[21:39:29.283] Init: frame zero: 0.000000, 0.000000 0.000000
[21:39:29.284] Init: Selected first frame. 
[21:39:29.387] Init: px average disparity is:0.089606 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:29.387] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:29.483] Init: px average disparity is:0.105212 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:29.483] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:29.580] Init: px average disparity is:0.095069 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:29.580] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:29.681] Init: px average disparity is:0.119968 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:29.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:29.781] Init: px average disparity is:0.101155 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:29.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:29.879] Init: px average disparity is:0.108525 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:29.879] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:29.981] Init: px average disparity is:0.167673 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:29.981] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:30.083] Init: px average disparity is:0.142985 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:30.083] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:30.179] Init: px average disparity is:0.100914 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:30.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:30.279] Init: px average disparity is:0.137062 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:30.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:30.380] Init: px average disparity is:0.225555 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:30.380] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:30.479] Init: px average disparity is:0.184509 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:30.479] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:30.581] Init: px average disparity is:0.164003 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:30.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:30.679] Init: px average disparity is:0.285741 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:30.679] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:30.779] Init: px average disparity is:0.217617 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:30.779] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:30.879] Init: px average disparity is:0.245696 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:30.879] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:30.980] Init: px average disparity is:0.167323 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:30.980] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:31.079] Init: px average disparity is:0.128723 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:31.079] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:31.182] Init: px average disparity is:0.157470 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:31.182] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:31.279] Init: px average disparity is:0.175366 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:31.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:31.379] Init: px average disparity is:0.226746 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:31.379] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:31.482] Init: px average disparity is:0.204086 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:31.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:31.580] Init: px average disparity is:0.218523 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:31.580] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:31.654] Odometry x=0.000011, y=-0.000001, theta=0.072199
[21:39:31.678] Init: px average disparity is:0.231696 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:31.678] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:31.759] Odometry x=0.000005, y=-0.000001, theta=0.032797
[21:39:31.780] Init: px average disparity is:0.164205 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:31.780] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:31.860] Odometry x=-0.000117, y=0.003988, theta=0.026342
[21:39:31.880] Init: px average disparity is:4.193877 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:31.880] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:31.958] Odometry x=-0.000212, y=0.008069, theta=0.033683
[21:39:31.980] Init: px average disparity is:2.653318 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:31.980] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:32.052] Odometry x=-0.000339, y=0.011888, theta=0.037595
[21:39:32.080] Init: px average disparity is:2.768963 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:32.080] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:32.152] Odometry x=-0.000473, y=0.015532, theta=0.045868
[21:39:32.180] Init: px average disparity is:2.789828 ,While minimum is: 40.000000  KLT tracked : 122
[21:39:32.180] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:32.253] Odometry x=-0.000637, y=0.019347, theta=0.050545
[21:39:32.280] Init: px average disparity is:2.885281 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:32.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:32.355] Odometry x=-0.000826, y=0.023179, theta=0.049358
[21:39:32.380] Init: px average disparity is:7.404709 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:32.380] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:32.456] Odometry x=-0.001014, y=0.027046, theta=0.054840
[21:39:32.481] Init: px average disparity is:10.769692 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:32.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:32.555] Odometry x=-0.001220, y=0.030864, theta=0.064348
[21:39:32.583] Init: px average disparity is:10.490100 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:32.583] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:32.653] Odometry x=-0.001463, y=0.034694, theta=0.069658
[21:39:32.680] Init: px average disparity is:12.935331 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:32.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:32.754] Odometry x=-0.000714, y=0.038275, theta=0.035275
[21:39:32.781] Init: px average disparity is:15.288791 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:32.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:32.855] Odometry x=-0.000848, y=0.042202, theta=0.044865
[21:39:32.880] Init: px average disparity is:16.527852 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:32.880] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:32.957] Odometry x=-0.001016, y=0.046057, theta=0.052724
[21:39:32.982] Init: px average disparity is:15.003058 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:32.982] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:33.056] Odometry x=-0.001221, y=0.050023, theta=0.060008
[21:39:33.081] Init: px average disparity is:13.453941 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:33.081] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:33.153] Odometry x=-0.001451, y=0.053883, theta=0.061922
[21:39:33.181] Init: px average disparity is:14.831306 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:33.181] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:33.255] Odometry x=-0.001676, y=0.057615, theta=0.073439
[21:39:33.281] Init: px average disparity is:14.917130 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:33.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:33.358] Odometry x=-0.000818, y=0.061427, theta=0.033246
[21:39:33.383] Init: px average disparity is:14.671338 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:33.383] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:33.452] Odometry x=-0.000946, y=0.065312, theta=0.030631
[21:39:33.481] Init: px average disparity is:11.881741 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:33.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:33.559] Odometry x=-0.001061, y=0.068975, theta=0.018965
[21:39:33.581] Init: px average disparity is:9.779747 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:33.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:33.656] Odometry x=-0.001141, y=0.073018, theta=0.012179
[21:39:33.681] Init: px average disparity is:7.437588 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:33.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:33.753] Odometry x=-0.001187, y=0.076692, theta=0.004310
[21:39:33.781] Init: px average disparity is:8.706342 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:33.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:33.859] Odometry x=-0.001205, y=0.080543, theta=-0.002453
[21:39:33.881] Init: px average disparity is:8.565798 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:33.881] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:33.956] Odometry x=-0.001193, y=0.084400, theta=0.008314
[21:39:33.983] Init: px average disparity is:8.341170 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:33.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:34.060] Odometry x=-0.001224, y=0.088267, theta=0.014455
[21:39:34.084] Init: px average disparity is:6.813993 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:34.084] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:34.157] Odometry x=-0.001275, y=0.092125, theta=0.015379
[21:39:34.181] Init: px average disparity is:8.327341 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:34.181] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:34.255] Odometry x=-0.001333, y=0.095956, theta=0.019085
[21:39:34.281] Init: px average disparity is:9.810968 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:34.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:34.357] Odometry x=-0.001401, y=0.099603, theta=0.025464
[21:39:34.382] Init: px average disparity is:10.279895 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:34.382] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:34.457] Odometry x=-0.001498, y=0.103509, theta=0.028020
[21:39:34.482] Init: px average disparity is:10.828600 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:34.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:34.555] Odometry x=-0.001607, y=0.107377, theta=0.033901
[21:39:34.582] Init: px average disparity is:11.515268 ,While minimum is: 40.000000  KLT tracked : 121
[21:39:34.582] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:34.658] Odometry x=-0.001732, y=0.111207, theta=0.052287
[21:39:34.681] Init: px average disparity is:13.448482 ,While minimum is: 40.000000  KLT tracked : 120
[21:39:34.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:34.755] Odometry x=-0.001928, y=0.115049, theta=0.062920
[21:39:34.785] Init: px average disparity is:15.239249 ,While minimum is: 40.000000  KLT tracked : 120
[21:39:34.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:34.857] Odometry x=-0.002169, y=0.118937, theta=0.073473
[21:39:34.881] Init: px average disparity is:16.323800 ,While minimum is: 40.000000  KLT tracked : 120
[21:39:34.881] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:34.956] Odometry x=-0.001022, y=0.122752, theta=0.039509
[21:39:34.985] Init: px average disparity is:17.417716 ,While minimum is: 40.000000  KLT tracked : 120
[21:39:34.985] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:35.055] Odometry x=-0.001168, y=0.126474, theta=0.036258
[21:39:35.080] Init: px average disparity is:15.836590 ,While minimum is: 40.000000  KLT tracked : 118
[21:39:35.080] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:35.154] Odometry x=-0.001310, y=0.130257, theta=0.026603
[21:39:35.181] Init: px average disparity is:13.862680 ,While minimum is: 40.000000  KLT tracked : 118
[21:39:35.181] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:35.254] Odometry x=-0.001418, y=0.134120, theta=0.027515
[21:39:35.280] Init: px average disparity is:13.022936 ,While minimum is: 40.000000  KLT tracked : 118
[21:39:35.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:35.357] Odometry x=-0.001523, y=0.137939, theta=0.023419
[21:39:35.380] Init: px average disparity is:12.942950 ,While minimum is: 40.000000  KLT tracked : 118
[21:39:35.380] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:35.452] Odometry x=-0.001616, y=0.141808, theta=0.017006
[21:39:35.480] Init: px average disparity is:10.524080 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:35.480] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:35.553] Odometry x=-0.001678, y=0.145470, theta=0.010318
[21:39:35.581] Init: px average disparity is:10.533113 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:35.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:35.655] Odometry x=-0.001720, y=0.149158, theta=0.004430
[21:39:35.680] Init: px average disparity is:12.025748 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:35.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:35.758] Odometry x=-0.001741, y=0.153394, theta=0.004574
[21:39:35.785] Init: px average disparity is:12.489039 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:35.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:35.862] Odometry x=-0.001758, y=0.157239, theta=0.016238
[21:39:35.886] Init: px average disparity is:12.005171 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:35.886] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:35.951] Odometry x=-0.001828, y=0.161298, theta=0.016730
[21:39:35.986] Init: px average disparity is:11.501170 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:35.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:36.061] Odometry x=-0.001885, y=0.164743, theta=0.028343
[21:39:36.087] Init: px average disparity is:11.650812 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:36.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:36.158] Odometry x=-0.002005, y=0.168989, theta=0.032280
[21:39:36.180] Init: px average disparity is:11.523723 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:36.180] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:36.256] Odometry x=-0.002118, y=0.172616, theta=0.042909
[21:39:36.287] Init: px average disparity is:11.816345 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:36.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:36.359] Odometry x=-0.002280, y=0.176432, theta=0.048758
[21:39:36.384] Init: px average disparity is:13.315763 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:36.384] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:36.455] Odometry x=-0.002462, y=0.180255, theta=0.060861
[21:39:36.482] Init: px average disparity is:14.446698 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:36.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:36.553] Odometry x=-0.002694, y=0.184095, theta=0.068187
[21:39:36.581] Init: px average disparity is:16.818563 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:36.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:36.656] Odometry x=-0.001226, y=0.187749, theta=0.042152
[21:39:36.680] Init: px average disparity is:19.972147 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:36.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:36.756] Odometry x=-0.001385, y=0.191607, theta=0.050379
[21:39:36.780] Init: px average disparity is:20.905971 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:36.780] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:36.853] Odometry x=-0.001578, y=0.195442, theta=0.050114
[21:39:36.881] Init: px average disparity is:19.965992 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:36.881] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:36.958] Odometry x=-0.001770, y=0.199281, theta=0.043472
[21:39:36.981] Init: px average disparity is:19.918059 ,While minimum is: 40.000000  KLT tracked : 117
[21:39:36.981] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:37.054] Odometry x=-0.001938, y=0.203134, theta=0.040158
[21:39:37.080] Init: px average disparity is:16.556764 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:37.081] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:37.156] Odometry x=-0.002092, y=0.206969, theta=0.031391
[21:39:37.180] Init: px average disparity is:15.774993 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:37.180] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:37.258] Odometry x=-0.002213, y=0.210789, theta=0.027485
[21:39:37.280] Init: px average disparity is:15.020212 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:37.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:37.356] Odometry x=-0.002319, y=0.214629, theta=0.022149
[21:39:37.381] Init: px average disparity is:15.339316 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:37.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:37.458] Odometry x=-0.002406, y=0.218481, theta=0.018961
[21:39:37.484] Init: px average disparity is:15.606256 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:37.484] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:37.555] Odometry x=-0.002483, y=0.222340, theta=0.023063
[21:39:37.581] Init: px average disparity is:15.669153 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:37.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:37.658] Odometry x=-0.002568, y=0.226171, theta=0.029651
[21:39:37.681] Init: px average disparity is:15.796326 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:37.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:37.756] Odometry x=-0.002685, y=0.230025, theta=0.033060
[21:39:37.782] Init: px average disparity is:16.064554 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:37.782] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:37.867] Odometry x=-0.002811, y=0.233898, theta=0.041532
[21:39:37.886] Init: px average disparity is:15.729016 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:37.886] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:37.958] Odometry x=-0.002979, y=0.237907, theta=0.046206
[21:39:37.981] Init: px average disparity is:17.198640 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:37.981] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:38.055] Odometry x=-0.003144, y=0.241528, theta=0.054050
[21:39:38.081] Init: px average disparity is:17.306524 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:38.081] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:38.151] Odometry x=-0.003344, y=0.245189, theta=0.062087
[21:39:38.181] Init: px average disparity is:18.840760 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:38.181] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:38.257] Odometry x=-0.003578, y=0.249023, theta=0.076250
[21:39:38.281] Init: px average disparity is:19.993222 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:38.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:38.356] Odometry x=-0.001627, y=0.253074, theta=0.033735
[21:39:38.382] Init: px average disparity is:20.889143 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:38.382] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:38.458] Odometry x=-0.001751, y=0.256839, theta=0.046225
[21:39:38.486] Init: px average disparity is:22.539122 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:38.486] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:38.558] Odometry x=-0.001926, y=0.260659, theta=0.051625
[21:39:38.586] Init: px average disparity is:23.375391 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:38.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:38.656] Odometry x=-0.002124, y=0.264485, theta=0.053548
[21:39:38.682] Init: px average disparity is:25.215557 ,While minimum is: 40.000000  KLT tracked : 116
[21:39:38.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:38.759] Odometry x=-0.002331, y=0.268316, theta=0.056954
[21:39:38.782] Init: px average disparity is:22.485969 ,While minimum is: 40.000000  KLT tracked : 114
[21:39:38.782] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:38.857] Odometry x=-0.002549, y=0.272161, theta=0.063114
[21:39:38.884] Init: px average disparity is:24.063670 ,While minimum is: 40.000000  KLT tracked : 114
[21:39:38.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:38.954] Odometry x=-0.002791, y=0.275995, theta=0.058581
[21:39:38.983] Init: px average disparity is:22.469277 ,While minimum is: 40.000000  KLT tracked : 114
[21:39:38.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:39.057] Odometry x=-0.003020, y=0.279846, theta=0.051019
[21:39:39.090] Init: px average disparity is:20.982096 ,While minimum is: 40.000000  KLT tracked : 114
[21:39:39.090] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:39.157] Odometry x=-0.003217, y=0.283660, theta=0.045555
[21:39:39.182] Init: px average disparity is:20.538068 ,While minimum is: 40.000000  KLT tracked : 113
[21:39:39.182] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:39.255] Odometry x=-0.003392, y=0.287502, theta=0.043014
[21:39:39.289] Init: px average disparity is:19.419463 ,While minimum is: 40.000000  KLT tracked : 113
[21:39:39.290] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:39.358] Odometry x=-0.003561, y=0.291334, theta=0.037397
[21:39:39.390] Init: px average disparity is:20.056292 ,While minimum is: 40.000000  KLT tracked : 113
[21:39:39.390] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:39.456] Odometry x=-0.003705, y=0.295159, theta=0.034792
[21:39:39.485] Init: px average disparity is:20.509527 ,While minimum is: 40.000000  KLT tracked : 112
[21:39:39.485] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:39.558] Odometry x=-0.003841, y=0.298982, theta=0.032268
[21:39:39.583] Init: px average disparity is:21.823044 ,While minimum is: 40.000000  KLT tracked : 112
[21:39:39.583] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:39.657] Odometry x=-0.003965, y=0.302841, theta=0.041815
[21:39:39.682] Init: px average disparity is:23.663051 ,While minimum is: 40.000000  KLT tracked : 112
[21:39:39.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:39.757] Odometry x=-0.004125, y=0.306662, theta=0.053106
[21:39:39.789] Init: px average disparity is:23.278788 ,While minimum is: 40.000000  KLT tracked : 108
[21:39:39.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:39.856] Odometry x=-0.004327, y=0.310489, theta=0.056596
[21:39:39.892] Init: px average disparity is:24.762939 ,While minimum is: 40.000000  KLT tracked : 108
[21:39:39.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:39.959] Odometry x=-0.004543, y=0.314312, theta=0.065009
[21:39:39.990] Init: px average disparity is:28.279624 ,While minimum is: 40.000000  KLT tracked : 108
[21:39:39.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:40.211] Odometry x=-0.004815, y=0.318643, theta=0.088721
[21:39:40.219] Init: px average disparity is:30.044975 ,While minimum is: 40.000000  KLT tracked : 107
[21:39:40.219] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:40.235] Init: px average disparity is:31.407985 ,While minimum is: 40.000000  KLT tracked : 106
[21:39:40.235] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:40.257] Odometry x=-0.002352, y=0.328360, theta=0.033897
[21:39:40.282] Init: px average disparity is:29.628166 ,While minimum is: 40.000000  KLT tracked : 106
[21:39:40.282] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:40.358] Odometry x=-0.002441, y=0.330105, theta=0.027532
[21:39:40.394] Init: px average disparity is:30.110059 ,While minimum is: 40.000000  KLT tracked : 104
[21:39:40.394] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:40.452] Odometry x=-0.002545, y=0.333960, theta=0.030295
[21:39:40.551] Odometry x=-0.002659, y=0.337671, theta=0.033994
[21:39:40.564] Init: Homography RANSAC (inlier) is:0 ,While 20 inliers minimum required.  px average disparity is:44.316105 ,While minimum is: 40.000000  KLT tracked: 104
[21:39:40.564] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[21:39:40.647] Init finished: Homography RANSAC (inlier) is:25 ,While 20 inliers minimum required.  px average disparity is:73.212000 ,While minimum is: 40.000000  KLT tracked: 101
[21:39:40.647] Init: distance between the first and current frame is x:-0.002789 ,z=0.341520,angle between two frames: 0.037218 
[21:39:40.650] Init: Selected Second frame. 	 The number of features: 25 depth mean:-1.299803 min:-1.829622
[21:39:40.655] Odometry x=-0.002790, y=0.341521, theta=0.037194
[21:39:40.757] Odometry x=-0.002935, y=0.345421, theta=0.038405
[21:39:40.840] After Reprojection Map nPoint:23 ,nCell:21 ,nMatches:3 ,distance between two frames x:-0.000936 ,z=0.004911,angle between two frames:0.001448
[21:39:40.841] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.334974 	 error end=0.219032
[21:39:40.841] After pose optimization, distance between two frames x:0.115726 ,z=-0.002256,angle between two frames:0.068652
[21:39:40.855] Odometry x=-0.003088, y=0.349405, theta=0.034994
[21:39:40.988] Odometry x=-0.003247, y=0.353866, theta=0.029398
[21:39:40.993] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between two frames x:0.000331 ,z=-0.000093,angle between two frames:0.000101
[21:39:40.997] Image Alignment failed 0
[21:39:41.060] Odometry x=-0.003404, y=0.358988, theta=0.028836
[21:39:41.069] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000155 ,z=0.005089,angle between two frames:0.000502
[21:39:41.076] Image Alignment failed 0
[21:39:41.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.000268
[21:39:41.156] Odometry x=-0.003483, y=0.361715, theta=0.024861
[21:39:41.178] Image Alignment failed 0
[21:39:41.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000093 ,z=0.003698,angle between two frames:0.001039
[21:39:41.257] Odometry x=-0.003576, y=0.365449, theta=0.021500
[21:39:41.277] Image Alignment failed 0
[21:39:41.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000081 ,z=0.003823,angle between two frames:0.000971
[21:39:41.356] Odometry x=-0.003658, y=0.369290, theta=0.026029
[21:39:41.376] Image Alignment failed 0
[21:39:41.448] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000098 ,z=0.003863,angle between two frames:0.001964
[21:39:41.456] Odometry x=-0.003757, y=0.373171, theta=0.032412
[21:39:41.476] Image Alignment failed 0
[21:39:41.548] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000123 ,z=0.003822,angle between two frames:0.001764
[21:39:41.615] Image Alignment failed 0
[21:39:41.616] Odometry x=-0.003855, y=0.377064, theta=0.039240
[21:39:41.657] Odometry x=-0.004074, y=0.383169, theta=0.044652
[21:39:41.687] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000025 ,z=0.000071,angle between two frames:0.005507
[21:39:41.692] Image Alignment failed 0
[21:39:41.756] Odometry x=-0.004142, y=0.384693, theta=0.047864
[21:39:41.763] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000318
[21:39:41.777] Image Alignment failed 0
[21:39:41.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000005,angle between two frames:0.001141
[21:39:41.851] Odometry x=-0.004315, y=0.388379, theta=0.055920
[21:39:41.880] Image Alignment failed 0
[21:39:41.956] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000212 ,z=0.003781,angle between two frames:0.000319
[21:39:41.956] Odometry x=-0.004527, y=0.392163, theta=0.057614
[21:39:41.977] Image Alignment failed 0
[21:39:42.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000229 ,z=0.004008,angle between two frames:0.001878
[21:39:42.057] Odometry x=-0.004758, y=0.396198, theta=0.064931
[21:39:42.077] Image Alignment failed 0
[21:39:42.148] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000247 ,z=0.003816,angle between two frames:0.001283
[21:39:42.158] Odometry x=-0.005006, y=0.400022, theta=0.075801
[21:39:42.177] Image Alignment failed 0
[21:39:42.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000286 ,z=0.003813,angle between two frames:0.004371
[21:39:42.259] Odometry x=-0.005290, y=0.403849, theta=0.085795
[21:39:42.276] Image Alignment failed 0
[21:39:42.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000329 ,z=0.003805,angle between two frames:0.000333
[21:39:42.356] Odometry x=-0.005622, y=0.407668, theta=0.087507
[21:39:42.377] Image Alignment failed 0
[21:39:42.448] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000332 ,z=0.003810,angle between two frames:0.001967
[21:39:42.451] Odometry x=-0.005957, y=0.411514, theta=0.088165
[21:39:42.479] Image Alignment failed 0
[21:39:42.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000321 ,z=0.003618,angle between two frames:0.001522
[21:39:42.554] Odometry x=-0.006278, y=0.415138, theta=0.086674
[21:39:42.577] Image Alignment failed 0
[21:39:42.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000347 ,z=0.004004,angle between two frames:0.000395
[21:39:42.657] Odometry x=-0.006627, y=0.419159, theta=0.086477
[21:39:42.677] Image Alignment failed 0
[21:39:42.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000332 ,z=0.003811,angle between two frames:0.001670
[21:39:42.758] Odometry x=-0.006960, y=0.422973, theta=0.080957
[21:39:42.777] Image Alignment failed 0
[21:39:42.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000311 ,z=0.003828,angle between two frames:0.000294
[21:39:42.857] Odometry x=-0.007272, y=0.426822, theta=0.081885
[21:39:42.877] Image Alignment failed 0
[21:39:42.948] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000313 ,z=0.003808,angle between two frames:0.000135
[21:39:42.951] Odometry x=-0.007586, y=0.430637, theta=0.078553
[21:39:42.977] Image Alignment failed 0
[21:39:43.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000288 ,z=0.003648,angle between two frames:0.000890
[21:39:43.058] Odometry x=-0.007877, y=0.434320, theta=0.075907
[21:39:43.077] Image Alignment failed 0
[21:39:43.148] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000305 ,z=0.003997,angle between two frames:0.000746
[21:39:43.159] Odometry x=-0.008182, y=0.438318, theta=0.073826
[21:39:43.177] Image Alignment failed 0
[21:39:43.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000284 ,z=0.003817,angle between two frames:0.001272
[21:39:43.257] Odometry x=-0.008466, y=0.442147, theta=0.071171
[21:39:43.277] Image Alignment failed 0
[21:39:43.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000274 ,z=0.003850,angle between two frames:0.000219
[21:39:43.358] Odometry x=-0.008740, y=0.445997, theta=0.073732
[21:39:43.377] Image Alignment failed 0
[21:39:43.449] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000278 ,z=0.003758,angle between two frames:0.000035
[21:39:43.458] Odometry x=-0.009019, y=0.449768, theta=0.078054
[21:39:43.477] Image Alignment failed 0
[21:39:43.549] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000301 ,z=0.003865,angle between two frames:0.001346
[21:39:43.556] Odometry x=-0.009320, y=0.453633, theta=0.084690
[21:39:43.576] Image Alignment failed 0
[21:39:43.647] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000309 ,z=0.003643,angle between two frames:0.000771
[21:39:43.655] Odometry x=-0.009629, y=0.457274, theta=0.090847
[21:39:43.678] Image Alignment failed 0
[21:39:43.749] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000347 ,z=0.003804,angle between two frames:0.000707
[21:39:43.756] Odometry x=-0.009978, y=0.461096, theta=0.094082
[21:39:43.778] Image Alignment failed 0
[21:39:43.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000364 ,z=0.003888,angle between two frames:0.003217
[21:39:43.860] Odometry x=-0.010343, y=0.464992, theta=0.104849
[21:39:43.876] Image Alignment failed 0
[21:39:43.948] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000408 ,z=0.003866,angle between two frames:0.000511
[21:39:43.957] Odometry x=-0.010751, y=0.468865, theta=0.111581
[21:39:43.977] Image Alignment failed 0
[21:39:44.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000408 ,z=0.003668,angle between two frames:0.003301
[21:39:44.054] Odometry x=-0.011162, y=0.472560, theta=0.123497
[21:39:44.076] Image Alignment failed 0
[21:39:44.148] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000450 ,z=0.003642,angle between two frames:0.002796
[21:39:44.151] Odometry x=-0.011616, y=0.476205, theta=0.128884
[21:39:44.177] Image Alignment failed 0
[21:39:44.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000492 ,z=0.003819,angle between two frames:0.003629
[21:39:44.254] Odometry x=-0.012101, y=0.480038, theta=0.144248
[21:39:44.277] Image Alignment failed 0
[21:39:44.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000556 ,z=0.003802,angle between two frames:0.002401
[21:39:44.352] Odometry x=-0.012667, y=0.483856, theta=0.141384
[21:39:44.377] Image Alignment failed 0
[21:39:44.448] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000539 ,z=0.003790,angle between two frames:0.001487
[21:39:44.451] Odometry x=-0.013214, y=0.487699, theta=0.146564
[21:39:44.477] Image Alignment failed 0
[21:39:44.549] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000559 ,z=0.003781,angle between two frames:0.000458
[21:39:44.554] Odometry x=-0.013777, y=0.491480, theta=0.144902
[21:39:44.580] Image Alignment failed 0
[21:39:44.653] Odometry x=-0.014334, y=0.495292, theta=0.145043
[21:39:44.656] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000556 ,z=0.003809,angle between two frames:0.000096
[21:39:44.677] Image Alignment failed 0
[21:39:44.747] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000552 ,z=0.003778,angle between two frames:0.000625
[21:39:44.751] Odometry x=-0.014887, y=0.499073, theta=0.141812
[21:39:44.777] Image Alignment failed 0
[21:39:44.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000543 ,z=0.003786,angle between two frames:0.000579
[21:39:44.854] Odometry x=-0.015433, y=0.502876, theta=0.140918
[21:39:44.877] Image Alignment failed 0
[21:39:44.948] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000536 ,z=0.003787,angle between two frames:0.000010
[21:39:44.952] Odometry x=-0.015970, y=0.506665, theta=0.136578
[21:39:44.977] Image Alignment failed 0
[21:39:45.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000523 ,z=0.003792,angle between two frames:0.001886
[21:39:45.050] Odometry x=-0.016496, y=0.510478, theta=0.129427
[21:39:45.076] Image Alignment failed 0
[21:39:45.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000492 ,z=0.003788,angle between two frames:0.001442
[21:39:45.153] Odometry x=-0.016991, y=0.514266, theta=0.129676
[21:39:45.177] Image Alignment failed 0
[21:39:45.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000497 ,z=0.003799,angle between two frames:0.002937
[21:39:45.256] Odometry x=-0.017490, y=0.518076, theta=0.126188
[21:39:45.277] Image Alignment failed 0
[21:39:45.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000501 ,z=0.003940,angle between two frames:0.000149
[21:39:45.354] Odometry x=-0.017998, y=0.522024, theta=0.121062
[21:39:45.376] Image Alignment failed 0
[21:39:45.448] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000469 ,z=0.003833,angle between two frames:0.001266
[21:39:45.455] Odometry x=-0.018468, y=0.525875, theta=0.121267
[21:39:45.476] Image Alignment failed 0
[21:39:45.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000460 ,z=0.003795,angle between two frames:0.002167
[21:39:45.556] Odometry x=-0.018935, y=0.529666, theta=0.130241
[21:39:45.577] Image Alignment failed 0
[21:39:45.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000497 ,z=0.003789,angle between two frames:0.003032
[21:39:45.661] Odometry x=-0.019434, y=0.533465, theta=0.148587
[21:39:45.677] Image Alignment failed 0
[21:39:45.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000620 ,z=0.004160,angle between two frames:0.004617
[21:39:45.756] Odometry x=-0.020056, y=0.537627, theta=0.157289
[21:39:45.776] Image Alignment failed 0
[21:39:45.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000538 ,z=0.003404,angle between two frames:0.003383
[21:39:45.855] Odometry x=-0.020598, y=0.541044, theta=0.172734
[21:39:45.877] Image Alignment failed 0
[21:39:45.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000653 ,z=0.003767,angle between two frames:0.005216
[21:39:45.956] Odometry x=-0.021251, y=0.544813, theta=0.182541
[21:39:45.979] Image Alignment failed 0
[21:39:46.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000699 ,z=0.003764,angle between two frames:0.002612
[21:39:46.053] Odometry x=-0.021958, y=0.548578, theta=0.182403
[21:39:46.079] Image Alignment failed 0
[21:39:46.154] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000669 ,z=0.003644,angle between two frames:0.003517
[21:39:46.156] Odometry x=-0.022627, y=0.552222, theta=0.187772
[21:39:46.176] Image Alignment failed 0
[21:39:46.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000722 ,z=0.003787,angle between two frames:0.001097
[21:39:46.256] Odometry x=-0.023356, y=0.556033, theta=0.186432
[21:39:46.277] Image Alignment failed 0
[21:39:46.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000706 ,z=0.003746,angle between two frames:0.000239
[21:39:46.351] Odometry x=-0.024065, y=0.559778, theta=0.189412
[21:39:46.376] Image Alignment failed 0
[21:39:46.449] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000723 ,z=0.003776,angle between two frames:0.000492
[21:39:46.460] Odometry x=-0.024793, y=0.563571, theta=0.189910
[21:39:46.476] Image Alignment failed 0
[21:39:46.548] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000758 ,z=0.003944,angle between two frames:0.000793
[21:39:46.552] Odometry x=-0.025550, y=0.567514, theta=0.188331
[21:39:46.584] Image Alignment failed 0
[21:39:46.657] Odometry x=-0.026224, y=0.571029, theta=0.181082
[21:39:46.660] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000669 ,z=0.003498,angle between two frames:0.002746
[21:39:46.678] Image Alignment failed 0
[21:39:46.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000747 ,z=0.004071,angle between two frames:0.000561
[21:39:46.757] Odometry x=-0.026975, y=0.575110, theta=0.179472
[21:39:46.778] Image Alignment failed 0
[21:39:46.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000658 ,z=0.003623,angle between two frames:0.000001
[21:39:46.860] Odometry x=-0.027636, y=0.578744, theta=0.180249
[21:39:46.879] Image Alignment failed 0
[21:39:46.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000703 ,z=0.003868,angle between two frames:0.001279
[21:39:46.954] Odometry x=-0.028341, y=0.582616, theta=0.189664
[21:39:46.978] Image Alignment failed 0
[21:39:47.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000694 ,z=0.003603,angle between two frames:0.001630
[21:39:47.051] Odometry x=-0.029048, y=0.586278, theta=0.182893
[21:39:47.078] Image Alignment failed 0
[21:39:47.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000665 ,z=0.003604,angle between two frames:0.001611
[21:39:47.151] Odometry x=-0.029712, y=0.589880, theta=0.195729
[21:39:47.180] Image Alignment failed 0
[21:39:47.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000751 ,z=0.003762,angle between two frames:0.003711
[21:39:47.254] Odometry x=-0.030474, y=0.593694, theta=0.179027
[21:39:47.280] Image Alignment failed 0
[21:39:47.352] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000682 ,z=0.003760,angle between two frames:0.000524
[21:39:47.352] Odometry x=-0.031157, y=0.597464, theta=0.178893
[21:39:47.379] Image Alignment failed 0
[21:39:47.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000704 ,z=0.003884,angle between two frames:0.001535
[21:39:47.450] Odometry x=-0.031864, y=0.601362, theta=0.173128
[21:39:47.479] Image Alignment failed 0
[21:39:47.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000655 ,z=0.003764,angle between two frames:0.003415
[21:39:47.556] Odometry x=-0.032520, y=0.605126, theta=0.189353
[21:39:47.583] Image Alignment failed 0
[21:39:47.654] Odometry x=-0.033250, y=0.608938, theta=0.201956
[21:39:47.658] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000726 ,z=0.003799,angle between two frames:0.002591
[21:39:47.679] Image Alignment failed 0
[21:39:47.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000765 ,z=0.003766,angle between two frames:0.005418
[21:39:47.757] Odometry x=-0.034018, y=0.612718, theta=0.220958
[21:39:47.778] Image Alignment failed 0
[21:39:47.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000836 ,z=0.003742,angle between two frames:0.003860
[21:39:47.855] Odometry x=-0.034864, y=0.616511, theta=0.230147
[21:39:47.879] Image Alignment failed 0
[21:39:47.958] Odometry x=-0.035739, y=0.620264, theta=0.241376
[21:39:47.959] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000874 ,z=0.003746,angle between two frames:0.003497
[21:39:47.980] Image Alignment failed 0
[21:39:48.050] Odometry x=-0.036661, y=0.624009, theta=0.239457
[21:39:48.053] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000913 ,z=0.003712,angle between two frames:0.001088
[21:39:48.080] Image Alignment failed 0
[21:39:48.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000861 ,z=0.003527,angle between two frames:0.000251
[21:39:48.153] Odometry x=-0.037522, y=0.627545, theta=0.243718
[21:39:48.179] Image Alignment failed 0
[21:39:48.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000953 ,z=0.003840,angle between two frames:0.000325
[21:39:48.256] Odometry x=-0.038485, y=0.631423, theta=0.240790
[21:39:48.278] Image Alignment failed 0
[21:39:48.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000923 ,z=0.003761,angle between two frames:0.000014
[21:39:48.354] Odometry x=-0.039410, y=0.635191, theta=0.245495
[21:39:48.382] Image Alignment failed 0
