[16:22:06.580] Init: frame zero: 0.000000, 0.000000 0.000000
[16:22:06.580] Init: Selected first frame. 
[16:22:06.580] frame process finished the id is: 0 the obs is:0 
[16:22:06.598] Init: px average disparity is:0.209372 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:06.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:06.598] frame process finished the id is: 1 the obs is:0 
[16:22:06.691] Init: px average disparity is:0.270388 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:06.691] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:06.691] frame process finished the id is: 2 the obs is:0 
[16:22:06.791] Init: px average disparity is:0.272222 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:06.791] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:06.791] frame process finished the id is: 3 the obs is:0 
[16:22:06.894] Init: px average disparity is:0.270544 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:06.894] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:06.894] frame process finished the id is: 4 the obs is:0 
[16:22:06.990] Init: px average disparity is:0.266149 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:06.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:06.990] frame process finished the id is: 5 the obs is:0 
[16:22:07.092] Init: px average disparity is:0.253702 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:07.092] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:07.092] frame process finished the id is: 6 the obs is:0 
[16:22:07.196] Init: px average disparity is:0.254361 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:07.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:07.196] frame process finished the id is: 7 the obs is:0 
[16:22:07.294] Init: px average disparity is:0.262719 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:07.294] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:07.294] frame process finished the id is: 8 the obs is:0 
[16:22:07.392] Init: px average disparity is:0.287908 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:07.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:07.392] frame process finished the id is: 9 the obs is:0 
[16:22:07.490] Init: px average disparity is:0.249206 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:07.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:07.490] frame process finished the id is: 10 the obs is:0 
[16:22:07.590] Init: px average disparity is:0.280086 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:07.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:07.590] frame process finished the id is: 11 the obs is:0 
[16:22:07.688] Init: px average disparity is:0.280972 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:07.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:07.688] frame process finished the id is: 12 the obs is:0 
[16:22:07.796] Init: px average disparity is:0.274550 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:07.796] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:07.796] frame process finished the id is: 13 the obs is:0 
[16:22:07.895] Init: px average disparity is:0.266753 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:07.895] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:07.895] frame process finished the id is: 14 the obs is:0 
[16:22:07.997] Init: px average disparity is:0.256876 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:07.997] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:07.997] frame process finished the id is: 15 the obs is:0 
[16:22:08.094] Init: px average disparity is:0.288214 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:08.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:08.094] frame process finished the id is: 16 the obs is:0 
[16:22:08.189] Init: px average disparity is:0.293759 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:08.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:08.189] frame process finished the id is: 17 the obs is:0 
[16:22:08.296] Init: px average disparity is:0.288631 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:08.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:08.296] frame process finished the id is: 18 the obs is:0 
[16:22:08.399] Init: px average disparity is:0.274183 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:08.399] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:08.399] frame process finished the id is: 19 the obs is:0 
[16:22:08.493] Init: px average disparity is:0.255396 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:08.493] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:08.493] frame process finished the id is: 20 the obs is:0 
[16:22:08.590] Init: px average disparity is:0.278652 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:08.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:08.590] frame process finished the id is: 21 the obs is:0 
[16:22:08.692] Init: px average disparity is:0.298368 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:08.692] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:08.692] frame process finished the id is: 22 the obs is:0 
[16:22:08.793] Init: px average disparity is:0.275639 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:08.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:08.793] frame process finished the id is: 23 the obs is:0 
