[19:40:43.386] frame process finished the id is: 0 the obs is:0 
[19:40:43.479] Init: frame zero: 0.000000, 0.000000 0.000000
[19:40:43.479] Init: Selected first frame. 
[19:40:43.479] frame process finished the id is: 1 the obs is:0 
[19:40:43.581] Init: px average disparity is:0.181787 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:43.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:43.581] frame process finished the id is: 2 the obs is:0 
[19:40:43.679] Init: px average disparity is:0.239343 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:43.679] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:43.679] frame process finished the id is: 3 the obs is:0 
[19:40:43.777] Init: px average disparity is:0.252471 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:43.777] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:43.777] frame process finished the id is: 4 the obs is:0 
[19:40:43.877] Init: px average disparity is:0.307369 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:43.877] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:43.877] frame process finished the id is: 5 the obs is:0 
[19:40:43.978] Init: px average disparity is:0.463217 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:43.978] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:43.978] frame process finished the id is: 6 the obs is:0 
[19:40:44.084] Init: px average disparity is:0.370744 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:44.084] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:44.084] frame process finished the id is: 7 the obs is:0 
[19:40:44.178] Init: px average disparity is:0.508368 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:44.178] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:44.178] frame process finished the id is: 8 the obs is:0 
[19:40:44.279] Init: px average disparity is:0.507115 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:44.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:44.279] frame process finished the id is: 9 the obs is:0 
[19:40:44.381] Init: px average disparity is:0.500017 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:44.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:44.381] frame process finished the id is: 10 the obs is:0 
[19:40:44.479] Init: px average disparity is:0.570553 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:44.479] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:44.479] frame process finished the id is: 11 the obs is:0 
[19:40:44.578] Init: px average disparity is:0.643874 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:44.578] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:44.578] frame process finished the id is: 12 the obs is:0 
[19:40:44.682] Init: px average disparity is:0.716885 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:44.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:44.682] frame process finished the id is: 13 the obs is:0 
[19:40:44.785] Init: px average disparity is:0.704752 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:44.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:44.785] frame process finished the id is: 14 the obs is:0 
[19:40:44.883] Init: px average disparity is:0.671469 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:44.883] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:44.883] frame process finished the id is: 15 the obs is:0 
[19:40:44.982] Init: px average disparity is:0.732591 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:44.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:44.983] frame process finished the id is: 16 the obs is:0 
[19:40:45.083] Init: px average disparity is:0.625697 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:45.083] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:45.083] frame process finished the id is: 17 the obs is:0 
[19:40:45.182] Init: px average disparity is:0.652830 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:45.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:45.183] frame process finished the id is: 18 the obs is:0 
[19:40:45.284] Init: px average disparity is:0.699982 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:45.284] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:45.284] frame process finished the id is: 19 the obs is:0 
[19:40:45.384] Init: px average disparity is:0.767700 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:45.384] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:45.384] frame process finished the id is: 20 the obs is:0 
[19:40:45.484] Init: px average disparity is:0.647153 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:45.485] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:45.485] frame process finished the id is: 21 the obs is:0 
[19:40:45.584] Init: px average disparity is:0.684126 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:45.584] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:45.584] frame process finished the id is: 22 the obs is:0 
[19:40:45.678] Init: px average disparity is:0.695500 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:45.678] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:45.678] frame process finished the id is: 23 the obs is:0 
[19:40:45.783] Init: px average disparity is:0.645300 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:45.783] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:45.783] frame process finished the id is: 24 the obs is:0 
[19:40:45.884] Init: px average disparity is:0.643848 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:45.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:45.885] frame process finished the id is: 25 the obs is:0 
[19:40:45.985] Init: px average disparity is:0.695306 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:45.985] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:45.985] frame process finished the id is: 26 the obs is:0 
[19:40:46.086] Init: px average disparity is:0.587571 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:46.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:46.086] frame process finished the id is: 27 the obs is:0 
[19:40:46.185] Init: px average disparity is:0.711292 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:46.185] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:46.185] frame process finished the id is: 28 the obs is:0 
[19:40:46.285] Init: px average disparity is:0.668747 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:46.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:46.285] frame process finished the id is: 29 the obs is:0 
[19:40:46.385] Init: px average disparity is:0.645173 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:46.385] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:46.385] frame process finished the id is: 30 the obs is:0 
[19:40:46.485] Init: px average disparity is:0.634112 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:46.485] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:46.485] frame process finished the id is: 31 the obs is:0 
[19:40:46.586] Init: px average disparity is:0.698086 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:46.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:46.586] frame process finished the id is: 32 the obs is:0 
[19:40:46.685] Init: px average disparity is:0.722132 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:46.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:46.685] frame process finished the id is: 33 the obs is:0 
[19:40:46.784] Init: px average disparity is:0.604671 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:46.784] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:46.784] frame process finished the id is: 34 the obs is:0 
[19:40:46.886] Init: px average disparity is:0.553103 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:46.886] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:46.886] frame process finished the id is: 35 the obs is:0 
[19:40:46.976] Init: px average disparity is:0.642887 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:46.976] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:46.976] frame process finished the id is: 36 the obs is:0 
[19:40:47.087] Init: px average disparity is:0.657819 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:47.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:47.087] frame process finished the id is: 37 the obs is:0 
[19:40:47.184] Init: px average disparity is:0.613608 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:47.184] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:47.184] frame process finished the id is: 38 the obs is:0 
[19:40:47.285] Init: px average disparity is:0.580937 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:47.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:47.285] frame process finished the id is: 39 the obs is:0 
[19:40:47.386] Init: px average disparity is:0.707341 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:47.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:47.386] frame process finished the id is: 40 the obs is:0 
[19:40:47.485] Init: px average disparity is:0.582254 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:47.486] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:47.486] frame process finished the id is: 41 the obs is:0 
[19:40:47.586] Init: px average disparity is:0.699619 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:47.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:47.586] frame process finished the id is: 42 the obs is:0 
[19:40:47.685] Init: px average disparity is:0.611877 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:47.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:47.685] frame process finished the id is: 43 the obs is:0 
[19:40:47.785] Init: px average disparity is:0.678798 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:47.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:47.785] frame process finished the id is: 44 the obs is:0 
[19:40:47.885] Init: px average disparity is:0.669401 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:47.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:47.885] frame process finished the id is: 45 the obs is:0 
[19:40:47.985] Init: px average disparity is:0.722483 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:47.985] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:47.985] frame process finished the id is: 46 the obs is:0 
[19:40:48.086] Init: px average disparity is:0.635076 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:48.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:48.086] frame process finished the id is: 47 the obs is:0 