[21:39:48.454] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000929 ,z=0.003719,angle between two frames:0.000358
[21:39:48.454] Odometry x=-0.040339, y=0.638917, theta=0.242841
[21:39:48.480] Image Alignment failed 0
[21:39:48.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000926 ,z=0.003741,angle between two frames:0.001029
[21:39:48.552] Odometry x=-0.041265, y=0.642661, theta=0.239823
[21:39:48.577] Image Alignment failed 0
[21:39:48.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000852 ,z=0.003518,angle between two frames:0.000254
[21:39:48.657] Odometry x=-0.042115, y=0.646172, theta=0.236857
[21:39:48.677] Image Alignment failed 0
[21:39:48.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000969 ,z=0.004009,angle between two frames:0.000816
[21:39:48.758] Odometry x=-0.043084, y=0.650180, theta=0.238614
[21:39:48.776] Image Alignment failed 0
[21:39:48.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000888 ,z=0.003658,angle between two frames:0.000160
[21:39:48.852] Odometry x=-0.043970, y=0.653836, theta=0.234567
[21:39:48.882] Image Alignment failed 0
[21:39:48.956] Odometry x=-0.044814, y=0.657366, theta=0.237242
[21:39:48.957] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000843 ,z=0.003532,angle between two frames:0.000607
[21:39:48.977] Image Alignment failed 0
[21:39:49.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000926 ,z=0.003818,angle between two frames:0.000967
[21:39:49.055] Odometry x=-0.045739, y=0.661186, theta=0.227776
[21:39:49.076] Image Alignment failed 0
[21:39:49.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000879 ,z=0.003796,angle between two frames:0.000276
[21:39:49.160] Odometry x=-0.046617, y=0.664983, theta=0.236595
[21:39:49.179] Image Alignment failed 0
[21:39:49.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000907 ,z=0.003787,angle between two frames:0.003049
[21:39:49.255] Odometry x=-0.047523, y=0.668770, theta=0.236698
[21:39:49.279] Image Alignment failed 0
[21:39:49.351] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000852 ,z=0.003532,angle between two frames:0.000226
[21:39:49.353] Odometry x=-0.048367, y=0.672310, theta=0.243273
[21:39:49.378] Image Alignment failed 0
[21:39:49.449] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000929 ,z=0.003749,angle between two frames:0.000990
[21:39:49.457] Odometry x=-0.049299, y=0.676063, theta=0.247938
[21:39:49.481] Image Alignment failed 0
[21:39:49.556] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000935 ,z=0.003703,angle between two frames:0.004847
[21:39:49.557] Odometry x=-0.050227, y=0.679771, theta=0.266540
[21:39:49.580] Image Alignment failed 0
[21:39:49.652] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001001 ,z=0.003695,angle between two frames:0.002835
[21:39:49.657] Odometry x=-0.051234, y=0.683487, theta=0.275108
[21:39:49.677] Image Alignment failed 0
[21:39:49.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001084 ,z=0.003862,angle between two frames:0.004167
[21:39:49.757] Odometry x=-0.052318, y=0.687350, theta=0.290135
[21:39:49.778] Image Alignment failed 0
[21:39:49.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001037 ,z=0.003480,angle between two frames:0.002718
[21:39:49.857] Odometry x=-0.053358, y=0.690844, theta=0.299766
[21:39:49.878] Image Alignment failed 0
[21:39:49.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001186 ,z=0.003834,angle between two frames:0.000742
[21:39:49.968] Odometry x=-0.054560, y=0.694767, theta=0.297245
[21:39:49.978] Image Alignment failed 0
[21:39:50.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001257 ,z=0.004132,angle between two frames:0.001854
[21:39:50.057] Odometry x=-0.055826, y=0.698887, theta=0.291514
[21:39:50.081] Image Alignment failed 0
[21:39:50.157] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000941 ,z=0.003134,angle between two frames:0.001769
[21:39:50.157] Odometry x=-0.056770, y=0.702040, theta=0.286996
[21:39:50.179] Image Alignment failed 0
[21:39:50.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001084 ,z=0.003664,angle between two frames:0.001982
[21:39:50.252] Odometry x=-0.057864, y=0.705738, theta=0.278138
[21:39:50.278] Image Alignment failed 0
[21:39:50.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001057 ,z=0.003700,angle between two frames:0.000334
[21:39:50.355] Odometry x=-0.058930, y=0.709474, theta=0.278611
[21:39:50.378] Image Alignment failed 0
[21:39:50.449] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001046 ,z=0.003674,angle between two frames:0.001095
[21:39:50.455] Odometry x=-0.059973, y=0.713153, theta=0.269816
[21:39:50.479] Image Alignment failed 0
[21:39:50.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001022 ,z=0.003690,angle between two frames:0.001505
[21:39:50.556] Odometry x=-0.060995, y=0.716846, theta=0.265081
[21:39:50.577] Image Alignment failed 0
[21:39:50.649] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001006 ,z=0.003703,angle between two frames:0.001116
[21:39:50.658] Odometry x=-0.061998, y=0.720559, theta=0.257656
[21:39:50.677] Image Alignment failed 0
[21:39:50.749] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000972 ,z=0.003695,angle between two frames:0.000722
[21:39:50.757] Odometry x=-0.062966, y=0.724255, theta=0.258059
[21:39:50.778] Image Alignment failed 0
[21:39:50.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000974 ,z=0.003693,angle between two frames:0.001960
[21:39:50.862] Odometry x=-0.063939, y=0.727961, theta=0.247783
[21:39:50.877] Image Alignment failed 0
[21:39:50.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000985 ,z=0.003894,angle between two frames:0.000257
[21:39:50.958] Odometry x=-0.064918, y=0.731860, theta=0.248411
[21:39:50.978] Image Alignment failed 0
[21:39:51.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000887 ,z=0.003518,angle between two frames:0.000007
[21:39:51.057] Odometry x=-0.065804, y=0.735380, theta=0.244523
[21:39:51.078] Image Alignment failed 0
[21:39:51.149] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000925 ,z=0.003712,angle between two frames:0.000774
[21:39:51.157] Odometry x=-0.066722, y=0.739120, theta=0.250482
[21:39:51.177] Image Alignment failed 0
[21:39:51.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000940 ,z=0.003702,angle between two frames:0.001403
[21:39:51.257] Odometry x=-0.067662, y=0.742829, theta=0.254715
[21:39:51.278] Image Alignment failed 0
[21:39:51.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000964 ,z=0.003722,angle between two frames:0.002142
[21:39:51.358] Odometry x=-0.068619, y=0.746561, theta=0.262658
[21:39:51.379] Image Alignment failed 0
[21:39:51.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000987 ,z=0.003691,angle between two frames:0.000148
[21:39:51.454] Odometry x=-0.069609, y=0.750259, theta=0.270323
[21:39:51.476] Image Alignment failed 0
[21:39:51.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001027 ,z=0.003739,angle between two frames:0.007533
[21:39:51.567] Odometry x=-0.070625, y=0.754006, theta=0.295505
[21:39:51.577] Image Alignment failed 0
[21:39:51.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001208 ,z=0.003979,angle between two frames:0.003851
[21:39:51.655] Odometry x=-0.071836, y=0.758011, theta=0.304423
[21:39:51.685] Image Alignment failed 0
[21:39:51.756] Odometry x=-0.072871, y=0.761338, theta=0.313142
[21:39:51.762] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001041 ,z=0.003318,angle between two frames:0.001643
[21:39:51.779] Image Alignment failed 0
[21:39:51.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000006,angle between two frames:0.000346
[21:39:51.854] Odometry x=-0.074091, y=0.765114, theta=0.315338
[21:39:51.882] Image Alignment failed 0
[21:39:51.953] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001165 ,z=0.003576,angle between two frames:0.000950
[21:39:51.959] Odometry x=-0.075263, y=0.768713, theta=0.322125
[21:39:51.977] Image Alignment failed 0
[21:39:52.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001233 ,z=0.003707,angle between two frames:0.000133
[21:39:52.058] Odometry x=-0.076501, y=0.772438, theta=0.322449
[21:39:52.077] Image Alignment failed 0
[21:39:52.148] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001224 ,z=0.003667,angle between two frames:0.000881
[21:39:52.156] Odometry x=-0.077733, y=0.776127, theta=0.324574
[21:39:52.179] Image Alignment failed 0
[21:39:52.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001193 ,z=0.003552,angle between two frames:0.001774
[21:39:52.257] Odometry x=-0.078926, y=0.779679, theta=0.335007
[21:39:52.281] Image Alignment failed 0
[21:39:52.353] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001257 ,z=0.003620,angle between two frames:0.003789
[21:39:52.358] Odometry x=-0.080183, y=0.783307, theta=0.340480
[21:39:52.379] Image Alignment failed 0
[21:39:52.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001263 ,z=0.003572,angle between two frames:0.001499
[21:39:52.461] Odometry x=-0.081445, y=0.786879, theta=0.348993
[21:39:52.479] Image Alignment failed 0
[21:39:52.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001352 ,z=0.003726,angle between two frames:0.002227
[21:39:52.559] Odometry x=-0.082800, y=0.790621, theta=0.353038
[21:39:52.579] Image Alignment failed 0
[21:39:52.652] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001308 ,z=0.003551,angle between two frames:0.000863
[21:39:52.657] Odometry x=-0.084108, y=0.794173, theta=0.360053
[21:39:52.680] Image Alignment failed 0
[21:39:52.752] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001290 ,z=0.003434,angle between two frames:0.002079
[21:39:52.760] Odometry x=-0.085400, y=0.797619, theta=0.362298
[21:39:52.779] Image Alignment failed 0
[21:39:52.852] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001440 ,z=0.003804,angle between two frames:0.001351
[21:39:52.859] Odometry x=-0.086842, y=0.801429, theta=0.368706
[21:39:52.879] Image Alignment failed 0
[21:39:52.952] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001376 ,z=0.003571,angle between two frames:0.002445
[21:39:52.959] Odometry x=-0.088223, y=0.805014, theta=0.375734
[21:39:52.979] Image Alignment failed 0
[21:39:53.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001370 ,z=0.003477,angle between two frames:0.000886
[21:39:53.059] Odometry x=-0.089594, y=0.808495, theta=0.381985
[21:39:53.079] Image Alignment failed 0
[21:39:53.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001457 ,z=0.003633,angle between two frames:0.001341
[21:39:53.154] Odometry x=-0.091055, y=0.812147, theta=0.384914
[21:39:53.180] Image Alignment failed 0
[21:39:53.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001367 ,z=0.003378,angle between two frames:0.001544
[21:39:53.255] Odometry x=-0.092425, y=0.815534, theta=0.389474
[21:39:53.279] Image Alignment failed 0
[21:39:53.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001407 ,z=0.003432,angle between two frames:0.000996
[21:39:53.359] Odometry x=-0.093836, y=0.818984, theta=0.385267
[21:39:53.379] Image Alignment failed 0
[21:39:53.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001512 ,z=0.003730,angle between two frames:0.000740
[21:39:53.457] Odometry x=-0.095348, y=0.822713, theta=0.390967
[21:39:53.482] Image Alignment failed 0
[21:39:53.554] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001414 ,z=0.003435,angle between two frames:0.001083
[21:39:53.557] Odometry x=-0.096766, y=0.826166, theta=0.391735
[21:39:53.579] Image Alignment failed 0
[21:39:53.650] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001432 ,z=0.003465,angle between two frames:0.000620
[21:39:53.659] Odometry x=-0.098201, y=0.829637, theta=0.387619
[21:39:53.680] Image Alignment failed 0
[21:39:53.752] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001552 ,z=0.003804,angle between two frames:0.000163
[21:39:53.758] Odometry x=-0.099755, y=0.833447, theta=0.385105
[21:39:53.780] Image Alignment failed 0
[21:39:53.852] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001379 ,z=0.003401,angle between two frames:0.001226
[21:39:53.856] Odometry x=-0.101138, y=0.836857, theta=0.383400
[21:39:53.879] Image Alignment failed 0
[21:39:53.950] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001400 ,z=0.003469,angle between two frames:0.000728
[21:39:53.959] Odometry x=-0.102539, y=0.840333, theta=0.377497
[21:39:53.979] Image Alignment failed 0
[21:39:54.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001438 ,z=0.003621,angle between two frames:0.002200
[21:39:54.059] Odometry x=-0.103984, y=0.843973, theta=0.368931
[21:39:54.082] Image Alignment failed 0
[21:39:54.153] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001380 ,z=0.003568,angle between two frames:0.001200
[21:39:54.155] Odometry x=-0.105369, y=0.847556, theta=0.365458
[21:39:54.180] Image Alignment failed 0
[21:39:54.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001344 ,z=0.003510,angle between two frames:0.001227
[21:39:54.254] Odometry x=-0.106722, y=0.851076, theta=0.362937
[21:39:54.277] Image Alignment failed 0
[21:39:54.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001380 ,z=0.003615,angle between two frames:0.003430
[21:39:54.359] Odometry x=-0.107985, y=0.854709, theta=0.363865
[21:39:54.378] Image Alignment failed 0
[21:39:54.449] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001447 ,z=0.003822,angle between two frames:0.000917
[21:39:54.459] Odometry x=-0.109486, y=0.858653, theta=0.370003
[21:39:54.478] Image Alignment failed 0
[21:39:54.549] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001365 ,z=0.003515,angle between two frames:0.008947
[21:39:54.557] Odometry x=-0.110931, y=0.862228, theta=0.427182
[21:39:54.577] Image Alignment failed 0
[21:39:54.649] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001094 ,z=0.002845,angle between two frames:0.009871
[21:39:54.655] Odometry x=-0.111803, y=0.864301, theta=0.397948
[21:39:54.676] Image Alignment failed 0
[21:39:54.749] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001221 ,z=0.003176,angle between two frames:0.000683
[21:39:54.755] Odometry x=-0.112981, y=0.867313, theta=0.400342
[21:39:54.777] Image Alignment failed 0
[21:39:54.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001470 ,z=0.003484,angle between two frames:0.001242
[21:39:54.853] Odometry x=-0.114244, y=0.870412, theta=0.400493
[21:39:54.879] Image Alignment failed 0
[21:39:54.950] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001417 ,z=0.003337,angle between two frames:0.007849
[21:39:54.956] Odometry x=-0.115564, y=0.873623, theta=0.364048
[21:39:54.980] Image Alignment failed 0
[21:39:55.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001336 ,z=0.003491,angle between two frames:0.004766
[21:39:55.054] Odometry x=-0.116815, y=0.877049, theta=0.369721
[21:39:55.080] Image Alignment failed 0
[21:39:55.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001086 ,z=0.003211,angle between two frames:0.007455
[21:39:55.152] Odometry x=-0.117933, y=0.880202, theta=0.380169
[21:39:55.180] Image Alignment failed 0
[21:39:55.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001425 ,z=0.003549,angle between two frames:0.001570
[21:39:55.256] Odometry x=-0.119465, y=0.883890, theta=0.379963
[21:39:55.280] Image Alignment failed 0
[21:39:55.352] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001386 ,z=0.003561,angle between two frames:0.004210
[21:39:55.354] Odometry x=-0.120830, y=0.887556, theta=0.389325
[21:39:55.379] Image Alignment failed 0
[21:39:55.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001457 ,z=0.003553,angle between two frames:0.005417
[21:39:55.452] Odometry x=-0.122291, y=0.891234, theta=0.409313
[21:39:55.479] Image Alignment failed 0
[21:39:55.551] Odometry x=-0.123799, y=0.894751, theta=0.428222
[21:39:55.552] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001511 ,z=0.003512,angle between two frames:0.007027
[21:39:55.583] Image Alignment failed 0
[21:39:55.654] Odometry x=-0.125396, y=0.898330, theta=0.430137
[21:39:55.661] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001592 ,z=0.003486,angle between two frames:0.000503
[21:39:55.680] Image Alignment failed 0
[21:39:55.751] Odometry x=-0.127020, y=0.901865, theta=0.436486
[21:39:55.752] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000022 ,z=0.000055,angle between two frames:0.000790
[21:39:55.777] Image Alignment failed 0
[21:39:55.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001621 ,z=0.003459,angle between two frames:0.001871
[21:39:55.854] Odometry x=-0.128600, y=0.905426, theta=0.431473
[21:39:55.879] Image Alignment failed 0
[21:39:55.952] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001635 ,z=0.003534,angle between two frames:0.004013
[21:39:55.956] Odometry x=-0.130282, y=0.908985, theta=0.449909
[21:39:55.980] Image Alignment failed 0
[21:39:56.052] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001657 ,z=0.003504,angle between two frames:0.001015
[21:39:56.054] Odometry x=-0.131934, y=0.912542, theta=0.436971
[21:39:56.079] Image Alignment failed 0
[21:39:56.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001606 ,z=0.003464,angle between two frames:0.004428
[21:39:56.155] Odometry x=-0.133554, y=0.916020, theta=0.446832
[21:39:56.180] Image Alignment failed 0
[21:39:56.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001630 ,z=0.003469,angle between two frames:0.007954
[21:39:56.254] Odometry x=-0.135205, y=0.919584, theta=0.431059
[21:39:56.280] Image Alignment failed 0
[21:39:56.352] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001634 ,z=0.003455,angle between two frames:0.002491
[21:39:56.357] Odometry x=-0.136816, y=0.923097, theta=0.439445
[21:39:56.380] Image Alignment failed 0
[21:39:56.452] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001708 ,z=0.003636,angle between two frames:0.002700
[21:39:56.455] Odometry x=-0.138537, y=0.926814, theta=0.437079
[21:39:56.480] Image Alignment failed 0
[21:39:56.552] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001559 ,z=0.003372,angle between two frames:0.004249
[21:39:56.552] Odometry x=-0.140103, y=0.930184, theta=0.448897
[21:39:56.584] Image Alignment failed 0
[21:39:56.655] Odometry x=-0.141722, y=0.933737, theta=0.456492
[21:39:56.662] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001623 ,z=0.003480,angle between two frames:0.001393
[21:39:56.680] Image Alignment failed 0
[21:39:56.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.001295
[21:39:56.753] Odometry x=-0.143439, y=0.937213, theta=0.448859
[21:39:56.779] Image Alignment failed 0
[21:39:56.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001636 ,z=0.003499,angle between two frames:0.000815
[21:39:56.856] Odometry x=-0.145091, y=0.940730, theta=0.465425
[21:39:56.878] Image Alignment failed 0
[21:39:56.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001725 ,z=0.003460,angle between two frames:0.004355
[21:39:56.960] Odometry x=-0.146698, y=0.944269, theta=0.470742
[21:39:56.978] Image Alignment failed 0
[21:39:57.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001754 ,z=0.003702,angle between two frames:0.002083
[21:39:57.052] Odometry x=-0.148577, y=0.947977, theta=0.475035
[21:39:57.078] Image Alignment failed 0
[21:39:57.149] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001610 ,z=0.003132,angle between two frames:0.001941
[21:39:57.157] Odometry x=-0.150114, y=0.951192, theta=0.485497
[21:39:57.178] Image Alignment failed 0
[21:39:57.249] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001741 ,z=0.003428,angle between two frames:0.004343
[21:39:57.260] Odometry x=-0.151869, y=0.954615, theta=0.488967
[21:39:57.278] Image Alignment failed 0
[21:39:57.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001822 ,z=0.003404,angle between two frames:0.002406
[21:39:57.353] Odometry x=-0.153607, y=0.958108, theta=0.487573
[21:39:57.377] Image Alignment failed 0
[21:39:57.448] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001688 ,z=0.003240,angle between two frames:0.006689
[21:39:57.457] Odometry x=-0.155332, y=0.961386, theta=0.500375
[21:39:57.477] Image Alignment failed 0
[21:39:57.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001949 ,z=0.003550,angle between two frames:0.000046
[21:39:57.555] Odometry x=-0.157244, y=0.964981, theta=0.508752
[21:39:57.578] Image Alignment failed 0
[21:39:57.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001784 ,z=0.003208,angle between two frames:0.001400
[21:39:57.651] Odometry x=-0.159062, y=0.968174, theta=0.511844
[21:39:57.678] Image Alignment failed 0
[21:39:57.751] Odometry x=-0.160804, y=0.971560, theta=0.498567
[21:39:57.752] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001878 ,z=0.003347,angle between two frames:0.001282
[21:39:57.778] Image Alignment failed 0
[21:39:57.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001765 ,z=0.003418,angle between two frames:0.002561
[21:39:57.856] Odometry x=-0.162678, y=0.974927, theta=0.484121
[21:39:57.878] Image Alignment failed 0
[21:39:57.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001891 ,z=0.003521,angle between two frames:0.010229
[21:39:57.955] Odometry x=-0.164520, y=0.978478, theta=0.457326
[21:39:57.978] Image Alignment failed 0
[21:39:58.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001694 ,z=0.003444,angle between two frames:0.001180
[21:39:58.053] Odometry x=-0.166263, y=0.982006, theta=0.459515
[21:39:58.078] Image Alignment failed 0
[21:39:58.149] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001700 ,z=0.003423,angle between two frames:0.003273
[21:39:58.155] Odometry x=-0.167936, y=0.985480, theta=0.454175
[21:39:58.178] Image Alignment failed 0
[21:39:58.249] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001608 ,z=0.003467,angle between two frames:0.008602
[21:39:58.254] Odometry x=-0.169589, y=0.988977, theta=0.471301
[21:39:58.278] Image Alignment failed 0
[21:39:58.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001739 ,z=0.003386,angle between two frames:0.001454
[21:39:58.358] Odometry x=-0.171267, y=0.992401, theta=0.475627
[21:39:58.378] Image Alignment failed 0
[21:39:58.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001890 ,z=0.003440,angle between two frames:0.004463
[21:39:58.457] Odometry x=-0.173161, y=0.995896, theta=0.473079
[21:39:58.478] Image Alignment failed 0
[21:39:58.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001742 ,z=0.003404,angle between two frames:0.000287
[21:39:58.557] Odometry x=-0.174871, y=0.999290, theta=0.483806
[21:39:58.578] Image Alignment failed 0
[21:39:58.650] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001802 ,z=0.003368,angle between two frames:0.004735
[21:39:58.657] Odometry x=-0.176691, y=1.002705, theta=0.490676
[21:39:58.678] Image Alignment failed 0
[21:39:58.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001771 ,z=0.003385,angle between two frames:0.003489
[21:39:58.757] Odometry x=-0.178366, y=1.006156, theta=0.498836
[21:39:58.778] Image Alignment failed 0
[21:39:58.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001868 ,z=0.003320,angle between two frames:0.002799
[21:39:58.857] Odometry x=-0.180350, y=1.009548, theta=0.500347
[21:39:58.878] Image Alignment failed 0
[21:39:58.950] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001818 ,z=0.003365,angle between two frames:0.005371
[21:39:58.957] Odometry x=-0.182112, y=1.013000, theta=0.514654
[21:39:58.978] Image Alignment failed 0
[21:39:59.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002073 ,z=0.003228,angle between two frames:0.000972
[21:39:59.057] Odometry x=-0.184279, y=1.016402, theta=0.507556
[21:39:59.078] Image Alignment failed 0
[21:39:59.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001873 ,z=0.003365,angle between two frames:0.000455
[21:39:59.158] Odometry x=-0.186022, y=1.019604, theta=0.503771
[21:39:59.178] Image Alignment failed 0
[21:39:59.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001830 ,z=0.003336,angle between two frames:0.008066
[21:39:59.257] Odometry x=-0.187834, y=1.023017, theta=0.512956
[21:39:59.278] Image Alignment failed 0
[21:39:59.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001850 ,z=0.003353,angle between two frames:0.001711
[21:39:59.357] Odometry x=-0.189728, y=1.026398, theta=0.514388
[21:39:59.378] Image Alignment failed 0
[21:39:59.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001943 ,z=0.003137,angle between two frames:0.000591
[21:39:59.457] Odometry x=-0.191645, y=1.029520, theta=0.519515
[21:39:59.478] Image Alignment failed 0
[21:39:59.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001800 ,z=0.003348,angle between two frames:0.002023
[21:39:59.556] Odometry x=-0.193471, y=1.033014, theta=0.532193
[21:39:59.579] Image Alignment failed 0
[21:39:59.649] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001958 ,z=0.003275,angle between two frames:0.004931
[21:39:59.656] Odometry x=-0.195303, y=1.036320, theta=0.513871
[21:39:59.677] Image Alignment failed 0
[21:39:59.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001697 ,z=0.003394,angle between two frames:0.009965
[21:39:59.754] Odometry x=-0.197073, y=1.039703, theta=0.513622
[21:39:59.778] Image Alignment failed 0
[21:39:59.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001880 ,z=0.003352,angle between two frames:0.001985
[21:39:59.851] Odometry x=-0.198927, y=1.043091, theta=0.530313
[21:39:59.880] Image Alignment failed 0
[21:39:59.952] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001890 ,z=0.003220,angle between two frames:0.007326
[21:39:59.955] Odometry x=-0.200868, y=1.046338, theta=0.523103
[21:39:59.980] Image Alignment failed 0
[21:40:00.055] Odometry x=-0.202821, y=1.049855, theta=0.533010
[21:40:00.060] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001992 ,z=0.003465,angle between two frames:0.000321
[21:40:00.078] Image Alignment failed 0
[21:40:00.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002000 ,z=0.003363,angle between two frames:0.001610
[21:40:00.154] Odometry x=-0.204855, y=1.053279, theta=0.530078
[21:40:00.180] Image Alignment failed 0
[21:40:00.252] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001859 ,z=0.003185,angle between two frames:0.001908
[21:40:00.253] Odometry x=-0.206714, y=1.056489, theta=0.546062
[21:40:00.278] Image Alignment failed 0
[21:40:00.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002010 ,z=0.003314,angle between two frames:0.004889
[21:40:00.352] Odometry x=-0.208803, y=1.059899, theta=0.544950
[21:40:00.378] Image Alignment failed 0
[21:40:00.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001973 ,z=0.003340,angle between two frames:0.004248
[21:40:00.455] Odometry x=-0.210722, y=1.063286, theta=0.553216
[21:40:00.478] Image Alignment failed 0
[21:40:00.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002093 ,z=0.003284,angle between two frames:0.003269
[21:40:00.553] Odometry x=-0.212934, y=1.066605, theta=0.560062
[21:40:00.578] Image Alignment failed 0
[21:40:00.650] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002009 ,z=0.003280,angle between two frames:0.003780
[21:40:00.651] Odometry x=-0.214916, y=1.069950, theta=0.568064
[21:40:00.679] Image Alignment failed 0
[21:40:00.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002083 ,z=0.003203,angle between two frames:0.007148
[21:40:00.755] Odometry x=-0.217026, y=1.073180, theta=0.574331
[21:40:00.778] Image Alignment failed 0
[21:40:00.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002068 ,z=0.003218,angle between two frames:0.001780
[21:40:00.853] Odometry x=-0.219020, y=1.076541, theta=0.583343
[21:40:00.878] Image Alignment failed 0
[21:40:00.951] Odometry x=-0.221141, y=1.079739, theta=0.587183
[21:40:00.953] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002107 ,z=0.003187,angle between two frames:0.006923
[21:40:00.978] Image Alignment failed 0
[21:40:01.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002118 ,z=0.003181,angle between two frames:0.001790
[21:40:01.055] Odometry x=-0.223235, y=1.083032, theta=0.580696
[21:40:01.078] Image Alignment failed 0
[21:40:01.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002216 ,z=0.003296,angle between two frames:0.000450
[21:40:01.152] Odometry x=-0.225507, y=1.086301, theta=0.588166
[21:40:01.179] Image Alignment failed 0
[21:40:01.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002069 ,z=0.003179,angle between two frames:0.003003
[21:40:01.251] Odometry x=-0.227563, y=1.089576, theta=0.604874
[21:40:01.278] Image Alignment failed 0
[21:40:01.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002195 ,z=0.003146,angle between two frames:0.004660
[21:40:01.355] Odometry x=-0.229751, y=1.092760, theta=0.587010
[21:40:01.379] Image Alignment failed 0
[21:40:01.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002173 ,z=0.003333,angle between two frames:0.008376
[21:40:01.454] Odometry x=-0.231996, y=1.096205, theta=0.566764
[21:40:01.478] Image Alignment failed 0
[21:40:01.549] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002098 ,z=0.003279,angle between two frames:0.000064
[21:40:01.555] Odometry x=-0.234136, y=1.099599, theta=0.568167
[21:40:01.578] Image Alignment failed 0
[21:40:01.650] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001997 ,z=0.003252,angle between two frames:0.002605
[21:40:01.660] Odometry x=-0.236145, y=1.102904, theta=0.565729
[21:40:01.678] Image Alignment failed 0
[21:40:01.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002182 ,z=0.003399,angle between two frames:0.000956
[21:40:01.755] Odometry x=-0.238269, y=1.106330, theta=0.566725
[21:40:01.778] Image Alignment failed 0
[21:40:01.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001933 ,z=0.003166,angle between two frames:0.002075
[21:40:01.855] Odometry x=-0.240222, y=1.109512, theta=0.572263
[21:40:01.878] Image Alignment failed 0
[21:40:01.950] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002072 ,z=0.003214,angle between two frames:0.003545
[21:40:01.953] Odometry x=-0.242236, y=1.112770, theta=0.585041
[21:40:01.978] Image Alignment failed 0
[21:40:02.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002106 ,z=0.003187,angle between two frames:0.002605
[21:40:02.050] Odometry x=-0.244358, y=1.115950, theta=0.580028
[21:40:02.079] Image Alignment failed 0
[21:40:02.149] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002017 ,z=0.003080,angle between two frames:0.000912
[21:40:02.155] Odometry x=-0.246335, y=1.119107, theta=0.584094
[21:40:02.178] Image Alignment failed 0
[21:40:02.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002164 ,z=0.003282,angle between two frames:0.001259
[21:40:02.255] Odometry x=-0.248570, y=1.122374, theta=0.587548
[21:40:02.279] Image Alignment failed 0
[21:40:02.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002131 ,z=0.003206,angle between two frames:0.003918
[21:40:02.355] Odometry x=-0.250651, y=1.125619, theta=0.598260
[21:40:02.380] Image Alignment failed 0
[21:40:02.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002151 ,z=0.003211,angle between two frames:0.002271
[21:40:02.459] Odometry x=-0.252867, y=1.128838, theta=0.600586
[21:40:02.478] Image Alignment failed 0
[21:40:02.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002204 ,z=0.003209,angle between two frames:0.002631
[21:40:02.555] Odometry x=-0.254967, y=1.132126, theta=0.612178
[21:40:02.578] Image Alignment failed 0
[21:40:02.649] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002070 ,z=0.003144,angle between two frames:0.007404
[21:40:02.658] Odometry x=-0.257077, y=1.135284, theta=0.621685
[21:40:02.678] Image Alignment failed 0
[21:40:02.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002257 ,z=0.003149,angle between two frames:0.001251
[21:40:02.753] Odometry x=-0.259289, y=1.138480, theta=0.625088
[21:40:02.778] Image Alignment failed 0
[21:40:02.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002105 ,z=0.003029,angle between two frames:0.002854
[21:40:02.852] Odometry x=-0.261474, y=1.141557, theta=0.627937
[21:40:02.879] Image Alignment failed 0
[21:40:02.951] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002301 ,z=0.003178,angle between two frames:0.001757
[21:40:02.956] Odometry x=-0.263717, y=1.144841, theta=0.624289
[21:40:02.978] Image Alignment failed 0
[21:40:03.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002358 ,z=0.003247,angle between two frames:0.005018
[21:40:03.059] Odometry x=-0.266057, y=1.148114, theta=0.612435
[21:40:03.079] Image Alignment failed 0
[21:40:03.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002198 ,z=0.003161,angle between two frames:0.005516
[21:40:03.151] Odometry x=-0.268246, y=1.151290, theta=0.616989
[21:40:03.179] Image Alignment failed 0
[21:40:03.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002158 ,z=0.002984,angle between two frames:0.002470
[21:40:03.260] Odometry x=-0.270423, y=1.154341, theta=0.618548
[21:40:03.280] Image Alignment failed 0
[21:40:03.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002304 ,z=0.003282,angle between two frames:0.007027
[21:40:03.359] Odometry x=-0.272702, y=1.157649, theta=0.629416
[21:40:03.380] Image Alignment failed 0
[21:40:03.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002255 ,z=0.003069,angle between two frames:0.000240
[21:40:03.457] Odometry x=-0.274940, y=1.160753, theta=0.625719
[21:40:03.480] Image Alignment failed 0
[21:40:03.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002229 ,z=0.003111,angle between two frames:0.001565
[21:40:03.555] Odometry x=-0.277197, y=1.163892, theta=0.631672
[21:40:03.580] Image Alignment failed 0
[21:40:03.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002140 ,z=0.002933,angle between two frames:0.001560
[21:40:03.653] Odometry x=-0.279318, y=1.166842, theta=0.645601
[21:40:03.679] Image Alignment failed 0
[21:40:03.749] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002243 ,z=0.003090,angle between two frames:0.005237
[21:40:03.751] Odometry x=-0.281616, y=1.169971, theta=0.639544
[21:40:03.779] Image Alignment failed 0
[21:40:03.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002290 ,z=0.003076,angle between two frames:0.000889
[21:40:03.854] Odometry x=-0.283900, y=1.173043, theta=0.650924
[21:40:03.880] Image Alignment failed 0
[21:40:03.952] Odometry x=-0.286253, y=1.176258, theta=0.649108
[21:40:03.954] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002248 ,z=0.003084,angle between two frames:0.004965
[21:40:03.980] Image Alignment failed 0
[21:40:04.052] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002303 ,z=0.003041,angle between two frames:0.004687
[21:40:04.061] Odometry x=-0.288509, y=1.179372, theta=0.652784
[21:40:04.079] Image Alignment failed 0
[21:40:04.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002327 ,z=0.003240,angle between two frames:0.001595
[21:40:04.154] Odometry x=-0.290860, y=1.182577, theta=0.663137
[21:40:04.179] Image Alignment failed 0
[21:40:04.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002246 ,z=0.002869,angle between two frames:0.004070
[21:40:04.252] Odometry x=-0.293097, y=1.185626, theta=0.672352
[21:40:04.280] Image Alignment failed 0
[21:40:04.351] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002385 ,z=0.002993,angle between two frames:0.002822
[21:40:04.356] Odometry x=-0.295512, y=1.188662, theta=0.673284
[21:40:04.380] Image Alignment failed 0
[21:40:04.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002398 ,z=0.003051,angle between two frames:0.006970
[21:40:04.454] Odometry x=-0.297847, y=1.191818, theta=0.684907
[21:40:04.481] Image Alignment failed 0
[21:40:04.552] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002458 ,z=0.002998,angle between two frames:0.001590
[21:40:04.558] Odometry x=-0.300331, y=1.194833, theta=0.672798
[21:40:04.580] Image Alignment failed 0
[21:40:04.653] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002388 ,z=0.002999,angle between two frames:0.000362
[21:40:04.656] Odometry x=-0.302716, y=1.197869, theta=0.683356
[21:40:04.680] Image Alignment failed 0
[21:40:04.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002479 ,z=0.002931,angle between two frames:0.009697
[21:40:04.756] Odometry x=-0.305208, y=1.200819, theta=0.651839
[21:40:04.780] Image Alignment failed 0
[21:40:04.852] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002322 ,z=0.003052,angle between two frames:0.000555
[21:40:04.859] Odometry x=-0.307569, y=1.204003, theta=0.639749
[21:40:04.880] Image Alignment failed 0
[21:40:04.951] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002230 ,z=0.002985,angle between two frames:0.000789
[21:40:04.960] Odometry x=-0.309873, y=1.207030, theta=0.656424
[21:40:04.979] Image Alignment failed 0
[21:40:05.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002289 ,z=0.003041,angle between two frames:0.002900
[21:40:05.059] Odometry x=-0.312143, y=1.210096, theta=0.652181
[21:40:05.078] Image Alignment failed 0
[21:40:05.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002443 ,z=0.003184,angle between two frames:0.000138
[21:40:05.152] Odometry x=-0.314612, y=1.213287, theta=0.653904
[21:40:05.180] Image Alignment failed 0
[21:40:05.257] Odometry x=-0.316694, y=1.216305, theta=0.660376
[21:40:05.316] After Reprojection Map nPoint:24 ,nCell:23 ,nMatches:2 ,distance between two frames x:-0.002092 ,z=0.002953,angle between two frames:0.003040
[21:40:05.316] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =4.867357 	 error end=4.867357
[21:40:05.316] After pose optimization, distance between two frames x:-0.002092 ,z=0.002953,angle between two frames:0.003040
[21:40:05.320] Image Alignment failed 0
[21:40:05.354] Odometry x=-0.319097, y=1.219422, theta=0.661763
[21:40:05.451] Odometry x=-0.321392, y=1.222423, theta=0.668390
[21:40:05.457] After Reprojection Map nPoint:25 ,nCell:18 ,nMatches:2 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000826
[21:40:05.457] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.260313 	 error end=0.260313
[21:40:05.457] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000826
[21:40:05.554] Odometry x=-0.323786, y=1.225480, theta=0.669163
[21:40:05.615] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:5 ,distance between two frames x:0.000834 ,z=0.001077,angle between two frames:0.001761
[21:40:05.615] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =4 	 error init =6.397409 	 error end=0.303566
[21:40:05.615] After pose optimization, distance between two frames x:4.214473 ,z=-10.015571,angle between two frames:0.400731
[21:40:05.654] Odometry x=-0.326145, y=1.228647, theta=0.669563
[21:40:05.757] Odometry x=-0.328529, y=1.231739, theta=0.682670
[21:40:05.757] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:2 ,distance between two frames x:-0.000020 ,z=0.000017,angle between two frames:0.000586
[21:40:05.757] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =2.278645 	 error end=0.350984
[21:40:05.757] After pose optimization, distance between two frames x:0.162821 ,z=0.441669,angle between two frames:0.922285
[21:40:05.856] Odometry x=-0.331008, y=1.234819, theta=0.686543
[21:40:05.914] After Reprojection Map nPoint:21 ,nCell:19 ,nMatches:3 ,distance between two frames x:0.000085 ,z=-0.000057,angle between two frames:0.000050
[21:40:05.914] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =0 	 error init =3.154176 	 error end=3.083335
[21:40:05.914] After pose optimization, distance between two frames x:9.111463 ,z=0.437137,angle between two frames:2.120335
[21:40:05.918] Image Alignment failed 0
[21:40:05.958] Odometry x=-0.333411, y=1.237820, theta=0.692184
[21:40:06.054] After Reprojection Map nPoint:26 ,nCell:20 ,nMatches:6 ,distance between two frames x:0.000005 ,z=0.000004,angle between two frames:0.001036
[21:40:06.054] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.887369 	 error end=0.887369
[21:40:06.054] After pose optimization, distance between two frames x:0.000005 ,z=0.000004,angle between two frames:0.001036
[21:40:06.056] Odometry x=-0.336020, y=1.241040, theta=0.698327
[21:40:06.158] Odometry x=-0.338337, y=1.243848, theta=0.701428
[21:40:06.198] After Reprojection Map nPoint:25 ,nCell:23 ,nMatches:3 ,distance between two frames x:0.000013 ,z=0.000059,angle between two frames:0.000074
[21:40:06.199] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.363170 	 error end=0.345370
[21:40:06.199] After pose optimization, distance between two frames x:-0.333650 ,z=0.007292,angle between two frames:0.318039
[21:40:06.255] Odometry x=-0.340979, y=1.246970, theta=0.695883
[21:40:06.357] After Reprojection Map nPoint:22 ,nCell:20 ,nMatches:3 ,distance between two frames x:0.000254 ,z=0.000328,angle between two frames:0.001527
[21:40:06.357] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =1 	 error init =1.999582 	 error end=1.999582
[21:40:06.357] After pose optimization, distance between two frames x:0.000254 ,z=0.000328,angle between two frames:0.001527
[21:40:06.358] Odometry x=-0.343296, y=1.249797, theta=0.703488
[21:40:06.456] Odometry x=-0.345811, y=1.252740, theta=0.700215
[21:40:06.501] After Reprojection Map nPoint:26 ,nCell:21 ,nMatches:4 ,distance between two frames x:-0.000028 ,z=-0.000041,angle between two frames:0.000048
[21:40:06.501] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.507546 	 error end=0.449656
[21:40:06.501] After pose optimization, distance between two frames x:0.162429 ,z=-0.000286,angle between two frames:0.270762
[21:40:06.553] Odometry x=-0.348166, y=1.255913, theta=0.705274
