[19:09:30.184] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.195] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.205] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.215] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.225] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.235] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.245] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.255] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.266] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.276] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.286] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.296] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.306] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.316] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.326] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.336] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.347] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.357] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.367] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.377] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.387] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.397] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.407] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.417] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.428] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.438] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.448] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.458] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.468] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:09:30.478] Odometry x=0.000000, y=-0.000000, theta=0.000000
[19:09:30.488] Odometry x=0.000000, y=-0.000000, theta=0.000314
[19:09:30.498] Odometry x=0.000000, y=-0.000000, theta=0.000629
[19:09:30.509] Odometry x=0.000000, y=-0.000000, theta=0.000958
[19:09:30.519] Odometry x=0.000000, y=-0.000000, theta=0.001279
[19:09:30.529] Odometry x=0.000000, y=-0.000000, theta=0.001584
[19:09:30.539] Odometry x=0.000000, y=-0.000000, theta=0.001896
[19:09:30.549] Odometry x=0.000000, y=-0.000000, theta=0.002107
[19:09:30.559] Odometry x=0.000000, y=-0.000000, theta=0.002451
[19:09:30.569] Odometry x=0.000000, y=-0.000000, theta=0.002830
[19:09:30.580] Odometry x=0.000000, y=-0.000000, theta=0.003153
[19:09:30.590] Odometry x=0.000000, y=-0.000000, theta=0.003473
[19:09:30.600] Odometry x=0.000000, y=-0.000000, theta=0.003789
[19:09:30.610] Odometry x=0.000000, y=-0.000000, theta=0.004098
[19:09:30.620] Odometry x=0.000000, y=-0.000000, theta=0.004502
[19:09:30.630] Odometry x=0.000000, y=-0.000000, theta=0.004882
[19:09:30.640] Odometry x=0.000000, y=-0.000000, theta=0.005198
[19:09:30.651] Odometry x=0.000000, y=-0.000000, theta=0.005514
[19:09:30.661] Odometry x=0.000000, y=-0.000000, theta=0.005832
[19:09:30.671] Odometry x=0.000000, y=-0.000000, theta=0.006153
[19:09:30.681] Odometry x=0.000000, y=-0.000000, theta=0.006468
[19:09:30.691] Odometry x=0.000000, y=-0.000000, theta=0.006782
[19:09:30.701] Odometry x=0.000001, y=-0.000000, theta=0.007100
[19:09:30.711] Odometry x=0.000001, y=-0.000000, theta=0.007427
[19:09:30.721] Odometry x=0.000001, y=-0.000001, theta=0.007748
[19:09:30.731] Odometry x=0.000001, y=-0.000001, theta=0.008064
[19:09:30.742] Odometry x=0.000001, y=-0.000001, theta=0.008389
[19:09:30.752] Odometry x=0.000001, y=-0.000001, theta=0.008709
[19:09:30.762] Odometry x=0.000001, y=-0.000001, theta=0.009022
[19:09:30.772] Odometry x=0.000001, y=-0.000001, theta=0.009334
[19:09:30.782] Odometry x=0.000001, y=-0.000001, theta=0.009647
[19:09:30.792] Odometry x=0.000001, y=-0.000001, theta=0.009958
[19:09:30.802] Odometry x=0.000001, y=-0.000001, theta=0.010270
[19:09:30.813] Odometry x=0.000001, y=-0.000001, theta=0.010589
[19:09:30.823] Odometry x=0.000001, y=-0.000001, theta=0.010905
[19:09:30.833] Odometry x=0.000001, y=-0.000001, theta=0.011220
[19:09:30.842] Init: frame zero: 0.000000, 0.000000 0.000000
[19:09:30.842] Init: Selected first frame. 
[19:09:30.843] Odometry x=0.000001, y=-0.000001, theta=0.011538
[19:09:30.853] Odometry x=0.000001, y=-0.000001, theta=0.011864
[19:09:30.863] Odometry x=0.000001, y=-0.000001, theta=0.012185
[19:09:30.874] Odometry x=0.000001, y=-0.000001, theta=0.012499
[19:09:30.884] Odometry x=0.000001, y=-0.000001, theta=0.012821
[19:09:30.894] Odometry x=0.000001, y=-0.000001, theta=0.013142
[19:09:30.904] Odometry x=0.000001, y=-0.000001, theta=0.013458
[19:09:30.914] Odometry x=0.000001, y=-0.000001, theta=0.013772
[19:09:30.924] Odometry x=0.000001, y=-0.000001, theta=0.014083
[19:09:30.934] Odometry x=0.000001, y=-0.000001, theta=0.014399
[19:09:30.943] Init: px average disparity is:0.127224 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:30.943] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:30.945] Odometry x=0.000001, y=-0.000001, theta=0.014714
[19:09:30.955] Odometry x=0.000001, y=-0.000001, theta=0.015029
[19:09:30.965] Odometry x=0.000001, y=-0.000001, theta=0.015346
[19:09:30.975] Odometry x=0.000001, y=-0.000001, theta=0.015755
[19:09:30.985] Odometry x=0.000001, y=-0.000001, theta=0.016124
[19:09:30.995] Odometry x=0.000001, y=-0.000001, theta=0.016440
[19:09:31.005] Odometry x=0.000001, y=-0.000001, theta=0.016751
[19:09:31.015] Odometry x=0.000001, y=-0.000001, theta=0.016965
[19:09:31.025] Odometry x=0.000001, y=-0.000001, theta=0.017324
[19:09:31.036] Odometry x=0.000001, y=-0.000001, theta=0.017711
[19:09:31.045] Init: px average disparity is:0.196499 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:31.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:31.046] Odometry x=0.000001, y=-0.000001, theta=0.018038
[19:09:31.056] Odometry x=0.000001, y=-0.000001, theta=0.018360
[19:09:31.066] Odometry x=0.000001, y=-0.000001, theta=0.018685
[19:09:31.076] Odometry x=0.000001, y=-0.000001, theta=0.019004
[19:09:31.086] Odometry x=0.000001, y=-0.000001, theta=0.019319
[19:09:31.096] Odometry x=0.000001, y=-0.000001, theta=0.019634
[19:09:31.106] Odometry x=0.000001, y=-0.000001, theta=0.019950
[19:09:31.117] Odometry x=0.000001, y=-0.000001, theta=0.020268
[19:09:31.127] Odometry x=0.000001, y=-0.000001, theta=0.020585
[19:09:31.137] Odometry x=0.000001, y=-0.000001, theta=0.020908
[19:09:31.143] Init: px average disparity is:0.156558 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:31.143] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:31.147] Odometry x=0.000002, y=-0.000001, theta=0.021225
[19:09:31.157] Odometry x=0.000002, y=-0.000001, theta=0.021540
[19:09:31.167] Odometry x=0.000002, y=-0.000001, theta=0.021854
[19:09:31.177] Odometry x=0.000002, y=-0.000002, theta=0.022169
[19:09:31.187] Odometry x=0.000002, y=-0.000002, theta=0.022485
[19:09:31.198] Odometry x=0.000002, y=-0.000002, theta=0.022795
[19:09:31.208] Odometry x=0.000002, y=-0.000002, theta=0.023106
[19:09:31.218] Odometry x=0.000002, y=-0.000002, theta=0.023418
[19:09:31.228] Odometry x=0.000002, y=-0.000002, theta=0.023724
[19:09:31.238] Odometry x=0.000002, y=-0.000002, theta=0.024041
[19:09:31.243] Init: px average disparity is:0.226505 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:31.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:31.248] Odometry x=0.000002, y=-0.000002, theta=0.024360
[19:09:31.258] Odometry x=0.000002, y=-0.000002, theta=0.024675
[19:09:31.268] Odometry x=0.000002, y=-0.000002, theta=0.024997
[19:09:31.278] Odometry x=0.000002, y=-0.000002, theta=0.025312
[19:09:31.289] Odometry x=0.000002, y=-0.000002, theta=0.025622
[19:09:31.299] Odometry x=0.000002, y=-0.000002, theta=0.025942
[19:09:31.309] Odometry x=0.000002, y=-0.000002, theta=0.026257
[19:09:31.319] Odometry x=0.000002, y=-0.000002, theta=0.026577
[19:09:31.329] Odometry x=0.000002, y=-0.000002, theta=0.026899
[19:09:31.339] Odometry x=0.000002, y=-0.000002, theta=0.027223
[19:09:31.344] Init: px average disparity is:0.272998 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:31.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:31.349] Odometry x=0.000002, y=-0.000002, theta=0.027546
[19:09:31.359] Odometry x=0.000002, y=-0.000002, theta=0.027868
[19:09:31.370] Odometry x=0.000002, y=-0.000002, theta=0.028187
[19:09:31.380] Odometry x=0.000002, y=-0.000002, theta=0.028502
[19:09:31.390] Odometry x=0.000002, y=-0.000002, theta=0.028914
[19:09:31.400] Odometry x=0.000002, y=-0.000002, theta=0.029193
[19:09:31.410] Odometry x=0.000002, y=-0.000002, theta=0.029544
[19:09:31.420] Odometry x=0.000002, y=-0.000002, theta=0.029912
[19:09:31.430] Odometry x=0.000002, y=-0.000002, theta=0.030229
[19:09:31.440] Odometry x=0.000002, y=-0.000002, theta=0.030548
[19:09:31.444] Init: px average disparity is:0.251505 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:31.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:31.450] Odometry x=0.000002, y=-0.000002, theta=0.030862
[19:09:31.461] Odometry x=0.000002, y=-0.000002, theta=0.031179
[19:09:31.471] Odometry x=0.000002, y=-0.000002, theta=0.031497
[19:09:31.481] Odometry x=0.000002, y=-0.000002, theta=0.031726
[19:09:31.491] Odometry x=0.000002, y=-0.000002, theta=0.032070
[19:09:31.501] Odometry x=0.000002, y=-0.000002, theta=0.032436
[19:09:31.511] Odometry x=0.000002, y=-0.000002, theta=0.032749
[19:09:31.521] Odometry x=0.000002, y=-0.000002, theta=0.033060
[19:09:31.531] Odometry x=0.000002, y=-0.000002, theta=0.033377
[19:09:31.542] Odometry x=0.000002, y=-0.000003, theta=0.033695
[19:09:31.544] Init: px average disparity is:0.251640 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:31.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:31.552] Odometry x=0.000002, y=-0.000003, theta=0.033923
[19:09:31.562] Odometry x=0.000002, y=-0.000003, theta=0.034186
[19:09:31.572] Odometry x=0.000002, y=-0.000003, theta=0.034498
[19:09:31.582] Odometry x=0.000002, y=-0.000003, theta=0.034808
[19:09:31.592] Odometry x=0.000002, y=-0.000003, theta=0.035119
[19:09:31.603] Odometry x=0.000003, y=-0.000003, theta=0.035433
[19:09:31.613] Odometry x=0.000003, y=-0.000003, theta=0.035750
[19:09:31.623] Odometry x=0.000003, y=-0.000003, theta=0.036071
[19:09:31.633] Odometry x=0.000003, y=-0.000003, theta=0.036441
[19:09:31.643] Odometry x=0.000003, y=-0.000003, theta=0.036826
[19:09:31.643] Init: px average disparity is:0.231264 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:31.643] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:31.653] Odometry x=0.000003, y=-0.000003, theta=0.037164
[19:09:31.663] Odometry x=0.000003, y=-0.000003, theta=0.037483
[19:09:31.673] Odometry x=0.000003, y=-0.000003, theta=0.037799
[19:09:31.684] Odometry x=0.000003, y=-0.000003, theta=0.038025
[19:09:31.694] Odometry x=0.000003, y=-0.000003, theta=0.038400
[19:09:31.704] Odometry x=0.000003, y=-0.000003, theta=0.038786
[19:09:31.714] Odometry x=0.000003, y=-0.000003, theta=0.039104
[19:09:31.724] Odometry x=0.000003, y=-0.000003, theta=0.039424
[19:09:31.734] Odometry x=0.000003, y=-0.000003, theta=0.039747
[19:09:31.744] Init: px average disparity is:0.245182 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:31.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:31.744] Odometry x=0.000003, y=-0.000003, theta=0.040064
[19:09:31.754] Odometry x=0.000003, y=-0.000003, theta=0.040378
[19:09:31.765] Odometry x=0.000003, y=-0.000003, theta=0.040699
[19:09:31.775] Odometry x=0.000003, y=-0.000003, theta=0.041019
[19:09:31.785] Odometry x=0.000003, y=-0.000003, theta=0.041337
[19:09:31.795] Odometry x=0.000003, y=-0.000003, theta=0.041652
[19:09:31.805] Odometry x=0.000003, y=-0.000003, theta=0.041977
[19:09:31.815] Odometry x=0.000003, y=-0.000003, theta=0.042291
[19:09:31.825] Odometry x=0.000003, y=-0.000003, theta=0.042597
[19:09:31.836] Odometry x=0.000003, y=-0.000003, theta=0.043010
[19:09:31.843] Init: px average disparity is:0.223204 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:31.843] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:31.846] Odometry x=0.000003, y=-0.000003, theta=0.043288
[19:09:31.856] Odometry x=0.000003, y=-0.000003, theta=0.043654
[19:09:31.866] Odometry x=0.000003, y=-0.000003, theta=0.044051
[19:09:31.876] Odometry x=0.000003, y=-0.000004, theta=0.044380
[19:09:31.886] Odometry x=0.000003, y=-0.000004, theta=0.044693
[19:09:31.896] Odometry x=0.000003, y=-0.000004, theta=0.045010
[19:09:31.906] Odometry x=0.000003, y=-0.000004, theta=0.045325
[19:09:31.916] Odometry x=0.000003, y=-0.000004, theta=0.045539
[19:09:31.927] Odometry x=0.000003, y=-0.000004, theta=0.045890
[19:09:31.937] Odometry x=0.000003, y=-0.000004, theta=0.046275
[19:09:31.944] Init: px average disparity is:0.262615 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:31.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:31.947] Odometry x=0.000003, y=-0.000004, theta=0.046501
[19:09:31.957] Odometry x=0.000003, y=-0.000004, theta=0.046850
[19:09:31.967] Odometry x=0.000003, y=-0.000004, theta=0.047227
[19:09:31.977] Odometry x=0.000003, y=-0.000004, theta=0.047451
[19:09:31.987] Odometry x=0.000003, y=-0.000004, theta=0.047612
[19:09:31.997] Odometry x=0.000003, y=-0.000004, theta=0.047956
[19:09:32.008] Odometry x=0.000003, y=-0.000004, theta=0.048422
[19:09:32.018] Odometry x=0.000003, y=-0.000004, theta=0.048703
[19:09:32.028] Odometry x=0.000003, y=-0.000004, theta=0.049057
[19:09:32.038] Odometry x=0.000004, y=-0.000004, theta=0.049338
[19:09:32.044] Init: px average disparity is:0.236461 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:32.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:32.048] Odometry x=0.000004, y=-0.000004, theta=0.049596
[19:09:32.058] Odometry x=0.000004, y=-0.000004, theta=0.050007
[19:09:32.068] Odometry x=0.000004, y=-0.000004, theta=0.050377
[19:09:32.079] Odometry x=0.000004, y=-0.000004, theta=0.050595
[19:09:32.089] Odometry x=0.000004, y=-0.000004, theta=0.050949
[19:09:32.099] Odometry x=0.000004, y=-0.000004, theta=0.051331
[19:09:32.109] Odometry x=0.000004, y=-0.000004, theta=0.051662
[19:09:32.119] Odometry x=0.000004, y=-0.000004, theta=0.051985
[19:09:32.129] Odometry x=0.000004, y=-0.000004, theta=0.052298
[19:09:32.139] Odometry x=0.000004, y=-0.000004, theta=0.052622
[19:09:32.143] Init: px average disparity is:0.204739 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:32.143] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:32.149] Odometry x=0.000004, y=-0.000004, theta=0.052854
[19:09:32.160] Odometry x=0.000004, y=-0.000004, theta=0.053214
[19:09:32.170] Odometry x=0.000004, y=-0.000004, theta=0.053594
[19:09:32.180] Odometry x=0.000004, y=-0.000004, theta=0.053918
[19:09:32.190] Odometry x=0.000004, y=-0.000005, theta=0.054237
[19:09:32.200] Odometry x=0.000004, y=-0.000005, theta=0.054556
[19:09:32.210] Odometry x=0.000004, y=-0.000005, theta=0.054877
[19:09:32.220] Odometry x=0.000004, y=-0.000005, theta=0.055100
[19:09:32.230] Odometry x=0.000004, y=-0.000005, theta=0.055454
[19:09:32.241] Odometry x=0.000004, y=-0.000005, theta=0.055731
[19:09:32.244] Init: px average disparity is:0.256949 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:32.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:32.251] Odometry x=0.000004, y=-0.000005, theta=0.055992
[19:09:32.261] Odometry x=0.000004, y=-0.000005, theta=0.056404
[19:09:32.271] Odometry x=0.000004, y=-0.000005, theta=0.056775
[19:09:32.281] Odometry x=0.000004, y=-0.000005, theta=0.056992
[19:09:32.291] Odometry x=0.000004, y=-0.000005, theta=0.057345
[19:09:32.301] Odometry x=0.000004, y=-0.000005, theta=0.057719
[19:09:32.311] Odometry x=0.000004, y=-0.000005, theta=0.058039
[19:09:32.322] Odometry x=0.000004, y=-0.000005, theta=0.058355
[19:09:32.332] Odometry x=0.000004, y=-0.000005, theta=0.058673
[19:09:32.342] Odometry x=0.000004, y=-0.000005, theta=0.058994
[19:09:32.344] Init: px average disparity is:0.267681 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:32.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:32.352] Odometry x=0.000004, y=-0.000005, theta=0.059315
[19:09:32.362] Odometry x=0.000004, y=-0.000005, theta=0.059650
[19:09:32.372] Odometry x=0.000004, y=-0.000005, theta=0.059965
[19:09:32.382] Odometry x=0.000004, y=-0.000005, theta=0.060275
[19:09:32.392] Odometry x=0.000004, y=-0.000005, theta=0.060596
[19:09:32.403] Odometry x=0.000004, y=-0.000005, theta=0.060919
[19:09:32.413] Odometry x=0.000004, y=-0.000005, theta=0.061247
[19:09:32.423] Odometry x=0.000004, y=-0.000005, theta=0.061562
[19:09:32.433] Odometry x=0.000004, y=-0.000005, theta=0.061881
[19:09:32.448] Init: px average disparity is:0.243928 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:32.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:32.453] Odometry x=0.000004, y=-0.000005, theta=0.062394
[19:09:32.463] Odometry x=0.000004, y=-0.000005, theta=0.062830
[19:09:32.473] Odometry x=0.000005, y=-0.000006, theta=0.063150
[19:09:32.484] Odometry x=0.000005, y=-0.000006, theta=0.063461
[19:09:32.494] Odometry x=0.000005, y=-0.000006, theta=0.063778
[19:09:32.504] Odometry x=0.000005, y=-0.000006, theta=0.064050
[19:09:32.514] Odometry x=0.000005, y=-0.000006, theta=0.064563
[19:09:32.524] Odometry x=0.000005, y=-0.000003, theta=0.066538
[19:09:32.534] Odometry x=0.000005, y=0.000006, theta=0.071900
[19:09:32.547] Init: px average disparity is:5.743434 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:32.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:32.554] Odometry x=0.000418, y=-0.000232, theta=0.032761
[19:09:32.564] Odometry x=0.000431, y=-0.000238, theta=0.037865
[19:09:32.575] Odometry x=0.000437, y=-0.000240, theta=0.039032
[19:09:32.585] Odometry x=0.000443, y=-0.000238, theta=0.038073
[19:09:32.595] Odometry x=0.000446, y=-0.000232, theta=0.036430
[19:09:32.605] Odometry x=0.000447, y=-0.000224, theta=0.035040
[19:09:32.615] Odometry x=0.000448, y=-0.000216, theta=0.033908
[19:09:32.625] Odometry x=0.000448, y=-0.000211, theta=0.033170
[19:09:32.635] Odometry x=0.000448, y=-0.000207, theta=0.031892
[19:09:32.644] Init: px average disparity is:4.110993 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:32.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:32.656] Odometry x=0.000830, y=-0.000328, theta=0.031294
[19:09:32.666] Odometry x=0.000830, y=-0.000329, theta=0.030730
[19:09:32.676] Odometry x=0.000830, y=-0.000335, theta=0.030215
[19:09:32.686] Odometry x=0.000830, y=-0.000355, theta=0.029449
[19:09:32.696] Odometry x=0.000830, y=-0.000386, theta=0.028699
[19:09:32.706] Odometry x=0.000830, y=-0.000429, theta=0.028017
[19:09:32.716] Odometry x=0.000830, y=-0.000457, theta=0.027561
[19:09:32.726] Odometry x=0.000830, y=-0.000490, theta=0.027379
[19:09:32.736] Odometry x=0.000830, y=-0.000529, theta=0.027551
[19:09:32.743] Init: px average disparity is:8.270291 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:32.743] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:32.757] Odometry x=0.001196, y=-0.000689, theta=0.027950
[19:09:32.767] Odometry x=0.001196, y=-0.000736, theta=0.028171
[19:09:32.777] Odometry x=0.001196, y=-0.000752, theta=0.028003
[19:09:32.787] Odometry x=0.001196, y=-0.000789, theta=0.027915
[19:09:32.797] Odometry x=0.001196, y=-0.000817, theta=0.027994
[19:09:32.807] Odometry x=0.001196, y=-0.000824, theta=0.028221
[19:09:32.817] Odometry x=0.001196, y=-0.000825, theta=0.028440
[19:09:32.827] Odometry x=0.001198, y=-0.000825, theta=0.028877
[19:09:32.838] Odometry x=0.001199, y=-0.000825, theta=0.029932
[19:09:32.844] Init: px average disparity is:6.718490 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:32.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:32.858] Odometry x=0.001604, y=-0.000948, theta=0.031751
[19:09:32.868] Odometry x=0.001605, y=-0.000948, theta=0.033498
[19:09:32.878] Odometry x=0.001605, y=-0.000948, theta=0.034484
[19:09:32.888] Odometry x=0.001605, y=-0.000948, theta=0.035343
[19:09:32.898] Odometry x=0.001605, y=-0.000949, theta=0.035893
[19:09:32.908] Odometry x=0.001605, y=-0.000950, theta=0.036239
[19:09:32.918] Odometry x=0.001605, y=-0.000952, theta=0.036410
[19:09:32.929] Odometry x=0.001605, y=-0.000955, theta=0.036094
[19:09:32.944] Init: px average disparity is:10.524718 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:32.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:32.949] Odometry x=0.001949, y=-0.001095, theta=0.035599
[19:09:32.959] Odometry x=0.001949, y=-0.001108, theta=0.035505
[19:09:32.969] Odometry x=0.001950, y=-0.001112, theta=0.036063
[19:09:32.979] Odometry x=0.001951, y=-0.001114, theta=0.036523
[19:09:32.989] Odometry x=0.001953, y=-0.001115, theta=0.036941
[19:09:33.000] Odometry x=0.001954, y=-0.001115, theta=0.037570
[19:09:33.010] Odometry x=0.001955, y=-0.001116, theta=0.038314
[19:09:33.020] Odometry x=0.001955, y=-0.001117, theta=0.039136
[19:09:33.030] Odometry x=0.001955, y=-0.001120, theta=0.040043
[19:09:33.044] Init: px average disparity is:10.470684 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:33.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:33.050] Odometry x=0.002336, y=-0.001282, theta=0.042581
[19:09:33.060] Odometry x=0.002336, y=-0.001287, theta=0.045324
[19:09:33.070] Odometry x=0.002336, y=-0.001289, theta=0.047014
[19:09:33.081] Odometry x=0.002336, y=-0.001290, theta=0.048375
[19:09:33.091] Odometry x=0.002336, y=-0.001290, theta=0.049501
[19:09:33.101] Odometry x=0.002336, y=-0.001290, theta=0.050607
[19:09:33.111] Odometry x=0.002336, y=-0.001290, theta=0.051929
[19:09:33.121] Odometry x=0.002336, y=-0.001290, theta=0.053478
[19:09:33.131] Odometry x=0.002336, y=-0.001290, theta=0.054643
[19:09:33.144] Init: px average disparity is:12.396080 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:33.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:33.151] Odometry x=0.002699, y=-0.001492, theta=0.057345
[19:09:33.162] Odometry x=0.002699, y=-0.001491, theta=0.059698
[19:09:33.172] Odometry x=0.002699, y=-0.001492, theta=0.060765
[19:09:33.182] Odometry x=0.002699, y=-0.001494, theta=0.061363
[19:09:33.192] Odometry x=0.002699, y=-0.001496, theta=0.061941
[19:09:33.202] Odometry x=0.002699, y=-0.001499, theta=0.062782
[19:09:33.212] Odometry x=0.002699, y=-0.001502, theta=0.063558
[19:09:33.222] Odometry x=0.002699, y=-0.001504, theta=0.063983
[19:09:33.232] Odometry x=0.002699, y=-0.001505, theta=0.064145
[19:09:33.243] Init: px average disparity is:12.007768 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:33.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:33.253] Odometry x=0.003099, y=-0.001768, theta=0.064818
[19:09:33.263] Odometry x=0.003100, y=-0.001774, theta=0.066035
[19:09:33.273] Odometry x=0.003101, y=-0.001776, theta=0.067250
[19:09:33.283] Odometry x=0.003101, y=-0.001777, theta=0.068079
[19:09:33.293] Odometry x=0.003101, y=-0.001778, theta=0.069461
[19:09:33.303] Odometry x=0.003101, y=-0.001779, theta=0.070759
[19:09:33.313] Odometry x=0.003101, y=-0.001779, theta=0.071291
[19:09:33.324] Odometry x=0.003101, y=-0.001780, theta=0.071505
[19:09:33.334] Odometry x=0.003101, y=-0.001784, theta=0.072089
[19:09:33.346] Init: px average disparity is:14.306049 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:33.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:33.354] Odometry x=0.001587, y=-0.002009, theta=0.028635
[19:09:33.364] Odometry x=0.001587, y=-0.002009, theta=0.029850
[19:09:33.374] Odometry x=0.001587, y=-0.002009, theta=0.030649
[19:09:33.384] Odometry x=0.001587, y=-0.002009, theta=0.031079
[19:09:33.395] Odometry x=0.001587, y=-0.002009, theta=0.030654
[19:09:33.405] Odometry x=0.001587, y=-0.002010, theta=0.030112
[19:09:33.415] Odometry x=0.001587, y=-0.002010, theta=0.030015
[19:09:33.425] Odometry x=0.001587, y=-0.002010, theta=0.030969
[19:09:33.435] Odometry x=0.001587, y=-0.002011, theta=0.032153
[19:09:33.448] Init: px average disparity is:14.177493 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:33.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:33.455] Odometry x=0.001968, y=-0.002134, theta=0.032818
[19:09:33.466] Odometry x=0.001968, y=-0.002134, theta=0.033483
[19:09:33.476] Odometry x=0.001968, y=-0.002134, theta=0.033992
[19:09:33.486] Odometry x=0.001968, y=-0.002135, theta=0.034428
[19:09:33.496] Odometry x=0.001968, y=-0.002135, theta=0.034534
[19:09:33.506] Odometry x=0.001968, y=-0.002136, theta=0.034376
[19:09:33.516] Odometry x=0.001968, y=-0.002136, theta=0.034075
[19:09:33.526] Odometry x=0.001968, y=-0.002137, theta=0.033848
[19:09:33.536] Odometry x=0.001968, y=-0.002137, theta=0.033845
[19:09:33.544] Init: px average disparity is:13.985313 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:33.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:33.557] Odometry x=0.002352, y=-0.002268, theta=0.034493
[19:09:33.567] Odometry x=0.002352, y=-0.002269, theta=0.035351
[19:09:33.577] Odometry x=0.002353, y=-0.002272, theta=0.036225
[19:09:33.587] Odometry x=0.002353, y=-0.002276, theta=0.037137
[19:09:33.597] Odometry x=0.002353, y=-0.002280, theta=0.037926
[19:09:33.607] Odometry x=0.002353, y=-0.002282, theta=0.038479
[19:09:33.617] Odometry x=0.002353, y=-0.002283, theta=0.038832
[19:09:33.627] Odometry x=0.002353, y=-0.002284, theta=0.039182
[19:09:33.638] Odometry x=0.002353, y=-0.002286, theta=0.039486
[19:09:33.644] Init: px average disparity is:15.078056 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:33.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:33.658] Odometry x=0.002734, y=-0.002442, theta=0.040092
[19:09:33.668] Odometry x=0.002734, y=-0.002445, theta=0.040678
[19:09:33.678] Odometry x=0.002734, y=-0.002445, theta=0.040894
[19:09:33.688] Odometry x=0.002734, y=-0.002444, theta=0.040534
[19:09:33.698] Odometry x=0.002734, y=-0.002444, theta=0.040083
[19:09:33.708] Odometry x=0.002734, y=-0.002443, theta=0.039361
[19:09:33.719] Odometry x=0.002733, y=-0.002442, theta=0.038803
[19:09:33.729] Odometry x=0.002733, y=-0.002442, theta=0.038462
[19:09:33.739] Odometry x=0.002733, y=-0.002442, theta=0.038630
[19:09:33.745] Init: px average disparity is:13.650564 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:33.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:33.759] Odometry x=0.003134, y=-0.002597, theta=0.038258
[19:09:33.769] Odometry x=0.003134, y=-0.002598, theta=0.037125
[19:09:33.779] Odometry x=0.003134, y=-0.002600, theta=0.036128
[19:09:33.789] Odometry x=0.003135, y=-0.002624, theta=0.035539
[19:09:33.800] Odometry x=0.003136, y=-0.002652, theta=0.035003
[19:09:33.810] Odometry x=0.003136, y=-0.002675, theta=0.034556
[19:09:33.820] Odometry x=0.003136, y=-0.002686, theta=0.034314
[19:09:33.830] Odometry x=0.003136, y=-0.002696, theta=0.034046
[19:09:33.847] Init: px average disparity is:10.561809 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:33.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:33.850] Odometry x=0.003480, y=-0.002813, theta=0.033040
[19:09:33.860] Odometry x=0.003480, y=-0.002814, theta=0.031969
[19:09:33.870] Odometry x=0.003480, y=-0.002814, theta=0.031411
[19:09:33.881] Odometry x=0.003480, y=-0.002813, theta=0.031098
[19:09:33.891] Odometry x=0.003480, y=-0.002812, theta=0.030548
[19:09:33.901] Odometry x=0.003480, y=-0.002809, theta=0.030100
[19:09:33.911] Odometry x=0.003480, y=-0.002808, theta=0.029833
[19:09:33.921] Odometry x=0.003480, y=-0.002808, theta=0.029477
[19:09:33.931] Odometry x=0.003480, y=-0.002808, theta=0.028959
[19:09:33.941] Odometry x=0.003480, y=-0.002810, theta=0.028211
[19:09:33.945] Init: px average disparity is:9.359647 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:33.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:33.962] Odometry x=0.003900, y=-0.002932, theta=0.027469
[19:09:33.972] Odometry x=0.003900, y=-0.002937, theta=0.026835
[19:09:33.982] Odometry x=0.003900, y=-0.002941, theta=0.026480
[19:09:33.992] Odometry x=0.003900, y=-0.002948, theta=0.025984
[19:09:34.002] Odometry x=0.003901, y=-0.002955, theta=0.025619
[19:09:34.012] Odometry x=0.003901, y=-0.002958, theta=0.025592
[19:09:34.022] Odometry x=0.003901, y=-0.002958, theta=0.025740
[19:09:34.033] Odometry x=0.003901, y=-0.002959, theta=0.025613
[19:09:34.043] Init: px average disparity is:10.846139 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:34.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:34.053] Odometry x=0.004249, y=-0.003045, theta=0.023588
[19:09:34.063] Odometry x=0.004249, y=-0.003045, theta=0.021175
[19:09:34.073] Odometry x=0.004249, y=-0.003046, theta=0.019360
[19:09:34.083] Odometry x=0.004248, y=-0.003050, theta=0.017678
[19:09:34.093] Odometry x=0.004248, y=-0.003055, theta=0.016545
[19:09:34.103] Odometry x=0.004249, y=-0.003072, theta=0.015660
[19:09:34.113] Odometry x=0.004249, y=-0.003089, theta=0.015073
[19:09:34.124] Odometry x=0.004249, y=-0.003099, theta=0.014757
[19:09:34.134] Odometry x=0.004249, y=-0.003121, theta=0.014495
[19:09:34.144] Init: px average disparity is:9.693116 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:34.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:34.154] Odometry x=0.004647, y=-0.003187, theta=0.015857
[19:09:34.164] Odometry x=0.004647, y=-0.003191, theta=0.017353
[19:09:34.174] Odometry x=0.004647, y=-0.003192, theta=0.018288
[19:09:34.184] Odometry x=0.004648, y=-0.003193, theta=0.018800
[19:09:34.194] Odometry x=0.004648, y=-0.003195, theta=0.018810
[19:09:34.205] Odometry x=0.004648, y=-0.003196, theta=0.018593
[19:09:34.215] Odometry x=0.004648, y=-0.003196, theta=0.018303
[19:09:34.225] Odometry x=0.004648, y=-0.003196, theta=0.018158
[19:09:34.235] Odometry x=0.004648, y=-0.003196, theta=0.018079
[19:09:34.244] Init: px average disparity is:11.548339 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:34.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:34.255] Odometry x=0.005036, y=-0.003267, theta=0.017483
[19:09:34.265] Odometry x=0.005036, y=-0.003268, theta=0.016721
[19:09:34.275] Odometry x=0.005036, y=-0.003270, theta=0.016097
[19:09:34.286] Odometry x=0.005036, y=-0.003272, theta=0.015563
