[13:55:52.003] Init: Selected first frame. 
[13:55:52.103] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:52.199] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:52.299] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:52.400] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:52.499] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:52.599] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:52.699] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:52.797] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:52.898] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:53.003] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:53.098] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:53.199] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:53.298] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:53.398] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:53.498] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:53.597] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:53.700] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:53.806] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:53.900] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:54.003] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:54.103] Init: distance between two frames:0.000000 ,angle between two frames:0.000000
[13:55:54.199] Init: distance between two frames:0.008098 ,angle between two frames:-0.001413
[13:55:54.299] Init: distance between two frames:0.005687 ,angle between two frames:-0.008137
[13:55:54.407] Init: distance between two frames:0.005817 ,angle between two frames:-0.018202
[13:55:54.507] Init: distance between two frames:0.005256 ,angle between two frames:-0.021341
[13:55:54.600] Init: distance between two frames:0.005647 ,angle between two frames:-0.009766
[13:55:54.701] Init: distance between two frames:0.005229 ,angle between two frames:-0.008498
[13:55:54.801] Init: distance between two frames:0.005693 ,angle between two frames:0.001719
[13:55:54.901] Init: distance between two frames:0.005210 ,angle between two frames:-0.008292
[13:55:55.001] Init: distance between two frames:0.005547 ,angle between two frames:-0.015455
[13:55:55.300] Init: distance between two frames:0.016741 ,angle between two frames:0.002021
[13:55:55.403] Init: distance between two frames:0.005574 ,angle between two frames:-0.023727
[13:55:55.503] Init: distance between two frames:0.005524 ,angle between two frames:-0.000275
[13:55:55.600] Init: distance between two frames:0.005563 ,angle between two frames:-0.011462
[13:55:55.701] Init: distance between two frames:0.005445 ,angle between two frames:0.013509
[13:55:55.801] Init: distance between two frames:0.005600 ,angle between two frames:-0.000241
[13:55:55.901] Init: distance between two frames:0.005498 ,angle between two frames:0.001560
[13:55:56.000] Init: distance between two frames:0.005522 ,angle between two frames:0.004637
[13:55:56.102] Init: distance between two frames:0.005248 ,angle between two frames:-0.006459
[13:55:56.203] Init: distance between two frames:0.005829 ,angle between two frames:-0.005902
[13:55:56.305] Init: distance between two frames:0.005226 ,angle between two frames:-0.010043
[13:55:56.402] Init: distance between two frames:0.005506 ,angle between two frames:0.001260
[13:55:56.502] Init: distance between two frames:0.005776 ,angle between two frames:-0.008069
[13:55:56.602] Init: distance between two frames:0.005224 ,angle between two frames:0.002812
[13:55:56.704] Init: distance between two frames:0.005528 ,angle between two frames:0.006773
[13:55:56.802] Init: distance between two frames:0.005590 ,angle between two frames:-0.004552
[13:55:56.902] Init: distance between two frames:0.005306 ,angle between two frames:0.018989
[13:55:57.002] Init: distance between two frames:0.005527 ,angle between two frames:0.009266
[13:55:57.102] Init: distance between two frames:0.005535 ,angle between two frames:-0.003895
[13:55:57.202] Init: distance between two frames:0.006042 ,angle between two frames:-0.005678
[13:55:57.303] Init: distance between two frames:0.005375 ,angle between two frames:0.002087
[13:55:57.401] Init: distance between two frames:0.005455 ,angle between two frames:-0.005637
[13:55:57.552] Init: distance between two frames:1.071640 ,angle between two frames:0.180774
[13:55:57.552] Init: Selected first frame. 
