[19:32:11.211] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.221] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.231] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.241] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.251] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.261] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.271] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.281] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.292] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.302] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.312] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.322] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.332] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.342] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:32:11.352] Odometry x=0.000000, y=-0.000000, theta=0.000000
[19:32:11.362] Odometry x=0.000000, y=-0.000000, theta=0.000331
[19:32:11.372] Odometry x=0.000000, y=-0.000000, theta=0.000551
[19:32:11.383] Odometry x=0.000000, y=-0.000000, theta=0.000908
[19:32:11.393] Odometry x=0.000000, y=-0.000000, theta=0.001286
[19:32:11.403] Odometry x=0.000000, y=-0.000000, theta=0.001601
[19:32:11.413] Odometry x=0.000000, y=-0.000000, theta=0.001930
[19:32:11.423] Odometry x=0.000000, y=-0.000000, theta=0.002252
[19:32:11.433] Odometry x=0.000000, y=-0.000000, theta=0.002556
[19:32:11.443] Odometry x=0.000000, y=-0.000000, theta=0.002761
[19:32:11.453] Odometry x=0.000000, y=-0.000000, theta=0.003010
[19:32:11.464] Odometry x=0.000000, y=-0.000000, theta=0.003321
[19:32:11.474] Odometry x=0.000000, y=-0.000000, theta=0.003638
[19:32:11.484] Odometry x=0.000000, y=-0.000000, theta=0.003959
[19:32:11.494] Odometry x=0.000000, y=-0.000000, theta=0.004278
[19:32:11.504] Odometry x=0.000000, y=-0.000000, theta=0.004593
[19:32:11.514] Odometry x=0.000000, y=-0.000000, theta=0.004911
[19:32:11.524] Odometry x=0.000000, y=-0.000000, theta=0.005336
[19:32:11.534] Odometry x=0.000000, y=-0.000000, theta=0.005722
[19:32:11.544] Odometry x=0.000000, y=-0.000000, theta=0.006035
[19:32:11.555] Odometry x=0.000000, y=-0.000000, theta=0.006348
[19:32:11.565] Odometry x=0.000000, y=-0.000000, theta=0.006664
[19:32:11.575] Odometry x=0.000000, y=-0.000000, theta=0.006979
[19:32:11.585] Odometry x=0.000001, y=-0.000000, theta=0.007295
[19:32:11.595] Odometry x=0.000001, y=-0.000000, theta=0.007613
[19:32:11.605] Odometry x=0.000001, y=-0.000000, theta=0.007934
[19:32:11.615] Odometry x=0.000001, y=-0.000000, theta=0.008254
[19:32:11.626] Odometry x=0.000001, y=-0.000000, theta=0.008570
[19:32:11.636] Odometry x=0.000001, y=-0.000000, theta=0.008885
[19:32:11.637] Init: frame zero: 0.000000, 0.000000 0.000000
[19:32:11.637] Init: Selected first frame. 
[19:32:11.646] Odometry x=0.000001, y=-0.000000, theta=0.009201
[19:32:11.656] Odometry x=0.000001, y=-0.000000, theta=0.009523
[19:32:11.666] Odometry x=0.000001, y=-0.000000, theta=0.009838
[19:32:11.676] Odometry x=0.000001, y=-0.000000, theta=0.010147
[19:32:11.686] Odometry x=0.000001, y=-0.000000, theta=0.010463
[19:32:11.696] Odometry x=0.000001, y=-0.000000, theta=0.010872
[19:32:11.707] Odometry x=0.000001, y=-0.000000, theta=0.011243
[19:32:11.717] Odometry x=0.000001, y=-0.000000, theta=0.011562
[19:32:11.727] Odometry x=0.000001, y=-0.000000, theta=0.011877
[19:32:11.737] Odometry x=0.000001, y=-0.000000, theta=0.012193
[19:32:11.742] Init: px average disparity is:0.241638 ,While minimum is: 40.000000  KLT tracked : 104
[19:32:11.742] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:11.747] Odometry x=0.000001, y=-0.000000, theta=0.012511
[19:32:11.757] Odometry x=0.000001, y=-0.000000, theta=0.012837
[19:32:11.767] Odometry x=0.000001, y=-0.000000, theta=0.013158
[19:32:11.777] Odometry x=0.000001, y=-0.000000, theta=0.013472
[19:32:11.788] Odometry x=0.000001, y=-0.000000, theta=0.013688
[19:32:11.798] Odometry x=0.000001, y=-0.000000, theta=0.014040
[19:32:11.808] Odometry x=0.000001, y=-0.000000, theta=0.014416
[19:32:11.818] Odometry x=0.000001, y=-0.000000, theta=0.014730
[19:32:11.828] Odometry x=0.000001, y=-0.000000, theta=0.015040
[19:32:11.838] Odometry x=0.000001, y=-0.000000, theta=0.015357
[19:32:11.839] Init: px average disparity is:0.375220 ,While minimum is: 40.000000  KLT tracked : 101
[19:32:11.839] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:11.848] Odometry x=0.000001, y=-0.000000, theta=0.015672
[19:32:11.858] Odometry x=0.000001, y=-0.000000, theta=0.015986
[19:32:11.869] Odometry x=0.000001, y=-0.000000, theta=0.016304
[19:32:11.879] Odometry x=0.000001, y=-0.000000, theta=0.016622
[19:32:11.889] Odometry x=0.000001, y=-0.000000, theta=0.016944
[19:32:11.899] Odometry x=0.000001, y=-0.000000, theta=0.017266
[19:32:11.909] Odometry x=0.000001, y=-0.000000, theta=0.017584
[19:32:11.919] Odometry x=0.000001, y=-0.000000, theta=0.017800
[19:32:11.929] Odometry x=0.000001, y=-0.000000, theta=0.018149
[19:32:11.938] Init: px average disparity is:0.430151 ,While minimum is: 40.000000  KLT tracked : 100
[19:32:11.938] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:11.939] Odometry x=0.000001, y=-0.000000, theta=0.018530
[19:32:11.949] Odometry x=0.000001, y=-0.000000, theta=0.018850
[19:32:11.960] Odometry x=0.000001, y=-0.000000, theta=0.019171
[19:32:11.970] Odometry x=0.000001, y=-0.000000, theta=0.019495
[19:32:11.980] Odometry x=0.000001, y=-0.000000, theta=0.019817
[19:32:11.990] Odometry x=0.000001, y=-0.000000, theta=0.020133
[19:32:12.000] Odometry x=0.000001, y=-0.000000, theta=0.020453
[19:32:12.010] Odometry x=0.000001, y=-0.000000, theta=0.020775
[19:32:12.020] Odometry x=0.000001, y=-0.000000, theta=0.021093
[19:32:12.030] Odometry x=0.000001, y=-0.000000, theta=0.021409
[19:32:12.038] Init: px average disparity is:0.425252 ,While minimum is: 40.000000  KLT tracked : 100
[19:32:12.038] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:12.041] Odometry x=0.000002, y=-0.000000, theta=0.021729
[19:32:12.051] Odometry x=0.000002, y=-0.000000, theta=0.022046
[19:32:12.061] Odometry x=0.000002, y=-0.000000, theta=0.022369
[19:32:12.071] Odometry x=0.000002, y=-0.000000, theta=0.022690
[19:32:12.081] Odometry x=0.000002, y=-0.000000, theta=0.023004
[19:32:12.091] Odometry x=0.000002, y=-0.000000, theta=0.023315
[19:32:12.101] Odometry x=0.000002, y=-0.000000, theta=0.023720
[19:32:12.111] Odometry x=0.000002, y=-0.000000, theta=0.023994
[19:32:12.121] Odometry x=0.000002, y=-0.000000, theta=0.024249
[19:32:12.132] Odometry x=0.000002, y=-0.000000, theta=0.024565
[19:32:12.138] Init: px average disparity is:0.449455 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:12.138] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:12.142] Odometry x=0.000002, y=-0.000000, theta=0.024986
[19:32:12.152] Odometry x=0.000002, y=-0.000000, theta=0.025366
[19:32:12.162] Odometry x=0.000002, y=-0.000000, theta=0.025682
[19:32:12.172] Odometry x=0.000002, y=-0.000000, theta=0.026003
[19:32:12.182] Odometry x=0.000002, y=-0.000000, theta=0.026319
[19:32:12.192] Odometry x=0.000002, y=-0.000000, theta=0.026629
[19:32:12.203] Odometry x=0.000002, y=-0.000000, theta=0.026948
[19:32:12.213] Odometry x=0.000002, y=-0.000000, theta=0.027263
[19:32:12.223] Odometry x=0.000002, y=-0.000000, theta=0.027479
[19:32:12.233] Odometry x=0.000002, y=-0.000000, theta=0.027836
[19:32:12.240] Init: px average disparity is:0.482815 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:12.240] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:12.243] Odometry x=0.000002, y=-0.000000, theta=0.028220
[19:32:12.253] Odometry x=0.000002, y=-0.000000, theta=0.028543
[19:32:12.263] Odometry x=0.000002, y=-0.000000, theta=0.028865
[19:32:12.274] Odometry x=0.000002, y=-0.000000, theta=0.029184
[19:32:12.284] Odometry x=0.000002, y=-0.000000, theta=0.029500
[19:32:12.294] Odometry x=0.000002, y=-0.000000, theta=0.029820
[19:32:12.304] Odometry x=0.000002, y=-0.000000, theta=0.030141
[19:32:12.314] Odometry x=0.000002, y=-0.000000, theta=0.030471
[19:32:12.324] Odometry x=0.000002, y=-0.000000, theta=0.030790
[19:32:12.334] Odometry x=0.000002, y=-0.000000, theta=0.031105
[19:32:12.339] Init: px average disparity is:0.492215 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:12.339] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:12.344] Odometry x=0.000002, y=-0.000000, theta=0.031420
[19:32:12.354] Odometry x=0.000002, y=-0.000000, theta=0.031731
[19:32:12.365] Odometry x=0.000002, y=-0.000000, theta=0.032047
[19:32:12.375] Odometry x=0.000002, y=-0.000000, theta=0.032371
[19:32:12.385] Odometry x=0.000002, y=-0.000000, theta=0.032699
[19:32:12.395] Odometry x=0.000002, y=-0.000000, theta=0.033016
[19:32:12.405] Odometry x=0.000002, y=-0.000000, theta=0.033331
[19:32:12.415] Odometry x=0.000002, y=-0.000000, theta=0.033648
[19:32:12.425] Odometry x=0.000002, y=-0.000000, theta=0.033967
[19:32:12.435] Odometry x=0.000002, y=-0.000000, theta=0.034286
[19:32:12.439] Init: px average disparity is:0.448804 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:12.439] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:12.446] Odometry x=0.000002, y=-0.000000, theta=0.034601
[19:32:12.456] Odometry x=0.000002, y=-0.000000, theta=0.034811
[19:32:12.466] Odometry x=0.000002, y=-0.000000, theta=0.035068
[19:32:12.476] Odometry x=0.000002, y=-0.000000, theta=0.035387
[19:32:12.486] Odometry x=0.000002, y=-0.000000, theta=0.035699
[19:32:12.496] Odometry x=0.000003, y=-0.000000, theta=0.036012
[19:32:12.506] Odometry x=0.000003, y=-0.000000, theta=0.036328
[19:32:12.516] Odometry x=0.000003, y=-0.000000, theta=0.036648
[19:32:12.527] Odometry x=0.000003, y=-0.000000, theta=0.036874
[19:32:12.537] Odometry x=0.000003, y=-0.000000, theta=0.037232
[19:32:12.541] Init: px average disparity is:0.488297 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:12.541] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:12.547] Odometry x=0.000003, y=-0.000000, theta=0.037712
[19:32:12.557] Odometry x=0.000003, y=-0.000000, theta=0.037987
[19:32:12.567] Odometry x=0.000003, y=-0.000000, theta=0.038351
[19:32:12.577] Odometry x=0.000003, y=-0.000000, theta=0.038734
[19:32:12.587] Odometry x=0.000003, y=-0.000000, theta=0.039049
[19:32:12.598] Odometry x=0.000003, y=-0.000000, theta=0.039387
[19:32:12.608] Odometry x=0.000003, y=-0.000000, theta=0.039725
[19:32:12.618] Odometry x=0.000003, y=-0.000000, theta=0.040052
[19:32:12.628] Odometry x=0.000003, y=-0.000000, theta=0.040466
[19:32:12.638] Odometry x=0.000003, y=-0.000000, theta=0.040753
[19:32:12.639] Init: px average disparity is:0.453623 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:12.639] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:12.648] Odometry x=0.000003, y=-0.000000, theta=0.041104
[19:32:12.658] Odometry x=0.000003, y=-0.000000, theta=0.041474
[19:32:12.668] Odometry x=0.000003, y=-0.000000, theta=0.041795
[19:32:12.679] Odometry x=0.000003, y=-0.000000, theta=0.042024
[19:32:12.689] Odometry x=0.000003, y=-0.000000, theta=0.042377
[19:32:12.699] Odometry x=0.000003, y=-0.000000, theta=0.042748
[19:32:12.709] Odometry x=0.000003, y=-0.000000, theta=0.043072
[19:32:12.719] Odometry x=0.000003, y=-0.000000, theta=0.043386
[19:32:12.729] Odometry x=0.000003, y=-0.000000, theta=0.043692
[19:32:12.739] Odometry x=0.000003, y=-0.000000, theta=0.043906
[19:32:12.739] Init: px average disparity is:0.496885 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:12.739] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:12.749] Odometry x=0.000003, y=-0.000000, theta=0.044256
[19:32:12.759] Odometry x=0.000003, y=-0.000000, theta=0.044637
[19:32:12.770] Odometry x=0.000003, y=-0.000000, theta=0.044987
[19:32:12.780] Odometry x=0.000003, y=-0.000000, theta=0.045320
[19:32:12.790] Odometry x=0.000003, y=-0.000000, theta=0.045541
[19:32:12.800] Odometry x=0.000003, y=-0.000000, theta=0.045900
[19:32:12.810] Odometry x=0.000003, y=-0.000000, theta=0.046277
[19:32:12.820] Odometry x=0.000003, y=-0.000000, theta=0.046494
[19:32:12.830] Odometry x=0.000003, y=-0.000000, theta=0.046848
[19:32:12.840] Odometry x=0.000003, y=-0.000000, theta=0.047232
[19:32:12.843] Init: px average disparity is:0.495226 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:12.843] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:12.851] Odometry x=0.000003, y=-0.000000, theta=0.047458
[19:32:12.861] Odometry x=0.000003, y=-0.000000, theta=0.047807
[19:32:12.871] Odometry x=0.000003, y=-0.000000, theta=0.048188
[19:32:12.881] Odometry x=0.000003, y=-0.000000, theta=0.048511
[19:32:12.891] Odometry x=0.000003, y=-0.000000, theta=0.048733
[19:32:12.901] Odometry x=0.000003, y=-0.000000, theta=0.049076
[19:32:12.912] Odometry x=0.000003, y=-0.000000, theta=0.049447
[19:32:12.922] Odometry x=0.000003, y=-0.000000, theta=0.049669
[19:32:12.932] Odometry x=0.000004, y=-0.000000, theta=0.050027
[19:32:12.940] Init: px average disparity is:0.479984 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:12.940] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:12.942] Odometry x=0.000004, y=-0.000000, theta=0.050408
[19:32:12.952] Odometry x=0.000004, y=-0.000000, theta=0.050725
[19:32:12.962] Odometry x=0.000004, y=-0.000000, theta=0.050942
[19:32:12.972] Odometry x=0.000004, y=-0.000000, theta=0.051285
[19:32:12.982] Odometry x=0.000004, y=-0.000000, theta=0.051658
[19:32:12.993] Odometry x=0.000004, y=-0.000000, theta=0.051978
[19:32:13.003] Odometry x=0.000004, y=-0.000000, theta=0.052296
[19:32:13.013] Odometry x=0.000004, y=-0.000000, theta=0.052617
[19:32:13.023] Odometry x=0.000004, y=-0.000000, theta=0.052843
[19:32:13.033] Odometry x=0.000004, y=-0.000000, theta=0.053196
[19:32:13.039] Init: px average disparity is:0.467683 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:13.039] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:13.043] Odometry x=0.000004, y=-0.000000, theta=0.053575
[19:32:13.053] Odometry x=0.000004, y=-0.000000, theta=0.053905
[19:32:13.064] Odometry x=0.000004, y=-0.000000, theta=0.054328
[19:32:13.074] Odometry x=0.000004, y=-0.000000, theta=0.054708
[19:32:13.084] Odometry x=0.000004, y=-0.000000, theta=0.055032
[19:32:13.094] Odometry x=0.000004, y=-0.000000, theta=0.055351
[19:32:13.104] Odometry x=0.000004, y=-0.000000, theta=0.055670
[19:32:13.114] Odometry x=0.000004, y=-0.000000, theta=0.055991
[19:32:13.124] Odometry x=0.000004, y=-0.000000, theta=0.056214
[19:32:13.134] Odometry x=0.000004, y=-0.000000, theta=0.056473
[19:32:13.139] Init: px average disparity is:0.449295 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:13.139] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:13.145] Odometry x=0.000004, y=-0.000000, theta=0.056691
[19:32:13.155] Odometry x=0.000004, y=-0.000000, theta=0.057051
[19:32:13.165] Odometry x=0.000004, y=-0.000001, theta=0.057433
[19:32:13.175] Odometry x=0.000004, y=-0.000001, theta=0.057843
[19:32:13.185] Odometry x=0.000004, y=-0.000001, theta=0.058120
[19:32:13.195] Odometry x=0.000004, y=-0.000001, theta=0.058473
[19:32:13.205] Odometry x=0.000004, y=-0.000001, theta=0.058847
[19:32:13.216] Odometry x=0.000004, y=-0.000001, theta=0.059167
[19:32:13.226] Odometry x=0.000004, y=-0.000001, theta=0.059483
[19:32:13.236] Odometry x=0.000004, y=-0.000001, theta=0.059800
[19:32:13.242] Init: px average disparity is:0.458271 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:13.242] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:13.246] Odometry x=0.000004, y=-0.000001, theta=0.060121
[19:32:13.256] Odometry x=0.000004, y=-0.000001, theta=0.060443
[19:32:13.266] Odometry x=0.000004, y=-0.000001, theta=0.060778
[19:32:13.276] Odometry x=0.000004, y=-0.000001, theta=0.061093
[19:32:13.287] Odometry x=0.000004, y=-0.000001, theta=0.061308
[19:32:13.297] Odometry x=0.000004, y=-0.000001, theta=0.061669
[19:32:13.307] Odometry x=0.000004, y=-0.000001, theta=0.062055
[19:32:13.317] Odometry x=0.000004, y=-0.000001, theta=0.062382
[19:32:13.327] Odometry x=0.000004, y=-0.000001, theta=0.062697
[19:32:13.337] Odometry x=0.000004, y=-0.000001, theta=0.062914
[19:32:13.344] Init: px average disparity is:0.504808 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:13.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:13.357] Odometry x=0.000005, y=-0.000001, theta=0.063460
[19:32:13.368] Odometry x=0.000005, y=-0.000001, theta=0.063956
[19:32:13.378] Odometry x=0.000005, y=-0.000001, theta=0.064276
[19:32:13.388] Odometry x=0.000005, y=-0.000001, theta=0.064496
[19:32:13.398] Odometry x=0.000005, y=-0.000001, theta=0.064856
[19:32:13.408] Odometry x=0.000005, y=-0.000001, theta=0.065190
[19:32:13.418] Odometry x=0.000005, y=-0.000001, theta=0.065703
[19:32:13.428] Odometry x=0.000005, y=-0.000000, theta=0.067678
[19:32:13.438] Odometry x=0.000005, y=0.000000, theta=0.071300
[19:32:13.444] Init: px average disparity is:5.961308 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:13.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:13.448] Odometry x=0.000002, y=0.000001, theta=0.031783
[19:32:13.469] Odometry x=0.000447, y=-0.000014, theta=0.035922
[19:32:13.479] Odometry x=0.000450, y=-0.000015, theta=0.039597
[19:32:13.489] Odometry x=0.000453, y=-0.000015, theta=0.039616
[19:32:13.499] Odometry x=0.000456, y=-0.000015, theta=0.038093
[19:32:13.509] Odometry x=0.000458, y=-0.000014, theta=0.036520
[19:32:13.519] Odometry x=0.000458, y=-0.000013, theta=0.035297
[19:32:13.529] Odometry x=0.000459, y=-0.000012, theta=0.034221
[19:32:13.540] Odometry x=0.000459, y=-0.000011, theta=0.033468
[19:32:13.540] Init: px average disparity is:4.432936 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:13.540] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:13.560] Odometry x=0.000783, y=-0.000022, theta=0.032393
[19:32:13.570] Odometry x=0.000784, y=-0.000022, theta=0.031490
[19:32:13.580] Odometry x=0.000784, y=-0.000022, theta=0.031082
[19:32:13.590] Odometry x=0.000784, y=-0.000024, theta=0.030426
[19:32:13.600] Odometry x=0.000784, y=-0.000026, theta=0.029674
[19:32:13.610] Odometry x=0.000784, y=-0.000030, theta=0.029000
[19:32:13.621] Odometry x=0.000784, y=-0.000033, theta=0.028535
[19:32:13.631] Odometry x=0.000784, y=-0.000041, theta=0.028310
[19:32:13.641] Odometry x=0.000784, y=-0.000047, theta=0.028461
[19:32:13.641] Init: px average disparity is:8.439435 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:13.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:13.661] Odometry x=0.001188, y=-0.000065, theta=0.028861
[19:32:13.671] Odometry x=0.001188, y=-0.000069, theta=0.029081
[19:32:13.681] Odometry x=0.001188, y=-0.000071, theta=0.028913
[19:32:13.691] Odometry x=0.001188, y=-0.000072, theta=0.028702
[19:32:13.702] Odometry x=0.001188, y=-0.000073, theta=0.028654
[19:32:13.712] Odometry x=0.001188, y=-0.000074, theta=0.028728
[19:32:13.722] Odometry x=0.001188, y=-0.000074, theta=0.028981
[19:32:13.732] Odometry x=0.001189, y=-0.000074, theta=0.029269
[19:32:13.739] Init: px average disparity is:7.279062 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:13.739] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:13.742] Odometry x=0.001190, y=-0.000074, theta=0.029899
[19:32:13.762] Odometry x=0.001576, y=-0.000085, theta=0.032209
[19:32:13.773] Odometry x=0.001577, y=-0.000085, theta=0.034364
[19:32:13.783] Odometry x=0.001577, y=-0.000085, theta=0.035392
[19:32:13.793] Odometry x=0.001577, y=-0.000085, theta=0.036293
[19:32:13.803] Odometry x=0.001577, y=-0.000085, theta=0.036984
[19:32:13.813] Odometry x=0.001576, y=-0.000086, theta=0.037444
[19:32:13.823] Odometry x=0.001576, y=-0.000086, theta=0.037764
[19:32:13.833] Odometry x=0.001576, y=-0.000086, theta=0.037722
[19:32:13.839] Init: px average disparity is:10.543868 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:13.839] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:13.844] Odometry x=0.001576, y=-0.000087, theta=0.037118
[19:32:13.864] Odometry x=0.001959, y=-0.000102, theta=0.037149
[19:32:13.874] Odometry x=0.001960, y=-0.000103, theta=0.037808
[19:32:13.884] Odometry x=0.001962, y=-0.000104, theta=0.038399
[19:32:13.894] Odometry x=0.001963, y=-0.000104, theta=0.038817
[19:32:13.904] Odometry x=0.001965, y=-0.000104, theta=0.039446
[19:32:13.915] Odometry x=0.001965, y=-0.000104, theta=0.040191
[19:32:13.925] Odometry x=0.001965, y=-0.000104, theta=0.040706
[19:32:13.935] Odometry x=0.001966, y=-0.000104, theta=0.041375
[19:32:13.945] Init: px average disparity is:10.603272 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:13.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:13.945] Odometry x=0.001965, y=-0.000104, theta=0.043073
[19:32:13.966] Odometry x=0.002367, y=-0.000122, theta=0.045418
[19:32:13.976] Odometry x=0.002367, y=-0.000123, theta=0.047831
[19:32:13.986] Odometry x=0.002366, y=-0.000123, theta=0.049192
[19:32:13.996] Odometry x=0.002366, y=-0.000123, theta=0.050318
[19:32:14.006] Odometry x=0.002366, y=-0.000123, theta=0.051424
[19:32:14.016] Odometry x=0.002366, y=-0.000123, theta=0.052746
[19:32:14.027] Odometry x=0.002367, y=-0.000123, theta=0.054295
[19:32:14.037] Odometry x=0.002367, y=-0.000123, theta=0.055460
[19:32:14.041] Init: px average disparity is:12.735867 ,While minimum is: 40.000000  KLT tracked : 97
[19:32:14.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:14.047] Odometry x=0.002367, y=-0.000123, theta=0.057833
[19:32:14.067] Odometry x=0.002748, y=-0.000145, theta=0.059214
[19:32:14.077] Odometry x=0.002748, y=-0.000145, theta=0.060533
[19:32:14.088] Odometry x=0.002748, y=-0.000145, theta=0.061213
[19:32:14.098] Odometry x=0.002748, y=-0.000145, theta=0.061911
[19:32:14.108] Odometry x=0.002748, y=-0.000146, theta=0.062752
[19:32:14.118] Odometry x=0.002748, y=-0.000146, theta=0.063528
[19:32:14.128] Odometry x=0.002748, y=-0.000146, theta=0.063952
[19:32:14.139] Odometry x=0.002748, y=-0.000146, theta=0.064114
[19:32:14.149] Init: px average disparity is:12.231996 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:14.149] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:14.159] Odometry x=0.003091, y=-0.000169, theta=0.064788
[19:32:14.169] Odometry x=0.003091, y=-0.000169, theta=0.065654
[19:32:14.179] Odometry x=0.003092, y=-0.000169, theta=0.066547
[19:32:14.190] Odometry x=0.003092, y=-0.000169, theta=0.067732
[19:32:14.200] Odometry x=0.003092, y=-0.000170, theta=0.069010
[19:32:14.210] Odometry x=0.003092, y=-0.000170, theta=0.070373
[19:32:14.220] Odometry x=0.003092, y=-0.000170, theta=0.071086
[19:32:14.231] Odometry x=0.003092, y=-0.000170, theta=0.071299
[19:32:14.241] Odometry x=0.003092, y=-0.000170, theta=0.071884
[19:32:14.250] Init: px average disparity is:14.720769 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:14.250] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:14.261] Odometry x=0.000528, y=-0.000170, theta=0.000887
[19:32:14.271] Odometry x=0.000528, y=-0.000170, theta=0.002119
[19:32:14.282] Odometry x=0.000528, y=-0.000170, theta=0.002919
[19:32:14.292] Odometry x=0.000528, y=-0.000170, theta=0.003348
[19:32:14.302] Odometry x=0.000528, y=-0.000170, theta=0.002923
[19:32:14.312] Odometry x=0.000528, y=-0.000170, theta=0.002381
[19:32:14.323] Odometry x=0.000528, y=-0.000170, theta=0.002671
[19:32:14.333] Odometry x=0.000528, y=-0.000170, theta=0.003551
[19:32:14.343] Init: px average disparity is:14.566873 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:14.343] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:14.343] Odometry x=0.000527, y=-0.000170, theta=0.004542
[19:32:14.363] Odometry x=0.000909, y=-0.000172, theta=0.005206
[19:32:14.373] Odometry x=0.000909, y=-0.000172, theta=0.005871
[19:32:14.383] Odometry x=0.000909, y=-0.000172, theta=0.006380
[19:32:14.394] Odometry x=0.000909, y=-0.000172, theta=0.006816
[19:32:14.404] Odometry x=0.000909, y=-0.000172, theta=0.006923
[19:32:14.414] Odometry x=0.000909, y=-0.000172, theta=0.006765
[19:32:14.424] Odometry x=0.000909, y=-0.000172, theta=0.006464
[19:32:14.434] Odometry x=0.000909, y=-0.000172, theta=0.006237
[19:32:14.445] Odometry x=0.000909, y=-0.000172, theta=0.006161
[19:32:14.448] Init: px average disparity is:14.308351 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:14.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:14.465] Odometry x=0.001274, y=-0.000175, theta=0.007361
[19:32:14.475] Odometry x=0.001275, y=-0.000175, theta=0.008623
[19:32:14.485] Odometry x=0.001275, y=-0.000175, theta=0.009237
[19:32:14.495] Odometry x=0.001275, y=-0.000176, theta=0.010149
[19:32:14.505] Odometry x=0.001275, y=-0.000176, theta=0.010825
[19:32:14.516] Odometry x=0.001275, y=-0.000177, theta=0.011282
[19:32:14.526] Odometry x=0.001275, y=-0.000177, theta=0.011573
[19:32:14.536] Odometry x=0.001275, y=-0.000177, theta=0.011930
[19:32:14.541] Init: px average disparity is:15.540327 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:14.541] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:14.546] Odometry x=0.001275, y=-0.000177, theta=0.012320
[19:32:14.556] Odometry x=0.001275, y=-0.000177, theta=0.012746
[19:32:14.576] Odometry x=0.001733, y=-0.000183, theta=0.013173
[19:32:14.587] Odometry x=0.001733, y=-0.000183, theta=0.013522
[19:32:14.597] Odometry x=0.001733, y=-0.000183, theta=0.013163
[19:32:14.607] Odometry x=0.001733, y=-0.000183, theta=0.012712
[19:32:14.617] Odometry x=0.001732, y=-0.000183, theta=0.011989
[19:32:14.627] Odometry x=0.001732, y=-0.000183, theta=0.011244
[19:32:14.637] Odometry x=0.001732, y=-0.000183, theta=0.010862
[19:32:14.641] Init: px average disparity is:13.892336 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:14.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:14.647] Odometry x=0.001732, y=-0.000183, theta=0.011076
[19:32:14.668] Odometry x=0.002076, y=-0.000187, theta=0.010704
[19:32:14.678] Odometry x=0.002076, y=-0.000187, theta=0.009571
[19:32:14.688] Odometry x=0.002076, y=-0.000187, theta=0.008575
[19:32:14.698] Odometry x=0.002077, y=-0.000190, theta=0.007985
[19:32:14.708] Odometry x=0.002078, y=-0.000192, theta=0.007450
[19:32:14.718] Odometry x=0.002078, y=-0.000195, theta=0.007003
[19:32:14.729] Odometry x=0.002078, y=-0.000196, theta=0.006730
[19:32:14.739] Odometry x=0.002078, y=-0.000197, theta=0.006511
[19:32:14.744] Init: px average disparity is:10.790991 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:14.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:14.759] Odometry x=0.002423, y=-0.000200, theta=0.005506
[19:32:14.769] Odometry x=0.002423, y=-0.000200, theta=0.004434
[19:32:14.779] Odometry x=0.002423, y=-0.000200, theta=0.003877
[19:32:14.789] Odometry x=0.002423, y=-0.000200, theta=0.003416
[19:32:14.800] Odometry x=0.002423, y=-0.000199, theta=0.002934
[19:32:14.810] Odometry x=0.002423, y=-0.000199, theta=0.002665
[19:32:14.820] Odometry x=0.002423, y=-0.000199, theta=0.002448
[19:32:14.830] Odometry x=0.002423, y=-0.000199, theta=0.002092
[19:32:14.840] Odometry x=0.002423, y=-0.000199, theta=0.001574
[19:32:14.840] Init: px average disparity is:9.506803 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:14.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:14.850] Odometry x=0.002423, y=-0.000199, theta=0.000826
[19:32:14.870] Odometry x=0.002842, y=-0.000200, theta=0.000084
[19:32:14.880] Odometry x=0.002842, y=-0.000201, theta=-0.000550
[19:32:14.891] Odometry x=0.002843, y=-0.000201, theta=-0.000906
[19:32:14.901] Odometry x=0.002843, y=-0.000202, theta=-0.001401
[19:32:14.911] Odometry x=0.002843, y=-0.000202, theta=-0.001766
[19:32:14.921] Odometry x=0.002844, y=-0.000203, theta=-0.001794
[19:32:14.931] Odometry x=0.002844, y=-0.000203, theta=-0.001645
[19:32:14.940] Init: px average disparity is:10.709870 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:14.940] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:14.941] Odometry x=0.002844, y=-0.000203, theta=-0.001772
[19:32:14.962] Odometry x=0.003191, y=-0.000202, theta=-0.003797
[19:32:14.972] Odometry x=0.003191, y=-0.000202, theta=-0.006210
[19:32:14.982] Odometry x=0.003191, y=-0.000202, theta=-0.008025
[19:32:14.992] Odometry x=0.003191, y=-0.000202, theta=-0.009707
[19:32:15.002] Odometry x=0.003191, y=-0.000203, theta=-0.011147
[19:32:15.013] Odometry x=0.003191, y=-0.000204, theta=-0.012035
[19:32:15.023] Odometry x=0.003192, y=-0.000206, theta=-0.012507
[19:32:15.033] Odometry x=0.003192, y=-0.000207, theta=-0.012901
[19:32:15.041] Init: px average disparity is:9.779722 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:15.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:15.043] Odometry x=0.003192, y=-0.000209, theta=-0.013157
[19:32:15.063] Odometry x=0.003589, y=-0.000205, theta=-0.011795
[19:32:15.073] Odometry x=0.003590, y=-0.000205, theta=-0.010298
[19:32:15.086] Odometry x=0.003590, y=-0.000205, theta=-0.009364
[19:32:15.096] Odometry x=0.003590, y=-0.000205, theta=-0.008995
[19:32:15.107] Odometry x=0.003591, y=-0.000206, theta=-0.009155
[19:32:15.117] Odometry x=0.003591, y=-0.000206, theta=-0.009454
[19:32:15.127] Odometry x=0.003591, y=-0.000206, theta=-0.009643
[19:32:15.137] Odometry x=0.003591, y=-0.000206, theta=-0.009703
[19:32:15.140] Init: px average disparity is:11.381472 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:15.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:15.147] Odometry x=0.003591, y=-0.000206, theta=-0.009907
[19:32:15.168] Odometry x=0.003998, y=-0.000202, theta=-0.010577
[19:32:15.178] Odometry x=0.003998, y=-0.000202, theta=-0.011401
[19:32:15.188] Odometry x=0.003998, y=-0.000202, theta=-0.011844
[19:32:15.198] Odometry x=0.003998, y=-0.000203, theta=-0.012566
[19:32:15.208] Odometry x=0.003998, y=-0.000203, theta=-0.013470
[19:32:15.218] Odometry x=0.003998, y=-0.000204, theta=-0.014372
[19:32:15.228] Odometry x=0.003998, y=-0.000205, theta=-0.015314
[19:32:15.239] Odometry x=0.003998, y=-0.000206, theta=-0.015894
[19:32:15.240] Init: px average disparity is:11.563107 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:15.240] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:15.249] Odometry x=0.003998, y=-0.000207, theta=-0.016632
[19:32:15.269] Odometry x=0.004386, y=-0.000201, theta=-0.017512
[19:32:15.279] Odometry x=0.004386, y=-0.000201, theta=-0.018465
[19:32:15.289] Odometry x=0.004386, y=-0.000201, theta=-0.018854
[19:32:15.299] Odometry x=0.004386, y=-0.000202, theta=-0.018640
[19:32:15.310] Odometry x=0.004386, y=-0.000202, theta=-0.018091
[19:32:15.320] Odometry x=0.004386, y=-0.000202, theta=-0.017676
[19:32:15.330] Odometry x=0.004387, y=-0.000202, theta=-0.017669
[19:32:15.339] Init: px average disparity is:12.851283 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:15.339] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:15.340] Odometry x=0.004387, y=-0.000202, theta=-0.017830
[19:32:15.351] Odometry x=0.004387, y=-0.000202, theta=-0.018079