[19:40:48.185] Init: px average disparity is:0.712988 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:48.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:48.186] frame process finished the id is: 48 the obs is:0 
[19:40:48.285] Init: px average disparity is:0.531575 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:48.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:48.285] frame process finished the id is: 49 the obs is:0 
[19:40:48.378] Init: px average disparity is:0.729184 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:48.378] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:48.378] frame process finished the id is: 50 the obs is:0 
[19:40:48.485] Init: px average disparity is:0.703436 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:48.485] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:48.485] frame process finished the id is: 51 the obs is:0 
[19:40:48.589] Init: px average disparity is:0.707106 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:48.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:48.589] frame process finished the id is: 52 the obs is:0 
[19:40:48.686] Init: px average disparity is:0.620616 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:48.686] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:48.686] frame process finished the id is: 53 the obs is:0 
[19:40:48.786] Init: px average disparity is:0.666593 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:48.786] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:48.786] frame process finished the id is: 54 the obs is:0 
[19:40:48.873] Odometry x=0.000000, y=0.000000, theta=0.000000
[19:40:48.887] Init: px average disparity is:0.649498 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:48.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:48.887] frame process finished the id is: 55 the obs is:0 
[19:40:48.972] Odometry x=0.000000, y=0.000000, theta=0.000000
[19:40:48.985] Init: px average disparity is:0.607032 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:48.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:48.986] frame process finished the id is: 56 the obs is:0 
[19:40:49.073] Odometry x=-0.000001, y=-0.005261, theta=0.001454
[19:40:49.086] Init: px average disparity is:0.669184 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:49.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:49.086] frame process finished the id is: 57 the obs is:0 
[19:40:49.173] Odometry x=-0.000004, y=-0.011545, theta=0.000504
[19:40:49.187] Init: px average disparity is:5.129996 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:49.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:49.187] frame process finished the id is: 58 the obs is:0 
[19:40:49.267] Odometry x=0.000035, y=-0.015679, theta=-0.000838
[19:40:49.287] Init: px average disparity is:9.966312 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:49.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:49.287] frame process finished the id is: 59 the obs is:0 
[19:40:49.371] Odometry x=0.000051, y=-0.020807, theta=-0.002745
[19:40:49.387] Init: px average disparity is:9.467743 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:49.387] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:49.387] frame process finished the id is: 60 the obs is:0 
[19:40:49.467] Odometry x=0.000296, y=-0.026268, theta=-0.006246
[19:40:49.487] Init: px average disparity is:10.938882 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:49.487] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:49.487] frame process finished the id is: 61 the obs is:0 
[19:40:49.572] Odometry x=0.000342, y=-0.031083, theta=0.002185
[19:40:49.587] Init: px average disparity is:13.757237 ,While minimum is: 40.000000  KLT tracked : 117
[19:40:49.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:49.588] frame process finished the id is: 62 the obs is:0 
[19:40:49.673] Odometry x=0.000351, y=-0.030483, theta=0.004376
[19:40:49.688] Init: px average disparity is:17.379244 ,While minimum is: 40.000000  KLT tracked : 116
[19:40:49.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:49.688] frame process finished the id is: 63 the obs is:0 
[19:40:49.774] Odometry x=0.000317, y=-0.036139, theta=0.000249
[19:40:49.779] Init: px average disparity is:18.784021 ,While minimum is: 40.000000  KLT tracked : 115
[19:40:49.779] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:49.779] frame process finished the id is: 64 the obs is:0 
[19:40:49.865] Odometry x=0.000322, y=-0.041462, theta=-0.004965
[19:40:49.888] Init: px average disparity is:21.220005 ,While minimum is: 40.000000  KLT tracked : 114
[19:40:49.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:49.888] frame process finished the id is: 65 the obs is:0 
[19:40:49.971] Odometry x=0.000342, y=-0.046081, theta=-0.002413
[19:40:49.986] Init: px average disparity is:23.363265 ,While minimum is: 40.000000  KLT tracked : 114
[19:40:49.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:49.986] frame process finished the id is: 66 the obs is:0 
[19:40:50.066] Odometry x=0.000588, y=-0.051799, theta=-0.002386
[19:40:50.085] Init: px average disparity is:26.263364 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:50.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:50.086] frame process finished the id is: 67 the obs is:0 
[19:40:50.167] Odometry x=0.000580, y=-0.057687, theta=0.004392
[19:40:50.186] Init: px average disparity is:25.458221 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:50.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:50.187] frame process finished the id is: 68 the obs is:0 
[19:40:50.269] Odometry x=0.001239, y=-0.063219, theta=-0.000088
[19:40:50.288] Init: px average disparity is:18.605852 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:50.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:50.288] frame process finished the id is: 69 the obs is:0 
[19:40:50.370] Odometry x=0.001239, y=-0.068519, theta=-0.000832
[19:40:50.386] Init: px average disparity is:15.131617 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:50.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:50.386] frame process finished the id is: 70 the obs is:0 
[19:40:50.472] Odometry x=0.001375, y=-0.073849, theta=0.002895
[19:40:50.488] Init: px average disparity is:11.865697 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:50.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:50.488] frame process finished the id is: 71 the obs is:0 
[19:40:50.573] Odometry x=0.001375, y=-0.076456, theta=0.000084
[19:40:50.588] Init: px average disparity is:10.765171 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:50.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:50.588] frame process finished the id is: 72 the obs is:0 
[19:40:50.673] Odometry x=0.001369, y=-0.081698, theta=-0.000469
[19:40:50.688] Init: px average disparity is:10.617586 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:50.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:50.688] frame process finished the id is: 73 the obs is:0 
[19:40:50.775] Odometry x=0.001381, y=-0.087054, theta=-0.003962
[19:40:50.788] Init: px average disparity is:10.093803 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:50.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:50.788] frame process finished the id is: 74 the obs is:0 
[19:40:50.873] Odometry x=0.001372, y=-0.089933, theta=0.001567
[19:40:50.879] Init: px average disparity is:11.096210 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:50.879] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:50.879] frame process finished the id is: 75 the obs is:0 
[19:40:50.973] Odometry x=0.002081, y=-0.092899, theta=-0.012752
[19:40:50.987] Init: px average disparity is:13.747084 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:50.987] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:50.987] frame process finished the id is: 76 the obs is:0 
[19:40:51.072] Odometry x=0.002088, y=-0.098390, theta=0.006126
[19:40:51.089] Init: px average disparity is:14.333469 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:51.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:51.089] frame process finished the id is: 77 the obs is:0 
[19:40:51.172] Odometry x=0.002203, y=-0.103558, theta=0.000875
[19:40:51.188] Init: px average disparity is:15.281518 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:51.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:51.188] frame process finished the id is: 78 the obs is:0 
[19:40:51.272] Odometry x=0.002198, y=-0.108618, theta=0.004018
[19:40:51.288] Init: px average disparity is:17.381624 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:51.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:51.288] frame process finished the id is: 79 the obs is:0 
[19:40:51.372] Odometry x=0.004054, y=-0.112882, theta=0.012114
[19:40:51.388] Init: px average disparity is:16.270868 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:51.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:51.388] frame process finished the id is: 80 the obs is:0 
[19:40:51.472] Odometry x=0.004023, y=-0.118241, theta=0.008261
[19:40:51.488] Init: px average disparity is:20.628982 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:51.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:51.488] frame process finished the id is: 81 the obs is:0 
[19:40:51.571] Odometry x=0.004011, y=-0.123592, theta=0.004443
[19:40:51.588] Init: px average disparity is:23.159982 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:51.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:51.588] frame process finished the id is: 82 the obs is:0 
[19:40:51.670] Odometry x=0.004000, y=-0.128929, theta=0.008347
[19:40:51.689] Init: px average disparity is:24.144341 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:51.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:51.689] frame process finished the id is: 83 the obs is:0 
[19:40:51.771] Odometry x=0.003983, y=-0.134645, theta=0.003350
[19:40:51.788] Init: px average disparity is:25.239371 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:51.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:51.789] frame process finished the id is: 84 the obs is:0 
[19:40:51.870] Odometry x=0.003969, y=-0.140006, theta=0.011048