[21:40:06.645] After Reprojection Map nPoint:25 ,nCell:22 ,nMatches:5 ,distance between two frames x:-0.000043 ,z=0.000118,angle between two frames:0.000971
[21:40:06.645] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =7 	 error init =1.516450 	 error end=0.198543
[21:40:06.645] After pose optimization, distance between two frames x:0.360756 ,z=-0.551325,angle between two frames:0.826172
[21:40:06.656] Odometry x=-0.350709, y=1.258809, theta=0.703029
[21:40:06.758] Odometry x=-0.353152, y=1.261886, theta=0.711384
[21:40:06.790] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:2 ,distance between two frames x:-0.000049 ,z=0.000001,angle between two frames:0.000466
[21:40:06.790] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =2.521181 	 error end=2.521181
[21:40:06.790] After pose optimization, distance between two frames x:-0.000049 ,z=0.000001,angle between two frames:0.000466
[21:40:06.794] Image Alignment failed 0
[21:40:06.857] Odometry x=-0.355712, y=1.264887, theta=0.725104
[21:40:06.930] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:2 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000504
[21:40:06.930] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.321998 	 error end=0.321998
[21:40:06.930] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000504
[21:40:06.956] Odometry x=-0.358149, y=1.267857, theta=0.731043
[21:40:07.059] Odometry x=-0.360725, y=1.270733, theta=0.728475
[21:40:07.088] After Reprojection Map nPoint:24 ,nCell:24 ,nMatches:1 ,distance between two frames x:-0.000436 ,z=-0.000512,angle between two frames:0.000775
[21:40:07.088] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.554896 	 error end=0.554896
[21:40:07.088] After pose optimization, distance between two frames x:-0.000436 ,z=-0.000512,angle between two frames:0.000775
[21:40:07.092] Image Alignment failed 0
[21:40:07.156] Odometry x=-0.363221, y=1.273685, theta=0.729020
[21:40:07.228] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:1 ,distance between two frames x:0.000005 ,z=0.000004,angle between two frames:0.000044
[21:40:07.228] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.555235 	 error end=0.555235
[21:40:07.228] After pose optimization, distance between two frames x:0.000005 ,z=0.000004,angle between two frames:0.000044
[21:40:07.232] Image Alignment failed 0
[21:40:07.258] Odometry x=-0.365784, y=1.276567, theta=0.723646
[21:40:07.357] Odometry x=-0.368301, y=1.279488, theta=0.731326
[21:40:07.368] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:1 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:40:07.368] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.377341 	 error end=0.377341
[21:40:07.368] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:40:07.456] Odometry x=-0.370862, y=1.282352, theta=0.744745
[21:40:07.510] After Reprojection Map nPoint:1 ,nCell:1 ,nMatches:1 ,distance between two frames x:-0.000012 ,z=0.000010,angle between two frames:0.000009
[21:40:07.558] Odometry x=-0.373435, y=1.285322, theta=0.755364
[21:40:07.653] After Reprojection Map nPoint:1 ,nCell:1 ,nMatches:0 ,distance between two frames x:0.000054 ,z=0.000236,angle between two frames:0.000215
[21:40:07.657] Image Alignment failed 0
[21:40:07.657] Odometry x=-0.376075, y=1.288126, theta=0.753056
[21:40:07.727] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:40:07.732] Image Alignment failed 0
[21:40:07.756] Odometry x=-0.378752, y=1.291047, theta=0.752073
[21:40:07.802] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=0.000000,angle between two frames:0.000364
[21:40:07.813] Image Alignment failed 0
[21:40:07.855] Odometry x=-0.381335, y=1.293869, theta=0.758812
[21:40:07.883] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000018 ,z=-0.000006,angle between two frames:0.001508
[21:40:07.916] Image Alignment failed 0
[21:40:07.954] Odometry x=-0.384002, y=1.296685, theta=0.762248
[21:40:07.990] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000043 ,z=-0.000006,angle between two frames:0.009705
[21:40:08.014] Image Alignment failed 0
[21:40:08.055] Odometry x=-0.386588, y=1.299455, theta=0.765765
[21:40:08.085] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=0.000011,angle between two frames:0.002631
[21:40:08.112] Image Alignment failed 0
[21:40:08.158] Odometry x=-0.389334, y=1.302333, theta=0.763068
[21:40:08.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000059 ,z=0.000054,angle between two frames:0.001242
[21:40:08.212] Image Alignment failed 0
[21:40:08.261] Odometry x=-0.392036, y=1.305173, theta=0.775443
[21:40:08.282] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000015 ,z=0.000022,angle between two frames:0.003493
[21:40:08.312] Image Alignment failed 0
[21:40:08.356] Odometry x=-0.394745, y=1.308136, theta=0.774482
[21:40:08.381] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000031 ,z=0.000040,angle between two frames:0.002374
[21:40:08.412] Image Alignment failed 0
[21:40:08.457] Odometry x=-0.397204, y=1.310711, theta=0.777770
[21:40:08.482] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=0.000008,angle between two frames:0.000802
[21:40:08.511] Image Alignment failed 0
[21:40:08.555] Odometry x=-0.400121, y=1.313470, theta=0.777579
[21:40:08.582] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000128 ,z=-0.000113,angle between two frames:0.000186
[21:40:08.612] Image Alignment failed 0
[21:40:08.656] Odometry x=-0.402672, y=1.316173, theta=0.794465
[21:40:08.682] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000038,angle between two frames:0.008220
[21:40:08.711] Image Alignment failed 0
[21:40:08.755] Odometry x=-0.405507, y=1.318955, theta=0.783149
[21:40:08.781] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000027 ,z=0.000015,angle between two frames:0.008422
[21:40:08.812] Image Alignment failed 0
[21:40:08.855] Odometry x=-0.408202, y=1.321723, theta=0.796119
[21:40:08.882] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000033 ,z=0.000027,angle between two frames:0.001565
[21:40:08.912] Image Alignment failed 0
[21:40:08.956] Odometry x=-0.411040, y=1.324519, theta=0.787591
[21:40:08.982] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=0.000023,angle between two frames:0.003369
[21:40:09.012] Image Alignment failed 0
[21:40:09.056] Odometry x=-0.413497, y=1.327132, theta=0.797311
[21:40:09.082] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000018 ,z=0.000017,angle between two frames:0.007856
[21:40:09.112] Image Alignment failed 0
[21:40:09.155] Odometry x=-0.416331, y=1.329814, theta=0.799876
[21:40:09.182] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000027 ,z=0.000028,angle between two frames:0.000807
[21:40:09.211] Image Alignment failed 0
[21:40:09.255] Odometry x=-0.419319, y=1.332816, theta=0.817737
[21:40:09.282] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000012 ,z=0.000064,angle between two frames:0.003195
[21:40:09.312] Image Alignment failed 0
[21:40:09.355] Odometry x=-0.421977, y=1.335304, theta=0.809607
[21:40:09.383] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000015 ,z=-0.000003,angle between two frames:0.004042
[21:40:09.412] Image Alignment failed 0
[21:40:09.455] Odometry x=-0.424768, y=1.338076, theta=0.818297
[21:40:09.483] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000033 ,z=0.000129,angle between two frames:0.001036
[21:40:09.512] Image Alignment failed 0
[21:40:09.555] Odometry x=-0.427620, y=1.340562, theta=0.822737
[21:40:09.582] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.002503
[21:40:09.612] Image Alignment failed 0
[21:40:09.656] Odometry x=-0.430336, y=1.343213, theta=0.801505
[21:40:09.682] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000028 ,z=0.000089,angle between two frames:0.005251
[21:40:09.711] Image Alignment failed 0
[21:40:09.759] Odometry x=-0.433390, y=1.346009, theta=0.791849
[21:40:09.782] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000142 ,z=0.000016,angle between two frames:0.000138
[21:40:09.812] Image Alignment failed 0
[21:40:09.855] Odometry x=-0.436166, y=1.348971, theta=0.789182
[21:40:09.884] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000016 ,z=0.000039,angle between two frames:0.002598
[21:40:09.911] Image Alignment failed 0
[21:40:09.955] Odometry x=-0.438618, y=1.351363, theta=0.789316
[21:40:09.981] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000029 ,z=0.000008,angle between two frames:0.001566
[21:40:10.012] Image Alignment failed 0
[21:40:10.056] Odometry x=-0.441470, y=1.354228, theta=0.783641
[21:40:10.082] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000012 ,z=0.000032,angle between two frames:0.004207
[21:40:10.112] Image Alignment failed 0
[21:40:10.155] Odometry x=-0.444047, y=1.356895, theta=0.787954
[21:40:10.183] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000012 ,z=0.000022,angle between two frames:0.000664
[21:40:10.211] Image Alignment failed 0
[21:40:10.254] Odometry x=-0.447058, y=1.359877, theta=0.789124
[21:40:10.282] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000027 ,z=0.000028,angle between two frames:0.002575
[21:40:10.312] Image Alignment failed 0
[21:40:10.356] Odometry x=-0.449601, y=1.362540, theta=0.792302
[21:40:10.383] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000008,angle between two frames:0.001559
[21:40:10.411] Image Alignment failed 0
[21:40:10.455] Odometry x=-0.452499, y=1.365390, theta=0.798363
[21:40:10.487] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000033 ,z=0.000048,angle between two frames:0.002771
[21:40:10.513] Image Alignment failed 0
[21:40:10.556] Odometry x=-0.455107, y=1.367977, theta=0.794976
[21:40:10.584] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000022 ,z=0.000009,angle between two frames:0.002282
[21:40:10.618] Image Alignment failed 0
[21:40:10.656] Odometry x=-0.457951, y=1.370665, theta=0.803497
[21:40:10.692] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000082 ,z=-0.000037,angle between two frames:0.009529
[21:40:10.713] Image Alignment failed 0
[21:40:10.761] Odometry x=-0.460756, y=1.373484, theta=0.816271
[21:40:10.784] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000003,angle between two frames:0.002956
[21:40:10.812] Image Alignment failed 0
[21:40:10.855] Odometry x=-0.463635, y=1.376129, theta=0.813003
[21:40:10.883] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000074 ,z=-0.000059,angle between two frames:0.000383
[21:40:10.912] Image Alignment failed 0
[21:40:10.955] Odometry x=-0.466242, y=1.378707, theta=0.824308
[21:40:10.984] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.001466
[21:40:11.012] Image Alignment failed 0
[21:40:11.054] Odometry x=-0.469086, y=1.381282, theta=0.829888
[21:40:11.083] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000022 ,z=-0.000025,angle between two frames:0.001275
[21:40:11.111] Image Alignment failed 0
[21:40:11.150] Odometry x=-0.471787, y=1.383771, theta=0.839645
[21:40:11.182] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=0.000009,angle between two frames:0.005576
[21:40:11.214] Image Alignment failed 0
[21:40:11.255] Odometry x=-0.474702, y=1.386263, theta=0.850072
[21:40:11.284] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000004,angle between two frames:0.000949
[21:40:11.313] Image Alignment failed 0
[21:40:11.358] Odometry x=-0.477778, y=1.389109, theta=0.839407
[21:40:11.384] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000023 ,z=0.000026,angle between two frames:0.008852
[21:40:11.414] Image Alignment failed 0
[21:40:11.457] Odometry x=-0.480820, y=1.391722, theta=0.839493
[21:40:11.485] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000029 ,z=-0.000057,angle between two frames:0.002239
[21:40:11.513] Image Alignment failed 0
[21:40:11.556] Odometry x=-0.483711, y=1.394267, theta=0.845965
[21:40:11.584] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000044 ,z=0.000050,angle between two frames:0.001035
[21:40:11.617] Image Alignment failed 0
[21:40:11.654] Odometry x=-0.486529, y=1.396713, theta=0.850645
[21:40:11.688] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000026 ,z=-0.000030,angle between two frames:0.003696
[21:40:11.713] Image Alignment failed 0
[21:40:11.752] Odometry x=-0.489443, y=1.399318, theta=0.856300
[21:40:11.785] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=0.000039,angle between two frames:0.001532
[21:40:11.820] Image Alignment failed 0
[21:40:11.855] Odometry x=-0.492338, y=1.401834, theta=0.861747
[21:40:11.897] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000023 ,z=-0.000000,angle between two frames:0.002533
[21:40:11.931] Image Alignment failed 0
[21:40:11.954] Odometry x=-0.495227, y=1.404388, theta=0.870620
[21:40:12.002] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=0.000027,angle between two frames:0.007178
[21:40:12.030] Image Alignment failed 0
[21:40:12.052] Odometry x=-0.498157, y=1.406876, theta=0.862888
[21:40:12.101] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000019 ,z=0.000023,angle between two frames:0.001188
[21:40:12.154] Image Alignment failed 0
[21:40:12.162] Odometry x=-0.501069, y=1.409381, theta=0.870546
[21:40:12.233] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000019 ,z=-0.000021,angle between two frames:0.002456
[21:40:12.250] Image Alignment failed 0
[21:40:12.259] Odometry x=-0.504148, y=1.412080, theta=0.872677
[21:40:12.321] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000011,angle between two frames:0.001690
[21:40:12.347] Image Alignment failed 0
[21:40:12.353] Odometry x=-0.507088, y=1.414477, theta=0.887109
[21:40:12.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000038 ,z=-0.000049,angle between two frames:0.001629
[21:40:12.455] Image Alignment failed 0
[21:40:12.462] Odometry x=-0.509874, y=1.416860, theta=0.893837
[21:40:12.532] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000047,angle between two frames:0.005713
[21:40:12.548] Image Alignment failed 0
[21:40:12.554] Odometry x=-0.513065, y=1.419295, theta=0.893769
[21:40:12.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000033 ,z=-0.000043,angle between two frames:0.001451
[21:40:12.647] Image Alignment failed 0
[21:40:12.657] Odometry x=-0.515900, y=1.421610, theta=0.902687
[21:40:12.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.003896
[21:40:12.747] Image Alignment failed 0
[21:40:12.756] Odometry x=-0.519007, y=1.424034, theta=0.905980
[21:40:12.818] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000037,angle between two frames:0.003156
[21:40:12.848] Image Alignment failed 0
[21:40:12.859] Odometry x=-0.521971, y=1.426426, theta=0.917448
[21:40:12.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000023 ,z=0.000040,angle between two frames:0.004706
[21:40:12.947] Image Alignment failed 0
[21:40:12.958] Odometry x=-0.524743, y=1.428526, theta=0.923827
[21:40:13.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=-0.000011,angle between two frames:0.000505
[21:40:13.048] Image Alignment failed 0
[21:40:13.058] Odometry x=-0.527758, y=1.430921, theta=0.920109
[21:40:13.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000037 ,z=0.000054,angle between two frames:0.000851
[21:40:13.148] Image Alignment failed 0
[21:40:13.155] Odometry x=-0.530894, y=1.433264, theta=0.896546
[21:40:13.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000020 ,z=0.000006,angle between two frames:0.005510
[21:40:13.249] Image Alignment failed 0
[21:40:13.259] Odometry x=-0.533770, y=1.435767, theta=0.881904
[21:40:13.319] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000037 ,z=0.000002,angle between two frames:0.002594
[21:40:13.347] Image Alignment failed 0
[21:40:13.358] Odometry x=-0.536714, y=1.438186, theta=0.866602
[21:40:13.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000010 ,z=0.000000,angle between two frames:0.004936
[21:40:13.446] Image Alignment failed 0
[21:40:13.451] Odometry x=-0.539611, y=1.440710, theta=0.873111
[21:40:13.516] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000001,angle between two frames:0.001115
[21:40:13.546] Image Alignment failed 0
[21:40:13.558] Odometry x=-0.542314, y=1.443031, theta=0.884927
[21:40:13.616] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000021 ,z=0.000027,angle between two frames:0.007546
[21:40:13.645] Image Alignment failed 0
[21:40:13.653] Odometry x=-0.545532, y=1.445828, theta=0.896054
[21:40:13.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000015 ,z=-0.000009,angle between two frames:0.002225
[21:40:13.746] Image Alignment failed 0
[21:40:13.758] Odometry x=-0.548256, y=1.448119, theta=0.902219
[21:40:13.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000031 ,z=0.000040,angle between two frames:0.008389
[21:40:13.850] Image Alignment failed 0
[21:40:13.852] Odometry x=-0.551436, y=1.450550, theta=0.909456
[21:40:13.926] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000001,angle between two frames:0.005286
[21:40:13.947] Image Alignment failed 0
[21:40:13.953] Odometry x=-0.554343, y=1.452928, theta=0.919408
[21:40:14.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000025,angle between two frames:0.000059
[21:40:14.047] Image Alignment failed 0
[21:40:14.056] Odometry x=-0.557280, y=1.455162, theta=0.928426
[21:40:14.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000074 ,z=0.000056,angle between two frames:0.000554
[21:40:14.147] Image Alignment failed 0
[21:40:14.159] Odometry x=-0.560556, y=1.457752, theta=0.954018
[21:40:14.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000013 ,z=0.000037,angle between two frames:0.004502
[21:40:14.248] Image Alignment failed 0
[21:40:14.257] Odometry x=-0.563814, y=1.459934, theta=0.947155
[21:40:14.319] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000029 ,z=-0.000020,angle between two frames:0.000771
[21:40:14.346] Image Alignment failed 0
[21:40:14.354] Odometry x=-0.566920, y=1.462248, theta=0.955192
[21:40:14.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=0.000006,angle between two frames:0.004352
[21:40:14.447] Image Alignment failed 0
[21:40:14.457] Odometry x=-0.570076, y=1.464427, theta=0.941161
[21:40:14.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000000,angle between two frames:0.004309
[21:40:14.547] Image Alignment failed 0
[21:40:14.555] Odometry x=-0.573417, y=1.466933, theta=0.946108
[21:40:14.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000079 ,z=0.000072,angle between two frames:0.001124
[21:40:14.647] Image Alignment failed 0
[21:40:14.653] Odometry x=-0.576324, y=1.468986, theta=0.934431
[21:40:14.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=0.000005,angle between two frames:0.000893
[21:40:14.747] Image Alignment failed 0
[21:40:14.756] Odometry x=-0.579437, y=1.471313, theta=0.919726
[21:40:14.818] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000033 ,z=0.000030,angle between two frames:0.004376
[21:40:14.847] Image Alignment failed 0
[21:40:14.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.001359
[21:40:14.948] Image Alignment failed 0
[21:40:15.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000002,angle between two frames:0.001491
[21:40:15.046] Image Alignment failed 0
[21:40:15.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=0.000004,angle between two frames:0.001496
[21:40:15.147] Image Alignment failed 0
[21:40:15.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.006062
[21:40:15.247] Image Alignment failed 0
[21:40:15.317] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=0.000021,angle between two frames:0.001802
[21:40:15.347] Image Alignment failed 0
[21:40:15.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000026 ,z=-0.000026,angle between two frames:0.000376
[21:40:15.448] Image Alignment failed 0
[21:40:15.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=0.000026,angle between two frames:0.006133
[21:40:15.546] Image Alignment failed 0
[21:40:15.616] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000090 ,z=-0.000016,angle between two frames:0.002527
[21:40:15.645] Image Alignment failed 0
[21:40:15.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.004323
[21:40:15.744] Image Alignment failed 0
[21:40:15.815] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000002,angle between two frames:0.001504
[21:40:15.845] Image Alignment failed 0
[21:40:15.916] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000745
[21:40:15.946] Image Alignment failed 0
[21:40:16.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000949
[21:40:16.046] Image Alignment failed 0
[21:40:16.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000789
[21:40:16.146] Image Alignment failed 0
[21:40:16.216] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000803
[21:40:16.246] Image Alignment failed 0
[21:40:16.316] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000908
[21:40:16.350] Image Alignment failed 0
[21:40:16.420] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000909
[21:40:16.446] Image Alignment failed 0
[21:40:16.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000815
[21:40:16.545] Image Alignment failed 0
[21:40:16.615] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000795
[21:40:16.646] Image Alignment failed 0
[21:40:16.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000906
[21:40:16.746] Image Alignment failed 0
[21:40:16.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000850
[21:40:16.846] Image Alignment failed 0
[21:40:16.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000916
[21:40:16.946] Image Alignment failed 0
[21:40:17.016] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000768
[21:40:17.046] Image Alignment failed 0
[21:40:17.116] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001078
[21:40:17.146] Image Alignment failed 0
[21:40:17.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000915
[21:40:17.246] Image Alignment failed 0
[21:40:17.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000756
[21:40:17.346] Image Alignment failed 0
[21:40:17.416] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001015
[21:40:17.448] Image Alignment failed 0
[21:40:17.522] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000696
[21:40:17.546] Image Alignment failed 0
[21:40:17.619] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000762
[21:40:17.646] Image Alignment failed 0
[21:40:17.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000875
[21:40:17.746] Image Alignment failed 0
[21:40:17.817] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000846
[21:40:17.846] Image Alignment failed 0
[21:40:17.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000896
[21:40:17.946] Image Alignment failed 0
[21:40:18.016] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000923
[21:40:18.046] Image Alignment failed 0
[21:40:18.116] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000915
[21:40:18.146] Image Alignment failed 0
[21:40:18.216] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000781
[21:40:18.246] Image Alignment failed 0
[21:40:18.317] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000853
[21:40:18.346] Image Alignment failed 0
[21:40:18.416] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000765
[21:40:18.446] Image Alignment failed 0
[21:40:18.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000900
[21:40:18.546] Image Alignment failed 0
[21:40:18.617] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000902
[21:40:18.646] Image Alignment failed 0
[21:40:18.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000906
[21:40:18.748] Image Alignment failed 0
[21:40:18.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000858
[21:40:18.846] Image Alignment failed 0
[21:40:18.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000714
[21:40:18.946] Image Alignment failed 0
[21:40:19.016] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000862
[21:40:19.047] Image Alignment failed 0
[21:40:19.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000763
[21:40:19.145] Image Alignment failed 0
[21:40:19.215] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000815
[21:40:19.247] Image Alignment failed 0
[21:40:19.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000951
[21:40:19.353] Image Alignment failed 0
[21:40:19.427] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000908
[21:40:19.446] Image Alignment failed 0
[21:40:19.516] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000688
[21:40:19.547] Image Alignment failed 0
[21:40:19.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000762
[21:40:19.647] Image Alignment failed 0
[21:40:19.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000918
[21:40:19.746] Image Alignment failed 0
[21:40:19.817] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000760
[21:40:19.847] Image Alignment failed 0
[21:40:19.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000763
[21:40:19.947] Image Alignment failed 0
[21:40:20.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000765
[21:40:20.047] Image Alignment failed 0
[21:40:20.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000899
[21:40:20.147] Image Alignment failed 0
[21:40:20.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000909
[21:40:20.248] Image Alignment failed 0
[21:40:20.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000751
[21:40:20.346] Image Alignment failed 0
[21:40:20.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000913
[21:40:20.447] Image Alignment failed 0
[21:40:20.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000907
[21:40:20.547] Image Alignment failed 0
[21:40:20.617] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001069
[21:40:20.647] Image Alignment failed 0
[21:40:20.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000914
[21:40:20.746] Image Alignment failed 0
[21:40:20.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000766
[21:40:20.846] Image Alignment failed 0
[21:40:20.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000763
[21:40:20.946] Image Alignment failed 0
[21:40:21.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000750
[21:40:21.047] Image Alignment failed 0
[21:40:21.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001042
[21:40:21.148] Image Alignment failed 0
[21:40:21.221] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000752
[21:40:21.246] Image Alignment failed 0
[21:40:21.316] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000619
[21:40:21.347] Image Alignment failed 0
[21:40:21.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000915
[21:40:21.449] Image Alignment failed 0
[21:40:21.520] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000743
[21:40:21.546] Image Alignment failed 0
[21:40:21.616] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000912
[21:40:21.646] Image Alignment failed 0
[21:40:21.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000905
[21:40:21.747] Image Alignment failed 0
[21:40:21.817] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000785
[21:40:21.847] Image Alignment failed 0
[21:40:21.916] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000912
[21:40:21.946] Image Alignment failed 0
[21:40:22.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000913
[21:40:22.055] Image Alignment failed 0
[21:40:22.125] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000995
[21:40:22.146] Image Alignment failed 0
[21:40:22.216] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000598
[21:40:22.246] Image Alignment failed 0
[21:40:22.316] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000756
[21:40:22.346] Image Alignment failed 0
[21:40:22.416] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000764
[21:40:22.447] Image Alignment failed 0
[21:40:22.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000920
[21:40:22.546] Image Alignment failed 0
[21:40:22.616] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000764
[21:40:22.647] Image Alignment failed 0
[21:40:22.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000760
[21:40:22.746] Image Alignment failed 0
[21:40:22.817] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000890
[21:40:22.847] Image Alignment failed 0
[21:40:22.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001067
[21:40:22.947] Image Alignment failed 0
[21:40:23.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000748
[21:40:23.047] Image Alignment failed 0
[21:40:23.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000760
[21:40:23.147] Image Alignment failed 0
[21:40:23.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000899
[21:40:23.246] Image Alignment failed 0
[21:40:23.317] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000755
[21:40:23.347] Image Alignment failed 0
[21:40:23.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000750
[21:40:23.447] Image Alignment failed 0
[21:40:23.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001053
[21:40:23.546] Image Alignment failed 0
[21:40:23.616] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000762
[21:40:23.647] Image Alignment failed 0
[21:40:23.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000748
[21:40:23.746] Image Alignment failed 0
[21:40:23.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001044
[21:40:23.852] Image Alignment failed 0
[21:40:23.927] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001062
[21:40:23.946] Image Alignment failed 0
[21:40:24.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000450
[21:40:24.047] Image Alignment failed 0
[21:40:24.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001064
[21:40:24.153] Image Alignment failed 0
[21:40:24.223] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001007
[21:40:24.247] Image Alignment failed 0
[21:40:24.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000741
[21:40:24.346] Image Alignment failed 0
[21:40:24.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000941
[21:40:24.446] Image Alignment failed 0
[21:40:24.516] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000806
[21:40:24.546] Image Alignment failed 0
[21:40:24.616] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000908
[21:40:24.646] Image Alignment failed 0
[21:40:24.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000909
[21:40:24.746] Image Alignment failed 0
[21:40:24.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000797
[21:40:24.846] Image Alignment failed 0
[21:40:24.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001149
[21:40:24.946] Image Alignment failed 0
[21:40:25.016] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000894
[21:40:25.046] Image Alignment failed 0
[21:40:25.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000751
[21:40:25.147] Image Alignment failed 0
[21:40:25.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000773
[21:40:25.246] Image Alignment failed 0
[21:40:25.317] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000757
[21:40:25.347] Image Alignment failed 0
[21:40:25.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000917
[21:40:25.446] Image Alignment failed 0
[21:40:25.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000753
[21:40:25.546] Image Alignment failed 0
[21:40:25.617] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000906
[21:40:25.647] Image Alignment failed 0
[21:40:25.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000941
[21:40:25.746] Image Alignment failed 0
[21:40:25.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000751
[21:40:25.847] Image Alignment failed 0
[21:40:25.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000765
[21:40:25.946] Image Alignment failed 0
[21:40:26.016] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000756
[21:40:26.047] Image Alignment failed 0
[21:40:26.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000856
[21:40:26.147] Image Alignment failed 0
[21:40:26.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000754
[21:40:26.252] Image Alignment failed 0
[21:40:26.323] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000756
[21:40:26.347] Image Alignment failed 0
[21:40:26.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000600
[21:40:26.447] Image Alignment failed 0
[21:40:26.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000744
[21:40:26.547] Image Alignment failed 0
[21:40:26.617] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000744
[21:40:26.647] Image Alignment failed 0
[21:40:26.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000765
[21:40:26.747] Image Alignment failed 0
[21:40:26.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000757
[21:40:26.846] Image Alignment failed 0
[21:40:26.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000749
[21:40:26.947] Image Alignment failed 0
[21:40:27.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000905
[21:40:27.046] Image Alignment failed 0
[21:40:27.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000925
[21:40:27.146] Image Alignment failed 0
[21:40:27.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000747
[21:40:27.245] Image Alignment failed 0
[21:40:27.316] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000753
[21:40:27.346] Image Alignment failed 0
[21:40:27.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000760
[21:40:27.451] Image Alignment failed 0
[21:40:27.522] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000926
[21:40:27.547] Image Alignment failed 0
[21:40:27.617] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000886
[21:40:27.648] Image Alignment failed 0
[21:40:27.719] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000761
[21:40:27.752] Image Alignment failed 0
[21:40:27.827] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000911
[21:40:27.847] Image Alignment failed 0
[21:40:27.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000459
[21:40:27.947] Image Alignment failed 0
[21:40:28.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000745
[21:40:28.047] Image Alignment failed 0
[21:40:28.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000744
[21:40:28.151] Image Alignment failed 0
[21:40:28.226] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000924
[21:40:28.247] Image Alignment failed 0
[21:40:28.317] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000452
[21:40:28.347] Image Alignment failed 0
[21:40:28.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000775
[21:40:28.456] Image Alignment failed 0
[21:40:28.526] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001125
[21:40:28.551] Image Alignment failed 0
[21:40:28.624] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000775
[21:40:28.646] Image Alignment failed 0
[21:40:28.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000609
[21:40:28.746] Image Alignment failed 0
[21:40:28.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001019
[21:40:28.847] Image Alignment failed 0
[21:40:28.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001005
[21:40:28.948] Image Alignment failed 0
[21:40:29.019] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000756
[21:40:29.070] Image Alignment failed 0
[21:40:29.152] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001498
[21:40:29.183] Image Alignment failed 0
[21:40:29.254] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000913
[21:40:29.280] Image Alignment failed 0
[21:40:29.351] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000764
[21:40:29.383] Image Alignment failed 0
[21:40:29.454] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000989
[21:40:29.480] Image Alignment failed 0
[21:40:29.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000761
[21:40:29.581] Image Alignment failed 0
[21:40:29.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000918
[21:40:29.681] Image Alignment failed 0
[21:40:29.752] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000749
[21:40:29.780] Image Alignment failed 0
[21:40:29.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000902
[21:40:29.880] Image Alignment failed 0
[21:40:29.951] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000915
[21:40:29.981] Image Alignment failed 0
[21:40:30.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001110
[21:40:30.082] Image Alignment failed 0
[21:40:30.152] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000796
[21:40:30.182] Image Alignment failed 0
[21:40:30.252] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000790
[21:40:30.280] Image Alignment failed 0
[21:40:30.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000756
[21:40:30.380] Image Alignment failed 0
[21:40:30.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000753
[21:40:30.483] Image Alignment failed 0
[21:40:30.554] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000857
[21:40:30.581] Image Alignment failed 0
[21:40:30.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000847
[21:40:30.680] Image Alignment failed 0
[21:40:30.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000988
[21:40:30.781] Image Alignment failed 0
[21:40:30.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000755
[21:40:30.880] Image Alignment failed 0
[21:40:30.950] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001134
[21:40:30.980] Image Alignment failed 0
[21:40:31.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000861
[21:40:31.079] Image Alignment failed 0
[21:40:31.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000753
[21:40:31.180] Image Alignment failed 0
[21:40:31.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000941
[21:40:31.282] Image Alignment failed 0
[21:40:31.352] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000937
[21:40:31.381] Image Alignment failed 0
[21:40:31.452] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000753
[21:40:31.481] Image Alignment failed 0
[21:40:31.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000797
[21:40:31.582] Image Alignment failed 0
[21:40:31.652] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000946
[21:40:31.681] Image Alignment failed 0
[21:40:31.752] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000942
[21:40:31.782] Image Alignment failed 0
[21:40:31.853] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000946
[21:40:31.883] Image Alignment failed 0
[21:40:31.953] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000615
[21:40:31.980] Image Alignment failed 0
[21:40:32.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000771
[21:40:32.081] Image Alignment failed 0
[21:40:32.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000850
[21:40:32.181] Image Alignment failed 0
[21:40:32.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000789
[21:40:32.279] Image Alignment failed 0
[21:40:32.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000625
[21:40:32.380] Image Alignment failed 0
[21:40:32.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000894
[21:40:32.481] Image Alignment failed 0
[21:40:32.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000803
[21:40:32.580] Image Alignment failed 0
[21:40:32.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000749
[21:40:32.680] Image Alignment failed 0
[21:40:32.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000869
[21:40:32.781] Image Alignment failed 0
[21:40:32.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000930
[21:40:32.883] Image Alignment failed 0
[21:40:32.953] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000774
[21:40:32.980] Image Alignment failed 0
[21:40:33.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000762
[21:40:33.081] Image Alignment failed 0
[21:40:33.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000749
[21:40:33.181] Image Alignment failed 0
[21:40:33.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000902
[21:40:33.281] Image Alignment failed 0
[21:40:33.351] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000744
[21:40:33.381] Image Alignment failed 0
[21:40:33.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000930
[21:40:33.481] Image Alignment failed 0
[21:40:33.552] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000761
[21:40:33.581] Image Alignment failed 0
[21:40:33.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000767
[21:40:33.681] Image Alignment failed 0
[21:40:33.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001053
[21:40:33.781] Image Alignment failed 0
[21:40:33.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000760
[21:40:33.881] Image Alignment failed 0
[21:40:33.951] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000757
[21:40:33.980] Image Alignment failed 0
[21:40:34.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000765
[21:40:34.092] Image Alignment failed 0
[21:40:34.232] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:6 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001309
[21:40:34.232] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.590370 	 error end=0.590370
[21:40:34.232] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001309
[21:40:34.378] After Reprojection Map nPoint:28 ,nCell:22 ,nMatches:7 ,distance between two frames x:0.000005 ,z=-0.000008,angle between two frames:0.000010
[21:40:34.378] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.381980 	 error end=0.381980
[21:40:34.378] After pose optimization, distance between two frames x:0.000005 ,z=-0.000008,angle between two frames:0.000010
[21:40:34.530] After Reprojection Map nPoint:31 ,nCell:28 ,nMatches:10 ,distance between two frames x:-0.000029 ,z=-0.000031,angle between two frames:0.000046
