[20:59:41.200] Init: frame zero: 0.000000, 0.000000 0.000000
[20:59:41.200] Init: Selected first frame. 
[20:59:41.200] frame process finished the id is: 0 the obs is:0 
[20:59:41.220] Init: px average disparity is:0.032512 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:41.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:41.221] frame process finished the id is: 1 the obs is:0 
[20:59:41.316] Init: px average disparity is:0.031284 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:41.316] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:41.316] frame process finished the id is: 2 the obs is:0 
[20:59:41.419] Init: px average disparity is:0.036556 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:41.419] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:41.419] frame process finished the id is: 3 the obs is:0 
[20:59:41.523] Init: px average disparity is:0.032202 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:41.523] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:41.523] frame process finished the id is: 4 the obs is:0 
[20:59:41.622] Init: px average disparity is:0.041515 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:41.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:41.623] frame process finished the id is: 5 the obs is:0 
[20:59:41.723] Init: px average disparity is:0.030973 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:41.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:41.723] frame process finished the id is: 6 the obs is:0 
[20:59:41.815] Init: px average disparity is:0.031908 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:41.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:41.815] frame process finished the id is: 7 the obs is:0 
[20:59:41.921] Init: px average disparity is:0.035828 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:41.921] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:41.921] frame process finished the id is: 8 the obs is:0 
[20:59:42.023] Init: px average disparity is:0.031084 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:42.023] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:42.023] frame process finished the id is: 9 the obs is:0 
[20:59:42.124] Init: px average disparity is:0.040163 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:42.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:42.124] frame process finished the id is: 10 the obs is:0 
[20:59:42.219] Init: px average disparity is:0.036231 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:42.219] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:42.219] frame process finished the id is: 11 the obs is:0 
[20:59:42.323] Init: px average disparity is:0.032094 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:42.323] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:42.323] frame process finished the id is: 12 the obs is:0 
[20:59:42.423] Init: px average disparity is:0.039061 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:42.423] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:42.423] frame process finished the id is: 13 the obs is:0 
[20:59:42.480] Odometry x=0.000000, y=0.000000, theta=-0.000000
[20:59:42.536] Init: px average disparity is:0.039995 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:42.536] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:42.536] frame process finished the id is: 14 the obs is:0 
[20:59:42.623] Init: px average disparity is:0.032783 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:42.623] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:42.623] frame process finished the id is: 15 the obs is:0 
[20:59:42.709] Odometry x=0.000000, y=0.019164, theta=0.000001
[20:59:42.729] Init: px average disparity is:0.152070 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:42.729] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:42.729] frame process finished the id is: 16 the obs is:0 
[20:59:42.827] Init: px average disparity is:6.438189 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:42.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:42.827] frame process finished the id is: 17 the obs is:0 
[20:59:42.932] Init: px average disparity is:4.621185 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:42.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:42.932] frame process finished the id is: 18 the obs is:0 
[20:59:42.968] Odometry x=-0.000049, y=0.050897, theta=0.000596
[20:59:43.035] Init: px average disparity is:4.962524 ,While minimum is: 10.000000  KLT tracked : 896
[20:59:43.035] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:43.035] frame process finished the id is: 19 the obs is:0 
[20:59:43.134] Init: px average disparity is:9.757717 ,While minimum is: 10.000000  KLT tracked : 895
[20:59:43.134] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:43.134] frame process finished the id is: 20 the obs is:0 
[20:59:43.248] Odometry x=-0.000045, y=0.081683, theta=-0.000248
[20:59:43.335] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:12.627500 ,While minimum is: 10.000000  KLT tracked: 895
[20:59:43.335] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:43.335] frame process finished the id is: 21 the obs is:0 
[20:59:43.432] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:15.604936 ,While minimum is: 10.000000  KLT tracked: 888
[20:59:43.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:43.432] frame process finished the id is: 22 the obs is:0 
[20:59:43.456] Odometry x=0.000369, y=0.111522, theta=0.001108
[20:59:43.528] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:19.846154 ,While minimum is: 10.000000  KLT tracked: 888
[20:59:43.528] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:43.528] frame process finished the id is: 23 the obs is:0 
[20:59:43.626] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:29.051805 ,While minimum is: 10.000000  KLT tracked: 888
[20:59:43.626] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:43.626] frame process finished the id is: 24 the obs is:0 
