[20:13:28.696] Init: frame zero: 0.000000, 0.000000 0.000000
[20:13:28.696] Init: Selected first frame. 
[20:13:28.725] Init: px average disparity is:0.050363 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:28.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:28.822] Init: px average disparity is:0.051020 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:28.822] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:28.921] Init: px average disparity is:0.062921 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:28.921] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:29.022] Init: px average disparity is:0.072491 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:29.022] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:29.120] Init: px average disparity is:0.050065 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:29.120] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:29.222] Init: px average disparity is:0.053276 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:29.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:29.321] Init: px average disparity is:0.066711 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:29.322] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:29.421] Init: px average disparity is:0.056060 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:29.421] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:29.522] Init: px average disparity is:0.063376 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:29.523] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:29.620] Init: px average disparity is:0.057168 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:29.620] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:29.718] Init: px average disparity is:0.054551 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:29.718] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:29.834] Init: px average disparity is:0.054143 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:29.834] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:29.921] Init: px average disparity is:0.058424 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:29.921] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:30.020] Init: px average disparity is:0.059780 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:30.020] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:30.122] Init: px average disparity is:0.072986 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:30.122] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:30.221] Init: px average disparity is:0.066659 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:30.221] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:30.324] Init: px average disparity is:0.142409 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:30.324] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:30.425] Init: px average disparity is:1.497322 ,While minimum is: 40.000000  KLT tracked : 100
[20:13:30.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:30.525] Init: px average disparity is:6.258411 ,While minimum is: 40.000000  KLT tracked : 98
[20:13:30.525] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:30.621] Init: px average disparity is:4.506110 ,While minimum is: 40.000000  KLT tracked : 98
[20:13:30.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:30.717] Init: px average disparity is:8.336658 ,While minimum is: 40.000000  KLT tracked : 98
[20:13:30.717] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:30.820] Init: px average disparity is:12.090768 ,While minimum is: 40.000000  KLT tracked : 98
[20:13:30.820] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:30.922] Init: px average disparity is:18.030606 ,While minimum is: 40.000000  KLT tracked : 98
[20:13:30.923] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:31.121] Init: px average disparity is:13.713052 ,While minimum is: 40.000000  KLT tracked : 98
[20:13:31.122] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:31.415] Init: px average disparity is:10.527424 ,While minimum is: 40.000000  KLT tracked : 98
[20:13:31.415] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:31.516] Init: px average disparity is:16.135485 ,While minimum is: 40.000000  KLT tracked : 98
[20:13:31.516] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:31.615] Init: px average disparity is:14.511595 ,While minimum is: 40.000000  KLT tracked : 97
[20:13:31.615] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:31.716] Init: px average disparity is:18.841474 ,While minimum is: 40.000000  KLT tracked : 97
[20:13:31.716] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:31.816] Init: px average disparity is:24.891076 ,While minimum is: 40.000000  KLT tracked : 97
[20:13:31.816] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:31.917] Init: px average disparity is:24.921740 ,While minimum is: 40.000000  KLT tracked : 97
[20:13:31.917] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:32.018] Init: px average disparity is:28.628273 ,While minimum is: 40.000000  KLT tracked : 95
[20:13:32.018] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:32.119] Init: px average disparity is:36.957012 ,While minimum is: 40.000000  KLT tracked : 95
[20:13:32.119] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:32.219] Init: px average disparity is:32.462930 ,While minimum is: 40.000000  KLT tracked : 94
[20:13:32.219] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:32.320] Init: px average disparity is:34.467295 ,While minimum is: 40.000000  KLT tracked : 93
[20:13:32.320] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:13:32.430] homography: x=0.048880 y=0.061763 z=0.152346 roll=0.000000 pitch=-0.025053 yaw=0.000000 	 ekf: x=-0.001786 z=0.126281 pitch=-0.013456
[20:13:32.430] homography after fuse: x=0.045930 y=0.000000 z=0.150829 pitch=-0.024317	 number of outlier: 55
[20:13:32.431] Init finished: Homography RANSAC (inlier) is:38 ,While 20 inliers minimum required.  px average disparity is:40.038137 ,While minimum is: 40.000000  KLT tracked: 93
[20:13:32.431] Init: distance between the first and current frame is x:0.045930 ,z=0.150829,angle between two frames: -0.024317 
[20:13:32.431] Init: Selected Second frame. 	 The number of features: 38
[20:13:32.661] After Reprojection Map nPoint:25 ,nCell:23 ,nMatches:8 ,distance between two frames x:-0.018275 ,z=-0.003945,angle between two frames:0.002791
[20:13:32.661] Init estimate scale:0.753073
[20:13:32.661] it:0 	 Success 	 new_chi2: 4.270157 	 dT = -0.239656, -0.132322, 0.097635
[20:13:32.661] it:1 	 FAILURE 	 new_chi2: 4.370458
[20:13:32.661] n deleted obs = 5 	 n obs felt =3 	 error init =0.533770 	 error end=0.533770
[20:13:32.661] After pose optimization, distance between two frames x:-0.018275 ,z=-0.003945,angle between two frames:0.002791
[20:13:32.661] Update EKF and 3D points, distance between two frames x:-0.018284 ,z=-0.003628,angle between two frames:0.004148
[20:13:32.806] After Reprojection Map nPoint:31 ,nCell:23 ,nMatches:10 ,distance between two frames x:-0.000056 ,z=0.001963,angle between two frames:0.008703
[20:13:32.806] Init estimate scale:0.307862
[20:13:32.806] it:0 	 Success 	 new_chi2: 5.956029 	 dT = 0.000758, -0.000487, 0.000325
[20:13:32.806] it:1 	 FAILURE 	 new_chi2: 5.957389
[20:13:32.806] n deleted obs = 5 	 n obs felt =10 	 error init =0.397069 	 error end=0.397069
[20:13:32.806] After pose optimization, distance between two frames x:-0.000056 ,z=0.001963,angle between two frames:0.008703
[20:13:32.806] Update EKF and 3D points, distance between two frames x:-0.000069 ,z=0.002604,angle between two frames:0.007911
[20:13:32.959] After Reprojection Map nPoint:38 ,nCell:33 ,nMatches:9 ,distance between two frames x:0.000231 ,z=0.004340,angle between two frames:0.004071
[20:13:32.959] Init estimate scale:1.065914
[20:13:32.959] it:0 	 Success 	 new_chi2: 8.230647 	 dT = 0.172126, 0.020672, 0.105714
[20:13:32.959] it:1 	 FAILURE 	 new_chi2: 9.019025
[20:13:32.959] n deleted obs = 8 	 n obs felt =4 	 error init =0.685887 	 error end=0.685887
[20:13:32.959] After pose optimization, distance between two frames x:0.000231 ,z=0.004340,angle between two frames:0.004071
[20:13:32.959] Update EKF and 3D points, distance between two frames x:0.000216 ,z=0.004638,angle between two frames:0.004025
[20:13:33.099] After Reprojection Map nPoint:40 ,nCell:33 ,nMatches:9 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:13:33.099] Init estimate scale:0.230909
[20:13:33.099] it:0 	 Success 	 new_chi2: 6.120348 	 dT = 0.031856, -0.032972, 0.015514
[20:13:33.099] it:1 	 Success 	 new_chi2: 5.972526 	 dT = 0.022747, -0.015517, 0.021739
[20:13:33.099] it:2 	 FAILURE 	 new_chi2: 6.135132
[20:13:33.099] n deleted obs = 5 	 n obs felt =9 	 error init =0.437168 	 error end=0.426609
[20:13:33.099] After pose optimization, distance between two frames x:0.031856 ,z=-0.032972,angle between two frames:0.015514
[20:13:33.099] Update EKF and 3D points, distance between two frames x:0.029984 ,z=-0.030300,angle between two frames:0.013742
[20:13:33.238] After Reprojection Map nPoint:35 ,nCell:30 ,nMatches:7 ,distance between two frames x:-0.011563 ,z=0.016499,angle between two frames:0.012111
[20:13:33.238] Init estimate scale:1.157100
[20:13:33.238] it:0 	 Success 	 new_chi2: 7.318802 	 dT = 0.003076, -0.001473, -0.000522
[20:13:33.238] it:1 	 Success 	 new_chi2: 7.309015 	 dT = 0.003055, -0.001463, -0.000521
[20:13:33.238] it:2 	 Success 	 new_chi2: 7.301296 	 dT = 0.003036, -0.001454, -0.000521
[20:13:33.238] it:3 	 Success 	 new_chi2: 7.295780 	 dT = 0.003018, -0.001446, -0.000520
[20:13:33.238] it:4 	 Success 	 new_chi2: 7.292552 	 dT = 0.003001, -0.001439, -0.000520
[20:13:33.238] it:5 	 Success 	 new_chi2: 7.291642 	 dT = 0.000728, -0.000886, -0.000082
[20:13:33.238] it:6 	 Success 	 new_chi2: 7.290855 	 dT = 0.000721, -0.000881, -0.000082
[20:13:33.238] it:7 	 Success 	 new_chi2: 7.290300 	 dT = 0.000715, -0.000876, -0.000082
[20:13:33.238] it:8 	 Success 	 new_chi2: 7.289973 	 dT = 0.000709, -0.000871, -0.000082
[20:13:33.238] it:9 	 Success 	 new_chi2: 7.289869 	 dT = 0.000704, -0.000866, -0.000082
[20:13:33.238] it:10 	 FAILURE 	 new_chi2: 7.289983
[20:13:33.238] n deleted obs = 6 	 n obs felt =4 	 error init =0.731880 	 error end=0.728987
[20:13:33.238] After pose optimization, distance between two frames x:0.006497 ,z=0.005711,angle between two frames:0.015043
[20:13:33.238] Update EKF and 3D points, distance between two frames x:0.005431 ,z=0.006656,angle between two frames:0.016794
[20:13:33.377] After Reprojection Map nPoint:37 ,nCell:32 ,nMatches:9 ,distance between two frames x:-0.006584 ,z=0.005843,angle between two frames:0.011841
[20:13:33.377] Init estimate scale:0.715865
[20:13:33.377] it:0 	 Success 	 new_chi2: 8.274553 	 dT = 0.111899, -0.031955, 0.003157
[20:13:33.377] it:1 	 FAILURE 	 new_chi2: 8.985954
[20:13:33.377] n deleted obs = 5 	 n obs felt =8 	 error init =0.636504 	 error end=0.636504
[20:13:33.377] After pose optimization, distance between two frames x:-0.006584 ,z=0.005843,angle between two frames:0.011841
[20:13:33.377] Update EKF and 3D points, distance between two frames x:-0.006595 ,z=0.006173,angle between two frames:0.011914
[20:13:33.514] After Reprojection Map nPoint:36 ,nCell:32 ,nMatches:10 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:13:33.514] Init estimate scale:1.064365
[20:13:33.514] it:0 	 Success 	 new_chi2: 9.193156 	 dT = 0.253460, -0.584831, -0.359179
[20:13:33.514] it:1 	 FAILURE 	 new_chi2: 26.767981
[20:13:33.514] n deleted obs = 8 	 n obs felt =4 	 error init =0.766096 	 error end=0.766096
[20:13:33.514] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:13:33.514] Update EKF and 3D points, distance between two frames x:-0.000010 ,z=0.000311,angle between two frames:0.000068
[20:13:33.662] After Reprojection Map nPoint:38 ,nCell:28 ,nMatches:11 ,distance between two frames x:-0.001408 ,z=0.001220,angle between two frames:0.010207
[20:13:33.662] Init estimate scale:0.386405
[20:13:33.662] it:0 	 Success 	 new_chi2: 7.349336 	 dT = 0.017064, 0.006298, 0.019405
[20:13:33.662] it:1 	 FAILURE 	 new_chi2: 7.555301
[20:13:33.662] n deleted obs = 7 	 n obs felt =10 	 error init =0.432314 	 error end=0.432314
[20:13:33.662] After pose optimization, distance between two frames x:-0.001408 ,z=0.001220,angle between two frames:0.010207
[20:13:33.662] Update EKF and 3D points, distance between two frames x:-0.001413 ,z=0.001426,angle between two frames:0.010877
[20:13:33.819] After Reprojection Map nPoint:35 ,nCell:30 ,nMatches:9 ,distance between two frames x:0.000735 ,z=0.001284,angle between two frames:0.004402
[20:13:33.819] Init estimate scale:0.996359
[20:13:33.819] it:0 	 Success 	 new_chi2: 6.849567 	 dT = 0.071913, 0.118875, 0.115586
[20:13:33.819] it:1 	 FAILURE 	 new_chi2: 8.281958
[20:13:33.819] n deleted obs = 7 	 n obs felt =5 	 error init =0.570797 	 error end=0.570797
[20:13:33.819] After pose optimization, distance between two frames x:0.000735 ,z=0.001284,angle between two frames:0.004402
[20:13:33.819] Update EKF and 3D points, distance between two frames x:0.000686 ,z=0.001922,angle between two frames:0.005857
[20:13:33.962] After Reprojection Map nPoint:40 ,nCell:33 ,nMatches:9 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:13:33.962] Init estimate scale:0.579246
[20:13:33.962] it:0 	 Success 	 new_chi2: 7.878684 	 dT = 0.006421, 0.000716, 0.003486
[20:13:33.962] it:1 	 FAILURE 	 new_chi2: 7.917959
[20:13:33.962] n deleted obs = 6 	 n obs felt =7 	 error init =0.606053 	 error end=0.606053
[20:13:33.962] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:13:33.962] Update EKF and 3D points, distance between two frames x:-0.000025 ,z=0.000549,angle between two frames:0.000637
[20:13:34.105] After Reprojection Map nPoint:38 ,nCell:33 ,nMatches:7 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:13:34.105] Init estimate scale:0.464791
