[18:02:41.746] Init: frame zero: 0.000000, 0.000000 0.000000
[18:02:41.746] Init: Selected first frame. 
[18:02:41.848] Init: px average disparity is:0.191979 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:41.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:41.949] Init: px average disparity is:0.252768 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:41.949] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:42.044] Init: px average disparity is:0.266863 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:42.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:42.145] Init: px average disparity is:0.326913 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:42.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:42.245] Init: px average disparity is:0.494200 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:42.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:42.347] Init: px average disparity is:0.392298 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:42.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:42.444] Init: px average disparity is:0.538573 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:42.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:42.546] Init: px average disparity is:0.535160 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:42.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:42.647] Init: px average disparity is:0.532697 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:42.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:42.753] Init: px average disparity is:0.603017 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:42.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:42.852] Init: px average disparity is:0.680904 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:42.852] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:42.952] Init: px average disparity is:0.760582 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:42.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:43.054] Init: px average disparity is:0.744621 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:43.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:43.153] Init: px average disparity is:0.710485 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:43.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:43.251] Init: px average disparity is:0.780823 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:43.251] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:43.353] Init: px average disparity is:0.665254 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:43.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:43.452] Init: px average disparity is:0.688072 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:43.452] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:43.553] Init: px average disparity is:0.742336 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:43.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:43.653] Init: px average disparity is:0.813359 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:43.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:43.754] Init: px average disparity is:0.685432 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:43.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:43.852] Init: px average disparity is:0.724481 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:43.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:43.953] Init: px average disparity is:0.737220 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:43.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:44.052] Init: px average disparity is:0.681092 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:44.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:44.153] Init: px average disparity is:0.679798 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:44.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:44.253] Init: px average disparity is:0.736825 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:44.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:44.352] Init: px average disparity is:0.623157 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:44.352] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:44.453] Init: px average disparity is:0.751859 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:44.454] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:44.553] Init: px average disparity is:0.707305 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:44.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:44.653] Init: px average disparity is:0.683558 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:44.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:44.753] Init: px average disparity is:0.670095 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:44.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:44.853] Init: px average disparity is:0.739708 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:44.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:44.953] Init: px average disparity is:0.765367 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:44.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:45.052] Init: px average disparity is:0.636324 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:45.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:45.153] Init: px average disparity is:0.585932 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:45.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:45.252] Init: px average disparity is:0.681309 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:45.252] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:45.354] Init: px average disparity is:0.692798 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:45.354] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:45.451] Init: px average disparity is:0.645602 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:45.452] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:45.552] Init: px average disparity is:0.616700 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:45.552] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:45.653] Init: px average disparity is:0.754621 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:45.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:45.752] Init: px average disparity is:0.613545 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:45.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:45.852] Init: px average disparity is:0.739658 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:45.852] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:45.952] Init: px average disparity is:0.644549 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:45.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:46.052] Init: px average disparity is:0.722340 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:46.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:46.153] Init: px average disparity is:0.707351 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:46.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:46.251] Init: px average disparity is:0.763697 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:46.251] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:46.353] Init: px average disparity is:0.670882 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:46.