[19:32:15.371] Odometry x=0.004728, y=-0.000199, theta=-0.018460
[19:32:15.381] Odometry x=0.004728, y=-0.000201, theta=-0.018697
[19:32:15.391] Odometry x=0.004728, y=-0.000202, theta=-0.018653
[19:32:15.401] Odometry x=0.004728, y=-0.000203, theta=-0.018489
[19:32:15.412] Odometry x=0.004728, y=-0.000204, theta=-0.018160
[19:32:15.422] Odometry x=0.004728, y=-0.000205, theta=-0.017933
[19:32:15.432] Odometry x=0.004728, y=-0.000205, theta=-0.017378
[19:32:15.440] Init: px average disparity is:11.808898 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:15.440] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:15.442] Odometry x=0.004728, y=-0.000205, theta=-0.016615
[19:32:15.462] Odometry x=0.005116, y=-0.000198, theta=-0.016223
[19:32:15.473] Odometry x=0.005116, y=-0.000198, theta=-0.015747
[19:32:15.483] Odometry x=0.005116, y=-0.000198, theta=-0.015438
[19:32:15.493] Odometry x=0.005116, y=-0.000199, theta=-0.015119
[19:32:15.503] Odometry x=0.005116, y=-0.000200, theta=-0.014861
[19:32:15.513] Odometry x=0.005116, y=-0.000200, theta=-0.014741
[19:32:15.523] Odometry x=0.005116, y=-0.000200, theta=-0.014704
[19:32:15.533] Odometry x=0.005117, y=-0.000203, theta=-0.014962
[19:32:15.541] Init: px average disparity is:11.405010 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:15.542] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:15.544] Odometry x=0.005117, y=-0.000205, theta=-0.015074
[19:32:15.564] Odometry x=0.005501, y=-0.000211, theta=-0.015092
[19:32:15.574] Odometry x=0.005502, y=-0.000219, theta=-0.015226
[19:32:15.584] Odometry x=0.005502, y=-0.000222, theta=-0.015467
[19:32:15.594] Odometry x=0.005502, y=-0.000224, theta=-0.015551
[19:32:15.604] Odometry x=0.005502, y=-0.000225, theta=-0.015492
[19:32:15.615] Odometry x=0.005503, y=-0.000226, theta=-0.015482
[19:32:15.625] Odometry x=0.005503, y=-0.000226, theta=-0.015472
[19:32:15.635] Odometry x=0.005503, y=-0.000226, theta=-0.015241
[19:32:15.641] Init: px average disparity is:9.365996 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:15.642] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:15.645] Odometry x=0.005503, y=-0.000227, theta=-0.015057
[19:32:15.665] Odometry x=0.005904, y=-0.000221, theta=-0.015147
[19:32:15.675] Odometry x=0.005904, y=-0.000221, theta=-0.015233
[19:32:15.685] Odometry x=0.005904, y=-0.000221, theta=-0.015286
[19:32:15.696] Odometry x=0.005904, y=-0.000221, theta=-0.015584
[19:32:15.706] Odometry x=0.005904, y=-0.000221, theta=-0.016163
[19:32:15.716] Odometry x=0.005904, y=-0.000221, theta=-0.017003
[19:32:15.726] Odometry x=0.005904, y=-0.000221, theta=-0.018223
[19:32:15.736] Odometry x=0.005904, y=-0.000221, theta=-0.019526
[19:32:15.739] Init: px average disparity is:13.139904 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:15.739] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:15.746] Odometry x=0.005904, y=-0.000221, theta=-0.020440
[19:32:15.767] Odometry x=0.006268, y=-0.000217, theta=-0.022335
[19:32:15.777] Odometry x=0.006270, y=-0.000220, theta=-0.024125
[19:32:15.787] Odometry x=0.006270, y=-0.000220, theta=-0.024785
[19:32:15.797] Odometry x=0.006272, y=-0.000221, theta=-0.026009
[19:32:15.807] Odometry x=0.006272, y=-0.000222, theta=-0.027286
[19:32:15.818] Odometry x=0.006273, y=-0.000222, theta=-0.028120
[19:32:15.828] Odometry x=0.006273, y=-0.000223, theta=-0.028611
[19:32:15.838] Odometry x=0.006273, y=-0.000224, theta=-0.028768
[19:32:15.841] Init: px average disparity is:13.896972 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:15.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:15.858] Odometry x=0.006636, y=-0.000215, theta=-0.028527
[19:32:15.868] Odometry x=0.006636, y=-0.000219, theta=-0.027444
[19:32:15.878] Odometry x=0.006637, y=-0.000222, theta=-0.025673
[19:32:15.889] Odometry x=0.006637, y=-0.000222, theta=-0.024254
[19:32:15.899] Odometry x=0.006638, y=-0.000224, theta=-0.021122
[19:32:15.909] Odometry x=0.006639, y=-0.000224, theta=-0.017393
[19:32:15.919] Odometry x=0.006639, y=-0.000225, theta=-0.014054
[19:32:15.929] Odometry x=0.006639, y=-0.000225, theta=-0.011030
[19:32:15.939] Odometry x=0.006639, y=-0.000225, theta=-0.008461
[19:32:15.940] Init: px average disparity is:8.414744 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:15.940] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:15.949] Odometry x=0.006639, y=-0.000225, theta=-0.005095
[19:32:15.970] Odometry x=0.007080, y=-0.000223, theta=-0.001829
[19:32:15.980] Odometry x=0.007081, y=-0.000223, theta=0.001631
[19:32:15.990] Odometry x=0.007081, y=-0.000223, theta=0.003156
[19:32:16.000] Odometry x=0.007081, y=-0.000223, theta=0.005419
[19:32:16.010] Odometry x=0.007081, y=-0.000223, theta=0.007779
[19:32:16.020] Odometry x=0.007081, y=-0.000223, theta=0.009103
[19:32:16.031] Odometry x=0.007081, y=-0.000223, theta=0.010680
[19:32:16.041] Odometry x=0.007081, y=-0.000223, theta=0.012732
[19:32:16.041] Init: px average disparity is:10.604053 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:16.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:16.051] Odometry x=0.007081, y=-0.000225, theta=0.015381
[19:32:16.071] Odometry x=0.007464, y=-0.000235, theta=0.018672
[19:32:16.081] Odometry x=0.007465, y=-0.000238, theta=0.022633
[19:32:16.091] Odometry x=0.007465, y=-0.000239, theta=0.024901
[19:32:16.102] Odometry x=0.007465, y=-0.000240, theta=0.028553
[19:32:16.112] Odometry x=0.007465, y=-0.000240, theta=0.032152
[19:32:16.122] Odometry x=0.007465, y=-0.000240, theta=0.033950
[19:32:16.132] Odometry x=0.007465, y=-0.000240, theta=0.036592
[19:32:16.140] Init: px average disparity is:14.879450 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:16.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:16.142] Odometry x=0.007465, y=-0.000240, theta=0.039478
[19:32:16.162] Odometry x=0.007809, y=-0.000254, theta=0.041169
[19:32:16.173] Odometry x=0.007809, y=-0.000254, theta=0.042839
[19:32:16.183] Odometry x=0.007809, y=-0.000254, theta=0.043743
[19:32:16.193] Odometry x=0.007809, y=-0.000254, theta=0.044633
[19:32:16.203] Odometry x=0.007810, y=-0.000255, theta=0.045562
[19:32:16.213] Odometry x=0.007809, y=-0.000256, theta=0.046742
[19:32:16.223] Odometry x=0.007809, y=-0.000257, theta=0.048126
[19:32:16.233] Odometry x=0.007810, y=-0.000257, theta=0.049405
[19:32:16.241] Init: px average disparity is:18.322597 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:16.241] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:16.244] Odometry x=0.007810, y=-0.000258, theta=0.050609
[19:32:16.264] Odometry x=0.008191, y=-0.000279, theta=0.052569
[19:32:16.274] Odometry x=0.008191, y=-0.000280, theta=0.054817
[19:32:16.284] Odometry x=0.008191, y=-0.000280, theta=0.056602
[19:32:16.294] Odometry x=0.008191, y=-0.000281, theta=0.058471
[19:32:16.305] Odometry x=0.008191, y=-0.000281, theta=0.060136
[19:32:16.315] Odometry x=0.008191, y=-0.000282, theta=0.062175
[19:32:16.325] Odometry x=0.008191, y=-0.000282, theta=0.063549
[19:32:16.335] Odometry x=0.008191, y=-0.000282, theta=0.064597
[19:32:16.345] Init: px average disparity is:21.436366 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:16.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:16.345] Odometry x=0.008191, y=-0.000282, theta=0.065554
[19:32:16.365] Odometry x=0.008572, y=-0.000308, theta=0.067554
[19:32:16.376] Odometry x=0.008572, y=-0.000308, theta=0.069634
[19:32:16.386] Odometry x=0.008572, y=-0.000308, theta=0.070594
[19:32:16.396] Odometry x=0.008572, y=-0.000308, theta=0.072022
[19:32:16.406] Odometry x=0.008572, y=-0.000308, theta=0.073620
[19:32:16.416] Odometry x=0.008572, y=-0.000308, theta=0.075418
[19:32:16.426] Odometry x=0.008572, y=-0.000308, theta=0.077533
[19:32:16.437] Odometry x=0.008572, y=-0.000309, theta=0.079760
[19:32:16.447] Init: px average disparity is:25.178290 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:16.447] Odometry x=0.003274, y=-0.000309, theta=0.032505
[19:32:16.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:16.467] Odometry x=0.003676, y=-0.000323, theta=0.033123
[19:32:16.477] Odometry x=0.003676, y=-0.000323, theta=0.033673
[19:32:16.488] Odometry x=0.003676, y=-0.000323, theta=0.033857
[19:32:16.498] Odometry x=0.003676, y=-0.000323, theta=0.033850
[19:32:16.508] Odometry x=0.003677, y=-0.000323, theta=0.033595
[19:32:16.518] Odometry x=0.003677, y=-0.000323, theta=0.033164
[19:32:16.528] Odometry x=0.003677, y=-0.000323, theta=0.032457
[19:32:16.538] Odometry x=0.003677, y=-0.000323, theta=0.031519
[19:32:16.540] Init: px average disparity is:23.377357 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:16.540] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:16.548] Odometry x=0.003677, y=-0.000323, theta=0.030716
[19:32:16.569] Odometry x=0.004059, y=-0.000335, theta=0.029904
[19:32:16.579] Odometry x=0.004059, y=-0.000335, theta=0.029266
[19:32:16.589] Odometry x=0.004059, y=-0.000335, theta=0.029108
[19:32:16.600] Odometry x=0.004059, y=-0.000335, theta=0.028894
[19:32:16.610] Odometry x=0.004059, y=-0.000335, theta=0.028345
[19:32:16.620] Odometry x=0.004059, y=-0.000336, theta=0.027890
[19:32:16.631] Odometry x=0.004059, y=-0.000337, theta=0.027337
[19:32:16.641] Odometry x=0.004059, y=-0.000338, theta=0.026357
[19:32:16.648] Init: px average disparity is:20.193112 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:16.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:16.651] Odometry x=0.004059, y=-0.000340, theta=0.024724
[19:32:16.672] Odometry x=0.004460, y=-0.000352, theta=0.023751
[19:32:16.682] Odometry x=0.004460, y=-0.000354, theta=0.022835
[19:32:16.693] Odometry x=0.004460, y=-0.000355, theta=0.022356
[19:32:16.703] Odometry x=0.004460, y=-0.000356, theta=0.021893
[19:32:16.714] Odometry x=0.004459, y=-0.000357, theta=0.021416
[19:32:16.724] Odometry x=0.004459, y=-0.000358, theta=0.021061
[19:32:16.734] Odometry x=0.004459, y=-0.000359, theta=0.020369
[19:32:16.744] Odometry x=0.004459, y=-0.000359, theta=0.019672
[19:32:16.746] Init: px average disparity is:17.723285 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:16.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:16.765] Odometry x=0.004806, y=-0.000366, theta=0.019450
[19:32:16.775] Odometry x=0.004806, y=-0.000366, theta=0.019148
[19:32:16.785] Odometry x=0.004806, y=-0.000366, theta=0.018912
[19:32:16.795] Odometry x=0.004806, y=-0.000366, theta=0.018139
[19:32:16.806] Odometry x=0.004806, y=-0.000366, theta=0.017297
[19:32:16.816] Odometry x=0.004806, y=-0.000366, theta=0.016381
[19:32:16.827] Odometry x=0.004806, y=-0.000366, theta=0.015591
[19:32:16.837] Odometry x=0.004806, y=-0.000368, theta=0.013929
[19:32:16.847] Odometry x=0.004807, y=-0.000369, theta=0.012102
[19:32:16.847] Init: px average disparity is:14.405365 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:16.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:16.868] Odometry x=0.005207, y=-0.000374, theta=0.010543
[19:32:16.878] Odometry x=0.005207, y=-0.000374, theta=0.008757
[19:32:16.889] Odometry x=0.005207, y=-0.000374, theta=0.007864
[19:32:16.899] Odometry x=0.005207, y=-0.000374, theta=0.006477
[19:32:16.910] Odometry x=0.005207, y=-0.000374, theta=0.004896
[19:32:16.920] Odometry x=0.005207, y=-0.000374, theta=0.003580
[19:32:16.931] Odometry x=0.005207, y=-0.000375, theta=0.002604
[19:32:16.941] Odometry x=0.005207, y=-0.000375, theta=0.001892
[19:32:16.947] Init: px average disparity is:10.828139 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:16.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:16.962] Odometry x=0.005570, y=-0.000377, theta=0.000753
[19:32:16.972] Odometry x=0.005570, y=-0.000378, theta=-0.000548
[19:32:16.982] Odometry x=0.005570, y=-0.000379, theta=-0.001560
[19:32:16.992] Odometry x=0.005570, y=-0.000380, theta=-0.002949
[19:32:17.003] Odometry x=0.005570, y=-0.000380, theta=-0.004109
[19:32:17.013] Odometry x=0.005570, y=-0.000382, theta=-0.006036
[19:32:17.023] Odometry x=0.005570, y=-0.000383, theta=-0.007474
[19:32:17.033] Odometry x=0.005570, y=-0.000383, theta=-0.007944
[19:32:17.043] Odometry x=0.005570, y=-0.000383, theta=-0.008039
[19:32:17.044] Init: px average disparity is:7.594862 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:17.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:17.064] Odometry x=0.005952, y=-0.000380, theta=-0.008947
[19:32:17.074] Odometry x=0.005952, y=-0.000380, theta=-0.009941
[19:32:17.084] Odometry x=0.005952, y=-0.000380, theta=-0.010405
[19:32:17.095] Odometry x=0.005953, y=-0.000381, theta=-0.010461
[19:32:17.105] Odometry x=0.005954, y=-0.000381, theta=-0.010010
[19:32:17.115] Odometry x=0.005955, y=-0.000381, theta=-0.009285
[19:32:17.126] Odometry x=0.005955, y=-0.000381, theta=-0.008647
[19:32:17.136] Odometry x=0.005955, y=-0.000381, theta=-0.008485
[19:32:17.146] Odometry x=0.005955, y=-0.000381, theta=-0.008756
[19:32:17.147] Init: px average disparity is:6.123898 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:17.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:17.166] Odometry x=0.006337, y=-0.000378, theta=-0.009894
[19:32:17.177] Odometry x=0.006336, y=-0.000379, theta=-0.010823
[19:32:17.187] Odometry x=0.006336, y=-0.000379, theta=-0.011043
[19:32:17.198] Odometry x=0.006335, y=-0.000381, theta=-0.011650
[19:32:17.208] Odometry x=0.006335, y=-0.000382, theta=-0.012529
[19:32:17.218] Odometry x=0.006334, y=-0.000382, theta=-0.013605
[19:32:17.229] Odometry x=0.006334, y=-0.000383, theta=-0.014774
[19:32:17.239] Odometry x=0.006334, y=-0.000383, theta=-0.015827
[19:32:17.247] Init: px average disparity is:6.605801 ,While minimum is: 40.000000  KLT tracked : 96
[19:32:17.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:17.249] Odometry x=0.006334, y=-0.000384, theta=-0.016623
[19:32:17.270] Odometry x=0.006737, y=-0.000377, theta=-0.017935
[19:32:17.281] Odometry x=0.006737, y=-0.000377, theta=-0.019306
[19:32:17.291] Odometry x=0.006737, y=-0.000377, theta=-0.019970
[19:32:17.301] Odometry x=0.006738, y=-0.000377, theta=-0.020174
[19:32:17.311] Odometry x=0.006738, y=-0.000377, theta=-0.020181
[19:32:17.322] Odometry x=0.006739, y=-0.000377, theta=-0.020169
[19:32:17.332] Odometry x=0.006739, y=-0.000377, theta=-0.020410
[19:32:17.342] Odometry x=0.006740, y=-0.000377, theta=-0.021104
[19:32:17.347] Init: px average disparity is:6.473375 ,While minimum is: 40.000000  KLT tracked : 95
[19:32:17.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:17.363] Odometry x=0.007104, y=-0.000370, theta=-0.021870
[19:32:17.373] Odometry x=0.007104, y=-0.000370, theta=-0.022533
[19:32:17.383] Odometry x=0.007104, y=-0.000370, theta=-0.022846
[19:32:17.394] Odometry x=0.007104, y=-0.000370, theta=-0.023295
[19:32:17.404] Odometry x=0.007104, y=-0.000370, theta=-0.024086
[19:32:17.415] Odometry x=0.007104, y=-0.000370, theta=-0.025447
[19:32:17.425] Odometry x=0.007104, y=-0.000370, theta=-0.027143
[19:32:17.435] Odometry x=0.007104, y=-0.000370, theta=-0.028634
[19:32:17.445] Odometry x=0.007104, y=-0.000370, theta=-0.029543
[19:32:17.448] Init: px average disparity is:10.762586 ,While minimum is: 40.000000  KLT tracked : 95
[19:32:17.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:17.466] Odometry x=0.007466, y=-0.000362, theta=-0.031140
[19:32:17.476] Odometry x=0.007466, y=-0.000363, theta=-0.032624
[19:32:17.486] Odometry x=0.007466, y=-0.000364, theta=-0.033463
[19:32:17.497] Odometry x=0.007466, y=-0.000364, theta=-0.034096
[19:32:17.507] Odometry x=0.007466, y=-0.000364, theta=-0.035618
[19:32:17.517] Odometry x=0.007466, y=-0.000365, theta=-0.037333
[19:32:17.527] Odometry x=0.007466, y=-0.000365, theta=-0.038287
[19:32:17.537] Odometry x=0.007466, y=-0.000365, theta=-0.039135
[19:32:17.547] Init: px average disparity is:12.614767 ,While minimum is: 40.000000  KLT tracked : 95
[19:32:17.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:17.548] Odometry x=0.007466, y=-0.000365, theta=-0.039763
[19:32:17.568] Odometry x=0.007829, y=-0.000351, theta=-0.039250
[19:32:17.578] Odometry x=0.007829, y=-0.000352, theta=-0.038385
[19:32:17.588] Odometry x=0.007830, y=-0.000352, theta=-0.036935
[19:32:17.598] Odometry x=0.007830, y=-0.000352, theta=-0.035966
[19:32:17.609] Odometry x=0.007831, y=-0.000351, theta=-0.035405
[19:32:17.619] Odometry x=0.007832, y=-0.000351, theta=-0.034325
[19:32:17.630] Odometry x=0.007833, y=-0.000351, theta=-0.033255
[19:32:17.640] Odometry x=0.007833, y=-0.000351, theta=-0.032114
[19:32:17.648] Init: px average disparity is:9.227447 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:17.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:17.651] Odometry x=0.007833, y=-0.000351, theta=-0.030559
[19:32:17.661] Odometry x=0.007833, y=-0.000351, theta=-0.028081
[19:32:17.681] Odometry x=0.008270, y=-0.000339, theta=-0.026701
[19:32:17.691] Odometry x=0.008270, y=-0.000340, theta=-0.024543
[19:32:17.702] Odometry x=0.008270, y=-0.000340, theta=-0.022342
[19:32:17.712] Odometry x=0.008270, y=-0.000340, theta=-0.020932
[19:32:17.723] Odometry x=0.008270, y=-0.000340, theta=-0.019639
[19:32:17.733] Odometry x=0.008270, y=-0.000340, theta=-0.017759
[19:32:17.744] Odometry x=0.008270, y=-0.000341, theta=-0.016434
[19:32:17.752] Init: px average disparity is:9.061353 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:17.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:17.754] Odometry x=0.008270, y=-0.000341, theta=-0.015671
[19:32:17.775] Odometry x=0.008637, y=-0.000336, theta=-0.013669
[19:32:17.785] Odometry x=0.008637, y=-0.000337, theta=-0.011649
[19:32:17.796] Odometry x=0.008637, y=-0.000337, theta=-0.010366
[19:32:17.806] Odometry x=0.008637, y=-0.000338, theta=-0.008979
[19:32:17.817] Odometry x=0.008637, y=-0.000339, theta=-0.007727
[19:32:17.827] Odometry x=0.008637, y=-0.000340, theta=-0.006698
[19:32:17.838] Odometry x=0.008637, y=-0.000340, theta=-0.005517
[19:32:17.848] Odometry x=0.008637, y=-0.000340, theta=-0.003560
[19:32:17.848] Init: px average disparity is:4.187071 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:17.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:17.868] Odometry x=0.009044, y=-0.000339, theta=-0.002420
[19:32:17.879] Odometry x=0.009044, y=-0.000339, theta=-0.000970
[19:32:17.889] Odometry x=0.009044, y=-0.000339, theta=-0.000080
[19:32:17.899] Odometry x=0.009044, y=-0.000339, theta=0.001536
[19:32:17.910] Odometry x=0.009044, y=-0.000339, theta=0.003873
[19:32:17.920] Odometry x=0.009044, y=-0.000339, theta=0.006455
[19:32:17.931] Odometry x=0.009044, y=-0.000339, theta=0.008979
[19:32:17.941] Odometry x=0.009044, y=-0.000339, theta=0.011253
[19:32:17.948] Init: px average disparity is:10.401195 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:17.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:17.951] Odometry x=0.009044, y=-0.000339, theta=0.013858
[19:32:17.972] Odometry x=0.009407, y=-0.000346, theta=0.015844
[19:32:17.982] Odometry x=0.009407, y=-0.000347, theta=0.018819
[19:32:17.992] Odometry x=0.009407, y=-0.000347, theta=0.020502
[19:32:18.003] Odometry x=0.009407, y=-0.000347, theta=0.022060
[19:32:18.013] Odometry x=0.009407, y=-0.000347, theta=0.023909
[19:32:18.023] Odometry x=0.009407, y=-0.000347, theta=0.025738
[19:32:18.033] Odometry x=0.009407, y=-0.000347, theta=0.027058
[19:32:18.043] Odometry x=0.009407, y=-0.000347, theta=0.029557
[19:32:18.049] Init: px average disparity is:14.199807 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:18.049] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:18.064] Odometry x=0.009757, y=-0.000357, theta=0.030599
[19:32:18.074] Odometry x=0.009757, y=-0.000357, theta=0.031407
[19:32:18.084] Odometry x=0.009757, y=-0.000358, theta=0.031803
[19:32:18.094] Odometry x=0.009757, y=-0.000360, theta=0.032168
[19:32:18.104] Odometry x=0.009757, y=-0.000360, theta=0.032451
[19:32:18.115] Odometry x=0.009757, y=-0.000361, theta=0.032867
[19:32:18.125] Odometry x=0.009758, y=-0.000361, theta=0.033500
[19:32:18.135] Odometry x=0.009758, y=-0.000362, theta=0.033941
[19:32:18.140] Init: px average disparity is:13.978611 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:18.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:18.145] Odometry x=0.009758, y=-0.000362, theta=0.034279
[19:32:18.166] Odometry x=0.010161, y=-0.000375, theta=0.034511
[19:32:18.177] Odometry x=0.010161, y=-0.000375, theta=0.034584
[19:32:18.187] Odometry x=0.010161, y=-0.000375, theta=0.034453
[19:32:18.197] Odometry x=0.010161, y=-0.000375, theta=0.034394
[19:32:18.207] Odometry x=0.010161, y=-0.000375, theta=0.034494
[19:32:18.218] Odometry x=0.010161, y=-0.000375, theta=0.034714
[19:32:18.228] Odometry x=0.010161, y=-0.000375, theta=0.034768
[19:32:18.239] Odometry x=0.010161, y=-0.000376, theta=0.034369
[19:32:18.249] Odometry x=0.010161, y=-0.000376, theta=0.033988
[19:32:18.249] Init: px average disparity is:13.410052 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:18.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:18.269] Odometry x=0.010551, y=-0.000389, theta=0.033908
[19:32:18.279] Odometry x=0.010551, y=-0.000389, theta=0.033963
[19:32:18.290] Odometry x=0.010551, y=-0.000389, theta=0.034235
[19:32:18.300] Odometry x=0.010551, y=-0.000389, theta=0.034559
[19:32:18.311] Odometry x=0.010551, y=-0.000389, theta=0.034546
[19:32:18.321] Odometry x=0.010551, y=-0.000389, theta=0.033874
[19:32:18.332] Odometry x=0.010551, y=-0.000390, theta=0.032711
[19:32:18.342] Odometry x=0.010551, y=-0.000390, theta=0.031601
[19:32:18.350] Init: px average disparity is:11.958596 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:18.350] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:18.363] Odometry x=0.010916, y=-0.000401, theta=0.031817
[19:32:18.373] Odometry x=0.010917, y=-0.000402, theta=0.032428
[19:32:18.383] Odometry x=0.010918, y=-0.000402, theta=0.032974
[19:32:18.394] Odometry x=0.010918, y=-0.000402, theta=0.033392
[19:32:18.404] Odometry x=0.010918, y=-0.000402, theta=0.033771
[19:32:18.415] Odometry x=0.010918, y=-0.000402, theta=0.033965
[19:32:18.425] Odometry x=0.010918, y=-0.000403, theta=0.034189
[19:32:18.435] Odometry x=0.010918, y=-0.000403, theta=0.034704
[19:32:18.445] Odometry x=0.010918, y=-0.000403, theta=0.035578
[19:32:18.450] Init: px average disparity is:13.014198 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:18.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:18.466] Odometry x=0.011319, y=-0.000417, theta=0.036771
[19:32:18.476] Odometry x=0.011319, y=-0.000417, theta=0.038052
[19:32:18.486] Odometry x=0.011319, y=-0.000417, theta=0.038776
[19:32:18.497] Odometry x=0.011319, y=-0.000417, theta=0.039091
[19:32:18.507] Odometry x=0.011319, y=-0.000417, theta=0.039199
[19:32:18.517] Odometry x=0.011319, y=-0.000417, theta=0.039540
[19:32:18.528] Odometry x=0.011319, y=-0.000417, theta=0.039935
[19:32:18.538] Odometry x=0.011319, y=-0.000417, theta=0.040346
[19:32:18.548] Odometry x=0.011319, y=-0.000417, theta=0.040469
[19:32:18.550] Init: px average disparity is:13.076584 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:18.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:18.569] Odometry x=0.011720, y=-0.000434, theta=0.040340
[19:32:18.579] Odometry x=0.011720, y=-0.000434, theta=0.040265
[19:32:18.589] Odometry x=0.011720, y=-0.000434, theta=0.040286
[19:32:18.599] Odometry x=0.011720, y=-0.000434, theta=0.040536
[19:32:18.610] Odometry x=0.011720, y=-0.000434, theta=0.041052
[19:32:18.620] Odometry x=0.011720, y=-0.000434, theta=0.041426
[19:32:18.630] Odometry x=0.011720, y=-0.000434, theta=0.041921
[19:32:18.640] Odometry x=0.011720, y=-0.000434, theta=0.042341
[19:32:18.641] Init: px average disparity is:13.595149 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:18.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:18.661] Odometry x=0.012064, y=-0.000449, theta=0.043166
[19:32:18.671] Odometry x=0.012064, y=-0.000449, theta=0.044148
[19:32:18.681] Odometry x=0.012064, y=-0.000449, theta=0.044960
[19:32:18.691] Odometry x=0.012064, y=-0.000449, theta=0.045896
[19:32:18.702] Odometry x=0.012064, y=-0.000449, theta=0.047256
[19:32:18.712] Odometry x=0.012064, y=-0.000449, theta=0.048635
[19:32:18.723] Odometry x=0.012063, y=-0.000449, theta=0.049804
[19:32:18.733] Odometry x=0.012063, y=-0.000449, theta=0.050860
[19:32:18.743] Odometry x=0.012063, y=-0.000449, theta=0.052468
[19:32:18.749] Init: px average disparity is:16.504478 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:18.749] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:18.763] Odometry x=0.012464, y=-0.000470, theta=0.053854
[19:32:18.774] Odometry x=0.012464, y=-0.000470, theta=0.055246
[19:32:18.784] Odometry x=0.012464, y=-0.000470, theta=0.056132
[19:32:18.794] Odometry x=0.012464, y=-0.000470, theta=0.057166
[19:32:18.805] Odometry x=0.012464, y=-0.000470, theta=0.058258
[19:32:18.815] Odometry x=0.012464, y=-0.000470, theta=0.058998
[19:32:18.825] Odometry x=0.012464, y=-0.000471, theta=0.059670
[19:32:18.836] Odometry x=0.012464, y=-0.000471, theta=0.060321
[19:32:18.846] Odometry x=0.012465, y=-0.000472, theta=0.060988
[19:32:18.850] Init: px average disparity is:18.809668 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:18.850] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:18.867] Odometry x=0.012846, y=-0.000496, theta=0.061795
[19:32:18.877] Odometry x=0.012846, y=-0.000497, theta=0.062756
[19:32:18.888] Odometry x=0.012847, y=-0.000497, theta=0.063436
[19:32:18.898] Odometry x=0.012847, y=-0.000497, theta=0.064341
[19:32:18.908] Odometry x=0.012847, y=-0.000497, theta=0.065532
[19:32:18.919] Odometry x=0.012847, y=-0.000497, theta=0.066743
[19:32:18.929] Odometry x=0.012847, y=-0.000497, theta=0.067927
[19:32:18.939] Odometry x=0.012846, y=-0.000497, theta=0.068876
[19:32:18.949] Odometry x=0.012846, y=-0.000497, theta=0.069593
[19:32:18.950] Init: px average disparity is:20.841262 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:18.950] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:18.970] Odometry x=0.013246, y=-0.000525, theta=0.070647
[19:32:18.981] Odometry x=0.013246, y=-0.000525, theta=0.071560
[19:32:18.991] Odometry x=0.013246, y=-0.000526, theta=0.071972
[19:32:19.001] Odometry x=0.013246, y=-0.000526, theta=0.072365
[19:32:19.012] Odometry x=0.013246, y=-0.000526, theta=0.072935
[19:32:19.023] Odometry x=0.013246, y=-0.000526, theta=0.073735
[19:32:19.033] Odometry x=0.013246, y=-0.000526, theta=0.074606
[19:32:19.043] Odometry x=0.013246, y=-0.000526, theta=0.075737
[19:32:19.050] Init: px average disparity is:22.579201 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:19.050] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:19.063] Odometry x=0.000476, y=-0.000526, theta=0.000533
[19:32:19.074] Odometry x=0.000476, y=-0.000526, theta=0.001191
[19:32:19.084] Odometry x=0.000476, y=-0.000526, theta=0.001664
[19:32:19.094] Odometry x=0.000476, y=-0.000526, theta=0.002068
[19:32:19.104] Odometry x=0.000476, y=-0.000526, theta=0.002458
[19:32:19.114] Odometry x=0.000476, y=-0.000526, theta=0.002815
[19:32:19.124] Odometry x=0.000476, y=-0.000526, theta=0.003020
[19:32:19.134] Odometry x=0.000476, y=-0.000526, theta=0.003346
[19:32:19.141] Init: px average disparity is:22.926487 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:19.141] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:19.145] Odometry x=0.000476, y=-0.000526, theta=0.003754
[19:32:19.165] Odometry x=0.000858, y=-0.000529, theta=0.003739
[19:32:19.176] Odometry x=0.000858, y=-0.000530, theta=0.003627
[19:32:19.186] Odometry x=0.000858, y=-0.000530, theta=0.003758
[19:32:19.196] Odometry x=0.000858, y=-0.000530, theta=0.004229
[19:32:19.207] Odometry x=0.000858, y=-0.000530, theta=0.004804
[19:32:19.217] Odometry x=0.000858, y=-0.000530, theta=0.005353
[19:32:19.227] Odometry x=0.000858, y=-0.000530, theta=0.005849
[19:32:19.237] Odometry x=0.000858, y=-0.000530, theta=0.006450
[19:32:19.247] Odometry x=0.000858, y=-0.000529, theta=0.006846
[19:32:19.250] Init: px average disparity is:24.038818 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:19.250] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:19.268] Odometry x=0.001220, y=-0.000532, theta=0.006733
[19:32:19.278] Odometry x=0.001219, y=-0.000532, theta=0.006948
[19:32:19.289] Odometry x=0.001219, y=-0.000532, theta=0.007302
[19:32:19.299] Odometry x=0.001219, y=-0.000533, theta=0.007425
[19:32:19.309] Odometry x=0.001219, y=-0.000533, theta=0.007399
[19:32:19.319] Odometry x=0.001219, y=-0.000533, theta=0.007366
[19:32:19.330] Odometry x=0.001219, y=-0.000533, theta=0.007380
[19:32:19.340] Odometry x=0.001219, y=-0.000533, theta=0.007445
[19:32:19.350] Init: px average disparity is:22.249337 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:19.350] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:19.350] Odometry x=0.001219, y=-0.000533, theta=0.007228
[19:32:19.360] Odometry x=0.001219, y=-0.000533, theta=0.006606
[19:32:19.381] Odometry x=0.001677, y=-0.000536, theta=0.004704
[19:32:19.391] Odometry x=0.001677, y=-0.000536, theta=0.002656
[19:32:19.402] Odometry x=0.001677, y=-0.000536, theta=0.001188
[19:32:19.412] Odometry x=0.001677, y=-0.000536, theta=-0.000238
[19:32:19.423] Odometry x=0.001678, y=-0.000536, theta=-0.001658
[19:32:19.433] Odometry x=0.001678, y=-0.000536, theta=-0.003028
[19:32:19.443] Odometry x=0.001678, y=-0.000537, theta=-0.004654
[19:32:19.449] Init: px average disparity is:17.395000 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:19.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:19.463] Odometry x=0.002003, y=-0.000536, theta=-0.006555
[19:32:19.474] Odometry x=0.002003, y=-0.000536, theta=-0.008548
[19:32:19.484] Odometry x=0.002003, y=-0.000536, theta=-0.009833
[19:32:19.495] Odometry x=0.002003, y=-0.000536, theta=-0.010941
[19:32:19.505] Odometry x=0.002003, y=-0.000536, theta=-0.011813
[19:32:19.516] Odometry x=0.002003, y=-0.000537, theta=-0.012610
[19:32:19.526] Odometry x=0.002003, y=-0.000537, theta=-0.013510
[19:32:19.537] Odometry x=0.002003, y=-0.000537, theta=-0.014526
[19:32:19.547] Odometry x=0.002003, y=-0.000537, theta=-0.015470
[19:32:19.550] Init: px average disparity is:13.334219 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:19.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:19.568] Odometry x=0.002385, y=-0.000531, theta=-0.016979
[19:32:19.578] Odometry x=0.002385, y=-0.000531, theta=-0.018971
[19:32:19.588] Odometry x=0.002385, y=-0.000531, theta=-0.019989
[19:32:19.599] Odometry x=0.002385, y=-0.000531, theta=-0.021249
[19:32:19.609] Odometry x=0.002385, y=-0.000531, theta=-0.022686
[19:32:19.619] Odometry x=0.002385, y=-0.000531, theta=-0.023625
[19:32:19.629] Odometry x=0.002385, y=-0.000531, theta=-0.025342
[19:32:19.639] Odometry x=0.002385, y=-0.000531, theta=-0.027248