[20:13:34.105] it:0 	 Success 	 new_chi2: 5.323658 	 dT = 0.038181, 0.030628, 0.038352
[20:13:34.105] it:1 	 FAILURE 	 new_chi2: 5.667975
[20:13:34.105] n deleted obs = 3 	 n obs felt =7 	 error init =0.532366 	 error end=0.532366
[20:13:34.105] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:13:34.105] Update EKF and 3D points, distance between two frames x:-0.000014 ,z=0.000827,angle between two frames:0.000730
[20:13:34.247] After Reprojection Map nPoint:30 ,nCell:26 ,nMatches:8 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:13:34.247] Init estimate scale:1.087922
[20:13:34.247] it:0 	 Success 	 new_chi2: 6.486240 	 dT = 0.007515, -0.001428, -0.001630
[20:13:34.247] it:1 	 FAILURE 	 new_chi2: 6.507510
[20:13:34.247] n deleted obs = 7 	 n obs felt =2 	 error init =0.720693 	 error end=0.720693
[20:13:34.247] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:13:34.247] Update EKF and 3D points, distance between two frames x:-0.000002 ,z=0.000631,angle between two frames:0.001343
[20:13:34.390] After Reprojection Map nPoint:42 ,nCell:27 ,nMatches:9 ,distance between two frames x:-0.000013 ,z=0.003901,angle between two frames:0.007878
[20:13:34.390] Init estimate scale:0.449905
[20:13:34.390] it:0 	 Success 	 new_chi2: 7.134485 	 dT = 0.002866, 0.001046, 0.002859
[20:13:34.390] it:1 	 FAILURE 	 new_chi2: 7.181521
[20:13:34.390] n deleted obs = 6 	 n obs felt =10 	 error init =0.445905 	 error end=0.445905
[20:13:34.390] After pose optimization, distance between two frames x:-0.000013 ,z=0.003901,angle between two frames:0.007878
[20:13:34.390] Update EKF and 3D points, distance between two frames x:-0.000020 ,z=0.004609,angle between two frames:0.007171
[20:13:34.547] After Reprojection Map nPoint:39 ,nCell:36 ,nMatches:6 ,distance between two frames x:-0.000006 ,z=0.004244,angle between two frames:0.004151
[20:13:34.547] Init estimate scale:1.126311
[20:13:34.547] it:0 	 Success 	 new_chi2: 5.106735 	 dT = 0.396674, 0.063368, -0.126306
[20:13:34.547] it:1 	 FAILURE 	 new_chi2: 6.311358
[20:13:34.547] n deleted obs = 5 	 n obs felt =2 	 error init =0.729534 	 error end=0.729534
[20:13:34.547] After pose optimization, distance between two frames x:-0.000006 ,z=0.004244,angle between two frames:0.004151
[20:13:34.547] Update EKF and 3D points, distance between two frames x:-0.000007 ,z=0.004561,angle between two frames:0.004409
[20:13:34.691] After Reprojection Map nPoint:37 ,nCell:28 ,nMatches:8 ,distance between two frames x:-0.000006 ,z=0.001954,angle between two frames:0.002355
[20:13:34.691] Init estimate scale:0.408063
[20:13:34.691] it:0 	 Success 	 new_chi2: 5.786228 	 dT = 0.003164, 0.000852, 0.003031
[20:13:34.691] it:1 	 FAILURE 	 new_chi2: 5.823370
[20:13:34.691] n deleted obs = 4 	 n obs felt =8 	 error init =0.482186 	 error end=0.482186
[20:13:34.691] After pose optimization, distance between two frames x:-0.000006 ,z=0.001954,angle between two frames:0.002355
[20:13:34.691] Update EKF and 3D points, distance between two frames x:-0.000020 ,z=0.002605,angle between two frames:0.003058
[20:13:34.834] After Reprojection Map nPoint:37 ,nCell:29 ,nMatches:7 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:13:34.834] Init estimate scale:0.556761
[20:13:34.834] it:0 	 Success 	 new_chi2: 4.564949 	 dT = 0.002487, 0.000844, 0.003478
[20:13:34.834] it:1 	 FAILURE 	 new_chi2: 4.612569
[20:13:34.834] n deleted obs = 4 	 n obs felt =6 	 error init =0.456495 	 error end=0.456495
[20:13:34.834] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:13:34.834] Update EKF and 3D points, distance between two frames x:-0.000019 ,z=0.000527,angle between two frames:0.003600
[20:13:34.976] After Reprojection Map nPoint:32 ,nCell:20 ,nMatches:7 ,distance between two frames x:-0.000119 ,z=0.003256,angle between two frames:0.024104
[20:13:34.976] Init estimate scale:0.668731
[20:13:34.976] it:0 	 Success 	 new_chi2: 5.139199 	 dT = 0.001510, -0.000672, 0.001292
[20:13:34.976] it:1 	 FAILURE 	 new_chi2: 5.151916
[20:13:34.976] n deleted obs = 4 	 n obs felt =6 	 error init =0.513920 	 error end=0.513920
[20:13:34.976] After pose optimization, distance between two frames x:-0.000119 ,z=0.003256,angle between two frames:0.024104
[20:13:34.976] Update EKF and 3D points, distance between two frames x:-0.000136 ,z=0.003592,angle between two frames:0.024355
[20:13:35.118] After Reprojection Map nPoint:35 ,nCell:29 ,nMatches:9 ,distance between two frames x:-0.000105 ,z=0.002074,angle between two frames:0.001935
[20:13:35.118] Init estimate scale:0.927361
[20:13:35.118] it:0 	 Success 	 new_chi2: 7.802826 	 dT = -0.004851, -0.010277, 0.003250
[20:13:35.118] it:1 	 Success 	 new_chi2: 7.780153 	 dT = -0.004736, -0.010262, 0.003248
[20:13:35.118] it:2 	 Success 	 new_chi2: 7.758843 	 dT = -0.004612, -0.010234, 0.003246
[20:13:35.118] it:3 	 Success 	 new_chi2: 7.738937 	 dT = -0.004481, -0.010194, 0.003244
[20:13:35.118] it:4 	 Success 	 new_chi2: 7.720493 	 dT = -0.004342, -0.010139, 0.003244
[20:13:35.118] it:5 	 Success 	 new_chi2: 7.703588 	 dT = -0.002172, -0.011830, 0.000902
[20:13:35.118] it:6 	 Success 	 new_chi2: 7.675945 	 dT = -0.001935, -0.011743, 0.000794
[20:13:35.118] it:7 	 Success 	 new_chi2: 7.651381 	 dT = -0.001703, -0.011616, 0.000704
[20:13:35.118] it:8 	 Success 	 new_chi2: 7.630906 	 dT = -0.001476, -0.011446, 0.000635
[20:13:35.118] it:9 	 Success 	 new_chi2: 7.615809 	 dT = -0.001252, -0.011219, 0.000595
[20:13:35.118] it:10 	 Success 	 new_chi2: 7.607743 	 dT = -0.001028, -0.010916, 0.000591
[20:13:35.118] it:11 	 FAILURE 	 new_chi2: 7.608795
[20:13:35.118] n deleted obs = 6 	 n obs felt =5 	 error init =0.709348 	 error end=0.691613
[20:13:35.118] After pose optimization, distance between two frames x:-0.031664 ,z=-0.106886,angle between two frames:0.017926
[20:13:35.118] Update EKF and 3D points, distance between two frames x:-0.029853 ,z=-0.099911,angle between two frames:0.017656
[20:13:35.272] After Reprojection Map nPoint:37 ,nCell:24 ,nMatches:6 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:13:35.272] Init estimate scale:0.308936
[20:13:35.272] it:0 	 Success 	 new_chi2: 6.360297 	 dT = -0.000617, 0.000545, -0.000529
[20:13:35.272] it:1 	 FAILURE 	 new_chi2: 6.361565
[20:13:35.272] n deleted obs = 4 	 n obs felt =7 	 error init =0.578209 	 error end=0.578209
[20:13:35.272] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[20:13:35.272] Update EKF and 3D points, distance between two frames x:0.000643 ,z=0.002820,angle between two frames:0.000248
[20:13:35.414] After Reprojection Map nPoint:36 ,nCell:31 ,nMatches:7 ,distance between two frames x:0.003974 ,z=0.017430,angle between two frames:0.000430
[20:13:35.414] Init estimate scale:0.889032
[20:13:35.414] it:0 	 Success 	 new_chi2: 6.205300 	 dT = 0.000574, -0.000288, 0.000268
[20:13:35.414] it:1 	 Success 	 new_chi2: 6.202087 	 dT = 0.000573, -0.000287, 0.000268
[20:13:35.414] it:2 	 Success 	 new_chi2: 6.198916 	 dT = 0.000572, -0.000286, 0.000269
[20:13:35.414] it:3 	 Success 	 new_chi2: 6.195793 	 dT = 0.000570, -0.000286, 0.000270
[20:13:35.414] it:4 	 Success 	 new_chi2: 6.192722 	 dT = 0.000569, -0.000285, 0.000270
[20:13:35.414] it:5 	 Success 	 new_chi2: 6.189706 	 dT = 0.000180, -0.000236, 0.000153
[20:13:35.414] it:6 	 Success 	 new_chi2: 6.188088 	 dT = 0.000179, -0.000235, 0.000153
[20:13:35.414] it:7 	 Success 	 new_chi2: 6.186483 	 dT = 0.000179, -0.000234, 0.000153
[20:13:35.414] it:8 	 Success 	 new_chi2: 6.184892 	 dT = 0.000178, -0.000234, 0.000154
[20:13:35.414] it:9 	 Success 	 new_chi2: 6.183315 	 dT = 0.000178, -0.000233, 0.000154
[20:13:35.414] it:10 	 Success 	 new_chi2: 6.181752 	 dT = 0.000177, -0.000232, 0.000154
[20:13:35.414] it:11 	 Success 	 new_chi2: 6.180203 	 dT = 0.000177, -0.000232, 0.000155
[20:13:35.414] it:12 	 Success 	 new_chi2: 6.178670 	 dT = 0.000176, -0.000231, 0.000155
[20:13:35.414] it:13 	 Success 	 new_chi2: 6.177152 	 dT = 0.000176, -0.000230, 0.000156
[20:13:35.414] it:14 	 Success 	 new_chi2: 6.175649 	 dT = 0.000175, -0.000230, 0.000156
[20:13:35.414] it:15 	 Success 	 new_chi2: 6.174162 	 dT = 0.000175, -0.000229, 0.000156
[20:13:35.414] it:16 	 Success 	 new_chi2: 6.172691 	 dT = 0.000174, -0.000228, 0.000157
[20:13:35.414] it:17 	 Success 	 new_chi2: 6.171237 	 dT = 0.000173, -0.000227, 0.000157
[20:13:35.414] it:18 	 Success 	 new_chi2: 6.169798 	 dT = 0.000173, -0.000227, 0.000157
[20:13:35.414] it:19 	 Success 	 new_chi2: 6.168377 	 dT = 0.000172, -0.000226, 0.000158
[20:13:35.414] it:20 	 Success 	 new_chi2: 6.166971 	 dT = 0.000172, -0.000225, 0.000158
[20:13:35.414] it:21 	 Success 	 new_chi2: 6.165582 	 dT = 0.000171, -0.000225, 0.000158
[20:13:35.414] it:22 	 Success 	 new_chi2: 6.164210 	 dT = 0.000170, -0.000224, 0.000159
[20:13:35.414] it:23 	 Success 	 new_chi2: 6.162854 	 dT = 0.000170, -0.000223, 0.000159
[20:13:35.414] it:24 	 Success 	 new_chi2: 6.161514 	 dT = 0.000169, -0.000223, 0.000159
[20:13:35.414] it:25 	 Success 	 new_chi2: 6.160191 	 dT = 0.000169, -0.000222, 0.000160
[20:13:35.414] it:26 	 Success 	 new_chi2: 6.158883 	 dT = 0.000168, -0.000222, 0.000160
[20:13:35.414] it:27 	 Success 	 new_chi2: 6.157592 	 dT = 0.000167, -0.000221, 0.000161
[20:13:35.414] it:28 	 Success 	 new_chi2: 6.156316 	 dT = 0.000167, -0.000220, 0.000161
[20:13:35.414] it:29 	 Success 	 new_chi2: 6.155055 	 dT = 0.000166, -0.000220, 0.000161
[20:13:35.414] it:30 	 Success 	 new_chi2: 6.153809 	 dT = 0.000166, -0.000219, 0.000162
[20:13:35.414] it:31 	 Success 	 new_chi2: 6.152578 	 dT = 0.000165, -0.000218, 0.000162
[20:13:35.414] it:32 	 Success 	 new_chi2: 6.151361 	 dT = 0.000165, -0.000218, 0.000162
[20:13:35.414] it:33 	 Success 	 new_chi2: 6.150158 	 dT = 0.000164, -0.000217, 0.000163
[20:13:35.414] it:34 	 Success 	 new_chi2: 6.148968 	 dT = 0.000163, -0.000216, 0.000163
[20:13:35.414] it:35 	 Success 	 new_chi2: 6.147793 	 dT = 0.000163, -0.000216, 0.000164
[20:13:35.414] it:36 	 Success 	 new_chi2: 6.146630 	 dT = 0.000162, -0.000215, 0.000164
[20:13:35.414] it:37 	 Success 	 new_chi2: 6.145479 	 dT = 0.000162, -0.000215, 0.000164
[20:13:35.414] it:38 	 Success 	 new_chi2: 6.144341 	 dT = 0.000161, -0.000214, 0.000165
[20:13:35.414] it:39 	 Success 	 new_chi2: 6.143215 	 dT = 0.000161, -0.000213, 0.000165
[20:13:35.414] it:40 	 Success 	 new_chi2: 6.142101 	 dT = 0.000160, -0.000213, 0.000165
[20:13:35.414] it:41 	 Success 	 new_chi2: 6.140998 	 dT = 0.000160, -0.000212, 0.000166
[20:13:35.414] it:42 	 Success 	 new_chi2: 6.139905 	 dT = 0.000159, -0.000212, 0.000166
[20:13:35.414] it:43 	 Success 	 new_chi2: 6.138824 	 dT = 0.000159, -0.000211, 0.000167
[20:13:35.414] it:44 	 Success 	 new_chi2: 6.137753 	 dT = 0.000158, -0.000210, 0.000167
[20:13:35.414] it:45 	 Success 	 new_chi2: 6.136693 	 dT = 0.000158, -0.000210, 0.000167
[20:13:35.414] it:46 	 Success 	 new_chi2: 6.135642 	 dT = 0.000157, -0.000209, 0.000168
[20:13:35.414] it:47 	 Success 	 new_chi2: 6.134602 	 dT = 0.000157, -0.000209, 0.000168
[20:13:35.414] it:48 	 Success 	 new_chi2: 6.133570 	 dT = 0.000156, -0.000208, 0.000169
[20:13:35.414] it:49 	 Success 	 new_chi2: 6.132549 	 dT = 0.000156, -0.000207, 0.000169
[20:13:35.414] it:50 	 Success 	 new_chi2: 6.131536 	 dT = 0.000155, -0.000207, 0.000169
[20:13:35.414] it:51 	 Success 	 new_chi2: 6.130532 	 dT = 0.000155, -0.000206, 0.000170
[20:13:35.414] it:52 	 Success 	 new_chi2: 6.129537 	 dT = 0.000154, -0.000206, 0.000170
[20:13:35.414] it:53 	 Success 	 new_chi2: 6.128551 	 dT = 0.000154, -0.000205, 0.000170
[20:13:35.414] it:54 	 Success 	 new_chi2: 6.127574 	 dT = 0.000153, -0.000205, 0.000171
[20:13:35.414] it:55 	 Success 	 new_chi2: 6.126604 	 dT = 0.000153, -0.000204, 0.000171
[20:13:35.414] it:56 	 Success 	 new_chi2: 6.125644 	 dT = 0.000153, -0.000203, 0.000172
[20:13:35.414] it:57 	 Success 	 new_chi2: 6.124691 	 dT = 0.000152, -0.000203, 0.000172
[20:13:35.414] it:58 	 Success 	 new_chi2: 6.123746 	 dT = 0.000152, -0.000202, 0.000172
[20:13:35.414] it:59 	 Success 	 new_chi2: 6.122810 	 dT = 0.000151, -0.000202, 0.000173
[20:13:35.414] it:60 	 Success 	 new_chi2: 6.121881 	 dT = 0.000151, -0.000201, 0.000173
[20:13:35.414] it:61 	 Success 	 new_chi2: 6.120961 	 dT = 0.000150, -0.000201, 0.000174
[20:13:35.414] it:62 	 Success 	 new_chi2: 6.120048 	 dT = 0.000150, -0.000200, 0.000174
[20:13:35.414] it:63 	 Success 	 new_chi2: 6.119143 	 dT = 0.000149, -0.000199, 0.000174
[20:13:35.414] it:64 	 Success 	 new_chi2: 6.118246 	 dT = 0.000149, -0.000199, 0.000175
[20:13:35.414] it:65 	 Success 	 new_chi2: 6.117357 	 dT = 0.000149, -0.000198, 0.000175
[20:13:35.414] it:66 	 Success 	 new_chi2: 6.116475 	 dT = 0.000148, -0.000198, 0.000176
[20:13:35.414] it:67 	 Success 	 new_chi2: 6.115602 	 dT = 0.000148, -0.000197, 0.000176
[20:13:35.414] it:68 	 Success 	 new_chi2: 6.114735 	 dT = 0.000147, -0.000197, 0.000176
[20:13:35.414] it:69 	 Success 	 new_chi2: 6.113877 	 dT = 0.000147, -0.000196, 0.000177
[20:13:35.415] n deleted obs = 6 	 n obs felt =4 	 error init =0.620530 	 error end=0.611303
[20:13:35.415] After pose optimization, distance between two frames x:0.017396 ,z=0.002016,angle between two frames:0.011607
[20:13:35.415] Update EKF and 3D points, distance between two frames x:0.016602 ,z=0.003564,angle between two frames:0.011472
[20:13:35.553] After Reprojection Map nPoint:38 ,nCell:31 ,nMatches:11 ,distance between two frames x:-0.004912 ,z=0.009570,angle between two frames:0.000044
[20:13:35.553] Init estimate scale:0.388369
[20:13:35.553] it:0 	 Success 	 new_chi2: 6.282755 	 dT = 0.004773, 0.003071, 0.002491
[20:13:35.553] it:1 	 FAILURE 	 new_chi2: 6.293401
[20:13:35.553] n deleted obs = 6 	 n obs felt =12 	 error init =0.349042 	 error end=0.349042
[20:13:35.553] After pose optimization, distance between two frames x:-0.004912 ,z=0.009570,angle between two frames:0.000044
[20:13:35.553] Update EKF and 3D points, distance between two frames x:-0.004911 ,z=0.009883,angle between two frames:0.000493
