[10:01:05.666] Init: frame zero: 0.000000, 0.000000 0.000000
[10:01:05.666] Init: Selected first frame. 
[10:01:05.764] Init: px average disparity is:0.201411 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:05.764] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:05.860] Init: px average disparity is:0.241944 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:05.861] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:05.962] Init: px average disparity is:0.259333 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:05.962] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:06.061] Init: px average disparity is:0.275086 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:06.062] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:06.160] Init: px average disparity is:0.249210 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:06.160] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:06.262] Init: px average disparity is:0.242762 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:06.262] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:06.364] Init: px average disparity is:0.248587 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:06.364] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:06.464] Init: px average disparity is:0.245162 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:06.464] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:06.559] Init: px average disparity is:0.271267 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:06.559] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:06.660] Init: px average disparity is:0.236564 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:06.660] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:06.760] Init: px average disparity is:0.254355 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:06.760] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:06.866] Init: px average disparity is:0.262954 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:06.866] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:06.966] Init: px average disparity is:0.247416 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:06.966] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:07.071] Init: px average disparity is:0.255228 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:07.071] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:07.166] Init: px average disparity is:0.239903 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:07.166] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:07.267] Init: px average disparity is:0.265271 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:07.267] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:07.367] Init: px average disparity is:0.271276 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:07.367] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:07.466] Init: px average disparity is:0.255202 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:07.467] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:07.567] Init: px average disparity is:0.243148 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:07.567] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:07.667] Init: px average disparity is:0.238355 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:07.667] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:07.767] Init: px average disparity is:0.267240 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:07.767] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:07.867] Init: px average disparity is:0.276882 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:07.867] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:07.968] Init: px average disparity is:0.249838 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:07.968] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:08.067] Init: px average disparity is:0.238369 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:08.067] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:08.167] Init: px average disparity is:0.264729 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:08.167] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:08.271] Init: px average disparity is:0.252469 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:08.271] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:08.368] Init: px average disparity is:0.233812 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:08.368] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:08.470] Init: px average disparity is:0.277848 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:08.470] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:08.569] Init: px average disparity is:0.237447 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:08.569] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:08.604] Odometry x=0.001715, y=-0.001815, theta=0.046216
[10:01:08.669] Init: px average disparity is:0.242066 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:08.669] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:08.704] Odometry x=0.001824, y=-0.001877, theta=0.049049
[10:01:08.768] Init: px average disparity is:0.220384 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:08.768] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:08.805] Odometry x=0.001787, y=-0.005470, theta=0.052161
[10:01:08.868] Init: px average disparity is:1.695468 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:08.868] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:08.906] Odometry x=0.001703, y=-0.009868, theta=0.055927
[10:01:08.969] Init: px average disparity is:5.929129 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:08.969] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:09.007] Odometry x=0.001610, y=-0.013934, theta=0.064445
[10:01:09.069] Init: px average disparity is:7.665695 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:09.069] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:09.106] Odometry x=0.001475, y=-0.018075, theta=0.066041
[10:01:09.170] Init: px average disparity is:4.939283 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:09.170] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:09.207] Odometry x=0.001351, y=-0.021953, theta=0.066331
[10:01:09.269] Init: px average disparity is:5.281637 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:09.269] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:09.307] Odometry x=0.001277, y=-0.026011, theta=0.068648
[10:01:09.369] Init: px average disparity is:4.225008 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:09.370] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:09.406] Odometry x=0.000526, y=-0.029832, theta=0.029901
[10:01:09.471] Init: px average disparity is:5.676065 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:09.471] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:09.506] Odometry x=0.000536, y=-0.033893, theta=0.022787
[10:01:09.570] Init: px average disparity is:4.403447 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:09.570] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:09.606] Odometry x=0.000546, y=-0.037753, theta=0.040146
[10:01:09.670] Init: px average disparity is:6.266017 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:09.670] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:09.706] Odometry x=0.000571, y=-0.041786, theta=0.040389
[10:01:09.771] Init: px average disparity is:7.722767 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:09.771] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:09.808] Odometry x=0.000537, y=-0.045462, theta=0.057865
[10:01:09.871] Init: px average disparity is:9.149249 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:09.871] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:09.909] Odometry x=0.000377, y=-0.049458, theta=0.058434
[10:01:09.971] Init: px average disparity is:12.438411 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:09.971] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:10.004] Odometry x=0.000121, y=-0.053329, theta=0.036428
[10:01:10.071] Init: px average disparity is:15.095488 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:10.071] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:10.109] Odometry x=0.000223, y=-0.057307, theta=0.039015
[10:01:10.171] Init: px average disparity is:13.331085 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:10.171] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:10.204] Odometry x=-0.000062, y=-0.061297, theta=0.044090
[10:01:10.271] Init: px average disparity is:12.552150 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:10.271] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:10.305] Odometry x=-0.000014, y=-0.065444, theta=0.040575
[10:01:10.371] Init: px average disparity is:10.937374 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:10.371] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:10.409] Odometry x=-0.000062, y=-0.069425, theta=0.037468
[10:01:10.470] Init: px average disparity is:12.664706 ,While minimum is: 40.000000  KLT tracked : 141
[10:01:10.470] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:10.509] Odometry x=-0.000058, y=-0.073583, theta=0.027842
[10:01:10.571] Init: px average disparity is:12.901860 ,While minimum is: 40.000000  KLT tracked : 140
[10:01:10.571] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:10.610] Odometry x=0.000072, y=-0.077795, theta=0.016460
[10:01:10.670] Init: px average disparity is:19.021269 ,While minimum is: 40.000000  KLT tracked : 140
[10:01:10.670] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:10.721] Odometry x=0.000258, y=-0.082238, theta=-0.000473
[10:01:10.770] Init: px average disparity is:13.790796 ,While minimum is: 40.000000  KLT tracked : 140
[10:01:10.770] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:10.810] Odometry x=0.000504, y=-0.086689, theta=-0.004778
[10:01:10.870] Init: px average disparity is:13.575732 ,While minimum is: 40.000000  KLT tracked : 140