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:46.453] Init: px average disparity is:0.754096 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:46.453] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:46.553] Init: px average disparity is:0.560867 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:46.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:46.652] Init: px average disparity is:0.775139 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:46.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:46.752] Init: px average disparity is:0.748035 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:46.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:46.856] Init: px average disparity is:0.745632 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:46.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:46.953] Init: px average disparity is:0.652232 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:46.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:47.053] Init: px average disparity is:0.704000 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:47.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:47.139] Odometry x=-0.000039, y=0.004196, theta=0.058241
[18:02:47.154] Init: px average disparity is:0.689047 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:47.154] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:47.240] Odometry x=-0.000041, y=0.004278, theta=0.060855
[18:02:47.253] Init: px average disparity is:0.639077 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:47.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:47.340] Odometry x=0.000189, y=-0.003267, theta=0.063383
[18:02:47.353] Init: px average disparity is:0.702210 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:47.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:47.441] Odometry x=0.000419, y=-0.011399, theta=0.068831
[18:02:47.455] Init: px average disparity is:5.069706 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:47.455] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:47.535] Odometry x=0.000684, y=-0.019079, theta=0.065581
[18:02:47.554] Init: px average disparity is:9.892597 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:47.554] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:47.640] Odometry x=0.000927, y=-0.026371, theta=0.056621
[18:02:47.654] Init: px average disparity is:9.368447 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:47.654] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:47.740] Odometry x=0.001171, y=-0.034327, theta=0.052479
[18:02:47.754] Init: px average disparity is:10.831678 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:47.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:47.838] Odometry x=0.001379, y=-0.041939, theta=0.050019
[18:02:47.847] Init: px average disparity is:13.577461 ,While minimum is: 40.000000  KLT tracked : 110
[18:02:47.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:47.939] Odometry x=0.001566, y=-0.049116, theta=0.057259
[18:02:47.955] Init: px average disparity is:17.160603 ,While minimum is: 40.000000  KLT tracked : 109
[18:02:47.955] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:48.046] Odometry x=0.001781, y=-0.056743, theta=0.052247
[18:02:48.054] Init: px average disparity is:18.569967 ,While minimum is: 40.000000  KLT tracked : 108
[18:02:48.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:48.133] Odometry x=0.001987, y=-0.064698, theta=0.045682
[18:02:48.155] Init: px average disparity is:20.933234 ,While minimum is: 40.000000  KLT tracked : 107
[18:02:48.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:48.240] Odometry x=0.002138, y=-0.071274, theta=0.043353
[18:02:48.253] Init: px average disparity is:23.045007 ,While minimum is: 40.000000  KLT tracked : 107
[18:02:48.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:48.334] Odometry x=0.002327, y=-0.079361, theta=0.043414
[18:02:48.353] Init: px average disparity is:25.891669 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:48.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:48.436] Odometry x=0.002513, y=-0.087145, theta=0.047058
[18:02:48.454] Init: px average disparity is:25.093763 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:48.454] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:48.536] Odometry x=0.002708, y=-0.094768, theta=0.053883
[18:02:48.555] Init: px average disparity is:18.185836 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:48.555] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:48.637] Odometry x=0.002931, y=-0.102567, theta=0.055765
[18:02:48.653] Init: px average disparity is:14.725233 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:48.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:48.739] Odometry x=0.003152, y=-0.110205, theta=0.065489
[18:02:48.755] Init: px average disparity is:11.501778 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:48.755] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:48.841] Odometry x=0.003405, y=-0.117702, theta=0.072328
[18:02:48.855] Init: px average disparity is:10.378457 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:48.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:48.938] Odometry x=0.001536, y=-0.125289, theta=0.031401
[18:02:48.955] Init: px average disparity is:10.227916 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:48.955] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:49.043] Odometry x=0.001656, y=-0.132861, theta=0.039964
[18:02:49.055] Init: px average disparity is:9.720639 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:49.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:49.139] Odometry x=0.001812, y=-0.140654, theta=0.041355
[18:02:49.155] Init: px average disparity is:10.744968 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:49.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:49.238] Odometry x=0.001979, y=-0.147748, theta=0.029401
[18:02:49.246] Init: px average disparity is:13.343581 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:49.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:49.342] Odometry x=0.002095, y=-0.155375, theta=0.031651
[18:02:49.355] Init: px average disparity is:13.890903 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:49.355] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:49.438] Odometry x=0.002234, y=-0.163121, theta=0.028516
[18:02:49.454] Init: px average disparity is:14.923131 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:49.455] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:49.538] Odometry x=0.002344, y=-0.170724, theta=0.025210
[18:02:49.555] Init: px average disparity is:16.987894 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:49.555] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:49.639] Odometry x=0.002473, y=-0.178347, theta=0.032626
[18:02:49.655] Init: px average disparity is:15.839418 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:49.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:49.741] Odometry x=0.002598, y=-0.185976, theta=0.030778
