMatches:130 ,distance between ekf and vo x:-0.055057 ,z=0.080394,angle between two frames:0.006504
[19:08:04.132]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =99 	 error init =0.020062 	 error end=0.025518
[19:08:04.132] After pose optimization, distance between ekf and vo x:-0.055057 ,z=0.080394,angle between two frames:0.006504
[19:08:04.132] Update EKF and 3D points the number of feature in the new frame: 99 and number of obs: 99
[19:08:04.132] frame Scene Depth mean:4.719049 ,depth min:0.140236
[19:08:04.135] need key frame pitch dis: 0.026359 translation dif:0.492052
[19:08:04.135] Choose frame as a key frame Scene Depth mean:4.719049 ,depth min:0.140236
[19:08:04.135] frame process finished the id is: 74 the obs is:99 
[19:08:04.396] After Reprojection Map nMatches:157 ,distance between ekf and vo x:-0.004261 ,z=0.005824,angle between two frames:0.000561
[19:08:04.397]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =115 	 error init =0.043612 	 error end=0.016198
[19:08:04.397] After pose optimization, distance between ekf and vo x:-0.004261 ,z=0.005824,angle between two frames:0.000561
[19:08:04.397] Update EKF and 3D points the number of feature in the new frame: 115 and number of obs: 115
[19:08:04.397] frame Scene Depth mean:3.535424 ,depth min:0.098922
[19:08:04.399] need key frame pitch dis: 0.328668 translation dif:0.809543
[19:08:04.399] Choose frame as a key frame Scene Depth mean:3.535424 ,depth min:0.098922
[19:08:04.399] frame process finished the id is: 75 the obs is:115 
[19:08:04.634] After Reprojection Map nMatches:160 ,distance between ekf and vo x:-0.023098 ,z=0.034259,angle between two frames:0.001881
[19:08:04.634]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =150 	 error init =0.020363 	 error end=0.006721
[19:08:04.634] After pose optimization, distance between ekf and vo x:-0.023098 ,z=0.034259,angle between two frames:0.001881
[19:08:04.634] Update EKF and 3D points the number of feature in the new frame: 150 and number of obs: 150
[19:08:04.634] frame Scene Depth mean:2.853287 ,depth min:0.506901
[19:08:04.637] need key frame pitch dis: 0.372242 translation dif:0.941180
[19:08:04.637] Choose frame as a key frame Scene Depth mean:2.853287 ,depth min:0.506901
[19:08:04.637] frame process finished the id is: 76 the obs is:150 
[19:08:04.645] Odometry x=-0.169877, y=0.691068, theta=0.012201
[19:08:04.836] After Reprojection Map nMatches:157 ,distance between ekf and vo x:-0.022112 ,z=0.048925,angle between two frames:0.002297
[19:08:04.837]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =115 	 error init =0.019824 	 error end=0.018372
[19:08:04.837] After pose optimization, distance between ekf and vo x:-0.022112 ,z=0.048925,angle between two frames:0.002297
[19:08:04.837] Update EKF and 3D points the number of feature in the new frame: 115 and number of obs: 115
[19:08:04.837] frame Scene Depth mean:3.181730 ,depth min:0.528056
[19:08:04.840] need key frame pitch dis: 0.092096 translation dif:0.507305
[19:08:04.840] Choose frame as a key frame Scene Depth mean:3.181730 ,depth min:0.528056
[19:08:04.840] frame process finished the id is: 77 the obs is:115 
[19:08:04.902] Odometry x=-0.175200, y=0.703424, theta=0.005715
[19:08:05.060] After Reprojection Map nMatches:156 ,distance between ekf and vo x:-0.031342 ,z=0.055628,angle between two frames:0.000127
[19:08:05.061]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =106 	 error init =0.015070 	 error end=0.023756
[19:08:05.061] After pose optimization, distance between ekf and vo x:-0.031342 ,z=0.055628,angle between two frames:0.000127
[19:08:05.061] Update EKF and 3D points the number of feature in the new frame: 106 and number of obs: 106
[19:08:05.061] frame Scene Depth mean:5.273465 ,depth min:0.187470
[19:08:05.064] need key frame pitch dis: 0.008865 translation dif:1.819924
[19:08:05.064] Choose frame as a key frame Scene Depth mean:5.273465 ,depth min:0.187470
[19:08:05.064] frame process finished the id is: 78 the obs is:106 
[19:08:05.207] Odometry x=-0.182911, y=0.717137, theta=-0.007508
[19:08:05.251] After Reprojection Map nMatches:210 ,distance between ekf and vo x:0.031441 ,z=-0.048148,angle between two frames:0.004097
[19:08:05.251]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =178 	 error init =0.011098 	 error end=0.007086
[19:08:05.251] After pose optimization, distance between ekf and vo x:0.031441 ,z=-0.048148,angle between two frames:0.004097
[19:08:05.251] Update EKF and 3D points the number of feature in the new frame: 178 and number of obs: 178
[19:08:05.251] frame Scene Depth mean:6.919656 ,depth min:0.400271
[19:08:05.255] need key frame pitch dis: 0.076095 translation dif:2.589073
[19:08:05.255] Choose frame as a key frame Scene Depth mean:6.919656 ,depth min:0.400271
[19:08:05.255] frame process finished the id is: 79 the obs is:178 
[19:08:05.394] Odometry x=-0.175218, y=0.705275, theta=-0.066214
[19:08:05.604] After Reprojection Map nMatches:167 ,distance between ekf and vo x:0.007217 ,z=-0.005198,angle between two frames:0.001666
[19:08:05.605]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =119 	 error init =0.026116 	 error end=0.016149
[19:08:05.605] After pose optimization, distance between ekf and vo x:0.007217 ,z=-0.005198,angle between two frames:0.001666
[19:08:05.605] Update EKF and 3D points the number of feature in the new frame: 119 and number of obs: 119
[19:08:05.605] frame Scene Depth mean:6.125483 ,depth min:0.074478
[19:08:05.607] need key frame pitch dis: 0.094379 translation dif:0.815932
[19:08:05.607] Choose frame as a key frame Scene Depth mean:6.125483 ,depth min:0.074478
[19:08:05.607] frame process finished the id is: 80 the obs is:119 
[19:08:05.639] Odometry x=-0.173438, y=0.704001, theta=-0.119673
[19:08:05.957] After Reprojection Map nMatches:226 ,distance between ekf and vo x:0.009611 ,z=-0.019348,angle between two frames:0.000594
[19:08:05.958]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =152 	 error init =0.028758 	 error end=0.019984
[19:08:05.958] After pose optimization, distance between ekf and vo x:0.009611 ,z=-0.019348,angle between two frames:0.000594
[19:08:05.958] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152
[19:08:05.958] frame Scene Depth mean:6.805445 ,depth min:0.293584
[19:08:05.961] need key frame pitch dis: 0.143936 translation dif:2.484845
[19:08:05.961] Choose frame as a key frame Scene Depth mean:6.805445 ,depth min:0.293584
[19:08:05.961] frame process finished the id is: 81 the obs is:151 
[19:08:06.456] After Reprojection Map nMatches:273 ,distance between ekf and vo x:-0.514046 ,z=-0.224963,angle between two frames:0.400473
[19:08:06.457]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =205 	 error init =0.106227 	 error end=0.014233
[19:08:06.457] After pose optimization, distance between ekf and vo x:-0.514046 ,z=-0.224963,angle between two frames:0.400473
[19:08:06.457] frame process finished the id is: 81 the obs is:151 
[19:08:06.884] After Reprojection Map nMatches:218 ,distance between ekf and vo x:0.000467 ,z=-0.002916,angle between two frames:0.000037
[19:08:06.885]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =170 	 error init =0.005528 	 error end=0.003045
[19:08:06.885] After pose optimization, distance between ekf and vo x:0.000469 ,z=-0.002916,angle between two frames:0.000037
[19:08:06.885] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170
[19:08:06.885] frame Scene Depth mean:4.091783 ,depth min:0.166781
[19:08:06.886] Odometry x=-0.172928, y=0.702764, theta=-0.173199
[19:08:06.888] need key frame pitch dis: 0.455209 translation dif:0.603005
[19:08:06.888] Choose frame as a key frame Scene Depth mean:4.091783 ,depth min:0.166781
[19:08:06.888] frame process finished the id is: 83 the obs is:169 
[19:08:07.201] Odometry x=-0.172801, y=0.703448, theta=-0.175431
[19:08:07.297] After Reprojection Map nMatches:265 ,distance between ekf and vo x:-0.007008 ,z=0.044863,angle between two frames:0.000172
[19:08:07.298]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =183 	 error init =0.033774 	 error end=0.011446
[19:08:07.298] After pose optimization, distance between ekf and vo x:-0.007008 ,z=0.044863,angle between two frames:0.000172
[19:08:07.298] Update EKF and 3D points the number of feature in the new frame: 183 and number of obs: 183
[19:08:07.298] frame Scene Depth mean:6.320973 ,depth min:0.212024
[19:08:07.302] need key frame pitch dis: 0.174654 translation dif:0.518587
[19:08:07.302] Choose frame as a key frame Scene Depth mean:6.320973 ,depth min:0.212024
[19:08:07.302] frame process finished the id is: 84 the obs is:183 
[19:08:07.420] Odometry x=-0.173407, y=0.719801, theta=-0.169188
[19:08:07.639] Odometry x=-0.171781, y=0.729823, theta=-0.164313
[19:08:07.702] After Reprojection Map nMatches:222 ,distance between ekf and vo x:-0.002801 ,z=0.000071,angle between two frames:0.000196
[19:08:07.703]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =152 	 error init =0.054511 	 error end=0.026729
[19:08:07.703] After pose optimization, distance between ekf and vo x:-0.002801 ,z=0.000071,angle between two frames:0.000196
[19:08:07.703] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152
[19:08:07.703] frame Scene Depth mean:6.680856 ,depth min:0.172547
[19:08:07.706] need key frame pitch dis: 3.034479 translation dif:0.768927
[19:08:07.706] Choose frame as a key frame Scene Depth mean:6.680856 ,depth min:0.172547
[19:08:07.706] frame process finished the id is: 85 the obs is:152 
[19:08:07.883] Odometry x=-0.171275, y=0.736959, theta=-0.168182
[19:08:08.032] After Reprojection Map nMatches:233 ,distance between ekf and vo x:-0.001992 ,z=0.042068,angle between two frames:0.000165
[19:08:08.033]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =177 	 error init =0.043564 	 error end=0.011926
[19:08:08.033] After pose optimization, distance between ekf and vo x:-0.001992 ,z=0.042068,angle between two frames:0.000165
[19:08:08.033] Update EKF and 3D points the number of feature in the new frame: 177 and number of obs: 177
[19:08:08.033] frame Scene Depth mean:5.308118 ,depth min:0.092438
[19:08:08.037] need key frame pitch dis: 0.066514 translation dif:0.056050
[19:08:08.037] frame process finished the id is: 86 the obs is:177 
[19:08:08.175] Odometry x=-0.169542, y=0.754259, theta=-0.160136
[19:08:08.370] After Reprojection Map nMatches:261 ,distance between ekf and vo x:0.002370 ,z=0.107913,angle between two frames:0.000945
[19:08:08.371]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =234 	 error init =0.010756 	 error end=0.001759
[19:08:08.371] After pose optimization, distance between ekf and vo x:0.002370 ,z=0.107913,angle between two frames:0.000945
[19:08:08.371] Update EKF and 3D points the number of feature in the new frame: 234 and number of obs: 234
[19:08:08.371] frame Scene Depth mean:4.831193 ,depth min:0.184579
[19:08:08.376] need key frame pitch dis: 0.240696 translation dif:0.231845
[19:08:08.376] Choose frame as a key frame Scene Depth mean:4.831193 ,depth min:0.184579
[19:08:08.376] frame process finished the id is: 87 the obs is:234 
[19:08:08.393] Odometry x=-0.170060, y=0.790743, theta=-0.149682
[19:08:08.679] Odometry x=-0.168471, y=0.800513, theta=-0.137410
[19:08:08.761] After Reprojection Map nMatches:257 ,distance between ekf and vo x:-0.002164 ,z=0.002334,angle between two frames:0.000137
[19:08:08.763]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =218 	 error init =0.005070 	 error end=0.001967
[19:08:08.763] After pose optimization, distance between ekf and vo x:0.015105 ,z=-0.125379,angle between two frames:0.004376
[19:08:08.763] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218
[19:08:08.763] frame Scene Depth mean:5.368237 ,depth min:0.299050
[19:08:08.768] need key frame pitch dis: 2.851909 translation dif:0.032451
[19:08:08.768] Choose frame as a key frame Scene Depth mean:5.368237 ,depth min:0.299050
[19:08:08.769] frame process finished the id is: 88 the obs is:218 
[19:08:08.911] Odometry x=-0.164027, y=0.778540, theta=-0.147807
[19:08:09.141] After Reprojection Map nMatches:304 ,distance between ekf and vo x:0.017872 ,z=0.024670,angle between two frames:0.002043
[19:08:09.142]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =218 	 error init =0.043602 	 error end=0.017132
[19:08:09.142] After pose optimization, distance between ekf and vo x:0.017872 ,z=0.024670,angle between two frames:0.002043
[19:08:09.142] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218
[19:08:09.142] frame Scene Depth mean:5.377891 ,depth min:0.310275
[19:08:09.146] need key frame pitch dis: 0.028108 translation dif:1.936225
[19:08:09.146] Choose frame as a key frame Scene Depth mean:5.377891 ,depth min:0.310275
[19:08:09.146] frame process finished the id is: 89 the obs is:218 
[19:08:09.214] Odometry x=-0.158631, y=0.792221, theta=-0.157909
[19:08:09.376] Odometry x=-0.156514, y=0.802368, theta=-0.167055
[19:08:09.502] After Reprojection Map nMatches:261 ,distance between ekf and vo x:0.001850 ,z=0.017695,angle between two frames:0.000293
[19:08:09.503]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =184 	 error init =0.034697 	 error end=0.015032
[19:08:09.503] After pose optimization, distance between ekf and vo x:0.001850 ,z=0.017695,angle between two frames:0.000293
[19:08:09.503] Update EKF and 3D points the number of feature in the new frame: 184 and number of obs: 184
[19:08:09.503] frame Scene Depth mean:5.371862 ,depth min:0.175639
[19:08:09.507] need key frame pitch dis: 0.158371 translation dif:2.290617
[19:08:09.507] Choose frame as a key frame Scene Depth mean:5.371862 ,depth min:0.175639
[19:08:09.507] frame process finished the id is: 90 the obs is:184 
[19:08:09.631] Odometry x=-0.152053, y=0.814666, theta=-0.149266
[19:08:09.904] After Reprojection Map nMatches:269 ,distance between ekf and vo x:0.004533 ,z=0.015656,angle between two frames:0.000655
[19:08:09.905]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =172 	 error init =0.035046 	 error end=0.012303
[19:08:09.905] After pose optimization, distance between ekf and vo x:0.004533 ,z=0.015656,angle between two frames:0.000655
[19:08:09.905] Update EKF and 3D points the number of feature in the new frame: 172 and number of obs: 172
[19:08:09.905] frame Scene Depth mean:5.178269 ,depth min:0.190028
[19:08:09.909] need key frame pitch dis: 3.172872 translation dif:1.007180
[19:08:09.909] Choose frame as a key frame Scene Depth mean:5.178269 ,depth min:0.190028
[19:08:09.909] frame process finished the id is: 91 the obs is:172 
[19:08:09.919] Odometry x=-0.147559, y=0.828184, theta=-0.144788
[19:08:10.145] Odometry x=-0.145343, y=0.838382, theta=-0.134831
[19:08:10.338] After Reprojection Map nMatches:218 ,distance between ekf and vo x:0.006110 ,z=-0.000405,angle between two frames:0.000377
[19:08:10.338]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =177 	 error init =0.015726 	 error end=0.007585
[19:08:10.338] After pose optimization, distance between ekf and vo x:0.006110 ,z=-0.000405,angle between two frames:0.000377
[19:08:10.338] Update EKF and 3D points the number of feature in the new frame: 177 and number of obs: 177
[19:08:10.339] frame Scene Depth mean:5.056200 ,depth min:0.050915
[19:08:10.343] need key frame pitch dis: 0.046262 translation dif:0.392254
[19:08:10.343] Choose frame as a key frame Scene Depth mean:5.056200 ,depth min:0.050915
[19:08:10.343] frame process finished the id is: 92 the obs is:176 
[19:08:10.397] Odometry x=-0.143222, y=0.845992, theta=-0.138970
[19:08:10.636] Odometry x=-0.141853, y=0.855924, theta=-0.151210
[19:08:10.758] After Reprojection Map nMatches:305 ,distance between ekf and vo x:-0.039610 ,z=-0.001377,angle between two frames:0.004032
[19:08:10.759]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =241 	 error init =0.016017 	 error end=0.008127
[19:08:10.759] After pose optimization, distance between ekf and vo x:-0.039610 ,z=-0.001377,angle between two frames:0.004032
[19:08:10.759] Update EKF and 3D points the number of feature in the new frame: 241 and number of obs: 241
[19:08:10.759] frame Scene Depth mean:4.966667 ,depth min:0.142967
[19:08:10.763] need key frame pitch dis: 0.187107 translation dif:1.977009
[19:08:10.763] Choose frame as a key frame Scene Depth mean:4.966667 ,depth min:0.142967
[19:08:10.763] frame process finished the id is: 93 the obs is:241 