[19:09:34.296] Odometry x=0.005036, y=-0.003275, theta=0.014422
[19:09:34.306] Odometry x=0.005036, y=-0.003280, theta=0.013341
[19:09:34.316] Odometry x=0.005036, y=-0.003283, theta=0.012752
[19:09:34.326] Odometry x=0.005036, y=-0.003298, theta=0.011897
[19:09:34.336] Odometry x=0.005036, y=-0.003310, theta=0.011145
[19:09:34.346] Init: px average disparity is:11.815609 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:34.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:34.356] Odometry x=0.005424, y=-0.003356, theta=0.010459
[19:09:34.366] Odometry x=0.005424, y=-0.003359, theta=0.009595
[19:09:34.377] Odometry x=0.005424, y=-0.003361, theta=0.008915
[19:09:34.387] Odometry x=0.005424, y=-0.003363, theta=0.008532
[19:09:34.397] Odometry x=0.005424, y=-0.003365, theta=0.008913
[19:09:34.407] Odometry x=0.005424, y=-0.003366, theta=0.009380
[19:09:34.417] Odometry x=0.005424, y=-0.003367, theta=0.009643
[19:09:34.427] Odometry x=0.005425, y=-0.003368, theta=0.009694
[19:09:34.437] Odometry x=0.005425, y=-0.003369, theta=0.009575
[19:09:34.446] Init: px average disparity is:13.033936 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:34.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:34.457] Odometry x=0.005762, y=-0.003419, theta=0.008961
[19:09:34.468] Odometry x=0.005762, y=-0.003436, theta=0.008514
[19:09:34.478] Odometry x=0.005762, y=-0.003445, theta=0.008471
[19:09:34.488] Odometry x=0.005762, y=-0.003454, theta=0.008549
[19:09:34.498] Odometry x=0.005762, y=-0.003461, theta=0.008781
[19:09:34.508] Odometry x=0.005762, y=-0.003464, theta=0.009085
[19:09:34.518] Odometry x=0.005762, y=-0.003465, theta=0.009326
[19:09:34.528] Odometry x=0.005762, y=-0.003465, theta=0.010067
[19:09:34.539] Odometry x=0.005762, y=-0.003465, theta=0.010850
[19:09:34.544] Init: px average disparity is:12.154461 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:34.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:34.559] Odometry x=0.006191, y=-0.003512, theta=0.011332
[19:09:34.569] Odometry x=0.006191, y=-0.003512, theta=0.011844
[19:09:34.579] Odometry x=0.006191, y=-0.003513, theta=0.012137
[19:09:34.589] Odometry x=0.006191, y=-0.003517, theta=0.012386
[19:09:34.599] Odometry x=0.006192, y=-0.003524, theta=0.012601
[19:09:34.609] Odometry x=0.006192, y=-0.003533, theta=0.012700
[19:09:34.620] Odometry x=0.006192, y=-0.003542, theta=0.012504
[19:09:34.630] Odometry x=0.006192, y=-0.003557, theta=0.012298
[19:09:34.646] Init: px average disparity is:11.750295 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:34.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:34.650] Odometry x=0.006536, y=-0.003624, theta=0.012197
[19:09:34.660] Odometry x=0.006537, y=-0.003676, theta=0.012123
[19:09:34.670] Odometry x=0.006537, y=-0.003714, theta=0.011994
[19:09:34.680] Odometry x=0.006537, y=-0.003738, theta=0.011753
[19:09:34.690] Odometry x=0.006538, y=-0.003761, theta=0.011669
[19:09:34.700] Odometry x=0.006538, y=-0.003774, theta=0.011727
[19:09:34.711] Odometry x=0.006538, y=-0.003781, theta=0.011737
[19:09:34.721] Odometry x=0.006538, y=-0.003784, theta=0.011838
[19:09:34.731] Odometry x=0.006538, y=-0.003786, theta=0.012053
[19:09:34.741] Odometry x=0.006538, y=-0.003787, theta=0.012192
[19:09:34.746] Init: px average disparity is:9.553872 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:34.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:34.761] Odometry x=0.006960, y=-0.003838, theta=0.012102
[19:09:34.771] Odometry x=0.006960, y=-0.003839, theta=0.012016
[19:09:34.781] Odometry x=0.006960, y=-0.003838, theta=0.011963
[19:09:34.792] Odometry x=0.006960, y=-0.003838, theta=0.011665
[19:09:34.802] Odometry x=0.006960, y=-0.003838, theta=0.010783
[19:09:34.812] Odometry x=0.006960, y=-0.003838, theta=0.010055
[19:09:34.822] Odometry x=0.006960, y=-0.003839, theta=0.008694
[19:09:34.832] Odometry x=0.006960, y=-0.003839, theta=0.007576
[19:09:34.842] Odometry x=0.006960, y=-0.003848, theta=0.006080
[19:09:34.845] Init: px average disparity is:13.082321 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:34.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:34.863] Odometry x=0.007362, y=-0.003887, theta=0.004621
[19:09:34.873] Odometry x=0.007363, y=-0.003902, theta=0.003165
[19:09:34.883] Odometry x=0.007364, y=-0.003905, theta=0.002566
[19:09:34.893] Odometry x=0.007364, y=-0.003913, theta=0.001416
[19:09:34.903] Odometry x=0.007365, y=-0.003922, theta=0.000262
[19:09:34.913] Odometry x=0.007365, y=-0.003926, theta=-0.000295
[19:09:34.923] Odometry x=0.007365, y=-0.003932, theta=-0.000648
[19:09:34.933] Odometry x=0.007365, y=-0.003949, theta=-0.000857
[19:09:34.944] Init: px average disparity is:14.680376 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:34.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:34.954] Odometry x=0.007710, y=-0.003995, theta=0.000128
[19:09:34.964] Odometry x=0.007710, y=-0.004035, theta=0.001542
[19:09:34.974] Odometry x=0.007711, y=-0.004051, theta=0.003484
[19:09:34.984] Odometry x=0.007711, y=-0.004058, theta=0.005167
[19:09:34.994] Odometry x=0.007711, y=-0.004071, theta=0.008493
[19:09:35.004] Odometry x=0.007712, y=-0.004081, theta=0.012411
[19:09:35.014] Odometry x=0.007712, y=-0.004083, theta=0.014774
[19:09:35.025] Odometry x=0.007712, y=-0.004084, theta=0.017777
[19:09:35.035] Odometry x=0.007712, y=-0.004084, theta=0.020841
[19:09:35.044] Init: px average disparity is:9.333451 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:35.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:35.055] Odometry x=0.008096, y=-0.004171, theta=0.024072
[19:09:35.065] Odometry x=0.008096, y=-0.004171, theta=0.027690
[19:09:35.075] Odometry x=0.008096, y=-0.004171, theta=0.030135
[19:09:35.085] Odometry x=0.008096, y=-0.004171, theta=0.032235
[19:09:35.096] Odometry x=0.008096, y=-0.004171, theta=0.034223
[19:09:35.106] Odometry x=0.008096, y=-0.004172, theta=0.036193
[19:09:35.116] Odometry x=0.008096, y=-0.004172, theta=0.038130
[19:09:35.126] Odometry x=0.008096, y=-0.004173, theta=0.040094
[19:09:35.136] Odometry x=0.008097, y=-0.004174, theta=0.041513
[19:09:35.146] Init: px average disparity is:10.540338 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:35.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:35.156] Odometry x=0.008460, y=-0.004385, theta=0.045154
[19:09:35.166] Odometry x=0.008461, y=-0.004429, theta=0.049050
[19:09:35.177] Odometry x=0.008462, y=-0.004445, theta=0.051995
[19:09:35.187] Odometry x=0.008462, y=-0.004457, theta=0.055338
[19:09:35.197] Odometry x=0.008462, y=-0.004463, theta=0.058675
[19:09:35.207] Odometry x=0.008462, y=-0.004465, theta=0.061670
[19:09:35.217] Odometry x=0.008462, y=-0.004465, theta=0.063468
[19:09:35.227] Odometry x=0.008462, y=-0.004465, theta=0.066110
[19:09:35.237] Odometry x=0.008462, y=-0.004466, theta=0.068996
[19:09:35.244] Init: px average disparity is:14.666819 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:35.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:35.258] Odometry x=0.008862, y=-0.004744, theta=0.070687
[19:09:35.268] Odometry x=0.008863, y=-0.004743, theta=0.072624
[19:09:35.278] Odometry x=0.008863, y=-0.004744, theta=0.073431
[19:09:35.288] Odometry x=0.008863, y=-0.004748, theta=0.074389
[19:09:35.298] Odometry x=0.008863, y=-0.004756, theta=0.075525
[19:09:35.308] Odometry x=0.008863, y=-0.004768, theta=0.076835
[19:09:35.318] Odometry x=0.008863, y=-0.004774, theta=0.077833
[19:09:35.328] Odometry x=0.008863, y=-0.004782, theta=0.079219
[19:09:35.339] Odometry x=0.008863, y=-0.004789, theta=0.080733
[19:09:35.344] Init: px average disparity is:18.060102 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:35.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:35.359] Odometry x=0.000525, y=-0.004800, theta=0.001609
[19:09:35.369] Odometry x=0.000525, y=-0.004814, theta=0.003934
[19:09:35.379] Odometry x=0.000525, y=-0.004818, theta=0.005171
[19:09:35.389] Odometry x=0.000525, y=-0.004827, theta=0.007121
[19:09:35.399] Odometry x=0.000525, y=-0.004837, theta=0.009064
[19:09:35.409] Odometry x=0.000525, y=-0.004840, theta=0.010615
[19:09:35.420] Odometry x=0.000525, y=-0.004842, theta=0.012088
[19:09:35.430] Odometry x=0.000525, y=-0.004842, theta=0.013183
[19:09:35.440] Odometry x=0.000525, y=-0.004842, theta=0.013767
[19:09:35.445] Init: px average disparity is:20.992842 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:35.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:35.460] Odometry x=0.000888, y=-0.004896, theta=0.015768
[19:09:35.470] Odometry x=0.000888, y=-0.004896, theta=0.017847
[19:09:35.480] Odometry x=0.000888, y=-0.004896, theta=0.018808
[19:09:35.490] Odometry x=0.000888, y=-0.004897, theta=0.020236
[19:09:35.501] Odometry x=0.000888, y=-0.004898, theta=0.021834
[19:09:35.511] Odometry x=0.000888, y=-0.004899, theta=0.023632
[19:09:35.521] Odometry x=0.000888, y=-0.004901, theta=0.025747
[19:09:35.531] Odometry x=0.000888, y=-0.004904, theta=0.027974
[19:09:35.541] Odometry x=0.000888, y=-0.004908, theta=0.030013
[19:09:35.547] Init: px average disparity is:24.520579 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:35.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:35.561] Odometry x=0.001290, y=-0.005034, theta=0.030631
[19:09:35.572] Odometry x=0.001290, y=-0.005037, theta=0.031181
[19:09:35.582] Odometry x=0.001290, y=-0.005037, theta=0.031365
[19:09:35.592] Odometry x=0.001290, y=-0.005037, theta=0.031358
[19:09:35.602] Odometry x=0.001291, y=-0.005038, theta=0.031103
[19:09:35.612] Odometry x=0.001291, y=-0.005038, theta=0.030672
[19:09:35.622] Odometry x=0.001291, y=-0.005038, theta=0.029966
[19:09:35.632] Odometry x=0.001291, y=-0.005038, theta=0.029027
[19:09:35.642] Odometry x=0.001291, y=-0.005038, theta=0.028224
[19:09:35.645] Init: px average disparity is:23.129135 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:35.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:35.663] Odometry x=0.001673, y=-0.005145, theta=0.027558
[19:09:35.673] Odometry x=0.001673, y=-0.005145, theta=0.027078
[19:09:35.683] Odometry x=0.001673, y=-0.005145, theta=0.026962
[19:09:35.693] Odometry x=0.001673, y=-0.005152, theta=0.026651
[19:09:35.703] Odometry x=0.001673, y=-0.005160, theta=0.026189
[19:09:35.713] Odometry x=0.001673, y=-0.005163, theta=0.025825
[19:09:35.723] Odometry x=0.001673, y=-0.005173, theta=0.025272
[19:09:35.734] Odometry x=0.001673, y=-0.005187, theta=0.024291
[19:09:35.744] Odometry x=0.001673, y=-0.005211, theta=0.022659
[19:09:35.745] Init: px average disparity is:21.095019 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:35.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:35.764] Odometry x=0.002074, y=-0.005321, theta=0.021686
[19:09:35.774] Odometry x=0.002074, y=-0.005342, theta=0.020769
[19:09:35.784] Odometry x=0.002074, y=-0.005353, theta=0.020291
[19:09:35.794] Odometry x=0.002074, y=-0.005365, theta=0.019828
[19:09:35.804] Odometry x=0.002074, y=-0.005376, theta=0.019351
[19:09:35.815] Odometry x=0.002073, y=-0.005380, theta=0.018996
[19:09:35.825] Odometry x=0.002073, y=-0.005387, theta=0.018304
[19:09:35.835] Odometry x=0.002073, y=-0.005391, theta=0.017607
[19:09:35.844] Init: px average disparity is:18.431209 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:35.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:35.855] Odometry x=0.002420, y=-0.005452, theta=0.017414
[19:09:35.865] Odometry x=0.002420, y=-0.005452, theta=0.017149
[19:09:35.875] Odometry x=0.002420, y=-0.005452, theta=0.016787
[19:09:35.885] Odometry x=0.002420, y=-0.005452, theta=0.016130
[19:09:35.896] Odometry x=0.002421, y=-0.005452, theta=0.015392
[19:09:35.906] Odometry x=0.002421, y=-0.005453, theta=0.014609
[19:09:35.916] Odometry x=0.002421, y=-0.005455, theta=0.013958
[19:09:35.926] Odometry x=0.002421, y=-0.005467, theta=0.012405
[19:09:35.936] Odometry x=0.002421, y=-0.005480, theta=0.010580
[19:09:35.944] Init: px average disparity is:14.051409 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:35.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:35.956] Odometry x=0.002803, y=-0.005526, theta=0.008974
[19:09:35.966] Odometry x=0.002803, y=-0.005532, theta=0.007182
[19:09:35.977] Odometry x=0.002802, y=-0.005532, theta=0.005916
[19:09:35.987] Odometry x=0.002802, y=-0.005532, theta=0.004697
[19:09:35.997] Odometry x=0.002802, y=-0.005532, theta=0.003421
[19:09:36.007] Odometry x=0.002802, y=-0.005533, theta=0.002028
[19:09:36.017] Odometry x=0.002802, y=-0.005533, theta=0.001095
[19:09:36.027] Odometry x=0.002802, y=-0.005540, theta=0.000230
[19:09:36.037] Odometry x=0.002802, y=-0.005547, theta=-0.000430
[19:09:36.047] Init: px average disparity is:10.957356 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:36.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:36.058] Odometry x=0.003184, y=-0.005554, theta=-0.001569
[19:09:36.068] Odometry x=0.003184, y=-0.005565, theta=-0.002871
[19:09:36.078] Odometry x=0.003184, y=-0.005573, theta=-0.003882
[19:09:36.088] Odometry x=0.003184, y=-0.005596, theta=-0.005958
[19:09:36.098] Odometry x=0.003184, y=-0.005610, theta=-0.007599
[19:09:36.108] Odometry x=0.003184, y=-0.005620, theta=-0.009374
[19:09:36.118] Odometry x=0.003184, y=-0.005626, theta=-0.010601
[19:09:36.129] Odometry x=0.003184, y=-0.005627, theta=-0.010792
[19:09:36.139] Odometry x=0.003184, y=-0.005626, theta=-0.010837
[19:09:36.144] Init: px average disparity is:8.026888 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:36.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:36.159] Odometry x=0.003585, y=-0.005581, theta=-0.011774
[19:09:36.169] Odometry x=0.003585, y=-0.005581, theta=-0.012668
[19:09:36.179] Odometry x=0.003585, y=-0.005581, theta=-0.012960
[19:09:36.189] Odometry x=0.003587, y=-0.005582, theta=-0.012704
[19:09:36.199] Odometry x=0.003589, y=-0.005583, theta=-0.012028
[19:09:36.209] Odometry x=0.003589, y=-0.005583, theta=-0.011279
[19:09:36.220] Odometry x=0.003589, y=-0.005583, theta=-0.010824
[19:09:36.230] Odometry x=0.003589, y=-0.005583, theta=-0.010900
[19:09:36.240] Odometry x=0.003589, y=-0.005583, theta=-0.011329
[19:09:36.244] Init: px average disparity is:6.523508 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:36.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:36.260] Odometry x=0.003971, y=-0.005547, theta=-0.012240
[19:09:36.270] Odometry x=0.003971, y=-0.005557, theta=-0.013027
[19:09:36.280] Odometry x=0.003971, y=-0.005561, theta=-0.013248
[19:09:36.290] Odometry x=0.003970, y=-0.005573, theta=-0.013855
[19:09:36.300] Odometry x=0.003969, y=-0.005584, theta=-0.014733
[19:09:36.311] Odometry x=0.003969, y=-0.005589, theta=-0.015810
[19:09:36.321] Odometry x=0.003969, y=-0.005594, theta=-0.016979
[19:09:36.331] Odometry x=0.003969, y=-0.005596, theta=-0.017745
[19:09:36.344] Init: px average disparity is:7.314412 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:36.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:36.351] Odometry x=0.004295, y=-0.005549, theta=-0.018959
[19:09:36.361] Odometry x=0.004295, y=-0.005557, theta=-0.020362
[19:09:36.371] Odometry x=0.004295, y=-0.005558, theta=-0.021326
[19:09:36.381] Odometry x=0.004295, y=-0.005559, theta=-0.021990
[19:09:36.392] Odometry x=0.004296, y=-0.005560, theta=-0.022194
[19:09:36.402] Odometry x=0.004296, y=-0.005559, theta=-0.022170
[19:09:36.412] Odometry x=0.004297, y=-0.005559, theta=-0.022124
[19:09:36.422] Odometry x=0.004297, y=-0.005559, theta=-0.022124
[19:09:36.432] Odometry x=0.004297, y=-0.005559, theta=-0.022475
[19:09:36.442] Odometry x=0.004297, y=-0.005559, theta=-0.023270
[19:09:36.443] Init: px average disparity is:7.011569 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:36.443] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:36.462] Odometry x=0.004737, y=-0.005456, theta=-0.023847
[19:09:36.473] Odometry x=0.004737, y=-0.005456, theta=-0.024371
[19:09:36.483] Odometry x=0.004737, y=-0.005456, theta=-0.024575
[19:09:36.493] Odometry x=0.004737, y=-0.005456, theta=-0.025261
[19:09:36.503] Odometry x=0.004737, y=-0.005456, theta=-0.026445
[19:09:36.513] Odometry x=0.004737, y=-0.005456, theta=-0.028055
[19:09:36.523] Odometry x=0.004737, y=-0.005456, theta=-0.029786
[19:09:36.533] Odometry x=0.004737, y=-0.005458, theta=-0.031239
[19:09:36.546] Init: px average disparity is:11.253655 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:36.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:36.554] Odometry x=0.005081, y=-0.005359, theta=-0.032717
[19:09:36.564] Odometry x=0.005081, y=-0.005369, theta=-0.034157
[19:09:36.574] Odometry x=0.005081, y=-0.005376, theta=-0.035282
[19:09:36.584] Odometry x=0.005081, y=-0.005378, theta=-0.036081
[19:09:36.594] Odometry x=0.005081, y=-0.005380, theta=-0.037129
[19:09:36.604] Odometry x=0.005081, y=-0.005382, theta=-0.038581
[19:09:36.614] Odometry x=0.005081, y=-0.005383, theta=-0.039593
[19:09:36.624] Odometry x=0.005081, y=-0.005384, theta=-0.040271
[19:09:36.635] Odometry x=0.005081, y=-0.005390, theta=-0.041294
[19:09:36.646] Init: px average disparity is:12.627623 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:36.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:36.655] Odometry x=0.005443, y=-0.005243, theta=-0.041258
[19:09:36.665] Odometry x=0.005443, y=-0.005245, theta=-0.040810
[19:09:36.675] Odometry x=0.005444, y=-0.005245, theta=-0.039371
[19:09:36.685] Odometry x=0.005444, y=-0.005245, theta=-0.038211
[19:09:36.695] Odometry x=0.005445, y=-0.005245, theta=-0.037517
[19:09:36.705] Odometry x=0.005446, y=-0.005244, theta=-0.036793
[19:09:36.716] Odometry x=0.005446, y=-0.005244, theta=-0.036043
[19:09:36.726] Odometry x=0.005446, y=-0.005244, theta=-0.034830
[19:09:36.736] Odometry x=0.005447, y=-0.005244, theta=-0.033361
[19:09:36.745] Init: px average disparity is:10.283434 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:36.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:36.746] Odometry x=0.005447, y=-0.005244, theta=-0.032279
[19:09:36.766] Odometry x=0.005830, y=-0.005123, theta=-0.030106
[19:09:36.776] Odometry x=0.005830, y=-0.005123, theta=-0.027847
[19:09:36.786] Odometry x=0.005830, y=-0.005126, theta=-0.025977
[19:09:36.796] Odometry x=0.005830, y=-0.005129, theta=-0.023776
[19:09:36.807] Odometry x=0.005830, y=-0.005130, theta=-0.022366
[19:09:36.817] Odometry x=0.005830, y=-0.005130, theta=-0.021073
[19:09:36.827] Odometry x=0.005831, y=-0.005132, theta=-0.019193
[19:09:36.837] Odometry x=0.005831, y=-0.005137, theta=-0.017868
[19:09:36.848] Init: px average disparity is:9.413691 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:36.849] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:36.857] Odometry x=0.006213, y=-0.005080, theta=-0.016117
[19:09:36.867] Odometry x=0.006213, y=-0.005085, theta=-0.014198
[19:09:36.877] Odometry x=0.006213, y=-0.005087, theta=-0.012898
[19:09:36.887] Odometry x=0.006213, y=-0.005090, theta=-0.011615
[19:09:36.898] Odometry x=0.006213, y=-0.005098, theta=-0.010228
[19:09:36.908] Odometry x=0.006213, y=-0.005111, theta=-0.008976
[19:09:36.918] Odometry x=0.006213, y=-0.005119, theta=-0.007947
[19:09:36.928] Odometry x=0.006213, y=-0.005121, theta=-0.007227
[19:09:36.938] Odometry x=0.006213, y=-0.005121, theta=-0.005576
[19:09:36.945] Init: px average disparity is:4.848485 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:36.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:36.958] Odometry x=0.006638, y=-0.005099, theta=-0.004210
[19:09:36.968] Odometry x=0.006638, y=-0.005099, theta=-0.002666
[19:09:36.979] Odometry x=0.006638, y=-0.005099, theta=-0.001377
[19:09:36.989] Odometry x=0.006638, y=-0.005098, theta=-0.000250
[19:09:36.999] Odometry x=0.006639, y=-0.005098, theta=0.001601
[19:09:37.009] Odometry x=0.006639, y=-0.005098, theta=0.004144
[19:09:37.019] Odometry x=0.006639, y=-0.005098, theta=0.006724
[19:09:37.029] Odometry x=0.006639, y=-0.005099, theta=0.009098
[19:09:37.039] Odometry x=0.006639, y=-0.005103, theta=0.011538
[19:09:37.047] Init: px average disparity is:10.886173 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:37.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:37.059] Odometry x=0.006995, y=-0.005166, theta=0.013658
[19:09:37.070] Odometry x=0.006995, y=-0.005182, theta=0.016189
[19:09:37.080] Odometry x=0.006995, y=-0.005185, theta=0.017826
[19:09:37.090] Odometry x=0.006995, y=-0.005185, theta=0.019629
[19:09:37.100] Odometry x=0.006995, y=-0.005186, theta=0.021588
[19:09:37.110] Odometry x=0.006995, y=-0.005186, theta=0.023374
[19:09:37.120] Odometry x=0.006995, y=-0.005186, theta=0.025240
[19:09:37.130] Odometry x=0.006995, y=-0.005186, theta=0.026613
[19:09:37.144] Init: px average disparity is:14.273606 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:37.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:37.151] Odometry x=0.007332, y=-0.005278, theta=0.029033
[19:09:37.161] Odometry x=0.007332, y=-0.005278, theta=0.031041
[19:09:37.171] Odometry x=0.007332, y=-0.005280, theta=0.031737
[19:09:37.181] Odometry x=0.007332, y=-0.005286, theta=0.032134
[19:09:37.191] Odometry x=0.007332, y=-0.005292, theta=0.032462
[19:09:37.201] Odometry x=0.007332, y=-0.005297, theta=0.032815
[19:09:37.212] Odometry x=0.007333, y=-0.005301, theta=0.033355
[19:09:37.222] Odometry x=0.007333, y=-0.005304, theta=0.033984
[19:09:37.232] Odometry x=0.007333, y=-0.005305, theta=0.034348
[19:09:37.242] Odometry x=0.007333, y=-0.005306, theta=0.034581
[19:09:37.244] Init: px average disparity is:14.000291 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:37.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:37.262] Odometry x=0.007793, y=-0.005465, theta=0.034678
[19:09:37.272] Odometry x=0.007793, y=-0.005465, theta=0.034623
[19:09:37.282] Odometry x=0.007793, y=-0.005465, theta=0.034556
[19:09:37.293] Odometry x=0.007793, y=-0.005465, theta=0.034610
[19:09:37.303] Odometry x=0.007793, y=-0.005465, theta=0.034802
[19:09:37.313] Odometry x=0.007793, y=-0.005465, theta=0.034983
[19:09:37.323] Odometry x=0.007793, y=-0.005465, theta=0.034886
[19:09:37.333] Odometry x=0.007793, y=-0.005465, theta=0.034543
[19:09:37.345] Init: px average disparity is:13.721376 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:37.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:37.354] Odometry x=0.008146, y=-0.005588, theta=0.034358
[19:09:37.364] Odometry x=0.008146, y=-0.005589, theta=0.034212
[19:09:37.374] Odometry x=0.008146, y=-0.005589, theta=0.034297
[19:09:37.384] Odometry x=0.008146, y=-0.005589, theta=0.034570
[19:09:37.394] Odometry x=0.008146, y=-0.005589, theta=0.034893
[19:09:37.404] Odometry x=0.008146, y=-0.005589, theta=0.034880
[19:09:37.414] Odometry x=0.008146, y=-0.005591, theta=0.034208
[19:09:37.424] Odometry x=0.008146, y=-0.005594, theta=0.033046
[19:09:37.435] Odometry x=0.008146, y=-0.005595, theta=0.031935
[19:09:37.445] Init: px average disparity is:11.822510 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:37.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:37.455] Odometry x=0.008530, y=-0.005719, theta=0.032151
[19:09:37.465] Odometry x=0.008531, y=-0.005722, theta=0.032575
[19:09:37.475] Odometry x=0.008532, y=-0.005723, theta=0.033058
[19:09:37.485] Odometry x=0.008532, y=-0.005725, theta=0.033507
[19:09:37.495] Odometry x=0.008532, y=-0.005729, theta=0.033885
[19:09:37.506] Odometry x=0.008532, y=-0.005731, theta=0.034122
[19:09:37.516] Odometry x=0.008532, y=-0.005733, theta=0.034266
[19:09:37.526] Odometry x=0.008532, y=-0.005734, theta=0.034550
[19:09:37.536] Odometry x=0.008532, y=-0.005734, theta=0.035639
[19:09:37.545] Init: px average disparity is:13.085038 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:37.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:37.556] Odometry x=0.008933, y=-0.005879, theta=0.036833
[19:09:37.566] Odometry x=0.008933, y=-0.005879, theta=0.038114
[19:09:37.577] Odometry x=0.008933, y=-0.005879, theta=0.038837
[19:09:37.587] Odometry x=0.008933, y=-0.005879, theta=0.039152
[19:09:37.597] Odometry x=0.008933, y=-0.005879, theta=0.039260
[19:09:37.607] Odometry x=0.008933, y=-0.005879, theta=0.039602
[19:09:37.617] Odometry x=0.008933, y=-0.005879, theta=0.039997
[19:09:37.627] Odometry x=0.008933, y=-0.005879, theta=0.040268
[19:09:37.637] Odometry x=0.008933, y=-0.005880, theta=0.040419
[19:09:37.645] Init: px average disparity is:12.980950 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:37.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:37.658] Odometry x=0.009314, y=-0.006039, theta=0.040294
[19:09:37.668] Odometry x=0.009314, y=-0.006044, theta=0.040166
[19:09:37.678] Odometry x=0.009315, y=-0.006046, theta=0.040142
[19:09:37.688] Odometry x=0.009315, y=-0.006046, theta=0.040214
[19:09:37.698] Odometry x=0.009315, y=-0.006046, theta=0.040661
[19:09:37.708] Odometry x=0.009315, y=-0.006046, theta=0.041205
[19:09:37.718] Odometry x=0.009315, y=-0.006046, theta=0.041610
[19:09:37.728] Odometry x=0.009315, y=-0.006046, theta=0.041945
[19:09:37.739] Odometry x=0.009315, y=-0.006047, theta=0.042289
[19:09:37.745] Init: px average disparity is:14.013417 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:37.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:37.759] Odometry x=0.009697, y=-0.006210, theta=0.043085
[19:09:37.769] Odometry x=0.009697, y=-0.006211, theta=0.044140
[19:09:37.779] Odometry x=0.009697, y=-0.006212, theta=0.045037
[19:09:37.789] Odometry x=0.009697, y=-0.006214, theta=0.046172
[19:09:37.799] Odometry x=0.009697, y=-0.006215, theta=0.047617
[19:09:37.809] Odometry x=0.009697, y=-0.006215, theta=0.048874
[19:09:37.820] Odometry x=0.009696, y=-0.006215, theta=0.049957
[19:09:37.830] Odometry x=0.009696, y=-0.006215, theta=0.051050
[19:09:37.840] Odometry x=0.009696, y=-0.006215, theta=0.052285
[19:09:37.845] Init: px average disparity is:17.116836 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:37.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:37.860] Odometry x=0.010078, y=-0.006415, theta=0.053671
[19:09:37.870] Odometry x=0.010078, y=-0.006413, theta=0.055063
[19:09:37.880] Odometry x=0.010078, y=-0.006412, theta=0.055948
[19:09:37.891] Odometry x=0.010078, y=-0.006412, theta=0.056983
[19:09:37.901] Odometry x=0.010078, y=-0.006412, theta=0.058075
[19:09:37.911] Odometry x=0.010078, y=-0.006415, theta=0.058815
[19:09:37.921] Odometry x=0.010078, y=-0.006423, theta=0.059629
[19:09:37.931] Odometry x=0.010079, y=-0.006431, theta=0.060412
[19:09:37.941] Odometry x=0.010079, y=-0.006437, theta=0.061129
[19:09:37.944] Init: px average disparity is:18.877649 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:37.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:37.961] Odometry x=0.010479, y=-0.006691, theta=0.061917
[19:09:37.971] Odometry x=0.010480, y=-0.006697, theta=0.062781
[19:09:37.982] Odometry x=0.010480, y=-0.006698, theta=0.063469
[19:09:37.992] Odometry x=0.010480, y=-0.006698, theta=0.064527
[19:09:38.002] Odometry x=0.010480, y=-0.006698, theta=0.065794
[19:09:38.012] Odometry x=0.010480, y=-0.006698, theta=0.066644
[19:09:38.022] Odometry x=0.010480, y=-0.006698, theta=0.067603
[19:09:38.032] Odometry x=0.010480, y=-0.006698, theta=0.068552
[19:09:38.047] Init: px average disparity is:21.666755 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:38.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:38.052] Odometry x=0.010822, y=-0.006935, theta=0.069655
[19:09:38.063] Odometry x=0.010822, y=-0.006936, theta=0.070865
[19:09:38.073] Odometry x=0.010822, y=-0.006937, theta=0.071453
[19:09:38.083] Odometry x=0.010822, y=-0.006938, theta=0.071865
[19:09:38.093] Odometry x=0.010822, y=-0.006939, theta=0.072258
[19:09:38.103] Odometry x=0.010822, y=-0.006940, theta=0.072828
[19:09:38.113] Odometry x=0.010822, y=-0.006940, theta=0.073376
[19:09:38.123] Odometry x=0.010822, y=-0.006940, theta=0.074354
[19:09:38.134] Odometry x=0.010822, y=-0.006940, theta=0.075475
[19:09:38.144] Init: px average disparity is:22.502479 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:38.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:38.154] Odometry x=0.004515, y=-0.007161, theta=0.029522
[19:09:38.164] Odometry x=0.004515, y=-0.007161, theta=0.030201
[19:09:38.174] Odometry x=0.004515, y=-0.007161, theta=0.030667
[19:09:38.185] Odometry x=0.004515, y=-0.007161, theta=0.031115
[19:09:38.195] Odometry x=0.004515, y=-0.007161, theta=0.031430
[19:09:38.205] Odometry x=0.004515, y=-0.007162, theta=0.031818
[19:09:38.215] Odometry x=0.004515, y=-0.007163, theta=0.032118
[19:09:38.225] Odometry x=0.004515, y=-0.007164, theta=0.032377
[19:09:38.235] Odometry x=0.004516, y=-0.007166, theta=0.032777
[19:09:38.246] Init: px average disparity is:23.142387 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:38.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:38.255] Odometry x=0.004898, y=-0.007299, theta=0.032799
[19:09:38.265] Odometry x=0.004898, y=-0.007307, theta=0.032764
[19:09:38.276] Odometry x=0.004898, y=-0.007310, theta=0.032780
[19:09:38.286] Odometry x=0.004898, y=-0.007311, theta=0.033154
[19:09:38.296] Odometry x=0.004898, y=-0.007311, theta=0.033686
[19:09:38.306] Odometry x=0.004898, y=-0.007311, theta=0.034376
[19:09:38.316] Odometry x=0.004898, y=-0.007310, theta=0.034975
[19:09:38.326] Odometry x=0.004898, y=-0.007309, theta=0.035316
[19:09:38.336] Odometry x=0.004898, y=-0.007309, theta=0.035687
[19:09:38.345] Init: px average disparity is:24.212986 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:38.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:38.356] Odometry x=0.005279, y=-0.007445, theta=0.035574
[19:09:38.367] Odometry x=0.005278, y=-0.007446, theta=0.035660
[19:09:38.377] Odometry x=0.005278, y=-0.007449, theta=0.035999
[19:09:38.387] Odometry x=0.005278, y=-0.007451, theta=0.036245
[19:09:38.397] Odometry x=0.005278, y=-0.007452, theta=0.036239
[19:09:38.407] Odometry x=0.005278, y=-0.007453, theta=0.036172
[19:09:38.417] Odometry x=0.005278, y=-0.007454, theta=0.036139
