[18:28:02.505] Init: frame zero: 0.000000, 0.000000 0.000000
[18:28:02.505] Init: Selected first frame. 
[18:28:02.505] frame process finished the id is: 0 the obs is:0 
[18:28:02.519] Init: px average disparity is:0.197090 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:02.519] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:02.519] frame process finished the id is: 1 the obs is:0 
[18:28:02.622] Init: px average disparity is:0.231461 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:02.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:02.622] frame process finished the id is: 2 the obs is:0 
[18:28:02.723] Init: px average disparity is:0.249074 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:02.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:02.723] frame process finished the id is: 3 the obs is:0 
[18:28:02.825] Init: px average disparity is:0.245644 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:02.825] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:02.825] frame process finished the id is: 4 the obs is:0 
[18:28:02.923] Init: px average disparity is:0.250400 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:02.923] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:02.923] frame process finished the id is: 5 the obs is:0 
[18:28:03.024] Init: px average disparity is:0.234691 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:03.024] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:03.024] frame process finished the id is: 6 the obs is:0 
[18:28:03.127] Init: px average disparity is:0.240224 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:03.127] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:03.127] frame process finished the id is: 7 the obs is:0 
[18:28:03.226] Init: px average disparity is:0.239245 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:03.226] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:03.227] frame process finished the id is: 8 the obs is:0 
[18:28:03.322] Init: px average disparity is:0.267733 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:03.322] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:03.322] frame process finished the id is: 9 the obs is:0 
[18:28:03.422] Init: px average disparity is:0.241786 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:03.422] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:03.422] frame process finished the id is: 10 the obs is:0 
[18:28:03.523] Init: px average disparity is:0.244610 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:03.523] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:03.523] frame process finished the id is: 11 the obs is:0 
[18:28:03.623] Init: px average disparity is:0.259375 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:03.623] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:03.623] frame process finished the id is: 12 the obs is:0 
[18:28:03.723] Init: px average disparity is:0.244493 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:03.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:03.723] frame process finished the id is: 13 the obs is:0 
[18:28:03.822] Init: px average disparity is:0.247162 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:03.823] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:03.823] frame process finished the id is: 14 the obs is:0 
[18:28:03.922] Init: px average disparity is:0.235326 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:03.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:03.922] frame process finished the id is: 15 the obs is:0 
[18:28:04.022] Init: px average disparity is:0.253053 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:04.022] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:04.022] frame process finished the id is: 16 the obs is:0 
[18:28:04.123] Init: px average disparity is:0.270201 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:04.123] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:04.123] frame process finished the id is: 17 the obs is:0 
[18:28:04.222] Init: px average disparity is:0.251625 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:04.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:04.222] frame process finished the id is: 18 the obs is:0 
[18:28:04.323] Init: px average disparity is:0.238201 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:04.323] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:04.323] frame process finished the id is: 19 the obs is:0 
[18:28:04.423] Init: px average disparity is:0.235124 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:04.423] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:04.423] frame process finished the id is: 20 the obs is:0 
[18:28:04.514] Init: px average disparity is:0.264161 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:04.514] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:04.514] frame process finished the id is: 21 the obs is:0 
[18:28:04.614] Init: px average disparity is:0.267489 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:04.614] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:04.614] frame process finished the id is: 22 the obs is:0 
[18:28:04.723] Init: px average disparity is:0.238925 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:04.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:04.723] frame process finished the id is: 23 the obs is:0 