[19:08:10.891] Odometry x=-0.150958, y=0.862543, theta=-0.173103
[19:08:11.142] After Reprojection Map nMatches:267 ,distance between ekf and vo x:0.000392 ,z=0.006474,angle between two frames:0.000099
[19:08:11.143]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =229 	 error init =0.013191 	 error end=0.007892
[19:08:11.143] After pose optimization, distance between ekf and vo x:0.000447 ,z=0.006097,angle between two frames:0.000097
[19:08:11.143] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229
[19:08:11.144] frame Scene Depth mean:4.451808 ,depth min:0.238892
[19:08:11.149] need key frame pitch dis: 3.179886 translation dif:0.671151
[19:08:11.149] Choose frame as a key frame Scene Depth mean:4.451808 ,depth min:0.238892
[19:08:11.149] frame process finished the id is: 94 the obs is:229 
[19:08:11.181] Odometry x=-0.150153, y=0.871907, theta=-0.185540
[19:08:11.413] Odometry x=-0.148281, y=0.881721, theta=-0.183337
[19:08:11.642] Odometry x=-0.146090, y=0.894149, theta=-0.182776
[19:08:11.660] After Reprojection Map nMatches:333 ,distance between ekf and vo x:0.023629 ,z=0.084064,angle between two frames:0.002986
[19:08:11.661]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =253 	 error init =0.017173 	 error end=0.017565
[19:08:11.661] After pose optimization, distance between ekf and vo x:0.023629 ,z=0.084064,angle between two frames:0.002986
[19:08:11.661] Update EKF and 3D points the number of feature in the new frame: 253 and number of obs: 253
[19:08:11.661] frame Scene Depth mean:5.052711 ,depth min:0.211640
[19:08:11.667] need key frame pitch dis: 3.221323 translation dif:0.665451
[19:08:11.667] Choose frame as a key frame Scene Depth mean:5.052711 ,depth min:0.211640
[19:08:11.667] frame process finished the id is: 95 the obs is:253 
[19:08:11.874] Odometry x=-0.139663, y=0.918807, theta=-0.188130
[19:08:12.141] Odometry x=-0.137722, y=0.929108, theta=-0.195275
[19:08:12.198] After Reprojection Map nMatches:385 ,distance between ekf and vo x:0.000654 ,z=0.002449,angle between two frames:0.000398
[19:08:12.199]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =314 	 error init =0.033845 	 error end=0.011126
[19:08:12.199] After pose optimization, distance between ekf and vo x:0.000654 ,z=0.002449,angle between two frames:0.000398
[19:08:12.199] Update EKF and 3D points the number of feature in the new frame: 314 and number of obs: 314
[19:08:12.199] frame Scene Depth mean:2.369722 ,depth min:0.051240
[19:08:12.204] need key frame pitch dis: 0.307497 translation dif:0.028592
[19:08:12.204] Choose frame as a key frame Scene Depth mean:2.369722 ,depth min:0.051240
[19:08:12.204] frame process finished the id is: 96 the obs is:306 
[19:08:12.396] Odometry x=-0.135381, y=0.937481, theta=-0.198039
[19:08:12.648] Odometry x=-0.133478, y=0.948119, theta=-0.200658
[19:08:12.724] After Reprojection Map nMatches:364 ,distance between ekf and vo x:0.002340 ,z=0.002143,angle between two frames:0.001266
[19:08:12.725]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =286 	 error init =0.027350 	 error end=0.021370
[19:08:12.725] After pose optimization, distance between ekf and vo x:0.002340 ,z=0.002143,angle between two frames:0.001266
[19:08:12.725] Update EKF and 3D points the number of feature in the new frame: 286 and number of obs: 286
[19:08:12.725] frame Scene Depth mean:2.869049 ,depth min:0.103461
[19:08:12.732] need key frame pitch dis: 0.336967 translation dif:0.350346
[19:08:12.732] Choose frame as a key frame Scene Depth mean:2.869049 ,depth min:0.103461
[19:08:12.732] frame process finished the id is: 97 the obs is:286 
[19:08:12.870] Odometry x=-0.130610, y=0.957042, theta=-0.206753
[19:08:13.233] Odometry x=-0.128971, y=0.969822, theta=-0.213539
[19:08:13.246] After Reprojection Map nMatches:363 ,distance between ekf and vo x:0.002361 ,z=0.017499,angle between two frames:0.001163
[19:08:13.249]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =234 	 error init =0.015304 	 error end=0.026750
[19:08:13.249] After pose optimization, distance between ekf and vo x:0.002757 ,z=0.015008,angle between two frames:0.001124
[19:08:13.249] Update EKF and 3D points the number of feature in the new frame: 234 and number of obs: 234
[19:08:13.249] frame Scene Depth mean:2.282278 ,depth min:0.050510
[19:08:13.253] need key frame pitch dis: 0.382977 translation dif:0.146335
[19:08:13.253] Choose frame as a key frame Scene Depth mean:2.282278 ,depth min:0.050510
[19:08:13.253] frame process finished the id is: 98 the obs is:220 
[19:08:13.408] Odometry x=-0.123280, y=0.995619, theta=-0.208643
[19:08:13.645] Odometry x=-0.120172, y=1.009883, theta=-0.199330
[19:08:13.806] After Reprojection Map nMatches:426 ,distance between ekf and vo x:-0.005862 ,z=-0.005751,angle between two frames:0.008784
[19:08:13.807]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =378 	 error init =0.006211 	 error end=0.004032
[19:08:13.807] After pose optimization, distance between ekf and vo x:-0.005862 ,z=-0.005751,angle between two frames:0.008784
[19:08:13.807] Update EKF and 3D points the number of feature in the new frame: 378 and number of obs: 378
[19:08:13.807] frame Scene Depth mean:1.584623 ,depth min:0.096629
[19:08:13.812] need key frame pitch dis: 0.306957 translation dif:0.723736
[19:08:13.812] Choose frame as a key frame Scene Depth mean:1.584623 ,depth min:0.096629
[19:08:13.812] frame process finished the id is: 99 the obs is:377 
[19:08:13.882] Odometry x=-0.119190, y=1.015643, theta=-0.209261
[19:08:14.132] Odometry x=-0.116784, y=1.026417, theta=-0.205095
[19:08:14.391] Odometry x=-0.113905, y=1.040055, theta=-0.199826
[19:08:14.427] After Reprojection Map nMatches:424 ,distance between ekf and vo x:-0.001270 ,z=-0.001424,angle between two frames:0.000231
[19:08:14.429]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =305 	 error init =0.065689 	 error end=0.102579
[19:08:14.429] After pose optimization, distance between ekf and vo x:0.055671 ,z=0.002935,angle between two frames:0.005529
[19:08:14.429] Update EKF and 3D points the number of feature in the new frame: 305 and number of obs: 305
[19:08:14.429] frame Scene Depth mean:2.970628 ,depth min:0.101176
[19:08:14.437] need key frame pitch dis: 1.067742 translation dif:2.533634
[19:08:14.437] Choose frame as a key frame Scene Depth mean:2.970628 ,depth min:0.101176
[19:08:14.437] frame process finished the id is: 100 the obs is:305 
[19:08:14.645] Odometry x=-0.099781, y=1.046238, theta=-0.198901
[19:08:14.877] Odometry x=-0.097766, y=1.057121, theta=-0.204542
[19:08:14.894] After Reprojection Map nMatches:326 ,distance between ekf and vo x:0.001171 ,z=0.000279,angle between two frames:0.000142
[19:08:14.895]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =260 	 error init =0.031333 	 error end=0.022124
[19:08:14.895] After pose optimization, distance between ekf and vo x:0.001171 ,z=0.000279,angle between two frames:0.000142
[19:08:14.895] Update EKF and 3D points the number of feature in the new frame: 260 and number of obs: 260
[19:08:14.895] frame Scene Depth mean:3.669894 ,depth min:0.314161
[19:08:14.901] need key frame pitch dis: 0.597359 translation dif:2.313697
[19:08:14.901] Choose frame as a key frame Scene Depth mean:3.669894 ,depth min:0.314161
[19:08:14.901] frame process finished the id is: 101 the obs is:260 
[19:08:15.213] Odometry x=-0.092510, y=1.082109, theta=-0.206759
[19:08:15.389] Odometry x=-0.089566, y=1.096804, theta=-0.205044
[19:08:15.422] After Reprojection Map nMatches:392 ,distance between ekf and vo x:0.000850 ,z=0.000140,angle between two frames:0.000073
[19:08:15.423]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =339 	 error init =0.010002 	 error end=0.005600
[19:08:15.423] After pose optimization, distance between ekf and vo x:0.000850 ,z=0.000140,angle between two frames:0.000073
[19:08:15.423] Update EKF and 3D points the number of feature in the new frame: 339 and number of obs: 339
[19:08:15.423] frame Scene Depth mean:4.317574 ,depth min:0.347856
[19:08:15.429] need key frame pitch dis: 0.472831 translation dif:0.925038
[19:08:15.429] Choose frame as a key frame Scene Depth mean:4.317574 ,depth min:0.347856
[19:08:15.429] frame process finished the id is: 102 the obs is:339 
[19:08:15.636] Odometry x=-0.084214, y=1.122095, theta=-0.203830
[19:08:15.912] Odometry x=-0.079156, y=1.138271, theta=-0.170248
[19:08:16.134] After Reprojection Map nMatches:441 ,distance between ekf and vo x:0.000981 ,z=-0.000212,angle between two frames:0.000055
[19:08:16.137]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =262 	 error init =0.020491 	 error end=0.021752
[19:08:16.137] After pose optimization, distance between ekf and vo x:0.002035 ,z=-0.000828,angle between two frames:0.000082
[19:08:16.137] Update EKF and 3D points the number of feature in the new frame: 262 and number of obs: 262
[19:08:16.137] frame Scene Depth mean:5.954592 ,depth min:0.052177
[19:08:16.138] Odometry x=-0.078140, y=1.144757, theta=-0.175456
[19:08:16.142] need key frame pitch dis: 0.065698 translation dif:0.528112
[19:08:16.142] Choose frame as a key frame Scene Depth mean:5.954592 ,depth min:0.052177
[19:08:16.142] frame process finished the id is: 103 the obs is:261 
[19:08:16.387] Odometry x=-0.076029, y=1.155867, theta=-0.161553
[19:08:16.646] After Reprojection Map nMatches:407 ,distance between ekf and vo x:0.000470 ,z=-0.000183,angle between two frames:0.000023
[19:08:16.647] Odometry x=-0.074099, y=1.170042, theta=-0.147702
[19:08:16.648]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =278 	 error init =0.020501 	 error end=0.011054
[19:08:16.648] After pose optimization, distance between ekf and vo x:0.000470 ,z=-0.000183,angle between two frames:0.000023
[19:08:16.648] Update EKF and 3D points the number of feature in the new frame: 278 and number of obs: 278
[19:08:16.648] frame Scene Depth mean:2.790472 ,depth min:0.054641
[19:08:16.652] need key frame pitch dis: 0.171215 translation dif:1.178634
[19:08:16.652] Choose frame as a key frame Scene Depth mean:2.790472 ,depth min:0.054641
[19:08:16.652] frame process finished the id is: 104 the obs is:269 
[19:08:16.897] Odometry x=-0.070027, y=1.195160, theta=-0.102073
[19:08:17.177] Odometry x=-0.068739, y=1.209846, theta=-0.091343
[19:08:17.378] Odometry x=-0.068108, y=1.225428, theta=-0.096735
[19:08:17.381] After Reprojection Map nMatches:457 ,distance between ekf and vo x:-0.002957 ,z=-0.010482,angle between two frames:0.000277
[19:08:17.384]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =345 	 error init =0.013322 	 error end=0.016087
[19:08:17.384] After pose optimization, distance between ekf and vo x:-0.002022 ,z=-0.010700,angle between two frames:0.000239
[19:08:17.384] Update EKF and 3D points the number of feature in the new frame: 345 and number of obs: 345
[19:08:17.384] frame Scene Depth mean:2.202305 ,depth min:0.058168
[19:08:17.390] need key frame pitch dis: 0.196986 translation dif:0.849974
[19:08:17.390] Choose frame as a key frame Scene Depth mean:2.202305 ,depth min:0.058168
[19:08:17.390] frame process finished the id is: 105 the obs is:337 
[19:08:17.622] Odometry x=-0.065859, y=1.249072, theta=-0.076055
[19:08:17.892] Odometry x=-0.064537, y=1.264016, theta=-0.101019
[19:08:18.119] Odometry x=-0.064015, y=1.279390, theta=-0.128828
[19:08:18.176] After Reprojection Map nMatches:467 ,distance between ekf and vo x:0.002132 ,z=-0.021190,angle between two frames:0.000071
[19:08:18.177]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =374 	 error init =0.027889 	 error end=0.026948
[19:08:18.177] After pose optimization, distance between ekf and vo x:0.002132 ,z=-0.021190,angle between two frames:0.000071
[19:08:18.177] Update EKF and 3D points the number of feature in the new frame: 374 and number of obs: 374
[19:08:18.177] frame Scene Depth mean:2.294818 ,depth min:0.114459
[19:08:18.183] need key frame pitch dis: 0.194483 translation dif:0.234518
[19:08:18.183] Choose frame as a key frame Scene Depth mean:2.294818 ,depth min:0.114459
[19:08:18.184] frame process finished the id is: 106 the obs is:373 
[19:08:18.366] Odometry x=-0.062555, y=1.277043, theta=-0.125811
[19:08:18.664] Odometry x=-0.061011, y=1.288015, theta=-0.121680
[19:08:18.856] After Reprojection Map nMatches:519 ,distance between ekf and vo x:0.000744 ,z=0.000501,angle between two frames:0.000050
[19:08:18.857]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =343 	 error init =0.029283 	 error end=0.034624
[19:08:18.857] After pose optimization, distance between ekf and vo x:0.000744 ,z=0.000501,angle between two frames:0.000050
[19:08:18.857] Update EKF and 3D points the number of feature in the new frame: 343 and number of obs: 343
[19:08:18.857] frame Scene Depth mean:2.186999 ,depth min:0.066037
[19:08:18.863] need key frame pitch dis: 0.122273 translation dif:0.259435
[19:08:18.863] Choose frame as a key frame Scene Depth mean:2.186999 ,depth min:0.066037
[19:08:18.863] frame process finished the id is: 107 the obs is:339 
[19:08:18.887] Odometry x=-0.063273, y=1.299809, theta=-0.091990
[19:08:19.197] Odometry x=-0.062208, y=1.310998, theta=-0.088661
[19:08:19.388] Odometry x=-0.060298, y=1.323744, theta=-0.106859
[19:08:19.507] After Reprojection Map nMatches:578 ,distance between ekf and vo x:0.000960 ,z=0.000833,angle between two frames:0.000056
[19:08:19.509]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =437 	 error init =0.019957 	 error end=0.018455
[19:08:19.509] After pose optimization, distance between ekf and vo x:0.000960 ,z=0.000833,angle between two frames:0.000056
[19:08:19.509] Update EKF and 3D points the number of feature in the new frame: 437 and number of obs: 437
[19:08:19.510] frame Scene Depth mean:2.092229 ,depth min:0.053533
[19:08:19.517] need key frame pitch dis: 0.028681 translation dif:1.084618
[19:08:19.517] Choose frame as a key frame Scene Depth mean:2.092229 ,depth min:0.053533
[19:08:19.517] frame process finished the id is: 108 the obs is:427 
[19:08:19.629] Odometry x=-0.061824, y=1.329730, theta=-0.096526
[19:08:19.906] Odometry x=-0.060595, y=1.341056, theta=-0.083008
[19:08:20.140] Odometry x=-0.059136, y=1.355816, theta=-0.096429
[19:08:20.288] After Reprojection Map nMatches:523 ,distance between ekf and vo x:0.000734 ,z=0.000374,angle between two frames:0.000044
[19:08:20.290]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =401 	 error init =0.029890 	 error end=0.032624
[19:08:20.290] After pose optimization, distance between ekf and vo x:0.000734 ,z=0.000374,angle between two frames:0.000044
[19:08:20.290] Update EKF and 3D points the number of feature in the new frame: 401 and number of obs: 401
[19:08:20.290] frame Scene Depth mean:1.936543 ,depth min:0.051786
[19:08:20.297] need key frame pitch dis: 0.108020 translation dif:0.525819
[19:08:20.298] Choose frame as a key frame Scene Depth mean:1.936543 ,depth min:0.051786
[19:08:20.298] frame process finished the id is: 109 the obs is:400 
[19:08:20.374] Odometry x=-0.060336, y=1.361361, theta=-0.114542
[19:08:20.979] After Reprojection Map nMatches:491 ,distance between ekf and vo x:0.001070 ,z=0.000167,angle between two frames:0.000064
[19:08:20.982]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =384 	 error init =0.010500 	 error end=0.023347
[19:08:20.982] After pose optimization, distance between ekf and vo x:0.018434 ,z=-0.003750,angle between two frames:0.001462
[19:08:20.982] Update EKF and 3D points the number of feature in the new frame: 384 and number of obs: 384
[19:08:20.983] frame Scene Depth mean:3.327508 ,depth min:0.123623
[19:08:20.989] need key frame pitch dis: 3.079018 translation dif:1.671072
[19:08:20.989] Choose frame as a key frame Scene Depth mean:3.327508 ,depth min:0.123623
[19:08:20.989] frame process finished the id is: 110 the obs is:384 
[19:08:21.639] Odometry x=-0.055866, y=1.360641, theta=-0.121050
[19:08:21.879] After Reprojection Map nMatches:652 ,distance between ekf and vo x:0.001351 ,z=-0.000835,angle between two frames:0.000097
[19:08:21.881]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =459 	 error init =0.013738 	 error end=0.015389
[19:08:21.881] After pose optimization, distance between ekf and vo x:0.001351 ,z=-0.000835,angle between two frames:0.000097
[19:08:21.881] Update EKF and 3D points the number of feature in the new frame: 459 and number of obs: 459
[19:08:21.881] frame Scene Depth mean:2.800624 ,depth min:0.060292