[20:13:35.717] After Reprojection Map nPoint:41 ,nCell:34 ,nMatches:11 ,distance between two frames x:0.000805 ,z=0.002437,angle between two frames:0.003903
[20:13:35.717] Init estimate scale:0.274155
[20:13:35.717] it:0 	 Success 	 new_chi2: 8.856416 	 dT = 0.000747, 0.003863, 0.005393
[20:13:35.717] it:1 	 FAILURE 	 new_chi2: 8.900206
[20:13:35.717] n deleted obs = 9 	 n obs felt =10 	 error init =0.466127 	 error end=0.466127
[20:13:35.717] After pose optimization, distance between two frames x:0.000805 ,z=0.002437,angle between two frames:0.003903
[20:13:35.717] Update EKF and 3D points, distance between two frames x:0.000751 ,z=0.003057,angle between two frames:0.003869
[20:13:35.862] After Reprojection Map nPoint:42 ,nCell:34 ,nMatches:13 ,distance between two frames x:-0.000021 ,z=0.000068,angle between two frames:0.000053
[20:13:35.862] Init estimate scale:0.374984
[20:13:35.862] it:0 	 Success 	 new_chi2: 10.027018 	 dT = 0.003298, 0.000320, 0.002562
[20:13:35.862] it:1 	 FAILURE 	 new_chi2: 10.038806
[20:13:35.862] n deleted obs = 9 	 n obs felt =14 	 error init =0.435957 	 error end=0.435957
[20:13:35.862] After pose optimization, distance between two frames x:-0.000021 ,z=0.000068,angle between two frames:0.000053
[20:13:35.862] Update EKF and 3D points, distance between two frames x:-0.000038 ,z=0.000606,angle between two frames:0.000202
[20:13:36.020] After Reprojection Map nPoint:44 ,nCell:39 ,nMatches:11 ,distance between two frames x:-0.000620 ,z=-0.000155,angle between two frames:0.000580
[20:13:36.020] Init estimate scale:0.166559
[20:13:36.020] it:0 	 Success 	 new_chi2: 5.997354 	 dT = 0.011172, -0.000232, 0.008798
[20:13:36.020] it:1 	 FAILURE 	 new_chi2: 6.061520
[20:13:36.020] n deleted obs = 5 	 n obs felt =16 	 error init =0.285588 	 error end=0.285588
[20:13:36.020] After pose optimization, distance between two frames x:-0.000620 ,z=-0.000155,angle between two frames:0.000580
[20:13:36.020] Update EKF and 3D points, distance between two frames x:-0.000583 ,z=0.000663,angle between two frames:0.001010
[20:13:36.166] After Reprojection Map nPoint:40 ,nCell:37 ,nMatches:11 ,distance between two frames x:0.000162 ,z=0.005088,angle between two frames:0.008731
[20:13:36.166] Init estimate scale:0.222399
[20:13:36.166] it:0 	 Success 	 new_chi2: 7.149056 	 dT = 0.001126, 0.000110, 0.001120
[20:13:36.166] it:1 	 FAILURE 	 new_chi2: 7.166483
[20:13:36.166] n deleted obs = 8 	 n obs felt =11 	 error init =0.376266 	 error end=0.376266
[20:13:36.166] After pose optimization, distance between two frames x:0.000162 ,z=0.005088,angle between two frames:0.008731
[20:13:36.166] Update EKF and 3D points, distance between two frames x:0.000157 ,z=0.005419,angle between two frames:0.008919
[20:13:36.309] After Reprojection Map nPoint:41 ,nCell:36 ,nMatches:15 ,distance between two frames x:-0.000205 ,z=-0.000049,angle between two frames:0.000163
[20:13:36.309] Init estimate scale:0.268346
[20:13:36.309] it:0 	 Success 	 new_chi2: 9.752190 	 dT = 0.003589, -0.003391, -0.000028
[20:13:36.309] it:1 	 FAILURE 	 new_chi2: 9.753758
[20:13:36.309] n deleted obs = 10 	 n obs felt =17 	 error init =0.361192 	 error end=0.361192
[20:13:36.309] After pose optimization, distance between two frames x:-0.000205 ,z=-0.000049,angle between two frames:0.000163
[20:13:36.309] Update EKF and 3D points, distance between two frames x:-0.000203 ,z=0.000703,angle between two frames:0.002315
[20:13:36.469] After Reprojection Map nPoint:46 ,nCell:36 ,nMatches:17 ,distance between two frames x:0.004873 ,z=0.001610,angle between two frames:0.005568
[20:13:36.469] Init estimate scale:0.201245
[20:13:36.469] it:0 	 Success 	 new_chi2: 10.502799 	 dT = 0.000634, -0.000354, 0.000585
[20:13:36.469] it:1 	 FAILURE 	 new_chi2: 10.520386
[20:13:36.469] n deleted obs = 9 	 n obs felt =25 	 error init =0.308906 	 error end=0.308906
[20:13:36.469] After pose optimization, distance between two frames x:0.004873 ,z=0.001610,angle between two frames:0.005568
[20:13:36.469] Update EKF and 3D points, distance between two frames x:0.004589 ,z=0.002092,angle between two frames:0.001821
[20:13:36.615] After Reprojection Map nPoint:47 ,nCell:38 ,nMatches:15 ,distance between two frames x:-0.000208 ,z=-0.000044,angle between two frames:0.000193
[20:13:36.615] Init estimate scale:0.101026
[20:13:36.615] it:0 	 Success 	 new_chi2: 7.860683 	 dT = 0.003232, -0.001651, 0.004325
[20:13:36.615] it:1 	 FAILURE 	 new_chi2: 7.989615
[20:13:36.615] n deleted obs = 6 	 n obs felt =26 	 error init =0.245646 	 error end=0.245646
[20:13:36.615] After pose optimization, distance between two frames x:-0.000208 ,z=-0.000044,angle between two frames:0.000193
[20:13:36.615] Update EKF and 3D points, distance between two frames x:-0.000322 ,z=0.000772,angle between two frames:0.002060
[20:13:36.762] After Reprojection Map nPoint:42 ,nCell:30 ,nMatches:14 ,distance between two frames x:-0.000613 ,z=0.005027,angle between two frames:0.009329
[20:13:36.762] Init estimate scale:0.128749
[20:13:36.762] it:0 	 Success 	 new_chi2: 10.119332 	 dT = 0.012855, -0.001006, 0.011811
[20:13:36.762] it:1 	 FAILURE 	 new_chi2: 10.528071
[20:13:36.762] n deleted obs = 9 	 n obs felt =21 	 error init =0.337311 	 error end=0.337311
[20:13:36.762] After pose optimization, distance between two frames x:-0.000613 ,z=0.005027,angle between two frames:0.009329
[20:13:36.762] Update EKF and 3D points, distance between two frames x:-0.000620 ,z=0.005345,angle between two frames:0.009111
[20:13:36.910] After Reprojection Map nPoint:48 ,nCell:37 ,nMatches:17 ,distance between two frames x:-0.000457 ,z=0.000014,angle between two frames:0.000463
[20:13:36.910] Init estimate scale:0.148768
[20:13:36.910] it:0 	 Success 	 new_chi2: 9.658188 	 dT = 0.003172, -0.001107, 0.003511
[20:13:36.910] it:1 	 FAILURE 	 new_chi2: 9.757535
[20:13:36.910] n deleted obs = 8 	 n obs felt =27 	 error init =0.275948 	 error end=0.275948
[20:13:36.910] After pose optimization, distance between two frames x:-0.000457 ,z=0.000014,angle between two frames:0.000463
[20:13:36.910] Update EKF and 3D points, distance between two frames x:-0.000446 ,z=0.000769,angle between two frames:0.002057
[20:13:37.058] After Reprojection Map nPoint:50 ,nCell:39 ,nMatches:18 ,distance between two frames x:0.000074 ,z=0.004648,angle between two frames:0.010840
[20:13:37.058] Init estimate scale:0.161323
[20:13:37.058] it:0 	 Success 	 new_chi2: 13.354736 	 dT = 0.055936, -0.006332, 0.055608
[20:13:37.058] it:1 	 FAILURE 	 new_chi2: 15.785681
[20:13:37.058] n deleted obs = 11 	 n obs felt =28 	 error init =0.342429 	 error end=0.342429
[20:13:37.058] After pose optimization, distance between two frames x:0.000074 ,z=0.004648,angle between two frames:0.010840
[20:13:37.058] Update EKF and 3D points, distance between two frames x:0.000067 ,z=0.004956,angle between two frames:0.010641
[20:13:37.202] After Reprojection Map nPoint:50 ,nCell:38 ,nMatches:18 ,distance between two frames x:-0.000059 ,z=0.001919,angle between two frames:0.000851
[20:13:37.202] Init estimate scale:0.162171
[20:13:37.202] it:0 	 Success 	 new_chi2: 11.729559 	 dT = 0.097265, 0.004379, 0.087759
[20:13:37.202] it:1 	 FAILURE 	 new_chi2: 15.673938
[20:13:37.202] n deleted obs = 12 	 n obs felt =25 	 error init =0.317015 	 error end=0.317015
[20:13:37.202] After pose optimization, distance between two frames x:-0.000059 ,z=0.001919,angle between two frames:0.000851
[20:13:37.202] Update EKF and 3D points, distance between two frames x:-0.000074 ,z=0.002557,angle between two frames:0.001288
[20:13:37.346] After Reprojection Map nPoint:48 ,nCell:42 ,nMatches:16 ,distance between two frames x:-0.000280 ,z=0.003931,angle between two frames:0.003291
[20:13:37.346] Init estimate scale:0.151069
[20:13:37.346] it:0 	 Success 	 new_chi2: 8.433874 	 dT = 0.005195, -0.000917, 0.003954
[20:13:37.346] it:1 	 FAILURE 	 new_chi2: 8.455871
[20:13:37.346] n deleted obs = 7 	 n obs felt =28 	 error init =0.240968 	 error end=0.240968
[20:13:37.346] After pose optimization, distance between two frames x:-0.000280 ,z=0.003931,angle between two frames:0.003291
[20:13:37.346] Update EKF and 3D points, distance between two frames x:-0.000272 ,z=0.004250,angle between two frames:0.003508
[20:13:37.495] After Reprojection Map nPoint:47 ,nCell:40 ,nMatches:19 ,distance between two frames x:-0.000118 ,z=0.000259,angle between two frames:0.000011
[20:13:37.495] Init estimate scale:0.164434
[20:13:37.495] it:0 	 Success 	 new_chi2: 13.948441 	 dT = 0.006791, 0.000662, 0.005422
[20:13:37.495] it:1 	 FAILURE 	 new_chi2: 14.049150
[20:13:37.495] n deleted obs = 12 	 n obs felt =28 	 error init =0.348711 	 error end=0.348711
[20:13:37.495] After pose optimization, distance between two frames x:-0.000118 ,z=0.000259,angle between two frames:0.000011
[20:13:37.495] Update EKF and 3D points, distance between two frames x:-0.000115 ,z=0.000989,angle between two frames:0.001150
[20:13:37.638] After Reprojection Map nPoint:43 ,nCell:31 ,nMatches:15 ,distance between two frames x:-0.000161 ,z=0.000005,angle between two frames:0.000132
[20:13:37.638] Init estimate scale:0.074875
[20:13:37.638] it:0 	 Success 	 new_chi2: 8.997664 	 dT = 0.025806, -0.002225, 0.022099
[20:13:37.638] it:1 	 FAILURE 	 new_chi2: 9.570564
[20:13:37.638] n deleted obs = 8 	 n obs felt =24 	 error init =0.281177 	 error end=0.281177
[20:13:37.638] After pose optimization, distance between two frames x:-0.000161 ,z=0.000005,angle between two frames:0.000132
[20:13:37.638] Update EKF and 3D points, distance between two frames x:-0.000154 ,z=0.000589,angle between two frames:0.000782
[20:13:37.793] After Reprojection Map nPoint:50 ,nCell:40 ,nMatches:18 ,distance between two frames x:-0.000068 ,z=0.000247,angle between two frames:0.000022
[20:13:37.793] Init estimate scale:0.157433
[20:13:37.793] it:0 	 Success 	 new_chi2: 11.239815 	 dT = 0.065182, -0.002945, 0.065398
[20:13:37.793] it:1 	 FAILURE 	 new_chi2: 14.167677
[20:13:37.793] n deleted obs = 10 	 n obs felt =29 	 error init =0.288200 	 error end=0.288200
[20:13:37.793] After pose optimization, distance between two frames x:-0.000068 ,z=0.000247,angle between two frames:0.000022
[20:13:37.793] Update EKF and 3D points, distance between two frames x:-0.000053 ,z=0.001083,angle between two frames:0.002047
[20:13:37.938] After Reprojection Map nPoint:51 ,nCell:41 ,nMatches:20 ,distance between two frames x:-0.000052 ,z=-0.000013,angle between two frames:0.000008
[20:13:37.938] Init estimate scale:0.128581
[20:13:37.938] it:0 	 Success 	 new_chi2: 12.826398 	 dT = 0.002753, -0.000113, 0.002496
[20:13:37.938] it:1 	 FAILURE 	 new_chi2: 12.849934
[20:13:37.938] n deleted obs = 11 	 n obs felt =31 	 error init =0.305390 	 error end=0.305390
[20:13:37.938] After pose optimization, distance between two frames x:-0.000052 ,z=-0.000013,angle between two frames:0.000008
[20:13:37.938] Update EKF and 3D points, distance between two frames x:-0.000049 ,z=0.000607,angle between two frames:0.000588
[20:13:38.097] After Reprojection Map nPoint:51 ,nCell:39 ,nMatches:19 ,distance between two frames x:-0.000003 ,z=0.003856,angle between two frames:0.003767
[20:13:38.097] Init estimate scale:0.080127
[20:13:38.097] it:0 	 Success 	 new_chi2: 9.293454 	 dT = 0.027700, -0.012816, 0.031424
[20:13:38.097] it:1 	 FAILURE 	 new_chi2: 10.377628
[20:13:38.097] n deleted obs = 7 	 n obs felt =35 	 error init =0.221273 	 error end=0.221273
[20:13:38.097] After pose optimization, distance between two frames x:-0.000003 ,z=0.003856,angle between two frames:0.003767
[20:13:38.097] Update EKF and 3D points, distance between two frames x:-0.000015 ,z=0.004497,angle between two frames:0.002174
[20:13:38.241] After Reprojection Map nPoint:48 ,nCell:41 ,nMatches:19 ,distance between two frames x:-0.000427 ,z=0.003936,angle between two frames:0.010463
[20:13:38.241] Init estimate scale:0.175607
[20:13:38.241] it:0 	 Success 	 new_chi2: 11.501257 	 dT = 0.002805, 0.000585, 0.002506
[20:13:38.241] it:1 	 FAILURE 	 new_chi2: 11.508843
[20:13:38.241] n deleted obs = 8 	 n obs felt =32 	 error init =0.287531 	 error end=0.287531
[20:13:38.241] After pose optimization, distance between two frames x:-0.000427 ,z=0.003936,angle between two frames:0.010463
[20:13:38.241] Update EKF and 3D points, distance between two frames x:-0.000418 ,z=0.004255,angle between two frames:0.011503
[20:13:38.389] After Reprojection Map nPoint:51 ,nCell:45 ,nMatches:22 ,distance between two frames x:0.000075 ,z=0.002015,angle between two frames:0.006322
[20:13:38.389] Init estimate scale:0.204863
[20:13:38.389] it:0 	 Success 	 new_chi2: 12.548934 	 dT = 0.007211, 0.000361, 0.005428
[20:13:38.389] it:1 	 FAILURE 	 new_chi2: 12.549372
[20:13:38.389] n deleted obs = 11 	 n obs felt =33 	 error init =0.285203 	 error end=0.285203
[20:13:38.389] After pose optimization, distance between two frames x:0.000075 ,z=0.002015,angle between two frames:0.006322
[20:13:38.389] Update EKF and 3D points, distance between two frames x:0.000048 ,z=0.002642,angle between two frames:0.007814
[20:13:38.535] After Reprojection Map nPoint:50 ,nCell:41 ,nMatches:18 ,distance between two frames x:-0.000479 ,z=0.003786,angle between two frames:0.010004
[20:13:38.535] Init estimate scale:0.166166
[20:13:38.535] it:0 	 Success 	 new_chi2: 12.326081 	 dT = 0.010986, 0.000177, 0.009580
[20:13:38.535] it:1 	 FAILURE 	 new_chi2: 12.453419
[20:13:38.535] n deleted obs = 10 	 n obs felt =30 	 error init =0.308152 	 error end=0.308152
[20:13:38.535] After pose optimization, distance between two frames x:-0.000479 ,z=0.003786,angle between two frames:0.010004
[20:13:38.535] Update EKF and 3D points, distance between two frames x:-0.000477 ,z=0.004108,angle between two frames:0.011486
[20:13:38.691] After Reprojection Map nPoint:54 ,nCell:43 ,nMatches:22 ,distance between two frames x:-0.000084 ,z=0.001939,angle between two frames:0.008427
[20:13:38.691] Init estimate scale:0.149831