[10:01:10.870] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:10.910] Odometry x=0.000591, y=-0.090367, theta=0.007838
[10:01:10.972] Init: px average disparity is:8.979123 ,While minimum is: 40.000000  KLT tracked : 140
[10:01:10.972] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:11.008] Odometry x=0.000814, y=-0.094225, theta=0.005235
[10:01:11.070] Init: px average disparity is:9.584498 ,While minimum is: 40.000000  KLT tracked : 140
[10:01:11.070] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:11.104] Odometry x=0.001065, y=-0.098212, theta=0.020735
[10:01:11.170] Init: px average disparity is:9.535008 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:11.170] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:11.210] Odometry x=0.001242, y=-0.101986, theta=0.023583
[10:01:11.270] Init: px average disparity is:10.480481 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:11.270] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:11.310] Odometry x=0.001291, y=-0.105878, theta=0.047728
[10:01:11.373] Init: px average disparity is:11.260777 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:11.373] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:11.413] Odometry x=0.001424, y=-0.109943, theta=0.051937
[10:01:11.470] Init: px average disparity is:9.275958 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:11.470] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:11.513] Odometry x=0.001275, y=-0.113839, theta=0.054057
[10:01:11.570] Init: px average disparity is:11.409695 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:11.570] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:11.614] Odometry x=0.001211, y=-0.117891, theta=0.059062
[10:01:11.670] Init: px average disparity is:13.502571 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:11.670] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:11.708] Odometry x=0.000969, y=-0.121960, theta=0.068595
[10:01:11.770] Init: px average disparity is:14.638406 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:11.770] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:11.808] Odometry x=0.000382, y=-0.125856, theta=0.031587
[10:01:11.871] Init: px average disparity is:15.472735 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:11.871] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:11.904] Odometry x=0.000282, y=-0.129897, theta=0.033039
[10:01:11.970] Init: px average disparity is:16.025619 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:11.970] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:12.004] Odometry x=0.000275, y=-0.133757, theta=0.039296
[10:01:12.072] Init: px average disparity is:16.406885 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:12.072] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:12.108] Odometry x=0.000125, y=-0.137757, theta=0.040171
[10:01:12.172] Init: px average disparity is:18.555605 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:12.172] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:12.208] Odometry x=0.000098, y=-0.141728, theta=0.047886
[10:01:12.272] Init: px average disparity is:21.644894 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:12.272] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:12.309] Odometry x=-0.000109, y=-0.145769, theta=0.048255
[10:01:12.372] Init: px average disparity is:19.822093 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:12.372] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:12.409] Odometry x=-0.000160, y=-0.149834, theta=0.031394
[10:01:12.473] Init: px average disparity is:19.150498 ,While minimum is: 40.000000  KLT tracked : 139
[10:01:12.473] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:12.509] Odometry x=-0.000275, y=-0.153759, theta=0.036528
[10:01:12.572] Init: px average disparity is:18.763810 ,While minimum is: 40.000000  KLT tracked : 137
[10:01:12.572] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:12.609] Odometry x=-0.000418, y=-0.157765, theta=0.022390
[10:01:12.673] Init: px average disparity is:18.956823 ,While minimum is: 40.000000  KLT tracked : 137
[10:01:12.673] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:12.709] Odometry x=-0.000280, y=-0.161764, theta=0.016164
[10:01:12.772] Init: px average disparity is:21.252892 ,While minimum is: 40.000000  KLT tracked : 137
[10:01:12.772] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:12.809] Odometry x=-0.000372, y=-0.165865, theta=0.013761
[10:01:12.874] Init: px average disparity is:20.749086 ,While minimum is: 40.000000  KLT tracked : 137
[10:01:12.874] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:12.909] Odometry x=-0.000305, y=-0.169943, theta=0.004804
[10:01:12.972] Init: px average disparity is:21.485297 ,While minimum is: 40.000000  KLT tracked : 133
[10:01:12.973] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:13.009] Odometry x=-0.000367, y=-0.173916, theta=0.013750
[10:01:13.072] Init: px average disparity is:21.872884 ,While minimum is: 40.000000  KLT tracked : 133
[10:01:13.073] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:13.109] Odometry x=-0.000306, y=-0.177901, theta=0.016612
[10:01:13.173] Init: px average disparity is:20.335931 ,While minimum is: 40.000000  KLT tracked : 133
[10:01:13.173] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:13.209] Odometry x=-0.000377, y=-0.181903, theta=0.041728
[10:01:13.272] Init: px average disparity is:21.374184 ,While minimum is: 40.000000  KLT tracked : 133
[10:01:13.273] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:13.308] Odometry x=-0.000408, y=-0.185798, theta=0.045221
[10:01:13.374] Init: px average disparity is:21.006398 ,While minimum is: 40.000000  KLT tracked : 133
[10:01:13.374] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:13.409] Odometry x=-0.000706, y=-0.189938, theta=0.056339
[10:01:13.473] Init: px average disparity is:23.051158 ,While minimum is: 40.000000  KLT tracked : 133
[10:01:13.473] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:13.509] Odometry x=-0.000845, y=-0.193660, theta=0.062754
[10:01:13.574] Init: px average disparity is:21.354553 ,While minimum is: 40.000000  KLT tracked : 133
[10:01:13.574] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:13.610] Odometry x=-0.001152, y=-0.197927, theta=0.065276
[10:01:13.674] Init: px average disparity is:22.562154 ,While minimum is: 40.000000  KLT tracked : 133
[10:01:13.674] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:13.710] Odometry x=-0.000494, y=-0.201658, theta=0.027371
[10:01:13.773] Init: px average disparity is:21.287980 ,While minimum is: 40.000000  KLT tracked : 133
[10:01:13.773] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:13.809] Odometry x=-0.000740, y=-0.205880, theta=0.030220
[10:01:13.873] Init: px average disparity is:23.519763 ,While minimum is: 40.000000  KLT tracked : 133
[10:01:13.873] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:13.906] Odometry x=-0.000727, y=-0.209758, theta=0.038861
[10:01:13.974] Init: px average disparity is:21.645678 ,While minimum is: 40.000000  KLT tracked : 133
[10:01:13.974] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:14.010] Odometry x=-0.001041, y=-0.213850, theta=0.024811
[10:01:14.073] Init: px average disparity is:23.181423 ,While minimum is: 40.000000  KLT tracked : 133
[10:01:14.074] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:14.106] Odometry x=-0.000856, y=-0.217697, theta=0.035441
[10:01:14.173] Init: px average disparity is:21.572898 ,While minimum is: 40.000000  KLT tracked : 133
[10:01:14.173] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:14.208] Odometry x=-0.001086, y=-0.221769, theta=0.022629
[10:01:14.273] Init: px average disparity is:23.545558 ,While minimum is: 40.000000  KLT tracked : 130
[10:01:14.273] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:14.309] Odometry x=-0.001096, y=-0.225923, theta=0.008475
[10:01:14.373] Init: px average disparity is:23.824837 ,While minimum is: 40.000000  KLT tracked : 130
[10:01:14.373] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:14.410] Odometry x=-0.001015, y=-0.230126, theta=0.009522
[10:01:14.474] Init: px average disparity is:26.138986 ,While minimum is: 40.000000  KLT tracked : 130
[10:01:14.474] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:14.507] Odometry x=-0.001250, y=-0.233864, theta=-0.002829
[10:01:14.576] Init: px average disparity is:27.614422 ,While minimum is: 40.000000  KLT tracked : 130
[10:01:14.576] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:14.613] Odometry x=-0.001006, y=-0.237822, theta=-0.010570
[10:01:14.674] Init: px average disparity is:27.357123 ,While minimum is: 40.000000  KLT tracked : 130
[10:01:14.674] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:14.710] Odometry x=-0.001104, y=-0.241763, theta=0.007136
[10:01:14.774] Init: px average disparity is:26.874952 ,While minimum is: 40.000000  KLT tracked : 130
[10:01:14.774] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:14.807] Odometry x=-0.000878, y=-0.245929, theta=0.003580
[10:01:14.875] Init: px average disparity is:26.227594 ,While minimum is: 40.000000  KLT tracked : 130
[10:01:14.875] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:14.913] Odometry x=-0.001059, y=-0.249667, theta=0.029863
[10:01:14.974] Init: px average disparity is:25.771880 ,While minimum is: 40.000000  KLT tracked : 130
[10:01:14.975] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:15.012] Odometry x=-0.001075, y=-0.253858, theta=0.031875
[10:01:15.076] Init: px average disparity is:25.305247 ,While minimum is: 40.000000  KLT tracked : 130
[10:01:15.076] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:15.113] Odometry x=-0.001252, y=-0.257762, theta=0.054885
[10:01:15.176] Init: px average disparity is:26.143805 ,While minimum is: 40.000000  KLT tracked : 130
[10:01:15.176] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:15.207] Odometry x=-0.001425, y=-0.261639, theta=0.060362