[19:09:38.427] Odometry x=0.005278, y=-0.007454, theta=0.036200
[19:09:38.438] Odometry x=0.005278, y=-0.007454, theta=0.036055
[19:09:38.445] Init: px average disparity is:22.266096 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:38.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:38.448] Odometry x=0.005278, y=-0.007454, theta=0.035634
[19:09:38.468] Odometry x=0.005717, y=-0.007607, theta=0.033470
[19:09:38.478] Odometry x=0.005717, y=-0.007608, theta=0.031309
[19:09:38.488] Odometry x=0.005717, y=-0.007608, theta=0.029861
[19:09:38.498] Odometry x=0.005717, y=-0.007608, theta=0.028409
[19:09:38.508] Odometry x=0.005717, y=-0.007608, theta=0.026998
[19:09:38.518] Odometry x=0.005717, y=-0.007610, theta=0.025618
[19:09:38.529] Odometry x=0.005717, y=-0.007615, theta=0.024277
[19:09:38.544] Init: px average disparity is:17.212644 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:38.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:38.549] Odometry x=0.006022, y=-0.007700, theta=0.022314
[19:09:38.559] Odometry x=0.006022, y=-0.007710, theta=0.020146
[19:09:38.569] Odometry x=0.006022, y=-0.007711, theta=0.018738
[19:09:38.579] Odometry x=0.006022, y=-0.007713, theta=0.017452
[19:09:38.589] Odometry x=0.006022, y=-0.007714, theta=0.016345
[19:09:38.599] Odometry x=0.006022, y=-0.007716, theta=0.015472
[19:09:38.610] Odometry x=0.006022, y=-0.007717, theta=0.014676
[19:09:38.620] Odometry x=0.006022, y=-0.007718, theta=0.013775
[19:09:38.630] Odometry x=0.006022, y=-0.007718, theta=0.012759
[19:09:38.640] Odometry x=0.006022, y=-0.007718, theta=0.011815
[19:09:38.645] Init: px average disparity is:13.173805 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:38.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:38.660] Odometry x=0.006443, y=-0.007766, theta=0.010306
[19:09:38.670] Odometry x=0.006443, y=-0.007766, theta=0.008666
[19:09:38.680] Odometry x=0.006443, y=-0.007766, theta=0.007487
[19:09:38.691] Odometry x=0.006443, y=-0.007766, theta=0.006329
[19:09:38.701] Odometry x=0.006443, y=-0.007766, theta=0.005177
[19:09:38.711] Odometry x=0.006443, y=-0.007766, theta=0.003826
[19:09:38.721] Odometry x=0.006443, y=-0.007769, theta=0.001824
[19:09:38.731] Odometry x=0.006443, y=-0.007775, theta=-0.000081
[19:09:38.741] Odometry x=0.006443, y=-0.007782, theta=-0.001638
[19:09:38.747] Init: px average disparity is:8.984985 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:38.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:38.761] Odometry x=0.006844, y=-0.007787, theta=-0.003323
[19:09:38.772] Odometry x=0.006844, y=-0.007799, theta=-0.005089
[19:09:38.782] Odometry x=0.006844, y=-0.007800, theta=-0.006077
[19:09:38.792] Odometry x=0.006844, y=-0.007801, theta=-0.007044
[19:09:38.802] Odometry x=0.006844, y=-0.007802, theta=-0.008238
[19:09:38.812] Odometry x=0.006844, y=-0.007802, theta=-0.009179
[19:09:38.822] Odometry x=0.006844, y=-0.007803, theta=-0.010823
[19:09:38.832] Odometry x=0.006844, y=-0.007806, theta=-0.012457
[19:09:38.843] Odometry x=0.006844, y=-0.007809, theta=-0.013679
[19:09:38.845] Init: px average disparity is:7.066202 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:38.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:38.863] Odometry x=0.007226, y=-0.007764, theta=-0.013502
[19:09:38.873] Odometry x=0.007226, y=-0.007769, theta=-0.013152
[19:09:38.883] Odometry x=0.007226, y=-0.007769, theta=-0.012602
[19:09:38.893] Odometry x=0.007226, y=-0.007770, theta=-0.011929
[19:09:38.903] Odometry x=0.007226, y=-0.007770, theta=-0.011332
[19:09:38.913] Odometry x=0.007226, y=-0.007770, theta=-0.010936
[19:09:38.924] Odometry x=0.007226, y=-0.007773, theta=-0.010608
[19:09:38.934] Odometry x=0.007226, y=-0.007777, theta=-0.010163
[19:09:38.945] Init: px average disparity is:7.768930 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:38.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:38.954] Odometry x=0.007581, y=-0.007743, theta=-0.009438
[19:09:38.964] Odometry x=0.007581, y=-0.007743, theta=-0.008463
[19:09:38.974] Odometry x=0.007581, y=-0.007743, theta=-0.008227
[19:09:38.984] Odometry x=0.007581, y=-0.007743, theta=-0.008319
[19:09:38.994] Odometry x=0.007581, y=-0.007743, theta=-0.008259
[19:09:39.005] Odometry x=0.007581, y=-0.007744, theta=-0.008041
[19:09:39.015] Odometry x=0.007581, y=-0.007744, theta=-0.007823
[19:09:39.025] Odometry x=0.007582, y=-0.007746, theta=-0.007793
[19:09:39.035] Odometry x=0.007582, y=-0.007752, theta=-0.007619
[19:09:39.046] Init: px average disparity is:8.043892 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:39.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:39.056] Odometry x=0.007964, y=-0.007746, theta=-0.006827
[19:09:39.066] Odometry x=0.007964, y=-0.007763, theta=-0.006032
[19:09:39.076] Odometry x=0.007964, y=-0.007768, theta=-0.005624
[19:09:39.086] Odometry x=0.007964, y=-0.007770, theta=-0.005126
[19:09:39.096] Odometry x=0.007964, y=-0.007771, theta=-0.004472
[19:09:39.106] Odometry x=0.007964, y=-0.007771, theta=-0.003675
[19:09:39.116] Odometry x=0.007964, y=-0.007771, theta=-0.003023
[19:09:39.126] Odometry x=0.007964, y=-0.007771, theta=-0.002643
[19:09:39.137] Odometry x=0.007964, y=-0.007771, theta=-0.002382
[19:09:39.145] Init: px average disparity is:7.188615 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:39.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:39.157] Odometry x=0.008346, y=-0.007763, theta=-0.002059
[19:09:39.167] Odometry x=0.008346, y=-0.007764, theta=-0.001330
[19:09:39.177] Odometry x=0.008346, y=-0.007765, theta=-0.000701
[19:09:39.187] Odometry x=0.008346, y=-0.007765, theta=-0.000167
[19:09:39.197] Odometry x=0.008346, y=-0.007766, theta=0.000353
[19:09:39.207] Odometry x=0.008346, y=-0.007766, theta=0.000841
[19:09:39.217] Odometry x=0.008346, y=-0.007766, theta=0.001157
[19:09:39.228] Odometry x=0.008346, y=-0.007768, theta=0.001637
[19:09:39.238] Odometry x=0.008346, y=-0.007769, theta=0.002291
[19:09:39.244] Init: px average disparity is:8.569766 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:39.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:39.258] Odometry x=0.008747, y=-0.007781, theta=0.003703
[19:09:39.268] Odometry x=0.008747, y=-0.007781, theta=0.005229
[19:09:39.278] Odometry x=0.008747, y=-0.007781, theta=0.006273
[19:09:39.288] Odometry x=0.008747, y=-0.007781, theta=0.007421
[19:09:39.298] Odometry x=0.008747, y=-0.007781, theta=0.008672
[19:09:39.309] Odometry x=0.008748, y=-0.007781, theta=0.009857
[19:09:39.319] Odometry x=0.008748, y=-0.007781, theta=0.010647
[19:09:39.329] Odometry x=0.008748, y=-0.007781, theta=0.011798
[19:09:39.339] Odometry x=0.008748, y=-0.007781, theta=0.013037
[19:09:39.347] Init: px average disparity is:11.945490 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:39.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:39.359] Odometry x=0.009130, y=-0.007835, theta=0.014337
[19:09:39.369] Odometry x=0.009130, y=-0.007836, theta=0.015962
[19:09:39.379] Odometry x=0.009130, y=-0.007837, theta=0.016819
[19:09:39.390] Odometry x=0.009130, y=-0.007845, theta=0.018124
[19:09:39.400] Odometry x=0.009130, y=-0.007852, theta=0.019453
[19:09:39.410] Odometry x=0.009130, y=-0.007856, theta=0.020655
[19:09:39.420] Odometry x=0.009130, y=-0.007858, theta=0.022277
[19:09:39.430] Odometry x=0.009130, y=-0.007858, theta=0.023998
[19:09:39.440] Odometry x=0.009130, y=-0.007858, theta=0.025685
[19:09:39.449] Init: px average disparity is:15.070319 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:39.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:39.460] Odometry x=0.009516, y=-0.007960, theta=0.027426
[19:09:39.471] Odometry x=0.009516, y=-0.007959, theta=0.029269
[19:09:39.481] Odometry x=0.009516, y=-0.007959, theta=0.030108
[19:09:39.491] Odometry x=0.009516, y=-0.007960, theta=0.030939
[19:09:39.501] Odometry x=0.009516, y=-0.007960, theta=0.031831
[19:09:39.511] Odometry x=0.009516, y=-0.007960, theta=0.032803
[19:09:39.521] Odometry x=0.009516, y=-0.007960, theta=0.033955
[19:09:39.531] Odometry x=0.009516, y=-0.007961, theta=0.035096
[19:09:39.544] Init: px average disparity is:18.835272 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:39.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:39.552] Odometry x=0.009850, y=-0.008086, theta=0.037367
[19:09:39.562] Odometry x=0.009850, y=-0.008090, theta=0.040217
[19:09:39.572] Odometry x=0.009850, y=-0.008091, theta=0.042741
[19:09:39.582] Odometry x=0.009850, y=-0.008091, theta=0.045375
[19:09:39.592] Odometry x=0.009850, y=-0.008091, theta=0.047800
[19:09:39.602] Odometry x=0.009850, y=-0.008091, theta=0.049810
[19:09:39.612] Odometry x=0.009850, y=-0.008091, theta=0.051609
[19:09:39.623] Odometry x=0.009850, y=-0.008091, theta=0.053558
[19:09:39.633] Odometry x=0.009850, y=-0.008093, theta=0.055450
[19:09:39.646] Init: px average disparity is:23.586891 ,While minimum is: 40.000000  KLT tracked : 65
[19:09:39.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:39.653] Odometry x=0.010250, y=-0.008326, theta=0.058499
[19:09:39.663] Odometry x=0.010250, y=-0.008331, theta=0.061876
[19:09:39.673] Odometry x=0.010250, y=-0.008334, theta=0.064335
[19:09:39.684] Odometry x=0.010250, y=-0.008337, theta=0.066844
[19:09:39.694] Odometry x=0.010250, y=-0.008340, theta=0.069562
[19:09:39.704] Odometry x=0.010250, y=-0.008341, theta=0.072517
[19:09:39.714] Odometry x=0.010250, y=-0.008341, theta=0.074646
[19:09:39.724] Odometry x=0.010250, y=-0.008341, theta=0.078655
[19:09:39.734] Odometry x=0.010250, y=-0.008341, theta=0.082093
[19:09:39.743] Init: px average disparity is:32.117019 ,While minimum is: 40.000000  KLT tracked : 63
[19:09:39.743] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:39.754] Odometry x=0.000483, y=-0.008341, theta=0.004761
[19:09:39.764] Odometry x=0.000483, y=-0.008341, theta=0.011104
[19:09:39.775] Odometry x=0.000483, y=-0.008341, theta=0.014913
[19:09:39.785] Odometry x=0.000483, y=-0.008341, theta=0.017304
[19:09:39.795] Odometry x=0.000483, y=-0.008341, theta=0.019904
[19:09:39.805] Odometry x=0.000483, y=-0.008341, theta=0.022716
[19:09:39.815] Odometry x=0.000483, y=-0.008341, theta=0.024965
[19:09:39.825] Odometry x=0.000483, y=-0.008341, theta=0.027013
[19:09:39.835] Odometry x=0.000483, y=-0.008341, theta=0.028923
[19:09:39.844] Init: px average disparity is:36.699137 ,While minimum is: 40.000000  KLT tracked : 62
[19:09:39.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:39.855] Odometry x=0.000861, y=-0.008453, theta=0.031132
[19:09:39.866] Odometry x=0.000861, y=-0.008452, theta=0.033603
[19:09:39.876] Odometry x=0.000861, y=-0.008452, theta=0.035226
[19:09:39.886] Odometry x=0.000861, y=-0.008452, theta=0.037677
[19:09:39.896] Odometry x=0.000861, y=-0.008452, theta=0.040627
[19:09:39.906] Odometry x=0.000861, y=-0.008452, theta=0.043748
[19:09:39.916] Odometry x=0.000861, y=-0.008452, theta=0.045976
[19:09:39.926] Odometry x=0.000861, y=-0.008452, theta=0.048706
[19:09:39.936] Odometry x=0.000861, y=-0.008452, theta=0.053026
[19:09:39.957] Odometry x=0.001286, y=-0.008680, theta=0.055076
[19:09:39.967] Odometry x=0.001286, y=-0.008680, theta=0.057355
[19:09:39.977] Odometry x=0.001286, y=-0.008680, theta=0.058984
[19:09:39.987] Odometry x=0.001286, y=-0.008680, theta=0.060118
[19:09:39.997] Odometry x=0.001286, y=-0.008679, theta=0.061568
[19:09:40.007] Odometry x=0.001286, y=-0.008677, theta=0.063940
[19:09:40.010] homography: x=107.304233 y=669.213278 z=0.616267 roll=-0.000000 pitch=0.005283 yaw=0.000000 	 ekf: x=0.001286 z=-0.008677 pitch=0.063940
[19:09:40.010] homography after fuse: x=0.001286 y=0.000000 z=-0.008677 pitch=0.063940	 number of outlier: 47
[19:09:40.010] Init: Homography RANSAC (inlier) is:15 ,While 30 inliers minimum required.  px average disparity is:42.974533 ,While minimum is: 40.000000  KLT tracked: 62
[19:09:40.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:40.017] Odometry x=0.001287, y=-0.008676, theta=0.065483
[19:09:40.028] Odometry x=0.001287, y=-0.008675, theta=0.066492
[19:09:40.038] Odometry x=0.001287, y=-0.008674, theta=0.067599
[19:09:40.058] Odometry x=0.001635, y=-0.008908, theta=0.068547
[19:09:40.068] Odometry x=0.001635, y=-0.008906, theta=0.069647
[19:09:40.078] Odometry x=0.001636, y=-0.008907, theta=0.070506
[19:09:40.088] Odometry x=0.001636, y=-0.008907, theta=0.070967
[19:09:40.098] Odometry x=0.001638, y=-0.008908, theta=0.070847
[19:09:40.108] Odometry x=0.001639, y=-0.008911, theta=0.070226
[19:09:40.112] homography: x=79.319019 y=87.483557 z=1.683344 roll=-0.000000 pitch=0.031567 yaw=-0.000000 	 ekf: x=0.001639 z=-0.008911 pitch=0.070226
[19:09:40.112] homography after fuse: x=0.001639 y=0.000000 z=-0.008911 pitch=0.070226	 number of outlier: 46
[19:09:40.112] Init: Homography RANSAC (inlier) is:15 ,While 30 inliers minimum required.  px average disparity is:46.758605 ,While minimum is: 40.000000  KLT tracked: 61
[19:09:40.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:40.119] Odometry x=0.001640, y=-0.008912, theta=0.069616
[19:09:40.129] Odometry x=0.001641, y=-0.008913, theta=0.068249
[19:09:40.139] Odometry x=0.001642, y=-0.008915, theta=0.065904
[19:09:40.159] Odometry x=0.002034, y=-0.009172, theta=0.064309
[19:09:40.169] Odometry x=0.002034, y=-0.009173, theta=0.062819
[19:09:40.179] Odometry x=0.002034, y=-0.009172, theta=0.062251
[19:09:40.189] Odometry x=0.002034, y=-0.009170, theta=0.061944
[19:09:40.200] Odometry x=0.002034, y=-0.009166, theta=0.061501
[19:09:40.210] Odometry x=0.002034, y=-0.009160, theta=0.060616
[19:09:40.215] homography: x=-269.951888 y=-26.505587 z=-0.742705 roll=0.000000 pitch=-0.000309 yaw=0.000000 	 ekf: x=0.002034 z=-0.009160 pitch=0.060616
[19:09:40.215] homography after fuse: x=0.002034 y=0.000000 z=-0.009160 pitch=0.060616	 number of outlier: 44
[19:09:40.215] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:43.850793 ,While minimum is: 40.000000  KLT tracked: 61
[19:09:40.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:40.220] Odometry x=0.002035, y=-0.009157, theta=0.059333
[19:09:40.230] Odometry x=0.002035, y=-0.009156, theta=0.058214
[19:09:40.240] Odometry x=0.002036, y=-0.009157, theta=0.055246
[19:09:40.246] Init: px average disparity is:39.139464 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:40.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:40.260] Odometry x=0.002438, y=-0.009375, theta=0.052525
[19:09:40.270] Odometry x=0.002438, y=-0.009376, theta=0.049380
[19:09:40.281] Odometry x=0.002438, y=-0.009376, theta=0.047063
[19:09:40.291] Odometry x=0.002438, y=-0.009376, theta=0.045020
[19:09:40.301] Odometry x=0.002438, y=-0.009375, theta=0.043081
[19:09:40.311] Odometry x=0.002438, y=-0.009374, theta=0.041103
[19:09:40.321] Odometry x=0.002438, y=-0.009373, theta=0.039046
[19:09:40.331] Odometry x=0.002438, y=-0.009372, theta=0.036679
[19:09:40.341] Odometry x=0.002438, y=-0.009372, theta=0.033857
[19:09:40.345] Init: px average disparity is:30.024989 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:40.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:40.362] Odometry x=0.002831, y=-0.009502, theta=0.031015
[19:09:40.372] Odometry x=0.002831, y=-0.009503, theta=0.027473
[19:09:40.382] Odometry x=0.002831, y=-0.009504, theta=0.024717
[19:09:40.392] Odometry x=0.002831, y=-0.009506, theta=0.022176
[19:09:40.402] Odometry x=0.002831, y=-0.009507, theta=0.019758
[19:09:40.412] Odometry x=0.002832, y=-0.009508, theta=0.017580
[19:09:40.422] Odometry x=0.002832, y=-0.009508, theta=0.015612
[19:09:40.432] Odometry x=0.002832, y=-0.009508, theta=0.013844
[19:09:40.446] Init: px average disparity is:25.234834 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:40.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:40.453] Odometry x=0.003169, y=-0.009552, theta=0.011612
[19:09:40.463] Odometry x=0.003169, y=-0.009552, theta=0.009259
[19:09:40.473] Odometry x=0.003169, y=-0.009552, theta=0.007591
[19:09:40.483] Odometry x=0.003170, y=-0.009552, theta=0.005985
[19:09:40.493] Odometry x=0.003170, y=-0.009552, theta=0.004436
[19:09:40.503] Odometry x=0.003170, y=-0.009552, theta=0.002646
[19:09:40.513] Odometry x=0.003170, y=-0.009552, theta=0.001173
[19:09:40.524] Odometry x=0.003170, y=-0.009552, theta=-0.000666
[19:09:40.534] Odometry x=0.003170, y=-0.009553, theta=-0.003071
[19:09:40.545] Init: px average disparity is:19.225405 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:40.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:40.554] Odometry x=0.003544, y=-0.009540, theta=-0.005707
[19:09:40.564] Odometry x=0.003545, y=-0.009542, theta=-0.008532
[19:09:40.574] Odometry x=0.003545, y=-0.009543, theta=-0.009816
[19:09:40.584] Odometry x=0.003545, y=-0.009543, theta=-0.010382
[19:09:40.594] Odometry x=0.003545, y=-0.009543, theta=-0.010921
[19:09:40.604] Odometry x=0.003545, y=-0.009543, theta=-0.011529
[19:09:40.615] Odometry x=0.003545, y=-0.009544, theta=-0.012144
[19:09:40.625] Odometry x=0.003546, y=-0.009544, theta=-0.012750
[19:09:40.635] Odometry x=0.003546, y=-0.009545, theta=-0.013387
[19:09:40.645] Init: px average disparity is:17.432534 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:40.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:40.655] Odometry x=0.003944, y=-0.009495, theta=-0.013666
[19:09:40.665] Odometry x=0.003944, y=-0.009497, theta=-0.013920
[19:09:40.675] Odometry x=0.003944, y=-0.009498, theta=-0.013956
[19:09:40.685] Odometry x=0.003944, y=-0.009498, theta=-0.014037
[19:09:40.695] Odometry x=0.003944, y=-0.009498, theta=-0.014264
[19:09:40.706] Odometry x=0.003944, y=-0.009498, theta=-0.014671
[19:09:40.716] Odometry x=0.003945, y=-0.009498, theta=-0.015110
[19:09:40.726] Odometry x=0.003945, y=-0.009498, theta=-0.015521
[19:09:40.736] Odometry x=0.003945, y=-0.009498, theta=-0.015960
[19:09:40.748] Init: px average disparity is:15.932412 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:40.749] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:40.756] Odometry x=0.004335, y=-0.009435, theta=-0.016603
[19:09:40.766] Odometry x=0.004335, y=-0.009436, theta=-0.017477
[19:09:40.777] Odometry x=0.004335, y=-0.009437, theta=-0.018226
[19:09:40.787] Odometry x=0.004335, y=-0.009437, theta=-0.018979
[19:09:40.797] Odometry x=0.004335, y=-0.009438, theta=-0.019634
[19:09:40.807] Odometry x=0.004336, y=-0.009438, theta=-0.020109
[19:09:40.817] Odometry x=0.004336, y=-0.009438, theta=-0.020569
[19:09:40.827] Odometry x=0.004336, y=-0.009438, theta=-0.021069
[19:09:40.837] Odometry x=0.004336, y=-0.009438, theta=-0.021602
[19:09:40.847] Init: px average disparity is:14.152430 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:40.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:40.858] Odometry x=0.004730, y=-0.009354, theta=-0.022952
[19:09:40.868] Odometry x=0.004730, y=-0.009356, theta=-0.024355
[19:09:40.878] Odometry x=0.004730, y=-0.009357, theta=-0.025157
[19:09:40.888] Odometry x=0.004730, y=-0.009357, theta=-0.026025
[19:09:40.898] Odometry x=0.004730, y=-0.009357, theta=-0.027228
[19:09:40.908] Odometry x=0.004730, y=-0.009357, theta=-0.028549
[19:09:40.918] Odometry x=0.004730, y=-0.009357, theta=-0.029369
[19:09:40.928] Odometry x=0.004730, y=-0.009357, theta=-0.029841
[19:09:40.939] Odometry x=0.004730, y=-0.009356, theta=-0.030179
[19:09:40.945] Init: px average disparity is:11.360671 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:40.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:40.959] Odometry x=0.005100, y=-0.009244, theta=-0.030431
[19:09:40.969] Odometry x=0.005100, y=-0.009244, theta=-0.030783
[19:09:40.979] Odometry x=0.005100, y=-0.009244, theta=-0.030968
[19:09:40.989] Odometry x=0.005100, y=-0.009244, theta=-0.030988
[19:09:40.999] Odometry x=0.005100, y=-0.009244, theta=-0.030849
[19:09:41.009] Odometry x=0.005100, y=-0.009244, theta=-0.030578
[19:09:41.019] Odometry x=0.005101, y=-0.009244, theta=-0.030651
[19:09:41.030] Odometry x=0.005101, y=-0.009246, theta=-0.031226
[19:09:41.040] Odometry x=0.005103, y=-0.009248, theta=-0.032310
[19:09:41.045] Init: px average disparity is:9.580465 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:41.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:41.060] Odometry x=0.005500, y=-0.009141, theta=-0.033189
[19:09:41.070] Odometry x=0.005504, y=-0.009161, theta=-0.033980
[19:09:41.080] Odometry x=0.005505, y=-0.009172, theta=-0.034213
[19:09:41.090] Odometry x=0.005505, y=-0.009179, theta=-0.034451
[19:09:41.100] Odometry x=0.005506, y=-0.009183, theta=-0.034607
[19:09:41.110] Odometry x=0.005506, y=-0.009184, theta=-0.034615
[19:09:41.121] Odometry x=0.005505, y=-0.009184, theta=-0.034245
[19:09:41.131] Odometry x=0.005505, y=-0.009184, theta=-0.033580
[19:09:41.148] Init: px average disparity is:8.548578 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:41.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:41.151] Odometry x=0.005859, y=-0.009066, theta=-0.032419
[19:09:41.161] Odometry x=0.005859, y=-0.009066, theta=-0.031122
[19:09:41.171] Odometry x=0.005859, y=-0.009065, theta=-0.030126
[19:09:41.181] Odometry x=0.005859, y=-0.009065, theta=-0.029169
[19:09:41.191] Odometry x=0.005859, y=-0.009065, theta=-0.028543
[19:09:41.202] Odometry x=0.005859, y=-0.009065, theta=-0.028361
[19:09:41.212] Odometry x=0.005859, y=-0.009065, theta=-0.028216
[19:09:41.222] Odometry x=0.005860, y=-0.009066, theta=-0.027783
[19:09:41.232] Odometry x=0.005862, y=-0.009067, theta=-0.027525
[19:09:41.245] Init: px average disparity is:8.274736 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:41.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:41.252] Odometry x=0.006254, y=-0.008962, theta=-0.027772
[19:09:41.262] Odometry x=0.006255, y=-0.008970, theta=-0.028290
[19:09:41.272] Odometry x=0.006256, y=-0.008973, theta=-0.028657
[19:09:41.282] Odometry x=0.006257, y=-0.008977, theta=-0.029054
[19:09:41.293] Odometry x=0.006260, y=-0.008986, theta=-0.029375
[19:09:41.303] Odometry x=0.006265, y=-0.008993, theta=-0.029470
[19:09:41.313] Odometry x=0.006270, y=-0.008997, theta=-0.029241
[19:09:41.323] Odometry x=0.006271, y=-0.008998, theta=-0.028914
[19:09:41.333] Odometry x=0.006272, y=-0.008999, theta=-0.028784
[19:09:41.346] Init: px average disparity is:8.091409 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:41.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:41.354] Odometry x=0.006650, y=-0.008892, theta=-0.028630
[19:09:41.364] Odometry x=0.006650, y=-0.008893, theta=-0.028277
[19:09:41.374] Odometry x=0.006650, y=-0.008894, theta=-0.027870
[19:09:41.384] Odometry x=0.006650, y=-0.008895, theta=-0.027324
[19:09:41.394] Odometry x=0.006650, y=-0.008895, theta=-0.026732
[19:09:41.404] Odometry x=0.006650, y=-0.008896, theta=-0.025939
[19:09:41.414] Odometry x=0.006650, y=-0.008896, theta=-0.025264
[19:09:41.424] Odometry x=0.006650, y=-0.008896, theta=-0.024603
[19:09:41.435] Odometry x=0.006650, y=-0.008896, theta=-0.024874
[19:09:41.445] Init: px average disparity is:7.933215 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:41.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:41.455] Odometry x=0.007045, y=-0.008796, theta=-0.025493
[19:09:41.465] Odometry x=0.007045, y=-0.008795, theta=-0.026005
[19:09:41.475] Odometry x=0.007045, y=-0.008795, theta=-0.025922
[19:09:41.485] Odometry x=0.007045, y=-0.008795, theta=-0.025744
[19:09:41.495] Odometry x=0.007046, y=-0.008795, theta=-0.025562
[19:09:41.505] Odometry x=0.007047, y=-0.008796, theta=-0.025363
[19:09:41.516] Odometry x=0.007048, y=-0.008799, theta=-0.025301
[19:09:41.526] Odometry x=0.007048, y=-0.008804, theta=-0.025467
[19:09:41.536] Odometry x=0.007048, y=-0.008811, theta=-0.025799
[19:09:41.545] Init: px average disparity is:6.999121 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:41.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:41.556] Odometry x=0.007424, y=-0.008747, theta=-0.026200
[19:09:41.566] Odometry x=0.007425, y=-0.008780, theta=-0.026668
[19:09:41.576] Odometry x=0.007427, y=-0.008794, theta=-0.026934
[19:09:41.586] Odometry x=0.007429, y=-0.008797, theta=-0.027013
[19:09:41.597] Odometry x=0.007430, y=-0.008797, theta=-0.026985
[19:09:41.607] Odometry x=0.007430, y=-0.008797, theta=-0.027106
[19:09:41.617] Odometry x=0.007430, y=-0.008796, theta=-0.027487
[19:09:41.627] Odometry x=0.007430, y=-0.008795, theta=-0.027969
[19:09:41.637] Odometry x=0.007430, y=-0.008795, theta=-0.028249
[19:09:41.646] Init: px average disparity is:6.941838 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:41.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:41.657] Odometry x=0.007820, y=-0.008685, theta=-0.027897
[19:09:41.667] Odometry x=0.007820, y=-0.008685, theta=-0.027374
[19:09:41.678] Odometry x=0.007820, y=-0.008685, theta=-0.026842
[19:09:41.688] Odometry x=0.007820, y=-0.008685, theta=-0.026570
[19:09:41.698] Odometry x=0.007820, y=-0.008685, theta=-0.026534
[19:09:41.708] Odometry x=0.007820, y=-0.008684, theta=-0.026362
[19:09:41.718] Odometry x=0.007820, y=-0.008684, theta=-0.026229
[19:09:41.728] Odometry x=0.007820, y=-0.008682, theta=-0.026122
[19:09:41.738] Odometry x=0.007820, y=-0.008680, theta=-0.025881
[19:09:41.745] Init: px average disparity is:6.505381 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:41.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:41.759] Odometry x=0.008211, y=-0.008575, theta=-0.025870
[19:09:41.769] Odometry x=0.008212, y=-0.008572, theta=-0.026114
[19:09:41.779] Odometry x=0.008212, y=-0.008572, theta=-0.026425
[19:09:41.789] Odometry x=0.008212, y=-0.008577, theta=-0.027548
[19:09:41.799] Odometry x=0.008212, y=-0.008585, theta=-0.028770
[19:09:41.809] Odometry x=0.008213, y=-0.008593, theta=-0.029593
[19:09:41.819] Odometry x=0.008213, y=-0.008601, theta=-0.030196
[19:09:41.829] Odometry x=0.008214, y=-0.008606, theta=-0.030688
[19:09:41.840] Odometry x=0.008215, y=-0.008609, theta=-0.031137
[19:09:41.845] Init: px average disparity is:7.755273 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:41.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:41.860] Odometry x=0.008610, y=-0.008485, theta=-0.031612
[19:09:41.870] Odometry x=0.008611, y=-0.008485, theta=-0.032196
[19:09:41.880] Odometry x=0.008611, y=-0.008484, theta=-0.032555
[19:09:41.890] Odometry x=0.008611, y=-0.008484, theta=-0.033697
[19:09:41.900] Odometry x=0.008612, y=-0.008483, theta=-0.035224
[19:09:41.911] Odometry x=0.008612, y=-0.008483, theta=-0.036743
[19:09:41.921] Odometry x=0.008612, y=-0.008483, theta=-0.038527
[19:09:41.931] Odometry x=0.008612, y=-0.008483, theta=-0.040490
[19:09:41.947] Init: px average disparity is:11.400398 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:41.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:41.951] Odometry x=0.008963, y=-0.008340, theta=-0.041452
[19:09:41.961] Odometry x=0.008963, y=-0.008340, theta=-0.042311
[19:09:41.971] Odometry x=0.008963, y=-0.008340, theta=-0.042942
[19:09:41.981] Odometry x=0.008963, y=-0.008340, theta=-0.043762
[19:09:41.992] Odometry x=0.008963, y=-0.008340, theta=-0.044471
[19:09:42.002] Odometry x=0.008963, y=-0.008340, theta=-0.044725
[19:09:42.012] Odometry x=0.008963, y=-0.008340, theta=-0.044449
[19:09:42.022] Odometry x=0.008963, y=-0.008340, theta=-0.043933
[19:09:42.032] Odometry x=0.008963, y=-0.008340, theta=-0.043191
[19:09:42.050] Init: px average disparity is:9.980629 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:42.050] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:42.052] Odometry x=0.009334, y=-0.008182, theta=-0.041853
[19:09:42.062] Odometry x=0.009334, y=-0.008181, theta=-0.040402
[19:09:42.073] Odometry x=0.009334, y=-0.008181, theta=-0.039776
[19:09:42.083] Odometry x=0.009334, y=-0.008181, theta=-0.039626
[19:09:42.093] Odometry x=0.009334, y=-0.008182, theta=-0.039994
[19:09:42.103] Odometry x=0.009335, y=-0.008182, theta=-0.040217
[19:09:42.113] Odometry x=0.009336, y=-0.008183, theta=-0.040151
[19:09:42.123] Odometry x=0.009336, y=-0.008182, theta=-0.039593
[19:09:42.133] Odometry x=0.009337, y=-0.008182, theta=-0.038572
[19:09:42.148] Init: px average disparity is:10.404829 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:42.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:42.154] Odometry x=0.009715, y=-0.008037, theta=-0.037918
[19:09:42.164] Odometry x=0.009716, y=-0.008037, theta=-0.037245
[19:09:42.174] Odometry x=0.009716, y=-0.008037, theta=-0.036652
[19:09:42.184] Odometry x=0.009716, y=-0.008037, theta=-0.036221
[19:09:42.194] Odometry x=0.009716, y=-0.008037, theta=-0.035646
[19:09:42.204] Odometry x=0.009716, y=-0.008037, theta=-0.034270
[19:09:42.214] Odometry x=0.009716, y=-0.008035, theta=-0.032687
[19:09:42.224] Odometry x=0.009716, y=-0.008033, theta=-0.031308
[19:09:42.235] Odometry x=0.009716, y=-0.008030, theta=-0.030047
[19:09:42.244] Init: px average disparity is:9.679756 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:42.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:42.255] Odometry x=0.010113, y=-0.007907, theta=-0.028832
[19:09:42.265] Odometry x=0.010113, y=-0.007901, theta=-0.027248
[19:09:42.275] Odometry x=0.010113, y=-0.007899, theta=-0.025764
[19:09:42.285] Odometry x=0.010113, y=-0.007898, theta=-0.024322
[19:09:42.295] Odometry x=0.010113, y=-0.007897, theta=-0.023085
[19:09:42.305] Odometry x=0.010114, y=-0.007897, theta=-0.021986
[19:09:42.316] Odometry x=0.010114, y=-0.007897, theta=-0.020959
[19:09:42.326] Odometry x=0.010114, y=-0.007897, theta=-0.020007
[19:09:42.336] Odometry x=0.010115, y=-0.007897, theta=-0.019144
[19:09:42.350] Init: px average disparity is:8.178523 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:42.350] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:42.356] Odometry x=0.010503, y=-0.007826, theta=-0.017391
[19:09:42.366] Odometry x=0.010504, y=-0.007826, theta=-0.015604
[19:09:42.376] Odometry x=0.010504, y=-0.007826, theta=-0.014365
[19:09:42.387] Odometry x=0.010505, y=-0.007825, theta=-0.013088
[19:09:42.397] Odometry x=0.010505, y=-0.007825, theta=-0.012007