[21:40:34.530] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =19 	 error init =0.258217 	 error end=0.258217
[21:40:34.530] After pose optimization, distance between two frames x:-0.000029 ,z=-0.000031,angle between two frames:0.000046
[21:40:34.530] Update EKF and 3D points, distance between two frames x:-0.000028 ,z=-0.000030,angle between two frames:0.000232
[21:40:34.530] Choose frame as a key frame Scene Depth mean:1.473615 ,depth min:1.256613
[21:40:34.685] After Reprojection Map nPoint:32 ,nCell:28 ,nMatches:14 ,distance between two frames x:0.000002 ,z=0.000007,angle between two frames:0.001799
[21:40:34.685] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =17 	 error init =0.425391 	 error end=0.423517
[21:40:34.685] After pose optimization, distance between two frames x:-0.044080 ,z=-0.060614,angle between two frames:0.062168
[21:40:34.685] Update EKF and 3D points, distance between two frames x:-0.041514 ,z=-0.057085,angle between two frames:0.058920
[21:40:34.685] Choose frame as a key frame Scene Depth mean:1.368345 ,depth min:1.188735
[21:40:34.837] After Reprojection Map nPoint:50 ,nCell:43 ,nMatches:16 ,distance between two frames x:0.015886 ,z=0.021779,angle between two frames:0.019944
[21:40:34.837] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =22 	 error init =0.383021 	 error end=0.383021
[21:40:34.837] After pose optimization, distance between two frames x:0.015886 ,z=0.021779,angle between two frames:0.019944
[21:40:34.837] Update EKF and 3D points, distance between two frames x:0.015884 ,z=0.021780,angle between two frames:0.019666
[21:40:34.837] Choose frame as a key frame Scene Depth mean:1.407642 ,depth min:0.899872
[21:40:35.004] After Reprojection Map nPoint:62 ,nCell:54 ,nMatches:18 ,distance between two frames x:-0.000046 ,z=0.000098,angle between two frames:0.001744
[21:40:35.004] n deleted obs = 17 	 n obs with reprojection error less than 0.5 px =22 	 error init =0.488685 	 error end=0.488685
[21:40:35.004] After pose optimization, distance between two frames x:-0.000046 ,z=0.000098,angle between two frames:0.001744
[21:40:35.004] Update EKF and 3D points, distance between two frames x:-0.000044 ,z=0.000093,angle between two frames:0.002043
[21:40:35.004] Choose frame as a key frame Scene Depth mean:1.315842 ,depth min:0.878505
[21:40:35.173] After Reprojection Map nPoint:87 ,nCell:65 ,nMatches:20 ,distance between two frames x:-0.000071 ,z=0.000095,angle between two frames:0.001842
[21:40:35.173] n deleted obs = 19 	 n obs with reprojection error less than 0.5 px =34 	 error init =0.466570 	 error end=0.466570
[21:40:35.173] After pose optimization, distance between two frames x:-0.000071 ,z=0.000095,angle between two frames:0.001842
[21:40:35.173] Update EKF and 3D points, distance between two frames x:-0.000066 ,z=0.000088,angle between two frames:0.002141
[21:40:35.173] Choose frame as a key frame Scene Depth mean:1.367372 ,depth min:0.599927
[21:40:35.344] After Reprojection Map nPoint:109 ,nCell:80 ,nMatches:24 ,distance between two frames x:0.000007 ,z=0.000010,angle between two frames:0.001914
[21:40:35.344] n deleted obs = 24 	 n obs with reprojection error less than 0.5 px =38 	 error init =0.449001 	 error end=0.449001
[21:40:35.344] After pose optimization, distance between two frames x:0.000007 ,z=0.000010,angle between two frames:0.001914
[21:40:35.344] Update EKF and 3D points, distance between two frames x:0.000008 ,z=0.000007,angle between two frames:0.002226
[21:40:35.344] Choose frame as a key frame Scene Depth mean:1.353065 ,depth min:0.873190
[21:40:35.504] After Reprojection Map nPoint:139 ,nCell:73 ,nMatches:25 ,distance between two frames x:0.000007 ,z=-0.000022,angle between two frames:0.002031
[21:40:35.507] n deleted obs = 30 	 n obs with reprojection error less than 0.5 px =47 	 error init =0.493819 	 error end=0.467200
[21:40:35.507] After pose optimization, distance between two frames x:0.296706 ,z=0.209729,angle between two frames:0.189570
[21:40:35.683] After Reprojection Map nPoint:164 ,nCell:85 ,nMatches:29 ,distance between two frames x:-0.000156 ,z=0.000280,angle between two frames:0.000086
[21:40:35.683] n deleted obs = 35 	 n obs with reprojection error less than 0.5 px =48 	 error init =0.480317 	 error end=0.480317
[21:40:35.683] After pose optimization, distance between two frames x:-0.000156 ,z=0.000280,angle between two frames:0.000086
[21:40:35.683] Update EKF and 3D points, distance between two frames x:-0.000147 ,z=0.000264,angle between two frames:0.000242
[21:40:35.683] Choose frame as a key frame Scene Depth mean:1.398473 ,depth min:0.737580
[21:40:35.852] After Reprojection Map nPoint:190 ,nCell:80 ,nMatches:32 ,distance between two frames x:0.000046 ,z=-0.000102,angle between two frames:0.002095
[21:40:35.852] n deleted obs = 38 	 n obs with reprojection error less than 0.5 px =69 	 error init =0.432677 	 error end=0.432677
[21:40:35.852] After pose optimization, distance between two frames x:0.000046 ,z=-0.000102,angle between two frames:0.002095
[21:40:35.852] Update EKF and 3D points, distance between two frames x:0.000047 ,z=-0.000102,angle between two frames:0.002398
[21:40:35.852] Choose frame as a key frame Scene Depth mean:1.429968 ,depth min:0.765671
[21:40:36.041] After Reprojection Map nPoint:232 ,nCell:74 ,nMatches:38 ,distance between two frames x:-0.000123 ,z=0.000119,angle between two frames:0.001829
[21:40:36.042] n deleted obs = 39 	 n obs with reprojection error less than 0.5 px =93 	 error init =0.434450 	 error end=0.411059
[21:40:36.042] After pose optimization, distance between two frames x:0.248315 ,z=0.161049,angle between two frames:0.161050
[21:40:36.217] After Reprojection Map nPoint:270 ,nCell:93 ,nMatches:37 ,distance between two frames x:-0.000036 ,z=0.000010,angle between two frames:0.000122
[21:40:36.217] n deleted obs = 49 	 n obs with reprojection error less than 0.5 px =81 	 error init =0.450851 	 error end=0.450851
[21:40:36.217] After pose optimization, distance between two frames x:-0.000036 ,z=0.000010,angle between two frames:0.000122
[21:40:36.217] Update EKF and 3D points, distance between two frames x:-0.000034 ,z=0.000010,angle between two frames:0.000440
[21:40:36.217] Choose frame as a key frame Scene Depth mean:1.422703 ,depth min:0.493428
[21:40:36.397] After Reprojection Map nPoint:290 ,nCell:87 ,nMatches:34 ,distance between two frames x:-0.000013 ,z=0.000027,angle between two frames:0.002023
[21:40:36.397] n deleted obs = 56 	 n obs with reprojection error less than 0.5 px =92 	 error init =0.439542 	 error end=0.439542
[21:40:36.397] After pose optimization, distance between two frames x:-0.000013 ,z=0.000027,angle between two frames:0.002023
[21:40:36.397] Update EKF and 3D points, distance between two frames x:-0.000012 ,z=0.000025,angle between two frames:0.002337
[21:40:36.398] Choose frame as a key frame Scene Depth mean:115795217235.891724 ,depth min:0.490939
[21:40:36.405] Image Alignment failed 0
[21:40:36.569] After Reprojection Map nPoint:333 ,nCell:100 ,nMatches:41 ,distance between two frames x:0.000008 ,z=-0.000011,angle between two frames:0.002026
[21:40:36.569] n deleted obs = 71 	 n obs with reprojection error less than 0.5 px =97 	 error init =0.472057 	 error end=0.472057
[21:40:36.569] After pose optimization, distance between two frames x:0.000008 ,z=-0.000011,angle between two frames:0.002026
[21:40:36.569] Update EKF and 3D points, distance between two frames x:0.000008 ,z=-0.000011,angle between two frames:0.002329
[21:40:36.570] Choose frame as a key frame Scene Depth mean:225343587812.059479 ,depth min:0.540681
[21:40:36.577] Image Alignment failed 0
[21:40:36.747] After Reprojection Map nPoint:418 ,nCell:98 ,nMatches:46 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.001963
[21:40:36.748] n deleted obs = 84 	 n obs with reprojection error less than 0.5 px =126 	 error init =0.433445 	 error end=0.433445
[21:40:36.748] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.001963
[21:40:36.748] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002274
[21:40:36.748] Choose frame as a key frame Scene Depth mean:1.467482 ,depth min:0.795331
[21:40:36.763] Image Alignment failed 0
[21:40:36.940] After Reprojection Map nPoint:514 ,nCell:91 ,nMatches:43 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002015
[21:40:36.940] n deleted obs = 103 	 n obs with reprojection error less than 0.5 px =153 	 error init =0.470815 	 error end=0.470815
[21:40:36.940] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002015
[21:40:36.940] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002354
[21:40:36.941] Choose frame as a key frame Scene Depth mean:60607940985.355965 ,depth min:0.740117
[21:40:36.948] Image Alignment failed 0
[21:40:37.131] After Reprojection Map nPoint:564 ,nCell:110 ,nMatches:43 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002194
[21:40:37.131] n deleted obs = 104 	 n obs with reprojection error less than 0.5 px =163 	 error init =0.427216 	 error end=0.427216
[21:40:37.131] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002194
[21:40:37.131] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002532
[21:40:37.132] Choose frame as a key frame Scene Depth mean:1.463844 ,depth min:0.736927
[21:40:37.139] Image Alignment failed 0
[21:40:37.329] After Reprojection Map nPoint:664 ,nCell:126 ,nMatches:49 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002183
[21:40:37.330] n deleted obs = 124 	 n obs with reprojection error less than 0.5 px =193 	 error init =0.440227 	 error end=0.440227
[21:40:37.330] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002183
[21:40:37.330] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002533
[21:40:37.330] Choose frame as a key frame Scene Depth mean:12875.427785 ,depth min:0.703171
[21:40:37.337] Image Alignment failed 0
[21:40:37.533] After Reprojection Map nPoint:726 ,nCell:122 ,nMatches:46 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002254
[21:40:37.533] n deleted obs = 128 	 n obs with reprojection error less than 0.5 px =208 	 error init =0.431967 	 error end=0.431967
[21:40:37.533] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002254
[21:40:37.533] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002606
[21:40:37.534] Choose frame as a key frame Scene Depth mean:118424382052.924667 ,depth min:0.730464
[21:40:37.541] Image Alignment failed 0
[21:40:37.744] After Reprojection Map nPoint:864 ,nCell:103 ,nMatches:47 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002262
[21:40:37.744] n deleted obs = 144 	 n obs with reprojection error less than 0.5 px =254 	 error init =0.406103 	 error end=0.406103
[21:40:37.745] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002262
[21:40:37.745] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002634
[21:40:37.745] Choose frame as a key frame Scene Depth mean:1.477478 ,depth min:0.625383
[21:40:37.753] Image Alignment failed 0
[21:40:37.959] After Reprojection Map nPoint:899 ,nCell:101 ,nMatches:42 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:40:37.960] n deleted obs = 102 	 n obs with reprojection error less than 0.5 px =297 	 error init =0.400005 	 error end=0.384145
[21:40:37.960] After pose optimization, distance between two frames x:0.156710 ,z=0.033307,angle between two frames:0.031527
[21:40:37.968] Image Alignment failed 0
[21:40:38.177] After Reprojection Map nPoint:1011 ,nCell:146 ,nMatches:45 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000149
[21:40:38.178] n deleted obs = 153 	 n obs with reprojection error less than 0.5 px =255 	 error init =0.420070 	 error end=0.420070
[21:40:38.178] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000149
[21:40:38.178] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000530
[21:40:38.179] Choose frame as a key frame Scene Depth mean:1.594675 ,depth min:0.615414
[21:40:38.186] Image Alignment failed 0
[21:40:38.404] After Reprojection Map nPoint:1019 ,nCell:103 ,nMatches:43 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002452
[21:40:38.405] n deleted obs = 163 	 n obs with reprojection error less than 0.5 px =285 	 error init =0.414042 	 error end=0.414042
[21:40:38.405] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002452
[21:40:38.405] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002847
[21:40:38.406] Choose frame as a key frame Scene Depth mean:77.220142 ,depth min:0.612414
[21:40:38.413] Image Alignment failed 0
[21:40:38.638] After Reprojection Map nPoint:1104 ,nCell:137 ,nMatches:52 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002688
[21:40:38.639] n deleted obs = 146 	 n obs with reprojection error less than 0.5 px =319 	 error init =0.426295 	 error end=0.413968
[21:40:38.639] After pose optimization, distance between two frames x:0.114462 ,z=-0.017092,angle between two frames:0.002703
[21:40:38.647] Image Alignment failed 0
[21:40:38.870] After Reprojection Map nPoint:1174 ,nCell:119 ,nMatches:49 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:40:38.871] n deleted obs = 180 	 n obs with reprojection error less than 0.5 px =286 	 error init =0.427238 	 error end=0.427238
[21:40:38.871] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:40:38.871] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000416
[21:40:38.872] Choose frame as a key frame Scene Depth mean:1.544245 ,depth min:0.601868
[21:40:38.880] Image Alignment failed 0
[21:40:39.112] After Reprojection Map nPoint:1151 ,nCell:108 ,nMatches:46 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002665
[21:40:39.114] n deleted obs = 135 	 n obs with reprojection error less than 0.5 px =356 	 error init =0.438547 	 error end=0.412372
[21:40:39.114] After pose optimization, distance between two frames x:0.263581 ,z=0.125387,angle between two frames:0.176931
[21:40:39.122] Image Alignment failed 0
[21:40:39.355] After Reprojection Map nPoint:1279 ,nCell:150 ,nMatches:48 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000238
[21:40:39.356] n deleted obs = 182 	 n obs with reprojection error less than 0.5 px =311 	 error init =0.432385 	 error end=0.432385
[21:40:39.356] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000238
[21:40:39.356] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000666
[21:40:39.357] Choose frame as a key frame Scene Depth mean:2.019030 ,depth min:0.591009
[21:40:39.365] Image Alignment failed 0
[21:40:39.605] After Reprojection Map nPoint:1343 ,nCell:116 ,nMatches:50 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002742
[21:40:39.606] n deleted obs = 229 	 n obs with reprojection error less than 0.5 px =339 	 error init =0.450840 	 error end=0.450840
[21:40:39.606] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002742
[21:40:39.606] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003186
[21:40:39.608] Choose frame as a key frame Scene Depth mean:1.974056 ,depth min:0.474450
[21:40:39.615] Image Alignment failed 0
[21:40:39.875] After Reprojection Map nPoint:1431 ,nCell:95 ,nMatches:47 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002937
[21:40:39.876] n deleted obs = 226 	 n obs with reprojection error less than 0.5 px =377 	 error init =0.430857 	 error end=0.430857
[21:40:39.876] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002937
[21:40:39.876] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003409
[21:40:39.878] Choose frame as a key frame Scene Depth mean:1.890417 ,depth min:0.466774
[21:40:39.885] Image Alignment failed 0
[21:40:40.148] After Reprojection Map nPoint:1479 ,nCell:136 ,nMatches:43 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003011
[21:40:40.149] n deleted obs = 234 	 n obs with reprojection error less than 0.5 px =373 	 error init =0.441079 	 error end=0.441079
[21:40:40.149] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003011
[21:40:40.149] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003496
[21:40:40.150] Choose frame as a key frame Scene Depth mean:146637886.024329 ,depth min:0.463503
[21:40:40.158] Image Alignment failed 0
[21:40:40.423] After Reprojection Map nPoint:1515 ,nCell:112 ,nMatches:47 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003084
[21:40:40.424] n deleted obs = 236 	 n obs with reprojection error less than 0.5 px =396 	 error init =0.429948 	 error end=0.429948
[21:40:40.424] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003084
[21:40:40.424] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003571
[21:40:40.426] Choose frame as a key frame Scene Depth mean:-274842836282.361084 ,depth min:-108838619340450.234375
[21:40:40.433] Image Alignment failed 0
[21:40:40.706] After Reprojection Map nPoint:1640 ,nCell:128 ,nMatches:49 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003099
[21:40:40.708] n deleted obs = 211 	 n obs with reprojection error less than 0.5 px =466 	 error init =0.428602 	 error end=0.422389
[21:40:40.708] After pose optimization, distance between two frames x:0.163427 ,z=-0.035472,angle between two frames:0.003099
[21:40:40.724] Image Alignment failed 0
[21:40:40.998] After Reprojection Map nPoint:1674 ,nCell:119 ,nMatches:50 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000208
[21:40:40.999] n deleted obs = 253 	 n obs with reprojection error less than 0.5 px =414 	 error init =0.435036 	 error end=0.435036
[21:40:40.999] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000208
[21:40:40.999] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000717
[21:40:41.001] Choose frame as a key frame Scene Depth mean:1.914258 ,depth min:0.448937
[21:40:41.008] Image Alignment failed 0
[21:40:41.289] After Reprojection Map nPoint:1625 ,nCell:122 ,nMatches:49 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003236
[21:40:41.290] n deleted obs = 257 	 n obs with reprojection error less than 0.5 px =411 	 error init =0.448719 	 error end=0.448719
[21:40:41.290] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003236
[21:40:41.290] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003747
[21:40:41.292] Choose frame as a key frame Scene Depth mean:3341.003913 ,depth min:0.445503
[21:40:41.300] Image Alignment failed 0
[21:40:41.593] After Reprojection Map nPoint:1767 ,nCell:121 ,nMatches:49 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003255
[21:40:41.595] n deleted obs = 264 	 n obs with reprojection error less than 0.5 px =466 	 error init =0.430856 	 error end=0.430856
[21:40:41.595] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003255
[21:40:41.595] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003793
[21:40:41.596] Choose frame as a key frame Scene Depth mean:-948634384693.710571 ,depth min:-308770432967917.062500
[21:40:41.604] Image Alignment failed 0
[21:40:41.904] After Reprojection Map nPoint:1826 ,nCell:110 ,nMatches:49 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003571
[21:40:41.906] n deleted obs = 277 	 n obs with reprojection error less than 0.5 px =477 	 error init =0.431762 	 error end=0.431762
[21:40:41.906] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003571
[21:40:41.906] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.004120
[21:40:41.908] Choose frame as a key frame Scene Depth mean:1.827862 ,depth min:0.438298
[21:40:41.915] Image Alignment failed 0
[21:40:42.092] Odometry x=-0.608305, y=1.438812, theta=1.683207
[21:40:42.194] Odometry x=0.429268, y=1.555801, theta=1.686522
[21:40:42.234] After Reprojection Map nPoint:1822 ,nCell:119 ,nMatches:46 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003484
[21:40:42.236] n deleted obs = 266 	 n obs with reprojection error less than 0.5 px =504 	 error init =0.415685 	 error end=0.415685
[21:40:42.236] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003484
[21:40:42.236] Update EKF and 3D points, distance between two frames x:0.060613 ,z=0.006835,angle between two frames:0.004075
[21:40:42.238] Choose frame as a key frame Scene Depth mean:440285841964.887329 ,depth min:0.441447
[21:40:42.245] Image Alignment failed 0
[21:40:42.296] Odometry x=-0.173071, y=1.487891, theta=1.683707
[21:40:42.393] Odometry x=-0.169202, y=1.488393, theta=1.686414
[21:40:42.494] Odometry x=-0.165034, y=1.488781, theta=1.700533
[21:40:42.554] After Reprojection Map nPoint:1810 ,nCell:140 ,nMatches:46 ,distance between two frames x:0.374618 ,z=0.042244,angle between two frames:0.003747
[21:40:42.556] n deleted obs = 267 	 n obs with reprojection error less than 0.5 px =459 	 error init =0.466222 	 error end=0.466222
[21:40:42.556] After pose optimization, distance between two frames x:0.374618 ,z=0.042244,angle between two frames:0.003747
[21:40:42.563] Image Alignment failed 0
[21:40:42.591] Odometry x=-0.161450, y=1.489287, theta=1.711313
[21:40:42.688] Odometry x=-0.157734, y=1.489815, theta=1.702542
[21:40:42.793] Odometry x=-0.154127, y=1.490317, theta=1.710383
[21:40:42.876] After Reprojection Map nPoint:1863 ,nCell:114 ,nMatches:48 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:40:42.879] n deleted obs = 275 	 n obs with reprojection error less than 0.5 px =458 	 error init =0.436358 	 error end=0.435808
[21:40:42.879] After pose optimization, distance between two frames x:0.043627 ,z=-0.000566,angle between two frames:0.027519
[21:40:42.879] Update EKF and 3D points, distance between two frames x:0.041724 ,z=-0.000442,angle between two frames:0.025704
[21:40:42.881] Choose frame as a key frame Scene Depth mean:459925015124.323914 ,depth min:0.493146
[21:40:42.889] Image Alignment failed 0
[21:40:42.890] Odometry x=-0.131477, y=1.489567, theta=1.694550
[21:40:42.992] Odometry x=-0.127632, y=1.490189, theta=1.703922
[21:40:43.090] Odometry x=-0.123833, y=1.490669, theta=1.708246
[21:40:43.191] Odometry x=-0.120407, y=1.491203, theta=1.715201
[21:40:43.205] After Reprojection Map nPoint:1642 ,nCell:111 ,nMatches:48 ,distance between two frames x:-0.011762 ,z=0.000767,angle between two frames:0.013348
[21:40:43.206] n deleted obs = 233 	 n obs with reprojection error less than 0.5 px =429 	 error init =0.441073 	 error end=0.441073
[21:40:43.206] After pose optimization, distance between two frames x:-0.011762 ,z=0.000767,angle between two frames:0.013348
[21:40:43.206] Update EKF and 3D points, distance between two frames x:-0.010888 ,z=0.000889,angle between two frames:0.014259
[21:40:43.208] Choose frame as a key frame Scene Depth mean:49256587609.146988 ,depth min:0.467383
[21:40:43.217] Image Alignment failed 0
[21:40:43.291] Odometry x=-0.125237, y=1.490459, theta=1.723096
[21:40:43.396] Odometry x=-0.121442, y=1.491040, theta=1.702062
[21:40:43.490] Odometry x=-0.117740, y=1.491565, theta=1.696423
[21:40:43.529] After Reprojection Map nPoint:1627 ,nCell:102 ,nMatches:45 ,distance between two frames x:0.005400 ,z=0.000749,angle between two frames:0.005170
[21:40:43.531] n deleted obs = 265 	 n obs with reprojection error less than 0.5 px =416 	 error init =0.456725 	 error end=0.456725
[21:40:43.531] After pose optimization, distance between two frames x:0.005400 ,z=0.000749,angle between two frames:0.005170
[21:40:43.531] Update EKF and 3D points, distance between two frames x:0.006050 ,z=0.000843,angle between two frames:0.005170
[21:40:43.532] Choose frame as a key frame Scene Depth mean:1.756374 ,depth min:0.465385
[21:40:43.540] Image Alignment failed 0
[21:40:43.586] Odometry x=-0.120592, y=1.491049, theta=1.705449
[21:40:43.691] Odometry x=-0.117151, y=1.491552, theta=1.695093
[21:40:43.789] Odometry x=-0.113031, y=1.491969, theta=1.698057
[21:40:43.853] After Reprojection Map nPoint:1630 ,nCell:114 ,nMatches:52 ,distance between two frames x:0.003959 ,z=0.000570,angle between two frames:0.001993
[21:40:43.854] n deleted obs = 270 	 n obs with reprojection error less than 0.5 px =415 	 error init =0.448889 	 error end=0.448889
[21:40:43.854] After pose optimization, distance between two frames x:0.003959 ,z=0.000570,angle between two frames:0.001993
[21:40:43.854] Update EKF and 3D points, distance between two frames x:0.004609 ,z=0.000647,angle between two frames:0.002021
[21:40:43.856] Choose frame as a key frame Scene Depth mean:1.491243 ,depth min:0.464930
[21:40:43.864] Image Alignment failed 0
[21:40:43.896] Odometry x=-0.115905, y=1.491708, theta=1.705399
[21:40:43.996] Odometry x=-0.111927, y=1.492198, theta=1.699325
[21:40:44.088] Odometry x=-0.108144, y=1.492689, theta=1.691584
[21:40:44.181] After Reprojection Map nPoint:1631 ,nCell:90 ,nMatches:48 ,distance between two frames x:0.004017 ,z=0.000479,angle between two frames:0.000087
[21:40:44.182] n deleted obs = 263 	 n obs with reprojection error less than 0.5 px =443 	 error init =0.436616 	 error end=0.436616
[21:40:44.182] After pose optimization, distance between two frames x:0.004017 ,z=0.000479,angle between two frames:0.000087
[21:40:44.182] Update EKF and 3D points, distance between two frames x:0.004675 ,z=0.000565,angle between two frames:0.000740
[21:40:44.184] Choose frame as a key frame Scene Depth mean:1.386481 ,depth min:0.452083
[21:40:44.191] Odometry x=-0.111200, y=1.492273, theta=1.696674
[21:40:44.192] Image Alignment failed 0
[21:40:44.289] Odometry x=-0.107482, y=1.492757, theta=1.709711
[21:40:44.392] Odometry x=-0.103646, y=1.493308, theta=1.687245
[21:40:44.494] Odometry x=-0.099896, y=1.493764, theta=1.704995
[21:40:44.522] After Reprojection Map nPoint:1642 ,nCell:128 ,nMatches:53 ,distance between two frames x:0.004069 ,z=0.000530,angle between two frames:0.005239
[21:40:44.523] n deleted obs = 256 	 n obs with reprojection error less than 0.5 px =440 	 error init =0.433465 	 error end=0.433465
[21:40:44.523] After pose optimization, distance between two frames x:0.004069 ,z=0.000530,angle between two frames:0.005239
[21:40:44.523] Update EKF and 3D points, distance between two frames x:0.004950 ,z=0.000646,angle between two frames:0.004511
[21:40:44.525] Choose frame as a key frame Scene Depth mean:338357581877.787659 ,depth min:0.455409
[21:40:44.533] Image Alignment failed 0
[21:40:44.592] Odometry x=-0.104879, y=1.493174, theta=1.722015
[21:40:44.694] Odometry x=-0.101061, y=1.493699, theta=1.747166
[21:40:44.791] Odometry x=-0.097317, y=1.494584, theta=1.759675
[21:40:44.851] After Reprojection Map nPoint:1616 ,nCell:107 ,nMatches:49 ,distance between two frames x:0.005445 ,z=0.000720,angle between two frames:0.005197
[21:40:44.852] n deleted obs = 270 	 n obs with reprojection error less than 0.5 px =416 	 error init =0.441335 	 error end=0.441335
[21:40:44.852] After pose optimization, distance between two frames x:0.005445 ,z=0.000720,angle between two frames:0.005197
[21:40:44.852] Update EKF and 3D points, distance between two frames x:0.006088 ,z=0.000840,angle between two frames:0.007336
[21:40:44.854] Choose frame as a key frame Scene Depth mean:112669593804.477020 ,depth min:0.451901
[21:40:44.862] Image Alignment failed 0
[21:40:44.889] Odometry x=-0.100283, y=1.493958, theta=1.710817
[21:40:44.992] Odometry x=-0.096552, y=1.494548, theta=1.722787
[21:40:45.094] Odometry x=-0.092762, y=1.495118, theta=1.726088
[21:40:45.186] After Reprojection Map nPoint:1693 ,nCell:143 ,nMatches:57 ,distance between two frames x:0.003950 ,z=0.000736,angle between two frames:0.010474
[21:40:45.187] n deleted obs = 267 	 n obs with reprojection error less than 0.5 px =465 	 error init =0.420476 	 error end=0.420476
[21:40:45.187] After pose optimization, distance between two frames x:0.003950 ,z=0.000736,angle between two frames:0.010474
[21:40:45.187] Update EKF and 3D points, distance between two frames x:0.004604 ,z=0.000838,angle between two frames:0.009787
[21:40:45.189] Choose frame as a key frame Scene Depth mean:321440056611.294739 ,depth min:0.447024
[21:40:45.196] Odometry x=-0.095587, y=1.494689, theta=1.710234
[21:40:45.197] Image Alignment failed 0
[21:40:45.289] Odometry x=-0.091879, y=1.495186, theta=1.699134
[21:40:45.392] Odometry x=-0.088271, y=1.495661, theta=1.720488
[21:40:45.494] Odometry x=-0.084501, y=1.496232, theta=1.712513
[21:40:45.529] After Reprojection Map nPoint:1676 ,nCell:110 ,nMatches:47 ,distance between two frames x:0.004039 ,z=0.000622,angle between two frames:0.004290
[21:40:45.530] n deleted obs = 252 	 n obs with reprojection error less than 0.5 px =456 	 error init =0.416700 	 error end=0.416700
[21:40:45.530] After pose optimization, distance between two frames x:0.004039 ,z=0.000622,angle between two frames:0.004290
[21:40:45.530] Update EKF and 3D points, distance between two frames x:0.004907 ,z=0.000743,angle between two frames:0.003947
[21:40:45.532] Choose frame as a key frame Scene Depth mean:1493604172444.345215 ,depth min:0.450060
[21:40:45.540] Image Alignment failed 0
[21:40:45.593] Odometry x=-0.089403, y=1.495530, theta=1.727496
[21:40:45.695] Odometry x=-0.085690, y=1.496153, theta=1.743508
[21:40:45.801] Odometry x=-0.081950, y=1.496783, theta=1.731269
[21:40:45.879] After Reprojection Map nPoint:1614 ,nCell:118 ,nMatches:42 ,distance between two frames x:0.005360 ,z=0.000750,angle between two frames:0.003962
[21:40:45.881] n deleted obs = 220 	 n obs with reprojection error less than 0.5 px =439 	 error init =0.398350 	 error end=0.398350
[21:40:45.881] After pose optimization, distance between two frames x:0.005360 ,z=0.000750,angle between two frames:0.003962
[21:40:45.881] Update EKF and 3D points, distance between two frames x:0.006015 ,z=0.000859,angle between two frames:0.005249
[21:40:45.883] Choose frame as a key frame Scene Depth mean:1142533540622.773926 ,depth min:0.465524
[21:40:45.890] Image Alignment failed 0
[21:40:45.897] Odometry x=-0.084659, y=1.496342, theta=1.725996
[21:40:45.991] Odometry x=-0.080893, y=1.496899, theta=1.735451
[21:40:46.090] Odometry x=-0.077403, y=1.497581, theta=1.745962
[21:40:46.192] Odometry x=-0.073619, y=1.498235, theta=1.752257
[21:40:46.217] After Reprojection Map nPoint:1643 ,nCell:122 ,nMatches:43 ,distance between two frames x:0.004046 ,z=0.000672,angle between two frames:0.009147
[21:40:46.218] n deleted obs = 273 	 n obs with reprojection error less than 0.5 px =421 	 error init =0.434668 	 error end=0.434668
[21:40:46.218] After pose optimization, distance between two frames x:0.004046 ,z=0.000672,angle between two frames:0.009147
[21:40:46.218] Update EKF and 3D points, distance between two frames x:0.004907 ,z=0.000827,angle between two frames:0.011339
[21:40:46.220] Choose frame as a key frame Scene Depth mean:1445423723.530294 ,depth min:0.243257
[21:40:46.228] Image Alignment failed 0
[21:40:46.292] Odometry x=-0.078466, y=1.497461, theta=1.744484
[21:40:46.394] Odometry x=-0.074775, y=1.498101, theta=1.764889
[21:40:46.489] Odometry x=-0.071028, y=1.498854, theta=1.747261
[21:40:46.565] After Reprojection Map nPoint:1577 ,nCell:104 ,nMatches:42 ,distance between two frames x:0.005321 ,z=0.000961,angle between two frames:0.014296
[21:40:46.566] n deleted obs = 273 	 n obs with reprojection error less than 0.5 px =381 	 error init =0.441595 	 error end=0.441595
[21:40:46.566] After pose optimization, distance between two frames x:0.005321 ,z=0.000961,angle between two frames:0.014296
[21:40:46.566] Update EKF and 3D points, distance between two frames x:0.005968 ,z=0.001079,angle between two frames:0.014814
[21:40:46.568] Choose frame as a key frame Scene Depth mean:-4089865478.235994 ,depth min:-1558292432452.089844
[21:40:46.575] Image Alignment failed 0
[21:40:46.592] Odometry x=-0.073837, y=1.498388, theta=1.751322
[21:40:46.694] Odometry x=-0.069917, y=1.499069, theta=1.743502
[21:40:46.794] Odometry x=-0.066148, y=1.499782, theta=1.737329
[21:40:46.894] Odometry x=-0.062657, y=1.500365, theta=1.729436
[21:40:46.916] After Reprojection Map nPoint:1525 ,nCell:106 ,nMatches:45 ,distance between two frames x:0.004000 ,z=0.000739,angle between two frames:0.004172
[21:40:46.917] n deleted obs = 263 	 n obs with reprojection error less than 0.5 px =380 	 error init =0.430650 	 error end=0.430650
[21:40:46.917] After pose optimization, distance between two frames x:0.004000 ,z=0.000739,angle between two frames:0.004172
[21:40:46.917] Update EKF and 3D points, distance between two frames x:0.004872 ,z=0.000894,angle between two frames:0.002705
[21:40:46.919] Choose frame as a key frame Scene Depth mean:2204270.705192 ,depth min:0.544436
[21:40:46.926] Image Alignment failed 0
[21:40:46.996] Odometry x=-0.067602, y=1.499457, theta=1.730661
[21:40:47.092] Odometry x=-0.063820, y=1.500102, theta=1.721029
[21:40:47.194] Odometry x=-0.060358, y=1.500621, theta=1.727002
[21:40:47.267] After Reprojection Map nPoint:1548 ,nCell:132 ,nMatches:41 ,distance between two frames x:0.005387 ,z=0.000964,angle between two frames:0.009921
[21:40:47.268] n deleted obs = 288 	 n obs with reprojection error less than 0.5 px =371 	 error init =0.440957 	 error end=0.440957
[21:40:47.268] After pose optimization, distance between two frames x:0.005387 ,z=0.000964,angle between two frames:0.009921
[21:40:47.268] Update EKF and 3D points, distance between two frames x:0.006029 ,z=0.001068,angle between two frames:0.009582
[21:40:47.270] Choose frame as a key frame Scene Depth mean:1.631166 ,depth min:0.554502
[21:40:47.277] Image Alignment failed 0
[21:40:47.325] Odometry x=-0.063260, y=1.500683, theta=1.742860
[21:40:47.393] Odometry x=-0.058366, y=1.501536, theta=1.740496
[21:40:47.491] Odometry x=-0.055971, y=1.502020, theta=1.734301
[21:40:47.593] Odometry x=-0.052258, y=1.502653, theta=1.751876
[21:40:47.621] After Reprojection Map nPoint:1427 ,nCell:75 ,nMatches:40 ,distance between two frames x:0.003950 ,z=0.000639,angle between two frames:0.001498
[21:40:47.622] n deleted obs = 274 	 n obs with reprojection error less than 0.5 px =336 	 error init =0.463456 	 error end=0.463456
[21:40:47.622] After pose optimization, distance between two frames x:0.003950 ,z=0.000639,angle between two frames:0.001498
[21:40:47.622] Update EKF and 3D points, distance between two frames x:0.004794 ,z=0.000825,angle between two frames:0.002280
[21:40:47.623] Choose frame as a key frame Scene Depth mean:494582472.928772 ,depth min:0.628299
[21:40:47.631] Image Alignment failed 0
[21:40:47.694] Odometry x=-0.056917, y=1.501489, theta=1.727536
[21:40:47.794] Odometry x=-0.053221, y=1.502088, theta=1.760021
[21:40:47.896] Odometry x=-0.049618, y=1.502826, theta=1.749638
[21:40:47.980] After Reprojection Map nPoint:1430 ,nCell:94 ,nMatches:41 ,distance between two frames x:0.005212 ,z=0.001150,angle between two frames:0.004153
[21:40:47.982] n deleted obs = 250 	 n obs with reprojection error less than 0.5 px =371 	 error init =0.441720 	 error end=0.441720
[21:40:47.982] After pose optimization, distance between two frames x:0.005212 ,z=0.001150,angle between two frames:0.004153
[21:40:47.982] Update EKF and 3D points, distance between two frames x:0.005855 ,z=0.001258,angle between two frames:0.006522
[21:40:47.983] Choose frame as a key frame Scene Depth mean:13887.630690 ,depth min:0.438013
[21:40:47.991] Image Alignment failed 0
[21:40:47.992] Odometry x=-0.052300, y=1.502292, theta=1.758990
[21:40:48.094] Odometry x=-0.048744, y=1.503092, theta=1.771052
[21:40:48.192] Odometry x=-0.045106, y=1.503829, theta=1.767363
[21:40:48.296] Odometry x=-0.041426, y=1.504619, theta=1.760634
[21:40:48.354] After Reprojection Map nPoint:1642 ,nCell:117 ,nMatches:50 ,distance between two frames x:0.003979 ,z=0.000671,angle between two frames:0.015085
[21:40:48.356] n deleted obs = 339 	 n obs with reprojection error less than 0.5 px =380 	 error init =0.481973 	 error end=0.481973
[21:40:48.356] After pose optimization, distance between two frames x:0.003979 ,z=0.000671,angle between two frames:0.015085
[21:40:48.356] Update EKF and 3D points, distance between two frames x:0.004832 ,z=0.000849,angle between two frames:0.015549
[21:40:48.357] Choose frame as a key frame Scene Depth mean:9094944197266.261719 ,depth min:-69494428820552.453125
[21:40:48.365] Image Alignment failed 0
[21:40:48.391] Odometry x=-0.046180, y=1.503566, theta=1.759619
[21:40:48.495] Odometry x=-0.042717, y=1.504289, theta=1.760077
[21:40:48.591] Odometry x=-0.038923, y=1.505037, theta=1.746743
[21:40:48.690] Odometry x=-0.035293, y=1.505717, theta=1.760429
[21:40:48.739] After Reprojection Map nPoint:1638 ,nCell:122 ,nMatches:49 ,distance between two frames x:0.005269 ,z=0.001097,angle between two frames:0.002538
[21:40:48.740] n deleted obs = 370 	 n obs with reprojection error less than 0.5 px =366 	 error init =0.504991 	 error end=0.504991
[21:40:48.740] After pose optimization, distance between two frames x:0.005269 ,z=0.001097,angle between two frames:0.002538
[21:40:48.740] Update EKF and 3D points, distance between two frames x:0.006105 ,z=0.001263,angle between two frames:0.001040
[21:40:48.742] Choose frame as a key frame Scene Depth mean:1.814313 ,depth min:0.581813
[21:40:48.750] Image Alignment failed 0
[21:40:48.795] Odometry x=-0.040168, y=1.504750, theta=1.743895
[21:40:48.896] Odometry x=-0.036106, y=1.505507, theta=1.745760
[21:40:48.992] Odometry x=-0.032508, y=1.506175, theta=1.746319
[21:40:49.095] Odometry x=-0.028948, y=1.506841, theta=1.742055
[21:40:49.109] After Reprojection Map nPoint:1294 ,nCell:64 ,nMatches:36 ,distance between two frames x:0.005165 ,z=0.001024,angle between two frames:0.010417
[21:40:49.110] n deleted obs = 254 	 n obs with reprojection error less than 0.5 px =334 	 error init =0.455375 	 error end=0.455375
[21:40:49.110] After pose optimization, distance between two frames x:0.005165 ,z=0.001024,angle between two frames:0.010417
[21:40:49.110] Update EKF and 3D points, distance between two frames x:0.006047 ,z=0.001185,angle between two frames:0.011293
[21:40:49.112] Choose frame as a key frame Scene Depth mean:1.951274 ,depth min:0.502281
[21:40:49.120] Image Alignment failed 0
[21:40:49.189] Odometry x=-0.033893, y=1.505900, theta=1.753273
[21:40:49.291] Odometry x=-0.030379, y=1.506561, theta=1.781509
[21:40:49.393] Odometry x=-0.026675, y=1.507401, theta=1.780827
[21:40:49.493] After Reprojection Map nPoint:1308 ,nCell:87 ,nMatches:33 ,distance between two frames x:0.005453 ,z=0.000998,angle between two frames:0.007505
[21:40:49.493] Odometry x=-0.022955, y=1.508204, theta=1.818731
[21:40:49.494] n deleted obs = 268 	 n obs with reprojection error less than 0.5 px =314 	 error init =0.463297 	 error end=0.463297
[21:40:49.494] After pose optimization, distance between two frames x:0.005453 ,z=0.000998,angle between two frames:0.007505
[21:40:49.494] Update EKF and 3D points, distance between two frames x:0.006655 ,z=0.001258,angle between two frames:0.003036
[21:40:49.495] Choose frame as a key frame Scene Depth mean:198284327143.002869 ,depth min:0.597428
[21:40:49.503] Image Alignment failed 0
[21:40:49.594] Odometry x=-0.025376, y=1.507862, theta=1.780907
[21:40:49.692] Odometry x=-0.021632, y=1.508736, theta=1.792386
[21:40:49.790] Odometry x=-0.018196, y=1.509548, theta=1.781766
[21:40:49.875] After Reprojection Map nPoint:1599 ,nCell:94 ,nMatches:43 ,distance between two frames x:0.007412 ,z=0.001673,angle between two frames:0.027638
[21:40:49.877] n deleted obs = 386 	 n obs with reprojection error less than 0.5 px =342 	 error init =0.507058 	 error end=0.507058
[21:40:49.877] After pose optimization, distance between two frames x:0.007412 ,z=0.001673,angle between two frames:0.027638
[21:40:49.877] Update EKF and 3D points, distance between two frames x:0.008042 ,z=0.001820,angle between two frames:0.027803
[21:40:49.878] Choose frame as a key frame Scene Depth mean:1.895899 ,depth min:0.244647
[21:40:49.886] Image Alignment failed 0
[21:40:49.895] Odometry x=-0.020707, y=1.508897, theta=1.774475
[21:40:49.988] Odometry x=-0.017012, y=1.509667, theta=1.782322
[21:40:50.094] Odometry x=-0.013403, y=1.510478, theta=1.780124
[21:40:50.191] Odometry x=-0.009538, y=1.511324, theta=1.767056
[21:40:50.262] After Reprojection Map nPoint:1654 ,nCell:79 ,nMatches:42 ,distance between two frames x:0.003888 ,z=0.000903,angle between two frames:0.000672
[21:40:50.263] n deleted obs = 414 	 n obs with reprojection error less than 0.5 px =368 	 error init =0.508237 	 error end=0.508237
[21:40:50.263] After pose optimization, distance between two frames x:0.003888 ,z=0.000903,angle between two frames:0.000672
[21:40:50.263] Update EKF and 3D points, distance between two frames x:0.004744 ,z=0.001088,angle between two frames:0.000120
[21:40:50.265] Choose frame as a key frame Scene Depth mean:81140.261292 ,depth min:0.245713
[21:40:50.273] Image Alignment failed 0
[21:40:50.294] Odometry x=-0.014615, y=1.510216, theta=1.774645
[21:40:50.390] Odometry x=-0.010832, y=1.511013, theta=1.773024
[21:40:50.490] Odometry x=-0.007241, y=1.511762, theta=1.771979
[21:40:50.591] Odometry x=-0.003543, y=1.512617, theta=1.746297
[21:40:50.638] After Reprojection Map nPoint:1346 ,nCell:55 ,nMatches:29 ,distance between two frames x:0.005283 ,z=0.001143,angle between two frames:0.003001
[21:40:50.639] n deleted obs = 291 	 n obs with reprojection error less than 0.5 px =310 	 error init =0.491552 	 error end=0.491552
[21:40:50.639] After pose optimization, distance between two frames x:0.005283 ,z=0.001143,angle between two frames:0.003001
[21:40:50.639] Update EKF and 3D points, distance between two frames x:0.006143 ,z=0.001323,angle between two frames:0.005166
[21:40:50.641] Choose frame as a key frame Scene Depth mean:-1764760592471.012207 ,depth min:-547075783666640.187500
[21:40:50.649] Image Alignment failed 0
[21:40:50.690] Odometry x=-0.008409, y=1.511508, theta=1.757993