[19:08:21.889] need key frame pitch dis: 0.239543 translation dif:1.282616
[19:08:21.889] Choose frame as a key frame Scene Depth mean:2.800624 ,depth min:0.060292
[19:08:21.889] frame process finished the id is: 111 the obs is:459 
[19:08:21.913] Odometry x=-0.057667, y=1.363148, theta=-0.121141
[19:08:22.147] Odometry x=-0.056955, y=1.369070, theta=-0.120404
[19:08:22.380] Odometry x=-0.056136, y=1.377932, theta=-0.112250
[19:08:22.618] Odometry x=-0.055298, y=1.388827, theta=-0.100680
[19:08:22.807] After Reprojection Map nMatches:664 ,distance between ekf and vo x:-0.003322 ,z=0.020076,angle between two frames:0.000314
[19:08:22.809]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =516 	 error init =0.008021 	 error end=0.013526
[19:08:22.809] After pose optimization, distance between ekf and vo x:-0.003322 ,z=0.020076,angle between two frames:0.000314
[19:08:22.809] Update EKF and 3D points the number of feature in the new frame: 516 and number of obs: 516
[19:08:22.809] frame Scene Depth mean:3.162551 ,depth min:0.069259
[19:08:22.816] need key frame pitch dis: 0.082657 translation dif:0.771971
[19:08:22.816] Choose frame as a key frame Scene Depth mean:3.162551 ,depth min:0.069259
[19:08:22.816] frame process finished the id is: 112 the obs is:511 
[19:08:22.888] Odometry x=-0.055780, y=1.395905, theta=-0.102923
[19:08:23.210] Odometry x=-0.054957, y=1.404073, theta=-0.103801
[19:08:23.393] Odometry x=-0.054796, y=1.413968, theta=-0.071598
[19:08:23.444] After Reprojection Map nMatches:509 ,distance between ekf and vo x:0.000441 ,z=0.000637,angle between two frames:0.000025
[19:08:23.446]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =347 	 error init =0.022076 	 error end=0.023957
[19:08:23.446] After pose optimization, distance between ekf and vo x:0.000441 ,z=0.000637,angle between two frames:0.000025
[19:08:23.446] Update EKF and 3D points the number of feature in the new frame: 347 and number of obs: 347
[19:08:23.446] frame Scene Depth mean:3.089965 ,depth min:0.105386
[19:08:23.453] need key frame pitch dis: 0.266294 translation dif:1.521586
[19:08:23.453] Choose frame as a key frame Scene Depth mean:3.089965 ,depth min:0.105386
[19:08:23.453] frame process finished the id is: 113 the obs is:347 
[19:08:23.642] Odometry x=-0.054736, y=1.418662, theta=-0.074543
[19:08:23.907] Odometry x=-0.054083, y=1.426803, theta=-0.069176
[19:08:24.024] After Reprojection Map nMatches:483 ,distance between ekf and vo x:0.000967 ,z=-0.000292,angle between two frames:0.000062
[19:08:24.028]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =374 	 error init =0.022105 	 error end=0.018557
[19:08:24.028] After pose optimization, distance between ekf and vo x:0.006728 ,z=-0.007465,angle between two frames:0.000013
[19:08:24.028] Update EKF and 3D points the number of feature in the new frame: 374 and number of obs: 374
[19:08:24.028] frame Scene Depth mean:3.054638 ,depth min:0.096209
[19:08:24.034] need key frame pitch dis: 0.119879 translation dif:1.709808
[19:08:24.034] Choose frame as a key frame Scene Depth mean:3.054638 ,depth min:0.096209
[19:08:24.035] frame process finished the id is: 114 the obs is:371 
[19:08:24.144] Odometry x=-0.053546, y=1.435679, theta=-0.063960
[19:08:24.404] Odometry x=-0.052983, y=1.443744, theta=-0.051137
[19:08:24.622] Odometry x=-0.052754, y=1.453061, theta=-0.018909
[19:08:24.695] After Reprojection Map nMatches:615 ,distance between ekf and vo x:0.000419 ,z=0.000660,angle between two frames:0.000018
[19:08:24.697]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =505 	 error init =0.008626 	 error end=0.014204
[19:08:24.697] After pose optimization, distance between ekf and vo x:0.000419 ,z=0.000660,angle between two frames:0.000018
[19:08:24.697] Update EKF and 3D points the number of feature in the new frame: 505 and number of obs: 505
[19:08:24.697] frame Scene Depth mean:3.107758 ,depth min:0.079955
[19:08:24.706] need key frame pitch dis: 3.089346 translation dif:0.808961
[19:08:24.706] Choose frame as a key frame Scene Depth mean:3.107758 ,depth min:0.079955
[19:08:24.707] frame process finished the id is: 115 the obs is:502 
[19:08:24.894] Odometry x=-0.052917, y=1.457269, theta=-0.010453
[19:08:25.165] Odometry x=-0.052898, y=1.467643, theta=-0.005949
[19:08:25.395] Odometry x=-0.052935, y=1.477984, theta=0.000798
[19:08:25.564] After Reprojection Map nMatches:634 ,distance between ekf and vo x:0.000625 ,z=0.000913,angle between two frames:0.000053
[19:08:25.565]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =484 	 error init =0.024491 	 error end=0.020095
[19:08:25.565] After pose optimization, distance between ekf and vo x:0.000625 ,z=0.000913,angle between two frames:0.000053
[19:08:25.566] Update EKF and 3D points the number of feature in the new frame: 484 and number of obs: 484
[19:08:25.566] frame Scene Depth mean:2.799449 ,depth min:0.073325
[19:08:25.573] need key frame pitch dis: 0.094833 translation dif:0.232466
[19:08:25.573] Choose frame as a key frame Scene Depth mean:2.799449 ,depth min:0.073325
[19:08:25.574] frame process finished the id is: 116 the obs is:484 
[19:08:25.653] Odometry x=-0.055571, y=1.480270, theta=-0.017755
[19:08:25.869] Odometry x=-0.055533, y=1.488603, theta=-0.024416
[19:08:26.139] Odometry x=-0.056097, y=1.498511, theta=0.012706
[19:08:26.369] Odometry x=-0.056783, y=1.510052, theta=0.016121
[19:08:26.406] After Reprojection Map nMatches:695 ,distance between ekf and vo x:0.000227 ,z=0.001548,angle between two frames:0.000044
[19:08:26.408]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =556 	 error init =0.018414 	 error end=0.013276
[19:08:26.408] After pose optimization, distance between ekf and vo x:0.000227 ,z=0.001548,angle between two frames:0.000044
[19:08:26.408] Update EKF and 3D points the number of feature in the new frame: 556 and number of obs: 556
[19:08:26.408] frame Scene Depth mean:3.458866 ,depth min:0.057092
[19:08:26.418] need key frame pitch dis: 0.395086 translation dif:0.928757
[19:08:26.418] Choose frame as a key frame Scene Depth mean:3.458866 ,depth min:0.057092
[19:08:26.418] frame process finished the id is: 117 the obs is:556 
[19:08:26.627] Odometry x=-0.056868, y=1.528430, theta=0.005921
[19:08:27.095] After Reprojection Map nMatches:634 ,distance between ekf and vo x:0.000210 ,z=0.000173,angle between two frames:0.000019
[19:08:27.097]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =416 	 error init =0.035113 	 error end=0.043452
[19:08:27.097] After pose optimization, distance between ekf and vo x:0.000210 ,z=0.000173,angle between two frames:0.000019
[19:08:27.097] Update EKF and 3D points the number of feature in the new frame: 416 and number of obs: 416
[19:08:27.097] frame Scene Depth mean:3.429968 ,depth min:0.063328
[19:08:27.104] need key frame pitch dis: 0.003871 translation dif:0.312856
[19:08:27.104] Choose frame as a key frame Scene Depth mean:3.429968 ,depth min:0.063328
[19:08:27.104] frame process finished the id is: 118 the obs is:416 
[19:08:27.906] Odometry x=-0.056990, y=1.528798, theta=-0.007502
[19:08:28.146] Odometry x=-0.057814, y=1.529193, theta=-0.010019
[19:08:28.158] After Reprojection Map nMatches:682 ,distance between ekf and vo x:0.000130 ,z=0.000768,angle between two frames:0.000032
[19:08:28.160]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =537 	 error init =0.023635 	 error end=0.024978
[19:08:28.160] After pose optimization, distance between ekf and vo x:0.000130 ,z=0.000768,angle between two frames:0.000032
[19:08:28.160] Update EKF and 3D points the number of feature in the new frame: 537 and number of obs: 537
[19:08:28.160] frame Scene Depth mean:3.823346 ,depth min:0.186173
[19:08:28.169] need key frame pitch dis: 0.548946 translation dif:0.752401
[19:08:28.170] Choose frame as a key frame Scene Depth mean:3.823346 ,depth min:0.186173
[19:08:28.170] frame process finished the id is: 119 the obs is:529 
[19:08:28.401] Odometry x=-0.057712, y=1.529234, theta=-0.140003
[19:08:28.645] Odometry x=-0.058096, y=1.529751, theta=-0.256127
[19:08:28.897] Odometry x=-0.058726, y=1.529866, theta=-0.402947
[19:08:29.202] Odometry x=-0.058784, y=1.530102, theta=-0.553986
[19:08:29.303] After Reprojection Map nMatches:720 ,distance between ekf and vo x:0.000464 ,z=0.000912,angle between two frames:0.000041
[19:08:29.306]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =593 	 error init =0.019674 	 error end=0.015439
[19:08:29.306] After pose optimization, distance between ekf and vo x:0.000464 ,z=0.000912,angle between two frames:0.000041
[19:08:29.306] Update EKF and 3D points the number of feature in the new frame: 593 and number of obs: 593
[19:08:29.306] frame Scene Depth mean:3.914182 ,depth min:0.061721
[19:08:29.319] need key frame pitch dis: 0.284540 translation dif:0.116150
[19:08:29.319] Choose frame as a key frame Scene Depth mean:3.914182 ,depth min:0.061721
[19:08:29.319] frame process finished the id is: 120 the obs is:590 
[19:08:29.870] After Reprojection Map nMatches:553 ,distance between ekf and vo x:-0.000009 ,z=-0.000018,angle between two frames:0.000003
[19:08:29.874]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =443 	 error init =0.026842 	 error end=0.009484
[19:08:29.874] After pose optimization, distance between ekf and vo x:0.022787 ,z=-0.017528,angle between two frames:0.001790
[19:08:29.874] Update EKF and 3D points the number of feature in the new frame: 443 and number of obs: 443
[19:08:29.874] frame Scene Depth mean:4.614778 ,depth min:0.074523
[19:08:29.885] need key frame pitch dis: 3.718996 translation dif:1.322922
[19:08:29.885] Choose frame as a key frame Scene Depth mean:4.614778 ,depth min:0.074523
[19:08:29.885] frame process finished the id is: 121 the obs is:443 
[19:08:30.641] Odometry x=-0.053421, y=1.526050, theta=-0.603219
[19:08:30.881] Odometry x=-0.053424, y=1.526055, theta=-0.602748
[19:08:30.959] After Reprojection Map nMatches:773 ,distance between ekf and vo x:0.000004 ,z=-0.000014,angle between two frames:0.000003
[19:08:30.961]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =622 	 error init =0.052937 	 error end=0.012496
[19:08:30.961] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000014,angle between two frames:0.000003
[19:08:30.961] Update EKF and 3D points the number of feature in the new frame: 622 and number of obs: 622
[19:08:30.961] frame Scene Depth mean:4.859708 ,depth min:0.062650
[19:08:30.974] need key frame pitch dis: 0.724938 translation dif:0.905935
[19:08:30.974] Choose frame as a key frame Scene Depth mean:4.859708 ,depth min:0.062650
[19:08:30.974] frame process finished the id is: 122 the obs is:622 
[19:08:31.213] Odometry x=-0.053426, y=1.526062, theta=-0.627226
[19:08:31.388] Odometry x=-0.053442, y=1.526409, theta=-0.678155
[19:08:31.669] Odometry x=-0.053429, y=1.526491, theta=-0.747707
[19:08:32.215] After Reprojection Map nMatches:951 ,distance between ekf and vo x:0.000011 ,z=0.000004,angle between two frames:0.000000
[19:08:32.220]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =712 	 error init =0.071102 	 error end=0.017374
[19:08:32.220] After pose optimization, distance between ekf and vo x:0.015468 ,z=-0.017212,angle between two frames:0.002130
[19:08:32.220] Update EKF and 3D points the number of feature in the new frame: 712 and number of obs: 712
[19:08:32.221] frame Scene Depth mean:4.483658 ,depth min:0.103676
[19:08:32.234] need key frame pitch dis: 1.021269 translation dif:1.269501
[19:08:32.234] Choose frame as a key frame Scene Depth mean:4.483658 ,depth min:0.103676
[19:08:32.234] frame process finished the id is: 123 the obs is:712 
[19:08:33.192] Odometry x=-0.051386, y=1.524591, theta=-0.771164
[19:08:33.382] Odometry x=-0.051364, y=1.525116, theta=-0.793631
[19:08:33.628] Odometry x=-0.051342, y=1.525195, theta=-0.852885
[19:08:33.753] After Reprojection Map nMatches:936 ,distance between ekf and vo x:-0.000023 ,z=0.000016,angle between two frames:0.000002
[19:08:33.755]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =666 	 error init =0.119565 	 error end=0.018783
[19:08:33.755] After pose optimization, distance between ekf and vo x:-0.000023 ,z=0.000016,angle between two frames:0.000002
[19:08:33.755] Update EKF and 3D points the number of feature in the new frame: 666 and number of obs: 666
[19:08:33.756] frame Scene Depth mean:4.631617 ,depth min:0.057598
[19:08:33.768] need key frame pitch dis: 0.538995 translation dif:1.537596
[19:08:33.768] Choose frame as a key frame Scene Depth mean:4.631617 ,depth min:0.057598
[19:08:33.769] frame process finished the id is: 124 the obs is:666 
[19:08:33.894] Odometry x=-0.051004, y=1.524908, theta=-0.944600
[19:08:34.128] Odometry x=-0.050616, y=1.525096, theta=-1.010011
[19:08:34.406] Odometry x=-0.050504, y=1.525131, theta=-1.072455
[19:08:34.645] Odometry x=-0.050568, y=1.525171, theta=-1.139396
[19:08:34.899] After Reprojection Map nMatches:975 ,distance between ekf and vo x:0.000009 ,z=-0.000001,angle between two frames:0.000001
[19:08:34.902]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =711 	 error init =0.165071 	 error end=0.052063
[19:08:34.902] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000001,angle between two frames:0.000001
[19:08:34.902] Update EKF and 3D points the number of feature in the new frame: 711 and number of obs: 711
[19:08:34.903] frame Scene Depth mean:3.508296 ,depth min:0.136653
[19:08:34.914] need key frame pitch dis: 0.961131 translation dif:2.618109
[19:08:34.914] Choose frame as a key frame Scene Depth mean:3.508296 ,depth min:0.136653
[19:08:34.914] frame process finished the id is: 125 the obs is:702 
[19:08:35.635] Odometry x=-0.049771, y=1.525595, theta=-1.123551
[19:08:35.889] Odometry x=-0.046087, y=1.527336, theta=-1.122049
[19:08:36.118] Odometry x=-0.031151, y=1.534695, theta=-1.120220
[19:08:36.127] After Reprojection Map nMatches:864 ,distance between ekf and vo x:-0.000001 ,z=-0.000003,angle between two frames:0.000000
[19:08:36.133]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =634 	 error init =0.350250 	 error end=0.052200
[19:08:36.133] After pose optimization, distance between ekf and vo x:0.054712 ,z=-0.149404,angle between two frames:0.005512
[19:08:36.133] Update EKF and 3D points the number of feature in the new frame: 634 and number of obs: 634
[19:08:36.133] frame Scene Depth mean:3.198993 ,depth min:0.185816
[19:08:36.148] need key frame pitch dis: 4.148485 translation dif:1.488363
[19:08:36.148] Choose frame as a key frame Scene Depth mean:3.198993 ,depth min:0.185816
[19:08:36.148] frame process finished the id is: 126 the obs is:634 
[19:08:36.396] Odometry x=-0.010125, y=1.504044, theta=-1.103153
[19:08:36.638] Odometry x=0.004030, y=1.511249, theta=-1.107765
[19:08:36.870] Odometry x=0.018606, y=1.518322, theta=-1.101006
[19:08:37.024] After Reprojection Map nMatches:846 ,distance between ekf and vo x:0.000006 ,z=-0.000003,angle between two frames:0.000000
[19:08:37.029]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =659 	 error init =0.209829 	 error end=0.066231
[19:08:37.029] After pose optimization, distance between ekf and vo x:0.106794 ,z=0.040761,angle between two frames:0.022818
[19:08:37.029] Update EKF and 3D points the number of feature in the new frame: 659 and number of obs: 659
[19:08:37.029] frame Scene Depth mean:3.513984 ,depth min:0.096474
[19:08:37.044] need key frame pitch dis: 0.983323 translation dif:0.515802
[19:08:37.044] Choose frame as a key frame Scene Depth mean:3.513984 ,depth min:0.096474
[19:08:37.044] frame process finished the id is: 127 the obs is:659 
[19:08:38.403] After Reprojection Map nMatches:862 ,distance between ekf and vo x:0.000025 ,z=-0.000026,angle between two frames:0.000000
[19:08:38.406]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =623 	 error init =0.260472 	 error end=0.068802
[19:08:38.406] After pose optimization, distance between ekf and vo x:0.000025 ,z=-0.000026,angle between two frames:0.000000
[19:08:38.406] Update EKF and 3D points the number of feature in the new frame: 623 and number of obs: 623
[19:08:38.406] frame Scene Depth mean:3.116213 ,depth min:0.102041
[19:08:38.419] need key frame pitch dis: 0.315362 translation dif:1.262559
[19:08:38.419] Choose frame as a key frame Scene Depth mean:3.116213 ,depth min:0.102041
[19:08:38.420] frame process finished the id is: 128 the obs is:623 