[19:40:51.888] Init: px average disparity is:21.103070 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:51.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:51.889] frame process finished the id is: 85 the obs is:0 
[19:40:51.973] Odometry x=0.003945, y=-0.145389, theta=0.005506
[19:40:51.979] Init: px average disparity is:19.712978 ,While minimum is: 40.000000  KLT tracked : 113
[19:40:51.979] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:51.979] frame process finished the id is: 86 the obs is:0 
[19:40:52.079] Odometry x=0.003908, y=-0.150786, theta=0.020892
[19:40:52.089] Init: px average disparity is:14.357505 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:52.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:52.089] frame process finished the id is: 87 the obs is:0 
[19:40:52.173] Odometry x=0.003878, y=-0.156197, theta=0.013049
[19:40:52.189] Init: px average disparity is:12.441069 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:52.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:52.189] frame process finished the id is: 88 the obs is:0 
[19:40:52.273] Odometry x=0.003992, y=-0.159825, theta=0.019250
[19:40:52.290] Init: px average disparity is:13.483968 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:52.290] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:52.290] frame process finished the id is: 89 the obs is:0 
[19:40:52.375] Odometry x=0.003946, y=-0.164806, theta=0.020170
[19:40:52.389] Init: px average disparity is:16.048428 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:52.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:52.389] frame process finished the id is: 90 the obs is:0 
[19:40:52.468] Odometry x=0.003878, y=-0.169583, theta=0.008889
[19:40:52.487] Init: px average disparity is:13.787453 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:52.487] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:52.487] frame process finished the id is: 91 the obs is:0 
[19:40:52.569] Odometry x=0.003807, y=-0.174686, theta=0.009140
[19:40:52.587] Init: px average disparity is:16.044162 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:52.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:52.587] frame process finished the id is: 92 the obs is:0 
[19:40:52.677] Odometry x=0.003794, y=-0.175126, theta=0.007432
[19:40:52.689] Init: px average disparity is:13.957701 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:52.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:52.689] frame process finished the id is: 93 the obs is:0 
[19:40:52.767] Odometry x=0.004086, y=-0.180361, theta=0.001324
[19:40:52.787] Init: px average disparity is:13.868453 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:52.787] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:52.787] frame process finished the id is: 94 the obs is:0 
[19:40:52.868] Odometry x=0.004043, y=-0.185330, theta=0.013355
[19:40:52.887] Init: px average disparity is:15.333970 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:52.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:52.887] frame process finished the id is: 95 the obs is:0 
[19:40:52.966] Odometry x=0.004299, y=-0.190370, theta=0.009248
[19:40:52.989] Init: px average disparity is:16.277480 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:52.989] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:52.989] frame process finished the id is: 96 the obs is:0 
[19:40:53.072] Odometry x=0.004276, y=-0.196029, theta=0.009630
[19:40:53.094] Init: px average disparity is:23.110018 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:53.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:53.094] frame process finished the id is: 97 the obs is:0 
[19:40:53.172] Odometry x=0.006101, y=-0.185728, theta=0.020443
[19:40:53.179] Init: px average disparity is:22.215885 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:53.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:53.179] frame process finished the id is: 98 the obs is:0 
[19:40:53.275] Odometry x=0.006020, y=-0.191983, theta=0.022320
[19:40:53.289] Init: px average disparity is:21.061951 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:53.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:53.289] frame process finished the id is: 99 the obs is:0 
[19:40:53.369] Odometry x=0.006098, y=-0.196233, theta=0.024170
[19:40:53.388] Init: px average disparity is:19.445168 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:53.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:53.388] frame process finished the id is: 100 the obs is:0 
[19:40:53.469] Odometry x=0.006045, y=-0.201275, theta=0.014406
[19:40:53.487] Init: px average disparity is:20.355723 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:53.487] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:53.487] frame process finished the id is: 101 the obs is:0 
[19:40:53.570] Odometry x=0.006011, y=-0.206662, theta=0.013523
[19:40:53.588] Init: px average disparity is:20.792560 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:53.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:53.588] frame process finished the id is: 102 the obs is:0 
[19:40:53.674] Odometry x=0.005963, y=-0.212083, theta=0.022459
[19:40:53.688] Init: px average disparity is:19.581194 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:53.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:53.689] frame process finished the id is: 103 the obs is:0 
[19:40:53.770] Odometry x=0.005935, y=-0.217557, theta=0.016998
[19:40:53.788] Init: px average disparity is:22.186160 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:53.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:53.788] frame process finished the id is: 104 the obs is:0 
[19:40:53.871] Odometry x=0.005851, y=-0.222564, theta=0.039120
[19:40:53.889] Init: px average disparity is:21.522802 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:53.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:53.889] frame process finished the id is: 105 the obs is:0 
[19:40:53.970] Odometry x=0.006717, y=-0.226787, theta=0.027951
[19:40:53.995] Init: px average disparity is:21.272553 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:53.995] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:53.995] frame process finished the id is: 106 the obs is:0 
[19:40:54.071] Odometry x=0.006630, y=-0.232275, theta=0.034306
[19:40:54.088] Init: px average disparity is:22.569489 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:54.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:54.088] frame process finished the id is: 107 the obs is:0 
[19:40:54.172] Odometry x=0.006724, y=-0.237422, theta=0.024166
[19:40:54.190] Init: px average disparity is:23.378648 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:54.190] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:54.190] frame process finished the id is: 108 the obs is:0 
[19:40:54.270] Odometry x=0.006649, y=-0.242995, theta=0.026776
[19:40:54.279] Init: px average disparity is:22.427062 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:54.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:54.279] frame process finished the id is: 109 the obs is:0 
[19:40:54.369] Odometry x=0.006597, y=-0.248221, theta=0.014510
[19:40:54.389] Init: px average disparity is:22.564942 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:54.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:54.389] frame process finished the id is: 110 the obs is:0 
[19:40:54.470] Odometry x=0.006553, y=-0.253348, theta=0.025609
[19:40:54.488] Init: px average disparity is:22.065385 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:54.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:54.489] frame process finished the id is: 111 the obs is:0 
[19:40:54.575] Odometry x=0.007294, y=-0.258979, theta=0.025879
[19:40:54.589] Init: px average disparity is:23.496199 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:54.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:54.589] frame process finished the id is: 112 the obs is:0 
[19:40:54.671] Odometry x=0.007141, y=-0.264397, theta=0.029866
[19:40:54.689] Init: px average disparity is:24.472010 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:54.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:54.689] frame process finished the id is: 113 the obs is:0 
[19:40:54.774] Odometry x=0.007066, y=-0.269621, theta=0.026950
[19:40:54.789] Init: px average disparity is:26.532810 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:54.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:54.789] frame process finished the id is: 114 the obs is:0 
[19:40:54.869] Odometry x=0.006991, y=-0.275086, theta=0.029674
[19:40:54.889] Init: px average disparity is:26.731810 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:54.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:54.889] frame process finished the id is: 115 the obs is:0 
[19:40:54.971] Odometry x=0.006979, y=-0.279211, theta=0.021568
[19:40:54.990] Init: px average disparity is:25.747171 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:54.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:54.990] frame process finished the id is: 116 the obs is:0 
[19:40:55.070] Odometry x=0.006915, y=-0.284567, theta=0.028297
[19:40:55.091] Init: px average disparity is:23.708194 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:55.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:55.091] frame process finished the id is: 117 the obs is:0 
[19:40:55.172] Odometry x=0.006854, y=-0.289901, theta=0.024761
[19:40:55.196] Init: px average disparity is:24.848067 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:55.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:55.196] frame process finished the id is: 118 the obs is:0 
[19:40:55.271] Odometry x=0.006706, y=-0.295830, theta=0.025422
[19:40:55.291] Init: px average disparity is:25.290622 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:55.291] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:55.291] frame process finished the id is: 119 the obs is:0 
[19:40:55.369] Odometry x=0.006633, y=-0.301094, theta=0.028687
[19:40:55.379] Init: px average disparity is:26.621214 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:55.379] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:55.379] frame process finished the id is: 120 the obs is:0 
[19:40:55.466] Odometry x=0.006562, y=-0.306555, theta=0.033285
[19:40:55.491] Init: px average disparity is:25.389881 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:55.491] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:55.492] frame process finished the id is: 121 the obs is:0 