[21:40:50.793] Odometry x=-0.004623, y=1.512335, theta=1.772849
[21:40:50.895] Odometry x=-0.000962, y=1.513050, theta=1.768375
[21:40:50.993] Odometry x=0.002996, y=1.513860, theta=1.795297
[21:40:51.014] After Reprojection Map nPoint:1326 ,nCell:107 ,nMatches:30 ,distance between two frames x:0.005316 ,z=0.001113,angle between two frames:0.013598
[21:40:51.015] n deleted obs = 331 	 n obs with reprojection error less than 0.5 px =262 	 error init =0.503513 	 error end=0.503513
[21:40:51.015] After pose optimization, distance between two frames x:0.005316 ,z=0.001113,angle between two frames:0.013598
[21:40:51.015] Update EKF and 3D points, distance between two frames x:0.006187 ,z=0.001297,angle between two frames:0.010980
[21:40:51.016] Choose frame as a key frame Scene Depth mean:18293815507.931995 ,depth min:0.598324
[21:40:51.024] Image Alignment failed 0
[21:40:51.089] Odometry x=-0.002177, y=1.512835, theta=1.795010
[21:40:51.189] Odometry x=0.001099, y=1.513690, theta=1.820413
[21:40:51.296] Odometry x=0.004898, y=1.514740, theta=1.828527
[21:40:51.394] Odometry x=0.008903, y=1.515860, theta=1.828544
[21:40:51.402] After Reprojection Map nPoint:1684 ,nCell:119 ,nMatches:43 ,distance between two frames x:0.005379 ,z=0.001135,angle between two frames:0.016764
[21:40:51.403] n deleted obs = 496 	 n obs with reprojection error less than 0.5 px =291 	 error init =0.561067 	 error end=0.561067
[21:40:51.403] After pose optimization, distance between two frames x:0.005379 ,z=0.001135,angle between two frames:0.016764
[21:40:51.403] Update EKF and 3D points, distance between two frames x:0.006232 ,z=0.001364,angle between two frames:0.020149
[21:40:51.405] Choose frame as a key frame Scene Depth mean:2.107409 ,depth min:0.248961
[21:40:51.413] Image Alignment failed 0
[21:40:51.493] Odometry x=0.003907, y=1.514577, theta=1.809295
[21:40:51.593] Odometry x=0.007451, y=1.515425, theta=1.808950
[21:40:51.695] Odometry x=0.011220, y=1.516407, theta=1.817836
[21:40:51.787] After Reprojection Map nPoint:1583 ,nCell:82 ,nMatches:41 ,distance between two frames x:0.005271 ,z=0.001419,angle between two frames:0.022799
[21:40:51.788] n deleted obs = 504 	 n obs with reprojection error less than 0.5 px =274 	 error init =0.573966 	 error end=0.573966
[21:40:51.788] After pose optimization, distance between two frames x:0.005271 ,z=0.001419,angle between two frames:0.022799
[21:40:51.788] Update EKF and 3D points, distance between two frames x:0.005909 ,z=0.001584,angle between two frames:0.024671
[21:40:51.790] Choose frame as a key frame Scene Depth mean:3.024584 ,depth min:0.551040
[21:40:51.792] Odometry x=0.004617, y=1.514652, theta=1.802762
[21:40:51.798] Image Alignment failed 0
[21:40:51.889] Odometry x=0.009016, y=1.515702, theta=1.783224
[21:40:51.993] Odometry x=0.012737, y=1.516550, theta=1.775704
[21:40:52.096] Odometry x=0.016508, y=1.517291, theta=1.778165
[21:40:52.172] After Reprojection Map nPoint:1558 ,nCell:67 ,nMatches:38 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:40:52.173] n deleted obs = 510 	 n obs with reprojection error less than 0.5 px =285 	 error init =0.572883 	 error end=0.572883
[21:40:52.173] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:40:52.173] Update EKF and 3D points, distance between two frames x:0.000914 ,z=0.000211,angle between two frames:0.002264
[21:40:52.174] Choose frame as a key frame Scene Depth mean:3.149854 ,depth min:0.565008
[21:40:52.182] Image Alignment failed 0
[21:40:52.193] Odometry x=0.011168, y=1.516152, theta=1.784673
[21:40:52.290] Odometry x=0.014502, y=1.516972, theta=1.758911
[21:40:52.393] Odometry x=0.018055, y=1.517640, theta=1.752733
[21:40:52.493] Odometry x=0.021869, y=1.518411, theta=1.758018
[21:40:52.560] After Reprojection Map nPoint:1574 ,nCell:52 ,nMatches:37 ,distance between two frames x:0.005650 ,z=0.001300,angle between two frames:0.014511
[21:40:52.561] n deleted obs = 555 	 n obs with reprojection error less than 0.5 px =272 	 error init =0.582460 	 error end=0.582460
[21:40:52.561] After pose optimization, distance between two frames x:0.005650 ,z=0.001300,angle between two frames:0.014511
[21:40:52.561] Update EKF and 3D points, distance between two frames x:0.006492 ,z=0.001472,angle between two frames:0.016595
[21:40:52.563] Choose frame as a key frame Scene Depth mean:3.034943 ,depth min:0.568746
[21:40:52.571] Image Alignment failed 0
[21:40:52.595] Odometry x=0.017189, y=1.517361, theta=1.780244
[21:40:52.697] Odometry x=0.020937, y=1.518277, theta=1.797676
[21:40:52.789] Odometry x=0.024491, y=1.519080, theta=1.822477
[21:40:52.896] Odometry x=0.027968, y=1.520089, theta=1.839278
[21:40:52.944] After Reprojection Map nPoint:1461 ,nCell:58 ,nMatches:34 ,distance between two frames x:0.005202 ,z=0.001063,angle between two frames:0.012139
[21:40:52.946] n deleted obs = 529 	 n obs with reprojection error less than 0.5 px =240 	 error init =0.606472 	 error end=0.606472
[21:40:52.946] After pose optimization, distance between two frames x:0.005202 ,z=0.001063,angle between two frames:0.012139
[21:40:52.946] Update EKF and 3D points, distance between two frames x:0.006049 ,z=0.001277,angle between two frames:0.007978
[21:40:52.947] Choose frame as a key frame Scene Depth mean:2.342598 ,depth min:0.521145
[21:40:52.955] Image Alignment failed 0
[21:40:52.998] Odometry x=0.023208, y=1.518979, theta=1.801354
[21:40:53.090] Odometry x=0.026928, y=1.519798, theta=1.830667
[21:40:53.197] Odometry x=0.030252, y=1.520721, theta=1.825476
[21:40:53.290] Odometry x=0.034125, y=1.521715, theta=1.827563
[21:40:53.335] After Reprojection Map nPoint:1635 ,nCell:58 ,nMatches:42 ,distance between two frames x:0.005235 ,z=0.001322,angle between two frames:0.025681
[21:40:53.337] n deleted obs = 631 	 n obs with reprojection error less than 0.5 px =270 	 error init =0.627220 	 error end=0.627220
[21:40:53.337] After pose optimization, distance between two frames x:0.005235 ,z=0.001322,angle between two frames:0.025681
[21:40:53.337] Update EKF and 3D points, distance between two frames x:0.006067 ,z=0.001538,angle between two frames:0.026343
[21:40:53.338] Choose frame as a key frame Scene Depth mean:2.376946 ,depth min:0.555602
[21:40:53.347] Image Alignment failed 0
[21:40:53.393] Odometry x=0.029228, y=1.520494, theta=1.808716
[21:40:53.495] Odometry x=0.033003, y=1.521414, theta=1.802007
[21:40:53.598] Odometry x=0.036600, y=1.522362, theta=1.803378
[21:40:53.690] Odometry x=0.040564, y=1.523334, theta=1.795286
[21:40:53.726] After Reprojection Map nPoint:1555 ,nCell:56 ,nMatches:39 ,distance between two frames x:0.005141 ,z=0.001332,angle between two frames:0.003473
[21:40:53.728] n deleted obs = 698 	 n obs with reprojection error less than 0.5 px =232 	 error init =0.638080 	 error end=0.638080
[21:40:53.728] After pose optimization, distance between two frames x:0.005141 ,z=0.001332,angle between two frames:0.003473
[21:40:53.728] Update EKF and 3D points, distance between two frames x:0.005995 ,z=0.001542,angle between two frames:0.002884
[21:40:53.729] Choose frame as a key frame Scene Depth mean:2.173672 ,depth min:0.531794
[21:40:53.793] Odometry x=0.035394, y=1.522046, theta=1.799676
[21:40:53.901] Odometry x=0.039089, y=1.522926, theta=1.797786
[21:40:53.990] Odometry x=0.043158, y=1.523882, theta=1.802309
[21:40:54.089] Odometry x=0.046288, y=1.524613, theta=1.818167
[21:40:54.120] After Reprojection Map nPoint:1497 ,nCell:54 ,nMatches:33 ,distance between two frames x:0.005280 ,z=0.001300,angle between two frames:0.003890
[21:40:54.122] n deleted obs = 681 	 n obs with reprojection error less than 0.5 px =205 	 error init =0.654340 	 error end=0.654340
[21:40:54.122] After pose optimization, distance between two frames x:0.005280 ,z=0.001300,angle between two frames:0.003890
[21:40:54.122] Update EKF and 3D points, distance between two frames x:0.006125 ,z=0.001508,angle between two frames:0.002896
[21:40:54.123] Choose frame as a key frame Scene Depth mean:2.199727 ,depth min:0.677719
[21:40:54.198] Odometry x=0.041429, y=1.523624, theta=1.794820
[21:40:54.296] Odometry x=0.045250, y=1.524423, theta=1.804414
[21:40:54.390] Odometry x=0.049028, y=1.525401, theta=1.811771
[21:40:54.495] Odometry x=0.052557, y=1.526288, theta=1.826913
[21:40:54.528] After Reprojection Map nPoint:1808 ,nCell:53 ,nMatches:45 ,distance between two frames x:0.005225 ,z=0.001288,angle between two frames:0.006057
[21:40:54.530] n deleted obs = 875 	 n obs with reprojection error less than 0.5 px =292 	 error init =0.647538 	 error end=0.647538
[21:40:54.530] After pose optimization, distance between two frames x:0.005225 ,z=0.001288,angle between two frames:0.006057
[21:40:54.530] Update EKF and 3D points, distance between two frames x:0.006097 ,z=0.001517,angle between two frames:0.007811
[21:40:54.532] Choose frame as a key frame Scene Depth mean:2.217114 ,depth min:0.536175
[21:40:54.539] Image Alignment failed 0
[21:40:54.591] Odometry x=0.047731, y=1.525129, theta=1.820961
[21:40:54.693] Odometry x=0.051108, y=1.526043, theta=1.827237
[21:40:54.794] Odometry x=0.054873, y=1.527030, theta=1.844835
[21:40:54.892] Odometry x=0.058408, y=1.528124, theta=1.836150
[21:40:54.944] After Reprojection Map nPoint:1647 ,nCell:63 ,nMatches:40 ,distance between two frames x:0.005391 ,z=0.001418,angle between two frames:0.011701
[21:40:54.946] n deleted obs = 791 	 n obs with reprojection error less than 0.5 px =265 	 error init =0.650718 	 error end=0.650718
[21:40:54.946] After pose optimization, distance between two frames x:0.005391 ,z=0.001418,angle between two frames:0.011701
[21:40:54.946] Update EKF and 3D points, distance between two frames x:0.006228 ,z=0.001650,angle between two frames:0.013054
[21:40:54.947] Choose frame as a key frame Scene Depth mean:2.545728 ,depth min:0.670064
[21:40:54.955] Image Alignment failed 0
[21:40:54.994] Odometry x=0.053743, y=1.526796, theta=1.840603
[21:40:55.092] Odometry x=0.057443, y=1.527783, theta=1.857963
[21:40:55.190] Odometry x=0.060944, y=1.528894, theta=1.823576
[21:40:55.292] Odometry x=0.064655, y=1.529863, theta=1.821917
[21:40:55.372] After Reprojection Map nPoint:1694 ,nCell:59 ,nMatches:48 ,distance between two frames x:0.005168 ,z=0.001438,angle between two frames:0.008991
[21:40:55.374] n deleted obs = 926 	 n obs with reprojection error less than 0.5 px =256 	 error init =0.687797 	 error end=0.687797
[21:40:55.374] After pose optimization, distance between two frames x:0.005168 ,z=0.001438,angle between two frames:0.008991
[21:40:55.374] Update EKF and 3D points, distance between two frames x:0.006019 ,z=0.001671,angle between two frames:0.008514
[21:40:55.375] Choose frame as a key frame Scene Depth mean:2.294088 ,depth min:0.560036
[21:40:55.384] Image Alignment failed 0
[21:40:55.395] Odometry x=0.059860, y=1.528485, theta=1.828691
[21:40:55.493] Odometry x=0.063521, y=1.529583, theta=1.825989
[21:40:55.590] Odometry x=0.067153, y=1.530638, theta=1.806922
[21:40:55.693] Odometry x=0.070676, y=1.531524, theta=1.778878
[21:40:55.790] Odometry x=0.074236, y=1.532352, theta=1.798608
[21:40:55.803] After Reprojection Map nPoint:1660 ,nCell:60 ,nMatches:45 ,distance between two frames x:0.005259 ,z=0.001442,angle between two frames:0.002881
[21:40:55.805] n deleted obs = 834 	 n obs with reprojection error less than 0.5 px =283 	 error init =0.663254 	 error end=0.663254
[21:40:55.805] After pose optimization, distance between two frames x:0.005259 ,z=0.001442,angle between two frames:0.002881
[21:40:55.805] Update EKF and 3D points, distance between two frames x:0.006307 ,z=0.001718,angle between two frames:0.004547
[21:40:55.806] Choose frame as a key frame Scene Depth mean:63133924181.824562 ,depth min:0.562235
[21:40:55.814] Image Alignment failed 0
[21:40:55.893] Odometry x=0.067392, y=1.530421, theta=1.813781
[21:40:55.993] Odometry x=0.071038, y=1.531409, theta=1.830465
[21:40:56.090] Odometry x=0.074457, y=1.532296, theta=1.830919
[21:40:56.192] Odometry x=0.078116, y=1.533371, theta=1.868227
[21:40:56.249] After Reprojection Map nPoint:1793 ,nCell:68 ,nMatches:46 ,distance between two frames x:0.006485 ,z=0.001705,angle between two frames:0.009668
[21:40:56.251] n deleted obs = 961 	 n obs with reprojection error less than 0.5 px =275 	 error init =0.700866 	 error end=0.700866
[21:40:56.251] After pose optimization, distance between two frames x:0.006485 ,z=0.001705,angle between two frames:0.009668
[21:40:56.251] Update EKF and 3D points, distance between two frames x:0.007321 ,z=0.001939,angle between two frames:0.006284
[21:40:56.253] Choose frame as a key frame Scene Depth mean:2.712687 ,depth min:0.564873
[21:40:56.261] Image Alignment failed 0
[21:40:56.293] Odometry x=0.073323, y=1.532120, theta=1.843383
[21:40:56.394] Odometry x=0.077032, y=1.533204, theta=1.857846
[21:40:56.493] Odometry x=0.080676, y=1.534296, theta=1.860388
[21:40:56.596] Odometry x=0.084312, y=1.535400, theta=1.843935
[21:40:56.695] Odometry x=0.087917, y=1.536424, theta=1.864604
[21:40:56.703] After Reprojection Map nPoint:1663 ,nCell:60 ,nMatches:40 ,distance between two frames x:0.005167 ,z=0.001450,angle between two frames:0.021225
[21:40:56.705] n deleted obs = 853 	 n obs with reprojection error less than 0.5 px =315 	 error init =0.669800 	 error end=0.669800
[21:40:56.705] After pose optimization, distance between two frames x:0.005167 ,z=0.001450,angle between two frames:0.021225
[21:40:56.705] Update EKF and 3D points, distance between two frames x:0.006222 ,z=0.001762,angle between two frames:0.022616
[21:40:56.706] Choose frame as a key frame Scene Depth mean:2.498274 ,depth min:0.554758
[21:40:56.714] Image Alignment failed 0
[21:40:56.790] Odometry x=0.080969, y=1.534372, theta=1.847714
[21:40:56.892] Odometry x=0.084268, y=1.535419, theta=1.834379
[21:40:56.990] Odometry x=0.087820, y=1.536372, theta=1.832276
[21:40:57.095] Odometry x=0.091564, y=1.537454, theta=1.848734
[21:40:57.155] After Reprojection Map nPoint:1720 ,nCell:75 ,nMatches:46 ,distance between two frames x:0.006557 ,z=0.001938,angle between two frames:0.009573
[21:40:57.157] n deleted obs = 968 	 n obs with reprojection error less than 0.5 px =254 	 error init =0.714267 	 error end=0.714267
[21:40:57.157] After pose optimization, distance between two frames x:0.006557 ,z=0.001938,angle between two frames:0.009573
[21:40:57.157] Update EKF and 3D points, distance between two frames x:0.007380 ,z=0.002175,angle between two frames:0.008344
[21:40:57.158] Choose frame as a key frame Scene Depth mean:2.995783 ,depth min:0.731368
[21:40:57.166] Image Alignment failed 0
[21:40:57.197] Odometry x=0.086853, y=1.536089, theta=1.840116
[21:40:57.291] Odometry x=0.090317, y=1.537222, theta=1.839859
[21:40:57.390] Odometry x=0.093878, y=1.538175, theta=1.837926
[21:40:57.488] Odometry x=0.097406, y=1.539241, theta=1.835663
[21:40:57.588] Odometry x=0.101064, y=1.540197, theta=1.821114
[21:40:57.617] After Reprojection Map nPoint:1755 ,nCell:62 ,nMatches:49 ,distance between two frames x:0.005071 ,z=0.001465,angle between two frames:0.008285
[21:40:57.620] n deleted obs = 988 	 n obs with reprojection error less than 0.5 px =282 	 error init =0.709989 	 error end=0.709989
[21:40:57.620] After pose optimization, distance between two frames x:0.005071 ,z=0.001465,angle between two frames:0.008285
[21:40:57.620] Update EKF and 3D points, distance between two frames x:0.006098 ,z=0.001764,angle between two frames:0.008866
[21:40:57.621] Choose frame as a key frame Scene Depth mean:2.863679 ,depth min:0.764502
[21:40:57.629] Image Alignment failed 0
[21:40:57.692] Odometry x=0.094254, y=1.538248, theta=1.846950
[21:40:57.802] Odometry x=0.097877, y=1.539303, theta=1.862001
[21:40:57.893] Odometry x=0.101602, y=1.540161, theta=1.926096
[21:40:57.990] Odometry x=0.104894, y=1.541377, theta=1.926705
[21:40:58.092] Odometry x=0.108728, y=1.542804, theta=1.922208
[21:40:58.093] After Reprojection Map nPoint:1705 ,nCell:59 ,nMatches:38 ,distance between two frames x:0.006345 ,z=0.001851,angle between two frames:0.002091
[21:40:58.095] n deleted obs = 969 	 n obs with reprojection error less than 0.5 px =255 	 error init =0.716851 	 error end=0.716851
[21:40:58.095] After pose optimization, distance between two frames x:0.006345 ,z=0.001851,angle between two frames:0.002091
[21:40:58.095] Update EKF and 3D points, distance between two frames x:0.007722 ,z=0.002295,angle between two frames:0.002632
[21:40:58.096] Choose frame as a key frame Scene Depth mean:2.428609 ,depth min:0.583978
[21:40:58.104] Image Alignment failed 0
[21:40:58.193] Odometry x=0.103970, y=1.541523, theta=1.869045
[21:40:58.291] Odometry x=0.107523, y=1.542574, theta=1.846477
[21:40:58.393] Odometry x=0.111238, y=1.543733, theta=1.859717
[21:40:58.490] Odometry x=0.114859, y=1.544777, theta=1.849903
[21:40:58.577] After Reprojection Map nPoint:1344 ,nCell:44 ,nMatches:32 ,distance between two frames x:0.008446 ,z=0.002781,angle between two frames:0.027219
[21:40:58.578] n deleted obs = 693 	 n obs with reprojection error less than 0.5 px =265 	 error init =0.674815 	 error end=0.674815
[21:40:58.578] After pose optimization, distance between two frames x:0.008446 ,z=0.002781,angle between two frames:0.027219
[21:40:58.578] Update EKF and 3D points, distance between two frames x:0.009300 ,z=0.003041,angle between two frames:0.026466
[21:40:58.580] Choose frame as a key frame Scene Depth mean:2.499585 ,depth min:0.783508
[21:40:58.590] Odometry x=0.110246, y=1.543342, theta=1.867162
[21:40:58.695] Odometry x=0.113562, y=1.544401, theta=1.852386
[21:40:58.791] Odometry x=0.117065, y=1.545483, theta=1.869336
[21:40:58.887] Odometry x=0.120685, y=1.546601, theta=1.873122
[21:40:58.994] Odometry x=0.124325, y=1.547813, theta=1.876964
[21:40:59.051] After Reprojection Map nPoint:1645 ,nCell:63 ,nMatches:45 ,distance between two frames x:0.005292 ,z=0.001609,angle between two frames:0.004835
[21:40:59.053] n deleted obs = 1014 	 n obs with reprojection error less than 0.5 px =218 	 error init =0.745784 	 error end=0.745784
[21:40:59.053] After pose optimization, distance between two frames x:0.005292 ,z=0.001609,angle between two frames:0.004835
[21:40:59.053] Update EKF and 3D points, distance between two frames x:0.006330 ,z=0.001937,angle between two frames:0.005067
[21:40:59.054] Choose frame as a key frame Scene Depth mean:2.684767 ,depth min:0.783018
[21:40:59.089] Odometry x=0.117692, y=1.545719, theta=1.867836
[21:40:59.188] Odometry x=0.121025, y=1.546777, theta=1.866281
[21:40:59.294] Odometry x=0.124653, y=1.547879, theta=1.846219
[21:40:59.387] Odometry x=0.128509, y=1.548996, theta=1.859965
[21:40:59.492] Odometry x=0.131998, y=1.550210, theta=1.868740
[21:40:59.548] After Reprojection Map nPoint:1585 ,nCell:62 ,nMatches:43 ,distance between two frames x:0.006431 ,z=0.002029,angle between two frames:0.001121
[21:40:59.550] n deleted obs = 930 	 n obs with reprojection error less than 0.5 px =257 	 error init =0.723722 	 error end=0.723722
[21:40:59.550] After pose optimization, distance between two frames x:0.006431 ,z=0.002029,angle between two frames:0.001121
[21:40:59.550] Update EKF and 3D points, distance between two frames x:0.007485 ,z=0.002360,angle between two frames:0.000929
[21:40:59.552] Choose frame as a key frame Scene Depth mean:-66804425925.330521 ,depth min:-17168737462406.968750
[21:40:59.560] Image Alignment failed 0
[21:40:59.596] Odometry x=0.125281, y=1.548071, theta=1.862583
[21:40:59.689] Odometry x=0.128794, y=1.549194, theta=1.887699
[21:40:59.787] Odometry x=0.132295, y=1.550338, theta=1.857336
[21:40:59.891] Odometry x=0.135441, y=1.551514, theta=1.884528
[21:40:59.988] Odometry x=0.139407, y=1.552750, theta=1.887000
[21:41:00.050] After Reprojection Map nPoint:1645 ,nCell:62 ,nMatches:40 ,distance between two frames x:0.006516 ,z=0.002043,angle between two frames:0.000006
[21:41:00.052] n deleted obs = 970 	 n obs with reprojection error less than 0.5 px =292 	 error init =0.713512 	 error end=0.713512
[21:41:00.053] After pose optimization, distance between two frames x:0.006516 ,z=0.002043,angle between two frames:0.000006
[21:41:00.053] Update EKF and 3D points, distance between two frames x:0.007550 ,z=0.002387,angle between two frames:0.003765
[21:41:00.054] Choose frame as a key frame Scene Depth mean:2.885091 ,depth min:0.776360
[21:41:00.062] Image Alignment failed 0
[21:41:00.090] Odometry x=0.132699, y=1.550540, theta=1.903860
[21:41:00.193] Odometry x=0.136287, y=1.551783, theta=1.909838
[21:41:00.290] Odometry x=0.139826, y=1.553180, theta=1.906578
[21:41:00.392] Odometry x=0.143395, y=1.554424, theta=1.907914
[21:41:00.490] Odometry x=0.146962, y=1.555695, theta=1.907028
[21:41:00.555] After Reprojection Map nPoint:1642 ,nCell:67 ,nMatches:41 ,distance between two frames x:0.006387 ,z=0.002124,angle between two frames:0.024414
[21:41:00.557] n deleted obs = 1076 	 n obs with reprojection error less than 0.5 px =195 	 error init =0.769716 	 error end=0.769716
[21:41:00.557] After pose optimization, distance between two frames x:0.006387 ,z=0.002124,angle between two frames:0.024414
[21:41:00.557] Update EKF and 3D points, distance between two frames x:0.007421 ,z=0.002496,angle between two frames:0.024731
[21:41:00.558] Choose frame as a key frame Scene Depth mean:3.196475 ,depth min:0.803695
[21:41:00.566] Image Alignment failed 0
[21:41:00.592] Odometry x=0.140126, y=1.553202, theta=1.896057
[21:41:00.689] Odometry x=0.143655, y=1.554456, theta=1.870150
[21:41:00.795] Odometry x=0.147187, y=1.555579, theta=1.896997
[21:41:00.892] Odometry x=0.150941, y=1.556893, theta=1.878671
[21:41:00.995] Odometry x=0.154341, y=1.558009, theta=1.897054
[21:41:01.062] After Reprojection Map nPoint:1513 ,nCell:48 ,nMatches:40 ,distance between two frames x:0.006387 ,z=0.002297,angle between two frames:0.001810
[21:41:01.064] n deleted obs = 956 	 n obs with reprojection error less than 0.5 px =237 	 error init =0.764837 	 error end=0.764837
[21:41:01.064] After pose optimization, distance between two frames x:0.006387 ,z=0.002297,angle between two frames:0.001810
[21:41:01.064] Update EKF and 3D points, distance between two frames x:0.007423 ,z=0.002647,angle between two frames:0.001685
[21:41:01.065] Choose frame as a key frame Scene Depth mean:4.408199 ,depth min:0.808451
[21:41:01.075] Image Alignment failed 0
[21:41:01.094] Odometry x=0.147537, y=1.555716, theta=1.891993
[21:41:01.195] Odometry x=0.151103, y=1.556899, theta=1.937073
[21:41:01.294] Odometry x=0.154550, y=1.558339, theta=1.943812
[21:41:01.395] Odometry x=0.158070, y=1.559739, theta=1.943571
[21:41:01.492] Odometry x=0.161569, y=1.561122, theta=1.950971
[21:41:01.585] After Reprojection Map nPoint:1665 ,nCell:69 ,nMatches:42 ,distance between two frames x:0.006378 ,z=0.002155,angle between two frames:0.002055
[21:41:01.588] n deleted obs = 1044 	 n obs with reprojection error less than 0.5 px =253 	 error init =0.768019 	 error end=0.768019
[21:41:01.588] After pose optimization, distance between two frames x:0.006378 ,z=0.002155,angle between two frames:0.002055
[21:41:01.588] Update EKF and 3D points, distance between two frames x:0.007398 ,z=0.002552,angle between two frames:0.000156
[21:41:01.589] Choose frame as a key frame Scene Depth mean:3.068026 ,depth min:0.781987
[21:41:01.594] Odometry x=0.154865, y=1.558568, theta=1.909132
[21:41:01.598] Image Alignment failed 0
[21:41:01.693] Odometry x=0.158439, y=1.559791, theta=1.913609
[21:41:01.795] Odometry x=0.161904, y=1.561078, theta=1.898333
[21:41:01.892] Odometry x=0.165480, y=1.562322, theta=1.910599
[21:41:01.992] Odometry x=0.169048, y=1.563582, theta=1.887708
[21:41:02.102] After Reprojection Map nPoint:1477 ,nCell:51 ,nMatches:34 ,distance between two frames x:0.006304 ,z=0.002457,angle between two frames:0.012793
[21:41:02.104] n deleted obs = 967 	 n obs with reprojection error less than 0.5 px =198 	 error init =0.784429 	 error end=0.784429
[21:41:02.104] After pose optimization, distance between two frames x:0.006304 ,z=0.002457,angle between two frames:0.012793
[21:41:02.104] Update EKF and 3D points, distance between two frames x:0.007325 ,z=0.002814,angle between two frames:0.011866
[21:41:02.105] Choose frame as a key frame Scene Depth mean:4.816187 ,depth min:0.815825
[21:41:02.110] Odometry x=0.162190, y=1.561137, theta=1.901983
[21:41:02.113] Image Alignment failed 0
[21:41:02.190] Odometry x=0.166378, y=1.562567, theta=1.900619
[21:41:02.290] Odometry x=0.168602, y=1.563453, theta=1.930535
[21:41:02.388] Odometry x=0.172292, y=1.564853, theta=1.981236
[21:41:02.494] Odometry x=0.175873, y=1.566318, theta=2.005968
[21:41:02.596] Odometry x=0.179693, y=1.568096, theta=1.999119
[21:41:02.644] After Reprojection Map nPoint:1814 ,nCell:66 ,nMatches:49 ,distance between two frames x:0.006305 ,z=0.002211,angle between two frames:0.006223
[21:41:02.646] n deleted obs = 1155 	 n obs with reprojection error less than 0.5 px =292 	 error init =0.778648 	 error end=0.778648
[21:41:02.646] After pose optimization, distance between two frames x:0.006305 ,z=0.002211,angle between two frames:0.006223
[21:41:02.646] Update EKF and 3D points, distance between two frames x:0.007552 ,z=0.002722,angle between two frames:0.000912
[21:41:02.648] Choose frame as a key frame Scene Depth mean:167515.239716 ,depth min:0.786832
[21:41:02.656] Image Alignment failed 0
[21:41:02.691] Odometry x=0.171510, y=1.564950, theta=1.935159
[21:41:02.789] Odometry x=0.175583, y=1.566510, theta=1.930962
[21:41:02.894] Odometry x=0.179640, y=1.568050, theta=1.913445
[21:41:02.991] Odometry x=0.184163, y=1.569684, theta=1.900465
[21:41:03.093] Odometry x=0.187905, y=1.571078, theta=1.909999
[21:41:03.193] Odometry x=0.192071, y=1.572424, theta=1.947302
[21:41:03.196] After Reprojection Map nPoint:1595 ,nCell:69 ,nMatches:50 ,distance between two frames x:0.007804 ,z=0.003201,angle between two frames:0.031916
[21:41:03.198] n deleted obs = 886 	 n obs with reprojection error less than 0.5 px =348 	 error init =0.731828 	 error end=0.731828
[21:41:03.198] After pose optimization, distance between two frames x:0.007804 ,z=0.003201,angle between two frames:0.031916
[21:41:03.198] Update EKF and 3D points, distance between two frames x:0.009559 ,z=0.003855,angle between two frames:0.032386
[21:41:03.200] Choose frame as a key frame Scene Depth mean:3.303933 ,depth min:0.789192
[21:41:03.208] Image Alignment failed 0
[21:41:03.291] Odometry x=0.184352, y=1.569740, theta=1.949532
[21:41:03.394] Odometry x=0.187999, y=1.571193, theta=1.939238
[21:41:03.490] Odometry x=0.191564, y=1.572579, theta=1.933742
[21:41:03.594] Odometry x=0.195131, y=1.573931, theta=1.935517
[21:41:03.690] Odometry x=0.198662, y=1.575287, theta=1.922575
[21:41:03.732] After Reprojection Map nPoint:1581 ,nCell:51 ,nMatches:38 ,distance between two frames x:0.010995 ,z=0.004095,angle between two frames:0.004436
[21:41:03.734] n deleted obs = 993 	 n obs with reprojection error less than 0.5 px =261 	 error init =0.790641 	 error end=0.790641
[21:41:03.734] After pose optimization, distance between two frames x:0.010995 ,z=0.004095,angle between two frames:0.004436
[21:41:03.734] Update EKF and 3D points, distance between two frames x:0.012058 ,z=0.004503,angle between two frames:0.002887
[21:41:03.736] Choose frame as a key frame Scene Depth mean:3.080461 ,depth min:0.793602
[21:41:03.744] Image Alignment failed 0
[21:41:03.795] Odometry x=0.191621, y=1.572527, theta=1.930949
[21:41:03.894] Odometry x=0.195189, y=1.573869, theta=1.936399
[21:41:03.994] Odometry x=0.198737, y=1.575233, theta=1.934478
[21:41:04.090] Odometry x=0.202290, y=1.576588, theta=1.926274
[21:41:04.194] Odometry x=0.205858, y=1.577923, theta=1.920905
[21:41:04.270] After Reprojection Map nPoint:1696 ,nCell:64 ,nMatches:45 ,distance between two frames x:0.006568 ,z=0.002522,angle between two frames:0.009960
[21:41:04.273] n deleted obs = 1069 	 n obs with reprojection error less than 0.5 px =263 	 error init =0.801074 	 error end=0.801074
[21:41:04.273] After pose optimization, distance between two frames x:0.006568 ,z=0.002522,angle between two frames:0.009960
[21:41:04.273] Update EKF and 3D points, distance between two frames x:0.007605 ,z=0.002912,angle between two frames:0.010721
[21:41:04.274] Choose frame as a key frame Scene Depth mean:159980195792.934357 ,depth min:0.796893
[21:41:04.282] Image Alignment failed 0
[21:41:04.291] Odometry x=0.199064, y=1.575330, theta=1.926327
[21:41:04.395] Odometry x=0.202518, y=1.576615, theta=1.921473
[21:41:04.494] Odometry x=0.206150, y=1.577944, theta=1.925840
[21:41:04.594] Odometry x=0.209770, y=1.579286, theta=1.932170
[21:41:04.694] Odometry x=0.213357, y=1.580639, theta=1.937597
[21:41:04.788] Odometry x=0.216916, y=1.582011, theta=1.939435
[21:41:04.821] After Reprojection Map nPoint:1846 ,nCell:76 ,nMatches:61 ,distance between two frames x:0.006407 ,z=0.002413,angle between two frames:0.004947
[21:41:04.824] n deleted obs = 1257 	 n obs with reprojection error less than 0.5 px =221 	 error init =0.839520 	 error end=0.839520
[21:41:04.824] After pose optimization, distance between two frames x:0.006407 ,z=0.002413,angle between two frames:0.004947
[21:41:04.824] Update EKF and 3D points, distance between two frames x:0.007644 ,z=0.002878,angle between two frames:0.003961
[21:41:04.825] Choose frame as a key frame Scene Depth mean:2.822624 ,depth min:0.994826
[21:41:04.833] Image Alignment failed 0
[21:41:04.889] Odometry x=0.207946, y=1.578670, theta=1.939590
[21:41:04.991] Odometry x=0.211452, y=1.580024, theta=1.947812
[21:41:05.090] Odometry x=0.214978, y=1.581417, theta=1.957166
[21:41:05.190] Odometry x=0.218523, y=1.582860, theta=1.965772
[21:41:05.295] Odometry x=0.222077, y=1.584341, theta=1.968934
[21:41:05.389] After Reprojection Map nPoint:1987 ,nCell:70 ,nMatches:60 ,distance between two frames x:0.007644 ,z=0.002875,angle between two frames:0.006603
[21:41:05.392] n deleted obs = 1201 	 n obs with reprojection error less than 0.5 px =378 	 error init =0.781975 	 error end=0.781975
[21:41:05.392] After pose optimization, distance between two frames x:0.007644 ,z=0.002875,angle between two frames:0.006603
[21:41:05.392] Update EKF and 3D points, distance between two frames x:0.008684 ,z=0.003297,angle between two frames:0.009448
[21:41:05.394] Choose frame as a key frame Scene Depth mean:0.499328 ,depth min:-1373.944926
[21:41:05.397] Odometry x=0.208986, y=1.579092, theta=1.937332
[21:41:05.402] Image Alignment failed 0
[21:41:05.496] Odometry x=0.213545, y=1.580845, theta=1.953427
[21:41:05.599] Odometry x=0.216961, y=1.582215, theta=1.961709
[21:41:05.691] Odometry x=0.220669, y=1.583748, theta=1.951623
[21:41:05.793] Odometry x=0.223853, y=1.585025, theta=1.946425
[21:41:05.898] Odometry x=0.227581, y=1.586496, theta=1.940515
[21:41:05.944] After Reprojection Map nPoint:1616 ,nCell:52 ,nMatches:39 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:41:05.946] n deleted obs = 974 	 n obs with reprojection error less than 0.5 px =311 	 error init =0.778501 	 error end=0.778501
[21:41:05.946] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:41:05.946] Update EKF and 3D points, distance between two frames x:0.001289 ,z=0.000511,angle between two frames:0.000002
[21:41:05.948] Choose frame as a key frame Scene Depth mean:4.079672 ,depth min:0.856525
[21:41:05.956] Image Alignment failed 0
[21:41:05.990] Odometry x=0.218236, y=1.582761, theta=1.936690
[21:41:06.092] Odometry x=0.221606, y=1.584058, theta=1.928566
[21:41:06.193] Odometry x=0.225161, y=1.585391, theta=1.923232
[21:41:06.290] Odometry x=0.228927, y=1.586773, theta=1.927333
[21:41:06.392] Odometry x=0.232295, y=1.588028, theta=1.931595
[21:41:06.495] Odometry x=0.235842, y=1.589366, theta=1.938405
[21:41:06.509] After Reprojection Map nPoint:1703 ,nCell:69 ,nMatches:48 ,distance between two frames x:0.007966 ,z=0.003159,angle between two frames:0.000150
[21:41:06.511] n deleted obs = 1109 	 n obs with reprojection error less than 0.5 px =252 	 error init =0.825285 	 error end=0.825285
[21:41:06.511] After pose optimization, distance between two frames x:0.007966 ,z=0.003159,angle between two frames:0.000150
[21:41:06.512] Update EKF and 3D points, distance between two frames x:0.009208 ,z=0.003627,angle between two frames:0.000013
[21:41:06.513] Choose frame as a key frame Scene Depth mean:322151681625.441040 ,depth min:0.929187
[21:41:06.520] Image Alignment failed 0
[21:41:06.592] Odometry x=0.227143, y=1.586117, theta=1.944897
[21:41:06.690] Odometry x=0.230530, y=1.587444, theta=1.952144
[21:41:06.793] Odometry x=0.234056, y=1.588857, theta=1.963778
[21:41:06.890] Odometry x=0.237765, y=1.590393, theta=1.973547
[21:41:06.993] Odometry x=0.241100, y=1.591810, theta=1.987718
[21:41:07.089] After Reprojection Map nPoint:1826 ,nCell:80 ,nMatches:58 ,distance between two frames x:0.007677 ,z=0.002893,angle between two frames:0.001211
[21:41:07.092] n deleted obs = 1156 	 n obs with reprojection error less than 0.5 px =309 	 error init =0.810165 	 error end=0.810165
[21:41:07.092] After pose optimization, distance between two frames x:0.007677 ,z=0.002893,angle between two frames:0.001211
[21:41:07.092] Update EKF and 3D points, distance between two frames x:0.008691 ,z=0.003314,angle between two frames:0.004271
[21:41:07.093] Choose frame as a key frame Scene Depth mean:3.732415 ,depth min:0.652385
[21:41:07.102] Odometry x=0.234444, y=1.589146, theta=1.960912
[21:41:07.104] Image Alignment failed 0
[21:41:07.190] Odometry x=0.238321, y=1.590740, theta=1.961141
[21:41:07.292] Odometry x=0.241497, y=1.592051, theta=1.962287
[21:41:07.394] Odometry x=0.245030, y=1.593510, theta=1.961719
[21:41:07.492] Odometry x=0.248735, y=1.595041, theta=1.956392
[21:41:07.596] Odometry x=0.252068, y=1.596397, theta=1.957041
[21:41:07.671] After Reprojection Map nPoint:1793 ,nCell:69 ,nMatches:51 ,distance between two frames x:0.006269 ,z=0.002601,angle between two frames:0.019298
[21:41:07.673] n deleted obs = 1087 	 n obs with reprojection error less than 0.5 px =347 	 error init =0.792839 	 error end=0.792839
[21:41:07.673] After pose optimization, distance between two frames x:0.006269 ,z=0.002601,angle between two frames:0.019298
[21:41:07.673] Update EKF and 3D points, distance between two frames x:0.007500 ,z=0.003107,angle between two frames:0.018856
[21:41:07.675] Choose frame as a key frame Scene Depth mean:4.752564 ,depth min:0.670348
[21:41:07.683] Image Alignment failed 0
[21:41:07.697] Odometry x=0.243271, y=1.592773, theta=1.956581
[21:41:07.795] Odometry x=0.246936, y=1.594264, theta=1.950822
[21:41:07.895] Odometry x=0.250334, y=1.595628, theta=1.944904
[21:41:07.996] Odometry x=0.253930, y=1.597042, theta=1.945628
[21:41:08.094] Odometry x=0.257633, y=1.598496, theta=1.953756
[21:41:08.199] Odometry x=0.260841, y=1.599787, theta=1.964419
[21:41:08.248] After Reprojection Map nPoint:1816 ,nCell:75 ,nMatches:53 ,distance between two frames x:0.007606 ,z=0.003125,angle between two frames:0.002850
[21:41:08.251] n deleted obs = 1061 	 n obs with reprojection error less than 0.5 px =377 	 error init =0.785948 	 error end=0.785948
[21:41:08.251] After pose optimization, distance between two frames x:0.007606 ,z=0.003125,angle between two frames:0.002850
[21:41:08.251] Update EKF and 3D points, distance between two frames x:0.008855 ,z=0.003627,angle between two frames:0.002084
[21:41:08.252] Choose frame as a key frame Scene Depth mean:3.917934 ,depth min:0.650970
[21:41:08.261] Image Alignment failed 0
[21:41:08.295] Odometry x=0.252249, y=1.596382, theta=1.966852
[21:41:08.392] Odometry x=0.255633, y=1.597792, theta=1.980311
[21:41:08.504] Odometry x=0.258992, y=1.599249, theta=1.992726
[21:41:08.600] Odometry x=0.262845, y=1.600974, theta=1.996360
[21:41:08.692] Odometry x=0.266182, y=1.602487, theta=1.997040
[21:41:08.790] Odometry x=0.269299, y=1.603903, theta=1.998802
[21:41:08.825] After Reprojection Map nPoint:1821 ,nCell:67 ,nMatches:53 ,distance between two frames x:0.007720 ,z=0.003104,angle between two frames:0.005101
[21:41:08.828] n deleted obs = 1074 	 n obs with reprojection error less than 0.5 px =386 	 error init =0.780238 	 error end=0.780238
[21:41:08.828] After pose optimization, distance between two frames x:0.007720 ,z=0.003104,angle between two frames:0.005101
[21:41:08.828] Update EKF and 3D points, distance between two frames x:0.008916 ,z=0.003634,angle between two frames:0.007174
[21:41:08.830] Choose frame as a key frame Scene Depth mean:-0.299684 ,depth min:-1357.294236
[21:41:08.838] Image Alignment failed 0
[21:41:08.896] Odometry x=0.260832, y=1.600192, theta=1.981803
[21:41:08.990] Odometry x=0.264488, y=1.601785, theta=1.982884
[21:41:09.103] Odometry x=0.267743, y=1.603206, theta=1.984714
[21:41:09.198] Odometry x=0.271794, y=1.604997, theta=1.977270
[21:41:09.290] Odometry x=0.274945, y=1.606352, theta=1.979625
[21:41:09.394] Odometry x=0.278275, y=1.607798, theta=1.972157
[21:41:09.412] After Reprojection Map nPoint:1871 ,nCell:70 ,nMatches:56 ,distance between two frames x:0.007389 ,z=0.003279,angle between two frames:0.012861
[21:41:09.414] n deleted obs = 1115 	 n obs with reprojection error less than 0.5 px =387 	 error init =0.790911 	 error end=0.790911
[21:41:09.414] After pose optimization, distance between two frames x:0.007389 ,z=0.003279,angle between two frames:0.012861
[21:41:09.414] Update EKF and 3D points, distance between two frames x:0.008622 ,z=0.003815,angle between two frames:0.012414
[21:41:09.416] Choose frame as a key frame Scene Depth mean:0.222947 ,depth min:-1349.631911
[21:41:09.424] Image Alignment failed 0
[21:41:09.503] Odometry x=0.269685, y=1.604036, theta=1.973842
[21:41:09.595] Odometry x=0.273037, y=1.605467, theta=1.968304
[21:41:09.694] Odometry x=0.276799, y=1.607050, theta=1.968387
[21:41:09.794] Odometry x=0.280137, y=1.608456, theta=1.962144
[21:41:09.904] Odometry x=0.283666, y=1.609914, theta=1.964443
[21:41:09.995] Odometry x=0.287567, y=1.611536, theta=1.961221
[21:41:10.001] After Reprojection Map nPoint:1755 ,nCell:73 ,nMatches:55 ,distance between two frames x:0.007620 ,z=0.003308,angle between two frames:0.003344
[21:41:10.003] n deleted obs = 1014 	 n obs with reprojection error less than 0.5 px =388 	 error init =0.764019 	 error end=0.764019
[21:41:10.003] After pose optimization, distance between two frames x:0.007620 ,z=0.003308,angle between two frames:0.003344
[21:41:10.003] Update EKF and 3D points, distance between two frames x:0.008846 ,z=0.003821,angle between two frames:0.004162
[21:41:10.005] Choose frame as a key frame Scene Depth mean:3.677847 ,depth min:0.560852
[21:41:10.013] Image Alignment failed 0
[21:41:10.095] Odometry x=0.278488, y=1.607719, theta=1.974504
[21:41:10.194] Odometry x=0.282002, y=1.609216, theta=1.987203
[21:41:10.292] Odometry x=0.285493, y=1.610757, theta=1.999197
[21:41:10.400] Odometry x=0.288969, y=1.612348, theta=2.014687
[21:41:10.493] Odometry x=0.292703, y=1.614118, theta=2.029696
[21:41:10.595] Odometry x=0.295858, y=1.615675, theta=2.041869
[21:41:10.595] After Reprojection Map nPoint:1877 ,nCell:64 ,nMatches:52 ,distance between two frames x:0.007574 ,z=0.003170,angle between two frames:0.005116
[21:41:10.598] n deleted obs = 1080 	 n obs with reprojection error less than 0.5 px =423 	 error init =0.755063 	 error end=0.755063
[21:41:10.598] After pose optimization, distance between two frames x:0.007574 ,z=0.003170,angle between two frames:0.005116
[21:41:10.598] Update EKF and 3D points, distance between two frames x:0.009111 ,z=0.003884,angle between two frames:0.000871
[21:41:10.600] Choose frame as a key frame Scene Depth mean:4.832568 ,depth min:0.746825
[21:41:10.608] Image Alignment failed 0
[21:41:10.694] Odometry x=0.289505, y=1.612872, theta=2.008523
[21:41:10.793] Odometry x=0.292709, y=1.614376, theta=2.013695
[21:41:10.892] Odometry x=0.296364, y=1.616110, theta=2.012782
[21:41:10.993] Odometry x=0.299666, y=1.617678, theta=2.013809
[21:41:11.088] Odometry x=0.302941, y=1.619227, theta=2.015466
[21:41:11.187] Odometry x=0.306309, y=1.620833, theta=2.015270
[21:41:11.192] After Reprojection Map nPoint:1777 ,nCell:62 ,nMatches:47 ,distance between two frames x:0.009480 ,z=0.004441,angle between two frames:0.027305
[21:41:11.194] n deleted obs = 1044 	 n obs with reprojection error less than 0.5 px =372 	 error init =0.798356 	 error end=0.798356
[21:41:11.194] After pose optimization, distance between two frames x:0.009480 ,z=0.004441,angle between two frames:0.027305
[21:41:11.194] Update EKF and 3D points, distance between two frames x:0.010663 ,z=0.005001,angle between two frames:0.028150
[21:41:11.196] Choose frame as a key frame Scene Depth mean:54.044476 ,depth min:0.879767
[21:41:11.204] Image Alignment failed 0
[21:41:11.298] Odometry x=0.297986, y=1.616896, theta=2.001165
[21:41:11.388] Odometry x=0.301446, y=1.618487, theta=2.000116
[21:41:11.487] Odometry x=0.304914, y=1.620076, theta=2.001820
[21:41:11.596] Odometry x=0.308394, y=1.621678, theta=2.003167
[21:41:11.688] Odometry x=0.312229, y=1.623446, theta=2.002567
[21:41:11.788] Odometry x=0.315361, y=1.624892, theta=2.000613
[21:41:11.793] After Reprojection Map nPoint:1881 ,nCell:81 ,nMatches:56 ,distance between two frames x:0.007313 ,z=0.003466,angle between two frames:0.005161
[21:41:11.795] n deleted obs = 1119 	 n obs with reprojection error less than 0.5 px =383 	 error init =0.808990 	 error end=0.808990