[19:32:19.650] Odometry x=0.002385, y=-0.000532, theta=-0.028805
[19:32:19.651] Init: px average disparity is:8.881484 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:19.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:19.670] Odometry x=0.002786, y=-0.000522, theta=-0.030490
[19:32:19.680] Odometry x=0.002786, y=-0.000523, theta=-0.032256
[19:32:19.691] Odometry x=0.002786, y=-0.000523, theta=-0.033244
[19:32:19.701] Odometry x=0.002786, y=-0.000523, theta=-0.034210
[19:32:19.711] Odometry x=0.002786, y=-0.000523, theta=-0.035405
[19:32:19.721] Odometry x=0.002786, y=-0.000523, theta=-0.036857
[19:32:19.732] Odometry x=0.002786, y=-0.000524, theta=-0.038357
[19:32:19.741] Init: px average disparity is:6.421522 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:19.741] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:19.742] Odometry x=0.002786, y=-0.000524, theta=-0.039707
[19:32:19.752] Odometry x=0.002786, y=-0.000524, theta=-0.040929
[19:32:19.773] Odometry x=0.003168, y=-0.000509, theta=-0.040752
[19:32:19.784] Odometry x=0.003168, y=-0.000510, theta=-0.040401
[19:32:19.794] Odometry x=0.003168, y=-0.000510, theta=-0.039586
[19:32:19.804] Odometry x=0.003168, y=-0.000510, theta=-0.038825
[19:32:19.815] Odometry x=0.003168, y=-0.000510, theta=-0.038235
[19:32:19.825] Odometry x=0.003168, y=-0.000510, theta=-0.037819
[19:32:19.835] Odometry x=0.003168, y=-0.000511, theta=-0.037530
[19:32:19.845] Odometry x=0.003168, y=-0.000511, theta=-0.037057
[19:32:19.850] Init: px average disparity is:6.919657 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:19.850] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:19.866] Odometry x=0.003541, y=-0.000497, theta=-0.036143
[19:32:19.877] Odometry x=0.003541, y=-0.000497, theta=-0.035233
[19:32:19.887] Odometry x=0.003541, y=-0.000497, theta=-0.035151
[19:32:19.898] Odometry x=0.003541, y=-0.000497, theta=-0.035229
[19:32:19.909] Odometry x=0.003541, y=-0.000497, theta=-0.035134
[19:32:19.919] Odometry x=0.003542, y=-0.000497, theta=-0.034879
[19:32:19.929] Odometry x=0.003542, y=-0.000497, theta=-0.034698
[19:32:19.939] Odometry x=0.003542, y=-0.000498, theta=-0.034362
[19:32:19.950] Odometry x=0.003542, y=-0.000499, theta=-0.033843
[19:32:19.950] Init: px average disparity is:7.084183 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:19.950] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:19.970] Odometry x=0.003943, y=-0.000488, theta=-0.033233
[19:32:19.980] Odometry x=0.003943, y=-0.000489, theta=-0.032637
[19:32:19.991] Odometry x=0.003943, y=-0.000489, theta=-0.032139
[19:32:20.001] Odometry x=0.003943, y=-0.000489, theta=-0.031484
[19:32:20.011] Odometry x=0.003943, y=-0.000489, theta=-0.030688
[19:32:20.022] Odometry x=0.003943, y=-0.000489, theta=-0.030036
[19:32:20.032] Odometry x=0.003943, y=-0.000489, theta=-0.029656
[19:32:20.042] Odometry x=0.003943, y=-0.000489, theta=-0.029395
[19:32:20.050] Init: px average disparity is:7.085025 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:20.050] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:20.063] Odometry x=0.004287, y=-0.000479, theta=-0.029072
[19:32:20.073] Odometry x=0.004287, y=-0.000479, theta=-0.028546
[19:32:20.084] Odometry x=0.004287, y=-0.000479, theta=-0.027998
[19:32:20.094] Odometry x=0.004287, y=-0.000479, theta=-0.027265
[19:32:20.104] Odometry x=0.004287, y=-0.000479, theta=-0.026640
[19:32:20.115] Odometry x=0.004287, y=-0.000479, theta=-0.026152
[19:32:20.125] Odometry x=0.004287, y=-0.000479, theta=-0.025835
[19:32:20.135] Odometry x=0.004287, y=-0.000480, theta=-0.025356
[19:32:20.145] Odometry x=0.004287, y=-0.000480, theta=-0.024701
[19:32:20.150] Init: px average disparity is:8.548310 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:20.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:20.166] Odometry x=0.004688, y=-0.000470, theta=-0.023290
[19:32:20.177] Odometry x=0.004688, y=-0.000470, theta=-0.021764
[19:32:20.187] Odometry x=0.004688, y=-0.000470, theta=-0.020720
[19:32:20.198] Odometry x=0.004688, y=-0.000470, theta=-0.019572
[19:32:20.208] Odometry x=0.004688, y=-0.000470, theta=-0.018321
[19:32:20.219] Odometry x=0.004688, y=-0.000470, theta=-0.017135
[19:32:20.229] Odometry x=0.004689, y=-0.000470, theta=-0.015994
[19:32:20.239] Odometry x=0.004689, y=-0.000470, theta=-0.014937
[19:32:20.249] Odometry x=0.004689, y=-0.000470, theta=-0.013892
[19:32:20.250] Init: px average disparity is:11.297342 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:20.250] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:20.270] Odometry x=0.005071, y=-0.000465, theta=-0.011790
[19:32:20.280] Odometry x=0.005071, y=-0.000465, theta=-0.010088
[19:32:20.290] Odometry x=0.005071, y=-0.000466, theta=-0.009167
[19:32:20.300] Odometry x=0.005071, y=-0.000466, theta=-0.008030
[19:32:20.311] Odometry x=0.005071, y=-0.000467, theta=-0.006532
[19:32:20.321] Odometry x=0.005071, y=-0.000468, theta=-0.005485
[19:32:20.332] Odometry x=0.005071, y=-0.000468, theta=-0.003631
[19:32:20.342] Odometry x=0.005071, y=-0.000468, theta=-0.001620
[19:32:20.352] Odometry x=0.005071, y=-0.000468, theta=0.000111
[19:32:20.353] Init: px average disparity is:14.728075 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:20.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:20.372] Odometry x=0.005476, y=-0.000468, theta=0.001891
[19:32:20.383] Odometry x=0.005476, y=-0.000468, theta=0.003384
[19:32:20.393] Odometry x=0.005476, y=-0.000468, theta=0.004289
[19:32:20.404] Odometry x=0.005476, y=-0.000468, theta=0.005237
[19:32:20.414] Odometry x=0.005476, y=-0.000468, theta=0.006097
[19:32:20.424] Odometry x=0.005476, y=-0.000468, theta=0.007143
[19:32:20.435] Odometry x=0.005476, y=-0.000468, theta=0.008296
[19:32:20.445] Odometry x=0.005476, y=-0.000468, theta=0.009496
[19:32:20.450] Init: px average disparity is:18.214761 ,While minimum is: 40.000000  KLT tracked : 94
[19:32:20.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:20.466] Odometry x=0.005810, y=-0.000472, theta=0.012021
[19:32:20.476] Odometry x=0.005810, y=-0.000472, theta=0.015105
[19:32:20.486] Odometry x=0.005810, y=-0.000472, theta=0.017758
[19:32:20.496] Odometry x=0.005810, y=-0.000472, theta=0.020331
[19:32:20.507] Odometry x=0.005810, y=-0.000472, theta=0.022567
[19:32:20.517] Odometry x=0.005810, y=-0.000472, theta=0.024471
[19:32:20.527] Odometry x=0.005810, y=-0.000472, theta=0.026971
[19:32:20.537] Odometry x=0.005810, y=-0.000473, theta=0.028625
[19:32:20.548] Odometry x=0.005810, y=-0.000473, theta=0.029515
[19:32:20.549] Init: px average disparity is:23.851521 ,While minimum is: 40.000000  KLT tracked : 93
[19:32:20.549] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:20.568] Odometry x=0.006192, y=-0.000485, theta=0.033258
[19:32:20.578] Odometry x=0.006192, y=-0.000486, theta=0.037051
[19:32:20.589] Odometry x=0.006192, y=-0.000486, theta=0.039492
[19:32:20.599] Odometry x=0.006192, y=-0.000486, theta=0.042094
[19:32:20.609] Odometry x=0.006192, y=-0.000486, theta=0.044968
[19:32:20.620] Odometry x=0.006192, y=-0.000486, theta=0.048011
[19:32:20.630] Odometry x=0.006192, y=-0.000487, theta=0.051345
[19:32:20.640] Odometry x=0.006192, y=-0.000487, theta=0.055186
[19:32:20.650] Init: px average disparity is:34.122613 ,While minimum is: 40.000000  KLT tracked : 93
[19:32:20.650] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:20.650] Odometry x=0.006192, y=-0.000487, theta=0.059552
[19:32:20.671] Odometry x=0.006598, y=-0.000511, theta=0.063759
[19:32:20.681] Odometry x=0.006598, y=-0.000511, theta=0.069651
[19:32:20.691] Odometry x=0.006598, y=-0.000511, theta=0.072720
[19:32:20.701] Odometry x=0.006598, y=-0.000511, theta=0.075321
[19:32:20.711] Odometry x=0.006598, y=-0.000511, theta=0.078133
[19:32:20.721] Odometry x=0.006598, y=-0.000511, theta=0.080381
[19:32:20.732] Odometry x=0.006598, y=-0.000511, theta=0.082429
[19:32:20.740] Init: px average disparity is:39.882900 ,While minimum is: 40.000000  KLT tracked : 93
[19:32:20.740] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:32:20.742] Odometry x=0.002520, y=-0.000511, theta=0.033395
[19:32:20.762] Odometry x=0.002860, y=-0.000523, theta=0.035604
[19:32:20.773] Odometry x=0.002860, y=-0.000523, theta=0.038075
[19:32:20.783] Odometry x=0.002860, y=-0.000523, theta=0.039698
[19:32:20.793] Odometry x=0.002860, y=-0.000523, theta=0.041399
[19:32:20.803] Odometry x=0.002860, y=-0.000523, theta=0.044688
[19:32:20.813] Odometry x=0.002860, y=-0.000523, theta=0.048303
[19:32:20.824] Odometry x=0.002860, y=-0.000523, theta=0.050532
[19:32:20.834] Odometry x=0.002860, y=-0.000523, theta=0.054423
[19:32:20.845] Odometry x=0.002860, y=-0.000523, theta=0.058426
[19:32:20.865] Odometry x=0.003285, y=-0.000548, theta=0.060778
[19:32:20.875] Odometry x=0.003285, y=-0.000548, theta=0.063245
[19:32:20.885] Odometry x=0.003285, y=-0.000548, theta=0.064381
[19:32:20.895] Odometry x=0.003285, y=-0.000548, theta=0.065801
[19:32:20.906] Odometry x=0.003286, y=-0.000548, theta=0.067686
[19:32:20.916] Odometry x=0.003286, y=-0.000548, theta=0.069538
[19:32:20.919] homography: x=229.661963 y=266.215317 z=1.169663 roll=-0.000000 pitch=0.002595 yaw=-0.000000 	 ekf: x=0.003286 z=-0.000548 pitch=0.069538
[19:32:20.919] homography after fuse: x=0.003286 y=0.000000 z=-0.000548 pitch=0.069538	 number of outlier: 10
[19:32:20.919] Init finished: Homography RANSAC (inlier) is:83 ,While 30 inliers minimum required.  px average disparity is:47.118755 ,While minimum is: 40.000000  KLT tracked: 93
[19:32:20.919] Init: distance between the first and current frame is x:0.003286 ,z=-0.000548,angle between two frames: 0.069538 
[19:32:20.920] Init: Selected Second frame. 	 The number of features: 83
[19:32:20.926] Odometry x=0.003286, y=-0.000548, theta=0.071071
[19:32:20.936] Odometry x=0.003286, y=-0.000548, theta=0.071945
[19:32:20.946] Odometry x=0.003286, y=-0.000547, theta=0.072839
[19:32:20.966] Odometry x=0.003634, y=-0.000573, theta=0.073786
[19:32:20.976] Odometry x=0.003634, y=-0.000573, theta=0.074887
[19:32:20.987] Odometry x=0.003635, y=-0.000573, theta=0.075746
[19:32:20.997] Odometry x=0.003635, y=-0.000573, theta=0.076206
[19:32:21.007] Odometry x=0.003637, y=-0.000573, theta=0.076086
[19:32:21.017] Odometry x=0.003638, y=-0.000573, theta=0.075466
[19:32:21.027] Odometry x=0.003640, y=-0.000573, theta=0.074414
[19:32:21.037] Odometry x=0.003641, y=-0.000574, theta=0.072684
[19:32:21.047] Odometry x=0.003641, y=-0.000574, theta=0.070411
[19:32:21.068] Odometry x=0.004053, y=-0.000603, theta=0.069223
[19:32:21.078] Odometry x=0.004053, y=-0.000603, theta=0.067985
[19:32:21.088] Odometry x=0.004052, y=-0.000603, theta=0.067417
[19:32:21.089] After Reprojection Map nPoint:51 ,nCell:45 ,nMatches:11 ,distance between two frames x:0.000065 ,z=0.000056,angle between two frames:0.006093
[19:32:21.089] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.530370 	 error end=0.443387
[19:32:21.089] After pose optimization, distance between two frames x:-0.002282 ,z=0.011639,angle between two frames:0.338394
[19:32:21.098] Odometry x=0.004052, y=-0.000603, theta=0.067110
[19:32:21.108] Odometry x=0.004052, y=-0.000602, theta=0.066667
[19:32:21.118] Odometry x=0.004053, y=-0.000602, theta=0.065782
[19:32:21.128] Odometry x=0.004053, y=-0.000601, theta=0.064499
[19:32:21.139] Odometry x=0.004054, y=-0.000601, theta=0.062552
[19:32:21.159] Odometry x=0.004395, y=-0.000622, theta=0.059537
[19:32:21.169] Odometry x=0.004396, y=-0.000622, theta=0.056301
[19:32:21.179] Odometry x=0.004396, y=-0.000622, theta=0.053988
[19:32:21.189] Odometry x=0.004396, y=-0.000622, theta=0.051671
[19:32:21.200] Odometry x=0.004396, y=-0.000622, theta=0.049629
[19:32:21.210] Odometry x=0.004396, y=-0.000622, theta=0.047689
[19:32:21.220] Odometry x=0.004396, y=-0.000622, theta=0.045711
[19:32:21.230] Odometry x=0.004396, y=-0.000622, theta=0.043654
[19:32:21.240] Odometry x=0.004396, y=-0.000622, theta=0.041288
[19:32:21.255] After Reprojection Map nPoint:53 ,nCell:46 ,nMatches:11 ,distance between two frames x:0.000121 ,z=0.000086,angle between two frames:0.007251
[19:32:21.255] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =13 	 error init =0.382724 	 error end=0.242439
[19:32:21.255] After pose optimization, distance between two frames x:-0.003002 ,z=0.030185,angle between two frames:0.004378
[19:32:21.255] Update EKF and 3D points, distance between two frames x:-0.003002 ,z=0.030185,angle between two frames:0.004378
[19:32:21.256] Choose frame as a key frame Scene Depth mean:84990176.069692 ,depth min:0.600497
[19:32:21.260] Odometry x=0.002725, y=0.018027, theta=0.055830
[19:32:21.270] Odometry x=0.002725, y=0.018027, theta=0.051447
[19:32:21.281] Odometry x=0.002725, y=0.018027, theta=0.048626
[19:32:21.291] Odometry x=0.002725, y=0.018027, theta=0.046014
[19:32:21.301] Odometry x=0.002725, y=0.018027, theta=0.043640
[19:32:21.311] Odometry x=0.002725, y=0.018027, theta=0.041331
[19:32:21.321] Odometry x=0.002726, y=0.018027, theta=0.039190
[19:32:21.331] Odometry x=0.002726, y=0.018027, theta=0.037838
[19:32:21.341] Odometry x=0.002726, y=0.018027, theta=0.036442
[19:32:21.362] Odometry x=0.003101, y=0.018013, theta=0.034209
[19:32:21.372] Odometry x=0.003101, y=0.018013, theta=0.031857
[19:32:21.382] Odometry x=0.003101, y=0.018013, theta=0.030189
[19:32:21.392] Odometry x=0.003101, y=0.018013, theta=0.028582
[19:32:21.402] After Reprojection Map nPoint:52 ,nCell:42 ,nMatches:11 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:21.402] Odometry x=0.003101, y=0.018013, theta=0.027033
[19:32:21.402] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.364005 	 error end=0.362999
[19:32:21.402] After pose optimization, distance between two frames x:0.000178 ,z=0.000306,angle between two frames:0.000000
[19:32:21.402] Update EKF and 3D points, distance between two frames x:0.000178 ,z=0.000306,angle between two frames:0.000000
[19:32:21.403] Choose frame as a key frame Scene Depth mean:115777934.667856 ,depth min:-15830226581264.701172
[19:32:21.412] Odometry x=0.001944, y=0.025352, theta=0.052909
[19:32:21.423] Odometry x=0.001944, y=0.025352, theta=0.050700
[19:32:21.433] Odometry x=0.001944, y=0.025352, theta=0.048451
[19:32:21.443] Odometry x=0.001944, y=0.025352, theta=0.045905
[19:32:21.463] Odometry x=0.002340, y=0.025334, theta=0.043575
[19:32:21.473] Odometry x=0.002340, y=0.025334, theta=0.041340
[19:32:21.483] Odometry x=0.002341, y=0.025334, theta=0.040304
[19:32:21.493] Odometry x=0.002341, y=0.025334, theta=0.039524
[19:32:21.503] Odometry x=0.002341, y=0.025334, theta=0.038903
[19:32:21.514] Odometry x=0.002341, y=0.025334, theta=0.038334
[19:32:21.524] Odometry x=0.002341, y=0.025334, theta=0.037728
[19:32:21.534] Odometry x=0.002341, y=0.025334, theta=0.037091
[19:32:21.544] Odometry x=0.002341, y=0.025334, theta=0.036504
[19:32:21.551] After Reprojection Map nPoint:55 ,nCell:49 ,nMatches:7 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:21.551] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.329944 	 error end=0.282534
[19:32:21.551] After pose optimization, distance between two frames x:0.006465 ,z=0.031348,angle between two frames:0.000000
[19:32:21.564] Odometry x=0.002737, y=0.025319, theta=0.036237
[19:32:21.574] Odometry x=0.002737, y=0.025319, theta=0.036033
[19:32:21.584] Odometry x=0.002737, y=0.025319, theta=0.036024
[19:32:21.594] Odometry x=0.002737, y=0.025319, theta=0.035940
[19:32:21.605] Odometry x=0.002737, y=0.025319, theta=0.035612
[19:32:21.615] Odometry x=0.002737, y=0.025319, theta=0.035191
[19:32:21.625] Odometry x=0.002737, y=0.025319, theta=0.034909
[19:32:21.636] Odometry x=0.002737, y=0.025319, theta=0.034577
[19:32:21.646] Odometry x=0.002737, y=0.025319, theta=0.034138
[19:32:21.666] Odometry x=0.003108, y=0.025306, theta=0.033212
[19:32:21.676] Odometry x=0.003108, y=0.025306, theta=0.032101
[19:32:21.686] Odometry x=0.003108, y=0.025306, theta=0.031540
[19:32:21.696] Odometry x=0.003108, y=0.025306, theta=0.030928
[19:32:21.706] Odometry x=0.003108, y=0.025306, theta=0.030273
[19:32:21.712] After Reprojection Map nPoint:63 ,nCell:53 ,nMatches:10 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:21.712] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.374502 	 error end=0.352331
[19:32:21.712] After pose optimization, distance between two frames x:0.008854 ,z=0.014787,angle between two frames:0.000000
[19:32:21.717] Odometry x=0.003108, y=0.025306, theta=0.029799
[19:32:21.727] Odometry x=0.003108, y=0.025306, theta=0.029338
[19:32:21.737] Odometry x=0.003108, y=0.025306, theta=0.028838
[19:32:21.747] Odometry x=0.003109, y=0.025306, theta=0.028306
[19:32:21.767] Odometry x=0.003502, y=0.025295, theta=0.026956
[19:32:21.777] Odometry x=0.003502, y=0.025294, theta=0.025553
[19:32:21.788] Odometry x=0.003502, y=0.025294, theta=0.024750
[19:32:21.798] Odometry x=0.003502, y=0.025294, theta=0.023882
[19:32:21.808] Odometry x=0.003502, y=0.025294, theta=0.022679
[19:32:21.818] Odometry x=0.003502, y=0.025294, theta=0.021358
[19:32:21.828] Odometry x=0.003502, y=0.025294, theta=0.020420
[19:32:21.838] Odometry x=0.003502, y=0.025294, theta=0.019935
[19:32:21.848] Odometry x=0.003502, y=0.025294, theta=0.019522
[19:32:21.859] After Reprojection Map nPoint:63 ,nCell:50 ,nMatches:9 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:21.860] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.603464 	 error end=0.565963
[19:32:21.860] After pose optimization, distance between two frames x:0.038329 ,z=0.269578,angle between two frames:0.000000
[19:32:21.869] Odometry x=0.003892, y=0.025287, theta=0.019451
[19:32:21.879] Odometry x=0.003892, y=0.025287, theta=0.019275
[19:32:21.889] Odometry x=0.003892, y=0.025287, theta=0.019139
[19:32:21.899] Odometry x=0.003892, y=0.025287, theta=0.019203
[19:32:21.909] Odometry x=0.003892, y=0.025287, theta=0.019459
[19:32:21.919] Odometry x=0.003892, y=0.025287, theta=0.019677
[19:32:21.930] Odometry x=0.003893, y=0.025287, theta=0.019147
[19:32:21.940] Odometry x=0.003895, y=0.025286, theta=0.018015
[19:32:21.960] Odometry x=0.004255, y=0.025278, theta=0.016966
[19:32:21.970] Odometry x=0.004260, y=0.025277, theta=0.016008
[19:32:21.980] Odometry x=0.004261, y=0.025276, theta=0.015716
[19:32:21.990] Odometry x=0.004261, y=0.025275, theta=0.015526
[19:32:22.001] Odometry x=0.004262, y=0.025274, theta=0.015247
[19:32:22.007] After Reprojection Map nPoint:66 ,nCell:45 ,nMatches:14 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:22.007] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =15 	 error init =0.302888 	 error end=0.302888
[19:32:22.007] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:22.007] Update EKF and 3D points, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:22.007] Choose frame as a key frame Scene Depth mean:52794945.802622 ,depth min:-16170376901922.398438
[19:32:22.011] Odometry x=0.003792, y=0.025287, theta=0.017687
[19:32:22.021] Odometry x=0.003792, y=0.025287, theta=0.017646
[19:32:22.031] Odometry x=0.003792, y=0.025287, theta=0.018011
[19:32:22.041] Odometry x=0.003792, y=0.025287, theta=0.018922
[19:32:22.061] Odometry x=0.004182, y=0.025279, theta=0.020025
[19:32:22.072] Odometry x=0.004182, y=0.025279, theta=0.021334
[19:32:22.082] Odometry x=0.004182, y=0.025279, theta=0.022309
[19:32:22.092] Odometry x=0.004182, y=0.025279, theta=0.022949
[19:32:22.102] Odometry x=0.004182, y=0.025279, theta=0.023399
[19:32:22.112] Odometry x=0.004182, y=0.025279, theta=0.023581
[19:32:22.122] Odometry x=0.004182, y=0.025279, theta=0.023727
[19:32:22.132] Odometry x=0.004183, y=0.025279, theta=0.024159
[19:32:22.143] Odometry x=0.004186, y=0.025279, theta=0.024261
[19:32:22.156] After Reprojection Map nPoint:60 ,nCell:49 ,nMatches:6 ,distance between two frames x:0.000290 ,z=-0.000008,angle between two frames:0.001836
[19:32:22.157] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.372299 	 error end=0.351670
[19:32:22.157] After pose optimization, distance between two frames x:0.005351 ,z=-0.000625,angle between two frames:0.001836
[19:32:22.163] Odometry x=0.004580, y=0.025269, theta=0.023927
[19:32:22.173] Odometry x=0.004580, y=0.025269, theta=0.023471
[19:32:22.183] Odometry x=0.004581, y=0.025268, theta=0.023015
[19:32:22.193] Odometry x=0.004583, y=0.025267, theta=0.022645
[19:32:22.203] Odometry x=0.004587, y=0.025266, theta=0.022446
[19:32:22.214] Odometry x=0.004593, y=0.025265, theta=0.022435
[19:32:22.224] Odometry x=0.004597, y=0.025265, theta=0.022742
[19:32:22.234] Odometry x=0.004598, y=0.025264, theta=0.022994
[19:32:22.244] Odometry x=0.004599, y=0.025264, theta=0.022896
[19:32:22.264] Odometry x=0.004976, y=0.025256, theta=0.023282
[19:32:22.274] Odometry x=0.004976, y=0.025256, theta=0.023783
[19:32:22.285] Odometry x=0.004976, y=0.025256, theta=0.024273
[19:32:22.295] Odometry x=0.004976, y=0.025256, theta=0.024831
[19:32:22.305] Odometry x=0.004976, y=0.025255, theta=0.025448
[19:32:22.305] After Reprojection Map nPoint:62 ,nCell:48 ,nMatches:6 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:22.305] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.248205 	 error end=0.248205
[19:32:22.305] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:22.315] Odometry x=0.004976, y=0.025255, theta=0.026301
[19:32:22.325] Odometry x=0.004976, y=0.025255, theta=0.026984
[19:32:22.335] Odometry x=0.004976, y=0.025255, theta=0.027354
[19:32:22.345] Odometry x=0.004976, y=0.025256, theta=0.027079
[19:32:22.366] Odometry x=0.005352, y=0.025246, theta=0.026460
[19:32:22.376] Odometry x=0.005352, y=0.025246, theta=0.026189
[19:32:22.386] Odometry x=0.005352, y=0.025246, theta=0.026341
[19:32:22.396] Odometry x=0.005352, y=0.025246, theta=0.026458
[19:32:22.406] Odometry x=0.005352, y=0.025246, theta=0.026714
[19:32:22.417] Odometry x=0.005353, y=0.025246, theta=0.026916
[19:32:22.427] Odometry x=0.005353, y=0.025246, theta=0.026813
[19:32:22.437] Odometry x=0.005354, y=0.025245, theta=0.026541
[19:32:22.447] Odometry x=0.005354, y=0.025244, theta=0.026282
[19:32:22.454] After Reprojection Map nPoint:60 ,nCell:55 ,nMatches:8 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:22.455] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.381896 	 error end=0.381892
[19:32:22.455] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.000000
[19:32:22.467] Odometry x=0.005749, y=0.025229, theta=0.025780
[19:32:22.477] Odometry x=0.005751, y=0.025225, theta=0.025321
[19:32:22.488] Odometry x=0.005752, y=0.025224, theta=0.025183
[19:32:22.498] Odometry x=0.005754, y=0.025224, theta=0.025191
[19:32:22.508] Odometry x=0.005754, y=0.025224, theta=0.025175
[19:32:22.518] Odometry x=0.005755, y=0.025224, theta=0.024933
[19:32:22.528] Odometry x=0.005755, y=0.025224, theta=0.024454
[19:32:22.538] Odometry x=0.005755, y=0.025224, theta=0.024055
[19:32:22.548] Odometry x=0.005755, y=0.025224, theta=0.023810
[19:32:22.569] Odometry x=0.006144, y=0.025215, theta=0.024397
[19:32:22.579] Odometry x=0.006144, y=0.025215, theta=0.025138
[19:32:22.589] Odometry x=0.006144, y=0.025215, theta=0.025610
[19:32:22.599] Odometry x=0.006144, y=0.025215, theta=0.025733
[19:32:22.604] After Reprojection Map nPoint:62 ,nCell:51 ,nMatches:12 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:22.605] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =13 	 error init =0.245920 	 error end=0.245908
[19:32:22.605] After pose optimization, distance between two frames x:0.000004 ,z=0.000006,angle between two frames:0.000000
[19:32:22.605] Update EKF and 3D points, distance between two frames x:0.000004 ,z=0.000006,angle between two frames:0.000000
[19:32:22.605] Choose frame as a key frame Scene Depth mean:80183538.748507 ,depth min:0.574759
[19:32:22.609] Odometry x=0.005658, y=0.025237, theta=0.026172
[19:32:22.620] Odometry x=0.005658, y=0.025237, theta=0.026328
[19:32:22.630] Odometry x=0.005658, y=0.025237, theta=0.026464
[19:32:22.640] Odometry x=0.005658, y=0.025237, theta=0.026670
[19:32:22.660] Odometry x=0.006013, y=0.025228, theta=0.027021
[19:32:22.670] Odometry x=0.006013, y=0.025229, theta=0.027075
[19:32:22.680] Odometry x=0.006013, y=0.025229, theta=0.026650
[19:32:22.691] Odometry x=0.006013, y=0.025229, theta=0.025882
[19:32:22.701] Odometry x=0.006014, y=0.025228, theta=0.024849
[19:32:22.711] Odometry x=0.006014, y=0.025228, theta=0.023894
[19:32:22.721] Odometry x=0.006014, y=0.025227, theta=0.023327
[19:32:22.731] Odometry x=0.006015, y=0.025227, theta=0.022861
[19:32:22.741] Odometry x=0.006016, y=0.025226, theta=0.022369
[19:32:22.756] After Reprojection Map nPoint:62 ,nCell:44 ,nMatches:13 ,distance between two frames x:0.000300 ,z=-0.000013,angle between two frames:0.000111
[19:32:22.756] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =12 	 error init =0.372309 	 error end=0.372309
[19:32:22.756] After pose optimization, distance between two frames x:0.000300 ,z=-0.000013,angle between two frames:0.000111
[19:32:22.756] Update EKF and 3D points, distance between two frames x:0.000300 ,z=-0.000013,angle between two frames:0.000111
[19:32:22.756] Choose frame as a key frame Scene Depth mean:120774690.554809 ,depth min:0.894666
[19:32:22.761] Odometry x=0.006170, y=0.025224, theta=0.023977
[19:32:22.772] Odometry x=0.006172, y=0.025224, theta=0.023256
[19:32:22.782] Odometry x=0.006173, y=0.025224, theta=0.022746
[19:32:22.792] Odometry x=0.006173, y=0.025224, theta=0.022020
[19:32:22.802] Odometry x=0.006173, y=0.025224, theta=0.020862
[19:32:22.812] Odometry x=0.006173, y=0.025224, theta=0.019468
[19:32:22.822] Odometry x=0.006173, y=0.025224, theta=0.017805
[19:32:22.832] Odometry x=0.006173, y=0.025224, theta=0.015878
[19:32:22.843] Odometry x=0.006173, y=0.025224, theta=0.014465
[19:32:22.863] Odometry x=0.006564, y=0.025218, theta=0.014024
[19:32:22.873] Odometry x=0.006564, y=0.025218, theta=0.013409
[19:32:22.883] Odometry x=0.006564, y=0.025218, theta=0.012690
[19:32:22.893] Odometry x=0.006564, y=0.025218, theta=0.011871
[19:32:22.903] Odometry x=0.006564, y=0.025218, theta=0.011339
[19:32:22.909] After Reprojection Map nPoint:77 ,nCell:56 ,nMatches:9 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:22.909] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =14 	 error init =0.241371 	 error end=0.241371
[19:32:22.909] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:22.909] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:22.914] Odometry x=0.006004, y=0.025230, theta=0.020539
[19:32:22.924] Odometry x=0.006004, y=0.025230, theta=0.021006
[19:32:22.934] Odometry x=0.006004, y=0.025230, theta=0.021616
[19:32:22.944] Odometry x=0.006004, y=0.025230, theta=0.022493
[19:32:22.964] Odometry x=0.006395, y=0.025221, theta=0.023489
[19:32:22.974] Odometry x=0.006395, y=0.025221, theta=0.024742
[19:32:22.985] Odometry x=0.006395, y=0.025221, theta=0.025138
[19:32:22.995] Odometry x=0.006395, y=0.025221, theta=0.024879
[19:32:23.005] Odometry x=0.006395, y=0.025221, theta=0.024573
[19:32:23.015] Odometry x=0.006396, y=0.025221, theta=0.024626
[19:32:23.025] Odometry x=0.006397, y=0.025221, theta=0.024906
[19:32:23.035] Odometry x=0.006397, y=0.025221, theta=0.025573
[19:32:23.045] Odometry x=0.006398, y=0.025221, theta=0.026641
[19:32:23.064] After Reprojection Map nPoint:76 ,nCell:60 ,nMatches:15 ,distance between two frames x:0.000346 ,z=-0.000007,angle between two frames:0.005632
[19:32:23.064] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =15 	 error init =0.360395 	 error end=0.360395
[19:32:23.064] After pose optimization, distance between two frames x:0.000346 ,z=-0.000007,angle between two frames:0.005632
[19:32:23.064] Update EKF and 3D points, distance between two frames x:0.000346 ,z=-0.000007,angle between two frames:0.005632
[19:32:23.066] Odometry x=0.006536, y=0.025217, theta=0.023538
[19:32:23.076] Odometry x=0.006536, y=0.025217, theta=0.024223
[19:32:23.086] Odometry x=0.006536, y=0.025217, theta=0.024531
[19:32:23.096] Odometry x=0.006536, y=0.025217, theta=0.025016
[19:32:23.106] Odometry x=0.006536, y=0.025217, theta=0.025958
[19:32:23.116] Odometry x=0.006536, y=0.025217, theta=0.027421
[19:32:23.127] Odometry x=0.006536, y=0.025217, theta=0.028919
[19:32:23.137] Odometry x=0.006536, y=0.025217, theta=0.030197
[19:32:23.147] Odometry x=0.006536, y=0.025218, theta=0.031309
[19:32:23.167] Odometry x=0.006930, y=0.025206, theta=0.032687
[19:32:23.177] Odometry x=0.006930, y=0.025207, theta=0.034542
[19:32:23.187] Odometry x=0.006930, y=0.025207, theta=0.036025
[19:32:23.198] Odometry x=0.006930, y=0.025207, theta=0.037653
[19:32:23.208] Odometry x=0.006930, y=0.025207, theta=0.038696
[19:32:23.217] After Reprojection Map nPoint:79 ,nCell:50 ,nMatches:12 ,distance between two frames x:0.000532 ,z=-0.000013,angle between two frames:0.002998
[19:32:23.218] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =16 	 error init =0.340793 	 error end=0.340793
[19:32:23.218] After pose optimization, distance between two frames x:0.000532 ,z=-0.000013,angle between two frames:0.002998
[19:32:23.218] Update EKF and 3D points, distance between two frames x:0.000532 ,z=-0.000013,angle between two frames:0.002998
[19:32:23.218] Odometry x=0.006687, y=0.025213, theta=0.030479
[19:32:23.228] Odometry x=0.006687, y=0.025213, theta=0.031618
[19:32:23.238] Odometry x=0.006688, y=0.025213, theta=0.032217
[19:32:23.248] Odometry x=0.006688, y=0.025213, theta=0.032965
[19:32:23.268] Odometry x=0.007077, y=0.025200, theta=0.034556
[19:32:23.279] Odometry x=0.007078, y=0.025200, theta=0.036278
[19:32:23.289] Odometry x=0.007078, y=0.025200, theta=0.037562
[19:32:23.299] Odometry x=0.007078, y=0.025200, theta=0.039001
[19:32:23.309] Odometry x=0.007079, y=0.025200, theta=0.040113
[19:32:23.319] Odometry x=0.007079, y=0.025200, theta=0.040700
[19:32:23.329] Odometry x=0.007079, y=0.025200, theta=0.041288
[19:32:23.339] Odometry x=0.007079, y=0.025200, theta=0.041636
[19:32:23.350] Odometry x=0.007080, y=0.025200, theta=0.042183
[19:32:23.370] Odometry x=0.007486, y=0.025182, theta=0.042778
[19:32:23.372] After Reprojection Map nPoint:79 ,nCell:63 ,nMatches:7 ,distance between two frames x:0.000151 ,z=-0.000004,angle between two frames:0.006941
[19:32:23.372] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.260981 	 error end=0.260981
[19:32:23.372] After pose optimization, distance between two frames x:0.000151 ,z=-0.000004,angle between two frames:0.006941
[19:32:23.380] Odometry x=0.007486, y=0.025182, theta=0.043942
[19:32:23.390] Odometry x=0.007486, y=0.025182, theta=0.044699
[19:32:23.400] Odometry x=0.007486, y=0.025182, theta=0.045453
[19:32:23.410] Odometry x=0.007486, y=0.025182, theta=0.046976
[19:32:23.420] Odometry x=0.007486, y=0.025182, theta=0.048095
[19:32:23.431] Odometry x=0.007486, y=0.025183, theta=0.049315
[19:32:23.441] Odometry x=0.007486, y=0.025183, theta=0.051009
[19:32:23.451] Odometry x=0.007486, y=0.025183, theta=0.052620