[13:55:57.682] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:4 ,distance between two frames x:0.456077 ,z=-0.308324,angle between two frames:0.009333
[13:55:57.682] After pose optimization, distance between two frames x:0.456077 ,z=-0.308324,angle between two frames:0.009333
[13:55:57.777] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:3 ,distance between two frames x:0.444207 ,z=-0.197349,angle between two frames:0.011885
[13:55:57.870] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:2 ,distance between two frames x:-0.915788 ,z=1.264063,angle between two frames:0.060910
[13:55:58.080] After Reprojection Map nPoint:2 ,nCell:2 ,nMatches:1 ,distance between two frames x:-0.207997 ,z=0.968835,angle between two frames:0.027259
[13:55:58.177] After Reprojection Map nPoint:1 ,nCell:1 ,nMatches:1 ,distance between two frames x:0.244283 ,z=-0.037634,angle between two frames:0.003677
[13:55:58.278] After Reprojection Map nPoint:1 ,nCell:1 ,nMatches:0 ,distance between two frames x:0.812641 ,z=-0.028099,angle between two frames:0.011898
[13:55:58.466] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.005370 ,z=-0.001219,angle between two frames:0.018277
[13:55:58.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000004,angle between two frames:0.008013
[13:55:58.667] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.001890
[13:55:58.775] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000009 ,z=-0.000010,angle between two frames:0.006365
[13:55:58.869] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000010,angle between two frames:0.000411
[13:55:58.970] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000203
[13:55:59.064] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000075,angle between two frames:0.003287
[13:55:59.564] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.021895 ,z=-0.003651,angle between two frames:0.021524
[13:56:00.170] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.027362 ,z=-0.006364,angle between two frames:0.085969
[13:56:00.564] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.015903 ,z=-0.004426,angle between two frames:0.015006
[13:56:00.664] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000011,angle between two frames:0.001058
[13:56:00.777] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=0.000002,angle between two frames:0.000613
[13:56:01.164] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.016086 ,z=-0.003829,angle between two frames:0.024067
[13:56:01.264] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000003,angle between two frames:0.001916
[13:56:01.364] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000018,angle between two frames:0.001095
[13:56:01.464] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=0.000003,angle between two frames:0.002453
[13:56:02.064] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.026612 ,z=-0.007134,angle between two frames:0.070804
[13:56:02.169] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000021 ,z=-0.000080,angle between two frames:0.001478
[13:56:02.363] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.005007 ,z=-0.001536,angle between two frames:0.017243
[13:56:02.463] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.001778
[13:56:02.565] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000018,angle between two frames:0.000692
[13:56:02.764] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.005113 ,z=-0.001562,angle between two frames:0.006603
[13:56:02.865] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000021 ,z=-0.000078,angle between two frames:0.002404
[13:56:02.966] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000017 ,z=0.000001,angle between two frames:0.003004
[13:56:03.064] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000008,angle between two frames:0.002762
[13:56:03.171] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000005,angle between two frames:0.004046
[13:56:03.264] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=0.000009,angle between two frames:0.002007
[13:56:03.364] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000411
[13:56:03.666] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.010716 ,z=-0.003146,angle between two frames:0.031622
[13:56:04.164] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.020633 ,z=-0.007259,angle between two frames:0.038141
[13:56:04.265] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.000542
[13:56:04.464] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.005238 ,z=-0.001791,angle between two frames:0.023024
[13:56:04.563] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000046,angle between two frames:0.000343
[13:56:04.665] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000001,angle between two frames:0.002538
[13:56:04.765] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000012 ,z=-0.000005,angle between two frames:0.001983
[13:56:04.971] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.005352 ,z=-0.001606,angle between two frames:0.000162
[13:56:05.166] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.005324 ,z=-0.001748,angle between two frames:0.002488
[13:56:05.371] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.005314 ,z=-0.001922,angle between two frames:0.026127
[13:56:05.698] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.010681 ,z=-0.004039,angle between two frames:0.020154
[13:56:05.773] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.000479
[13:56:05.984] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.005159 ,z=-0.002048,angle between two frames:0.010591
[13:56:06.096] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.000905
[13:56:06.178] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000022,angle between two frames:0.001117
[13:56:06.287] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000023 ,z=0.000004,angle between two frames:0.001649
[13:56:06.375] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000796
[13:56:06.470] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=0.000011,angle between two frames:0.003529
[13:56:06.564] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000036 ,z=-0.000111,angle between two frames:0.000367
[13:56:06.765] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000019 ,z=-0.000176,angle between two frames:0.002309
[13:56:06.864] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000156 ,z=-0.000101,angle between two frames:0.003402
[13:56:06.964] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=-0.000020,angle between two frames:0.004292
[13:56:07.066] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000005,angle between two frames:0.000914
[13:56:07.178] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000731
[13:56:07.266] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.000396
[13:56:07.367] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000795
[13:56:07.466] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.000653
[13:56:07.565] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000792
[13:56:07.668] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000924
[13:56:07.772] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000731
[13:56:07.864] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.000526
[13:56:07.967] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.000643
[13:56:08.064] 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