[19:40:55.572] Odometry x=0.006469, y=-0.311980, theta=0.031109
[19:40:55.588] Init: px average disparity is:26.713312 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:55.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:55.589] frame process finished the id is: 122 the obs is:0 
[19:40:55.669] Odometry x=0.006409, y=-0.317424, theta=0.032267
[19:40:55.689] Init: px average disparity is:26.284566 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:55.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:55.689] frame process finished the id is: 123 the obs is:0 
[19:40:55.773] Odometry x=0.006524, y=-0.322619, theta=0.029345
[19:40:55.790] Init: px average disparity is:28.212458 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:55.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:55.790] frame process finished the id is: 124 the obs is:0 
[19:40:55.873] Odometry x=0.006426, y=-0.328254, theta=0.036128
[19:40:55.889] Init: px average disparity is:28.812336 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:55.890] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:55.890] frame process finished the id is: 125 the obs is:0 
[19:40:55.968] Odometry x=0.006324, y=-0.333624, theta=0.033339
[19:40:55.989] Init: px average disparity is:31.977450 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:55.989] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:55.989] frame process finished the id is: 126 the obs is:0 
[19:40:56.071] Odometry x=0.006257, y=-0.338262, theta=0.034483
[19:40:56.101] Init: px average disparity is:30.321090 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:56.101] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:56.101] frame process finished the id is: 127 the obs is:0 
[19:40:56.171] Odometry x=0.006285, y=-0.343484, theta=0.029085
[19:40:56.190] Init: px average disparity is:29.649238 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:56.190] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:56.190] frame process finished the id is: 128 the obs is:0 
[19:40:56.271] Odometry x=0.006204, y=-0.349026, theta=0.030626
[19:40:56.290] Init: px average disparity is:30.315056 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:56.290] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:56.290] frame process finished the id is: 129 the obs is:0 
[19:40:56.367] Odometry x=0.006124, y=-0.354410, theta=0.021334
[19:40:56.390] Init: px average disparity is:32.984059 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:56.390] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:56.390] frame process finished the id is: 130 the obs is:0 
[19:40:56.467] Odometry x=0.006070, y=-0.359045, theta=0.025534
[19:40:56.490] Init: px average disparity is:33.114110 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:56.491] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:56.491] frame process finished the id is: 131 the obs is:0 
[19:40:56.571] Odometry x=0.006116, y=-0.364408, theta=0.020173
[19:40:56.589] Init: px average disparity is:35.714657 ,While minimum is: 40.000000  KLT tracked : 112
[19:40:56.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:56.589] frame process finished the id is: 132 the obs is:0 
[19:40:56.671] Odometry x=0.006053, y=-0.369814, theta=0.029226
[19:40:56.698] Init: px average disparity is:36.133503 ,While minimum is: 40.000000  KLT tracked : 110
[19:40:56.698] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:56.698] frame process finished the id is: 133 the obs is:0 
[19:40:56.772] Odometry x=0.006041, y=-0.373946, theta=0.026799
[19:40:56.791] Init: px average disparity is:37.112664 ,While minimum is: 40.000000  KLT tracked : 110
[19:40:56.791] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:56.791] frame process finished the id is: 134 the obs is:0 
[19:40:56.871] Odometry x=0.005958, y=-0.379568, theta=0.038925
[19:40:56.890] Init: px average disparity is:32.054235 ,While minimum is: 40.000000  KLT tracked : 108
[19:40:56.890] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:56.891] frame process finished the id is: 135 the obs is:0 
[19:40:56.971] Odometry x=0.005850, y=-0.384582, theta=0.035163
[19:40:56.990] Init: px average disparity is:28.552922 ,While minimum is: 40.000000  KLT tracked : 106
[19:40:56.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:56.991] frame process finished the id is: 136 the obs is:0 
[19:40:57.071] Odometry x=0.005759, y=-0.389936, theta=0.038738
[19:40:57.091] Init: px average disparity is:28.441995 ,While minimum is: 40.000000  KLT tracked : 106
[19:40:57.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:57.091] frame process finished the id is: 137 the obs is:0 
[19:40:57.175] Odometry x=0.005701, y=-0.395211, theta=0.027675
[19:40:57.191] Init: px average disparity is:34.457979 ,While minimum is: 40.000000  KLT tracked : 106
[19:40:57.191] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:57.191] frame process finished the id is: 138 the obs is:0 
[19:40:57.271] Odometry x=0.005654, y=-0.399450, theta=0.025763
[19:40:57.291] Init: px average disparity is:34.148071 ,While minimum is: 40.000000  KLT tracked : 104
[19:40:57.291] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:57.291] frame process finished the id is: 139 the obs is:0 
[19:40:57.372] Odometry x=0.005569, y=-0.404348, theta=0.048449
[19:40:57.390] Init: px average disparity is:31.703826 ,While minimum is: 40.000000  KLT tracked : 103
[19:40:57.390] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:57.390] frame process finished the id is: 140 the obs is:0 
[19:40:57.472] Odometry x=0.005450, y=-0.409599, theta=0.049617
[19:40:57.490] Init: px average disparity is:30.224320 ,While minimum is: 40.000000  KLT tracked : 102
[19:40:57.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:57.490] frame process finished the id is: 141 the obs is:0 
[19:40:57.577] Odometry x=0.005286, y=-0.414677, theta=0.045192
[19:40:57.590] Init: px average disparity is:31.572699 ,While minimum is: 40.000000  KLT tracked : 102
[19:40:57.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:57.590] frame process finished the id is: 142 the obs is:0 
[19:40:57.670] Odometry x=0.005134, y=-0.420564, theta=0.043830
[19:40:57.684] Init: px average disparity is:32.290828 ,While minimum is: 40.000000  KLT tracked : 102
[19:40:57.684] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:57.684] frame process finished the id is: 143 the obs is:0 
[19:40:57.768] Odometry x=0.005028, y=-0.425235, theta=0.042664
[19:40:57.790] Init: px average disparity is:34.361833 ,While minimum is: 40.000000  KLT tracked : 102
[19:40:57.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:57.790] frame process finished the id is: 144 the obs is:0 
[19:40:57.869] Odometry x=0.004892, y=-0.430581, theta=0.041959
[19:40:57.891] Init: px average disparity is:36.412778 ,While minimum is: 40.000000  KLT tracked : 102
[19:40:57.891] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:57.891] frame process finished the id is: 145 the obs is:0 
[19:40:57.970] Odometry x=0.004776, y=-0.435690, theta=0.044619
[19:40:57.996] Init: px average disparity is:38.582458 ,While minimum is: 40.000000  KLT tracked : 102
[19:40:57.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:57.996] frame process finished the id is: 146 the obs is:0 
[19:40:58.074] Odometry x=0.004713, y=-0.439962, theta=0.041850
[19:40:58.159] Init: Homography RANSAC (inlier) is:0 ,While 20 inliers minimum required.  px average disparity is:40.027571 ,While minimum is: 40.000000  KLT tracked: 101
[19:40:58.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:58.159] frame process finished the id is: 147 the obs is:0 
[19:40:58.175] Odometry x=0.004625, y=-0.445162, theta=0.039462
[19:40:58.249] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required.  px average disparity is:41.648672 ,While minimum is: 40.000000  KLT tracked: 101
[19:40:58.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:58.249] frame process finished the id is: 148 the obs is:0 
[19:40:58.273] Odometry x=0.004562, y=-0.449919, theta=0.024453
[19:40:58.283] Init: px average disparity is:39.513608 ,While minimum is: 40.000000  KLT tracked : 100
[19:40:58.283] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:58.283] frame process finished the id is: 149 the obs is:0 
[19:40:58.365] Odometry x=0.004633, y=-0.455260, theta=0.031059
[19:40:58.445] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:41.505918 ,While minimum is: 40.000000  KLT tracked: 100
[19:40:58.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:58.445] frame process finished the id is: 150 the obs is:0 
[19:40:58.474] Odometry x=0.004659, y=-0.459424, theta=0.032329
[19:40:58.481] Init: px average disparity is:37.469068 ,While minimum is: 40.000000  KLT tracked : 98
[19:40:58.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:58.481] frame process finished the id is: 151 the obs is:0 
[19:40:58.570] Odometry x=0.004582, y=-0.465063, theta=0.030571
[19:40:58.592] Init: px average disparity is:35.433600 ,While minimum is: 40.000000  KLT tracked : 97
[19:40:58.592] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:58.592] frame process finished the id is: 152 the obs is:0 
[19:40:58.670] Odometry x=0.004505, y=-0.470214, theta=0.031151
[19:40:58.693] Init: px average disparity is:32.654778 ,While minimum is: 40.000000  KLT tracked : 96
[19:40:58.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:58.693] frame process finished the id is: 153 the obs is:0 
[19:40:58.774] Odometry x=0.004429, y=-0.475615, theta=0.026974
[19:40:58.780] Init: px average disparity is:33.264641 ,While minimum is: 40.000000  KLT tracked : 96
[19:40:58.780] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:58.780] frame process finished the id is: 154 the obs is:0 
[19:40:58.871] Odometry x=0.004344, y=-0.481120, theta=0.035351
[19:40:58.891] Init: px average disparity is:35.161410 ,While minimum is: 40.000000  KLT tracked : 96
[19:40:58.891] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:58.891] frame process finished the id is: 155 the obs is:0 
[19:40:58.972] Odometry x=0.004280, y=-0.486224, theta=0.030029
[19:40:58.993] Init: px average disparity is:36.382789 ,While minimum is: 40.000000  KLT tracked : 95
[19:40:58.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:58.993] frame process finished the id is: 156 the obs is:0 
[19:40:59.068] Odometry x=0.004191, y=-0.491541, theta=0.038293