[20:13:38.691] it:0 	 Success 	 new_chi2: 13.584750 	 dT = 0.006188, -0.000195, 0.005169
[20:13:38.691] it:1 	 Success 	 new_chi2: 13.524455 	 dT = 0.006201, -0.000113, 0.005354
[20:13:38.691] it:2 	 Success 	 new_chi2: 13.498531 	 dT = 0.006205, -0.000021, 0.005538
[20:13:38.691] it:3 	 FAILURE 	 new_chi2: 13.512066
[20:13:38.691] n deleted obs = 11 	 n obs felt =33 	 error init =0.308744 	 error end=0.306785
[20:13:38.691] After pose optimization, distance between two frames x:0.012305 ,z=0.001630,angle between two frames:0.002095
[20:13:38.691] Update EKF and 3D points, distance between two frames x:0.011546 ,z=0.002319,angle between two frames:0.001353
[20:13:38.855] After Reprojection Map nPoint:48 ,nCell:40 ,nMatches:20 ,distance between two frames x:0.000005 ,z=-0.000064,angle between two frames:0.000181
[20:13:38.855] Init estimate scale:0.149424
[20:13:38.855] it:0 	 Success 	 new_chi2: 14.559364 	 dT = 0.206691, -0.002505, 0.162656
[20:13:38.855] it:1 	 FAILURE 	 new_chi2: 25.223614
[20:13:38.855] n deleted obs = 12 	 n obs felt =31 	 error init =0.338590 	 error end=0.338590
[20:13:38.855] After pose optimization, distance between two frames x:0.000005 ,z=-0.000064,angle between two frames:0.000181
[20:13:38.855] Update EKF and 3D points, distance between two frames x:-0.000280 ,z=0.000490,angle between two frames:0.000389
[20:13:39.026] After Reprojection Map nPoint:53 ,nCell:44 ,nMatches:19 ,distance between two frames x:-0.000059 ,z=-0.000004,angle between two frames:0.000020
[20:13:39.026] Init estimate scale:0.096531
[20:13:39.026] it:0 	 Success 	 new_chi2: 12.736937 	 dT = 0.077785, -0.010815, 0.068053
[20:13:39.026] it:1 	 FAILURE 	 new_chi2: 16.209312
[20:13:39.026] n deleted obs = 11 	 n obs felt =32 	 error init =0.296208 	 error end=0.296208
[20:13:39.026] After pose optimization, distance between two frames x:-0.000059 ,z=-0.000004,angle between two frames:0.000020
[20:13:39.026] Update EKF and 3D points, distance between two frames x:-0.000188 ,z=0.000837,angle between two frames:0.000382
[20:13:39.173] After Reprojection Map nPoint:50 ,nCell:39 ,nMatches:20 ,distance between two frames x:-0.000935 ,z=0.005168,angle between two frames:0.002468
[20:13:39.173] Init estimate scale:0.227837
[20:13:39.174] it:0 	 Success 	 new_chi2: 14.259703 	 dT = 0.012593, 0.002365, 0.010598
[20:13:39.174] it:1 	 FAILURE 	 new_chi2: 14.403164
[20:13:39.174] n deleted obs = 12 	 n obs felt =31 	 error init =0.331621 	 error end=0.331621
[20:13:39.174] After pose optimization, distance between two frames x:-0.000935 ,z=0.005168,angle between two frames:0.002468
[20:13:39.174] Update EKF and 3D points, distance between two frames x:-0.000941 ,z=0.005491,angle between two frames:0.003238
[20:13:39.317] After Reprojection Map nPoint:52 ,nCell:36 ,nMatches:20 ,distance between two frames x:0.000038 ,z=-0.000024,angle between two frames:0.000108
[20:13:39.317] Init estimate scale:0.097285
[20:13:39.317] it:0 	 Success 	 new_chi2: 14.830031 	 dT = 0.103426, -0.001011, 0.082425
[20:13:39.317] it:1 	 FAILURE 	 new_chi2: 21.291100
[20:13:39.317] n deleted obs = 14 	 n obs felt =34 	 error init =0.308959 	 error end=0.308959
[20:13:39.317] After pose optimization, distance between two frames x:0.000038 ,z=-0.000024,angle between two frames:0.000108
[20:13:39.317] Update EKF and 3D points, distance between two frames x:0.000016 ,z=0.000723,angle between two frames:0.001014
[20:13:39.473] After Reprojection Map nPoint:51 ,nCell:37 ,nMatches:18 ,distance between two frames x:-0.003147 ,z=0.004888,angle between two frames:0.002908
[20:13:39.473] Init estimate scale:0.100233
[20:13:39.473] it:0 	 Success 	 new_chi2: 8.833201 	 dT = 0.049499, -0.012189, 0.029207
[20:13:39.473] it:1 	 FAILURE 	 new_chi2: 9.709294
[20:13:39.473] n deleted obs = 6 	 n obs felt =38 	 error init =0.200755 	 error end=0.200755
[20:13:39.473] After pose optimization, distance between two frames x:-0.003147 ,z=0.004888,angle between two frames:0.002908
[20:13:39.473] Update EKF and 3D points, distance between two frames x:-0.002978 ,z=0.005191,angle between two frames:0.004680
[20:13:39.621] After Reprojection Map nPoint:48 ,nCell:39 ,nMatches:19 ,distance between two frames x:-0.000026 ,z=-0.000044,angle between two frames:0.000027
[20:13:39.621] Init estimate scale:0.133772
[20:13:39.621] it:0 	 Success 	 new_chi2: 11.864535 	 dT = -0.000889, -0.001315, 0.000789
[20:13:39.621] it:1 	 Success 	 new_chi2: 11.852743 	 dT = -0.000925, -0.001286, 0.000771
[20:13:39.621] it:2 	 Success 	 new_chi2: 11.841134 	 dT = -0.000959, -0.001259, 0.000753
[20:13:39.621] it:3 	 Success 	 new_chi2: 11.829705 	 dT = -0.000989, -0.001232, 0.000736
[20:13:39.621] it:4 	 Success 	 new_chi2: 11.818456 	 dT = -0.001017, -0.001206, 0.000720
[20:13:39.621] it:5 	 Success 	 new_chi2: 11.807386 	 dT = 0.002119, -0.002141, 0.001995
[20:13:39.621] it:6 	 Success 	 new_chi2: 11.794167 	 dT = 0.002069, -0.002098, 0.001996
[20:13:39.621] it:7 	 Success 	 new_chi2: 11.786567 	 dT = 0.001955, -0.002054, 0.001963
[20:13:39.621] it:8 	 Success 	 new_chi2: 11.785174 	 dT = 0.001763, -0.002012, 0.001886
[20:13:39.621] it:9 	 FAILURE 	 new_chi2: 11.789851
[20:13:39.621] n deleted obs = 9 	 n obs felt =33 	 error init =0.282489 	 error end=0.280599
[20:13:39.621] After pose optimization, distance between two frames x:0.001337 ,z=-0.012634,angle between two frames:0.009749
[20:13:39.621] Update EKF and 3D points, distance between two frames x:0.001306 ,z=-0.011153,angle between two frames:0.010549
[20:13:39.764] After Reprojection Map nPoint:44 ,nCell:37 ,nMatches:19 ,distance between two frames x:-0.000336 ,z=0.009105,angle between two frames:0.004661
[20:13:39.764] Init estimate scale:0.199272
[20:13:39.764] it:0 	 Success 	 new_chi2: 13.958271 	 dT = 0.000985, 0.000795, 0.001460
[20:13:39.764] it:1 	 FAILURE 	 new_chi2: 13.973169
[20:13:39.764] n deleted obs = 10 	 n obs felt =31 	 error init =0.340446 	 error end=0.340446
[20:13:39.764] After pose optimization, distance between two frames x:-0.000336 ,z=0.009105,angle between two frames:0.004661
[20:13:39.764] Update EKF and 3D points, distance between two frames x:-0.000334 ,z=0.009427,angle between two frames:0.002635
[20:13:39.939] After Reprojection Map nPoint:49 ,nCell:36 ,nMatches:17 ,distance between two frames x:-0.000175 ,z=0.001927,angle between two frames:0.013062
[20:13:39.939] Init estimate scale:0.099446
[20:13:39.939] it:0 	 Success 	 new_chi2: 13.892644 	 dT = 0.051084, -0.005260, 0.030895
[20:13:39.939] it:1 	 FAILURE 	 new_chi2: 15.002587
[20:13:39.939] n deleted obs = 10 	 n obs felt =34 	 error init =0.315742 	 error end=0.315742
[20:13:39.939] After pose optimization, distance between two frames x:-0.000175 ,z=0.001927,angle between two frames:0.013062
[20:13:39.939] Update EKF and 3D points, distance between two frames x:-0.000189 ,z=0.002578,angle between two frames:0.014487
[20:13:40.087] After Reprojection Map nPoint:53 ,nCell:41 ,nMatches:17 ,distance between two frames x:-0.000222 ,z=-0.000012,angle between two frames:0.000197
[20:13:40.087] Init estimate scale:0.100193
[20:13:40.087] it:0 	 Success 	 new_chi2: 11.423476 	 dT = 0.089630, -0.005135, 0.071984
[20:13:40.087] it:1 	 FAILURE 	 new_chi2: 14.638250
[20:13:40.087] n deleted obs = 7 	 n obs felt =35 	 error init =0.271988 	 error end=0.271988
[20:13:40.087] After pose optimization, distance between two frames x:-0.000222 ,z=-0.000012,angle between two frames:0.000197
[20:13:40.087] Update EKF and 3D points, distance between two frames x:-0.000252 ,z=0.000944,angle between two frames:0.001743
[20:13:40.232] After Reprojection Map nPoint:48 ,nCell:25 ,nMatches:17 ,distance between two frames x:-0.000307 ,z=0.005558,angle between two frames:0.008793
[20:13:40.232] Init estimate scale:0.113645
[20:13:40.232] it:0 	 Success 	 new_chi2: 9.160795 	 dT = 0.038314, -0.003286, 0.034254
[20:13:40.232] it:1 	 FAILURE 	 new_chi2: 9.880400
[20:13:40.232] n deleted obs = 4 	 n obs felt =38 	 error init =0.218114 	 error end=0.218114
[20:13:40.232] After pose optimization, distance between two frames x:-0.000307 ,z=0.005558,angle between two frames:0.008793
[20:13:40.232] Update EKF and 3D points, distance between two frames x:-0.000319 ,z=0.005882,angle between two frames:0.011012
[20:13:40.378] After Reprojection Map nPoint:48 ,nCell:23 ,nMatches:16 ,distance between two frames x:-0.000211 ,z=0.001981,angle between two frames:0.014660
[20:13:40.378] Init estimate scale:0.120681
[20:13:40.378] it:0 	 Success 	 new_chi2: 9.426324 	 dT = 0.066141, -0.001702, 0.066642
[20:13:40.378] it:1 	 FAILURE 	 new_chi2: 11.324247
[20:13:40.378] n deleted obs = 9 	 n obs felt =27 	 error init =0.261842 	 error end=0.261842
[20:13:40.378] After pose optimization, distance between two frames x:-0.000211 ,z=0.001981,angle between two frames:0.014660
[20:13:40.378] Update EKF and 3D points, distance between two frames x:-0.000226 ,z=0.002305,angle between two frames:0.015308
[20:13:40.522] After Reprojection Map nPoint:48 ,nCell:38 ,nMatches:19 ,distance between two frames x:-0.000337 ,z=0.000023,angle between two frames:0.000328
[20:13:40.522] Init estimate scale:0.117735
[20:13:40.522] it:0 	 Success 	 new_chi2: 13.278395 	 dT = 0.070244, 0.002384, 0.060843
[20:13:40.522] it:1 	 FAILURE 	 new_chi2: 15.238763
[20:13:40.522] n deleted obs = 11 	 n obs felt =36 	 error init =0.282519 	 error end=0.282519
[20:13:40.522] After pose optimization, distance between two frames x:-0.000337 ,z=0.000023,angle between two frames:0.000328
[20:13:40.522] Update EKF and 3D points, distance between two frames x:-0.000364 ,z=0.000781,angle between two frames:0.000790
[20:13:40.682] After Reprojection Map nPoint:56 ,nCell:44 ,nMatches:21 ,distance between two frames x:-0.000313 ,z=-0.000074,angle between two frames:0.000346
[20:13:40.682] Init estimate scale:0.135073
[20:13:40.682] it:0 	 Success 	 new_chi2: 14.434311 	 dT = 0.007308, -0.007323, 0.016412
[20:13:40.682] it:1 	 Success 	 new_chi2: 14.301969 	 dT = 0.029036, -0.007848, 0.032626
[20:13:40.682] it:2 	 FAILURE 	 new_chi2: 14.997168
[20:13:40.682] n deleted obs = 10 	 n obs felt =39 	 error init =0.294578 	 error end=0.291877
[20:13:40.682] After pose optimization, distance between two frames x:0.006995 ,z=-0.007397,angle between two frames:0.016066
[20:13:40.682] Update EKF and 3D points, distance between two frames x:0.006559 ,z=-0.006392,angle between two frames:0.016201
[20:13:40.826] After Reprojection Map nPoint:52 ,nCell:29 ,nMatches:19 ,distance between two frames x:-0.004311 ,z=0.006136,angle between two frames:0.001134
[20:13:40.826] Init estimate scale:0.267097
[20:13:40.826] it:0 	 Success 	 new_chi2: 13.428740 	 dT = 0.003524, 0.000384, 0.006541
[20:13:40.826] it:1 	 FAILURE 	 new_chi2: 13.476720
[20:13:40.826] n deleted obs = 9 	 n obs felt =33 	 error init =0.319732 	 error end=0.319732
[20:13:40.826] After pose optimization, distance between two frames x:-0.004311 ,z=0.006136,angle between two frames:0.001134
[20:13:40.826] Update EKF and 3D points, distance between two frames x:-0.004250 ,z=0.006775,angle between two frames:0.001028
[20:13:40.974] After Reprojection Map nPoint:46 ,nCell:42 ,nMatches:22 ,distance between two frames x:-0.001747 ,z=0.003609,angle between two frames:0.000900
[20:13:40.975] Init estimate scale:0.211426
[20:13:40.975] it:0 	 Success 	 new_chi2: 15.230319 	 dT = 0.106155, 0.007692, 0.095589
[20:13:40.975] it:1 	 FAILURE 	 new_chi2: 19.582904
[20:13:40.975] n deleted obs = 13 	 n obs felt =33 	 error init =0.331094 	 error end=0.331094
[20:13:40.975] After pose optimization, distance between two frames x:-0.001747 ,z=0.003609,angle between two frames:0.000900
[20:13:40.975] Update EKF and 3D points, distance between two frames x:-0.001634 ,z=0.003963,angle between two frames:0.000169
[20:13:41.125] After Reprojection Map nPoint:55 ,nCell:45 ,nMatches:22 ,distance between two frames x:0.000277 ,z=0.002127,angle between two frames:0.003964
[20:13:41.125] Init estimate scale:0.109657
[20:13:41.125] it:0 	 Success 	 new_chi2: 11.782564 	 dT = 0.032802, 0.080283, 0.024595
[20:13:41.125] it:1 	 FAILURE 	 new_chi2: 12.230957
[20:13:41.125] n deleted obs = 9 	 n obs felt =40 	 error init =0.240460 	 error end=0.240460
[20:13:41.125] After pose optimization, distance between two frames x:0.000277 ,z=0.002127,angle between two frames:0.003964
[20:13:41.125] Update EKF and 3D points, distance between two frames x:0.000281 ,z=0.002755,angle between two frames:0.006129
[20:13:41.269] After Reprojection Map nPoint:49 ,nCell:40 ,nMatches:20 ,distance between two frames x:-0.000195 ,z=0.003830,angle between two frames:0.012643
[20:13:41.269] Init estimate scale:0.141312
[20:13:41.269] it:0 	 Success 	 new_chi2: 14.721071 	 dT = 0.081105, 0.006612, 0.062615
[20:13:41.269] it:1 	 FAILURE 	 new_chi2: 16.941283
[20:13:41.269] n deleted obs = 10 	 n obs felt =35 	 error init =0.327135 	 error end=0.327135
[20:13:41.269] After pose optimization, distance between two frames x:-0.000195 ,z=0.003830,angle between two frames:0.012643
[20:13:41.269] Update EKF and 3D points, distance between two frames x:-0.000204 ,z=0.004168,angle between two frames:0.012484
[20:13:41.418] After Reprojection Map nPoint:51 ,nCell:44 ,nMatches:22 ,distance between two frames x:-0.000077 ,z=0.000042,angle between two frames:0.000058
[20:13:41.418] Init estimate scale:0.245246
[20:13:41.418] it:0 	 Success 	 new_chi2: 17.975759 	 dT = 0.021891, 0.004172, 0.018219
[20:13:41.418] it:1 	 FAILURE 	 new_chi2: 18.265195
[20:13:41.418] n deleted obs = 17 	 n obs felt =30 	 error init =0.382463 	 error end=0.382463
[20:13:41.418] After pose optimization, distance between two frames x:-0.000077 ,z=0.000042,angle between two frames:0.000058
[20:13:41.418] Update EKF and 3D points, distance between two frames x:-0.000095 ,z=0.000782,angle between two frames:0.001558
[20:13:41.564] After Reprojection Map nPoint:52 ,nCell:41 ,nMatches:20 ,distance between two frames x:-0.000402 ,z=0.004486,angle between two frames:0.012020