[18:02:49.755] Init: px average disparity is:20.062873 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:49.755] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:49.842] Odometry x=0.002717, y=-0.193612, theta=0.022438
[18:02:49.855] Init: px average disparity is:22.569069 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:49.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:49.942] Odometry x=0.002802, y=-0.201247, theta=0.024206
[18:02:49.956] Init: px average disparity is:23.549105 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:49.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:50.042] Odometry x=0.002895, y=-0.208922, theta=0.020582
[18:02:50.055] Init: px average disparity is:24.668909 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:50.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:50.143] Odometry x=0.002975, y=-0.216570, theta=0.036631
[18:02:50.155] Init: px average disparity is:20.531670 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:50.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:50.242] Odometry x=0.003127, y=-0.224268, theta=0.036331
[18:02:50.255] Init: px average disparity is:19.157497 ,While minimum is: 40.000000  KLT tracked : 106
[18:02:50.255] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:50.347] Odometry x=0.003268, y=-0.231879, theta=0.054685
[18:02:50.356] Init: px average disparity is:13.948780 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:50.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:50.440] Odometry x=0.003491, y=-0.239862, theta=0.071305
[18:02:50.456] Init: px average disparity is:12.228991 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:50.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:50.539] Odometry x=0.001570, y=-0.247124, theta=0.045045
[18:02:50.557] Init: px average disparity is:13.362598 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:50.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:50.644] Odometry x=0.001743, y=-0.254722, theta=0.060947
[18:02:50.647] Init: px average disparity is:15.962453 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:50.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:50.739] Odometry x=0.001975, y=-0.262334, theta=0.053971
[18:02:50.754] Init: px average disparity is:13.693605 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:50.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:50.832] Odometry x=0.002170, y=-0.269597, theta=0.057497
[18:02:50.854] Init: px average disparity is:16.112203 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:50.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:50.943] Odometry x=0.002385, y=-0.276842, theta=0.047279
[18:02:50.956] Init: px average disparity is:14.053156 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:50.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:51.035] Odometry x=0.002610, y=-0.284900, theta=0.043284
[18:02:51.055] Init: px average disparity is:13.889745 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:51.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:51.136] Odometry x=0.002766, y=-0.292025, theta=0.040232
[18:02:51.155] Init: px average disparity is:15.470360 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:51.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:51.234] Odometry x=0.002929, y=-0.299186, theta=0.036382
[18:02:51.256] Init: px average disparity is:16.369030 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:51.257] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:51.340] Odometry x=0.003077, y=-0.307251, theta=0.017834
[18:02:51.362] Init: px average disparity is:23.161670 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:51.362] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:51.440] Odometry x=0.003463, y=-0.314759, theta=0.020234
[18:02:51.455] Init: px average disparity is:22.250116 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:51.455] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:51.543] Odometry x=0.003568, y=-0.322767, theta=0.025990
[18:02:51.556] Init: px average disparity is:21.140932 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:51.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:51.636] Odometry x=0.003679, y=-0.330084, theta=0.039198
[18:02:51.655] Init: px average disparity is:19.441157 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:51.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:51.737] Odometry x=0.003823, y=-0.337271, theta=0.038437
[18:02:51.754] Init: px average disparity is:20.338915 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:51.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:51.838] Odometry x=0.003985, y=-0.345154, theta=0.041532
[18:02:51.855] Init: px average disparity is:20.774032 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:51.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:51.941] Odometry x=0.004150, y=-0.352845, theta=0.050454
[18:02:51.956] Init: px average disparity is:19.689029 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:51.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:52.037] Odometry x=0.004374, y=-0.360633, theta=0.047785
[18:02:52.054] Init: px average disparity is:22.268991 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:52.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:52.136] Odometry x=0.004574, y=-0.368031, theta=0.066287
[18:02:52.156] Init: px average disparity is:21.674189 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:52.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:52.238] Odometry x=0.004902, y=-0.375416, theta=0.083560
[18:02:52.262] Init: px average disparity is:21.597978 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:52.263] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:52.337] Odometry x=0.002191, y=-0.383215, theta=0.045506
[18:02:52.353] Init: px average disparity is:22.940420 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:52.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:52.439] Odometry x=0.002368, y=-0.390493, theta=0.046103
[18:02:52.453] Init: px average disparity is:23.676992 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:52.454] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:52.538] Odometry x=0.002557, y=-0.398643, theta=0.044231
[18:02:52.556] Init: px average disparity is:22.727043 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:52.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:52.641] Odometry x=0.002745, y=-0.406076, theta=0.040416
[18:02:52.656] Init: px average disparity is:22.774608 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:52.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:52.738] Odometry x=0.002911, y=-0.413866, theta=0.037567
[18:02:52.756] Init: px average disparity is:22.237967 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:52.756] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:52.841] Odometry x=0.003085, y=-0.421315, theta=0.035948
[18:02:52.856] Init: px average disparity is:23.724841 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:52.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:52.938] Odometry x=0.003238, y=-0.429115, theta=0.036551