[19:09:42.407] Odometry x=0.010505, y=-0.007825, theta=-0.011098
[19:09:42.417] Odometry x=0.010505, y=-0.007825, theta=-0.010511
[19:09:42.427] Odometry x=0.010506, y=-0.007825, theta=-0.010203
[19:09:42.437] Odometry x=0.010506, y=-0.007826, theta=-0.009973
[19:09:42.448] Init: px average disparity is:9.025494 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:42.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:42.457] Odometry x=0.010893, y=-0.007789, theta=-0.009163
[19:09:42.468] Odometry x=0.010893, y=-0.007788, theta=-0.008243
[19:09:42.478] Odometry x=0.010893, y=-0.007788, theta=-0.007449
[19:09:42.488] Odometry x=0.010893, y=-0.007788, theta=-0.006584
[19:09:42.498] Odometry x=0.010893, y=-0.007787, theta=-0.005563
[19:09:42.508] Odometry x=0.010893, y=-0.007787, theta=-0.004354
[19:09:42.518] Odometry x=0.010893, y=-0.007787, theta=-0.003019
[19:09:42.528] Odometry x=0.010893, y=-0.007787, theta=-0.002007
[19:09:42.538] Odometry x=0.010893, y=-0.007786, theta=-0.000185
[19:09:42.551] Init: px average disparity is:11.258851 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:42.551] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:42.559] Odometry x=0.011278, y=-0.007787, theta=0.001071
[19:09:42.569] Odometry x=0.011278, y=-0.007786, theta=0.002772
[19:09:42.579] Odometry x=0.011278, y=-0.007786, theta=0.004406
[19:09:42.589] Odometry x=0.011278, y=-0.007787, theta=0.006901
[19:09:42.599] Odometry x=0.011278, y=-0.007787, theta=0.008665
[19:09:42.609] Odometry x=0.011280, y=-0.007786, theta=0.012257
[19:09:42.620] Odometry x=0.011282, y=-0.007784, theta=0.015785
[19:09:42.630] Odometry x=0.011282, y=-0.007784, theta=0.017495
[19:09:42.640] Odometry x=0.011282, y=-0.007784, theta=0.020557
[19:09:42.648] Init: px average disparity is:16.270667 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:42.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:42.660] Odometry x=0.011693, y=-0.007871, theta=0.022572
[19:09:42.670] Odometry x=0.011693, y=-0.007871, theta=0.025172
[19:09:42.680] Odometry x=0.011693, y=-0.007871, theta=0.026648
[19:09:42.691] Odometry x=0.011693, y=-0.007870, theta=0.028627
[19:09:42.701] Odometry x=0.011693, y=-0.007869, theta=0.030437
[19:09:42.711] Odometry x=0.011693, y=-0.007869, theta=0.031548
[19:09:42.721] Odometry x=0.011693, y=-0.007869, theta=0.032500
[19:09:42.731] Odometry x=0.011693, y=-0.007869, theta=0.033482
[19:09:42.741] Odometry x=0.011693, y=-0.007869, theta=0.034789
[19:09:42.744] Init: px average disparity is:19.275365 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:42.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:42.761] Odometry x=0.012069, y=-0.008003, theta=0.037027
[19:09:42.772] Odometry x=0.012070, y=-0.008003, theta=0.039464
[19:09:42.782] Odometry x=0.012071, y=-0.008003, theta=0.041113
[19:09:42.792] Odometry x=0.012072, y=-0.008004, theta=0.042727
[19:09:42.802] Odometry x=0.012072, y=-0.008004, theta=0.044652
[19:09:42.812] Odometry x=0.012072, y=-0.008004, theta=0.046937
[19:09:42.822] Odometry x=0.012072, y=-0.008005, theta=0.049219
[19:09:42.832] Odometry x=0.012072, y=-0.008005, theta=0.050758
[19:09:42.847] Init: px average disparity is:25.686954 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:42.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:42.853] Odometry x=0.012400, y=-0.008175, theta=0.053882
[19:09:42.863] Odometry x=0.012400, y=-0.008175, theta=0.057114
[19:09:42.873] Odometry x=0.012400, y=-0.008175, theta=0.059293
[19:09:42.883] Odometry x=0.012400, y=-0.008175, theta=0.061657
[19:09:42.893] Odometry x=0.012400, y=-0.008175, theta=0.064127
[19:09:42.903] Odometry x=0.012400, y=-0.008175, theta=0.066569
[19:09:42.913] Odometry x=0.012401, y=-0.008175, theta=0.068818
[19:09:42.923] Odometry x=0.012401, y=-0.008175, theta=0.071009
[19:09:42.934] Odometry x=0.012402, y=-0.008175, theta=0.073230
[19:09:42.944] Odometry x=0.012404, y=-0.008176, theta=0.075169
[19:09:42.946] Init: px average disparity is:29.162750 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:42.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:42.964] Odometry x=0.000577, y=-0.008176, theta=0.000974
[19:09:42.974] Odometry x=0.000579, y=-0.008177, theta=0.002215
[19:09:42.984] Odometry x=0.000580, y=-0.008179, theta=0.002758
[19:09:42.994] Odometry x=0.000580, y=-0.008182, theta=0.003869
[19:09:43.004] Odometry x=0.000580, y=-0.008183, theta=0.006129
[19:09:43.014] Odometry x=0.000580, y=-0.008183, theta=0.007591
[19:09:43.025] Odometry x=0.000580, y=-0.008181, theta=0.008605
[19:09:43.035] Odometry x=0.000580, y=-0.008178, theta=0.009651
[19:09:43.047] Init: px average disparity is:31.461848 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:43.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:43.055] Odometry x=0.000924, y=-0.008211, theta=0.009882
[19:09:43.065] Odometry x=0.000924, y=-0.008211, theta=0.010171
[19:09:43.075] Odometry x=0.000924, y=-0.008211, theta=0.011034
[19:09:43.085] Odometry x=0.000925, y=-0.008211, theta=0.012135
[19:09:43.095] Odometry x=0.000925, y=-0.008211, theta=0.012458
[19:09:43.106] Odometry x=0.000925, y=-0.008211, theta=0.012657
[19:09:43.116] Odometry x=0.000925, y=-0.008212, theta=0.013491
[19:09:43.126] Odometry x=0.000925, y=-0.008212, theta=0.014282
[19:09:43.136] Odometry x=0.000925, y=-0.008212, theta=0.015475
[19:09:43.145] Init: px average disparity is:33.371926 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:43.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:43.156] Odometry x=0.001330, y=-0.008277, theta=0.016684
[19:09:43.166] Odometry x=0.001330, y=-0.008276, theta=0.017611
[19:09:43.176] Odometry x=0.001330, y=-0.008276, theta=0.017700
[19:09:43.186] Odometry x=0.001330, y=-0.008277, theta=0.017374
[19:09:43.197] Odometry x=0.001330, y=-0.008277, theta=0.017046
[19:09:43.207] Odometry x=0.001330, y=-0.008277, theta=0.016828
[19:09:43.217] Odometry x=0.001330, y=-0.008277, theta=0.016396
[19:09:43.227] Odometry x=0.001330, y=-0.008277, theta=0.016059
[19:09:43.237] Odometry x=0.001330, y=-0.008277, theta=0.016318
[19:09:43.245] Init: px average disparity is:32.588008 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:43.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:43.257] Odometry x=0.001712, y=-0.008338, theta=0.015597
[19:09:43.267] Odometry x=0.001712, y=-0.008338, theta=0.014606
[19:09:43.278] Odometry x=0.001712, y=-0.008339, theta=0.013599
[19:09:43.288] Odometry x=0.001712, y=-0.008341, theta=0.012599
[19:09:43.298] Odometry x=0.001712, y=-0.008349, theta=0.011778
[19:09:43.308] Odometry x=0.001713, y=-0.008360, theta=0.011160
[19:09:43.318] Odometry x=0.001713, y=-0.008372, theta=0.010807
[19:09:43.328] Odometry x=0.001713, y=-0.008378, theta=0.010971
[19:09:43.338] Odometry x=0.001713, y=-0.008380, theta=0.011817
[19:09:43.345] Init: px average disparity is:32.953286 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:43.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:43.359] Odometry x=0.002095, y=-0.008428, theta=0.013844
[19:09:43.369] Odometry x=0.002095, y=-0.008428, theta=0.015655
[19:09:43.379] Odometry x=0.002095, y=-0.008428, theta=0.016514
[19:09:43.389] Odometry x=0.002095, y=-0.008428, theta=0.017018
[19:09:43.399] Odometry x=0.002095, y=-0.008428, theta=0.017119
[19:09:43.409] Odometry x=0.002095, y=-0.008428, theta=0.017153
[19:09:43.419] Odometry x=0.002095, y=-0.008427, theta=0.017738
[19:09:43.429] Odometry x=0.002095, y=-0.008427, theta=0.018958
[19:09:43.446] Init: px average disparity is:33.122728 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:43.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:43.450] Odometry x=0.002439, y=-0.008492, theta=0.018637
[19:09:43.460] Odometry x=0.002440, y=-0.008492, theta=0.017952
[19:09:43.470] Odometry x=0.002440, y=-0.008492, theta=0.017245
[19:09:43.480] Odometry x=0.002440, y=-0.008492, theta=0.016648
[19:09:43.490] Odometry x=0.002441, y=-0.008493, theta=0.014990
[19:09:43.500] Odometry x=0.002442, y=-0.008493, theta=0.013241
[19:09:43.510] Odometry x=0.002442, y=-0.008493, theta=0.011709
[19:09:43.520] Odometry x=0.002442, y=-0.008495, theta=0.010301
[19:09:43.531] Odometry x=0.002442, y=-0.008496, theta=0.009336
[19:09:43.541] Odometry x=0.002442, y=-0.008502, theta=0.007471
[19:09:43.546] Init: px average disparity is:30.845362 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:43.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:43.561] Odometry x=0.002881, y=-0.008548, theta=0.005135
[19:09:43.571] Odometry x=0.002881, y=-0.008564, theta=0.002609
[19:09:43.581] Odometry x=0.002882, y=-0.008568, theta=0.001432
[19:09:43.591] Odometry x=0.002882, y=-0.008572, theta=0.000901
[19:09:43.601] Odometry x=0.002882, y=-0.008576, theta=0.000838
[19:09:43.612] Odometry x=0.002882, y=-0.008576, theta=0.000755
[19:09:43.622] Odometry x=0.002882, y=-0.008576, theta=0.000107
[19:09:43.632] Odometry x=0.002883, y=-0.008576, theta=-0.000728
[19:09:43.642] Odometry x=0.002883, y=-0.008576, theta=-0.001241
[19:09:43.646] Init: px average disparity is:28.410786 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:43.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:43.662] Odometry x=0.003265, y=-0.008570, theta=-0.001625
[19:09:43.672] Odometry x=0.003265, y=-0.008570, theta=-0.002610
[19:09:43.682] Odometry x=0.003265, y=-0.008570, theta=-0.004270
[19:09:43.693] Odometry x=0.003265, y=-0.008571, theta=-0.006061
[19:09:43.703] Odometry x=0.003265, y=-0.008572, theta=-0.007998
[19:09:43.713] Odometry x=0.003265, y=-0.008575, theta=-0.010061
[19:09:43.723] Odometry x=0.003266, y=-0.008579, theta=-0.012052
[19:09:43.733] Odometry x=0.003267, y=-0.008584, theta=-0.013925
[19:09:43.748] Init: px average disparity is:22.611265 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:43.748] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:43.753] Odometry x=0.003612, y=-0.008537, theta=-0.015938
[19:09:43.763] Odometry x=0.003613, y=-0.008540, theta=-0.018363
[19:09:43.773] Odometry x=0.003613, y=-0.008541, theta=-0.020132
[19:09:43.784] Odometry x=0.003614, y=-0.008541, theta=-0.021962
[19:09:43.794] Odometry x=0.003614, y=-0.008541, theta=-0.023834
[19:09:43.804] Odometry x=0.003614, y=-0.008541, theta=-0.026007
[19:09:43.814] Odometry x=0.003614, y=-0.008541, theta=-0.028502
[19:09:43.824] Odometry x=0.003614, y=-0.008542, theta=-0.030931
[19:09:43.834] Odometry x=0.003614, y=-0.008542, theta=-0.032382
[19:09:43.845] Init: px average disparity is:17.071774 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:43.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:43.855] Odometry x=0.003977, y=-0.008426, theta=-0.033752
[19:09:43.865] Odometry x=0.003978, y=-0.008430, theta=-0.034962
[19:09:43.875] Odometry x=0.003978, y=-0.008432, theta=-0.035429
[19:09:43.885] Odometry x=0.003978, y=-0.008433, theta=-0.036919
[19:09:43.895] Odometry x=0.003978, y=-0.008442, theta=-0.038781
[19:09:43.905] Odometry x=0.003978, y=-0.008448, theta=-0.040722
[19:09:43.915] Odometry x=0.003978, y=-0.008448, theta=-0.042992
[19:09:43.925] Odometry x=0.003978, y=-0.008448, theta=-0.045193
[19:09:43.936] Odometry x=0.003978, y=-0.008448, theta=-0.047244
[19:09:43.946] Init: px average disparity is:12.453810 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:43.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:43.956] Odometry x=0.004382, y=-0.008257, theta=-0.049172
[19:09:43.966] Odometry x=0.004384, y=-0.008258, theta=-0.050788
[19:09:43.976] Odometry x=0.004385, y=-0.008258, theta=-0.051245
[19:09:43.986] Odometry x=0.004386, y=-0.008258, theta=-0.051669
[19:09:43.996] Odometry x=0.004386, y=-0.008259, theta=-0.051572
[19:09:44.006] Odometry x=0.004386, y=-0.008259, theta=-0.050907
[19:09:44.017] Odometry x=0.004386, y=-0.008259, theta=-0.050056
[19:09:44.027] Odometry x=0.004387, y=-0.008259, theta=-0.049685
[19:09:44.037] Odometry x=0.004387, y=-0.008260, theta=-0.049783
[19:09:44.045] Init: px average disparity is:11.813791 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:44.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:44.057] Odometry x=0.004788, y=-0.008078, theta=-0.050572
[19:09:44.067] Odometry x=0.004789, y=-0.008095, theta=-0.050974
[19:09:44.077] Odometry x=0.004790, y=-0.008101, theta=-0.051015
[19:09:44.087] Odometry x=0.004791, y=-0.008102, theta=-0.051219
[19:09:44.098] Odometry x=0.004792, y=-0.008102, theta=-0.051563
[19:09:44.108] Odometry x=0.004792, y=-0.008101, theta=-0.051905
[19:09:44.118] Odometry x=0.004793, y=-0.008101, theta=-0.051955
[19:09:44.128] Odometry x=0.004793, y=-0.008101, theta=-0.051650
[19:09:44.148] Init: px average disparity is:12.141186 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:44.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:44.148] Odometry x=0.005136, y=-0.007923, theta=-0.051578
[19:09:44.158] Odometry x=0.005136, y=-0.007923, theta=-0.051802
[19:09:44.168] Odometry x=0.005137, y=-0.007923, theta=-0.052345
[19:09:44.179] Odometry x=0.005137, y=-0.007924, theta=-0.052969
[19:09:44.189] Odometry x=0.005138, y=-0.007926, theta=-0.053817
[19:09:44.199] Odometry x=0.005138, y=-0.007931, theta=-0.054451
[19:09:44.209] Odometry x=0.005138, y=-0.007938, theta=-0.054606
[19:09:44.219] Odometry x=0.005138, y=-0.007942, theta=-0.054539
[19:09:44.229] Odometry x=0.005139, y=-0.007942, theta=-0.053750
[19:09:44.245] Init: px average disparity is:12.839897 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:44.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:44.249] Odometry x=0.005521, y=-0.007738, theta=-0.052986
[19:09:44.260] Odometry x=0.005521, y=-0.007738, theta=-0.051966
[19:09:44.270] Odometry x=0.005521, y=-0.007738, theta=-0.050767
[19:09:44.280] Odometry x=0.005521, y=-0.007738, theta=-0.049848
[19:09:44.290] Odometry x=0.005521, y=-0.007741, theta=-0.049354
[19:09:44.300] Odometry x=0.005521, y=-0.007753, theta=-0.049419
[19:09:44.310] Odometry x=0.005522, y=-0.007765, theta=-0.049909
[19:09:44.320] Odometry x=0.005524, y=-0.007782, theta=-0.050470
[19:09:44.330] Odometry x=0.005525, y=-0.007802, theta=-0.050648
[19:09:44.346] Init: px average disparity is:12.946338 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:44.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:44.351] Odometry x=0.005914, y=-0.007610, theta=-0.049769
[19:09:44.361] Odometry x=0.005916, y=-0.007611, theta=-0.048769
[19:09:44.371] Odometry x=0.005917, y=-0.007610, theta=-0.048344
[19:09:44.381] Odometry x=0.005917, y=-0.007609, theta=-0.048164
[19:09:44.391] Odometry x=0.005918, y=-0.007608, theta=-0.047868
[19:09:44.401] Odometry x=0.005919, y=-0.007608, theta=-0.047733
[19:09:44.411] Odometry x=0.005919, y=-0.007608, theta=-0.047760
[19:09:44.422] Odometry x=0.005919, y=-0.007608, theta=-0.047831
[19:09:44.432] Odometry x=0.005919, y=-0.007609, theta=-0.047776
[19:09:44.445] Init: px average disparity is:13.035949 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:44.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:44.452] Odometry x=0.006302, y=-0.007428, theta=-0.046716
[19:09:44.462] Odometry x=0.006302, y=-0.007427, theta=-0.045613
[19:09:44.472] Odometry x=0.006302, y=-0.007427, theta=-0.044778
[19:09:44.482] Odometry x=0.006302, y=-0.007427, theta=-0.044030
[19:09:44.492] Odometry x=0.006302, y=-0.007427, theta=-0.043418
[19:09:44.502] Odometry x=0.006302, y=-0.007429, theta=-0.042581
[19:09:44.513] Odometry x=0.006302, y=-0.007432, theta=-0.041944
[19:09:44.523] Odometry x=0.006303, y=-0.007439, theta=-0.041474
[19:09:44.533] Odometry x=0.006304, y=-0.007446, theta=-0.040918
[19:09:44.545] Init: px average disparity is:14.859181 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:44.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:44.553] Odometry x=0.006691, y=-0.007321, theta=-0.039035
[19:09:44.563] Odometry x=0.006694, y=-0.007340, theta=-0.036926
[19:09:44.573] Odometry x=0.006696, y=-0.007342, theta=-0.035351
[19:09:44.584] Odometry x=0.006697, y=-0.007342, theta=-0.033767
[19:09:44.594] Odometry x=0.006697, y=-0.007341, theta=-0.032396
[19:09:44.604] Odometry x=0.006697, y=-0.007341, theta=-0.031386
[19:09:44.614] Odometry x=0.006698, y=-0.007341, theta=-0.030819
[19:09:44.624] Odometry x=0.006698, y=-0.007341, theta=-0.030222
[19:09:44.634] Odometry x=0.006698, y=-0.007340, theta=-0.029549
[19:09:44.645] Init: px average disparity is:14.878321 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:44.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:44.654] Odometry x=0.007100, y=-0.007222, theta=-0.028449
[19:09:44.664] Odometry x=0.007100, y=-0.007221, theta=-0.027422
[19:09:44.675] Odometry x=0.007100, y=-0.007221, theta=-0.026972
[19:09:44.685] Odometry x=0.007100, y=-0.007221, theta=-0.026538
[19:09:44.695] Odometry x=0.007100, y=-0.007221, theta=-0.025941
[19:09:44.705] Odometry x=0.007100, y=-0.007221, theta=-0.024948
[19:09:44.715] Odometry x=0.007100, y=-0.007223, theta=-0.023383
[19:09:44.725] Odometry x=0.007101, y=-0.007223, theta=-0.021747
[19:09:44.735] Odometry x=0.007101, y=-0.007223, theta=-0.021148
[19:09:44.746] Init: px average disparity is:17.917753 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:44.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:44.756] Odometry x=0.007466, y=-0.007150, theta=-0.018606
[19:09:44.766] Odometry x=0.007467, y=-0.007149, theta=-0.016336
[19:09:44.776] Odometry x=0.007467, y=-0.007150, theta=-0.015654
[19:09:44.786] Odometry x=0.007467, y=-0.007153, theta=-0.015319
[19:09:44.796] Odometry x=0.007467, y=-0.007159, theta=-0.015101
[19:09:44.806] Odometry x=0.007468, y=-0.007165, theta=-0.014803
[19:09:44.817] Odometry x=0.007468, y=-0.007168, theta=-0.014532
[19:09:44.827] Odometry x=0.007469, y=-0.007169, theta=-0.013938
[19:09:44.837] Odometry x=0.007470, y=-0.007170, theta=-0.012922
[19:09:44.846] Init: px average disparity is:18.749842 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:44.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:44.857] Odometry x=0.007853, y=-0.007122, theta=-0.011859
[19:09:44.867] Odometry x=0.007853, y=-0.007122, theta=-0.010955
[19:09:44.877] Odometry x=0.007853, y=-0.007122, theta=-0.010459
[19:09:44.887] Odometry x=0.007853, y=-0.007121, theta=-0.009923
[19:09:44.898] Odometry x=0.007853, y=-0.007121, theta=-0.009529
[19:09:44.908] Odometry x=0.007853, y=-0.007120, theta=-0.009898
[19:09:44.918] Odometry x=0.007854, y=-0.007121, theta=-0.010439
[19:09:44.928] Odometry x=0.007855, y=-0.007125, theta=-0.010709
[19:09:44.938] Odometry x=0.007858, y=-0.007128, theta=-0.010604
[19:09:44.947] Init: px average disparity is:20.083290 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:44.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:44.958] Odometry x=0.008285, y=-0.007091, theta=-0.011431
[19:09:44.968] Odometry x=0.008292, y=-0.007099, theta=-0.012153
[19:09:44.979] Odometry x=0.008292, y=-0.007103, theta=-0.012226
[19:09:44.989] Odometry x=0.008293, y=-0.007106, theta=-0.011815
[19:09:44.999] Odometry x=0.008293, y=-0.007109, theta=-0.011490
[19:09:45.009] Odometry x=0.008294, y=-0.007110, theta=-0.011735
[19:09:45.019] Odometry x=0.008294, y=-0.007111, theta=-0.012067
[19:09:45.029] Odometry x=0.008294, y=-0.007112, theta=-0.012224
[19:09:45.048] Init: px average disparity is:20.660106 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:45.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:45.049] Odometry x=0.008622, y=-0.007076, theta=-0.011748
[19:09:45.059] Odometry x=0.008623, y=-0.007078, theta=-0.010546
[19:09:45.070] Odometry x=0.008624, y=-0.007079, theta=-0.009388
[19:09:45.080] Odometry x=0.008625, y=-0.007079, theta=-0.008707
[19:09:45.090] Odometry x=0.008625, y=-0.007082, theta=-0.008200
[19:09:45.100] Odometry x=0.008626, y=-0.007085, theta=-0.008144
[19:09:45.110] Odometry x=0.008626, y=-0.007089, theta=-0.008507
[19:09:45.120] Odometry x=0.008626, y=-0.007092, theta=-0.008869
[19:09:45.130] Odometry x=0.008627, y=-0.007094, theta=-0.008748
[19:09:45.140] Odometry x=0.008627, y=-0.007096, theta=-0.007876
[19:09:45.145] Init: px average disparity is:21.979398 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:45.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:45.161] Odometry x=0.009071, y=-0.007069, theta=-0.006012
[19:09:45.171] Odometry x=0.009073, y=-0.007071, theta=-0.004212
[19:09:45.181] Odometry x=0.009075, y=-0.007072, theta=-0.003717
[19:09:45.191] Odometry x=0.009080, y=-0.007071, theta=-0.004076
[19:09:45.201] Odometry x=0.009084, y=-0.007071, theta=-0.004548
[19:09:45.211] Odometry x=0.009087, y=-0.007071, theta=-0.004803
[19:09:45.221] Odometry x=0.009088, y=-0.007071, theta=-0.004865
[19:09:45.232] Odometry x=0.009090, y=-0.007071, theta=-0.005406
[19:09:45.245] Init: px average disparity is:25.831889 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:45.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:45.252] Odometry x=0.009437, y=-0.007066, theta=-0.007310
[19:09:45.262] Odometry x=0.009437, y=-0.007147, theta=-0.009202
[19:09:45.272] Odometry x=0.009437, y=-0.007238, theta=-0.009774
[19:09:45.282] Odometry x=0.009437, y=-0.007301, theta=-0.009445
[19:09:45.292] Odometry x=0.009437, y=-0.007351, theta=-0.008817
[19:09:45.302] Odometry x=0.009438, y=-0.007394, theta=-0.008521
[19:09:45.313] Odometry x=0.009438, y=-0.007428, theta=-0.008312
[19:09:45.323] Odometry x=0.009438, y=-0.007451, theta=-0.007731
[19:09:45.333] Odometry x=0.009439, y=-0.007467, theta=-0.006874
[19:09:45.348] Init: px average disparity is:25.947930 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:45.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:45.353] Odometry x=0.009830, y=-0.007443, theta=-0.006513
[19:09:45.363] Odometry x=0.009833, y=-0.007445, theta=-0.006308
[19:09:45.373] Odometry x=0.009835, y=-0.007446, theta=-0.006101
[19:09:45.383] Odometry x=0.009838, y=-0.007446, theta=-0.005899
[19:09:45.394] Odometry x=0.009840, y=-0.007448, theta=-0.006203
[19:09:45.404] Odometry x=0.009840, y=-0.007455, theta=-0.006645
[19:09:45.414] Odometry x=0.009841, y=-0.007472, theta=-0.006721
[19:09:45.424] Odometry x=0.009841, y=-0.007495, theta=-0.005991
[19:09:45.434] Odometry x=0.009841, y=-0.007510, theta=-0.004423
[19:09:45.446] Init: px average disparity is:30.826194 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:45.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:45.455] Odometry x=0.010231, y=-0.007533, theta=-0.004306
[19:09:45.465] Odometry x=0.010232, y=-0.007570, theta=-0.004368
[19:09:45.475] Odometry x=0.010233, y=-0.007589, theta=-0.004670
[19:09:45.485] Odometry x=0.010234, y=-0.007609, theta=-0.005273
[19:09:45.495] Odometry x=0.010234, y=-0.007631, theta=-0.005875
[19:09:45.505] Odometry x=0.010236, y=-0.007658, theta=-0.005959
[19:09:45.515] Odometry x=0.010237, y=-0.007694, theta=-0.005310
[19:09:45.525] Odometry x=0.010239, y=-0.007729, theta=-0.004095
[19:09:45.535] Odometry x=0.010240, y=-0.007766, theta=-0.002805
[19:09:45.547] Init: px average disparity is:31.447062 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:45.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:45.556] Odometry x=0.010625, y=-0.007810, theta=-0.000536
[19:09:45.566] Odometry x=0.010627, y=-0.007850, theta=0.002085
[19:09:45.576] Odometry x=0.010629, y=-0.007861, theta=0.003875
[19:09:45.586] Odometry x=0.010630, y=-0.007869, theta=0.005534
[19:09:45.596] Odometry x=0.010631, y=-0.007875, theta=0.007676
[19:09:45.606] Odometry x=0.010631, y=-0.007878, theta=0.010239
[19:09:45.616] Odometry x=0.010631, y=-0.007879, theta=0.012245
[19:09:45.626] Odometry x=0.010632, y=-0.007880, theta=0.013214
[19:09:45.637] Odometry x=0.010632, y=-0.007883, theta=0.013457
[19:09:45.646] Init: px average disparity is:32.951310 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:45.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:45.657] Odometry x=0.011016, y=-0.007988, theta=0.014222
[19:09:45.667] Odometry x=0.011017, y=-0.008033, theta=0.015210
[19:09:45.677] Odometry x=0.011017, y=-0.008048, theta=0.015733
[19:09:45.687] Odometry x=0.011018, y=-0.008061, theta=0.016018
[19:09:45.697] Odometry x=0.011018, y=-0.008074, theta=0.016163
[19:09:45.707] Odometry x=0.011018, y=-0.008087, theta=0.016137
[19:09:45.717] Odometry x=0.011018, y=-0.008108, theta=0.015816
[19:09:45.728] Odometry x=0.011018, y=-0.008132, theta=0.015533
[19:09:45.738] Odometry x=0.011018, y=-0.008154, theta=0.015140
[19:09:45.747] Init: px average disparity is:35.544460 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:45.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:45.758] Odometry x=0.011421, y=-0.008253, theta=0.013812
[19:09:45.768] Odometry x=0.011422, y=-0.008290, theta=0.012419
[19:09:45.778] Odometry x=0.011424, y=-0.008311, theta=0.011773
[19:09:45.788] Odometry x=0.011426, y=-0.008339, theta=0.011199
[19:09:45.799] Odometry x=0.011428, y=-0.008373, theta=0.010597
[19:09:45.809] Odometry x=0.011429, y=-0.008416, theta=0.010147
[19:09:45.819] Odometry x=0.011430, y=-0.008466, theta=0.009983
[19:09:45.829] Odometry x=0.011431, y=-0.008529, theta=0.010402
[19:09:45.839] Odometry x=0.011432, y=-0.008602, theta=0.011522
[19:09:45.846] Init: px average disparity is:38.025629 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:45.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:45.860] Odometry x=0.011815, y=-0.008705, theta=0.014368
[19:09:45.870] Odometry x=0.011815, y=-0.008784, theta=0.016331
[19:09:45.880] Odometry x=0.011816, y=-0.008851, theta=0.016754
[19:09:45.890] Odometry x=0.011817, y=-0.008924, theta=0.017410
[19:09:45.900] Odometry x=0.011818, y=-0.008987, theta=0.018524
[19:09:45.910] Odometry x=0.011819, y=-0.009025, theta=0.019905
[19:09:45.920] Odometry x=0.011820, y=-0.009051, theta=0.021426
[19:09:45.930] Odometry x=0.011821, y=-0.009067, theta=0.023259
[19:09:45.941] Odometry x=0.011822, y=-0.009076, theta=0.025160
[19:09:45.949] Init: px average disparity is:33.939635 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:45.949] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:45.961] Odometry x=0.012204, y=-0.009202, theta=0.027808
[19:09:45.971] Odometry x=0.012205, y=-0.009222, theta=0.031039
[19:09:45.981] Odometry x=0.012205, y=-0.009225, theta=0.033527
[19:09:45.991] Odometry x=0.012206, y=-0.009227, theta=0.035923
[19:09:46.001] Odometry x=0.012207, y=-0.009229, theta=0.038335
[19:09:46.012] Odometry x=0.012207, y=-0.009231, theta=0.041172
[19:09:46.022] Odometry x=0.012207, y=-0.009232, theta=0.043641
[19:09:46.032] Odometry x=0.012208, y=-0.009232, theta=0.045545
[19:09:46.042] Odometry x=0.012209, y=-0.009233, theta=0.045966
[19:09:46.047] Init: px average disparity is:36.150721 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:46.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:46.062] Odometry x=0.012610, y=-0.009422, theta=0.045638
[19:09:46.072] Odometry x=0.012611, y=-0.009433, theta=0.045659
[19:09:46.082] Odometry x=0.012611, y=-0.009443, theta=0.046116
[19:09:46.092] Odometry x=0.012611, y=-0.009456, theta=0.046656
[19:09:46.102] Odometry x=0.012611, y=-0.009473, theta=0.047251
[19:09:46.113] Odometry x=0.012611, y=-0.009483, theta=0.047654
[19:09:46.123] Odometry x=0.012610, y=-0.009528, theta=0.047474
[19:09:46.133] Odometry x=0.012610, y=-0.009583, theta=0.046986
[19:09:46.143] Odometry x=0.012610, y=-0.009636, theta=0.046283
[19:09:46.147] Init: px average disparity is:37.267900 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:46.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:46.163] Odometry x=0.012990, y=-0.010024, theta=0.045891
[19:09:46.173] Odometry x=0.012990, y=-0.010215, theta=0.045789
[19:09:46.184] Odometry x=0.012990, y=-0.010284, theta=0.045631
[19:09:46.194] Odometry x=0.012990, y=-0.010345, theta=0.044899
[19:09:46.204] Odometry x=0.012993, y=-0.010395, theta=0.044159
[19:09:46.214] Odometry x=0.012996, y=-0.010439, theta=0.043710
[19:09:46.224] Odometry x=0.012998, y=-0.010471, theta=0.043492
[19:09:46.234] Odometry x=0.012999, y=-0.010496, theta=0.043552
[19:09:46.248] Init: px average disparity is:32.349149 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:46.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:46.254] Odometry x=0.013350, y=-0.010690, theta=0.043511
[19:09:46.265] Odometry x=0.013358, y=-0.010728, theta=0.042701
[19:09:46.275] Odometry x=0.013363, y=-0.010743, theta=0.041713
[19:09:46.285] Odometry x=0.013365, y=-0.010751, theta=0.042018
[19:09:46.295] Odometry x=0.013366, y=-0.010753, theta=0.043620
[19:09:46.305] Odometry x=0.013366, y=-0.010753, theta=0.045368
[19:09:46.315] Odometry x=0.013366, y=-0.010753, theta=0.046586
[19:09:46.325] Odometry x=0.013366, y=-0.010753, theta=0.047184
[19:09:46.335] Odometry x=0.013366, y=-0.010753, theta=0.047127
[19:09:46.346] Init: px average disparity is:31.377801 ,While minimum is: 40.000000  KLT tracked : 61
[19:09:46.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:46.356] Odometry x=0.013748, y=-0.010931, theta=0.045832
[19:09:46.366] Odometry x=0.013748, y=-0.010932, theta=0.043980
[19:09:46.376] Odometry x=0.013748, y=-0.010934, theta=0.041999
[19:09:46.386] Odometry x=0.013749, y=-0.010936, theta=0.039607
[19:09:46.396] Odometry x=0.013749, y=-0.010941, theta=0.037175
[19:09:46.406] Odometry x=0.013750, y=-0.010945, theta=0.035210
[19:09:46.416] Odometry x=0.013750, y=-0.010948, theta=0.034175
[19:09:46.426] Odometry x=0.013751, y=-0.010950, theta=0.033351
[19:09:46.437] Odometry x=0.013751, y=-0.010951, theta=0.032490
[19:09:46.446] Init: px average disparity is:26.779414 ,While minimum is: 40.000000  KLT tracked : 60
[19:09:46.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:46.457] Odometry x=0.014132, y=-0.011109, theta=0.031614
[19:09:46.467] Odometry x=0.014132, y=-0.011134, theta=0.030998
[19:09:46.477] Odometry x=0.014132, y=-0.011152, theta=0.030098
[19:09:46.487] Odometry x=0.014132, y=-0.011166, theta=0.028195
[19:09:46.497] Odometry x=0.014132, y=-0.011172, theta=0.025913
[19:09:46.507] Odometry x=0.014133, y=-0.011176, theta=0.023834
