[23:45:25.423] Init: frame zero: 0.000000, 0.000000 0.000000
[23:45:25.423] Init: Selected first frame. 
[23:45:25.527] Init: px average disparity is:0.054475 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:25.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:25.618] Init: px average disparity is:0.051020 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:25.619] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:25.719] Init: px average disparity is:0.064720 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:25.719] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:25.819] Init: px average disparity is:0.073500 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:25.819] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:25.920] Init: px average disparity is:0.048979 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:25.920] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:26.019] Init: px average disparity is:0.056360 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:26.019] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:26.120] Init: px average disparity is:0.066273 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:26.120] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:26.220] Init: px average disparity is:0.056060 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:26.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:26.319] Init: px average disparity is:0.063376 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:26.319] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:26.418] Init: px average disparity is:0.056080 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:26.418] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:26.518] Init: px average disparity is:0.054472 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:26.518] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:26.620] Init: px average disparity is:0.054771 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:26.620] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:26.720] Init: px average disparity is:0.057801 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:26.720] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:26.819] Init: px average disparity is:0.060966 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:26.819] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:26.921] Init: px average disparity is:0.071421 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:26.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:27.018] Init: px average disparity is:0.070100 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:27.018] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:27.121] Init: px average disparity is:0.162777 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:27.122] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:27.222] Init: px average disparity is:1.514625 ,While minimum is: 40.000000  KLT tracked : 104
[23:45:27.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:27.322] Init: px average disparity is:6.234379 ,While minimum is: 40.000000  KLT tracked : 102
[23:45:27.322] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:27.422] Init: px average disparity is:4.487548 ,While minimum is: 40.000000  KLT tracked : 102
[23:45:27.422] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:27.523] Init: px average disparity is:8.273376 ,While minimum is: 40.000000  KLT tracked : 102
[23:45:27.523] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:27.620] Init: px average disparity is:12.089830 ,While minimum is: 40.000000  KLT tracked : 102
[23:45:27.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:27.721] Init: px average disparity is:18.016455 ,While minimum is: 40.000000  KLT tracked : 102
[23:45:27.721] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:27.920] Init: px average disparity is:13.673712 ,While minimum is: 40.000000  KLT tracked : 102
[23:45:27.920] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:28.222] Init: px average disparity is:10.662309 ,While minimum is: 40.000000  KLT tracked : 102
[23:45:28.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:28.323] Init: px average disparity is:16.157375 ,While minimum is: 40.000000  KLT tracked : 102
[23:45:28.323] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:28.423] Init: px average disparity is:13.199271 ,While minimum is: 40.000000  KLT tracked : 101
[23:45:28.423] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:28.523] Init: px average disparity is:18.841474 ,While minimum is: 40.000000  KLT tracked : 101
[23:45:28.523] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:28.626] Init: px average disparity is:21.501833 ,While minimum is: 40.000000  KLT tracked : 101
[23:45:28.626] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:28.723] Init: px average disparity is:24.854710 ,While minimum is: 40.000000  KLT tracked : 101
[23:45:28.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:28.824] Init: px average disparity is:28.628273 ,While minimum is: 40.000000  KLT tracked : 100
[23:45:28.824] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:28.924] Init: px average disparity is:35.447556 ,While minimum is: 40.000000  KLT tracked : 98
[23:45:28.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:29.025] Init: px average disparity is:29.749463 ,While minimum is: 40.000000  KLT tracked : 97
[23:45:29.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:29.124] Init: px average disparity is:29.761796 ,While minimum is: 40.000000  KLT tracked : 96
[23:45:29.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:29.224] Init: px average disparity is:31.809666 ,While minimum is: 40.000000  KLT tracked : 96
[23:45:29.224] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:29.325] Init: px average disparity is:34.092659 ,While minimum is: 40.000000  KLT tracked : 96
[23:45:29.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:29.423] Init: px average disparity is:34.804754 ,While minimum is: 40.000000  KLT tracked : 96
[23:45:29.423] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:29.523] Init: px average disparity is:22.075145 ,While minimum is: 40.000000  KLT tracked : 95
[23:45:29.523] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:29.624] Init: px average disparity is:18.383698 ,While minimum is: 40.000000  KLT tracked : 95
[23:45:29.624] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:29.725] Init: px average disparity is:25.537018 ,While minimum is: 40.000000  KLT tracked : 94
[23:45:29.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:29.826] Init: px average disparity is:26.025874 ,While minimum is: 40.000000  KLT tracked : 93
[23:45:29.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[23:45:29.956] homography: x=-0.161540 y=-0.378580 z=0.038107 roll=-0.000000 pitch=0.138133 yaw=0.000000 	 ekf: x=-0.005107 z=0.164629 pitch=-0.067961
[23:45:29.956] homography after fuse: x=-0.152435 y=0.000000 z=0.045471 pitch=0.126094	 number of outlier: 51
[23:45:29.956] Init finished: Homography RANSAC (inlier) is:42 ,While 20 inliers minimum required.  px average disparity is:40.185216 ,While minimum is: 40.000000  KLT tracked: 93
[23:45:29.956] Init: distance between the first and current frame is x:-0.152435 ,z=0.045471,angle between two frames: 0.126094 
[23:45:29.956] Init: Selected Second frame. 	 The number of features: 42
[23:45:30.166] After Reprojection Map nPoint:33 ,nCell:30 ,nMatches:7 ,distance between two frames x:0.056532 ,z=0.051026,angle between two frames:0.082737
[23:45:30.166] Init estimate scale:1.215724
[23:45:30.166] it:0 	 Success 	 new_chi2: 5.827234 	 dT = 0.103617, -0.080404, 0.005587
[23:45:30.166] it:1 	 Success 	 new_chi2: 5.400323 	 dT = 0.078500, -0.057658, 0.002848
[23:45:30.166] it:2 	 Success 	 new_chi2: 5.152155 	 dT = 0.064649, -0.046596, 0.001200
[23:45:30.166] it:3 	 Success 	 new_chi2: 4.979748 	 dT = 0.055447, -0.040049, 0.000056
[23:45:30.166] it:4 	 Success 	 new_chi2: 4.848753 	 dT = 0.048728, -0.035792, -0.000812
[23:45:30.166] it:5 	 Success 	 new_chi2: 4.743998 	 dT = 0.033942, -0.065238, -0.019536
[23:45:30.166] it:6 	 Success 	 new_chi2: 4.697635 	 dT = 0.033178, -0.077456, -0.023046
[23:45:30.166] it:7 	 Success 	 new_chi2: 4.677475 	 dT = 0.030227, -0.096506, -0.029306
[23:45:30.166] it:8 	 FAILURE 	 new_chi2: 4.704831
[23:45:30.166] n deleted obs = 4 	 n obs felt =3 	 error init =0.832462 	 error end=0.668211
[23:45:30.166] After pose optimization, distance between two frames x:0.474592 ,z=-0.352167,angle between two frames:0.116439
[23:45:30.308] After Reprojection Map nPoint:37 ,nCell:34 ,nMatches:6 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:30.308] Init estimate scale:1.102636
[23:45:30.308] it:0 	 Success 	 new_chi2: 4.739379 	 dT = 0.013188, 0.017363, 0.018150
[23:45:30.308] it:1 	 FAILURE 	 new_chi2: 4.795147
[23:45:30.308] n deleted obs = 5 	 n obs felt =5 	 error init =0.473938 	 error end=0.473938
[23:45:30.308] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:30.308] Update EKF and 3D points, distance between two frames x:0.000020 ,z=0.000623,angle between two frames:0.000829
[23:45:30.450] After Reprojection Map nPoint:38 ,nCell:32 ,nMatches:9 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:30.450] Init estimate scale:0.978677
[23:45:30.450] it:0 	 Success 	 new_chi2: 5.912287 	 dT = 0.035551, -0.008032, 0.003194
[23:45:30.450] it:1 	 Success 	 new_chi2: 5.884551 	 dT = 0.031784, -0.005041, 0.003149
[23:45:30.450] it:2 	 FAILURE 	 new_chi2: 5.900320
[23:45:30.450] n deleted obs = 6 	 n obs felt =5 	 error init =0.537481 	 error end=0.534959
[23:45:30.450] After pose optimization, distance between two frames x:0.035551 ,z=-0.008032,angle between two frames:0.003194
[23:45:30.450] Update EKF and 3D points, distance between two frames x:0.033499 ,z=-0.007021,angle between two frames:0.003228
[23:45:30.593] After Reprojection Map nPoint:37 ,nCell:32 ,nMatches:6 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:30.593] Init estimate scale:0.113557
[23:45:30.593] it:0 	 Success 	 new_chi2: 3.032517 	 dT = 0.004874, -0.002425, 0.003315
[23:45:30.593] it:1 	 Success 	 new_chi2: 3.019590 	 dT = 0.003530, -0.002275, 0.002420
[23:45:30.593] it:2 	 Success 	 new_chi2: 3.009044 	 dT = 0.002563, -0.002166, 0.001782