[10:01:15.274] Init: px average disparity is:25.998048 ,While minimum is: 40.000000  KLT tracked : 130
[10:01:15.274] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:15.307] Odometry x=-0.001752, y=-0.265535, theta=0.059694
[10:01:15.376] Init: px average disparity is:27.021910 ,While minimum is: 40.000000  KLT tracked : 130
[10:01:15.376] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:15.413] Odometry x=-0.001888, y=-0.269510, theta=0.060823
[10:01:15.478] Init: px average disparity is:26.306633 ,While minimum is: 40.000000  KLT tracked : 130
[10:01:15.478] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:15.511] Odometry x=-0.002156, y=-0.273571, theta=0.061573
[10:01:15.576] Init: px average disparity is:27.859637 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:15.576] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:15.606] Odometry x=-0.002282, y=-0.277475, theta=0.054664
[10:01:15.675] Init: px average disparity is:27.886749 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:15.675] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:15.712] Odometry x=-0.002615, y=-0.281442, theta=0.055886
[10:01:15.774] Init: px average disparity is:28.445922 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:15.774] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:15.812] Odometry x=-0.002727, y=-0.285521, theta=0.048345
[10:01:15.876] Init: px average disparity is:30.474345 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:15.876] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:15.912] Odometry x=-0.003010, y=-0.289418, theta=0.052937
[10:01:15.975] Init: px average disparity is:29.523972 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:15.975] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:16.011] Odometry x=-0.003245, y=-0.293334, theta=0.053252
[10:01:16.075] Init: px average disparity is:32.389802 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:16.075] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:16.113] Odometry x=-0.003311, y=-0.297221, theta=0.041055
[10:01:16.174] Init: px average disparity is:31.287505 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:16.175] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:16.207] Odometry x=-0.003616, y=-0.301330, theta=0.037954
[10:01:16.275] Init: px average disparity is:35.374191 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:16.275] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:16.307] Odometry x=-0.003558, y=-0.305068, theta=0.038091
[10:01:16.376] Init: px average disparity is:32.146252 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:16.376] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:16.407] Odometry x=-0.003889, y=-0.309060, theta=0.047988
[10:01:16.474] Init: px average disparity is:34.872348 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:16.474] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:16.508] Odometry x=-0.003881, y=-0.313037, theta=0.042261
[10:01:16.577] Init: px average disparity is:33.985637 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:16.577] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:16.608] Odometry x=-0.004207, y=-0.317179, theta=0.059949
[10:01:16.674] Init: px average disparity is:33.604038 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:16.674] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:16.709] Odometry x=-0.004325, y=-0.321038, theta=0.054663
[10:01:16.774] Init: px average disparity is:32.317556 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:16.774] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:16.808] Odometry x=-0.004614, y=-0.325002, theta=0.073654
[10:01:16.874] Init: px average disparity is:32.577776 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:16.874] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:16.907] Odometry x=-0.001917, y=-0.328930, theta=0.034921
[10:01:16.975] Init: px average disparity is:32.141881 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:16.975] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:17.007] Odometry x=-0.002098, y=-0.332700, theta=0.051302
[10:01:17.074] Init: px average disparity is:32.865840 ,While minimum is: 40.000000  KLT tracked : 129
[10:01:17.074] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:17.108] Odometry x=-0.002094, y=-0.336892, theta=0.059889
[10:01:17.177] Init: px average disparity is:33.439291 ,While minimum is: 40.000000  KLT tracked : 124
[10:01:17.177] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:17.208] Odometry x=-0.002392, y=-0.340839, theta=0.059598
[10:01:17.277] Init: px average disparity is:32.675388 ,While minimum is: 40.000000  KLT tracked : 124
[10:01:17.277] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:17.308] Odometry x=-0.000989, y=-0.344930, theta=0.029071
[10:01:17.377] Init: px average disparity is:33.700979 ,While minimum is: 40.000000  KLT tracked : 121
[10:01:17.378] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:17.408] Odometry x=-0.001083, y=-0.348670, theta=0.024794
[10:01:17.476] Init: px average disparity is:33.406304 ,While minimum is: 40.000000  KLT tracked : 121
[10:01:17.476] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:17.508] Odometry x=-0.001018, y=-0.352749, theta=0.030352
[10:01:17.577] Init: px average disparity is:34.474534 ,While minimum is: 40.000000  KLT tracked : 121
[10:01:17.577] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:17.607] Odometry x=-0.001154, y=-0.356611, theta=0.026558
[10:01:17.676] Init: px average disparity is:37.020660 ,While minimum is: 40.000000  KLT tracked : 120
[10:01:17.676] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:17.707] Odometry x=-0.001016, y=-0.360534, theta=0.016222
[10:01:17.777] Init: px average disparity is:37.379896 ,While minimum is: 40.000000  KLT tracked : 120
[10:01:17.777] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:17.807] Odometry x=-0.001188, y=-0.364452, theta=0.020519
[10:01:17.906] Odometry x=-0.001064, y=-0.368380, theta=-0.004095
[10:01:17.947] Init: Homography RANSAC (inlier) is:14 ,While 30 inliers minimum required.  px average disparity is:40.369698 ,While minimum is: 40.000000  KLT tracked: 119
[10:01:17.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:18.009] Odometry x=-0.001122, y=-0.372276, theta=0.007939
[10:01:18.029] Init: Homography RANSAC (inlier) is:14 ,While 30 inliers minimum required.  px average disparity is:40.229471 ,While minimum is: 40.000000  KLT tracked: 119
[10:01:18.029] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:18.106] Odometry x=-0.001004, y=-0.376110, theta=0.005662
[10:01:18.129] Init: Homography RANSAC (inlier) is:14 ,While 30 inliers minimum required.  px average disparity is:41.803757 ,While minimum is: 40.000000  KLT tracked: 119
[10:01:18.129] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:18.165] Init: px average disparity is:39.315022 ,While minimum is: 40.000000  KLT tracked : 119
[10:01:18.165] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:18.206] Odometry x=-0.000995, y=-0.380071, theta=0.024708
[10:01:18.305] Odometry x=-0.000923, y=-0.383962, theta=0.020266
[10:01:18.347] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:41.218431 ,While minimum is: 40.000000  KLT tracked: 119
[10:01:18.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:18.366] Init: px average disparity is:37.857138 ,While minimum is: 40.000000  KLT tracked : 118
[10:01:18.366] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:18.410] Odometry x=-0.001058, y=-0.387942, theta=0.043058
[10:01:18.476] Init: px average disparity is:38.846875 ,While minimum is: 40.000000  KLT tracked : 118
[10:01:18.476] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:18.509] Odometry x=-0.001052, y=-0.391806, theta=0.058908
[10:01:18.577] Init: px average disparity is:37.840419 ,While minimum is: 40.000000  KLT tracked : 118
[10:01:18.577] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:18.612] Odometry x=-0.001401, y=-0.395837, theta=0.053897
[10:01:18.676] Init: px average disparity is:39.960376 ,While minimum is: 40.000000  KLT tracked : 115
[10:01:18.676] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:18.711] Odometry x=-0.001397, y=-0.399716, theta=0.068823
[10:01:18.778] Init: px average disparity is:39.005905 ,While minimum is: 40.000000  KLT tracked : 115
[10:01:18.778] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:18.806] Odometry x=-0.001592, y=-0.403705, theta=0.054501
[10:01:18.904] Odometry x=-0.001683, y=-0.407349, theta=0.063844
[10:01:18.944] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:40.826567 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:18.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:19.006] Odometry x=-0.001829, y=-0.411308, theta=0.056874
[10:01:19.029] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:40.032101 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:19.029] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:19.112] Odometry x=-0.002042, y=-0.415120, theta=0.065204
[10:01:19.129] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:41.919467 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:19.129] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:19.208] Odometry x=-0.002142, y=-0.419329, theta=0.066764
[10:01:19.229] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:40.806888 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:19.229] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:19.264] Init: px average disparity is:39.436239 ,While minimum is: 40.000000  KLT tracked : 115
[10:01:19.264] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:19.312] Odometry x=-0.002459, y=-0.423094, theta=0.065046
[10:01:19.407] Odometry x=-0.002429, y=-0.426949, theta=0.055557
[10:01:19.444] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:40.731071 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:19.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:19.506] Odometry x=-0.002743, y=-0.431113, theta=0.055761