[19:09:46.517] Odometry x=0.014134, y=-0.011179, theta=0.022241
[19:09:46.528] Odometry x=0.014134, y=-0.011180, theta=0.021392
[19:09:46.538] Odometry x=0.014136, y=-0.011180, theta=0.020955
[19:09:46.547] Init: px average disparity is:22.377525 ,While minimum is: 40.000000  KLT tracked : 60
[19:09:46.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:46.558] Odometry x=0.014538, y=-0.011267, theta=0.022495
[19:09:46.568] Odometry x=0.014540, y=-0.011267, theta=0.024151
[19:09:46.578] Odometry x=0.014540, y=-0.011267, theta=0.025230
[19:09:46.588] Odometry x=0.014541, y=-0.011267, theta=0.026205
[19:09:46.598] Odometry x=0.014541, y=-0.011267, theta=0.027084
[19:09:46.609] Odometry x=0.014541, y=-0.011267, theta=0.027812
[19:09:46.619] Odometry x=0.014542, y=-0.011267, theta=0.028495
[19:09:46.629] Odometry x=0.014542, y=-0.011267, theta=0.029401
[19:09:46.639] Odometry x=0.014542, y=-0.011268, theta=0.030554
[19:09:46.649] Init: px average disparity is:24.134872 ,While minimum is: 40.000000  KLT tracked : 60
[19:09:46.650] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:46.659] Odometry x=0.014924, y=-0.011389, theta=0.031792
[19:09:46.669] Odometry x=0.014924, y=-0.011392, theta=0.033008
[19:09:46.679] Odometry x=0.014924, y=-0.011395, theta=0.033207
[19:09:46.690] Odometry x=0.014924, y=-0.011403, theta=0.032007
[19:09:46.700] Odometry x=0.014924, y=-0.011417, theta=0.030293
[19:09:46.710] Odometry x=0.014924, y=-0.011436, theta=0.028922
[19:09:46.720] Odometry x=0.014924, y=-0.011460, theta=0.027972
[19:09:46.730] Odometry x=0.014924, y=-0.011490, theta=0.027337
[19:09:46.740] Odometry x=0.014924, y=-0.011522, theta=0.026911
[19:09:46.747] Init: px average disparity is:21.600981 ,While minimum is: 40.000000  KLT tracked : 60
[19:09:46.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:46.760] Odometry x=0.015305, y=-0.011690, theta=0.026953
[19:09:46.770] Odometry x=0.015305, y=-0.011740, theta=0.027379
[19:09:46.781] Odometry x=0.015305, y=-0.011751, theta=0.027908
[19:09:46.791] Odometry x=0.015305, y=-0.011755, theta=0.028591
[19:09:46.801] Odometry x=0.015305, y=-0.011757, theta=0.029573
[19:09:46.811] Odometry x=0.015305, y=-0.011757, theta=0.030636
[19:09:46.821] Odometry x=0.015305, y=-0.011757, theta=0.032244
[19:09:46.831] Odometry x=0.015306, y=-0.011757, theta=0.034413
[19:09:46.847] Init: px average disparity is:21.929850 ,While minimum is: 40.000000  KLT tracked : 60
[19:09:46.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:46.851] Odometry x=0.015656, y=-0.011878, theta=0.035400
[19:09:46.861] Odometry x=0.015663, y=-0.011880, theta=0.035925
[19:09:46.872] Odometry x=0.015675, y=-0.011881, theta=0.036681
[19:09:46.882] Odometry x=0.015682, y=-0.011880, theta=0.037705
[19:09:46.892] Odometry x=0.015684, y=-0.011849, theta=0.040093
[19:09:46.902] Odometry x=0.015685, y=-0.011816, theta=0.042490
[19:09:46.912] Odometry x=0.015686, y=-0.011800, theta=0.043735
[19:09:46.922] Odometry x=0.015686, y=-0.011794, theta=0.044100
[19:09:46.932] Odometry x=0.015686, y=-0.011794, theta=0.044122
[19:09:46.942] Odometry x=0.015686, y=-0.011794, theta=0.043938
[19:09:46.947] Init: px average disparity is:20.144158 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:46.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:46.963] Odometry x=0.016124, y=-0.011997, theta=0.042907
[19:09:46.973] Odometry x=0.016124, y=-0.012014, theta=0.041372
[19:09:46.983] Odometry x=0.016124, y=-0.012035, theta=0.039626
[19:09:46.993] Odometry x=0.016124, y=-0.012059, theta=0.037813
[19:09:47.003] Odometry x=0.016124, y=-0.012078, theta=0.036493
[19:09:47.013] Odometry x=0.016124, y=-0.012085, theta=0.035835
[19:09:47.023] Odometry x=0.016124, y=-0.012087, theta=0.035674
[19:09:47.034] Odometry x=0.016124, y=-0.012088, theta=0.035802
[19:09:47.044] Odometry x=0.016124, y=-0.012087, theta=0.036128
[19:09:47.047] Init: px average disparity is:19.286931 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:47.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:47.064] Odometry x=0.016507, y=-0.012162, theta=0.036958
[19:09:47.074] Odometry x=0.016509, y=-0.012104, theta=0.037641
[19:09:47.084] Odometry x=0.016510, y=-0.012088, theta=0.037519
[19:09:47.094] Odometry x=0.016511, y=-0.012085, theta=0.037422
[19:09:47.104] Odometry x=0.016512, y=-0.012085, theta=0.037580
[19:09:47.115] Odometry x=0.016512, y=-0.012085, theta=0.037711
[19:09:47.125] Odometry x=0.016512, y=-0.012086, theta=0.037557
[19:09:47.135] Odometry x=0.016512, y=-0.012087, theta=0.037304
[19:09:47.146] Init: px average disparity is:18.355183 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:47.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:47.155] Odometry x=0.016856, y=-0.012216, theta=0.037819
[19:09:47.165] Odometry x=0.016856, y=-0.012216, theta=0.038512
[19:09:47.175] Odometry x=0.016856, y=-0.012216, theta=0.038720
[19:09:47.185] Odometry x=0.016856, y=-0.012216, theta=0.038394
[19:09:47.196] Odometry x=0.016856, y=-0.012217, theta=0.037485
[19:09:47.206] Odometry x=0.016856, y=-0.012221, theta=0.036218
[19:09:47.216] Odometry x=0.016857, y=-0.012227, theta=0.035237
[19:09:47.226] Odometry x=0.016857, y=-0.012230, theta=0.034777
[19:09:47.236] Odometry x=0.016859, y=-0.012232, theta=0.034391
[19:09:47.249] Init: px average disparity is:16.489177 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:47.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:47.256] Odometry x=0.017243, y=-0.012364, theta=0.034357
[19:09:47.267] Odometry x=0.017245, y=-0.012365, theta=0.034437
[19:09:47.277] Odometry x=0.017245, y=-0.012365, theta=0.034431
[19:09:47.287] Odometry x=0.017245, y=-0.012365, theta=0.033993
[19:09:47.297] Odometry x=0.017245, y=-0.012365, theta=0.033414
[19:09:47.307] Odometry x=0.017245, y=-0.012365, theta=0.032860
[19:09:47.317] Odometry x=0.017245, y=-0.012365, theta=0.032248
[19:09:47.327] Odometry x=0.017246, y=-0.012365, theta=0.031730
[19:09:47.337] Odometry x=0.017246, y=-0.012365, theta=0.031616
[19:09:47.346] Init: px average disparity is:16.150156 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:47.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:47.358] Odometry x=0.017630, y=-0.012487, theta=0.031817
[19:09:47.368] Odometry x=0.017631, y=-0.012487, theta=0.032134
[19:09:47.378] Odometry x=0.017631, y=-0.012486, theta=0.032375
[19:09:47.388] Odometry x=0.017631, y=-0.012486, theta=0.032513
[19:09:47.398] Odometry x=0.017631, y=-0.012485, theta=0.032766
[19:09:47.408] Odometry x=0.017631, y=-0.012484, theta=0.033277
[19:09:47.418] Odometry x=0.017631, y=-0.012483, theta=0.033179
[19:09:47.428] Odometry x=0.017631, y=-0.012482, theta=0.032602
[19:09:47.439] Odometry x=0.017631, y=-0.012482, theta=0.031521
[19:09:47.449] Init: px average disparity is:13.852818 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:47.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:47.459] Odometry x=0.018009, y=-0.012602, theta=0.029756
[19:09:47.469] Odometry x=0.018009, y=-0.012611, theta=0.027773
[19:09:47.479] Odometry x=0.018008, y=-0.012621, theta=0.026822
[19:09:47.489] Odometry x=0.018008, y=-0.012631, theta=0.026418
[19:09:47.499] Odometry x=0.018009, y=-0.012636, theta=0.026558
[19:09:47.509] Odometry x=0.018013, y=-0.012640, theta=0.026582
[19:09:47.520] Odometry x=0.018017, y=-0.012644, theta=0.026033
[19:09:47.530] Odometry x=0.018019, y=-0.012648, theta=0.025640
[19:09:47.540] Odometry x=0.018021, y=-0.012651, theta=0.025534
[19:09:47.548] Init: px average disparity is:13.470753 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:47.548] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:47.560] Odometry x=0.018426, y=-0.012755, theta=0.025154
[19:09:47.570] Odometry x=0.018426, y=-0.012755, theta=0.024875
[19:09:47.580] Odometry x=0.018427, y=-0.012755, theta=0.025101
[19:09:47.590] Odometry x=0.018427, y=-0.012755, theta=0.025549
[19:09:47.600] Odometry x=0.018428, y=-0.012755, theta=0.026036
[19:09:47.611] Odometry x=0.018428, y=-0.012755, theta=0.026523
[19:09:47.621] Odometry x=0.018428, y=-0.012754, theta=0.027062
[19:09:47.631] Odometry x=0.018428, y=-0.012753, theta=0.027429
[19:09:47.645] Init: px average disparity is:13.537745 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:47.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:47.651] Odometry x=0.018754, y=-0.012840, theta=0.027333
[19:09:47.661] Odometry x=0.018754, y=-0.012839, theta=0.026939
[19:09:47.671] Odometry x=0.018754, y=-0.012840, theta=0.026671
[19:09:47.681] Odometry x=0.018755, y=-0.012841, theta=0.026740
[19:09:47.691] Odometry x=0.018755, y=-0.012843, theta=0.026708
[19:09:47.702] Odometry x=0.018757, y=-0.012845, theta=0.026491
[19:09:47.712] Odometry x=0.018758, y=-0.012846, theta=0.026311
[19:09:47.722] Odometry x=0.018759, y=-0.012847, theta=0.026356
[19:09:47.732] Odometry x=0.018759, y=-0.012847, theta=0.026515
[19:09:47.742] Odometry x=0.018760, y=-0.012847, theta=0.026901
[19:09:47.745] Init: px average disparity is:13.694361 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:47.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:47.762] Odometry x=0.019178, y=-0.012959, theta=0.026688
[19:09:47.772] Odometry x=0.019178, y=-0.012958, theta=0.026352
[19:09:47.782] Odometry x=0.019178, y=-0.012957, theta=0.026127
[19:09:47.793] Odometry x=0.019178, y=-0.012956, theta=0.025259
[19:09:47.803] Odometry x=0.019178, y=-0.012955, theta=0.024036
[19:09:47.813] Odometry x=0.019178, y=-0.012955, theta=0.023394
[19:09:47.823] Odometry x=0.019178, y=-0.012956, theta=0.023110
[19:09:47.833] Odometry x=0.019178, y=-0.012957, theta=0.022915
[19:09:47.843] Odometry x=0.019179, y=-0.012959, theta=0.022781
[19:09:47.846] Init: px average disparity is:13.906797 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:47.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:47.863] Odometry x=0.019562, y=-0.013047, theta=0.023025
[19:09:47.873] Odometry x=0.019562, y=-0.013047, theta=0.023653
[19:09:47.884] Odometry x=0.019562, y=-0.013047, theta=0.024312
[19:09:47.894] Odometry x=0.019562, y=-0.013047, theta=0.025833
[19:09:47.904] Odometry x=0.019563, y=-0.013046, theta=0.027699
[19:09:47.914] Odometry x=0.019563, y=-0.013045, theta=0.028913
[19:09:47.924] Odometry x=0.019563, y=-0.013045, theta=0.029825
[19:09:47.934] Odometry x=0.019563, y=-0.013044, theta=0.030595
[19:09:47.944] Odometry x=0.019563, y=-0.013044, theta=0.031349
[19:09:47.945] Init: px average disparity is:15.923862 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:47.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:47.965] Odometry x=0.019943, y=-0.013165, theta=0.032273
[19:09:47.975] Odometry x=0.019943, y=-0.013165, theta=0.033604
[19:09:47.985] Odometry x=0.019943, y=-0.013165, theta=0.034948
[19:09:47.995] Odometry x=0.019943, y=-0.013165, theta=0.036164
[19:09:48.005] Odometry x=0.019943, y=-0.013164, theta=0.037205
[19:09:48.015] Odometry x=0.019943, y=-0.013164, theta=0.037772
[19:09:48.025] Odometry x=0.019943, y=-0.013164, theta=0.037690
[19:09:48.036] Odometry x=0.019943, y=-0.013164, theta=0.037840
[19:09:48.045] Init: px average disparity is:16.601019 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:48.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:48.056] Odometry x=0.020280, y=-0.013292, theta=0.038411
[19:09:48.066] Odometry x=0.020281, y=-0.013292, theta=0.038874
[19:09:48.076] Odometry x=0.020282, y=-0.013293, theta=0.039267
[19:09:48.086] Odometry x=0.020283, y=-0.013293, theta=0.039648
[19:09:48.096] Odometry x=0.020283, y=-0.013295, theta=0.040301
[19:09:48.106] Odometry x=0.020283, y=-0.013296, theta=0.040892
[19:09:48.117] Odometry x=0.020283, y=-0.013298, theta=0.042227
[19:09:48.127] Odometry x=0.020283, y=-0.013299, theta=0.044177
[19:09:48.137] Odometry x=0.020283, y=-0.013299, theta=0.046188
[19:09:48.145] Init: px average disparity is:19.643818 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:48.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:48.157] Odometry x=0.020680, y=-0.013482, theta=0.047298
[19:09:48.167] Odometry x=0.020680, y=-0.013480, theta=0.048284
[19:09:48.177] Odometry x=0.020680, y=-0.013479, theta=0.048532
[19:09:48.187] Odometry x=0.020680, y=-0.013479, theta=0.048630
[19:09:48.197] Odometry x=0.020680, y=-0.013479, theta=0.048994
[19:09:48.208] Odometry x=0.020680, y=-0.013479, theta=0.049467
[19:09:48.218] Odometry x=0.020680, y=-0.013478, theta=0.050077
[19:09:48.228] Odometry x=0.020680, y=-0.013478, theta=0.050566
[19:09:48.238] Odometry x=0.020680, y=-0.013478, theta=0.051019
[19:09:48.249] Init: px average disparity is:19.389219 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:48.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:48.259] Odometry x=0.021082, y=-0.013683, theta=0.050942
[19:09:48.269] Odometry x=0.021082, y=-0.013683, theta=0.051023
[19:09:48.279] Odometry x=0.021082, y=-0.013683, theta=0.051497
[19:09:48.289] Odometry x=0.021082, y=-0.013683, theta=0.052305
[19:09:48.299] Odometry x=0.021083, y=-0.013683, theta=0.053300
[19:09:48.310] Odometry x=0.021083, y=-0.013683, theta=0.054439
[19:09:48.320] Odometry x=0.021083, y=-0.013683, theta=0.055636
[19:09:48.330] Odometry x=0.021083, y=-0.013683, theta=0.056599
[19:09:48.345] Init: px average disparity is:21.701428 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:48.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:48.350] Odometry x=0.021429, y=-0.013881, theta=0.058164
[19:09:48.360] Odometry x=0.021429, y=-0.013881, theta=0.059719
[19:09:48.370] Odometry x=0.021429, y=-0.013881, theta=0.060746
[19:09:48.380] Odometry x=0.021429, y=-0.013880, theta=0.061450
[19:09:48.391] Odometry x=0.021429, y=-0.013880, theta=0.061484
[19:09:48.401] Odometry x=0.021429, y=-0.013880, theta=0.061222
[19:09:48.411] Odometry x=0.021429, y=-0.013880, theta=0.060999
[19:09:48.421] Odometry x=0.021429, y=-0.013880, theta=0.060755
[19:09:48.431] Odometry x=0.021429, y=-0.013880, theta=0.060602
[19:09:48.446] Init: px average disparity is:21.756878 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:48.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:48.451] Odometry x=0.021833, y=-0.014125, theta=0.060889
[19:09:48.461] Odometry x=0.021833, y=-0.014125, theta=0.061263
[19:09:48.471] Odometry x=0.021833, y=-0.014124, theta=0.061448
[19:09:48.482] Odometry x=0.021833, y=-0.014122, theta=0.061538
[19:09:48.492] Odometry x=0.021833, y=-0.014118, theta=0.061482
[19:09:48.502] Odometry x=0.021833, y=-0.014117, theta=0.061358
[19:09:48.512] Odometry x=0.021833, y=-0.014116, theta=0.061300
[19:09:48.522] Odometry x=0.021833, y=-0.014117, theta=0.061407
[19:09:48.532] Odometry x=0.021833, y=-0.014117, theta=0.061745
[19:09:48.545] Init: px average disparity is:21.614342 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:48.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:48.553] Odometry x=0.022215, y=-0.014354, theta=0.062476
[19:09:48.563] Odometry x=0.022215, y=-0.014354, theta=0.062965
[19:09:48.573] Odometry x=0.022216, y=-0.014354, theta=0.063017
[19:09:48.583] Odometry x=0.022216, y=-0.014355, theta=0.063191
[19:09:48.593] Odometry x=0.022216, y=-0.014355, theta=0.063634
[19:09:48.603] Odometry x=0.022216, y=-0.014355, theta=0.064300
[19:09:48.613] Odometry x=0.022216, y=-0.014355, theta=0.064742
[19:09:48.624] Odometry x=0.022216, y=-0.014355, theta=0.064994
[19:09:48.634] Odometry x=0.022217, y=-0.014355, theta=0.065165
[19:09:48.646] Init: px average disparity is:21.386795 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:48.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:48.654] Odometry x=0.022597, y=-0.014602, theta=0.065388
[19:09:48.664] Odometry x=0.022598, y=-0.014601, theta=0.065722
[19:09:48.674] Odometry x=0.022598, y=-0.014601, theta=0.066006
[19:09:48.684] Odometry x=0.022598, y=-0.014601, theta=0.066200
[19:09:48.694] Odometry x=0.022598, y=-0.014601, theta=0.066195
[19:09:48.705] Odometry x=0.022598, y=-0.014601, theta=0.066219
[19:09:48.715] Odometry x=0.022598, y=-0.014601, theta=0.066130
[19:09:48.725] Odometry x=0.022598, y=-0.014601, theta=0.065849
[19:09:48.735] Odometry x=0.022598, y=-0.014600, theta=0.065507
[19:09:48.745] Init: px average disparity is:20.611391 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:48.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:48.755] Odometry x=0.022997, y=-0.014862, theta=0.065594
[19:09:48.765] Odometry x=0.022997, y=-0.014862, theta=0.065865
[19:09:48.775] Odometry x=0.022997, y=-0.014862, theta=0.065765
[19:09:48.785] Odometry x=0.022997, y=-0.014862, theta=0.065517
[19:09:48.796] Odometry x=0.022997, y=-0.014862, theta=0.065228
[19:09:48.806] Odometry x=0.022997, y=-0.014862, theta=0.065001
[19:09:48.816] Odometry x=0.022997, y=-0.014862, theta=0.065019
[19:09:48.826] Odometry x=0.022998, y=-0.014864, theta=0.065145
[19:09:48.836] Odometry x=0.023000, y=-0.014866, theta=0.065355
[19:09:48.847] Init: px average disparity is:20.230384 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:48.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:48.856] Odometry x=0.023383, y=-0.015118, theta=0.065976
[19:09:48.866] Odometry x=0.023384, y=-0.015119, theta=0.066471
[19:09:48.877] Odometry x=0.023385, y=-0.015119, theta=0.066576
[19:09:48.887] Odometry x=0.023385, y=-0.015119, theta=0.066771
[19:09:48.897] Odometry x=0.023385, y=-0.015119, theta=0.067122
[19:09:48.907] Odometry x=0.023385, y=-0.015119, theta=0.067168
[19:09:48.917] Odometry x=0.023385, y=-0.015120, theta=0.067218
[19:09:48.927] Odometry x=0.023385, y=-0.015121, theta=0.067474
[19:09:48.937] Odometry x=0.023385, y=-0.015123, theta=0.067635
[19:09:48.946] Init: px average disparity is:20.032404 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:48.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:48.958] Odometry x=0.023777, y=-0.015389, theta=0.066877
[19:09:48.968] Odometry x=0.023778, y=-0.015390, theta=0.066017
[19:09:48.978] Odometry x=0.023778, y=-0.015390, theta=0.065371
[19:09:48.988] Odometry x=0.023778, y=-0.015388, theta=0.064358
[19:09:48.998] Odometry x=0.023779, y=-0.015385, theta=0.063543
[19:09:49.008] Odometry x=0.023779, y=-0.015383, theta=0.063267
[19:09:49.018] Odometry x=0.023779, y=-0.015383, theta=0.063002
[19:09:49.028] Odometry x=0.023779, y=-0.015383, theta=0.062287
[19:09:49.039] Odometry x=0.023779, y=-0.015383, theta=0.061203
[19:09:49.046] Init: px average disparity is:17.126268 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:49.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:49.059] Odometry x=0.024161, y=-0.015615, theta=0.059958
[19:09:49.069] Odometry x=0.024161, y=-0.015616, theta=0.058744
[19:09:49.079] Odometry x=0.024162, y=-0.015616, theta=0.058440
[19:09:49.089] Odometry x=0.024163, y=-0.015618, theta=0.058404
[19:09:49.099] Odometry x=0.024165, y=-0.015619, theta=0.058356
[19:09:49.110] Odometry x=0.024167, y=-0.015621, theta=0.058939
[19:09:49.120] Odometry x=0.024169, y=-0.015623, theta=0.060070
[19:09:49.130] Odometry x=0.024170, y=-0.015625, theta=0.061515
[19:09:49.140] Odometry x=0.024170, y=-0.015625, theta=0.062531
[19:09:49.145] Init: px average disparity is:19.314279 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:49.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:49.160] Odometry x=0.024571, y=-0.015870, theta=0.063279
[19:09:49.170] Odometry x=0.024571, y=-0.015858, theta=0.063928
[19:09:49.180] Odometry x=0.024571, y=-0.015852, theta=0.063782
[19:09:49.190] Odometry x=0.024571, y=-0.015848, theta=0.061933
[19:09:49.201] Odometry x=0.024571, y=-0.015847, theta=0.059629
[19:09:49.211] Odometry x=0.024571, y=-0.015847, theta=0.057781
[19:09:49.221] Odometry x=0.024571, y=-0.015847, theta=0.056437
[19:09:49.231] Odometry x=0.024571, y=-0.015847, theta=0.055732
[19:09:49.247] Init: px average disparity is:16.143721 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:49.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:49.252] Odometry x=0.024895, y=-0.016027, theta=0.054982
[19:09:49.262] Odometry x=0.024895, y=-0.016027, theta=0.054257
[19:09:49.272] Odometry x=0.024895, y=-0.016027, theta=0.054015
[19:09:49.282] Odometry x=0.024895, y=-0.016027, theta=0.053735
[19:09:49.292] Odometry x=0.024895, y=-0.016027, theta=0.053197
[19:09:49.302] Odometry x=0.024895, y=-0.016028, theta=0.052645
[19:09:49.312] Odometry x=0.024895, y=-0.016029, theta=0.052249
[19:09:49.322] Odometry x=0.024896, y=-0.016031, theta=0.051920
[19:09:49.333] Odometry x=0.024897, y=-0.016033, theta=0.051646
[19:09:49.343] Odometry x=0.024898, y=-0.016034, theta=0.051588
[19:09:49.348] Init: px average disparity is:15.817585 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:49.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:49.363] Odometry x=0.025334, y=-0.016260, theta=0.051949
[19:09:49.373] Odometry x=0.025336, y=-0.016260, theta=0.052485
[19:09:49.383] Odometry x=0.025336, y=-0.016257, theta=0.053160
[19:09:49.393] Odometry x=0.025336, y=-0.016247, theta=0.053687
[19:09:49.404] Odometry x=0.025336, y=-0.016232, theta=0.053318
[19:09:49.414] Odometry x=0.025337, y=-0.016225, theta=0.052814
[19:09:49.424] Odometry x=0.025336, y=-0.016224, theta=0.051968
[19:09:49.434] Odometry x=0.025336, y=-0.016224, theta=0.050455
[19:09:49.446] Init: px average disparity is:15.086435 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:49.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:49.455] Odometry x=0.025683, y=-0.016397, theta=0.048438
[19:09:49.465] Odometry x=0.025683, y=-0.016400, theta=0.046604
[19:09:49.475] Odometry x=0.025683, y=-0.016406, theta=0.046047
[19:09:49.485] Odometry x=0.025683, y=-0.016413, theta=0.046099
[19:09:49.495] Odometry x=0.025683, y=-0.016417, theta=0.046676
[19:09:49.505] Odometry x=0.025683, y=-0.016418, theta=0.047602
[19:09:49.515] Odometry x=0.025683, y=-0.016418, theta=0.048522
[19:09:49.525] Odometry x=0.025683, y=-0.016418, theta=0.049301
[19:09:49.536] Odometry x=0.025683, y=-0.016418, theta=0.049820
[19:09:49.546] Init: px average disparity is:15.299697 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:49.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:49.556] Odometry x=0.026082, y=-0.016618, theta=0.050728
[19:09:49.566] Odometry x=0.026082, y=-0.016618, theta=0.052381
[19:09:49.576] Odometry x=0.026082, y=-0.016618, theta=0.054409
[19:09:49.586] Odometry x=0.026082, y=-0.016613, theta=0.056210
[19:09:49.596] Odometry x=0.026082, y=-0.016606, theta=0.057751
[19:09:49.606] Odometry x=0.026082, y=-0.016601, theta=0.059297
[19:09:49.617] Odometry x=0.026082, y=-0.016600, theta=0.060783
[19:09:49.627] Odometry x=0.026082, y=-0.016600, theta=0.062024
[19:09:49.637] Odometry x=0.026082, y=-0.016604, theta=0.062878
[19:09:49.646] Init: px average disparity is:18.740563 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:49.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:49.657] Odometry x=0.026469, y=-0.016867, theta=0.063312
[19:09:49.667] Odometry x=0.026469, y=-0.016883, theta=0.063751
[19:09:49.677] Odometry x=0.026469, y=-0.016892, theta=0.064289
[19:09:49.687] Odometry x=0.026469, y=-0.016896, theta=0.065130
[19:09:49.698] Odometry x=0.026469, y=-0.016896, theta=0.065874
[19:09:49.708] Odometry x=0.026469, y=-0.016896, theta=0.066454
[19:09:49.718] Odometry x=0.026469, y=-0.016896, theta=0.067094
[19:09:49.728] Odometry x=0.026469, y=-0.016896, theta=0.067577
[19:09:49.738] Odometry x=0.026469, y=-0.016896, theta=0.067718
[19:09:49.747] Init: px average disparity is:18.804376 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:49.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:49.758] Odometry x=0.026831, y=-0.017142, theta=0.067820
[19:09:49.768] Odometry x=0.026831, y=-0.017143, theta=0.068327
[19:09:49.778] Odometry x=0.026831, y=-0.017144, theta=0.069247
[19:09:49.789] Odometry x=0.026831, y=-0.017145, theta=0.070363
[19:09:49.799] Odometry x=0.026831, y=-0.017146, theta=0.071332
[19:09:49.809] Odometry x=0.026831, y=-0.017147, theta=0.072222
[19:09:49.819] Odometry x=0.026831, y=-0.017149, theta=0.073352
[19:09:49.829] Odometry x=0.026831, y=-0.017153, theta=0.075364
[19:09:49.839] Odometry x=0.026831, y=-0.017158, theta=0.077579
[19:09:49.847] Init: px average disparity is:21.441254 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:49.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:49.859] Odometry x=0.000513, y=-0.017164, theta=0.001994
[19:09:49.869] Odometry x=0.000515, y=-0.017169, theta=0.004898
[19:09:49.880] Odometry x=0.000516, y=-0.017170, theta=0.006115
[19:09:49.890] Odometry x=0.000517, y=-0.017170, theta=0.008779
[19:09:49.900] Odometry x=0.000517, y=-0.017170, theta=0.011126
[19:09:49.910] Odometry x=0.000517, y=-0.017170, theta=0.014399
[19:09:49.920] Odometry x=0.000517, y=-0.017170, theta=0.017545
[19:09:49.930] Odometry x=0.000517, y=-0.017170, theta=0.019669
[19:09:49.940] Odometry x=0.000517, y=-0.017170, theta=0.021402
[19:09:49.946] Init: px average disparity is:26.263371 ,While minimum is: 40.000000  KLT tracked : 55
[19:09:49.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:49.961] Odometry x=0.000920, y=-0.017258, theta=0.022637
[19:09:49.971] Odometry x=0.000920, y=-0.017258, theta=0.024101
[19:09:49.981] Odometry x=0.000920, y=-0.017258, theta=0.024906
[19:09:49.991] Odometry x=0.000920, y=-0.017258, theta=0.026593
[19:09:50.001] Odometry x=0.000920, y=-0.017258, theta=0.028634
[19:09:50.011] Odometry x=0.000920, y=-0.017259, theta=0.030221
[19:09:50.021] Odometry x=0.000920, y=-0.017260, theta=0.031583
[19:09:50.031] Odometry x=0.000920, y=-0.017262, theta=0.033206
[19:09:50.046] Init: px average disparity is:30.162372 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:50.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:50.052] Odometry x=0.001266, y=-0.017381, theta=0.035855
[19:09:50.062] Odometry x=0.001267, y=-0.017383, theta=0.038968
[19:09:50.072] Odometry x=0.001268, y=-0.017383, theta=0.041491
[19:09:50.082] Odometry x=0.001268, y=-0.017383, theta=0.043823
[19:09:50.092] Odometry x=0.001268, y=-0.017383, theta=0.045691
[19:09:50.102] Odometry x=0.001268, y=-0.017382, theta=0.047289
[19:09:50.112] Odometry x=0.001268, y=-0.017380, theta=0.048715
[19:09:50.123] Odometry x=0.001268, y=-0.017377, theta=0.049817
[19:09:50.133] Odometry x=0.001268, y=-0.017376, theta=0.050492
[19:09:50.146] Init: px average disparity is:31.739379 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:50.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:50.153] Odometry x=0.001631, y=-0.017561, theta=0.051462
[19:09:50.163] Odometry x=0.001631, y=-0.017561, theta=0.052052
[19:09:50.173] Odometry x=0.001631, y=-0.017561, theta=0.051824
[19:09:50.183] Odometry x=0.001631, y=-0.017562, theta=0.051653
[19:09:50.193] Odometry x=0.001631, y=-0.017562, theta=0.051666
[19:09:50.204] Odometry x=0.001631, y=-0.017564, theta=0.051867
[19:09:50.214] Odometry x=0.001631, y=-0.017565, theta=0.052114
[19:09:50.224] Odometry x=0.001631, y=-0.017567, theta=0.052987
[19:09:50.234] Odometry x=0.001631, y=-0.017569, theta=0.054002
[19:09:50.247] Init: px average disparity is:34.047762 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:50.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:50.254] Odometry x=0.002036, y=-0.017792, theta=0.055107
[19:09:50.264] Odometry x=0.002036, y=-0.017795, theta=0.056484
[19:09:50.275] Odometry x=0.002036, y=-0.017802, theta=0.057678
[19:09:50.285] Odometry x=0.002036, y=-0.017808, theta=0.058875
[19:09:50.295] Odometry x=0.002036, y=-0.017814, theta=0.060149
[19:09:50.305] Odometry x=0.002036, y=-0.017820, theta=0.061524
[19:09:50.315] Odometry x=0.002036, y=-0.017825, theta=0.063427
[19:09:50.325] Odometry x=0.002036, y=-0.017826, theta=0.066503
[19:09:50.335] Odometry x=0.002036, y=-0.017826, theta=0.070200
[19:09:50.356] Odometry x=0.002418, y=-0.018100, theta=0.074032
[19:09:50.366] Odometry x=0.002419, y=-0.018099, theta=0.078255
[19:09:50.376] Odometry x=0.002419, y=-0.018100, theta=0.081090
[19:09:50.386] Odometry x=0.002421, y=-0.018101, theta=0.083329
[19:09:50.397] Odometry x=0.002422, y=-0.018101, theta=0.084634
[19:09:50.407] Odometry x=0.002422, y=-0.018101, theta=0.086095
[19:09:50.410] homography: x=448.129282 y=499.635818 z=0.652578 roll=0.000000 pitch=-0.002470 yaw=0.000000 	 ekf: x=0.002422 z=-0.018101 pitch=0.086095
[19:09:50.410] homography after fuse: x=0.002422 y=0.000000 z=-0.018101 pitch=0.086095	 number of outlier: 50
[19:09:50.410] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:42.615506 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:50.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:50.417] Odometry x=0.002422, y=-0.018101, theta=0.087814
[19:09:50.427] Odometry x=0.002422, y=-0.018101, theta=0.089124
[19:09:50.437] Odometry x=0.002422, y=-0.018102, theta=0.090055
[19:09:50.457] Odometry x=0.002794, y=-0.018439, theta=0.091047
[19:09:50.467] Odometry x=0.002794, y=-0.018440, theta=0.092623
[19:09:50.478] Odometry x=0.002794, y=-0.018441, theta=0.094138
[19:09:50.488] Odometry x=0.002794, y=-0.018442, theta=0.095329
[19:09:50.498] Odometry x=0.002794, y=-0.018443, theta=0.095645
[19:09:50.508] Odometry x=0.002795, y=-0.018445, theta=0.095364
[19:09:50.509] homography: x=451.844143 y=506.919027 z=0.638715 roll=0.000000 pitch=-0.002591 yaw=0.000000 	 ekf: x=0.002795 z=-0.018445 pitch=0.095364
[19:09:50.510] homography after fuse: x=0.002795 y=0.000000 z=-0.018445 pitch=0.095364	 number of outlier: 52
[19:09:50.510] Init: Homography RANSAC (inlier) is:2 ,While 30 inliers minimum required.  px average disparity is:45.726006 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:50.510] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:50.518] Odometry x=0.002796, y=-0.018447, theta=0.095331
[19:09:50.528] Odometry x=0.002797, y=-0.018450, theta=0.095987
[19:09:50.538] Odometry x=0.002798, y=-0.018453, theta=0.096881
[19:09:50.558] Odometry x=0.003189, y=-0.018834, theta=0.097404
[19:09:50.569] Odometry x=0.003189, y=-0.018833, theta=0.097836
[19:09:50.579] Odometry x=0.003189, y=-0.018833, theta=0.098204