[19:08:38.638] Odometry x=0.027928, y=1.523967, theta=-1.097555
[19:08:38.885] Odometry x=0.030854, y=1.524939, theta=-1.096054
[19:08:39.221] Odometry x=0.036955, y=1.527575, theta=-1.093895
[19:08:39.373] Odometry x=0.043801, y=1.531099, theta=-1.087879
[19:08:39.599] After Reprojection Map nMatches:789 ,distance between ekf and vo x:0.000009 ,z=-0.000003,angle between two frames:0.000000
[19:08:39.602]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =556 	 error init =0.152698 	 error end=0.091487
[19:08:39.602] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000003,angle between two frames:0.000000
[19:08:39.602] Update EKF and 3D points the number of feature in the new frame: 556 and number of obs: 556
[19:08:39.602] frame Scene Depth mean:2.648624 ,depth min:0.100903
[19:08:39.613] need key frame pitch dis: 1.981665 translation dif:1.367926
[19:08:39.613] Choose frame as a key frame Scene Depth mean:2.648624 ,depth min:0.100903
[19:08:39.613] frame process finished the id is: 129 the obs is:556 
[19:08:39.643] Odometry x=0.046604, y=1.532185, theta=-1.084769
[19:08:39.910] Odometry x=0.052170, y=1.535101, theta=-1.081177
[19:08:40.154] Odometry x=0.059999, y=1.539092, theta=-1.080662
[19:08:40.403] Odometry x=0.068319, y=1.543509, theta=-1.072939
[19:08:40.630] Odometry x=0.077266, y=1.548347, theta=-1.077635
[19:08:40.856] After Reprojection Map nMatches:1047 ,distance between ekf and vo x:0.000140 ,z=-0.000014,angle between two frames:0.000000
[19:08:40.859]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =859 	 error init =0.087174 	 error end=0.021242
[19:08:40.859] After pose optimization, distance between ekf and vo x:0.000140 ,z=-0.000014,angle between two frames:0.000000
[19:08:40.859] Update EKF and 3D points the number of feature in the new frame: 859 and number of obs: 859
[19:08:40.859] frame Scene Depth mean:2.632292 ,depth min:0.071035
[19:08:40.874] need key frame pitch dis: 1.531702 translation dif:0.526394
[19:08:40.874] Choose frame as a key frame Scene Depth mean:2.632292 ,depth min:0.071035
[19:08:40.874] frame process finished the id is: 130 the obs is:859 
[19:08:40.880] Odometry x=0.077085, y=1.548299, theta=-1.074424
[19:08:41.213] Odometry x=0.084188, y=1.551505, theta=-1.068684
[19:08:41.420] Odometry x=0.092462, y=1.556000, theta=-1.061138
[19:08:41.641] Odometry x=0.101366, y=1.560950, theta=-1.058147
[19:08:41.906] Odometry x=0.110442, y=1.565715, theta=-1.053936
[19:08:42.142] After Reprojection Map nMatches:979 ,distance between ekf and vo x:0.000027 ,z=-0.000013,angle between two frames:0.000000
[19:08:42.149]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =682 	 error init =0.301343 	 error end=0.020745
[19:08:42.149] After pose optimization, distance between ekf and vo x:0.604816 ,z=-1.129894,angle between two frames:0.012142
[19:08:42.149] frame process finished the id is: 130 the obs is:859 
[19:08:42.151] Odometry x=0.119217, y=1.570611, theta=-1.051336
[19:08:43.347] After Reprojection Map nMatches:993 ,distance between ekf and vo x:0.000015 ,z=-0.000002,angle between two frames:0.000001
[19:08:43.350]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =805 	 error init =0.098115 	 error end=0.019550
[19:08:43.350] After pose optimization, distance between ekf and vo x:0.000015 ,z=-0.000002,angle between two frames:0.000001
[19:08:43.350] Update EKF and 3D points the number of feature in the new frame: 805 and number of obs: 805
[19:08:43.350] frame Scene Depth mean:2.721778 ,depth min:0.078245
[19:08:43.363] need key frame pitch dis: 1.297817 translation dif:2.128961
[19:08:43.363] Choose frame as a key frame Scene Depth mean:2.721778 ,depth min:0.078245
[19:08:43.363] frame process finished the id is: 132 the obs is:805 
[19:08:43.411] Odometry x=0.119233, y=1.570602, theta=-1.054253
[19:08:43.454] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000064 ,z=-0.000021,angle between two frames:0.000003
[19:08:43.454] After pose optimization, distance between ekf and vo x:0.000064 ,z=-0.000021,angle between two frames:0.000003
[19:08:43.454] frame process finished the id is: 132 the obs is:805 
[19:08:43.548] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000070 ,z=-0.000019,angle between two frames:0.000003
[19:08:43.548] After pose optimization, distance between ekf and vo x:0.000070 ,z=-0.000019,angle between two frames:0.000003
[19:08:43.548] frame process finished the id is: 132 the obs is:805 
[19:08:43.639] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000072 ,z=-0.000020,angle between two frames:0.000002
[19:08:43.639] After pose optimization, distance between ekf and vo x:0.000072 ,z=-0.000020,angle between two frames:0.000002
[19:08:43.639] frame process finished the id is: 132 the obs is:805 
[19:08:43.649] Odometry x=0.119258, y=1.570564, theta=-1.076119
[19:08:43.734] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000072 ,z=-0.000020,angle between two frames:0.000002
[19:08:43.734] After pose optimization, distance between ekf and vo x:0.000072 ,z=-0.000020,angle between two frames:0.000002
[19:08:43.734] frame process finished the id is: 132 the obs is:805 
[19:08:43.874] Odometry x=0.119275, y=1.570563, theta=-1.153539
[19:08:44.150] Odometry x=0.119288, y=1.570469, theta=-1.284343
[19:08:44.395] Odometry x=0.119287, y=1.570496, theta=-1.413010
[19:08:44.719] After Reprojection Map nMatches:1064 ,distance between ekf and vo x:0.000053 ,z=-0.000021,angle between two frames:0.000002
[19:08:44.722]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =824 	 error init =0.160930 	 error end=0.026693
[19:08:44.722] After pose optimization, distance between ekf and vo x:0.000053 ,z=-0.000021,angle between two frames:0.000002
[19:08:44.722] Update EKF and 3D points the number of feature in the new frame: 824 and number of obs: 824
[19:08:44.722] frame Scene Depth mean:2.692931 ,depth min:0.064861
[19:08:44.737] need key frame pitch dis: 1.891740 translation dif:2.947645
[19:08:44.737] Choose frame as a key frame Scene Depth mean:2.692931 ,depth min:0.064861
[19:08:44.738] frame process finished the id is: 137 the obs is:807 
[19:08:44.829] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000028 ,z=-0.000028,angle between two frames:0.000000
[19:08:44.829] After pose optimization, distance between ekf and vo x:0.000028 ,z=-0.000028,angle between two frames:0.000000
[19:08:44.829] frame process finished the id is: 137 the obs is:807 
[19:08:44.911] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001
[19:08:44.911] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001
[19:08:44.911] frame process finished the id is: 137 the obs is:807 
[19:08:44.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001
[19:08:44.992] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001
[19:08:44.992] frame process finished the id is: 137 the obs is:807 
[19:08:45.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001
[19:08:45.095] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001
[19:08:45.095] frame process finished the id is: 137 the obs is:807 
[19:08:45.183] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001
[19:08:45.183] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001
[19:08:45.183] frame process finished the id is: 137 the obs is:807 
[19:08:45.297] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001
[19:08:45.297] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001
[19:08:45.297] frame process finished the id is: 137 the obs is:807 
[19:08:45.377] Odometry x=0.119191, y=1.569948, theta=-1.426706
[19:08:45.386] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001
[19:08:45.386] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001
[19:08:45.386] frame process finished the id is: 137 the obs is:807 
[19:08:45.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001
[19:08:45.488] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001
[19:08:45.488] frame process finished the id is: 137 the obs is:807 
[19:08:45.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000013 ,z=-0.000017,angle between two frames:0.000000
[19:08:45.592] After pose optimization, distance between ekf and vo x:0.000013 ,z=-0.000017,angle between two frames:0.000000
[19:08:45.592] frame process finished the id is: 137 the obs is:807 
[19:08:45.636] Odometry x=0.119178, y=1.569899, theta=-1.451161
[19:08:45.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000013 ,z=-0.000016,angle between two frames:0.000001
[19:08:45.693] After pose optimization, distance between ekf and vo x:0.000013 ,z=-0.000016,angle between two frames:0.000001
[19:08:45.693] frame process finished the id is: 137 the obs is:807 
[19:08:45.780] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000001
[19:08:45.780] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000001
[19:08:45.780] frame process finished the id is: 137 the obs is:807 
[19:08:45.882] Odometry x=0.119130, y=1.569842, theta=-1.516541
[19:08:46.137] Odometry x=0.119155, y=1.569871, theta=-1.617934
[19:08:46.380] Odometry x=0.119149, y=1.569850, theta=-1.728217
[19:08:46.557] After Reprojection Map nMatches:873 ,distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000001
[19:08:46.560]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =559 	 error init =0.215918 	 error end=0.253845
[19:08:46.560] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000001
[19:08:46.560] Update EKF and 3D points the number of feature in the new frame: 559 and number of obs: 559
[19:08:46.561] frame Scene Depth mean:3.379793 ,depth min:0.052674
[19:08:46.569] need key frame pitch dis: 0.788090 translation dif:6.662733
[19:08:46.569] Choose frame as a key frame Scene Depth mean:3.379793 ,depth min:0.052674
[19:08:46.569] frame process finished the id is: 149 the obs is:454 
[19:08:46.633] Odometry x=0.119220, y=1.569534, theta=-1.856107
[19:08:46.920] Odometry x=0.119194, y=1.569568, theta=-1.939685
[19:08:47.322] After Reprojection Map nMatches:716 ,distance between ekf and vo x:0.000004 ,z=-0.000040,angle between two frames:0.000003
[19:08:47.327]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =464 	 error init =0.155072 	 error end=0.084434
[19:08:47.327] After pose optimization, distance between ekf and vo x:0.022013 ,z=0.013355,angle between two frames:0.003195
[19:08:47.327] Update EKF and 3D points the number of feature in the new frame: 464 and number of obs: 464
[19:08:47.328] frame Scene Depth mean:2.913452 ,depth min:0.086289
[19:08:47.336] need key frame pitch dis: 2.284302 translation dif:1.580027
[19:08:47.336] Choose frame as a key frame Scene Depth mean:2.913452 ,depth min:0.086289
[19:08:47.336] frame process finished the id is: 150 the obs is:426 
[19:08:48.038] After Reprojection Map nMatches:506 ,distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000001
[19:08:48.042]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =292 	 error init =0.188098 	 error end=0.147132
[19:08:48.042] After pose optimization, distance between ekf and vo x:0.000023 ,z=0.000041,angle between two frames:0.000002
[19:08:48.042] Update EKF and 3D points the number of feature in the new frame: 292 and number of obs: 292
[19:08:48.042] frame Scene Depth mean:4.162992 ,depth min:0.092066
[19:08:48.048] need key frame pitch dis: 4.913533 translation dif:4.865920
[19:08:48.048] Choose frame as a key frame Scene Depth mean:4.162992 ,depth min:0.092066
[19:08:48.048] frame process finished the id is: 151 the obs is:292 
[19:08:48.156] Odometry x=0.120276, y=1.570277, theta=-1.982779
[19:08:48.376] Odometry x=0.120273, y=1.570274, theta=-1.999037
[19:08:48.629] Odometry x=0.120257, y=1.570268, theta=-2.057196
[19:08:48.688] After Reprojection Map nMatches:394 ,distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000003
[19:08:48.691]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =238 	 error init =0.083938 	 error end=0.091798
[19:08:48.691] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000061,angle between two frames:0.000000
[19:08:48.691] Update EKF and 3D points the number of feature in the new frame: 238 and number of obs: 238
[19:08:48.691] frame Scene Depth mean:5.485150 ,depth min:0.116261
[19:08:48.695] need key frame pitch dis: 0.468237 translation dif:2.979594
[19:08:48.695] Choose frame as a key frame Scene Depth mean:5.485150 ,depth min:0.116261
[19:08:48.696] frame process finished the id is: 152 the obs is:213 
[19:08:48.893] Odometry x=0.120261, y=1.570281, theta=-2.140816
[19:08:49.193] Odometry x=0.120254, y=1.570273, theta=-2.211995
[19:08:49.204] After Reprojection Map nMatches:363 ,distance between ekf and vo x:-0.008829 ,z=0.562177,angle between two frames:0.400037
[19:08:49.206]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =256 	 error init =0.039534 	 error end=0.060363
[19:08:49.206] After pose optimization, distance between ekf and vo x:-0.007097 ,z=0.563031,angle between two frames:0.400053
[19:08:49.206] frame process finished the id is: 152 the obs is:213 
[19:08:49.382] Odometry x=0.120264, y=1.570249, theta=-2.313300
[19:08:49.608] After Reprojection Map nMatches:312 ,distance between ekf and vo x:0.198315 ,z=0.950063,angle between two frames:0.700068
[19:08:49.610]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =191 	 error init =0.153525 	 error end=0.559753
[19:08:49.610] After pose optimization, distance between ekf and vo x:0.198544 ,z=0.950108,angle between two frames:0.700068
[19:08:49.610] frame process finished the id is: 152 the obs is:213 
[19:08:50.164] After Reprojection Map nMatches:213 ,distance between ekf and vo x:0.248680 ,z=0.797557,angle between two frames:0.599929
[19:08:50.166]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =140 	 error init =1.436337 	 error end=0.114395
[19:08:50.166] After pose optimization, distance between ekf and vo x:0.248680 ,z=0.797557,angle between two frames:0.599929
[19:08:50.166] frame process finished the id is: 152 the obs is:213 
[19:08:50.533] After Reprojection Map nMatches:295 ,distance between ekf and vo x:0.007435 ,z=0.141168,angle between two frames:0.100000
[19:08:50.534]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =218 	 error init =0.016935 	 error end=0.014367
[19:08:50.534] After pose optimization, distance between ekf and vo x:0.007640 ,z=0.141267,angle between two frames:0.100006
[19:08:50.534] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218
[19:08:50.534] frame Scene Depth mean:2.848498 ,depth min:0.620156
[19:08:50.537] need key frame pitch dis: 2.258919 translation dif:1.526918
[19:08:50.537] Choose frame as a key frame Scene Depth mean:2.848498 ,depth min:0.620156
[19:08:50.537] frame process finished the id is: 156 the obs is:215 
[19:08:50.937] After Reprojection Map nMatches:271 ,distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000000
[19:08:50.939]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =215 	 error init =0.254372 	 error end=0.016372
[19:08:50.939] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000000
[19:08:50.939] Update EKF and 3D points the number of feature in the new frame: 215 and number of obs: 215
[19:08:50.940] frame Scene Depth mean:3.521079 ,depth min:0.096342
[19:08:50.944] need key frame pitch dis: 4.972940 translation dif:4.434875
[19:08:50.944] Choose frame as a key frame Scene Depth mean:3.521079 ,depth min:0.096342
[19:08:50.944] frame process finished the id is: 157 the obs is:215 
[19:08:51.394] After Reprojection Map nMatches:353 ,distance between ekf and vo x:0.008881 ,z=0.141082,angle between two frames:0.100000
[19:08:51.396]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =287 	 error init =0.168934 	 error end=0.020201
[19:08:51.396] After pose optimization, distance between ekf and vo x:0.008884 ,z=0.141083,angle between two frames:0.100000
[19:08:51.396] Update EKF and 3D points the number of feature in the new frame: 287 and number of obs: 287
[19:08:51.396] frame Scene Depth mean:4.275350 ,depth min:0.391104
[19:08:51.401] need key frame pitch dis: 4.953530 translation dif:0.975848
[19:08:51.401] Choose frame as a key frame Scene Depth mean:4.275350 ,depth min:0.391104
[19:08:51.401] frame process finished the id is: 158 the obs is:287 
[19:08:51.872] After Reprojection Map nMatches:434 ,distance between ekf and vo x:-0.000066 ,z=-0.000081,angle between two frames:0.000010
[19:08:51.875]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =208 	 error init =0.208172 	 error end=0.100608