[16:22:08.892] Init: px average disparity is:0.253932 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:08.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:08.892] frame process finished the id is: 24 the obs is:0 
[16:22:08.990] Init: px average disparity is:0.285545 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:08.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:08.990] frame process finished the id is: 25 the obs is:0 
[16:22:09.093] Init: px average disparity is:0.277368 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:09.093] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:09.093] frame process finished the id is: 26 the obs is:0 
[16:22:09.189] Init: px average disparity is:0.255265 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:09.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:09.189] frame process finished the id is: 27 the obs is:0 
[16:22:09.291] Init: px average disparity is:0.298774 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:09.291] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:09.291] frame process finished the id is: 28 the obs is:0 
[16:22:09.398] Init: px average disparity is:0.258669 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:09.398] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:09.398] frame process finished the id is: 29 the obs is:0 
[16:22:09.437] Odometry x=0.000000, y=0.000000, theta=-0.000000
[16:22:09.497] Init: px average disparity is:0.254838 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:09.497] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:09.497] frame process finished the id is: 30 the obs is:0 
[16:22:09.534] Odometry x=0.000000, y=0.000000, theta=-0.000000
[16:22:09.598] Init: px average disparity is:0.250810 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:09.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:09.598] frame process finished the id is: 31 the obs is:0 
[16:22:09.635] Odometry x=0.000035, y=0.006149, theta=-0.001159
[16:22:09.698] Init: px average disparity is:1.786084 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:09.698] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:09.698] frame process finished the id is: 32 the obs is:0 
[16:22:09.736] Odometry x=0.000041, y=0.017375, theta=0.001838
[16:22:09.798] Init: px average disparity is:6.057125 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:09.798] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:09.798] frame process finished the id is: 33 the obs is:0 
[16:22:09.836] Odometry x=0.000101, y=0.024052, theta=-0.004566
[16:22:09.898] Init: px average disparity is:7.704932 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:09.898] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:09.898] frame process finished the id is: 34 the obs is:0 
[16:22:09.937] Odometry x=0.000538, y=0.032186, theta=0.002864
[16:22:09.999] Init: px average disparity is:5.025705 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:09.999] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:09.999] frame process finished the id is: 35 the obs is:0 
[16:22:10.037] Odometry x=0.000583, y=0.037819, theta=0.001784
[16:22:10.098] Init: px average disparity is:5.405025 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:10.098] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:10.098] frame process finished the id is: 36 the obs is:0 
[16:22:10.138] Odometry x=0.001070, y=0.045465, theta=0.003346
[16:22:10.199] Init: px average disparity is:4.345768 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:10.199] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:10.199] frame process finished the id is: 37 the obs is:0 
[16:22:10.235] Odometry x=0.001073, y=0.050868, theta=0.003101
[16:22:10.300] Init: px average disparity is:5.781156 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:10.300] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:10.300] frame process finished the id is: 38 the obs is:0 
[16:22:10.335] Odometry x=0.001321, y=0.057843, theta=0.007986
[16:22:10.399] Init: px average disparity is:4.201115 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:10.400] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:10.400] frame process finished the id is: 39 the obs is:0 
[16:22:10.438] Odometry x=0.001389, y=0.059646, theta=-0.017287
[16:22:10.499] Init: px average disparity is:6.089272 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:10.499] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:10.500] frame process finished the id is: 40 the obs is:0 
[16:22:10.539] Odometry x=0.001685, y=0.065928, theta=-0.005644
[16:22:10.600] Init: px average disparity is:7.078696 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:10.600] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:10.600] frame process finished the id is: 41 the obs is:0 
[16:22:10.635] Odometry x=0.002401, y=0.071260, theta=0.005660
[16:22:10.700] Init: px average disparity is:8.967391 ,While minimum is: 10.000000  KLT tracked : 115
[16:22:10.700] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:10.700] frame process finished the id is: 42 the obs is:0 
[16:22:10.735] Odometry x=0.002506, y=0.077177, theta=-0.004578
[16:22:10.835] Odometry x=0.002517, y=0.082692, theta=-0.014272