[10:01:19.527] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:40.721351 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:19.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:19.606] Odometry x=-0.002822, y=-0.435004, theta=0.037121
[10:01:19.628] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:43.921437 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:19.628] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:19.704] Odometry x=-0.002995, y=-0.438899, theta=0.042430
[10:01:19.727] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:43.881029 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:19.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:19.807] Odometry x=-0.003093, y=-0.442780, theta=0.043325
[10:01:19.827] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:46.020703 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:19.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:19.905] Odometry x=-0.003173, y=-0.446767, theta=0.057368
[10:01:19.929] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:47.371724 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:19.929] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:20.009] Odometry x=-0.003307, y=-0.450715, theta=0.052678
[10:01:20.030] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:47.797179 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:20.030] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:20.106] Odometry x=-0.003448, y=-0.454598, theta=0.059682
[10:01:20.129] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:46.870325 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:20.129] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:20.210] Odometry x=-0.003560, y=-0.458631, theta=0.068515
[10:01:20.227] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:45.640231 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:20.227] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:20.304] Odometry x=-0.003932, y=-0.462464, theta=0.082402
[10:01:20.328] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:45.653928 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:20.328] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:20.403] Odometry x=-0.004123, y=-0.466287, theta=0.100545
[10:01:20.428] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:44.594054 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:20.428] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:20.505] Odometry x=-0.004542, y=-0.470056, theta=0.099916
[10:01:20.528] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:44.511799 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:20.528] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:20.609] Odometry x=-0.004838, y=-0.473969, theta=0.118154
[10:01:20.628] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:44.172306 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:20.628] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:20.708] Odometry x=-0.005213, y=-0.477899, theta=0.108332
[10:01:20.728] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:45.132043 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:20.728] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:20.806] Odometry x=-0.005681, y=-0.481951, theta=0.113209
[10:01:20.829] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:44.371924 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:20.829] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:20.909] Odometry x=-0.006052, y=-0.485841, theta=0.115284
[10:01:20.928] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:45.730806 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:20.928] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:21.007] Odometry x=-0.006493, y=-0.489841, theta=0.112176
[10:01:21.029] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:45.384114 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:21.029] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:21.105] Odometry x=-0.006865, y=-0.493713, theta=0.114707
[10:01:21.130] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:48.427698 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:21.130] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:21.212] Odometry x=-0.007321, y=-0.497690, theta=0.104859
[10:01:21.228] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:45.725022 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:21.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:21.304] Odometry x=-0.007669, y=-0.501559, theta=0.106878
[10:01:21.328] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:46.869897 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:21.328] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:21.405] Odometry x=-0.008065, y=-0.505422, theta=0.101096
[10:01:21.429] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:45.828731 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:21.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:21.513] Odometry x=-0.008432, y=-0.509364, theta=0.096237
[10:01:21.528] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:47.149210 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:21.528] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:21.607] Odometry x=-0.008906, y=-0.513574, theta=0.095024
[10:01:21.629] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:47.395001 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:21.629] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:21.710] Odometry x=-0.009219, y=-0.517353, theta=0.092347
[10:01:21.729] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:48.389979 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:21.729] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:21.819] Odometry x=-0.009552, y=-0.521590, theta=0.089715
[10:01:21.828] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:50.280413 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:21.828] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:21.905] Odometry x=-0.009860, y=-0.525828, theta=0.094615
[10:01:21.929] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:52.354340 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:21.929] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:22.018] Odometry x=-0.010180, y=-0.529246, theta=0.101482
[10:01:22.029] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:52.517134 ,While minimum is: 40.000000  KLT tracked: 115
[10:01:22.029] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:22.112] Odometry x=-0.010594, y=-0.533453, theta=0.107708
[10:01:22.128] Init: Homography RANSAC (inlier) is:12 ,While 30 inliers minimum required.  px average disparity is:51.685525 ,While minimum is: 40.000000  KLT tracked: 113
[10:01:22.128] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:22.210] Odometry x=-0.010998, y=-0.537289, theta=0.108976
[10:01:22.228] Init: Homography RANSAC (inlier) is:10 ,While 30 inliers minimum required.  px average disparity is:52.882611 ,While minimum is: 40.000000  KLT tracked: 113
[10:01:22.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:22.308] Odometry x=-0.011340, y=-0.540916, theta=0.121636
[10:01:22.327] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:53.404433 ,While minimum is: 40.000000  KLT tracked: 113
[10:01:22.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:22.407] Odometry x=-0.011769, y=-0.544929, theta=0.139774
[10:01:22.428] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:51.297798 ,While minimum is: 40.000000  KLT tracked: 112
[10:01:22.428] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:01:22.503] Odometry x=-0.012265, y=-0.548959, theta=0.148747
[10:01:22.527] Init finished: Homography RANSAC (inlier) is:30 ,While 30 inliers minimum required.  px average disparity is:49.934271 ,While minimum is: 40.000000  KLT tracked: 112
[10:01:22.527] Init: distance between the first and current frame is x:-0.012785 ,z=-0.552502,angle between two frames: 0.151427 
[10:01:22.527] Init: Selected Second frame. 	 The number of features: 30
[10:01:22.608] Odometry x=-0.012761, y=-0.552598, theta=0.159993
[10:01:22.707] Odometry x=-0.013389, y=-0.556891, theta=0.158504
[10:01:22.714] After Reprojection Map nPoint:32 ,nCell:12 ,nMatches:7 ,distance between two frames x:-0.000572 ,z=0.000396,angle between two frames:0.003921
[10:01:22.714] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =26 	 error init =0.284325 	 error end=0.262416
[10:01:22.714] After pose optimization, distance between two frames x:-0.039254 ,z=0.013510,angle between two frames:0.011802
[10:01:22.809] Odometry x=-0.013978, y=-0.560714, theta=0.168983
[10:01:22.860] After Reprojection Map nPoint:31 ,nCell:25 ,nMatches:13 ,distance between two frames x:-0.000661 ,z=-0.000026,angle between two frames:0.000101
[10:01:22.861] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =21 	 error init =0.394002 	 error end=0.320030
[10:01:22.861] After pose optimization, distance between two frames x:-0.055186 ,z=0.089715,angle between two frames:0.010434
[10:01:22.909] Odometry x=-0.014450, y=-0.564410, theta=0.171223
[10:01:23.008] Odometry x=-0.015187, y=-0.568576, theta=0.162187
[10:01:23.008] After Reprojection Map nPoint:33 ,nCell:29 ,nMatches:10 ,distance between two frames x:0.000028 ,z=0.000186,angle between two frames:0.000202
[10:01:23.008] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =17 	 error init =0.378402 	 error end=0.378402
[10:01:23.008] After pose optimization, distance between two frames x:0.000028 ,z=0.000186,angle between two frames:0.000202
[10:01:23.008] Update EKF and 3D points, distance between two frames x:-0.000106 ,z=-0.000625,angle between two frames:0.000353
[10:01:23.110] Odometry x=-0.015409, y=-0.570191, theta=0.161185
[10:01:23.171] After Reprojection Map nPoint:32 ,nCell:26 ,nMatches:10 ,distance between two frames x:0.010512 ,z=0.004311,angle between two frames:0.005855