[19:32:23.471] Odometry x=0.007851, y=0.025163, theta=0.054470
[19:32:23.481] Odometry x=0.007852, y=0.025163, theta=0.056676
[19:32:23.491] Odometry x=0.007852, y=0.025163, theta=0.058512
[19:32:23.501] Odometry x=0.007852, y=0.025163, theta=0.060495
[19:32:23.512] Odometry x=0.007852, y=0.025163, theta=0.062732
[19:32:23.522] Odometry x=0.007853, y=0.025163, theta=0.066034
[19:32:23.525] After Reprojection Map nPoint:78 ,nCell:57 ,nMatches:15 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:23.526] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =16 	 error init =0.383506 	 error end=0.383506
[19:32:23.526] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:23.526] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:23.526] Choose frame as a key frame Scene Depth mean:52324597.706215 ,depth min:0.582823
[19:32:23.532] Odometry x=0.007627, y=0.025175, theta=0.054644
[19:32:23.542] Odometry x=0.007627, y=0.025175, theta=0.057462
[19:32:23.562] Odometry x=0.007999, y=0.025154, theta=0.059424
[19:32:23.572] Odometry x=0.007999, y=0.025154, theta=0.061985
[19:32:23.583] Odometry x=0.007999, y=0.025154, theta=0.064147
[19:32:23.593] Odometry x=0.007999, y=0.025154, theta=0.066153
[19:32:23.603] Odometry x=0.007999, y=0.025154, theta=0.067727
[19:32:23.613] Odometry x=0.007999, y=0.025154, theta=0.068944
[19:32:23.623] Odometry x=0.007999, y=0.025154, theta=0.069961
[19:32:23.633] Odometry x=0.007999, y=0.025154, theta=0.070908
[19:32:23.644] Odometry x=0.007999, y=0.025154, theta=0.072047
[19:32:23.664] Odometry x=0.008375, y=0.025126, theta=0.074069
[19:32:23.674] Odometry x=0.008377, y=0.025126, theta=0.076378
[19:32:23.682] After Reprojection Map nPoint:82 ,nCell:54 ,nMatches:13 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:23.682] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =15 	 error init =0.283482 	 error end=0.283482
[19:32:23.682] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:23.682] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:23.684] Odometry x=0.007827, y=0.025161, theta=0.057298
[19:32:23.694] Odometry x=0.007828, y=0.025161, theta=0.058927
[19:32:23.704] Odometry x=0.007828, y=0.025161, theta=0.060700
[19:32:23.714] Odometry x=0.007828, y=0.025161, theta=0.062820
[19:32:23.725] Odometry x=0.007828, y=0.025161, theta=0.065135
[19:32:23.735] Odometry x=0.007828, y=0.025161, theta=0.067361
[19:32:23.745] Odometry x=0.007829, y=0.025161, theta=0.068803
[19:32:23.765] Odometry x=0.008194, y=0.025135, theta=0.072053
[19:32:23.775] Odometry x=0.008194, y=0.025135, theta=0.075375
[19:32:23.785] Odometry x=0.008194, y=0.025135, theta=0.077695
[19:32:23.796] Odometry x=0.008194, y=0.025135, theta=0.080128
[19:32:23.806] Odometry x=0.008194, y=0.025135, theta=0.082527
[19:32:23.816] Odometry x=0.008195, y=0.025135, theta=0.085408
[19:32:23.826] Odometry x=0.008195, y=0.025135, theta=0.087305
[19:32:23.836] Odometry x=0.008197, y=0.025135, theta=0.089772
[19:32:23.838] After Reprojection Map nPoint:85 ,nCell:53 ,nMatches:15 ,distance between two frames x:0.000341 ,z=-0.000021,angle between two frames:0.014520
[19:32:23.838] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =19 	 error init =0.360267 	 error end=0.359884
[19:32:23.838] After pose optimization, distance between two frames x:0.000671 ,z=0.000484,angle between two frames:0.014520
[19:32:23.838] Update EKF and 3D points, distance between two frames x:0.000671 ,z=0.000484,angle between two frames:0.014520
[19:32:23.846] Odometry x=0.008174, y=0.025463, theta=0.072059
[19:32:23.856] Odometry x=0.008175, y=0.025463, theta=0.073500
[19:32:23.877] Odometry x=0.008635, y=0.025429, theta=0.074164
[19:32:23.887] Odometry x=0.008636, y=0.025429, theta=0.074732
[19:32:23.897] Odometry x=0.008636, y=0.025428, theta=0.076260
[19:32:23.907] Odometry x=0.008636, y=0.025428, theta=0.078320
[19:32:23.917] Odometry x=0.008636, y=0.025428, theta=0.079926
[19:32:23.927] Odometry x=0.008636, y=0.025428, theta=0.081219
[19:32:23.938] Odometry x=0.008636, y=0.025428, theta=0.082010
[19:32:23.958] Odometry x=0.008922, y=0.025405, theta=0.082299
[19:32:23.968] Odometry x=0.008922, y=0.025405, theta=0.082623
[19:32:23.978] Odometry x=0.008922, y=0.025405, theta=0.083150
[19:32:23.988] Odometry x=0.008922, y=0.025405, theta=0.083671
[19:32:23.994] After Reprojection Map nPoint:96 ,nCell:57 ,nMatches:14 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:23.995] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =20 	 error init =0.351042 	 error end=0.351042
[19:32:23.995] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:23.995] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:23.998] Odometry x=0.008450, y=0.025566, theta=0.068080
[19:32:24.008] Odometry x=0.008450, y=0.025566, theta=0.068360
[19:32:24.019] Odometry x=0.008450, y=0.025566, theta=0.068870
[19:32:24.029] Odometry x=0.008450, y=0.025566, theta=0.069941
[19:32:24.039] Odometry x=0.008450, y=0.025566, theta=0.071026
[19:32:24.059] Odometry x=0.008854, y=0.025537, theta=0.072349
[19:32:24.069] Odometry x=0.008854, y=0.025537, theta=0.073621
[19:32:24.080] Odometry x=0.008854, y=0.025537, theta=0.073964
[19:32:24.090] Odometry x=0.008854, y=0.025537, theta=0.073808
[19:32:24.100] Odometry x=0.008854, y=0.025537, theta=0.073367
[19:32:24.110] Odometry x=0.008854, y=0.025537, theta=0.073089
[19:32:24.120] Odometry x=0.008854, y=0.025537, theta=0.072650
[19:32:24.130] Odometry x=0.008855, y=0.025537, theta=0.072169
[19:32:24.141] Odometry x=0.008855, y=0.025537, theta=0.072258
[19:32:24.152] After Reprojection Map nPoint:94 ,nCell:67 ,nMatches:14 ,distance between two frames x:0.000293 ,z=-0.000100,angle between two frames:0.010782
[19:32:24.152] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =22 	 error init =0.256814 	 error end=0.223200
[19:32:24.152] After pose optimization, distance between two frames x:0.025654 ,z=0.157320,angle between two frames:0.049393
[19:32:24.152] Update EKF and 3D points, distance between two frames x:0.025654 ,z=0.157320,angle between two frames:0.049393
[19:32:24.152] Choose frame as a key frame Scene Depth mean:1.122170 ,depth min:0.769985
[19:32:24.161] Odometry x=0.024660, y=0.122825, theta=0.030613
[19:32:24.171] Odometry x=0.024660, y=0.122825, theta=0.029900
[19:32:24.181] Odometry x=0.024660, y=0.122825, theta=0.028987
[19:32:24.191] Odometry x=0.024660, y=0.122825, theta=0.027959
[19:32:24.201] Odometry x=0.024660, y=0.122825, theta=0.027095
[19:32:24.212] Odometry x=0.024661, y=0.122824, theta=0.026446
[19:32:24.222] Odometry x=0.024661, y=0.122822, theta=0.025961
[19:32:24.232] Odometry x=0.024661, y=0.122822, theta=0.025828
[19:32:24.242] Odometry x=0.024661, y=0.122821, theta=0.026887
[19:32:24.262] Odometry x=0.025062, y=0.122810, theta=0.028914
[19:32:24.272] Odometry x=0.025062, y=0.122810, theta=0.030725
[19:32:24.282] Odometry x=0.025062, y=0.122810, theta=0.031353
[19:32:24.293] Odometry x=0.025062, y=0.122810, theta=0.031809
[19:32:24.303] Odometry x=0.025062, y=0.122810, theta=0.031968
[19:32:24.312] After Reprojection Map nPoint:90 ,nCell:59 ,nMatches:23 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:24.312] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =31 	 error init =0.233967 	 error end=0.233967
[19:32:24.312] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:24.312] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:24.312] Choose frame as a key frame Scene Depth mean:1.147363 ,depth min:-229117934473642.468750
[19:32:24.313] Odometry x=0.030469, y=0.160001, theta=0.017130
[19:32:24.323] Odometry x=0.030469, y=0.160001, theta=0.017716
[19:32:24.333] Odometry x=0.030469, y=0.160001, theta=0.018935
[19:32:24.343] Odometry x=0.030470, y=0.160001, theta=0.019745
[19:32:24.364] Odometry x=0.030853, y=0.159993, theta=0.019288
[19:32:24.374] Odometry x=0.030854, y=0.159993, theta=0.018666
[19:32:24.384] Odometry x=0.030854, y=0.159993, theta=0.017759
[19:32:24.394] Odometry x=0.030854, y=0.159993, theta=0.016409
[19:32:24.404] Odometry x=0.030855, y=0.159993, theta=0.014965
[19:32:24.414] Odometry x=0.030855, y=0.159993, theta=0.013397
[19:32:24.424] Odometry x=0.030855, y=0.159993, theta=0.011903
[19:32:24.435] Odometry x=0.030855, y=0.159993, theta=0.010439
[19:32:24.445] Odometry x=0.030855, y=0.159993, theta=0.008749
[19:32:24.465] Odometry x=0.031237, y=0.159988, theta=0.006519
[19:32:24.475] Odometry x=0.031237, y=0.159987, theta=0.003990
[19:32:24.476] After Reprojection Map nPoint:115 ,nCell:73 ,nMatches:27 ,distance between two frames x:-0.003342 ,z=-0.022985,angle between two frames:0.009225
[19:32:24.476] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =46 	 error init =0.147950 	 error end=0.147950
[19:32:24.476] After pose optimization, distance between two frames x:-0.003342 ,z=-0.022985,angle between two frames:0.009225
[19:32:24.476] Update EKF and 3D points, distance between two frames x:-0.003342 ,z=-0.022985,angle between two frames:0.009225
[19:32:24.476] Choose frame as a key frame Scene Depth mean:1.110645 ,depth min:0.739301
[19:32:24.485] Odometry x=0.030763, y=0.159995, theta=0.010388
[19:32:24.495] Odometry x=0.030763, y=0.159995, theta=0.009199
[19:32:24.506] Odometry x=0.030763, y=0.159995, theta=0.008955
[19:32:24.516] Odometry x=0.030764, y=0.159995, theta=0.009011
[19:32:24.526] Odometry x=0.030764, y=0.159995, theta=0.008641
[19:32:24.536] Odometry x=0.030764, y=0.159995, theta=0.007777
[19:32:24.546] Odometry x=0.030765, y=0.159995, theta=0.007090
[19:32:24.566] Odometry x=0.031147, y=0.159992, theta=0.006653
[19:32:24.577] Odometry x=0.031147, y=0.159992, theta=0.006012
[19:32:24.587] Odometry x=0.031147, y=0.159992, theta=0.004769
[19:32:24.597] Odometry x=0.031147, y=0.159992, theta=0.002577
[19:32:24.607] Odometry x=0.031147, y=0.159992, theta=0.000323
[19:32:24.617] Odometry x=0.031147, y=0.159992, theta=-0.001740
[19:32:24.627] Odometry x=0.031148, y=0.159992, theta=-0.003731
[19:32:24.637] Odometry x=0.031149, y=0.159991, theta=-0.005604
[19:32:24.640] After Reprojection Map nPoint:129 ,nCell:73 ,nMatches:29 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:24.640] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =51 	 error init =0.184830 	 error end=0.184830
[19:32:24.640] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:24.640] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:24.640] Choose frame as a key frame Scene Depth mean:1.101912 ,depth min:0.739301
[19:32:24.648] Odometry x=0.030730, y=0.159997, theta=0.006662
[19:32:24.668] Odometry x=0.031132, y=0.159994, theta=0.004297
[19:32:24.678] Odometry x=0.031133, y=0.159994, theta=0.001797
[19:32:24.688] Odometry x=0.031133, y=0.159994, theta=0.000599
[19:32:24.698] Odometry x=0.031133, y=0.159994, theta=-0.001457
[19:32:24.708] Odometry x=0.031133, y=0.159994, theta=-0.003987
[19:32:24.719] Odometry x=0.031133, y=0.159994, theta=-0.006482
[19:32:24.729] Odometry x=0.031134, y=0.159994, theta=-0.008910
[19:32:24.739] Odometry x=0.031134, y=0.159993, theta=-0.010361
[19:32:24.759] Odometry x=0.031459, y=0.159997, theta=-0.011731
[19:32:24.770] Odometry x=0.031459, y=0.159996, theta=-0.012942
[19:32:24.780] Odometry x=0.031459, y=0.159996, theta=-0.013408
[19:32:24.790] Odometry x=0.031459, y=0.159996, theta=-0.014898
[19:32:24.800] Odometry x=0.031459, y=0.159995, theta=-0.016760
[19:32:24.807] After Reprojection Map nPoint:161 ,nCell:80 ,nMatches:25 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:24.807] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =54 	 error init =0.177800 	 error end=0.177800
[19:32:24.807] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:24.807] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:24.808] Choose frame as a key frame Scene Depth mean:1.098208 ,depth min:0.739301
[19:32:24.810] Odometry x=0.030847, y=0.159998, theta=0.002244
[19:32:24.820] Odometry x=0.030848, y=0.159998, theta=-0.000026
[19:32:24.830] Odometry x=0.030848, y=0.159998, theta=-0.002227
[19:32:24.841] Odometry x=0.030848, y=0.159998, theta=-0.004278
[19:32:24.861] Odometry x=0.031252, y=0.160000, theta=-0.006333
[19:32:24.871] Odometry x=0.031253, y=0.160000, theta=-0.008195
[19:32:24.881] Odometry x=0.031254, y=0.160000, theta=-0.008783
[19:32:24.891] Odometry x=0.031255, y=0.160000, theta=-0.009196
[19:32:24.901] Odometry x=0.031255, y=0.160000, theta=-0.009318
[19:32:24.912] Odometry x=0.031255, y=0.160000, theta=-0.008851
[19:32:24.922] Odometry x=0.031255, y=0.160000, theta=-0.008012
[19:32:24.932] Odometry x=0.031256, y=0.160000, theta=-0.007423
[19:32:24.942] Odometry x=0.031256, y=0.160000, theta=-0.007349
[19:32:24.962] Odometry x=0.031639, y=0.160002, theta=-0.008405
[19:32:24.972] Odometry x=0.031640, y=0.160001, theta=-0.009161
[19:32:24.977] After Reprojection Map nPoint:189 ,nCell:79 ,nMatches:30 ,distance between two frames x:0.000378 ,z=-0.000003,angle between two frames:0.014886
[19:32:24.977] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =65 	 error init =0.148360 	 error end=0.148323
[19:32:24.977] After pose optimization, distance between two frames x:0.000368 ,z=-0.000331,angle between two frames:0.014886
[19:32:24.977] Update EKF and 3D points, distance between two frames x:0.000368 ,z=-0.000331,angle between two frames:0.014886
[19:32:24.977] Choose frame as a key frame Scene Depth mean:1.097140 ,depth min:0.749009
[19:32:24.983] Odometry x=0.031145, y=0.159796, theta=-0.002139
[19:32:24.993] Odometry x=0.031146, y=0.159796, theta=-0.002336
[19:32:25.003] Odometry x=0.031146, y=0.159795, theta=-0.002725
[19:32:25.013] Odometry x=0.031147, y=0.159796, theta=-0.003068
[19:32:25.023] Odometry x=0.031147, y=0.159796, theta=-0.003118
[19:32:25.034] Odometry x=0.031147, y=0.159796, theta=-0.002812
[19:32:25.044] Odometry x=0.031147, y=0.159796, theta=-0.002505
[19:32:25.064] Odometry x=0.031549, y=0.159797, theta=-0.003043
[19:32:25.074] Odometry x=0.031549, y=0.159797, theta=-0.003753
[19:32:25.085] Odometry x=0.031549, y=0.159797, theta=-0.004377
[19:32:25.095] Odometry x=0.031550, y=0.159796, theta=-0.005225
[19:32:25.105] Odometry x=0.031550, y=0.159796, theta=-0.005859
[19:32:25.115] Odometry x=0.031550, y=0.159795, theta=-0.006014
[19:32:25.125] Odometry x=0.031550, y=0.159795, theta=-0.005947
[19:32:25.135] Odometry x=0.031551, y=0.159795, theta=-0.005158
[19:32:25.150] After Reprojection Map nPoint:230 ,nCell:115 ,nMatches:32 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:25.151] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =74 	 error init =0.139309 	 error end=0.139307
[19:32:25.151] After pose optimization, distance between two frames x:0.001176 ,z=0.000539,angle between two frames:0.000073
[19:32:25.151] Update EKF and 3D points, distance between two frames x:0.001176 ,z=0.000539,angle between two frames:0.000073
[19:32:25.151] Choose frame as a key frame Scene Depth mean:1.089429 ,depth min:0.751846
[19:32:25.156] Odometry x=0.032181, y=0.160051, theta=0.000223
[19:32:25.166] Odometry x=0.032181, y=0.160051, theta=0.001243
[19:32:25.176] Odometry x=0.032181, y=0.160051, theta=0.002441
[19:32:25.186] Odometry x=0.032181, y=0.160051, theta=0.003360
[19:32:25.196] Odometry x=0.032181, y=0.160051, theta=0.003855
[19:32:25.206] Odometry x=0.032181, y=0.160050, theta=0.003790
[19:32:25.216] Odometry x=0.032182, y=0.160048, theta=0.003299
[19:32:25.226] Odometry x=0.032183, y=0.160047, theta=0.002738
[19:32:25.237] Odometry x=0.032185, y=0.160045, theta=0.002560
[19:32:25.257] Odometry x=0.032574, y=0.160043, theta=0.003440
[19:32:25.267] Odometry x=0.032576, y=0.160043, theta=0.004439
[19:32:25.277] Odometry x=0.032577, y=0.160043, theta=0.004865
[19:32:25.287] Odometry x=0.032578, y=0.160043, theta=0.005044
[19:32:25.297] Odometry x=0.032578, y=0.160043, theta=0.005340
[19:32:25.308] Odometry x=0.032579, y=0.160043, theta=0.005475
[19:32:25.318] Odometry x=0.032579, y=0.160043, theta=0.005448
[19:32:25.325] After Reprojection Map nPoint:249 ,nCell:129 ,nMatches:36 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:25.327] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =79 	 error init =0.124229 	 error end=0.120359
[19:32:25.327] After pose optimization, distance between two frames x:-0.006468 ,z=-0.037993,angle between two frames:0.000000
[19:32:25.327] Update EKF and 3D points, distance between two frames x:-0.006468 ,z=-0.037993,angle between two frames:0.000000
[19:32:25.328] Choose frame as a key frame Scene Depth mean:1.059708 ,depth min:0.566057
[19:32:25.328] Odometry x=0.028232, y=0.136664, theta=0.003443
[19:32:25.338] Odometry x=0.028232, y=0.136664, theta=0.003497
[19:32:25.358] Odometry x=0.028615, y=0.136663, theta=0.004558
[19:32:25.368] Odometry x=0.028615, y=0.136663, theta=0.005661
[19:32:25.379] Odometry x=0.028615, y=0.136663, theta=0.006496
[19:32:25.389] Odometry x=0.028615, y=0.136663, theta=0.007244
[19:32:25.399] Odometry x=0.028615, y=0.136663, theta=0.007855
[19:32:25.409] Odometry x=0.028615, y=0.136663, theta=0.008693
[19:32:25.419] Odometry x=0.028615, y=0.136662, theta=0.009330
[19:32:25.430] Odometry x=0.028616, y=0.136662, theta=0.009799
[19:32:25.440] Odometry x=0.028617, y=0.136661, theta=0.010355
[19:32:25.460] Odometry x=0.029004, y=0.136654, theta=0.012239
[19:32:25.470] Odometry x=0.029007, y=0.136651, theta=0.014348
[19:32:25.480] Odometry x=0.029009, y=0.136651, theta=0.015923
[19:32:25.490] Odometry x=0.029010, y=0.136651, theta=0.017507
[19:32:25.501] Odometry x=0.029010, y=0.136651, theta=0.018878
[19:32:25.506] After Reprojection Map nPoint:294 ,nCell:122 ,nMatches:36 ,distance between two frames x:0.002687 ,z=0.014449,angle between two frames:0.001126
[19:32:25.509] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =95 	 error init =0.112823 	 error end=0.101104
[19:32:25.509] After pose optimization, distance between two frames x:-0.017129 ,z=-0.074015,angle between two frames:0.001126
[19:32:25.509] Update EKF and 3D points, distance between two frames x:-0.017129 ,z=-0.074015,angle between two frames:0.001126
[19:32:25.509] Choose frame as a key frame Scene Depth mean:0.989106 ,depth min:0.638904
[19:32:25.511] Odometry x=0.016283, y=0.081985, theta=0.010350
[19:32:25.521] Odometry x=0.016283, y=0.081985, theta=0.010917
[19:32:25.531] Odometry x=0.016283, y=0.081986, theta=0.011514
[19:32:25.541] Odometry x=0.016284, y=0.081986, theta=0.012187
[19:32:25.561] Odometry x=0.016685, y=0.081981, theta=0.013286
[19:32:25.572] Odometry x=0.016685, y=0.081981, theta=0.014314
[19:32:25.582] Odometry x=0.016685, y=0.081981, theta=0.014764
[19:32:25.592] Odometry x=0.016685, y=0.081981, theta=0.015197
[19:32:25.602] Odometry x=0.016685, y=0.081981, theta=0.015794
[19:32:25.612] Odometry x=0.016685, y=0.081981, theta=0.016787
[19:32:25.622] Odometry x=0.016685, y=0.081981, theta=0.018353
[19:32:25.633] Odometry x=0.016686, y=0.081980, theta=0.019988
[19:32:25.643] Odometry x=0.016687, y=0.081980, theta=0.020280
[19:32:25.663] Odometry x=0.017069, y=0.081972, theta=0.022314
[19:32:25.673] Odometry x=0.017070, y=0.081972, theta=0.024271
[19:32:25.683] Odometry x=0.017070, y=0.081972, theta=0.024953
[19:32:25.692] After Reprojection Map nPoint:321 ,nCell:120 ,nMatches:38 ,distance between two frames x:0.007866 ,z=0.033785,angle between two frames:0.006906
[19:32:25.693] Odometry x=0.017070, y=0.081972, theta=0.025288
[19:32:25.695] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =96 	 error init =0.080087 	 error end=0.077541
[19:32:25.695] After pose optimization, distance between two frames x:-0.005289 ,z=0.020278,angle between two frames:0.006906
[19:32:25.695] Update EKF and 3D points, distance between two frames x:-0.005289 ,z=0.020278,angle between two frames:0.006906
[19:32:25.695] Choose frame as a key frame Scene Depth mean:1.006083 ,depth min:-469490281621739.562500
[19:32:25.704] Odometry x=0.008453, y=0.073632, theta=0.016275
[19:32:25.714] Odometry x=0.008454, y=0.073631, theta=0.016573
[19:32:25.724] Odometry x=0.008454, y=0.073631, theta=0.016844
[19:32:25.734] Odometry x=0.008455, y=0.073631, theta=0.017438
[19:32:25.744] Odometry x=0.008456, y=0.073630, theta=0.018453
[19:32:25.764] Odometry x=0.008820, y=0.073624, theta=0.019517
[19:32:25.774] Odometry x=0.008820, y=0.073624, theta=0.020420
[19:32:25.784] Odometry x=0.008820, y=0.073624, theta=0.020917
[19:32:25.795] Odometry x=0.008821, y=0.073624, theta=0.021452
[19:32:25.805] Odometry x=0.008820, y=0.073624, theta=0.021846
[19:32:25.815] Odometry x=0.008820, y=0.073624, theta=0.021477
[19:32:25.825] Odometry x=0.008821, y=0.073624, theta=0.020937
[19:32:25.835] Odometry x=0.008822, y=0.073623, theta=0.020667
[19:32:25.845] Odometry x=0.008825, y=0.073623, theta=0.020771
[19:32:25.866] Odometry x=0.009252, y=0.073613, theta=0.019944
[19:32:25.876] Odometry x=0.009258, y=0.073612, theta=0.019222
[19:32:25.882] After Reprojection Map nPoint:406 ,nCell:125 ,nMatches:37 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:25.882] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =108 	 error init =0.082681 	 error end=0.078458
[19:32:25.882] After pose optimization, distance between two frames x:-0.009721 ,z=-0.026812,angle between two frames:0.004015
[19:32:25.882] Update EKF and 3D points, distance between two frames x:-0.009721 ,z=-0.026812,angle between two frames:0.004015
[19:32:25.882] Choose frame as a key frame Scene Depth mean:0.978682 ,depth min:0.461631
[19:32:25.886] Odometry x=-0.000538, y=0.053868, theta=0.016155
[19:32:25.896] Odometry x=-0.000537, y=0.053868, theta=0.016566
[19:32:25.906] Odometry x=-0.000537, y=0.053867, theta=0.016891
[19:32:25.916] Odometry x=-0.000536, y=0.053867, theta=0.016645
[19:32:25.927] Odometry x=-0.000536, y=0.053867, theta=0.016314
[19:32:25.937] Odometry x=-0.000536, y=0.053867, theta=0.016048
[19:32:25.957] Odometry x=-0.000188, y=0.053861, theta=0.016404
[19:32:25.967] Odometry x=-0.000188, y=0.053861, theta=0.017531
[19:32:25.977] Odometry x=-0.000187, y=0.053861, theta=0.018690
[19:32:25.987] Odometry x=-0.000186, y=0.053861, theta=0.019546
[19:32:25.998] Odometry x=-0.000185, y=0.053861, theta=0.020057
[19:32:26.008] Odometry x=-0.000185, y=0.053860, theta=0.020047
[19:32:26.018] Odometry x=-0.000185, y=0.053860, theta=0.019684
[19:32:26.028] Odometry x=-0.000185, y=0.053860, theta=0.019322
[19:32:26.038] Odometry x=-0.000184, y=0.053859, theta=0.019443
[19:32:26.058] Odometry x=0.000202, y=0.053851, theta=0.021450
[19:32:26.069] Odometry x=0.000202, y=0.053851, theta=0.023620
[19:32:26.073] After Reprojection Map nPoint:447 ,nCell:145 ,nMatches:41 ,distance between two frames x:0.006056 ,z=0.012202,angle between two frames:0.001791
[19:32:26.073] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =111 	 error init =0.114522 	 error end=0.114522
[19:32:26.073] After pose optimization, distance between two frames x:0.006054 ,z=0.012201,angle between two frames:0.001791
[19:32:26.073] Update EKF and 3D points, distance between two frames x:0.006054 ,z=0.012201,angle between two frames:0.001791
[19:32:26.073] Choose frame as a key frame Scene Depth mean:1.004246 ,depth min:0.472538
[19:32:26.079] Odometry x=-0.000255, y=0.053861, theta=0.020230
[19:32:26.089] Odometry x=-0.000253, y=0.053861, theta=0.020725
[19:32:26.099] Odometry x=-0.000248, y=0.053861, theta=0.020365
[19:32:26.109] Odometry x=-0.000244, y=0.053861, theta=0.019893
[19:32:26.119] Odometry x=-0.000241, y=0.053861, theta=0.019639
[19:32:26.129] Odometry x=-0.000239, y=0.053861, theta=0.019577
[19:32:26.139] Odometry x=-0.000238, y=0.053861, theta=0.019036
[19:32:26.160] Odometry x=0.000147, y=0.053852, theta=0.017132
[19:32:26.170] Odometry x=0.000147, y=0.053844, theta=0.015240
[19:32:26.180] Odometry x=0.000147, y=0.053835, theta=0.014668
[19:32:26.190] Odometry x=0.000147, y=0.053829, theta=0.014997
[19:32:26.200] Odometry x=0.000147, y=0.053824, theta=0.015625
[19:32:26.211] Odometry x=0.000147, y=0.053820, theta=0.015921
[19:32:26.221] Odometry x=0.000147, y=0.053816, theta=0.016129
[19:32:26.231] Odometry x=0.000148, y=0.053814, theta=0.016710
[19:32:26.241] Odometry x=0.000148, y=0.053812, theta=0.017568
[19:32:26.261] Odometry x=0.000539, y=0.053805, theta=0.017929
[19:32:26.269] After Reprojection Map nPoint:471 ,nCell:157 ,nMatches:40 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:26.271] Odometry x=0.000543, y=0.053805, theta=0.018134
[19:32:26.273] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =101 	 error init =0.124080 	 error end=0.124076
[19:32:26.273] After pose optimization, distance between two frames x:-0.000006 ,z=-0.000058,angle between two frames:0.000000
[19:32:26.273] Update EKF and 3D points, distance between two frames x:-0.000006 ,z=-0.000058,angle between two frames:0.000000
[19:32:26.273] Choose frame as a key frame Scene Depth mean:0.995436 ,depth min:0.472480
[19:32:26.281] Odometry x=-0.000128, y=0.053808, theta=0.017118
[19:32:26.292] Odometry x=-0.000125, y=0.053808, theta=0.017320
[19:32:26.302] Odometry x=-0.000123, y=0.053807, theta=0.017016
[19:32:26.312] Odometry x=-0.000122, y=0.053807, theta=0.016574
[19:32:26.322] Odometry x=-0.000122, y=0.053805, theta=0.016498
[19:32:26.332] Odometry x=-0.000122, y=0.053803, theta=0.017227
[19:32:26.342] Odometry x=-0.000122, y=0.053801, theta=0.018795
[19:32:26.363] Odometry x=0.000268, y=0.053790, theta=0.018913
[19:32:26.373] Odometry x=0.000269, y=0.053786, theta=0.018851
[19:32:26.383] Odometry x=0.000269, y=0.053784, theta=0.018549
[19:32:26.393] Odometry x=0.000270, y=0.053782, theta=0.017946
[19:32:26.403] Odometry x=0.000271, y=0.053780, theta=0.017344
[19:32:26.413] Odometry x=0.000272, y=0.053777, theta=0.017260
[19:32:26.424] Odometry x=0.000273, y=0.053774, theta=0.017909
[19:32:26.434] Odometry x=0.000276, y=0.053766, theta=0.019435
[19:32:26.444] Odometry x=0.000279, y=0.053760, theta=0.020947
[19:32:26.464] Odometry x=0.000683, y=0.053747, theta=0.023396
[19:32:26.469] After Reprojection Map nPoint:545 ,nCell:129 ,nMatches:42 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:26.470] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =122 	 error init =0.079135 	 error end=0.078829
[19:32:26.470] After pose optimization, distance between two frames x:-0.002631 ,z=-0.000342,angle between two frames:0.002765
[19:32:26.470] Update EKF and 3D points, distance between two frames x:-0.002631 ,z=-0.000342,angle between two frames:0.002765
[19:32:26.470] Choose frame as a key frame Scene Depth mean:0.982357 ,depth min:-6105430914071.567383
[19:32:26.474] Odometry x=-0.001699, y=0.053571, theta=0.019913
[19:32:26.484] Odometry x=-0.001697, y=0.053571, theta=0.021583
[19:32:26.494] Odometry x=-0.001697, y=0.053570, theta=0.023358
[19:32:26.505] Odometry x=-0.001697, y=0.053569, theta=0.025874
[19:32:26.515] Odometry x=-0.001696, y=0.053569, theta=0.028166
[19:32:26.525] Odometry x=-0.001696, y=0.053568, theta=0.029593
[19:32:26.535] Odometry x=-0.001695, y=0.053568, theta=0.030156
[19:32:26.555] Odometry x=-0.001348, y=0.053554, theta=0.030471
[19:32:26.565] Odometry x=-0.001345, y=0.053551, theta=0.030967
[19:32:26.576] Odometry x=-0.001345, y=0.053549, theta=0.031668
[19:32:26.586] Odometry x=-0.001345, y=0.053548, theta=0.032192
[19:32:26.596] Odometry x=-0.001344, y=0.053546, theta=0.032477
[19:32:26.606] Odometry x=-0.001344, y=0.053545, theta=0.032622
[19:32:26.616] Odometry x=-0.001344, y=0.053544, theta=0.032595
[19:32:26.626] Odometry x=-0.001344, y=0.053541, theta=0.032274
[19:32:26.636] Odometry x=-0.001344, y=0.053539, theta=0.031992
[19:32:26.657] Odometry x=-0.000961, y=0.053521, theta=0.031158
[19:32:26.666] After Reprojection Map nPoint:533 ,nCell:129 ,nMatches:36 ,distance between two frames x:0.001477 ,z=0.000104,angle between two frames:0.006523
[19:32:26.666] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =104 	 error init =0.124322 	 error end=0.124322
[19:32:26.666] After pose optimization, distance between two frames x:0.001477 ,z=0.000104,angle between two frames:0.006523
[19:32:26.666] Update EKF and 3D points, distance between two frames x:0.001477 ,z=0.000104,angle between two frames:0.006523
[19:32:26.667] Odometry x=-0.001416, y=0.053548, theta=0.023040
[19:32:26.677] Odometry x=-0.001415, y=0.053546, theta=0.022063
[19:32:26.687] Odometry x=-0.001413, y=0.053544, theta=0.021418
[19:32:26.697] Odometry x=-0.001411, y=0.053541, theta=0.020843
[19:32:26.707] Odometry x=-0.001410, y=0.053538, theta=0.020242
[19:32:26.718] Odometry x=-0.001409, y=0.053533, theta=0.019792
[19:32:26.728] Odometry x=-0.001408, y=0.053528, theta=0.019628
[19:32:26.738] Odometry x=-0.001406, y=0.053522, theta=0.020047
[19:32:26.748] Odometry x=-0.001406, y=0.053515, theta=0.021167
[19:32:26.768] Odometry x=-0.000985, y=0.053500, theta=0.024013
[19:32:26.779] Odometry x=-0.000984, y=0.053489, theta=0.026247
[19:32:26.789] Odometry x=-0.000983, y=0.053484, theta=0.026688
[19:32:26.799] Odometry x=-0.000983, y=0.053475, theta=0.027791
[19:32:26.809] Odometry x=-0.000982, y=0.053467, theta=0.029237
[19:32:26.819] Odometry x=-0.000981, y=0.053464, theta=0.030190
[19:32:26.829] Odometry x=-0.000979, y=0.053461, theta=0.032178
[19:32:26.839] Odometry x=-0.000978, y=0.053459, theta=0.034432
[19:32:26.850] Odometry x=-0.000977, y=0.053457, theta=0.036365
[19:32:26.870] Odometry x=-0.000576, y=0.053440, theta=0.039146
[19:32:26.871] After Reprojection Map nPoint:574 ,nCell:207 ,nMatches:35 ,distance between two frames x:0.000283 ,z=-0.000024,angle between two frames:0.003126
[19:32:26.872] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =114 	 error init =0.108504 	 error end=0.108504
[19:32:26.872] After pose optimization, distance between two frames x:0.000283 ,z=-0.000024,angle between two frames:0.003126
[19:32:26.872] Update EKF and 3D points, distance between two frames x:0.000283 ,z=-0.000024,angle between two frames:0.003126
[19:32:26.880] Odometry x=-0.001094, y=0.053506, theta=0.032500
[19:32:26.890] Odometry x=-0.001094, y=0.053505, theta=0.035004
[19:32:26.900] Odometry x=-0.001093, y=0.053505, theta=0.037393
[19:32:26.910] Odometry x=-0.001093, y=0.053505, theta=0.040214
[19:32:26.921] Odometry x=-0.001092, y=0.053505, theta=0.042348
[19:32:26.931] Odometry x=-0.001092, y=0.053505, theta=0.044695
[19:32:26.941] Odometry x=-0.001092, y=0.053505, theta=0.046611
[19:32:26.961] Odometry x=-0.000747, y=0.053489, theta=0.045829
[19:32:26.971] Odometry x=-0.000747, y=0.053488, theta=0.045180
[19:32:26.981] Odometry x=-0.000747, y=0.053487, theta=0.045302
[19:32:26.992] Odometry x=-0.000747, y=0.053486, theta=0.045758
[19:32:27.002] Odometry x=-0.000747, y=0.053484, theta=0.046298
[19:32:27.012] Odometry x=-0.000747, y=0.053483, theta=0.046894
[19:32:27.022] Odometry x=-0.000747, y=0.053480, theta=0.047316
[19:32:27.032] Odometry x=-0.000747, y=0.053477, theta=0.047244
[19:32:27.042] Odometry x=-0.000747, y=0.053473, theta=0.046814
[19:32:27.063] Odometry x=-0.000367, y=0.053438, theta=0.045808