[23:45:30.593] it:3 	 Success 	 new_chi2: 2.999643 	 dT = 0.001870, -0.002082, 0.001330
[23:45:30.593] it:4 	 Success 	 new_chi2: 2.990786 	 dT = 0.001371, -0.002011, 0.001011
[23:45:30.593] it:5 	 Success 	 new_chi2: 2.982181 	 dT = 0.003260, -0.001899, 0.002448
[23:45:30.593] it:6 	 Success 	 new_chi2: 2.978461 	 dT = 0.001805, -0.001902, 0.001364
[23:45:30.593] it:7 	 Success 	 new_chi2: 2.973605 	 dT = 0.000969, -0.001893, 0.000743
[23:45:30.593] it:8 	 Success 	 new_chi2: 2.967217 	 dT = 0.000508, -0.001869, 0.000406
[23:45:30.593] it:9 	 Success 	 new_chi2: 2.959654 	 dT = 0.000255, -0.001836, 0.000225
[23:45:30.593] it:10 	 Success 	 new_chi2: 2.951383 	 dT = 0.000113, -0.001798, 0.000129
[23:45:30.593] it:11 	 Success 	 new_chi2: 2.942755 	 dT = 0.000032, -0.001758, 0.000077
[23:45:30.593] it:12 	 Success 	 new_chi2: 2.933995 	 dT = -0.000016, -0.001717, 0.000050
[23:45:30.593] it:13 	 Success 	 new_chi2: 2.925242 	 dT = -0.000045, -0.001675, 0.000038
[23:45:30.593] it:14 	 Success 	 new_chi2: 2.916577 	 dT = -0.000063, -0.001635, 0.000033
[23:45:30.593] it:15 	 Success 	 new_chi2: 2.908050 	 dT = -0.000074, -0.001595, 0.000034
[23:45:30.593] it:16 	 Success 	 new_chi2: 2.899687 	 dT = -0.000081, -0.001555, 0.000037
[23:45:30.593] it:17 	 Success 	 new_chi2: 2.891505 	 dT = -0.000086, -0.001517, 0.000041
[23:45:30.593] it:18 	 Success 	 new_chi2: 2.883513 	 dT = -0.000089, -0.001479, 0.000047
[23:45:30.593] it:19 	 Success 	 new_chi2: 2.875714 	 dT = -0.000092, -0.001443, 0.000053
[23:45:30.593] it:20 	 Success 	 new_chi2: 2.868111 	 dT = -0.000093, -0.001407, 0.000059
[23:45:30.593] it:21 	 Success 	 new_chi2: 2.860703 	 dT = -0.000095, -0.001372, 0.000066
[23:45:30.593] it:22 	 Success 	 new_chi2: 2.853491 	 dT = -0.000095, -0.001338, 0.000073
[23:45:30.593] it:23 	 Success 	 new_chi2: 2.846474 	 dT = -0.000096, -0.001305, 0.000080
[23:45:30.593] it:24 	 Success 	 new_chi2: 2.839649 	 dT = -0.000096, -0.001273, 0.000087
[23:45:30.593] it:25 	 Success 	 new_chi2: 2.833015 	 dT = -0.000097, -0.001242, 0.000094
[23:45:30.593] it:26 	 Success 	 new_chi2: 2.826570 	 dT = -0.000097, -0.001211, 0.000101
[23:45:30.593] it:27 	 Success 	 new_chi2: 2.820313 	 dT = -0.000097, -0.001181, 0.000108
[23:45:30.593] it:28 	 Success 	 new_chi2: 2.814240 	 dT = -0.000096, -0.001152, 0.000115
[23:45:30.593] it:29 	 Success 	 new_chi2: 2.808350 	 dT = -0.000096, -0.001124, 0.000122
[23:45:30.593] it:30 	 Success 	 new_chi2: 2.802640 	 dT = -0.000096, -0.001097, 0.000129
[23:45:30.593] it:31 	 Success 	 new_chi2: 2.797107 	 dT = -0.000096, -0.001070, 0.000135
[23:45:30.593] it:32 	 Success 	 new_chi2: 2.791749 	 dT = -0.000096, -0.001044, 0.000142
[23:45:30.593] it:33 	 Success 	 new_chi2: 2.786563 	 dT = -0.000096, -0.001019, 0.000148
[23:45:30.593] it:34 	 Success 	 new_chi2: 2.781545 	 dT = -0.000096, -0.000994, 0.000155
[23:45:30.593] it:35 	 Success 	 new_chi2: 2.776693 	 dT = -0.000096, -0.000970, 0.000161
[23:45:30.593] it:36 	 Success 	 new_chi2: 2.772005 	 dT = -0.000097, -0.000947, 0.000167
[23:45:30.593] it:37 	 Success 	 new_chi2: 2.767477 	 dT = -0.000097, -0.000924, 0.000172
[23:45:30.593] it:38 	 Success 	 new_chi2: 2.763107 	 dT = -0.000098, -0.000902, 0.000178
[23:45:30.593] it:39 	 Success 	 new_chi2: 2.758892 	 dT = -0.000098, -0.000881, 0.000184
[23:45:30.593] it:40 	 Success 	 new_chi2: 2.754831 	 dT = -0.000099, -0.000860, 0.000189
[23:45:30.593] it:41 	 Success 	 new_chi2: 2.750922 	 dT = -0.000100, -0.000840, 0.000194
[23:45:30.593] it:42 	 Success 	 new_chi2: 2.747162 	 dT = -0.000101, -0.000820, 0.000199
[23:45:30.593] it:43 	 Success 	 new_chi2: 2.743551 	 dT = -0.000102, -0.000801, 0.000204
[23:45:30.594] it:44 	 Success 	 new_chi2: 2.740087 	 dT = -0.000103, -0.000783, 0.000209
[23:45:30.594] it:45 	 Success 	 new_chi2: 2.736767 	 dT = -0.000105, -0.000765, 0.000213
[23:45:30.594] it:46 	 Success 	 new_chi2: 2.733591 	 dT = -0.000133, -0.000748, 0.000197
[23:45:30.594] it:47 	 Success 	 new_chi2: 2.730304 	 dT = -0.000154, -0.000731, 0.000186
[23:45:30.594] it:48 	 Success 	 new_chi2: 2.726955 	 dT = -0.000167, -0.000715, 0.000180
[23:45:30.594] it:49 	 Success 	 new_chi2: 2.723615 	 dT = -0.000176, -0.000698, 0.000178
[23:45:30.594] it:50 	 Success 	 new_chi2: 2.720324 	 dT = -0.000181, -0.000682, 0.000179
[23:45:30.594] it:51 	 Success 	 new_chi2: 2.717107 	 dT = -0.000184, -0.000666, 0.000180
[23:45:30.594] it:52 	 Success 	 new_chi2: 2.713981 	 dT = -0.000186, -0.000650, 0.000182
[23:45:30.594] it:53 	 Success 	 new_chi2: 2.710954 	 dT = -0.000187, -0.000635, 0.000185
[23:45:30.594] it:54 	 Success 	 new_chi2: 2.708032 	 dT = -0.000188, -0.000620, 0.000188
[23:45:30.594] it:55 	 Success 	 new_chi2: 2.705216 	 dT = -0.000189, -0.000605, 0.000191
[23:45:30.594] it:56 	 Success 	 new_chi2: 2.702510 	 dT = -0.000191, -0.000592, 0.000193
[23:45:30.594] it:57 	 Success 	 new_chi2: 2.699896 	 dT = -0.000191, -0.000580, 0.000195
[23:45:30.594] it:58 	 Success 	 new_chi2: 2.697379 	 dT = -0.000191, -0.000567, 0.000197
[23:45:30.594] it:59 	 Success 	 new_chi2: 2.694964 	 dT = -0.000191, -0.000555, 0.000200
[23:45:30.594] it:60 	 Success 	 new_chi2: 2.692655 	 dT = -0.000191, -0.000543, 0.000203
[23:45:30.594] it:61 	 Success 	 new_chi2: 2.690452 	 dT = -0.000191, -0.000532, 0.000205
[23:45:30.594] it:62 	 Success 	 new_chi2: 2.688357 	 dT = -0.000190, -0.000520, 0.000208
[23:45:30.594] it:63 	 Success 	 new_chi2: 2.686370 	 dT = -0.000190, -0.000510, 0.000211
[23:45:30.594] it:64 	 Success 	 new_chi2: 2.684490 	 dT = -0.000190, -0.000499, 0.000214
[23:45:30.594] it:65 	 Success 	 new_chi2: 2.682716 	 dT = -0.000189, -0.000489, 0.000216
[23:45:30.594] it:66 	 Success 	 new_chi2: 2.681045 	 dT = -0.000189, -0.000479, 0.000219
[23:45:30.594] it:67 	 Success 	 new_chi2: 2.679475 	 dT = -0.000189, -0.000469, 0.000221
[23:45:30.594] it:68 	 Success 	 new_chi2: 2.678003 	 dT = -0.000189, -0.000460, 0.000224
[23:45:30.594] it:69 	 Success 	 new_chi2: 2.676625 	 dT = -0.000189, -0.000451, 0.000226
[23:45:30.594] n deleted obs = 3 	 n obs felt =8 	 error init =0.275683 	 error end=0.243212
[23:45:30.594] After pose optimization, distance between two frames x:0.013664 ,z=-0.077844,angle between two frames:0.024042
[23:45:30.594] Update EKF and 3D points, distance between two frames x:0.012158 ,z=-0.072299,angle between two frames:0.024150
[23:45:30.736] After Reprojection Map nPoint:38 ,nCell:38 ,nMatches:3 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:30.736] Init estimate scale:0.861030
[23:45:30.736] it:0 	 Success 	 new_chi2: 2.143321 	 dT = 0.006437, -0.010263, -0.001217
[23:45:30.736] it:1 	 Success 	 new_chi2: 2.131948 	 dT = 0.006318, -0.010241, -0.001260
[23:45:30.737] it:2 	 Success 	 new_chi2: 2.120987 	 dT = 0.006206, -0.010230, -0.001303
[23:45:30.737] it:3 	 Success 	 new_chi2: 2.110411 	 dT = 0.006101, -0.010231, -0.001347
[23:45:30.737] it:4 	 Success 	 new_chi2: 2.100192 	 dT = 0.006002, -0.010243, -0.001392
[23:45:30.737] it:5 	 Success 	 new_chi2: 2.090307 	 dT = 0.007255, -0.013069, -0.002034
[23:45:30.737] it:6 	 Success 	 new_chi2: 2.077889 	 dT = 0.007138, -0.013120, -0.002087
[23:45:30.737] it:7 	 Success 	 new_chi2: 2.065971 	 dT = 0.007028, -0.013180, -0.002141
[23:45:30.737] it:8 	 Success 	 new_chi2: 2.054525 	 dT = 0.006922, -0.013251, -0.002195
[23:45:30.737] it:9 	 Success 	 new_chi2: 2.043529 	 dT = 0.006822, -0.013332, -0.002248
[23:45:30.737] it:10 	 Success 	 new_chi2: 2.032963 	 dT = 0.006728, -0.013423, -0.002302
[23:45:30.737] it:11 	 Success 	 new_chi2: 2.022806 	 dT = 0.006638, -0.013524, -0.002357
[23:45:30.737] it:12 	 Success 	 new_chi2: 2.013043 	 dT = 0.006553, -0.013635, -0.002411
[23:45:30.737] it:13 	 Success 	 new_chi2: 2.003658 	 dT = 0.006473, -0.013757, -0.002466
[23:45:30.737] it:14 	 Success 	 new_chi2: 1.994638 	 dT = 0.006398, -0.013890, -0.002522
[23:45:30.737] it:15 	 Success 	 new_chi2: 1.985973 	 dT = 0.006328, -0.014034, -0.002578
[23:45:30.737] it:16 	 Success 	 new_chi2: 1.977653 	 dT = 0.006263, -0.014191, -0.002634
[23:45:30.737] it:17 	 Success 	 new_chi2: 1.969672 	 dT = 0.006203, -0.014359, -0.002691
[23:45:30.737] it:18 	 Success 	 new_chi2: 1.962025 	 dT = 0.006148, -0.014541, -0.002749
[23:45:30.737] it:19 	 Success 	 new_chi2: 1.954711 	 dT = 0.006099, -0.014737, -0.002807
[23:45:30.737] it:20 	 Success 	 new_chi2: 1.947729 	 dT = 0.006055, -0.014947, -0.002867
[23:45:30.737] it:21 	 Success 	 new_chi2: 1.941084 	 dT = 0.006017, -0.015172, -0.002927
[23:45:30.737] it:22 	 Success 	 new_chi2: 1.934784 	 dT = 0.005984, -0.015414, -0.002989
[23:45:30.737] it:23 	 Success 	 new_chi2: 1.928839 	 dT = 0.005958, -0.015674, -0.003051
[23:45:30.737] it:24 	 Success 	 new_chi2: 1.923266 	 dT = 0.005939, -0.015953, -0.003116
[23:45:30.737] it:25 	 Success 	 new_chi2: 1.918087 	 dT = 0.005925, -0.016252, -0.003182
[23:45:30.737] it:26 	 Success 	 new_chi2: 1.913330 	 dT = 0.005919, -0.016573, -0.003250
[23:45:30.737] it:27 	 Success 	 new_chi2: 1.909032 	 dT = 0.005919, -0.016918, -0.003320
[23:45:30.737] it:28 	 Success 	 new_chi2: 1.905239 	 dT = 0.005926, -0.017288, -0.003393
[23:45:30.737] it:29 	 Success 	 new_chi2: 1.902010 	 dT = 0.005940, -0.017686, -0.003469
[23:45:30.737] it:30 	 Success 	 new_chi2: 1.899419 	 dT = 0.005960, -0.018113, -0.003549
[23:45:30.737] it:31 	 Success 	 new_chi2: 1.897559 	 dT = 0.005985, -0.018572, -0.003633
[23:45:30.737] it:32 	 Success 	 new_chi2: 1.896545 	 dT = 0.006015, -0.019064, -0.003723
[23:45:30.737] it:33 	 Success 	 new_chi2: 1.896527 	 dT = 0.006049, -0.019592, -0.003818
[23:45:30.737] it:34 	 FAILURE 	 new_chi2: 1.897691
[23:45:30.737] n deleted obs = 1 	 n obs felt =2 	 error init =0.714440 	 error end=0.632176
[23:45:30.737] After pose optimization, distance between two frames x:0.207603 ,z=-0.474875,angle between two frames:0.085207
[23:45:30.880] After Reprojection Map nPoint:31 ,nCell:30 ,nMatches:3 ,distance between two frames x:-0.000001 ,z=-0.000009,angle between two frames:0.001907
[23:45:30.880] Init estimate scale:0.957907
[23:45:30.880] it:0 	 Success 	 new_chi2: 1.876400 	 dT = 0.011793, -0.014581, -0.005557
[23:45:30.880] it:1 	 Success 	 new_chi2: 1.798848 	 dT = 0.011870, -0.016550, -0.007171
[23:45:30.880] it:2 	 Success 	 new_chi2: 1.704652 	 dT = 0.012258, -0.019894, -0.009714