[18:02:52.956] Init: px average disparity is:24.640983 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:52.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:53.041] Odometry x=0.003378, y=-0.436539, theta=0.033227
[18:02:53.056] Init: px average disparity is:26.688575 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:53.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:53.135] Odometry x=0.003513, y=-0.444337, theta=0.027854
[18:02:53.156] Init: px average disparity is:26.827931 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:53.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:53.236] Odometry x=0.003620, y=-0.451596, theta=0.023930
[18:02:53.257] Init: px average disparity is:25.770529 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:53.257] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:53.337] Odometry x=0.003713, y=-0.459234, theta=0.024113
[18:02:53.359] Init: px average disparity is:23.755510 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:53.359] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:53.438] Odometry x=0.003807, y=-0.466867, theta=0.017285
[18:02:53.462] Init: px average disparity is:24.752830 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:53.462] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:53.539] Odometry x=0.003874, y=-0.474643, theta=0.016348
[18:02:53.557] Init: px average disparity is:25.141405 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:53.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:53.637] Odometry x=0.003937, y=-0.482149, theta=0.013784
[18:02:53.655] Init: px average disparity is:26.440415 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:53.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:53.736] Odometry x=0.003990, y=-0.489717, theta=0.024077
[18:02:53.757] Init: px average disparity is:25.267538 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:53.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:53.839] Odometry x=0.004086, y=-0.497387, theta=0.029313
[18:02:53.856] Init: px average disparity is:26.680032 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:53.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:53.936] Odometry x=0.004207, y=-0.505151, theta=0.036157
[18:02:53.956] Init: px average disparity is:26.280724 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:53.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:54.040] Odometry x=0.004351, y=-0.512530, theta=0.047768
[18:02:54.055] Init: px average disparity is:28.244892 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:54.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:54.144] Odometry x=0.004543, y=-0.520553, theta=0.061678
[18:02:54.157] Init: px average disparity is:28.976897 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:54.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:54.237] Odometry x=0.004781, y=-0.528220, theta=0.070038
[18:02:54.255] Init: px average disparity is:32.243741 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:54.255] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:54.339] Odometry x=0.002104, y=-0.535413, theta=0.038663
[18:02:54.367] Init: px average disparity is:30.476518 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:54.367] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:54.437] Odometry x=0.002257, y=-0.543082, theta=0.045765
[18:02:54.457] Init: px average disparity is:29.717848 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:54.458] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:54.536] Odometry x=0.002434, y=-0.550759, theta=0.040232
[18:02:54.557] Init: px average disparity is:30.422998 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:54.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:54.639] Odometry x=0.002589, y=-0.558419, theta=0.033431
[18:02:54.657] Init: px average disparity is:33.230943 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:54.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:54.737] Odometry x=0.002714, y=-0.565952, theta=0.026516
[18:02:54.757] Init: px average disparity is:33.154529 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:54.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:54.839] Odometry x=0.002820, y=-0.573586, theta=0.018361
[18:02:54.847] Init: px average disparity is:34.664082 ,While minimum is: 40.000000  KLT tracked : 105
[18:02:54.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:54.937] Odometry x=0.002895, y=-0.581147, theta=0.016507
[18:02:54.965] Init: px average disparity is:36.845577 ,While minimum is: 40.000000  KLT tracked : 104
[18:02:54.965] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:55.036] Odometry x=0.002961, y=-0.588700, theta=0.012425
[18:02:55.058] Init: px average disparity is:37.823195 ,While minimum is: 40.000000  KLT tracked : 104
[18:02:55.058] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:55.139] Odometry x=0.003011, y=-0.596330, theta=0.023072
[18:02:55.157] Init: px average disparity is:32.632947 ,While minimum is: 40.000000  KLT tracked : 102
[18:02:55.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:55.238] Odometry x=0.003098, y=-0.603963, theta=0.017958
[18:02:55.257] Init: px average disparity is:28.663544 ,While minimum is: 40.000000  KLT tracked : 100
[18:02:55.257] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:55.337] Odometry x=0.003167, y=-0.611604, theta=0.026467
[18:02:55.357] Init: px average disparity is:28.843887 ,While minimum is: 40.000000  KLT tracked : 100
[18:02:55.357] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:55.436] Odometry x=0.003268, y=-0.619276, theta=0.007277
[18:02:55.458] Init: px average disparity is:35.427599 ,While minimum is: 40.000000  KLT tracked : 100
[18:02:55.458] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:55.535] Odometry x=0.003299, y=-0.626848, theta=0.011118
[18:02:55.558] Init: px average disparity is:33.533351 ,While minimum is: 40.000000  KLT tracked : 98
[18:02:55.558] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:55.638] Odometry x=0.003349, y=-0.634476, theta=0.023310
[18:02:55.655] Init: px average disparity is:33.922991 ,While minimum is: 40.000000  KLT tracked : 98
[18:02:55.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:55.736] Odometry x=0.003449, y=-0.642109, theta=0.040491
[18:02:55.758] Init: px average disparity is:32.521279 ,While minimum is: 40.000000  KLT tracked : 97
[18:02:55.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:55.840] Odometry x=0.003605, y=-0.649726, theta=0.052843
[18:02:55.857] Init: px average disparity is:33.663227 ,While minimum is: 40.000000  KLT tracked : 97
[18:02:55.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:55.939] Odometry x=0.003817, y=-0.657731, theta=0.061854
[18:02:55.957] Init: px average disparity is:34.390904 ,While minimum is: 40.000000  KLT tracked : 97
[18:02:55.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:56.037] Odometry x=0.004042, y=-0.664964, theta=0.071467
[18:02:56.057] Init: px average disparity is:36.449998 ,While minimum is: 40.000000  KLT tracked : 97
[18:02:56.057] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:56.137] Odometry x=0.001811, y=-0.672517, theta=0.032108
[18:02:56.158] Init: px average disparity is:38.548580 ,While minimum is: 40.000000  KLT tracked : 97