[10:01:23.171] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =14 	 error init =0.431809 	 error end=0.431809
[10:01:23.171] After pose optimization, distance between two frames x:0.010512 ,z=0.004311,angle between two frames:0.005855
[10:01:23.208] Odometry x=-0.016055, y=-0.574233, theta=0.161123
[10:01:23.307] Odometry x=-0.016620, y=-0.578128, theta=0.155729
[10:01:23.320] After Reprojection Map nPoint:30 ,nCell:26 ,nMatches:9 ,distance between two frames x:0.006358 ,z=0.002493,angle between two frames:0.003352
[10:01:23.320] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =17 	 error init =0.328276 	 error end=0.295915
[10:01:23.320] After pose optimization, distance between two frames x:-0.050777 ,z=0.032946,angle between two frames:0.017628
[10:01:23.406] Odometry x=-0.017158, y=-0.582025, theta=0.147271
[10:01:23.471] After Reprojection Map nPoint:34 ,nCell:29 ,nMatches:11 ,distance between two frames x:0.000226 ,z=0.000178,angle between two frames:0.000417
[10:01:23.472] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =17 	 error init =0.415438 	 error end=0.317671
[10:01:23.472] After pose optimization, distance between two frames x:-0.059850 ,z=0.131122,angle between two frames:0.028761
[10:01:23.506] Odometry x=-0.017706, y=-0.585953, theta=0.140554
[10:01:23.606] Odometry x=-0.018142, y=-0.589886, theta=0.139251
[10:01:23.617] After Reprojection Map nPoint:32 ,nCell:30 ,nMatches:13 ,distance between two frames x:-0.000939 ,z=0.000046,angle between two frames:0.000823
[10:01:23.618] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =17 	 error init =0.411042 	 error end=0.300885
[10:01:23.618] After pose optimization, distance between two frames x:-0.034851 ,z=0.150125,angle between two frames:0.002431
[10:01:23.709] Odometry x=-0.018675, y=-0.593833, theta=0.142797
[10:01:23.762] After Reprojection Map nPoint:35 ,nCell:31 ,nMatches:12 ,distance between two frames x:-0.000238 ,z=0.000006,angle between two frames:0.000124
[10:01:23.763] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =18 	 error init =0.442793 	 error end=0.442793
[10:01:23.763] After pose optimization, distance between two frames x:-0.000238 ,z=0.000006,angle between two frames:0.000124
[10:01:23.763] Update EKF and 3D points, distance between two frames x:-0.000255 ,z=-0.000217,angle between two frames:0.000836
[10:01:23.807] Odometry x=-0.019038, y=-0.595487, theta=0.150140
[10:01:23.907] After Reprojection Map nPoint:33 ,nCell:23 ,nMatches:7 ,distance between two frames x:-0.000669 ,z=-0.001441,angle between two frames:0.004646
[10:01:23.907] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =14 	 error init =0.380915 	 error end=0.334481
[10:01:23.907] After pose optimization, distance between two frames x:-0.005611 ,z=0.065719,angle between two frames:0.032175
[10:01:23.907] Odometry x=-0.019575, y=-0.599365, theta=0.160457
[10:01:24.009] Odometry x=-0.020198, y=-0.603186, theta=0.180824
[10:01:24.055] After Reprojection Map nPoint:31 ,nCell:23 ,nMatches:8 ,distance between two frames x:-0.000375 ,z=0.000012,angle between two frames:0.000107
[10:01:24.055] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =16 	 error init =0.463497 	 error end=0.323222
[10:01:24.055] After pose optimization, distance between two frames x:-0.052577 ,z=0.188532,angle between two frames:0.027650
[10:01:24.107] Odometry x=-0.020872, y=-0.607213, theta=0.192044
[10:01:24.201] After Reprojection Map nPoint:28 ,nCell:24 ,nMatches:9 ,distance between two frames x:-0.000072 ,z=0.000170,angle between two frames:0.000805
[10:01:24.201] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =15 	 error init =0.657968 	 error end=0.511623
[10:01:24.201] After pose optimization, distance between two frames x:-0.060056 ,z=0.064361,angle between two frames:0.003361
[10:01:24.205] Odometry x=-0.021545, y=-0.610976, theta=0.203016
[10:01:24.307] Odometry x=-0.022247, y=-0.614755, theta=0.203888
[10:01:24.345] After Reprojection Map nPoint:27 ,nCell:23 ,nMatches:10 ,distance between two frames x:-0.001296 ,z=-0.000295,angle between two frames:0.000546
[10:01:24.345] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =13 	 error init =0.614369 	 error end=0.614369
[10:01:24.345] After pose optimization, distance between two frames x:-0.001296 ,z=-0.000295,angle between two frames:0.000546
[10:01:24.345] Update EKF and 3D points, distance between two frames x:-0.001305 ,z=-0.000724,angle between two frames:0.000703
[10:01:24.409] Odometry x=-0.022924, y=-0.614401, theta=0.203027
[10:01:24.488] After Reprojection Map nPoint:31 ,nCell:22 ,nMatches:11 ,distance between two frames x:-0.000079 ,z=-0.002656,angle between two frames:0.001237
[10:01:24.489] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =18 	 error init =0.684961 	 error end=0.340447
[10:01:24.489] After pose optimization, distance between two frames x:-0.116201 ,z=0.167767,angle between two frames:0.019044
[10:01:24.507] Odometry x=-0.023648, y=-0.618354, theta=0.206638
[10:01:24.608] Odometry x=-0.024389, y=-0.622087, theta=0.203213
[10:01:24.633] After Reprojection Map nPoint:35 ,nCell:35 ,nMatches:13 ,distance between two frames x:-0.001339 ,z=-0.000323,angle between two frames:0.000631
[10:01:24.633] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =16 	 error init =0.546859 	 error end=0.546859
[10:01:24.633] After pose optimization, distance between two frames x:-0.001339 ,z=-0.000323,angle between two frames:0.000631
[10:01:24.633] Update EKF and 3D points, distance between two frames x:-0.001348 ,z=-0.000729,angle between two frames:0.000854
[10:01:24.634] Choose frame as a key frame Scene Depth mean:0.398502 ,depth min:0.324917
[10:01:24.707] Odometry x=-0.025087, y=-0.621661, theta=0.204076
[10:01:24.779] After Reprojection Map nPoint:31 ,nCell:25 ,nMatches:10 ,distance between two frames x:-0.000808 ,z=-0.000268,angle between two frames:0.000384
[10:01:24.779] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =18 	 error init =0.377281 	 error end=0.243506
[10:01:24.779] After pose optimization, distance between two frames x:-0.058415 ,z=0.143502,angle between two frames:0.003314
[10:01:24.803] Odometry x=-0.025935, y=-0.625814, theta=0.200761
[10:01:24.907] Odometry x=-0.026681, y=-0.629600, theta=0.197826
[10:01:24.926] After Reprojection Map nPoint:45 ,nCell:39 ,nMatches:8 ,distance between two frames x:0.000868 ,z=0.000412,angle between two frames:0.000513
[10:01:24.927] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =17 	 error init =0.396450 	 error end=0.287938
[10:01:24.927] After pose optimization, distance between two frames x:-0.080958 ,z=0.096887,angle between two frames:0.007527
[10:01:25.011] Odometry x=-0.027481, y=-0.633657, theta=0.197702
[10:01:25.075] After Reprojection Map nPoint:45 ,nCell:41 ,nMatches:11 ,distance between two frames x:-0.001398 ,z=-0.000246,angle between two frames:0.000825
[10:01:25.075] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =18 	 error init =0.442719 	 error end=0.366980
[10:01:25.075] After pose optimization, distance between two frames x:-0.049923 ,z=0.067170,angle between two frames:0.007434
[10:01:25.106] Odometry x=-0.028236, y=-0.637604, theta=0.195636
[10:01:25.202] Odometry x=-0.028958, y=-0.641336, theta=0.194148
[10:01:25.222] After Reprojection Map nPoint:42 ,nCell:38 ,nMatches:11 ,distance between two frames x:-0.000861 ,z=-0.000134,angle between two frames:0.000330
[10:01:25.222] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =17 	 error init =0.436576 	 error end=0.436576
[10:01:25.222] After pose optimization, distance between two frames x:-0.000861 ,z=-0.000134,angle between two frames:0.000330
[10:01:25.222] Update EKF and 3D points, distance between two frames x:-0.000893 ,z=-0.000550,angle between two frames:0.000419
[10:01:25.307] Odometry x=-0.029349, y=-0.640743, theta=0.191390
[10:01:25.372] After Reprojection Map nPoint:44 ,nCell:42 ,nMatches:10 ,distance between two frames x:0.005080 ,z=-0.000758,angle between two frames:0.001821
[10:01:25.372] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =16 	 error init =0.452259 	 error end=0.442673
[10:01:25.372] After pose optimization, distance between two frames x:-0.036168 ,z=0.008999,angle between two frames:0.017213
[10:01:25.405] Odometry x=-0.030148, y=-0.644962, theta=0.187947
[10:01:25.507] Odometry x=-0.030816, y=-0.648717, theta=0.186006
[10:01:25.519] After Reprojection Map nPoint:47 ,nCell:43 ,nMatches:13 ,distance between two frames x:-0.001284 ,z=-0.000226,angle between two frames:0.000772
[10:01:25.520] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =20 	 error init =0.464605 	 error end=0.270707
[10:01:25.520] After pose optimization, distance between two frames x:-0.070313 ,z=0.251135,angle between two frames:0.026761
[10:01:25.606] Odometry x=-0.031493, y=-0.652595, theta=0.190525
[10:01:25.666] After Reprojection Map nPoint:46 ,nCell:40 ,nMatches:8 ,distance between two frames x:0.000230 ,z=0.000057,angle between two frames:0.000311
[10:01:25.667] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =17 	 error init =0.466251 	 error end=0.265676
[10:01:25.667] After pose optimization, distance between two frames x:-0.080199 ,z=0.143970,angle between two frames:0.028252
[10:01:25.708] Odometry x=-0.032180, y=-0.656415, theta=0.193279
[10:01:25.806] Odometry x=-0.032915, y=-0.660153, theta=0.197290
[10:01:25.813] After Reprojection Map nPoint:42 ,nCell:41 ,nMatches:12 ,distance between two frames x:0.000065 ,z=0.000101,angle between two frames:0.000043
[10:01:25.813] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =15 	 error init =0.510298 	 error end=0.442925
[10:01:25.813] After pose optimization, distance between two frames x:0.002847 ,z=0.099423,angle between two frames:0.034822
[10:01:25.909] Odometry x=-0.033654, y=-0.663896, theta=0.214429
[10:01:25.960] After Reprojection Map nPoint:39 ,nCell:33 ,nMatches:9 ,distance between two frames x:-0.000085 ,z=0.000058,angle between two frames:0.001173