[23:45:30.880] it:3 	 Success 	 new_chi2: 1.581683 	 dT = 0.013428, -0.026740, -0.014602
[23:45:30.880] it:4 	 Success 	 new_chi2: 1.398343 	 dT = 0.018011, -0.048838, -0.029549
[23:45:30.880] it:5 	 FAILURE 	 new_chi2: 1.434198
[23:45:30.880] n deleted obs = 2 	 n obs felt =2 	 error init =0.469100 	 error end=0.349586
[23:45:30.880] After pose optimization, distance between two frames x:0.049346 ,z=-0.077774,angle between two frames:0.035137
[23:45:30.880] Update EKF and 3D points, distance between two frames x:0.044051 ,z=-0.067634,angle between two frames:0.029872
[23:45:31.023] After Reprojection Map nPoint:30 ,nCell:29 ,nMatches:4 ,distance between two frames x:-0.023730 ,z=0.045619,angle between two frames:0.023850
[23:45:31.023] Init estimate scale:1.360231
[23:45:31.023] it:0 	 Success 	 new_chi2: 3.457257 	 dT = 0.006452, -0.006222, 0.000442
[23:45:31.023] it:1 	 Success 	 new_chi2: 3.438294 	 dT = 0.006374, -0.006136, 0.000434
[23:45:31.023] it:2 	 Success 	 new_chi2: 3.419804 	 dT = 0.006298, -0.006054, 0.000427
[23:45:31.023] it:3 	 Success 	 new_chi2: 3.401765 	 dT = 0.006225, -0.005974, 0.000420
[23:45:31.023] it:4 	 Success 	 new_chi2: 3.384155 	 dT = 0.006153, -0.005896, 0.000413
[23:45:31.023] it:5 	 Success 	 new_chi2: 3.366957 	 dT = 0.006045, -0.005910, 0.000339
[23:45:31.023] it:6 	 Success 	 new_chi2: 3.350210 	 dT = 0.005976, -0.005832, 0.000334
[23:45:31.023] it:7 	 Success 	 new_chi2: 3.333852 	 dT = 0.005908, -0.005757, 0.000330
[23:45:31.023] it:8 	 Success 	 new_chi2: 3.317867 	 dT = 0.005842, -0.005684, 0.000325
[23:45:31.023] it:9 	 Success 	 new_chi2: 3.302240 	 dT = 0.005778, -0.005613, 0.000321
[23:45:31.023] it:10 	 Success 	 new_chi2: 3.286954 	 dT = 0.005716, -0.005544, 0.000317
[23:45:31.023] it:11 	 Success 	 new_chi2: 3.271997 	 dT = 0.005655, -0.005477, 0.000313
[23:45:31.023] it:12 	 Success 	 new_chi2: 3.257355 	 dT = 0.005596, -0.005411, 0.000310
[23:45:31.023] it:13 	 Success 	 new_chi2: 3.243017 	 dT = 0.005538, -0.005348, 0.000306
[23:45:31.023] it:14 	 Success 	 new_chi2: 3.228970 	 dT = 0.005482, -0.005286, 0.000302
[23:45:31.023] it:15 	 Success 	 new_chi2: 3.215203 	 dT = 0.005427, -0.005225, 0.000299
[23:45:31.023] it:16 	 Success 	 new_chi2: 3.201707 	 dT = 0.005374, -0.005166, 0.000296
[23:45:31.023] it:17 	 Success 	 new_chi2: 3.188472 	 dT = 0.005321, -0.005109, 0.000292
[23:45:31.023] it:18 	 Success 	 new_chi2: 3.175488 	 dT = 0.005270, -0.005053, 0.000289
[23:45:31.023] it:19 	 Success 	 new_chi2: 3.162747 	 dT = 0.005220, -0.004998, 0.000286
[23:45:31.023] it:20 	 Success 	 new_chi2: 3.150241 	 dT = 0.005171, -0.004944, 0.000283
[23:45:31.023] it:21 	 Success 	 new_chi2: 3.137962 	 dT = 0.005123, -0.004892, 0.000280
[23:45:31.023] it:22 	 Success 	 new_chi2: 3.125902 	 dT = 0.005076, -0.004841, 0.000278
[23:45:31.023] it:23 	 Success 	 new_chi2: 3.114055 	 dT = 0.005030, -0.004791, 0.000275
[23:45:31.023] it:24 	 Success 	 new_chi2: 3.102415 	 dT = 0.004985, -0.004741, 0.000273
[23:45:31.023] it:25 	 Success 	 new_chi2: 3.090974 	 dT = 0.004941, -0.004693, 0.000270
[23:45:31.023] it:26 	 Success 	 new_chi2: 3.079727 	 dT = 0.004898, -0.004646, 0.000268
[23:45:31.023] it:27 	 Success 	 new_chi2: 3.068668 	 dT = 0.004856, -0.004600, 0.000265
[23:45:31.023] it:28 	 Success 	 new_chi2: 3.057792 	 dT = 0.004815, -0.004555, 0.000263
[23:45:31.023] it:29 	 Success 	 new_chi2: 3.047094 	 dT = 0.004774, -0.004510, 0.000261
[23:45:31.023] it:30 	 Success 	 new_chi2: 3.036569 	 dT = 0.004734, -0.004467, 0.000259
[23:45:31.023] it:31 	 Success 	 new_chi2: 3.026212 	 dT = 0.004695, -0.004424, 0.000257
[23:45:31.023] it:32 	 Success 	 new_chi2: 3.016019 	 dT = 0.004656, -0.004381, 0.000255
[23:45:31.023] it:33 	 Success 	 new_chi2: 3.005985 	 dT = 0.004619, -0.004340, 0.000254
[23:45:31.023] it:34 	 Success 	 new_chi2: 2.996108 	 dT = 0.004582, -0.004299, 0.000252
[23:45:31.023] it:35 	 Success 	 new_chi2: 2.986382 	 dT = 0.004545, -0.004259, 0.000250
[23:45:31.023] it:36 	 Success 	 new_chi2: 2.976804 	 dT = 0.004509, -0.004220, 0.000249
[23:45:31.023] it:37 	 Success 	 new_chi2: 2.967371 	 dT = 0.004474, -0.004181, 0.000247
[23:45:31.023] it:38 	 Success 	 new_chi2: 2.958080 	 dT = 0.004440, -0.004143, 0.000246
[23:45:31.023] it:39 	 Success 	 new_chi2: 2.948927 	 dT = 0.004406, -0.004105, 0.000245
[23:45:31.023] it:40 	 Success 	 new_chi2: 2.939909 	 dT = 0.004372, -0.004068, 0.000243
[23:45:31.023] it:41 	 Success 	 new_chi2: 2.931024 	 dT = 0.004339, -0.004032, 0.000242
[23:45:31.023] it:42 	 Success 	 new_chi2: 2.922269 	 dT = 0.004307, -0.003996, 0.000241
[23:45:31.023] it:43 	 Success 	 new_chi2: 2.913641 	 dT = 0.004275, -0.003960, 0.000240
[23:45:31.023] it:44 	 Success 	 new_chi2: 2.905137 	 dT = 0.004244, -0.003925, 0.000239
[23:45:31.023] it:45 	 Success 	 new_chi2: 2.896756 	 dT = 0.004213, -0.003891, 0.000238
[23:45:31.023] it:46 	 Success 	 new_chi2: 2.888495 	 dT = 0.004183, -0.003856, 0.000238
[23:45:31.023] it:47 	 Success 	 new_chi2: 2.880352 	 dT = 0.004153, -0.003823, 0.000237
[23:45:31.023] it:48 	 Success 	 new_chi2: 2.872325 	 dT = 0.004123, -0.003789, 0.000236
[23:45:31.023] it:49 	 Success 	 new_chi2: 2.864412 	 dT = 0.004094, -0.003756, 0.000236
[23:45:31.023] it:50 	 Success 	 new_chi2: 2.856611 	 dT = 0.004066, -0.003724, 0.000235
[23:45:31.023] it:51 	 Success 	 new_chi2: 2.848921 	 dT = 0.004037, -0.003691, 0.000235
[23:45:31.023] it:52 	 Success 	 new_chi2: 2.841339 	 dT = 0.004010, -0.003659, 0.000234
[23:45:31.023] it:53 	 Success 	 new_chi2: 2.833865 	 dT = 0.003982, -0.003628, 0.000234
[23:45:31.023] it:54 	 Success 	 new_chi2: 2.826496 	 dT = 0.003955, -0.003597, 0.000234
[23:45:31.023] it:55 	 Success 	 new_chi2: 2.819231 	 dT = 0.003929, -0.003566, 0.000234
[23:45:31.023] it:56 	 Success 	 new_chi2: 2.812069 	 dT = 0.003902, -0.003535, 0.000234
[23:45:31.023] it:57 	 Success 	 new_chi2: 2.805009 	 dT = 0.003877, -0.003505, 0.000234
[23:45:31.023] it:58 	 Success 	 new_chi2: 2.798049 	 dT = 0.003851, -0.003475, 0.000234
[23:45:31.023] it:59 	 Success 	 new_chi2: 2.791188 	 dT = 0.003826, -0.003445, 0.000234
[23:45:31.023] it:60 	 Success 	 new_chi2: 2.784426 	 dT = 0.003801, -0.003415, 0.000234
[23:45:31.023] it:61 	 Success 	 new_chi2: 2.777760 	 dT = 0.003777, -0.003386, 0.000234
[23:45:31.023] it:62 	 Success 	 new_chi2: 2.771190 	 dT = 0.003752, -0.003357, 0.000235
[23:45:31.023] it:63 	 Success 	 new_chi2: 2.764716 	 dT = 0.003729, -0.003328, 0.000235
[23:45:31.023] it:64 	 Success 	 new_chi2: 2.758336 	 dT = 0.003705, -0.003299, 0.000235
[23:45:31.023] it:65 	 Success 	 new_chi2: 2.752049 	 dT = 0.003682, -0.003271, 0.000236
[23:45:31.023] it:66 	 Success 	 new_chi2: 2.745855 	 dT = 0.003659, -0.003242, 0.000237
[23:45:31.023] it:67 	 Success 	 new_chi2: 2.739753 	 dT = 0.003636, -0.003214, 0.000237
[23:45:31.023] it:68 	 Success 	 new_chi2: 2.733743 	 dT = 0.003614, -0.003186, 0.000238
[23:45:31.023] it:69 	 Success 	 new_chi2: 2.727823 	 dT = 0.003592, -0.003159, 0.000239
[23:45:31.023] n deleted obs = 3 	 n obs felt =1 	 error init =0.864314 	 error end=0.680498
[23:45:31.023] After pose optimization, distance between two frames x:0.305937 ,z=-0.263886,angle between two frames:0.042969
[23:45:31.023] Update EKF and 3D points, distance between two frames x:0.286772 ,z=-0.245539,angle between two frames:0.043204
[23:45:31.166] After Reprojection Map nPoint:36 ,nCell:29 ,nMatches:8 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:31.166] Init estimate scale:0.957718
[23:45:31.166] it:0 	 Success 	 new_chi2: 6.524843 	 dT = 0.000475, 0.000099, 0.000249
[23:45:31.166] it:1 	 FAILURE 	 new_chi2: 6.529537
[23:45:31.166] n deleted obs = 7 	 n obs felt =4 	 error init =0.593168 	 error end=0.593168
[23:45:31.166] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:31.166] Update EKF and 3D points, distance between two frames x:-0.006873 ,z=0.006918,angle between two frames:0.000551
[23:45:31.312] After Reprojection Map nPoint:37 ,nCell:34 ,nMatches:8 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:31.312] Init estimate scale:0.993193
[23:45:31.312] it:0 	 Success 	 new_chi2: 9.637878 	 dT = -0.001459, 0.001740, -0.000046
[23:45:31.312] it:1 	 Success 	 new_chi2: 9.605552 	 dT = -0.001444, 0.001730, -0.000044
[23:45:31.312] it:2 	 Success 	 new_chi2: 9.573699 	 dT = -0.001429, 0.001720, -0.000041
[23:45:31.312] it:3 	 Success 	 new_chi2: 9.542310 	 dT = -0.001414, 0.001710, -0.000039
[23:45:31.312] it:4 	 Success 	 new_chi2: 9.511372 	 dT = -0.001400, 0.001700, -0.000036
[23:45:31.312] it:5 	 Success 	 new_chi2: 9.480877 	 dT = -0.001162, 0.001378, 0.000036
[23:45:31.312] it:6 	 Success 	 new_chi2: 9.456778 	 dT = -0.001152, 0.001368, 0.000037
[23:45:31.312] it:7 	 Success 	 new_chi2: 9.432990 	 dT = -0.001142, 0.001357, 0.000037
[23:45:31.312] it:8 	 Success 	 new_chi2: 9.409506 	 dT = -0.001133, 0.001347, 0.000037
[23:45:31.312] it:9 	 Success 	 new_chi2: 9.386320 	 dT = -0.001123, 0.001337, 0.000038
[23:45:31.312] it:10 	 Success 	 new_chi2: 9.363427 	 dT = -0.001114, 0.001327, 0.000038
[23:45:31.312] it:11 	 Success 	 new_chi2: 9.340821 	 dT = -0.001104, 0.001318, 0.000039
[23:45:31.312] it:12 	 Success 	 new_chi2: 9.318496 	 dT = -0.001095, 0.001308, 0.000039
[23:45:31.312] it:13 	 Success 	 new_chi2: 9.296448 	 dT = -0.001086, 0.001298, 0.000039
[23:45:31.312] it:14 	 Success 	 new_chi2: 9.274670 	 dT = -0.001077, 0.001289, 0.000040
[23:45:31.312] it:15 	 Success 	 new_chi2: 9.253158 	 dT = -0.001069, 0.001280, 0.000040
[23:45:31.312] it:16 	 Success 	 new_chi2: 9.231908 	 dT = -0.001060, 0.001271, 0.000041
[23:45:31.312] it:17 	 Success 	 new_chi2: 9.210914 	 dT = -0.001051, 0.001262, 0.000041
[23:45:31.312] it:18 	 Success 	 new_chi2: 9.190172 	 dT = -0.001043, 0.001253, 0.000041
[23:45:31.312] it:19 	 Success 	 new_chi2: 9.169676 	 dT = -0.001035, 0.001245, 0.000042
[23:45:31.312] it:20 	 Success 	 new_chi2: 9.149424 	 dT = -0.001026, 0.001236, 0.000042
[23:45:31.312] it:21 	 Success 	 new_chi2: 9.129410 	 dT = -0.001018, 0.001228, 0.000043
[23:45:31.312] it:22 	 Success 	 new_chi2: 9.109630 	 dT = -0.001010, 0.001219, 0.000043
[23:45:31.312] it:23 	 Success 	 new_chi2: 9.090080 	 dT = -0.001002, 0.001211, 0.000043
[23:45:31.312] it:24 	 Success 	 new_chi2: 9.070757 	 dT = -0.000995, 0.001203, 0.000044