[18:02:56.158] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:02:56.237] Odometry x=0.001937, y=-0.680131, theta=0.042114
[18:02:56.319] Init finished: Homography RANSAC (inlier) is:35 ,While 20 inliers minimum required.  px average disparity is:40.823408 ,While minimum is: 40.000000  KLT tracked: 97
[18:02:56.319] Init: distance between the first and current frame is x:0.002100 ,z=-0.687751,angle between two frames: 0.050278 
[18:02:56.322] Init: Selected Second frame. 	 The number of features: 35 depth mean:3.013051 min:2.463441
[18:02:56.341] Odometry x=0.002100, y=-0.687750, theta=0.050412
[18:02:56.442] Odometry x=0.002290, y=-0.695310, theta=0.050386
[18:02:56.485] After Reprojection Map nPoint:29 ,nCell:26 ,nMatches:2 ,distance between two frames x:-0.000060 ,z=0.000048,angle between two frames:0.000118
[18:02:56.486] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.193986 	 error end=0.193986
[18:02:56.486] After pose optimization, distance between two frames x:-0.000060 ,z=0.000048,angle between two frames:0.000118
[18:02:56.540] Odometry x=0.002480, y=-0.702896, theta=0.032456
[18:02:56.630] After Reprojection Map nPoint:31 ,nCell:29 ,nMatches:3 ,distance between two frames x:-0.003128 ,z=0.000556,angle between two frames:0.002113
[18:02:56.630] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.234827 	 error end=0.220525
[18:02:56.630] After pose optimization, distance between two frames x:0.060088 ,z=0.445584,angle between two frames:0.022470
[18:02:56.633] Odometry x=0.002608, y=-0.710655, theta=0.034441
[18:02:56.742] Odometry x=0.002737, y=-0.717802, theta=0.033581
[18:02:56.775] After Reprojection Map nPoint:31 ,nCell:30 ,nMatches:4 ,distance between two frames x:-0.000064 ,z=0.000211,angle between two frames:0.000029
[18:02:56.775] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.444741 	 error end=0.408023
[18:02:56.775] After pose optimization, distance between two frames x:0.077843 ,z=0.323599,angle between two frames:0.002469
[18:02:56.836] Odometry x=0.002873, y=-0.725859, theta=0.026394
[18:02:56.926] After Reprojection Map nPoint:30 ,nCell:26 ,nMatches:4 ,distance between two frames x:0.002184 ,z=0.001914,angle between two frames:0.000156
[18:02:56.926] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.386040 	 error end=0.328652
[18:02:56.926] After pose optimization, distance between two frames x:0.011780 ,z=0.034381,angle between two frames:0.000548
[18:02:56.938] Odometry x=0.002970, y=-0.733205, theta=0.020837
[18:02:57.036] Odometry x=0.003049, y=-0.740902, theta=0.013975
[18:02:57.070] After Reprojection Map nPoint:29 ,nCell:29 ,nMatches:1 ,distance between two frames x:-0.000080 ,z=0.000075,angle between two frames:0.000383
[18:02:57.070] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.076256 	 error end=0.064490
[18:02:57.070] After pose optimization, distance between two frames x:0.003736 ,z=0.078784,angle between two frames:0.006007
[18:02:57.139] Odometry x=0.003104, y=-0.748548, theta=0.015699
[18:02:57.215] After Reprojection Map nPoint:29 ,nCell:28 ,nMatches:2 ,distance between two frames x:0.005088 ,z=-0.007182,angle between two frames:0.001943
[18:02:57.215] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.519265 	 error end=0.514957
[18:02:57.215] After pose optimization, distance between two frames x:-0.101590 ,z=0.152538,angle between two frames:0.030843
[18:02:57.236] Odometry x=0.003165, y=-0.756186, theta=0.011333
[18:02:57.334] Odometry x=0.003214, y=-0.763823, theta=0.024306
[18:02:57.360] After Reprojection Map nPoint:29 ,nCell:29 ,nMatches:0 ,distance between two frames x:-0.025636 ,z=0.004587,angle between two frames:0.005949
[18:02:57.360] After pose optimization, distance between two frames x:-0.025636 ,z=0.004587,angle between two frames:0.005949
[18:02:57.364] Image Alignment failed 0
[18:02:57.436] Odometry x=0.003304, y=-0.771108, theta=0.022237
[18:02:57.501] After Reprojection Map nPoint:30 ,nCell:29 ,nMatches:2 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[18:02:57.501] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.334879 	 error end=0.334879
[18:02:57.501] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[18:02:57.533] Odometry x=0.003393, y=-0.778815, theta=0.033335
[18:02:57.636] Odometry x=0.003521, y=-0.786452, theta=0.041604
[18:02:57.647] After Reprojection Map nPoint:31 ,nCell:25 ,nMatches:3 ,distance between two frames x:-0.000421 ,z=-0.002235,angle between two frames:0.000745
[18:02:57.648] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =2 	 error init =3.142358 	 error end=0.819298
[18:02:57.648] After pose optimization, distance between two frames x:-0.192137 ,z=-0.684413,angle between two frames:0.022547
[18:02:57.733] Odometry x=0.003681, y=-0.794076, theta=0.050505
[18:02:57.805] After Reprojection Map nPoint:30 ,nCell:25 ,nMatches:4 ,distance between two frames x:0.032702 ,z=0.040774,angle between two frames:0.003518
[18:02:57.805] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =5 	 error init =1.338358 	 error end=0.176224
[18:02:57.805] After pose optimization, distance between two frames x:0.156513 ,z=0.833551,angle between two frames:0.031960
[18:02:57.836] Odometry x=0.003874, y=-0.801699, theta=0.060395
[18:02:57.934] Odometry x=0.004108, y=-0.809306, theta=0.067933
[18:02:57.966] After Reprojection Map nPoint:31 ,nCell:28 ,nMatches:3 ,distance between two frames x:0.001825 ,z=0.003331,angle between two frames:0.000166
[18:02:57.966] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.164617 	 error end=0.164617
[18:02:57.966] After pose optimization, distance between two frames x:0.001825 ,z=0.003331,angle between two frames:0.000166
[18:02:58.032] Odometry x=0.004383, y=-0.816892, theta=0.079300
[18:02:58.124] After Reprojection Map nPoint:26 ,nCell:24 ,nMatches:2 ,distance between two frames x:0.007599 ,z=0.006626,angle between two frames:0.001668
[18:02:58.124] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.619030 	 error end=0.599944
[18:02:58.124] After pose optimization, distance between two frames x:-0.154121 ,z=0.315774,angle between two frames:0.063335
[18:02:58.133] Odometry x=0.004687, y=-0.824496, theta=0.092615
[18:02:58.236] Odometry x=0.005041, y=-0.832063, theta=0.095741
[18:02:58.270] After Reprojection Map nPoint:31 ,nCell:28 ,nMatches:2 ,distance between two frames x:-0.002883 ,z=-0.004207,angle between two frames:0.000140
[18:02:58.270] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.748806 	 error end=0.236622
[18:02:58.270] After pose optimization, distance between two frames x:-0.123557 ,z=0.313393,angle between two frames:0.054384
[18:02:58.334] Odometry x=0.005404, y=-0.839616, theta=0.081959
[18:02:58.415] After Reprojection Map nPoint:30 ,nCell:28 ,nMatches:1 ,distance between two frames x:-0.000046 ,z=0.000111,angle between two frames:0.000753
[18:02:58.415] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.162819 	 error end=0.162819
[18:02:58.415] After pose optimization, distance between two frames x:-0.000046 ,z=0.000111,angle between two frames:0.000753
[18:02:58.432] Odometry x=0.005719, y=-0.847179, theta=0.075298
[18:02:58.534] Odometry x=0.006013, y=-0.854766, theta=0.068654