[20:59:43.725] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:27.308837 ,While minimum is: 10.000000  KLT tracked: 888
[20:59:43.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:43.725] frame process finished the id is: 25 the obs is:0 
[20:59:43.761] Odometry x=-0.000053, y=0.140555, theta=0.004094
[20:59:43.826] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:28.646685 ,While minimum is: 10.000000  KLT tracked: 887
[20:59:43.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:43.826] frame process finished the id is: 26 the obs is:0 
[20:59:43.928] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:34.191057 ,While minimum is: 10.000000  KLT tracked: 887
[20:59:43.928] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:43.928] frame process finished the id is: 27 the obs is:0 
[20:59:43.988] Odometry x=-0.000307, y=0.169644, theta=0.007380
[20:59:44.032] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:41.345493 ,While minimum is: 10.000000  KLT tracked: 883
[20:59:44.032] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:44.032] frame process finished the id is: 28 the obs is:0 
[20:59:44.138] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:46.447236 ,While minimum is: 10.000000  KLT tracked: 881
[20:59:44.138] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:44.138] frame process finished the id is: 29 the obs is:0 
[20:59:44.224] Odometry x=-0.000596, y=0.198681, theta=0.010682
[20:59:44.247] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required.  px average disparity is:45.750816 ,While minimum is: 10.000000  KLT tracked: 831
[20:59:44.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:44.247] frame process finished the id is: 30 the obs is:0 
[20:59:44.353] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required.  px average disparity is:43.552221 ,While minimum is: 10.000000  KLT tracked: 786
[20:59:44.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:44.353] frame process finished the id is: 31 the obs is:0 
[20:59:44.457] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required.  px average disparity is:47.016770 ,While minimum is: 10.000000  KLT tracked: 760
[20:59:44.457] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:44.457] frame process finished the id is: 32 the obs is:0 
[20:59:44.483] Odometry x=-0.001484, y=0.250616, theta=0.023782
[20:59:44.562] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required.  px average disparity is:44.933862 ,While minimum is: 10.000000  KLT tracked: 753
[20:59:44.562] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:44.562] frame process finished the id is: 33 the obs is:0 
[20:59:44.666] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required.  px average disparity is:49.476380 ,While minimum is: 10.000000  KLT tracked: 751
[20:59:44.666] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:44.666] frame process finished the id is: 34 the obs is:0 
[20:59:44.709] Odometry x=-0.001328, y=0.278609, theta=0.023926
[20:59:44.771] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required.  px average disparity is:54.306628 ,While minimum is: 10.000000  KLT tracked: 746
[20:59:44.771] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:44.771] frame process finished the id is: 35 the obs is:0 
[20:59:44.878] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required.  px average disparity is:50.945457 ,While minimum is: 10.000000  KLT tracked: 737
[20:59:44.878] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:44.878] frame process finished the id is: 36 the obs is:0 
[20:59:44.944] Odometry x=-0.001213, y=0.308548, theta=0.011258
[20:59:44.986] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required.  px average disparity is:45.043536 ,While minimum is: 10.000000  KLT tracked: 737
[20:59:44.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:44.986] frame process finished the id is: 37 the obs is:0 
[20:59:45.095] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required.  px average disparity is:42.854775 ,While minimum is: 10.000000  KLT tracked: 734
[20:59:45.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:45.095] frame process finished the id is: 38 the obs is:0 
[20:59:45.198] Odometry x=-0.002072, y=0.333820, theta=0.024360
[20:59:45.213] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required.  px average disparity is:84.759293 ,While minimum is: 10.000000  KLT tracked: 718
[20:59:45.213] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:45.213] frame process finished the id is: 39 the obs is:0 
[20:59:45.326] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required.  px average disparity is:41.534768 ,While minimum is: 10.000000  KLT tracked: 698
[20:59:45.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:45.326] frame process finished the id is: 40 the obs is:0 
[20:59:45.433] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required.  px average disparity is:41.889906 ,While minimum is: 10.000000  KLT tracked: 694
[20:59:45.433] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:45.433] frame process finished the id is: 41 the obs is:0 
[20:59:45.453] Odometry x=-0.002253, y=0.360101, theta=0.011172
[20:59:45.542] Init: Homography RANSAC (inlier) is:32 ,While 40 inliers minimum required.  px average disparity is:50.036638 ,While minimum is: 10.000000  KLT tracked: 694
[20:59:45.542] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:45.542] frame process finished the id is: 42 the obs is:0 
[20:59:45.649] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:50.460985 ,While minimum is: 10.000000  KLT tracked: 694
[20:59:45.649] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:45.649] frame process finished the id is: 43 the obs is:0 
[20:59:45.758] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:55.866772 ,While minimum is: 10.000000  KLT tracked: 694
[20:59:45.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:45.758] frame process finished the id is: 44 the obs is:0 