[10:01:25.961] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =18 	 error init =0.450987 	 error end=0.252605
[10:01:25.961] After pose optimization, distance between two frames x:-0.079335 ,z=0.248256,angle between two frames:0.041849
[10:01:26.006] Odometry x=-0.034431, y=-0.667716, theta=0.229594
[10:01:26.108] Odometry x=-0.035288, y=-0.671528, theta=0.241983
[10:01:26.110] After Reprojection Map nPoint:42 ,nCell:38 ,nMatches:8 ,distance between two frames x:0.000035 ,z=0.000079,angle between two frames:0.000726
[10:01:26.110] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =14 	 error init =0.495368 	 error end=0.495368
[10:01:26.110] After pose optimization, distance between two frames x:0.000035 ,z=0.000079,angle between two frames:0.000726
[10:01:26.110] Update EKF and 3D points, distance between two frames x:-0.000152 ,z=-0.000717,angle between two frames:0.001796
[10:01:26.110] Choose frame as a key frame Scene Depth mean:0.341486 ,depth min:0.283742
[10:01:26.206] Odometry x=-0.035721, y=-0.673435, theta=0.241636
[10:01:26.263] After Reprojection Map nPoint:40 ,nCell:33 ,nMatches:8 ,distance between two frames x:-0.003128 ,z=-0.005505,angle between two frames:0.006739
[10:01:26.263] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =17 	 error init =1.171452 	 error end=1.171452
[10:01:26.263] After pose optimization, distance between two frames x:-0.003128 ,z=-0.005505,angle between two frames:0.006739
[10:01:26.304] Odometry x=-0.036576, y=-0.677282, theta=0.242519
[10:01:26.406] Odometry x=-0.037397, y=-0.681037, theta=0.243065
[10:01:26.411] After Reprojection Map nPoint:60 ,nCell:47 ,nMatches:13 ,distance between two frames x:-0.001510 ,z=-0.000374,angle between two frames:0.000588
[10:01:26.411] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =20 	 error init =1.370776 	 error end=1.370776
[10:01:26.411] After pose optimization, distance between two frames x:-0.001510 ,z=-0.000374,angle between two frames:0.000588
[10:01:26.411] Update EKF and 3D points, distance between two frames x:-0.001524 ,z=-0.000794,angle between two frames:0.000510
[10:01:26.411] Choose frame as a key frame Scene Depth mean:0.320974 ,depth min:0.259658
[10:01:26.507] Odometry x=-0.038197, y=-0.680729, theta=0.242254
[10:01:26.563] After Reprojection Map nPoint:64 ,nCell:48 ,nMatches:15 ,distance between two frames x:-0.002265 ,z=-0.000680,angle between two frames:0.000947
[10:01:26.563] n deleted obs = 17 	 n obs with reprojection error less than 0.5 px =22 	 error init =1.254935 	 error end=1.254935
[10:01:26.563] After pose optimization, distance between two frames x:-0.002265 ,z=-0.000680,angle between two frames:0.000947
[10:01:26.563] Update EKF and 3D points, distance between two frames x:-0.002193 ,z=-0.001022,angle between two frames:0.000895
[10:01:26.563] Choose frame as a key frame Scene Depth mean:0.382209 ,depth min:0.266899
[10:01:26.604] Odometry x=-0.039844, y=-0.681247, theta=0.238665
[10:01:26.707] Odometry x=-0.040748, y=-0.685137, theta=0.233106
[10:01:26.717] After Reprojection Map nPoint:90 ,nCell:59 ,nMatches:19 ,distance between two frames x:-0.000007 ,z=-0.002153,angle between two frames:0.000080
[10:01:26.719] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =52 	 error init =1.389922 	 error end=0.296403
[10:01:26.719] After pose optimization, distance between two frames x:-0.297360 ,z=5.880516,angle between two frames:1.658619
[10:01:26.808] Odometry x=-0.041613, y=-0.689058, theta=0.231779
[10:01:26.873] After Reprojection Map nPoint:102 ,nCell:75 ,nMatches:21 ,distance between two frames x:-0.000431 ,z=-0.000034,angle between two frames:0.000076
[10:01:26.874] n deleted obs = 14 	 n obs with reprojection error less than 0.5 px =35 	 error init =1.414690 	 error end=0.348220
[10:01:26.874] After pose optimization, distance between two frames x:-0.220044 ,z=0.608586,angle between two frames:0.097703
[10:01:26.905] Odometry x=-0.042494, y=-0.692914, theta=0.231049
[10:01:27.007] Odometry x=-0.043337, y=-0.696728, theta=0.228140
[10:01:27.037] After Reprojection Map nPoint:102 ,nCell:70 ,nMatches:20 ,distance between two frames x:0.003572 ,z=0.001109,angle between two frames:0.001571
[10:01:27.037] n deleted obs = 33 	 n obs with reprojection error less than 0.5 px =18 	 error init =2.278190 	 error end=0.760174
[10:01:27.037] After pose optimization, distance between two frames x:-0.111096 ,z=0.486925,angle between two frames:0.392839
[10:01:27.108] Odometry x=-0.044221, y=-0.700756, theta=0.223039
[10:01:27.202] After Reprojection Map nPoint:100 ,nCell:53 ,nMatches:23 ,distance between two frames x:0.000024 ,z=-0.000043,angle between two frames:0.000006
[10:01:27.202] n deleted obs = 53 	 n obs with reprojection error less than 0.5 px =12 	 error init =3.370466 	 error end=0.890619
[10:01:27.202] After pose optimization, distance between two frames x:11.245331 ,z=-8.439592,angle between two frames:1.895145
[10:01:27.205] Odometry x=-0.045038, y=-0.704578, theta=0.218341
[10:01:27.304] Odometry x=-0.045879, y=-0.708472, theta=0.216572
[10:01:27.366] After Reprojection Map nPoint:113 ,nCell:42 ,nMatches:26 ,distance between two frames x:-0.000093 ,z=-0.000210,angle between two frames:0.000057
[10:01:27.367] n deleted obs = 60 	 n obs with reprojection error less than 0.5 px =23 	 error init =3.233719 	 error end=3.233719
[10:01:27.367] After pose optimization, distance between two frames x:-0.000093 ,z=-0.000210,angle between two frames:0.000057
[10:01:27.367] Update EKF and 3D points, distance between two frames x:-0.000181 ,z=-0.000644,angle between two frames:0.000196
[10:01:27.367] Choose frame as a key frame Scene Depth mean:0.314976 ,depth min:0.204443
[10:01:27.402] Odometry x=-0.045748, y=-0.708006, theta=0.224840
[10:01:27.505] Odometry x=-0.046623, y=-0.711951, theta=0.234069
[10:01:27.521] After Reprojection Map nPoint:139 ,nCell:54 ,nMatches:31 ,distance between two frames x:-0.000618 ,z=-0.002609,angle between two frames:0.001757
[10:01:27.521] n deleted obs = 91 	 n obs with reprojection error less than 0.5 px =20 	 error init =4.500802 	 error end=4.500802
[10:01:27.521] After pose optimization, distance between two frames x:-0.000618 ,z=-0.002609,angle between two frames:0.001757
[10:01:27.521] Update EKF and 3D points, distance between two frames x:-0.000714 ,z=-0.003070,angle between two frames:0.002630
[10:01:27.521] Choose frame as a key frame Scene Depth mean:0.320374 ,depth min:0.236713
[10:01:27.608] Odometry x=-0.046497, y=-0.711292, theta=0.234294
[10:01:27.682] After Reprojection Map nPoint:184 ,nCell:63 ,nMatches:34 ,distance between two frames x:0.000165 ,z=0.000163,angle between two frames:0.000132
[10:01:27.687] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =140 	 error init =6.776617 	 error end=0.203619
[10:01:27.687] After pose optimization, distance between two frames x:-0.188544 ,z=0.585457,angle between two frames:0.046454
[10:01:27.705] Odometry x=-0.047397, y=-0.715224, theta=0.246155
[10:01:27.806] Odometry x=-0.048179, y=-0.718968, theta=0.246506
[10:01:27.862] After Reprojection Map nPoint:178 ,nCell:63 ,nMatches:23 ,distance between two frames x:0.000586 ,z=0.000344,angle between two frames:0.000605
[10:01:27.866] n deleted obs = 36 	 n obs with reprojection error less than 0.5 px =65 	 error init =6.234468 	 error end=0.428217
[10:01:27.866] After pose optimization, distance between two frames x:0.807833 ,z=-1.928465,angle between two frames:1.207300
[10:01:27.911] Odometry x=-0.049120, y=-0.722724, theta=0.260718
[10:01:28.006] Odometry x=-0.050124, y=-0.726656, theta=0.269829
[10:01:28.036] After Reprojection Map nPoint:146 ,nCell:48 ,nMatches:24 ,distance between two frames x:0.000355 ,z=0.000156,angle between two frames:0.001500
[10:01:28.039] n deleted obs = 43 	 n obs with reprojection error less than 0.5 px =50 	 error init =4.604282 	 error end=0.555548
[10:01:28.039] After pose optimization, distance between two frames x:-0.108104 ,z=-2.110707,angle between two frames:1.542094
[10:01:28.110] Odometry x=-0.051121, y=-0.730435, theta=0.288595
[10:01:28.205] Odometry x=-0.052166, y=-0.734342, theta=0.294641
[10:01:28.208] After Reprojection Map nPoint:145 ,nCell:65 ,nMatches:31 ,distance between two frames x:0.000665 ,z=0.000340,angle between two frames:0.001380
[10:01:28.208] n deleted obs = 78 	 n obs with reprojection error less than 0.5 px =19 	 error init =3.228820 	 error end=3.228820
[10:01:28.208] After pose optimization, distance between two frames x:0.000665 ,z=0.000340,angle between two frames:0.001380
[10:01:28.208] Update EKF and 3D points, distance between two frames x:0.000399 ,z=-0.000478,angle between two frames:0.002372
[10:01:28.208] Choose frame as a key frame Scene Depth mean:0.307423 ,depth min:0.188230
[10:01:28.308] Odometry x=-0.052413, y=-0.735979, theta=0.296380
[10:01:28.405] Odometry x=-0.053454, y=-0.739896, theta=0.303656
[10:01:28.410] After Reprojection Map nPoint:171 ,nCell:47 ,nMatches:24 ,distance between two frames x:-0.001743 ,z=-0.006758,angle between two frames:0.005822
[10:01:28.411] n deleted obs = 103 	 n obs with reprojection error less than 0.5 px =27 	 error init =13.736372 	 error end=13.736372
[10:01:28.411] After pose optimization, distance between two frames x:-0.001743 ,z=-0.006758,angle between two frames:0.005822
[10:01:28.503] Odometry x=-0.054575, y=-0.743502, theta=0.302784
[10:01:28.601] After Reprojection Map nPoint:174 ,nCell:53 ,nMatches:35 ,distance between two frames x:-0.012239 ,z=-0.004876,angle between two frames:0.005192
[10:01:28.601] n deleted obs = 116 	 n obs with reprojection error less than 0.5 px =22 	 error init =3.113049 	 error end=3.113049
[10:01:28.601] After pose optimization, distance between two frames x:-0.012239 ,z=-0.004876,angle between two frames:0.005192
[10:01:28.605] Odometry x=-0.055732, y=-0.747422, theta=0.297721
[10:01:28.708] Odometry x=-0.056894, y=-0.751249, theta=0.295482