[16:22:10.872] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:12.190554 ,While minimum is: 10.000000  KLT tracked: 115
[16:22:10.872] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:10.872] frame process finished the id is: 43 the obs is:0 
[16:22:10.939] Odometry x=0.003373, y=0.088751, theta=-0.006842
[16:22:10.953] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:14.998042 ,While minimum is: 10.000000  KLT tracked: 115
[16:22:10.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:10.953] frame process finished the id is: 44 the obs is:0 
[16:22:11.033] Odometry x=0.002621, y=0.095450, theta=0.003215
[16:22:11.053] Init: Homography RANSAC (inlier) is:23 ,While 30 inliers minimum required.  px average disparity is:13.085864 ,While minimum is: 10.000000  KLT tracked: 115
[16:22:11.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:11.053] frame process finished the id is: 45 the obs is:0 
[16:22:11.139] Odometry x=0.002921, y=0.102263, theta=-0.004868
[16:22:11.154] Init: Homography RANSAC (inlier) is:24 ,While 30 inliers minimum required.  px average disparity is:13.012671 ,While minimum is: 10.000000  KLT tracked: 115
[16:22:11.154] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:11.154] frame process finished the id is: 46 the obs is:0 
[16:22:11.238] Odometry x=0.002926, y=0.108021, theta=0.000320
[16:22:11.254] Init: Homography RANSAC (inlier) is:24 ,While 30 inliers minimum required.  px average disparity is:11.535941 ,While minimum is: 10.000000  KLT tracked: 115
[16:22:11.254] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:11.254] frame process finished the id is: 47 the obs is:0 
[16:22:11.336] Odometry x=0.003287, y=0.114227, theta=0.003231
[16:22:11.353] Init: Homography RANSAC (inlier) is:24 ,While 30 inliers minimum required.  px average disparity is:13.721683 ,While minimum is: 10.000000  KLT tracked: 115
[16:22:11.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:11.353] frame process finished the id is: 48 the obs is:0 
[16:22:11.440] Odometry x=0.003374, y=0.123298, theta=-0.002961
[16:22:11.453] Init: Homography RANSAC (inlier) is:23 ,While 30 inliers minimum required.  px average disparity is:13.631226 ,While minimum is: 10.000000  KLT tracked: 114
[16:22:11.453] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:11.453] frame process finished the id is: 49 the obs is:0 
[16:22:11.547] Odometry x=0.003423, y=0.134650, theta=0.002003
[16:22:11.553] Init: Homography RANSAC (inlier) is:23 ,While 30 inliers minimum required.  px average disparity is:19.769342 ,While minimum is: 10.000000  KLT tracked: 114
[16:22:11.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:11.553] frame process finished the id is: 50 the obs is:0 
[16:22:11.635] Odometry x=0.005489, y=0.141130, theta=-0.005828
[16:22:11.653] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:13.913548 ,While minimum is: 10.000000  KLT tracked: 114
[16:22:11.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:11.653] frame process finished the id is: 51 the obs is:0 
[16:22:11.739] Odometry x=0.005949, y=0.162009, theta=-0.005446
[16:22:11.753] Init: Homography RANSAC (inlier) is:12 ,While 30 inliers minimum required.  px average disparity is:13.545447 ,While minimum is: 10.000000  KLT tracked: 114
[16:22:11.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:11.753] frame process finished the id is: 52 the obs is:0 
[16:22:11.792] Init: px average disparity is:8.249930 ,While minimum is: 10.000000  KLT tracked : 114
[16:22:11.792] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:11.792] frame process finished the id is: 53 the obs is:0 
[16:22:11.839] Odometry x=0.008130, y=0.167192, theta=-0.007862
[16:22:11.899] Init: px average disparity is:8.688844 ,While minimum is: 10.000000  KLT tracked : 114
[16:22:11.899] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:11.899] frame process finished the id is: 54 the obs is:0 
[16:22:11.934] Odometry x=0.008183, y=0.173085, theta=-0.007485
[16:22:12.000] Init: px average disparity is:8.127872 ,While minimum is: 10.000000  KLT tracked : 113
[16:22:12.000] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:12.000] frame process finished the id is: 55 the obs is:0 
[16:22:12.041] Odometry x=0.009612, y=0.178206, theta=-0.009970
[16:22:12.099] Init: px average disparity is:8.999994 ,While minimum is: 10.000000  KLT tracked : 113
[16:22:12.099] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:12.099] frame process finished the id is: 56 the obs is:0 
[16:22:12.142] Odometry x=0.009747, y=0.183614, theta=-0.015008
[16:22:12.242] Odometry x=0.011520, y=0.189069, theta=-0.011736
[16:22:12.272] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:10.072437 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:12.272] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:12.272] frame process finished the id is: 57 the obs is:0 
[16:22:12.290] Init: px average disparity is:7.969536 ,While minimum is: 10.000000  KLT tracked : 113
[16:22:12.290] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:12.290] frame process finished the id is: 58 the obs is:0 
[16:22:12.343] Odometry x=0.011538, y=0.194627, theta=0.002767
[16:22:12.443] Odometry x=0.011903, y=0.200438, theta=-0.000001