[20:59:45.785] Odometry x=-0.001042, y=0.386127, theta=0.011214
[20:59:45.864] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:55.873501 ,While minimum is: 10.000000  KLT tracked: 694
[20:59:45.864] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:45.864] frame process finished the id is: 45 the obs is:0 
[20:59:45.956] Odometry x=-0.000287, y=0.410124, theta=0.006623
[20:59:45.968] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:54.897315 ,While minimum is: 10.000000  KLT tracked: 692
[20:59:45.968] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:45.968] frame process finished the id is: 46 the obs is:0 
[20:59:46.073] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:59.465025 ,While minimum is: 10.000000  KLT tracked: 687
[20:59:46.073] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:46.073] frame process finished the id is: 47 the obs is:0 
[20:59:46.179] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:59.022030 ,While minimum is: 10.000000  KLT tracked: 686
[20:59:46.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:46.179] frame process finished the id is: 48 the obs is:0 
[20:59:46.205] Odometry x=-0.000386, y=0.435204, theta=0.004388
[20:59:46.286] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:63.374556 ,While minimum is: 10.000000  KLT tracked: 683
[20:59:46.286] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:46.286] frame process finished the id is: 49 the obs is:0 
[20:59:46.391] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:64.334451 ,While minimum is: 10.000000  KLT tracked: 682
[20:59:46.391] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:46.391] frame process finished the id is: 50 the obs is:0 
[20:59:46.447] Odometry x=0.000878, y=0.459736, theta=-0.001481
[20:59:46.498] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:61.895825 ,While minimum is: 10.000000  KLT tracked: 681
[20:59:46.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:46.498] frame process finished the id is: 51 the obs is:0 
[20:59:46.609] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:63.964495 ,While minimum is: 10.000000  KLT tracked: 681
[20:59:46.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:46.609] frame process finished the id is: 52 the obs is:0 
[20:59:46.717] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:64.060496 ,While minimum is: 10.000000  KLT tracked: 678
[20:59:46.717] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:46.717] frame process finished the id is: 53 the obs is:0 
[20:59:46.724] Odometry x=0.000522, y=0.483958, theta=0.005361
[20:59:46.828] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:61.026794 ,While minimum is: 10.000000  KLT tracked: 567
[20:59:46.828] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:46.828] frame process finished the id is: 54 the obs is:0 
[20:59:46.929] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:62.652202 ,While minimum is: 10.000000  KLT tracked: 552
[20:59:46.929] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:46.929] frame process finished the id is: 55 the obs is:0 
[20:59:46.950] Odometry x=0.001158, y=0.500506, theta=0.014885
[20:59:47.029] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:66.216808 ,While minimum is: 10.000000  KLT tracked: 540
[20:59:47.029] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:47.030] frame process finished the id is: 56 the obs is:0 
[20:59:47.133] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:67.095333 ,While minimum is: 10.000000  KLT tracked: 540
[20:59:47.133] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:47.133] frame process finished the id is: 57 the obs is:0 
[20:59:47.211] Odometry x=0.000828, y=0.517343, theta=0.020606
[20:59:47.234] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:62.105342 ,While minimum is: 10.000000  KLT tracked: 540
[20:59:47.234] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:47.234] frame process finished the id is: 58 the obs is:0 
[20:59:47.334] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:59.361358 ,While minimum is: 10.000000  KLT tracked: 540
[20:59:47.334] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:47.334] frame process finished the id is: 59 the obs is:0 
[20:59:47.440] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:57.242799 ,While minimum is: 10.000000  KLT tracked: 540
[20:59:47.440] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:47.440] frame process finished the id is: 60 the obs is:0 
[20:59:47.463] Odometry x=0.000523, y=0.535071, theta=0.016437
[20:59:47.542] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:56.919300 ,While minimum is: 10.000000  KLT tracked: 540
[20:59:47.542] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:47.542] frame process finished the id is: 61 the obs is:0 
[20:59:47.643] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:57.749513 ,While minimum is: 10.000000  KLT tracked: 540
[20:59:47.643] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:47.643] frame process finished the id is: 62 the obs is:0 
[20:59:47.762] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:59.171288 ,While minimum is: 10.000000  KLT tracked: 540
[20:59:47.762] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:47.762] frame process finished the id is: 63 the obs is:0 
[20:59:47.767] Odometry x=-0.000452, y=0.555249, theta=0.033309
[20:59:47.877] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:60.963264 ,While minimum is: 10.000000  KLT tracked: 540
[20:59:47.877] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:47.877] frame process finished the id is: 64 the obs is:0 
[20:59:47.941] Odometry x=-0.001558, y=0.576194, theta=0.052975
[20:59:47.994] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:66.259249 ,While minimum is: 10.000000  KLT tracked: 538
[20:59:47.994] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:47.994] frame process finished the id is: 65 the obs is:0 