[10:01:28.768] After Reprojection Map nPoint:164 ,nCell:44 ,nMatches:31 ,distance between two frames x:0.000112 ,z=0.000081,angle between two frames:0.000080
[10:01:28.768] n deleted obs = 111 	 n obs with reprojection error less than 0.5 px =18 	 error init =3.350342 	 error end=3.350342
[10:01:28.768] After pose optimization, distance between two frames x:0.000112 ,z=0.000081,angle between two frames:0.000080
[10:01:28.768] Update EKF and 3D points, distance between two frames x:-0.000027 ,z=-0.000372,angle between two frames:0.000527
[10:01:28.808] Odometry x=-0.056614, y=-0.750626, theta=0.285907
[10:01:28.910] Odometry x=-0.057776, y=-0.754531, theta=0.272140
[10:01:28.950] After Reprojection Map nPoint:162 ,nCell:37 ,nMatches:29 ,distance between two frames x:-0.001122 ,z=-0.003045,angle between two frames:0.004569
[10:01:28.951] n deleted obs = 102 	 n obs with reprojection error less than 0.5 px =24 	 error init =2.561588 	 error end=2.561588
[10:01:28.951] After pose optimization, distance between two frames x:-0.001122 ,z=-0.003045,angle between two frames:0.004569
[10:01:28.951] Update EKF and 3D points, distance between two frames x:-0.001233 ,z=-0.003481,angle between two frames:0.006062
[10:01:29.008] Odometry x=-0.057682, y=-0.754103, theta=0.277622
[10:01:29.106] Odometry x=-0.058659, y=-0.757754, theta=0.274804
[10:01:29.129] After Reprojection Map nPoint:168 ,nCell:45 ,nMatches:30 ,distance between two frames x:-0.000739 ,z=-0.002800,angle between two frames:0.009668
[10:01:29.129] n deleted obs = 118 	 n obs with reprojection error less than 0.5 px =15 	 error init =5.528038 	 error end=5.528038
[10:01:29.129] After pose optimization, distance between two frames x:-0.000739 ,z=-0.002800,angle between two frames:0.009668
[10:01:29.129] Update EKF and 3D points, distance between two frames x:-0.000853 ,z=-0.003230,angle between two frames:0.010158
[10:01:29.208] Odometry x=-0.058565, y=-0.757233, theta=0.279496
[10:01:29.306] Odometry x=-0.059533, y=-0.760995, theta=0.275038
[10:01:29.308] After Reprojection Map nPoint:169 ,nCell:38 ,nMatches:29 ,distance between two frames x:-0.000620 ,z=-0.002857,angle between two frames:0.003079
[10:01:29.308] n deleted obs = 112 	 n obs with reprojection error less than 0.5 px =20 	 error init =4.285716 	 error end=4.285716
[10:01:29.308] After pose optimization, distance between two frames x:-0.000620 ,z=-0.002857,angle between two frames:0.003079
[10:01:29.308] Update EKF and 3D points, distance between two frames x:-0.000841 ,z=-0.003629,angle between two frames:0.003245
[10:01:29.408] Odometry x=-0.060008, y=-0.762970, theta=0.270523
[10:01:29.485] After Reprojection Map nPoint:161 ,nCell:41 ,nMatches:28 ,distance between two frames x:-0.002162 ,z=-0.004984,angle between two frames:0.002150
[10:01:29.486] n deleted obs = 100 	 n obs with reprojection error less than 0.5 px =22 	 error init =4.720276 	 error end=4.720276
[10:01:29.486] After pose optimization, distance between two frames x:-0.002162 ,z=-0.004984,angle between two frames:0.002150
[10:01:29.504] Odometry x=-0.060993, y=-0.766742, theta=0.275016
[10:01:29.607] Odometry x=-0.061996, y=-0.770490, theta=0.280029
[10:01:29.653] After Reprojection Map nPoint:157 ,nCell:44 ,nMatches:30 ,distance between two frames x:-0.000535 ,z=-0.000162,angle between two frames:0.000155
[10:01:29.653] n deleted obs = 24 	 n obs with reprojection error less than 0.5 px =99 	 error init =8.822882 	 error end=0.402603
[10:01:29.653] After pose optimization, distance between two frames x:-17.483794 ,z=115.256511,angle between two frames:3.146614
[10:01:29.709] Odometry x=-0.062999, y=-0.774346, theta=0.278512
[10:01:29.811] Odometry x=-0.064104, y=-0.778287, theta=0.278254
[10:01:29.824] After Reprojection Map nPoint:147 ,nCell:71 ,nMatches:26 ,distance between two frames x:-0.000247 ,z=-0.000063,angle between two frames:0.000089
[10:01:29.828] n deleted obs = 32 	 n obs with reprojection error less than 0.5 px =64 	 error init =9.077828 	 error end=0.444659
[10:01:29.828] After pose optimization, distance between two frames x:-6.425898 ,z=-128.092757,angle between two frames:1.212792
[10:01:29.908] Odometry x=-0.065150, y=-0.782214, theta=0.288806
[10:01:29.998] After Reprojection Map nPoint:136 ,nCell:51 ,nMatches:28 ,distance between two frames x:-0.000782 ,z=-0.000247,angle between two frames:0.000226
[10:01:29.998] n deleted obs = 84 	 n obs with reprojection error less than 0.5 px =13 	 error init =3.664375 	 error end=3.664375
[10:01:29.998] After pose optimization, distance between two frames x:-0.000782 ,z=-0.000247,angle between two frames:0.000226
[10:01:29.998] Update EKF and 3D points, distance between two frames x:-0.000794 ,z=-0.000460,angle between two frames:0.001173
[10:01:29.998] Choose frame as a key frame Scene Depth mean:0.283563 ,depth min:0.189584
[10:01:30.003] Odometry x=-0.065960, y=-0.782487, theta=0.281471
[10:01:30.106] Odometry x=-0.067243, y=-0.787012, theta=0.287192
[10:01:30.193] After Reprojection Map nPoint:170 ,nCell:39 ,nMatches:32 ,distance between two frames x:0.000198 ,z=-0.001545,angle between two frames:0.000356
[10:01:30.193] n deleted obs = 127 	 n obs with reprojection error less than 0.5 px =21 	 error init =3.741796 	 error end=3.741796
[10:01:30.193] After pose optimization, distance between two frames x:0.000198 ,z=-0.001545,angle between two frames:0.000356
[10:01:30.193] Update EKF and 3D points, distance between two frames x:0.000050 ,z=-0.001945,angle between two frames:0.000611
[10:01:30.194] Choose frame as a key frame Scene Depth mean:0.293082 ,depth min:0.099106
[10:01:30.207] Odometry x=-0.066824, y=-0.786926, theta=0.289204
[10:01:30.310] Odometry x=-0.067958, y=-0.790871, theta=0.301010
[10:01:30.377] After Reprojection Map nPoint:198 ,nCell:44 ,nMatches:35 ,distance between two frames x:-0.000979 ,z=-0.002469,angle between two frames:0.006268
[10:01:30.377] n deleted obs = 157 	 n obs with reprojection error less than 0.5 px =23 	 error init =5.281261 	 error end=5.281261
[10:01:30.377] After pose optimization, distance between two frames x:-0.000979 ,z=-0.002469,angle between two frames:0.006268
[10:01:30.377] Update EKF and 3D points, distance between two frames x:-0.001107 ,z=-0.002926,angle between two frames:0.007233
[10:01:30.408] Odometry x=-0.067808, y=-0.790214, theta=0.294442
[10:01:30.506] Odometry x=-0.068947, y=-0.794109, theta=0.286307
[10:01:30.564] After Reprojection Map nPoint:210 ,nCell:42 ,nMatches:36 ,distance between two frames x:-0.001182 ,z=-0.002852,angle between two frames:0.005951
[10:01:30.564] n deleted obs = 167 	 n obs with reprojection error less than 0.5 px =23 	 error init =6.086012 	 error end=6.086012
[10:01:30.564] After pose optimization, distance between two frames x:-0.001182 ,z=-0.002852,angle between two frames:0.005951
[10:01:30.564] Update EKF and 3D points, distance between two frames x:-0.001286 ,z=-0.003288,angle between two frames:0.005181
[10:01:30.614] Odometry x=-0.068958, y=-0.793378, theta=0.288171
[10:01:30.704] Odometry x=-0.070129, y=-0.797379, theta=0.286439
[10:01:30.772] After Reprojection Map nPoint:215 ,nCell:49 ,nMatches:41 ,distance between two frames x:-0.000870 ,z=-0.003557,angle between two frames:0.005064
[10:01:30.772] n deleted obs = 176 	 n obs with reprojection error less than 0.5 px =32 	 error init =7.387939 	 error end=7.387939
[10:01:30.772] After pose optimization, distance between two frames x:-0.000870 ,z=-0.003557,angle between two frames:0.005064
[10:01:30.772] Update EKF and 3D points, distance between two frames x:-0.000981 ,z=-0.003943,angle between two frames:0.005591
[10:01:30.772] Choose frame as a key frame Scene Depth mean:0.252467 ,depth min:0.089620
[10:01:30.808] Odometry x=-0.069968, y=-0.797007, theta=0.283783
[10:01:30.907] Odometry x=-0.071110, y=-0.800917, theta=0.277131
[10:01:30.980] After Reprojection Map nPoint:246 ,nCell:41 ,nMatches:34 ,distance between two frames x:0.001746 ,z=0.000333,angle between two frames:0.000616
[10:01:30.980] n deleted obs = 189 	 n obs with reprojection error less than 0.5 px =42 	 error init =5.703192 	 error end=5.703192
[10:01:30.980] After pose optimization, distance between two frames x:0.001746 ,z=0.000333,angle between two frames:0.000616
[10:01:30.980] Update EKF and 3D points, distance between two frames x:0.001478 ,z=-0.000274,angle between two frames:0.000175
[10:01:30.980] Choose frame as a key frame Scene Depth mean:0.325046 ,depth min:0.089329
[10:01:31.009] Odometry x=-0.069467, y=-0.798660, theta=0.285100
[10:01:31.107] Odometry x=-0.070593, y=-0.802506, theta=0.304460
[10:01:31.208] Odometry x=-0.071695, y=-0.806114, theta=0.311242
[10:01:31.208] After Reprojection Map nPoint:296 ,nCell:50 ,nMatches:38 ,distance between two frames x:0.000561 ,z=-0.004855,angle between two frames:0.004435
[10:01:31.209] n deleted obs = 65 	 n obs with reprojection error less than 0.5 px =212 	 error init =26.989422 	 error end=0.384950
[10:01:31.209] After pose optimization, distance between two frames x:156.827303 ,z=-4195.715868,angle between two frames:1.763513
[10:01:31.305] Odometry x=-0.072803, y=-0.809894, theta=0.316797
[10:01:31.407] Odometry x=-0.074006, y=-0.813560, theta=0.328112
[10:01:31.419] After Reprojection Map nPoint:278 ,nCell:79 ,nMatches:39 ,distance between two frames x:-0.001386 ,z=-0.003803,angle between two frames:0.000130
[10:01:31.420] n deleted obs = 173 	 n obs with reprojection error less than 0.5 px =48 	 error init =7.784094 	 error end=7.784094
[10:01:31.420] After pose optimization, distance between two frames x:-0.001386 ,z=-0.003803,angle between two frames:0.000130
[10:01:31.420] Update EKF and 3D points, distance between two frames x:-0.001513 ,z=-0.004229,angle between two frames:0.001237
[10:01:31.420] Choose frame as a key frame Scene Depth mean:0.282522 ,depth min:0.102598