[21:41:11.795] After pose optimization, distance between two frames x:0.007313 ,z=0.003466,angle between two frames:0.005161
[21:41:11.795] Update EKF and 3D points, distance between two frames x:0.008519 ,z=0.004021,angle between two frames:0.004879
[21:41:11.797] Choose frame as a key frame Scene Depth mean:8.132820 ,depth min:0.578471
[21:41:11.805] Image Alignment failed 0
[21:41:11.897] Odometry x=0.306654, y=1.620883, theta=2.009051
[21:41:11.994] Odometry x=0.310360, y=1.622619, theta=2.013393
[21:41:12.092] Odometry x=0.313635, y=1.624170, theta=2.019631
[21:41:12.197] Odometry x=0.317295, y=1.625933, theta=2.024736
[21:41:12.289] Odometry x=0.320895, y=1.627690, theta=2.023876
[21:41:12.393] Odometry x=0.323987, y=1.629197, theta=2.026376
[21:41:12.402] After Reprojection Map nPoint:1933 ,nCell:93 ,nMatches:66 ,distance between two frames x:0.007451 ,z=0.003428,angle between two frames:0.001632
[21:41:12.405] n deleted obs = 1116 	 n obs with reprojection error less than 0.5 px =411 	 error init =0.786202 	 error end=0.786202
[21:41:12.405] After pose optimization, distance between two frames x:0.007451 ,z=0.003428,angle between two frames:0.001632
[21:41:12.405] Update EKF and 3D points, distance between two frames x:0.008669 ,z=0.004015,angle between two frames:0.000362
[21:41:12.407] Choose frame as a key frame Scene Depth mean:82837841113.599213 ,depth min:0.393913
[21:41:12.415] Image Alignment failed 0
[21:41:12.491] Odometry x=0.315399, y=1.625093, theta=2.012721
[21:41:12.594] Odometry x=0.318678, y=1.626643, theta=2.016160
[21:41:12.693] Odometry x=0.322274, y=1.628364, theta=2.012696
[21:41:12.791] Odometry x=0.325675, y=1.629972, theta=2.012175
[21:41:12.889] Odometry x=0.328909, y=1.631502, theta=2.013175
[21:41:12.996] Odometry x=0.332310, y=1.633114, theta=2.014106
[21:41:13.020] After Reprojection Map nPoint:1968 ,nCell:114 ,nMatches:67 ,distance between two frames x:0.007529 ,z=0.003625,angle between two frames:0.007819
[21:41:13.023] n deleted obs = 1162 	 n obs with reprojection error less than 0.5 px =390 	 error init =0.813034 	 error end=0.813034
[21:41:13.023] After pose optimization, distance between two frames x:0.007529 ,z=0.003625,angle between two frames:0.007819
[21:41:13.023] Update EKF and 3D points, distance between two frames x:0.008724 ,z=0.004192,angle between two frames:0.007900
[21:41:13.025] Choose frame as a key frame Scene Depth mean:9.713443 ,depth min:0.587932
[21:41:13.033] Image Alignment failed 0
[21:41:13.102] Odometry x=0.323973, y=1.629160, theta=2.014604
[21:41:13.189] Odometry x=0.327600, y=1.630882, theta=2.022490
[21:41:13.293] Odometry x=0.330639, y=1.632359, theta=2.027676
[21:41:13.399] Odometry x=0.334233, y=1.634122, theta=2.037576
[21:41:13.492] Odometry x=0.337357, y=1.635702, theta=2.041962
[21:41:13.589] Odometry x=0.341019, y=1.637566, theta=2.053170
[21:41:13.634] After Reprojection Map nPoint:1885 ,nCell:71 ,nMatches:54 ,distance between two frames x:0.007381 ,z=0.003502,angle between two frames:0.000889
[21:41:13.636] n deleted obs = 1164 	 n obs with reprojection error less than 0.5 px =323 	 error init =0.828903 	 error end=0.828903
[21:41:13.636] After pose optimization, distance between two frames x:0.007381 ,z=0.003502,angle between two frames:0.000889
[21:41:13.636] Update EKF and 3D points, distance between two frames x:0.008556 ,z=0.004087,angle between two frames:0.003567
[21:41:13.638] Choose frame as a key frame Scene Depth mean:5.898798 ,depth min:0.592633
[21:41:13.646] Image Alignment failed 0
[21:41:13.695] Odometry x=0.332420, y=1.633369, theta=2.039219
[21:41:13.795] Odometry x=0.336072, y=1.635215, theta=2.048113
[21:41:13.893] Odometry x=0.339452, y=1.636966, theta=2.054369
[21:41:13.992] Odometry x=0.342853, y=1.638753, theta=2.060338
[21:41:14.099] Odometry x=0.346047, y=1.640460, theta=2.061952
[21:41:14.195] Odometry x=0.349749, y=1.642437, theta=2.069599
[21:41:14.252] After Reprojection Map nPoint:1714 ,nCell:55 ,nMatches:49 ,distance between two frames x:0.007265 ,z=0.003617,angle between two frames:0.017041
[21:41:14.254] n deleted obs = 1044 	 n obs with reprojection error less than 0.5 px =332 	 error init =0.801231 	 error end=0.801231
[21:41:14.254] After pose optimization, distance between two frames x:0.007265 ,z=0.003617,angle between two frames:0.017041
[21:41:14.254] Update EKF and 3D points, distance between two frames x:0.008459 ,z=0.004246,angle between two frames:0.019121
[21:41:14.256] Choose frame as a key frame Scene Depth mean:8.422315 ,depth min:0.750062
[21:41:14.297] Odometry x=0.340983, y=1.637876, theta=2.049937
[21:41:14.395] Odometry x=0.344370, y=1.639635, theta=2.050304
[21:41:14.493] Odometry x=0.347732, y=1.641385, theta=2.051122
[21:41:14.596] Odometry x=0.350941, y=1.643056, theta=2.050390
[21:41:14.698] Odometry x=0.354491, y=1.644906, theta=2.049514
[21:41:14.797] Odometry x=0.357878, y=1.646664, theta=2.045738
[21:41:14.856] After Reprojection Map nPoint:1834 ,nCell:57 ,nMatches:45 ,distance between two frames x:0.007376 ,z=0.003886,angle between two frames:0.012746
[21:41:14.861] n deleted obs = 146 	 n obs with reprojection error less than 0.5 px =1324 	 error init =0.852661 	 error end=0.268495
[21:41:14.861] After pose optimization, distance between two frames x:0.405231 ,z=-8.644535,angle between two frames:0.878869
[21:41:14.898] Odometry x=0.361277, y=1.648422, theta=2.045615
[21:41:14.993] Odometry x=0.364669, y=1.650166, theta=2.045646
[21:41:15.097] Odometry x=0.367888, y=1.651827, theta=2.043083
[21:41:15.201] Odometry x=0.371454, y=1.653648, theta=2.046410
[21:41:15.294] Odometry x=0.374998, y=1.655483, theta=2.044359
[21:41:15.393] Odometry x=0.378144, y=1.657095, theta=2.050504
[21:41:15.462] After Reprojection Map nPoint:1739 ,nCell:133 ,nMatches:50 ,distance between two frames x:0.000001 ,z=-0.000014,angle between two frames:0.000020
[21:41:15.464] n deleted obs = 1061 	 n obs with reprojection error less than 0.5 px =280 	 error init =0.855017 	 error end=0.855017
[21:41:15.464] After pose optimization, distance between two frames x:0.000001 ,z=-0.000014,angle between two frames:0.000020
[21:41:15.464] Update EKF and 3D points, distance between two frames x:0.001179 ,z=0.000594,angle between two frames:0.000508
[21:41:15.465] Choose frame as a key frame Scene Depth mean:-9892053086.151850 ,depth min:-2769774880967.699219
[21:41:15.474] Image Alignment failed 0
[21:41:15.504] Odometry x=0.369736, y=1.652777, theta=2.050707
[21:41:15.593] Odometry x=0.373458, y=1.654713, theta=2.052785
[21:41:15.687] Odometry x=0.376484, y=1.656312, theta=2.056255
[21:41:15.798] Odometry x=0.379525, y=1.657917, theta=2.058948
[21:41:15.889] Odometry x=0.383531, y=1.660070, theta=2.061815
[21:41:15.988] Odometry x=0.386561, y=1.661690, theta=2.065540
[21:41:16.074] After Reprojection Map nPoint:1847 ,nCell:59 ,nMatches:54 ,distance between two frames x:0.007276 ,z=0.003760,angle between two frames:0.003618
[21:41:16.077] n deleted obs = 1169 	 n obs with reprojection error less than 0.5 px =324 	 error init =0.845117 	 error end=0.845117
[21:41:16.077] After pose optimization, distance between two frames x:0.007276 ,z=0.003760,angle between two frames:0.003618
[21:41:16.077] Update EKF and 3D points, distance between two frames x:0.008448 ,z=0.004383,angle between two frames:0.004860
[21:41:16.078] Choose frame as a key frame Scene Depth mean:9.651017 ,depth min:0.771488
[21:41:16.086] Image Alignment failed 0
[21:41:16.094] Odometry x=0.378158, y=1.657256, theta=2.059222
[21:41:16.193] Odometry x=0.381451, y=1.659004, theta=2.052068
[21:41:16.293] Odometry x=0.384853, y=1.660782, theta=2.057186
[21:41:16.396] Odometry x=0.388192, y=1.662554, theta=2.053476
[21:41:16.493] Odometry x=0.391765, y=1.664444, theta=2.058331
[21:41:16.595] Odometry x=0.395013, y=1.666170, theta=2.058031
[21:41:16.695] After Reprojection Map nPoint:1830 ,nCell:70 ,nMatches:57 ,distance between two frames x:0.007248 ,z=0.003856,angle between two frames:0.008568
[21:41:16.697] Odometry x=0.398387, y=1.667960, theta=2.059038
[21:41:16.698] n deleted obs = 1162 	 n obs with reprojection error less than 0.5 px =316 	 error init =0.855534 	 error end=0.855534
[21:41:16.698] After pose optimization, distance between two frames x:0.007248 ,z=0.003856,angle between two frames:0.008568
[21:41:16.698] Update EKF and 3D points, distance between two frames x:0.008942 ,z=0.004753,angle between two frames:0.008631
[21:41:16.699] Choose frame as a key frame Scene Depth mean:8.722604 ,depth min:0.874214
[21:41:16.707] Image Alignment failed 0
[21:41:16.795] Odometry x=0.390318, y=1.663693, theta=2.064774
[21:41:16.895] Odometry x=0.393683, y=1.665503, theta=2.071551
[21:41:16.991] Odometry x=0.397024, y=1.667331, theta=2.076247
[21:41:17.091] Odometry x=0.400346, y=1.669187, theta=2.086461
[21:41:17.190] Odometry x=0.403514, y=1.670982, theta=2.100241
[21:41:17.292] Odometry x=0.406792, y=1.672912, theta=2.112319
[21:41:17.322] After Reprojection Map nPoint:1899 ,nCell:80 ,nMatches:61 ,distance between two frames x:0.010470 ,z=0.005541,angle between two frames:0.001041
[21:41:17.325] n deleted obs = 1214 	 n obs with reprojection error less than 0.5 px =308 	 error init =0.860216 	 error end=0.860216
[21:41:17.325] After pose optimization, distance between two frames x:0.010470 ,z=0.005541,angle between two frames:0.001041
[21:41:17.325] Update EKF and 3D points, distance between two frames x:0.011619 ,z=0.006192,angle between two frames:0.004654
[21:41:17.326] Choose frame as a key frame Scene Depth mean:3.514594 ,depth min:0.578279
[21:41:17.334] Image Alignment failed 0
[21:41:17.393] Odometry x=0.398564, y=1.668366, theta=2.087705
[21:41:17.493] Odometry x=0.401891, y=1.670268, theta=2.095648
[21:41:17.593] Odometry x=0.405176, y=1.672181, theta=2.093970
[21:41:17.691] Odometry x=0.408466, y=1.674093, theta=2.103924
[21:41:17.791] Odometry x=0.411731, y=1.676023, theta=2.104619
[21:41:17.899] Odometry x=0.415037, y=1.677977, theta=2.118257
[21:41:17.962] After Reprojection Map nPoint:1817 ,nCell:75 ,nMatches:55 ,distance between two frames x:0.007104 ,z=0.004022,angle between two frames:0.022811
[21:41:17.964] n deleted obs = 1124 	 n obs with reprojection error less than 0.5 px =306 	 error init =0.829563 	 error end=0.829563
[21:41:17.964] After pose optimization, distance between two frames x:0.007104 ,z=0.004022,angle between two frames:0.022811
[21:41:17.965] Update EKF and 3D points, distance between two frames x:0.008260 ,z=0.004702,angle between two frames:0.023909
[21:41:17.966] Choose frame as a key frame Scene Depth mean:8.549419 ,depth min:0.734029
[21:41:17.974] Image Alignment failed 0
[21:41:17.993] Odometry x=0.406841, y=1.673233, theta=2.090897
[21:41:18.093] Odometry x=0.409934, y=1.675010, theta=2.099972
[21:41:18.193] Odometry x=0.413220, y=1.676940, theta=2.098172
[21:41:18.291] Odometry x=0.416516, y=1.678869, theta=2.101663
[21:41:18.393] Odometry x=0.419806, y=1.680811, theta=2.096457
[21:41:18.498] Odometry x=0.423103, y=1.682738, theta=2.100378
[21:41:18.587] After Reprojection Map nPoint:1773 ,nCell:78 ,nMatches:58 ,distance between two frames x:0.007140 ,z=0.004203,angle between two frames:0.006246
[21:41:18.590] n deleted obs = 1039 	 n obs with reprojection error less than 0.5 px =347 	 error init =0.822095 	 error end=0.822095
[21:41:18.590] After pose optimization, distance between two frames x:0.007140 ,z=0.004203,angle between two frames:0.006246
[21:41:18.590] Update EKF and 3D points, distance between two frames x:0.008280 ,z=0.004870,angle between two frames:0.006350
[21:41:18.591] Choose frame as a key frame Scene Depth mean:37765021923.363396 ,depth min:0.799770
[21:41:18.594] Odometry x=0.408011, y=1.673917, theta=2.092919
[21:41:18.600] Image Alignment failed 0
[21:41:18.692] Odometry x=0.412193, y=1.676329, theta=2.096274
[21:41:18.791] Odometry x=0.415378, y=1.678180, theta=2.093964
[21:41:18.889] Odometry x=0.418599, y=1.680044, theta=2.096563
[21:41:18.987] Odometry x=0.421982, y=1.682013, theta=2.098256
[21:41:19.096] Odometry x=0.425184, y=1.683888, theta=2.103703
[21:41:19.188] Odometry x=0.428722, y=1.685976, theta=2.105475
[21:41:19.198] After Reprojection Map nPoint:1689 ,nCell:57 ,nMatches:50 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:41:19.200] n deleted obs = 1052 	 n obs with reprojection error less than 0.5 px =292 	 error init =0.827065 	 error end=0.827065
[21:41:19.200] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:41:19.200] Update EKF and 3D points, distance between two frames x:0.001388 ,z=0.000810,angle between two frames:0.000747
[21:41:19.202] Choose frame as a key frame Scene Depth mean:3.841152 ,depth min:0.800727
[21:41:19.210] Image Alignment failed 0
[21:41:19.291] Odometry x=0.417974, y=1.679734, theta=2.102990
[21:41:19.392] Odometry x=0.421253, y=1.681674, theta=2.098526
[21:41:19.489] Odometry x=0.424533, y=1.683591, theta=2.107778
[21:41:19.591] Odometry x=0.427807, y=1.685543, theta=2.105573
[21:41:19.693] Odometry x=0.431088, y=1.687485, theta=2.109764
[21:41:19.790] Odometry x=0.434543, y=1.689557, theta=2.104533
[21:41:19.846] After Reprojection Map nPoint:1913 ,nCell:76 ,nMatches:57 ,distance between two frames x:0.008577 ,z=0.005006,angle between two frames:0.004675
[21:41:19.848] n deleted obs = 1181 	 n obs with reprojection error less than 0.5 px =351 	 error init =0.817005 	 error end=0.817005
[21:41:19.848] After pose optimization, distance between two frames x:0.008577 ,z=0.005006,angle between two frames:0.004675
[21:41:19.848] Update EKF and 3D points, distance between two frames x:0.009722 ,z=0.005684,angle between two frames:0.005507
[21:41:19.850] Choose frame as a key frame Scene Depth mean:9.688289 ,depth min:0.663272
[21:41:19.866] Image Alignment failed 0
[21:41:19.893] Odometry x=0.426170, y=1.684593, theta=2.110138
[21:41:19.992] Odometry x=0.429386, y=1.686532, theta=2.106158
[21:41:20.089] Odometry x=0.432671, y=1.688484, theta=2.110593
[21:41:20.191] Odometry x=0.435946, y=1.690447, theta=2.108561
[21:41:20.293] Odometry x=0.439229, y=1.692404, theta=2.109315
[21:41:20.390] Odometry x=0.442496, y=1.694361, theta=2.099163
[21:41:20.479] After Reprojection Map nPoint:1747 ,nCell:78 ,nMatches:57 ,distance between two frames x:0.007073 ,z=0.004194,angle between two frames:0.005838
[21:41:20.483] n deleted obs = 766 	 n obs with reprojection error less than 0.5 px =611 	 error init =0.806471 	 error end=0.633204
[21:41:20.483] After pose optimization, distance between two frames x:-0.465745 ,z=-0.391029,angle between two frames:0.921729
[21:41:20.491] Image Alignment failed 0
[21:41:20.492] Odometry x=0.445790, y=1.696292, theta=2.103035
[21:41:20.593] Odometry x=0.449084, y=1.698228, theta=2.117437
[21:41:20.690] Odometry x=0.452346, y=1.700212, theta=2.132179
[21:41:20.792] Odometry x=0.455569, y=1.702237, theta=2.140312
[21:41:20.893] Odometry x=0.458777, y=1.704285, theta=2.158657
[21:41:20.989] Odometry x=0.461953, y=1.706405, theta=2.160106
[21:41:21.092] Odometry x=0.465119, y=1.708521, theta=2.165525
[21:41:21.110] After Reprojection Map nPoint:1780 ,nCell:76 ,nMatches:51 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000960
[21:41:21.113] n deleted obs = 914 	 n obs with reprojection error less than 0.5 px =445 	 error init =0.819001 	 error end=0.803846
[21:41:21.113] After pose optimization, distance between two frames x:-0.442480 ,z=-0.422505,angle between two frames:0.768602
[21:41:21.121] Image Alignment failed 0
[21:41:21.194] Odometry x=0.468281, y=1.710667, theta=2.161433
[21:41:21.292] Odometry x=0.471446, y=1.712793, theta=2.163872
[21:41:21.398] Odometry x=0.474539, y=1.714884, theta=2.162980
[21:41:21.494] Odometry x=0.477988, y=1.717204, theta=2.158626
[21:41:21.590] Odometry x=0.480918, y=1.719162, theta=2.152595
[21:41:21.695] Odometry x=0.483987, y=1.721182, theta=2.159975
[21:41:21.737] After Reprojection Map nPoint:1828 ,nCell:81 ,nMatches:57 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:41:21.753] n deleted obs = 422 	 n obs with reprojection error less than 0.5 px =1012 	 error init =0.869033 	 error end=0.386406
[21:41:21.753] After pose optimization, distance between two frames x:-0.459668 ,z=-0.074967,angle between two frames:5.031254
[21:41:21.761] Image Alignment failed 0
[21:41:21.794] Odometry x=0.487250, y=1.723366, theta=2.154779
[21:41:21.897] Odometry x=0.490558, y=1.725552, theta=2.148237
[21:41:21.994] Odometry x=0.493755, y=1.727639, theta=2.146575
[21:41:22.096] Odometry x=0.496956, y=1.729715, theta=2.151893
[21:41:22.193] Odometry x=0.500148, y=1.731813, theta=2.157438
[21:41:22.296] Odometry x=0.503331, y=1.733926, theta=2.166798
[21:41:22.377] After Reprojection Map nPoint:1823 ,nCell:106 ,nMatches:55 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:41:22.379] n deleted obs = 1061 	 n obs with reprojection error less than 0.5 px =333 	 error init =0.834513 	 error end=0.834513
[21:41:22.379] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:41:22.379] Update EKF and 3D points, distance between two frames x:0.001120 ,z=0.000739,angle between two frames:0.001274
[21:41:22.381] Choose frame as a key frame Scene Depth mean:1360698427.079347 ,depth min:0.769791
[21:41:22.389] Image Alignment failed 0
[21:41:22.400] Odometry x=0.495295, y=1.728676, theta=2.165401
[21:41:22.493] Odometry x=0.498618, y=1.730917, theta=2.174445
[21:41:22.595] Odometry x=0.501623, y=1.732991, theta=2.181518
[21:41:22.697] Odometry x=0.504763, y=1.735180, theta=2.193939
[21:41:22.790] Odometry x=0.508018, y=1.737517, theta=2.205701
[21:41:22.892] Odometry x=0.510785, y=1.739552, theta=2.216920
[21:41:22.991] After Reprojection Map nPoint:1644 ,nCell:77 ,nMatches:53 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:41:22.991] Odometry x=0.513833, y=1.741851, theta=2.219450
[21:41:22.997] n deleted obs = 358 	 n obs with reprojection error less than 0.5 px =951 	 error init =0.807200 	 error end=0.405029
[21:41:22.997] After pose optimization, distance between two frames x:-0.501728 ,z=-0.188631,angle between two frames:5.072945
[21:41:23.022] Image Alignment failed 0
[21:41:23.093] Odometry x=0.516868, y=1.744143, theta=2.219239
[21:41:23.191] Odometry x=0.520059, y=1.746561, theta=2.221752
[21:41:23.292] Odometry x=0.522937, y=1.748759, theta=2.214658
[21:41:23.391] Odometry x=0.525989, y=1.751047, theta=2.218238
[21:41:23.490] Odometry x=0.529034, y=1.753352, theta=2.213420
[21:41:23.593] Odometry x=0.532065, y=1.755621, theta=2.212034
[21:41:23.636] After Reprojection Map nPoint:1906 ,nCell:145 ,nMatches:66 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:41:23.692] n deleted obs = 1046 	 n obs with reprojection error less than 0.5 px =411 	 error init =0.892200 	 error end=0.777705
[21:41:23.692] After pose optimization, distance between two frames x:-0.216802 ,z=-0.048686,angle between two frames:0.360361
[21:41:24.319] After Reprojection Map nPoint:1739 ,nCell:63 ,nMatches:50 ,distance between two frames x:-0.000005 ,z=0.000004,angle between two frames:0.000613
[21:41:24.325] n deleted obs = 308 	 n obs with reprojection error less than 0.5 px =1023 	 error init =0.822926 	 error end=0.349673
[21:41:24.325] After pose optimization, distance between two frames x:-0.565479 ,z=-0.126316,angle between two frames:5.177632
[21:41:24.958] After Reprojection Map nPoint:1917 ,nCell:151 ,nMatches:59 ,distance between two frames x:0.000000 ,z=-0.000004,angle between two frames:0.000270
[21:41:24.965] n deleted obs = 374 	 n obs with reprojection error less than 0.5 px =1056 	 error init =0.848796 	 error end=0.370162
[21:41:24.965] After pose optimization, distance between two frames x:-0.569236 ,z=-0.115871,angle between two frames:5.219620
[21:41:25.602] After Reprojection Map nPoint:2016 ,nCell:134 ,nMatches:55 ,distance between two frames x:0.000000 ,z=-0.000003,angle between two frames:0.000206
[21:41:25.622] n deleted obs = 185 	 n obs with reprojection error less than 0.5 px =1324 	 error init =0.878680 	 error end=0.272770
[21:41:25.622] After pose optimization, distance between two frames x:-0.645416 ,z=0.469006,angle between two frames:5.326567
[21:41:26.260] After Reprojection Map nPoint:2032 ,nCell:160 ,nMatches:55 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.000002
[21:41:26.266] n deleted obs = 452 	 n obs with reprojection error less than 0.5 px =1060 	 error init =0.908354 	 error end=0.398036
[21:41:26.266] After pose optimization, distance between two frames x:-0.603122 ,z=-0.114853,angle between two frames:5.320567
[21:41:26.917] After Reprojection Map nPoint:1952 ,nCell:134 ,nMatches:59 ,distance between two frames x:-0.000005 ,z=0.000041,angle between two frames:0.000046
[21:41:26.920] n deleted obs = 1168 	 n obs with reprojection error less than 0.5 px =282 	 error init =0.907687 	 error end=0.907687
[21:41:26.920] After pose optimization, distance between two frames x:-0.000005 ,z=0.000041,angle between two frames:0.000046
[21:41:26.920] Update EKF and 3D points, distance between two frames x:-0.000005 ,z=0.000038,angle between two frames:0.001108
[21:41:26.921] Choose frame as a key frame Scene Depth mean:-70638899170.609009 ,depth min:-19920169568657.671875
[21:41:26.929] Image Alignment failed 0
[21:41:27.541] After Reprojection Map nPoint:1932 ,nCell:66 ,nMatches:56 ,distance between two frames x:0.000001 ,z=-0.000016,angle between two frames:0.007224
[21:41:27.544] n deleted obs = 1187 	 n obs with reprojection error less than 0.5 px =339 	 error init =0.875866 	 error end=0.875866
[21:41:27.544] After pose optimization, distance between two frames x:0.000001 ,z=-0.000016,angle between two frames:0.007224
[21:41:27.544] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000016,angle between two frames:0.008325
[21:41:27.545] Choose frame as a key frame Scene Depth mean:38.618658 ,depth min:0.786777
[21:41:27.554] Image Alignment failed 0
[21:41:28.183] After Reprojection Map nPoint:1944 ,nCell:78 ,nMatches:62 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.006899
[21:41:28.191] n deleted obs = 410 	 n obs with reprojection error less than 0.5 px =1141 	 error init =0.863752 	 error end=0.375839
[21:41:28.191] After pose optimization, distance between two frames x:-0.589129 ,z=-0.073561,angle between two frames:5.283517
[21:41:28.199] Image Alignment failed 0
[21:41:28.834] After Reprojection Map nPoint:2125 ,nCell:148 ,nMatches:60 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000149
[21:41:28.837] n deleted obs = 1309 	 n obs with reprojection error less than 0.5 px =305 	 error init =0.897969 	 error end=0.897969
[21:41:28.837] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000149
[21:41:28.837] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.001273
[21:41:28.838] Choose frame as a key frame Scene Depth mean:9.678327 ,depth min:0.773202
[21:41:28.847] Image Alignment failed 0
[21:41:29.474] After Reprojection Map nPoint:2071 ,nCell:72 ,nMatches:55 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007185
[21:41:29.477] n deleted obs = 1329 	 n obs with reprojection error less than 0.5 px =331 	 error init =0.906842 	 error end=0.906842
[21:41:29.477] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007185
[21:41:29.477] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.008314
[21:41:29.478] Choose frame as a key frame Scene Depth mean:8.481718 ,depth min:0.781137
[21:41:30.142] After Reprojection Map nPoint:2111 ,nCell:68 ,nMatches:55 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007067
[21:41:30.145] n deleted obs = 1337 	 n obs with reprojection error less than 0.5 px =362 	 error init =0.907491 	 error end=0.907491
[21:41:30.145] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007067
[21:41:30.145] Update EKF and 3D points, distance between two frames x:-0.000002 ,z=-0.000001,angle between two frames:0.008244
[21:41:30.147] Choose frame as a key frame Scene Depth mean:9.103130 ,depth min:0.581700
[21:41:30.821] After Reprojection Map nPoint:2214 ,nCell:70 ,nMatches:59 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007367
[21:41:30.826] n deleted obs = 823 	 n obs with reprojection error less than 0.5 px =973 	 error init =0.880756 	 error end=0.528005
[21:41:30.826] After pose optimization, distance between two frames x:-0.815257 ,z=-0.143869,angle between two frames:5.280301
[21:41:31.297] After Reprojection Map nPoint:2096 ,nCell:90 ,nMatches:55 ,distance between two frames x:-0.000000 ,z=-0.000005,angle between two frames:0.000159
[21:41:31.326] n deleted obs = 297 	 n obs with reprojection error less than 0.5 px =1349 	 error init =0.926167 	 error end=0.342871
[21:41:31.326] After pose optimization, distance between two frames x:-0.454624 ,z=0.084702,angle between two frames:5.376281
[21:41:31.662] After Reprojection Map nPoint:2056 ,nCell:161 ,nMatches:58 ,distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000146
[21:41:31.664] n deleted obs = 1222 	 n obs with reprojection error less than 0.5 px =338 	 error init =0.902964 	 error end=0.902964
[21:41:31.664] After pose optimization, distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000146
[21:41:31.664] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000750
[21:41:31.665] Choose frame as a key frame Scene Depth mean:5.031438 ,depth min:0.751021
[21:41:32.006] After Reprojection Map nPoint:2149 ,nCell:66 ,nMatches:56 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.003824
[21:41:32.008] n deleted obs = 1397 	 n obs with reprojection error less than 0.5 px =348 	 error init =0.918483 	 error end=0.918483
[21:41:32.008] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.003824
[21:41:32.008] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.004424
[21:41:32.009] Choose frame as a key frame Scene Depth mean:4.083862 ,depth min:0.609910
[21:41:32.425] After Reprojection Map nPoint:2306 ,nCell:71 ,nMatches:59 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.003812
[21:41:32.437] n deleted obs = 402 	 n obs with reprojection error less than 0.5 px =1479 	 error init =0.889628 	 error end=0.346667
[21:41:32.438] After pose optimization, distance between two frames x:-0.581516 ,z=0.068044,angle between two frames:5.358939
[21:41:33.099] After Reprojection Map nPoint:2237 ,nCell:133 ,nMatches:55 ,distance between two frames x:0.000000 ,z=-0.000004,angle between two frames:0.000004
[21:41:33.144] n deleted obs = 269 	 n obs with reprojection error less than 0.5 px =1466 	 error init =0.899302 	 error end=0.320061
[21:41:33.145] After pose optimization, distance between two frames x:-0.516303 ,z=0.168464,angle between two frames:5.352644
[21:41:33.796] After Reprojection Map nPoint:2197 ,nCell:154 ,nMatches:57 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000257
[21:41:33.799] n deleted obs = 1326 	 n obs with reprojection error less than 0.5 px =356 	 error init =0.892067 	 error end=0.892067
[21:41:33.799] After pose optimization, distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000257
[21:41:33.799] Update EKF and 3D points, distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.001410
[21:41:33.801] Choose frame as a key frame Scene Depth mean:6.154728 ,depth min:0.764194
[21:41:34.481] After Reprojection Map nPoint:2179 ,nCell:75 ,nMatches:56 ,distance between two frames x:-0.000002 ,z=-0.000000,angle between two frames:0.007515
[21:41:34.484] n deleted obs = 1374 	 n obs with reprojection error less than 0.5 px =410 	 error init =0.887957 	 error end=0.887957
[21:41:34.484] After pose optimization, distance between two frames x:-0.000002 ,z=-0.000000,angle between two frames:0.007515
[21:41:34.484] Update EKF and 3D points, distance between two frames x:-0.000002 ,z=-0.000001,angle between two frames:0.008707
[21:41:34.486] Choose frame as a key frame Scene Depth mean:1938682731828.995361 ,depth min:-85199097961138.281250
[21:41:35.177] After Reprojection Map nPoint:2215 ,nCell:75 ,nMatches:55 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007613
[21:41:35.180] n deleted obs = 1469 	 n obs with reprojection error less than 0.5 px =350 	 error init =0.922006 	 error end=0.922006
[21:41:35.180] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007613
[21:41:35.180] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.008827
[21:41:35.182] Choose frame as a key frame Scene Depth mean:-36863263255.107124 ,depth min:-12902142141445.443359
[21:41:35.866] After Reprojection Map nPoint:2259 ,nCell:78 ,nMatches:54 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007592
[21:41:35.869] n deleted obs = 1432 	 n obs with reprojection error less than 0.5 px =412 	 error init =0.891510 	 error end=0.891510
[21:41:35.869] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007592
[21:41:35.869] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.008808
[21:41:35.871] Choose frame as a key frame Scene Depth mean:12.120293 ,depth min:0.651915
[21:41:36.570] After Reprojection Map nPoint:2308 ,nCell:78 ,nMatches:60 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007604
[21:41:36.574] n deleted obs = 1462 	 n obs with reprojection error less than 0.5 px =419 	 error init =0.893214 	 error end=0.893214
[21:41:36.574] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007604
[21:41:36.574] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.008840
[21:41:36.576] Choose frame as a key frame Scene Depth mean:1899193883048.694092 ,depth min:0.763503
[21:41:37.272] After Reprojection Map nPoint:2209 ,nCell:68 ,nMatches:54 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007977
[21:41:37.275] n deleted obs = 1396 	 n obs with reprojection error less than 0.5 px =382 	 error init =0.897614 	 error end=0.897614
[21:41:37.275] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007977
[21:41:37.275] Update EKF and 3D points, distance between two frames x:-0.000002 ,z=-0.000002,angle between two frames:0.009199
[21:41:37.277] Choose frame as a key frame Scene Depth mean:448076570429.092712 ,depth min:0.664262
[21:41:37.987] After Reprojection Map nPoint:2292 ,nCell:66 ,nMatches:52 ,distance between two frames x:-0.000002 ,z=-0.000003,angle between two frames:0.007753
[21:41:37.991] n deleted obs = 1440 	 n obs with reprojection error less than 0.5 px =421 	 error init =0.913098 	 error end=0.913098
[21:41:37.991] After pose optimization, distance between two frames x:-0.000002 ,z=-0.000003,angle between two frames:0.007753
[21:41:37.991] Update EKF and 3D points, distance between two frames x:-0.000002 ,z=-0.000003,angle between two frames:0.009013
[21:41:37.993] Choose frame as a key frame Scene Depth mean:5.933454 ,depth min:0.706346
[21:41:38.703] After Reprojection Map nPoint:2398 ,nCell:78 ,nMatches:57 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007883
[21:41:38.717] n deleted obs = 442 	 n obs with reprojection error less than 0.5 px =1519 	 error init =0.898385 	 error end=0.376736
[21:41:38.717] After pose optimization, distance between two frames x:-0.389619 ,z=0.048515,angle between two frames:5.558366
[21:41:39.410] After Reprojection Map nPoint:2402 ,nCell:153 ,nMatches:57 ,distance between two frames x:0.000002 ,z=-0.000005,angle between two frames:0.000245
[21:41:39.418] n deleted obs = 277 	 n obs with reprojection error less than 0.5 px =1574 	 error init =0.895651 	 error end=0.291820
[21:41:39.418] After pose optimization, distance between two frames x:15.398818 ,z=108.704350,angle between two frames:4.807853
[21:41:40.108] After Reprojection Map nPoint:2378 ,nCell:150 ,nMatches:62 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000160
[21:41:40.113] n deleted obs = 153 	 n obs with reprojection error less than 0.5 px =1698 	 error init =0.907611 	 error end=0.224357
[21:41:40.113] After pose optimization, distance between two frames x:-0.463999 ,z=1.780131,angle between two frames:2.465709
[21:41:40.820] After Reprojection Map nPoint:2542 ,nCell:172 ,nMatches:60 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000156
[21:41:40.823] n deleted obs = 1540 	 n obs with reprojection error less than 0.5 px =440 	 error init =0.911740 	 error end=0.911740
[21:41:40.823] After pose optimization, distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000156
[21:41:40.823] Update EKF and 3D points, distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.001395
[21:41:40.825] Choose frame as a key frame Scene Depth mean:127768.866135 ,depth min:0.696445
[21:41:41.548] After Reprojection Map nPoint:2358 ,nCell:72 ,nMatches:58 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007754
[21:41:41.556] n deleted obs = 439 	 n obs with reprojection error less than 0.5 px =1496 	 error init =0.912032 	 error end=0.380881
[21:41:41.556] After pose optimization, distance between two frames x:-0.378412 ,z=0.077856,angle between two frames:5.611352
[21:41:42.259] After Reprojection Map nPoint:2522 ,nCell:129 ,nMatches:53 ,distance between two frames x:0.000001 ,z=-0.000004,angle between two frames:0.000156
[21:41:42.264] n deleted obs = 1326 	 n obs with reprojection error less than 0.5 px =650 	 error init =0.911538 	 error end=0.727767
[21:41:42.264] After pose optimization, distance between two frames x:-0.921494 ,z=0.025393,angle between two frames:4.830006
[21:41:42.981] After Reprojection Map nPoint:2582 ,nCell:87 ,nMatches:60 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.000149
[21:41:42.984] n deleted obs = 1568 	 n obs with reprojection error less than 0.5 px =518 	 error init =0.895511 	 error end=0.895511
[21:41:42.984] After pose optimization, distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.000149
[21:41:42.984] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.001418
[21:41:42.987] Choose frame as a key frame Scene Depth mean:6.037627 ,depth min:0.668119
[21:41:43.712] After Reprojection Map nPoint:2348 ,nCell:60 ,nMatches:51 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.008088
[21:41:43.717] n deleted obs = 1202 	 n obs with reprojection error less than 0.5 px =710 	 error init =0.903428 	 error end=0.666197
[21:41:43.717] After pose optimization, distance between two frames x:-0.856093 ,z=0.097406,angle between two frames:4.913652
[21:41:44.424] After Reprojection Map nPoint:2325 ,nCell:75 ,nMatches:59 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000168
[21:41:44.429] n deleted obs = 1403 	 n obs with reprojection error less than 0.5 px =478 	 error init =0.893034 	 error end=0.762342
[21:41:44.429] After pose optimization, distance between two frames x:246.810757 ,z=-272.865978,angle between two frames:0.811282
[21:41:45.005] After Reprojection Map nPoint:2428 ,nCell:74 ,nMatches:55 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000161
[21:41:45.007] n deleted obs = 1146 	 n obs with reprojection error less than 0.5 px =810 	 error init =0.908585 	 error end=0.591199
[21:41:45.007] After pose optimization, distance between two frames x:-0.737875 ,z=0.121524,angle between two frames:5.045061
[21:41:45.353] After Reprojection Map nPoint:2315 ,nCell:78 ,nMatches:56 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.000181
[21:41:45.356] n deleted obs = 580 	 n obs with reprojection error less than 0.5 px =1293 	 error init =0.896581 	 error end=0.390122
[21:41:45.356] After pose optimization, distance between two frames x:-1.896939 ,z=1.691300,angle between two frames:3.090912
[21:41:45.707] After Reprojection Map nPoint:2384 ,nCell:119 ,nMatches:54 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.000159
[21:41:45.709] n deleted obs = 522 	 n obs with reprojection error less than 0.5 px =1334 	 error init =0.862548 	 error end=0.370957
[21:41:45.709] After pose optimization, distance between two frames x:-1.402600 ,z=1.553258,angle between two frames:3.457011
[21:41:46.093] After Reprojection Map nPoint:2331 ,nCell:113 ,nMatches:53 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000178
[21:41:46.096] n deleted obs = 1393 	 n obs with reprojection error less than 0.5 px =444 	 error init =0.892481 	 error end=0.892481
[21:41:46.096] After pose optimization, distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000178
[21:41:46.096] Update EKF and 3D points, distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000866
[21:41:46.098] Choose frame as a key frame Scene Depth mean:6.637041 ,depth min:0.689559
[21:41:46.839] After Reprojection Map nPoint:2453 ,nCell:69 ,nMatches:55 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.004356
[21:41:46.845] n deleted obs = 617 	 n obs with reprojection error less than 0.5 px =1387 	 error init =0.893860 	 error end=0.385089
[21:41:46.845] After pose optimization, distance between two frames x:-1.516488 ,z=1.596616,angle between two frames:3.378871
[21:41:47.562] After Reprojection Map nPoint:2501 ,nCell:119 ,nMatches:57 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.000149
[21:41:47.565] n deleted obs = 1441 	 n obs with reprojection error less than 0.5 px =515 	 error init =0.872514 	 error end=0.872514
[21:41:47.565] After pose optimization, distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.000149
[21:41:47.565] Update EKF and 3D points, distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.001410
[21:41:47.568] Choose frame as a key frame Scene Depth mean:38.569707 ,depth min:0.311259
[21:41:48.322] After Reprojection Map nPoint:2493 ,nCell:66 ,nMatches:55 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.008212
[21:41:48.329] n deleted obs = 983 	 n obs with reprojection error less than 0.5 px =1072 	 error init =0.895099 	 error end=0.503763
[21:41:48.329] After pose optimization, distance between two frames x:-0.551720 ,z=0.095651,angle between two frames:5.189373
[21:41:49.062] After Reprojection Map nPoint:2426 ,nCell:88 ,nMatches:52 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000145
[21:41:49.067] n deleted obs = 1512 	 n obs with reprojection error less than 0.5 px =425 	 error init =0.904320 	 error end=0.904320
[21:41:49.067] After pose optimization, distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000145
[21:41:49.067] Update EKF and 3D points, distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.001445
[21:41:49.070] Choose frame as a key frame Scene Depth mean:225651080503.039490 ,depth min:0.341324
[21:41:49.833] After Reprojection Map nPoint:2478 ,nCell:72 ,nMatches:60 ,distance between two frames x:-0.000000 ,z=-0.000003,angle between two frames:0.008282
[21:41:49.837] n deleted obs = 1493 	 n obs with reprojection error less than 0.5 px =521 	 error init =0.853160 	 error end=0.853160
[21:41:49.837] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000003,angle between two frames:0.008282
[21:41:49.837] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000004,angle between two frames:0.009631
[21:41:49.839] Choose frame as a key frame Scene Depth mean:9.558948 ,depth min:0.350536
[21:41:50.605] After Reprojection Map nPoint:2477 ,nCell:80 ,nMatches:54 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.008580
[21:41:50.611] n deleted obs = 211 	 n obs with reprojection error less than 0.5 px =1799 	 error init =0.833002 	 error end=0.270344
[21:41:50.611] After pose optimization, distance between two frames x:-0.911904 ,z=0.737585,angle between two frames:3.079831
[21:41:51.352] After Reprojection Map nPoint:2576 ,nCell:166 ,nMatches:54 ,distance between two frames x:0.000002 ,z=-0.000004,angle between two frames:0.000157
[21:41:51.357] n deleted obs = 395 	 n obs with reprojection error less than 0.5 px =1598 	 error init =0.835020 	 error end=0.348241
[21:41:51.357] After pose optimization, distance between two frames x:-1.079124 ,z=0.699806,angle between two frames:3.422673
[21:41:52.117] After Reprojection Map nPoint:2650 ,nCell:138 ,nMatches:55 ,distance between two frames x:-0.000001 ,z=0.000004,angle between two frames:0.000148
[21:41:52.122] n deleted obs = 475 	 n obs with reprojection error less than 0.5 px =1624 	 error init =0.857708 	 error end=0.349604
[21:41:52.122] After pose optimization, distance between two frames x:-0.614108 ,z=1.308429,angle between two frames:4.166373
[21:41:52.879] After Reprojection Map nPoint:2612 ,nCell:131 ,nMatches:60 ,distance between two frames x:-0.000002 ,z=0.000002,angle between two frames:0.000145
[21:41:52.883] n deleted obs = 220 	 n obs with reprojection error less than 0.5 px =1843 	 error init =0.853010 	 error end=0.242220
[21:41:52.883] After pose optimization, distance between two frames x:-0.698276 ,z=1.233148,angle between two frames:2.779929
[21:41:53.258] After Reprojection Map nPoint:2651 ,nCell:178 ,nMatches:63 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000147
[21:41:53.259] n deleted obs = 1470 	 n obs with reprojection error less than 0.5 px =580 	 error init =0.811286 	 error end=0.811286
[21:41:53.259] After pose optimization, distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000147
[21:41:53.259] Update EKF and 3D points, distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000818
[21:41:53.261] Choose frame as a key frame Scene Depth mean:2647189432552.672363 ,depth min:0.454940
[21:41:53.654] After Reprojection Map nPoint:2716 ,nCell:85 ,nMatches:61 ,distance between two frames x:0.000005 ,z=-0.000000,angle between two frames:0.000000
[21:41:53.657] n deleted obs = 498 	 n obs with reprojection error less than 0.5 px =1691 	 error init =0.795592 	 error end=0.327015