[18:28:04.821] Init: px average disparity is:0.238865 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:04.821] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:04.822] frame process finished the id is: 24 the obs is:0 
[18:28:04.912] Init: px average disparity is:0.270427 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:04.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:04.913] frame process finished the id is: 25 the obs is:0 
[18:28:05.025] Init: px average disparity is:0.256237 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:05.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:05.025] frame process finished the id is: 26 the obs is:0 
[18:28:05.129] Init: px average disparity is:0.216764 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:05.129] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:05.129] frame process finished the id is: 27 the obs is:0 
[18:28:05.216] Init: px average disparity is:0.277987 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:05.216] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:05.216] frame process finished the id is: 28 the obs is:0 
[18:28:05.315] Init: px average disparity is:0.230108 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:05.315] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:05.315] frame process finished the id is: 29 the obs is:0 
[18:28:05.362] Odometry x=0.000000, y=0.000000, theta=-0.000000
[18:28:05.414] Init: px average disparity is:0.237735 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:05.414] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:05.414] frame process finished the id is: 30 the obs is:0 
[18:28:05.457] Odometry x=0.000000, y=0.000000, theta=-0.000000
[18:28:05.514] Init: px average disparity is:0.218215 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:05.514] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:05.514] frame process finished the id is: 31 the obs is:0 
[18:28:05.558] Odometry x=0.000040, y=0.006144, theta=-0.001157
[18:28:05.614] Init: px average disparity is:1.712327 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:05.614] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:05.614] frame process finished the id is: 32 the obs is:0 
[18:28:05.659] Odometry x=0.000170, y=0.013148, theta=-0.000448
[18:28:05.715] Init: px average disparity is:5.987677 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:05.715] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:05.715] frame process finished the id is: 33 the obs is:0 
[18:28:05.760] Odometry x=0.000258, y=0.019764, theta=-0.010322
[18:28:05.824] Init: px average disparity is:7.661083 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:05.824] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:05.824] frame process finished the id is: 34 the obs is:0 
[18:28:05.861] Odometry x=0.000338, y=0.025878, theta=-0.003238
[18:28:05.917] Init: px average disparity is:4.968104 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:05.917] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:05.917] frame process finished the id is: 35 the obs is:0 
[18:28:05.958] Odometry x=0.003378, y=0.032417, theta=-0.002440
[18:28:06.014] Init: px average disparity is:5.353786 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:06.014] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:06.014] frame process finished the id is: 36 the obs is:0 
[18:28:06.065] Odometry x=0.003912, y=0.038428, theta=-0.006393
[18:28:06.115] Init: px average disparity is:4.237338 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:06.115] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:06.115] frame process finished the id is: 37 the obs is:0 
[18:28:06.162] Odometry x=0.003835, y=0.042872, theta=-0.012875
[18:28:06.215] Init: px average disparity is:5.731940 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:06.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:06.215] frame process finished the id is: 38 the obs is:0 
[18:28:06.259] Odometry x=0.004051, y=0.049578, theta=-0.000691
[18:28:06.315] Init: px average disparity is:4.180975 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:06.315] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:06.315] frame process finished the id is: 39 the obs is:0 
[18:28:06.361] Odometry x=0.004110, y=0.054252, theta=-0.026867
[18:28:06.415] Init: px average disparity is:6.100350 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:06.415] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:06.415] frame process finished the id is: 40 the obs is:0 
[18:28:06.459] Odometry x=0.004212, y=0.060117, theta=-0.017781
[18:28:06.515] Init: px average disparity is:7.244833 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:06.515] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:06.515] frame process finished the id is: 41 the obs is:0 
[18:28:06.563] Odometry x=0.004257, y=0.063659, theta=-0.012887
[18:28:06.623] Init: px average disparity is:8.958573 ,While minimum is: 10.000000  KLT tracked : 131
[18:28:06.623] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:06.623] frame process finished the id is: 42 the obs is:0 
[18:28:06.663] Odometry x=0.004357, y=0.071317, theta=-0.013456
[18:28:06.763] Odometry x=0.004522, y=0.076936, theta=-0.025164
[18:28:06.794] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:12.266455 ,While minimum is: 10.000000  KLT tracked: 131