[18:02:58.559] After Reprojection Map nPoint:30 ,nCell:30 ,nMatches:3 ,distance between two frames x:0.000426 ,z=-0.001013,angle between two frames:0.000072
[18:02:58.559] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.447097 	 error end=0.447097
[18:02:58.559] After pose optimization, distance between two frames x:0.000426 ,z=-0.001013,angle between two frames:0.000072
[18:02:58.637] Odometry x=0.006279, y=-0.862385, theta=0.057608
[18:02:58.704] After Reprojection Map nPoint:28 ,nCell:27 ,nMatches:4 ,distance between two frames x:0.002014 ,z=0.000279,angle between two frames:0.000192
[18:02:58.704] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =2 	 error init =8.132808 	 error end=0.925792
[18:02:58.704] After pose optimization, distance between two frames x:-0.191410 ,z=-0.498238,angle between two frames:0.005430
[18:02:58.739] Odometry x=0.006503, y=-0.870010, theta=0.058968
[18:02:58.836] Odometry x=0.006731, y=-0.877723, theta=0.060357
[18:02:58.855] After Reprojection Map nPoint:31 ,nCell:25 ,nMatches:8 ,distance between two frames x:0.004021 ,z=0.000463,angle between two frames:0.000730
[18:02:58.855] n deleted obs = 13 	 n obs with reprojection error less than 0.5 px =2 	 error init =39.238151 	 error end=0.790573
[18:02:58.855] After pose optimization, distance between two frames x:-124.639006 ,z=-115.272072,angle between two frames:2.287517
[18:02:58.938] Odometry x=0.006966, y=-0.885383, theta=0.065889
[18:02:59.016] After Reprojection Map nPoint:36 ,nCell:25 ,nMatches:14 ,distance between two frames x:0.007740 ,z=-0.008280,angle between two frames:0.004985
[18:02:59.016] n deleted obs = 30 	 n obs with reprojection error less than 0.5 px =1 	 error init =21.893191 	 error end=1.477299
[18:02:59.016] After pose optimization, distance between two frames x:155.466799 ,z=84.066725,angle between two frames:0.898545
[18:02:59.036] Odometry x=0.007221, y=-0.893049, theta=0.063267
[18:02:59.137] Odometry x=0.007453, y=-0.900241, theta=0.070103
[18:02:59.161] After Reprojection Map nPoint:42 ,nCell:25 ,nMatches:18 ,distance between two frames x:0.000437 ,z=0.020066,angle between two frames:0.002304
[18:02:59.162] n deleted obs = 44 	 n obs with reprojection error less than 0.5 px =0 	 error init =36.033542 	 error end=2.847048
[18:02:59.162] After pose optimization, distance between two frames x:1013.429333 ,z=279.398238,angle between two frames:1.747498
[18:02:59.166] Image Alignment failed 0
[18:02:59.233] Odometry x=0.007732, y=-0.908170, theta=0.073298
[18:02:59.303] After Reprojection Map nPoint:51 ,nCell:29 ,nMatches:19 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000057
[18:02:59.303] n deleted obs = 44 	 n obs with reprojection error less than 0.5 px =8 	 error init =22.912259 	 error end=0.904618
[18:02:59.304] After pose optimization, distance between two frames x:-29.246841 ,z=44.497349,angle between two frames:2.958466
[18:02:59.339] Odometry x=0.008021, y=-0.915924, theta=0.084230
[18:02:59.443] Odometry x=0.008331, y=-0.923180, theta=0.095061
[18:02:59.459] After Reprojection Map nPoint:57 ,nCell:27 ,nMatches:21 ,distance between two frames x:0.019627 ,z=0.001766,angle between two frames:0.007525
[18:02:59.459] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =45 	 error init =16.729646 	 error end=0.409055
[18:02:59.459] After pose optimization, distance between two frames x:1.057209 ,z=-257.991582,angle between two frames:0.284725
[18:02:59.538] Odometry x=0.008734, y=-0.931601, theta=0.102643
[18:02:59.627] After Reprojection Map nPoint:61 ,nCell:50 ,nMatches:15 ,distance between two frames x:0.001739 ,z=0.002484,angle between two frames:0.000414
[18:02:59.627] n deleted obs = 36 	 n obs with reprojection error less than 0.5 px =1 	 error init =8.378083 	 error end=8.378083
[18:02:59.627] After pose optimization, distance between two frames x:0.001739 ,z=0.002484,angle between two frames:0.000414
[18:02:59.640] Odometry x=0.009096, y=-0.938533, theta=0.113668
[18:02:59.739] Odometry x=0.009559, y=-0.946585, theta=0.123770
[18:02:59.772] After Reprojection Map nPoint:47 ,nCell:30 ,nMatches:24 ,distance between two frames x:0.000774 ,z=-0.009431,angle between two frames:0.000873
[18:02:59.772] n deleted obs = 59 	 n obs with reprojection error less than 0.5 px =0 	 error init =7.998746 	 error end=7.998746
[18:02:59.772] After pose optimization, distance between two frames x:0.000774 ,z=-0.009431,angle between two frames:0.000873
[18:02:59.776] Image Alignment failed 0
[18:02:59.832] Odometry x=0.010028, y=-0.954004, theta=0.132328
[18:02:59.916] After Reprojection Map nPoint:58 ,nCell:30 ,nMatches:26 ,distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000788
[18:02:59.916] n deleted obs = 71 	 n obs with reprojection error less than 0.5 px =0 	 error init =8.179541 	 error end=8.179541
[18:02:59.916] After pose optimization, distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000788
[18:02:59.920] Image Alignment failed 0
[18:02:59.937] Odometry x=0.010486, y=-0.960842, theta=0.128466
[18:03:00.038] Odometry x=0.011014, y=-0.968970, theta=0.129113
[18:03:00.061] After Reprojection Map nPoint:68 ,nCell:32 ,nMatches:29 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[18:03:00.061] n deleted obs = 85 	 n obs with reprojection error less than 0.5 px =0 	 error init =6.874717 	 error end=6.874717
[18:03:00.061] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[18:03:00.065] Image Alignment failed 0
[18:03:00.138] Odometry x=0.011490, y=-0.975991, theta=0.123006
[18:03:00.204] After Reprojection Map nPoint:71 ,nCell:35 ,nMatches:32 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000153
[18:03:00.204] n deleted obs = 94 	 n obs with reprojection error less than 0.5 px =0 	 error init =7.102954 	 error end=7.102954
[18:03:00.204] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000153
[18:03:00.208] Image Alignment failed 0
[18:03:00.238] Odometry x=0.011944, y=-0.983380, theta=0.117124
[18:03:00.338] Odometry x=0.012378, y=-0.990708, theta=0.104569
[18:03:00.345] After Reprojection Map nPoint:70 ,nCell:28 ,nMatches:25 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000407
[18:03:00.345] n deleted obs = 85 	 n obs with reprojection error less than 0.5 px =0 	 error init =5.164063 	 error end=5.164063
[18:03:00.345] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000407
[18:03:00.350] Image Alignment failed 0
[18:03:00.438] Odometry x=0.012794, y=-0.998557, theta=0.097754
[18:03:00.486] After Reprojection Map nPoint:68 ,nCell:33 ,nMatches:30 ,distance between two frames x:0.000003 ,z=0.000001,angle between two frames:0.001369
[18:03:00.490] n deleted obs = 74 	 n obs with reprojection error less than 0.5 px =16 	 error init =3.906183 	 error end=0.825114
[18:03:00.490] After pose optimization, distance between two frames x:2.502201 ,z=-3.881819,angle between two frames:1.620197
[18:03:00.538] Odometry x=0.013162, y=-1.005881, theta=0.094552
[18:03:00.633] Odometry x=0.013526, y=-1.013585, theta=0.089263
[18:03:00.645] After Reprojection Map nPoint:73 ,nCell:39 ,nMatches:31 ,distance between two frames x:0.002511 ,z=0.000897,angle between two frames:0.000822
[18:03:00.646] n deleted obs = 86 	 n obs with reprojection error less than 0.5 px =1 	 error init =3.942339 	 error end=3.942339