[23:45:31.312] it:25 	 Success 	 new_chi2: 9.051655 	 dT = -0.000987, 0.001195, 0.000044
[23:45:31.312] it:26 	 Success 	 new_chi2: 9.032772 	 dT = -0.000979, 0.001187, 0.000045
[23:45:31.312] it:27 	 Success 	 new_chi2: 9.014104 	 dT = -0.000972, 0.001179, 0.000045
[23:45:31.312] it:28 	 Success 	 new_chi2: 8.995647 	 dT = -0.000964, 0.001172, 0.000045
[23:45:31.312] it:29 	 Success 	 new_chi2: 8.977397 	 dT = -0.000957, 0.001164, 0.000046
[23:45:31.312] it:30 	 Success 	 new_chi2: 8.959352 	 dT = -0.000950, 0.001157, 0.000046
[23:45:31.312] it:31 	 Success 	 new_chi2: 8.941506 	 dT = -0.000943, 0.001149, 0.000047
[23:45:31.312] it:32 	 Success 	 new_chi2: 8.923859 	 dT = -0.000936, 0.001142, 0.000047
[23:45:31.312] it:33 	 Success 	 new_chi2: 8.906405 	 dT = -0.000929, 0.001135, 0.000047
[23:45:31.312] it:34 	 Success 	 new_chi2: 8.889142 	 dT = -0.000922, 0.001128, 0.000048
[23:45:31.312] it:35 	 Success 	 new_chi2: 8.872067 	 dT = -0.000915, 0.001121, 0.000048
[23:45:31.312] it:36 	 Success 	 new_chi2: 8.855177 	 dT = -0.000909, 0.001114, 0.000048
[23:45:31.312] it:37 	 Success 	 new_chi2: 8.838469 	 dT = -0.000902, 0.001107, 0.000049
[23:45:31.312] it:38 	 Success 	 new_chi2: 8.821939 	 dT = -0.000895, 0.001100, 0.000049
[23:45:31.312] it:39 	 Success 	 new_chi2: 8.805586 	 dT = -0.000889, 0.001094, 0.000049
[23:45:31.312] it:40 	 Success 	 new_chi2: 8.789406 	 dT = -0.000883, 0.001087, 0.000050
[23:45:31.312] it:41 	 Success 	 new_chi2: 8.773397 	 dT = -0.000876, 0.001081, 0.000050
[23:45:31.312] it:42 	 Success 	 new_chi2: 8.757556 	 dT = -0.000870, 0.001074, 0.000051
[23:45:31.312] it:43 	 Success 	 new_chi2: 8.741880 	 dT = -0.000864, 0.001068, 0.000051
[23:45:31.312] it:44 	 Success 	 new_chi2: 8.726367 	 dT = -0.000858, 0.001061, 0.000051
[23:45:31.312] it:45 	 Success 	 new_chi2: 8.711014 	 dT = -0.000852, 0.001055, 0.000052
[23:45:31.312] it:46 	 Success 	 new_chi2: 8.695819 	 dT = -0.000846, 0.001049, 0.000052
[23:45:31.312] it:47 	 Success 	 new_chi2: 8.680780 	 dT = -0.000840, 0.001043, 0.000052
[23:45:31.312] it:48 	 Success 	 new_chi2: 8.665894 	 dT = -0.000834, 0.001037, 0.000053
[23:45:31.312] it:49 	 Success 	 new_chi2: 8.651158 	 dT = -0.000829, 0.001031, 0.000053
[23:45:31.312] it:50 	 Success 	 new_chi2: 8.636572 	 dT = -0.000823, 0.001025, 0.000053
[23:45:31.312] it:51 	 Success 	 new_chi2: 8.622132 	 dT = -0.000817, 0.001020, 0.000054
[23:45:31.312] it:52 	 Success 	 new_chi2: 8.607836 	 dT = -0.000812, 0.001014, 0.000054
[23:45:31.312] it:53 	 Success 	 new_chi2: 8.593683 	 dT = -0.000806, 0.001008, 0.000054
[23:45:31.312] it:54 	 Success 	 new_chi2: 8.579669 	 dT = -0.000801, 0.001003, 0.000055
[23:45:31.312] it:55 	 Success 	 new_chi2: 8.565794 	 dT = -0.000796, 0.000997, 0.000055
[23:45:31.312] it:56 	 Success 	 new_chi2: 8.552055 	 dT = -0.000790, 0.000991, 0.000055
[23:45:31.312] it:57 	 Success 	 new_chi2: 8.538450 	 dT = -0.000785, 0.000986, 0.000055
[23:45:31.312] it:58 	 Success 	 new_chi2: 8.524977 	 dT = -0.000780, 0.000981, 0.000056
[23:45:31.312] it:59 	 Success 	 new_chi2: 8.511635 	 dT = -0.000775, 0.000975, 0.000056
[23:45:31.312] it:60 	 Success 	 new_chi2: 8.498421 	 dT = -0.000770, 0.000970, 0.000056
[23:45:31.312] it:61 	 Success 	 new_chi2: 8.485334 	 dT = -0.000765, 0.000965, 0.000057
[23:45:31.312] it:62 	 Success 	 new_chi2: 8.472372 	 dT = -0.000760, 0.000960, 0.000057
[23:45:31.312] it:63 	 Success 	 new_chi2: 8.459533 	 dT = -0.000755, 0.000955, 0.000057
[23:45:31.312] it:64 	 Success 	 new_chi2: 8.446816 	 dT = -0.000750, 0.000950, 0.000058
[23:45:31.312] it:65 	 Success 	 new_chi2: 8.434219 	 dT = -0.000745, 0.000945, 0.000058
[23:45:31.312] it:66 	 Success 	 new_chi2: 8.421740 	 dT = -0.000741, 0.000940, 0.000058
[23:45:31.312] it:67 	 Success 	 new_chi2: 8.409377 	 dT = -0.000736, 0.000935, 0.000058
[23:45:31.312] it:68 	 Success 	 new_chi2: 8.397130 	 dT = -0.000731, 0.000930, 0.000059
[23:45:31.312] it:69 	 Success 	 new_chi2: 8.384996 	 dT = -0.000727, 0.000925, 0.000059
[23:45:31.312] n deleted obs = 6 	 n obs felt =5 	 error init =0.876171 	 error end=0.761179
[23:45:31.312] After pose optimization, distance between two frames x:-0.066709 ,z=0.081540,angle between two frames:0.002936
[23:45:31.312] Update EKF and 3D points, distance between two frames x:-0.065254 ,z=0.079921,angle between two frames:0.002878
[23:45:31.454] After Reprojection Map nPoint:39 ,nCell:31 ,nMatches:7 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:31.454] Init estimate scale:1.201739
[23:45:31.454] it:0 	 Success 	 new_chi2: 6.083065 	 dT = -0.079259, 0.008133, -0.036983
[23:45:31.454] it:1 	 FAILURE 	 new_chi2: 6.103613
[23:45:31.454] n deleted obs = 5 	 n obs felt =5 	 error init =0.608307 	 error end=0.608307
[23:45:31.454] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:31.454] Update EKF and 3D points, distance between two frames x:0.000539 ,z=-0.000263,angle between two frames:0.001343
[23:45:31.595] After Reprojection Map nPoint:42 ,nCell:38 ,nMatches:7 ,distance between two frames x:0.003336 ,z=-0.001620,angle between two frames:0.008167
[23:45:31.595] Init estimate scale:0.692759
[23:45:31.595] it:0 	 Success 	 new_chi2: 4.324258 	 dT = -0.015779, 0.005591, -0.004659
[23:45:31.595] it:1 	 Success 	 new_chi2: 4.154499 	 dT = -0.014275, 0.005133, -0.004472
[23:45:31.595] it:2 	 Success 	 new_chi2: 4.007659 	 dT = -0.012953, 0.004741, -0.004287
[23:45:31.595] it:3 	 Success 	 new_chi2: 3.882586 	 dT = -0.011783, 0.004406, -0.004105
[23:45:31.595] it:4 	 Success 	 new_chi2: 3.777177 	 dT = -0.010737, 0.004119, -0.003923
[23:45:31.595] it:5 	 Success 	 new_chi2: 3.688039 	 dT = -0.009895, 0.003965, -0.003182
[23:45:31.595] it:6 	 Success 	 new_chi2: 3.612197 	 dT = -0.009137, 0.003738, -0.003027
[23:45:31.595] it:7 	 Success 	 new_chi2: 3.545662 	 dT = -0.008441, 0.003539, -0.002867
[23:45:31.595] it:8 	 Success 	 new_chi2: 3.486934 	 dT = -0.007792, 0.003363, -0.002699
[23:45:31.595] it:9 	 Success 	 new_chi2: 3.435008 	 dT = -0.007183, 0.003209, -0.002525
[23:45:31.595] it:10 	 Success 	 new_chi2: 3.389150 	 dT = -0.006609, 0.003077, -0.002348
[23:45:31.595] it:11 	 Success 	 new_chi2: 3.348743 	 dT = -0.006071, 0.002965, -0.002170
[23:45:31.595] it:12 	 Success 	 new_chi2: 3.313181 	 dT = -0.005572, 0.002870, -0.001997
[23:45:31.595] it:13 	 Success 	 new_chi2: 3.281842 	 dT = -0.005113, 0.002789, -0.001832
[23:45:31.595] it:14 	 Success 	 new_chi2: 3.254117 	 dT = -0.004694, 0.002720, -0.001679
[23:45:31.595] it:15 	 Success 	 new_chi2: 3.229443 	 dT = -0.004314, 0.002657, -0.001537
[23:45:31.595] it:16 	 Success 	 new_chi2: 3.207329 	 dT = -0.003970, 0.002599, -0.001407
[23:45:31.595] it:17 	 Success 	 new_chi2: 3.187359 	 dT = -0.003657, 0.002545, -0.001288
[23:45:31.595] it:18 	 Success 	 new_chi2: 3.169187 	 dT = -0.003373, 0.002492, -0.001179
[23:45:31.595] it:19 	 Success 	 new_chi2: 3.152522 	 dT = -0.003114, 0.002441, -0.001078
[23:45:31.595] it:20 	 Success 	 new_chi2: 3.137122 	 dT = -0.002878, 0.002391, -0.000986
[23:45:31.595] it:21 	 Success 	 new_chi2: 3.122785 	 dT = -0.002662, 0.002342, -0.000901
[23:45:31.595] it:22 	 Success 	 new_chi2: 3.109345 	 dT = -0.002464, 0.002293, -0.000823
[23:45:31.595] it:23 	 Success 	 new_chi2: 3.096664 	 dT = -0.002284, 0.002245, -0.000751
[23:45:31.595] it:24 	 Success 	 new_chi2: 3.084632 	 dT = -0.002119, 0.002198, -0.000686
[23:45:31.595] it:25 	 Success 	 new_chi2: 3.073160 	 dT = -0.001968, 0.002150, -0.000626
[23:45:31.595] it:26 	 Success 	 new_chi2: 3.062176 	 dT = -0.001831, 0.002103, -0.000572
[23:45:31.595] it:27 	 Success 	 new_chi2: 3.051624 	 dT = -0.001706, 0.002057, -0.000524
[23:45:31.595] it:28 	 Success 	 new_chi2: 3.041460 	 dT = -0.001592, 0.002011, -0.000479
[23:45:31.595] it:29 	 Success 	 new_chi2: 3.031649 	 dT = -0.001487, 0.001966, -0.000440
[23:45:31.595] it:30 	 Success 	 new_chi2: 3.022161 	 dT = -0.001393, 0.001921, -0.000404
[23:45:31.595] it:31 	 Success 	 new_chi2: 3.012976 	 dT = -0.001306, 0.001877, -0.000372
[23:45:31.595] it:32 	 Success 	 new_chi2: 3.004074 	 dT = -0.001227, 0.001834, -0.000344
[23:45:31.595] it:33 	 Success 	 new_chi2: 2.995442 	 dT = -0.001155, 0.001791, -0.000319
[23:45:31.595] it:34 	 Success 	 new_chi2: 2.987066 	 dT = -0.001089, 0.001749, -0.000296
[23:45:31.595] it:35 	 Success 	 new_chi2: 2.978938 	 dT = -0.001028, 0.001708, -0.000276
[23:45:31.595] it:36 	 Success 	 new_chi2: 2.971047 	 dT = -0.000973, 0.001667, -0.000258
[23:45:31.595] it:37 	 Success 	 new_chi2: 2.963387 	 dT = -0.000922, 0.001628, -0.000243
[23:45:31.595] it:38 	 Success 	 new_chi2: 2.955950 	 dT = -0.000875, 0.001589, -0.000229
[23:45:31.595] it:39 	 Success 	 new_chi2: 2.948731 	 dT = -0.000832, 0.001551, -0.000217
[23:45:31.595] it:40 	 Success 	 new_chi2: 2.941723 	 dT = -0.000792, 0.001513, -0.000206
[23:45:31.595] it:41 	 Success 	 new_chi2: 2.934922 	 dT = -0.000755, 0.001476, -0.000197
[23:45:31.595] it:42 	 Success 	 new_chi2: 2.928321 	 dT = -0.000721, 0.001441, -0.000189
[23:45:31.595] it:43 	 Success 	 new_chi2: 2.921917 	 dT = -0.000689, 0.001405, -0.000181
[23:45:31.595] it:44 	 Success 	 new_chi2: 2.915704 	 dT = -0.000659, 0.001371, -0.000175
[23:45:31.595] it:45 	 Success 	 new_chi2: 2.909678 	 dT = -0.000631, 0.001337, -0.000170
[23:45:31.595] it:46 	 Success 	 new_chi2: 2.903835 	 dT = -0.000605, 0.001304, -0.000165
[23:45:31.595] it:47 	 Success 	 new_chi2: 2.898170 	 dT = -0.000581, 0.001272, -0.000161
[23:45:31.595] it:48 	 Success 	 new_chi2: 2.892679 	 dT = -0.000558, 0.001241, -0.000158
[23:45:31.595] it:49 	 Success 	 new_chi2: 2.887358 	 dT = -0.000536, 0.001210, -0.000155
[23:45:31.595] it:50 	 Success 	 new_chi2: 2.882203 	 dT = -0.000515, 0.001180, -0.000153
[23:45:31.595] it:51 	 Success 	 new_chi2: 2.877210 	 dT = -0.000495, 0.001151, -0.000151
[23:45:31.595] it:52 	 Success 	 new_chi2: 2.872376 	 dT = -0.000477, 0.001122, -0.000150
[23:45:31.595] it:53 	 Success 	 new_chi2: 2.867696 	 dT = -0.000459, 0.001094, -0.000149
[23:45:31.595] it:54 	 Success 	 new_chi2: 2.863168 	 dT = -0.000442, 0.001066, -0.000148
[23:45:31.595] it:55 	 Success 	 new_chi2: 2.858787 	 dT = -0.000425, 0.001039, -0.000148
[23:45:31.595] it:56 	 Success 	 new_chi2: 2.854550 	 dT = -0.000410, 0.001013, -0.000147
[23:45:31.595] it:57 	 Success 	 new_chi2: 2.850454 	 dT = -0.000394, 0.000987, -0.000147