[19:32:27.069] After Reprojection Map nPoint:594 ,nCell:186 ,nMatches:35 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:27.070] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =106 	 error init =0.118241 	 error end=0.118241
[19:32:27.070] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:27.070] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:27.073] Odometry x=-0.001016, y=0.053490, theta=0.030917
[19:32:27.083] Odometry x=-0.001016, y=0.053480, theta=0.030936
[19:32:27.093] Odometry x=-0.001016, y=0.053473, theta=0.030777
[19:32:27.103] Odometry x=-0.001015, y=0.053467, theta=0.030046
[19:32:27.113] Odometry x=-0.001013, y=0.053462, theta=0.029305
[19:32:27.123] Odometry x=-0.001010, y=0.053458, theta=0.028856
[19:32:27.133] Odometry x=-0.001007, y=0.053454, theta=0.028639
[19:32:27.143] Odometry x=-0.001006, y=0.053452, theta=0.028699
[19:32:27.164] Odometry x=-0.000612, y=0.053436, theta=0.027592
[19:32:27.174] Odometry x=-0.000601, y=0.053432, theta=0.025939
[19:32:27.184] Odometry x=-0.000598, y=0.053431, theta=0.025445
[19:32:27.194] Odometry x=-0.000597, y=0.053431, theta=0.026483
[19:32:27.204] Odometry x=-0.000597, y=0.053431, theta=0.028234
[19:32:27.214] Odometry x=-0.000597, y=0.053431, theta=0.029781
[19:32:27.225] Odometry x=-0.000597, y=0.053431, theta=0.030768
[19:32:27.235] Odometry x=-0.000596, y=0.053431, theta=0.031021
[19:32:27.245] Odometry x=-0.000596, y=0.053431, theta=0.030919
[19:32:27.265] Odometry x=-0.000195, y=0.053419, theta=0.029104
[19:32:27.267] After Reprojection Map nPoint:605 ,nCell:190 ,nMatches:43 ,distance between two frames x:0.000400 ,z=-0.000058,angle between two frames:0.007878
[19:32:27.267] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =119 	 error init =0.139652 	 error end=0.139652
[19:32:27.267] After pose optimization, distance between two frames x:0.000400 ,z=-0.000058,angle between two frames:0.007878
[19:32:27.267] Update EKF and 3D points, distance between two frames x:0.000400 ,z=-0.000058,angle between two frames:0.007878
[19:32:27.275] Odometry x=-0.000702, y=0.053463, theta=0.028025
[19:32:27.285] Odometry x=-0.000702, y=0.053462, theta=0.025819
[19:32:27.295] Odometry x=-0.000701, y=0.053462, theta=0.023342
[19:32:27.306] Odometry x=-0.000701, y=0.053462, theta=0.021121
[19:32:27.316] Odometry x=-0.000700, y=0.053461, theta=0.019744
[19:32:27.326] Odometry x=-0.000700, y=0.053461, theta=0.018937
[19:32:27.336] Odometry x=-0.000699, y=0.053460, theta=0.018047
[19:32:27.346] Odometry x=-0.000699, y=0.053460, theta=0.017205
[19:32:27.366] Odometry x=-0.000317, y=0.053451, theta=0.016501
[19:32:27.377] Odometry x=-0.000318, y=0.053448, theta=0.016027
[19:32:27.387] Odometry x=-0.000318, y=0.053446, theta=0.015431
[19:32:27.397] Odometry x=-0.000318, y=0.053445, theta=0.013704
[19:32:27.407] Odometry x=-0.000317, y=0.053445, theta=0.011422
[19:32:27.417] Odometry x=-0.000316, y=0.053444, theta=0.009342
[19:32:27.427] Odometry x=-0.000316, y=0.053444, theta=0.007749
[19:32:27.438] Odometry x=-0.000315, y=0.053444, theta=0.006799
[19:32:27.448] Odometry x=-0.000314, y=0.053444, theta=0.006380
[19:32:27.463] After Reprojection Map nPoint:608 ,nCell:179 ,nMatches:42 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:27.467] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =119 	 error init =0.127672 	 error end=0.127670
[19:32:27.467] After pose optimization, distance between two frames x:-0.000004 ,z=-0.000007,angle between two frames:0.000000
[19:32:27.467] Update EKF and 3D points, distance between two frames x:-0.000004 ,z=-0.000007,angle between two frames:0.000000
[19:32:27.468] Odometry x=-0.000366, y=0.053463, theta=0.023084
[19:32:27.478] Odometry x=-0.000364, y=0.053463, theta=0.024741
[19:32:27.488] Odometry x=-0.000364, y=0.053463, theta=0.025820
[19:32:27.498] Odometry x=-0.000363, y=0.053463, theta=0.026795
[19:32:27.508] Odometry x=-0.000363, y=0.053463, theta=0.027674
[19:32:27.519] Odometry x=-0.000363, y=0.053463, theta=0.028401
[19:32:27.529] Odometry x=-0.000362, y=0.053463, theta=0.029467
[19:32:27.539] Odometry x=-0.000362, y=0.053463, theta=0.030295
[19:32:27.549] Odometry x=-0.000362, y=0.053463, theta=0.031691
[19:32:27.569] Odometry x=0.000038, y=0.053450, theta=0.032727
[19:32:27.579] Odometry x=0.000038, y=0.053450, theta=0.033847
[19:32:27.590] Odometry x=0.000038, y=0.053450, theta=0.033430
[19:32:27.600] Odometry x=0.000038, y=0.053449, theta=0.031826
[19:32:27.610] Odometry x=0.000038, y=0.053447, theta=0.030252
[19:32:27.620] Odometry x=0.000038, y=0.053445, theta=0.029053
[19:32:27.630] Odometry x=0.000038, y=0.053441, theta=0.028243
[19:32:27.640] Odometry x=0.000038, y=0.053439, theta=0.027762
[19:32:27.650] Odometry x=0.000038, y=0.053436, theta=0.027433
[19:32:27.662] After Reprojection Map nPoint:603 ,nCell:186 ,nMatches:46 ,distance between two frames x:0.000654 ,z=-0.000020,angle between two frames:0.007833
[19:32:27.662] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =123 	 error init =0.109053 	 error end=0.109053
[19:32:27.662] After pose optimization, distance between two frames x:0.000654 ,z=-0.000020,angle between two frames:0.007833
[19:32:27.662] Update EKF and 3D points, distance between two frames x:0.000654 ,z=-0.000020,angle between two frames:0.007833
[19:32:27.671] Odometry x=0.000171, y=0.053438, theta=0.025236
[19:32:27.681] Odometry x=0.000171, y=0.053435, theta=0.025903
[19:32:27.691] Odometry x=0.000171, y=0.053435, theta=0.026420
[19:32:27.701] Odometry x=0.000171, y=0.053434, theta=0.027273
[19:32:27.711] Odometry x=0.000171, y=0.053434, theta=0.028293
[19:32:27.721] Odometry x=0.000171, y=0.053434, theta=0.029749
[19:32:27.731] Odometry x=0.000171, y=0.053434, theta=0.031789
[19:32:27.742] Odometry x=0.000171, y=0.053434, theta=0.033944
[19:32:27.762] Odometry x=0.000524, y=0.053422, theta=0.034218
[19:32:27.772] Odometry x=0.000534, y=0.053422, theta=0.034212
[19:32:27.782] Odometry x=0.000541, y=0.053422, theta=0.034641
[19:32:27.792] Odometry x=0.000545, y=0.053423, theta=0.036386
[19:32:27.803] Odometry x=0.000547, y=0.053424, theta=0.038642
[19:32:27.813] Odometry x=0.000547, y=0.053427, theta=0.040619
[19:32:27.823] Odometry x=0.000547, y=0.053428, theta=0.041863
[19:32:27.833] Odometry x=0.000547, y=0.053429, theta=0.042228
[19:32:27.843] Odometry x=0.000547, y=0.053429, theta=0.042296
[19:32:27.859] After Reprojection Map nPoint:570 ,nCell:181 ,nMatches:35 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:27.859] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =110 	 error init =0.081079 	 error end=0.081079
[19:32:27.859] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:27.859] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:27.864] Odometry x=0.000364, y=0.053435, theta=0.029736
[19:32:27.874] Odometry x=0.000364, y=0.053435, theta=0.028567
[19:32:27.884] Odometry x=0.000364, y=0.053433, theta=0.027075
[19:32:27.894] Odometry x=0.000364, y=0.053431, theta=0.025266
[19:32:27.904] Odometry x=0.000364, y=0.053429, theta=0.023669
[19:32:27.914] Odometry x=0.000364, y=0.053427, theta=0.022635
[19:32:27.924] Odometry x=0.000364, y=0.053427, theta=0.022188
[19:32:27.935] Odometry x=0.000364, y=0.053427, theta=0.022183
[19:32:27.945] Odometry x=0.000365, y=0.053427, theta=0.022434
[19:32:27.965] Odometry x=0.000767, y=0.053421, theta=0.023213
[19:32:27.975] Odometry x=0.000769, y=0.053425, theta=0.024018
[19:32:27.985] Odometry x=0.000771, y=0.053427, theta=0.023989
[19:32:27.996] Odometry x=0.000772, y=0.053428, theta=0.023747
[19:32:28.006] Odometry x=0.000773, y=0.053428, theta=0.023772
[19:32:28.016] Odometry x=0.000774, y=0.053428, theta=0.023951
[19:32:28.026] Odometry x=0.000774, y=0.053428, theta=0.023937
[19:32:28.036] Odometry x=0.000774, y=0.053428, theta=0.023720
[19:32:28.055] After Reprojection Map nPoint:554 ,nCell:176 ,nMatches:36 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:28.055] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =105 	 error init =0.108513 	 error end=0.108513
[19:32:28.055] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:28.055] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:28.056] Odometry x=0.000414, y=0.053442, theta=0.023445
[19:32:28.066] Odometry x=0.000414, y=0.053442, theta=0.023901
[19:32:28.077] Odometry x=0.000414, y=0.053442, theta=0.024333
[19:32:28.087] Odometry x=0.000414, y=0.053442, theta=0.024280
[19:32:28.097] Odometry x=0.000414, y=0.053441, theta=0.023689
[19:32:28.107] Odometry x=0.000414, y=0.053441, theta=0.022537
[19:32:28.117] Odometry x=0.000414, y=0.053441, theta=0.021213
[19:32:28.127] Odometry x=0.000415, y=0.053440, theta=0.020454
[19:32:28.137] Odometry x=0.000416, y=0.053440, theta=0.020104
[19:32:28.148] Odometry x=0.000417, y=0.053440, theta=0.019644
[19:32:28.168] Odometry x=0.000839, y=0.053432, theta=0.019776
[19:32:28.178] Odometry x=0.000841, y=0.053431, theta=0.019945
[19:32:28.188] Odometry x=0.000842, y=0.053431, theta=0.019736
[19:32:28.198] Odometry x=0.000842, y=0.053431, theta=0.019142
[19:32:28.209] Odometry x=0.000842, y=0.053431, theta=0.018550
[19:32:28.219] Odometry x=0.000842, y=0.053431, theta=0.017949
[19:32:28.229] Odometry x=0.000842, y=0.053431, theta=0.017350
[19:32:28.239] Odometry x=0.000842, y=0.053431, theta=0.017028
[19:32:28.249] Odometry x=0.000842, y=0.053431, theta=0.016990
[19:32:28.253] After Reprojection Map nPoint:607 ,nCell:193 ,nMatches:42 ,distance between two frames x:0.000780 ,z=-0.000022,angle between two frames:0.000361
[19:32:28.253] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =116 	 error init =0.127269 	 error end=0.127269
[19:32:28.254] After pose optimization, distance between two frames x:0.000780 ,z=-0.000022,angle between two frames:0.000361
[19:32:28.254] Update EKF and 3D points, distance between two frames x:0.000780 ,z=-0.000022,angle between two frames:0.000361
[19:32:28.269] Odometry x=0.000893, y=0.053430, theta=0.023724
[19:32:28.279] Odometry x=0.000894, y=0.053430, theta=0.024185
[19:32:28.290] Odometry x=0.000894, y=0.053430, theta=0.024406
[19:32:28.300] Odometry x=0.000894, y=0.053431, theta=0.024490
[19:32:28.310] Odometry x=0.000894, y=0.053431, theta=0.025058
[19:32:28.320] Odometry x=0.000894, y=0.053431, theta=0.025574
[19:32:28.330] Odometry x=0.000894, y=0.053431, theta=0.025355
[19:32:28.340] Odometry x=0.000894, y=0.053431, theta=0.024322
[19:32:28.361] Odometry x=0.001252, y=0.053422, theta=0.022660
[19:32:28.371] Odometry x=0.001252, y=0.053422, theta=0.020775
[19:32:28.381] Odometry x=0.001252, y=0.053420, theta=0.019525
[19:32:28.391] Odometry x=0.001251, y=0.053419, theta=0.018880
[19:32:28.401] Odometry x=0.001252, y=0.053419, theta=0.018598
[19:32:28.411] Odometry x=0.001254, y=0.053418, theta=0.018789
[19:32:28.421] Odometry x=0.001257, y=0.053418, theta=0.018904
[19:32:28.431] Odometry x=0.001260, y=0.053417, theta=0.018393
[19:32:28.442] Odometry x=0.001263, y=0.053417, theta=0.017953
[19:32:28.448] After Reprojection Map nPoint:585 ,nCell:143 ,nMatches:38 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:28.452] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =115 	 error init =0.106536 	 error end=0.106536
[19:32:28.452] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:28.452] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:28.462] Odometry x=0.001143, y=0.053424, theta=0.021078
[19:32:28.472] Odometry x=0.001143, y=0.053424, theta=0.020824
[19:32:28.482] Odometry x=0.001144, y=0.053424, theta=0.021022
[19:32:28.492] Odometry x=0.001144, y=0.053424, theta=0.021333
[19:32:28.502] Odometry x=0.001144, y=0.053424, theta=0.021756
[19:32:28.513] Odometry x=0.001144, y=0.053424, theta=0.022249
[19:32:28.523] Odometry x=0.001145, y=0.053424, theta=0.022754
[19:32:28.533] Odometry x=0.001145, y=0.053424, theta=0.023138
[19:32:28.543] Odometry x=0.001145, y=0.053425, theta=0.023325
[19:32:28.563] Odometry x=0.001492, y=0.053417, theta=0.022714
[19:32:28.574] Odometry x=0.001492, y=0.053417, theta=0.022223
[19:32:28.584] Odometry x=0.001492, y=0.053416, theta=0.022146
[19:32:28.594] Odometry x=0.001493, y=0.053416, theta=0.022202
[19:32:28.604] Odometry x=0.001494, y=0.053416, theta=0.021944
[19:32:28.614] Odometry x=0.001495, y=0.053416, theta=0.021642
[19:32:28.624] Odometry x=0.001497, y=0.053416, theta=0.021579
[19:32:28.634] Odometry x=0.001498, y=0.053416, theta=0.021636
[19:32:28.645] Odometry x=0.001498, y=0.053416, theta=0.021832
[19:32:28.655] Odometry x=0.001498, y=0.053416, theta=0.022035
[19:32:28.661] After Reprojection Map nPoint:578 ,nCell:196 ,nMatches:44 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:28.661] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =114 	 error init =0.133784 	 error end=0.133784
[19:32:28.661] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:28.661] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:28.675] Odometry x=0.000961, y=0.053429, theta=0.023059
[19:32:28.685] Odometry x=0.000961, y=0.053429, theta=0.022552
[19:32:28.695] Odometry x=0.000961, y=0.053429, theta=0.022128
[19:32:28.705] Odometry x=0.000962, y=0.053429, theta=0.021166
[19:32:28.715] Odometry x=0.000962, y=0.053429, theta=0.020214
[19:32:28.726] Odometry x=0.000962, y=0.053429, theta=0.019799
[19:32:28.736] Odometry x=0.000962, y=0.053429, theta=0.019641
[19:32:28.746] Odometry x=0.000962, y=0.053429, theta=0.019250
[19:32:28.766] Odometry x=0.001325, y=0.053422, theta=0.019451
[19:32:28.776] Odometry x=0.001326, y=0.053421, theta=0.019883
[19:32:28.787] Odometry x=0.001326, y=0.053421, theta=0.020833
[19:32:28.797] Odometry x=0.001327, y=0.053421, theta=0.022079
[19:32:28.807] Odometry x=0.001327, y=0.053422, theta=0.023478
[19:32:28.817] Odometry x=0.001327, y=0.053422, theta=0.025160
[19:32:28.827] Odometry x=0.001327, y=0.053422, theta=0.026173
[19:32:28.837] Odometry x=0.001327, y=0.053422, theta=0.026832
[19:32:28.847] Odometry x=0.001327, y=0.053422, theta=0.027599
[19:32:28.858] After Reprojection Map nPoint:581 ,nCell:194 ,nMatches:36 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:28.862] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =110 	 error init =0.119643 	 error end=0.119642
[19:32:28.862] After pose optimization, distance between two frames x:-0.000004 ,z=-0.000015,angle between two frames:0.000000
[19:32:28.862] Update EKF and 3D points, distance between two frames x:-0.000004 ,z=-0.000015,angle between two frames:0.000000
[19:32:28.868] Odometry x=0.001135, y=0.053414, theta=0.026350
[19:32:28.878] Odometry x=0.001135, y=0.053414, theta=0.027923
[19:32:28.888] Odometry x=0.001135, y=0.053414, theta=0.028865
[19:32:28.898] Odometry x=0.001135, y=0.053414, theta=0.029898
[19:32:28.908] Odometry x=0.001135, y=0.053415, theta=0.031004
[19:32:28.918] Odometry x=0.001135, y=0.053415, theta=0.031787
[19:32:28.928] Odometry x=0.001135, y=0.053415, theta=0.031831
[19:32:28.939] Odometry x=0.001135, y=0.053415, theta=0.031709
[19:32:28.949] Odometry x=0.001135, y=0.053415, theta=0.032235
[19:32:28.969] Odometry x=0.001523, y=0.053402, theta=0.032270
[19:32:28.979] Odometry x=0.001523, y=0.053402, theta=0.032543
[19:32:28.990] Odometry x=0.001523, y=0.053402, theta=0.032877
[19:32:29.000] Odometry x=0.001525, y=0.053402, theta=0.033498
[19:32:29.010] Odometry x=0.001525, y=0.053402, theta=0.034298
[19:32:29.020] Odometry x=0.001525, y=0.053402, theta=0.035010
[19:32:29.030] Odometry x=0.001525, y=0.053401, theta=0.037123
[19:32:29.040] Odometry x=0.001525, y=0.053401, theta=0.038890
[19:32:29.058] After Reprojection Map nPoint:573 ,nCell:178 ,nMatches:42 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:29.058] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =117 	 error init =0.118493 	 error end=0.118493
[19:32:29.058] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:29.058] Update EKF and 3D points, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:29.060] Odometry x=0.001184, y=0.053405, theta=0.030815
[19:32:29.070] Odometry x=0.001184, y=0.053405, theta=0.032043
[19:32:29.081] Odometry x=0.001184, y=0.053405, theta=0.032313
[19:32:29.091] Odometry x=0.001184, y=0.053405, theta=0.032386
[19:32:29.101] Odometry x=0.001184, y=0.053405, theta=0.032659
[19:32:29.111] Odometry x=0.001184, y=0.053405, theta=0.033145
[19:32:29.121] Odometry x=0.001184, y=0.053405, theta=0.033480
[19:32:29.131] Odometry x=0.001184, y=0.053405, theta=0.034285
[19:32:29.141] Odometry x=0.001184, y=0.053405, theta=0.035162
[19:32:29.162] Odometry x=0.001590, y=0.053391, theta=0.034985
[19:32:29.172] Odometry x=0.001590, y=0.053391, theta=0.034915
[19:32:29.182] Odometry x=0.001590, y=0.053391, theta=0.035171
[19:32:29.192] Odometry x=0.001590, y=0.053391, theta=0.035692
[19:32:29.202] Odometry x=0.001591, y=0.053391, theta=0.036559
[19:32:29.213] Odometry x=0.001591, y=0.053391, theta=0.037622
[19:32:29.223] Odometry x=0.001591, y=0.053391, theta=0.038750
[19:32:29.233] Odometry x=0.001591, y=0.053391, theta=0.039836
[19:32:29.253] Odometry x=0.001937, y=0.053377, theta=0.041364
[19:32:29.254] After Reprojection Map nPoint:608 ,nCell:176 ,nMatches:38 ,distance between two frames x:0.000774 ,z=-0.000022,angle between two frames:0.007370
[19:32:29.254] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =133 	 error init =0.073776 	 error end=0.073776
[19:32:29.254] After pose optimization, distance between two frames x:0.000774 ,z=-0.000022,angle between two frames:0.007370
[19:32:29.254] Update EKF and 3D points, distance between two frames x:0.000774 ,z=-0.000022,angle between two frames:0.007370
[19:32:29.263] Odometry x=0.001472, y=0.053394, theta=0.036400
[19:32:29.273] Odometry x=0.001472, y=0.053394, theta=0.037455
[19:32:29.284] Odometry x=0.001472, y=0.053394, theta=0.038491
[19:32:29.294] Odometry x=0.001472, y=0.053394, theta=0.039076
[19:32:29.304] Odometry x=0.001472, y=0.053394, theta=0.039053
[19:32:29.314] Odometry x=0.001472, y=0.053394, theta=0.038835
[19:32:29.324] Odometry x=0.001472, y=0.053394, theta=0.038572
[19:32:29.334] Odometry x=0.001472, y=0.053394, theta=0.038321
[19:32:29.344] Odometry x=0.001472, y=0.053394, theta=0.038263
[19:32:29.365] Odometry x=0.001913, y=0.053377, theta=0.038651
[19:32:29.375] Odometry x=0.001913, y=0.053377, theta=0.038975
[19:32:29.385] Odometry x=0.001913, y=0.053377, theta=0.039081
[19:32:29.395] Odometry x=0.001913, y=0.053377, theta=0.039065
[19:32:29.405] Odometry x=0.001913, y=0.053378, theta=0.038963
[19:32:29.415] Odometry x=0.001913, y=0.053378, theta=0.038860
[19:32:29.425] Odometry x=0.001913, y=0.053378, theta=0.038890
[19:32:29.436] Odometry x=0.001913, y=0.053378, theta=0.039338
[19:32:29.446] Odometry x=0.001914, y=0.053378, theta=0.040099
[19:32:29.455] After Reprojection Map nPoint:583 ,nCell:210 ,nMatches:43 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:29.456] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =119 	 error init =0.146211 	 error end=0.146211
[19:32:29.456] After pose optimization, distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.000000
[19:32:29.456] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.000000
[19:32:29.466] Odometry x=0.001711, y=0.053389, theta=0.030876
[19:32:29.476] Odometry x=0.001712, y=0.053389, theta=0.030952
[19:32:29.486] Odometry x=0.001713, y=0.053389, theta=0.031017
[19:32:29.496] Odometry x=0.001713, y=0.053389, theta=0.031584
[19:32:29.506] Odometry x=0.001713, y=0.053389, theta=0.032254
[19:32:29.517] Odometry x=0.001713, y=0.053389, theta=0.032771
[19:32:29.527] Odometry x=0.001713, y=0.053389, theta=0.033114
[19:32:29.537] Odometry x=0.001713, y=0.053389, theta=0.033284
[19:32:29.557] Odometry x=0.002057, y=0.053378, theta=0.033273
[19:32:29.567] Odometry x=0.002058, y=0.053378, theta=0.033421
[19:32:29.577] Odometry x=0.002058, y=0.053378, theta=0.033713
[19:32:29.588] Odometry x=0.002058, y=0.053378, theta=0.033912
[19:32:29.598] Odometry x=0.002058, y=0.053378, theta=0.033934
[19:32:29.608] Odometry x=0.002058, y=0.053378, theta=0.033914
[19:32:29.618] Odometry x=0.002058, y=0.053378, theta=0.033891
[19:32:29.628] Odometry x=0.002058, y=0.053378, theta=0.033671
[19:32:29.638] Odometry x=0.002058, y=0.053378, theta=0.033362
[19:32:29.652] After Reprojection Map nPoint:593 ,nCell:168 ,nMatches:39 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:29.652] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =125 	 error init =0.102254 	 error end=0.102254
[19:32:29.652] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:29.652] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:29.659] Odometry x=0.001899, y=0.053382, theta=0.031735
[19:32:29.669] Odometry x=0.001899, y=0.053382, theta=0.031922
[19:32:29.679] Odometry x=0.001899, y=0.053382, theta=0.031949
[19:32:29.689] Odometry x=0.001899, y=0.053382, theta=0.031702
[19:32:29.699] Odometry x=0.001899, y=0.053382, theta=0.031438
[19:32:29.709] Odometry x=0.001900, y=0.053382, theta=0.031154
[19:32:29.719] Odometry x=0.001900, y=0.053382, theta=0.031091
[19:32:29.730] Odometry x=0.001901, y=0.053382, theta=0.031200
[19:32:29.740] Odometry x=0.001901, y=0.053382, theta=0.031427
[19:32:29.760] Odometry x=0.002284, y=0.053370, theta=0.031880
[19:32:29.770] Odometry x=0.002286, y=0.053370, theta=0.032401
[19:32:29.780] Odometry x=0.002286, y=0.053370, theta=0.032602
[19:32:29.790] Odometry x=0.002286, y=0.053370, theta=0.032691
[19:32:29.801] Odometry x=0.002286, y=0.053370, theta=0.032986
[19:32:29.811] Odometry x=0.002286, y=0.053370, theta=0.033002
[19:32:29.821] Odometry x=0.002286, y=0.053370, theta=0.032900
[19:32:29.831] Odometry x=0.002286, y=0.053370, theta=0.033061
[19:32:29.841] Odometry x=0.002286, y=0.053370, theta=0.033236
[19:32:29.852] After Reprojection Map nPoint:594 ,nCell:175 ,nMatches:45 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:29.852] n deleted obs = 13 	 n obs with reprojection error less than 0.5 px =130 	 error init =0.137961 	 error end=0.137961
[19:32:29.852] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:29.852] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:29.861] Odometry x=0.002016, y=0.053378, theta=0.030982
[19:32:29.872] Odometry x=0.002016, y=0.053378, theta=0.030122
[19:32:29.882] Odometry x=0.002017, y=0.053378, theta=0.029476
[19:32:29.892] Odometry x=0.002017, y=0.053378, theta=0.028463
[19:32:29.902] Odometry x=0.002017, y=0.053379, theta=0.027648
[19:32:29.912] Odometry x=0.002017, y=0.053379, theta=0.027372
[19:32:29.922] Odometry x=0.002017, y=0.053379, theta=0.027108
[19:32:29.932] Odometry x=0.002017, y=0.053379, theta=0.026393
[19:32:29.943] Odometry x=0.002017, y=0.053379, theta=0.025309
[19:32:29.963] Odometry x=0.002400, y=0.053369, theta=0.024064
[19:32:29.973] Odometry x=0.002400, y=0.053369, theta=0.022850
[19:32:29.983] Odometry x=0.002401, y=0.053369, theta=0.022545
[19:32:29.993] Odometry x=0.002401, y=0.053369, theta=0.022579
[19:32:30.004] Odometry x=0.002403, y=0.053369, theta=0.022535
[19:32:30.014] Odometry x=0.002406, y=0.053369, theta=0.022606
[19:32:30.024] Odometry x=0.002407, y=0.053369, theta=0.023346
[19:32:30.034] Odometry x=0.002408, y=0.053369, theta=0.024752
[19:32:30.044] Odometry x=0.002408, y=0.053369, theta=0.026044
[19:32:30.050] After Reprojection Map nPoint:600 ,nCell:186 ,nMatches:42 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:30.051] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =141 	 error init =0.094977 	 error end=0.094977
[19:32:30.051] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:30.051] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:30.064] Odometry x=0.001683, y=0.053390, theta=0.031367
[19:32:30.075] Odometry x=0.001684, y=0.053391, theta=0.032167
[19:32:30.085] Odometry x=0.001684, y=0.053392, theta=0.031878
[19:32:30.095] Odometry x=0.001684, y=0.053393, theta=0.030624
[19:32:30.105] Odometry x=0.001684, y=0.053393, theta=0.028832
[19:32:30.115] Odometry x=0.001684, y=0.053393, theta=0.026869
[19:32:30.125] Odometry x=0.001684, y=0.053393, theta=0.025251
[19:32:30.135] Odometry x=0.001684, y=0.053393, theta=0.024144
[19:32:30.146] Odometry x=0.001684, y=0.053393, theta=0.023399
[19:32:30.166] Odometry x=0.002066, y=0.053384, theta=0.022879
[19:32:30.176] Odometry x=0.002066, y=0.053384, theta=0.022476
[19:32:30.186] Odometry x=0.002066, y=0.053384, theta=0.022196
[19:32:30.196] Odometry x=0.002066, y=0.053384, theta=0.021657
[19:32:30.206] Odometry x=0.002066, y=0.053384, theta=0.021106
[19:32:30.217] Odometry x=0.002066, y=0.053384, theta=0.020710
[19:32:30.227] Odometry x=0.002066, y=0.053384, theta=0.020381
[19:32:30.237] Odometry x=0.002067, y=0.053384, theta=0.020106
[19:32:30.247] Odometry x=0.002068, y=0.053383, theta=0.020049
[19:32:30.249] After Reprojection Map nPoint:620 ,nCell:196 ,nMatches:43 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:30.249] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =138 	 error init =0.114279 	 error end=0.114279
[19:32:30.249] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:30.249] Update EKF and 3D points, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:30.267] Odometry x=0.001704, y=0.053389, theta=0.031107
[19:32:30.277] Odometry x=0.001705, y=0.053389, theta=0.031644
[19:32:30.288] Odometry x=0.001705, y=0.053389, theta=0.032069
[19:32:30.298] Odometry x=0.001706, y=0.053391, theta=0.032561
[19:32:30.308] Odometry x=0.001706, y=0.053393, theta=0.032602
[19:32:30.318] Odometry x=0.001706, y=0.053394, theta=0.032109
[19:32:30.328] Odometry x=0.001706, y=0.053394, theta=0.031141
[19:32:30.338] Odometry x=0.001706, y=0.053394, theta=0.029628
[19:32:30.359] Odometry x=0.002053, y=0.053384, theta=0.027879
[19:32:30.369] Odometry x=0.002053, y=0.053383, theta=0.025979
[19:32:30.379] Odometry x=0.002053, y=0.053383, theta=0.025136
[19:32:30.389] Odometry x=0.002053, y=0.053382, theta=0.024896
[19:32:30.399] Odometry x=0.002053, y=0.053382, theta=0.025168
[19:32:30.409] Odometry x=0.002053, y=0.053382, theta=0.025947
[19:32:30.419] Odometry x=0.002053, y=0.053381, theta=0.026912
[19:32:30.430] Odometry x=0.002053, y=0.053381, theta=0.027798
[19:32:30.440] Odometry x=0.002053, y=0.053381, theta=0.028465
[19:32:30.447] After Reprojection Map nPoint:648 ,nCell:228 ,nMatches:41 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:30.448] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =134 	 error init =0.103005 	 error end=0.103005
[19:32:30.448] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:30.448] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:30.460] Odometry x=0.001658, y=0.053390, theta=0.031414
[19:32:30.470] Odometry x=0.001658, y=0.053390, theta=0.032633
[19:32:30.480] Odometry x=0.001658, y=0.053390, theta=0.034374
[19:32:30.490] Odometry x=0.001658, y=0.053391, theta=0.036259
[19:32:30.501] Odometry x=0.001658, y=0.053391, theta=0.037859
[19:32:30.511] Odometry x=0.001658, y=0.053391, theta=0.039375
[19:32:30.521] Odometry x=0.001658, y=0.053392, theta=0.040872
[19:32:30.531] Odometry x=0.001658, y=0.053392, theta=0.042258
[19:32:30.541] Odometry x=0.001658, y=0.053392, theta=0.043373
[19:32:30.561] Odometry x=0.002062, y=0.053373, theta=0.043836
[19:32:30.571] Odometry x=0.002062, y=0.053372, theta=0.044380
[19:32:30.582] Odometry x=0.002062, y=0.053371, theta=0.044972
[19:32:30.592] Odometry x=0.002062, y=0.053371, theta=0.045812
[19:32:30.602] Odometry x=0.002062, y=0.053371, theta=0.046556
[19:32:30.612] Odometry x=0.002062, y=0.053371, theta=0.047137
[19:32:30.622] Odometry x=0.002062, y=0.053371, theta=0.047776
[19:32:30.632] Odometry x=0.002062, y=0.053371, theta=0.048224
[19:32:30.642] Odometry x=0.002062, y=0.053371, theta=0.048352
[19:32:30.645] After Reprojection Map nPoint:606 ,nCell:200 ,nMatches:39 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:30.646] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =126 	 error init =0.125266 	 error end=0.125266
[19:32:30.646] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:30.646] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:30.662] Odometry x=0.001683, y=0.053389, theta=0.030898
[19:32:30.673] Odometry x=0.001683, y=0.053389, theta=0.031395
[19:32:30.683] Odometry x=0.001683, y=0.053389, theta=0.032314
[19:32:30.693] Odometry x=0.001683, y=0.053389, theta=0.033430
[19:32:30.703] Odometry x=0.001683, y=0.053389, theta=0.034399
[19:32:30.713] Odometry x=0.001683, y=0.053389, theta=0.035288
[19:32:30.723] Odometry x=0.001683, y=0.053389, theta=0.036419
[19:32:30.733] Odometry x=0.001684, y=0.053388, theta=0.038431
[19:32:30.743] Odometry x=0.001684, y=0.053388, theta=0.040645
[19:32:30.764] Odometry x=0.002075, y=0.053371, theta=0.043110
[19:32:30.774] Odometry x=0.002077, y=0.053370, theta=0.045668
[19:32:30.784] Odometry x=0.002079, y=0.053370, theta=0.047109
[19:32:30.794] Odometry x=0.002080, y=0.053370, theta=0.048913
[19:32:30.804] Odometry x=0.002080, y=0.053370, theta=0.051530
[19:32:30.814] Odometry x=0.002081, y=0.053370, theta=0.054617
[19:32:30.824] Odometry x=0.002081, y=0.053370, theta=0.057408
[19:32:30.834] Odometry x=0.002081, y=0.053370, theta=0.059760
[19:32:30.842] After Reprojection Map nPoint:598 ,nCell:182 ,nMatches:41 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:30.842] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =142 	 error init =0.118261 	 error end=0.118261
[19:32:30.842] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:30.842] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:30.845] Odometry x=0.001526, y=0.053391, theta=0.043822
[19:32:30.865] Odometry x=0.001908, y=0.053375, theta=0.045019
[19:32:30.875] Odometry x=0.001908, y=0.053375, theta=0.046453
[19:32:30.885] Odometry x=0.001908, y=0.053375, theta=0.047663
[19:32:30.895] Odometry x=0.001908, y=0.053375, theta=0.049060
[19:32:30.905] Odometry x=0.001908, y=0.053374, theta=0.050673
[19:32:30.915] Odometry x=0.001908, y=0.053374, theta=0.052388
[19:32:30.925] Odometry x=0.001908, y=0.053374, theta=0.053803
[19:32:30.936] Odometry x=0.001908, y=0.053374, theta=0.055244
[19:32:30.946] Odometry x=0.001908, y=0.053374, theta=0.057052
[19:32:30.966] Odometry x=0.002291, y=0.053352, theta=0.059776
[19:32:30.976] Odometry x=0.002292, y=0.053351, theta=0.062997
[19:32:30.986] Odometry x=0.002292, y=0.053351, theta=0.065562
[19:32:30.996] Odometry x=0.002292, y=0.053351, theta=0.067721
[19:32:31.006] Odometry x=0.002292, y=0.053351, theta=0.069416
[19:32:31.017] Odometry x=0.002292, y=0.053352, theta=0.070967
[19:32:31.027] Odometry x=0.002292, y=0.053352, theta=0.072266
[19:32:31.037] Odometry x=0.002292, y=0.053352, theta=0.073328
[19:32:31.040] After Reprojection Map nPoint:618 ,nCell:175 ,nMatches:46 ,distance between two frames x:0.000343 ,z=-0.000013,angle between two frames:0.013006
[19:32:31.045] n deleted obs = 16 	 n obs with reprojection error less than 0.5 px =152 	 error init =0.138457 	 error end=0.138457
[19:32:31.045] After pose optimization, distance between two frames x:0.000343 ,z=-0.000013,angle between two frames:0.013006