[18:03:00.646] After pose optimization, distance between two frames x:0.002511 ,z=0.000897,angle between two frames:0.000822
[18:03:00.738] Odometry x=0.013856, y=-1.020772, theta=0.099653
[18:03:00.791] After Reprojection Map nPoint:77 ,nCell:33 ,nMatches:31 ,distance between two frames x:-0.000508 ,z=-0.001435,angle between two frames:0.000558
[18:03:00.791] n deleted obs = 99 	 n obs with reprojection error less than 0.5 px =0 	 error init =3.190939 	 error end=3.190939
[18:03:00.791] After pose optimization, distance between two frames x:-0.000508 ,z=-0.001435,angle between two frames:0.000558
[18:03:00.795] Image Alignment failed 0
[18:03:00.838] Odometry x=0.014257, y=-1.028683, theta=0.109330
[18:03:00.931] After Reprojection Map nPoint:74 ,nCell:28 ,nMatches:28 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000217
[18:03:00.931] n deleted obs = 94 	 n obs with reprojection error less than 0.5 px =0 	 error init =2.948693 	 error end=2.948693
[18:03:00.931] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000217
[18:03:00.933] Odometry x=0.014689, y=-1.036542, theta=0.109752
[18:03:00.935] Image Alignment failed 0
[18:03:01.038] Odometry x=0.015068, y=-1.043362, theta=0.107066
[18:03:01.072] After Reprojection Map nPoint:81 ,nCell:34 ,nMatches:32 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[18:03:01.072] n deleted obs = 102 	 n obs with reprojection error less than 0.5 px =0 	 error init =2.952650 	 error end=2.952650
[18:03:01.072] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[18:03:01.077] Image Alignment failed 0
[18:03:01.139] Odometry x=0.015506, y=-1.051443, theta=0.114954
[18:03:01.214] After Reprojection Map nPoint:77 ,nCell:33 ,nMatches:31 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000467
[18:03:01.215] n deleted obs = 101 	 n obs with reprojection error less than 0.5 px =0 	 error init =2.639587 	 error end=2.639587
[18:03:01.215] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000467
[18:03:01.219] Image Alignment failed 0
[18:03:01.238] Odometry x=0.015964, y=-1.059285, theta=0.122056
[18:03:01.338] Odometry x=0.016414, y=-1.066589, theta=0.132597
[18:03:01.357] After Reprojection Map nPoint:74 ,nCell:33 ,nMatches:33 ,distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.000421
[18:03:01.357] n deleted obs = 100 	 n obs with reprojection error less than 0.5 px =0 	 error init =2.432722 	 error end=2.432722
[18:03:01.357] After pose optimization, distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.000421
[18:03:01.362] Image Alignment failed 0
[18:03:01.433] Odometry x=0.016939, y=-1.074418, theta=0.142051
[18:03:01.500] After Reprojection Map nPoint:74 ,nCell:35 ,nMatches:33 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000503
[18:03:01.500] n deleted obs = 99 	 n obs with reprojection error less than 0.5 px =0 	 error init =2.203824 	 error end=2.203824
[18:03:01.500] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000503
[18:03:01.505] Image Alignment failed 0
[18:03:01.539] Odometry x=0.017428, y=-1.081218, theta=0.153827
[18:03:01.638] Odometry x=0.018052, y=-1.089251, theta=0.157083
[18:03:01.643] After Reprojection Map nPoint:68 ,nCell:32 ,nMatches:32 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[18:03:01.643] n deleted obs = 95 	 n obs with reprojection error less than 0.5 px =0 	 error init =2.288128 	 error end=2.288128
[18:03:01.643] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[18:03:01.648] Image Alignment failed 0
[18:03:01.738] Odometry x=0.018646, y=-1.096684, theta=0.166607
[18:03:01.785] After Reprojection Map nPoint:76 ,nCell:32 ,nMatches:32 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[18:03:01.786] n deleted obs = 98 	 n obs with reprojection error less than 0.5 px =1 	 error init =2.158432 	 error end=2.158432
[18:03:01.786] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[18:03:01.838] Odometry x=0.019285, y=-1.104214, theta=0.172269
[18:03:01.940] Odometry x=0.019943, y=-1.111526, theta=0.170120
[18:03:01.940] After Reprojection Map nPoint:75 ,nCell:32 ,nMatches:31 ,distance between two frames x:-0.006131 ,z=-0.023724,angle between two frames:0.001324
[18:03:01.941] n deleted obs = 100 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.867638 	 error end=1.867638
[18:03:01.941] After pose optimization, distance between two frames x:-0.006131 ,z=-0.023724,angle between two frames:0.001324
[18:03:01.945] Image Alignment failed 0
[18:03:02.034] Odometry x=0.020609, y=-1.119285, theta=0.162572
[18:03:02.081] After Reprojection Map nPoint:76 ,nCell:32 ,nMatches:32 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[18:03:02.082] n deleted obs = 100 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.978655 	 error end=1.978655
[18:03:02.082] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[18:03:02.086] Image Alignment failed 0
[18:03:02.138] Odometry x=0.021196, y=-1.126404, theta=0.154589
[18:03:02.225] After Reprojection Map nPoint:75 ,nCell:34 ,nMatches:34 ,distance between two frames x:-0.000000 ,z=0.000006,angle between two frames:0.000187
[18:03:02.225] n deleted obs = 103 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.947492 	 error end=1.947492
[18:03:02.225] After pose optimization, distance between two frames x:-0.000000 ,z=0.000006,angle between two frames:0.000187
[18:03:02.229] Image Alignment failed 0
[18:03:02.238] Odometry x=0.021820, y=-1.134376, theta=0.144148
[18:03:02.337] Odometry x=0.022361, y=-1.141723, theta=0.141553
[18:03:02.368] After Reprojection Map nPoint:75 ,nCell:35 ,nMatches:35 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000012
[18:03:02.368] n deleted obs = 105 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.914884 	 error end=1.914884
[18:03:02.368] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000012
[18:03:02.372] Image Alignment failed 0
[18:03:02.437] Odometry x=0.022897, y=-1.149228, theta=0.128168
[18:03:02.509] After Reprojection Map nPoint:70 ,nCell:34 ,nMatches:34 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000856
[18:03:02.510] n deleted obs = 97 	 n obs with reprojection error less than 0.5 px =1 	 error init =1.786113 	 error end=1.786113
[18:03:02.510] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000856
[18:03:02.540] Odometry x=0.023398, y=-1.156864, theta=0.142802
[18:03:02.640] Odometry x=0.023956, y=-1.164544, theta=0.144557
[18:03:02.655] After Reprojection Map nPoint:76 ,nCell:32 ,nMatches:30 ,distance between two frames x:0.001792 ,z=-0.000731,angle between two frames:0.001324
[18:03:02.656] n deleted obs = 95 	 n obs with reprojection error less than 0.5 px =3 	 error init =1.707294 	 error end=1.707294
[18:03:02.656] After pose optimization, distance between two frames x:0.001792 ,z=-0.000731,angle between two frames:0.001324
[18:03:02.739] Odometry x=0.024509, y=-1.172102, theta=0.146602
[18:03:02.801] After Reprojection Map nPoint:77 ,nCell:41 ,nMatches:38 ,distance between two frames x:0.075915 ,z=0.011631,angle between two frames:0.023285
[18:03:02.801] n deleted obs = 105 	 n obs with reprojection error less than 0.5 px =2 	 error init =1.917590 	 error end=1.917590
[18:03:02.801] After pose optimization, distance between two frames x:0.075915 ,z=0.011631,angle between two frames:0.023285