[16:22:12.469] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:10.757952 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:12.469] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:12.469] frame process finished the id is: 59 the obs is:0 
[16:22:12.540] Odometry x=0.011911, y=0.206150, theta=-0.005764
[16:22:12.552] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:13.049377 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:12.552] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:12.552] frame process finished the id is: 60 the obs is:0 
[16:22:12.637] Odometry x=0.014613, y=0.211641, theta=-0.005695
[16:22:12.652] Init: Homography RANSAC (inlier) is:25 ,While 30 inliers minimum required.  px average disparity is:13.870756 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:12.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:12.652] frame process finished the id is: 61 the obs is:0 
[16:22:12.735] Odometry x=0.014631, y=0.218562, theta=0.001864
[16:22:12.754] Init: Homography RANSAC (inlier) is:25 ,While 30 inliers minimum required.  px average disparity is:15.083009 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:12.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:12.754] frame process finished the id is: 62 the obs is:0 
[16:22:12.833] Odometry x=0.014684, y=0.223832, theta=-0.003883
[16:22:12.852] Init: Homography RANSAC (inlier) is:25 ,While 30 inliers minimum required.  px average disparity is:15.339649 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:12.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:12.853] frame process finished the id is: 63 the obs is:0 
[16:22:12.936] Odometry x=0.014700, y=0.230728, theta=0.002962
[16:22:12.953] Init: Homography RANSAC (inlier) is:22 ,While 30 inliers minimum required.  px average disparity is:15.920595 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:12.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:12.953] frame process finished the id is: 64 the obs is:0 
[16:22:13.039] Odometry x=0.014703, y=0.236268, theta=-0.001855
[16:22:13.054] Init: Homography RANSAC (inlier) is:22 ,While 30 inliers minimum required.  px average disparity is:18.621139 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:13.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:13.054] frame process finished the id is: 65 the obs is:0 
[16:22:13.136] Odometry x=0.013894, y=0.242212, theta=0.004016
[16:22:13.154] Init: Homography RANSAC (inlier) is:22 ,While 30 inliers minimum required.  px average disparity is:22.038296 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:13.154] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:13.154] frame process finished the id is: 66 the obs is:0 
[16:22:13.240] Odometry x=0.015230, y=0.248507, theta=0.010095
[16:22:13.261] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required.  px average disparity is:20.069056 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:13.261] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:13.261] frame process finished the id is: 67 the obs is:0 
[16:22:13.338] Odometry x=0.015271, y=0.253928, theta=-0.007175
[16:22:13.354] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required.  px average disparity is:18.934698 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:13.354] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:13.354] frame process finished the id is: 68 the obs is:0 
[16:22:13.436] Odometry x=0.015519, y=0.259377, theta=0.007413
[16:22:13.453] Init: Homography RANSAC (inlier) is:24 ,While 30 inliers minimum required.  px average disparity is:18.282638 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:13.454] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:13.454] frame process finished the id is: 69 the obs is:0 
[16:22:13.539] Odometry x=0.016191, y=0.264989, theta=-0.005712
[16:22:13.555] Init: Homography RANSAC (inlier) is:22 ,While 30 inliers minimum required.  px average disparity is:18.276217 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:13.555] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:13.555] frame process finished the id is: 70 the obs is:0 
[16:22:13.637] Odometry x=0.016699, y=0.270546, theta=0.007662
[16:22:13.654] Init: Homography RANSAC (inlier) is:12 ,While 30 inliers minimum required.  px average disparity is:20.339789 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:13.654] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:13.654] frame process finished the id is: 71 the obs is:0 
[16:22:13.737] Odometry x=0.016804, y=0.276908, theta=-0.017443
[16:22:13.756] Init: Homography RANSAC (inlier) is:25 ,While 30 inliers minimum required.  px average disparity is:20.509452 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:13.756] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:13.756] frame process finished the id is: 72 the obs is:0 
[16:22:13.836] Odometry x=0.016273, y=0.286541, theta=-0.017312
[16:22:13.854] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:21.483505 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:13.854] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:13.854] frame process finished the id is: 73 the obs is:0 
[16:22:13.939] Odometry x=0.016328, y=0.291898, theta=-0.022149
[16:22:13.954] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required.  px average disparity is:22.039400 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:13.954] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:13.954] frame process finished the id is: 74 the obs is:0 