[20:13:41.564] Init estimate scale:0.130184
[20:13:41.564] it:0 	 Success 	 new_chi2: 13.396514 	 dT = 0.004018, -0.001097, 0.004675
[20:13:41.564] it:1 	 FAILURE 	 new_chi2: 13.402978
[20:13:41.564] n deleted obs = 11 	 n obs felt =35 	 error init =0.291229 	 error end=0.291229
[20:13:41.564] After pose optimization, distance between two frames x:-0.000402 ,z=0.004486,angle between two frames:0.012020
[20:13:41.564] Update EKF and 3D points, distance between two frames x:-0.000402 ,z=0.004816,angle between two frames:0.011200
[20:13:41.717] After Reprojection Map nPoint:52 ,nCell:40 ,nMatches:21 ,distance between two frames x:-0.000126 ,z=-0.000063,angle between two frames:0.000093
[20:13:41.717] Init estimate scale:0.126324
[20:13:41.717] it:0 	 Success 	 new_chi2: 13.881540 	 dT = 0.097856, -0.011929, 0.081313
[20:13:41.717] it:1 	 FAILURE 	 new_chi2: 16.506615
[20:13:41.717] n deleted obs = 12 	 n obs felt =35 	 error init =0.295352 	 error end=0.295352
[20:13:41.717] After pose optimization, distance between two frames x:-0.000126 ,z=-0.000063,angle between two frames:0.000093
[20:13:41.717] Update EKF and 3D points, distance between two frames x:-0.000164 ,z=0.000689,angle between two frames:0.002238
[20:13:41.860] After Reprojection Map nPoint:56 ,nCell:44 ,nMatches:20 ,distance between two frames x:-0.000547 ,z=0.004635,angle between two frames:0.013934
[20:13:41.860] Init estimate scale:0.131099
[20:13:41.860] it:0 	 Success 	 new_chi2: 15.357391 	 dT = 0.006378, -0.001622, 0.006841
[20:13:41.860] it:1 	 Success 	 new_chi2: 15.314291 	 dT = 0.006176, -0.001586, 0.006914
[20:13:41.860] it:2 	 Success 	 new_chi2: 15.309786 	 dT = 0.005950, -0.001559, 0.006986
[20:13:41.860] it:3 	 FAILURE 	 new_chi2: 15.346903
[20:13:41.860] n deleted obs = 14 	 n obs felt =34 	 error init =0.319946 	 error end=0.318954
[20:13:41.860] After pose optimization, distance between two frames x:0.012007 ,z=0.001427,angle between two frames:0.000179
[20:13:41.860] Update EKF and 3D points, distance between two frames x:0.011272 ,z=0.001911,angle between two frames:0.001516
[20:13:42.004] After Reprojection Map nPoint:57 ,nCell:51 ,nMatches:24 ,distance between two frames x:-0.004665 ,z=0.003067,angle between two frames:0.006702
[20:13:42.004] Init estimate scale:0.196091
[20:13:42.004] it:0 	 Success 	 new_chi2: 15.276846 	 dT = 0.042724, -0.024112, 0.040428
[20:13:42.004] it:1 	 FAILURE 	 new_chi2: 16.119975
[20:13:42.004] n deleted obs = 9 	 n obs felt =42 	 error init =0.299546 	 error end=0.299546
[20:13:42.004] After pose optimization, distance between two frames x:-0.004665 ,z=0.003067,angle between two frames:0.006702
[20:13:42.004] Update EKF and 3D points, distance between two frames x:-0.004694 ,z=0.003708,angle between two frames:0.007732
[20:13:42.149] After Reprojection Map nPoint:49 ,nCell:40 ,nMatches:20 ,distance between two frames x:-0.000183 ,z=0.003994,angle between two frames:0.006042
[20:13:42.149] Init estimate scale:0.143735
[20:13:42.149] it:0 	 Success 	 new_chi2: 16.282791 	 dT = 0.162153, -0.016637, 0.150427
[20:13:42.149] it:1 	 FAILURE 	 new_chi2: 24.334687
[20:13:42.149] n deleted obs = 15 	 n obs felt =29 	 error init =0.370063 	 error end=0.370063
[20:13:42.149] After pose optimization, distance between two frames x:-0.000183 ,z=0.003994,angle between two frames:0.006042
[20:13:42.149] Update EKF and 3D points, distance between two frames x:-0.000196 ,z=0.004309,angle between two frames:0.005453
[20:13:42.296] After Reprojection Map nPoint:50 ,nCell:41 ,nMatches:20 ,distance between two frames x:-0.000312 ,z=0.001926,angle between two frames:0.002265
[20:13:42.296] Init estimate scale:0.140967
[20:13:42.296] it:0 	 Success 	 new_chi2: 15.232840 	 dT = 0.073509, -0.007087, 0.069433
[20:13:42.296] it:1 	 FAILURE 	 new_chi2: 17.140021
[20:13:42.296] n deleted obs = 11 	 n obs felt =34 	 error init =0.338508 	 error end=0.338508
[20:13:42.296] After pose optimization, distance between two frames x:-0.000312 ,z=0.001926,angle between two frames:0.002265
[20:13:42.296] Update EKF and 3D points, distance between two frames x:-0.000335 ,z=0.002566,angle between two frames:0.002822
[20:13:42.443] After Reprojection Map nPoint:50 ,nCell:39 ,nMatches:21 ,distance between two frames x:-0.000231 ,z=0.003981,angle between two frames:0.003856
[20:13:42.443] Init estimate scale:0.139943
[20:13:42.443] it:0 	 Success 	 new_chi2: 13.677780 	 dT = 0.052050, -0.008024, 0.048002
[20:13:42.443] it:1 	 FAILURE 	 new_chi2: 15.079260
[20:13:42.443] n deleted obs = 11 	 n obs felt =37 	 error init =0.284954 	 error end=0.284954
[20:13:42.443] After pose optimization, distance between two frames x:-0.000231 ,z=0.003981,angle between two frames:0.003856
[20:13:42.443] Update EKF and 3D points, distance between two frames x:-0.000249 ,z=0.004298,angle between two frames:0.004204
[20:13:42.587] After Reprojection Map nPoint:53 ,nCell:47 ,nMatches:21 ,distance between two frames x:-0.000956 ,z=-0.000201,angle between two frames:0.001276
[20:13:42.587] Init estimate scale:0.145208
[20:13:42.587] it:0 	 Success 	 new_chi2: 11.728780 	 dT = 0.121060, 0.014456, 0.116251
[20:13:42.587] it:1 	 FAILURE 	 new_chi2: 16.273386
[20:13:42.587] n deleted obs = 10 	 n obs felt =35 	 error init =0.260640 	 error end=0.260640
[20:13:42.587] After pose optimization, distance between two frames x:-0.000956 ,z=-0.000201,angle between two frames:0.001276
[20:13:42.587] Update EKF and 3D points, distance between two frames x:-0.000936 ,z=0.000648,angle between two frames:0.001106
[20:13:42.743] After Reprojection Map nPoint:52 ,nCell:44 ,nMatches:20 ,distance between two frames x:0.000068 ,z=0.005001,angle between two frames:0.003021
[20:13:42.743] Init estimate scale:0.247057
[20:13:42.743] it:0 	 Success 	 new_chi2: 12.733922 	 dT = -0.011746, 0.001023, -0.008119
[20:13:42.743] it:1 	 FAILURE 	 new_chi2: 12.787004
[20:13:42.743] n deleted obs = 8 	 n obs felt =36 	 error init =0.289407 	 error end=0.289407
[20:13:42.743] After pose optimization, distance between two frames x:0.000068 ,z=0.005001,angle between two frames:0.003021
[20:13:42.743] Update EKF and 3D points, distance between two frames x:0.000062 ,z=0.005318,angle between two frames:0.003889
[20:13:42.889] After Reprojection Map nPoint:47 ,nCell:40 ,nMatches:18 ,distance between two frames x:-0.000217 ,z=0.001971,angle between two frames:0.005825
[20:13:42.889] Init estimate scale:0.122474
[20:13:42.889] it:0 	 Success 	 new_chi2: 11.725516 	 dT = 0.082843, 0.001309, 0.072224
[20:13:42.889] it:1 	 FAILURE 	 new_chi2: 13.267296
[20:13:42.889] n deleted obs = 10 	 n obs felt =31 	 error init =0.285988 	 error end=0.285988
[20:13:42.889] After pose optimization, distance between two frames x:-0.000217 ,z=0.001971,angle between two frames:0.005825
[20:13:42.889] Update EKF and 3D points, distance between two frames x:-0.000227 ,z=0.002620,angle between two frames:0.006687
[20:13:43.039] After Reprojection Map nPoint:47 ,nCell:41 ,nMatches:16 ,distance between two frames x:-0.000231 ,z=0.003950,angle between two frames:0.005520
[20:13:43.039] Init estimate scale:0.135626
[20:13:43.039] it:0 	 Success 	 new_chi2: 11.016081 	 dT = 0.007459, -0.001492, 0.004774
[20:13:43.039] it:1 	 Success 	 new_chi2: 10.974148 	 dT = 0.006765, -0.001327, 0.004338
[20:13:43.039] it:2 	 Success 	 new_chi2: 10.955984 	 dT = 0.005957, -0.001202, 0.003813
[20:13:43.039] it:3 	 FAILURE 	 new_chi2: 10.960606
[20:13:43.039] n deleted obs = 9 	 n obs felt =27 	 error init =0.306002 	 error end=0.304333
[20:13:43.039] After pose optimization, distance between two frames x:0.013994 ,z=0.001131,angle between two frames:0.014632
[20:13:43.039] Update EKF and 3D points, distance between two frames x:0.013163 ,z=0.001615,angle between two frames:0.013377
[20:13:43.184] After Reprojection Map nPoint:47 ,nCell:37 ,nMatches:17 ,distance between two frames x:-0.000015 ,z=0.000013,angle between two frames:0.000030
[20:13:43.184] Init estimate scale:0.117169
[20:13:43.184] it:0 	 Success 	 new_chi2: 10.970911 	 dT = -0.102476, -0.014445, -0.088289
[20:13:43.184] it:1 	 FAILURE 	 new_chi2: 13.921421
[20:13:43.184] n deleted obs = 7 	 n obs felt =33 	 error init =0.274273 	 error end=0.274273
[20:13:43.184] After pose optimization, distance between two frames x:-0.000015 ,z=0.000013,angle between two frames:0.000030
[20:13:43.184] Update EKF and 3D points, distance between two frames x:-0.000368 ,z=0.000914,angle between two frames:0.000110
[20:13:43.343] After Reprojection Map nPoint:47 ,nCell:41 ,nMatches:16 ,distance between two frames x:-0.000179 ,z=-0.000022,angle between two frames:0.000189
[20:13:43.343] Init estimate scale:0.122803
[20:13:43.343] it:0 	 Success 	 new_chi2: 10.510493 	 dT = 0.049906, -0.001413, 0.042487
[20:13:43.343] it:1 	 FAILURE 	 new_chi2: 11.490574
[20:13:43.343] n deleted obs = 9 	 n obs felt =28 	 error init =0.284067 	 error end=0.284067
[20:13:43.343] After pose optimization, distance between two frames x:-0.000179 ,z=-0.000022,angle between two frames:0.000189
[20:13:43.343] Update EKF and 3D points, distance between two frames x:-0.000304 ,z=0.000607,angle between two frames:0.001340
[20:13:43.526] After Reprojection Map nPoint:49 ,nCell:41 ,nMatches:18 ,distance between two frames x:-0.004175 ,z=0.003563,angle between two frames:0.012066
[20:13:43.526] Init estimate scale:0.124697
[20:13:43.526] it:0 	 Success 	 new_chi2: 10.009690 	 dT = 0.001520, -0.000350, 0.001418
[20:13:43.526] it:1 	 Success 	 new_chi2: 10.008061 	 dT = 0.001489, -0.000353, 0.001414
[20:13:43.526] it:2 	 Success 	 new_chi2: 10.007976 	 dT = 0.001457, -0.000355, 0.001409
[20:13:43.526] it:3 	 FAILURE 	 new_chi2: 10.009452
[20:13:43.526] n deleted obs = 8 	 n obs felt =33 	 error init =0.244139 	 error end=0.244097
[20:13:43.526] After pose optimization, distance between two frames x:-0.001166 ,z=0.002860,angle between two frames:0.009233
[20:13:43.526] Update EKF and 3D points, distance between two frames x:-0.001171 ,z=0.003556,angle between two frames:0.010245
[20:13:43.670] After Reprojection Map nPoint:54 ,nCell:46 ,nMatches:22 ,distance between two frames x:-0.000237 ,z=0.000013,angle between two frames:0.000299
[20:13:43.670] Init estimate scale:0.172114
[20:13:43.670] it:0 	 Success 	 new_chi2: 13.430859 	 dT = 0.003616, -0.000901, 0.003041
[20:13:43.670] it:1 	 Success 	 new_chi2: 13.426712 	 dT = 0.003154, -0.000792, 0.002930
[20:13:43.670] it:2 	 FAILURE 	 new_chi2: 13.431026
[20:13:43.670] n deleted obs = 10 	 n obs felt =39 	 error init =0.274099 	 error end=0.274015
[20:13:43.670] After pose optimization, distance between two frames x:0.003379 ,z=-0.000888,angle between two frames:0.002742
[20:13:43.670] Update EKF and 3D points, distance between two frames x:0.003163 ,z=-0.000268,angle between two frames:0.000430
[20:13:43.817] After Reprojection Map nPoint:54 ,nCell:45 ,nMatches:18 ,distance between two frames x:-0.001506 ,z=0.003828,angle between two frames:0.016503
[20:13:43.817] Init estimate scale:0.157739
[20:13:43.817] it:0 	 Success 	 new_chi2: 11.888210 	 dT = 0.160787, -0.008153, 0.158361
[20:13:43.817] it:1 	 FAILURE 	 new_chi2: 19.742396
[20:13:43.817] n deleted obs = 9 	 n obs felt =33 	 error init =0.283053 	 error end=0.283053
[20:13:43.817] After pose optimization, distance between two frames x:-0.001506 ,z=0.003828,angle between two frames:0.016503
[20:13:43.817] Update EKF and 3D points, distance between two frames x:-0.001535 ,z=0.004466,angle between two frames:0.016496
[20:13:43.961] After Reprojection Map nPoint:48 ,nCell:38 ,nMatches:22 ,distance between two frames x:-0.000202 ,z=-0.000063,angle between two frames:0.000241
[20:13:43.961] Init estimate scale:0.148428
[20:13:43.961] it:0 	 Success 	 new_chi2: 15.572411 	 dT = 0.033303, 0.001041, 0.027485
[20:13:43.961] it:1 	 FAILURE 	 new_chi2: 15.978147
[20:13:43.961] n deleted obs = 14 	 n obs felt =35 	 error init =0.317804 	 error end=0.317804
[20:13:43.961] After pose optimization, distance between two frames x:-0.000202 ,z=-0.000063,angle between two frames:0.000241
[20:13:43.961] Update EKF and 3D points, distance between two frames x:-0.000222 ,z=0.000490,angle between two frames:0.001255
[20:13:44.118] After Reprojection Map nPoint:50 ,nCell:39 ,nMatches:19 ,distance between two frames x:-0.002531 ,z=-0.000936,angle between two frames:0.003185
[20:13:44.118] Init estimate scale:0.131571
[20:13:44.118] it:0 	 Success 	 new_chi2: 10.316031 	 dT = 0.045774, -0.004401, 0.038602
[20:13:44.118] it:1 	 FAILURE 	 new_chi2: 11.273342
[20:13:44.118] n deleted obs = 9 	 n obs felt =34 	 error init =0.239908 	 error end=0.239908
[20:13:44.118] After pose optimization, distance between two frames x:-0.002531 ,z=-0.000936,angle between two frames:0.003185
[20:13:44.118] Update EKF and 3D points, distance between two frames x:-0.002427 ,z=-0.000070,angle between two frames:0.002597
[20:13:44.262] After Reprojection Map nPoint:53 ,nCell:35 ,nMatches:16 ,distance between two frames x:0.000068 ,z=0.000027,angle between two frames:0.000206
[20:13:44.262] Init estimate scale:0.124670
[20:13:44.262] it:0 	 Success 	 new_chi2: 9.324921 	 dT = 0.004106, -0.001755, 0.004646
[20:13:44.262] it:1 	 Success 	 new_chi2: 9.313668 	 dT = 0.003949, -0.001733, 0.004598
[20:13:44.262] it:2 	 FAILURE 	 new_chi2: 9.317458
[20:13:44.262] n deleted obs = 7 	 n obs felt =37 	 error init =0.211930 	 error end=0.211674
[20:13:44.262] After pose optimization, distance between two frames x:0.004173 ,z=-0.001728,angle between two frames:0.004852
[20:13:44.262] Update EKF and 3D points, distance between two frames x:0.003954 ,z=-0.000978,angle between two frames:0.004218
[20:13:44.411] After Reprojection Map nPoint:53 ,nCell:43 ,nMatches:18 ,distance between two frames x:-0.004236 ,z=0.003912,angle between two frames:0.008139
[20:13:44.411] Init estimate scale:0.141837
[20:13:44.411] it:0 	 Success 	 new_chi2: 11.016769 	 dT = -0.005781, -0.000429, -0.004476