[19:08:51.875] After pose optimization, distance between ekf and vo x:0.001755 ,z=0.001895,angle between two frames:0.000073
[19:08:51.875] Update EKF and 3D points the number of feature in the new frame: 208 and number of obs: 208
[19:08:51.875] frame Scene Depth mean:4.311469 ,depth min:0.370871
[19:08:51.879] need key frame pitch dis: 0.089296 translation dif:5.950477
[19:08:51.879] Choose frame as a key frame Scene Depth mean:4.311469 ,depth min:0.370871
[19:08:51.879] frame process finished the id is: 159 the obs is:208 
[19:08:51.902] Odometry x=0.121056, y=1.578592, theta=-2.369192
[19:08:52.157] Odometry x=0.121054, y=1.578579, theta=-2.372067
[19:08:52.323] After Reprojection Map nMatches:293 ,distance between ekf and vo x:0.008902 ,z=0.141081,angle between two frames:0.100000
[19:08:52.325]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =207 	 error init =0.030061 	 error end=0.040087
[19:08:52.325] After pose optimization, distance between ekf and vo x:0.009624 ,z=0.142031,angle between two frames:0.099893
[19:08:52.325] Update EKF and 3D points the number of feature in the new frame: 207 and number of obs: 207
[19:08:52.325] frame Scene Depth mean:4.296439 ,depth min:0.412402
[19:08:52.330] need key frame pitch dis: 0.021236 translation dif:5.657905
[19:08:52.330] Choose frame as a key frame Scene Depth mean:4.296439 ,depth min:0.412402
[19:08:52.330] frame process finished the id is: 160 the obs is:207 
[19:08:52.376] Odometry x=0.123263, y=1.611617, theta=-2.397659
[19:08:52.633] Odometry x=0.123234, y=1.611588, theta=-2.413955
[19:08:52.716] After Reprojection Map nMatches:299 ,distance between ekf and vo x:0.012912 ,z=0.140771,angle between two frames:0.100000
[19:08:52.718]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =209 	 error init =0.141978 	 error end=0.033408
[19:08:52.718] After pose optimization, distance between ekf and vo x:0.013005 ,z=0.140808,angle between two frames:0.100008
[19:08:52.718] Update EKF and 3D points the number of feature in the new frame: 209 and number of obs: 209
[19:08:52.718] frame Scene Depth mean:6.430306 ,depth min:0.370892
[19:08:52.723] need key frame pitch dis: 0.122049 translation dif:5.752578
[19:08:52.723] Choose frame as a key frame Scene Depth mean:6.430306 ,depth min:0.370892
[19:08:52.723] frame process finished the id is: 161 the obs is:209 
[19:08:52.895] Odometry x=0.125928, y=1.644458, theta=-2.455434
[19:08:53.040] After Reprojection Map nMatches:275 ,distance between ekf and vo x:0.021019 ,z=0.139791,angle between two frames:0.100000
[19:08:53.042]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =215 	 error init =0.123860 	 error end=0.017795
[19:08:53.042] After pose optimization, distance between ekf and vo x:0.021043 ,z=0.139805,angle between two frames:0.100000
[19:08:53.042] Update EKF and 3D points the number of feature in the new frame: 215 and number of obs: 215
[19:08:53.042] frame Scene Depth mean:5.232192 ,depth min:0.514313
[19:08:53.046] need key frame pitch dis: 1.467668 translation dif:5.504385
[19:08:53.046] Choose frame as a key frame Scene Depth mean:5.232192 ,depth min:0.514313
[19:08:53.046] frame process finished the id is: 162 the obs is:215 
[19:08:53.331] After Reprojection Map nMatches:279 ,distance between ekf and vo x:0.000004 ,z=-0.000001,angle between two frames:0.000000
[19:08:53.333]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =179 	 error init =0.503934 	 error end=0.062247
[19:08:53.333] After pose optimization, distance between ekf and vo x:0.000139 ,z=0.000124,angle between two frames:0.000001
[19:08:53.333] Update EKF and 3D points the number of feature in the new frame: 179 and number of obs: 179
[19:08:53.333] frame Scene Depth mean:5.649374 ,depth min:0.485740
[19:08:53.337] need key frame pitch dis: 0.291993 translation dif:8.200772
[19:08:53.337] Choose frame as a key frame Scene Depth mean:5.649374 ,depth min:0.485740
[19:08:53.337] frame process finished the id is: 163 the obs is:179 
[19:08:53.627] After Reprojection Map nMatches:249 ,distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000000
[19:08:53.629]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =177 	 error init =1.031501 	 error end=0.034666
[19:08:53.629] After pose optimization, distance between ekf and vo x:0.000097 ,z=0.000094,angle between two frames:0.000002
[19:08:53.629] Update EKF and 3D points the number of feature in the new frame: 177 and number of obs: 177
[19:08:53.629] frame Scene Depth mean:5.666079 ,depth min:0.479403
[19:08:53.632] need key frame pitch dis: 0.556490 translation dif:4.785711
[19:08:53.632] Choose frame as a key frame Scene Depth mean:5.666079 ,depth min:0.479403
[19:08:53.632] frame process finished the id is: 164 the obs is:177 
[19:08:53.922] After Reprojection Map nMatches:229 ,distance between ekf and vo x:0.000006 ,z=-0.000002,angle between two frames:0.000002
[19:08:53.924]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =153 	 error init =0.197852 	 error end=0.081893
[19:08:53.924] After pose optimization, distance between ekf and vo x:0.000032 ,z=0.000019,angle between two frames:0.000002
[19:08:53.924] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153
[19:08:53.924] frame Scene Depth mean:5.124951 ,depth min:1.161673
[19:08:53.928] need key frame pitch dis: 0.556293 translation dif:4.785115
[19:08:53.928] Choose frame as a key frame Scene Depth mean:5.124951 ,depth min:1.161673
[19:08:53.928] frame process finished the id is: 165 the obs is:153 
[19:08:54.157] Odometry x=0.126026, y=1.644977, theta=-2.465449
[19:08:54.193] After Reprojection Map nMatches:187 ,distance between ekf and vo x:0.000002 ,z=-0.000001,angle between two frames:0.000000
[19:08:54.195]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =152 	 error init =0.231922 	 error end=0.010930
[19:08:54.195] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000000
[19:08:54.195] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152
[19:08:54.195] frame Scene Depth mean:4.874925 ,depth min:1.199333
[19:08:54.198] need key frame pitch dis: 1.881429 translation dif:2.868665
[19:08:54.198] Choose frame as a key frame Scene Depth mean:4.874925 ,depth min:1.199333
[19:08:54.198] frame process finished the id is: 166 the obs is:152 
[19:08:54.422] Odometry x=0.126227, y=1.644672, theta=-2.465421
[19:08:54.509] After Reprojection Map nMatches:263 ,distance between ekf and vo x:0.000001 ,z=-0.000001,angle between two frames:0.000000
[19:08:54.511]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =205 	 error init =0.159396 	 error end=0.028222
[19:08:54.511] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000000,angle between two frames:0.000000
[19:08:54.511] Update EKF and 3D points the number of feature in the new frame: 205 and number of obs: 205
[19:08:54.511] frame Scene Depth mean:4.335582 ,depth min:0.241710
[19:08:54.516] need key frame pitch dis: 1.498487 translation dif:3.165179
[19:08:54.516] Choose frame as a key frame Scene Depth mean:4.335582 ,depth min:0.241710
[19:08:54.516] frame process finished the id is: 167 the obs is:205 
[19:08:54.652] Odometry x=0.131779, y=1.638545, theta=-2.460860
[19:08:54.808] After Reprojection Map nMatches:336 ,distance between ekf and vo x:0.000001 ,z=0.000001,angle between two frames:0.000000
[19:08:54.811]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =271 	 error init =0.088123 	 error end=0.033563
[19:08:54.811] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000001,angle between two frames:0.000000
[19:08:54.811] Update EKF and 3D points the number of feature in the new frame: 271 and number of obs: 271
[19:08:54.811] frame Scene Depth mean:3.305145 ,depth min:0.445639
[19:08:54.816] need key frame pitch dis: 0.395376 translation dif:0.436608
[19:08:54.816] Choose frame as a key frame Scene Depth mean:3.305145 ,depth min:0.445639
[19:08:54.817] frame process finished the id is: 168 the obs is:271 
[19:08:54.915] Odometry x=0.135075, y=1.634408, theta=-2.454598
[19:08:55.135] After Reprojection Map nMatches:397 ,distance between ekf and vo x:0.000002 ,z=-0.000001,angle between two frames:0.000000
[19:08:55.138]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =316 	 error init =0.110650 	 error end=0.021209
[19:08:55.138] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000000
[19:08:55.138] Update EKF and 3D points the number of feature in the new frame: 316 and number of obs: 316
[19:08:55.138] frame Scene Depth mean:2.930400 ,depth min:0.475973
[19:08:55.144] need key frame pitch dis: 0.505729 translation dif:0.663558
[19:08:55.144] Choose frame as a key frame Scene Depth mean:2.930400 ,depth min:0.475973
[19:08:55.144] frame process finished the id is: 169 the obs is:316 
[19:08:55.187] Odometry x=0.138348, y=1.630364, theta=-2.453342
[19:08:55.360] Odometry x=0.142722, y=1.625078, theta=-2.457596
[19:08:55.443] After Reprojection Map nMatches:390 ,distance between ekf and vo x:0.000000 ,z=0.000002,angle between two frames:0.000000
[19:08:55.446]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =310 	 error init =0.070028 	 error end=0.027988
[19:08:55.446] After pose optimization, distance between ekf and vo x:0.000261 ,z=0.000228,angle between two frames:0.000005
[19:08:55.446] Update EKF and 3D points the number of feature in the new frame: 310 and number of obs: 310
[19:08:55.446] frame Scene Depth mean:2.332547 ,depth min:0.200468
[19:08:55.452] need key frame pitch dis: 1.190081 translation dif:1.151456
[19:08:55.452] Choose frame as a key frame Scene Depth mean:2.332547 ,depth min:0.200468
[19:08:55.452] frame process finished the id is: 170 the obs is:310 
[19:08:55.639] Odometry x=0.146302, y=1.620545, theta=-2.459953
[19:08:55.763] After Reprojection Map nMatches:432 ,distance between ekf and vo x:0.000001 ,z=0.000001,angle between two frames:0.000000
[19:08:55.767]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =352 	 error init =0.078891 	 error end=0.032588
[19:08:55.767] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000001,angle between two frames:0.000000
[19:08:55.767] Update EKF and 3D points the number of feature in the new frame: 352 and number of obs: 352
[19:08:55.767] frame Scene Depth mean:2.251489 ,depth min:0.224080
[19:08:55.776] need key frame pitch dis: 0.641012 translation dif:0.584982
[19:08:55.776] Choose frame as a key frame Scene Depth mean:2.251489 ,depth min:0.224080
[19:08:55.776] frame process finished the id is: 171 the obs is:352 
[19:08:55.875] Odometry x=0.148861, y=1.616477, theta=-2.461982
[19:08:56.126] After Reprojection Map nMatches:525 ,distance between ekf and vo x:0.000001 ,z=0.000002,angle between two frames:0.000000
[19:08:56.130]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =391 	 error init =0.106907 	 error end=0.103163
[19:08:56.130] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000004,angle between two frames:0.000000
[19:08:56.130] Update EKF and 3D points the number of feature in the new frame: 391 and number of obs: 391
[19:08:56.130] frame Scene Depth mean:1.517007 ,depth min:0.073505
[19:08:56.139] need key frame pitch dis: 0.606481 translation dif:1.763317
[19:08:56.139] Choose frame as a key frame Scene Depth mean:1.517007 ,depth min:0.073505
[19:08:56.139] frame process finished the id is: 172 the obs is:391 
[19:08:56.145] Odometry x=0.152306, y=1.612146, theta=-2.459771
[19:08:56.556] After Reprojection Map nMatches:548 ,distance between ekf and vo x:-0.000003 ,z=0.000000,angle between two frames:0.000000
[19:08:56.560]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =432 	 error init =0.109507 	 error end=0.086448
[19:08:56.560] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000000
[19:08:56.560] Update EKF and 3D points the number of feature in the new frame: 432 and number of obs: 432
[19:08:56.560] frame Scene Depth mean:1.716561 ,depth min:0.231057
[19:08:56.564] Odometry x=0.157581, y=1.606650, theta=-2.452416
[19:08:56.568] need key frame pitch dis: 0.690688 translation dif:1.635784
[19:08:56.568] Choose frame as a key frame Scene Depth mean:1.716561 ,depth min:0.231057
[19:08:56.569] frame process finished the id is: 173 the obs is:432 
[19:08:56.784] Odometry x=0.162418, y=1.600727, theta=-2.450653
[19:08:56.926] Odometry x=0.168087, y=1.594055, theta=-2.449912
[19:08:57.075] After Reprojection Map nMatches:648 ,distance between ekf and vo x:-0.000015 ,z=0.000016,angle between two frames:0.000000
[19:08:57.079]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =485 	 error init =0.179072 	 error end=0.037011
[19:08:57.079] After pose optimization, distance between ekf and vo x:0.000443 ,z=0.000391,angle between two frames:0.000011
[19:08:57.079] Update EKF and 3D points the number of feature in the new frame: 485 and number of obs: 485
[19:08:57.079] frame Scene Depth mean:1.578128 ,depth min:0.201971
[19:08:57.087] need key frame pitch dis: 0.553263 translation dif:0.825328
[19:08:57.087] Choose frame as a key frame Scene Depth mean:1.578128 ,depth min:0.201971
[19:08:57.088] frame process finished the id is: 174 the obs is:485 
[19:08:57.367] Odometry x=0.170141, y=1.591492, theta=-2.448369
[19:08:57.501] Odometry x=0.174522, y=1.586095, theta=-2.447591
[19:08:57.634] Odometry x=0.180290, y=1.579142, theta=-2.445283
[19:08:57.640] After Reprojection Map nMatches:716 ,distance between ekf and vo x:-0.000005 ,z=0.000005,angle between two frames:0.000000
[19:08:57.644]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =569 	 error init =0.009696 	 error end=0.017383
[19:08:57.644] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000013,angle between two frames:0.000002
[19:08:57.644] Update EKF and 3D points the number of feature in the new frame: 569 and number of obs: 569
[19:08:57.644] frame Scene Depth mean:0.989067 ,depth min:0.224008
[19:08:57.655] need key frame pitch dis: 1.100993 translation dif:0.969880
[19:08:57.655] Choose frame as a key frame Scene Depth mean:0.989067 ,depth min:0.224008
[19:08:57.655] frame process finished the id is: 175 the obs is:569 
[19:08:57.884] Odometry x=0.190822, y=1.566405, theta=-2.438813
[19:08:58.142] Odometry x=0.197185, y=1.558878, theta=-2.429558
[19:08:58.384] After Reprojection Map nMatches:884 ,distance between ekf and vo x:-0.000005 ,z=0.000006,angle between two frames:0.000000
[19:08:58.390]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =723 	 error init =0.077503 	 error end=0.023825
[19:08:58.390] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000055,angle between two frames:0.000000
[19:08:58.390] Update EKF and 3D points the number of feature in the new frame: 723 and number of obs: 723
[19:08:58.390] frame Scene Depth mean:1.346718 ,depth min:0.368302
[19:08:58.400] Odometry x=0.200759, y=1.555054, theta=-2.427831
[19:08:58.406] need key frame pitch dis: 1.027541 translation dif:1.211106
[19:08:58.406] Choose frame as a key frame Scene Depth mean:1.346718 ,depth min:0.368302
[19:08:58.406] frame process finished the id is: 176 the obs is:723 
[19:08:58.626] Odometry x=0.205974, y=1.548923, theta=-2.417248
[19:08:58.914] Odometry x=0.213058, y=1.540853, theta=-2.415087
[19:08:59.206] Odometry x=0.221537, y=1.531279, theta=-2.419816
[19:08:59.265] After Reprojection Map nMatches:982 ,distance between ekf and vo x:-0.000000 ,z=0.000007,angle between two frames:0.000000
[19:08:59.271]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =830 	 error init =0.063773 	 error end=0.022274
[19:08:59.271] After pose optimization, distance between ekf and vo x:0.000036 ,z=0.000014,angle between two frames:0.000002
[19:08:59.271] Update EKF and 3D points the number of feature in the new frame: 830 and number of obs: 830
[19:08:59.272] frame Scene Depth mean:1.449441 ,depth min:0.178427
[19:08:59.291] need key frame pitch dis: 1.202487 translation dif:1.525741
[19:08:59.291] Choose frame as a key frame Scene Depth mean:1.449441 ,depth min:0.178427
[19:08:59.291] frame process finished the id is: 177 the obs is:830 
[19:08:59.402] Odometry x=0.223191, y=1.529606, theta=-2.419542
[19:08:59.641] Odometry x=0.229508, y=1.522089, theta=-2.417013
[19:08:59.917] Odometry x=0.237152, y=1.512585, theta=-2.413079
[19:08:59.987] After Reprojection Map nMatches:966 ,distance between ekf and vo x:-0.000021 ,z=0.000028,angle between two frames:0.000000
[19:08:59.994]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =744 	 error init =0.126400 	 error end=0.042646