[19:40:59.095] Init: px average disparity is:33.777953 ,While minimum is: 40.000000  KLT tracked : 94
[19:40:59.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:59.095] frame process finished the id is: 157 the obs is:0 
[19:40:59.169] Odometry x=0.004240, y=-0.496540, theta=0.029706
[19:40:59.193] Init: px average disparity is:35.307063 ,While minimum is: 40.000000  KLT tracked : 94
[19:40:59.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:59.193] frame process finished the id is: 158 the obs is:0 
[19:40:59.268] Odometry x=0.004154, y=-0.501788, theta=0.033515
[19:40:59.293] Init: px average disparity is:35.190033 ,While minimum is: 40.000000  KLT tracked : 94
[19:40:59.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:59.293] frame process finished the id is: 159 the obs is:0 
[19:40:59.368] Odometry x=0.004076, y=-0.507145, theta=0.034369
[19:40:59.392] Init: px average disparity is:36.634610 ,While minimum is: 40.000000  KLT tracked : 94
[19:40:59.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:59.392] frame process finished the id is: 160 the obs is:0 
[19:40:59.468] Odometry x=0.003986, y=-0.512411, theta=0.032426
[19:40:59.492] Init: px average disparity is:38.185946 ,While minimum is: 40.000000  KLT tracked : 94
[19:40:59.492] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:59.492] frame process finished the id is: 161 the obs is:0 
[19:40:59.569] Odometry x=0.003909, y=-0.517601, theta=0.036122
[19:40:59.660] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:40.077656 ,While minimum is: 40.000000  KLT tracked: 94
[19:40:59.661] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:59.661] frame process finished the id is: 162 the obs is:0 
[19:40:59.666] Odometry x=0.003692, y=-0.522927, theta=0.034158
[19:40:59.746] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:43.379333 ,While minimum is: 40.000000  KLT tracked: 94
[19:40:59.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:59.746] frame process finished the id is: 163 the obs is:0 
[19:40:59.769] Odometry x=0.003858, y=-0.528039, theta=0.033753
[19:40:59.857] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:43.867539 ,While minimum is: 40.000000  KLT tracked: 94
[19:40:59.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:59.857] frame process finished the id is: 164 the obs is:0 
[19:40:59.866] Odometry x=0.003773, y=-0.533229, theta=0.036903
[19:40:59.945] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:47.381344 ,While minimum is: 40.000000  KLT tracked: 93
[19:40:59.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:40:59.945] frame process finished the id is: 165 the obs is:0 
[19:40:59.969] Odometry x=0.003680, y=-0.537988, theta=0.033646
[19:41:00.046] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:50.780715 ,While minimum is: 40.000000  KLT tracked: 92
[19:41:00.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:00.046] frame process finished the id is: 166 the obs is:0 
[19:41:00.067] Odometry x=0.003644, y=-0.541942, theta=0.021524
[19:41:00.146] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:53.410648 ,While minimum is: 40.000000  KLT tracked: 92
[19:41:00.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:00.146] frame process finished the id is: 167 the obs is:0 
[19:41:00.164] Odometry x=0.003670, y=-0.547278, theta=0.025434
[19:41:00.245] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:51.492800 ,While minimum is: 40.000000  KLT tracked: 90
[19:41:00.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:00.245] frame process finished the id is: 168 the obs is:0 
[19:41:00.268] Odometry x=0.003600, y=-0.552627, theta=0.028985
[19:41:00.345] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:47.546651 ,While minimum is: 40.000000  KLT tracked: 89
[19:41:00.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:00.345] frame process finished the id is: 169 the obs is:0 
[19:41:00.370] Odometry x=0.003537, y=-0.557923, theta=0.019935
[19:41:00.446] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:47.897267 ,While minimum is: 40.000000  KLT tracked: 87
[19:41:00.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:00.446] frame process finished the id is: 170 the obs is:0 
[19:41:00.468] Odometry x=0.003479, y=-0.563276, theta=0.025159
[19:41:00.544] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:49.139325 ,While minimum is: 40.000000  KLT tracked: 87
[19:41:00.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:00.544] frame process finished the id is: 171 the obs is:0 
[19:41:00.571] Odometry x=0.003409, y=-0.568622, theta=0.026647
[19:41:00.645] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:47.541373 ,While minimum is: 40.000000  KLT tracked: 87
[19:41:00.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:00.645] frame process finished the id is: 172 the obs is:0 
[19:41:00.670] Odometry x=0.003332, y=-0.573934, theta=0.028764
[19:41:00.744] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:41.183032 ,While minimum is: 40.000000  KLT tracked: 86
[19:41:00.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:00.744] frame process finished the id is: 173 the obs is:0 
[19:41:00.768] Odometry x=0.003355, y=-0.579328, theta=0.021805
[19:41:00.851] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:43.649691 ,While minimum is: 40.000000  KLT tracked: 86
[19:41:00.851] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:00.851] frame process finished the id is: 174 the obs is:0 
[19:41:00.870] Odometry x=0.003292, y=-0.584319, theta=0.028369
[19:41:00.944] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:43.539901 ,While minimum is: 40.000000  KLT tracked: 85
[19:41:00.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:00.944] frame process finished the id is: 175 the obs is:0 
[19:41:00.966] Odometry x=0.003223, y=-0.589868, theta=0.025468
[19:41:01.042] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:43.818694 ,While minimum is: 40.000000  KLT tracked: 85
[19:41:01.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:01.043] frame process finished the id is: 176 the obs is:0 
[19:41:01.073] Odometry x=0.003136, y=-0.595366, theta=0.030533
[19:41:01.157] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:43.182689 ,While minimum is: 40.000000  KLT tracked: 85
[19:41:01.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:01.157] frame process finished the id is: 177 the obs is:0 
[19:41:01.176] Odometry x=0.003058, y=-0.600422, theta=0.026400
[19:41:01.248] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:44.076407 ,While minimum is: 40.000000  KLT tracked: 85
[19:41:01.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:01.249] frame process finished the id is: 178 the obs is:0 
[19:41:01.270] Odometry x=0.002942, y=-0.606353, theta=0.027184
[19:41:01.349] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:45.603789 ,While minimum is: 40.000000  KLT tracked: 85
[19:41:01.349] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:01.349] frame process finished the id is: 179 the obs is:0 
[19:41:01.373] Odometry x=0.002905, y=-0.611515, theta=0.024860
[19:41:01.443] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:46.897005 ,While minimum is: 40.000000  KLT tracked: 85
[19:41:01.443] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:01.443] frame process finished the id is: 180 the obs is:0 
[19:41:01.471] Odometry x=0.002067, y=-0.659816, theta=0.000082
[19:41:01.546] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:48.273424 ,While minimum is: 40.000000  KLT tracked: 85
[19:41:01.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:01.546] frame process finished the id is: 181 the obs is:0 
[19:41:01.565] Odometry x=0.002158, y=-0.665473, theta=-0.000096
[19:41:01.643] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:50.801805 ,While minimum is: 40.000000  KLT tracked: 85
[19:41:01.643] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:01.643] frame process finished the id is: 182 the obs is:0 
[19:41:01.670] Odometry x=0.002167, y=-0.670405, theta=-0.007600
[19:41:01.744] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:50.883861 ,While minimum is: 40.000000  KLT tracked: 85
[19:41:01.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:01.744] frame process finished the id is: 183 the obs is:0 
[19:41:01.770] Odometry x=0.002203, y=-0.676167, theta=-0.006344
[19:41:01.845] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:54.275297 ,While minimum is: 40.000000  KLT tracked: 85
[19:41:01.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:01.845] frame process finished the id is: 184 the obs is:0 
[19:41:01.871] Odometry x=0.002216, y=-0.681560, theta=-0.003668
[19:41:01.945] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:58.988292 ,While minimum is: 40.000000  KLT tracked: 84
[19:41:01.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:01.945] frame process finished the id is: 185 the obs is:0 
[19:41:01.971] Odometry x=0.002223, y=-0.683129, theta=-0.008231
[19:41:02.045] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required.  px average disparity is:51.696542 ,While minimum is: 40.000000  KLT tracked: 83
[19:41:02.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:02.045] frame process finished the id is: 186 the obs is:0 
[19:41:02.071] Odometry x=0.002261, y=-0.688245, theta=-0.011308
[19:41:02.145] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:48.399246 ,While minimum is: 40.000000  KLT tracked: 83
[19:41:02.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:02.145] frame process finished the id is: 187 the obs is:0 
[19:41:02.171] Odometry x=0.002290, y=-0.693184, theta=-0.009568
[19:41:02.254] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:46.792650 ,While minimum is: 40.000000  KLT tracked: 82
[19:41:02.254] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:02.254] frame process finished the id is: 188 the obs is:0 
[19:41:02.271] Odometry x=0.002454, y=-0.698354, theta=-0.008124
[19:41:02.344] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:46.935610 ,While minimum is: 40.000000  KLT tracked: 82
[19:41:02.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:02.344] frame process finished the id is: 189 the obs is:0 
[19:41:02.365] Odometry x=0.002484, y=-0.703661, theta=-0.011288
[19:41:02.444] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:47.876634 ,While minimum is: 40.000000  KLT tracked: 82
[19:41:02.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:02.444] frame process finished the id is: 190 the obs is:0 
[19:41:02.471] Odometry x=0.002545, y=-0.708708, theta=-0.002657