[20:59:48.108] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:59.705313 ,While minimum is: 10.000000  KLT tracked: 538
[20:59:48.108] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:48.108] frame process finished the id is: 66 the obs is:0 
[20:59:48.228] Odometry x=-0.002029, y=0.596025, theta=0.027023
[20:59:48.228] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:57.804091 ,While minimum is: 10.000000  KLT tracked: 538
[20:59:48.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:48.228] frame process finished the id is: 67 the obs is:0 
[20:59:48.345] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:56.110385 ,While minimum is: 10.000000  KLT tracked: 538
[20:59:48.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:48.345] frame process finished the id is: 68 the obs is:0 
[20:59:48.438] Odometry x=-0.002441, y=0.614741, theta=0.023518
[20:59:48.473] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:57.525923 ,While minimum is: 10.000000  KLT tracked: 537
[20:59:48.473] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:48.473] frame process finished the id is: 69 the obs is:0 
[20:59:48.578] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:60.403320 ,While minimum is: 10.000000  KLT tracked: 537
[20:59:48.578] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:48.578] frame process finished the id is: 70 the obs is:0 
[20:59:48.680] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:61.333775 ,While minimum is: 10.000000  KLT tracked: 537
[20:59:48.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:48.680] frame process finished the id is: 71 the obs is:0 
[20:59:48.698] Odometry x=-0.002885, y=0.632989, theta=0.024849
[20:59:48.786] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:63.285518 ,While minimum is: 10.000000  KLT tracked: 537
[20:59:48.786] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:48.786] frame process finished the id is: 72 the obs is:0 
[20:59:48.888] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:66.753727 ,While minimum is: 10.000000  KLT tracked: 534
[20:59:48.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:48.888] frame process finished the id is: 73 the obs is:0 
[20:59:48.962] Odometry x=-0.003600, y=0.651097, theta=0.033926
[20:59:48.993] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:68.826489 ,While minimum is: 10.000000  KLT tracked: 534
[20:59:48.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:48.993] frame process finished the id is: 74 the obs is:0 
[20:59:49.095] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:67.023881 ,While minimum is: 10.000000  KLT tracked: 534
[20:59:49.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:49.095] frame process finished the id is: 75 the obs is:0 
[20:59:49.193] Odometry x=-0.004135, y=0.669519, theta=0.029026
[20:59:49.196] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:68.416211 ,While minimum is: 10.000000  KLT tracked: 533
[20:59:49.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:49.196] frame process finished the id is: 76 the obs is:0 
[20:59:49.296] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:68.593343 ,While minimum is: 10.000000  KLT tracked: 533
[20:59:49.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:49.296] frame process finished the id is: 77 the obs is:0 
[20:59:49.404] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:69.750114 ,While minimum is: 10.000000  KLT tracked: 533
[20:59:49.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:49.404] frame process finished the id is: 78 the obs is:0 
[20:59:49.444] Odometry x=-0.004375, y=0.689199, theta=0.040049
[20:59:49.504] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:69.363790 ,While minimum is: 10.000000  KLT tracked: 533
[20:59:49.504] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:49.504] frame process finished the id is: 79 the obs is:0 
[20:59:49.604] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:74.502749 ,While minimum is: 10.000000  KLT tracked: 533
[20:59:49.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:49.604] frame process finished the id is: 80 the obs is:0 
[20:59:49.707] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:71.887872 ,While minimum is: 10.000000  KLT tracked: 533
[20:59:49.707] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:49.707] frame process finished the id is: 81 the obs is:0 
[20:59:49.775] Odometry x=-0.004919, y=0.707863, theta=0.041984
[20:59:49.807] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:72.958960 ,While minimum is: 10.000000  KLT tracked: 533
[20:59:49.807] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:49.807] frame process finished the id is: 82 the obs is:0 
[20:59:49.907] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:70.288384 ,While minimum is: 10.000000  KLT tracked: 533
[20:59:49.907] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:49.907] frame process finished the id is: 83 the obs is:0 
[20:59:49.939] Odometry x=-0.005825, y=0.726924, theta=0.041088
[20:59:50.022] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:73.831372 ,While minimum is: 10.000000  KLT tracked: 532
[20:59:50.022] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:50.022] frame process finished the id is: 84 the obs is:0 
[20:59:50.143] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:78.138672 ,While minimum is: 10.000000  KLT tracked: 531
[20:59:50.143] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:50.143] frame process finished the id is: 85 the obs is:0 
[20:59:50.244] Odometry x=-0.006640, y=0.745641, theta=0.049084
[20:59:50.255] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:79.292985 ,While minimum is: 10.000000  KLT tracked: 529
[20:59:50.255] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:50.255] frame process finished the id is: 86 the obs is:0 
[20:59:50.368] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:87.951645 ,While minimum is: 10.000000  KLT tracked: 508