[19:32:31.045] Update EKF and 3D points, distance between two frames x:0.000343 ,z=-0.000013,angle between two frames:0.013006
[19:32:31.047] Odometry x=0.001819, y=0.053377, theta=0.056166
[19:32:31.067] Odometry x=0.002202, y=0.053355, theta=0.056586
[19:32:31.077] Odometry x=0.002202, y=0.053355, theta=0.056698
[19:32:31.087] Odometry x=0.002202, y=0.053355, theta=0.056493
[19:32:31.097] Odometry x=0.002202, y=0.053355, theta=0.056397
[19:32:31.108] Odometry x=0.002202, y=0.053355, theta=0.056453
[19:32:31.118] Odometry x=0.002202, y=0.053355, theta=0.056765
[19:32:31.128] Odometry x=0.002202, y=0.053355, theta=0.057425
[19:32:31.138] Odometry x=0.002203, y=0.053354, theta=0.058242
[19:32:31.158] Odometry x=0.002550, y=0.053334, theta=0.059242
[19:32:31.168] Odometry x=0.002550, y=0.053333, theta=0.060577
[19:32:31.178] Odometry x=0.002550, y=0.053333, theta=0.061697
[19:32:31.188] Odometry x=0.002550, y=0.053332, theta=0.062892
[19:32:31.199] Odometry x=0.002550, y=0.053332, theta=0.064124
[19:32:31.209] Odometry x=0.002550, y=0.053331, theta=0.065412
[19:32:31.219] Odometry x=0.002550, y=0.053331, theta=0.066976
[19:32:31.229] Odometry x=0.002550, y=0.053331, theta=0.069265
[19:32:31.239] Odometry x=0.002550, y=0.053331, theta=0.072512
[19:32:31.246] After Reprojection Map nPoint:630 ,nCell:180 ,nMatches:53 ,distance between two frames x:0.000293 ,z=-0.000015,angle between two frames:0.012344
[19:32:31.246] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =166 	 error init =0.139047 	 error end=0.139047
[19:32:31.246] After pose optimization, distance between two frames x:0.000293 ,z=-0.000015,angle between two frames:0.012344
[19:32:31.246] Update EKF and 3D points, distance between two frames x:0.000293 ,z=-0.000015,angle between two frames:0.012344
[19:32:31.247] Choose frame as a key frame Scene Depth mean:1.005707 ,depth min:0.599565
[19:32:31.259] Odometry x=0.002309, y=0.053349, theta=0.059412
[19:32:31.269] Odometry x=0.002309, y=0.053349, theta=0.063723
[19:32:31.280] Odometry x=0.002310, y=0.053349, theta=0.066655
[19:32:31.290] Odometry x=0.002311, y=0.053349, theta=0.069259
[19:32:31.300] Odometry x=0.002313, y=0.053349, theta=0.071295
[19:32:31.310] Odometry x=0.002313, y=0.053349, theta=0.073106
[19:32:31.320] Odometry x=0.002313, y=0.053349, theta=0.074824
[19:32:31.330] Odometry x=0.002313, y=0.053349, theta=0.076134
[19:32:31.340] Odometry x=0.002313, y=0.053349, theta=0.076778
[19:32:31.361] Odometry x=0.002694, y=0.053319, theta=0.078269
[19:32:31.371] Odometry x=0.002694, y=0.053319, theta=0.080153
[19:32:31.381] Odometry x=0.002694, y=0.053319, theta=0.081668
[19:32:31.391] Odometry x=0.002694, y=0.053319, theta=0.082859
[19:32:31.401] Odometry x=0.002694, y=0.053319, theta=0.083175
[19:32:31.411] Odometry x=0.002695, y=0.053319, theta=0.082894
[19:32:31.421] Odometry x=0.002695, y=0.053319, theta=0.082667
[19:32:31.432] Odometry x=0.002696, y=0.053319, theta=0.083103
[19:32:31.442] Odometry x=0.002698, y=0.053318, theta=0.084217
[19:32:31.447] After Reprojection Map nPoint:615 ,nCell:144 ,nMatches:43 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:31.448] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =173 	 error init =0.089321 	 error end=0.089321
[19:32:31.448] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:31.448] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:31.448] Choose frame as a key frame Scene Depth mean:0.997994 ,depth min:0.442780
[19:32:31.452] Odometry x=0.002156, y=0.053354, theta=0.067894
[19:32:31.472] Odometry x=0.002608, y=0.053323, theta=0.068081
[19:32:31.482] Odometry x=0.002608, y=0.053323, theta=0.068426
[19:32:31.492] Odometry x=0.002608, y=0.053323, theta=0.068719
[19:32:31.503] Odometry x=0.002608, y=0.053323, theta=0.069301
[19:32:31.513] Odometry x=0.002608, y=0.053323, theta=0.070745
[19:32:31.523] Odometry x=0.002608, y=0.053323, theta=0.071918
[19:32:31.533] Odometry x=0.002608, y=0.053323, theta=0.072692
[19:32:31.543] Odometry x=0.002608, y=0.053323, theta=0.073112
[19:32:31.563] Odometry x=0.002951, y=0.053298, theta=0.073947
[19:32:31.574] Odometry x=0.002953, y=0.053298, theta=0.075297
[19:32:31.584] Odometry x=0.002954, y=0.053298, theta=0.076954
[19:32:31.594] Odometry x=0.002954, y=0.053298, theta=0.078048
[19:32:31.604] Odometry x=0.002954, y=0.053298, theta=0.078460
[19:32:31.614] Odometry x=0.002954, y=0.053298, theta=0.078431
[19:32:31.624] Odometry x=0.002954, y=0.053298, theta=0.078021
[19:32:31.634] Odometry x=0.002954, y=0.053298, theta=0.077462
[19:32:31.645] Odometry x=0.002954, y=0.053298, theta=0.076653
[19:32:31.661] After Reprojection Map nPoint:618 ,nCell:128 ,nMatches:46 ,distance between two frames x:0.000337 ,z=-0.000023,angle between two frames:0.011728
[19:32:31.665] Odometry x=0.003335, y=0.053268, theta=0.076676
[19:32:31.667] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =165 	 error init =0.132710 	 error end=0.106949
[19:32:31.667] After pose optimization, distance between two frames x:-0.045941 ,z=-0.023221,angle between two frames:0.009780
[19:32:31.667] Update EKF and 3D points, distance between two frames x:-0.045941 ,z=-0.023221,angle between two frames:0.009780
[19:32:31.667] Choose frame as a key frame Scene Depth mean:0.975128 ,depth min:0.567915
[19:32:31.675] Odometry x=-0.025995, y=0.038984, theta=0.070158
[19:32:31.685] Odometry x=-0.025995, y=0.038984, theta=0.070245
[19:32:31.695] Odometry x=-0.025995, y=0.038984, theta=0.070471
[19:32:31.705] Odometry x=-0.025995, y=0.038984, theta=0.070792
[19:32:31.716] Odometry x=-0.025995, y=0.038984, theta=0.071161
[19:32:31.726] Odometry x=-0.025996, y=0.038984, theta=0.071359
[19:32:31.736] Odometry x=-0.025996, y=0.038984, theta=0.070727
[19:32:31.756] Odometry x=-0.025637, y=0.038958, theta=0.071439
[19:32:31.767] Odometry x=-0.025637, y=0.038958, theta=0.072032
[19:32:31.777] Odometry x=-0.025637, y=0.038958, theta=0.072325
[19:32:31.787] Odometry x=-0.025637, y=0.038958, theta=0.072435
[19:32:31.797] Odometry x=-0.025637, y=0.038958, theta=0.072399
[19:32:31.807] Odometry x=-0.025637, y=0.038958, theta=0.072346
[19:32:31.817] Odometry x=-0.025637, y=0.038958, theta=0.071973
[19:32:31.828] Odometry x=-0.025637, y=0.038958, theta=0.071580
[19:32:31.838] Odometry x=-0.025637, y=0.038958, theta=0.071553
[19:32:31.848] Odometry x=-0.025637, y=0.038958, theta=0.071815
[19:32:31.868] Odometry x=-0.025207, y=0.038927, theta=0.071860
[19:32:31.878] Odometry x=-0.025207, y=0.038927, theta=0.071818
[19:32:31.879] After Reprojection Map nPoint:644 ,nCell:134 ,nMatches:47 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:31.880] n deleted obs = 13 	 n obs with reprojection error less than 0.5 px =173 	 error init =0.116523 	 error end=0.116523
[19:32:31.880] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:31.880] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:31.880] Choose frame as a key frame Scene Depth mean:0.973456 ,depth min:-7400259312143.104492
[19:32:31.888] Odometry x=-0.036897, y=0.033506, theta=0.068252
[19:32:31.899] Odometry x=-0.036897, y=0.033506, theta=0.068393
[19:32:31.909] Odometry x=-0.036897, y=0.033505, theta=0.068517
[19:32:31.919] Odometry x=-0.036897, y=0.033505, theta=0.068302
[19:32:31.929] Odometry x=-0.036896, y=0.033505, theta=0.067611
[19:32:31.939] Odometry x=-0.036896, y=0.033505, theta=0.067058
[19:32:31.949] Odometry x=-0.036896, y=0.033505, theta=0.066200
[19:32:31.970] Odometry x=-0.036509, y=0.033479, theta=0.064552
[19:32:31.980] Odometry x=-0.036510, y=0.033477, theta=0.063407
[19:32:31.990] Odometry x=-0.036510, y=0.033477, theta=0.063952
[19:32:32.000] Odometry x=-0.036510, y=0.033476, theta=0.065250
[19:32:32.010] Odometry x=-0.036510, y=0.033475, theta=0.066505
[19:32:32.020] Odometry x=-0.036510, y=0.033475, theta=0.067419
[19:32:32.030] Odometry x=-0.036510, y=0.033474, theta=0.068357
[19:32:32.041] Odometry x=-0.036510, y=0.033474, theta=0.069163
[19:32:32.051] Odometry x=-0.036509, y=0.033474, theta=0.070959
[19:32:32.071] Odometry x=-0.036124, y=0.033447, theta=0.073159
[19:32:32.081] Odometry x=-0.036124, y=0.033447, theta=0.074933
[19:32:32.088] After Reprojection Map nPoint:680 ,nCell:150 ,nMatches:51 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:32.088] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =166 	 error init =0.106948 	 error end=0.106948
[19:32:32.088] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:32.088] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:32.088] Choose frame as a key frame Scene Depth mean:0.973685 ,depth min:-173321792024706.343750
[19:32:32.091] Odometry x=-0.041067, y=0.031413, theta=0.069911
[19:32:32.101] Odometry x=-0.041067, y=0.031413, theta=0.070571
[19:32:32.111] Odometry x=-0.041067, y=0.031413, theta=0.071285
[19:32:32.122] Odometry x=-0.041067, y=0.031413, theta=0.071089
[19:32:32.132] Odometry x=-0.041067, y=0.031413, theta=0.070205
[19:32:32.142] Odometry x=-0.041067, y=0.031413, theta=0.069586
[19:32:32.152] Odometry x=-0.041067, y=0.031413, theta=0.069427
[19:32:32.172] Odometry x=-0.040682, y=0.031386, theta=0.069088
[19:32:32.183] Odometry x=-0.040682, y=0.031386, theta=0.068555
[19:32:32.193] Odometry x=-0.040682, y=0.031386, theta=0.067726
[19:32:32.203] Odometry x=-0.040681, y=0.031386, theta=0.066850
[19:32:32.213] Odometry x=-0.040681, y=0.031386, theta=0.066252
[19:32:32.223] Odometry x=-0.040681, y=0.031386, theta=0.065676
[19:32:32.234] Odometry x=-0.040681, y=0.031386, theta=0.064984
[19:32:32.244] Odometry x=-0.040682, y=0.031385, theta=0.064305
[19:32:32.264] Odometry x=-0.040335, y=0.031362, theta=0.064143
[19:32:32.274] Odometry x=-0.040335, y=0.031362, theta=0.064013
[19:32:32.284] Odometry x=-0.040335, y=0.031362, theta=0.063733
[19:32:32.294] Odometry x=-0.040334, y=0.031362, theta=0.062894
[19:32:32.294] After Reprojection Map nPoint:714 ,nCell:142 ,nMatches:46 ,distance between two frames x:0.003055 ,z=0.001258,angle between two frames:0.003965
[19:32:32.295] n deleted obs = 16 	 n obs with reprojection error less than 0.5 px =166 	 error init =0.127180 	 error end=0.116442
[19:32:32.295] After pose optimization, distance between two frames x:-0.012325 ,z=0.003571,angle between two frames:0.006623
[19:32:32.295] Update EKF and 3D points, distance between two frames x:-0.012325 ,z=0.003571,angle between two frames:0.006623
[19:32:32.295] Choose frame as a key frame Scene Depth mean:0.967243 ,depth min:0.520175
[19:32:32.304] Odometry x=-0.050293, y=0.032823, theta=0.059568
[19:32:32.315] Odometry x=-0.050293, y=0.032823, theta=0.057993
[19:32:32.325] Odometry x=-0.050292, y=0.032823, theta=0.056518
[19:32:32.335] Odometry x=-0.050292, y=0.032823, theta=0.053831
[19:32:32.345] Odometry x=-0.050292, y=0.032823, theta=0.051368
[19:32:32.365] Odometry x=-0.049893, y=0.032802, theta=0.049832
[19:32:32.375] Odometry x=-0.049893, y=0.032802, theta=0.048068
[19:32:32.386] Odometry x=-0.049893, y=0.032802, theta=0.046752
[19:32:32.396] Odometry x=-0.049893, y=0.032802, theta=0.045778
[19:32:32.406] Odometry x=-0.049893, y=0.032802, theta=0.045026
[19:32:32.416] Odometry x=-0.049893, y=0.032802, theta=0.044076
[19:32:32.426] Odometry x=-0.049892, y=0.032802, theta=0.042850
[19:32:32.436] Odometry x=-0.049892, y=0.032802, theta=0.041241
[19:32:32.457] Odometry x=-0.049548, y=0.032788, theta=0.040401
[19:32:32.467] Odometry x=-0.049548, y=0.032787, theta=0.039353
[19:32:32.477] Odometry x=-0.049548, y=0.032787, theta=0.038342
[19:32:32.487] Odometry x=-0.049548, y=0.032787, theta=0.037125
[19:32:32.497] Odometry x=-0.049548, y=0.032787, theta=0.036158
[19:32:32.505] After Reprojection Map nPoint:754 ,nCell:190 ,nMatches:53 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:32.505] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =192 	 error init =0.097839 	 error end=0.097839
[19:32:32.505] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:32.505] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:32.505] Choose frame as a key frame Scene Depth mean:0.977371 ,depth min:0.520175
[19:32:32.507] Odometry x=-0.053812, y=0.033367, theta=0.050199
[19:32:32.517] Odometry x=-0.053812, y=0.033367, theta=0.050084
[19:32:32.528] Odometry x=-0.053812, y=0.033367, theta=0.048921
[19:32:32.538] Odometry x=-0.053812, y=0.033367, theta=0.047298
[19:32:32.558] Odometry x=-0.053429, y=0.033349, theta=0.045715
[19:32:32.568] Odometry x=-0.053428, y=0.033349, theta=0.044162
[19:32:32.578] Odometry x=-0.053428, y=0.033349, theta=0.043363
[19:32:32.588] Odometry x=-0.053428, y=0.033349, theta=0.042514
[19:32:32.598] Odometry x=-0.053427, y=0.033349, theta=0.041452
[19:32:32.609] Odometry x=-0.053427, y=0.033349, theta=0.040283
[19:32:32.619] Odometry x=-0.053427, y=0.033349, theta=0.039123
[19:32:32.629] Odometry x=-0.053427, y=0.033349, theta=0.037796
[19:32:32.639] Odometry x=-0.053427, y=0.033349, theta=0.036378
[19:32:32.659] Odometry x=-0.053046, y=0.033335, theta=0.035752
[19:32:32.670] Odometry x=-0.053046, y=0.033335, theta=0.035232
[19:32:32.680] Odometry x=-0.053046, y=0.033335, theta=0.035294
[19:32:32.690] Odometry x=-0.053046, y=0.033335, theta=0.035705
[19:32:32.700] Odometry x=-0.053046, y=0.033335, theta=0.036265
[19:32:32.710] Odometry x=-0.053047, y=0.033335, theta=0.036631
[19:32:32.720] After Reprojection Map nPoint:755 ,nCell:168 ,nMatches:52 ,distance between two frames x:0.002635 ,z=-0.000359,angle between two frames:0.009124
[19:32:32.720] Odometry x=-0.053047, y=0.033335, theta=0.036767
[19:32:32.729] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =177 	 error init =0.094063 	 error end=0.093500
[19:32:32.729] After pose optimization, distance between two frames x:0.001919 ,z=-0.005177,angle between two frames:0.009124
[19:32:32.729] Update EKF and 3D points, distance between two frames x:0.001919 ,z=-0.005177,angle between two frames:0.009124
[19:32:32.731] Odometry x=-0.053963, y=0.030366, theta=0.043517
[19:32:32.741] Odometry x=-0.053964, y=0.030354, theta=0.041901
[19:32:32.751] Odometry x=-0.053964, y=0.030343, theta=0.040971
[19:32:32.771] Odometry x=-0.053525, y=0.030318, theta=0.040038
[19:32:32.781] Odometry x=-0.053525, y=0.030313, theta=0.039094
[19:32:32.791] Odometry x=-0.053524, y=0.030313, theta=0.038838
[19:32:32.801] Odometry x=-0.053524, y=0.030313, theta=0.038809
[19:32:32.812] Odometry x=-0.053524, y=0.030313, theta=0.038740
[19:32:32.822] Odometry x=-0.053524, y=0.030313, theta=0.038557
[19:32:32.832] Odometry x=-0.053524, y=0.030313, theta=0.037982
[19:32:32.842] Odometry x=-0.053524, y=0.030313, theta=0.037325
[19:32:32.862] Odometry x=-0.053180, y=0.030301, theta=0.036290
[19:32:32.873] Odometry x=-0.053180, y=0.030301, theta=0.035126
[19:32:32.883] Odometry x=-0.053180, y=0.030301, theta=0.034488
[19:32:32.893] Odometry x=-0.053180, y=0.030301, theta=0.034205
[19:32:32.903] Odometry x=-0.053180, y=0.030300, theta=0.034172
[19:32:32.913] Odometry x=-0.053180, y=0.030300, theta=0.034273
[19:32:32.923] Odometry x=-0.053180, y=0.030301, theta=0.034170
[19:32:32.933] Odometry x=-0.053180, y=0.030301, theta=0.033865
[19:32:32.943] Odometry x=-0.053180, y=0.030301, theta=0.033350
[19:32:32.945] After Reprojection Map nPoint:858 ,nCell:192 ,nMatches:55 ,distance between two frames x:0.000565 ,z=0.001817,angle between two frames:0.006682
[19:32:32.945] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =192 	 error init =0.101480 	 error end=0.101480
[19:32:32.945] After pose optimization, distance between two frames x:0.000565 ,z=0.001817,angle between two frames:0.006682
[19:32:32.945] Update EKF and 3D points, distance between two frames x:0.000565 ,z=0.001817,angle between two frames:0.006682
[19:32:32.964] Odometry x=-0.053463, y=0.030344, theta=0.041675
[19:32:32.974] Odometry x=-0.053463, y=0.030343, theta=0.038806
[19:32:32.984] Odometry x=-0.053463, y=0.030341, theta=0.036382
[19:32:32.994] Odometry x=-0.053463, y=0.030338, theta=0.034108
[19:32:33.004] Odometry x=-0.053463, y=0.030333, theta=0.032210
[19:32:33.014] Odometry x=-0.053462, y=0.030328, theta=0.030840
[19:32:33.024] Odometry x=-0.053460, y=0.030324, theta=0.029933
[19:32:33.035] Odometry x=-0.053459, y=0.030322, theta=0.029192
[19:32:33.045] Odometry x=-0.053458, y=0.030320, theta=0.028616
[19:32:33.065] Odometry x=-0.053074, y=0.030308, theta=0.030114
[19:32:33.075] Odometry x=-0.053073, y=0.030307, theta=0.031723
[19:32:33.085] Odometry x=-0.053072, y=0.030307, theta=0.033156
[19:32:33.096] Odometry x=-0.053072, y=0.030307, theta=0.034676
[19:32:33.106] Odometry x=-0.053072, y=0.030307, theta=0.035887
[19:32:33.116] Odometry x=-0.053072, y=0.030307, theta=0.036948
[19:32:33.126] Odometry x=-0.053072, y=0.030307, theta=0.038051
[19:32:33.136] Odometry x=-0.053072, y=0.030307, theta=0.039334
[19:32:33.146] Odometry x=-0.053072, y=0.030307, theta=0.040948
[19:32:33.161] After Reprojection Map nPoint:759 ,nCell:181 ,nMatches:36 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:33.162] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =169 	 error init =0.070904 	 error end=0.070904
[19:32:33.162] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:33.162] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:33.166] Odometry x=-0.053221, y=0.030326, theta=0.045538
[19:32:33.176] Odometry x=-0.053221, y=0.030326, theta=0.049130
[19:32:33.187] Odometry x=-0.053221, y=0.030326, theta=0.051193
[19:32:33.197] Odometry x=-0.053221, y=0.030326, theta=0.052471
[19:32:33.207] Odometry x=-0.053220, y=0.030325, theta=0.053403
[19:32:33.217] Odometry x=-0.053220, y=0.030325, theta=0.054135
[19:32:33.227] Odometry x=-0.053218, y=0.030325, theta=0.054893
[19:32:33.237] Odometry x=-0.053215, y=0.030325, theta=0.056061
[19:32:33.258] Odometry x=-0.052870, y=0.030305, theta=0.057887
[19:32:33.268] Odometry x=-0.052869, y=0.030304, theta=0.059693
[19:32:33.278] Odometry x=-0.052869, y=0.030303, theta=0.060579
[19:32:33.288] Odometry x=-0.052868, y=0.030302, theta=0.061505
[19:32:33.298] Odometry x=-0.052868, y=0.030300, theta=0.062807
[19:32:33.308] Odometry x=-0.052868, y=0.030300, theta=0.064286
[19:32:33.318] Odometry x=-0.052868, y=0.030299, theta=0.065937
[19:32:33.329] Odometry x=-0.052867, y=0.030299, theta=0.067655
[19:32:33.339] Odometry x=-0.052866, y=0.030299, theta=0.069043
[19:32:33.359] Odometry x=-0.052484, y=0.030272, theta=0.070827
[19:32:33.369] Odometry x=-0.052484, y=0.030272, theta=0.072824
[19:32:33.373] After Reprojection Map nPoint:774 ,nCell:170 ,nMatches:51 ,distance between two frames x:0.000742 ,z=-0.000040,angle between two frames:0.002020
[19:32:33.374] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =185 	 error init =0.086660 	 error end=0.086660
[19:32:33.374] After pose optimization, distance between two frames x:0.000742 ,z=-0.000040,angle between two frames:0.002020
[19:32:33.374] Update EKF and 3D points, distance between two frames x:0.000742 ,z=-0.000040,angle between two frames:0.002020
[19:32:33.379] Odometry x=-0.052940, y=0.030306, theta=0.057390
[19:32:33.389] Odometry x=-0.052940, y=0.030306, theta=0.058836
[19:32:33.399] Odometry x=-0.052940, y=0.030306, theta=0.060203
[19:32:33.410] Odometry x=-0.052940, y=0.030306, theta=0.061544
[19:32:33.420] Odometry x=-0.052940, y=0.030305, theta=0.062760
[19:32:33.430] Odometry x=-0.052940, y=0.030303, theta=0.064423
[19:32:33.440] Odometry x=-0.052940, y=0.030302, theta=0.065658
[19:32:33.460] Odometry x=-0.052555, y=0.030276, theta=0.068966
[19:32:33.470] Odometry x=-0.052553, y=0.030276, theta=0.072166
[19:32:33.481] Odometry x=-0.052552, y=0.030276, theta=0.073862
[19:32:33.491] Odometry x=-0.052552, y=0.030276, theta=0.074970
[19:32:33.501] Odometry x=-0.052551, y=0.030276, theta=0.076592
[19:32:33.511] Odometry x=-0.052551, y=0.030276, theta=0.078280
[19:32:33.521] Odometry x=-0.052550, y=0.030276, theta=0.079203
[19:32:33.531] Odometry x=-0.052550, y=0.030276, theta=0.080109
[19:32:33.541] Odometry x=-0.052550, y=0.030276, theta=0.080898
[19:32:33.552] Odometry x=-0.052550, y=0.030275, theta=0.081104
[19:32:33.572] Odometry x=-0.052131, y=0.030240, theta=0.081960
[19:32:33.582] Odometry x=-0.052131, y=0.030240, theta=0.082704
[19:32:33.585] After Reprojection Map nPoint:793 ,nCell:205 ,nMatches:45 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:33.585] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =180 	 error init =0.082394 	 error end=0.082394
[19:32:33.585] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:33.585] Update EKF and 3D points, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:33.592] Odometry x=-0.052805, y=0.030293, theta=0.060085
[19:32:33.602] Odometry x=-0.052805, y=0.030293, theta=0.061079
[19:32:33.612] Odometry x=-0.052804, y=0.030293, theta=0.062743
[19:32:33.622] Odometry x=-0.052803, y=0.030293, theta=0.063866
[19:32:33.633] Odometry x=-0.052803, y=0.030293, theta=0.065116
[19:32:33.643] Odometry x=-0.052803, y=0.030293, theta=0.066102
[19:32:33.663] Odometry x=-0.052455, y=0.030270, theta=0.066196
[19:32:33.673] Odometry x=-0.052454, y=0.030270, theta=0.066247
[19:32:33.683] Odometry x=-0.052453, y=0.030270, theta=0.066064
[19:32:33.693] Odometry x=-0.052453, y=0.030270, theta=0.065474
[19:32:33.704] Odometry x=-0.052453, y=0.030270, theta=0.064709
[19:32:33.714] Odometry x=-0.052453, y=0.030270, theta=0.064240
[19:32:33.724] Odometry x=-0.052453, y=0.030270, theta=0.064122
[19:32:33.734] Odometry x=-0.052453, y=0.030270, theta=0.064185
[19:32:33.744] Odometry x=-0.052452, y=0.030269, theta=0.064415
[19:32:33.765] Odometry x=-0.052041, y=0.030243, theta=0.065410
[19:32:33.775] Odometry x=-0.052041, y=0.030243, theta=0.066320
[19:32:33.785] Odometry x=-0.052041, y=0.030243, theta=0.066700
[19:32:33.795] Odometry x=-0.052041, y=0.030243, theta=0.066801
[19:32:33.805] Odometry x=-0.052041, y=0.030243, theta=0.066756
[19:32:33.807] After Reprojection Map nPoint:833 ,nCell:236 ,nMatches:52 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:33.808] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =182 	 error init =0.086029 	 error end=0.086000
[19:32:33.808] After pose optimization, distance between two frames x:-0.000017 ,z=-0.000219,angle between two frames:0.000000
[19:32:33.808] Update EKF and 3D points, distance between two frames x:-0.000017 ,z=-0.000219,angle between two frames:0.000000
[19:32:33.815] Odometry x=-0.052781, y=0.030159, theta=0.053652
[19:32:33.825] Odometry x=-0.052781, y=0.030159, theta=0.054191
[19:32:33.835] Odometry x=-0.052781, y=0.030158, theta=0.054749
[19:32:33.846] Odometry x=-0.052778, y=0.030154, theta=0.054359
[19:32:33.866] Odometry x=-0.052389, y=0.030129, theta=0.055820
[19:32:33.876] Odometry x=-0.052385, y=0.030126, theta=0.057768
[19:32:33.886] Odometry x=-0.052385, y=0.030126, theta=0.059724
[19:32:33.896] Odometry x=-0.052384, y=0.030126, theta=0.061734
[19:32:33.906] Odometry x=-0.052384, y=0.030126, theta=0.063525
[19:32:33.917] Odometry x=-0.052384, y=0.030126, theta=0.064966
[19:32:33.927] Odometry x=-0.052384, y=0.030126, theta=0.065789
[19:32:33.937] Odometry x=-0.052384, y=0.030126, theta=0.067354
[19:32:33.947] Odometry x=-0.052384, y=0.030126, theta=0.068834
[19:32:33.967] Odometry x=-0.051993, y=0.030099, theta=0.069785
[19:32:33.977] Odometry x=-0.051993, y=0.030099, theta=0.070591
[19:32:33.988] Odometry x=-0.051993, y=0.030099, theta=0.071011
[19:32:33.998] Odometry x=-0.051993, y=0.030099, theta=0.071168
[19:32:34.008] Odometry x=-0.051993, y=0.030099, theta=0.071307
[19:32:34.018] Odometry x=-0.051993, y=0.030099, theta=0.071659
[19:32:34.028] Odometry x=-0.051993, y=0.030099, theta=0.072112
[19:32:34.029] After Reprojection Map nPoint:842 ,nCell:216 ,nMatches:51 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:34.036] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =191 	 error init =0.093667 	 error end=0.090405
[19:32:34.036] After pose optimization, distance between two frames x:0.012155 ,z=0.001174,angle between two frames:0.000000
[19:32:34.036] Update EKF and 3D points, distance between two frames x:0.012155 ,z=0.001174,angle between two frames:0.000000
[19:32:34.038] Odometry x=-0.045250, y=0.030830, theta=0.056028
[19:32:34.058] Odometry x=-0.044922, y=0.030812, theta=0.054151
[19:32:34.069] Odometry x=-0.044922, y=0.030812, theta=0.052269
[19:32:34.079] Odometry x=-0.044922, y=0.030812, theta=0.051236
[19:32:34.089] Odometry x=-0.044922, y=0.030812, theta=0.050475
[19:32:34.099] Odometry x=-0.044921, y=0.030811, theta=0.049964
[19:32:34.109] Odometry x=-0.044921, y=0.030811, theta=0.049623
[19:32:34.119] Odometry x=-0.044921, y=0.030811, theta=0.049438
[19:32:34.129] Odometry x=-0.044921, y=0.030811, theta=0.049582
[19:32:34.140] Odometry x=-0.044921, y=0.030811, theta=0.049772
[19:32:34.160] Odometry x=-0.044530, y=0.030791, theta=0.048954
[19:32:34.170] Odometry x=-0.044529, y=0.030791, theta=0.048737
[19:32:34.180] Odometry x=-0.044528, y=0.030791, theta=0.049452
[19:32:34.190] Odometry x=-0.044528, y=0.030791, theta=0.050149
[19:32:34.200] Odometry x=-0.044528, y=0.030791, theta=0.052003
[19:32:34.210] Odometry x=-0.044528, y=0.030791, theta=0.053581
[19:32:34.221] Odometry x=-0.044528, y=0.030791, theta=0.054131
[19:32:34.231] Odometry x=-0.044527, y=0.030791, theta=0.054637
[19:32:34.241] Odometry x=-0.044527, y=0.030791, theta=0.055198
[19:32:34.254] After Reprojection Map nPoint:876 ,nCell:204 ,nMatches:49 ,distance between two frames x:-0.004022 ,z=-0.000415,angle between two frames:0.010607
[19:32:34.261] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =199 	 error init =0.074267 	 error end=0.072999
[19:32:34.261] After pose optimization, distance between two frames x:-0.007550 ,z=-0.002791,angle between two frames:0.010607
[19:32:34.261] Update EKF and 3D points, distance between two frames x:-0.007550 ,z=-0.002791,angle between two frames:0.010607
[19:32:34.261] Odometry x=-0.046676, y=0.029348, theta=0.057461
[19:32:34.261] Choose frame as a key frame Scene Depth mean:0.962068 ,depth min:0.514927
[19:32:34.271] Odometry x=-0.046676, y=0.029349, theta=0.059041
[19:32:34.281] Odometry x=-0.046676, y=0.029349, theta=0.059141
[19:32:34.291] Odometry x=-0.046676, y=0.029349, theta=0.057823
[19:32:34.302] Odometry x=-0.046676, y=0.029349, theta=0.055482
[19:32:34.312] Odometry x=-0.046676, y=0.029349, theta=0.053274
[19:32:34.322] Odometry x=-0.046676, y=0.029348, theta=0.051855
[19:32:34.332] Odometry x=-0.046676, y=0.029345, theta=0.050825
[19:32:34.342] Odometry x=-0.046676, y=0.029343, theta=0.050141
[19:32:34.362] Odometry x=-0.046302, y=0.029311, theta=0.049022
[19:32:34.373] Odometry x=-0.046302, y=0.029297, theta=0.048081
[19:32:34.383] Odometry x=-0.046303, y=0.029292, theta=0.047998
[19:32:34.393] Odometry x=-0.046303, y=0.029291, theta=0.048089
[19:32:34.403] Odometry x=-0.046302, y=0.029291, theta=0.048335
[19:32:34.413] Odometry x=-0.046300, y=0.029291, theta=0.048763
[19:32:34.423] Odometry x=-0.046297, y=0.029291, theta=0.048726
[19:32:34.434] Odometry x=-0.046295, y=0.029291, theta=0.048268
[19:32:34.444] Odometry x=-0.046294, y=0.029291, theta=0.047964
[19:32:34.464] Odometry x=-0.045910, y=0.029271, theta=0.047665
[19:32:34.473] After Reprojection Map nPoint:749 ,nCell:145 ,nMatches:43 ,distance between two frames x:0.001956 ,z=0.000857,angle between two frames:0.001316
[19:32:34.474] Odometry x=-0.045911, y=0.029269, theta=0.047523
[19:32:34.480] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =178 	 error init =0.087276 	 error end=0.086902
[19:32:34.480] After pose optimization, distance between two frames x:0.000930 ,z=0.000245,angle between two frames:0.001316
[19:32:34.480] Update EKF and 3D points, distance between two frames x:0.000930 ,z=0.000245,angle between two frames:0.001316
[19:32:34.484] Odometry x=-0.047019, y=0.028939, theta=0.053403
[19:32:34.494] Odometry x=-0.047019, y=0.028938, theta=0.051922
[19:32:34.505] Odometry x=-0.047019, y=0.028935, theta=0.050306
[19:32:34.515] Odometry x=-0.047018, y=0.028930, theta=0.049360
[19:32:34.525] Odometry x=-0.047018, y=0.028929, theta=0.048947
[19:32:34.535] Odometry x=-0.047018, y=0.028928, theta=0.049160
[19:32:34.545] Odometry x=-0.047017, y=0.028928, theta=0.049832
[19:32:34.565] Odometry x=-0.046615, y=0.028908, theta=0.049919
[19:32:34.576] Odometry x=-0.046614, y=0.028908, theta=0.050036
[19:32:34.586] Odometry x=-0.046613, y=0.028908, theta=0.050171
[19:32:34.596] Odometry x=-0.046613, y=0.028908, theta=0.050257
[19:32:34.606] Odometry x=-0.046613, y=0.028908, theta=0.050489
[19:32:34.616] Odometry x=-0.046613, y=0.028908, theta=0.051601
[19:32:34.626] Odometry x=-0.046613, y=0.028908, theta=0.052222
[19:32:34.636] Odometry x=-0.046612, y=0.028908, theta=0.051515
[19:32:34.657] Odometry x=-0.046278, y=0.028890, theta=0.049948
[19:32:34.667] Odometry x=-0.046277, y=0.028889, theta=0.048838
[19:32:34.677] Odometry x=-0.046277, y=0.028886, theta=0.048791
[19:32:34.687] Odometry x=-0.046277, y=0.028885, theta=0.048923
[19:32:34.694] After Reprojection Map nPoint:841 ,nCell:165 ,nMatches:43 ,distance between two frames x:0.000684 ,z=0.000203,angle between two frames:0.004058
[19:32:34.697] Odometry x=-0.046277, y=0.028882, theta=0.048101
[19:32:34.701] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =191 	 error init =0.063055 	 error end=0.063055
[19:32:34.701] After pose optimization, distance between two frames x:0.000684 ,z=0.000203,angle between two frames:0.004058
[19:32:34.701] Update EKF and 3D points, distance between two frames x:0.000684 ,z=0.000203,angle between two frames:0.004058
[19:32:34.707] Odometry x=-0.046736, y=0.028912, theta=0.049043
[19:32:34.717] Odometry x=-0.046736, y=0.028907, theta=0.046183
[19:32:34.728] Odometry x=-0.046736, y=0.028905, theta=0.043833
[19:32:34.738] Odometry x=-0.046735, y=0.028904, theta=0.042371
[19:32:34.758] Odometry x=-0.046315, y=0.028886, theta=0.042541
[19:32:34.768] Odometry x=-0.046313, y=0.028886, theta=0.042995
[19:32:34.778] Odometry x=-0.046312, y=0.028886, theta=0.043151
[19:32:34.788] Odometry x=-0.046312, y=0.028886, theta=0.042569
[19:32:34.799] Odometry x=-0.046312, y=0.028885, theta=0.041780
[19:32:34.809] Odometry x=-0.046312, y=0.028885, theta=0.041261
[19:32:34.819] Odometry x=-0.046312, y=0.028884, theta=0.041011
[19:32:34.829] Odometry x=-0.046312, y=0.028884, theta=0.040671
[19:32:34.839] Odometry x=-0.046311, y=0.028884, theta=0.040070
[19:32:34.859] Odometry x=-0.045928, y=0.028868, theta=0.039121
[19:32:34.870] Odometry x=-0.045928, y=0.028868, theta=0.038305
[19:32:34.880] Odometry x=-0.045928, y=0.028868, theta=0.038079
[19:32:34.890] Odometry x=-0.045928, y=0.028868, theta=0.037939
[19:32:34.900] Odometry x=-0.045928, y=0.028868, theta=0.036845
[19:32:34.910] Odometry x=-0.045928, y=0.028868, theta=0.034736
[19:32:34.914] After Reprojection Map nPoint:774 ,nCell:194 ,nMatches:40 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:34.915] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =180 	 error init =0.064356 	 error end=0.064334