[20:13:44.412] it:1 	 FAILURE 	 new_chi2: 11.075525
[20:13:44.412] n deleted obs = 9 	 n obs felt =36 	 error init =0.244817 	 error end=0.244817
[20:13:44.412] After pose optimization, distance between two frames x:-0.004236 ,z=0.003912,angle between two frames:0.008139
[20:13:44.412] Update EKF and 3D points, distance between two frames x:-0.004100 ,z=0.004591,angle between two frames:0.006974
[20:13:44.555] After Reprojection Map nPoint:53 ,nCell:45 ,nMatches:19 ,distance between two frames x:-0.000182 ,z=-0.000073,angle between two frames:0.000195
[20:13:44.555] Init estimate scale:0.151740
[20:13:44.555] it:0 	 Success 	 new_chi2: 12.125901 	 dT = -0.016051, -0.005999, -0.014347
[20:13:44.555] it:1 	 FAILURE 	 new_chi2: 12.286068
[20:13:44.555] n deleted obs = 10 	 n obs felt =35 	 error init =0.269464 	 error end=0.269464
[20:13:44.555] After pose optimization, distance between two frames x:-0.000182 ,z=-0.000073,angle between two frames:0.000195
[20:13:44.555] Update EKF and 3D points, distance between two frames x:-0.000136 ,z=0.000501,angle between two frames:0.001842
[20:13:44.698] After Reprojection Map nPoint:56 ,nCell:42 ,nMatches:18 ,distance between two frames x:0.000388 ,z=0.000009,angle between two frames:0.000683
[20:13:44.698] Init estimate scale:0.138575
[20:13:44.698] it:0 	 Success 	 new_chi2: 12.035095 	 dT = 0.005188, -0.000448, 0.004947
[20:13:44.698] it:1 	 Success 	 new_chi2: 12.013831 	 dT = 0.005124, -0.000399, 0.004926
[20:13:44.698] it:2 	 Success 	 new_chi2: 12.010951 	 dT = 0.005059, -0.000330, 0.004893
[20:13:44.698] it:3 	 FAILURE 	 new_chi2: 12.027253
[20:13:44.698] n deleted obs = 10 	 n obs felt =35 	 error init =0.267447 	 error end=0.266910
[20:13:44.698] After pose optimization, distance between two frames x:0.010699 ,z=-0.000837,angle between two frames:0.010556
[20:13:44.698] Update EKF and 3D points, distance between two frames x:0.010075 ,z=0.000020,angle between two frames:0.012132
[20:13:44.841] After Reprojection Map nPoint:51 ,nCell:40 ,nMatches:15 ,distance between two frames x:-0.000211 ,z=-0.000029,angle between two frames:0.000246
[20:13:44.841] Init estimate scale:0.140140
[20:13:44.841] it:0 	 Success 	 new_chi2: 9.666269 	 dT = 0.004223, -0.000041, 0.003485
[20:13:44.841] it:1 	 Success 	 new_chi2: 9.663411 	 dT = 0.004003, 0.000015, 0.003333
[20:13:44.841] it:2 	 FAILURE 	 new_chi2: 9.669894
[20:13:44.841] n deleted obs = 7 	 n obs felt =33 	 error init =0.241657 	 error end=0.241585
[20:13:44.841] After pose optimization, distance between two frames x:0.004012 ,z=-0.000070,angle between two frames:0.003238
[20:13:44.841] Update EKF and 3D points, distance between two frames x:0.003572 ,z=0.000245,angle between two frames:0.004552
[20:13:44.985] After Reprojection Map nPoint:52 ,nCell:43 ,nMatches:17 ,distance between two frames x:-0.002746 ,z=0.001889,angle between two frames:0.017491
[20:13:44.985] Init estimate scale:0.122040
[20:13:44.985] it:0 	 Success 	 new_chi2: 8.070810 	 dT = -0.001197, -0.000249, -0.000956
[20:13:44.985] it:1 	 Success 	 new_chi2: 8.059481 	 dT = -0.001163, -0.000248, -0.000938
[20:13:44.985] it:2 	 Success 	 new_chi2: 8.049236 	 dT = -0.001132, -0.000247, -0.000921
[20:13:44.985] it:3 	 Success 	 new_chi2: 8.039970 	 dT = -0.001103, -0.000247, -0.000906
[20:13:44.985] it:4 	 Success 	 new_chi2: 8.031593 	 dT = -0.001076, -0.000247, -0.000893
[20:13:44.985] it:5 	 Success 	 new_chi2: 8.024025 	 dT = -0.000698, -0.000469, -0.000909
[20:13:44.985] it:6 	 Success 	 new_chi2: 8.017857 	 dT = -0.000700, -0.000471, -0.000915
[20:13:44.985] it:7 	 Success 	 new_chi2: 8.012044 	 dT = -0.000702, -0.000473, -0.000921
[20:13:44.985] it:8 	 Success 	 new_chi2: 8.006577 	 dT = -0.000706, -0.000474, -0.000928
[20:13:44.985] it:9 	 Success 	 new_chi2: 8.001451 	 dT = -0.000712, -0.000476, -0.000935
[20:13:44.985] it:10 	 Success 	 new_chi2: 7.996663 	 dT = -0.000718, -0.000477, -0.000943
[20:13:44.985] it:11 	 Success 	 new_chi2: 7.992214 	 dT = -0.000726, -0.000479, -0.000952
[20:13:44.985] it:12 	 Success 	 new_chi2: 7.988105 	 dT = -0.000736, -0.000480, -0.000961
[20:13:44.985] it:13 	 Success 	 new_chi2: 7.984341 	 dT = -0.000746, -0.000481, -0.000971
[20:13:44.985] it:14 	 Success 	 new_chi2: 7.980931 	 dT = -0.000759, -0.000482, -0.000982
[20:13:44.985] it:15 	 Success 	 new_chi2: 7.977885 	 dT = -0.000772, -0.000484, -0.000994
[20:13:44.985] it:16 	 Success 	 new_chi2: 7.975218 	 dT = -0.000788, -0.000485, -0.001007
[20:13:44.985] it:17 	 Success 	 new_chi2: 7.972949 	 dT = -0.000805, -0.000486, -0.001020
[20:13:44.985] it:18 	 Success 	 new_chi2: 7.971099 	 dT = -0.000823, -0.000487, -0.001035
[20:13:44.985] it:19 	 Success 	 new_chi2: 7.969698 	 dT = -0.000844, -0.000487, -0.001050
[20:13:44.985] it:20 	 Success 	 new_chi2: 7.968777 	 dT = -0.000867, -0.000488, -0.001067
[20:13:44.985] it:21 	 Success 	 new_chi2: 7.968378 	 dT = -0.000892, -0.000488, -0.001085
[20:13:44.985] it:22 	 FAILURE 	 new_chi2: 7.968547
[20:13:44.985] n deleted obs = 4 	 n obs felt =36 	 error init =0.201770 	 error end=0.199209
[20:13:44.985] After pose optimization, distance between two frames x:-0.020519 ,z=-0.007027,angle between two frames:0.002712
[20:13:44.985] Update EKF and 3D points, distance between two frames x:-0.019409 ,z=-0.005358,angle between two frames:0.003984
[20:13:45.129] After Reprojection Map nPoint:44 ,nCell:37 ,nMatches:18 ,distance between two frames x:-0.000093 ,z=-0.000046,angle between two frames:0.000092
[20:13:45.129] Init estimate scale:0.146134
[20:13:45.129] it:0 	 Success 	 new_chi2: 12.471924 	 dT = 0.003278, -0.000098, 0.002701
[20:13:45.129] it:1 	 Success 	 new_chi2: 12.446822 	 dT = 0.003233, -0.000078, 0.002693
[20:13:45.129] it:2 	 Success 	 new_chi2: 12.427087 	 dT = 0.003185, -0.000059, 0.002684
[20:13:45.129] it:3 	 Success 	 new_chi2: 12.412782 	 dT = 0.003148, -0.000033, 0.002678
[20:13:45.130] it:4 	 Success 	 new_chi2: 12.404150 	 dT = 0.003117, -0.000003, 0.002674
[20:13:45.130] it:5 	 Success 	 new_chi2: 12.401624 	 dT = 0.003840, -0.000322, 0.002784
[20:13:45.130] it:6 	 FAILURE 	 new_chi2: 12.405749
[20:13:45.130] n deleted obs = 9 	 n obs felt =31 	 error init =0.311798 	 error end=0.310041
[20:13:45.130] After pose optimization, distance between two frames x:0.015868 ,z=-0.000317,angle between two frames:0.013337
[20:13:45.130] Update EKF and 3D points, distance between two frames x:0.015307 ,z=0.000597,angle between two frames:0.010741
[20:13:45.273] After Reprojection Map nPoint:49 ,nCell:39 ,nMatches:18 ,distance between two frames x:-0.000063 ,z=-0.000030,angle between two frames:0.000005
[20:13:45.273] Init estimate scale:0.109057
[20:13:45.273] it:0 	 Success 	 new_chi2: 10.554316 	 dT = -0.020886, -0.003381, -0.016670
[20:13:45.273] it:1 	 FAILURE 	 new_chi2: 10.566616
[20:13:45.273] n deleted obs = 7 	 n obs felt =38 	 error init =0.234540 	 error end=0.234540
[20:13:45.273] After pose optimization, distance between two frames x:-0.000063 ,z=-0.000030,angle between two frames:0.000005
[20:13:45.273] Update EKF and 3D points, distance between two frames x:-0.000285 ,z=0.000618,angle between two frames:0.001989
[20:13:45.417] After Reprojection Map nPoint:57 ,nCell:52 ,nMatches:24 ,distance between two frames x:-0.001387 ,z=0.003986,angle between two frames:0.012855
[20:13:45.417] Init estimate scale:0.140974
[20:13:45.417] it:0 	 Success 	 new_chi2: 13.104692 	 dT = 0.041915, -0.001319, 0.030491
[20:13:45.417] it:1 	 FAILURE 	 new_chi2: 14.034014
[20:13:45.417] n deleted obs = 11 	 n obs felt =40 	 error init =0.256955 	 error end=0.256955
[20:13:45.417] After pose optimization, distance between two frames x:-0.001387 ,z=0.003986,angle between two frames:0.012855
[20:13:45.417] Update EKF and 3D points, distance between two frames x:-0.001403 ,z=0.004306,angle between two frames:0.013604
[20:13:45.562] After Reprojection Map nPoint:53 ,nCell:41 ,nMatches:16 ,distance between two frames x:-0.000595 ,z=-0.000117,angle between two frames:0.000734
[20:13:45.562] Init estimate scale:0.145804
[20:13:45.562] it:0 	 Success 	 new_chi2: 10.819657 	 dT = 0.015184, -0.001570, 0.015577
[20:13:45.562] it:1 	 FAILURE 	 new_chi2: 10.971911
[20:13:45.562] n deleted obs = 8 	 n obs felt =34 	 error init =0.257611 	 error end=0.257611
[20:13:45.562] After pose optimization, distance between two frames x:-0.000595 ,z=-0.000117,angle between two frames:0.000734
[20:13:45.562] Update EKF and 3D points, distance between two frames x:-0.000577 ,z=0.000001,angle between two frames:0.001612
[20:13:45.713] After Reprojection Map nPoint:54 ,nCell:46 ,nMatches:22 ,distance between two frames x:-0.001075 ,z=-0.000340,angle between two frames:0.001426
[20:13:45.713] Init estimate scale:0.148320
[20:13:45.713] it:0 	 Success 	 new_chi2: 12.544986 	 dT = 0.000004, -0.000345, 0.000019
[20:13:45.713] it:1 	 Success 	 new_chi2: 12.543353 	 dT = -0.000003, -0.000343, 0.000015
[20:13:45.713] it:2 	 Success 	 new_chi2: 12.541688 	 dT = -0.000010, -0.000342, 0.000010
[20:13:45.713] it:3 	 Success 	 new_chi2: 12.539992 	 dT = -0.000017, -0.000340, 0.000006
[20:13:45.713] it:4 	 Success 	 new_chi2: 12.538266 	 dT = -0.000024, -0.000339, 0.000001
[20:13:45.713] it:5 	 Success 	 new_chi2: 12.536512 	 dT = 0.001630, -0.000801, 0.000654
[20:13:45.713] it:6 	 FAILURE 	 new_chi2: 12.541869
[20:13:45.713] n deleted obs = 8 	 n obs felt =40 	 error init =0.261354 	 error end=0.261177
[20:13:45.713] After pose optimization, distance between two frames x:-0.001126 ,z=-0.002049,angle between two frames:0.001375
[20:13:45.713] Update EKF and 3D points, distance between two frames x:-0.001091 ,z=-0.001274,angle between two frames:0.002338
[20:13:45.855] After Reprojection Map nPoint:46 ,nCell:36 ,nMatches:16 ,distance between two frames x:0.000294 ,z=0.004729,angle between two frames:0.008738
[20:13:45.855] Init estimate scale:0.151464
[20:13:45.855] it:0 	 Success 	 new_chi2: 10.772666 	 dT = 0.008982, 0.000215, 0.007438
[20:13:45.855] it:1 	 Success 	 new_chi2: 10.725156 	 dT = 0.009533, 0.000379, 0.007963
[20:13:45.855] it:2 	 FAILURE 	 new_chi2: 10.727338
[20:13:45.855] n deleted obs = 7 	 n obs felt =34 	 error init =0.262748 	 error end=0.261589
[20:13:45.855] After pose optimization, distance between two frames x:0.009277 ,z=0.004944,angle between two frames:0.001300
[20:13:45.855] Update EKF and 3D points, distance between two frames x:0.008728 ,z=0.005209,angle between two frames:0.002954
[20:13:46.013] After Reprojection Map nPoint:40 ,nCell:33 ,nMatches:12 ,distance between two frames x:-0.005399 ,z=0.001728,angle between two frames:0.012968
[20:13:46.013] Init estimate scale:0.163686
[20:13:46.013] it:0 	 Success 	 new_chi2: 8.154418 	 dT = 0.019032, -0.000233, 0.015731
[20:13:46.013] it:1 	 FAILURE 	 new_chi2: 8.193994
[20:13:46.013] n deleted obs = 6 	 n obs felt =24 	 error init =0.271814 	 error end=0.271814
[20:13:46.013] After pose optimization, distance between two frames x:-0.005399 ,z=0.001728,angle between two frames:0.012968
[20:13:46.013] Update EKF and 3D points, distance between two frames x:-0.005325 ,z=0.002398,angle between two frames:0.011986
[20:13:46.162] After Reprojection Map nPoint:46 ,nCell:39 ,nMatches:21 ,distance between two frames x:-0.003411 ,z=0.000154,angle between two frames:0.004466
[20:13:46.163] Init estimate scale:0.170160
[20:13:46.163] it:0 	 Success 	 new_chi2: 14.233474 	 dT = 0.054379, -0.024445, 0.065165
[20:13:46.163] it:1 	 FAILURE 	 new_chi2: 15.873537
[20:13:46.163] n deleted obs = 13 	 n obs felt =35 	 error init =0.296531 	 error end=0.296531
[20:13:46.163] After pose optimization, distance between two frames x:-0.003411 ,z=0.000154,angle between two frames:0.004466
[20:13:46.163] Update EKF and 3D points, distance between two frames x:-0.003205 ,z=0.000737,angle between two frames:0.001795
[20:13:46.307] After Reprojection Map nPoint:48 ,nCell:38 ,nMatches:18 ,distance between two frames x:-0.001548 ,z=0.000048,angle between two frames:0.002352
[20:13:46.307] Init estimate scale:0.165779
[20:13:46.308] it:0 	 Success 	 new_chi2: 10.339744 	 dT = 0.013926, 0.000384, 0.011198
[20:13:46.308] it:1 	 Success 	 new_chi2: 10.326906 	 dT = 0.013954, 0.000716, 0.011259
[20:13:46.308] it:2 	 FAILURE 	 new_chi2: 10.402389
[20:13:46.308] n deleted obs = 8 	 n obs felt =33 	 error init =0.252189 	 error end=0.251876
[20:13:46.308] After pose optimization, distance between two frames x:0.012378 ,z=0.000432,angle between two frames:0.008845
[20:13:46.308] Update EKF and 3D points, distance between two frames x:0.011701 ,z=0.001288,angle between two frames:0.010508
[20:13:46.453] After Reprojection Map nPoint:49 ,nCell:39 ,nMatches:21 ,distance between two frames x:-0.004342 ,z=0.005208,angle between two frames:0.010306
[20:13:46.453] Init estimate scale:0.148644
[20:13:46.453] it:0 	 Success 	 new_chi2: 11.802625 	 dT = 0.022335, -0.013072, 0.021834
[20:13:46.453] it:1 	 FAILURE 	 new_chi2: 11.914237
[20:13:46.454] n deleted obs = 7 	 n obs felt =38 	 error init =0.262281 	 error end=0.262281
[20:13:46.454] After pose optimization, distance between two frames x:-0.004342 ,z=0.005208,angle between two frames:0.010306
[20:13:46.454] Update EKF and 3D points, distance between two frames x:-0.004350 ,z=0.005537,angle between two frames:0.008867
[20:13:46.596] After Reprojection Map nPoint:54 ,nCell:48 ,nMatches:23 ,distance between two frames x:-0.000218 ,z=0.001954,angle between two frames:0.010097
[20:13:46.596] Init estimate scale:0.159141
[20:13:46.596] it:0 	 Success 	 new_chi2: 14.239318 	 dT = 0.048933, 0.001715, 0.042797
[20:13:46.596] it:1 	 FAILURE 	 new_chi2: 15.215148
[20:13:46.596] n deleted obs = 11 	 n obs felt =40 	 error init =0.279202 	 error end=0.279202
[20:13:46.596] After pose optimization, distance between two frames x:-0.000218 ,z=0.001954,angle between two frames:0.010097
[20:13:46.596] Update EKF and 3D points, distance between two frames x:-0.000232 ,z=0.002308,angle between two frames:0.011233