[23:45:31.595] it:58 	 Success 	 new_chi2: 2.846496 	 dT = -0.000380, 0.000962, -0.000148
[23:45:31.595] it:59 	 Success 	 new_chi2: 2.842673 	 dT = -0.000366, 0.000938, -0.000148
[23:45:31.595] it:60 	 Success 	 new_chi2: 2.838981 	 dT = -0.000352, 0.000914, -0.000149
[23:45:31.595] it:61 	 Success 	 new_chi2: 2.835417 	 dT = -0.000339, 0.000890, -0.000149
[23:45:31.595] it:62 	 Success 	 new_chi2: 2.831980 	 dT = -0.000327, 0.000867, -0.000150
[23:45:31.595] it:63 	 Success 	 new_chi2: 2.828665 	 dT = -0.000314, 0.000845, -0.000151
[23:45:31.595] it:64 	 Success 	 new_chi2: 2.825472 	 dT = -0.000302, 0.000823, -0.000152
[23:45:31.595] it:65 	 Success 	 new_chi2: 2.822396 	 dT = -0.000291, 0.000801, -0.000153
[23:45:31.595] it:66 	 Success 	 new_chi2: 2.819435 	 dT = -0.000279, 0.000780, -0.000155
[23:45:31.595] it:67 	 Success 	 new_chi2: 2.816589 	 dT = -0.000269, 0.000760, -0.000156
[23:45:31.595] it:68 	 Success 	 new_chi2: 2.813853 	 dT = -0.000258, 0.000740, -0.000158
[23:45:31.596] it:69 	 Success 	 new_chi2: 2.811227 	 dT = -0.000248, 0.000720, -0.000159
[23:45:31.596] n deleted obs = 2 	 n obs felt =8 	 error init =0.432426 	 error end=0.280871
[23:45:31.596] After pose optimization, distance between two frames x:-0.196784 ,z=0.138675,angle between two frames:0.074955
[23:45:31.596] Update EKF and 3D points, distance between two frames x:-0.185081 ,z=0.131106,angle between two frames:0.073341
[23:45:31.738] After Reprojection Map nPoint:43 ,nCell:34 ,nMatches:7 ,distance between two frames x:0.072266 ,z=-0.046736,angle between two frames:0.008316
[23:45:31.738] Init estimate scale:0.643527
[23:45:31.738] it:0 	 Success 	 new_chi2: 3.170233 	 dT = 0.001934, -0.001682, 0.000128
[23:45:31.738] it:1 	 FAILURE 	 new_chi2: 3.170576
[23:45:31.738] n deleted obs = 1 	 n obs felt =8 	 error init =0.352248 	 error end=0.352248
[23:45:31.738] After pose optimization, distance between two frames x:0.072266 ,z=-0.046736,angle between two frames:0.008316
[23:45:31.738] Update EKF and 3D points, distance between two frames x:0.072256 ,z=-0.046399,angle between two frames:0.006954
[23:45:31.879] After Reprojection Map nPoint:36 ,nCell:35 ,nMatches:5 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:31.879] Init estimate scale:1.269975
[23:45:31.879] it:0 	 Success 	 new_chi2: 4.396259 	 dT = 0.000807, 0.000226, 0.000485
[23:45:31.879] it:1 	 FAILURE 	 new_chi2: 4.396396
[23:45:31.879] n deleted obs = 4 	 n obs felt =2 	 error init =0.732710 	 error end=0.732710
[23:45:31.879] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:31.879] Update EKF and 3D points, distance between two frames x:-0.000005 ,z=0.001906,angle between two frames:0.000425
[23:45:32.021] After Reprojection Map nPoint:37 ,nCell:29 ,nMatches:5 ,distance between two frames x:-0.000029 ,z=0.008577,angle between two frames:0.001197
[23:45:32.021] Init estimate scale:0.462257
[23:45:32.021] it:0 	 Success 	 new_chi2: 2.164703 	 dT = 0.001316, -0.000232, 0.000722
[23:45:32.021] it:1 	 FAILURE 	 new_chi2: 2.173223
[23:45:32.021] n deleted obs = 1 	 n obs felt =6 	 error init =0.309243 	 error end=0.309243
[23:45:32.021] After pose optimization, distance between two frames x:-0.000029 ,z=0.008577,angle between two frames:0.001197
[23:45:32.021] Update EKF and 3D points, distance between two frames x:-0.000025 ,z=0.008887,angle between two frames:0.001613
[23:45:32.162] After Reprojection Map nPoint:35 ,nCell:35 ,nMatches:4 ,distance between two frames x:0.000016 ,z=0.001920,angle between two frames:0.002274
[23:45:32.162] Init estimate scale:0.506917
[23:45:32.162] it:0 	 Success 	 new_chi2: 2.217995 	 dT = 0.000697, -0.001096, -0.000228
[23:45:32.162] it:1 	 FAILURE 	 new_chi2: 2.218576
[23:45:32.162] n deleted obs = 2 	 n obs felt =3 	 error init =0.443599 	 error end=0.443599
[23:45:32.162] After pose optimization, distance between two frames x:0.000016 ,z=0.001920,angle between two frames:0.002274
[23:45:32.162] Update EKF and 3D points, distance between two frames x:0.000020 ,z=0.002251,angle between two frames:0.001053
[23:45:32.304] After Reprojection Map nPoint:36 ,nCell:32 ,nMatches:6 ,distance between two frames x:0.000023 ,z=0.002042,angle between two frames:0.007400
[23:45:32.304] Init estimate scale:0.618415
[23:45:32.304] it:0 	 Success 	 new_chi2: 2.987197 	 dT = -0.000512, -0.000017, -0.000365
[23:45:32.304] it:1 	 Success 	 new_chi2: 2.982664 	 dT = -0.000511, -0.000017, -0.000365
[23:45:32.304] it:2 	 Success 	 new_chi2: 2.978143 	 dT = -0.000510, -0.000017, -0.000364
[23:45:32.304] it:3 	 Success 	 new_chi2: 2.973633 	 dT = -0.000508, -0.000017, -0.000364
[23:45:32.304] it:4 	 Success 	 new_chi2: 2.969135 	 dT = -0.000507, -0.000017, -0.000364
[23:45:32.304] it:5 	 Success 	 new_chi2: 2.964648 	 dT = -0.000507, -0.000010, -0.000343
[23:45:32.304] it:6 	 Success 	 new_chi2: 2.960277 	 dT = -0.000505, -0.000010, -0.000343
[23:45:32.304] it:7 	 Success 	 new_chi2: 2.955921 	 dT = -0.000504, -0.000009, -0.000342
[23:45:32.304] it:8 	 Success 	 new_chi2: 2.951580 	 dT = -0.000502, -0.000009, -0.000341
[23:45:32.304] it:9 	 Success 	 new_chi2: 2.947255 	 dT = -0.000500, -0.000008, -0.000341
[23:45:32.304] it:10 	 Success 	 new_chi2: 2.942945 	 dT = -0.000498, -0.000008, -0.000340
[23:45:32.304] it:11 	 Success 	 new_chi2: 2.938651 	 dT = -0.000496, -0.000007, -0.000339
[23:45:32.304] it:12 	 Success 	 new_chi2: 2.934371 	 dT = -0.000494, -0.000007, -0.000339
[23:45:32.304] it:13 	 Success 	 new_chi2: 2.930108 	 dT = -0.000492, -0.000006, -0.000338
[23:45:32.304] it:14 	 Success 	 new_chi2: 2.925859 	 dT = -0.000491, -0.000006, -0.000337
[23:45:32.304] it:15 	 Success 	 new_chi2: 2.921627 	 dT = -0.000489, -0.000005, -0.000337
[23:45:32.304] it:16 	 Success 	 new_chi2: 2.917410 	 dT = -0.000487, -0.000005, -0.000336
[23:45:32.304] it:17 	 Success 	 new_chi2: 2.913209 	 dT = -0.000485, -0.000004, -0.000335
[23:45:32.304] it:18 	 Success 	 new_chi2: 2.909023 	 dT = -0.000483, -0.000004, -0.000334
[23:45:32.304] it:19 	 Success 	 new_chi2: 2.904854 	 dT = -0.000481, -0.000003, -0.000334
[23:45:32.304] it:20 	 Success 	 new_chi2: 2.900700 	 dT = -0.000479, -0.000003, -0.000333
[23:45:32.304] it:21 	 Success 	 new_chi2: 2.896562 	 dT = -0.000478, -0.000002, -0.000332
[23:45:32.304] it:22 	 Success 	 new_chi2: 2.892440 	 dT = -0.000476, -0.000002, -0.000332
[23:45:32.304] it:23 	 Success 	 new_chi2: 2.888335 	 dT = -0.000474, -0.000001, -0.000331
[23:45:32.304] it:24 	 Success 	 new_chi2: 2.884245 	 dT = -0.000472, -0.000001, -0.000330
[23:45:32.304] it:25 	 Success 	 new_chi2: 2.880172 	 dT = -0.000470, -0.000000, -0.000330
[23:45:32.304] it:26 	 Success 	 new_chi2: 2.876116 	 dT = -0.000468, 0.000000, -0.000329
[23:45:32.304] it:27 	 Success 	 new_chi2: 2.872075 	 dT = -0.000467, 0.000001, -0.000328
[23:45:32.304] it:28 	 Success 	 new_chi2: 2.868052 	 dT = -0.000465, 0.000001, -0.000327
[23:45:32.304] it:29 	 Success 	 new_chi2: 2.864045 	 dT = -0.000463, 0.000001, -0.000327
[23:45:32.304] it:30 	 Success 	 new_chi2: 2.860054 	 dT = -0.000461, 0.000002, -0.000326
[23:45:32.304] it:31 	 Success 	 new_chi2: 2.856081 	 dT = -0.000459, 0.000002, -0.000325
[23:45:32.304] it:32 	 Success 	 new_chi2: 2.852124 	 dT = -0.000457, 0.000003, -0.000325
[23:45:32.304] it:33 	 Success 	 new_chi2: 2.848185 	 dT = -0.000455, 0.000003, -0.000324
[23:45:32.304] it:34 	 Success 	 new_chi2: 2.844263 	 dT = -0.000454, 0.000004, -0.000323
[23:45:32.304] it:35 	 Success 	 new_chi2: 2.840358 	 dT = -0.000452, 0.000004, -0.000322
[23:45:32.304] it:36 	 Success 	 new_chi2: 2.836471 	 dT = -0.000450, 0.000005, -0.000322
[23:45:32.304] it:37 	 Success 	 new_chi2: 2.832602 	 dT = -0.000448, 0.000006, -0.000321
[23:45:32.304] it:38 	 Success 	 new_chi2: 2.828750 	 dT = -0.000446, 0.000006, -0.000320
[23:45:32.304] it:39 	 Success 	 new_chi2: 2.824916 	 dT = -0.000444, 0.000007, -0.000319
[23:45:32.304] it:40 	 Success 	 new_chi2: 2.821101 	 dT = -0.000443, 0.000007, -0.000319
[23:45:32.304] it:41 	 Success 	 new_chi2: 2.817303 	 dT = -0.000441, 0.000008, -0.000318
[23:45:32.304] it:42 	 Success 	 new_chi2: 2.813525 	 dT = -0.000439, 0.000008, -0.000317
[23:45:32.304] it:43 	 Success 	 new_chi2: 2.809765 	 dT = -0.000437, 0.000009, -0.000317
[23:45:32.304] it:44 	 Success 	 new_chi2: 2.806024 	 dT = -0.000435, 0.000009, -0.000316
[23:45:32.304] it:45 	 Success 	 new_chi2: 2.802302 	 dT = -0.000433, 0.000010, -0.000315
[23:45:32.304] it:46 	 Success 	 new_chi2: 2.798599 	 dT = -0.000432, 0.000010, -0.000314
[23:45:32.304] it:47 	 Success 	 new_chi2: 2.794916 	 dT = -0.000430, 0.000011, -0.000314
[23:45:32.304] it:48 	 Success 	 new_chi2: 2.791253 	 dT = -0.000428, 0.000011, -0.000313
[23:45:32.304] it:49 	 Success 	 new_chi2: 2.787611 	 dT = -0.000426, 0.000012, -0.000312
[23:45:32.304] it:50 	 Success 	 new_chi2: 2.783988 	 dT = -0.000424, 0.000012, -0.000311
[23:45:32.304] it:51 	 Success 	 new_chi2: 2.780387 	 dT = -0.000422, 0.000013, -0.000311
[23:45:32.304] it:52 	 Success 	 new_chi2: 2.776807 	 dT = -0.000421, 0.000013, -0.000310
[23:45:32.304] it:53 	 Success 	 new_chi2: 2.773248 	 dT = -0.000419, 0.000014, -0.000309
[23:45:32.304] it:54 	 Success 	 new_chi2: 2.769711 	 dT = -0.000417, 0.000014, -0.000308
[23:45:32.304] it:55 	 Success 	 new_chi2: 2.766197 	 dT = -0.000415, 0.000015, -0.000308
[23:45:32.304] it:56 	 Success 	 new_chi2: 2.762705 	 dT = -0.000413, 0.000015, -0.000307
[23:45:32.304] it:57 	 Success 	 new_chi2: 2.759236 	 dT = -0.000412, 0.000015, -0.000306
[23:45:32.304] it:58 	 Success 	 new_chi2: 2.755791 	 dT = -0.000410, 0.000016, -0.000306
[23:45:32.304] it:59 	 Success 	 new_chi2: 2.752371 	 dT = -0.000408, 0.000016, -0.000305
[23:45:32.304] it:60 	 Success 	 new_chi2: 2.748975 	 dT = -0.000406, 0.000017, -0.000304
[23:45:32.304] it:61 	 Success 	 new_chi2: 2.745604 	 dT = -0.000405, 0.000017, -0.000303
[23:45:32.304] it:62 	 Success 	 new_chi2: 2.742259 	 dT = -0.000403, 0.000018, -0.000303
[23:45:32.304] it:63 	 Success 	 new_chi2: 2.738941 	 dT = -0.000401, 0.000018, -0.000302
[23:45:32.304] it:64 	 Success 	 new_chi2: 2.735650 	 dT = -0.000399, 0.000019, -0.000301
[23:45:32.304] it:65 	 Success 	 new_chi2: 2.732386 	 dT = -0.000398, 0.000019, -0.000301
[23:45:32.304] it:66 	 Success 	 new_chi2: 2.729152 	 dT = -0.000396, 0.000020, -0.000300