[19:32:34.915] After pose optimization, distance between two frames x:-0.000184 ,z=0.000001,angle between two frames:0.000000
[19:32:34.915] Update EKF and 3D points, distance between two frames x:-0.000184 ,z=0.000001,angle between two frames:0.000000
[19:32:34.920] Odometry x=-0.046716, y=0.028912, theta=0.043748
[19:32:34.931] Odometry x=-0.046716, y=0.028910, theta=0.041272
[19:32:34.941] Odometry x=-0.046716, y=0.028908, theta=0.039288
[19:32:34.961] Odometry x=-0.046334, y=0.028884, theta=0.037159
[19:32:34.971] Odometry x=-0.046333, y=0.028872, theta=0.034087
[19:32:34.981] Odometry x=-0.046333, y=0.028866, theta=0.032213
[19:32:34.991] Odometry x=-0.046333, y=0.028863, theta=0.031082
[19:32:35.001] Odometry x=-0.046333, y=0.028862, theta=0.030006
[19:32:35.012] Odometry x=-0.046332, y=0.028861, theta=0.028785
[19:32:35.022] Odometry x=-0.046332, y=0.028861, theta=0.027911
[19:32:35.032] Odometry x=-0.046332, y=0.028861, theta=0.026721
[19:32:35.042] Odometry x=-0.046332, y=0.028860, theta=0.025516
[19:32:35.062] Odometry x=-0.045931, y=0.028847, theta=0.025800
[19:32:35.072] Odometry x=-0.045931, y=0.028844, theta=0.026556
[19:32:35.083] Odometry x=-0.045931, y=0.028843, theta=0.027882
[19:32:35.093] Odometry x=-0.045932, y=0.028842, theta=0.029066
[19:32:35.103] Odometry x=-0.045932, y=0.028841, theta=0.029509
[19:32:35.113] Odometry x=-0.045931, y=0.028841, theta=0.028734
[19:32:35.123] Odometry x=-0.045930, y=0.028840, theta=0.026476
[19:32:35.132] After Reprojection Map nPoint:808 ,nCell:199 ,nMatches:41 ,distance between two frames x:0.000487 ,z=-0.000028,angle between two frames:0.009655
[19:32:35.133] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =180 	 error init =0.071822 	 error end=0.071822
[19:32:35.133] After pose optimization, distance between two frames x:0.000487 ,z=-0.000028,angle between two frames:0.009655
[19:32:35.133] Update EKF and 3D points, distance between two frames x:0.000487 ,z=-0.000028,angle between two frames:0.009655
[19:32:35.133] Odometry x=-0.046415, y=0.028884, theta=0.035328
[19:32:35.144] Odometry x=-0.046414, y=0.028884, theta=0.034526
[19:32:35.164] Odometry x=-0.046026, y=0.028870, theta=0.036454
[19:32:35.174] Odometry x=-0.046024, y=0.028870, theta=0.038573
[19:32:35.184] Odometry x=-0.046023, y=0.028870, theta=0.039724
[19:32:35.194] Odometry x=-0.046023, y=0.028870, theta=0.040542
[19:32:35.204] Odometry x=-0.046022, y=0.028870, theta=0.041139
[19:32:35.215] Odometry x=-0.046022, y=0.028870, theta=0.041187
[19:32:35.225] Odometry x=-0.046022, y=0.028870, theta=0.040519
[19:32:35.235] Odometry x=-0.046022, y=0.028870, theta=0.039783
[19:32:35.245] Odometry x=-0.046023, y=0.028870, theta=0.039425
[19:32:35.265] Odometry x=-0.045640, y=0.028854, theta=0.040110
[19:32:35.275] Odometry x=-0.045642, y=0.028853, theta=0.041092
[19:32:35.286] Odometry x=-0.045642, y=0.028853, theta=0.041804
[19:32:35.296] Odometry x=-0.045642, y=0.028853, theta=0.041476
[19:32:35.306] Odometry x=-0.045642, y=0.028852, theta=0.040759
[19:32:35.316] Odometry x=-0.045642, y=0.028852, theta=0.040925
[19:32:35.326] Odometry x=-0.045641, y=0.028852, theta=0.042180
[19:32:35.336] Odometry x=-0.045641, y=0.028852, theta=0.044079
[19:32:35.345] After Reprojection Map nPoint:797 ,nCell:172 ,nMatches:46 ,distance between two frames x:0.000300 ,z=-0.000028,angle between two frames:0.008420
[19:32:35.346] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =187 	 error init =0.082222 	 error end=0.082221
[19:32:35.346] After pose optimization, distance between two frames x:0.000301 ,z=-0.000028,angle between two frames:0.008420
[19:32:35.346] Update EKF and 3D points, distance between two frames x:0.000301 ,z=-0.000028,angle between two frames:0.008420
[19:32:35.346] Odometry x=-0.046119, y=0.028872, theta=0.040598
[19:32:35.367] Odometry x=-0.045737, y=0.028857, theta=0.043454
[19:32:35.377] Odometry x=-0.045737, y=0.028857, theta=0.046702
[19:32:35.387] Odometry x=-0.045737, y=0.028857, theta=0.048770
[19:32:35.397] Odometry x=-0.045737, y=0.028857, theta=0.050125
[19:32:35.407] Odometry x=-0.045736, y=0.028858, theta=0.051192
[19:32:35.417] Odometry x=-0.045735, y=0.028858, theta=0.052419
[19:32:35.427] Odometry x=-0.045734, y=0.028860, theta=0.053669
[19:32:35.438] Odometry x=-0.045733, y=0.028861, theta=0.054620
[19:32:35.448] Odometry x=-0.045733, y=0.028862, theta=0.055116
[19:32:35.468] Odometry x=-0.045350, y=0.028841, theta=0.055315
[19:32:35.478] Odometry x=-0.045350, y=0.028842, theta=0.055671
[19:32:35.488] Odometry x=-0.045350, y=0.028842, theta=0.055926
[19:32:35.498] Odometry x=-0.045350, y=0.028842, theta=0.055681
[19:32:35.509] Odometry x=-0.045350, y=0.028841, theta=0.055161
[19:32:35.519] Odometry x=-0.045350, y=0.028841, theta=0.054785
[19:32:35.529] Odometry x=-0.045350, y=0.028841, theta=0.054713
[19:32:35.539] Odometry x=-0.045350, y=0.028841, theta=0.055284
[19:32:35.549] Odometry x=-0.045350, y=0.028841, theta=0.056148
[19:32:35.560] After Reprojection Map nPoint:840 ,nCell:177 ,nMatches:49 ,distance between two frames x:0.000296 ,z=-0.000012,angle between two frames:0.005271
[19:32:35.560] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =194 	 error init =0.078861 	 error end=0.078778
[19:32:35.560] After pose optimization, distance between two frames x:0.000497 ,z=-0.000012,angle between two frames:0.005271
[19:32:35.560] Update EKF and 3D points, distance between two frames x:0.000497 ,z=-0.000012,angle between two frames:0.005271
[19:32:35.569] Odometry x=-0.045300, y=0.028839, theta=0.048421
[19:32:35.580] Odometry x=-0.045301, y=0.028839, theta=0.050377
[19:32:35.590] Odometry x=-0.045301, y=0.028839, theta=0.051490
[19:32:35.600] Odometry x=-0.045301, y=0.028839, theta=0.052525
[19:32:35.610] Odometry x=-0.045301, y=0.028839, theta=0.053323
[19:32:35.620] Odometry x=-0.045301, y=0.028839, theta=0.054590
[19:32:35.630] Odometry x=-0.045301, y=0.028840, theta=0.056349
[19:32:35.640] Odometry x=-0.045301, y=0.028840, theta=0.057378
[19:32:35.661] Odometry x=-0.044976, y=0.028821, theta=0.058212
[19:32:35.671] Odometry x=-0.044976, y=0.028821, theta=0.059130
[19:32:35.681] Odometry x=-0.044976, y=0.028821, theta=0.059997
[19:32:35.691] Odometry x=-0.044976, y=0.028821, theta=0.061117
[19:32:35.701] Odometry x=-0.044976, y=0.028821, theta=0.062123
[19:32:35.711] Odometry x=-0.044977, y=0.028821, theta=0.063079
[19:32:35.722] Odometry x=-0.044977, y=0.028822, theta=0.064092
[19:32:35.732] Odometry x=-0.044978, y=0.028822, theta=0.065122
[19:32:35.742] Odometry x=-0.044978, y=0.028822, theta=0.066025
[19:32:35.762] Odometry x=-0.044576, y=0.028796, theta=0.065972
[19:32:35.771] After Reprojection Map nPoint:791 ,nCell:207 ,nMatches:39 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:35.771] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =174 	 error init =0.079708 	 error end=0.079708
[19:32:35.771] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:35.771] Update EKF and 3D points, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:35.772] Odometry x=-0.045405, y=0.028843, theta=0.050312
[19:32:35.782] Odometry x=-0.045405, y=0.028843, theta=0.050662
[19:32:35.793] Odometry x=-0.045405, y=0.028843, theta=0.051412
[19:32:35.803] Odometry x=-0.045405, y=0.028842, theta=0.052463
[19:32:35.813] Odometry x=-0.045405, y=0.028842, theta=0.053495
[19:32:35.823] Odometry x=-0.045405, y=0.028842, theta=0.054443
[19:32:35.833] Odometry x=-0.045405, y=0.028842, theta=0.055399
[19:32:35.843] Odometry x=-0.045405, y=0.028842, theta=0.056430
[19:32:35.864] Odometry x=-0.045021, y=0.028820, theta=0.058031
[19:32:35.874] Odometry x=-0.045021, y=0.028820, theta=0.059860
[19:32:35.884] Odometry x=-0.045021, y=0.028820, theta=0.061150
[19:32:35.894] Odometry x=-0.045021, y=0.028820, theta=0.062380
[19:32:35.904] Odometry x=-0.045021, y=0.028820, theta=0.063473
[19:32:35.914] Odometry x=-0.045021, y=0.028820, theta=0.064302
[19:32:35.924] Odometry x=-0.045021, y=0.028820, theta=0.065102
[19:32:35.935] Odometry x=-0.045021, y=0.028820, theta=0.065807
[19:32:35.945] Odometry x=-0.045021, y=0.028820, theta=0.066577
[19:32:35.967] Odometry x=-0.044634, y=0.028794, theta=0.067738
[19:32:35.977] Odometry x=-0.044634, y=0.028794, theta=0.069591
[19:32:35.986] After Reprojection Map nPoint:836 ,nCell:221 ,nMatches:46 ,distance between two frames x:0.000513 ,z=-0.000029,angle between two frames:0.009714
[19:32:35.987] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =196 	 error init =0.066243 	 error end=0.065836
[19:32:35.987] After pose optimization, distance between two frames x:-0.003250 ,z=-0.004249,angle between two frames:0.009715
[19:32:35.987] Update EKF and 3D points, distance between two frames x:-0.003250 ,z=-0.004249,angle between two frames:0.009715
[19:32:35.988] Odometry x=-0.047436, y=0.026216, theta=0.059079
[19:32:35.998] Odometry x=-0.047436, y=0.026216, theta=0.060163
[19:32:36.008] Odometry x=-0.047436, y=0.026216, theta=0.061149
[19:32:36.018] Odometry x=-0.047436, y=0.026216, theta=0.062223
[19:32:36.028] Odometry x=-0.047436, y=0.026216, theta=0.063534
[19:32:36.038] Odometry x=-0.047436, y=0.026216, theta=0.064838
[19:32:36.048] Odometry x=-0.047436, y=0.026216, theta=0.066056
[19:32:36.069] Odometry x=-0.047036, y=0.026190, theta=0.068711
[19:32:36.079] Odometry x=-0.047036, y=0.026190, theta=0.071829
[19:32:36.089] Odometry x=-0.047037, y=0.026190, theta=0.074281
[19:32:36.099] Odometry x=-0.047037, y=0.026190, theta=0.076850
[19:32:36.109] Odometry x=-0.047037, y=0.026190, theta=0.079516
[19:32:36.120] Odometry x=-0.047037, y=0.026190, theta=0.082299
[19:32:36.130] Odometry x=-0.047037, y=0.026190, theta=0.085158
[19:32:36.140] Odometry x=-0.047036, y=0.026190, theta=0.087946
[19:32:36.160] Odometry x=-0.046692, y=0.026159, theta=0.089887
[19:32:36.170] Odometry x=-0.046692, y=0.026160, theta=0.091407
[19:32:36.180] Odometry x=-0.046692, y=0.026160, theta=0.091659
[19:32:36.190] Odometry x=-0.046692, y=0.026160, theta=0.091682
[19:32:36.200] After Reprojection Map nPoint:827 ,nCell:245 ,nMatches:48 ,distance between two frames x:0.001732 ,z=0.001593,angle between two frames:0.008765
[19:32:36.201] Odometry x=-0.046692, y=0.026160, theta=0.091577
[19:32:36.207] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =192 	 error init =0.080633 	 error end=0.080347
[19:32:36.207] After pose optimization, distance between two frames x:0.001149 ,z=0.001245,angle between two frames:0.008766
[19:32:36.207] Update EKF and 3D points, distance between two frames x:0.001149 ,z=0.001245,angle between two frames:0.008766
[19:32:36.211] Odometry x=-0.047512, y=0.025980, theta=0.071218
[19:32:36.221] Odometry x=-0.047512, y=0.025980, theta=0.070936
[19:32:36.231] Odometry x=-0.047512, y=0.025980, theta=0.071283
[19:32:36.241] Odometry x=-0.047512, y=0.025980, theta=0.071713
[19:32:36.261] Odometry x=-0.047128, y=0.025952, theta=0.071872
[19:32:36.271] Odometry x=-0.047128, y=0.025952, theta=0.072159
[19:32:36.282] Odometry x=-0.047128, y=0.025952, theta=0.072380
[19:32:36.292] Odometry x=-0.047128, y=0.025952, theta=0.072530
[19:32:36.302] Odometry x=-0.047128, y=0.025952, theta=0.072490
[19:32:36.312] Odometry x=-0.047128, y=0.025952, theta=0.072448
[19:32:36.322] Odometry x=-0.047128, y=0.025952, theta=0.072928
[19:32:36.332] Odometry x=-0.047128, y=0.025952, theta=0.073624
[19:32:36.342] Odometry x=-0.047128, y=0.025952, theta=0.074173
[19:32:36.363] Odometry x=-0.046742, y=0.025924, theta=0.074573
[19:32:36.373] Odometry x=-0.046742, y=0.025924, theta=0.074951
[19:32:36.383] Odometry x=-0.046742, y=0.025924, theta=0.074983
[19:32:36.393] Odometry x=-0.046742, y=0.025924, theta=0.074930
[19:32:36.403] Odometry x=-0.046742, y=0.025924, theta=0.075077
[19:32:36.413] Odometry x=-0.046742, y=0.025924, theta=0.075583
[19:32:36.419] After Reprojection Map nPoint:863 ,nCell:240 ,nMatches:49 ,distance between two frames x:0.000507 ,z=0.000111,angle between two frames:0.012139
[19:32:36.419] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =197 	 error init =0.072695 	 error end=0.072695
[19:32:36.419] After pose optimization, distance between two frames x:0.000507 ,z=0.000111,angle between two frames:0.012139
[19:32:36.419] Update EKF and 3D points, distance between two frames x:0.000507 ,z=0.000111,angle between two frames:0.012139
[19:32:36.420] Choose frame as a key frame Scene Depth mean:0.962195 ,depth min:0.512432
[19:32:36.424] Odometry x=-0.047218, y=0.025958, theta=0.073656
[19:32:36.434] Odometry x=-0.047218, y=0.025959, theta=0.074396
[19:32:36.444] Odometry x=-0.047218, y=0.025959, theta=0.074883
[19:32:36.464] Odometry x=-0.046833, y=0.025930, theta=0.074213
[19:32:36.474] Odometry x=-0.046833, y=0.025930, theta=0.073421
[19:32:36.484] Odometry x=-0.046833, y=0.025930, theta=0.073034
[19:32:36.494] Odometry x=-0.046833, y=0.025930, theta=0.073025
[19:32:36.505] Odometry x=-0.046833, y=0.025930, theta=0.073019
[19:32:36.515] Odometry x=-0.046833, y=0.025930, theta=0.072995
[19:32:36.525] Odometry x=-0.046833, y=0.025930, theta=0.073242
[19:32:36.535] Odometry x=-0.046833, y=0.025929, theta=0.073845
[19:32:36.545] Odometry x=-0.046833, y=0.025929, theta=0.074573
[19:32:36.565] Odometry x=-0.046449, y=0.025901, theta=0.075679
[19:32:36.575] Odometry x=-0.046449, y=0.025901, theta=0.076984
[19:32:36.586] Odometry x=-0.046449, y=0.025901, theta=0.077765
[19:32:36.596] Odometry x=-0.046449, y=0.025901, theta=0.078609
[19:32:36.606] Odometry x=-0.046449, y=0.025901, theta=0.079181
[19:32:36.616] Odometry x=-0.046449, y=0.025901, theta=0.079765
[19:32:36.626] Odometry x=-0.046449, y=0.025901, theta=0.080204
[19:32:36.636] Odometry x=-0.046449, y=0.025901, theta=0.080704
[19:32:36.637] After Reprojection Map nPoint:835 ,nCell:174 ,nMatches:52 ,distance between two frames x:0.000294 ,z=-0.000021,angle between two frames:0.002438
[19:32:36.637] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =170 	 error init =0.102113 	 error end=0.102113
[19:32:36.637] After pose optimization, distance between two frames x:0.000294 ,z=-0.000021,angle between two frames:0.002438
[19:32:36.637] Update EKF and 3D points, distance between two frames x:0.000294 ,z=-0.000021,angle between two frames:0.002438
[19:32:36.638] Choose frame as a key frame Scene Depth mean:0.947343 ,depth min:-1775775370695.919434
[19:32:36.646] Odometry x=-0.046924, y=0.025936, theta=0.076977
[19:32:36.667] Odometry x=-0.046539, y=0.025906, theta=0.078079
[19:32:36.677] Odometry x=-0.046539, y=0.025906, theta=0.079772
[19:32:36.687] Odometry x=-0.046539, y=0.025906, theta=0.080748
[19:32:36.697] Odometry x=-0.046539, y=0.025906, theta=0.081920
[19:32:36.707] Odometry x=-0.046539, y=0.025906, theta=0.082984
[19:32:36.717] Odometry x=-0.046539, y=0.025906, theta=0.083608
[19:32:36.727] Odometry x=-0.046539, y=0.025906, theta=0.084009
[19:32:36.738] Odometry x=-0.046539, y=0.025907, theta=0.084222
[19:32:36.748] Odometry x=-0.046539, y=0.025907, theta=0.084199
[19:32:36.768] Odometry x=-0.046135, y=0.025873, theta=0.084032
[19:32:36.778] Odometry x=-0.046135, y=0.025873, theta=0.083977
[19:32:36.788] Odometry x=-0.046135, y=0.025873, theta=0.084040
[19:32:36.798] Odometry x=-0.046135, y=0.025873, theta=0.083827
[19:32:36.808] Odometry x=-0.046135, y=0.025872, theta=0.083617
[19:32:36.819] Odometry x=-0.046135, y=0.025872, theta=0.083523
[19:32:36.829] Odometry x=-0.046135, y=0.025872, theta=0.083689
[19:32:36.839] Odometry x=-0.046135, y=0.025872, theta=0.083926
[19:32:36.849] Odometry x=-0.046135, y=0.025872, theta=0.084248
[19:32:36.851] After Reprojection Map nPoint:794 ,nCell:214 ,nMatches:43 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:36.851] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =154 	 error init =0.094457 	 error end=0.094457
[19:32:36.851] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:36.851] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:36.851] Choose frame as a key frame Scene Depth mean:0.943711 ,depth min:-27703891245862.683594
[19:32:36.869] Odometry x=-0.046739, y=0.025923, theta=0.074558
[19:32:36.879] Odometry x=-0.046739, y=0.025923, theta=0.075952
[19:32:36.890] Odometry x=-0.046739, y=0.025923, theta=0.077069
[19:32:36.900] Odometry x=-0.046739, y=0.025923, theta=0.078198
[19:32:36.910] Odometry x=-0.046739, y=0.025923, theta=0.079169
[19:32:36.920] Odometry x=-0.046739, y=0.025923, theta=0.079815
[19:32:36.930] Odometry x=-0.046739, y=0.025923, theta=0.080618
[19:32:36.940] Odometry x=-0.046739, y=0.025923, theta=0.081757
[19:32:36.950] Odometry x=-0.046739, y=0.025923, theta=0.083121
[19:32:36.971] Odometry x=-0.046345, y=0.025890, theta=0.085213
[19:32:36.981] Odometry x=-0.046345, y=0.025890, theta=0.087461
[19:32:36.991] Odometry x=-0.046345, y=0.025890, theta=0.089013
[19:32:37.001] Odometry x=-0.046345, y=0.025890, theta=0.090586
[19:32:37.011] Odometry x=-0.046345, y=0.025891, theta=0.092205
[19:32:37.021] Odometry x=-0.046345, y=0.025891, theta=0.093247
[19:32:37.032] Odometry x=-0.046344, y=0.025892, theta=0.094340
[19:32:37.042] Odometry x=-0.046344, y=0.025893, theta=0.094916
[19:32:37.052] Odometry x=-0.046344, y=0.025893, theta=0.095007
[19:32:37.062] Odometry x=-0.046344, y=0.025893, theta=0.095086
[19:32:37.066] After Reprojection Map nPoint:742 ,nCell:141 ,nMatches:44 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:37.067] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =154 	 error init =0.089177 	 error end=0.089177
[19:32:37.067] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:37.067] Update EKF and 3D points, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:37.068] Choose frame as a key frame Scene Depth mean:0.952297 ,depth min:0.391510
[19:32:37.072] Odometry x=-0.046884, y=0.025933, theta=0.081698
[19:32:37.082] Odometry x=-0.046884, y=0.025933, theta=0.081315
[19:32:37.092] Odometry x=-0.046884, y=0.025933, theta=0.081017
[19:32:37.103] Odometry x=-0.046884, y=0.025933, theta=0.080949
[19:32:37.113] Odometry x=-0.046884, y=0.025933, theta=0.081170
[19:32:37.123] Odometry x=-0.046884, y=0.025933, theta=0.081372
[19:32:37.133] Odometry x=-0.046883, y=0.025933, theta=0.081678
[19:32:37.143] Odometry x=-0.046883, y=0.025933, theta=0.081980
[19:32:37.153] Odometry x=-0.046883, y=0.025933, theta=0.082201
[19:32:37.163] Odometry x=-0.046883, y=0.025933, theta=0.082352
[19:32:37.173] Odometry x=-0.046883, y=0.025934, theta=0.082477
[19:32:37.184] Odometry x=-0.046883, y=0.025934, theta=0.082639
[19:32:37.194] Odometry x=-0.046883, y=0.025934, theta=0.082781
[19:32:37.204] Odometry x=-0.046883, y=0.025934, theta=0.083080
[19:32:37.214] Odometry x=-0.046883, y=0.025934, theta=0.083590
[19:32:37.224] Odometry x=-0.046883, y=0.025934, theta=0.084010
[19:32:37.234] Odometry x=-0.046883, y=0.025934, theta=0.084541
[19:32:37.244] Odometry x=-0.046883, y=0.025934, theta=0.085548
[19:32:37.254] Odometry x=-0.046882, y=0.025934, theta=0.086702
[19:32:37.265] Odometry x=-0.046882, y=0.025934, theta=0.087445
[19:32:37.275] Odometry x=-0.046882, y=0.025934, theta=0.087752
[19:32:37.285] Odometry x=-0.046882, y=0.025934, theta=0.087914
[19:32:37.295] Odometry x=-0.046881, y=0.025935, theta=0.087673
[19:32:37.298] After Reprojection Map nPoint:831 ,nCell:155 ,nMatches:45 ,distance between two frames x:0.000334 ,z=-0.000025,angle between two frames:0.008042
[19:32:37.303] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =148 	 error init =0.103193 	 error end=0.090652
[19:32:37.303] After pose optimization, distance between two frames x:-0.015928 ,z=-0.001707,angle between two frames:0.002731
[19:32:37.303] Update EKF and 3D points, distance between two frames x:-0.015928 ,z=-0.001707,angle between two frames:0.002731
[19:32:37.304] Choose frame as a key frame Scene Depth mean:0.949088 ,depth min:-3203677520522.280762
[19:32:37.305] Odometry x=-0.056933, y=0.024895, theta=0.080004
[19:32:37.315] Odometry x=-0.056933, y=0.024895, theta=0.079388
[19:32:37.325] Odometry x=-0.056933, y=0.024896, theta=0.077785
[19:32:37.335] Odometry x=-0.056933, y=0.024896, theta=0.076366
[19:32:37.346] Odometry x=-0.056933, y=0.024896, theta=0.075772
[19:32:37.356] Odometry x=-0.056933, y=0.024896, theta=0.074354
[19:32:37.366] Odometry x=-0.056933, y=0.024896, theta=0.072807
[19:32:37.376] Odometry x=-0.056933, y=0.024896, theta=0.072002
[19:32:37.386] Odometry x=-0.056933, y=0.024896, theta=0.071671
[19:32:37.396] Odometry x=-0.056933, y=0.024897, theta=0.071694
[19:32:37.406] Odometry x=-0.056932, y=0.024897, theta=0.071672
[19:32:37.417] Odometry x=-0.056932, y=0.024897, theta=0.071118
[19:32:37.427] Odometry x=-0.056932, y=0.024898, theta=0.070238
[19:32:37.437] Odometry x=-0.056932, y=0.024898, theta=0.068977
[19:32:37.447] Odometry x=-0.056932, y=0.024898, theta=0.068039
[19:32:37.457] Odometry x=-0.056932, y=0.024898, theta=0.067599
[19:32:37.467] Odometry x=-0.056932, y=0.024898, theta=0.066993
[19:32:37.477] Odometry x=-0.056932, y=0.024898, theta=0.066096
[19:32:37.487] Odometry x=-0.056932, y=0.024898, theta=0.065366
[19:32:37.497] Odometry x=-0.056931, y=0.024898, theta=0.064326
[19:32:37.508] Odometry x=-0.056931, y=0.024898, theta=0.063399
[19:32:37.518] Odometry x=-0.056931, y=0.024898, theta=0.062654
[19:32:37.528] Odometry x=-0.056931, y=0.024898, theta=0.062041
[19:32:37.538] Odometry x=-0.056930, y=0.024898, theta=0.061072
[19:32:37.539] After Reprojection Map nPoint:856 ,nCell:211 ,nMatches:46 ,distance between two frames x:0.006213 ,z=0.000644,angle between two frames:0.003617
[19:32:37.545] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =155 	 error init =0.099147 	 error end=0.093747
[19:32:37.545] After pose optimization, distance between two frames x:-0.004095 ,z=-0.002097,angle between two frames:0.003617
[19:32:37.545] Update EKF and 3D points, distance between two frames x:-0.004095 ,z=-0.002097,angle between two frames:0.003617
[19:32:37.545] Choose frame as a key frame Scene Depth mean:0.942370 ,depth min:0.508565
[19:32:37.548] Odometry x=-0.063302, y=0.023202, theta=0.071557
[19:32:37.558] Odometry x=-0.063302, y=0.023202, theta=0.070272
[19:32:37.568] Odometry x=-0.063301, y=0.023202, theta=0.068873
[19:32:37.578] Odometry x=-0.063301, y=0.023202, theta=0.067325
[19:32:37.589] Odometry x=-0.063300, y=0.023202, theta=0.065728
[19:32:37.599] Odometry x=-0.063300, y=0.023202, theta=0.064269
[19:32:37.609] Odometry x=-0.063300, y=0.023202, theta=0.062782
[19:32:37.619] Odometry x=-0.063300, y=0.023202, theta=0.061258
[19:32:37.629] Odometry x=-0.063300, y=0.023202, theta=0.059761
[19:32:37.639] Odometry x=-0.063300, y=0.023202, theta=0.058140
[19:32:37.649] Odometry x=-0.063300, y=0.023202, theta=0.056251
[19:32:37.659] Odometry x=-0.063300, y=0.023202, theta=0.054035
[19:32:37.670] Odometry x=-0.063300, y=0.023203, theta=0.052165
[19:32:37.680] Odometry x=-0.063300, y=0.023203, theta=0.050680
[19:32:37.690] Odometry x=-0.063300, y=0.023203, theta=0.049420
[19:32:37.700] Odometry x=-0.063300, y=0.023203, theta=0.048268
[19:32:37.710] Odometry x=-0.063300, y=0.023203, theta=0.047138
[19:32:37.720] Odometry x=-0.063299, y=0.023203, theta=0.046345
[19:32:37.730] Odometry x=-0.063299, y=0.023203, theta=0.045420
[19:32:37.740] Odometry x=-0.063299, y=0.023203, theta=0.044802
[19:32:37.751] Odometry x=-0.063299, y=0.023203, theta=0.044226
[19:32:37.761] Odometry x=-0.063299, y=0.023203, theta=0.043240
[19:32:37.771] Odometry x=-0.063298, y=0.023203, theta=0.042492
[19:32:37.781] Odometry x=-0.063298, y=0.023202, theta=0.041576
[19:32:37.785] After Reprojection Map nPoint:911 ,nCell:176 ,nMatches:49 ,distance between two frames x:0.003939 ,z=0.001048,angle between two frames:0.008447
[19:32:37.786] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =137 	 error init =0.105958 	 error end=0.105958
[19:32:37.786] After pose optimization, distance between two frames x:0.003939 ,z=0.001048,angle between two frames:0.008447
[19:32:37.786] Update EKF and 3D points, distance between two frames x:0.003939 ,z=0.001048,angle between two frames:0.008447
[19:32:37.786] Choose frame as a key frame Scene Depth mean:0.950211 ,depth min:0.554350
[19:32:37.791] Odometry x=-0.063300, y=0.023202, theta=0.059432
[19:32:37.801] Odometry x=-0.063298, y=0.023202, theta=0.059107
[19:32:37.811] Odometry x=-0.063296, y=0.023202, theta=0.059353
[19:32:37.821] Odometry x=-0.063294, y=0.023202, theta=0.059685
[19:32:37.832] Odometry x=-0.063294, y=0.023203, theta=0.059682
[19:32:37.842] Odometry x=-0.063294, y=0.023205, theta=0.059437
[19:32:37.852] Odometry x=-0.063294, y=0.023206, theta=0.058798
[19:32:37.862] Odometry x=-0.063294, y=0.023207, theta=0.057725
[19:32:37.872] Odometry x=-0.063294, y=0.023208, theta=0.056344
[19:32:37.882] Odometry x=-0.063294, y=0.023208, theta=0.054687
[19:32:37.892] Odometry x=-0.063294, y=0.023208, theta=0.052918
[19:32:37.902] Odometry x=-0.063295, y=0.023208, theta=0.050884
[19:32:37.912] Odometry x=-0.063302, y=0.023209, theta=0.048557
[19:32:37.923] Odometry x=-0.063313, y=0.023208, theta=0.047119
[19:32:37.933] Odometry x=-0.063318, y=0.023205, theta=0.047217
[19:32:37.943] Odometry x=-0.063319, y=0.023203, theta=0.048590
[19:32:37.953] Odometry x=-0.063319, y=0.023202, theta=0.050306
[19:32:37.963] Odometry x=-0.063318, y=0.023202, theta=0.051494
[19:32:37.973] Odometry x=-0.063316, y=0.023203, theta=0.051914
[19:32:37.983] Odometry x=-0.063315, y=0.023205, theta=0.052171
[19:32:37.993] Odometry x=-0.063315, y=0.023205, theta=0.052385
[19:32:38.004] Odometry x=-0.063315, y=0.023206, theta=0.052618
[19:32:38.014] Odometry x=-0.063315, y=0.023206, theta=0.052964
[19:32:38.024] Odometry x=-0.063315, y=0.023206, theta=0.053336
[19:32:38.025] After Reprojection Map nPoint:847 ,nCell:151 ,nMatches:45 ,distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.012125
[19:32:38.025] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =120 	 error init =0.099820 	 error end=0.099820
[19:32:38.025] After pose optimization, distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.012125
[19:32:38.025] Update EKF and 3D points, distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.012125
[19:32:38.034] Odometry x=-0.063306, y=0.023203, theta=0.057430
[19:32:38.044] Odometry x=-0.063305, y=0.023203, theta=0.057728
[19:32:38.054] Odometry x=-0.063305, y=0.023203, theta=0.058020
[19:32:38.064] Odometry x=-0.063305, y=0.023203, theta=0.058331
[19:32:38.074] Odometry x=-0.063305, y=0.023203, theta=0.058662
[19:32:38.085] Odometry x=-0.063305, y=0.023203, theta=0.058977
[19:32:38.095] Odometry x=-0.063305, y=0.023203, theta=0.059276
[19:32:38.105] Odometry x=-0.063304, y=0.023203, theta=0.059586
[19:32:38.115] Odometry x=-0.063304, y=0.023203, theta=0.059917
[19:32:38.125] Odometry x=-0.063304, y=0.023204, theta=0.060245
[19:32:38.135] Odometry x=-0.063304, y=0.023204, theta=0.060560
[19:32:38.145] Odometry x=-0.063304, y=0.023204, theta=0.060868
[19:32:38.155] Odometry x=-0.063304, y=0.023204, theta=0.061188
[19:32:38.166] Odometry x=-0.063303, y=0.023204, theta=0.061517
[19:32:38.176] Odometry x=-0.063303, y=0.023204, theta=0.061836
[19:32:38.186] Odometry x=-0.063303, y=0.023204, theta=0.062160
[19:32:38.196] Odometry x=-0.063303, y=0.023204, theta=0.062486
[19:32:38.206] Odometry x=-0.063303, y=0.023204, theta=0.062799
[19:32:38.216] Odometry x=-0.063303, y=0.023204, theta=0.063115
[19:32:38.226] Odometry x=-0.063302, y=0.023204, theta=0.063431
[19:32:38.236] Odometry x=-0.063302, y=0.023204, theta=0.063749
[19:32:38.247] Odometry x=-0.063302, y=0.023204, theta=0.064070
[19:32:38.257] Odometry x=-0.063302, y=0.023204, theta=0.064386
[19:32:38.258] After Reprojection Map nPoint:938 ,nCell:169 ,nMatches:45 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:38.259] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =136 	 error init =0.092634 	 error end=0.092634
[19:32:38.259] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:38.259] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:38.267] Odometry x=-0.063301, y=0.023203, theta=0.061638
[19:32:38.277] Odometry x=-0.063301, y=0.023203, theta=0.061967
[19:32:38.287] Odometry x=-0.063300, y=0.023203, theta=0.062299
[19:32:38.297] Odometry x=-0.063300, y=0.023203, theta=0.062630
[19:32:38.307] Odometry x=-0.063300, y=0.023203, theta=0.062958
[19:32:38.317] Odometry x=-0.063300, y=0.023203, theta=0.063280
[19:32:38.328] Odometry x=-0.063300, y=0.023203, theta=0.063600
[19:32:38.338] Odometry x=-0.063299, y=0.023203, theta=0.063926
[19:32:38.348] Odometry x=-0.063299, y=0.023203, theta=0.064241
[19:32:38.358] Odometry x=-0.063299, y=0.023203, theta=0.064557
[19:32:38.368] Odometry x=-0.063299, y=0.023203, theta=0.064871
[19:32:38.378] Odometry x=-0.063299, y=0.023203, theta=0.065193
[19:32:38.388] Odometry x=-0.063299, y=0.023203, theta=0.065508
[19:32:38.398] Odometry x=-0.063298, y=0.023203, theta=0.065819
[19:32:38.408] Odometry x=-0.063298, y=0.023203, theta=0.066138
[19:32:38.419] Odometry x=-0.063298, y=0.023203, theta=0.066460
[19:32:38.429] Odometry x=-0.063298, y=0.023203, theta=0.066773
[19:32:38.439] Odometry x=-0.063298, y=0.023203, theta=0.067087
[19:32:38.449] Odometry x=-0.063298, y=0.023203, theta=0.067395
[19:32:38.460] Odometry x=-0.063297, y=0.023203, theta=0.067804
[19:32:38.470] Odometry x=-0.063297, y=0.023203, theta=0.068187
[19:32:38.480] Odometry x=-0.063297, y=0.023203, theta=0.068508
[19:32:38.490] Odometry x=-0.063297, y=0.023203, theta=0.068823
[19:32:38.491] After Reprojection Map nPoint:987 ,nCell:181 ,nMatches:51 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:38.491] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =137 	 error init =0.096534 	 error end=0.096534
[19:32:38.491] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:38.491] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:38.500] Odometry x=-0.063299, y=0.023202, theta=0.063332
[19:32:38.510] Odometry x=-0.063299, y=0.023202, theta=0.063646
[19:32:38.520] Odometry x=-0.063298, y=0.023202, theta=0.063866
[19:32:38.530] Odometry x=-0.063298, y=0.023202, theta=0.064219
[19:32:38.541] Odometry x=-0.063298, y=0.023202, theta=0.064594
[19:32:38.551] Odometry x=-0.063298, y=0.023202, theta=0.064910
[19:32:38.561] Odometry x=-0.063298, y=0.023202, theta=0.065227
[19:32:38.571] Odometry x=-0.063298, y=0.023202, theta=0.065540
[19:32:38.581] Odometry x=-0.063297, y=0.023202, theta=0.065859
[19:32:38.591] Odometry x=-0.063297, y=0.023202, theta=0.066183
[19:32:38.601] Odometry x=-0.063297, y=0.023202, theta=0.066517
[19:32:38.611] Odometry x=-0.063297, y=0.023202, theta=0.066845
[19:32:38.621] Odometry x=-0.063297, y=0.023202, theta=0.067068
[19:32:38.632] Odometry x=-0.063297, y=0.023202, theta=0.067322
[19:32:38.642] Odometry x=-0.063296, y=0.023202, theta=0.067650
[19:32:38.652] Odometry x=-0.063296, y=0.023202, theta=0.067971
[19:32:38.662] Odometry x=-0.063296, y=0.023202, theta=0.068374