[19:41:02.545] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:47.525093 ,While minimum is: 40.000000  KLT tracked: 82
[19:41:02.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:02.545] frame process finished the id is: 191 the obs is:0 
[19:41:02.571] Odometry x=0.002545, y=-0.714793, theta=0.000468
[19:41:02.644] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:46.883112 ,While minimum is: 40.000000  KLT tracked: 81
[19:41:02.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:02.644] frame process finished the id is: 192 the obs is:0 
[19:41:02.666] Odometry x=0.002545, y=-0.720448, theta=-0.004051
[19:41:02.744] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required.  px average disparity is:47.369053 ,While minimum is: 40.000000  KLT tracked: 80
[19:41:02.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:02.744] frame process finished the id is: 193 the obs is:0 
[19:41:02.770] Odometry x=0.002601, y=-0.725237, theta=-0.006792
[19:41:02.844] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:49.885112 ,While minimum is: 40.000000  KLT tracked: 80
[19:41:02.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:02.844] frame process finished the id is: 194 the obs is:0 
[19:41:02.871] Odometry x=0.002598, y=-0.730891, theta=0.001425
[19:41:02.943] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:49.204924 ,While minimum is: 40.000000  KLT tracked: 80
[19:41:02.943] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:02.943] frame process finished the id is: 195 the obs is:0 
[19:41:02.971] Odometry x=0.002601, y=-0.736445, theta=0.000540
[19:41:03.044] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:49.882219 ,While minimum is: 40.000000  KLT tracked: 80
[19:41:03.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:03.044] frame process finished the id is: 196 the obs is:0 
[19:41:03.071] Odometry x=0.002595, y=-0.741594, theta=0.000846
[19:41:03.143] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:50.538318 ,While minimum is: 40.000000  KLT tracked: 80
[19:41:03.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:03.144] frame process finished the id is: 197 the obs is:0 
[19:41:03.166] Odometry x=0.002592, y=-0.746994, theta=0.002271
[19:41:03.243] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required.  px average disparity is:51.119686 ,While minimum is: 40.000000  KLT tracked: 80
[19:41:03.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:03.243] frame process finished the id is: 198 the obs is:0 
[19:41:03.271] Odometry x=0.002577, y=-0.751820, theta=0.002147
[19:41:03.344] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required.  px average disparity is:52.449873 ,While minimum is: 40.000000  KLT tracked: 80
[19:41:03.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:03.344] frame process finished the id is: 199 the obs is:0 
[19:41:03.371] Odometry x=0.002594, y=-0.757521, theta=-0.003749
[19:41:03.444] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required.  px average disparity is:54.549349 ,While minimum is: 40.000000  KLT tracked: 80
[19:41:03.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:03.444] frame process finished the id is: 200 the obs is:0 
[19:41:03.471] Odometry x=0.002771, y=-0.758405, theta=0.002581
[19:41:03.544] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required.  px average disparity is:53.360961 ,While minimum is: 40.000000  KLT tracked: 79
[19:41:03.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:03.544] frame process finished the id is: 201 the obs is:0 
[19:41:03.571] Odometry x=0.002787, y=-0.763762, theta=0.002394
[19:41:03.644] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required.  px average disparity is:55.062292 ,While minimum is: 40.000000  KLT tracked: 79
[19:41:03.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:03.644] frame process finished the id is: 202 the obs is:0 
[19:41:03.671] Odometry x=0.002806, y=-0.768771, theta=-0.003207
[19:41:03.743] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required.  px average disparity is:60.436133 ,While minimum is: 40.000000  KLT tracked: 79
[19:41:03.743] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:03.743] frame process finished the id is: 203 the obs is:0 
[19:41:03.767] Odometry x=0.002818, y=-0.773197, theta=-0.004505
[19:41:03.844] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required.  px average disparity is:53.934931 ,While minimum is: 40.000000  KLT tracked: 77
[19:41:03.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:03.844] frame process finished the id is: 204 the obs is:0 
[19:41:03.870] Odometry x=0.002823, y=-0.776455, theta=-0.001144
[19:41:03.943] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:51.083417 ,While minimum is: 40.000000  KLT tracked: 77
[19:41:03.943] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:03.943] frame process finished the id is: 205 the obs is:0 
[19:41:03.972] Odometry x=0.002857, y=-0.782084, theta=-0.007496
[19:41:04.044] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:49.456241 ,While minimum is: 40.000000  KLT tracked: 77
[19:41:04.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:04.044] frame process finished the id is: 206 the obs is:0 
[19:41:04.070] Odometry x=0.003012, y=-0.787298, theta=0.009202
[19:41:04.149] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:48.703453 ,While minimum is: 40.000000  KLT tracked: 77
[19:41:04.149] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:04.149] frame process finished the id is: 207 the obs is:0 
[19:41:04.170] Odometry x=0.003016, y=-0.792604, theta=-0.003963
[19:41:04.243] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:51.299803 ,While minimum is: 40.000000  KLT tracked: 76
[19:41:04.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:04.243] frame process finished the id is: 208 the obs is:0 
[19:41:04.273] Odometry x=0.003008, y=-0.797993, theta=0.014259
[19:41:04.344] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:55.131634 ,While minimum is: 40.000000  KLT tracked: 76
[19:41:04.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:04.344] frame process finished the id is: 209 the obs is:0 
[19:41:04.374] Odometry x=0.003224, y=-0.803636, theta=0.010491
[19:41:04.445] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:54.731732 ,While minimum is: 40.000000  KLT tracked: 76
[19:41:04.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:04.445] frame process finished the id is: 210 the obs is:0 
[19:41:04.473] Odometry x=0.003189, y=-0.809259, theta=0.013248
[19:41:04.545] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:56.393642 ,While minimum is: 40.000000  KLT tracked: 76
[19:41:04.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:04.545] frame process finished the id is: 211 the obs is:0 
[19:41:04.571] Odometry x=0.003220, y=-0.814327, theta=0.007489
[19:41:04.644] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:58.254943 ,While minimum is: 40.000000  KLT tracked: 76
[19:41:04.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:04.644] frame process finished the id is: 212 the obs is:0 
[19:41:04.671] Odometry x=0.002958, y=-0.819714, theta=0.013963
[19:41:04.758] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:58.728432 ,While minimum is: 40.000000  KLT tracked: 76
[19:41:04.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:04.758] frame process finished the id is: 213 the obs is:0 
[19:41:04.770] Odometry x=0.003013, y=-0.825077, theta=0.013676
[19:41:04.845] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:59.160493 ,While minimum is: 40.000000  KLT tracked: 76
[19:41:04.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:04.845] frame process finished the id is: 214 the obs is:0 
[19:41:04.871] Odometry x=0.002974, y=-0.830311, theta=0.012931
[19:41:04.944] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:58.321910 ,While minimum is: 40.000000  KLT tracked: 75
[19:41:04.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:04.945] frame process finished the id is: 215 the obs is:0 
[19:41:04.972] Odometry x=0.002972, y=-0.835547, theta=0.015056
[19:41:05.045] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:58.457062 ,While minimum is: 40.000000  KLT tracked: 75
[19:41:05.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:05.045] frame process finished the id is: 216 the obs is:0 
[19:41:05.072] Odometry x=0.002926, y=-0.840904, theta=0.014659
[19:41:05.146] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:60.119849 ,While minimum is: 40.000000  KLT tracked: 75
[19:41:05.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:05.146] frame process finished the id is: 217 the obs is:0 
[19:41:05.170] Odometry x=0.002925, y=-0.845957, theta=0.013796
[19:41:05.261] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:60.821224 ,While minimum is: 40.000000  KLT tracked: 75
[19:41:05.262] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:05.262] frame process finished the id is: 218 the obs is:0 
[19:41:05.273] Odometry x=0.002953, y=-0.851090, theta=0.013442
[19:41:05.345] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:62.833775 ,While minimum is: 40.000000  KLT tracked: 75
[19:41:05.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:05.345] frame process finished the id is: 219 the obs is:0 
[19:41:05.376] Odometry x=0.002939, y=-0.856699, theta=0.012433
[19:41:05.445] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:63.667912 ,While minimum is: 40.000000  KLT tracked: 75
[19:41:05.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:05.445] frame process finished the id is: 220 the obs is:0 
[19:41:05.474] Odometry x=0.001162, y=-0.906021, theta=0.000337
[19:41:05.546] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:63.942436 ,While minimum is: 40.000000  KLT tracked: 75
[19:41:05.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:05.546] frame process finished the id is: 221 the obs is:0 
[19:41:05.571] Odometry x=0.001160, y=-0.912481, theta=-0.009602
[19:41:05.646] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:64.130494 ,While minimum is: 40.000000  KLT tracked: 75
[19:41:05.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:05.646] frame process finished the id is: 222 the obs is:0 
[19:41:05.675] Odometry x=0.001182, y=-0.917569, theta=-0.006586
[19:41:05.747] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:64.248782 ,While minimum is: 40.000000  KLT tracked: 75
[19:41:05.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:05.747] frame process finished the id is: 223 the obs is:0 