[23:45:32.304] it:67 	 Success 	 new_chi2: 2.725946 	 dT = -0.000394, 0.000020, -0.000299
[23:45:32.304] it:68 	 Success 	 new_chi2: 2.722771 	 dT = -0.000393, 0.000021, -0.000299
[23:45:32.304] it:69 	 Success 	 new_chi2: 2.719627 	 dT = -0.000391, 0.000021, -0.000298
[23:45:32.304] n deleted obs = 2 	 n obs felt =6 	 error init =0.373400 	 error end=0.339564
[23:45:32.304] After pose optimization, distance between two frames x:-0.031670 ,z=0.002314,angle between two frames:0.015272
[23:45:32.304] Update EKF and 3D points, distance between two frames x:-0.029816 ,z=0.002932,angle between two frames:0.012921
[23:45:32.446] After Reprojection Map nPoint:37 ,nCell:33 ,nMatches:5 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:32.446] Init estimate scale:0.106481
[23:45:32.446] it:0 	 Success 	 new_chi2: 2.238259 	 dT = 0.001039, 0.000378, 0.000969
[23:45:32.446] it:1 	 Success 	 new_chi2: 2.238040 	 dT = 0.001030, 0.000384, 0.000967
[23:45:32.446] it:2 	 FAILURE 	 new_chi2: 2.238943
[23:45:32.446] n deleted obs = 1 	 n obs felt =7 	 error init =0.279782 	 error end=0.279755
[23:45:32.446] After pose optimization, distance between two frames x:0.001039 ,z=0.000378,angle between two frames:0.000969
[23:45:32.446] Update EKF and 3D points, distance between two frames x:0.001643 ,z=0.000895,angle between two frames:0.001403
[23:45:32.589] After Reprojection Map nPoint:40 ,nCell:38 ,nMatches:7 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:32.589] Init estimate scale:0.860126
[23:45:32.589] it:0 	 Success 	 new_chi2: 5.257556 	 dT = 0.001990, -0.000394, 0.003837
[23:45:32.589] it:1 	 FAILURE 	 new_chi2: 5.274570
[23:45:32.589] n deleted obs = 5 	 n obs felt =5 	 error init =0.525756 	 error end=0.525756
[23:45:32.589] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[23:45:32.589] Update EKF and 3D points, distance between two frames x:0.000236 ,z=0.000929,angle between two frames:0.000679
[23:45:32.734] After Reprojection Map nPoint:37 ,nCell:29 ,nMatches:12 ,distance between two frames x:0.001399 ,z=0.005500,angle between two frames:0.003933
[23:45:32.734] Init estimate scale:0.232283
[23:45:32.734] it:0 	 Success 	 new_chi2: 8.368185 	 dT = 0.001985, 0.000829, 0.001529
[23:45:32.734] it:1 	 Success 	 new_chi2: 8.363887 	 dT = 0.001972, 0.000850, 0.001541
[23:45:32.735] it:2 	 Success 	 new_chi2: 8.362193 	 dT = 0.001959, 0.000871, 0.001553
[23:45:32.735] it:3 	 FAILURE 	 new_chi2: 8.363593
[23:45:32.735] n deleted obs = 8 	 n obs felt =12 	 error init =0.418409 	 error end=0.418110
[23:45:32.735] After pose optimization, distance between two frames x:0.005356 ,z=0.007179,angle between two frames:0.007003
[23:45:32.735] Update EKF and 3D points, distance between two frames x:0.005123 ,z=0.007385,angle between two frames:0.007531
[23:45:32.735] Choose frame as a key frame Scene Depth mean:0.901980 ,depth min:-0.930113
[23:45:32.884] After Reprojection Map nPoint:50 ,nCell:34 ,nMatches:15 ,distance between two frames x:-0.000314 ,z=0.000012,angle between two frames:0.000201
[23:45:32.884] Init estimate scale:0.140627
[23:45:32.884] it:0 	 Success 	 new_chi2: 10.930892 	 dT = -0.199309, -0.000786, -0.154452
[23:45:32.884] it:1 	 FAILURE 	 new_chi2: 15.867580
[23:45:32.884] n deleted obs = 8 	 n obs felt =21 	 error init =0.376927 	 error end=0.376927
[23:45:32.884] After pose optimization, distance between two frames x:-0.000314 ,z=0.000012,angle between two frames:0.000201
[23:45:32.884] Update EKF and 3D points, distance between two frames x:-0.000434 ,z=0.001870,angle between two frames:0.000522
[23:45:32.884] Choose frame as a key frame Scene Depth mean:0.878137 ,depth min:-1.438062
[23:45:33.049] After Reprojection Map nPoint:65 ,nCell:46 ,nMatches:18 ,distance between two frames x:0.002200 ,z=0.009261,angle between two frames:0.000744
[23:45:33.049] Init estimate scale:0.134937
[23:45:33.049] it:0 	 Success 	 new_chi2: 11.335360 	 dT = -0.015674, 0.037047, 0.001838
[23:45:33.049] it:1 	 Success 	 new_chi2: 10.784848 	 dT = -0.010278, 0.027452, 0.001138
[23:45:33.049] it:2 	 Success 	 new_chi2: 10.459043 	 dT = -0.007010, 0.021630, 0.000703
[23:45:33.049] it:3 	 Success 	 new_chi2: 10.260758 	 dT = -0.004845, 0.017710, 0.000396
[23:45:33.049] it:4 	 Success 	 new_chi2: 10.149387 	 dT = -0.003330, 0.014901, 0.000164
[23:45:33.049] it:5 	 Success 	 new_chi2: 10.116129 	 dT = -0.002236, -0.000746, -0.002515
[23:45:33.049] it:6 	 Success 	 new_chi2: 10.094852 	 dT = -0.001324, -0.001434, -0.002488
[23:45:33.049] it:7 	 Success 	 new_chi2: 10.089306 	 dT = -0.000627, -0.001981, -0.002472
[23:45:33.049] it:8 	 FAILURE 	 new_chi2: 10.089360
[23:45:33.049] n deleted obs = 8 	 n obs felt =30 	 error init =0.298299 	 error end=0.265508
[23:45:33.049] After pose optimization, distance between two frames x:-0.042497 ,z=0.125820,angle between two frames:0.000020
[23:45:33.049] Update EKF and 3D points, distance between two frames x:-0.040053 ,z=0.119296,angle between two frames:0.000540
[23:45:33.049] Choose frame as a key frame Scene Depth mean:1.016686 ,depth min:-0.809287
[23:45:33.200] After Reprojection Map nPoint:80 ,nCell:46 ,nMatches:21 ,distance between two frames x:0.014972 ,z=-0.040284,angle between two frames:0.005321
[23:45:33.200] Init estimate scale:0.072202
[23:45:33.200] it:0 	 Success 	 new_chi2: 12.559507 	 dT = -0.033792, -0.003558, -0.026795
[23:45:33.200] it:1 	 FAILURE 	 new_chi2: 12.811130
[23:45:33.200] n deleted obs = 8 	 n obs felt =38 	 error init =0.273033 	 error end=0.273033
[23:45:33.200] After pose optimization, distance between two frames x:0.014972 ,z=-0.040284,angle between two frames:0.005321
[23:45:33.200] Update EKF and 3D points, distance between two frames x:0.014968 ,z=-0.039658,angle between two frames:0.006139
[23:45:33.200] Choose frame as a key frame Scene Depth mean:0.960160 ,depth min:-1.357498
[23:45:33.356] After Reprojection Map nPoint:109 ,nCell:70 ,nMatches:28 ,distance between two frames x:-0.000785 ,z=0.003799,angle between two frames:0.007245
[23:45:33.356] Init estimate scale:0.075056
[23:45:33.356] it:0 	 Success 	 new_chi2: 13.246368 	 dT = 0.001891, 0.000407, 0.001864
[23:45:33.356] it:1 	 FAILURE 	 new_chi2: 13.357080
[23:45:33.356] n deleted obs = 10 	 n obs felt =47 	 error init =0.232392 	 error end=0.232392
[23:45:33.356] After pose optimization, distance between two frames x:-0.000785 ,z=0.003799,angle between two frames:0.007245
[23:45:33.356] Update EKF and 3D points, distance between two frames x:-0.000764 ,z=0.004118,angle between two frames:0.011081
[23:45:33.356] Choose frame as a key frame Scene Depth mean:0.970313 ,depth min:0.689852
[23:45:33.516] After Reprojection Map nPoint:129 ,nCell:80 ,nMatches:24 ,distance between two frames x:-0.000103 ,z=0.001935,angle between two frames:0.023674
[23:45:33.516] Init estimate scale:0.037325
[23:45:33.516] it:0 	 Success 	 new_chi2: 11.611072 	 dT = 0.003548, -0.002276, 0.001686
[23:45:33.516] it:1 	 Success 	 new_chi2: 11.582033 	 dT = 0.005244, -0.001308, 0.003743
[23:45:33.516] it:2 	 FAILURE 	 new_chi2: 11.629388
[23:45:33.516] n deleted obs = 9 	 n obs felt =45 	 error init =0.215020 	 error end=0.214482
[23:45:33.516] After pose optimization, distance between two frames x:0.003445 ,z=-0.000341,angle between two frames:0.021988
[23:45:33.516] Update EKF and 3D points, distance between two frames x:0.003231 ,z=0.000428,angle between two frames:0.020791
[23:45:33.516] Choose frame as a key frame Scene Depth mean:0.981672 ,depth min:0.657747
[23:45:33.677] After Reprojection Map nPoint:145 ,nCell:88 ,nMatches:28 ,distance between two frames x:-0.001783 ,z=0.004724,angle between two frames:0.007313
[23:45:33.677] Init estimate scale:0.051201
[23:45:33.677] it:0 	 Success 	 new_chi2: 11.487471 	 dT = -0.000884, -0.000383, -0.000744
[23:45:33.677] it:1 	 Success 	 new_chi2: 11.481305 	 dT = -0.000799, -0.000385, -0.000706
[23:45:33.677] it:2 	 Success 	 new_chi2: 11.477720 	 dT = -0.000721, -0.000386, -0.000672
[23:45:33.677] it:3 	 Success 	 new_chi2: 11.475799 	 dT = -0.000650, -0.000387, -0.000642
[23:45:33.677] it:4 	 Success 	 new_chi2: 11.474948 	 dT = -0.000585, -0.000387, -0.000614
[23:45:33.678] it:5 	 Success 	 new_chi2: 11.474781 	 dT = -0.000961, -0.000804, -0.001118
[23:45:33.678] it:6 	 FAILURE 	 new_chi2: 11.474854
[23:45:33.678] n deleted obs = 8 	 n obs felt =50 	 error init =0.198060 	 error end=0.197841
[23:45:33.678] After pose optimization, distance between two frames x:-0.005421 ,z=0.002797,angle between two frames:0.003935
[23:45:33.678] Update EKF and 3D points, distance between two frames x:-0.005196 ,z=0.003230,angle between two frames:0.002864
[23:45:33.678] Choose frame as a key frame Scene Depth mean:0.984942 ,depth min:0.663103
[23:45:33.841] After Reprojection Map nPoint:166 ,nCell:92 ,nMatches:24 ,distance between two frames x:-0.000074 ,z=-0.000000,angle between two frames:0.000038
[23:45:33.841] Init estimate scale:0.034481
[23:45:33.841] it:0 	 Success 	 new_chi2: 8.992825 	 dT = 0.007741, -0.002605, 0.006252
[23:45:33.841] it:1 	 FAILURE 	 new_chi2: 9.094406
[23:45:33.841] n deleted obs = 6 	 n obs felt =52 	 error init =0.155049 	 error end=0.155049
[23:45:33.841] After pose optimization, distance between two frames x:-0.000074 ,z=-0.000000,angle between two frames:0.000038
[23:45:33.841] Update EKF and 3D points, distance between two frames x:-0.000101 ,z=0.000758,angle between two frames:0.000350
[23:45:33.841] Choose frame as a key frame Scene Depth mean:0.946099 ,depth min:-0.851167
[23:45:34.011] After Reprojection Map nPoint:203 ,nCell:120 ,nMatches:28 ,distance between two frames x:-0.000435 ,z=0.004653,angle between two frames:0.002200
[23:45:34.011] Init estimate scale:0.045438
[23:45:34.011] it:0 	 Success 	 new_chi2: 13.728076 	 dT = -0.000001, -0.000122, -0.000030
[23:45:34.011] it:1 	 Success 	 new_chi2: 13.725773 	 dT = 0.000000, -0.000122, -0.000029
[23:45:34.011] it:2 	 Success 	 new_chi2: 13.723486 	 dT = 0.000002, -0.000121, -0.000027
[23:45:34.011] it:3 	 Success 	 new_chi2: 13.721215 	 dT = 0.000004, -0.000120, -0.000026
[23:45:34.011] it:4 	 Success 	 new_chi2: 13.718962 	 dT = 0.000005, -0.000119, -0.000025
[23:45:34.011] it:5 	 Success 	 new_chi2: 13.716724 	 dT = -0.000260, -0.000270, -0.000319
[23:45:34.011] it:6 	 Success 	 new_chi2: 13.712004 	 dT = -0.000257, -0.000269, -0.000320