[19:09:50.589] Odometry x=0.003189, y=-0.018833, theta=0.098568
[19:09:50.599] Odometry x=0.003189, y=-0.018833, theta=0.099250
[19:09:50.609] Odometry x=0.003189, y=-0.018833, theta=0.100362
[19:09:50.615] homography: x=455.121680 y=506.841197 z=0.626860 roll=0.000000 pitch=-0.002672 yaw=0.000000 	 ekf: x=0.003189 z=-0.018833 pitch=0.100362
[19:09:50.615] homography after fuse: x=0.003189 y=0.000000 z=-0.018833 pitch=0.100362	 number of outlier: 48
[19:09:50.615] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:44.191951 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:50.615] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:50.619] Odometry x=0.003189, y=-0.018832, theta=0.101806
[19:09:50.630] Odometry x=0.003189, y=-0.018832, theta=0.102660
[19:09:50.640] Odometry x=0.003190, y=-0.018835, theta=0.102936
[19:09:50.660] Odometry x=0.003573, y=-0.019234, theta=0.104470
[19:09:50.670] Odometry x=0.003575, y=-0.019238, theta=0.106562
[19:09:50.680] Odometry x=0.003576, y=-0.019239, theta=0.108020
[19:09:50.690] Odometry x=0.003576, y=-0.019239, theta=0.108739
[19:09:50.700] Odometry x=0.003576, y=-0.019239, theta=0.108982
[19:09:50.710] Odometry x=0.003576, y=-0.019239, theta=0.108498
[19:09:50.718] homography: x=449.945109 y=505.098825 z=0.635433 roll=0.000000 pitch=-0.002602 yaw=0.000000 	 ekf: x=0.003576 z=-0.019239 pitch=0.108498
[19:09:50.718] homography after fuse: x=0.003576 y=0.000000 z=-0.019239 pitch=0.108498	 number of outlier: 50
[19:09:50.718] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:46.452194 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:50.718] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:50.721] Odometry x=0.003576, y=-0.019239, theta=0.107818
[19:09:50.731] Odometry x=0.003576, y=-0.019239, theta=0.107422
[19:09:50.741] Odometry x=0.003576, y=-0.019239, theta=0.106385
[19:09:50.761] Odometry x=0.003975, y=-0.019665, theta=0.106402
[19:09:50.771] Odometry x=0.003975, y=-0.019665, theta=0.106421
[19:09:50.781] Odometry x=0.003975, y=-0.019665, theta=0.106642
[19:09:50.791] Odometry x=0.003975, y=-0.019666, theta=0.107021
[19:09:50.802] Odometry x=0.003975, y=-0.019666, theta=0.107365
[19:09:50.812] Odometry x=0.003975, y=-0.019666, theta=0.107709
[19:09:50.818] homography: x=454.625414 y=509.419669 z=0.625985 roll=0.000000 pitch=-0.002654 yaw=0.000000 	 ekf: x=0.003975 z=-0.019666 pitch=0.107709
[19:09:50.818] homography after fuse: x=0.003975 y=0.000000 z=-0.019666 pitch=0.107709	 number of outlier: 50
[19:09:50.818] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:44.328015 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:50.818] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:50.822] Odometry x=0.003975, y=-0.019666, theta=0.107452
[19:09:50.832] Odometry x=0.003975, y=-0.019667, theta=0.106855
[19:09:50.852] Odometry x=0.004314, y=-0.020034, theta=0.107438
[19:09:50.862] Odometry x=0.004315, y=-0.020038, theta=0.108019
[19:09:50.872] Odometry x=0.004316, y=-0.020038, theta=0.108277
[19:09:50.883] Odometry x=0.004316, y=-0.020038, theta=0.108346
[19:09:50.893] Odometry x=0.004316, y=-0.020038, theta=0.108280
[19:09:50.903] Odometry x=0.004315, y=-0.020038, theta=0.108027
[19:09:50.913] Odometry x=0.004315, y=-0.020039, theta=0.107608
[19:09:50.923] Odometry x=0.004315, y=-0.020040, theta=0.107450
[19:09:50.923] homography: x=-1045.356580 y=-2614.512853 z=-8.084845 roll=0.000000 pitch=-0.000399 yaw=0.000000 	 ekf: x=0.004315 z=-0.020040 pitch=0.107450
[19:09:50.923] homography after fuse: x=0.004315 y=0.000000 z=-0.020040 pitch=0.107450	 number of outlier: 52
[19:09:50.923] Init: Homography RANSAC (inlier) is:2 ,While 30 inliers minimum required.  px average disparity is:46.618497 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:50.923] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:50.933] Odometry x=0.004315, y=-0.020040, theta=0.107613
[19:09:50.943] Odometry x=0.004315, y=-0.020040, theta=0.107866
[19:09:50.963] Odometry x=0.004763, y=-0.020524, theta=0.107900
[19:09:50.974] Odometry x=0.004763, y=-0.020525, theta=0.107851
[19:09:50.984] Odometry x=0.004763, y=-0.020525, theta=0.107912
[19:09:50.994] Odometry x=0.004763, y=-0.020527, theta=0.108109
[19:09:51.004] Odometry x=0.004763, y=-0.020529, theta=0.108164
[19:09:51.011] homography: x=-2482.486571 y=-7029.741868 z=-22.106139 roll=0.000000 pitch=-0.000435 yaw=0.000000 	 ekf: x=0.004763 z=-0.020529 pitch=0.108164
[19:09:51.011] homography after fuse: x=0.004763 y=0.000000 z=-0.020529 pitch=0.108164	 number of outlier: 51
[19:09:51.011] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:46.634389 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:51.011] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:51.014] Odometry x=0.004763, y=-0.020529, theta=0.108019
[19:09:51.024] Odometry x=0.004764, y=-0.020530, theta=0.107410
[19:09:51.034] Odometry x=0.004764, y=-0.020530, theta=0.106788
[19:09:51.055] Odometry x=0.005090, y=-0.020879, theta=0.105084
[19:09:51.065] Odometry x=0.005090, y=-0.020882, theta=0.103200
[19:09:51.075] Odometry x=0.005090, y=-0.020891, theta=0.103170
[19:09:51.085] Odometry x=0.005090, y=-0.020896, theta=0.103775
[19:09:51.095] Odometry x=0.005090, y=-0.020904, theta=0.105130
[19:09:51.105] Odometry x=0.005089, y=-0.020913, theta=0.106367
[19:09:51.111] homography: x=-17767.211047 y=-51606.191672 z=-163.660384 roll=0.000000 pitch=-0.000431 yaw=0.000000 	 ekf: x=0.005089 z=-0.020913 pitch=0.106367
[19:09:51.111] homography after fuse: x=0.005089 y=0.000000 z=-0.020913 pitch=0.106367	 number of outlier: 50
[19:09:51.111] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:41.460720 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:51.111] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:51.115] Odometry x=0.005089, y=-0.020917, theta=0.106921
[19:09:51.125] Odometry x=0.005089, y=-0.020919, theta=0.107705
[19:09:51.135] Odometry x=0.005089, y=-0.020920, theta=0.109086
[19:09:51.156] Odometry x=0.005477, y=-0.021347, theta=0.111446
[19:09:51.166] Odometry x=0.005477, y=-0.021344, theta=0.114009
[19:09:51.176] Odometry x=0.005477, y=-0.021340, theta=0.115105
[19:09:51.186] Odometry x=0.005477, y=-0.021336, theta=0.115636
[19:09:51.196] Odometry x=0.005478, y=-0.021334, theta=0.116296
[19:09:51.206] Odometry x=0.005478, y=-0.021334, theta=0.117010
[19:09:51.212] homography: x=-3440.286365 y=-9679.292127 z=-30.420452 roll=0.000000 pitch=-0.000456 yaw=0.000000 	 ekf: x=0.005478 z=-0.021334 pitch=0.117010
[19:09:51.212] homography after fuse: x=0.005478 y=0.000000 z=-0.021334 pitch=0.117010	 number of outlier: 52
[19:09:51.212] Init: Homography RANSAC (inlier) is:2 ,While 30 inliers minimum required.  px average disparity is:47.820915 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:51.212] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:51.216] Odometry x=0.005478, y=-0.021334, theta=0.116814
[19:09:51.226] Odometry x=0.005478, y=-0.021334, theta=0.115931
[19:09:51.237] Odometry x=0.005478, y=-0.021335, theta=0.115311
[19:09:51.257] Odometry x=0.005861, y=-0.021779, theta=0.115108
[19:09:51.267] Odometry x=0.005861, y=-0.021781, theta=0.114812
[19:09:51.277] Odometry x=0.005861, y=-0.021783, theta=0.113976
[19:09:51.287] Odometry x=0.005861, y=-0.021785, theta=0.112959
[19:09:51.297] Odometry x=0.005861, y=-0.021785, theta=0.112262
[19:09:51.307] Odometry x=0.005862, y=-0.021785, theta=0.111735
[19:09:51.318] Odometry x=0.005862, y=-0.021786, theta=0.111004
[19:09:51.328] Odometry x=0.005862, y=-0.021787, theta=0.110446
[19:09:51.334] homography: x=457.472583 y=509.101627 z=0.631280 roll=0.000000 pitch=-0.002721 yaw=0.000000 	 ekf: x=0.005862 z=-0.021787 pitch=0.110446
[19:09:51.334] homography after fuse: x=0.005862 y=0.000000 z=-0.021787 pitch=0.110446	 number of outlier: 51
[19:09:51.334] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:47.377371 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:51.334] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:51.338] Odometry x=0.005861, y=-0.021797, theta=0.109624
[19:09:51.358] Odometry x=0.006262, y=-0.022238, theta=0.109492
[19:09:51.368] Odometry x=0.006263, y=-0.022238, theta=0.109399
[19:09:51.378] Odometry x=0.006263, y=-0.022238, theta=0.109214
[19:09:51.388] Odometry x=0.006263, y=-0.022238, theta=0.108425
[19:09:51.399] Odometry x=0.006263, y=-0.022238, theta=0.107306
[19:09:51.409] Odometry x=0.006263, y=-0.022238, theta=0.105731
[19:09:51.419] Odometry x=0.006263, y=-0.022238, theta=0.103403
[19:09:51.429] Odometry x=0.006263, y=-0.022238, theta=0.100891
[19:09:51.430] homography: x=-2655.587144 y=-7394.682137 z=-23.440194 roll=0.000000 pitch=-0.000427 yaw=0.000000 	 ekf: x=0.006263 z=-0.022238 pitch=0.100891
[19:09:51.431] homography after fuse: x=0.006263 y=0.000000 z=-0.022238 pitch=0.100891	 number of outlier: 49
[19:09:51.431] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:41.262058 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:51.431] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:51.439] Odometry x=0.006263, y=-0.022239, theta=0.098862
[19:09:51.450] Init: px average disparity is:38.349332 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:51.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:51.459] Odometry x=0.002774, y=-0.022527, theta=0.036232
[19:09:51.469] Odometry x=0.002774, y=-0.022529, theta=0.034467
[19:09:51.479] Odometry x=0.002774, y=-0.022530, theta=0.033152
[19:09:51.490] Odometry x=0.002774, y=-0.022530, theta=0.032177
[19:09:51.500] Odometry x=0.002774, y=-0.022531, theta=0.031426
[19:09:51.510] Odometry x=0.002774, y=-0.022530, theta=0.030476
[19:09:51.520] Odometry x=0.002774, y=-0.022530, theta=0.029249
[19:09:51.530] Odometry x=0.002774, y=-0.022530, theta=0.027640
[19:09:51.546] Init: px average disparity is:36.837973 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:51.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:51.550] Odometry x=0.003119, y=-0.022627, theta=0.026801
[19:09:51.560] Odometry x=0.003119, y=-0.022630, theta=0.025752
[19:09:51.571] Odometry x=0.003119, y=-0.022632, theta=0.024741
[19:09:51.581] Odometry x=0.003119, y=-0.022635, theta=0.023525
[19:09:51.591] Odometry x=0.003119, y=-0.022637, theta=0.022557
[19:09:51.601] Odometry x=0.003119, y=-0.022638, theta=0.022281
[19:09:51.611] Odometry x=0.003119, y=-0.022639, theta=0.022167
[19:09:51.621] Odometry x=0.003119, y=-0.022639, theta=0.021003
[19:09:51.631] Odometry x=0.003119, y=-0.022640, theta=0.019380
[19:09:51.646] Init: px average disparity is:29.683630 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:51.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:51.652] Odometry x=0.003502, y=-0.022712, theta=0.017797
[19:09:51.662] Odometry x=0.003503, y=-0.022712, theta=0.016244
[19:09:51.672] Odometry x=0.003503, y=-0.022712, theta=0.015445
[19:09:51.682] Odometry x=0.003503, y=-0.022713, theta=0.014596
[19:09:51.692] Odometry x=0.003503, y=-0.022713, theta=0.013535
[19:09:51.702] Odometry x=0.003503, y=-0.022713, theta=0.012365
[19:09:51.712] Odometry x=0.003503, y=-0.022713, theta=0.011205
[19:09:51.722] Odometry x=0.003503, y=-0.022713, theta=0.009879
[19:09:51.732] Odometry x=0.003503, y=-0.022713, theta=0.008461
[19:09:51.746] Init: px average disparity is:26.413877 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:51.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:51.753] Odometry x=0.003886, y=-0.022745, theta=0.007835
[19:09:51.763] Odometry x=0.003886, y=-0.022745, theta=0.007507
[19:09:51.773] Odometry x=0.003886, y=-0.022745, theta=0.007751
[19:09:51.783] Odometry x=0.003886, y=-0.022745, theta=0.008040
[19:09:51.793] Odometry x=0.003885, y=-0.022744, theta=0.008500
[19:09:51.803] Odometry x=0.003884, y=-0.022744, theta=0.008866
[19:09:51.813] Odometry x=0.003884, y=-0.022744, theta=0.009002
[19:09:51.824] Odometry x=0.003884, y=-0.022850, theta=0.007450
[19:09:51.834] Odometry x=0.003884, y=-0.022934, theta=0.006075
[19:09:51.844] Odometry x=0.003884, y=-0.023101, theta=0.005026
[19:09:51.845] Init: px average disparity is:28.716277 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:51.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:51.864] Odometry x=0.004323, y=-0.023211, theta=0.004094
[19:09:51.874] Odometry x=0.004323, y=-0.023270, theta=0.003149
[19:09:51.884] Odometry x=0.004324, y=-0.023271, theta=0.002893
[19:09:51.894] Odometry x=0.004324, y=-0.023271, theta=0.002864
[19:09:51.905] Odometry x=0.004324, y=-0.023271, theta=0.002795
[19:09:51.915] Odometry x=0.004324, y=-0.023270, theta=0.002612
[19:09:51.925] Odometry x=0.004324, y=-0.023269, theta=0.002038
[19:09:51.935] Odometry x=0.004324, y=-0.023269, theta=0.001381
[19:09:51.946] Init: px average disparity is:27.303849 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:51.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:51.955] Odometry x=0.004668, y=-0.023272, theta=0.000346
[19:09:51.965] Odometry x=0.004668, y=-0.023272, theta=-0.000818
[19:09:51.975] Odometry x=0.004668, y=-0.023272, theta=-0.001456
[19:09:51.986] Odometry x=0.004668, y=-0.023273, theta=-0.001740
[19:09:51.996] Odometry x=0.004668, y=-0.023273, theta=-0.001772
[19:09:52.006] Odometry x=0.004668, y=-0.023273, theta=-0.001672
[19:09:52.016] Odometry x=0.004668, y=-0.023272, theta=-0.001775
[19:09:52.026] Odometry x=0.004668, y=-0.023271, theta=-0.002079
[19:09:52.036] Odometry x=0.004668, y=-0.023270, theta=-0.002594
[19:09:52.046] Init: px average disparity is:27.199892 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:52.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:52.056] Odometry x=0.005051, y=-0.023263, theta=-0.004871
[19:09:52.066] Odometry x=0.005051, y=-0.023272, theta=-0.007716
[19:09:52.077] Odometry x=0.005051, y=-0.023289, theta=-0.010140
[19:09:52.087] Odometry x=0.005051, y=-0.023322, theta=-0.012414
[19:09:52.097] Odometry x=0.005052, y=-0.023371, theta=-0.014312
[19:09:52.107] Odometry x=0.005053, y=-0.023422, theta=-0.015682
[19:09:52.117] Odometry x=0.005054, y=-0.023461, theta=-0.016589
[19:09:52.127] Odometry x=0.005056, y=-0.023484, theta=-0.017331
[19:09:52.137] Odometry x=0.005057, y=-0.023500, theta=-0.017906
[19:09:52.146] Init: px average disparity is:25.522430 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:52.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:52.158] Odometry x=0.005440, y=-0.023441, theta=-0.017012
[19:09:52.168] Odometry x=0.005441, y=-0.023447, theta=-0.015788
[19:09:52.178] Odometry x=0.005441, y=-0.023447, theta=-0.013861
[19:09:52.188] Odometry x=0.005441, y=-0.023447, theta=-0.012031
[19:09:52.198] Odometry x=0.005441, y=-0.023447, theta=-0.010820
[19:09:52.208] Odometry x=0.005442, y=-0.023447, theta=-0.009759
[19:09:52.218] Odometry x=0.005442, y=-0.023447, theta=-0.008656
[19:09:52.228] Odometry x=0.005442, y=-0.023447, theta=-0.007848
[19:09:52.239] Odometry x=0.005442, y=-0.023447, theta=-0.005990
[19:09:52.246] Init: px average disparity is:26.497161 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:52.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:52.259] Odometry x=0.005843, y=-0.023430, theta=-0.002989
[19:09:52.269] Odometry x=0.005844, y=-0.023431, theta=0.000604
[19:09:52.279] Odometry x=0.005844, y=-0.023433, theta=0.002667
[19:09:52.289] Odometry x=0.005844, y=-0.023436, theta=0.003945
[19:09:52.299] Odometry x=0.005845, y=-0.023439, theta=0.004877
[19:09:52.309] Odometry x=0.005845, y=-0.023440, theta=0.005609
[19:09:52.319] Odometry x=0.005847, y=-0.023441, theta=0.006367
[19:09:52.330] Odometry x=0.005849, y=-0.023441, theta=0.007534
[19:09:52.340] Odometry x=0.005851, y=-0.023442, theta=0.009094
[19:09:52.347] Init: px average disparity is:30.365206 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:52.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:52.360] Odometry x=0.006233, y=-0.023495, theta=0.010452
[19:09:52.370] Odometry x=0.006234, y=-0.023510, theta=0.011758
[19:09:52.380] Odometry x=0.006234, y=-0.023523, theta=0.012684
[19:09:52.390] Odometry x=0.006234, y=-0.023534, theta=0.013986
[19:09:52.400] Odometry x=0.006234, y=-0.023543, theta=0.015465
[19:09:52.411] Odometry x=0.006235, y=-0.023549, theta=0.017116
[19:09:52.421] Odometry x=0.006236, y=-0.023551, theta=0.018834
[19:09:52.431] Odometry x=0.006237, y=-0.023552, theta=0.020222
[19:09:52.448] Init: px average disparity is:32.303709 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:52.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:52.451] Odometry x=0.006581, y=-0.023624, theta=0.022006
[19:09:52.461] Odometry x=0.006582, y=-0.023624, theta=0.024003
[19:09:52.471] Odometry x=0.006582, y=-0.023623, theta=0.025433
[19:09:52.481] Odometry x=0.006582, y=-0.023622, theta=0.026879
[19:09:52.491] Odometry x=0.006582, y=-0.023622, theta=0.028246
[19:09:52.502] Odometry x=0.006582, y=-0.023624, theta=0.029587
[19:09:52.512] Odometry x=0.006582, y=-0.023631, theta=0.030803
[19:09:52.522] Odometry x=0.006582, y=-0.023642, theta=0.031951
[19:09:52.532] Odometry x=0.006582, y=-0.023648, theta=0.033340
[19:09:52.546] Init: px average disparity is:33.977328 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:52.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:52.552] Odometry x=0.006966, y=-0.023782, theta=0.035920
[19:09:52.562] Odometry x=0.006967, y=-0.023783, theta=0.038750
[19:09:52.573] Odometry x=0.006967, y=-0.023783, theta=0.040574
[19:09:52.583] Odometry x=0.006968, y=-0.023783, theta=0.042236
[19:09:52.593] Odometry x=0.006968, y=-0.023783, theta=0.043860
[19:09:52.603] Odometry x=0.006969, y=-0.023783, theta=0.045354
[19:09:52.613] Odometry x=0.006969, y=-0.023783, theta=0.046668
[19:09:52.623] Odometry x=0.006969, y=-0.023784, theta=0.047816
[19:09:52.633] Odometry x=0.006969, y=-0.023784, theta=0.048545
[19:09:52.644] Odometry x=0.006969, y=-0.023788, theta=0.048700
[19:09:52.646] Init: px average disparity is:33.589843 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:52.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:52.664] Odometry x=0.007389, y=-0.024007, theta=0.048719
[19:09:52.674] Odometry x=0.007389, y=-0.024019, theta=0.049189
[19:09:52.685] Odometry x=0.007389, y=-0.024020, theta=0.049692
[19:09:52.695] Odometry x=0.007389, y=-0.024021, theta=0.050685
[19:09:52.705] Odometry x=0.007390, y=-0.024022, theta=0.051841
[19:09:52.715] Odometry x=0.007390, y=-0.024022, theta=0.053068
[19:09:52.725] Odometry x=0.007390, y=-0.024022, theta=0.054575
[19:09:52.735] Odometry x=0.007391, y=-0.024022, theta=0.055562
[19:09:52.745] Odometry x=0.007391, y=-0.024023, theta=0.055633
[19:09:52.748] Init: px average disparity is:37.743002 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:52.748] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:52.765] Odometry x=0.007776, y=-0.024236, theta=0.055603
[19:09:52.776] Odometry x=0.007777, y=-0.024235, theta=0.055601
[19:09:52.786] Odometry x=0.007777, y=-0.024234, theta=0.055252
[19:09:52.796] Odometry x=0.007777, y=-0.024234, theta=0.054326
[19:09:52.806] Odometry x=0.007777, y=-0.024235, theta=0.053712
[19:09:52.816] Odometry x=0.007777, y=-0.024236, theta=0.053589
[19:09:52.826] Odometry x=0.007777, y=-0.024239, theta=0.053695
[19:09:52.836] Odometry x=0.007779, y=-0.024243, theta=0.053953
[19:09:52.846] Init: px average disparity is:36.936867 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:52.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:52.857] Odometry x=0.008152, y=-0.024446, theta=0.054653
[19:09:52.867] Odometry x=0.008152, y=-0.024447, theta=0.055668
[19:09:52.877] Odometry x=0.008152, y=-0.024447, theta=0.056377
[19:09:52.887] Odometry x=0.008152, y=-0.024447, theta=0.056642
[19:09:52.897] Odometry x=0.008152, y=-0.024447, theta=0.056623
[19:09:52.907] Odometry x=0.008152, y=-0.024447, theta=0.056623
[19:09:52.917] Odometry x=0.008152, y=-0.024447, theta=0.056923
[19:09:52.928] Odometry x=0.008152, y=-0.024453, theta=0.057565
[19:09:52.938] Odometry x=0.008155, y=-0.024494, theta=0.057317
[19:09:52.951] Init: px average disparity is:36.654069 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:52.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:52.958] Odometry x=0.008544, y=-0.024756, theta=0.058779
[19:09:52.968] Odometry x=0.008548, y=-0.024783, theta=0.060727
[19:09:52.978] Odometry x=0.008548, y=-0.024786, theta=0.062682
[19:09:52.989] Odometry x=0.008548, y=-0.024787, theta=0.064692
[19:09:52.999] Odometry x=0.008548, y=-0.024787, theta=0.066483
[19:09:53.009] Odometry x=0.008548, y=-0.024786, theta=0.067924
[19:09:53.019] Odometry x=0.008548, y=-0.024786, theta=0.068748
[19:09:53.029] Odometry x=0.008548, y=-0.024783, theta=0.070313
[19:09:53.039] Odometry x=0.008549, y=-0.024782, theta=0.071547
[19:09:53.059] Odometry x=0.008920, y=-0.025050, theta=0.072739
[19:09:53.069] Odometry x=0.008921, y=-0.025050, theta=0.073694
[19:09:53.080] Odometry x=0.008921, y=-0.025050, theta=0.073954
[19:09:53.090] Odometry x=0.008921, y=-0.025050, theta=0.074004
[19:09:53.100] Odometry x=0.008921, y=-0.025050, theta=0.074138
[19:09:53.110] Odometry x=0.008921, y=-0.025050, theta=0.074489
[19:09:53.114] homography: x=0.731302 y=-492.278738 z=-1.818554 roll=0.000000 pitch=-0.001079 yaw=0.000000 	 ekf: x=0.008921 z=-0.025050 pitch=0.074489
[19:09:53.114] homography after fuse: x=0.008921 y=0.000000 z=-0.025050 pitch=0.074489	 number of outlier: 46
[19:09:53.114] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:41.567981 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:53.114] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:53.120] Odometry x=0.008921, y=-0.025050, theta=0.074775
[19:09:53.130] Odometry x=0.008921, y=-0.025050, theta=0.075001
[19:09:53.151] Odometry x=0.009248, y=-0.025296, theta=0.072762
[19:09:53.162] Odometry x=0.009249, y=-0.025298, theta=0.070656
[19:09:53.172] Odometry x=0.009249, y=-0.025298, theta=0.069623
[19:09:53.182] Odometry x=0.009249, y=-0.025299, theta=0.068863
[19:09:53.192] Odometry x=0.009249, y=-0.025299, theta=0.068351
[19:09:53.202] Odometry x=0.009250, y=-0.025300, theta=0.068010
[19:09:53.212] Odometry x=0.009250, y=-0.025301, theta=0.067825
[19:09:53.215] homography: x=468.626478 y=508.809301 z=0.631809 roll=0.000000 pitch=-0.002874 yaw=0.000000 	 ekf: x=0.009250 z=-0.025301 pitch=0.067825
[19:09:53.215] homography after fuse: x=0.009250 y=0.000000 z=-0.025301 pitch=0.067825	 number of outlier: 46
[19:09:53.215] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:40.156834 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:53.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:53.222] Odometry x=0.009250, y=-0.025301, theta=0.067969
[19:09:53.232] Odometry x=0.009250, y=-0.025301, theta=0.068160
[19:09:53.242] Odometry x=0.009251, y=-0.025307, theta=0.067386
[19:09:53.248] Init: px average disparity is:38.166900 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:53.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:53.263] Odometry x=0.009718, y=-0.025625, theta=0.067676
[19:09:53.273] Odometry x=0.009718, y=-0.025626, theta=0.068390
[19:09:53.283] Odometry x=0.009718, y=-0.025627, theta=0.069087
[19:09:53.293] Odometry x=0.009718, y=-0.025627, theta=0.070941
[19:09:53.303] Odometry x=0.009718, y=-0.025626, theta=0.072519
[19:09:53.313] Odometry x=0.009719, y=-0.025625, theta=0.073070
[19:09:53.323] Odometry x=0.009719, y=-0.025624, theta=0.073575
[19:09:53.333] Odometry x=0.009719, y=-0.025624, theta=0.074137
[19:09:53.354] Odometry x=0.010050, y=-0.025864, theta=0.075791
[19:09:53.364] Odometry x=0.010050, y=-0.025859, theta=0.077372
[19:09:53.374] Odometry x=0.010050, y=-0.025859, theta=0.077472
[19:09:53.384] Odometry x=0.010050, y=-0.025858, theta=0.076154
[19:09:53.394] Odometry x=0.010050, y=-0.025858, theta=0.073812
[19:09:53.404] Odometry x=0.010050, y=-0.025860, theta=0.071604
[19:09:53.414] Odometry x=0.010050, y=-0.025870, theta=0.070186
[19:09:53.414] homography: x=462.787754 y=506.376588 z=0.651012 roll=0.000000 pitch=-0.002781 yaw=0.000000 	 ekf: x=0.010050 z=-0.025870 pitch=0.070186
[19:09:53.415] homography after fuse: x=0.010050 y=0.000000 z=-0.025870 pitch=0.070186	 number of outlier: 46
[19:09:53.415] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:41.052141 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:53.415] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:53.425] Odometry x=0.010050, y=-0.025897, theta=0.069155
[19:09:53.435] Odometry x=0.010050, y=-0.025917, theta=0.068472
[19:09:53.455] Odometry x=0.010424, y=-0.026310, theta=0.067353
[19:09:53.465] Odometry x=0.010423, y=-0.026452, theta=0.066412
[19:09:53.475] Odometry x=0.010422, y=-0.026496, theta=0.066329
[19:09:53.485] Odometry x=0.010422, y=-0.026506, theta=0.066420
[19:09:53.495] Odometry x=0.010423, y=-0.026508, theta=0.066666
[19:09:53.506] Odometry x=0.010424, y=-0.026510, theta=0.067093
[19:09:53.516] Odometry x=0.010428, y=-0.026512, theta=0.067057
[19:09:53.516] homography: x=476.212338 y=514.503540 z=0.629566 roll=0.000000 pitch=-0.002978 yaw=0.000000 	 ekf: x=0.010428 z=-0.026512 pitch=0.067057
[19:09:53.516] homography after fuse: x=0.010428 y=0.000000 z=-0.026512 pitch=0.067057	 number of outlier: 43
[19:09:53.516] Init: Homography RANSAC (inlier) is:11 ,While 30 inliers minimum required.  px average disparity is:41.733841 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:53.516] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:53.526] Odometry x=0.010430, y=-0.026513, theta=0.066598
[19:09:53.536] Odometry x=0.010431, y=-0.026513, theta=0.066295
[19:09:53.556] Odometry x=0.010816, y=-0.026777, theta=0.065853
[19:09:53.567] Odometry x=0.010815, y=-0.026785, theta=0.065608
[19:09:53.577] Odometry x=0.010815, y=-0.026790, theta=0.065198
[19:09:53.587] Odometry x=0.010815, y=-0.026794, theta=0.064407
[19:09:53.597] Odometry x=0.010815, y=-0.026818, theta=0.062900
[19:09:53.607] Odometry x=0.010815, y=-0.026857, theta=0.061664
[19:09:53.617] Odometry x=0.010815, y=-0.026883, theta=0.061077
[19:09:53.627] Odometry x=0.010815, y=-0.026893, theta=0.061205
[19:09:53.630] homography: x=472.037806 y=509.403923 z=0.643656 roll=0.000000 pitch=-0.002883 yaw=0.000000 	 ekf: x=0.010815 z=-0.026893 pitch=0.061205
[19:09:53.630] homography after fuse: x=0.010815 y=0.000000 z=-0.026893 pitch=0.061205	 number of outlier: 46
[19:09:53.630] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:40.132645 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:53.630] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:53.637] Odometry x=0.010816, y=-0.026897, theta=0.061878
[19:09:53.651] Init: px average disparity is:38.107209 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:53.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:53.658] Odometry x=0.011218, y=-0.027146, theta=0.061965
[19:09:53.668] Odometry x=0.011219, y=-0.027147, theta=0.062081
[19:09:53.678] Odometry x=0.011219, y=-0.027147, theta=0.062216
[19:09:53.688] Odometry x=0.011219, y=-0.027147, theta=0.062303
[19:09:53.698] Odometry x=0.011219, y=-0.027146, theta=0.062534
[19:09:53.708] Odometry x=0.011219, y=-0.027145, theta=0.063647
[19:09:53.719] Odometry x=0.011220, y=-0.027144, theta=0.064267
[19:09:53.729] Odometry x=0.011220, y=-0.027144, theta=0.063561
[19:09:53.746] Init: px average disparity is:39.118678 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:53.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:53.749] Odometry x=0.011554, y=-0.027366, theta=0.061994
[19:09:53.759] Odometry x=0.011555, y=-0.027374, theta=0.060849
[19:09:53.769] Odometry x=0.011555, y=-0.027412, theta=0.060798
[19:09:53.779] Odometry x=0.011554, y=-0.027439, theta=0.060941
[19:09:53.789] Odometry x=0.011554, y=-0.027463, theta=0.060120
[19:09:53.800] Odometry x=0.011554, y=-0.027515, theta=0.057785
[19:09:53.810] Odometry x=0.011554, y=-0.027547, theta=0.055857
[19:09:53.820] Odometry x=0.011554, y=-0.027588, theta=0.053257
[19:09:53.830] Odometry x=0.011554, y=-0.027614, theta=0.051285
[19:09:53.846] Init: px average disparity is:36.395055 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:53.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:53.850] Odometry x=0.011974, y=-0.027832, theta=0.051455
[19:09:53.860] Odometry x=0.011976, y=-0.027835, theta=0.051908
[19:09:53.871] Odometry x=0.011976, y=-0.027835, theta=0.052064
[19:09:53.881] Odometry x=0.011977, y=-0.027836, theta=0.051482
[19:09:53.891] Odometry x=0.011977, y=-0.027840, theta=0.050693
[19:09:53.901] Odometry x=0.011977, y=-0.027846, theta=0.050174
[19:09:53.911] Odometry x=0.011977, y=-0.027852, theta=0.049925
[19:09:53.921] Odometry x=0.011977, y=-0.027856, theta=0.049585
[19:09:53.931] Odometry x=0.011977, y=-0.027857, theta=0.048983
[19:09:53.946] Init: px average disparity is:35.220241 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:53.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:53.952] Odometry x=0.012360, y=-0.028043, theta=0.048035
[19:09:53.962] Odometry x=0.012361, y=-0.028044, theta=0.047218
[19:09:53.972] Odometry x=0.012361, y=-0.028044, theta=0.046993
[19:09:53.982] Odometry x=0.012361, y=-0.028044, theta=0.046852
[19:09:53.992] Odometry x=0.012361, y=-0.028044, theta=0.045758
[19:09:54.002] Odometry x=0.012361, y=-0.028046, theta=0.043649
[19:09:54.012] Odometry x=0.012361, y=-0.028052, theta=0.041124
[19:09:54.022] Odometry x=0.012361, y=-0.028066, theta=0.038648
[19:09:54.033] Odometry x=0.012361, y=-0.028095, theta=0.036665
[19:09:54.046] Init: px average disparity is:33.663844 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:54.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:54.053] Odometry x=0.012743, y=-0.028324, theta=0.034536
[19:09:54.063] Odometry x=0.012743, y=-0.028403, theta=0.032093
[19:09:54.073] Odometry x=0.012743, y=-0.028447, theta=0.030424
[19:09:54.083] Odometry x=0.012743, y=-0.028480, theta=0.029177
[19:09:54.093] Odometry x=0.012744, y=-0.028495, theta=0.028142
[19:09:54.103] Odometry x=0.012744, y=-0.028500, theta=0.026972
[19:09:54.114] Odometry x=0.012745, y=-0.028502, theta=0.025730
[19:09:54.124] Odometry x=0.012745, y=-0.028505, theta=0.024535