[21:41:53.657] After pose optimization, distance between two frames x:-17.469855 ,z=77.190473,angle between two frames:2.568100
[21:41:54.026] After Reprojection Map nPoint:2531 ,nCell:128 ,nMatches:55 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000001
[21:41:54.028] n deleted obs = 1433 	 n obs with reprojection error less than 0.5 px =529 	 error init =0.818759 	 error end=0.818759
[21:41:54.028] After pose optimization, distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000001
[21:41:54.028] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000663
[21:41:54.029] Choose frame as a key frame Scene Depth mean:30.746871 ,depth min:0.473523
[21:41:54.801] After Reprojection Map nPoint:2393 ,nCell:65 ,nMatches:54 ,distance between two frames x:0.000005 ,z=0.000003,angle between two frames:0.004187
[21:41:54.835] n deleted obs = 262 	 n obs with reprojection error less than 0.5 px =1654 	 error init =0.797007 	 error end=0.283814
[21:41:54.835] After pose optimization, distance between two frames x:-0.461236 ,z=1.213910,angle between two frames:5.841019
[21:41:55.605] After Reprojection Map nPoint:2632 ,nCell:166 ,nMatches:58 ,distance between two frames x:0.000003 ,z=-0.000001,angle between two frames:0.000206
[21:41:55.608] n deleted obs = 1477 	 n obs with reprojection error less than 0.5 px =562 	 error init =0.794900 	 error end=0.794900
[21:41:55.608] After pose optimization, distance between two frames x:0.000003 ,z=-0.000001,angle between two frames:0.000206
[21:41:55.608] Update EKF and 3D points, distance between two frames x:0.000002 ,z=-0.000001,angle between two frames:0.001559
[21:41:55.611] Choose frame as a key frame Scene Depth mean:10.649703 ,depth min:0.507424
[21:41:56.409] After Reprojection Map nPoint:2585 ,nCell:83 ,nMatches:58 ,distance between two frames x:0.000004 ,z=-0.000002,angle between two frames:0.008604
[21:41:56.413] n deleted obs = 1520 	 n obs with reprojection error less than 0.5 px =565 	 error init =0.791154 	 error end=0.791154
[21:41:56.413] After pose optimization, distance between two frames x:0.000004 ,z=-0.000002,angle between two frames:0.008604
[21:41:56.413] Update EKF and 3D points, distance between two frames x:0.000004 ,z=-0.000002,angle between two frames:0.010015
[21:41:56.416] Choose frame as a key frame Scene Depth mean:18461598.444285 ,depth min:0.554871
[21:41:57.214] After Reprojection Map nPoint:2560 ,nCell:74 ,nMatches:58 ,distance between two frames x:0.000003 ,z=0.000002,angle between two frames:0.008810
[21:41:57.219] n deleted obs = 448 	 n obs with reprojection error less than 0.5 px =1610 	 error init =0.799963 	 error end=0.349481
[21:41:57.219] After pose optimization, distance between two frames x:-1.006257 ,z=1.067725,angle between two frames:3.700209
[21:41:58.017] After Reprojection Map nPoint:2630 ,nCell:79 ,nMatches:58 ,distance between two frames x:0.000002 ,z=0.000009,angle between two frames:0.000001
[21:41:58.021] n deleted obs = 415 	 n obs with reprojection error less than 0.5 px =1596 	 error init =0.769231 	 error end=0.342635
[21:41:58.021] After pose optimization, distance between two frames x:-0.403210 ,z=0.786977,angle between two frames:4.424322
[21:41:58.784] After Reprojection Map nPoint:2494 ,nCell:154 ,nMatches:58 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.000151
[21:41:58.788] n deleted obs = 634 	 n obs with reprojection error less than 0.5 px =1284 	 error init =0.756280 	 error end=0.397791
[21:41:58.788] After pose optimization, distance between two frames x:-0.405186 ,z=0.412863,angle between two frames:5.305706
[21:41:59.548] After Reprojection Map nPoint:2449 ,nCell:108 ,nMatches:50 ,distance between two frames x:0.000002 ,z=-0.000002,angle between two frames:0.000151
[21:41:59.553] n deleted obs = 202 	 n obs with reprojection error less than 0.5 px =1693 	 error init =0.768233 	 error end=0.246718
[21:41:59.553] After pose optimization, distance between two frames x:-0.168500 ,z=1.706765,angle between two frames:3.612293
[21:42:00.325] After Reprojection Map nPoint:2554 ,nCell:158 ,nMatches:53 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.000001
[21:42:00.330] n deleted obs = 693 	 n obs with reprojection error less than 0.5 px =1265 	 error init =0.755846 	 error end=0.404874
[21:42:00.330] After pose optimization, distance between two frames x:-0.433031 ,z=0.512055,angle between two frames:5.235744
[21:42:01.114] After Reprojection Map nPoint:2623 ,nCell:137 ,nMatches:60 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000221
[21:42:01.118] n deleted obs = 352 	 n obs with reprojection error less than 0.5 px =1668 	 error init =0.718153 	 error end=0.333090
[21:42:01.118] After pose optimization, distance between two frames x:1.387182 ,z=3.076797,angle between two frames:3.511014
[21:42:01.901] After Reprojection Map nPoint:2586 ,nCell:158 ,nMatches:57 ,distance between two frames x:0.000003 ,z=-0.000003,angle between two frames:0.000158
[21:42:01.907] n deleted obs = 725 	 n obs with reprojection error less than 0.5 px =1251 	 error init =0.712927 	 error end=0.400764
[21:42:01.907] After pose optimization, distance between two frames x:-0.505275 ,z=0.732368,angle between two frames:4.965972
[21:42:02.696] After Reprojection Map nPoint:2543 ,nCell:102 ,nMatches:52 ,distance between two frames x:0.000003 ,z=-0.000003,angle between two frames:0.000001
[21:42:02.700] n deleted obs = 480 	 n obs with reprojection error less than 0.5 px =1497 	 error init =0.704348 	 error end=0.371572
[21:42:02.700] After pose optimization, distance between two frames x:-0.327297 ,z=0.493433,angle between two frames:5.403972
[21:42:03.328] After Reprojection Map nPoint:2609 ,nCell:133 ,nMatches:60 ,distance between two frames x:0.000002 ,z=-0.000003,angle between two frames:0.000165
[21:42:03.330] n deleted obs = 628 	 n obs with reprojection error less than 0.5 px =1394 	 error init =0.680688 	 error end=0.377308
[21:42:03.330] After pose optimization, distance between two frames x:-0.409215 ,z=0.721185,angle between two frames:5.100225
[21:42:03.722] After Reprojection Map nPoint:2609 ,nCell:121 ,nMatches:56 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000151
[21:42:03.724] n deleted obs = 974 	 n obs with reprojection error less than 0.5 px =1038 	 error init =0.659135 	 error end=0.659135
[21:42:03.724] After pose optimization, distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000151
[21:42:03.724] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000847
[21:42:03.726] Choose frame as a key frame Scene Depth mean:6.987041 ,depth min:0.485631
[21:42:04.126] After Reprojection Map nPoint:2595 ,nCell:112 ,nMatches:61 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.004399
[21:42:04.128] n deleted obs = 998 	 n obs with reprojection error less than 0.5 px =1033 	 error init =0.669358 	 error end=0.669358
[21:42:04.128] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.004399
[21:42:04.128] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.005112
[21:42:04.130] Choose frame as a key frame Scene Depth mean:4692981418.733035 ,depth min:0.695516
[21:42:04.536] Odometry x=0.534574, y=1.757416, theta=3.105043
[21:42:04.639] Odometry x=0.420215, y=-1.368843, theta=3.108146
[21:42:04.741] Odometry x=0.419958, y=-1.376476, theta=3.111145
[21:42:04.748] After Reprojection Map nPoint:2510 ,nCell:97 ,nMatches:55 ,distance between two frames x:0.000002 ,z=-0.000001,angle between two frames:0.004499
[21:42:04.753] n deleted obs = 361 	 n obs with reprojection error less than 0.5 px =1566 	 error init =0.660849 	 error end=0.349940
[21:42:04.753] After pose optimization, distance between two frames x:-0.155144 ,z=0.261396,angle between two frames:5.858039
[21:42:04.839] Odometry x=0.419745, y=-1.384139, theta=3.113858
[21:42:04.938] Odometry x=0.419491, y=-1.392952, theta=3.137281
[21:42:05.045] Odometry x=0.419453, y=-1.400631, theta=-3.121855
[21:42:05.135] Odometry x=0.419597, y=-1.408337, theta=-3.102784
[21:42:05.189] After Reprojection Map nPoint:734 ,nCell:144 ,nMatches:56 ,distance between two frames x:-0.000013 ,z=-0.000001,angle between two frames:0.000125
[21:42:05.191] n deleted obs = 117 	 n obs with reprojection error less than 0.5 px =432 	 error init =0.353856 	 error end=0.318088
[21:42:05.191] After pose optimization, distance between two frames x:-0.584487 ,z=0.184485,angle between two frames:0.209019
[21:42:05.237] Odometry x=0.419891, y=-1.416004, theta=-3.097844
[21:42:05.338] Odometry x=0.420212, y=-1.423471, theta=-3.093814
[21:42:05.436] Odometry x=0.420567, y=-1.430956, theta=-3.084253
[21:42:05.534] Odometry x=0.420995, y=-1.438655, theta=-3.073130
[21:42:05.567] After Reprojection Map nPoint:398 ,nCell:116 ,nMatches:51 ,distance between two frames x:0.000052 ,z=0.000013,angle between two frames:0.000312
[21:42:05.567] n deleted obs = 64 	 n obs with reprojection error less than 0.5 px =245 	 error init =0.345454 	 error end=0.310247
[21:42:05.567] After pose optimization, distance between two frames x:-0.316438 ,z=-0.305980,angle between two frames:6.129583
[21:42:05.634] Odometry x=0.421477, y=-1.446048, theta=-3.072243
[21:42:05.738] Odometry x=0.422017, y=-1.453802, theta=-3.065182
[21:42:05.831] Odometry x=0.422564, y=-1.460987, theta=-3.055513
[21:42:05.932] Odometry x=0.423231, y=-1.468911, theta=-3.049966
[21:42:05.936] After Reprojection Map nPoint:385 ,nCell:121 ,nMatches:54 ,distance between two frames x:-0.000003 ,z=-0.000000,angle between two frames:0.000348
[21:42:05.937] n deleted obs = 72 	 n obs with reprojection error less than 0.5 px =227 	 error init =0.346423 	 error end=0.326603
[21:42:05.937] After pose optimization, distance between two frames x:-0.613342 ,z=-0.204171,angle between two frames:6.009539
[21:42:06.037] Odometry x=0.423909, y=-1.476345, theta=-3.055124
[21:42:06.133] Odometry x=0.424583, y=-1.484116, theta=-3.056413
[21:42:06.238] Odometry x=0.425259, y=-1.491937, theta=-3.055417
[21:42:06.295] After Reprojection Map nPoint:340 ,nCell:85 ,nMatches:41 ,distance between two frames x:0.000673 ,z=-0.007421,angle between two frames:0.000865
[21:42:06.295] n deleted obs = 56 	 n obs with reprojection error less than 0.5 px =200 	 error init =0.311293 	 error end=0.311293
[21:42:06.295] After pose optimization, distance between two frames x:0.000673 ,z=-0.007421,angle between two frames:0.000865
[21:42:06.295] Update EKF and 3D points, distance between two frames x:0.000793 ,z=-0.008807,angle between two frames:0.366209
[21:42:06.296] Choose frame as a key frame Scene Depth mean:-0.384949 ,depth min:-25.174327
[21:42:06.338] Odometry x=0.424788, y=-1.486274, theta=-0.426611
[21:42:06.435] Odometry x=0.427811, y=-1.479647, theta=-0.438248
[21:42:06.531] Odometry x=0.431020, y=-1.472776, theta=-0.445212
[21:42:06.580] After Reprojection Map nPoint:86 ,nCell:65 ,nMatches:12 ,distance between two frames x:0.000760 ,z=-0.008554,angle between two frames:2.258037
[21:42:06.580] n deleted obs = 20 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.664786 	 error end=0.664388
[21:42:06.580] After pose optimization, distance between two frames x:0.021818 ,z=-0.008357,angle between two frames:2.267476
[21:42:06.633] Odometry x=0.434279, y=-1.465951, theta=-0.454694
[21:42:06.737] Odometry x=0.437671, y=-1.459009, theta=-0.444723
[21:42:06.836] Odometry x=0.441235, y=-1.451559, theta=-0.428675
[21:42:06.850] After Reprojection Map nPoint:18 ,nCell:15 ,nMatches:12 ,distance between two frames x:0.000161 ,z=-0.000087,angle between two frames:0.000050
[21:42:06.850] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =15 	 error init =0.464630 	 error end=0.464630
[21:42:06.850] After pose optimization, distance between two frames x:0.000161 ,z=-0.000087,angle between two frames:0.000050
[21:42:06.850] Update EKF and 3D points, distance between two frames x:0.000735 ,z=0.001144,angle between two frames:0.001226
[21:42:06.939] Odometry x=0.438562, y=-1.457206, theta=-0.439829
[21:42:07.032] Odometry x=0.441798, y=-1.450337, theta=-0.429573
[21:42:07.135] Odometry x=0.444962, y=-1.443447, theta=-0.417041
[21:42:07.137] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between two frames x:0.003549 ,z=0.007600,angle between two frames:0.007278
[21:42:07.233] Odometry x=0.448307, y=-1.436076, theta=-0.410009
[21:42:07.333] Odometry x=0.451417, y=-1.428942, theta=-0.402971
[21:42:07.434] After Reprojection Map nPoint:7 ,nCell:7 ,nMatches:0 ,distance between two frames x:0.001394 ,z=0.007944,angle between two frames:0.001252
[21:42:07.438] Odometry x=0.454319, y=-1.422153, theta=-0.390140
[21:42:07.439] Image Alignment failed 0
[21:42:07.539] Odometry x=0.457377, y=-1.414726, theta=-0.382749
[21:42:07.621] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:42:07.629] Image Alignment failed 0
[21:42:07.634] Odometry x=0.460262, y=-1.407611, theta=-0.379715
[21:42:07.738] Odometry x=0.462964, y=-1.400882, theta=-0.383681
[21:42:07.813] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000003,angle between two frames:0.000225
[21:42:07.823] Image Alignment failed 0
[21:42:07.838] Odometry x=0.465983, y=-1.393401, theta=-0.390798
[21:42:07.934] Odometry x=0.468787, y=-1.386632, theta=-0.398174
[21:42:08.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000373
[21:42:08.027] Image Alignment failed 0
[21:42:08.040] Odometry x=0.471888, y=-1.379445, theta=-0.402497
[21:42:08.141] Odometry x=0.475075, y=-1.371975, theta=-0.410519
[21:42:08.224] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=0.000007,angle between two frames:0.000154
[21:42:08.233] Image Alignment failed 0
[21:42:08.234] Odometry x=0.478134, y=-1.364939, theta=-0.415990
[21:42:08.335] Odometry x=0.481137, y=-1.358217, theta=-0.401128
[21:42:08.433] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.000087
[21:42:08.440] Odometry x=0.484034, y=-1.351524, theta=-0.387316
[21:42:08.441] Image Alignment failed 0
[21:42:08.538] Odometry x=0.487203, y=-1.343816, theta=-0.375338
[21:42:08.636] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=0.000004,angle between two frames:0.000593
[21:42:08.636] Odometry x=0.490063, y=-1.336603, theta=-0.366461
[21:42:08.643] Image Alignment failed 0
[21:42:08.740] Odometry x=0.492825, y=-1.329448, theta=-0.361263
[21:42:08.828] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.002737 ,z=0.007123,angle between two frames:0.001650
[21:42:08.835] Odometry x=0.495626, y=-1.322149, theta=-0.346633
[21:42:08.837] Image Alignment failed 0
[21:42:08.938] Odometry x=0.498109, y=-1.315258, theta=-0.340979
[21:42:09.034] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000029
[21:42:09.041] Odometry x=0.500803, y=-1.307664, theta=-0.347486
[21:42:09.043] Image Alignment failed 0
[21:42:09.135] Odometry x=0.503415, y=-1.300479, theta=-0.351315
[21:42:09.234] Odometry x=0.505972, y=-1.293667, theta=-0.353096
[21:42:09.237] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000473
[21:42:09.245] Image Alignment failed 0
[21:42:09.336] Odometry x=0.508613, y=-1.286464, theta=-0.350957
[21:42:09.440] Odometry x=0.511425, y=-1.279199, theta=-0.354678
[21:42:09.441] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.002645 ,z=0.007170,angle between two frames:0.000687
[21:42:09.450] Image Alignment failed 0
[21:42:09.538] Odometry x=0.514204, y=-1.271682, theta=-0.359222
[21:42:09.636] Odometry x=0.516903, y=-1.264482, theta=-0.366255
[21:42:09.645] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.002783 ,z=0.007521,angle between two frames:0.001307
[21:42:09.654] Image Alignment failed 0
[21:42:09.734] Odometry x=0.519651, y=-1.257320, theta=-0.373037
[21:42:09.832] Odometry x=0.522322, y=-1.250537, theta=-0.360519
[21:42:09.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000007 ,z=0.000008,angle between two frames:0.000497
[21:42:09.856] Image Alignment failed 0
[21:42:09.936] Odometry x=0.525042, y=-1.243359, theta=-0.347296
[21:42:10.039] Odometry x=0.527704, y=-1.236165, theta=-0.336183
[21:42:10.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=0.000009,angle between two frames:0.001185
[21:42:10.059] Image Alignment failed 0
[21:42:10.133] Odometry x=0.530414, y=-1.228477, theta=-0.330431
[21:42:10.236] Odometry x=0.532790, y=-1.221678, theta=-0.322048
[21:42:10.255] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=-0.000002,angle between two frames:0.000015
[21:42:10.264] Image Alignment failed 0
[21:42:10.334] Odometry x=0.535211, y=-1.214428, theta=-0.312475
[21:42:10.432] Odometry x=0.537593, y=-1.207039, theta=-0.309010
[21:42:10.457] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000002,angle between two frames:0.000995
[21:42:10.465] Image Alignment failed 0
[21:42:10.539] Odometry x=0.540002, y=-1.199693, theta=-0.302565
[21:42:10.635] Odometry x=0.542327, y=-1.192323, theta=-0.294687
[21:42:10.659] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000036 ,z=-0.000003,angle between two frames:0.002395
[21:42:10.668] Image Alignment failed 0
[21:42:10.734] Odometry x=0.544428, y=-1.185394, theta=-0.298897
[21:42:10.839] Odometry x=0.546755, y=-1.177861, theta=-0.298606
[21:42:10.865] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000991
[21:42:10.874] Image Alignment failed 0
[21:42:10.934] Odometry x=0.549088, y=-1.170289, theta=-0.297456
[21:42:11.035] Odometry x=0.551168, y=-1.163502, theta=-0.295041
[21:42:11.072] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.000002
[21:42:11.082] Image Alignment failed 0
[21:42:11.137] Odometry x=0.553566, y=-1.155600, theta=-0.304049
[21:42:11.235] Odometry x=0.555624, y=-1.149206, theta=-0.301445
[21:42:11.276] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000007 ,z=0.000024,angle between two frames:0.000480
[21:42:11.284] Image Alignment failed 0
[21:42:11.336] Odometry x=0.558240, y=-1.140729, theta=-0.304106
[21:42:11.436] Odometry x=0.560486, y=-1.133537, theta=-0.309469
[21:42:11.480] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000006,angle between two frames:0.000153
[21:42:11.488] Image Alignment failed 0
[21:42:11.534] Odometry x=0.562745, y=-1.126551, theta=-0.302894
[21:42:11.632] Odometry x=0.565049, y=-1.119183, theta=-0.314063
[21:42:11.686] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000006,angle between two frames:0.000380
[21:42:11.693] Image Alignment failed 0
[21:42:11.732] Odometry x=0.567488, y=-1.111769, theta=-0.302475
[21:42:11.835] Odometry x=0.569822, y=-1.104326, theta=-0.290138
[21:42:11.878] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000943
[21:42:11.887] Image Alignment failed 0
[21:42:11.934] Odometry x=0.572032, y=-1.097014, theta=-0.284238
[21:42:12.038] Odometry x=0.574177, y=-1.089633, theta=-0.273664
[21:42:12.086] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000005,angle between two frames:0.000882
[21:42:12.094] Image Alignment failed 0
[21:42:12.137] Odometry x=0.576375, y=-1.081853, theta=-0.259589
[21:42:12.240] Odometry x=0.578338, y=-1.074469, theta=-0.249934
[21:42:12.290] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000004,angle between two frames:0.000373
[21:42:12.300] Image Alignment failed 0
[21:42:12.335] Odometry x=0.580189, y=-1.067195, theta=-0.251282
[21:42:12.438] Odometry x=0.582034, y=-1.060034, theta=-0.248682
[21:42:12.495] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=0.000001,angle between two frames:0.000243
[21:42:12.502] Image Alignment failed 0
[21:42:12.540] Odometry x=0.584054, y=-1.052250, theta=-0.239326
[21:42:12.643] Odometry x=0.585885, y=-1.044750, theta=-0.238249
[21:42:12.686] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000009 ,z=-0.000003,angle between two frames:0.001345
[21:42:12.695] Image Alignment failed 0
[21:42:12.736] Odometry x=0.587787, y=-1.036964, theta=-0.238554
[21:42:12.834] Odometry x=0.589420, y=-1.030202, theta=-0.236831
[21:42:12.888] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000174
[21:42:12.895] Image Alignment failed 0
[21:42:12.941] Odometry x=0.591239, y=-1.022736, theta=-0.232969
[21:42:13.033] Odometry x=0.593122, y=-1.014923, theta=-0.237340
[21:42:13.078] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000309
[21:42:13.087] Image Alignment failed 0
[21:42:13.136] Odometry x=0.594840, y=-1.007785, theta=-0.231351
[21:42:13.239] Odometry x=0.596632, y=-1.000213, theta=-0.224159
[21:42:13.282] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000006,angle between two frames:0.000932
[21:42:13.291] Image Alignment failed 0
[21:42:13.338] Odometry x=0.598355, y=-0.992706, theta=-0.225657
[21:42:13.436] Odometry x=0.600074, y=-0.985182, theta=-0.235362
[21:42:13.491] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.000515
[21:42:13.500] Image Alignment failed 0
[21:42:13.536] Odometry x=0.601980, y=-0.977266, theta=-0.234651
[21:42:13.640] Odometry x=0.603739, y=-0.970238, theta=-0.236640
[21:42:13.693] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000016,angle between two frames:0.000850
[21:42:13.702] Image Alignment failed 0
[21:42:13.740] Odometry x=0.605642, y=-0.962352, theta=-0.235442
[21:42:13.837] Odometry x=0.607584, y=-0.954887, theta=-0.222459
[21:42:13.896] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.000659
[21:42:13.905] Image Alignment failed 0
[21:42:13.936] Odometry x=0.609239, y=-0.947554, theta=-0.228387
[21:42:14.039] Odometry x=0.610946, y=-0.940296, theta=-0.221513
[21:42:14.099] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.000785
[21:42:14.108] Image Alignment failed 0
[21:42:14.136] Odometry x=0.612704, y=-0.932663, theta=-0.213672
[21:42:14.236] Odometry x=0.614341, y=-0.925091, theta=-0.218969
[21:42:14.301] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000009 ,z=0.000005,angle between two frames:0.000843
[21:42:14.309] Image Alignment failed 0
[21:42:14.335] Odometry x=0.615961, y=-0.917938, theta=-0.222001
[21:42:14.436] Odometry x=0.617668, y=-0.910478, theta=-0.222053
[21:42:14.501] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000006,angle between two frames:0.000009
[21:42:14.509] Image Alignment failed 0
[21:42:14.535] Odometry x=0.619367, y=-0.902975, theta=-0.224079
[21:42:14.636] Odometry x=0.621107, y=-0.895425, theta=-0.242038
[21:42:14.704] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.000086
[21:42:14.713] Image Alignment failed 0
[21:42:14.742] Odometry x=0.622907, y=-0.887872, theta=-0.242800
[21:42:14.835] Odometry x=0.625092, y=-0.880109, theta=-0.219755
[21:42:14.910] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:42:14.919] Image Alignment failed 0
[21:42:14.934] Odometry x=0.626681, y=-0.873738, theta=-0.144035
[21:42:15.037] Odometry x=0.627702, y=-0.867072, theta=-0.143419
[21:42:15.114] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000109 ,z=-0.000221,angle between two frames:0.002281
[21:42:15.123] Image Alignment failed 0
[21:42:15.136] Odometry x=0.628792, y=-0.859863, theta=-0.147488
[21:42:15.235] Odometry x=0.629957, y=-0.851928, theta=-0.145929
[21:42:15.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000050 ,z=-0.000072,angle between two frames:0.003232
[21:42:15.327] Image Alignment failed 0
[21:42:15.339] Odometry x=0.631035, y=-0.844298, theta=-0.156654
[21:42:15.436] Odometry x=0.632180, y=-0.836877, theta=-0.172803
[21:42:15.520] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=0.000039,angle between two frames:0.000241
[21:42:15.529] Image Alignment failed 0
[21:42:15.531] Odometry x=0.633477, y=-0.829564, theta=-0.171369
[21:42:15.636] Odometry x=0.634769, y=-0.822266, theta=-0.164000
[21:42:15.723] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000026 ,z=0.000029,angle between two frames:0.002844
[21:42:15.731] Image Alignment failed 0
[21:42:15.731] Odometry x=0.636031, y=-0.814194, theta=-0.148065
[21:42:15.834] Odometry x=0.637216, y=-0.806567, theta=-0.137637
[21:42:15.931] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=0.000016,angle between two frames:0.001844
[21:42:15.931] Odometry x=0.638475, y=-0.798857, theta=-0.142183
[21:42:15.938] Image Alignment failed 0
[21:42:16.034] Odometry x=0.639566, y=-0.791249, theta=-0.140194
[21:42:16.125] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001083 ,z=0.007543,angle between two frames:0.001514
[21:42:16.133] Odometry x=0.640827, y=-0.783464, theta=-0.142478
[21:42:16.134] Image Alignment failed 0
[21:42:16.232] Odometry x=0.641858, y=-0.775972, theta=-0.123209
[21:42:16.326] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000041 ,z=0.000022,angle between two frames:0.000467
[21:42:16.334] Image Alignment failed 0
[21:42:16.337] Odometry x=0.642813, y=-0.768388, theta=-0.121090
[21:42:16.436] Odometry x=0.643762, y=-0.760423, theta=-0.119930
[21:42:16.525] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=0.000000,angle between two frames:0.000630
[21:42:16.534] Image Alignment failed 0
[21:42:16.535] Odometry x=0.644746, y=-0.752737, theta=-0.114758
[21:42:16.636] Odometry x=0.645917, y=-0.744900, theta=-0.094302
[21:42:16.730] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.001335
[21:42:16.737] Odometry x=0.646579, y=-0.737424, theta=-0.098703
[21:42:16.739] Image Alignment failed 0
[21:42:16.842] Odometry x=0.647357, y=-0.729878, theta=-0.111109
[21:42:16.937] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000010,angle between two frames:0.001265
[21:42:16.937] Odometry x=0.648265, y=-0.721551, theta=-0.112712
[21:42:16.945] Image Alignment failed 0
[21:42:17.036] Odometry x=0.649106, y=-0.714454, theta=-0.123527
[21:42:17.137] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000813 ,z=0.007144,angle between two frames:0.001258
[21:42:17.142] Odometry x=0.650199, y=-0.706571, theta=-0.134292
[21:42:17.147] Image Alignment failed 0
[21:42:17.235] Odometry x=0.651372, y=-0.698688, theta=-0.131625
[21:42:17.337] Odometry x=0.652390, y=-0.691460, theta=-0.096083
[21:42:17.342] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:42:17.350] Image Alignment failed 0
[21:42:17.440] Odometry x=0.653153, y=-0.683858, theta=-0.093321
[21:42:17.537] Odometry x=0.653868, y=-0.675841, theta=-0.101429
[21:42:17.546] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000716 ,z=0.007516,angle between two frames:0.002197
[21:42:17.553] Image Alignment failed 0
[21:42:17.637] Odometry x=0.654647, y=-0.668259, theta=-0.101757
[21:42:17.737] Odometry x=0.655682, y=-0.660652, theta=-0.077931
[21:42:17.837] Odometry x=0.656455, y=-0.652978, theta=-0.078917
[21:42:17.851] After Reprojection Map nPoint:84 ,nCell:40 ,nMatches:31 ,distance between two frames x:0.000007 ,z=0.000098,angle between two frames:0.003385
[21:42:17.851] n deleted obs = 59 	 n obs with reprojection error less than 0.5 px =34 	 error init =3.635057 	 error end=0.695559
[21:42:17.851] After pose optimization, distance between two frames x:9.574327 ,z=12.768722,angle between two frames:0.663673
[21:42:17.936] Odometry x=0.657002, y=-0.645239, theta=-0.070932
[21:42:18.041] Odometry x=0.657621, y=-0.637559, theta=-0.058818
[21:42:18.134] Odometry x=0.658218, y=-0.629603, theta=-0.047932
[21:42:18.139] After Reprojection Map nPoint:141 ,nCell:44 ,nMatches:32 ,distance between two frames x:0.001985 ,z=0.000077,angle between two frames:0.000800
[21:42:18.139] n deleted obs = 131 	 n obs with reprojection error less than 0.5 px =5 	 error init =2.154275 	 error end=2.154275
[21:42:18.139] After pose optimization, distance between two frames x:0.001985 ,z=0.000077,angle between two frames:0.000800
[21:42:18.238] Odometry x=0.658597, y=-0.622107, theta=-0.046542
[21:42:18.337] Odometry x=0.659148, y=-0.614458, theta=-0.072193
[21:42:18.391] After Reprojection Map nPoint:201 ,nCell:42 ,nMatches:41 ,distance between two frames x:-0.000267 ,z=0.007278,angle between two frames:0.000135
[21:42:18.392] n deleted obs = 196 	 n obs with reprojection error less than 0.5 px =9 	 error init =1.852639 	 error end=1.852639
[21:42:18.392] After pose optimization, distance between two frames x:-0.000267 ,z=0.007278,angle between two frames:0.000135
[21:42:18.433] Odometry x=0.659733, y=-0.606752, theta=-0.070980
[21:42:18.539] Odometry x=0.660281, y=-0.599408, theta=-0.077950
[21:42:18.635] Odometry x=0.660895, y=-0.591312, theta=-0.082296
[21:42:18.661] After Reprojection Map nPoint:293 ,nCell:40 ,nMatches:38 ,distance between two frames x:0.000762 ,z=0.000366,angle between two frames:0.000316
[21:42:18.662] n deleted obs = 257 	 n obs with reprojection error less than 0.5 px =15 	 error init =1.728824 	 error end=1.728824
[21:42:18.662] After pose optimization, distance between two frames x:0.000762 ,z=0.000366,angle between two frames:0.000316
[21:42:18.662] Update EKF and 3D points, distance between two frames x:0.000833 ,z=0.001689,angle between two frames:0.000975
[21:42:18.737] Odometry x=0.660953, y=-0.596903, theta=-0.084609
[21:42:18.833] Odometry x=0.661536, y=-0.589353, theta=-0.095725
[21:42:18.933] After Reprojection Map nPoint:312 ,nCell:42 ,nMatches:39 ,distance between two frames x:-0.000015 ,z=0.000010,angle between two frames:0.000001
[21:42:18.933] n deleted obs = 253 	 n obs with reprojection error less than 0.5 px =35 	 error init =1.510006 	 error end=1.510006
[21:42:18.933] After pose optimization, distance between two frames x:-0.000015 ,z=0.000010,angle between two frames:0.000001
[21:42:18.933] Update EKF and 3D points, distance between two frames x:0.000086 ,z=0.001367,angle between two frames:0.002018
[21:42:18.933] Choose frame as a key frame Scene Depth mean:1.174886 ,depth min:-1.375539
[21:42:18.939] Odometry x=0.661209, y=-0.595420, theta=-0.084568
[21:42:19.034] Odometry x=0.661864, y=-0.587465, theta=-0.103998
[21:42:19.138] Odometry x=0.662436, y=-0.580357, theta=-0.118602
[21:42:19.204] After Reprojection Map nPoint:477 ,nCell:45 ,nMatches:42 ,distance between two frames x:0.000781 ,z=0.008636,angle between two frames:0.013022
[21:42:19.204] n deleted obs = 399 	 n obs with reprojection error less than 0.5 px =28 	 error init =1.543366 	 error end=1.543366
[21:42:19.204] After pose optimization, distance between two frames x:0.000781 ,z=0.008636,angle between two frames:0.013022
[21:42:19.204] Update EKF and 3D points, distance between two frames x:0.000907 ,z=0.009984,angle between two frames:0.014763
[21:42:19.235] Odometry x=0.662309, y=-0.585384, theta=-0.099085
[21:42:19.343] Odometry x=0.663281, y=-0.578209, theta=-0.050161
[21:42:19.434] Odometry x=0.664002, y=-0.569891, theta=-0.026800
[21:42:19.490] After Reprojection Map nPoint:537 ,nCell:40 ,nMatches:38 ,distance between two frames x:0.000755 ,z=0.008301,angle between two frames:0.011384
[21:42:19.490] n deleted obs = 48 	 n obs with reprojection error less than 0.5 px =416 	 error init =1.395622 	 error end=0.280555
[21:42:19.490] After pose optimization, distance between two frames x:9.326774 ,z=-93.653444,angle between two frames:1.978159
[21:42:19.536] Odometry x=0.663987, y=-0.562814, theta=0.017420
[21:42:19.633] Odometry x=0.663796, y=-0.554850, theta=0.039290
[21:42:19.734] Odometry x=0.663674, y=-0.547260, theta=0.032869
[21:42:19.756] After Reprojection Map nPoint:312 ,nCell:91 ,nMatches:35 ,distance between two frames x:0.000086 ,z=0.000069,angle between two frames:0.001506
[21:42:19.756] n deleted obs = 188 	 n obs with reprojection error less than 0.5 px =46 	 error init =1.413419 	 error end=1.012483
[21:42:19.756] After pose optimization, distance between two frames x:-0.126976 ,z=0.034304,angle between two frames:0.029003
[21:42:19.839] Odometry x=0.663451, y=-0.539281, theta=0.014465
[21:42:19.940] Odometry x=0.663379, y=-0.530964, theta=0.024171
[21:42:20.008] After Reprojection Map nPoint:323 ,nCell:44 ,nMatches:39 ,distance between two frames x:0.000024 ,z=-0.000051,angle between two frames:0.000002
[21:42:20.008] n deleted obs = 171 	 n obs with reprojection error less than 0.5 px =127 	 error init =1.460724 	 error end=0.523593
[21:42:20.008] After pose optimization, distance between two frames x:-405.350166 ,z=678.617293,angle between two frames:0.046798
[21:42:20.032] Odometry x=0.663097, y=-0.523295, theta=0.026212
[21:42:20.136] Odometry x=0.662918, y=-0.515890, theta=0.024807
[21:42:20.240] Odometry x=0.662725, y=-0.508287, theta=0.037343
[21:42:20.279] After Reprojection Map nPoint:373 ,nCell:61 ,nMatches:41 ,distance between two frames x:0.000040 ,z=0.000001,angle between two frames:0.000007
[21:42:20.279] n deleted obs = 293 	 n obs with reprojection error less than 0.5 px =24 	 error init =1.427633 	 error end=1.427633
[21:42:20.279] After pose optimization, distance between two frames x:0.000040 ,z=0.000001,angle between two frames:0.000007
[21:42:20.279] Update EKF and 3D points, distance between two frames x:0.000004 ,z=0.001331,angle between two frames:0.000452
[21:42:20.340] Odometry x=0.662899, y=-0.513656, theta=0.027968
[21:42:20.442] Odometry x=0.662914, y=-0.506170, theta=0.022645
[21:42:20.541] Odometry x=0.662694, y=-0.497955, theta=0.018663
[21:42:20.551] After Reprojection Map nPoint:412 ,nCell:46 ,nMatches:43 ,distance between two frames x:-0.000264 ,z=0.008260,angle between two frames:0.002907
[21:42:20.551] n deleted obs = 340 	 n obs with reprojection error less than 0.5 px =37 	 error init =1.422761 	 error end=1.422761
[21:42:20.551] After pose optimization, distance between two frames x:-0.000264 ,z=0.008260,angle between two frames:0.002907
[21:42:20.551] Update EKF and 3D points, distance between two frames x:-0.000281 ,z=0.009609,angle between two frames:0.001985
[21:42:20.551] Choose frame as a key frame Scene Depth mean:-0.835317 ,depth min:-10.205198
[21:42:20.638] Odometry x=0.662805, y=-0.503963, theta=0.026337
[21:42:20.733] Odometry x=0.662914, y=-0.496532, theta=0.029091
[21:42:20.832] After Reprojection Map nPoint:519 ,nCell:43 ,nMatches:39 ,distance between two frames x:0.000098 ,z=0.000015,angle between two frames:0.000011
[21:42:20.833] n deleted obs = 426 	 n obs with reprojection error less than 0.5 px =47 	 error init =1.440686 	 error end=1.440686
[21:42:20.833] After pose optimization, distance between two frames x:0.000098 ,z=0.000015,angle between two frames:0.000011
[21:42:20.833] Update EKF and 3D points, distance between two frames x:0.000089 ,z=0.001383,angle between two frames:0.000400
[21:42:20.833] Choose frame as a key frame Scene Depth mean:-0.516510 ,depth min:-7.077174
[21:42:20.837] Odometry x=0.662904, y=-0.510972, theta=0.030721
[21:42:20.935] Odometry x=0.662954, y=-0.500969, theta=0.034595
[21:42:21.033] Odometry x=0.662645, y=-0.493352, theta=0.039967
[21:42:21.122] After Reprojection Map nPoint:728 ,nCell:55 ,nMatches:48 ,distance between two frames x:0.000301 ,z=0.000260,angle between two frames:0.000022
[21:42:21.122] n deleted obs = 588 	 n obs with reprojection error less than 0.5 px =65 	 error init =1.438061 	 error end=1.438061
[21:42:21.122] After pose optimization, distance between two frames x:0.000301 ,z=0.000260,angle between two frames:0.000022
[21:42:21.122] Update EKF and 3D points, distance between two frames x:0.000259 ,z=0.001724,angle between two frames:0.000626
[21:42:21.123] Choose frame as a key frame Scene Depth mean:-0.131054 ,depth min:-7.072085
[21:42:21.131] Odometry x=0.662904, y=-0.500201, theta=0.035426
[21:42:21.236] Odometry x=0.662684, y=-0.492771, theta=0.021484
[21:42:21.331] Odometry x=0.662618, y=-0.485034, theta=0.018868
[21:42:21.393] After Reprojection Map nPoint:709 ,nCell:47 ,nMatches:41 ,distance between two frames x:-0.000242 ,z=0.009144,angle between two frames:0.004078
[21:42:21.394] n deleted obs = 535 	 n obs with reprojection error less than 0.5 px =66 	 error init =1.351867 	 error end=1.351867
[21:42:21.394] After pose optimization, distance between two frames x:-0.000242 ,z=0.009144,angle between two frames:0.004078
[21:42:21.394] Update EKF and 3D points, distance between two frames x:-0.000264 ,z=0.010461,angle between two frames:0.003525
[21:42:21.394] Choose frame as a key frame Scene Depth mean:-0.596756 ,depth min:-23.779283
[21:42:21.434] Odometry x=0.662885, y=-0.490592, theta=0.041183
[21:42:21.540] Odometry x=0.662849, y=-0.482843, theta=0.057476
[21:42:21.635] Odometry x=0.662409, y=-0.474789, theta=0.085937
[21:42:21.740] Odometry x=0.661824, y=-0.467405, theta=0.115221
[21:42:21.785] After Reprojection Map nPoint:781 ,nCell:39 ,nMatches:34 ,distance between two frames x:0.000121 ,z=-0.000002,angle between two frames:0.000004
[21:42:21.787] n deleted obs = 576 	 n obs with reprojection error less than 0.5 px =90 	 error init =1.310104 	 error end=1.310104
[21:42:21.787] After pose optimization, distance between two frames x:0.000121 ,z=-0.000002,angle between two frames:0.000004
[21:42:21.787] Update EKF and 3D points, distance between two frames x:0.000005 ,z=0.002293,angle between two frames:0.004471
[21:42:21.787] Choose frame as a key frame Scene Depth mean:1.429726 ,depth min:-7.016145
[21:42:21.839] Odometry x=0.662197, y=-0.482189, theta=0.070267
[21:42:21.942] Odometry x=0.661707, y=-0.474399, theta=0.056481
[21:42:22.033] Odometry x=0.661355, y=-0.466462, theta=0.048562
[21:42:22.134] Odometry x=0.661041, y=-0.459360, theta=0.022693
[21:42:22.225] After Reprojection Map nPoint:895 ,nCell:53 ,nMatches:47 ,distance between two frames x:-0.000620 ,z=0.014159,angle between two frames:0.028643
[21:42:22.226] n deleted obs = 669 	 n obs with reprojection error less than 0.5 px =81 	 error init =1.481844 	 error end=1.481844
[21:42:22.226] After pose optimization, distance between two frames x:-0.000620 ,z=0.014159,angle between two frames:0.028643
[21:42:22.226] Update EKF and 3D points, distance between two frames x:-0.000705 ,z=0.015934,angle between two frames:0.025419
[21:42:22.227] Choose frame as a key frame Scene Depth mean:0.316791 ,depth min:-5.287181
[21:42:22.235] Odometry x=0.661665, y=-0.469585, theta=0.045336
[21:42:22.333] Odometry x=0.661157, y=-0.461767, theta=0.069675
[21:42:22.436] Odometry x=0.660793, y=-0.454175, theta=0.094656
[21:42:22.539] Odometry x=0.660146, y=-0.446528, theta=0.108180
[21:42:22.636] Odometry x=0.659161, y=-0.438667, theta=0.132196
[21:42:22.686] After Reprojection Map nPoint:1073 ,nCell:54 ,nMatches:46 ,distance between two frames x:-0.000391 ,z=0.011013,angle between two frames:0.019418
[21:42:22.687] n deleted obs = 826 	 n obs with reprojection error less than 0.5 px =92 	 error init =1.418139 	 error end=1.418139
[21:42:22.687] After pose optimization, distance between two frames x:-0.000391 ,z=0.011013,angle between two frames:0.019418
[21:42:22.687] Update EKF and 3D points, distance between two frames x:-0.000606 ,z=0.013256,angle between two frames:0.014647
[21:42:22.688] Choose frame as a key frame Scene Depth mean:0.721701 ,depth min:-2.878889
[21:42:22.738] Odometry x=0.660231, y=-0.453445, theta=0.082568
[21:42:22.836] Odometry x=0.659511, y=-0.445731, theta=0.051435
[21:42:22.939] Odometry x=0.659157, y=-0.438128, theta=0.052495
[21:42:23.036] Odometry x=0.658817, y=-0.430111, theta=0.060874
[21:42:23.124] After Reprojection Map nPoint:913 ,nCell:49 ,nMatches:46 ,distance between two frames x:-0.000987 ,z=0.013983,angle between two frames:0.029121
[21:42:23.125] n deleted obs = 683 	 n obs with reprojection error less than 0.5 px =105 	 error init =1.455403 	 error end=1.455403
[21:42:23.125] After pose optimization, distance between two frames x:-0.000987 ,z=0.013983,angle between two frames:0.029121
[21:42:23.125] Update EKF and 3D points, distance between two frames x:-0.001112 ,z=0.015772,angle between two frames:0.028387
[21:42:23.126] Choose frame as a key frame Scene Depth mean:100474809.134329 ,depth min:-3.789199
[21:42:23.134] Image Alignment failed 0
[21:42:23.139] Odometry x=0.659664, y=-0.440516, theta=0.075342
[21:42:23.238] Odometry x=0.659174, y=-0.432946, theta=0.063056
[21:42:23.557] After Reprojection Map nPoint:1188 ,nCell:51 ,nMatches:48 ,distance between two frames x:-0.000800 ,z=0.011014,angle between two frames:0.004153
[21:42:23.597] n deleted obs = 265 	 n obs with reprojection error less than 0.5 px =776 	 error init =2.784599 	 error end=0.383091
[21:42:23.597] After pose optimization, distance between two frames x:38.758574 ,z=101.177372,angle between two frames:2.921516
[21:42:23.605] Image Alignment failed 0
[21:42:24.028] After Reprojection Map nPoint:1214 ,nCell:110 ,nMatches:47 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:42:24.038] n deleted obs = 14 	 n obs with reprojection error less than 0.5 px =961 	 error init =1.338856 	 error end=0.127215
[21:42:24.038] After pose optimization, distance between two frames x:-0.988475 ,z=0.790271,angle between two frames:0.418375
[21:42:24.046] Image Alignment failed 0
[21:42:24.458] After Reprojection Map nPoint:1168 ,nCell:152 ,nMatches:48 ,distance between two frames x:-0.000018 ,z=-0.000001,angle between two frames:0.000003
[21:42:24.459] n deleted obs = 825 	 n obs with reprojection error less than 0.5 px =90 	 error init =1.387835 	 error end=1.387835
[21:42:24.459] After pose optimization, distance between two frames x:-0.000018 ,z=-0.000001,angle between two frames:0.000003
[21:42:24.459] Update EKF and 3D points, distance between two frames x:-0.000016 ,z=-0.000049,angle between two frames:0.001712
[21:42:24.460] Choose frame as a key frame Scene Depth mean:0.559612 ,depth min:-5.224743
[21:42:24.469] Image Alignment failed 0
[21:42:24.904] After Reprojection Map nPoint:1324 ,nCell:60 ,nMatches:56 ,distance between two frames x:0.000012 ,z=-0.000296,angle between two frames:0.010637