[23:45:34.011] it:7 	 Success 	 new_chi2: 13.707662 	 dT = -0.000254, -0.000268, -0.000320
[23:45:34.011] it:8 	 Success 	 new_chi2: 13.703716 	 dT = -0.000252, -0.000267, -0.000320
[23:45:34.011] it:9 	 Success 	 new_chi2: 13.700201 	 dT = -0.000249, -0.000265, -0.000320
[23:45:34.011] it:10 	 Success 	 new_chi2: 13.697157 	 dT = -0.000246, -0.000264, -0.000321
[23:45:34.011] it:11 	 Success 	 new_chi2: 13.694594 	 dT = -0.000244, -0.000263, -0.000321
[23:45:34.012] it:12 	 Success 	 new_chi2: 13.692462 	 dT = -0.000242, -0.000262, -0.000322
[23:45:34.012] it:13 	 Success 	 new_chi2: 13.690694 	 dT = -0.000240, -0.000260, -0.000322
[23:45:34.012] it:14 	 Success 	 new_chi2: 13.689241 	 dT = -0.000238, -0.000259, -0.000323
[23:45:34.012] it:15 	 Success 	 new_chi2: 13.688073 	 dT = -0.000237, -0.000258, -0.000324
[23:45:34.012] it:16 	 Success 	 new_chi2: 13.687182 	 dT = -0.000235, -0.000257, -0.000325
[23:45:34.012] it:17 	 Success 	 new_chi2: 13.686572 	 dT = -0.000229, -0.000255, -0.000323
[23:45:34.012] it:18 	 Success 	 new_chi2: 13.686209 	 dT = -0.000224, -0.000254, -0.000321
[23:45:34.012] it:19 	 Success 	 new_chi2: 13.686152 	 dT = -0.000219, -0.000252, -0.000319
[23:45:34.012] it:20 	 FAILURE 	 new_chi2: 13.686569
[23:45:34.012] n deleted obs = 11 	 n obs felt =56 	 error init =0.204897 	 error end=0.204271
[23:45:34.012] After pose optimization, distance between two frames x:-0.003833 ,z=0.000380,angle between two frames:0.006837
[23:45:34.012] Update EKF and 3D points, distance between two frames x:-0.003648 ,z=0.001267,angle between two frames:0.006080
[23:45:34.012] Choose frame as a key frame Scene Depth mean:0.981913 ,depth min:-1.341747
[23:45:34.185] After Reprojection Map nPoint:245 ,nCell:96 ,nMatches:27 ,distance between two frames x:0.000793 ,z=0.005467,angle between two frames:0.004737
[23:45:34.185] Init estimate scale:0.041748
[23:45:34.186] it:0 	 Success 	 new_chi2: 18.883765 	 dT = 0.001480, -0.000493, 0.000708
[23:45:34.186] it:1 	 Success 	 new_chi2: 18.852880 	 dT = 0.001286, -0.000477, 0.000612
[23:45:34.186] it:2 	 Success 	 new_chi2: 18.827827 	 dT = 0.001115, -0.000462, 0.000528
[23:45:34.186] it:3 	 Success 	 new_chi2: 18.807291 	 dT = 0.000965, -0.000448, 0.000453
[23:45:34.186] it:4 	 Success 	 new_chi2: 18.790318 	 dT = 0.000835, -0.000436, 0.000387
[23:45:34.186] it:5 	 Success 	 new_chi2: 18.776181 	 dT = 0.001010, -0.000567, 0.000524
[23:45:34.186] it:6 	 Success 	 new_chi2: 18.760395 	 dT = 0.000995, -0.000556, 0.000527
[23:45:34.186] it:7 	 Success 	 new_chi2: 18.747996 	 dT = 0.000959, -0.000543, 0.000517
[23:45:34.186] it:8 	 Success 	 new_chi2: 18.739622 	 dT = 0.000897, -0.000528, 0.000491
[23:45:34.186] it:9 	 Success 	 new_chi2: 18.735549 	 dT = 0.000808, -0.000512, 0.000448
[23:45:34.186] it:10 	 Success 	 new_chi2: 18.735371 	 dT = 0.000701, -0.000494, 0.000392
[23:45:34.186] it:11 	 FAILURE 	 new_chi2: 18.737991
[23:45:34.186] n deleted obs = 12 	 n obs felt =64 	 error init =0.248471 	 error end=0.246518
[23:45:34.186] After pose optimization, distance between two frames x:0.011142 ,z=0.000445,angle between two frames:0.009934
[23:45:34.186] Update EKF and 3D points, distance between two frames x:0.010473 ,z=0.001477,angle between two frames:0.010145
[23:45:34.186] Choose frame as a key frame Scene Depth mean:0.971747 ,depth min:0.588135
[23:45:34.362] After Reprojection Map nPoint:261 ,nCell:128 ,nMatches:29 ,distance between two frames x:-0.004145 ,z=0.006094,angle between two frames:0.002157
[23:45:34.362] Init estimate scale:0.041695
[23:45:34.362] it:0 	 Success 	 new_chi2: 12.391113 	 dT = 0.002440, -0.000284, 0.001738
[23:45:34.362] it:1 	 FAILURE 	 new_chi2: 12.430432
[23:45:34.362] n deleted obs = 9 	 n obs felt =68 	 error init =0.160924 	 error end=0.160924
[23:45:34.362] After pose optimization, distance between two frames x:-0.004145 ,z=0.006094,angle between two frames:0.002157
[23:45:34.362] Update EKF and 3D points, distance between two frames x:-0.004142 ,z=0.006406,angle between two frames:0.002442
[23:45:34.362] Choose frame as a key frame Scene Depth mean:0.992986 ,depth min:0.608371
[23:45:34.538] After Reprojection Map nPoint:314 ,nCell:87 ,nMatches:35 ,distance between two frames x:0.000052 ,z=0.000019,angle between two frames:0.000088
[23:45:34.538] Init estimate scale:0.054324
[23:45:34.538] it:0 	 Success 	 new_chi2: 12.013899 	 dT = 0.001582, -0.001529, 0.000900
[23:45:34.538] it:1 	 Success 	 new_chi2: 12.004285 	 dT = 0.001081, -0.001450, 0.000652
[23:45:34.538] it:2 	 Success 	 new_chi2: 11.998190 	 dT = 0.000709, -0.001378, 0.000464
[23:45:34.538] it:3 	 Success 	 new_chi2: 11.990992 	 dT = 0.000437, -0.001313, 0.000321
[23:45:34.538] it:4 	 Success 	 new_chi2: 11.980358 	 dT = 0.000241, -0.001254, 0.000215
[23:45:34.538] it:5 	 Success 	 new_chi2: 11.965816 	 dT = 0.001173, -0.001487, 0.000814
[23:45:34.538] it:6 	 FAILURE 	 new_chi2: 11.998526
[23:45:34.538] n deleted obs = 7 	 n obs felt =83 	 error init =0.133488 	 error end=0.132954
[23:45:34.538] After pose optimization, distance between two frames x:0.004103 ,z=-0.006905,angle between two frames:0.002639
[23:45:34.538] Update EKF and 3D points, distance between two frames x:0.003852 ,z=-0.005752,angle between two frames:0.004807
[23:45:34.538] Choose frame as a key frame Scene Depth mean:0.926142 ,depth min:0.582781
[23:45:34.717] After Reprojection Map nPoint:329 ,nCell:122 ,nMatches:33 ,distance between two frames x:-0.000383 ,z=-0.000058,angle between two frames:0.000358
[23:45:34.717] Init estimate scale:0.064175
[23:45:34.717] it:0 	 Success 	 new_chi2: 12.300734 	 dT = -0.000181, -0.000025, -0.000142
[23:45:34.718] it:1 	 Success 	 new_chi2: 12.296001 	 dT = -0.000177, -0.000025, -0.000140
[23:45:34.718] it:2 	 Success 	 new_chi2: 12.291545 	 dT = -0.000174, -0.000025, -0.000138
[23:45:34.718] it:3 	 Success 	 new_chi2: 12.287355 	 dT = -0.000170, -0.000025, -0.000136
[23:45:34.718] it:4 	 Success 	 new_chi2: 12.283420 	 dT = -0.000166, -0.000025, -0.000134
[23:45:34.718] it:5 	 Success 	 new_chi2: 12.279731 	 dT = -0.000089, -0.000056, -0.000084
[23:45:34.718] it:6 	 Success 	 new_chi2: 12.277138 	 dT = -0.000087, -0.000056, -0.000083
[23:45:34.718] it:7 	 Success 	 new_chi2: 12.274628 	 dT = -0.000085, -0.000056, -0.000082
[23:45:34.718] it:8 	 Success 	 new_chi2: 12.272199 	 dT = -0.000083, -0.000057, -0.000081
[23:45:34.718] it:9 	 Success 	 new_chi2: 12.269846 	 dT = -0.000081, -0.000057, -0.000080
[23:45:34.718] it:10 	 Success 	 new_chi2: 12.267567 	 dT = -0.000079, -0.000057, -0.000078
[23:45:34.718] it:11 	 Success 	 new_chi2: 12.265357 	 dT = -0.000077, -0.000057, -0.000077
[23:45:34.718] it:12 	 Success 	 new_chi2: 12.263215 	 dT = -0.000075, -0.000057, -0.000076
[23:45:34.718] it:13 	 Success 	 new_chi2: 12.261137 	 dT = -0.000073, -0.000058, -0.000075
[23:45:34.718] it:14 	 Success 	 new_chi2: 12.259120 	 dT = -0.000072, -0.000058, -0.000074
[23:45:34.718] it:15 	 Success 	 new_chi2: 12.257161 	 dT = -0.000070, -0.000058, -0.000073
[23:45:34.718] it:16 	 Success 	 new_chi2: 12.255258 	 dT = -0.000068, -0.000058, -0.000073
[23:45:34.718] it:17 	 Success 	 new_chi2: 12.253409 	 dT = -0.000067, -0.000058, -0.000072
[23:45:34.718] it:18 	 Success 	 new_chi2: 12.251610 	 dT = -0.000065, -0.000058, -0.000071
[23:45:34.718] it:19 	 Success 	 new_chi2: 12.249859 	 dT = -0.000063, -0.000058, -0.000070
[23:45:34.718] it:20 	 Success 	 new_chi2: 12.248155 	 dT = -0.000062, -0.000059, -0.000069
[23:45:34.718] it:21 	 Success 	 new_chi2: 12.246494 	 dT = -0.000060, -0.000059, -0.000068
[23:45:34.718] it:22 	 Success 	 new_chi2: 12.244876 	 dT = -0.000059, -0.000059, -0.000067
[23:45:34.718] it:23 	 Success 	 new_chi2: 12.243298 	 dT = -0.000058, -0.000059, -0.000067
[23:45:34.718] it:24 	 Success 	 new_chi2: 12.241758 	 dT = -0.000056, -0.000059, -0.000066
[23:45:34.718] it:25 	 Success 	 new_chi2: 12.240254 	 dT = -0.000055, -0.000059, -0.000065
[23:45:34.718] it:26 	 Success 	 new_chi2: 12.238784 	 dT = -0.000054, -0.000059, -0.000065
[23:45:34.719] it:27 	 Success 	 new_chi2: 12.237348 	 dT = -0.000052, -0.000059, -0.000064
[23:45:34.719] it:28 	 Success 	 new_chi2: 12.235943 	 dT = -0.000051, -0.000059, -0.000063
[23:45:34.719] it:29 	 Success 	 new_chi2: 12.234568 	 dT = -0.000050, -0.000060, -0.000063
[23:45:34.719] it:30 	 Success 	 new_chi2: 12.233221 	 dT = -0.000049, -0.000060, -0.000062
[23:45:34.719] it:31 	 Success 	 new_chi2: 12.231902 	 dT = -0.000048, -0.000060, -0.000061
[23:45:34.719] it:32 	 Success 	 new_chi2: 12.230608 	 dT = -0.000047, -0.000060, -0.000061
[23:45:34.719] it:33 	 Success 	 new_chi2: 12.229340 	 dT = -0.000046, -0.000060, -0.000060
[23:45:34.719] it:34 	 Success 	 new_chi2: 12.228095 	 dT = -0.000045, -0.000060, -0.000060
[23:45:34.719] it:35 	 Success 	 new_chi2: 12.226872 	 dT = -0.000044, -0.000060, -0.000059
[23:45:34.719] it:36 	 Success 	 new_chi2: 12.225672 	 dT = -0.000043, -0.000060, -0.000059
[23:45:34.719] it:37 	 Success 	 new_chi2: 12.224492 	 dT = -0.000042, -0.000060, -0.000058
[23:45:34.719] it:38 	 Success 	 new_chi2: 12.223331 	 dT = -0.000041, -0.000060, -0.000058
[23:45:34.719] it:39 	 Success 	 new_chi2: 12.222190 	 dT = -0.000040, -0.000060, -0.000057
[23:45:34.719] it:40 	 Success 	 new_chi2: 12.221066 	 dT = -0.000039, -0.000060, -0.000057
[23:45:34.719] it:41 	 Success 	 new_chi2: 12.219960 	 dT = -0.000038, -0.000060, -0.000056
[23:45:34.719] it:42 	 Success 	 new_chi2: 12.218870 	 dT = -0.000037, -0.000060, -0.000056
[23:45:34.719] it:43 	 Success 	 new_chi2: 12.217795 	 dT = -0.000036, -0.000060, -0.000055
[23:45:34.719] it:44 	 Success 	 new_chi2: 12.216736 	 dT = -0.000035, -0.000060, -0.000055
[23:45:34.719] it:45 	 Success 	 new_chi2: 12.215691 	 dT = -0.000035, -0.000061, -0.000054
[23:45:34.719] it:46 	 Success 	 new_chi2: 12.214660 	 dT = -0.000034, -0.000061, -0.000054
[23:45:34.719] it:47 	 Success 	 new_chi2: 12.213642 	 dT = -0.000033, -0.000061, -0.000053
[23:45:34.719] it:48 	 Success 	 new_chi2: 12.212636 	 dT = -0.000032, -0.000061, -0.000053
[23:45:34.719] it:49 	 Success 	 new_chi2: 12.211643 	 dT = -0.000031, -0.000061, -0.000053
[23:45:34.720] it:50 	 Success 	 new_chi2: 12.210661 	 dT = -0.000031, -0.000061, -0.000052