[20:59:50.368] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:50.368] frame process finished the id is: 87 the obs is:0 
[20:59:50.444] Odometry x=-0.007909, y=0.764565, theta=0.056387
[20:59:50.489] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:89.482305 ,While minimum is: 10.000000  KLT tracked: 503
[20:59:50.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:50.489] frame process finished the id is: 88 the obs is:0 
[20:59:50.603] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:92.195888 ,While minimum is: 10.000000  KLT tracked: 501
[20:59:50.603] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:50.603] frame process finished the id is: 89 the obs is:0 
[20:59:50.696] Odometry x=-0.007940, y=0.783335, theta=0.065751
[20:59:50.705] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:85.512781 ,While minimum is: 10.000000  KLT tracked: 493
[20:59:50.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:50.706] frame process finished the id is: 90 the obs is:0 
[20:59:50.803] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:83.916612 ,While minimum is: 10.000000  KLT tracked: 493
[20:59:50.803] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:50.803] frame process finished the id is: 91 the obs is:0 
[20:59:50.901] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:85.663762 ,While minimum is: 10.000000  KLT tracked: 493
[20:59:50.901] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:50.901] frame process finished the id is: 92 the obs is:0 
[20:59:50.948] Odometry x=-0.009113, y=0.802385, theta=0.058102
[20:59:51.002] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:83.625409 ,While minimum is: 10.000000  KLT tracked: 493
[20:59:51.002] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:51.002] frame process finished the id is: 93 the obs is:0 
[20:59:51.101] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:81.878540 ,While minimum is: 10.000000  KLT tracked: 493
[20:59:51.101] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:51.101] frame process finished the id is: 94 the obs is:0 
[20:59:51.183] Odometry x=-0.010188, y=0.821675, theta=0.060139
[20:59:51.205] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:83.492903 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:51.205] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:51.205] frame process finished the id is: 95 the obs is:0 
[20:59:51.314] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:83.222369 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:51.314] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:51.314] frame process finished the id is: 96 the obs is:0 
[20:59:51.413] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:84.077374 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:51.413] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:51.413] frame process finished the id is: 97 the obs is:0 
[20:59:51.434] Odometry x=-0.011003, y=0.840321, theta=0.055294
[20:59:51.538] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:78.813112 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:51.538] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:51.538] frame process finished the id is: 98 the obs is:0 
[20:59:51.660] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:77.476877 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:51.660] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:51.660] frame process finished the id is: 99 the obs is:0 
[20:59:51.771] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:83.159398 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:51.771] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:51.771] frame process finished the id is: 100 the obs is:0 
[20:59:51.882] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:83.494992 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:51.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:51.882] frame process finished the id is: 101 the obs is:0 
[20:59:51.992] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:83.349696 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:51.992] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:51.992] frame process finished the id is: 102 the obs is:0 
[20:59:52.110] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:82.904192 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:52.110] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:52.110] frame process finished the id is: 103 the obs is:0 
[20:59:52.218] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:82.951187 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:52.218] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:52.218] frame process finished the id is: 104 the obs is:0 
[20:59:52.322] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:82.967818 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:52.322] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:52.322] frame process finished the id is: 105 the obs is:0 
[20:59:52.423] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:82.936799 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:52.423] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:52.423] frame process finished the id is: 106 the obs is:0 
[20:59:52.522] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:82.877396 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:52.522] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:52.522] frame process finished the id is: 107 the obs is:0 
[20:59:52.621] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:82.960521 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:52.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:52.621] frame process finished the id is: 108 the obs is:0 
[20:59:52.720] Init: Homography RANSAC (inlier) is:9 ,While 40 inliers minimum required.  px average disparity is:82.921847 ,While minimum is: 10.000000  KLT tracked: 492
[20:59:52.720] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:59:52.720] frame process finished the id is: 109 the obs is:0 
[20:59:5