[19:32:38.672] Odometry x=-0.063296, y=0.023203, theta=0.068755
[19:32:38.682] Odometry x=-0.063296, y=0.023203, theta=0.069088
[19:32:38.692] Odometry x=-0.063295, y=0.023203, theta=0.069412
[19:32:38.702] Odometry x=-0.063295, y=0.023203, theta=0.069739
[19:32:38.713] Odometry x=-0.063295, y=0.023203, theta=0.070065
[19:32:38.723] Odometry x=-0.063295, y=0.023203, theta=0.070384
[19:32:38.733] Odometry x=-0.063295, y=0.023203, theta=0.070608
[19:32:38.736] After Reprojection Map nPoint:995 ,nCell:166 ,nMatches:47 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:38.737] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =131 	 error init =0.086877 	 error end=0.085875
[19:32:38.737] After pose optimization, distance between two frames x:0.002769 ,z=-0.001497,angle between two frames:0.003446
[19:32:38.737] Update EKF and 3D points, distance between two frames x:0.002769 ,z=-0.001497,angle between two frames:0.003446
[19:32:38.743] Odometry x=-0.061587, y=0.022277, theta=0.066189
[19:32:38.753] Odometry x=-0.061587, y=0.022277, theta=0.066572
[19:32:38.763] Odometry x=-0.061586, y=0.022277, theta=0.066899
[19:32:38.773] Odometry x=-0.061586, y=0.022277, theta=0.067220
[19:32:38.783] Odometry x=-0.061586, y=0.022277, theta=0.067539
[19:32:38.794] Odometry x=-0.061586, y=0.022277, theta=0.067850
[19:32:38.804] Odometry x=-0.061586, y=0.022277, theta=0.068158
[19:32:38.814] Odometry x=-0.061586, y=0.022277, theta=0.068473
[19:32:38.824] Odometry x=-0.061586, y=0.022277, theta=0.068785
[19:32:38.834] Odometry x=-0.061585, y=0.022277, theta=0.069103
[19:32:38.844] Odometry x=-0.061585, y=0.022277, theta=0.069422
[19:32:38.854] Odometry x=-0.061585, y=0.022277, theta=0.069740
[19:32:38.864] Odometry x=-0.061585, y=0.022277, theta=0.070054
[19:32:38.875] Odometry x=-0.061585, y=0.022277, theta=0.070367
[19:32:38.885] Odometry x=-0.061585, y=0.022277, theta=0.070680
[19:32:38.895] Odometry x=-0.061584, y=0.022277, theta=0.070996
[19:32:38.905] Odometry x=-0.061584, y=0.022277, theta=0.071320
[19:32:38.915] Odometry x=-0.061584, y=0.022277, theta=0.071635
[19:32:38.926] Odometry x=-0.061584, y=0.022277, theta=0.071950
[19:32:38.936] Odometry x=-0.061584, y=0.022277, theta=0.072268
[19:32:38.946] Odometry x=-0.061584, y=0.022277, theta=0.072583
[19:32:38.956] Odometry x=-0.061583, y=0.022277, theta=0.072905
[19:32:38.960] After Reprojection Map nPoint:986 ,nCell:197 ,nMatches:50 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:38.961] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =139 	 error init =0.093259 	 error end=0.093259
[19:32:38.961] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:38.961] Update EKF and 3D points, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:38.966] Odometry x=-0.060933, y=0.021924, theta=0.067030
[19:32:38.976] Odometry x=-0.060933, y=0.021924, theta=0.067452
[19:32:38.987] Odometry x=-0.060933, y=0.021924, theta=0.067739
[19:32:38.997] Odometry x=-0.060933, y=0.021924, theta=0.068101
[19:32:39.007] Odometry x=-0.060932, y=0.021924, theta=0.068485
[19:32:39.017] Odometry x=-0.060932, y=0.021924, theta=0.068804
[19:32:39.027] Odometry x=-0.060932, y=0.021924, theta=0.069023
[19:32:39.037] Odometry x=-0.060932, y=0.021924, theta=0.069369
[19:32:39.047] Odometry x=-0.060932, y=0.021924, theta=0.069740
[19:32:39.057] Odometry x=-0.060931, y=0.021924, theta=0.070058
[19:32:39.068] Odometry x=-0.060931, y=0.021924, theta=0.070370
[19:32:39.078] Odometry x=-0.060931, y=0.021924, theta=0.070684
[19:32:39.088] Odometry x=-0.060931, y=0.021924, theta=0.070901
[19:32:39.098] Odometry x=-0.060931, y=0.021924, theta=0.071159
[19:32:39.108] Odometry x=-0.060931, y=0.021924, theta=0.071579
[19:32:39.118] Odometry x=-0.060930, y=0.021924, theta=0.071961
[19:32:39.128] Odometry x=-0.060930, y=0.021924, theta=0.072272
[19:32:39.138] Odometry x=-0.060930, y=0.021924, theta=0.072584
[19:32:39.149] Odometry x=-0.060930, y=0.021924, theta=0.072898
[19:32:39.159] Odometry x=-0.060930, y=0.021924, theta=0.073209
[19:32:39.169] Odometry x=-0.060930, y=0.021924, theta=0.073525
[19:32:39.179] Odometry x=-0.060929, y=0.021924, theta=0.073840
[19:32:39.189] Odometry x=-0.060929, y=0.021924, theta=0.074159
[19:32:39.199] Odometry x=-0.060929, y=0.021924, theta=0.074476
[19:32:39.200] After Reprojection Map nPoint:998 ,nCell:177 ,nMatches:51 ,distance between two frames x:-0.000402 ,z=0.000219,angle between two frames:0.004152
[19:32:39.205] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =138 	 error init =0.093770 	 error end=0.093770
[19:32:39.205] After pose optimization, distance between two frames x:-0.000402 ,z=0.000219,angle between two frames:0.004152
[19:32:39.205] Update EKF and 3D points, distance between two frames x:-0.000402 ,z=0.000219,angle between two frames:0.004152
[19:32:39.206] Choose frame as a key frame Scene Depth mean:0.938374 ,depth min:-153096945285710.187500
[19:32:39.209] Odometry x=-0.060932, y=0.021924, theta=0.070190
[19:32:39.219] Odometry x=-0.060932, y=0.021924, theta=0.070509
[19:32:39.229] Odometry x=-0.060931, y=0.021924, theta=0.070830
[19:32:39.240] Odometry x=-0.060931, y=0.021924, theta=0.071147
[19:32:39.250] Odometry x=-0.060931, y=0.021924, theta=0.071462
[19:32:39.260] Odometry x=-0.060931, y=0.021924, theta=0.071786
[19:32:39.270] Odometry x=-0.060931, y=0.021924, theta=0.072102
[19:32:39.280] Odometry x=-0.060931, y=0.021924, theta=0.072418
[19:32:39.290] Odometry x=-0.060930, y=0.021924, theta=0.072738
[19:32:39.300] Odometry x=-0.060930, y=0.021924, theta=0.073052
[19:32:39.310] Odometry x=-0.060930, y=0.021924, theta=0.073365
[19:32:39.321] Odometry x=-0.060930, y=0.021924, theta=0.073684
[19:32:39.331] Odometry x=-0.060930, y=0.021924, theta=0.073996
[19:32:39.341] Odometry x=-0.060930, y=0.021924, theta=0.074307
[19:32:39.351] Odometry x=-0.060929, y=0.021924, theta=0.074622
[19:32:39.361] Odometry x=-0.060929, y=0.021924, theta=0.074931
[19:32:39.371] Odometry x=-0.060929, y=0.021924, theta=0.075246
[19:32:39.381] Odometry x=-0.060929, y=0.021925, theta=0.075560
[19:32:39.391] Odometry x=-0.060929, y=0.021925, theta=0.075871
[19:32:39.402] Odometry x=-0.060929, y=0.021925, theta=0.076189
[19:32:39.412] Odometry x=-0.060928, y=0.021925, theta=0.076614
[19:32:39.422] Odometry x=-0.060928, y=0.021925, theta=0.076903
[19:32:39.432] Odometry x=-0.060928, y=0.021925, theta=0.077162
[19:32:39.432] After Reprojection Map nPoint:940 ,nCell:158 ,nMatches:45 ,distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.003160
[19:32:39.433] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =122 	 error init =0.106339 	 error end=0.106339
[19:32:39.433] After pose optimization, distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.003160
[19:32:39.433] Update EKF and 3D points, distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.003160
[19:32:39.433] Choose frame as a key frame Scene Depth mean:0.934637 ,depth min:0.554168
[19:32:39.442] Odometry x=-0.060930, y=0.021924, theta=0.073259
[19:32:39.452] Odometry x=-0.060930, y=0.021924, theta=0.073629
[19:32:39.462] Odometry x=-0.060930, y=0.021924, theta=0.073946
[19:32:39.473] Odometry x=-0.060929, y=0.021924, theta=0.074261
[19:32:39.483] Odometry x=-0.060929, y=0.021924, theta=0.074576
[19:32:39.493] Odometry x=-0.060929, y=0.021924, theta=0.074890
[19:32:39.503] Odometry x=-0.060929, y=0.021924, theta=0.075214
[19:32:39.513] Odometry x=-0.060929, y=0.021924, theta=0.075538
[19:32:39.523] Odometry x=-0.060929, y=0.021924, theta=0.075852
[19:32:39.533] Odometry x=-0.060928, y=0.021925, theta=0.076167
[19:32:39.544] Odometry x=-0.060928, y=0.021925, theta=0.076483
[19:32:39.554] Odometry x=-0.060928, y=0.021925, theta=0.076702
[19:32:39.564] Odometry x=-0.060928, y=0.021925, theta=0.077058
[19:32:39.574] Odometry x=-0.060928, y=0.021925, theta=0.077432
[19:32:39.584] Odometry x=-0.060928, y=0.021925, theta=0.077752
[19:32:39.594] Odometry x=-0.060927, y=0.021925, theta=0.078063
[19:32:39.604] Odometry x=-0.060927, y=0.021925, theta=0.078380
[19:32:39.614] Odometry x=-0.060927, y=0.021925, theta=0.078699
[19:32:39.624] Odometry x=-0.060927, y=0.021925, theta=0.079014
[19:32:39.635] Odometry x=-0.060927, y=0.021925, theta=0.079229
[19:32:39.645] Odometry x=-0.060927, y=0.021925, theta=0.079585
[19:32:39.655] Odometry x=-0.060926, y=0.021925, theta=0.079964
[19:32:39.657] After Reprojection Map nPoint:944 ,nCell:156 ,nMatches:50 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:39.657] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =120 	 error init =0.111816 	 error end=0.111816
[19:32:39.657] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:39.657] Update EKF and 3D points, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:32:39.658] Choose frame as a key frame Scene Depth mean:0.942326 ,depth min:-21237821854751.781250
[19:32:39.665] Odometry x=-0.060930, y=0.021924, theta=0.074238
[19:32:39.675] Odometry x=-0.060929, y=0.021924, theta=0.074552
[19:32:39.685] Odometry x=-0.060929, y=0.021924, theta=0.074866
[19:32:39.696] Odometry x=-0.060929, y=0.021924, theta=0.075198
[19:32:39.706] Odometry x=-0.060929, y=0.021924, theta=0.075538
[19:32:39.716] Odometry x=-0.060929, y=0.021924, theta=0.075875
[19:32:39.726] Odometry x=-0.060929, y=0.021925, theta=0.076189
[19:32:39.736] Odometry x=-0.060928, y=0.021925, theta=0.076544
[19:32:39.746] Odometry x=-0.060928, y=0.021925, theta=0.076882
[19:32:39.756] Odometry x=-0.060928, y=0.021925, theta=0.077095
[19:32:39.766] Odometry x=-0.060928, y=0.021925, theta=0.077349
[19:32:39.777] Odometry x=-0.060928, y=0.021925, theta=0.077664
[19:32:39.787] Odometry x=-0.060928, y=0.021925, theta=0.077980
[19:32:39.797] Odometry x=-0.060928, y=0.021925, theta=0.078204
[19:32:39.807] Odometry x=-0.060927, y=0.021925, theta=0.078456
[19:32:39.817] Odometry x=-0.060927, y=0.021925, theta=0.078767
[19:32:39.827] Odometry x=-0.060927, y=0.021925, theta=0.079079
[19:32:39.837] Odometry x=-0.060927, y=0.021925, theta=0.079393
[19:32:39.848] Odometry x=-0.060927, y=0.021925, theta=0.079764
[19:32:39.858] Odometry x=-0.060926, y=0.021925, theta=0.080125
[19:32:39.868] Odometry x=-0.060926, y=0.021925, theta=0.080445
[19:32:39.878] Odometry x=-0.060926, y=0.021925, theta=0.080910
[19:32:39.888] Odometry x=-0.060926, y=0.021925, theta=0.081216
[19:32:39.891] After Reprojection Map nPoint:1020 ,nCell:187 ,nMatches:48 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:39.891] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =123 	 error init =0.100389 	 error end=0.100389
[19:32:39.891] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:39.891] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:39.892] Choose frame as a key frame Scene Depth mean:0.937658 ,depth min:0.641038
[19:32:39.898] Odometry x=-0.060929, y=0.021924, theta=0.074762
[19:32:39.908] Odometry x=-0.060929, y=0.021924, theta=0.075143
[19:32:39.919] Odometry x=-0.060929, y=0.021924, theta=0.075460
[19:32:39.929] Odometry x=-0.060929, y=0.021924, theta=0.075679
[19:32:39.939] Odometry x=-0.060929, y=0.021924, theta=0.075940
[19:32:39.949] Odometry x=-0.060928, y=0.021924, theta=0.076265
[19:32:39.959] Odometry x=-0.060928, y=0.021924, theta=0.076487
[19:32:39.969] Odometry x=-0.060928, y=0.021924, theta=0.076762
[19:32:39.979] Odometry x=-0.060928, y=0.021925, theta=0.077100
[19:32:39.989] Odometry x=-0.060928, y=0.021925, theta=0.077346
[19:32:40.000] Odometry x=-0.060928, y=0.021925, theta=0.077618
[19:32:40.010] Odometry x=-0.060928, y=0.021925, theta=0.077939
[19:32:40.020] Odometry x=-0.060927, y=0.021925, theta=0.078347
[19:32:40.030] Odometry x=-0.060927, y=0.021925, theta=0.078772
[19:32:40.040] Odometry x=-0.060927, y=0.021925, theta=0.079147
[19:32:40.050] Odometry x=-0.060927, y=0.021925, theta=0.079552
[19:32:40.060] Odometry x=-0.060926, y=0.021925, theta=0.079812
[19:32:40.071] Odometry x=-0.060926, y=0.021925, theta=0.080069
[19:32:40.081] Odometry x=-0.060926, y=0.021925, theta=0.080487
[19:32:40.091] Odometry x=-0.060926, y=0.021925, theta=0.080871
[19:32:40.101] Odometry x=-0.060926, y=0.021925, theta=0.081284
[19:32:40.111] Odometry x=-0.060925, y=0.021925, theta=0.081657
[19:32:40.118] After Reprojection Map nPoint:988 ,nCell:181 ,nMatches:47 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:40.119] n deleted obs = 14 	 n obs with reprojection error less than 0.5 px =112 	 error init =0.151217 	 error end=0.150141
[19:32:40.119] After pose optimization, distance between two frames x:-0.004035 ,z=0.003310,angle between two frames:0.001284
[19:32:40.119] Update EKF and 3D points, distance between two frames x:-0.004035 ,z=0.003310,angle between two frames:0.001284
[19:32:40.119] Choose frame as a key frame Scene Depth mean:0.940380 ,depth min:0.608377
[19:32:40.121] Odometry x=-0.063423, y=0.023970, theta=0.073995
[19:32:40.131] Odometry x=-0.063423, y=0.023970, theta=0.074257
[19:32:40.141] Odometry x=-0.063422, y=0.023970, theta=0.074643
[19:32:40.151] Odometry x=-0.063422, y=0.023970, theta=0.074995
[19:32:40.162] Odometry x=-0.063422, y=0.023970, theta=0.075313
[19:32:40.172] Odometry x=-0.063422, y=0.023970, theta=0.075631
[19:32:40.182] Odometry x=-0.063422, y=0.023970, theta=0.075950
[19:32:40.192] Odometry x=-0.063422, y=0.023970, theta=0.076268
[19:32:40.202] Odometry x=-0.063421, y=0.023970, theta=0.076586
[19:32:40.212] Odometry x=-0.063421, y=0.023970, theta=0.076938
[19:32:40.222] Odometry x=-0.063421, y=0.023970, theta=0.077279
[19:32:40.232] Odometry x=-0.063421, y=0.023970, theta=0.077501
[19:32:40.242] Odometry x=-0.063421, y=0.023970, theta=0.077759
[19:32:40.253] Odometry x=-0.063421, y=0.023970, theta=0.078069
[19:32:40.263] Odometry x=-0.063420, y=0.023970, theta=0.078379
[19:32:40.273] Odometry x=-0.063420, y=0.023971, theta=0.078594
[19:32:40.283] Odometry x=-0.063420, y=0.023971, theta=0.078991
[19:32:40.293] Odometry x=-0.063420, y=0.023971, theta=0.079297
[19:32:40.303] Odometry x=-0.063420, y=0.023971, theta=0.079556
[19:32:40.313] Odometry x=-0.063420, y=0.023971, theta=0.079874
[19:32:40.323] Odometry x=-0.063419, y=0.023971, theta=0.080249
[19:32:40.334] Odometry x=-0.063419, y=0.023971, theta=0.080600
[19:32:40.344] Odometry x=-0.063419, y=0.023971, theta=0.081036
[19:32:40.354] Odometry x=-0.063419, y=0.023971, theta=0.081344
[19:32:40.361] After Reprojection Map nPoint:1082 ,nCell:172 ,nMatches:49 ,distance between two frames x:0.001522 ,z=-0.001249,angle between two frames:0.005077
[19:32:40.361] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =116 	 error init =0.116672 	 error end=0.116672
[19:32:40.361] After pose optimization, distance between two frames x:0.001522 ,z=-0.001249,angle between two frames:0.005077
[19:32:40.361] Update EKF and 3D points, distance between two frames x:0.001522 ,z=-0.001249,angle between two frames:0.005077
[19:32:40.362] Choose frame as a key frame Scene Depth mean:0.926588 ,depth min:-2050732082986.402344
[19:32:40.364] Odometry x=-0.063434, y=0.023980, theta=0.077066
[19:32:40.374] Odometry x=-0.063434, y=0.023980, theta=0.077404
[19:32:40.384] Odometry x=-0.063434, y=0.023980, theta=0.077753
[19:32:40.394] Odometry x=-0.063434, y=0.023980, theta=0.078095
[19:32:40.405] Odometry x=-0.063434, y=0.023980, theta=0.078415
[19:32:40.415] Odometry x=-0.063433, y=0.023980, theta=0.078728
[19:32:40.425] Odometry x=-0.063433, y=0.023980, theta=0.079044
[19:32:40.435] Odometry x=-0.063433, y=0.023980, theta=0.079461
[19:32:40.445] Odometry x=-0.063433, y=0.023980, theta=0.079756
[19:32:40.455] Odometry x=-0.063433, y=0.023980, theta=0.080028
[19:32:40.465] Odometry x=-0.063432, y=0.023980, theta=0.080453
[19:32:40.475] Odometry x=-0.063432, y=0.023980, theta=0.080837
[19:32:40.486] Odometry x=-0.063432, y=0.023980, theta=0.081154
[19:32:40.496] Odometry x=-0.063432, y=0.023980, theta=0.081474
[19:32:40.506] Odometry x=-0.063432, y=0.023980, theta=0.081796
[19:32:40.516] Odometry x=-0.063431, y=0.023980, theta=0.082109
[19:32:40.526] Odometry x=-0.063431, y=0.023980, theta=0.082421
[19:32:40.536] Odometry x=-0.063431, y=0.023980, theta=0.082736
[19:32:40.546] Odometry x=-0.063431, y=0.023980, theta=0.083055
[19:32:40.556] Odometry x=-0.063431, y=0.023980, theta=0.083278
[19:32:40.567] Odometry x=-0.063431, y=0.023980, theta=0.083641
[19:32:40.577] Odometry x=-0.063430, y=0.023980, theta=0.084026
[19:32:40.587] Odometry x=-0.063430, y=0.023980, theta=0.084347
[19:32:40.597] Odometry x=-0.063430, y=0.023980, theta=0.084666
[19:32:40.598] After Reprojection Map nPoint:1198 ,nCell:175 ,nMatches:47 ,distance between two frames x:0.000010 ,z=-0.000006,angle between two frames:0.003082
[19:32:40.599] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =107 	 error init =0.102386 	 error end=0.099183
[19:32:40.599] After pose optimization, distance between two frames x:-0.011204 ,z=-0.004426,angle between two frames:0.003082
[19:32:40.599] Update EKF and 3D points, distance between two frames x:-0.011204 ,z=-0.004426,angle between two frames:0.003082
[19:32:40.599] Choose frame as a key frame Scene Depth mean:0.926953 ,depth min:0.547673
[19:32:40.607] Odometry x=-0.070363, y=0.021248, theta=0.080293
[19:32:40.617] Odometry x=-0.070363, y=0.021248, theta=0.080614
[19:32:40.627] Odometry x=-0.070362, y=0.021248, theta=0.080933
[19:32:40.637] Odometry x=-0.070362, y=0.021248, theta=0.081252
[19:32:40.648] Odometry x=-0.070362, y=0.021248, theta=0.081565
[19:32:40.658] Odometry x=-0.070362, y=0.021248, theta=0.081880
[19:32:40.668] Odometry x=-0.070362, y=0.021248, theta=0.082195
[19:32:40.678] Odometry x=-0.070362, y=0.021248, theta=0.082520
[19:32:40.688] Odometry x=-0.070361, y=0.021248, theta=0.082863
[19:32:40.698] Odometry x=-0.070361, y=0.021248, theta=0.083197
[19:32:40.708] Odometry x=-0.070361, y=0.021248, theta=0.083514
[19:32:40.718] Odometry x=-0.070361, y=0.021248, theta=0.083832
[19:32:40.729] Odometry x=-0.070361, y=0.021248, theta=0.084149
[19:32:40.739] Odometry x=-0.070361, y=0.021248, theta=0.084460
[19:32:40.749] Odometry x=-0.070360, y=0.021248, theta=0.084775
[19:32:40.759] Odometry x=-0.070360, y=0.021248, theta=0.085093
[19:32:40.769] Odometry x=-0.070360, y=0.021248, theta=0.085407
[19:32:40.779] Odometry x=-0.070360, y=0.021248, theta=0.085725
[19:32:40.789] Odometry x=-0.070360, y=0.021248, theta=0.086042
[19:32:40.799] Odometry x=-0.070360, y=0.021248, theta=0.086359
[19:32:40.810] Odometry x=-0.070359, y=0.021248, theta=0.086679
[19:32:40.820] Odometry x=-0.070359, y=0.021248, theta=0.087004
[19:32:40.830] Odometry x=-0.070359, y=0.021248, theta=0.087324
[19:32:40.835] After Reprojection Map nPoint:1142 ,nCell:160 ,nMatches:46 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:40.835] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =103 	 error init =0.111926 	 error end=0.111857
[19:32:40.835] After pose optimization, distance between two frames x:-0.001343 ,z=0.000112,angle between two frames:0.000313
[19:32:40.835] Update EKF and 3D points, distance between two frames x:-0.001343 ,z=0.000112,angle between two frames:0.000313
[19:32:40.840] Odometry x=-0.073840, y=0.020273, theta=0.081098
[19:32:40.850] Odometry x=-0.073840, y=0.020273, theta=0.081409
[19:32:40.860] Odometry x=-0.073839, y=0.020274, theta=0.081626
[19:32:40.870] Odometry x=-0.073839, y=0.020274, theta=0.082081
[19:32:40.880] Odometry x=-0.073839, y=0.020274, theta=0.082520
[19:32:40.891] Odometry x=-0.073839, y=0.020274, theta=0.082739
[19:32:40.901] Odometry x=-0.073838, y=0.020274, theta=0.083103
[19:32:40.911] Odometry x=-0.073838, y=0.020274, theta=0.083487
[19:32:40.921] Odometry x=-0.073838, y=0.020274, theta=0.083702
[19:32:40.931] Odometry x=-0.073838, y=0.020274, theta=0.084066
[19:32:40.941] Odometry x=-0.073838, y=0.020274, theta=0.084442
[19:32:40.951] Odometry x=-0.073838, y=0.020274, theta=0.084758
[19:32:40.961] Odometry x=-0.073837, y=0.020274, theta=0.085079
[19:32:40.972] Odometry x=-0.073837, y=0.020274, theta=0.085396
[19:32:40.982] Odometry x=-0.073837, y=0.020274, theta=0.085705
[19:32:40.992] Odometry x=-0.073837, y=0.020274, theta=0.086018
[19:32:41.002] Odometry x=-0.073837, y=0.020274, theta=0.086343
[19:32:41.012] Odometry x=-0.073837, y=0.020274, theta=0.086666
[19:32:41.022] Odometry x=-0.073836, y=0.020274, theta=0.086977
[19:32:41.032] Odometry x=-0.073836, y=0.020274, theta=0.087297
[19:32:41.042] Odometry x=-0.073836, y=0.020274, theta=0.087615
[19:32:41.053] Odometry x=-0.073836, y=0.020274, theta=0.087930
[19:32:41.063] Odometry x=-0.073836, y=0.020274, theta=0.088242
[19:32:41.073] Odometry x=-0.073836, y=0.020274, theta=0.088561
[19:32:41.083] Odometry x=-0.073835, y=0.020274, theta=0.088880
[19:32:41.092] After Reprojection Map nPoint:1166 ,nCell:170 ,nMatches:46 ,distance between two frames x:0.002151 ,z=0.000602,angle between two frames:0.004345
[19:32:41.092] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =100 	 error init =0.117280 	 error end=0.117280
[19:32:41.092] After pose optimization, distance between two frames x:0.002151 ,z=0.000602,angle between two frames:0.004345
[19:32:41.092] Update EKF and 3D points, distance between two frames x:0.002151 ,z=0.000602,angle between two frames:0.004345
[19:32:41.093] Odometry x=-0.073838, y=0.020274, theta=0.084391
[19:32:41.103] Odometry x=-0.073838, y=0.020274, theta=0.084717
[19:32:41.113] Odometry x=-0.073838, y=0.020274, theta=0.085030
[19:32:41.123] Odometry x=-0.073837, y=0.020274, theta=0.085350
[19:32:41.133] Odometry x=-0.073837, y=0.020274, theta=0.085670
[19:32:41.144] Odometry x=-0.073837, y=0.020274, theta=0.085984
[19:32:41.154] Odometry x=-0.073837, y=0.020274, theta=0.086293
[19:32:41.164] Odometry x=-0.073837, y=0.020274, theta=0.086603
[19:32:41.174] Odometry x=-0.073837, y=0.020274, theta=0.086918
[19:32:41.184] Odometry x=-0.073836, y=0.020274, theta=0.087225
[19:32:41.194] Odometry x=-0.073836, y=0.020274, theta=0.087532
[19:32:41.204] Odometry x=-0.073836, y=0.020274, theta=0.087843
[19:32:41.214] Odometry x=-0.073836, y=0.020274, theta=0.088154
[19:32:41.224] Odometry x=-0.073836, y=0.020274, theta=0.088471
[19:32:41.235] Odometry x=-0.073836, y=0.020274, theta=0.088789
[19:32:41.245] Odometry x=-0.073836, y=0.020274, theta=0.089109
[19:32:41.255] Odometry x=-0.073835, y=0.020274, theta=0.089432
[19:32:41.265] Odometry x=-0.073835, y=0.020274, theta=0.089747
[19:32:41.275] Odometry x=-0.073835, y=0.020274, theta=0.090069
[19:32:41.285] Odometry x=-0.073835, y=0.020274, theta=0.090387
[19:32:41.295] Odometry x=-0.073835, y=0.020274, theta=0.090697
[19:32:41.305] Odometry x=-0.073835, y=0.020274, theta=0.091027
[19:32:41.315] Odometry x=-0.073834, y=0.020274, theta=0.091361
[19:32:41.326] Odometry x=-0.073834, y=0.020274, theta=0.091694
[19:32:41.336] Odometry x=-0.073834, y=0.020274, theta=0.092012
[19:32:41.337] After Reprojection Map nPoint:1183 ,nCell:178 ,nMatches:47 ,distance between two frames x:0.000002 ,z=0.000000,angle between two frames:0.003292
[19:32:41.337] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =109 	 error init =0.122802 	 error end=0.122802
[19:32:41.337] After pose optimization, distance between two frames x:0.000002 ,z=0.000000,angle between two frames:0.003292
[19:32:41.337] Update EKF and 3D points, distance between two frames x:0.000002 ,z=0.000000,angle between two frames:0.003292
[19:32:41.346] Odometry x=-0.073836, y=0.020274, theta=0.087623
[19:32:41.356] Odometry x=-0.073836, y=0.020274, theta=0.087946
[19:32:41.366] Odometry x=-0.073836, y=0.020274, theta=0.088265
[19:32:41.376] Odometry x=-0.073836, y=0.020274, theta=0.088593
[19:32:41.386] Odometry x=-0.073836, y=0.020274, theta=0.088915
[19:32:41.397] Odometry x=-0.073835, y=0.020274, theta=0.089226
[19:32:41.407] Odometry x=-0.073835, y=0.020274, theta=0.089557
[19:32:41.417] Odometry x=-0.073835, y=0.020274, theta=0.089896
[19:32:41.427] Odometry x=-0.073835, y=0.020274, theta=0.090114
[19:32:41.437] Odometry x=-0.073835, y=0.020274, theta=0.090363
[19:32:41.447] Odometry x=-0.073835, y=0.020274, theta=0.090692
[19:32:41.457] Odometry x=-0.073834, y=0.020274, theta=0.091017
[19:32:41.467] Odometry x=-0.073834, y=0.020274, theta=0.091333
[19:32:41.478] Odometry x=-0.073834, y=0.020274, theta=0.091657
[19:32:41.488] Odometry x=-0.073834, y=0.020274, theta=0.091978
[19:32:41.498] Odometry x=-0.073834, y=0.020274, theta=0.092294
[19:32:41.508] Odometry x=-0.073834, y=0.020274, theta=0.092627
[19:32:41.518] Odometry x=-0.073833, y=0.020274, theta=0.092957
[19:32:41.528] Odometry x=-0.073833, y=0.020274, theta=0.093274
[19:32:41.538] Odometry x=-0.073833, y=0.020274, theta=0.093589
[19:32:41.548] Odometry x=-0.073833, y=0.020274, theta=0.093927
[19:32:41.559] Odometry x=-0.073833, y=0.020274, theta=0.094264
[19:32:41.569] Odometry x=-0.073833, y=0.020274, theta=0.094587
[19:32:41.579] Odometry x=-0.073832, y=0.020274, theta=0.094899
[19:32:41.589] Odometry x=-0.073832, y=0.020274, theta=0.095214
[19:32:41.596] After Reprojection Map nPoint:1155 ,nCell:198 ,nMatches:44 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:32:41.596] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =99 	 error init =0.124705 	 error end=0.124671
[19:32:41.596] After pose optimization, distance between two frames x:-0.000075 ,z=-0.000000,angle between two frames:0.000000
[19:32:41.596] Update EKF and 3D points, distance between two frames x:-0.000075 ,z=-0.000000,angle between two frames:0.000000
[19:32:41.599] Odometry x=-0.073882, y=0.020274, theta=0.088837
[19:32:41.609] Odometry x=-0.073882, y=0.020274, theta=0.089152
[19:32:41.619] Odometry x=-0.073882, y=0.020274, theta=0.089463
[19:32:41.629] Odometry x=-0.073881, y=0.020274, theta=0.089772
[19:32:41.640] Odometry x=-0.073881, y=0.020274, theta=0.090102
[19:32:41.650] Odometry x=-0.073881, y=0.020274, theta=0.090433
[19:32:41.660] Odometry x=-0.073881, y=0.020274, theta=0.090750
[19:32:41.670] Odometry x=-0.073881, y=0.020274, theta=0.091060
[19:32:41.680] Odometry x=-0.073881, y=0.020274, theta=0.091382
[19:32:41.690] Odometry x=-0.073880, y=0.020274, theta=0.091700
[19:32:41.700] Odometry x=-0.073880, y=0.020274, theta=0.092014
[19:32:41.710] Odometry x=-0.073880, y=0.020274, theta=0.092442
[19:32:41.721] Odometry x=-0.073880, y=0.020274, theta=0.092722
[19:32:41.731] Odometry x=-0.073880, y=0.020274, theta=0.093064
[19:32:41.741] Odometry x=-0.073879, y=0.020274, theta=0.093436
[19:32:41.751] Odometry x=-0.073879, y=0.020274, theta=0.093750
[19:32:41.761] Odometry x=-0.073879, y=0.020274, theta=0.094066
[19:32:41.771] Odometry x=-0.073879, y=0.020274, theta=0.094383
[19:32:41.781] Odometry x=-0.073879, y=0.020274, theta=0.094702
[19:32:41.791] Odometry x=-0.073879, y=0.020274, theta=0.095016
[19:32:41.802] Odometry x=-0.073878, y=0.020274, theta=0.095328
[19:32:41.812] Odometry x=-0.073878, y=0.020274, theta=0.095642
[19:32:41.822] Odometry x=-0.073878, y=0.020274, theta=0.095949
[19:32:41.828] After Reprojection Map nPoint:1192 ,nCell:187 ,nMatches:51 ,distance between two frames x:0.000031 ,z=0.000000,angle between two frames:0.004446
[19:32:41.829] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =103 	 error init =0.134186 	 error end=0.134186
[19:32:41.829] After pose optimization, distance between two frames x:0.000031 ,z=0.000000,angle between two frames:0.004446
[19:32:41.829] Update EKF and 3D points, distance between two frames x:0.000031 ,z=0.000000,angle between two frames:0.004446
[19:32:41.832] Odometry x=-0.073880, y=0.020274, theta=0.091869
[19:32:41.842] Odometry x=-0.073880, y=0.020274, theta=0.092187
[19:32:41.852] Odometry x=-0.073880, y=0.020274, theta=0.092502
[19:32:41.862] Odometry x=-0.073880, y=0.020274, theta=0.092818
[19:32:41.872] Odometry x=-0.073880, y=0.020274, theta=0.093143
[19:32:41.882] Odometry x=-0.073880, y=0.020274, theta=0.093470
[19:32:41.893] Odometry x=-0.073879, y=0.020274, theta=0.093787
[19:32:41.903] Odometry x=-0.073879, y=0.020274, theta=0.094110
[19:32:41.913] Odometry x=-0.073879, y=0.020274, theta=0.094436
[19:32:41.923] Odometry x=-0.073879, y=0.020274, theta=0.094748
[19:32:41.933] Odometry x=-0.073879, y=0.020274, theta=0.095056
[19:32:41.943] Odometry x=-0.073879, y=0.020274, theta=0.095365
[19:32:41.953] Odometry x=-0.073878, y=0.020274, theta=0.095669
[19:32:41.964] Odometry x=-0.073878, y=0.020274, theta=0.095981
[19:32:41.974] Odometry x=-0.073878, y=0.020274, theta=0.096296
[19:32:41.984] Odometry x=-0.073878, y=0.020274, theta=0.096611
[19:32:41.994] Odometry x=-0.073878, y=0.020274, theta=0.096924
[19:32:42.004] Odometry x=-0.073878, y=0.020274, theta=0.097242
[19:32:42.014] Odometry x=-0.073877, y=0.020274, theta=0.097555
[19:32:42.024] Odometry x=-0.073877, y=0.020274, theta=0.097864
[19:32:42.035] Odometry x=-0.073877, y=0.020274, theta=0.098175
[19:32:42.045] Odometry x=-0.073877, y=0.020274, theta=0.098494
[19:32:42.055] Odometry x=-0.073877, y=0.020274, theta=0.098818
[19:32:42.065] Odometry x=-0.073877, y=0.020274, theta=0.099137
[19:32:42.071] After Reprojection Map nPoint:1182 ,nCell:165 ,nMatches:45 ,distance between two frames x:0.000002 ,z=0.000000,angle between two frames:0.003032
[19:32:42.072] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =104 	 error init =0.135871 	 error end=0.135871
[19:32:42.072] After pose optimization, distance between two frames x:0.000002 ,z=0.000000,angle between two frames:0.003032
[19:32:42.072] Update EKF and 3D points, distance between two frames x:0.000002 ,z=0.000000,angle between two frames:0.003032
[19:32:42.075] Odometry x=-0.073879, y=0.020274, theta=0.094954
[19:32:42.085] Odometry x=-0.073879, y=0.020274, theta=0.095262
[19:32:42.095] Odometry x=-0.073878, y=0.020274, theta=0.095568
[19:32:42.106] Odometry x=-0.073878, y=0.020274, theta=0.095883
[19:32:42.116] Odometry x=-0.073878, y=0.020274, theta=0.096202
[19:32:42.126] Odometry x=-0.073878, y=0.020274, theta=0.096417
[19:32:42.136] Odometry x=-0.073878, y=0.020274, theta=0.096570
[19:32:42.146] Odometry x=-0.073878, y=0.020274, theta=0.096724
[19:32:42.156] Odometry x=-0.073878, y=0.020274, theta=0.096883
[19:32:42.166] Odometry x=-0.073878, y=0.020274, theta=0.097040
[19:32:42.176] Odometry x=-0.073878, y=0.020274, theta=0.097196
[19:32:42.187] Odometry x=-0.073878, y=0.020274, theta=0.097354
[19:32:42.197] Odometry x=-0.073878, y=0.020274, theta=0.097511
[19:32:42.207] Odometry x=-0.073878, y=0.020274, theta=0.097669
[19:32:42.217] Odometry x=-0.073878, y=0.020274, theta=0.097825
[19:32:42.308] After Reprojection Map nPoint:1160 ,nCell:152 ,nMatches:48 ,distance between two frames x:0.000002 ,z=0.000000,angle between two frames:0.003084
[19:32:42.314] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =103 	 error init =0.135885 	 error end=0.135884
[19:32:42.314] After pose optimization, distance between two frames x:-0.000002 ,z=-0.000008,angle between two frames:0.003084
[19:32:42.314] Update EKF and 3D points, distance between two frames x:-0.000002 ,z=-0.000008,angle between two frames:0.003084