[23:45:34.720] it:51 	 Success 	 new_chi2: 12.209690 	 dT = -0.000030, -0.000061, -0.000052
[23:45:34.720] it:52 	 Success 	 new_chi2: 12.208730 	 dT = -0.000029, -0.000061, -0.000052
[23:45:34.720] it:53 	 Success 	 new_chi2: 12.207780 	 dT = -0.000029, -0.000061, -0.000051
[23:45:34.720] it:54 	 Success 	 new_chi2: 12.206840 	 dT = -0.000028, -0.000061, -0.000051
[23:45:34.720] it:55 	 Success 	 new_chi2: 12.205909 	 dT = -0.000027, -0.000061, -0.000050
[23:45:34.720] it:56 	 Success 	 new_chi2: 12.204988 	 dT = -0.000027, -0.000061, -0.000050
[23:45:34.720] it:57 	 Success 	 new_chi2: 12.204074 	 dT = -0.000026, -0.000061, -0.000050
[23:45:34.720] it:58 	 Success 	 new_chi2: 12.203169 	 dT = -0.000025, -0.000061, -0.000049
[23:45:34.720] it:59 	 Success 	 new_chi2: 12.202272 	 dT = -0.000025, -0.000061, -0.000049
[23:45:34.720] it:60 	 Success 	 new_chi2: 12.201383 	 dT = -0.000024, -0.000061, -0.000049
[23:45:34.720] it:61 	 Success 	 new_chi2: 12.200501 	 dT = -0.000023, -0.000061, -0.000048
[23:45:34.720] it:62 	 Success 	 new_chi2: 12.199626 	 dT = -0.000023, -0.000061, -0.000048
[23:45:34.720] it:63 	 Success 	 new_chi2: 12.198758 	 dT = -0.000022, -0.000061, -0.000048
[23:45:34.720] it:64 	 Success 	 new_chi2: 12.197897 	 dT = -0.000022, -0.000061, -0.000047
[23:45:34.720] it:65 	 Success 	 new_chi2: 12.197042 	 dT = -0.000021, -0.000061, -0.000047
[23:45:34.720] it:66 	 Success 	 new_chi2: 12.196193 	 dT = -0.000020, -0.000061, -0.000047
[23:45:34.720] it:67 	 Success 	 new_chi2: 12.195349 	 dT = -0.000020, -0.000061, -0.000047
[23:45:34.720] it:68 	 Success 	 new_chi2: 12.194512 	 dT = -0.000019, -0.000061, -0.000046
[23:45:34.720] it:69 	 Success 	 new_chi2: 12.193680 	 dT = -0.000019, -0.000061, -0.000046
[23:45:34.720] n deleted obs = 9 	 n obs felt =72 	 error init =0.151861 	 error end=0.150529
[23:45:34.720] After pose optimization, distance between two frames x:-0.004225 ,z=-0.004053,angle between two frames:0.004974
[23:45:34.720] Update EKF and 3D points, distance between two frames x:-0.004077 ,z=-0.002763,angle between two frames:0.003738
[23:45:34.720] Choose frame as a key frame Scene Depth mean:0.978919 ,depth min:0.583120
[23:45:34.901] After Reprojection Map nPoint:387 ,nCell:119 ,nMatches:41 ,distance between two frames x:0.000715 ,z=0.007963,angle between two frames:0.007826
[23:45:34.901] Init estimate scale:0.072770
[23:45:34.902] it:0 	 Success 	 new_chi2: 17.869817 	 dT = 0.000967, -0.002129, -0.000043
[23:45:34.902] it:1 	 Success 	 new_chi2: 17.849968 	 dT = 0.000693, -0.001976, -0.000181
[23:45:34.902] it:2 	 Success 	 new_chi2: 17.827895 	 dT = 0.000519, -0.001832, -0.000285
[23:45:34.902] it:3 	 Success 	 new_chi2: 17.803472 	 dT = 0.000417, -0.001697, -0.000362
[23:45:34.902] it:4 	 Success 	 new_chi2: 17.777551 	 dT = 0.000382, -0.001574, -0.000407
[23:45:34.902] it:5 	 Success 	 new_chi2: 17.752107 	 dT = -0.000617, -0.002090, -0.000575
[23:45:34.902] it:6 	 Success 	 new_chi2: 17.677773 	 dT = -0.000460, -0.001994, -0.000510
[23:45:34.902] it:7 	 Success 	 new_chi2: 17.612554 	 dT = -0.000380, -0.001894, -0.000486
[23:45:34.902] it:8 	 Success 	 new_chi2: 17.552438 	 dT = -0.000331, -0.001795, -0.000479
[23:45:34.902] it:9 	 Success 	 new_chi2: 17.495800 	 dT = -0.000290, -0.001701, -0.000477
[23:45:34.902] it:10 	 Success 	 new_chi2: 17.442146 	 dT = -0.000248, -0.001612, -0.000473
[23:45:34.902] it:11 	 Success 	 new_chi2: 17.391540 	 dT = -0.000209, -0.001527, -0.000472
[23:45:34.902] it:12 	 Success 	 new_chi2: 17.343794 	 dT = -0.000175, -0.001446, -0.000473
[23:45:34.902] it:13 	 Success 	 new_chi2: 17.298582 	 dT = -0.000140, -0.001369, -0.000475
[23:45:34.902] it:14 	 Success 	 new_chi2: 17.255962 	 dT = -0.000108, -0.001295, -0.000478
[23:45:34.902] it:15 	 Success 	 new_chi2: 17.215767 	 dT = -0.000079, -0.001225, -0.000482
[23:45:34.902] it:16 	 Success 	 new_chi2: 17.177865 	 dT = -0.000050, -0.001158, -0.000488
[23:45:34.902] it:17 	 Success 	 new_chi2: 17.142249 	 dT = -0.000022, -0.001095, -0.000495
[23:45:34.902] it:18 	 Success 	 new_chi2: 17.108947 	 dT = 0.000004, -0.001034, -0.000504
[23:45:34.903] it:19 	 Success 	 new_chi2: 17.078040 	 dT = 0.000029, -0.000976, -0.000515
[23:45:34.903] it:20 	 Success 	 new_chi2: 17.049710 	 dT = 0.000051, -0.000919, -0.000530
[23:45:34.903] it:21 	 Success 	 new_chi2: 17.024276 	 dT = 0.000069, -0.000864, -0.000550
[23:45:34.903] it:22 	 Success 	 new_chi2: 17.002261 	 dT = 0.000080, -0.000811, -0.000579
[23:45:34.903] it:23 	 Success 	 new_chi2: 16.984345 	 dT = 0.000082, -0.000760, -0.000619
[23:45:34.903] it:24 	 Success 	 new_chi2: 16.971134 	 dT = 0.000075, -0.000709, -0.000672
[23:45:34.903] it:25 	 Success 	 new_chi2: 16.963090 	 dT = 0.000052, -0.000660, -0.000745
[23:45:34.903] it:26 	 Success 	 new_chi2: 16.960671 	 dT = 0.000001, -0.000611, -0.000848
[23:45:34.903] it:27 	 FAILURE 	 new_chi2: 16.965257
[23:45:34.903] n deleted obs = 10 	 n obs felt =98 	 error init =0.165461 	 error end=0.157043
[23:45:34.903] After pose optimization, distance between two frames x:0.001024 ,z=-0.028178,angle between two frames:0.004530
[23:45:34.903] Update EKF and 3D points, distance between two frames x:0.000995 ,z=-0.025433,angle between two frames:0.005354
[23:45:34.903] Choose frame as a key frame Scene Depth mean:0.906648 ,depth min:0.562116
[23:45:35.088] After Reprojection Map nPoint:408 ,nCell:166 ,nMatches:39 ,distance between two frames x:-0.000492 ,z=0.016945,angle between two frames:0.005769
[23:45:35.088] Init estimate scale:0.024512
[23:45:35.089] it:0 	 Success 	 new_chi2: 18.690048 	 dT = 0.000352, -0.000205, 0.000070
[23:45:35.089] it:1 	 Success 	 new_chi2: 18.680546 	 dT = 0.000336, -0.000202, 0.000063
[23:45:35.089] it:2 	 Success 	 new_chi2: 18.671701 	 dT = 0.000321, -0.000199, 0.000055
[23:45:35.089] it:3 	 Success 	 new_chi2: 18.663447 	 dT = 0.000306, -0.000196, 0.000048
[23:45:35.089] it:4 	 Success 	 new_chi2: 18.655726 	 dT = 0.000292, -0.000194, 0.000042
[23:45:35.089] it:5 	 Success 	 new_chi2: 18.648485 	 dT = 0.000062, -0.000228, -0.000095
[23:45:35.089] it:6 	 Success 	 new_chi2: 18.643861 	 dT = 0.000057, -0.000226, -0.000098
[23:45:35.089] it:7 	 Success 	 new_chi2: 18.639369 	 dT = 0.000052, -0.000225, -0.000102
[23:45:35.089] it:8 	 Success 	 new_chi2: 18.635016 	 dT = 0.000047, -0.000223, -0.000105
[23:45:35.089] it:9 	 Success 	 new_chi2: 18.630809 	 dT = 0.000042, -0.000221, -0.000109
[23:45:35.089] it:10 	 Success 	 new_chi2: 18.626757 	 dT = 0.000036, -0.000219, -0.000113
[23:45:35.089] it:11 	 Success 	 new_chi2: 18.622873 	 dT = 0.000030, -0.000218, -0.000117
[23:45:35.089] it:12 	 Success 	 new_chi2: 18.619170 	 dT = 0.000023, -0.000216, -0.000122
[23:45:35.089] it:13 	 Success 	 new_chi2: 18.615665 	 dT = 0.000017, -0.000214, -0.000127
[23:45:35.089] it:14 	 Success 	 new_chi2: 18.612378 	 dT = 0.000010, -0.000213, -0.000132
[23:45:35.089] it:15 	 Success 	 new_chi2: 18.609330 	 dT = 0.000003, -0.000211, -0.000137
[23:45:35.089] it:16 	 Success 	 new_chi2: 18.606551 	 dT = -0.000004, -0.000209, -0.000143
[23:45:35.089] it:17 	 Success 	 new_chi2: 18.604064 	 dT = -0.000012, -0.000207, -0.000148
[23:45:35.089] it:18 	 Success 	 new_chi2: 18.601914 	 dT = -0.000020, -0.000206, -0.000155
[23:45:35.090] it:19 	 Success 	 new_chi2: 18.600156 	 dT = -0.000028, -0.000204, -0.000161
[23:45:35.090] it:20 	 Success 	 new_chi2: 18.598853 	 dT = -0.000036, -0.000202, -0.000167
[23:45:35.090] it:21 	 Success 	 new_chi2: 18.598069 	 dT = -0.000045, -0.000201, -0.000174
[23:45:35.090] it:22 	 Success 	 new_chi2: 18.597906 	 dT = -0.000055, -0.000199, -0.000182
[23:45:35.090] it:23 	 FAILURE 	 new_chi2: 18.598490
[23:45:35.090] n deleted obs = 14 	 n obs felt =86 	 error init =0.186900 	 error end=0.185979
[23:45:35.090] After pose optimization, distance between two frames x:0.001349 ,z=0.012307,angle between two frames:0.007697
[23:45:35.090] Update EKF and 3D points, distance between two frames x:0.001221 ,z=0.013227,angle between two frames:0.009002
[23:45:35.090] Choose frame as a key frame Scene Depth mean:0.969300 ,depth min:0.579293
[23:45:35.280] After Reprojection Map nPoint:443 ,nCell:147 ,nMatches:44 ,distance between two frames x:-0.000309 ,z=-0.000026,angle between two frames:0.000251
[23:45:35.280] Init estimate scale:0.027457
[23:45:35.280] it:0 	 Success 	 new_chi2: 20.864483 	 dT = 0.002387, -0.001019, 0.000181
[23:45:35.280] it:1 	 Success 	 new_chi2: 20.827653 	 dT = 0.001892, -0.000947, 0.000013
[23:45:35.280] it:2 	 Success 	 new_chi2: 20.806197 	 dT = 0.001507, -0.000875, -0.000134
[23:45:35.280] it:3 	 Success 	 new_chi2: 20.792506 	 dT = 0.001223, -0.000805, -0.000257
[23:45:35.280] it:4 	 Success 	 new_chi2: 20.782998 	 dT = 0.001023, -0.000737, -0.000355
[23:45:35.280] it:5 	 Success 	 new_chi2: 20.775896 	 dT = 0.001463, -0.001494, -0.000014
[23:45:35.280] it:6 	 Success 	 new_chi2: 20.768221 	 dT = 0.001834, -0.001387, 0.000276
[23:45:35.280] it:7 	 FAILURE 	 new_chi2: 20.789170
[23:45:35.280] n deleted obs = 19 	 n obs felt =90 	 error init =0.191417 	 error end=0.190534
[23:45:35.280] After pose optimization, distance between two frames x:0.009187 ,z=-0.005903,angle between two frames:0.000817
[23:45:35.280] Update EKF and 3D points, distance between two frames x:0.007996 ,z=-0.002995,angle between two frames:0.005291
[23:45:35.281] Choose frame as a key frame Scene Depth mean:0.941403 ,depth min:0.572031
[23:45:35.474] After Reprojection Map nPoint:508 ,nCell:182 ,nMatches:40 ,distance between two frames x:-0.005539 ,z=0.013099,angle between two frames:0.023198
[23:45:35.474] Init estimate scale:0.062926
[23:45:35.474] it:0 	 Success 	 new_chi2: 23.275215 	 dT = 0.008387, -0.000534, 0.001590
[23:45:35.474] it:1 	 Success 	 new_chi2: 22.549876 	 dT = 0.008924, -0.000886, 0.002657
[23:45:35.474] it:2 	 Success 	 new_chi2: 21.892829 	 dT = 0.009201, -0.001199, 0.003618
[23:45:35.474] it:3 	 FAILURE 	 new_chi2: 21.907033
[23:45:35.474] n deleted obs = 16 	 n obs felt =99 	 error init =0.202393 	 error end=0.190372
[23:45:35.474] After pose optimization, distance between two frames x:0.011772 ,z=0.011679,angle between two frames:0.018951
[23:45:35.474] Update EKF and 3D points, distance between two frames x:0.010745 ,z=0.012081,angle between two frames:0.019529
[23:45:35.474] Choose frame as a ke