[20:13:46.740] After Reprojection Map nPoint:50 ,nCell:38 ,nMatches:17 ,distance between two frames x:0.000044 ,z=-0.000093,angle between two frames:0.000197
[20:13:46.740] Init estimate scale:0.160038
[20:13:46.740] it:0 	 Success 	 new_chi2: 10.696038 	 dT = 0.008557, -0.004837, 0.007023
[20:13:46.740] it:1 	 FAILURE 	 new_chi2: 10.703103
[20:13:46.740] n deleted obs = 6 	 n obs felt =34 	 error init =0.267401 	 error end=0.267401
[20:13:46.740] After pose optimization, distance between two frames x:0.000044 ,z=-0.000093,angle between two frames:0.000197
[20:13:46.740] Update EKF and 3D points, distance between two frames x:-0.000031 ,z=0.001079,angle between two frames:0.000013
[20:13:46.884] After Reprojection Map nPoint:42 ,nCell:38 ,nMatches:18 ,distance between two frames x:-0.000467 ,z=0.007312,angle between two frames:0.000245
[20:13:46.884] Init estimate scale:0.165206
[20:13:46.884] it:0 	 Success 	 new_chi2: 11.115160 	 dT = 0.015768, 0.000634, 0.013468
[20:13:46.884] it:1 	 FAILURE 	 new_chi2: 11.195699
[20:13:46.884] n deleted obs = 8 	 n obs felt =31 	 error init =0.285004 	 error end=0.285004
[20:13:46.884] After pose optimization, distance between two frames x:-0.000467 ,z=0.007312,angle between two frames:0.000245
[20:13:46.884] Update EKF and 3D points, distance between two frames x:-0.000486 ,z=0.007643,angle between two frames:0.000657
[20:13:47.041] After Reprojection Map nPoint:50 ,nCell:36 ,nMatches:21 ,distance between two frames x:-0.001504 ,z=0.000223,angle between two frames:0.002150
[20:13:47.042] Init estimate scale:0.168129
[20:13:47.042] it:0 	 Success 	 new_chi2: 14.568175 	 dT = 0.088896, -0.063977, 0.120741
[20:13:47.042] it:1 	 FAILURE 	 new_chi2: 19.659049
[20:13:47.042] n deleted obs = 10 	 n obs felt =38 	 error init =0.303504 	 error end=0.303504
[20:13:47.042] After pose optimization, distance between two frames x:-0.001504 ,z=0.000223,angle between two frames:0.002150
[20:13:47.042] Update EKF and 3D points, distance between two frames x:-0.001460 ,z=0.000954,angle between two frames:0.001734
[20:13:47.188] After Reprojection Map nPoint:58 ,nCell:48 ,nMatches:22 ,distance between two frames x:-0.000981 ,z=-0.000290,angle between two frames:0.001302
[20:13:47.189] Init estimate scale:0.150293
[20:13:47.189] it:0 	 Success 	 new_chi2: 10.819727 	 dT = 0.053731, 0.010889, 0.057825
[20:13:47.189] it:1 	 FAILURE 	 new_chi2: 11.880815
[20:13:47.189] n deleted obs = 6 	 n obs felt =44 	 error init =0.216395 	 error end=0.216395
[20:13:47.189] After pose optimization, distance between two frames x:-0.000981 ,z=-0.000290,angle between two frames:0.001302
[20:13:47.189] Update EKF and 3D points, distance between two frames x:-0.000928 ,z=0.000306,angle between two frames:0.001041
[20:13:47.341] After Reprojection Map nPoint:51 ,nCell:46 ,nMatches:20 ,distance between two frames x:0.000224 ,z=0.003648,angle between two frames:0.000654
[20:13:47.341] Init estimate scale:0.161643
[20:13:47.341] it:0 	 Success 	 new_chi2: 11.418584 	 dT = 0.000169, -0.002438, 0.001967
[20:13:47.341] it:1 	 Success 	 new_chi2: 11.400416 	 dT = 0.000136, -0.002419, 0.001950
[20:13:47.341] it:2 	 Success 	 new_chi2: 11.383192 	 dT = 0.000099, -0.002402, 0.001930
[20:13:47.341] it:3 	 Success 	 new_chi2: 11.366893 	 dT = 0.000059, -0.002385, 0.001908
[20:13:47.341] it:4 	 Success 	 new_chi2: 11.351491 	 dT = 0.000015, -0.002369, 0.001884
[20:13:47.341] it:5 	 Success 	 new_chi2: 11.336955 	 dT = 0.001717, -0.002604, 0.002385
[20:13:47.341] it:6 	 Success 	 new_chi2: 11.321045 	 dT = 0.001776, -0.002565, 0.002423
[20:13:47.341] it:7 	 Success 	 new_chi2: 11.308510 	 dT = 0.001821, -0.002527, 0.002454
[20:13:47.341] it:8 	 Success 	 new_chi2: 11.299822 	 dT = 0.001847, -0.002488, 0.002478
[20:13:47.341] it:9 	 Success 	 new_chi2: 11.295485 	 dT = 0.001848, -0.002452, 0.002492
[20:13:47.341] it:10 	 FAILURE 	 new_chi2: 11.295989
[20:13:47.341] n deleted obs = 10 	 n obs felt =34 	 error init =0.259513 	 error end=0.256716
[20:13:47.341] After pose optimization, distance between two frames x:0.007863 ,z=-0.018548,angle between two frames:0.020035
[20:13:47.341] Update EKF and 3D points, distance between two frames x:0.007380 ,z=-0.016594,angle between two frames:0.018700
[20:13:47.485] After Reprojection Map nPoint:51 ,nCell:44 ,nMatches:24 ,distance between two frames x:-0.003062 ,z=0.012004,angle between two frames:0.008467
[20:13:47.485] Init estimate scale:0.155873
[20:13:47.485] it:0 	 Success 	 new_chi2: 13.368891 	 dT = 0.045541, -0.012066, 0.040544
[20:13:47.485] it:1 	 FAILURE 	 new_chi2: 14.246293
[20:13:47.485] n deleted obs = 9 	 n obs felt =41 	 error init =0.267378 	 error end=0.267378
[20:13:47.485] After pose optimization, distance between two frames x:-0.003062 ,z=0.012004,angle between two frames:0.008467
[20:13:47.485] Update EKF and 3D points, distance between two frames x:-0.003099 ,z=0.012687,angle between two frames:0.009051
[20:13:47.646] After Reprojection Map nPoint:51 ,nCell:40 ,nMatches:19 ,distance between two frames x:-0.000219 ,z=0.005187,angle between two frames:0.004008
[20:13:47.646] Init estimate scale:0.135876
[20:13:47.646] it:0 	 Success 	 new_chi2: 11.270595 	 dT = 0.064860, -0.013462, 0.081156
[20:13:47.646] it:1 	 FAILURE 	 new_chi2: 13.267806
[20:13:47.646] n deleted obs = 7 	 n obs felt =38 	 error init =0.250458 	 error end=0.250458
[20:13:47.646] After pose optimization, distance between two frames x:-0.000219 ,z=0.005187,angle between two frames:0.004008
[20:13:47.646] Update EKF and 3D points, distance between two frames x:-0.000242 ,z=0.005444,angle between two frames:0.005007
[20:13:47.793] After Reprojection Map nPoint:51 ,nCell:45 ,nMatches:19 ,distance between two frames x:-0.000083 ,z=0.001642,angle between two frames:0.005994
[20:13:47.793] Init estimate scale:0.167776
[20:13:47.793] it:0 	 Success 	 new_chi2: 10.175340 	 dT = -0.003114, -0.000936, -0.002439
[20:13:47.793] it:1 	 FAILURE 	 new_chi2: 10.178803
[20:13:47.793] n deleted obs = 7 	 n obs felt =35 	 error init =0.242270 	 error end=0.242270
[20:13:47.793] After pose optimization, distance between two frames x:-0.000083 ,z=0.001642,angle between two frames:0.005994
[20:13:47.793] Update EKF and 3D points, distance between two frames x:-0.000129 ,z=0.002289,angle between two frames:0.005797
[20:13:47.936] After Reprojection Map nPoint:51 ,nCell:42 ,nMatches:20 ,distance between two frames x:-0.000178 ,z=0.004008,angle between two frames:0.001489
[20:13:47.936] Init estimate scale:0.142154
[20:13:47.936] it:0 	 Success 	 new_chi2: 12.222049 	 dT = 0.011587, 0.000444, 0.009847
[20:13:47.936] it:1 	 Success 	 new_chi2: 12.214178 	 dT = 0.011620, 0.000723, 0.009891
[20:13:47.936] it:2 	 FAILURE 	 new_chi2: 12.281600
[20:13:47.936] n deleted obs = 9 	 n obs felt =38 	 error init =0.260044 	 error end=0.259876
[20:13:47.936] After pose optimization, distance between two frames x:0.011409 ,z=0.004452,angle between two frames:0.011337
[20:13:47.936] Update EKF and 3D points, distance between two frames x:0.010708 ,z=0.004743,angle between two frames:0.011008
[20:13:48.079] After Reprojection Map nPoint:50 ,nCell:45 ,nMatches:20 ,distance between two frames x:-0.004495 ,z=0.001720,angle between two frames:0.002174
[20:13:48.079] Init estimate scale:0.140874
[20:13:48.079] it:0 	 Success 	 new_chi2: 11.363631 	 dT = 0.044994, 0.002501, 0.048395
[20:13:48.079] it:1 	 FAILURE 	 new_chi2: 12.082137
[20:13:48.079] n deleted obs = 8 	 n obs felt =35 	 error init =0.264270 	 error end=0.264270
[20:13:48.079] After pose optimization, distance between two frames x:-0.004495 ,z=0.001720,angle between two frames:0.002174
[20:13:48.079] Update EKF and 3D points, distance between two frames x:-0.004504 ,z=0.002044,angle between two frames:0.002342
[20:13:48.229] After Reprojection Map nPoint:44 ,nCell:35 ,nMatches:18 ,distance between two frames x:-0.000121 ,z=0.001931,angle between two frames:0.001241
[20:13:48.229] Init estimate scale:0.161810
[20:13:48.229] it:0 	 Success 	 new_chi2: 11.296883 	 dT = 0.088144, 0.008374, 0.084452
[20:13:48.229] it:1 	 FAILURE 	 new_chi2: 13.990749
[20:13:48.229] n deleted obs = 9 	 n obs felt =31 	 error init =0.282422 	 error end=0.282422
[20:13:48.229] After pose optimization, distance between two frames x:-0.000121 ,z=0.001931,angle between two frames:0.001241
[20:13:48.229] Update EKF and 3D points, distance between two frames x:-0.000153 ,z=0.002568,angle between two frames:0.000863
[20:13:48.375] After Reprojection Map nPoint:46 ,nCell:37 ,nMatches:15 ,distance between two frames x:-0.000081 ,z=0.000007,angle between two frames:0.000043
[20:13:48.375] Init estimate scale:0.157645
[20:13:48.375] it:0 	 Success 	 new_chi2: 10.005280 	 dT = 0.046346, -0.031224, 0.079384
[20:13:48.376] it:1 	 FAILURE 	 new_chi2: 11.317151
[20:13:48.376] n deleted obs = 7 	 n obs felt =28 	 error init =0.285865 	 error end=0.285865
[20:13:48.376] After pose optimization, distance between two frames x:-0.000081 ,z=0.000007,angle between two frames:0.000043
[20:13:48.376] Update EKF and 3D points, distance between two frames x:-0.000104 ,z=0.000555,angle between two frames:0.000694
[20:13:48.531] After Reprojection Map nPoint:49 ,nCell:38 ,nMatches:20 ,distance between two frames x:-0.002827 ,z=0.000190,angle between two frames:0.004224
[20:13:48.531] Init estimate scale:0.169829
[20:13:48.531] it:0 	 Success 	 new_chi2: 12.003879 	 dT = 0.014334, -0.003858, 0.013784
[20:13:48.531] it:1 	 FAILURE 	 new_chi2: 12.058516
[20:13:48.531] n deleted obs = 7 	 n obs felt =39 	 error init =0.260954 	 error end=0.260954
[20:13:48.531] After pose optimization, distance between two frames x:-0.002827 ,z=0.000190,angle between two frames:0.004224
[20:13:48.531] Update EKF and 3D points, distance between two frames x:-0.002705 ,z=0.001002,angle between two frames:0.003563
[20:13:48.692] After Reprojection Map nPoint:52 ,nCell:39 ,nMatches:17 ,distance between two frames x:0.000767 ,z=0.005652,angle between two frames:0.003928
[20:13:48.692] Init estimate scale:0.154016
[20:13:48.692] it:0 	 Success 	 new_chi2: 10.201880 	 dT = 0.063735, 0.014332, 0.079107
[20:13:48.692] it:1 	 FAILURE 	 new_chi2: 11.734930
[20:13:48.692] n deleted obs = 6 	 n obs felt =36 	 error init =0.242902 	 error end=0.242902
[20:13:48.692] After pose optimization, distance between two frames x:0.000767 ,z=0.005652,angle between two frames:0.003928
[20:13:48.692] Update EKF and 3D points, distance between two frames x:0.000725 ,z=0.006265,angle between two frames:0.003455
[20:13:48.845] After Reprojection Map nPoint:45 ,nCell:39 ,nMatches:21 ,distance between two frames x:-0.000275 ,z=0.003884,angle between two frames:0.002849
[20:13:48.845] Init estimate scale:0.252747
[20:13:48.845] it:0 	 Success 	 new_chi2: 13.326528 	 dT = 0.001911, -0.000907, 0.001036
[20:13:48.845] it:1 	 Success 	 new_chi2: 13.322344 	 dT = 0.001940, -0.000850, 0.001121
[20:13:48.845] it:2 	 Success 	 new_chi2: 13.319272 	 dT = 0.001963, -0.000792, 0.001204
[20:13:48.845] it:3 	 Success 	 new_chi2: 13.317457 	 dT = 0.001978, -0.000734, 0.001282
[20:13:48.845] it:4 	 Success 	 new_chi2: 13.317043 	 dT = 0.001983, -0.000675, 0.001356
[20:13:48.845] it:5 	 FAILURE 	 new_chi2: 13.318173
[20:13:48.845] n deleted obs = 11 	 n obs felt =34 	 error init =0.296145 	 error end=0.295934
[20:13:48.845] After pose optimization, distance between two frames x:0.007517 ,z=0.000601,angle between two frames:0.001794
[20:13:48.845] Update EKF and 3D points, distance between two frames x:0.007045 ,z=0.001105,angle between two frames:0.001088
[20:13:48.988] After Reprojection Map nPoint:46 ,nCell:35 ,nMatches:15 ,distance between two frames x:-0.002909 ,z=0.003179,angle between two frames:0.004577
[20:13:48.988] Init estimate scale:0.170100
[20:13:48.988] it:0 	 Success 	 new_chi2: 10.436354 	 dT = 0.003858, -0.001255, 0.004821
[20:13:48.988] it:1 	 Success 	 new_chi2: 10.435591 	 dT = 0.003977, -0.001217, 0.004950
[20:13:48.988] it:2 	 FAILURE 	 new_chi2: 10.443541
[20:13:48.988] n deleted obs = 7 	 n obs felt =30 	 error init =0.282064 	 error end=0.282043
[20:13:48.988] After pose optimization, distance between two frames x:0.000949 ,z=0.001925,angle between two frames:0.000244
[20:13:48.988] Update EKF and 3D points, distance between two frames x:0.000657 ,z=0.002704,angle between two frames:0.000389
[20:13:49.130] After Reprojection Map nPoint:43 ,nCell:33 ,nMatches:12 ,distance between two frames x:-0.001737 ,z=0.004612,angle between two frames:0.000043
[20:13:49.130] Init estimate scale:0.108041
[20:13:49.131] it:0 	 Success 	 new_chi2: 8.046339 	 dT = 0.055235, -0.021914, 0.083777
[20:13:49.131] it:1 	 FAILURE 	 new_chi2: 9.529657
[20:13:49.131] n deleted obs = 3 	 n obs felt =31 	 error init =0.236657 	 error end=0.236657
[20:13:49.131] After pose optimization, distance between two frames x:-0.001737 ,z=0.004612,angle between two frames:0.000043
[20:13:49.131] Update EKF and 3D points, distance between two frames x:-0.001764 ,z=0.004933,angle between two frames:0.002470
[20:13:49.288] After Reprojection Map nPoint:42 ,nCell:39 ,nMatches:20 ,distance between two frames x:-0.001229 ,z=0.001709,angle between two frames:0.018368
[20:13:49.288] Init estimate scale:0.187387
[20:13:49.288] it:0 	 Success 	 new_chi2: 14.252414 	 dT = 0.304573, -0.102328, 0.415888
[20:13:49.288] it:1 	 FAILURE 	 new_chi2: 38.613684
[20:13:49.288] n deleted obs = 11 	 n obs felt =30 	 error init =0.347620 	 error end=0.347620
[20:13:49.288] After pose optimization, distance between two frames x:-0.001229 ,z=0.001709,angle between two frames:0.018368
[20:13:49.288] Update EKF and 3D points, distance between two frames x:-0.001223 ,z=0.002444,angle between two frames:0.019351
[20:13:49.288] Choose frame as a key frame Scene Depth mean:1.225438 ,depth min:1.022164