[19:41:05.772] Odometry x=0.001216, y=-0.923193, theta=-0.015231
[19:41:05.846] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:63.261276 ,While minimum is: 40.000000  KLT tracked: 75
[19:41:05.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:05.846] frame process finished the id is: 224 the obs is:0 
[19:41:05.871] Odometry x=0.001380, y=-0.928404, theta=-0.010885
[19:41:05.946] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:64.724416 ,While minimum is: 40.000000  KLT tracked: 75
[19:41:05.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:05.946] frame process finished the id is: 225 the obs is:0 
[19:41:05.975] Odometry x=0.001485, y=-0.933385, theta=-0.010700
[19:41:06.044] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:71.657108 ,While minimum is: 40.000000  KLT tracked: 75
[19:41:06.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:06.044] frame process finished the id is: 226 the obs is:0 
[19:41:06.076] Odometry x=0.001666, y=-0.938279, theta=-0.007935
[19:41:06.146] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:72.246189 ,While minimum is: 40.000000  KLT tracked: 74
[19:41:06.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:06.146] frame process finished the id is: 227 the obs is:0 
[19:41:06.174] Odometry x=0.001696, y=-0.943905, theta=-0.011433
[19:41:06.245] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:67.169009 ,While minimum is: 40.000000  KLT tracked: 72
[19:41:06.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:06.245] frame process finished the id is: 228 the obs is:0 
[19:41:06.272] Odometry x=0.001745, y=-0.948983, theta=-0.015052
[19:41:06.345] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:66.135621 ,While minimum is: 40.000000  KLT tracked: 72
[19:41:06.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:06.345] frame process finished the id is: 229 the obs is:0 
[19:41:06.370] Odometry x=0.001811, y=-0.954427, theta=-0.010604
[19:41:06.445] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:70.878605 ,While minimum is: 40.000000  KLT tracked: 72
[19:41:06.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:06.445] frame process finished the id is: 230 the obs is:0 
[19:41:06.469] Odometry x=0.001845, y=-0.959516, theta=-0.011219
[19:41:06.546] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:72.985927 ,While minimum is: 40.000000  KLT tracked: 72
[19:41:06.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:06.546] frame process finished the id is: 231 the obs is:0 
[19:41:06.572] Odometry x=0.001927, y=-0.964919, theta=-0.008855
[19:41:06.646] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:76.910455 ,While minimum is: 40.000000  KLT tracked: 70
[19:41:06.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:06.646] frame process finished the id is: 232 the obs is:0 
[19:41:06.670] Odometry x=0.001948, y=-0.970332, theta=-0.004849
[19:41:06.750] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:81.764548 ,While minimum is: 40.000000  KLT tracked: 70
[19:41:06.750] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:06.750] frame process finished the id is: 233 the obs is:0 
[19:41:06.776] Odometry x=0.001967, y=-0.975687, theta=-0.006776
[19:41:06.846] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:85.882410 ,While minimum is: 40.000000  KLT tracked: 70
[19:41:06.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:06.846] frame process finished the id is: 234 the obs is:0 
[19:41:06.874] Odometry x=0.002014, y=-0.980285, theta=-0.005224
[19:41:06.946] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:86.225662 ,While minimum is: 40.000000  KLT tracked: 70
[19:41:06.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:06.946] frame process finished the id is: 235 the obs is:0 
[19:41:06.973] Odometry x=0.002033, y=-0.985280, theta=-0.008483
[19:41:07.046] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:90.013520 ,While minimum is: 40.000000  KLT tracked: 70
[19:41:07.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:07.046] frame process finished the id is: 236 the obs is:0 
[19:41:07.076] Odometry x=0.002179, y=-0.990052, theta=-0.004436
[19:41:07.147] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required.  px average disparity is:90.076082 ,While minimum is: 40.000000  KLT tracked: 69
[19:41:07.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:07.147] frame process finished the id is: 237 the obs is:0 
[19:41:07.170] Odometry x=0.002372, y=-0.991597, theta=0.002348
[19:41:07.243] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required.  px average disparity is:84.571464 ,While minimum is: 40.000000  KLT tracked: 69
[19:41:07.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:07.243] frame process finished the id is: 238 the obs is:0 
[19:41:07.270] Odometry x=0.002357, y=-0.996370, theta=0.004012
[19:41:07.347] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:79.305290 ,While minimum is: 40.000000  KLT tracked: 69
[19:41:07.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:07.347] frame process finished the id is: 239 the obs is:0 
[19:41:07.364] Odometry x=0.002345, y=-1.001882, theta=0.000307
[19:41:07.447] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:78.866095 ,While minimum is: 40.000000  KLT tracked: 69
[19:41:07.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:07.447] frame process finished the id is: 240 the obs is:0 
[19:41:07.471] Odometry x=0.002344, y=-1.006384, theta=0.001017
[19:41:07.544] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:80.524792 ,While minimum is: 40.000000  KLT tracked: 69
[19:41:07.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:07.544] frame process finished the id is: 241 the obs is:0 
[19:41:07.573] Odometry x=0.002333, y=-1.012824, theta=0.003549
[19:41:07.646] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:81.711968 ,While minimum is: 40.000000  KLT tracked: 69
[19:41:07.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:07.646] frame process finished the id is: 242 the obs is:0 
[19:41:07.673] Odometry x=0.002333, y=-1.018429, theta=-0.005177
[19:41:07.744] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:82.037246 ,While minimum is: 40.000000  KLT tracked: 69
[19:41:07.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:07.744] frame process finished the id is: 243 the obs is:0 
[19:41:07.771] Odometry x=0.002479, y=-1.023309, theta=0.011480
[19:41:07.844] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:80.930680 ,While minimum is: 40.000000  KLT tracked: 69
[19:41:07.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:07.844] frame process finished the id is: 244 the obs is:0 
[19:41:07.871] Odometry x=0.002425, y=-1.027758, theta=0.013211
[19:41:07.948] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:82.274263 ,While minimum is: 40.000000  KLT tracked: 69
[19:41:07.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:07.948] frame process finished the id is: 245 the obs is:0 
[19:41:07.971] Odometry x=0.002737, y=-1.032732, theta=0.001977
[19:41:08.044] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:77.848624 ,While minimum is: 40.000000  KLT tracked: 67
[19:41:08.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:08.044] frame process finished the id is: 246 the obs is:0 
[19:41:08.071] Odometry x=0.002739, y=-1.037934, theta=-0.004323
[19:41:08.145] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:76.965251 ,While minimum is: 40.000000  KLT tracked: 67
[19:41:08.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:08.145] frame process finished the id is: 247 the obs is:0 
[19:41:08.171] Odometry x=0.002781, y=-1.042959, theta=0.000772
[19:41:08.246] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:75.920588 ,While minimum is: 40.000000  KLT tracked: 67
[19:41:08.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:08.246] frame process finished the id is: 248 the obs is:0 
[19:41:08.271] Odometry x=0.002790, y=-1.048297, theta=-0.001900
[19:41:08.345] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:74.324589 ,While minimum is: 40.000000  KLT tracked: 67
[19:41:08.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:08.345] frame process finished the id is: 249 the obs is:0 
[19:41:08.371] Odometry x=0.002863, y=-1.053657, theta=0.001742
[19:41:08.446] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:72.395837 ,While minimum is: 40.000000  KLT tracked: 67
[19:41:08.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:08.446] frame process finished the id is: 250 the obs is:0 
[19:41:08.471] Odometry x=0.002945, y=-1.059018, theta=-0.005368
[19:41:08.545] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:74.424309 ,While minimum is: 40.000000  KLT tracked: 67
[19:41:08.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:08.545] frame process finished the id is: 251 the obs is:0 
[19:41:08.570] Odometry x=0.002966, y=-1.064376, theta=-0.002615
[19:41:08.644] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:69.706275 ,While minimum is: 40.000000  KLT tracked: 66
[19:41:08.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:08.644] frame process finished the id is: 252 the obs is:0 
[19:41:08.674] Odometry x=0.002985, y=-1.069858, theta=-0.002648
[19:41:08.744] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:72.270429 ,While minimum is: 40.000000  KLT tracked: 66
[19:41:08.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:08.744] frame process finished the id is: 253 the obs is:0 
[19:41:08.772] Odometry x=0.002988, y=-1.075417, theta=-0.002484
[19:41:08.844] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required.  px average disparity is:71.166135 ,While minimum is: 40.000000  KLT tracked: 66
[19:41:08.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:08.844] frame process finished the id is: 254 the obs is:0 
[19:41:08.872] Odometry x=0.002997, y=-1.080612, theta=-0.004403
[19:41:08.951] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required.  px average disparity is:74.125175 ,While minimum is: 40.000000  KLT tracked: 66
[19:41:08.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:08.951] frame process finished the id is: 255 the obs is:0 
[19:41:08.975] Odometry x=0.003002, y=-1.086206, theta=-0.000112
[19:41:09.045] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required.  px average disparity is:75.892983 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:09.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:09.045] frame process finished the id is: 256 the obs is:0 
[19:41:09.070] Odometry x=0.003251, y=-1.088097, theta=-0.009986