[10:01:31.650] After Reprojection Map nPoint:349 ,nCell:55 ,nMatches:43 ,distance between two frames x:-0.000568 ,z=-0.002882,angle between two frames:0.007158
[10:01:31.651] n deleted obs = 70 	 n obs with reprojection error less than 0.5 px =243 	 error init =12.760980 	 error end=0.356637
[10:01:31.651] After pose optimization, distance between two frames x:3.094703 ,z=-134.044445,angle between two frames:1.482914
[10:01:31.882] After Reprojection Map nPoint:349 ,nCell:88 ,nMatches:39 ,distance between two frames x:0.001540 ,z=0.000526,angle between two frames:0.001234
[10:01:31.883] n deleted obs = 49 	 n obs with reprojection error less than 0.5 px =220 	 error init =21.614312 	 error end=0.347204
[10:01:31.883] After pose optimization, distance between two frames x:-702.787225 ,z=5448.803073,angle between two frames:1.931845
[10:01:32.124] After Reprojection Map nPoint:317 ,nCell:80 ,nMatches:36 ,distance between two frames x:-0.000412 ,z=-0.000437,angle between two frames:0.000075
[10:01:32.127] n deleted obs = 163 	 n obs with reprojection error less than 0.5 px =82 	 error init =11.167752 	 error end=0.785446
[10:01:32.127] After pose optimization, distance between two frames x:-0.174805 ,z=1.800730,angle between two frames:1.655427
[10:01:32.333] After Reprojection Map nPoint:315 ,nCell:53 ,nMatches:34 ,distance between two frames x:0.000140 ,z=0.000055,angle between two frames:0.000628
[10:01:32.333] n deleted obs = 58 	 n obs with reprojection error less than 0.5 px =208 	 error init =76.641427 	 error end=0.377459
[10:01:32.334] After pose optimization, distance between two frames x:-790.058868 ,z=8541.016997,angle between two frames:0.916192
[10:01:32.547] After Reprojection Map nPoint:325 ,nCell:76 ,nMatches:37 ,distance between two frames x:-0.000033 ,z=-0.000154,angle between two frames:0.000139
[10:01:32.549] n deleted obs = 46 	 n obs with reprojection error less than 0.5 px =206 	 error init =8.206630 	 error end=0.318583
[10:01:32.549] After pose optimization, distance between two frames x:-1.044065 ,z=6.176997,angle between two frames:0.678945
[10:01:32.750] After Reprojection Map nPoint:326 ,nCell:76 ,nMatches:36 ,distance between two frames x:-0.000010 ,z=-0.000030,angle between two frames:0.000152
[10:01:32.751] n deleted obs = 218 	 n obs with reprojection error less than 0.5 px =33 	 error init =6.739518 	 error end=6.739518
[10:01:32.751] After pose optimization, distance between two frames x:-0.000010 ,z=-0.000030,angle between two frames:0.000152
[10:01:32.751] Update EKF and 3D points, distance between two frames x:-0.000010 ,z=-0.000048,angle between two frames:0.000509
[10:01:32.751] Choose frame as a key frame Scene Depth mean:0.461348 ,depth min:0.082996
[10:01:32.986] After Reprojection Map nPoint:370 ,nCell:42 ,nMatches:38 ,distance between two frames x:0.000188 ,z=-0.000207,angle between two frames:0.002282
[10:01:32.988] n deleted obs = 133 	 n obs with reprojection error less than 0.5 px =209 	 error init =7.737672 	 error end=0.480171
[10:01:32.988] After pose optimization, distance between two frames x:-3.710154 ,z=-11.361128,angle between two frames:3.206924
[10:01:33.219] After Reprojection Map nPoint:384 ,nCell:75 ,nMatches:38 ,distance between two frames x:0.000127 ,z=-0.000028,angle between two frames:0.000135
[10:01:33.220] n deleted obs = 78 	 n obs with reprojection error less than 0.5 px =232 	 error init =13.618095 	 error end=0.392090
[10:01:33.220] After pose optimization, distance between two frames x:8.670036 ,z=-165.512724,angle between two frames:0.439319
[10:01:33.451] After Reprojection Map nPoint:415 ,nCell:94 ,nMatches:39 ,distance between two frames x:-0.000447 ,z=-0.000437,angle between two frames:0.000096
[10:01:33.452] n deleted obs = 276 	 n obs with reprojection error less than 0.5 px =46 	 error init =8.628746 	 error end=1.387792
[10:01:33.452] After pose optimization, distance between two frames x:-2.532741 ,z=-0.048526,angle between two frames:3.265216
[10:01:33.686] After Reprojection Map nPoint:384 ,nCell:46 ,nMatches:34 ,distance between two frames x:-0.000618 ,z=-0.000465,angle between two frames:0.000202
[10:01:33.698] n deleted obs = 68 	 n obs with reprojection error less than 0.5 px =266 	 error init =10.481959 	 error end=0.362720
[10:01:33.698] After pose optimization, distance between two frames x:1.833259 ,z=-21.264287,angle between two frames:2.591110
[10:01:33.920] After Reprojection Map nPoint:362 ,nCell:67 ,nMatches:31 ,distance between two frames x:-0.000160 ,z=-0.000177,angle between two frames:0.000062
[10:01:33.922] n deleted obs = 64 	 n obs with reprojection error less than 0.5 px =218 	 error init =9.675643 	 error end=0.373937
[10:01:33.922] After pose optimization, distance between two frames x:25.090463 ,z=-312.706586,angle between two frames:1.041685
[10:01:34.151] After Reprojection Map nPoint:411 ,nCell:85 ,nMatches:38 ,distance between two frames x:0.000113 ,z=-0.000121,angle between two frames:0.000005
[10:01:34.152] n deleted obs = 88 	 n obs with reprojection error less than 0.5 px =236 	 error init =12.807193 	 error end=0.419031
[10:01:34.152] After pose optimization, distance between two frames x:1.807068 ,z=-35.773677,angle between two frames:0.895078
[10:01:34.381] After Reprojection Map nPoint:368 ,nCell:82 ,nMatches:35 ,distance between two frames x:-0.000215 ,z=-0.000252,angle between two frames:0.000015
[10:01:34.383] n deleted obs = 230 	 n obs with reprojection error less than 0.5 px =57 	 error init =11.081092 	 error end=1.185950
[10:01:34.383] After pose optimization, distance between two frames x:-4.128556 ,z=-1.217815,angle between two frames:3.573518
[10:01:34.611] After Reprojection Map nPoint:388 ,nCell:42 ,nMatches:36 ,distance between two frames x:-0.000160 ,z=-0.000177,angle between two frames:0.000026
[10:01:34.612] n deleted obs = 79 	 n obs with reprojection error less than 0.5 px =264 	 error init =46.605935 	 error end=0.400820
[10:01:34.612] After pose optimization, distance between two frames x:-195.383498 ,z=2862.394884,angle between two frames:1.528789
[10:01:34.834] After Reprojection Map nPoint:395 ,nCell:87 ,nMatches:38 ,distance between two frames x:-0.000138 ,z=-0.000207,angle between two frames:0.000061
[10:01:34.835] n deleted obs = 297 	 n obs with reprojection error less than 0.5 px =4 	 error init =11.290662 	 error end=2.453737
[10:01:34.835] After pose optimization, distance between two frames x:10.473536 ,z=4.495721,angle between two frames:2.873162
[10:01:35.053] After Reprojection Map nPoint:336 ,nCell:37 ,nMatches:35 ,distance between two frames x:0.003263 ,z=-0.002094,angle between two frames:0.001647
[10:01:35.065] n deleted obs = 118 	 n obs with reprojection error less than 0.5 px =187 	 error init =21.635715 	 error end=0.460081
[10:01:35.065] After pose optimization, distance between two frames x:-2.801722 ,z=-5.775839,angle between two frames:1.860669
[10:01:35.270] After Reprojection Map nPoint:346 ,nCell:68 ,nMatches:39 ,distance between two frames x:0.000039 ,z=0.000030,angle between two frames:0.000172
[10:01:35.271] n deleted obs = 81 	 n obs with reprojection error less than 0.5 px =205 	 error init =15.690094 	 error end=0.409001
[10:01:35.271] After pose optimization, distance between two frames x:16.155758 ,z=69.360625,angle between two frames:0.564284
[10:01:35.512] After Reprojection Map nPoint:352 ,nCell:75 ,nMatches:36 ,distance between two frames x:0.000123 ,z=-0.000174,angle between two frames:0.000118
[10:01:35.523] n deleted obs = 90 	 n obs with reprojection error less than 0.5 px =185 	 error init =48.117160 	 error end=0.450706
[10:01:35.523] After pose optimization, distance between two frames x:11.311858 ,z=56.974587,angle between two frames:2.509595
[10:01:35.757] After Reprojection Map nPoint:298 ,nCell:56 ,nMatches:36 ,distance between two frames x:-0.000036 ,z=-0.000239,angle between two frames:0.000067
[10:01:35.760] n deleted obs = 61 	 n obs with reprojection error less than 0.5 px =184 	 error init =10.764928 	 error end=0.385456
[10:01:35.760] After pose optimization, distance between two frames x:4.909551 ,z=-46.963288,angle between two frames:0.992516
[10:01:35.994] After Reprojection Map nPoint:316 ,nCell:68 ,nMatches:34 ,distance between two frames x:-0.000353 ,z=-0.000476,angle between two frames:0.000082
[10:01:36.000] n deleted obs = 70 	 n obs with reprojection error less than 0.5 px =181 	 error init =13.466131 	 error end=0.402584
[10:01:36.000] After pose optimization, distance between two frames x:23.622218 ,z=-293.954524,angle between two frames:1.985071
[10:01:36.230] After Reprojection Map nPoint:321 ,nCell:68 ,nMatches:36 ,distance between two frames x:-0.000486 ,z=-0.000512,angle between two frames:0.000144
[10:01:36.230] n deleted obs = 229 	 n obs with reprojection error less than 0.5 px =27 	 error init =9.314469 	 error end=9.314469
[10:01:36.230] After pose optimization, distance between two frames x:-0.000486 ,z=-0.000512,angle between two frames:0.000144
[10:01:36.230] Update EKF and 3D points, distance between two frames x:-0.000462 ,z=-0.000508,angle between two frames:0.000286
[10:01:36.468] After Reprojection Map nPoint:321 ,nCell:45 ,nMatches:39 ,distance between two frames x:0.000104 ,z=-0.000352,angle between two frames:0.002562
[10:01:36.474] n deleted obs = 61 	 n obs with reprojection error less than 0.5 px =231 	 error init =9.483856 	 error end=0.355154
[10:01:36.474] After pose optimization, distance between two frames x:3.618188 ,z=-46.620043,angle between two frames:1.419920
[10:01:36.699] After Reprojection Map nPoint:328 ,nCell:75 ,nMatches:36 ,distance between two frames x:-0.000290 ,z=-0.000339,angle between two frames:0.000185
[10:01:36.709] n deleted obs = 120 	 n obs with reprojection error less than 0.5 px =136 	 error init =47.253008 	 error end=0.528475
[10:01:36.709] After pose optimization, distance between two frames x:75.993259 ,z=189.130520,angle between two frames:2.419736