[19:09:54.134] Odometry x=0.012745, y=-0.028509, theta=0.023461
[19:09:54.149] Init: px average disparity is:28.224589 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:54.149] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:54.154] Odometry x=0.013127, y=-0.028636, theta=0.023246
[19:09:54.164] Odometry x=0.013127, y=-0.028672, theta=0.023453
[19:09:54.174] Odometry x=0.013126, y=-0.028701, theta=0.025100
[19:09:54.184] Odometry x=0.013125, y=-0.028715, theta=0.026469
[19:09:54.194] Odometry x=0.013125, y=-0.028724, theta=0.026915
[19:09:54.205] Odometry x=0.013125, y=-0.028731, theta=0.026834
[19:09:54.215] Odometry x=0.013126, y=-0.028734, theta=0.025253
[19:09:54.225] Odometry x=0.013127, y=-0.028740, theta=0.022858
[19:09:54.235] Odometry x=0.013128, y=-0.028746, theta=0.021381
[19:09:54.245] Odometry x=0.013128, y=-0.028748, theta=0.021156
[19:09:54.247] Init: px average disparity is:23.149908 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:54.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:54.265] Odometry x=0.013553, y=-0.028841, theta=0.023074
[19:09:54.275] Odometry x=0.013555, y=-0.028841, theta=0.025013
[19:09:54.286] Odometry x=0.013555, y=-0.028840, theta=0.025949
[19:09:54.296] Odometry x=0.013555, y=-0.028840, theta=0.026664
[19:09:54.306] Odometry x=0.013555, y=-0.028839, theta=0.027045
[19:09:54.316] Odometry x=0.013555, y=-0.028839, theta=0.026701
[19:09:54.326] Odometry x=0.013555, y=-0.028840, theta=0.025924
[19:09:54.336] Odometry x=0.013555, y=-0.028843, theta=0.025414
[19:09:54.348] Init: px average disparity is:22.489989 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:54.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:54.356] Odometry x=0.013919, y=-0.028943, theta=0.026098
[19:09:54.367] Odometry x=0.013917, y=-0.028948, theta=0.027081
[19:09:54.377] Odometry x=0.013917, y=-0.028950, theta=0.027792
[19:09:54.387] Odometry x=0.013917, y=-0.028954, theta=0.027465
[19:09:54.397] Odometry x=0.013917, y=-0.028957, theta=0.026748
[19:09:54.407] Odometry x=0.013918, y=-0.028959, theta=0.026913
[19:09:54.417] Odometry x=0.013918, y=-0.028960, theta=0.028169
[19:09:54.427] Odometry x=0.013919, y=-0.028960, theta=0.030068
[19:09:54.437] Odometry x=0.013919, y=-0.028959, theta=0.031996
[19:09:54.447] Init: px average disparity is:22.472931 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:54.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:54.458] Odometry x=0.014301, y=-0.029081, theta=0.034852
[19:09:54.468] Odometry x=0.014301, y=-0.029076, theta=0.038100
[19:09:54.478] Odometry x=0.014301, y=-0.029075, theta=0.040167
[19:09:54.488] Odometry x=0.014301, y=-0.029074, theta=0.041522
[19:09:54.498] Odometry x=0.014302, y=-0.029071, theta=0.042589
[19:09:54.508] Odometry x=0.014303, y=-0.029064, theta=0.043817
[19:09:54.518] Odometry x=0.014304, y=-0.029050, theta=0.045066
[19:09:54.529] Odometry x=0.014305, y=-0.029034, theta=0.046018
[19:09:54.539] Odometry x=0.014305, y=-0.029022, theta=0.046514
[19:09:54.548] Init: px average disparity is:24.169840 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:54.548] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:54.559] Odometry x=0.014688, y=-0.029199, theta=0.046713
[19:09:54.569] Odometry x=0.014688, y=-0.029198, theta=0.047069
[19:09:54.579] Odometry x=0.014688, y=-0.029198, theta=0.047323
[19:09:54.589] Odometry x=0.014688, y=-0.029198, theta=0.047078
[19:09:54.600] Odometry x=0.014688, y=-0.029198, theta=0.046558
[19:09:54.610] Odometry x=0.014688, y=-0.029198, theta=0.046182
[19:09:54.620] Odometry x=0.014688, y=-0.029198, theta=0.046111
[19:09:54.630] Odometry x=0.014688, y=-0.029198, theta=0.046385
[19:09:54.640] Odometry x=0.014688, y=-0.029199, theta=0.047034
[19:09:54.646] Init: px average disparity is:28.448990 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:54.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:54.660] Odometry x=0.015070, y=-0.029383, theta=0.048917
[19:09:54.670] Odometry x=0.015070, y=-0.029384, theta=0.051004
[19:09:54.681] Odometry x=0.015070, y=-0.029384, theta=0.052260
[19:09:54.691] Odometry x=0.015070, y=-0.029384, theta=0.053259
[19:09:54.701] Odometry x=0.015070, y=-0.029382, theta=0.054408
[19:09:54.711] Odometry x=0.015070, y=-0.029378, theta=0.055921
[19:09:54.721] Odometry x=0.015070, y=-0.029374, theta=0.057453
[19:09:54.731] Odometry x=0.015070, y=-0.029373, theta=0.058667
[19:09:54.741] Odometry x=0.015070, y=-0.029373, theta=0.059436
[19:09:54.747] Init: px average disparity is:34.916719 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:54.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:54.762] Odometry x=0.015451, y=-0.029601, theta=0.060156
[19:09:54.772] Odometry x=0.015451, y=-0.029602, theta=0.061079
[19:09:54.782] Odometry x=0.015451, y=-0.029602, theta=0.062137
[19:09:54.792] Odometry x=0.015451, y=-0.029602, theta=0.063170
[19:09:54.802] Odometry x=0.015451, y=-0.029601, theta=0.064154
[19:09:54.812] Odometry x=0.015450, y=-0.029598, theta=0.065158
[19:09:54.822] Odometry x=0.015450, y=-0.029592, theta=0.066223
[19:09:54.833] Odometry x=0.015450, y=-0.029587, theta=0.067210
[19:09:54.846] Init: px average disparity is:36.532309 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:54.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:54.853] Odometry x=0.015795, y=-0.029819, theta=0.067290
[19:09:54.863] Odometry x=0.015795, y=-0.029819, theta=0.067420
[19:09:54.873] Odometry x=0.015795, y=-0.029821, theta=0.067787
[19:09:54.883] Odometry x=0.015795, y=-0.029822, theta=0.068205
[19:09:54.893] Odometry x=0.015795, y=-0.029826, theta=0.069378
[19:09:54.903] Odometry x=0.015795, y=-0.029830, theta=0.070613
[19:09:54.913] Odometry x=0.015795, y=-0.029832, theta=0.071267
[19:09:54.924] Odometry x=0.015795, y=-0.029832, theta=0.072019
[19:09:54.934] Odometry x=0.015795, y=-0.029833, theta=0.073023
[19:09:54.949] Init: px average disparity is:38.788114 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:54.949] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:54.954] Odometry x=0.006416, y=-0.030050, theta=0.029904
[19:09:54.964] Odometry x=0.006416, y=-0.030049, theta=0.031979
[19:09:54.974] Odometry x=0.006416, y=-0.030047, theta=0.033269
[19:09:54.984] Odometry x=0.006416, y=-0.030044, theta=0.034500
[19:09:54.994] Odometry x=0.006416, y=-0.030042, theta=0.035592
[19:09:55.004] Odometry x=0.006416, y=-0.030042, theta=0.036422
[19:09:55.015] Odometry x=0.006416, y=-0.030042, theta=0.036956
[19:09:55.025] Odometry x=0.006416, y=-0.030042, theta=0.037583
[19:09:55.035] Odometry x=0.006416, y=-0.030042, theta=0.038676
[19:09:55.055] Odometry x=0.006823, y=-0.030202, theta=0.039837
[19:09:55.065] Odometry x=0.006823, y=-0.030203, theta=0.041222
[19:09:55.075] Odometry x=0.006823, y=-0.030203, theta=0.042376
[19:09:55.085] Odometry x=0.006823, y=-0.030203, theta=0.043497
[19:09:55.096] Odometry x=0.006823, y=-0.030203, theta=0.044521
[19:09:55.106] Odometry x=0.006823, y=-0.030203, theta=0.045524
[19:09:55.112] homography: x=332.400180 y=146.134754 z=0.926478 roll=0.000000 pitch=-0.000631 yaw=0.000000 	 ekf: x=0.006823 z=-0.030203 pitch=0.045524
[19:09:55.112] homography after fuse: x=0.006823 y=0.000000 z=-0.030203 pitch=0.045524	 number of outlier: 45
[19:09:55.112] Init: Homography RANSAC (inlier) is:9 ,While 30 inliers minimum required.  px average disparity is:40.582802 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:55.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:55.116] Odometry x=0.006823, y=-0.030203, theta=0.046794
[19:09:55.126] Odometry x=0.006823, y=-0.030203, theta=0.048157
[19:09:55.136] Odometry x=0.006823, y=-0.030203, theta=0.049403
[19:09:55.156] Odometry x=0.007204, y=-0.030395, theta=0.051594
[19:09:55.166] Odometry x=0.007204, y=-0.030395, theta=0.054393
[19:09:55.176] Odometry x=0.007204, y=-0.030395, theta=0.056829
[19:09:55.187] Odometry x=0.007204, y=-0.030395, theta=0.059352
[19:09:55.197] Odometry x=0.007204, y=-0.030395, theta=0.062017
[19:09:55.207] Odometry x=0.007204, y=-0.030395, theta=0.064701
[19:09:55.214] homography: x=384.230578 y=387.283486 z=1.044378 roll=0.000000 pitch=-0.000213 yaw=0.000000 	 ekf: x=0.007204 z=-0.030395 pitch=0.064701
[19:09:55.215] homography after fuse: x=0.007204 y=0.000000 z=-0.030395 pitch=0.064701	 number of outlier: 46
[19:09:55.215] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:43.600471 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:55.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:55.217] Odometry x=0.007204, y=-0.030395, theta=0.067506
[19:09:55.227] Odometry x=0.007204, y=-0.030395, theta=0.070325
[19:09:55.237] Odometry x=0.007204, y=-0.030394, theta=0.072972
[19:09:55.257] Odometry x=0.007587, y=-0.030674, theta=0.074251
[19:09:55.268] Odometry x=0.007587, y=-0.030671, theta=0.075176
[19:09:55.278] Odometry x=0.007587, y=-0.030671, theta=0.075268
[19:09:55.288] Odometry x=0.007587, y=-0.030671, theta=0.075225
[19:09:55.298] Odometry x=0.007587, y=-0.030671, theta=0.074999
[19:09:55.308] Odometry x=0.007587, y=-0.030671, theta=0.074687
[19:09:55.312] homography: x=378.178698 y=386.901826 z=1.042932 roll=0.000000 pitch=-0.000193 yaw=0.000000 	 ekf: x=0.007587 z=-0.030671 pitch=0.074687
[19:09:55.312] homography after fuse: x=0.007587 y=0.000000 z=-0.030671 pitch=0.074687	 number of outlier: 48
[19:09:55.312] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:49.520878 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:55.312] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:55.318] Odometry x=0.007587, y=-0.030671, theta=0.074522
[19:09:55.328] Odometry x=0.007587, y=-0.030671, theta=0.074574
[19:09:55.338] Odometry x=0.007587, y=-0.030671, theta=0.074769
[19:09:55.359] Odometry x=0.007971, y=-0.030958, theta=0.075068
[19:09:55.369] Odometry x=0.007971, y=-0.030958, theta=0.075362
[19:09:55.379] Odometry x=0.007971, y=-0.030957, theta=0.075535
[19:09:55.389] Odometry x=0.007971, y=-0.030957, theta=0.075626
[19:09:55.399] Odometry x=0.007971, y=-0.030957, theta=0.075580
[19:09:55.409] Odometry x=0.007971, y=-0.030957, theta=0.075735
[19:09:55.412] homography: x=378.667742 y=386.283561 z=1.043962 roll=0.000000 pitch=-0.000186 yaw=0.000000 	 ekf: x=0.007971 z=-0.030957 pitch=0.075735
[19:09:55.412] homography after fuse: x=0.007971 y=0.000000 z=-0.030957 pitch=0.075735	 number of outlier: 46
[19:09:55.412] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:49.282249 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:55.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:55.419] Odometry x=0.007971, y=-0.030957, theta=0.076321
[19:09:55.429] Odometry x=0.007971, y=-0.030957, theta=0.076992
[19:09:55.440] Odometry x=0.007971, y=-0.030957, theta=0.077417
[19:09:55.460] Odometry x=0.008357, y=-0.031257, theta=0.077842
[19:09:55.470] Odometry x=0.008357, y=-0.031257, theta=0.078133
[19:09:55.480] Odometry x=0.008357, y=-0.031257, theta=0.078087
[19:09:55.490] Odometry x=0.008357, y=-0.031259, theta=0.078085
[19:09:55.500] Odometry x=0.008357, y=-0.031259, theta=0.078375
[19:09:55.510] Odometry x=0.008357, y=-0.031259, theta=0.079042
[19:09:55.516] homography: x=377.990694 y=385.706035 z=1.042863 roll=0.000000 pitch=-0.000184 yaw=0.000000 	 ekf: x=0.008357 z=-0.031259 pitch=0.079042
[19:09:55.516] homography after fuse: x=0.008357 y=0.000000 z=-0.031259 pitch=0.079042	 number of outlier: 46
[19:09:55.516] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:49.494776 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:55.516] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:55.520] Odometry x=0.008357, y=-0.031259, theta=0.079819
[19:09:55.531] Odometry x=0.008357, y=-0.031257, theta=0.080486
[19:09:55.541] Odometry x=0.008357, y=-0.031255, theta=0.080737
[19:09:55.561] Odometry x=0.008741, y=-0.031564, theta=0.079992
[19:09:55.571] Odometry x=0.008741, y=-0.031564, theta=0.079232
[19:09:55.581] Odometry x=0.008741, y=-0.031564, theta=0.079035
[19:09:55.591] Odometry x=0.008741, y=-0.031565, theta=0.079059
[19:09:55.601] Odometry x=0.008741, y=-0.031567, theta=0.079031
[19:09:55.612] Odometry x=0.008741, y=-0.031569, theta=0.079166
[19:09:55.613] homography: x=378.377733 y=387.386177 z=1.042706 roll=0.000000 pitch=-0.000190 yaw=0.000000 	 ekf: x=0.008741 z=-0.031569 pitch=0.079166
[19:09:55.613] homography after fuse: x=0.008741 y=0.000000 z=-0.031569 pitch=0.079166	 number of outlier: 48
[19:09:55.613] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:49.366439 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:55.613] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:55.622] Odometry x=0.008741, y=-0.031570, theta=0.079668
[19:09:55.632] Odometry x=0.008741, y=-0.031571, theta=0.080369
[19:09:55.652] Odometry x=0.009087, y=-0.031850, theta=0.081320
[19:09:55.662] Odometry x=0.009087, y=-0.031850, theta=0.082507
[19:09:55.672] Odometry x=0.009087, y=-0.031850, theta=0.083382
[19:09:55.682] Odometry x=0.009087, y=-0.031850, theta=0.084063
[19:09:55.692] Odometry x=0.009087, y=-0.031850, theta=0.084685
[19:09:55.703] Odometry x=0.009087, y=-0.031850, theta=0.085266
[19:09:55.713] Odometry x=0.009087, y=-0.031850, theta=0.085775
[19:09:55.716] homography: x=377.415066 y=387.571862 z=1.042465 roll=0.000000 pitch=-0.000185 yaw=0.000000 	 ekf: x=0.009087 z=-0.031850 pitch=0.085775
[19:09:55.716] homography after fuse: x=0.009087 y=0.000000 z=-0.031850 pitch=0.085775	 number of outlier: 48
[19:09:55.716] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:49.573308 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:55.716] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:55.723] Odometry x=0.009087, y=-0.031850, theta=0.086265
[19:09:55.733] Odometry x=0.009087, y=-0.031850, theta=0.086862
[19:09:55.753] Odometry x=0.009472, y=-0.032187, theta=0.087813
[19:09:55.763] Odometry x=0.009472, y=-0.032187, theta=0.089050
[19:09:55.773] Odometry x=0.009472, y=-0.032187, theta=0.090126
[19:09:55.784] Odometry x=0.009472, y=-0.032187, theta=0.091418
[19:09:55.794] Odometry x=0.009472, y=-0.032187, theta=0.092599
[19:09:55.804] Odometry x=0.009472, y=-0.032187, theta=0.093469
[19:09:55.814] Odometry x=0.009472, y=-0.032186, theta=0.094093
[19:09:55.818] homography: x=375.534603 y=385.142661 z=1.042527 roll=0.000000 pitch=-0.000172 yaw=0.000000 	 ekf: x=0.009472 z=-0.032186 pitch=0.094093
[19:09:55.818] homography after fuse: x=0.009472 y=0.000000 z=-0.032186 pitch=0.094093	 number of outlier: 46
[19:09:55.818] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:50.648096 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:55.818] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:55.824] Odometry x=0.009472, y=-0.032185, theta=0.094494
[19:09:55.834] Odometry x=0.009472, y=-0.032184, theta=0.094832
[19:09:55.855] Odometry x=0.009857, y=-0.032550, theta=0.094697
[19:09:55.865] Odometry x=0.009857, y=-0.032550, theta=0.094529
[19:09:55.875] Odometry x=0.009857, y=-0.032550, theta=0.094526
[19:09:55.885] Odometry x=0.009857, y=-0.032550, theta=0.094496
[19:09:55.895] Odometry x=0.009857, y=-0.032550, theta=0.094307
[19:09:55.905] Odometry x=0.009857, y=-0.032551, theta=0.094147
[19:09:55.915] homography: x=421.779490 y=290.984118 z=-3.115538 roll=0.000000 pitch=-0.043694 yaw=0.000000 	 ekf: x=0.009857 z=-0.032551 pitch=0.094147
[19:09:55.915] homography after fuse: x=0.009857 y=0.000000 z=-0.032551 pitch=0.094147	 number of outlier: 48
[19:09:55.915] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:50.982172 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:55.915] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:55.915] Odometry x=0.009857, y=-0.032553, theta=0.094053
[19:09:55.925] Odometry x=0.009857, y=-0.032554, theta=0.094219
[19:09:55.935] Odometry x=0.009857, y=-0.032555, theta=0.094491
[19:09:55.956] Odometry x=0.010241, y=-0.032921, theta=0.095635
[19:09:55.966] Odometry x=0.010241, y=-0.032920, theta=0.096930
[19:09:55.976] Odometry x=0.010242, y=-0.032920, theta=0.098035
[19:09:55.986] Odometry x=0.010242, y=-0.032919, theta=0.099233
[19:09:55.996] Odometry x=0.010242, y=-0.032918, theta=0.100321
[19:09:56.006] Odometry x=0.010242, y=-0.032916, theta=0.101071
[19:09:56.016] Odometry x=0.010242, y=-0.032916, theta=0.101467
[19:09:56.017] homography: x=108.579961 y=276.186402 z=1.321544 roll=-0.000000 pitch=0.001775 yaw=-0.000000 	 ekf: x=0.010242 z=-0.032916 pitch=0.101467
[19:09:56.017] homography after fuse: x=0.010242 y=0.000000 z=-0.032916 pitch=0.101467	 number of outlier: 46
[19:09:56.017] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:51.179237 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:56.017] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:56.027] Odometry x=0.010242, y=-0.032916, theta=0.102182
[19:09:56.037] Odometry x=0.010242, y=-0.032916, theta=0.103322
[19:09:56.057] Odometry x=0.010613, y=-0.033303, theta=0.105173
[19:09:56.067] Odometry x=0.010613, y=-0.033303, theta=0.107327
[19:09:56.077] Odometry x=0.010613, y=-0.033303, theta=0.108908
[19:09:56.087] Odometry x=0.010613, y=-0.033302, theta=0.110460
[19:09:56.097] Odometry x=0.010613, y=-0.033301, theta=0.112033
[19:09:56.107] Odometry x=0.010613, y=-0.033297, theta=0.113651
[19:09:56.111] homography: x=370.844082 y=378.603421 z=1.040619 roll=0.000000 pitch=-0.000143 yaw=0.000000 	 ekf: x=0.010613 z=-0.033297 pitch=0.113651
[19:09:56.111] homography after fuse: x=0.010613 y=0.000000 z=-0.033297 pitch=0.113651	 number of outlier: 48
[19:09:56.111] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:52.629495 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:56.111] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:56.118] Odometry x=0.010613, y=-0.033295, theta=0.114694
[19:09:56.128] Odometry x=0.010613, y=-0.033283, theta=0.115787
[19:09:56.138] Odometry x=0.010614, y=-0.033272, theta=0.116346
[19:09:56.148] Odometry x=0.010614, y=-0.033270, theta=0.116398
[19:09:56.158] Odometry x=0.010614, y=-0.033270, theta=0.116369
[19:09:56.168] Odometry x=0.010614, y=-0.033270, theta=0.116055
[19:09:56.178] Odometry x=0.010614, y=-0.033271, theta=0.115638
[19:09:56.188] Odometry x=0.010614, y=-0.033271, theta=0.115434
[19:09:56.198] Odometry x=0.010614, y=-0.033271, theta=0.115570
[19:09:56.209] Odometry x=0.010614, y=-0.033271, theta=0.115907
[19:09:56.215] homography: x=244.253743 y=212.156043 z=1.365674 roll=-0.000000 pitch=0.007169 yaw=0.000000 	 ekf: x=0.010614 z=-0.033271 pitch=0.115907
[19:09:56.215] homography after fuse: x=0.010614 y=0.000000 z=-0.033271 pitch=0.115907	 number of outlier: 47
[19:09:56.215] Init: Homography RANSAC (inlier) is:7 ,While 30 inliers minimum required.  px average disparity is:52.045866 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:56.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:56.219] Odometry x=0.010614, y=-0.033271, theta=0.116086
[19:09:56.229] Odometry x=0.010615, y=-0.033272, theta=0.116370
[19:09:56.239] Odometry x=0.010615, y=-0.033272, theta=0.116717
[19:09:56.249] Odometry x=0.010615, y=-0.033271, theta=0.116898
[19:09:56.259] Odometry x=0.010615, y=-0.033271, theta=0.117006
[19:09:56.269] Odometry x=0.010615, y=-0.033270, theta=0.117132
[19:09:56.279] Odometry x=0.010615, y=-0.033269, theta=0.117294
[19:09:56.290] Odometry x=0.010615, y=-0.033269, theta=0.117436
[19:09:56.300] Odometry x=0.010615, y=-0.033268, theta=0.117994
[19:09:56.310] Odometry x=0.010615, y=-0.033268, theta=0.118686
[19:09:56.319] homography: x=369.883217 y=378.254045 z=1.040377 roll=0.000000 pitch=-0.000137 yaw=0.000000 	 ekf: x=0.010615 z=-0.033268 pitch=0.118686
[19:09:56.319] homography after fuse: x=0.010615 y=0.000000 z=-0.033268 pitch=0.118686	 number of outlier: 48
[19:09:56.319] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:50.668423 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:56.319] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:56.320] Odometry x=0.010615, y=-0.033268, theta=0.119101
[19:09:56.330] Odometry x=0.010615, y=-0.033268, theta=0.119771
[19:09:56.340] Odometry x=0.010615, y=-0.033268, theta=0.120850
[19:09:56.350] Odometry x=0.010615, y=-0.033267, theta=0.121660
[19:09:56.360] Odometry x=0.010616, y=-0.033267, theta=0.122198
[19:09:56.371] Odometry x=0.010616, y=-0.033266, theta=0.122505
[19:09:56.381] Odometry x=0.010616, y=-0.033257, theta=0.122230
[19:09:56.391] Odometry x=0.010616, y=-0.033252, theta=0.121899
[19:09:56.401] Odometry x=0.010617, y=-0.033245, theta=0.120950
[19:09:56.411] Odometry x=0.010617, y=-0.033240, theta=0.119539
[19:09:56.421] Odometry x=0.010617, y=-0.033238, theta=0.118293
[19:09:56.431] Odometry x=0.010617, y=-0.033237, theta=0.117312
[19:09:56.432] homography: x=368.988996 y=378.012921 z=1.040173 roll=0.000000 pitch=-0.000134 yaw=0.000000 	 ekf: x=0.010617 z=-0.033237 pitch=0.117312
[19:09:56.432] homography after fuse: x=0.010617 y=0.000000 z=-0.033237 pitch=0.117312	 number of outlier: 48
[19:09:56.432] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:50.175601 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:56.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:56.441] Odometry x=0.010617, y=-0.033236, theta=0.116384
[19:09:56.452] Odometry x=0.010617, y=-0.033236, theta=0.115223
[19:09:56.462] Odometry x=0.010617, y=-0.033236, theta=0.113963
[19:09:56.472] Odometry x=0.010617, y=-0.033236, theta=0.113158
[19:09:56.482] Odometry x=0.010617, y=-0.033236, theta=0.112827
[19:09:56.492] Odometry x=0.010618, y=-0.033232, theta=0.112850
[19:09:56.502] Odometry x=0.010618, y=-0.033226, theta=0.112470
[19:09:56.513] Odometry x=0.010618, y=-0.033223, theta=0.111645
[19:09:56.523] Odometry x=0.010618, y=-0.033222, theta=0.110626
[19:09:56.533] Odometry x=0.010618, y=-0.033221, theta=0.109625
[19:09:56.534] homography: x=371.266729 y=378.008680 z=1.039813 roll=0.000000 pitch=-0.000136 yaw=0.000000 	 ekf: x=0.010618 z=-0.033221 pitch=0.109625
[19:09:56.534] homography after fuse: x=0.010618 y=0.000000 z=-0.033221 pitch=0.109625	 number of outlier: 47
[19:09:56.534] Init: Homography RANSAC (inlier) is:7 ,While 30 inliers minimum required.  px average disparity is:46.561698 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:56.534] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:56.543] Odometry x=0.010618, y=-0.033221, theta=0.108889
[19:09:56.553] Odometry x=0.010618, y=-0.033221, theta=0.108288
[19:09:56.563] Odometry x=0.010618, y=-0.033221, theta=0.107739
[19:09:56.573] Odometry x=0.010618, y=-0.033221, theta=0.106939
[19:09:56.583] Odometry x=0.010619, y=-0.033222, theta=0.105910
[19:09:56.594] Odometry x=0.010619, y=-0.033222, theta=0.104950
[19:09:56.604] Odometry x=0.010619, y=-0.033222, theta=0.104187
[19:09:56.614] Odometry x=0.010619, y=-0.033222, theta=0.103442
[19:09:56.624] Odometry x=0.010620, y=-0.033222, theta=0.102447
[19:09:56.634] Odometry x=0.010620, y=-0.033222, theta=0.101211
[19:09:56.637] homography: x=373.020725 y=378.672228 z=1.038952 roll=0.000000 pitch=-0.000143 yaw=0.000000 	 ekf: x=0.010620 z=-0.033222 pitch=0.101211
[19:09:56.637] homography after fuse: x=0.010620 y=0.000000 z=-0.033222 pitch=0.101211	 number of outlier: 46
[19:09:56.637] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:43.235048 ,While minimum is: 40.000000  KLT tracked: 54
[19:09:56.637] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:56.644] Odometry x=0.010621, y=-0.033223, theta=0.099888
[19:09:56.654] Odometry x=0.010622, y=-0.033224, theta=0.098525
[19:09:56.657] Init: px average disparity is:39.714462 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:56.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:56.664] Odometry x=0.004058, y=-0.033224, theta=0.036161
[19:09:56.675] Odometry x=0.004058, y=-0.033224, theta=0.035060
[19:09:56.685] Odometry x=0.004059, y=-0.033224, theta=0.033760
[19:09:56.695] Odometry x=0.004059, y=-0.033223, theta=0.031821
[19:09:56.705] Odometry x=0.004059, y=-0.033223, theta=0.029953
[19:09:56.715] Odometry x=0.004059, y=-0.033223, theta=0.028453
[19:09:56.725] Odometry x=0.004059, y=-0.033223, theta=0.026941
[19:09:56.735] Odometry x=0.004059, y=-0.033223, theta=0.025202
[19:09:56.745] Odometry x=0.004059, y=-0.033222, theta=0.023318
[19:09:56.749] Init: px average disparity is:34.320764 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:56.749] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:56.756] Odometry x=0.004059, y=-0.033222, theta=0.021614
[19:09:56.766] Odometry x=0.004059, y=-0.033222, theta=0.020040
[19:09:56.776] Odometry x=0.004059, y=-0.033222, theta=0.018555
[19:09:56.786] Odometry x=0.004059, y=-0.033221, theta=0.017295
[19:09:56.796] Odometry x=0.004059, y=-0.033221, theta=0.016143
[19:09:56.806] Odometry x=0.004060, y=-0.033221, theta=0.015013
[19:09:56.816] Odometry x=0.004060, y=-0.033221, theta=0.013976
[19:09:56.827] Odometry x=0.004060, y=-0.033220, theta=0.013134
[19:09:56.837] Odometry x=0.004060, y=-0.033219, theta=0.012661
[19:09:56.847] Odometry x=0.004060, y=-0.033219, theta=0.012084
[19:09:56.847] Init: px average disparity is:35.876851 ,While minimum is: 40.000000  KLT tracked : 54
[19:09:56.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:56.857] Odometry x=0.004060, y=-0.033219, theta=0.011098
[19:09:56.867] Odometry x=0.004061, y=-0.033220, theta=0.010350
[19:09:56.877] Odometry x=0.004062, y=-0.033226, theta=0.009459
[19:09:56.887] Odometry x=0.004064, y=-0.033230, theta=0.008809
[19:09:56.897] Odometry x=0.004066, y=-0.033230, theta=0.008705
[19:09:56.908] Odometry x=0.004067, y=-0.033230, theta=0.008965
[19:09:56.918] Odometry x=0.004067, y=-0.033230, theta=0.009222
[19:09:56.928] Odometry x=0.004068, y=-0.033215, theta=0.009219
[19:09:56.938] Odometry x=0.004068, y=-0.033197, theta=0.008974
[19:09:56.945] Init: px average disparity is:32.063054 ,While minimum is: 40.000000  KLT tracked : 53
[19:09:56.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:56.948] Odometry x=0.004068, y=-0.033183, theta=0.008335
[19:09:56.958] Odometry x=0.004068, y=-0.033173, theta=0.007262
[19:09:56.968] Odometry x=0.004068, y=-0.033167, theta=0.005881
[19:09:56.978] Odometry x=0.004068, y=-0.033164, theta=0.004224
[19:09:56.989] Odometry x=0.004068, y=-0.033163, theta=0.002455
[19:09:56.999] Odometry x=0.004061, y=-0.033162, theta=-0.000547
[19:09:57.009] Odometry x=0.004050, y=-0.033167, theta=-0.003088
[19:09:57.019] Odometry x=0.004044, y=-0.033174, theta=-0.004029
[19:09:57.029] Odometry x=0.004042, y=-0.033200, theta=-0.003770
[19:09:57.039] Odometry x=0.004041, y=-0.033224, theta=-0.001771
[19:09:57.049] Init: px average disparity is:32.382502 ,While minimum is: 40.000000  KLT tracked : 53
[19:09:57.049] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:57.049] Odometry x=0.004041, y=-0.033230, theta=0.000135
[19:09:57.059] Odometry x=0.004042, y=-0.033225, theta=0.000884
[19:09:57.070] Odometry x=0.004044, y=-0.033210, theta=0.001154
[19:09:57.080] Odometry x=0.004044, y=-0.033200, theta=0.001336
[19:09:57.090] Odometry x=0.004044, y=-0.033198, theta=0.001583
[19:09:57.100] Odometry x=0.004045, y=-0.033197, theta=0.001927
[19:09:57.110] Odometry x=0.004045, y=-0.033197, theta=0.002296
[19:09:57.120] Odometry x=0.004045, y=-0.033197, theta=0.002650
[19:09:57.130] Odometry x=0.004045, y=-0.033196, theta=0.002963
[19:09:57.140] Odometry x=0.004045, y=-0.033196, theta=0.003254
[19:09:57.147] Init: px average disparity is:32.139511 ,While minimum is: 40.000000  KLT tracked : 53
[19:09:57.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:57.150] Odometry x=0.004045, y=-0.033196, theta=0.003565
[19:09:57.161] Odometry x=0.004046, y=-0.033196, theta=0.003891
[19:09:57.171] Odometry x=0.004046, y=-0.033196, theta=0.004224
[19:09:57.181] Odometry x=0.004046, y=-0.033195, theta=0.004447
[19:09:57.191] Odometry x=0.004046, y=-0.033195, theta=0.004789
[19:09:57.201] Odometry x=0.004046, y=-0.033195, theta=0.005177
[19:09:57.211] Odometry x=0.004046, y=-0.033195, theta=0.005512
[19:09:57.221] Odometry x=0.004047, y=-0.033194, theta=0.005843
[19:09:57.231] Odometry x=0.004047, y=-0.033194, theta=0.006155
[19:09:57.241] Odometry x=0.004047, y=-0.033194, theta=0.006465
[19:09:57.249] Init: px average disparity is:31.549894 ,While minimum is: 40.000000  KLT tracked : 53
[19:09:57.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:57.252] Odometry x=0.004047, y=-0.033194, theta=0.006790
[19:09:57.262] Odometry x=0.004047, y=-0.033194, theta=0.007109
[19:09:57.272] Odometry x=0.004047, y=-0.033194, theta=0.007429
[19:09:57.282] Odometry x=0.004048, y=-0.033193, theta=0.007761
[19:09:57.292] Odometry x=0.004048, y=-0.033193, theta=0.008094
[19:09:57.302] Odometry x=0.004048, y=-0.033193, theta=0.008418
[19:09:57.312] Odometry x=0.004048, y=-0.033193, theta=0.008640
[19:09:57.323] Odometry x=0.004048, y=-0.033193, theta=0.008991
[19:09:57.333] Odometry x=0.004049, y=-0.033193, theta=0.009362
[19:09:57.343] Odometry x=0.004049, y=-0.033192, theta=0.009677
[19:09:57.347] Init: px average disparity is:28.876697 ,While minimum is: 40.000000  KLT tracked : 53
[19:09:57.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:57.353] Odometry x=0.004049, y=-0.033192, theta=0.009984
[19:09:57.363] Odometry x=0.004049, y=-0.033192, theta=0.010310
[19:09:57.373] Odometry x=0.004049, y=-0.033192, theta=0.010640
[19:09:57.383] Odometry x=0.004049, y=-0.033192, theta=0.010962
[19:09:57.394] Odometry x=0.004050, y=-0.033192, theta=0.011287
[19:09:57.404] Odometry x=0.004050, y=-0.033191, theta=0.011610
[19:09:57.414] Odometry x=0.004050, y=-0.033191, theta=0.011838
[19:09:57.424] Odometry x=0.004050, y=-0.033191, theta=0.012187
[19:09:57.434] Odometry x=0.004050, y=-0.033191, theta=0.012567
[19:09:57.444] Odometry x=0.004050, y=-0.033191, theta=0.012882
[19:09:57.448] Init: px average disparity is:31.704469 ,While minimum is: 40.000000  KLT tracked : 53
[19:09:57.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:57.454] Odometry x=0.004051, y=-0.033191, theta=0.013196
[19:09:57.465] Odometry x=0.004051, y=-0.033190, theta=0.013509
[19:09:57.475] Odometry x=0.004051, y=-0.033190, theta=0.013829