[19:41:09.144] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required.  px average disparity is:76.075064 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:09.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:09.144] frame process finished the id is: 257 the obs is:0 
[19:41:09.170] Odometry x=0.003271, y=-1.093421, theta=-0.009348
[19:41:09.244] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required.  px average disparity is:76.186763 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:09.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:09.244] frame process finished the id is: 258 the obs is:0 
[19:41:09.271] Odometry x=0.003293, y=-1.098775, theta=-0.006326
[19:41:09.344] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required.  px average disparity is:75.058829 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:09.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:09.344] frame process finished the id is: 259 the obs is:0 
[19:41:09.370] Odometry x=0.003319, y=-1.103751, theta=-0.014269
[19:41:09.445] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required.  px average disparity is:75.071646 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:09.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:09.445] frame process finished the id is: 260 the obs is:0 
[19:41:09.471] Odometry x=0.003369, y=-1.109092, theta=-0.014127
[19:41:09.545] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:76.717813 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:09.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:09.545] frame process finished the id is: 261 the obs is:0 
[19:41:09.569] Odometry x=0.003459, y=-1.114406, theta=-0.018336
[19:41:09.648] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required.  px average disparity is:76.595332 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:09.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:09.648] frame process finished the id is: 262 the obs is:0 
[19:41:09.744] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required.  px average disparity is:75.870237 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:09.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:09.744] frame process finished the id is: 263 the obs is:0 
[19:41:09.843] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required.  px average disparity is:76.206211 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:09.843] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:09.843] frame process finished the id is: 264 the obs is:0 
[19:41:09.943] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required.  px average disparity is:75.532084 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:09.943] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:09.943] frame process finished the id is: 265 the obs is:0 
[19:41:10.044] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:76.404789 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:10.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:10.044] frame process finished the id is: 266 the obs is:0 
[19:41:10.146] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:75.115590 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:10.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:10.146] frame process finished the id is: 267 the obs is:0 
[19:41:10.247] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:74.439096 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:10.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:10.247] frame process finished the id is: 268 the obs is:0 
[19:41:10.344] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:76.678308 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:10.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:10.344] frame process finished the id is: 269 the obs is:0 
[19:41:10.444] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:76.969031 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:10.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:10.444] frame process finished the id is: 270 the obs is:0 
[19:41:10.544] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:78.480797 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:10.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:10.544] frame process finished the id is: 271 the obs is:0 
[19:41:10.645] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:80.448019 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:10.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:10.645] frame process finished the id is: 272 the obs is:0 
[19:41:10.746] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:82.590493 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:10.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:10.746] frame process finished the id is: 273 the obs is:0 
[19:41:10.846] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:81.287902 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:10.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:10.846] frame process finished the id is: 274 the obs is:0 
[19:41:10.946] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:82.132668 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:10.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:10.946] frame process finished the id is: 275 the obs is:0 
[19:41:11.045] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:81.956922 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:11.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:11.045] frame process finished the id is: 276 the obs is:0 
[19:41:11.146] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:81.977326 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:11.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:11.146] frame process finished the id is: 277 the obs is:0 
[19:41:11.246] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:81.909074 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:11.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:11.246] frame process finished the id is: 278 the obs is:0 
[19:41:11.345] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:81.847158 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:11.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:11.345] frame process finished the id is: 279 the obs is:0 
[19:41:11.446] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:81.820092 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:11.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:11.446] frame process finished the id is: 280 the obs is:0 
[19:41:11.546] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:81.969920 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:11.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:11.546] frame process finished the id is: 281 the obs is:0 
[19:41:11.647] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:82.024493 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:11.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:11.647] frame process finished the id is: 282 the obs is:0 
[19:41:11.746] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:82.228966 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:11.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:11.746] frame process finished the id is: 283 the obs is:0 
[19:41:11.846] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:82.073650 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:11.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:11.846] frame process finished the id is: 284 the obs is:0 
[19:41:11.945] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:81.980951 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:11.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:11.946] frame process finished the id is: 285 the obs is:0 
[19:41:12.048] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:82.048380 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:12.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:12.048] frame process finished the id is: 286 the obs is:0 
[19:41:12.146] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:82.288833 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:12.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:12.146] frame process finished the id is: 287 the obs is:0 
[19:41:12.245] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:82.098728 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:12.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:12.245] frame process finished the id is: 288 the obs is:0 
[19:41:12.345] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:81.989991 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:12.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:12.345] frame process finished the id is: 289 the obs is:0 
[19:41:12.445] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:81.920108 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:12.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:12.445] frame process finished the id is: 290 the obs is:0 
[19:41:12.546] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:82.242796 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:12.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:12.546] frame process finished the id is: 291 the obs is:0 
[19:41:12.645] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:82.221516 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:12.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:12.645] frame process finished the id is: 292 the obs is:0 
[19:41:12.746] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:81.954688 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:12.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:12.746] frame process finished the id is: 293 the obs is:0 
[19:41:12.845] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:82.137832 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:12.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:12.845] frame process finished the id is: 294 the obs is:0 
[19:41:12.957] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:82.114056 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:12.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:41:12.957] frame process finished the id is: 295 the obs is:0 
[19:41:13.047] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:81.818391 ,While minimum is: 40.000000  KLT tracked: 65
[19:41:13.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.