[20:13:49.433] After Reprojection Map nPoint:44 ,nCell:31 ,nMatches:19 ,distance between two frames x:0.000314 ,z=0.004279,angle between two frames:0.005128
[20:13:49.433] Init estimate scale:0.235488
[20:13:49.433] it:0 	 Success 	 new_chi2: 12.615039 	 dT = 0.102459, -0.145170, 0.144101
[20:13:49.433] it:1 	 FAILURE 	 new_chi2: 17.424679
[20:13:49.433] n deleted obs = 8 	 n obs felt =34 	 error init =0.300358 	 error end=0.300358
[20:13:49.433] After pose optimization, distance between two frames x:0.000314 ,z=0.004279,angle between two frames:0.005128
[20:13:49.433] Update EKF and 3D points, distance between two frames x:0.000268 ,z=0.004587,angle between two frames:0.006423
[20:13:49.433] Choose frame as a key frame Scene Depth mean:1.228237 ,depth min:-1.011211
[20:13:49.582] After Reprojection Map nPoint:62 ,nCell:42 ,nMatches:22 ,distance between two frames x:-0.000047 ,z=-0.000070,angle between two frames:0.000031
[20:13:49.582] Init estimate scale:0.193802
[20:13:49.582] it:0 	 Success 	 new_chi2: 10.599264 	 dT = -0.000933, -0.002992, 0.001479
[20:13:49.582] it:1 	 Success 	 new_chi2: 10.586731 	 dT = -0.000925, -0.002970, 0.001474
[20:13:49.582] it:2 	 Success 	 new_chi2: 10.574331 	 dT = -0.000917, -0.002947, 0.001469
[20:13:49.582] it:3 	 Success 	 new_chi2: 10.562063 	 dT = -0.000909, -0.002926, 0.001465
[20:13:49.582] it:4 	 Success 	 new_chi2: 10.549928 	 dT = -0.000901, -0.002904, 0.001461
[20:13:49.582] it:5 	 Success 	 new_chi2: 10.537925 	 dT = -0.000166, -0.002908, 0.001174
[20:13:49.582] it:6 	 Success 	 new_chi2: 10.525898 	 dT = -0.000146, -0.002881, 0.001174
[20:13:49.582] it:7 	 Success 	 new_chi2: 10.514080 	 dT = -0.000127, -0.002855, 0.001174
[20:13:49.582] it:8 	 Success 	 new_chi2: 10.502480 	 dT = -0.000108, -0.002829, 0.001175
[20:13:49.582] it:9 	 Success 	 new_chi2: 10.491111 	 dT = -0.000089, -0.002803, 0.001175
[20:13:49.582] it:10 	 Success 	 new_chi2: 10.479982 	 dT = -0.000071, -0.002777, 0.001176
[20:13:49.582] it:11 	 Success 	 new_chi2: 10.469105 	 dT = -0.000053, -0.002752, 0.001177
[20:13:49.582] it:12 	 Success 	 new_chi2: 10.458493 	 dT = -0.000036, -0.002726, 0.001178
[20:13:49.582] it:13 	 Success 	 new_chi2: 10.448158 	 dT = -0.000019, -0.002701, 0.001179
[20:13:49.582] it:14 	 Success 	 new_chi2: 10.438113 	 dT = -0.000002, -0.002675, 0.001181
[20:13:49.582] it:15 	 Success 	 new_chi2: 10.428371 	 dT = 0.000014, -0.002650, 0.001182
[20:13:49.582] it:16 	 Success 	 new_chi2: 10.418948 	 dT = 0.000030, -0.002625, 0.001184
[20:13:49.582] it:17 	 Success 	 new_chi2: 10.409858 	 dT = 0.000045, -0.002600, 0.001185
[20:13:49.582] it:18 	 Success 	 new_chi2: 10.401117 	 dT = 0.000059, -0.002575, 0.001187
[20:13:49.582] it:19 	 Success 	 new_chi2: 10.392743 	 dT = 0.000073, -0.002550, 0.001189
[20:13:49.582] it:20 	 Success 	 new_chi2: 10.384753 	 dT = 0.000087, -0.002526, 0.001191
[20:13:49.582] it:21 	 Success 	 new_chi2: 10.377167 	 dT = 0.000100, -0.002502, 0.001193
[20:13:49.582] it:22 	 Success 	 new_chi2: 10.370006 	 dT = 0.000112, -0.002477, 0.001196
[20:13:49.582] it:23 	 Success 	 new_chi2: 10.363292 	 dT = 0.000123, -0.002454, 0.001198
[20:13:49.582] it:24 	 Success 	 new_chi2: 10.357050 	 dT = 0.000134, -0.002430, 0.001201
[20:13:49.582] it:25 	 Success 	 new_chi2: 10.351306 	 dT = 0.000143, -0.002407, 0.001204
[20:13:49.582] it:26 	 Success 	 new_chi2: 10.346088 	 dT = 0.000152, -0.002384, 0.001207
[20:13:49.582] it:27 	 Success 	 new_chi2: 10.341427 	 dT = 0.000159, -0.002361, 0.001210
[20:13:49.583] it:28 	 Success 	 new_chi2: 10.337356 	 dT = 0.000165, -0.002339, 0.001213
[20:13:49.583] it:29 	 Success 	 new_chi2: 10.333908 	 dT = 0.000170, -0.002317, 0.001217
[20:13:49.583] it:30 	 Success 	 new_chi2: 10.331122 	 dT = 0.000173, -0.002296, 0.001220
[20:13:49.583] it:31 	 Success 	 new_chi2: 10.329035 	 dT = 0.000174, -0.002275, 0.001223
[20:13:49.583] it:32 	 Success 	 new_chi2: 10.327686 	 dT = 0.000173, -0.002255, 0.001227
[20:13:49.583] it:33 	 Success 	 new_chi2: 10.327115 	 dT = 0.000170, -0.002237, 0.001230
[20:13:49.583] it:34 	 FAILURE 	 new_chi2: 10.327358
[20:13:49.583] n deleted obs = 5 	 n obs felt =40 	 error init =0.235539 	 error end=0.229491
[20:13:49.583] After pose optimization, distance between two frames x:-0.003361 ,z=-0.086738,angle between two frames:0.040709
[20:13:49.583] Update EKF and 3D points, distance between two frames x:-0.003221 ,z=-0.080314,angle between two frames:0.037923
[20:13:49.732] After Reprojection Map nPoint:86 ,nCell:56 ,nMatches:23 ,distance between two frames x:-0.000050 ,z=-0.000040,angle between two frames:0.000003
[20:13:49.732] Init estimate scale:0.183227
[20:13:49.732] it:0 	 Success 	 new_chi2: 13.899433 	 dT = 0.007794, 0.003844, 0.008728
[20:13:49.732] it:1 	 FAILURE 	 new_chi2: 14.071505
[20:13:49.732] n deleted obs = 11 	 n obs felt =39 	 error init =0.277989 	 error end=0.277989
[20:13:49.732] After pose optimization, distance between two frames x:-0.000050 ,z=-0.000040,angle between two frames:0.000003
[20:13:49.732] Update EKF and 3D points, distance between two frames x:-0.000020 ,z=0.002489,angle between two frames:0.000990
[20:13:49.883] After Reprojection Map nPoint:89 ,nCell:71 ,nMatches:24 ,distance between two frames x:0.000024 ,z=0.015601,angle between two frames:0.006493
[20:13:49.883] Init estimate scale:0.169356
[20:13:49.883] it:0 	 Success 	 new_chi2: 10.253611 	 dT = 0.001998, -0.003020, 0.004492
[20:13:49.883] it:1 	 FAILURE 	 new_chi2: 10.293020
[20:13:49.883] n deleted obs = 3 	 n obs felt =48 	 error init =0.201051 	 error end=0.201051
[20:13:49.883] After pose optimization, distance between two frames x:0.000024 ,z=0.015601,angle between two frames:0.006493
[20:13:49.883] Update EKF and 3D points, distance between two frames x:-0.000005 ,z=0.016314,angle between two frames:0.006373
[20:13:50.047] After Reprojection Map nPoint:93 ,nCell:70 ,nMatches:20 ,distance between two frames x:-0.001431 ,z=-0.000189,angle between two frames:0.002003
[20:13:50.047] Init estimate scale:0.148442
[20:13:50.047] it:0 	 Success 	 new_chi2: 12.433549 	 dT = 0.067382, -0.031066, 0.073788
[20:13:50.047] it:1 	 FAILURE 	 new_chi2: 15.585947
[20:13:50.047] n deleted obs = 9 	 n obs felt =40 	 error init =0.253746 	 error end=0.253746
[20:13:50.047] After pose optimization, distance between two frames x:-0.001431 ,z=-0.000189,angle between two frames:0.002003
[20:13:50.047] Update EKF and 3D points, distance between two frames x:-0.001373 ,z=0.000392,angle between two frames:0.001442
[20:13:50.202] After Reprojection Map nPoint:94 ,nCell:79 ,nMatches:24 ,distance between two frames x:-0.001275 ,z=0.003364,angle between two frames:0.001257
[20:13:50.203] Init estimate scale:0.183262
[20:13:50.203] it:0 	 Success 	 new_chi2: 13.225032 	 dT = 0.001096, -0.000111, 0.001222
[20:13:50.203] it:1 	 FAILURE 	 new_chi2: 13.242094
[20:13:50.203] n deleted obs = 8 	 n obs felt =46 	 error init =0.244908 	 error end=0.244908
[20:13:50.203] After pose optimization, distance between two frames x:-0.001275 ,z=0.003364,angle between two frames:0.001257
[20:13:50.203] Update EKF and 3D points, distance between two frames x:-0.001210 ,z=0.004016,angle between two frames:0.002044
[20:13:50.358] After Reprojection Map nPoint:95 ,nCell:80 ,nMatches:27 ,distance between two frames x:0.000120 ,z=0.000172,angle between two frames:0.000267
[20:13:50.358] Init estimate scale:0.219733
[20:13:50.358] it:0 	 Success 	 new_chi2: 13.165346 	 dT = 0.003165, -0.001029, 0.003147
[20:13:50.358] it:1 	 FAILURE 	 new_chi2: 13.183666
[20:13:50.358] n deleted obs = 8 	 n obs felt =45 	 error init =0.248403 	 error end=0.248403
[20:13:50.358] After pose optimization, distance between two frames x:0.000120 ,z=0.000172,angle between two frames:0.000267
[20:13:50.359] Update EKF and 3D points, distance between two frames x:0.000122 ,z=0.000723,angle between two frames:0.001316
[20:13:50.514] After Reprojection Map nPoint:85 ,nCell:66 ,nMatches:23 ,distance between two frames x:-0.000222 ,z=0.003425,angle between two frames:0.006304
[20:13:50.514] Init estimate scale:0.196810
[20:13:50.514] it:0 	 Success 	 new_chi2: 12.886410 	 dT = -0.005475, -0.001401, -0.000607
[20:13:50.514] it:1 	 Success 	 new_chi2: 12.854393 	 dT = -0.005223, -0.001364, -0.000538
[20:13:50.514] it:2 	 Success 	 new_chi2: 12.828354 	 dT = -0.004986, -0.001328, -0.000472
[20:13:50.514] it:3 	 Success 	 new_chi2: 12.807409 	 dT = -0.004763, -0.001295, -0.000408
[20:13:50.514] it:4 	 Success 	 new_chi2: 12.790910 	 dT = -0.004551, -0.001263, -0.000345
[20:13:50.514] it:5 	 Success 	 new_chi2: 12.778372 	 dT = -0.003151, -0.002845, -0.000220
[20:13:50.514] it:6 	 Success 	 new_chi2: 12.762179 	 dT = -0.003231, -0.002768, -0.000308
[20:13:50.514] it:7 	 Success 	 new_chi2: 12.747909 	 dT = -0.003323, -0.002687, -0.000403
[20:13:50.514] it:8 	 Success 	 new_chi2: 12.736000 	 dT = -0.003429, -0.002599, -0.000508
[20:13:50.514] it:9 	 Success 	 new_chi2: 12.727026 	 dT = -0.003553, -0.002504, -0.000624
[20:13:50.514] it:10 	 Success 	 new_chi2: 12.721728 	 dT = -0.003694, -0.002401, -0.000750
[20:13:50.514] it:11 	 Success 	 new_chi2: 12.721052 	 dT = -0.003853, -0.002287, -0.000888
[20:13:50.514] it:12 	 FAILURE 	 new_chi2: 12.726167
[20:13:50.514] n deleted obs = 11 	 n obs felt =36 	 error init =0.274179 	 error end=0.270661
[20:13:50.514] After pose optimization, distance between two frames x:-0.045599 ,z=-0.019031,angle between two frames:0.001121
[20:13:50.514] Update EKF and 3D points, distance between two frames x:-0.042974 ,z=-0.017094,angle between two frames:0.001303
[20:13:50.662] After Reprojection Map nPoint:87 ,nCell:46 ,nMatches:22 ,distance between two frames x:0.016105 ,z=0.011928,angle between two frames:0.000965
[20:13:50.662] Init estimate scale:0.168476
[20:13:50.662] it:0 	 Success 	 new_chi2: 14.026812 	 dT = 0.001667, -0.000131, 0.001684
[20:13:50.662] it:1 	 FAILURE 	 new_chi2: 14.029717
[20:13:50.662] n deleted obs = 11 	 n obs felt =41 	 error init =0.269746 	 error end=0.269746
[20:13:50.662] After pose optimization, distance between two frames x:0.016105 ,z=0.011928,angle between two frames:0.000965
[20:13:50.662] Update EKF and 3D points, distance between two frames x:0.016095 ,z=0.012250,angle between two frames:0.000129
[20:13:50.824] After Reprojection Map nPoint:92 ,nCell:50 ,nMatches:24 ,distance between two frames x:-0.000082 ,z=-0.000003,angle between two frames:0.000056
[20:13:50.824] Init estimate scale:0.190944
[20:13:50.824] it:0 	 Success 	 new_chi2: 13.761386 	 dT = 0.001599, -0.000511, 0.001095
[20:13:50.824] it:1 	 Success 	 new_chi2: 13.758248 	 dT = 0.001581, -0.000493, 0.001103
[20:13:50.824] it:2 	 Success 	 new_chi2: 13.756244 	 dT = 0.001562, -0.000475, 0.001110
[20:13:50.824] it:3 	 Success 	 new_chi2: 13.755352 	 dT = 0.001544, -0.000458, 0.001118
[20:13:50.824] it:4 	 FAILURE 	 new_chi2: 13.755558
[20:13:50.824] n deleted obs = 9 	 n obs felt =42 	 error init =0.269831 	 error end=0.269713
[20:13:50.824] After pose optimization, distance between two frames x:0.004660 ,z=-0.001482,angle between two frames:0.003252
[20:13:50.824] Update EKF and 3D points, distance between two frames x:0.004350 ,z=-0.000645,angle between two frames:0.002449
[20:13:50.980] After Reprojection Map nPoint:95 ,nCell:67 ,nMatches:21 ,distance between two frames x:-0.001872 ,z=0.005124,angle between two frames:0.005445
[20:13:50.980] Init estimate scale:0.136775
[20:13:50.980] it:0 	 Success 	 new_chi2: 10.583998 	 dT = 0.000372, -0.000646, 0.000801
[20:13:50.980] it:1 	 Success 	 new_chi2: 10.578927 	 dT = 0.000371, -0.000643, 0.000806
[20:13:50.980] it:2 	 Success 	 new_chi2: 10.574065 	 dT = 0.000369, -0.000639, 0.000811
[20:13:50.980] it:3 	 Success 	 new_chi2: 10.569414 	 dT = 0.000367, -0.000636, 0.000816
[20:13:50.980] it:4 	 Success 	 new_chi2: 10.564976 	 dT = 0.000364, -0.000632, 0.000821
[20:13:50.980] it:5 	 Success 	 new_chi2: 10.560753 	 dT = 0.000485, -0.001078, 0.000554
[20:13:50.980] it:6 	 Success 	 new_chi2: 10.555033 	 dT = 0.000488, -0.001076, 0.000556
[20:13:50.980] it:7 	 Success 	 new_chi2: 10.549484 	 dT = 0.000490, -0.001072, 0.000558
[20:13:50.980] it:8 	 Success 	 new_chi2: 10.544112 	 dT = 0.000493, -0.001069, 0.000560
[20:13:50.980] it:9 	 Success 	 new_chi2: 10.538923 	 dT = 0.000495, -0.001066, 0.000562
[20:13:50.980] it:10 	 Success 	 new_chi2: 10.533920 	 dT = 0.000497, -0.001063, 0.000564
[20:13:50.980] it:11 	 Success 	 new_chi2: 10.529111 	 dT = 0.000499, -0.001059, 0.000566
[20:13:50.980] it:12 	 Success 	 new_chi2: 10.524501 	 dT = 0.000500, -0.001056, 0.000568
[20:13:50.980] it:13 	 Success 	 new_chi2: 10.520097 	 dT = 0.000502, -0.001052, 0.000570
[20:13:50.980] it:14 	 Success 	 new_chi2: 10.515904 	 dT = 0.000503, -0.001048, 0.000572
[20:13:50.980] it:15 	 Success 	 new_chi2: 10.511930 	 dT = 0.000504, -0.001045, 0.000574
[20:13:50.980] it:16 	 Success 	 new_chi2: 10.508183 	 dT = 0.000504, -0.001041, 0.000576
[20:13:50.980] it:17 	 Success 	 new_chi2: 10.504669 	 dT = 0.000505, -0.001036, 0.000578
[20:13:50.980] it:18 	 Success 	 new_chi2: 10.501397 	 dT = 0.000505, -0.001032, 0.000580
[20:13:50.980] it:19 	 Success 	 new_chi2: 10.498376 	 dT = 0.000505, -0.001028, 0.000581
[20:13:50.980] it:20 	 Success 	 new_chi2: 10.495614 	 dT = 0.000504, -0.001023, 0.000583
[20:13:50.980] it:21 	 Success 	 new_chi2: 10.493121 	 dT = 0.000503, -0.001018, 0.000585
[20:13:50.980] it:22 	 Success 	 new_chi2: 10.490907 	 dT = 0.000502, -0.001014, 0.000587
[20:13:50.980] it:23 	 Success 	 new_chi2: 10.488982 	 dT = 0.000500, -0.001009, 0.000588
[20:13:50.980] it:24 	 Success 	 new_chi2: 10.487357 	 dT = 0.000498, -0.001003, 0.000590
[20:13:50.980] it:25 	 Success 	 new_chi2: 10.486041 	 dT = 0.000495, -0.000998, 0.000591
[20:13:50.980] it:26 	 Success 	 new_chi2: 10.485047 	 dT = 0.000492, -0.000992, 0.000593
[20:13:50.980] it:27 	 Success 	 new_chi2: 10.484385 	 dT = 0.000488, -0.000987, 0.000594
[20:13:50.980] it:28 	 Success 	 new_chi2: 10.484066 	 dT = 0.000484, -0.000981, 0.000595
[20:1