[16:22:14.038] Odometry x=0.016465, y=0.297384, theta=-0.030298
[16:22:14.055] Init: Homography RANSAC (inlier) is:23 ,While 30 inliers minimum required.  px average disparity is:20.356389 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:14.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:14.055] frame process finished the id is: 75 the obs is:0 
[16:22:14.135] Odometry x=0.016617, y=0.302898, theta=-0.028495
[16:22:14.155] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required.  px average disparity is:21.196074 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:14.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:14.155] frame process finished the id is: 76 the obs is:0 
[16:22:14.233] Odometry x=0.015071, y=0.314406, theta=-0.011425
[16:22:14.256] Init: Homography RANSAC (inlier) is:25 ,While 30 inliers minimum required.  px average disparity is:20.986168 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:14.256] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:14.256] frame process finished the id is: 77 the obs is:0 
[16:22:14.336] Odometry x=0.015152, y=0.319651, theta=-0.017740
[16:22:14.354] Init: Homography RANSAC (inlier) is:25 ,While 30 inliers minimum required.  px average disparity is:22.705410 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:14.354] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:14.354] frame process finished the id is: 78 the obs is:0 
[16:22:14.440] Odometry x=0.015318, y=0.325010, theta=-0.012529
[16:22:14.456] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required.  px average disparity is:21.642474 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:14.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:14.456] frame process finished the id is: 79 the obs is:0 
[16:22:14.539] Odometry x=0.015497, y=0.330529, theta=-0.015012
[16:22:14.556] Init: Homography RANSAC (inlier) is:23 ,While 30 inliers minimum required.  px average disparity is:22.553297 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:14.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:14.556] frame process finished the id is: 80 the obs is:0 
[16:22:14.638] Odometry x=0.015538, y=0.336686, theta=-0.011568
[16:22:14.655] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required.  px average disparity is:21.675890 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:14.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:22:14.655] frame process finished the id is: 81 the obs is:0 
[16:22:14.736] Odometry x=0.015582, y=0.342073, theta=-0.023929
[16:22:14.755] Init finished: Homography RANSAC (inlier) is:30 ,While 30 inliers minimum required.  px average disparity is:23.492879 ,While minimum is: 10.000000  KLT tracked: 113
[16:22:14.755] Init: distance between the first and current frame is x:0.015582 ,z=0.342073,angle between two frames: -0.023929 
[16:22:14.755] Init: Selected Second frame. 	 The number of features: 30 depth mean:1.438784 min:-1.096729
[16:22:14.755] frame process finished the id is: 82 the obs is:30 
[16:22:14.839] Odometry x=0.015703, y=0.364284, theta=-0.007136
[16:22:14.861] After Reprojection Map nPoint:60 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:-0.000024 ,z=0.000074,angle between two frames:0.000000
[16:22:14.861] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 	 error init =0.053526 	 error end=0.053526
[16:22:14.861] After pose optimization, distance between ekf and vo x:-0.000024 ,z=0.000074,angle between two frames:0.000000
[16:22:14.861] Update EKF and 3D points the number of feature in the new frame: 60 and number of obs: 60
[16:22:14.861] frame process finished the id is: 83 the obs is:60 
[16:22:14.936] Odometry x=0.016026, y=0.370438, theta=-0.023287
[16:22:14.960] After Reprojection Map nPoint:82 ,nCell:20 ,nMatches:11 ,distance between ekf and vo x:-0.000054 ,z=-0.000032,angle between two frames:0.000006
[16:22:14.960] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =76 	 error init =0.002017 	 error end=0.002017
[16:22:14.960] After pose optimization, distance between ekf and vo x:-0.000054 ,z=-0.000032,angle between two frames:0.000006
[16:22:14.960] Update EKF and 3D points the number of feature in the new frame: 82 and number of obs: 82
[16:22:14.961] frame process finished the id is: 84 the obs is:82 
[16:22:15.038] Odometry x=0.015954, y=0.370935, theta=-0.022878
[16:22:15.065] After Reprojection Map nPoint:112 ,nCell:24 ,nMatches:13 ,distance between ekf and vo x:0.000038 ,z=-0.000003,angle between two frames:0.000003
[16:22:15.065] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =110 	 error init =0.004096 	 error end=0.004096
[16:22:15.065] After pose optimization, distance between ekf and vo x:0.000038 ,z=-0.000003,angle between two frames:0.000003
[16:22:15.065] Update EKF and 3D points the number of feature in the new frame: 112 and number of obs: 112
[16:22:15.066] frame process finished the id is: 85 the obs is:112 
[16:22:15.139] Odometry x=0.017677, y=0.378343, theta=-0.017044
[16:22:15.166] After Reprojection Map nPoint:140 ,nCell:31 ,nMatches:12 ,distance between ekf and vo x:-0.000002 ,z=0.000008,angle between two frames:0.000001
[16:22:15.166] n deleted obs = 11 	 n obs with reprojectio