[19:08:59.994] After pose optimization, distance between ekf and vo x:0.000660 ,z=0.000622,angle between two frames:0.000003
[19:08:59.994] Update EKF and 3D points the number of feature in the new frame: 744 and number of obs: 744
[19:08:59.994] frame Scene Depth mean:1.355863 ,depth min:0.074743
[19:09:00.010] need key frame pitch dis: 1.478948 translation dif:0.987928
[19:09:00.010] Choose frame as a key frame Scene Depth mean:1.355863 ,depth min:0.074743
[19:09:00.011] frame process finished the id is: 178 the obs is:736 
[19:09:00.140] Odometry x=0.240560, y=1.509198, theta=-2.408368
[19:09:00.387] Odometry x=0.247472, y=1.502126, theta=-2.410391
[19:09:00.647] Odometry x=0.255729, y=1.492934, theta=-2.417619
[19:09:00.725] After Reprojection Map nMatches:955 ,distance between ekf and vo x:-0.000027 ,z=0.000007,angle between two frames:0.000000
[19:09:00.729]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =696 	 error init =0.158847 	 error end=0.053764
[19:09:00.729] After pose optimization, distance between ekf and vo x:-0.000027 ,z=0.000007,angle between two frames:0.000000
[19:09:00.729] Update EKF and 3D points the number of feature in the new frame: 696 and number of obs: 696
[19:09:00.729] frame Scene Depth mean:1.320771 ,depth min:0.073765
[19:09:00.744] need key frame pitch dis: 1.228502 translation dif:1.394220
[19:09:00.744] Choose frame as a key frame Scene Depth mean:1.320771 ,depth min:0.073765
[19:09:00.744] frame process finished the id is: 179 the obs is:696 
[19:09:00.894] Odometry x=0.258280, y=1.489216, theta=-2.425323
[19:09:01.177] Odometry x=0.265544, y=1.480571, theta=-2.422713
[19:09:01.356] After Reprojection Map nMatches:719 ,distance between ekf and vo x:0.000007 ,z=-0.000007,angle between two frames:0.000000
[19:09:01.361]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =500 	 error init =0.122687 	 error end=0.032288
[19:09:01.361] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000007,angle between two frames:0.000000
[19:09:01.361] Update EKF and 3D points the number of feature in the new frame: 500 and number of obs: 500
[19:09:01.362] frame Scene Depth mean:1.259979 ,depth min:0.063559
[19:09:01.371] need key frame pitch dis: 1.193786 translation dif:1.169945
[19:09:01.371] Choose frame as a key frame Scene Depth mean:1.259979 ,depth min:0.063559
[19:09:01.371] frame process finished the id is: 180 the obs is:499 
[19:09:01.387] Odometry x=0.272697, y=1.471631, theta=-2.416208
[19:09:01.653] Odometry x=0.278748, y=1.464619, theta=-2.400133
[19:09:01.883] Odometry x=0.286168, y=1.456573, theta=-2.369970
[19:09:02.128] Odometry x=0.295436, y=1.447442, theta=-2.363502
[19:09:02.397] Odometry x=0.305018, y=1.437669, theta=-2.354517
[19:09:02.495] After Reprojection Map nMatches:964 ,distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000
[19:09:02.502]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =726 	 error init =0.173781 	 error end=0.048840
[19:09:02.502] After pose optimization, distance between ekf and vo x:0.000037 ,z=0.000044,angle between two frames:0.000001
[19:09:02.502] Update EKF and 3D points the number of feature in the new frame: 726 and number of obs: 726
[19:09:02.503] frame Scene Depth mean:1.221820 ,depth min:0.065771
[19:09:02.517] need key frame pitch dis: 1.091039 translation dif:1.243617
[19:09:02.517] Choose frame as a key frame Scene Depth mean:1.221820 ,depth min:0.065771
[19:09:02.517] frame process finished the id is: 181 the obs is:726 
[19:09:02.634] Odometry x=0.306638, y=1.436410, theta=-2.356279
[19:09:02.916] Odometry x=0.314485, y=1.429211, theta=-2.359894
[19:09:03.231] Odometry x=0.324249, y=1.419801, theta=-2.366154
[19:09:03.384] Odometry x=0.333921, y=1.410419, theta=-2.370100
[19:09:03.497] After Reprojection Map nMatches:916 ,distance between ekf and vo x:-0.000074 ,z=0.000047,angle between two frames:0.000000
[19:09:03.505]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =693 	 error init =0.165262 	 error end=0.054206
[19:09:03.505] After pose optimization, distance between ekf and vo x:-0.000054 ,z=0.000040,angle between two frames:0.000006
[19:09:03.505] Update EKF and 3D points the number of feature in the new frame: 693 and number of obs: 693
[19:09:03.505] frame Scene Depth mean:1.103501 ,depth min:0.059206
[19:09:03.518] need key frame pitch dis: 1.039475 translation dif:1.153795
[19:09:03.518] Choose frame as a key frame Scene Depth mean:1.103501 ,depth min:0.059206
[19:09:03.518] frame process finished the id is: 182 the obs is:693 
[19:09:03.650] Odometry x=0.335070, y=1.408663, theta=-2.364292
[19:09:03.874] Odometry x=0.342049, y=1.400864, theta=-2.359286
[19:09:04.145] Odometry x=0.351293, y=1.391709, theta=-2.353615
[19:09:04.378] Odometry x=0.360892, y=1.382241, theta=-2.354031
[19:09:04.536] After Reprojection Map nMatches:822 ,distance between ekf and vo x:-0.000264 ,z=0.000112,angle between two frames:0.000007
[19:09:04.542]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =571 	 error init =0.108453 	 error end=0.063638
[19:09:04.542] After pose optimization, distance between ekf and vo x:0.733444 ,z=0.753993,angle between two frames:0.002474
[19:09:04.542] frame process finished the id is: 182 the obs is:693 
[19:09:04.625] Odometry x=0.370604, y=1.372569, theta=-2.353664
[19:09:04.898] Odometry x=0.380404, y=1.362847, theta=-2.352638
[19:09:05.184] Odometry x=0.390181, y=1.353147, theta=-2.346466
[19:09:05.388] Odometry x=0.400881, y=1.342717, theta=-2.348644
[19:09:05.621] Odometry x=0.411146, y=1.332607, theta=-2.343890
[19:09:05.669] After Reprojection Map nMatches:725 ,distance between ekf and vo x:-0.001397 ,z=0.000229,angle between two frames:0.000986
[19:09:05.675]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =520 	 error init =0.076917 	 error end=0.079075
[19:09:05.675] After pose optimization, distance between ekf and vo x:-0.001217 ,z=0.000882,angle between two frames:0.001045
[19:09:05.675] Update EKF and 3D points the number of feature in the new frame: 520 and number of obs: 520
[19:09:05.675] frame Scene Depth mean:0.964814 ,depth min:0.057796
[19:09:05.686] need key frame pitch dis: 0.893824 translation dif:0.775501
[19:09:05.686] Choose frame as a key frame Scene Depth mean:0.964814 ,depth min:0.057796
[19:09:05.686] frame process finished the id is: 184 the obs is:520 
[19:09:05.879] Odometry x=0.410116, y=1.333831, theta=-2.344914
[19:09:06.144] Odometry x=0.417473, y=1.326184, theta=-2.339198
[19:09:06.388] Odometry x=0.427343, y=1.316815, theta=-2.337554
[19:09:06.644] Odometry x=0.437473, y=1.306728, theta=-2.340098
[19:09:06.744] After Reprojection Map nMatches:771 ,distance between ekf and vo x:-0.000225 ,z=0.000447,angle between two frames:0.000591
[19:09:06.750]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =588 	 error init =0.101734 	 error end=0.057316
[19:09:06.750] After pose optimization, distance between ekf and vo x:-0.000203 ,z=0.000480,angle between two frames:0.000589
[19:09:06.750] Update EKF and 3D points the number of feature in the new frame: 588 and number of obs: 588
[19:09:06.750] frame Scene Depth mean:1.145524 ,depth min:0.064561
[19:09:06.761] need key frame pitch dis: 0.880810 translation dif:0.544931
[19:09:06.762] Choose frame as a key frame Scene Depth mean:1.145524 ,depth min:0.064561
[19:09:06.762] frame process finished the id is: 185 the obs is:588 
[19:09:06.902] Odometry x=0.438571, y=1.305089, theta=-2.348521
[19:09:07.188] Odometry x=0.446228, y=1.297382, theta=-2.352965
[19:09:07.385] Odometry x=0.456377, y=1.287943, theta=-2.354474
[19:09:07.631] Odometry x=0.466330, y=1.278138, theta=-2.357681
[19:09:07.718] After Reprojection Map nMatches:790 ,distance between ekf and vo x:-0.000147 ,z=0.000055,angle between two frames:0.000000
[19:09:07.724]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =576 	 error init =0.112529 	 error end=0.053443
[19:09:07.724] After pose optimization, distance between ekf and vo x:0.001199 ,z=0.001500,angle between two frames:0.000037
[19:09:07.724] Update EKF and 3D points the number of feature in the new frame: 576 and number of obs: 576
[19:09:07.724] frame Scene Depth mean:1.281792 ,depth min:0.052262
[19:09:07.733] need key frame pitch dis: 0.898883 translation dif:0.510322
[19:09:07.734] Choose frame as a key frame Scene Depth mean:1.281792 ,depth min:0.052262
[19:09:07.734] frame process finished the id is: 186 the obs is:576 
[19:09:07.932] Odometry x=0.470863, y=1.274877, theta=-2.362113
[19:09:08.130] Odometry x=0.477494, y=1.267696, theta=-2.351950
[19:09:08.306] After Reprojection Map nMatches:469 ,distance between ekf and vo x:-0.000019 ,z=0.000017,angle between two frames:0.000000
[19:09:08.310]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =314 	 error init =1.258258 	 error end=0.128917
[19:09:08.310] After pose optimization, distance between ekf and vo x:0.007116 ,z=0.006654,angle between two frames:0.000330
[19:09:08.310] Update EKF and 3D points the number of feature in the new frame: 314 and number of obs: 314
[19:09:08.311] frame Scene Depth mean:1.268006 ,depth min:0.072989
[19:09:08.316] need key frame pitch dis: 1.257273 translation dif:0.459143
[19:09:08.316] Choose frame as a key frame Scene Depth mean:1.268006 ,depth min:0.072989
[19:09:08.316] frame process finished the id is: 187 the obs is:314 
[19:09:08.402] Odometry x=0.484833, y=1.263910, theta=-2.356273
[19:09:08.646] Odometry x=0.491908, y=1.256068, theta=-2.352224
[19:09:08.878] After Reprojection Map nMatches:611 ,distance between ekf and vo x:-0.000052 ,z=0.000033,angle between two frames:0.000000
[19:09:08.880]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =422 	 error init =0.177629 	 error end=0.040739
[19:09:08.880] After pose optimization, distance between ekf and vo x:-0.000052 ,z=0.000033,angle between two frames:0.000000
[19:09:08.880] Update EKF and 3D points the number of feature in the new frame: 422 and number of obs: 422
[19:09:08.880] frame Scene Depth mean:1.109916 ,depth min:0.050825
[19:09:08.888] need key frame pitch dis: 1.217433 translation dif:0.537726
[19:09:08.888] Choose frame as a key frame Scene Depth mean:1.109916 ,depth min:0.050825
[19:09:08.888] frame process finished the id is: 188 the obs is:422 
[19:09:08.891] Odometry x=0.497379, y=1.250766, theta=-2.336620
[19:09:09.202] Odometry x=0.505337, y=1.243676, theta=-2.332981
[19:09:09.385] Odometry x=0.515223, y=1.234212, theta=-2.340663
[19:09:09.645] Odometry x=0.525385, y=1.223960, theta=-2.338149
[19:09:09.743] After Reprojection Map nMatches:1056 ,distance between ekf and vo x:-0.000066 ,z=0.000023,angle between two frames:0.000000
[19:09:09.749]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =813 	 error init =0.167644 	 error end=0.036928
[19:09:09.749] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000661,angle between two frames:0.000032
[19:09:09.749] Update EKF and 3D points the number of feature in the new frame: 813 and number of obs: 813
[19:09:09.749] frame Scene Depth mean:1.329058 ,depth min:0.053605
[19:09:09.764] need key frame pitch dis: 1.245225 translation dif:0.943365
[19:09:09.764] Choose frame as a key frame Scene Depth mean:1.329058 ,depth min:0.053605
[19:09:09.764] frame process finished the id is: 189 the obs is:813 
[19:09:09.910] Odometry x=0.526635, y=1.222838, theta=-2.335948
[19:09:10.151] Odometry x=0.534148, y=1.215522, theta=-2.330097
[19:09:10.376] Odometry x=0.543765, y=1.206463, theta=-2.334180
[19:09:10.634] Odometry x=0.553816, y=1.196832, theta=-2.329905
[19:09:10.820] After Reprojection Map nMatches:1075 ,distance between ekf and vo x:-0.000149 ,z=0.000114,angle between two frames:0.000022
[19:09:10.827]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =881 	 error init =0.036533 	 error end=0.029911
[19:09:10.827] After pose optimization, distance between ekf and vo x:-0.000092 ,z=0.000175,angle between two frames:0.000022
[19:09:10.827] Update EKF and 3D points the number of feature in the new frame: 881 and number of obs: 881
[19:09:10.827] frame Scene Depth mean:1.125584 ,depth min:0.056398
[19:09:10.842] need key frame pitch dis: 1.252957 translation dif:0.930980
[19:09:10.843] Choose frame as a key frame Scene Depth mean:1.125584 ,depth min:0.056398
[19:09:10.843] frame process finished the id is: 190 the obs is:881 
[19:09:10.917] Odometry x=0.554705, y=1.194951, theta=-2.336006
[19:09:11.180] Odometry x=0.562157, y=1.187574, theta=-2.336452
[19:09:11.410] Odometry x=0.571689, y=1.178215, theta=-2.333501
[19:09:11.640] Odometry x=0.581593, y=1.168245, theta=-2.330118
[19:09:11.897] Odometry x=0.592798, y=1.158114, theta=-2.331543
[19:09:11.912] After Reprojection Map nMatches:1010 ,distance between ekf and vo x:-0.000134 ,z=0.000094,angle between two frames:0.000000
[19:09:11.919]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =675 	 error init =0.124931 	 error end=0.079103
[19:09:11.919] After pose optimization, distance between ekf and vo x:0.000757 ,z=0.001812,angle between two frames:0.000087
[19:09:11.919] Update EKF and 3D points the number of feature in the new frame: 675 and number of obs: 675
[19:09:11.920] frame Scene Depth mean:1.433193 ,depth min:0.055254
[19:09:11.932] need key frame pitch dis: 1.379949 translation dif:0.736164
[19:09:11.932] Choose frame as a key frame Scene Depth mean:1.433193 ,depth min:0.055254
[19:09:11.932] frame process finished the id is: 191 the obs is:675 
[19:09:12.152] Odometry x=0.592035, y=1.159598, theta=-2.328320
[19:09:12.404] Odometry x=0.599658, y=1.152588, theta=-2.324900
[19:09:12.630] Odometry x=0.609231, y=1.143738, theta=-2.319033
[19:09:12.816] After Reprojection Map nMatches:824 ,distance between ekf and vo x:-0.000089 ,z=0.000084,angle between two frames:0.000003
[19:09:12.818]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =650 	 error init =0.057883 	 error end=0.064654
[19:09:12.818] After pose optimization, distance between ekf and vo x:-0.000089 ,z=0.000084,angle between two frames:0.000003
[19:09:12.818] Update EKF and 3D points the number of feature in the new frame: 650 and number of obs: 650
[19:09:12.818] frame Scene Depth mean:1.589307 ,depth min:0.083292
[19:09:12.831] need key frame pitch dis: 1.298203 translation dif:0.872662
[19:09:12.831] Choose frame as a key frame Scene Depth mean:1.589307 ,depth min:0.083292
[19:09:12.832] frame process finished the id is: 192 the obs is:650 
[19:09:12.884] Odometry x=0.614203, y=1.139504, theta=-2.311514
[19:09:13.221] Odometry x=0.621995, y=1.132384, theta=-2.312014
[19:09:13.376] Odometry x=0.631708, y=1.123388, theta=-2.301252
[19:09:13.620] After Reprojection Map nMatches:529 ,distance between ekf and vo x:-0.000089 ,z=0.000059,angle between two frames:0.000000
[19:09:13.625]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =395 	 error init =0.049908 	 error end=0.068969
[19:09:13.625] After pose optimization, distance between ekf and vo x:0.000210 ,z=0.000168,angle between two frames:0.000032
[19:09:13.625] Update EKF and 3D points the number of feature in the new frame: 395 and number of obs: 395
[19:09:13.625] frame Scene Depth mean:1.370725 ,depth min:0.063762
[19:09:13.632] need key frame pitch dis: 1.272559 translation dif:0.841129
[19:09:13.632] Choose frame as a key frame Scene Depth mean:1.370725 ,depth min:0.063762
[19:09:13.632] frame process finished the id is: 193 the obs is:395 
[19:09:13.649] Odometry x=0.635617, y=1.120015, theta=-2.299241
[19:09:13.892] Odometry x=0.644352, y=1.112322, theta=-2.298508
[19:09:14.121] Odometry x=0.655097, y=1.102628, theta=-2.295011
[19:09:14.390] Odometry x=0.664142, y=1.094510, theta=-2.301240
[19:09:14.552] After Reprojection Map nMatches:439 ,distance between ekf and vo x:-0.000066 ,z=0.000062,angle between two frames:0.000000
[19:09:14.556]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =280 	 error init =0.053063 	 error end=0.045443
[19:09:14.556] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000139,angle between two frames:0.000000
[19:09:14.556] Update EKF and 3D points the number of feature in the new frame: 280 and number of obs: 280
[19:09:14.556] frame Scene Depth mean:1.407705 ,depth min:0.096057
[19:09:14.562] need key frame pitch dis: 1.230496 translation dif:0.420429
[19:09:14.562] Choose frame as a key frame Scene Depth mean:1.407705 ,depth min:0.096057
[19:09:14.562] frame process finished the id is: 194 the obs is:280 
[19:09:14.619] Odometry x=0.661652, y=1.098982, theta=-2.313564