[19:09:57.485] Odometry x=0.004051, y=-0.033190, theta=0.014144
[19:09:57.495] Odometry x=0.004051, y=-0.033190, theta=0.014450
[19:09:57.505] Odometry x=0.004051, y=-0.033190, theta=0.014757
[19:09:57.515] Odometry x=0.004052, y=-0.033190, theta=0.015070
[19:09:57.525] Odometry x=0.004052, y=-0.033189, theta=0.015384
[19:09:57.535] Odometry x=0.004052, y=-0.033189, theta=0.015703
[19:09:57.546] Odometry x=0.004052, y=-0.033189, theta=0.016023
[19:09:57.547] Init: px average disparity is:31.603940 ,While minimum is: 40.000000  KLT tracked : 53
[19:09:57.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:57.556] Odometry x=0.004052, y=-0.033189, theta=0.016340
[19:09:57.566] Odometry x=0.004052, y=-0.033189, theta=0.016661
[19:09:57.576] Odometry x=0.004053, y=-0.033189, theta=0.016982
[19:09:57.586] Odometry x=0.004053, y=-0.033189, theta=0.017298
[19:09:57.596] Odometry x=0.004053, y=-0.033188, theta=0.017610
[19:09:57.606] Odometry x=0.004053, y=-0.033188, theta=0.017924
[19:09:57.616] Odometry x=0.004053, y=-0.033188, theta=0.018242
[19:09:57.626] Odometry x=0.004053, y=-0.033188, theta=0.018556
[19:09:57.637] Odometry x=0.004054, y=-0.033188, theta=0.018871
[19:09:57.647] Odometry x=0.004054, y=-0.033188, theta=0.019187
[19:09:57.647] Init: px average disparity is:30.244425 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:57.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:57.657] Odometry x=0.004054, y=-0.033188, theta=0.019504
[19:09:57.667] Odometry x=0.004054, y=-0.033187, theta=0.019816
[19:09:57.677] Odometry x=0.004054, y=-0.033187, theta=0.020136
[19:09:57.687] Odometry x=0.004054, y=-0.033187, theta=0.020459
[19:09:57.697] Odometry x=0.004055, y=-0.033187, theta=0.020794
[19:09:57.707] Odometry x=0.004055, y=-0.033187, theta=0.021121
[19:09:57.718] Odometry x=0.004055, y=-0.033187, theta=0.021437
[19:09:57.728] Odometry x=0.004055, y=-0.033187, theta=0.021762
[19:09:57.738] Odometry x=0.004055, y=-0.033186, theta=0.022086
[19:09:57.747] Init: px average disparity is:29.923458 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:57.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:57.748] Odometry x=0.004055, y=-0.033186, theta=0.022392
[19:09:57.758] Odometry x=0.004056, y=-0.033186, theta=0.022695
[19:09:57.768] Odometry x=0.004056, y=-0.033186, theta=0.023015
[19:09:57.778] Odometry x=0.004056, y=-0.033186, theta=0.023348
[19:09:57.788] Odometry x=0.004056, y=-0.033186, theta=0.023673
[19:09:57.798] Odometry x=0.004056, y=-0.033186, theta=0.023999
[19:09:57.809] Odometry x=0.004056, y=-0.033185, theta=0.024326
[19:09:57.819] Odometry x=0.004057, y=-0.033185, theta=0.024645
[19:09:57.829] Odometry x=0.004057, y=-0.033185, theta=0.024969
[19:09:57.839] Odometry x=0.004057, y=-0.033185, theta=0.025291
[19:09:57.848] Init: px average disparity is:31.732863 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:57.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:57.849] Odometry x=0.004057, y=-0.033185, theta=0.025613
[19:09:57.859] Odometry x=0.004057, y=-0.033185, theta=0.025940
[19:09:57.869] Odometry x=0.004057, y=-0.033184, theta=0.026261
[19:09:57.880] Odometry x=0.004057, y=-0.033184, theta=0.026580
[19:09:57.890] Odometry x=0.004058, y=-0.033184, theta=0.026890
[19:09:57.900] Odometry x=0.004058, y=-0.033184, theta=0.027199
[19:09:57.910] Odometry x=0.004058, y=-0.033184, theta=0.027607
[19:09:57.920] Odometry x=0.004058, y=-0.033184, theta=0.027882
[19:09:57.930] Odometry x=0.004058, y=-0.033183, theta=0.028142
[19:09:57.940] Odometry x=0.004059, y=-0.033183, theta=0.028567
[19:09:57.949] Init: px average disparity is:32.384590 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:57.949] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:57.950] Odometry x=0.004059, y=-0.033183, theta=0.028952
[19:09:57.961] Odometry x=0.004059, y=-0.033183, theta=0.029272
[19:09:57.971] Odometry x=0.004059, y=-0.033183, theta=0.029588
[19:09:57.981] Odometry x=0.004059, y=-0.033183, theta=0.029806
[19:09:57.991] Odometry x=0.004059, y=-0.033183, theta=0.030160
[19:09:58.001] Odometry x=0.004060, y=-0.033182, theta=0.030537
[19:09:58.011] Odometry x=0.004060, y=-0.033182, theta=0.030853
[19:09:58.021] Odometry x=0.004060, y=-0.033182, theta=0.031176
[19:09:58.031] Odometry x=0.004060, y=-0.033182, theta=0.031495
[19:09:58.042] Odometry x=0.004060, y=-0.033182, theta=0.031810
[19:09:58.047] Init: px average disparity is:32.423829 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:58.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:58.052] Odometry x=0.004061, y=-0.033182, theta=0.032124
[19:09:58.062] Odometry x=0.004061, y=-0.033182, theta=0.032442
[19:09:58.072] Odometry x=0.004061, y=-0.033182, theta=0.032763
[19:09:58.082] Odometry x=0.004061, y=-0.033181, theta=0.033085
[19:09:58.092] Odometry x=0.004061, y=-0.033181, theta=0.033407
[19:09:58.102] Odometry x=0.004061, y=-0.033181, theta=0.033730
[19:09:58.112] Odometry x=0.004062, y=-0.033181, theta=0.034049
[19:09:58.123] Odometry x=0.004062, y=-0.033181, theta=0.034368
[19:09:58.133] Odometry x=0.004062, y=-0.033181, theta=0.034681
[19:09:58.143] Odometry x=0.004062, y=-0.033181, theta=0.034993
[19:09:58.148] Init: px average disparity is:32.405232 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:58.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:58.153] Odometry x=0.004062, y=-0.033180, theta=0.035310
[19:09:58.163] Odometry x=0.004062, y=-0.033180, theta=0.035623
[19:09:58.173] Odometry x=0.004062, y=-0.033180, theta=0.035937
[19:09:58.183] Odometry x=0.004063, y=-0.033180, theta=0.036248
[19:09:58.194] Odometry x=0.004063, y=-0.033180, theta=0.036568
[19:09:58.204] Odometry x=0.004063, y=-0.033180, theta=0.036891
[19:09:58.214] Odometry x=0.004063, y=-0.033180, theta=0.037212
[19:09:58.224] Odometry x=0.004063, y=-0.033180, theta=0.037523
[19:09:58.234] Odometry x=0.004063, y=-0.033180, theta=0.037835
[19:09:58.244] Odometry x=0.004064, y=-0.033179, theta=0.038149
[19:09:58.246] Init: px average disparity is:32.439230 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:58.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:58.254] Odometry x=0.004064, y=-0.033179, theta=0.038460
[19:09:58.264] Odometry x=0.004064, y=-0.033179, theta=0.038776
[19:09:58.275] Odometry x=0.004064, y=-0.033179, theta=0.039091
[19:09:58.285] Odometry x=0.004064, y=-0.033179, theta=0.039410
[19:09:58.295] Odometry x=0.004065, y=-0.033179, theta=0.039825
[19:09:58.305] Odometry x=0.004065, y=-0.033179, theta=0.040203
[19:09:58.315] Odometry x=0.004065, y=-0.033178, theta=0.040424
[19:09:58.325] Odometry x=0.004065, y=-0.033178, theta=0.040683
[19:09:58.335] Odometry x=0.004065, y=-0.033178, theta=0.041089
[19:09:58.345] Odometry x=0.004065, y=-0.033178, theta=0.041363
[19:09:58.347] Init: px average disparity is:32.431154 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:58.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:58.355] Odometry x=0.004066, y=-0.033178, theta=0.041717
[19:09:58.366] Odometry x=0.004066, y=-0.033178, theta=0.042095
[19:09:58.376] Odometry x=0.004066, y=-0.033177, theta=0.042415
[19:09:58.386] Odometry x=0.004066, y=-0.033177, theta=0.042731
[19:09:58.396] Odometry x=0.004066, y=-0.033177, theta=0.043043
[19:09:58.406] Odometry x=0.004067, y=-0.033177, theta=0.043356
[19:09:58.416] Odometry x=0.004067, y=-0.033177, theta=0.043671
[19:09:58.426] Odometry x=0.004067, y=-0.033177, theta=0.043982
[19:09:58.436] Odometry x=0.004067, y=-0.033177, theta=0.044295
[19:09:58.447] Odometry x=0.004067, y=-0.033177, theta=0.044606
[19:09:58.447] Init: px average disparity is:31.297368 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:58.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:58.457] Odometry x=0.004067, y=-0.033177, theta=0.044919
[19:09:58.467] Odometry x=0.004068, y=-0.033176, theta=0.045236
[19:09:58.477] Odometry x=0.004068, y=-0.033176, theta=0.045554
[19:09:58.487] Odometry x=0.004068, y=-0.033176, theta=0.045874
[19:09:58.497] Odometry x=0.004068, y=-0.033176, theta=0.046192
[19:09:58.507] Odometry x=0.004068, y=-0.033176, theta=0.046513
[19:09:58.517] Odometry x=0.004068, y=-0.033176, theta=0.046837
[19:09:58.528] Odometry x=0.004068, y=-0.033176, theta=0.047060
[19:09:58.538] Odometry x=0.004069, y=-0.033176, theta=0.047406
[19:09:58.548] Odometry x=0.004069, y=-0.033176, theta=0.047776
[19:09:58.549] Init: px average disparity is:30.411767 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:58.549] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:58.558] Odometry x=0.004069, y=-0.033175, theta=0.048092
[19:09:58.568] Odometry x=0.004069, y=-0.033175, theta=0.048407
[19:09:58.578] Odometry x=0.004069, y=-0.033175, theta=0.048722
[19:09:58.588] Odometry x=0.004070, y=-0.033175, theta=0.049037
[19:09:58.598] Odometry x=0.004070, y=-0.033175, theta=0.049361
[19:09:58.609] Odometry x=0.004070, y=-0.033175, theta=0.049685
[19:09:58.619] Odometry x=0.004070, y=-0.033175, theta=0.049998
[19:09:58.629] Odometry x=0.004070, y=-0.033175, theta=0.050313
[19:09:58.639] Odometry x=0.004070, y=-0.033174, theta=0.050630
[19:09:58.647] Init: px average disparity is:32.455472 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:58.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:58.649] Odometry x=0.004071, y=-0.033174, theta=0.050946
[19:09:58.659] Odometry x=0.004071, y=-0.033174, theta=0.051266
[19:09:58.669] Odometry x=0.004071, y=-0.033174, theta=0.051580
[19:09:58.679] Odometry x=0.004071, y=-0.033174, theta=0.051900
[19:09:58.690] Odometry x=0.004071, y=-0.033174, theta=0.052211
[19:09:58.700] Odometry x=0.004071, y=-0.033174, theta=0.052528
[19:09:58.710] Odometry x=0.004072, y=-0.033174, theta=0.052848
[19:09:58.720] Odometry x=0.004072, y=-0.033174, theta=0.053162
[19:09:58.730] Odometry x=0.004072, y=-0.033173, theta=0.053484
[19:09:58.740] Odometry x=0.004072, y=-0.033173, theta=0.053804
[19:09:58.750] Odometry x=0.004072, y=-0.033173, theta=0.054121
[19:09:58.757] Init: px average disparity is:31.425099 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:58.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:58.760] Odometry x=0.004072, y=-0.033173, theta=0.054546
[19:09:58.771] Odometry x=0.004073, y=-0.033173, theta=0.054923
[19:09:58.781] Odometry x=0.004073, y=-0.033173, theta=0.055136
[19:09:58.791] Odometry x=0.004073, y=-0.033173, theta=0.055508
[19:09:58.801] Odometry x=0.004073, y=-0.033173, theta=0.055903
[19:09:58.811] Odometry x=0.004073, y=-0.033172, theta=0.056231
[19:09:58.821] Odometry x=0.004074, y=-0.033172, theta=0.056591
[19:09:58.831] Odometry x=0.004074, y=-0.033172, theta=0.056938
[19:09:58.842] Odometry x=0.004074, y=-0.033172, theta=0.057158
[19:09:58.846] Init: px average disparity is:31.174095 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:58.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:58.852] Odometry x=0.004074, y=-0.033172, theta=0.057417
[19:09:58.862] Odometry x=0.004074, y=-0.033172, theta=0.057732
[19:09:58.872] Odometry x=0.004074, y=-0.033172, theta=0.058050
[19:09:58.882] Odometry x=0.004075, y=-0.033172, theta=0.058270
[19:09:58.892] Odometry x=0.004075, y=-0.033172, theta=0.058527
[19:09:58.902] Odometry x=0.004075, y=-0.033172, theta=0.058846
[19:09:58.912] Odometry x=0.004075, y=-0.033172, theta=0.059161
[19:09:58.923] Odometry x=0.004075, y=-0.033171, theta=0.059477
[19:09:58.933] Odometry x=0.004075, y=-0.033171, theta=0.059846
[19:09:58.943] Odometry x=0.004076, y=-0.033171, theta=0.060212
[19:09:58.947] Init: px average disparity is:32.447960 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:58.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:58.953] Odometry x=0.004076, y=-0.033171, theta=0.060533
[19:09:58.963] Odometry x=0.004076, y=-0.033171, theta=0.060843
[19:09:58.973] Odometry x=0.004076, y=-0.033171, theta=0.061205
[19:09:58.983] Odometry x=0.004076, y=-0.033171, theta=0.061546
[19:09:58.994] Odometry x=0.004077, y=-0.033171, theta=0.061947
[19:09:59.004] Odometry x=0.004077, y=-0.033171, theta=0.062219
[19:09:59.014] Odometry x=0.004077, y=-0.033170, theta=0.062477
[19:09:59.024] Odometry x=0.004077, y=-0.033170, theta=0.062795
[19:09:59.034] Odometry x=0.004077, y=-0.033170, theta=0.063018
[19:09:59.044] Odometry x=0.004077, y=-0.033170, theta=0.063280
[19:09:59.046] Init: px average disparity is:32.167606 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:59.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:59.054] Odometry x=0.004077, y=-0.033170, theta=0.063503
[19:09:59.064] Odometry x=0.004077, y=-0.033170, theta=0.063778
[19:09:59.075] Odometry x=0.004078, y=-0.033170, theta=0.064115
[19:09:59.085] Odometry x=0.004078, y=-0.033170, theta=0.064362
[19:09:59.095] Odometry x=0.004078, y=-0.033170, theta=0.064633
[19:09:59.105] Odometry x=0.004078, y=-0.033170, theta=0.064955
[19:09:59.115] Odometry x=0.004078, y=-0.033170, theta=0.065362
[19:09:59.125] Odometry x=0.004079, y=-0.033169, theta=0.065787
[19:09:59.135] Odometry x=0.004079, y=-0.033169, theta=0.066328
[19:09:59.145] Odometry x=0.004079, y=-0.033169, theta=0.066676
[19:09:59.147] Init: px average disparity is:30.230542 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:59.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:59.156] Odometry x=0.004079, y=-0.033169, theta=0.066939
[19:09:59.166] Odometry x=0.004080, y=-0.033169, theta=0.067255
[19:09:59.176] Odometry x=0.004080, y=-0.033169, theta=0.067669
[19:09:59.186] Odometry x=0.004080, y=-0.033169, theta=0.068049
[19:09:59.196] Odometry x=0.004080, y=-0.033169, theta=0.068363
[19:09:59.206] Odometry x=0.004080, y=-0.033169, theta=0.068677
[19:09:59.216] Odometry x=0.004081, y=-0.033169, theta=0.068992
[19:09:59.227] Odometry x=0.004081, y=-0.033169, theta=0.069357
[19:09:59.237] Odometry x=0.004081, y=-0.033168, theta=0.069722
[19:09:59.246] Init: px average disparity is:30.311513 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:59.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:59.247] Odometry x=0.004081, y=-0.033168, theta=0.069951
[19:09:59.257] Odometry x=0.004081, y=-0.033168, theta=0.070300
[19:09:59.267] Odometry x=0.004082, y=-0.033168, theta=0.070679
[19:09:59.277] Odometry x=0.004082, y=-0.033168, theta=0.070999
[19:09:59.287] Odometry x=0.004082, y=-0.033168, theta=0.071309
[19:09:59.297] Odometry x=0.004082, y=-0.033168, theta=0.071642
[19:09:59.308] Odometry x=0.004082, y=-0.033168, theta=0.071884
[19:09:59.318] Odometry x=0.004082, y=-0.033168, theta=0.072150
[19:09:59.328] Odometry x=0.004083, y=-0.033168, theta=0.072373
[19:09:59.338] Odometry x=0.004083, y=-0.033168, theta=0.072631
[19:09:59.346] Init: px average disparity is:32.509271 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:59.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:59.348] Odometry x=0.001560, y=-0.033168, theta=0.028053
[19:09:59.358] Odometry x=0.001560, y=-0.033167, theta=0.028362
[19:09:59.368] Odometry x=0.001560, y=-0.033167, theta=0.028677
[19:09:59.378] Odometry x=0.001560, y=-0.033167, theta=0.029033
[19:09:59.389] Odometry x=0.001560, y=-0.033167, theta=0.029373
[19:09:59.399] Odometry x=0.001560, y=-0.033167, theta=0.029687
[19:09:59.409] Odometry x=0.001561, y=-0.033167, theta=0.029998
[19:09:59.419] Odometry x=0.001561, y=-0.033166, theta=0.030368
[19:09:59.429] Odometry x=0.001561, y=-0.033166, theta=0.030714
[19:09:59.439] Odometry x=0.001561, y=-0.033166, theta=0.031050
[19:09:59.447] Init: px average disparity is:32.455401 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:59.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:59.449] Odometry x=0.001561, y=-0.033166, theta=0.031388
[19:09:59.459] Odometry x=0.001562, y=-0.033166, theta=0.031727
[19:09:59.470] Odometry x=0.001562, y=-0.033166, theta=0.032078
[19:09:59.480] Odometry x=0.001562, y=-0.033165, theta=0.032412
[19:09:59.490] Odometry x=0.001562, y=-0.033165, theta=0.032737
[19:09:59.500] Odometry x=0.001562, y=-0.033165, theta=0.033057
[19:09:59.510] Odometry x=0.001562, y=-0.033165, theta=0.033379
[19:09:59.520] Odometry x=0.001563, y=-0.033165, theta=0.033698
[19:09:59.530] Odometry x=0.001563, y=-0.033165, theta=0.034023
[19:09:59.540] Odometry x=0.001563, y=-0.033165, theta=0.034364
[19:09:59.550] Init: px average disparity is:32.475602 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:59.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:59.551] Odometry x=0.001563, y=-0.033164, theta=0.034693
[19:09:59.561] Odometry x=0.001563, y=-0.033164, theta=0.035016
[19:09:59.571] Odometry x=0.001564, y=-0.033164, theta=0.035337
[19:09:59.581] Odometry x=0.001564, y=-0.033164, theta=0.035655
[19:09:59.591] Odometry x=0.001564, y=-0.033164, theta=0.035975
[19:09:59.601] Odometry x=0.001564, y=-0.033164, theta=0.036297
[19:09:59.611] Odometry x=0.001564, y=-0.033164, theta=0.036610
[19:09:59.621] Odometry x=0.001564, y=-0.033163, theta=0.036922
[19:09:59.632] Odometry x=0.001564, y=-0.033163, theta=0.037237
[19:09:59.642] Odometry x=0.001565, y=-0.033163, theta=0.037556
[19:09:59.647] Init: px average disparity is:29.376110 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:59.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:59.652] Odometry x=0.001565, y=-0.033163, theta=0.037869
[19:09:59.662] Odometry x=0.001565, y=-0.033163, theta=0.038188
[19:09:59.672] Odometry x=0.001565, y=-0.033163, theta=0.038511
[19:09:59.682] Odometry x=0.001565, y=-0.033163, theta=0.038833
[19:09:59.692] Odometry x=0.001565, y=-0.033163, theta=0.039151
[19:09:59.702] Odometry x=0.001566, y=-0.033163, theta=0.039476
[19:09:59.713] Odometry x=0.001566, y=-0.033162, theta=0.039797
[19:09:59.723] Odometry x=0.001566, y=-0.033162, theta=0.040116
[19:09:59.733] Odometry x=0.001566, y=-0.033162, theta=0.040435
[19:09:59.743] Odometry x=0.001566, y=-0.033162, theta=0.040747
[19:09:59.747] Init: px average disparity is:32.454232 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:59.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:59.753] Odometry x=0.001566, y=-0.033162, theta=0.041063
[19:09:59.763] Odometry x=0.001567, y=-0.033162, theta=0.041378
[19:09:59.773] Odometry x=0.001567, y=-0.033162, theta=0.041703
[19:09:59.783] Odometry x=0.001567, y=-0.033162, theta=0.042045
[19:09:59.794] Odometry x=0.001567, y=-0.033161, theta=0.042379
[19:09:59.804] Odometry x=0.001567, y=-0.033161, theta=0.042784
[19:09:59.814] Odometry x=0.001568, y=-0.033161, theta=0.043056
[19:09:59.824] Odometry x=0.001568, y=-0.033161, theta=0.043312
[19:09:59.834] Odometry x=0.001568, y=-0.033161, theta=0.043713
[19:09:59.844] Odometry x=0.001568, y=-0.033161, theta=0.043988
[19:09:59.847] Init: px average disparity is:32.111502 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:59.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:59.854] Odometry x=0.001568, y=-0.033160, theta=0.044336
[19:09:59.864] Odometry x=0.001569, y=-0.033160, theta=0.044706
[19:09:59.874] Odometry x=0.001569, y=-0.033160, theta=0.045021
[19:09:59.885] Odometry x=0.001569, y=-0.033160, theta=0.045339
[19:09:59.895] Odometry x=0.001569, y=-0.033160, theta=0.045661
[19:09:59.905] Odometry x=0.001569, y=-0.033160, theta=0.045993
[19:09:59.915] Odometry x=0.001569, y=-0.033160, theta=0.046313
[19:09:59.925] Odometry x=0.001570, y=-0.033160, theta=0.046626
[19:09:59.935] Odometry x=0.001570, y=-0.033160, theta=0.046946
[19:09:59.945] Odometry x=0.001570, y=-0.033160, theta=0.047261
[19:09:59.947] Init: px average disparity is:32.454578 ,While minimum is: 40.000000  KLT tracked : 52
[19:09:59.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:09:59.956] Odometry x=0.001570, y=-0.033159, theta=0.047478
[19:09:59.966] Odometry x=0.001570, y=-0.033159, theta=0.047834
[19:09:59.976] Odometry x=0.001570, y=-0.033159, theta=0.048211
[19:09:59.986] Odometry x=0.001571, y=-0.033159, theta=0.048522
[19:09:59.996] Odometry x=0.001571, y=-0.033159, theta=0.048841
[19:10:00.006] Odometry x=0.001571, y=-0.033159, theta=0.049163
[19:10:00.016] Odometry x=0.001571, y=-0.033159, theta=0.049477
[19:10:00.026] Odometry x=0.001571, y=-0.033159, theta=0.049799
[19:10:00.036] Odometry x=0.001571, y=-0.033158, theta=0.050112
[19:10:00.047] Odometry x=0.001571, y=-0.033158, theta=0.050326
[19:10:00.047] Init: px average disparity is:32.436791 ,While minimum is: 40.000000  KLT tracked : 52
[19:10:00.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:10:00.057] Odometry x=0.001572, y=-0.033158, theta=0.050683
[19:10:00.067] Odometry x=0.001572, y=-0.033158, theta=0.051061
[19:10:00.077] Odometry x=0.001572, y=-0.033158, theta=0.051371
[19:10:00.087] Odometry x=0.001572, y=-0.033158, theta=0.051683
[19:10:00.097] Odometry x=0.001572, y=-0.033158, theta=0.052008
[19:10:00.107] Odometry x=0.001573, y=-0.033158, theta=0.052331
[19:10:00.117] Odometry x=0.001573, y=-0.033157, theta=0.052643
[19:10:00.128] Odometry x=0.001573, y=-0.033157, theta=0.052962
[19:10:00.138] Odometry x=0.001573, y=-0.033157, theta=0.053280
[19:10:00.147] Init: px average disparity is:30.257368 ,While minimum is: 40.000000  KLT tracked : 52
[19:10:00.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:10:00.148] Odometry x=0.001573, y=-0.033157, theta=0.053596
[19:10:00.158] Odometry x=0.001573, y=-0.033157, theta=0.053908
[19:10:00.168] Odometry x=0.001574, y=-0.033157, theta=0.054226
[19:10:00.178] Odometry x=0.001574, y=-0.033157, theta=0.054545
[19:10:00.188] Odometry x=0.001574, y=-0.033157, theta=0.054865
[19:10:00.199] Odometry x=0.001574, y=-0.033157, theta=0.055282
[19:10:00.209] Odometry x=0.001574, y=-0.033157, theta=0.055562
[19:10:00.219] Odometry x=0.001574, y=-0.033156, theta=0.055827
[19:10:00.229] Odometry x=0.001575, y=-0.033156, theta=0.056247
[19:10:00.239] Odometry x=0.001575, y=-0.033156, theta=0.056625
[19:10:00.247] Init: px average disparity is:32.510580 ,While minimum is: 40.000000  KLT tracked : 52
[19:10:00.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:10:00.249] Odometry x=0.001575, y=-0.033156, theta=0.056843
[19:10:00.259] Odometry x=0.001575, y=-0.033156, theta=0.057190
[19:10:00.269] Odometry x=0.001576, y=-0.033156, theta=0.057560
[19:10:00.279] Odometry x=0.001576, y=-0.033156, theta=0.057875
[19:10:00.290] Odometry x=0.001576, y=-0.033156, theta=0.058186
[19:10:00.300] Odometry x=0.001576, y=-0.033155, theta=0.058495
[19:10:00.310] Odometry x=0.001576, y=-0.033155, theta=0.058805
[19:10:00.320] Odometry x=0.001576, y=-0.033155, theta=0.059023
[19:10:00.330] Odometry x=0.001576, y=-0.033155, theta=0.059280
[19:10:00.340] Odometry x=0.001576, y=-0.033155, theta=0.059600
[19:10:00.347] Init: px average disparity is:31.525537 ,While minimum is: 40.000000  KLT tracked : 52
[19:10:00.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:10:00.350] Odometry x=0.001577, y=-0.033155, theta=0.059922
[19:10:00.360] Odometry x=0.001577, y=-0.033155, theta=0.060237
[19:10:00.371] Odometry x=0.001577, y=-0.033155, theta=0.060560
[19:10:00.381] Odometry x=0.001577, y=-0.033155, theta=0.060878
[19:10:00.391] Odometry x=0.001577, y=-0.033154, theta=0.061188
[19:10:00.401] Odometry x=0.001577, y=-0.033154, theta=0.061517
[19:10:00.411] Odometry x=0.001578, y=-0.033154, theta=0.061851
[19:10:00.421] Odometry x=0.001578, y=-0.033154, theta=0.062185
[19:10:00.431] Odometry x=0.001578, y=-0.033154, theta=0.062503
[19:10:00.442] Odometry x=0.001578, y=-0.033154, theta=0.062824
[19:10:00.447] Init: px average disparity is:32.481744 ,While minimum is: 40.000000  KLT tracked : 52
[19:10:00.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:10:00.452] Odometry x=0.001578, y=-0.033154, theta=0.063146
[19:10:00.462] Odometry x=0.001579, y=-0.033154, theta=0.063466
[19:10:00.472] Odometry x=0.001579, y=-0.033154, theta=0.063793
[19:10:00.482] Odometry x=0.001579, y=-0.033153, theta=0.064116
[19:10:00.492] Odometry x=0.001579, y=-0.033153, theta=0.064427
[19:10:00.502] Odometry x=0.001579, y=-0.033153, theta=0.064758
[19:10:00.512] Odometry x=0.001579, y=-0.033153, theta=0.065096
[19:10:00.523] Odometry x=0.001580, y=-0.033153, theta=0.065418
[19:10:00.533] Odometry x=0.001580, y=-0.033153, theta=0.065748
[19:10:00.543] Odometry x=0.001580, y=-0.033153, theta=0.066068
[19:10:00.548] Init: px average disparity is:32.092461 ,While minimum is: 40.000000  KLT tracked : 52
[19:10:00.548] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:10:00.553] Odometry x=0.001580, y=-0.033153, theta=0.066385
[19:10:00.563] Odometry x=0.001580, y=-0.033153, theta=0.066604
[19:10:00.573] Odometry x=0.001580, y=-0.033153, theta=0.066957
[19:10:00.583] Odometry x=0.001581, y=-0.033152, theta=0.067329
[19:10:00.593] Odometry x=0.001581, y=-0.033152, theta=0.067643
[19:10:00.604] Odometry x=0.001581, y=-0.033152, theta=0.067981
[19:10:00.614] Odometry x=0.001581, y=-0.033152, theta=0.068321
[19:10:00.624] Odometry x=0.001581, y=-0.033152, theta=0.068638
[19:10:00.634] Odometry x=0.001581, y=-0.033152, theta=0.068973
[19:10:00.644] Odometry x=0.001582, y=-0.033152, theta=0.069308
[19:10:00.647] Init: px average disparity is:30.502346 ,While minimum is: 40.000000  KLT tracked : 52
[19:10:00.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:10:00.654] Odometry x=0.001582, y=-0.033152, theta=0.069633
[19:10:00.664] Odometry x=0.001582, y=-0.033152, theta=0.069947
[19:10:00.675] Odometry x=0.001582, y=-0.033152, theta=0.070259
[19:10:00.685] Odometry x=0.001582, y=-0.033151, theta=0.070571
[19:10:00.695] Odometry x=0.001582, y=-0.033151, theta=0.070891
[19:10:00.705] Odometry x=0.001583, y=-0.033151, theta=0.071209
[19:10:00.715] Odometry x=0.001583, y=-0.033151, theta=0.071513
[19:10:00.725] Odometry x=0.001583, y=-0.033151, theta=0.071825
[19:10:00.735] Odometry x=0.001583, y=-0.033151, theta=0.072174
[19:10:00.746] Odometry x=0.001583, y=-0.033151, theta=0.072507
[19:10:00.747] Init: px average disparity is:32.505400 ,While minimum is: 40.000000  KLT tracked : 52
[19:10:00.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:10:00.756] Odometry x=0.000605, y=-0.033151, theta=0.028008
[19:10:00.766] Odometry x=0.000605, y=-0.033151, theta=0.028315
[19:10:00.776] Odometry x=0.000605, y=-0.033151, theta=0.028625
[19:10:00.786] Odometry x=0.000605, y=-0.033150, theta=0.028941
[19:10:00.796] Odometry x=0.000606, y=-0.033150, theta=0.029258
[19:10:00.806] Odometry x=0.000606, y=-0.033150, theta=0.029586
[19:10:00.816] Odometry x=0.000606, y=-0.033150, theta=0.029907
[19:10:00.826] Odometry x=0.000606, y=-0.033150, theta=0.030217
[19:10:00.837] Odometry x=0.000606, y=-0.033150, theta=0.030532
[19:10:00.847] Odometry x=0.000606, y=-0.033150, theta=0.030845
[19:10:00.848] Init: px average disparity is:32.471070 ,While minimum is: 40.000000  KLT tracked : 52
[19:10:00.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:10:00.857] Odometry x=0.000607, y=-0.033149, theta=0.031161
[19:10:00.867] Odometry x=0.000607, y=-0.033149, theta=0.031479
[19:10:00.877] Odometry x=0.000607, y=-0.033149, theta=0.031798
[19:10:00.887] Odometry x=0.000607, y=-0.033149, theta=0.032111
[19:10:00.898] Odometry x=0.000607, y=-0.033149, theta=0.032424
[19:10:00.908] Odometry x=0.000607, y=-0.033149, theta=0.032738
[19:10:00.918] Odometry x=0.000608, y=-0.033149, theta=0.033044
[19:10:00.928] Odometry x=0.000608, y=-0.033148, theta=0.033360
[19:10:00.938] Odometry x=0.000608, y=-0.033148, theta=0.033678
[19:10:00.947] Init: px average disparity is:32.500865 ,While minimum is: 40.000000  KLT tracked : 52
[19:10:00.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:10:00.948] Odometry x=0.000608, y=-0.033148, theta=0.033992
[19:10:00.958] Odometry x=0.000608, y=-0.033148, theta=0.034309
[19:10:00.968] Odometry x=0.000608, y=-0.033148, theta=0.034634
[19:10:00.979] Odometry x=0.000608, y=-0.033148, theta=0.034960
[19:10:00.989] Odometry x=0.000609, y=-0.033148, theta=0.035278
[19:10:00.999] Odometry x=0.000609, y=-0.033147, theta=0.035691
[19:10:01.009] Odometry x=0.000609, y=-0.033147, theta=0.036068
[19:10:01.019] Odometry x=0.000609, y=-0.033147, theta=0.036285
[19:10:01.029] Odometry x=0.000609, y=-0.033147, theta=0.036633
[19:10:01.039] Odometry x=0.000610, y=-0.033147, theta=0.036999
[19:10:01.048] Init: px average disparity is:29.110303 ,While minimum is: 40.000000  KLT tracked : 52
[19:10:01.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:10:01.049] Odometry x=0.000610, y=-0.033146, theta=0.037313
[19:10:01.060] Odometry x=0.000610, y=-0.033146, theta=0.037631
[19:10:01.070] Odometry x=0.000610, y=-0.033146, theta=0.037947
[19:10:01.080] Odometry x=0.000610, y=-0.033146, theta=0.038253
[19:10:01.090] Odometry x=0.000610, y=-0.033146, theta=0.038558
[19:10:01.100] Odometry x=0.000611, y=-0.033146, theta=0.038875
[19:10:01.110] Odometry x=0.000611, y=-0.033146, theta=0.039185
[19:10:01.120] Odometry x=0.000611, y=-0.033145, theta=0.039492
[19:10:01.132] Odometry x=0.000611, y=-0.033145, theta=0.039801
[19:10:01.142] Odometry x=0.000611, y=-0.033145, theta=0.040115
[19:10:01.147] Init: px average disparity is:31.851712 ,While minimum is: 40.000000  KLT tracked : 52
[19:10:01.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:10:01.152] Odometry x=0.000611, y=-0.033145, theta=0.040436
[19:10:01.162] Odometry x=0.000612, y=-0.033145, theta=0.040751
[19:10:01.172] Odometry x=0.000612, y=-0.033145, theta=0.040962
[19:10:01.182] Odometry x=0.000612, y=-0.033145, theta=0.041310
[19:10:01.192] Odometry x=0.000612, y=-0.033145, theta=0.041680
[19:10:01.202] Odometry x=0.000612, y=-0.033144, theta=0.041997
[19:10:01.213] Odometry x=0.000612, y=-0.033144, theta=0.042314
[19:10:01.223] Odometry x=0.000613, y=-0.033144, theta=0.042530
[19:10:01.233] Odometry x=0.000613, y=-0.033144, theta=0.042684
[19:10:01.243] Odometry x=0.000613, y=-0.033144, theta=0.042843
[19:10:01.253] Odometry x=0.000613, y=-0.033144, theta=0.042999
[19:10:01.263] Odometry x=0.000613, y=-0.033144, theta=0.043156
[19:10:01.273] Odometry x=0.000613, y=-0.033144, theta=0.043314
[19:10:01.284] Odometry x=0.000613, y=-0.033144, theta=0.043471
[19:10:01.294] Odometry x=0.000613, y=-0.033144, theta=0.043629
[19:10:01.304] Odometry x=0.000613, y=-0.033144, theta=0.043785