[18:28:06.794] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:06.794] frame process finished the id is: 43 the obs is:0 
[18:28:06.863] Odometry x=0.004839, y=0.083127, theta=-0.013441
[18:28:06.877] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:15.024849 ,While minimum is: 10.000000  KLT tracked: 131
[18:28:06.877] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:06.878] frame process finished the id is: 44 the obs is:0 
[18:28:06.962] Odometry x=0.004825, y=0.088371, theta=-0.011639
[18:28:06.978] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required.  px average disparity is:13.151287 ,While minimum is: 10.000000  KLT tracked: 131
[18:28:06.978] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:06.978] frame process finished the id is: 45 the obs is:0 
[18:28:07.058] Odometry x=0.004983, y=0.096203, theta=-0.010491
[18:28:07.089] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required.  px average disparity is:13.062843 ,While minimum is: 10.000000  KLT tracked: 131
[18:28:07.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:07.089] frame process finished the id is: 46 the obs is:0 
[18:28:07.162] Odometry x=0.007213, y=0.101610, theta=-0.004462
[18:28:07.178] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required.  px average disparity is:11.528166 ,While minimum is: 10.000000  KLT tracked: 131
[18:28:07.178] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:07.178] frame process finished the id is: 47 the obs is:0 
[18:28:07.260] Odometry x=0.007410, y=0.107276, theta=-0.003474
[18:28:07.278] Init: Homography RANSAC (inlier) is:28 ,While 30 inliers minimum required.  px average disparity is:13.324742 ,While minimum is: 10.000000  KLT tracked: 131
[18:28:07.278] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:07.278] frame process finished the id is: 48 the obs is:0 
[18:28:07.363] Odometry x=0.007641, y=0.124522, theta=-0.004625
[18:28:07.378] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required.  px average disparity is:13.410493 ,While minimum is: 10.000000  KLT tracked: 130
[18:28:07.378] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:07.378] frame process finished the id is: 49 the obs is:0 
[18:28:07.472] Odometry x=0.009022, y=0.133285, theta=0.000549
[18:28:07.480] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required.  px average disparity is:19.576334 ,While minimum is: 10.000000  KLT tracked: 130
[18:28:07.480] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:07.480] frame process finished the id is: 50 the obs is:0 
[18:28:07.560] Odometry x=0.012895, y=0.139349, theta=-0.015426
[18:28:07.578] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:13.856049 ,While minimum is: 10.000000  KLT tracked: 130
[18:28:07.578] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:07.578] frame process finished the id is: 51 the obs is:0 
[18:28:07.664] Odometry x=0.012890, y=0.155111, theta=-0.014808
[18:28:07.677] Init: Homography RANSAC (inlier) is:11 ,While 30 inliers minimum required.  px average disparity is:13.536742 ,While minimum is: 10.000000  KLT tracked: 130
[18:28:07.677] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:07.677] frame process finished the id is: 52 the obs is:0 
[18:28:07.716] Init: px average disparity is:8.407667 ,While minimum is: 10.000000  KLT tracked : 130
[18:28:07.716] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:07.716] frame process finished the id is: 53 the obs is:0 
[18:28:07.761] Odometry x=0.014538, y=0.160252, theta=-0.006813
[18:28:07.823] Init: px average disparity is:8.928041 ,While minimum is: 10.000000  KLT tracked : 130
[18:28:07.823] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:07.823] frame process finished the id is: 54 the obs is:0 
[18:28:07.858] Odometry x=0.014969, y=0.165578, theta=-0.017024
[18:28:07.923] Init: px average disparity is:8.519840 ,While minimum is: 10.000000  KLT tracked : 129
[18:28:07.923] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:07.923] frame process finished the id is: 55 the obs is:0 
[18:28:07.964] Odometry x=0.016254, y=0.170745, theta=-0.016508
[18:28:08.024] Init: px average disparity is:9.417081 ,While minimum is: 10.000000  KLT tracked : 129
[18:28:08.024] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:08.024] frame process finished the id is: 56 the obs is:0 
[18:28:08.064] Odometry x=0.016414, y=0.176273, theta=-0.014725
[18:28:08.165] Odometry x=0.022732, y=0.181561, theta=-0.011214
[18:28:08.193] Init: Homography RANSAC (inlier) is:12 ,While 30 inliers minimum required.  px average disparity is:10.308725 ,While minimum is: 10.000000  KLT tracked: 129
[18:28:08.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:08.193] frame process finished the id is: 57 the obs is:0 
[18:28:08.215] Init: px average disparity is:8.129985 ,While minimum is: 10.000000  KLT tracked : 129
[18:28:08.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:08.215] frame process finished the id is: 58 the obs is:0 
[18:28:08.266] Odometry x=0.022748, y=0.187362, theta=0.001457
[18:28:08.366] Odometry x=0.022879, y=0.192814, theta=-0.012806
[18:28:08.394] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required.  px average disparity is:10.681360 ,While minimum is: 10.000000  KLT tracked: 129
[18:28:08.394] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:28:08.394] frame process finished the id is: 59 the obs is:0 
[18:28:08.463] Odometry x=0.022908