[19:59:17.117] frame process finished the id is: 0 the obs is:0 
[19:59:17.212] frame process finished the id is: 1 the obs is:0 
[19:59:17.310] Init: frame zero: 0.000000, 0.000000 0.000000
[19:59:17.310] Init: Selected first frame. 
[19:59:17.310] frame process finished the id is: 2 the obs is:0 
[19:59:17.345] Init: px average disparity is:0.152753 ,While minimum is: 10.000000  KLT tracked : 109
[19:59:17.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:17.345] frame process finished the id is: 3 the obs is:0 
[19:59:17.444] Init: px average disparity is:0.221920 ,While minimum is: 10.000000  KLT tracked : 109
[19:59:17.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:17.444] frame process finished the id is: 4 the obs is:0 
[19:59:17.553] Init: px average disparity is:0.152235 ,While minimum is: 10.000000  KLT tracked : 109
[19:59:17.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:17.553] frame process finished the id is: 5 the obs is:0 
[19:59:17.642] Init: px average disparity is:0.197958 ,While minimum is: 10.000000  KLT tracked : 109
[19:59:17.642] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:17.642] frame process finished the id is: 6 the obs is:0 
[19:59:17.745] Init: px average disparity is:0.221111 ,While minimum is: 10.000000  KLT tracked : 109
[19:59:17.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:17.745] frame process finished the id is: 7 the obs is:0 
[19:59:17.851] Init: px average disparity is:0.224726 ,While minimum is: 10.000000  KLT tracked : 109
[19:59:17.851] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:17.851] frame process finished the id is: 8 the obs is:0 
[19:59:17.952] Init: px average disparity is:0.158653 ,While minimum is: 10.000000  KLT tracked : 109
[19:59:17.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:17.952] frame process finished the id is: 9 the obs is:0 
[19:59:18.039] Odometry x=0.000000, y=0.000000, theta=-0.000000
[19:59:18.049] Init: px average disparity is:0.179287 ,While minimum is: 10.000000  KLT tracked : 109
[19:59:18.049] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:18.049] frame process finished the id is: 10 the obs is:0 
[19:59:18.132] Odometry x=0.000001, y=0.000003, theta=-0.033384
[19:59:18.149] Init: px average disparity is:0.148421 ,While minimum is: 10.000000  KLT tracked : 109
[19:59:18.149] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:18.149] frame process finished the id is: 11 the obs is:0 
[19:59:18.230] Odometry x=0.000002, y=0.000007, theta=-0.059169
[19:59:18.245] Init: px average disparity is:0.137330 ,While minimum is: 10.000000  KLT tracked : 109
[19:59:18.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:18.245] frame process finished the id is: 12 the obs is:0 
[19:59:18.333] Odometry x=0.000009, y=0.000010, theta=-0.083266
[19:59:18.353] Init: px average disparity is:4.945143 ,While minimum is: 10.000000  KLT tracked : 109
[19:59:18.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:18.353] frame process finished the id is: 13 the obs is:0 
[19:59:18.431] Odometry x=0.000000, y=0.000029, theta=-0.014218
[19:59:18.519] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:11.912397 ,While minimum is: 10.000000  KLT tracked: 109
[19:59:18.519] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:18.519] frame process finished the id is: 14 the obs is:0 
[19:59:18.533] Odometry x=0.000006, y=0.000037, theta=-0.041722
[19:59:18.619] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:19.121424 ,While minimum is: 10.000000  KLT tracked: 109
[19:59:18.619] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:18.619] frame process finished the id is: 15 the obs is:0 
[19:59:18.631] Odometry x=0.000010, y=0.000047, theta=-0.082338
[19:59:18.716] Init: Homography RANSAC (inlier) is:1 ,While 30 inliers minimum required.  px average disparity is:29.212896 ,While minimum is: 10.000000  KLT tracked: 109
[19:59:18.716] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:18.716] frame process finished the id is: 16 the obs is:0 
[19:59:18.733] Odometry x=0.000014, y=0.000051, theta=-0.116735
[19:59:18.819] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:40.866547 ,While minimum is: 10.000000  KLT tracked: 109
[19:59:18.819] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:18.819] frame process finished the id is: 17 the obs is:0 
[19:59:18.831] Odometry x=0.000012, y=0.000065, theta=-0.150406
[19:59:18.918] Init: Homography RANSAC (inlier) is:7 ,While 30 inliers minimum required.  px average disparity is:51.065260 ,While minimum is: 10.000000  KLT tracked: 109
[19:59:18.918] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:18.918] frame process finished the id is: 18 the obs is:0 
[19:59:18.932] Odometry x=0.000032, y=0.000065, theta=-0.175625
[19:59:19.018] Init: Homography RANSAC (inlier) is:9 ,While 30 inliers minimum required.  px average disparity is:58.238817 ,While minimum is: 10.000000  KLT tracked: 108
[19:59:19.018] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:19.018] frame process finished the id is: 19 the obs is:0 
[19:59:19.032] Odometry x=0.000037, y=0.000068, theta=-0.203385
[19:59:19.118] Init: Homography RANSAC (inlier) is:9 ,While 30 inliers minimum required.  px average disparity is:68.778966 ,While minimum is: 10.000000  KLT tracked: 106
[19:59:19.118] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:19.118] frame process finished the id is: 20 the obs is:0 
[19:59:19.133] Odometry x=0.000050, y=0.000075, theta=-0.234988
[19:59:19.218] Init: Homography RANSAC (inlier) is:23 ,While 30 inliers minimum required.  px average disparity is:79.322258 ,While minimum is: 10.000000  KLT tracked: 105
[19:59:19.218] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:59:19.218] frame process finished the id is: 21 the obs is:0 
[19:59:19.230] Odometry x=0.000058, y=0.000081, theta=-0.267405
[19:59:19.318] Init finished: Homography RANSAC (inlier) is:35 ,While 30 inliers minimum required.  px average disparity is:90.575691 ,While minimum is: 10.000000  KLT tracked: 105
[19:59:19.318] Init: distance between the first and current frame is x:0.000062 ,z=0.000083,angle between two frames: -0.296235 
[19:59:19.318] Init: Selected Second frame. 	 The number of features: 35 depth mean:-0.000641 min:-0.001309
[19:59:19.318] frame process finished the id is: 22 the obs is:35 
[19:59:19.330] Odometry x=0.000062, y=0.000083, theta=-0.296235
[19:59:19.434] Odometry x=0.000065, y=0.000086, theta=-0.324513
[19:59:19.531] Odometry x=0.000066, y=0.000090, theta=-0.357137
[19:59:19.630] Odometry x=0.000075, y=0.000100, theta=-0.387188
[19:59:19.732] Odometry x=0.000075, y=0.000109, theta=-0.416785
[19:59:19.830] Odometry x=0.000082, y=0.000111, theta=-0.445093
[19:59:19.932] Odomet