[21:42:24.906] n deleted obs = 1068 	 n obs with reprojection error less than 0.5 px =94 	 error init =1.512153 	 error end=1.512153
[21:42:24.906] After pose optimization, distance between two frames x:0.000012 ,z=-0.000296,angle between two frames:0.010637
[21:42:24.906] Update EKF and 3D points, distance between two frames x:0.000012 ,z=-0.000296,angle between two frames:0.011419
[21:42:24.906] Choose frame as a key frame Scene Depth mean:1.268853 ,depth min:-7.182613
[21:42:24.915] Image Alignment failed 0
[21:42:25.367] After Reprojection Map nPoint:1465 ,nCell:60 ,nMatches:59 ,distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.004934
[21:42:25.369] n deleted obs = 1210 	 n obs with reprojection error less than 0.5 px =101 	 error init =1.644727 	 error end=1.644727
[21:42:25.369] After pose optimization, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.004934
[21:42:25.369] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.005749
[21:42:25.370] Choose frame as a key frame Scene Depth mean:0.476775 ,depth min:-7.208139
[21:42:25.378] Image Alignment failed 0
[21:42:25.813] After Reprojection Map nPoint:1489 ,nCell:60 ,nMatches:57 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005280
[21:42:25.815] n deleted obs = 1253 	 n obs with reprojection error less than 0.5 px =94 	 error init =1.734630 	 error end=1.734630
[21:42:25.815] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005280
[21:42:25.815] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.006053
[21:42:25.815] Choose frame as a key frame Scene Depth mean:1.296084 ,depth min:-7.234753
[21:42:25.825] Image Alignment failed 0
[21:42:26.281] After Reprojection Map nPoint:1724 ,nCell:65 ,nMatches:62 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.004875
[21:42:26.283] n deleted obs = 1469 	 n obs with reprojection error less than 0.5 px =115 	 error init =1.659898 	 error end=1.659898
[21:42:26.283] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.004875
[21:42:26.283] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005702
[21:42:26.284] Choose frame as a key frame Scene Depth mean:1.521650 ,depth min:-7.259576
[21:42:26.297] Image Alignment failed 0
[21:42:26.780] After Reprojection Map nPoint:1770 ,nCell:60 ,nMatches:59 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005363
[21:42:26.783] n deleted obs = 1534 	 n obs with reprojection error less than 0.5 px =99 	 error init =1.737937 	 error end=1.737937
[21:42:26.783] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005363
[21:42:26.783] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.006245
[21:42:26.783] Choose frame as a key frame Scene Depth mean:1.127702 ,depth min:-22.547202
[21:42:26.792] Image Alignment failed 0
[21:42:27.269] After Reprojection Map nPoint:1885 ,nCell:62 ,nMatches:61 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005673
[21:42:27.272] n deleted obs = 1653 	 n obs with reprojection error less than 0.5 px =100 	 error init =2.050431 	 error end=2.050431
[21:42:27.272] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005673
[21:42:27.272] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.006523
[21:42:27.273] Choose frame as a key frame Scene Depth mean:1.307165 ,depth min:-5.322514
[21:42:27.282] Image Alignment failed 0
[21:42:27.760] After Reprojection Map nPoint:1925 ,nCell:64 ,nMatches:62 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005497
[21:42:27.764] n deleted obs = 1663 	 n obs with reprojection error less than 0.5 px =133 	 error init =1.982775 	 error end=1.982775
[21:42:27.764] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005497
[21:42:27.764] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.006356
[21:42:27.765] Choose frame as a key frame Scene Depth mean:9763.336213 ,depth min:-1.912769
[21:42:27.773] Image Alignment failed 0
[21:42:28.259] After Reprojection Map nPoint:2116 ,nCell:58 ,nMatches:56 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005390
[21:42:28.264] n deleted obs = 1885 	 n obs with reprojection error less than 0.5 px =104 	 error init =2.320539 	 error end=2.320539
[21:42:28.264] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005390
[21:42:28.264] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.006281
[21:42:28.265] Choose frame as a key frame Scene Depth mean:1.616109 ,depth min:-1.026587
[21:42:28.274] Image Alignment failed 0
[21:42:28.780] After Reprojection Map nPoint:2148 ,nCell:62 ,nMatches:61 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005597
[21:42:28.783] n deleted obs = 1921 	 n obs with reprojection error less than 0.5 px =121 	 error init =3.366796 	 error end=3.366796
[21:42:28.783] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005597
[21:42:28.783] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.006518
[21:42:28.784] Choose frame as a key frame Scene Depth mean:1.540932 ,depth min:-1.042745
[21:42:28.794] Image Alignment failed 0
[21:42:29.325] After Reprojection Map nPoint:2327 ,nCell:54 ,nMatches:53 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005781
[21:42:29.335] n deleted obs = 615 	 n obs with reprojection error less than 0.5 px =1583 	 error init =3.085311 	 error end=0.395076
[21:42:29.335] After pose optimization, distance between two frames x:-295.202915 ,z=-2480.857688,angle between two frames:2.639195
[21:42:29.342] Image Alignment failed 0
[21:42:29.871] After Reprojection Map nPoint:2296 ,nCell:126 ,nMatches:61 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000153
[21:42:29.876] n deleted obs = 1542 	 n obs with reprojection error less than 0.5 px =541 	 error init =3.229637 	 error end=0.818078
[21:42:29.876] After pose optimization, distance between two frames x:-307.068410 ,z=435.172335,angle between two frames:0.783525
[21:42:29.884] Image Alignment failed 0
[21:42:30.405] After Reprojection Map nPoint:2283 ,nCell:66 ,nMatches:58 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000149
[21:42:30.412] n deleted obs = 641 	 n obs with reprojection error less than 0.5 px =1481 	 error init =5.045260 	 error end=0.386660
[21:42:30.412] After pose optimization, distance between two frames x:-352481.241406 ,z=-1784548.855099,angle between two frames:1.635651
[21:42:30.420] Image Alignment failed 0
[21:42:30.954] After Reprojection Map nPoint:2345 ,nCell:119 ,nMatches:57 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000211
[21:42:30.958] n deleted obs = 2021 	 n obs with reprojection error less than 0.5 px =101 	 error init =3.601631 	 error end=3.601631
[21:42:30.958] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000211
[21:42:30.958] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.001202
[21:42:30.958] Choose frame as a key frame Scene Depth mean:1.393885 ,depth min:-19.747357
[21:42:30.966] Image Alignment failed 0
[21:42:31.519] After Reprojection Map nPoint:2366 ,nCell:60 ,nMatches:58 ,distance between two frames x:-0.000001 ,z=0.000005,angle between two frames:0.006212
[21:42:31.524] n deleted obs = 2287 	 n obs with reprojection error less than 0.5 px =3 	 error init =2.597750 	 error end=2.404855
[21:42:31.524] After pose optimization, distance between two frames x:-301.363096 ,z=-98.078096,angle between two frames:1.312148
[21:42:32.101] After Reprojection Map nPoint:2414 ,nCell:59 ,nMatches:56 ,distance between two frames x:0.002662 ,z=-0.000792,angle between two frames:0.003505
[21:42:32.106] n deleted obs = 2218 	 n obs with reprojection error less than 0.5 px =115 	 error init =2.586405 	 error end=2.586405
[21:42:32.106] After pose optimization, distance between two frames x:0.002662 ,z=-0.000792,angle between two frames:0.003505
[21:42:32.106] Update EKF and 3D points, distance between two frames x:0.002507 ,z=-0.000746,angle between two frames:0.004346
[21:42:32.107] Choose frame as a key frame Scene Depth mean:1.053581 ,depth min:-1.032562
[21:42:32.115] Image Alignment failed 0
[21:42:32.152] Odometry x=0.660726, y=-0.425961, theta=0.184972
[21:42:32.250] Odometry x=0.785613, y=-1.095638, theta=0.189254
[21:42:32.349] Odometry x=0.786985, y=-1.102810, theta=0.192268
[21:42:32.449] Odometry x=0.788547, y=-1.110699, theta=0.198911
[21:42:32.546] Odometry x=0.789929, y=-1.119178, theta=0.208398
[21:42:32.647] Odometry x=0.791436, y=-1.126320, theta=0.220138
[21:42:32.698] After Reprojection Map nPoint:2422 ,nCell:57 ,nMatches:56 ,distance between two frames x:-0.000959 ,z=0.000290,angle between two frames:0.005290
[21:42:32.709] n deleted obs = 911 	 n obs with reprojection error less than 0.5 px =1423 	 error init =2.795992 	 error end=0.494639
[21:42:32.709] After pose optimization, distance between two frames x:369.524364 ,z=-2988.535254,angle between two frames:2.991100
[21:42:32.716] Image Alignment failed 0
[21:42:32.749] Odometry x=0.793013, y=-1.133562, theta=0.212002
[21:42:32.851] Odometry x=0.794548, y=-1.140881, theta=0.233776
[21:42:32.946] Odometry x=0.796469, y=-1.148787, theta=0.228599
[21:42:33.048] Odometry x=0.797990, y=-1.155324, theta=0.239831
[21:42:33.146] Odometry x=0.799798, y=-1.162980, theta=0.267993
[21:42:33.170] After Reprojection Map nPoint:1231 ,nCell:99 ,nMatches:50 ,distance between two frames x:-0.000008 ,z=0.000036,angle between two frames:0.000483
[21:42:33.175] n deleted obs = 935 	 n obs with reprojection error less than 0.5 px =197 	 error init =3.881523 	 error end=1.078732
[21:42:33.175] After pose optimization, distance between two frames x:62.728525 ,z=44.063713,angle between two frames:3.343872
[21:42:33.183] Image Alignment failed 0
[21:42:33.254] Odometry x=0.801887, y=-1.170323, theta=0.272381
[21:42:33.356] Odometry x=0.804059, y=-1.177416, theta=0.255665
[21:42:33.445] Odometry x=0.806186, y=-1.185695, theta=0.262318
[21:42:33.546] Odometry x=0.807931, y=-1.191933, theta=0.233040
[21:42:33.639] After Reprojection Map nPoint:1223 ,nCell:58 ,nMatches:50 ,distance between two frames x:0.000012 ,z=0.000006,angle between two frames:0.000381
[21:42:33.650] Odometry x=0.809542, y=-1.198361, theta=0.228183
[21:42:33.683] n deleted obs = 996 	 n obs with reprojection error less than 0.5 px =175 	 error init =3.416799 	 error end=1.116518
[21:42:33.683] After pose optimization, distance between two frames x:48.123249 ,z=34.329927,angle between two frames:1.841891
[21:42:33.691] Image Alignment failed 0
[21:42:33.744] Odometry x=0.811652, y=-1.206846, theta=0.211657
[21:42:33.850] Odometry x=0.813008, y=-1.213840, theta=0.198315
[21:42:33.951] Odometry x=0.814187, y=-1.220176, theta=0.193704
[21:42:34.058] Odometry x=0.815856, y=-1.228198, theta=0.186957
[21:42:34.143] After Reprojection Map nPoint:1106 ,nCell:50 ,nMatches:44 ,distance between two frames x:-0.000006 ,z=-0.000001,angle between two frames:0.000929
[21:42:34.145] n deleted obs = 1039 	 n obs with reprojection error less than 0.5 px =15 	 error init =2.901816 	 error end=2.901816
[21:42:34.145] After pose optimization, distance between two frames x:-0.000006 ,z=-0.000001,angle between two frames:0.000929
[21:42:34.145] Update EKF and 3D points, distance between two frames x:0.000333 ,z=-0.001656,angle between two frames:0.003101
[21:42:34.151] Odometry x=0.814004, y=-1.218840, theta=0.209802
[21:42:34.153] Image Alignment failed 0
[21:42:34.249] Odometry x=0.815434, y=-1.225934, theta=0.231695
[21:42:34.345] Odometry x=0.817136, y=-1.232954, theta=0.246768
[21:42:34.446] Odometry x=0.818846, y=-1.239965, theta=0.276799
[21:42:34.552] Odometry x=0.821041, y=-1.247523, theta=0.287306
[21:42:34.614] After Reprojection Map nPoint:1091 ,nCell:46 ,nMatches:46 ,distance between two frames x:0.002113 ,z=-0.010203,angle between two frames:0.013321
[21:42:34.616] n deleted obs = 1059 	 n obs with reprojection error less than 0.5 px =4 	 error init =2.970916 	 error end=2.970916
[21:42:34.616] After pose optimization, distance between two frames x:0.002113 ,z=-0.010203,angle between two frames:0.013321
[21:42:34.651] Odometry x=0.823275, y=-1.255301, theta=0.304898
[21:42:34.756] Odometry x=0.825527, y=-1.262530, theta=0.316997
[21:42:34.858] Odometry x=0.828090, y=-1.270106, theta=0.326915
[21:42:34.950] Odometry x=0.830463, y=-1.276950, theta=0.329803
[21:42:35.047] Odometry x=0.832838, y=-1.283684, theta=0.323760
[21:42:35.070] After Reprojection Map nPoint:1106 ,nCell:46 ,nMatches:44 ,distance between two frames x:-0.000290 ,z=0.000214,angle between two frames:0.000019
[21:42:35.110] n deleted obs = 894 	 n obs with reprojection error less than 0.5 px =175 	 error init =2.607717 	 error end=1.200468
[21:42:35.110] After pose optimization, distance between two frames x:22.742018 ,z=16.119731,angle between two frames:3.404247
[21:42:35.117] Image Alignment failed 0
[21:42:35.147] Odometry x=0.835165, y=-1.290476, theta=0.312052
[21:42:35.245] Odometry x=0.837482, y=-1.297687, theta=0.302780
[21:42:35.359] Odometry x=0.839781, y=-1.304633, theta=0.300442
[21:42:35.446] Odometry x=0.842310, y=-1.312854, theta=0.318265
[21:42:35.554] After Reprojection Map nPoint:1069 ,nCell:64 ,nMatches:46 ,distance between two frames x:0.000010 ,z=-0.000012,angle between two frames:0.000234
[21:42:35.555] Odometry x=0.844410, y=-1.318874, theta=0.313338
[21:42:35.556] n deleted obs = 1002 	 n obs with reprojection error less than 0.5 px =8 	 error init =2.556699 	 error end=2.556699
[21:42:35.556] After pose optimization, distance between two frames x:0.000010 ,z=-0.000012,angle between two frames:0.000234
[21:42:35.644] Odometry x=0.847137, y=-1.327118, theta=0.329306
[21:42:35.744] Odometry x=0.849358, y=-1.333665, theta=0.337169
[21:42:35.852] Odometry x=0.851573, y=-1.339818, theta=0.348982
[21:42:35.951] Odometry x=0.854707, y=-1.348478, theta=0.364110
[21:42:36.005] After Reprojection Map nPoint:1009 ,nCell:42 ,nMatches:42 ,distance between two frames x:-0.000473 ,z=0.000065,angle between two frames:0.000029
[21:42:36.006] n deleted obs = 970 	 n obs with reprojection error less than 0.5 px =14 	 error init =2.275881 	 error end=2.275881
[21:42:36.006] After pose optimization, distance between two frames x:-0.000473 ,z=0.000065,angle between two frames:0.000029
[21:42:36.006] Update EKF and 3D points, distance between two frames x:0.000293 ,z=-0.002038,angle between two frames:0.003154
[21:42:36.014] Image Alignment failed 0
[21:42:36.053] Odometry x=0.849579, y=-1.333820, theta=0.342095
[21:42:36.156] Odometry x=0.852161, y=-1.340964, theta=0.320862
[21:42:36.244] Odometry x=0.854765, y=-1.348058, theta=0.314236
[21:42:36.353] Odometry x=0.857083, y=-1.355067, theta=0.323129
[21:42:36.445] Odometry x=0.859744, y=-1.362930, theta=0.315207
[21:42:36.448] After Reprojection Map nPoint:1001 ,nCell:47 ,nMatches:44 ,distance between two frames x:0.004722 ,z=-0.012976,angle between two frames:0.020394
[21:42:36.452] n deleted obs = 211 	 n obs with reprojection error less than 0.5 px =755 	 error init =2.213287 	 error end=0.342986
[21:42:36.452] After pose optimization, distance between two frames x:48.940707 ,z=331.608580,angle between two frames:1.218461
[21:42:36.460] Image Alignment failed 0
[21:42:36.557] Odometry x=0.862087, y=-1.369556, theta=0.297614
[21:42:36.652] Odometry x=0.864446, y=-1.377566, theta=0.295174
[21:42:36.750] Odometry x=0.866517, y=-1.384610, theta=0.297666
[21:42:36.850] Odometry x=0.868500, y=-1.391623, theta=0.302360
[21:42:36.863] After Reprojection Map nPoint:903 ,nCell:112 ,nMatches:37 ,distance between two frames x:0.000015 ,z=0.000085,angle between two frames:0.000870
[21:42:36.864] n deleted obs = 782 	 n obs with reprojection error less than 0.5 px =11 	 error init =2.171074 	 error end=2.171074
[21:42:36.864] After pose optimization, distance between two frames x:0.000015 ,z=0.000085,angle between two frames:0.000870
[21:42:36.864] Update EKF and 3D points, distance between two frames x:0.000521 ,z=-0.001618,angle between two frames:0.001438
[21:42:36.872] Image Alignment failed 0
[21:42:36.948] Odometry x=0.865641, y=-1.381895, theta=0.313836
[21:42:37.045] Odometry x=0.867996, y=-1.388717, theta=0.315997
[21:42:37.153] Odometry x=0.870391, y=-1.395800, theta=0.302423
[21:42:37.246] Odometry x=0.872823, y=-1.403529, theta=0.291129
[21:42:37.291] After Reprojection Map nPoint:971 ,nCell:48 ,nMatches:45 ,distance between two frames x:0.003130 ,z=-0.010524,angle between two frames:0.003545
[21:42:37.292] n deleted obs = 934 	 n obs with reprojection error less than 0.5 px =13 	 error init =2.173021 	 error end=2.173021
[21:42:37.292] After pose optimization, distance between two frames x:0.003130 ,z=-0.010524,angle between two frames:0.003545
[21:42:37.292] Update EKF and 3D points, distance between two frames x:0.003666 ,z=-0.012176,angle between two frames:0.004041
[21:42:37.348] Odometry x=0.869526, y=-1.393712, theta=0.321613
[21:42:37.451] Odometry x=0.871944, y=-1.401162, theta=0.350271
[21:42:37.550] Odometry x=0.874332, y=-1.408100, theta=0.363624
[21:42:37.646] Odometry x=0.877186, y=-1.415311, theta=0.363624
[21:42:37.734] After Reprojection Map nPoint:960 ,nCell:47 ,nMatches:42 ,distance between two frames x:-0.000015 ,z=0.000034,angle between two frames:0.000001
[21:42:37.736] n deleted obs = 914 	 n obs with reprojection error less than 0.5 px =11 	 error init =2.246016 	 error end=2.246016
[21:42:37.736] After pose optimization, distance between two frames x:-0.000015 ,z=0.000034,angle between two frames:0.000001
[21:42:37.736] Update EKF and 3D points, distance between two frames x:0.000766 ,z=-0.002197,angle between two frames:0.003637
[21:42:37.748] Odometry x=0.871811, y=-1.399568, theta=0.336258
[21:42:37.844] Odometry x=0.874139, y=-1.406405, theta=0.337311
[21:42:37.947] Odometry x=0.876612, y=-1.413399, theta=0.321949
[21:42:38.049] Odometry x=0.879086, y=-1.420647, theta=0.328189
[21:42:38.152] Odometry x=0.881646, y=-1.427854, theta=0.324573
[21:42:38.170] After Reprojection Map nPoint:922 ,nCell:41 ,nMatches:37 ,distance between two frames x:0.005574 ,z=-0.014167,angle between two frames:0.023052
[21:42:38.172] n deleted obs = 878 	 n obs with reprojection error less than 0.5 px =10 	 error init =2.158797 	 error end=2.158797
[21:42:38.172] After pose optimization, distance between two frames x:0.005574 ,z=-0.014167,angle between two frames:0.023052
[21:42:38.172] Update EKF and 3D points, distance between two frames x:0.006248 ,z=-0.016217,angle between two frames:0.022360
[21:42:38.244] Odometry x=0.877352, y=-1.414435, theta=0.335756
[21:42:38.356] Odometry x=0.879621, y=-1.421038, theta=0.330994
[21:42:38.445] Odometry x=0.882573, y=-1.429597, theta=0.334624
[21:42:38.559] Odometry x=0.884514, y=-1.435038, theta=0.337545
[21:42:38.613] After Reprojection Map nPoint:933 ,nCell:42 ,nMatches:40 ,distance between two frames x:0.004949 ,z=-0.012622,angle between two frames:0.004609
[21:42:38.615] n deleted obs = 905 	 n obs with reprojection error less than 0.5 px =9 	 error init =2.105586 	 error end=2.105586
[21:42:38.615] After pose optimization, distance between two frames x:0.004949 ,z=-0.012622,angle between two frames:0.004609
[21:42:38.658] Odometry x=0.887928, y=-1.443396, theta=0.335665
[21:42:38.760] Odometry x=0.890332, y=-1.450374, theta=0.331154
[21:42:38.843] Odometry x=0.892769, y=-1.457702, theta=0.341492
[21:42:38.952] Odometry x=0.894795, y=-1.462955, theta=0.341937
[21:42:39.036] After Reprojection Map nPoint:840 ,nCell:55 ,nMatches:46 ,distance between two frames x:0.000923 ,z=-0.000640,angle between two frames:0.000122
[21:42:39.038] n deleted obs = 819 	 n obs with reprojection error less than 0.5 px =13 	 error init =2.072302 	 error end=2.072302
[21:42:39.038] After pose optimization, distance between two frames x:0.000923 ,z=-0.000640,angle between two frames:0.000122
[21:42:39.038] Update EKF and 3D points, distance between two frames x:0.001468 ,z=-0.002191,angle between two frames:0.000354
[21:42:39.049] Odometry x=0.892297, y=-1.455350, theta=0.335812
[21:42:39.149] Odometry x=0.894887, y=-1.462570, theta=0.332079
[21:42:39.248] Odometry x=0.897278, y=-1.469665, theta=0.343407
[21:42:39.355] Odometry x=0.899812, y=-1.476556, theta=0.345893
[21:42:39.447] Odometry x=0.902721, y=-1.484313, theta=0.356398
[21:42:39.475] After Reprojection Map nPoint:777 ,nCell:41 ,nMatches:37 ,distance between two frames x:0.006309 ,z=-0.011157,angle between two frames:0.002459
[21:42:39.476] n deleted obs = 756 	 n obs with reprojection error less than 0.5 px =15 	 error init =1.908544 	 error end=1.908544
[21:42:39.476] After pose optimization, distance between two frames x:0.006309 ,z=-0.011157,angle between two frames:0.002459
[21:42:39.476] Update EKF and 3D points, distance between two frames x:0.006885 ,z=-0.013137,angle between two frames:0.001689
[21:42:39.550] Odometry x=0.899343, y=-1.471075, theta=0.352249
[21:42:39.651] Odometry x=0.901761, y=-1.478297, theta=0.389225
[21:42:39.748] Odometry x=0.904735, y=-1.485519, theta=0.386937
[21:42:39.850] Odometry x=0.907496, y=-1.492307, theta=0.383759
[21:42:39.908] After Reprojection Map nPoint:852 ,nCell:46 ,nMatches:45 ,distance between two frames x:0.003600 ,z=-0.012219,angle between two frames:0.004473
[21:42:39.909] n deleted obs = 833 	 n obs with reprojection error less than 0.5 px =8 	 error init =1.993516 	 error end=1.993516
[21:42:39.909] After pose optimization, distance between two frames x:0.003600 ,z=-0.012219,angle between two frames:0.004473
[21:42:39.948] Odometry x=0.910357, y=-1.499503, theta=0.389409
[21:42:40.051] Odometry x=0.913311, y=-1.506595, theta=0.395541
[21:42:40.150] Odometry x=0.916316, y=-1.513661, theta=0.391806
[21:42:40.251] Odometry x=0.919179, y=-1.520353, theta=0.392732
[21:42:40.318] After Reprojection Map nPoint:721 ,nCell:43 ,nMatches:41 ,distance between two frames x:0.000085 ,z=-0.000021,angle between two frames:0.000668
[21:42:40.319] n deleted obs = 688 	 n obs with reprojection error less than 0.5 px =30 	 error init =1.834408 	 error end=1.834408
[21:42:40.319] After pose optimization, distance between two frames x:0.000085 ,z=-0.000021,angle between two frames:0.000668
[21:42:40.319] Update EKF and 3D points, distance between two frames x:0.000763 ,z=-0.001647,angle between two frames:0.001277
[21:42:40.320] Choose frame as a key frame Scene Depth mean:-0.677452 ,depth min:-4.097200
[21:42:40.348] Odometry x=0.915318, y=-1.511116, theta=0.381789
[21:42:40.450] Odometry x=0.918083, y=-1.517912, theta=0.387334
[21:42:40.547] Odometry x=0.921107, y=-1.525025, theta=0.379420
[21:42:40.645] Odometry x=0.924048, y=-1.531998, theta=0.368975
[21:42:40.719] After Reprojection Map nPoint:673 ,nCell:41 ,nMatches:40 ,distance between two frames x:0.004157 ,z=-0.010022,angle between two frames:0.003531
[21:42:40.720] n deleted obs = 647 	 n obs with reprojection error less than 0.5 px =30 	 error init =1.741183 	 error end=1.741183
[21:42:40.720] After pose optimization, distance between two frames x:0.004157 ,z=-0.010022,angle between two frames:0.003531
[21:42:40.720] Update EKF and 3D points, distance between two frames x:0.004828 ,z=-0.011633,angle between two frames:0.003750
[21:42:40.720] Choose frame as a key frame Scene Depth mean:-1.059198 ,depth min:-12.264900
[21:42:40.758] Odometry x=0.920084, y=-1.522707, theta=0.392437
[21:42:40.852] Odometry x=0.923471, y=-1.530617, theta=0.410748
[21:42:40.961] Odometry x=0.926563, y=-1.537029, theta=0.445072
[21:42:41.048] Odometry x=0.930598, y=-1.544294, theta=0.452131
[21:42:41.098] After Reprojection Map nPoint:562 ,nCell:47 ,nMatches:43 ,distance between two frames x:0.004724 ,z=-0.009917,angle between two frames:0.002296
[21:42:41.099] n deleted obs = 539 	 n obs with reprojection error less than 0.5 px =29 	 error init =1.602065 	 error end=1.602065
[21:42:41.099] After pose optimization, distance between two frames x:0.004724 ,z=-0.009917,angle between two frames:0.002296
[21:42:41.099] Update EKF and 3D points, distance between two frames x:0.005484 ,z=-0.011538,angle between two frames:0.006273
[21:42:41.148] Odometry x=0.926095, y=-1.534393, theta=0.415916
[21:42:41.246] Odometry x=0.929254, y=-1.540944, theta=0.424382
[21:42:41.359] Odometry x=0.932565, y=-1.547917, theta=0.431124
[21:42:41.450] Odometry x=0.936208, y=-1.555209, theta=0.427329
[21:42:41.462] After Reprojection Map nPoint:539 ,nCell:35 ,nMatches:35 ,distance between two frames x:0.004705 ,z=-0.010010,angle between two frames:0.024452
[21:42:41.462] n deleted obs = 513 	 n obs with reprojection error less than 0.5 px =27 	 error init =1.741855 	 error end=1.741855
[21:42:41.462] After pose optimization, distance between two frames x:0.004705 ,z=-0.010010,angle between two frames:0.024452
[21:42:41.462] Update EKF and 3D points, distance between two frames x:0.005457 ,z=-0.011597,angle between two frames:0.025878
[21:42:41.549] Odometry x=0.931546, y=-1.545899, theta=0.466899
[21:42:41.668] Odometry x=0.935535, y=-1.553560, theta=0.412388
[21:42:41.751] Odometry x=0.939902, y=-1.562254, theta=0.409572
[21:42:41.829] After Reprojection Map nPoint:480 ,nCell:36 ,nMatches:36 ,distance between two frames x:0.004849 ,z=-0.009826,angle between two frames:0.010674
[21:42:41.830] n deleted obs = 433 	 n obs with reprojection error less than 0.5 px =47 	 error init =1.463924 	 error end=1.463924
[21:42:41.830] After pose optimization, distance between two frames x:0.004849 ,z=-0.009826,angle between two frames:0.010674
[21:42:41.830] Update EKF and 3D points, distance between two frames x:0.005436 ,z=-0.011118,angle between two frames:0.010360
[21:42:41.830] Choose frame as a key frame Scene Depth mean:-0.088948 ,depth min:-22.390491
[21:42:41.849] Odometry x=0.935920, y=-1.555185, theta=0.416661
[21:42:41.952] Odometry x=0.939374, y=-1.562142, theta=0.399780
[21:42:42.048] Odometry x=0.942330, y=-1.569121, theta=0.404473
[21:42:42.146] Odometry x=0.945304, y=-1.575933, theta=0.395625
[21:42:42.249] Odometry x=0.948299, y=-1.582967, theta=0.386307
[21:42:42.279] After Reprojection Map nPoint:455 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.007044 ,z=-0.015280,angle between two frames:0.021291
[21:42:42.280] n deleted obs = 415 	 n obs with reprojection error less than 0.5 px =38 	 error init =1.532399 	 error end=1.532399
[21:42:42.280] After pose optimization, distance between two frames x:0.007044 ,z=-0.015280,angle between two frames:0.021291
[21:42:42.280] Update EKF and 3D points, distance between two frames x:0.007743 ,z=-0.016914,angle between two frames:0.022557
[21:42:42.280] Choose frame as a key frame Scene Depth mean:-0.636106 ,depth min:-3.234027
[21:42:42.353] Odometry x=0.944390, y=-1.574043, theta=0.398357
[21:42:42.452] Odometry x=0.947363, y=-1.580995, theta=0.401311
[21:42:42.545] Odometry x=0.950305, y=-1.587942, theta=0.403228
[21:42:42.649] After Reprojection Map nPoint:624 ,nCell:50 ,nMatches:45 ,distance between two frames x:0.004289 ,z=-0.010077,angle between two frames:0.007878
[21:42:42.650] n deleted obs = 595 	 n obs with reprojection error less than 0.5 px =32 	 error init =1.767517 	 error end=1.767517
[21:42:42.650] After pose optimization, distance between two frames x:0.004289 ,z=-0.010077,angle between two frames:0.007878
[21:42:42.650] Update EKF and 3D points, distance between two frames x:0.004804 ,z=-0.011278,angle between two frames:0.007432
[21:42:42.650] Choose frame as a key frame Scene Depth mean:-0.235309 ,depth min:-3.950861
[21:42:42.653] Odometry x=0.944874, y=-1.575231, theta=0.396237
[21:42:42.746] Odometry x=0.948802, y=-1.584509, theta=0.393409
[21:42:42.854] Odometry x=0.951678, y=-1.591145, theta=0.389414
[21:42:42.950] Odometry x=0.954881, y=-1.598887, theta=0.387003
[21:42:43.021] After Reprojection Map nPoint:628 ,nCell:48 ,nMatches:46 ,distance between two frames x:-0.000027 ,z=0.000012,angle between two frames:0.000001
[21:42:43.023] n deleted obs = 584 	 n obs with reprojection error less than 0.5 px =53 	 error init =1.624112 	 error end=1.624112
[21:42:43.023] After pose optimization, distance between two frames x:-0.000027 ,z=0.000012,angle between two frames:0.000001
[21:42:43.023] Update EKF and 3D points, distance between two frames x:0.000708 ,z=-0.001736,angle between two frames:0.000487
[21:42:43.023] Choose frame as a key frame Scene Depth mean:-0.616910 ,depth min:-13.612706
[21:42:43.031] Image Alignment failed 0
[21:42:43.046] Odometry x=0.950123, y=-1.587758, theta=0.390793
[21:42:43.149] Odometry x=0.952923, y=-1.594442, theta=0.389209
[21:42:43.249] Odometry x=0.955788, y=-1.601469, theta=0.413698
[21:42:43.349] Odometry x=0.958871, y=-1.608460, theta=0.418371
[21:42:43.364] After Reprojection Map nPoint:438 ,nCell:35 ,nMatches:35 ,distance between two frames x:0.004544 ,z=-0.010803,angle between two frames:0.003403
[21:42:43.365] n deleted obs = 390 	 n obs with reprojection error less than 0.5 px =54 	 error init =1.458917 	 error end=1.458917
[21:42:43.365] After pose optimization, distance between two frames x:0.004544 ,z=-0.010803,angle between two frames:0.003403
[21:42:43.365] Update EKF and 3D points, distance between two frames x:0.005234 ,z=-0.012414,angle between two frames:0.001689
[21:42:43.365] Choose frame as a key frame Scene Depth mean:0.652430 ,depth min:-3.503374
[21:42:43.373] Image Alignment failed 0
[21:42:43.451] Odometry x=0.955122, y=-1.599308, theta=0.421665
[21:42:43.551] Odometry x=0.958160, y=-1.606253, theta=0.430256
[21:42:43.648] Odometry x=0.961334, y=-1.613200, theta=0.426483
[21:42:43.686] After Reprojection Map nPoint:426 ,nCell:48 ,nMatches:44 ,distance between two frames x:0.004259 ,z=-0.009956,angle between two frames:0.011225
[21:42:43.687] n deleted obs = 390 	 n obs with reprojection error less than 0.5 px =45 	 error init =1.514400 	 error end=1.514400
[21:42:43.687] After pose optimization, distance between two frames x:0.004259 ,z=-0.009956,angle between two frames:0.011225
[21:42:43.687] Update EKF and 3D points, distance between two frames x:0.004805 ,z=-0.011159,angle between two frames:0.012290
[21:42:43.687] Choose frame as a key frame Scene Depth mean:-0.432195 ,depth min:-10.071962
[21:42:43.696] Image Alignment failed 0
[21:42:43.751] Odometry x=0.959043, y=-1.607901, theta=0.419189
[21:42:43.857] Odometry x=0.962189, y=-1.614852, theta=0.415837
[21:42:43.949] Odometry x=0.965577, y=-1.622475, theta=0.408973
[21:42:44.018] After Reprojection Map nPoint:462 ,nCell:62 ,nMatches:52 ,distance between two frames x:0.003458 ,z=-0.007395,angle between two frames:0.006429
[21:42:44.019] n deleted obs = 450 	 n obs with reprojection error less than 0.5 px =32 	 error init =1.555600 	 error end=1.555600
[21:42:44.019] After pose optimization, distance between two frames x:0.003458 ,z=-0.007395,angle between two frames:0.006429
[21:42:44.019] Update EKF and 3D points, distance between two frames x:0.003996 ,z=-0.008608,angle between two frames:0.006552
[21:42:44.020] Choose frame as a key frame Scene Depth mean:0.705674 ,depth min:-1.822492
[21:42:44.051] Odometry x=0.962957, y=-1.616641, theta=0.411974
[21:42:44.150] Odometry x=0.965999, y=-1.623604, theta=0.423056
[21:42:44.254] Odometry x=0.969080, y=-1.630436, theta=0.419012
[21:42:44.348] Odometry x=0.972278, y=-1.637606, theta=0.414526
[21:42:44.350] After Reprojection Map nPoint:509 ,nCell:47 ,nMatches:44 ,distance between two frames x:0.003304 ,z=-0.007479,angle between two frames:0.000579
[21:42:44.351] n deleted obs = 472 	 n obs with reprojection error less than 0.5 px =49 	 error init =1.504121 	 error end=1.504121
[21:42:44.351] After pose optimization, distance between two frames x:0.003304 ,z=-0.007479,angle between two frames:0.000579
[21:42:44.351] Update EKF and 3D points, distance between two frames x:0.004322 ,z=-0.009777,angle between two frames:0.000639
[21:42:44.352] Choose frame as a key frame Scene Depth mean:0.029828 ,depth min:-1.550624
[21:42:44.455] Odometry x=0.970218, y=-1.633077, theta=0.403838
[21:42:44.559] Odometry x=0.973452, y=-1.640702, theta=0.398209
[21:42:44.661] Odometry x=0.976480, y=-1.647832, theta=0.395235
[21:42:44.688] After Reprojection Map nPoint:501 ,nCell:47 ,nMatches:42 ,distance between two frames x:0.006500 ,z=-0.014099,angle between two frames:0.000433
[21:42:44.689] n deleted obs = 441 	 n obs with reprojection error less than 0.5 px =69 	 error init =1.365673 	 error end=1.365673
[21:42:44.689] After pose optimization, distance between two frames x:0.006500 ,z=-0.014099,angle between two frames:0.000433
[21:42:44.689] Update EKF and 3D points, distance between two frames x:0.007031 ,z=-0.015392,angle between two frames:0.001180
[21:42:44.689] Choose frame as a key frame Scene Depth mean:-0.581685 ,depth min:-2.260149
[21:42:44.699] Image Alignment failed 0
[21:42:44.761] Odometry x=0.974245, y=-1.642306, theta=0.420024
[21:42:44.860] Odometry x=0.977387, y=-1.649278, theta=0.432170
[21:42:44.954] Odometry x=0.980456, y=-1.655903, theta=0.442103
[21:42:45.000] After Reprojection Map nPoint:437 ,nCell:42 ,nMatches:40 ,distance between two frames x:0.003271 ,z=-0.007999,angle between two frames:0.002771
[21:42:45.000] n deleted obs = 375 	 n obs with reprojection error less than 0.5 px =55 	 error init =1.463494 	 error end=1.463494
[21:42:45.000] After pose optimization, distance between two frames x:0.003271 ,z=-0.007999,angle between two frames:0.002771
[21:42:45.000] Update EKF and 3D points, distance between two frames x:0.003815 ,z=-0.009167,angle between two frames:0.000525
[21:42:45.001] Choose frame as a key frame Scene Depth mean:-0.748070 ,depth min:-6.099654
[21:42:45.058] Odometry x=0.978146, y=-1.650689, theta=0.433461
[21:42:45.154] Odometry x=0.981411, y=-1.657728, theta=0.439658
[21:42:45.261] Odometry x=0.984727, y=-1.664670, theta=0.431937
[21:42:45.324] After Reprojection Map nPoint:473 ,nCell:62 ,nMatches:51 ,distance between two frames x:0.003454 ,z=-0.007068,angle between two frames:0.014105
[21:42:45.325] n deleted obs = 410 	 n obs with reprojection error less than 0.5 px =63 	 error init =1.378784 	 error end=1.378784
[21:42:45.325] After pose optimization, distance between two frames x:0.003454 ,z=-0.007068,angle between two frames:0.014105
[21:42:45.325] Update EKF and 3D points, distance between two frames x:0.004029 ,z=-0.008315,angle between two frames:0.014213
[21:42:45.325] Choose frame as a key frame Scene Depth mean:-0.614541 ,depth min:-5.931651
[21:42:45.334] Image Alignment failed 0
[21:42:45.352] Odometry x=0.982349, y=-1.659503, theta=0.425118
[21:42:45.462] Odometry x=0.985113, y=-1.665674, theta=0.431609
[21:42:45.559] Odometry x=0.988697, y=-1.673314, theta=0.438903
[21:42:45.623] After Reprojection Map nPoint:345 ,nCell:42 ,nMatches:36 ,distance between two frames x:0.003550 ,z=-0.007710,angle between two frames:0.000471
[21:42:45.623] n deleted obs = 274 	 n obs with reprojection error less than 0.5 px =64 	 error init =1.266006 	 error end=1.266006
[21:42:45.623] After pose optimization, distance between two frames x:0.003550 ,z=-0.007710,angle between two frames:0.000471
[21:42:45.623] Update EKF and 3D points, distance between two frames x:0.004108 ,z=-0.008920,angle between two frames:0.001713
[21:42:45.624] Choose frame as a key frame Scene Depth mean:-0.944994 ,depth min:-3.816258
[21:42:45.633] Image Alignment failed 0
[21:42:45.662] Odometry x=0.986408, y=-1.668184, theta=0.435968
[21:42:45.762] Odometry x=0.989615, y=-1.675121, theta=0.440318
[21:42:45.860] Odometry x=0.992895, y=-1.682066, theta=0.441879
[21:42:45.912] After Reprojection Map nPoint:145 ,nCell:29 ,nMatches:24 ,distance between two frames x:0.003447 ,z=-0.007476,angle between two frames:0.007680
[21:42:45.913] n deleted obs = 100 	 n obs with reprojection error less than 0.5 px =44 	 error init =1.048906 	 error end=1.048906
[21:42:45.913] After pose optimization, distance between two frames x:0.003447 ,z=-0.007476,angle between two frames:0.007680
[21:42:45.913] Update EKF and 3D points, distance between two frames x:0.004006 ,z=-0.008664,angle between two frames:0.008279
[21:42:45.913] Choose frame as a key frame Scene Depth mean:-1.413708 ,depth min:-10.953729
[21:42:45.960] Odometry x=0.990388, y=-1.676717, theta=0.440013
[21:42:46.053] Odometry x=0.993629, y=-1.683592, theta=0.437806
[21:42:46.162] Odometry x=0.996716, y=-1.690191, theta=0.442815
[21:42:46.262] Odometry x=1.000305, y=-1.697762, theta=0.445329
[21:42:46.335] Image Alignment failed 0
[21:42:46.360] Odometry x=1.003604, y=-1.704658, theta=0.447127
[21:42:46.458] Odometry x=1.006824, y=-1.711133, theta=0.456029
[21:42:46.556] Odometry x=1.010199, y=-1.718003, theta=0.459940
[21:42:46.615] After Reprojection Map nPoint:141 ,nCell:32 ,nMatches:26 ,distance between two frames x:0.016691 ,z=-0.035277,angle between two frames:0.009600
[21:42:46.615] n deleted obs = 102 	 n obs with reprojection error less than 0.5 px =44 	 error init =0.968870 	 error end=0.968870
[21:42:46.615] After pose optimization, distance between two frames x:0.016691 ,z=-0.035277,angle between two frames:0.009600
[21:42:46.615] Update EKF and 3D points, distance between two frames x:0.017264 ,z=-0.036434,angle between two frames:0.010459
[21:42:46.615] Choose frame as a key frame Scene Depth mean:-1.362702 ,depth min:-15.563277
[21:42:46.645] Odometry x=1.007726, y=-1.712978, theta=0.452846
[21:42:46.751] Odometry x=1.010818, y=-1.719270, theta=0.453833
[21:42:46.844] Odometry x=1.014269, y=-1.726322, theta=0.453446
[21:42:46.891] After Reprojection Map nPoint:129 ,nCell:36 ,nMatches:25 ,distance between two frames x:0.003540 ,z=-0.007151,angle between two frames:0.005500
[21:42:46.891] n deleted obs = 97 	 n obs with reprojection error less than 0.5 px =33 	 error init =1.137751 	 error end=1.137751
[21:42:46.891] After pose optimization, distance between two frames x:0.003540 ,z=-0.007151,angle between two frames:0.005500
[21:42:46.891] Update EKF and 3D points, distance between two frames x:0.004109 ,z=-0.008312,angle between two frames:0.005538
[21:42:46.891] Choose frame as a key frame Scene Depth mean:-0.809029 ,depth min:-2.328900
[21:42:46.944] Odometry x=1.011808, y=-1.721308, theta=0.454334
[21:42:47.048] Odometry x=1.015099, y=-1.727982, theta=0.457523
[21:42:47.153] Odometry x=1.018436, y=-1.734716, theta=0.458509
[21:42:47.179] After Reprojection Map nPoint:166 ,nCell:39 ,nMatches:30 ,distance between two frames x:0.003924 ,z=-0.006969,angle between two frames:0.000570
[21:42:47.180] n deleted obs = 124 	 n obs with reprojection error less than 0.5 px =50 	 error init =0.907499 	 error end=0.907499
[21:42:47.180] After pose optimization, distance between two frames x:0.003924 ,z=-0.006969,angle between two frames:0.000570
[21:42:47.180] Update EKF and 3D points, distance between two frames x:0.004500 ,z=-0.008196,angle between two frames:0.001018
[21:42:47.180] Choose frame as a key frame Scene Depth mean:-0.499728 ,depth min:-3.370552
[21:42:47.247] Odometry x=1.016381, y=-1.729876, theta=0.458478
[21:42:47.349] Odometry x=1.019657, y=-1.736500, theta=0.462432
[21:42:47.450] Odometry x=1.023046, y=-1.743276, theta=0.466890
[21:42:47.465] After Reprojection Map nPoint:153 ,nCell:36 ,nMatches:27 ,distance between two frames x:0.003571 ,z=-0.007574,angle between two frames:0.002937
[21:42:47.465] n deleted obs = 125 	 n obs with reprojection error less than 0.5 px =25 	 error init =1.115192 	 error end=1.115192
[21:42:47.465] After pose optimization, distance between two frames x:0.003571 ,z=-0.007574,angle between two frames:0.002937
[21:42:47.465] Update EKF and 3D points, distance between two frames x:0.004165 ,z=-0.008759,angle between two frames:0.003623
[21:42:47.481] Image Alignment failed 0
[21:42:47.549] Odometry x=1.020641, y=-1.738407, theta=0.464322
[21:42:47.648] Odometry x=1.024019, y=-1.745119, theta=0.466655
[21:42:47.750] Odometry x=1.027432, y=-1.751849, theta=0.475675
[21:42:47.750] After Reprojection Map nPoint:200 ,nCell:51 ,nMatches:40 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:42:47.751] n deleted obs = 175 	 n obs with reprojection error less than 0.5 px =30 	 error init =1.096947 	 error end=1.096947
[21:42:47.751] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[21:42:47.751] Update EKF and 3D points, distance between two frames x:0.001151 ,z=-0.002279,angle between two frames:0.001102
[21:42:47.853] Odometry x=1.025219, y=-1.747408, theta=0.471712
[21:42:48.032] After Reprojection Map nPoint:210 ,nCell:44 ,nMatches:38 ,distance between two frames x:0.007514 ,z=-0.013659,angle between two frames:0.007741
[21:42:48.032] n deleted obs = 160 	 n obs with reprojection error less than 0.5 px =61 	 error init =1.015009 	 error end=1.015009
[21:42:48.032] After pose optimization, distance between two frames x:0.007514 ,z=-0.013659,angle between two frames:0.007741
[21:42:48.032] Update EKF and 3D points, distance between two frames x:0.007698 ,z=-0.014090,angle between two frames:0.008086
[21:42:48.033] Choose frame as a key frame Scene Depth mean:-2.032145 ,depth min:-32.461603
[21:42:48.318] After Reprojection Map nPoint:219 ,nCell:43 ,nMatches:33 ,distance between two frames x:-0.000006 ,z=0.000007,angle between two frames:0.000000
[21:42:48.318] n deleted obs = 169 	 n obs with reprojection error less than 0.5 px =47 	 error init =1.176704 	 error end=1.176704
[21:42:48.318] After pose optimization, distance between two frames x:-0.000006 ,z=0.000007,angle between two frames:0.000000
[21:42:48.318] Update EKF and 3D points, distance between two frames x:0.000168 ,z=-0.000399,angle between two frames:0.000325
[21:42:48.319] Choose frame as a key frame Scene Depth mean:-1.551692 ,depth min:-6.537568