[19:09:14.860] Odometry x=0.669485, y=1.091571, theta=-2.313454
[19:09:15.182] Odometry x=0.678933, y=1.082718, theta=-2.313714
[19:09:15.399] After Reprojection Map nMatches:503 ,distance between ekf and vo x:-0.000055 ,z=0.000072,angle between two frames:0.000007
[19:09:15.403]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =355 	 error init =0.073142 	 error end=0.040438
[19:09:15.403] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000249,angle between two frames:0.000006
[19:09:15.403] Update EKF and 3D points the number of feature in the new frame: 355 and number of obs: 355
[19:09:15.403] frame Scene Depth mean:1.436304 ,depth min:0.083229
[19:09:15.404] Odometry x=0.682774, y=1.079370, theta=-2.306834
[19:09:15.410] need key frame pitch dis: 1.221920 translation dif:0.728772
[19:09:15.410] Choose frame as a key frame Scene Depth mean:1.436304 ,depth min:0.083229
[19:09:15.411] frame process finished the id is: 195 the obs is:355 
[19:09:15.647] Odometry x=0.690467, y=1.072206, theta=-2.288870
[19:09:15.890] Odometry x=0.700395, y=1.063436, theta=-2.271456
[19:09:16.055] After Reprojection Map nMatches:543 ,distance between ekf and vo x:-0.000046 ,z=0.000050,angle between two frames:0.000000
[19:09:16.058]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =420 	 error init =0.064906 	 error end=0.048604
[19:09:16.058] After pose optimization, distance between ekf and vo x:0.000034 ,z=0.000124,angle between two frames:0.000000
[19:09:16.058] Update EKF and 3D points the number of feature in the new frame: 420 and number of obs: 420
[19:09:16.058] frame Scene Depth mean:1.131370 ,depth min:0.066897
[19:09:16.068] need key frame pitch dis: 0.958089 translation dif:0.586786
[19:09:16.068] Choose frame as a key frame Scene Depth mean:1.131370 ,depth min:0.066897
[19:09:16.068] frame process finished the id is: 196 the obs is:420 
[19:09:16.125] Odometry x=0.704438, y=1.060205, theta=-2.246910
[19:09:16.383] Odometry x=0.712430, y=1.053065, theta=-2.224823
[19:09:16.631] Odometry x=0.722844, y=1.044937, theta=-2.203250
[19:09:16.803] After Reprojection Map nMatches:514 ,distance between ekf and vo x:-0.000088 ,z=0.000114,angle between two frames:0.000014
[19:09:16.807]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =379 	 error init =0.103914 	 error end=0.058455
[19:09:16.807] After pose optimization, distance between ekf and vo x:0.001244 ,z=0.001806,angle between two frames:0.000028
[19:09:16.808] Update EKF and 3D points the number of feature in the new frame: 379 and number of obs: 379
[19:09:16.808] frame Scene Depth mean:1.150947 ,depth min:0.066890
[19:09:16.817] need key frame pitch dis: 1.160760 translation dif:0.739101
[19:09:16.817] Choose frame as a key frame Scene Depth mean:1.150947 ,depth min:0.066890
[19:09:16.817] frame process finished the id is: 197 the obs is:379 
[19:09:16.885] Odometry x=0.727287, y=1.042698, theta=-2.224777
[19:09:17.185] Odometry x=0.735624, y=1.035998, theta=-2.233854
[19:09:17.375] After Reprojection Map nMatches:547 ,distance between ekf and vo x:-0.000085 ,z=0.000117,angle between two frames:0.000002
[19:09:17.376]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =414 	 error init =0.027977 	 error end=0.018183
[19:09:17.376] After pose optimization, distance between ekf and vo x:-0.000085 ,z=0.000117,angle between two frames:0.000002
[19:09:17.377] Update EKF and 3D points the number of feature in the new frame: 414 and number of obs: 414
[19:09:17.377] frame Scene Depth mean:1.106667 ,depth min:0.072547
[19:09:17.385] need key frame pitch dis: 0.897510 translation dif:0.494617
[19:09:17.385] Choose frame as a key frame Scene Depth mean:1.106667 ,depth min:0.072547
[19:09:17.385] frame process finished the id is: 198 the obs is:414 
[19:09:17.398] Odometry x=0.739663, y=1.031758, theta=-2.246751
[19:09:17.643] Odometry x=0.747932, y=1.025240, theta=-2.257404
[19:09:17.880] After Reprojection Map nMatches:467 ,distance between ekf and vo x:-0.000060 ,z=0.000088,angle between two frames:0.000008
[19:09:17.882]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =392 	 error init =0.023020 	 error end=0.019841
[19:09:17.882] After pose optimization, distance between ekf and vo x:-0.000060 ,z=0.000088,angle between two frames:0.000008
[19:09:17.882] Update EKF and 3D points the number of feature in the new frame: 392 and number of obs: 392
[19:09:17.882] frame Scene Depth mean:1.139866 ,depth min:0.098902
[19:09:17.891] need key frame pitch dis: 0.940548 translation dif:0.562789
[19:09:17.891] Choose frame as a key frame Scene Depth mean:1.139866 ,depth min:0.098902
[19:09:17.892] frame process finished the id is: 199 the obs is:392 
[19:09:17.902] Odometry x=0.753792, y=1.020363, theta=-2.254619
[19:09:18.141] Odometry x=0.761885, y=1.013816, theta=-2.247680
[19:09:18.407] Odometry x=0.772092, y=1.005496, theta=-2.238428
[19:09:18.589] After Reprojection Map nMatches:679 ,distance between ekf and vo x:-0.000116 ,z=0.000133,angle between two frames:0.000007
[19:09:18.594]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =521 	 error init =0.009284 	 error end=0.016670
[19:09:18.594] After pose optimization, distance between ekf and vo x:-0.000113 ,z=0.000135,angle between two frames:0.000007
[19:09:18.594] Update EKF and 3D points the number of feature in the new frame: 521 and number of obs: 521
[19:09:18.594] frame Scene Depth mean:1.234621 ,depth min:0.074158
[19:09:18.604] need key frame pitch dis: 0.933401 translation dif:0.527987
[19:09:18.604] Choose frame as a key frame Scene Depth mean:1.234621 ,depth min:0.074158
[19:09:18.604] frame process finished the id is: 200 the obs is:521 
[19:09:18.644] Odometry x=0.775642, y=1.000120, theta=-2.239223
[19:09:18.920] Odometry x=0.784592, y=0.994056, theta=-2.249538
[19:09:19.165] Odometry x=0.795183, y=0.985451, theta=-2.256466
[19:09:19.303] After Reprojection Map nMatches:629 ,distance between ekf and vo x:-0.000084 ,z=0.000077,angle between two frames:0.000007
[19:09:19.306]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =393 	 error init =0.040180 	 error end=0.026007
[19:09:19.306] After pose optimization, distance between ekf and vo x:-0.000084 ,z=0.000077,angle between two frames:0.000007
[19:09:19.306] Update EKF and 3D points the number of feature in the new frame: 393 and number of obs: 393
[19:09:19.306] frame Scene Depth mean:1.331490 ,depth min:0.064988
[19:09:19.314] need key frame pitch dis: 1.111025 translation dif:0.776013
[19:09:19.314] Choose frame as a key frame Scene Depth mean:1.331490 ,depth min:0.064988
[19:09:19.314] frame process finished the id is: 201 the obs is:393 
[19:09:19.386] Odometry x=0.802174, y=0.981561, theta=-2.242861
[19:09:19.646] Odometry x=0.810608, y=0.974704, theta=-2.228576
[19:09:19.890] Odometry x=0.821482, y=0.967290, theta=-2.214675
[19:09:20.032] After Reprojection Map nMatches:636 ,distance between ekf and vo x:-0.000141 ,z=0.000114,angle between two frames:0.000014
[19:09:20.035]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =446 	 error init =0.065269 	 error end=0.028095
[19:09:20.035] After pose optimization, distance between ekf and vo x:-0.000141 ,z=0.000114,angle between two frames:0.000014
[19:09:20.035] Update EKF and 3D points the number of feature in the new frame: 446 and number of obs: 446
[19:09:20.035] frame Scene Depth mean:1.046629 ,depth min:0.060342
[19:09:20.044] need key frame pitch dis: 1.043684 translation dif:0.819848
[19:09:20.044] Choose frame as a key frame Scene Depth mean:1.046629 ,depth min:0.060342
[19:09:20.044] frame process finished the id is: 202 the obs is:446 
[19:09:20.125] Odometry x=0.825711, y=0.964009, theta=-2.209805
[19:09:20.384] Odometry x=0.834559, y=0.957592, theta=-2.224066
[19:09:20.652] Odometry x=0.845295, y=0.949183, theta=-2.218642
[19:09:20.754] After Reprojection Map nMatches:715 ,distance between ekf and vo x:-0.000117 ,z=0.000111,angle between two frames:0.000006
[19:09:20.757]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =483 	 error init =0.075034 	 error end=0.032867
[19:09:20.757] After pose optimization, distance between ekf and vo x:-0.000117 ,z=0.000111,angle between two frames:0.000006
[19:09:20.757] Update EKF and 3D points the number of feature in the new frame: 483 and number of obs: 483
[19:09:20.757] frame Scene Depth mean:1.524689 ,depth min:0.156163
[19:09:20.768] need key frame pitch dis: 0.934056 translation dif:0.608232
[19:09:20.768] Choose frame as a key frame Scene Depth mean:1.524689 ,depth min:0.156163
[19:09:20.768] frame process finished the id is: 203 the obs is:483 
[19:09:20.878] Odometry x=0.849396, y=0.945396, theta=-2.235775
[19:09:21.188] Odometry x=0.858292, y=0.938498, theta=-2.234757
[19:09:21.287] After Reprojection Map nMatches:376 ,distance between ekf and vo x:-0.000134 ,z=0.000122,angle between two frames:0.000006
[19:09:21.290]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =258 	 error init =0.117769 	 error end=0.074208
[19:09:21.290] After pose optimization, distance between ekf and vo x:0.000237 ,z=0.000537,angle between two frames:0.000051
[19:09:21.290] Update EKF and 3D points the number of feature in the new frame: 258 and number of obs: 258
[19:09:21.290] frame Scene Depth mean:1.093960 ,depth min:0.073159
[19:09:21.296] need key frame pitch dis: 0.074644 translation dif:0.360075
[19:09:21.296] Choose frame as a key frame Scene Depth mean:1.093960 ,depth min:0.073159
[19:09:21.296] frame process finished the id is: 204 the obs is:258 
[19:09:22.040] After Reprojection Map nMatches:782 ,distance between ekf and vo x:-0.000174 ,z=0.000141,angle between two frames:0.000007
[19:09:22.043]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =517 	 error init =0.079773 	 error end=0.044766
[19:09:22.043] After pose optimization, distance between ekf and vo x:-0.000174 ,z=0.000141,angle between two frames:0.000007
[19:09:22.043] Update EKF and 3D points the number of feature in the new frame: 517 and number of obs: 517
[19:09:22.044] frame Scene Depth mean:1.161524 ,depth min:0.084150
[19:09:22.053] need key frame pitch dis: 0.830690 translation dif:0.543875
[19:09:22.053] Choose frame as a key frame Scene Depth mean:1.161524 ,depth min:0.084150
[19:09:22.053] frame process finished the id is: 205 the obs is:517 
[19:09:22.969] After Reprojection Map nMatches:941 ,distance between ekf and vo x:-0.000220 ,z=0.000096,angle between two frames:0.000003
[19:09:22.975]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =707 	 error init =0.097006 	 error end=0.064697
[19:09:22.975] After pose optimization, distance between ekf and vo x:-0.000213 ,z=0.000104,angle between two frames:0.000003
[19:09:22.975] Update EKF and 3D points the number of feature in the new frame: 707 and number of obs: 707
[19:09:22.976] frame Scene Depth mean:1.183506 ,depth min:0.124622
[19:09:22.990] need key frame pitch dis: 0.779435 translation dif:0.537237
[19:09:22.990] Choose frame as a key frame Scene Depth mean:1.183506 ,depth min:0.124622
[19:09:22.991] frame process finished the id is: 206 the obs is:707 
[19:09:23.864] After Reprojection Map nMatches:886 ,distance between ekf and vo x:-0.000243 ,z=0.000144,angle between two frames:0.000058
[19:09:23.870]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =574 	 error init =0.090578 	 error end=0.040344
[19:09:23.870] After pose optimization, distance between ekf and vo x:-0.000015 ,z=0.000161,angle between two frames:0.000102
[19:09:23.870] Update EKF and 3D points the number of feature in the new frame: 574 and number of obs: 574
[19:09:23.870] frame Scene Depth mean:1.386107 ,depth min:0.091644
[19:09:23.883] need key frame pitch dis: 1.045724 translation dif:0.436922
[19:09:23.883] Choose frame as a key frame Scene Depth mean:1.386107 ,depth min:0.091644
[19:09:23.883] frame process finished the id is: 207 the obs is:574 
[19:09:23.890] Odometry x=0.859767, y=0.940459, theta=-2.244533
[19:09:24.127] Odometry x=0.859769, y=0.940449, theta=-2.244148
[19:09:24.409] Odometry x=0.859818, y=0.940336, theta=-2.264717
[19:09:24.632] Odometry x=0.860133, y=0.940208, theta=-2.341269
[19:09:24.701] After Reprojection Map nMatches:1001 ,distance between ekf and vo x:-0.000257 ,z=0.000232,angle between two frames:0.000343
[19:09:24.707]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =691 	 error init =0.154180 	 error end=0.062567
[19:09:24.707] After pose optimization, distance between ekf and vo x:-0.000290 ,z=0.000485,angle between two frames:0.000315
[19:09:24.707] Update EKF and 3D points the number of feature in the new frame: 691 and number of obs: 691
[19:09:24.707] frame Scene Depth mean:1.006580 ,depth min:0.101583
[19:09:24.720] need key frame pitch dis: 1.253279 translation dif:0.363370
[19:09:24.720] Choose frame as a key frame Scene Depth mean:1.006580 ,depth min:0.101583
[19:09:24.720] frame process finished the id is: 208 the obs is:687 
[19:09:24.921] Odometry x=0.860034, y=0.940044, theta=-2.411279
[19:09:25.181] Odometry x=0.860055, y=0.940010, theta=-2.458734
[19:09:25.384] Odometry x=0.860270, y=0.939684, theta=-2.534627
[19:09:25.463] After Reprojection Map nMatches:793 ,distance between ekf and vo x:-0.000170 ,z=0.000215,angle between two frames:0.000000
[19:09:25.469]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =578 	 error init =0.068785 	 error end=0.015506
[19:09:25.469] After pose optimization, distance between ekf and vo x:-0.000291 ,z=0.000177,angle between two frames:0.000008
[19:09:25.469] Update EKF and 3D points the number of feature in the new frame: 578 and number of obs: 578
[19:09:25.469] frame Scene Depth mean:1.157397 ,depth min:0.104844
[19:09:25.480] need key frame pitch dis: 1.312002 translation dif:0.348742
[19:09:25.480] Choose frame as a key frame Scene Depth mean:1.157397 ,depth min:0.104844
[19:09:25.480] frame process finished the id is: 209 the obs is:569 
[19:09:25.650] Odometry x=0.860171, y=0.939866, theta=-2.607678
[19:09:25.918] Odometry x=0.860171, y=0.939865, theta=-2.652559
[19:09:26.138] After Reprojection Map nMatches:633 ,distance between ekf and vo x:-0.000050 ,z=0.000153,angle between two frames:0.000011
[19:09:26.143]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =427 	 error init =0.447151 	 error end=0.095984
[19:09:26.143] After pose optimization, distance between ekf and vo x:0.028788 ,z=0.016887,angle between two frames:0.000027
[19:09:26.143] Update EKF and 3D points the number of feature in the new frame: 427 and number of obs: 427
[19:09:26.143] frame Scene Depth mean:0.997610 ,depth min:0.179814
[19:09:26.147] Odometry x=0.865878, y=0.942615, theta=-2.736029
[19:09:26.154] need key frame pitch dis: 1.659143 translation dif:0.754620
[19:09:26.154] Choose frame as a key frame Scene Depth mean:0.997610 ,depth min:0.179814
[19:09:26.154] frame process finished the id is: 210 the obs is:427 
[19:09:26.405] Odometry x=0.865880, y=0.942617, theta=-2.775777
[19:09:26.624] After Reprojection Map nMatches:516 ,distance between ekf and vo x:-0.000016 ,z=0.000066,angle between two frames:0.000006
[19:09:26.625] Odometry x=0.865874, y=0.942570, theta=-2.828235
[19:09:26.627]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =401 	 error init =0.114240 	 error end=0.052675
[19:09:26.627] After pose optimization, distance between ekf and vo x:-0.000016 ,z=0.000066,angle between two frames:0.000006
[19:09:26.627] Update EKF and 3D points the number of feature in the new frame: 401 and number of obs: 401
[19:09:26.627] frame Scene Depth mean:0.858628 ,depth min:0.071935
[19:09:26.638] need key frame pitch dis: 2.042321 translation dif:1.003497
[19:09:26.638] Choose frame as a key frame Scene Depth mean:0.858628 ,depth min:0.071935
[19:09:26.639] frame process finished the id is: 211 the obs is:401 
[19:09:26.880] Odometry x=0.865881, y=0.942566, theta=-2.946338
[19:09:27.181] After Reprojection Map nMatches:367 ,distance between ekf and vo x:-0.000026 ,z=0.000089,angle between two frames:0.000012
[19:09:27.184]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =253 	 error init =0.005451 	 error end=0.003905
[19:09:27.184] After pose optimization, distance between ekf and vo x:-0.000028 ,z=0.000092,angle between two frames:0.000013
[19:09:27.184] Update EKF and 3D points the number of feature in the new frame: 253 and number of obs: 253
[19:09:27.184] frame Scene Depth mean:0.965758 ,depth min:0.078956
[19:09:27.192] need key frame pitch dis: 2.205783 translation dif:0.369844
[19:09:27.192] Choose frame as a key frame Scene Depth mean:0.965758 ,depth min:0.078956
[19:09:27.192] frame process finished the id is: 212 the obs is:253 
[19:09:27.201] Odometry x=0.865853, y=0.942570, theta=-3.018003
[19:09:27.383] Odometry x=0.865576, y=0.942383, theta=-3.067106
[19:09:27.623] After Reprojection Map nMatches:439 ,distance between ekf and vo x:0.000006 ,z=0.000019,angle between two frames:0.000000
[19:09:27.627]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =290 	 error init =0.074679 	 error end=0.059112
[19:09:27.627] After pose optimization, distance between ekf and vo x:-0.000087 ,z=0.000149,angle between two frames:0.000026
[19:09:27.627] Update EKF and 3D points the number of feature in the new frame: 290 and number of obs: 290
[19:09:27.627] frame Scene Depth mean:0.905291 ,depth min:0.275329
[19:09:27.636] need key frame pitch dis: 2.291409 translation dif:0.402103
[19:09:27.636] Choose frame as a key frame Scene Depth mean:0.905291 ,depth min:0.275329
[19:09:27.636] frame process finished the id is: 213 the obs is:290 
[19:09:27.645] Odometry x=0.865551, y=0.942394, theta=-3.124123
[19:09:28.009] After Reprojection Map nMatches:460 ,distance between ekf and vo x:0.000046 ,z=-0.000041,angle between two frames:0.000013
[19:09:28.011]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =341 	 error init =0.283887 	 error end=0.058693
[19:09:28.011] After pose optimization, distance between ekf and vo x:0.000046 ,z=-0.000041,angle between two frames:0.000013
[19:09:28.012] Update EKF and 3D points the number of feature in the new frame: 341 and number of obs: 341
[19:09:28.012] frame Scene Depth mean:1.349902 ,depth min:0.121060
[19:09:28.021] need key frame pitch dis: 6.102654 translation dif:0.593885
[19:09:28.021] Choose frame as a key frame Scene Depth mean:1.349902 ,depth min:0.121060
[19:09:28.021] frame process finished the id is: 214 the obs is:341 
[19:09:28.420] Odometry x=0.866266, y=0.943000, theta=3.122711
[19:09:28.633] After Reprojection Map nMatches:582 ,distance between ekf and vo x:-0.000048 ,z=-0.000017,angle between two frames:0.000007
[19:09:28.635]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =465 	 error init =0.043260 	 error end=0.045172
[19:09:28.635] After pose optimization, distance between ekf and vo x:-0.000048 ,z=-0.000017,angle between two frames:0.000007
[19:09:28.635] Update EKF and 3D points the number of feature in the new frame: 465 and number of obs: 465
[19:09:28.635] Odometry x=0.866101, y=0.942779, theta=-2.297688
[19:09:28.635] frame Scene Depth mean:1.793862 ,depth min:0.073556
[19:09:28.645] need key frame pitch dis: 0.651305 translation dif:0.628138
[19:09:28.645] Choose frame as a key frame Scene Depth mean:1.793862 ,depth min:0.073556
[19:09:28.645] frame process finished the id is: 215 the obs is:448 
[19:09:28.877] Odometry x=0.866131, y=0.942669, theta=-2.301481
[19:09:29.215] Odometry x=0.866162, y=0.942661, theta=-2.341730
[19:09:29.301] After Reprojection Map nMatches:781 ,distance between ekf and vo x:-0.000047 ,z=0.000107,angle between two frames:0.000006
[19:09:29.304]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =596 	 error init =0.162936 	 error end=0.043747
[19:09:29.304] After pose optimization, distance between ekf and vo x:-0.000047 ,z=0.000107,angle between two frames:0.000006
[19:09:29.304] Update EKF and 3D points the number of feature in the new frame: 596 and number of obs: 596
[19:09:29.304] frame Scene Depth mean:1.491091 ,depth min:0.092058
[19:09:29.317] need key frame pitch dis: 0.742077 translation dif:0.257240
[19:09:29.317] Choose frame as a key frame Scene Depth mean:1.491091 ,depth min:0.092058
[19:09:29.317] frame process finished the id is: 216 the obs is:596 
[19:09:29.953] After Reprojection Map nMatches:802 ,distance between ekf and vo x:-0.000056 ,z=0.000100,angle between two frames:0.000026
[19:09:29.955]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =669 	 error init =0.013290 	 error end=0.031033
[19:09:29.955] After pose optimization, distance between ekf and vo x:-0.000056 ,z=0.000100,angle between two frames:0.000026
[19:09:29.955] Update EKF and 3D points the number of feature in the new frame: 669 and number of obs: 669
[19:09:29.956] frame Scene Depth mean:1.468670 ,depth min:0.115167
[19:09:29.969] need key frame pitch dis: 1.274524 translation dif:0.164664
[19:09:29.969] Choose frame as a key frame Scene Depth mean:1.468670 ,depth min:0.115167
[19:09:29.969] frame process finished the id is: 217 the obs is:669 
[19:09:30.580] After Reprojection Map nMatches:803 ,distance between ekf and vo x:0.008736 ,z=0.141131,angle between two frames:0.100016
[19:09:30.584]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =639 	 error init =0.033964 	 error end=0.016848
[19:09:30.584] After pose optimization, distance between ekf and vo x:0.008781 ,z=0.140959,angle between two frames:0.100068
[19:09:30.584] Update EKF and 3D points the number of feature in the new frame: 639 and number of obs: 639
[19:09:30.584] frame Scene Depth mean:1.615642 ,depth min:0.298077
[19:09:30.595] need key frame pitch dis: 1.517077 translation dif:0.690389
[19:09:30.595] Choose frame as a key frame Scene Depth mean:1.615642 ,depth min:0.298077
[19:09:30.596] frame process finished the id is: 218 the obs is:632 
[19:09:30.625] Odometry x=0.869425, y=0.973992, theta=-2.380271
[19:09:30.886] Odometry x=0.869530, y=0.973840, theta=-2.379753
[19:09:31.226] Odometry x=0.873434, y=0.967308, theta=-2.377534
[19:09:31.337] After Reprojection Map nMatches:803 ,distance between ekf and vo x:0.010347 ,z=0.141248,angle between two frames:0.100205
[19:09:31.343]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =672 	 error init =0.051518 	 error end=0.016318
[19:09:31.343] After pose optimization, distance between ekf and vo x:0.010353 ,z=0.141253,angle between two frames:0.100205
[19:09:31.343] Update EKF and 3D points the number of feature in the new frame: 672 and number of obs: 672
[19:09:31.343] frame Scene Depth mean:1.897107 ,depth min:0.413362
[19:09:31.358] need key frame pitch dis: 0.033302 translation dif:1.128878
[19:09:31.358] Choose frame as a key frame Scene Depth mean:1.897107 ,depth min:0.413362
[19:09:31.359] frame process finished the id is: 219 the obs is:672 
[19:09:31.378] Odometry x=0.878814, y=0.997565, theta=-2.386870
[19:09:31.646] Odometry x=0.885450, y=0.990528, theta=-2.388402
[19:09:31.902] Odometry x=0.894507, y=0.980869, theta=-2.388785
[19:09:32.030] After Reprojection Map nMatches:763 ,distance between ekf and vo x:0.011364 ,z=0.140984,angle between two frames:0.100015
[19:09:32.036]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =604 	 error init =0.086678 	 error end=0.064171
[19:09:32.036] After pose optimization, distance between ekf and vo x:0.012702 ,z=0.141873,angle between two frames:0.100072
[19:09:32.036] Update EKF and 3D points the number of feature in the new frame: 604 and number of obs: 604
[19:09:32.037] frame Scene Depth mean:1.937123 ,depth min:0.358365
[19:09:32.052] need key frame pitch dis: 1.549299 translation dif:1.050067
[19:09:32.052] Choose frame as a key frame Scene Depth mean:1.937123 ,depth min:0.358365
[19:09:32.052] frame process finished the id is: 220 the obs is:604 
[19:09:32.154] Odometry x=0.901609, y=1.009871, theta=-2.407283
[19:09:32.390] Odometry x=0.909326, y=1.002332, theta=-2.411497
[19:09:32.633] Odometry x=0.918081, y=0.992364, theta=-2.397669
[19:09:32.663] After Reprojection Map nMatches:716 ,distance between ekf and vo x:0.013993 ,z=0.140864,angle between two frames:0.100201
[19:09:32.665]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =575 	 error init =0.015554 	 error end=0.018382
[19:09:32.665] After pose optimization, distance between ekf and vo x:0.013993 ,z=0.140864,angle between two frames:0.100201
[19:09:32.665] Update EKF and 3D points the number of feature in the new frame: 575 and number of obs: 575
[19:09:32.665] frame Scene Depth mean:1.882569 ,depth min:0.312255
[19:09:32.677] need key frame pitch dis: 0.185130 translation dif:0.866960
[19:09:32.677] Choose frame as a key frame Scene Depth mean:1.882569 ,depth min:0.312255
[19:09:32.677] frame process finished the id is: 221 the obs is:575 
[19:09:32.900] Odometry x=0.924542, y=1.021167, theta=-2.403711
[19:09:33.238] After Reprojection Map nMatches:492 ,distance between ekf and vo x:-0.000267 ,z=0.000357,angle between two frames:0.000315
[19:09:33.242]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =421 	 error init =0.023790 	 error end=0.125647
[19:09:33.242] After pose optimization, distance between ekf and vo x:-0.000198 ,z=0.000487,angle between two frames:0.000266
[19:09:33.242] Update EKF and 3D points the number of feature in the new frame: 421 and number of obs: 421
[19:09:33.242] frame Scene Depth mean:1.629531 ,depth min:0.076634
[19:09:33.252] need key frame pitch dis: 0.045375 translation dif:1.022365
[19:09:33.252] Choose frame as a key frame Scene Depth mean:1.629531 ,depth min:0.076634
[19:09:33.253] frame process finished the id is: 222 the obs is:421 
[19:09:33.644] Odometry x=0.924630, y=1.021442, theta=-2.413310
[19:09:33.918] Odometry x=0.926498, y=1.019335, theta=-2.411939
[19:09:34.067] After Reprojection Map nMatches:700 ,distance between ekf and vo x:-0.000111 ,z=0.000095,angle between two frames:0.000020
[19:09:34.070]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =569 	 error init =0.081902 	 error end=0.036307
[19:09:34.070] After pose optimization, distance between ekf and vo x:-0.000111 ,z=0.000095,angle between two frames:0.000020
[19:09:34.070] Update EKF and 3D points the number of feature in the new frame: 569 and number of obs: 569
[19:09:34.070] frame Scene Depth mean:1.799135 ,depth min:0.225861
[19:09:34.085] need key frame pitch dis: 0.495937 translation dif:0.979510
[19:09:34.085] Choose frame as a key frame Scene Depth mean:1.799135 ,depth min:0.225861
[19:09:34.085] frame process finished the id is: 223 the obs is:569 
[19:09:34.144] Odometry x=0.931834, y=1.013202, theta=-2.408116
[19:09:34.413] Odometry x=0.938665, y=1.007073, theta=-2.415456
[19:09:34.769] After Reprojection Map nMatches:741 ,distance between ekf and vo x:-0.000045 ,z=0.000068,angle between two frames:0.000000
[19:09:34.775]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =552 	 error init =0.087746 	 error end=0.052547
[19:09:34.775] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000186,angle between two frames:0.000003
[19:09:34.775] Update EKF and 3D points the number of feature in the new frame: 552 and number of obs: 552
[19:09:34.775] frame Scene Depth mean:1.896821 ,depth min:0.222796
[19:09:34.789] need key frame pitch dis: 0.149504 translation dif:0.607901
[19:09:34.789] Choose frame as a key frame Scene Depth mean:1.896821 ,depth min:0.222796
[19:09:34.790] frame process finished the id is: 224 the obs is:552 
[19:09:35.640] After Reprojection Map nMatches:706 ,distance between ekf and vo x:-0.000233 ,z=0.000133,angle between two frames:0.000208
[19:09:35.646]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =520 	 error init =0.057584 	 error end=0.028301
[19:09:35.646] After pose optimization, distance between ekf and vo x:-0.000225 ,z=0.000148,angle between two frames:0.000207
[19:09:35.646] Update EKF and 3D points the number of feature in the new frame: 520 and number of obs: 520
[19:09:35.646] frame Scene Depth mean:1.756442 ,depth min:0.149414
[19:09:35.659] need key frame pitch dis: 0.109839 translation dif:0.603034
[19:09:35.659] Choose frame as a key frame Scene Depth mean:1.756442 ,depth min:0.149414
[19:09:35.659] frame process finished the id is: 225 the obs is:520 
[19:09:36.513] After Reprojection Map nMatches:736 ,distance between ekf and vo x:-0.000240 ,z=0.000113,angle between two frames:0.000250
[19:09:36.518]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =558 	 error init =0.046580 	 error end=0.021623
[19:09:36.518] After pose optimization, distance between ekf and vo x:0.001332 ,z=0.001707,angle between two frames:0.000183
[19:09:36.518] Update EKF and 3D points the number of feature in the new frame: 558 and number of obs: 558
[19:09:36.519] frame Scene Depth mean:1.826381 ,depth min:0.363538
[19:09:36.533] need key frame pitch dis: 0.950902 translation dif:0.561608
[19:09:36.533] Choose frame as a key frame Scene Depth mean:1.826381 ,depth min:0.363538
[19:09:36.533] frame process finished the id is: 226 the obs is:558 
[19:09:37.435] After Reprojection Map nMatches:775 ,distance between ekf and vo x:-0.000025 ,z=0.000044,angle between two frames:0.000021
[19:09:37.438]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =593 	 error init =0.034096 	 error end=0.030129
[19:09:37.438] After pose optimization, distance between ekf and vo x:-0.000025 ,z=0.000044,angle between two frames:0.000021
[19:09:37.438] Update EKF and 3D points the number of feature in the new frame: 593 and number of obs: 593
[19:09:37.438] frame Scene Depth mean:1.710265 ,depth min:0.084964
[19:09:37.454] need key frame pitch dis: 0.452788 translation dif:0.493467
[19:09:37.454] Choose frame as a key frame Scene Depth mean:1.710265 ,depth min:0.084964
[19:09:37.454] frame process finished the id is: 227 the obs is:593 
[19:09:38.316] After Reprojection Map nMatches:776 ,distance between ekf and vo x:0.000023 ,z=-0.000012,angle between two frames:0.000005
[19:09:38.322]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =568 	 error init =0.065394 	 error end=0.064366
[19:09:38.322] After pose optimization, distance between ekf and vo x:0.002570 ,z=0.002403,angle between two frames:0.000089
[19:09:38.322] Update EKF and 3D points the number of feature in the new frame: 568 and number of obs: 568
[19:09:38.323] frame Scene Depth mean:1.605166 ,depth min:0.108616
[19:09:38.341] need key frame pitch dis: 0.450289 translation dif:0.492126
[19:09:38.341] Choose frame as a key frame Scene Depth mean:1.605166 ,depth min:0.108616
[19:09:38.341] frame process finished the id is: 228 the obs is:568 
[19:09:39.248] After Reprojection Map nMatches:817 ,distance between ekf and vo x:0.000031 ,z=-0.000019,angle between two frames:0.000004
[19:09:39.254]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =652 	 error init =0.067207 	 error end=0.053330
[19:09:39.254] After pose optimization, distance between ekf and vo x:0.000373 ,z=0.000311,angle between two frames:0.000004
[19:09:39.254] Update EKF and 3D points the number of feature in the new frame: 652 and number of obs: 652
[19:09:39.254] frame Scene Depth mean:1.622706 ,depth min:0.108242
[19:09:39.274] need key frame pitch dis: 0.028337 translation dif:0.323849
[19:09:39.274] Choose frame as a key frame Scene Depth mean:1.622706 ,depth min:0.108242
[19:09:39.275] frame process finished the id is: 229 the obs is:652 
[19:09:40.306] After Reprojection Map nMatches:732 ,distance between ekf and vo x:-0.000056 ,z=0.000042,angle between two frames:0.000005
[19:09:40.312]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =560 	 error init =0.064117 	 error end=0.162470
[19:09:40.312] After pose optimization, distance between ekf and vo x:0.001586 ,z=0.002057,angle between two frames:0.000168
[19:09:40.312] Update EKF and 3D points the number of feature in the new frame: 560 and number of obs: 560
[19:09:40.312] frame Scene Depth mean:1.932263 ,depth min:0.184998
[19:09:40.328] need key frame pitch dis: 0.311630 translation dif:0.483592
[19:09:40.328] Choose frame as a key frame Scene Depth mean:1.932263 ,depth min:0.184998
[19:09:40.328] frame process finished the id is: 230 the obs is:560 
[19:09:41.334] After Reprojection Map nMatches:789 ,distance between ekf and vo x:-0.000048 ,z=0.000023,angle between two frames:0.000002
[19:09:41.339]  n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =568 	 error init =0.053787 	 error end=0.025728
[19:09:41.339] After pose optimization, distance between ekf and vo x:0.000184 ,z=0.000152,angle between two frames:0.000016
[19:09:41.339] Update EKF and 3D points the number of feature in the new frame: 568 and number of obs: 568
[19:09:41.340] frame Scene Depth mean:1.795506 ,depth min:0.172455
[19:09:41.352] need key frame pitch dis: 0.701687 translation dif:0.585070
[19:09:41.352] Choose frame as a key frame Scene Depth mean:1.795506 ,depth min:0.172455
[19:09:41.352] frame process finished the id is: 231 the obs is:568 