[18:03:02.838] Odometry x=0.025070, y=-1.179649, theta=0.142670
[18:03:02.938] Odometry x=0.025620, y=-1.187249, theta=0.150725
[18:03:02.951] After Reprojection Map nPoint:78 ,nCell:34 ,nMatches:34 ,distance between two frames x:0.010825 ,z=0.001869,angle between two frames:0.003126
[18:03:02.952] n deleted obs = 103 	 n obs with reprojection error less than 0.5 px =4 	 error init =1.653665 	 error end=1.653665
[18:03:02.952] After pose optimization, distance between two frames x:0.010825 ,z=0.001869,angle between two frames:0.003126
[18:03:03.038] Odometry x=0.026200, y=-1.194799, theta=0.156862
[18:03:03.111] After Reprojection Map nPoint:81 ,nCell:39 ,nMatches:35 ,distance between two frames x:0.003060 ,z=0.001176,angle between two frames:0.001211
[18:03:03.111] n deleted obs = 102 	 n obs with reprojection error less than 0.5 px =5 	 error init =1.593402 	 error end=1.593402
[18:03:03.111] After pose optimization, distance between two frames x:0.003060 ,z=0.001176,angle between two frames:0.001211
[18:03:03.140] Odometry x=0.026800, y=-1.202335, theta=0.165962
[18:03:03.239] Odometry x=0.027435, y=-1.209864, theta=0.177589
[18:03:03.271] After Reprojection Map nPoint:82 ,nCell:37 ,nMatches:37 ,distance between two frames x:0.000663 ,z=-0.001134,angle between two frames:0.000597
[18:03:03.272] n deleted obs = 105 	 n obs with reprojection error less than 0.5 px =5 	 error init =1.614135 	 error end=1.614135
[18:03:03.272] After pose optimization, distance between two frames x:0.000663 ,z=-0.001134,angle between two frames:0.000597
[18:03:03.339] Odometry x=0.028111, y=-1.217376, theta=0.187341
[18:03:03.425] After Reprojection Map nPoint:79 ,nCell:36 ,nMatches:34 ,distance between two frames x:0.000809 ,z=0.000591,angle between two frames:0.000784
[18:03:03.425] n deleted obs = 101 	 n obs with reprojection error less than 0.5 px =3 	 error init =1.530840 	 error end=1.530840
[18:03:03.425] After pose optimization, distance between two frames x:0.000809 ,z=0.000591,angle between two frames:0.000784
[18:03:03.437] Odometry x=0.028827, y=-1.224896, theta=0.195962
[18:03:03.539] Odometry x=0.029548, y=-1.232067, theta=0.204515
[18:03:03.580] After Reprojection Map nPoint:77 ,nCell:32 ,nMatches:29 ,distance between two frames x:0.035013 ,z=0.011187,angle between two frames:0.010842
[18:03:03.580] n deleted obs = 97 	 n obs with reprojection error less than 0.5 px =1 	 error init =1.642414 	 error end=1.642414
[18:03:03.580] After pose optimization, distance between two frames x:0.035013 ,z=0.011187,angle between two frames:0.010842
[18:03:03.642] Odometry x=0.030365, y=-1.239920, theta=0.213329
[18:03:03.724] After Reprojection Map nPoint:73 ,nCell:39 ,nMatches:37 ,distance between two frames x:0.000129 ,z=-0.000518,angle between two frames:0.000544
[18:03:03.725] n deleted obs = 100 	 n obs with reprojection error less than 0.5 px =5 	 error init =1.487643 	 error end=1.487643
[18:03:03.725] After pose optimization, distance between two frames x:0.000129 ,z=-0.000518,angle between two frames:0.000544
[18:03:03.740] Odometry x=0.031176, y=-1.247328, theta=0.219798
[18:03:03.837] Odometry x=0.032008, y=-1.254781, theta=0.216912
[18:03:03.877] After Reprojection Map nPoint:79 ,nCell:35 ,nMatches:31 ,distance between two frames x:0.001542 ,z=0.002293,angle between two frames:0.000466
[18:03:03.877] n deleted obs = 96 	 n obs with reprojection error less than 0.5 px =5 	 error init =1.411079 	 error end=1.411079
[18:03:03.877] After pose optimization, distance between two frames x:0.001542 ,z=0.002293,angle between two frames:0.000466
[18:03:03.940] Odometry x=0.032781, y=-1.261772, theta=0.211497
[18:03:04.037] After Reprojection Map nPoint:73 ,nCell:32 ,nMatches:29 ,distance between two frames x:0.007642 ,z=0.002910,angle between two frames:0.002101
[18:03:04.037] n deleted obs = 87 	 n obs with reprojection error less than 0.5 px =5 	 error init =1.417441 	 error end=1.417441
[18:03:04.037] After pose optimization, distance between two frames x:0.007642 ,z=0.002910,angle between two frames:0.002101
[18:03:04.037] Odometry x=0.033624, y=-1.269617, theta=0.199970
[18:03:04.135] Odometry x=0.034356, y=-1.276711, theta=0.195489
[18:03:04.183] After Reprojection Map nPoint:76 ,nCell:37 ,nMatches:35 ,distance between two frames x:-0.000351 ,z=-0.000069,angle between two frames:0.000099
[18:03:04.183] n deleted obs = 98 	 n obs with reprojection error less than 0.5 px =5 	 error init =1.401221 	 error end=1.401221
[18:03:04.183] After pose optimization, distance between two frames x:-0.000351 ,z=-0.000069,angle between two frames:0.000099
[18:03:04.238] Odometry x=0.035102, y=-1.284197, theta=0.187276
[18:03:04.336] After Reprojection Map nPoint:69 ,nCell:32 ,nMatches:31 ,distance between two frames x:0.004902 ,z=0.001461,angle between two frames:0.000721
[18:03:04.337] n deleted obs = 91 	 n obs with reprojection error less than 0.5 px =3 	 error init =1.417516 	 error end=1.417516
[18:03:04.337] After pose optimization, distance between two frames x:0.004902 ,z=0.001461,angle between two frames:0.000721
[18:03:04.338] Odometry x=0.035820, y=-1.291711, theta=0.183381
[18:03:04.440] Odometry x=0.036519, y=-1.299219, theta=0.173304
[18:03:04.488] After Reprojection Map nPoint:71 ,nCell:31 ,nMatches:27 ,distance between two frames x:0.017857 ,z=0.003173,angle between two frames:0.005126
[18:03:04.488] n deleted obs = 82 	 n obs with reprojection error less than 0.5 px =7 	 error init =1.384375 	 error end=1.384375
[18:03:04.488] After pose optimization, distance between two frames x:0.017857 ,z=0.003173,angle between two frames:0.005126
[18:03:04.537] Odometry x=0.037217, y=-1.307157, theta=0.166546
[18:03:04.636] Odometry x=0.037831, y=-1.314417, theta=0.155245
[18:03:04.642] After Reprojection Map nPoint:64 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.022238 ,z=0.003930,angle between two frames:0.006226
[18:03:04.642] n deleted obs = 74 	 n obs with reprojection error less than 0.5 px =6 	 error init =1.304771 	 error end=1.304771
[18:03:04.642] After pose optimization, distance between two frames x:0.022238 ,z=0.003930,angle between two frames:0.006226
[18:03:04.739] Odometry x=0.038429, y=-1.321967, theta=0.149345
[18:03:04.793] After Reprojection Map nPoint:64 ,nCell:32 ,nMatches:30 ,distance between two frames x:-0.002771 ,z=0.000654,angle between two frames:0.002094
[18:03:04.793] n deleted obs = 81 	 n obs with reprojection error less than 0.5 px =5 	 error init =1.316885 	 error end=1.316885
[18:03:04.793] After pose optimization, distance between two frames x:-0.002771 ,z=0.000654,angle between two frames:0.002094
[18:03:04.838] Odometry x=0.039002, y=-1.329527, theta=0.145414
[18:03:04.935] Odometry x=0.039564, y=-1.337156, theta=0.144108
[18:03:04.952] After Reprojection Map nPoint:70 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.012588 ,z=0.002357,angle between two frames:0.003393
[18:03:04.952] n deleted obs = 85 	 n obs with reprojection error less than 0.5 px =6 	 error init =1.311514 	 error end=1.311514
[18:03:04.952] After pose optimization, distance between two frames x:0.012588 ,z=0.002357,angle between two frames:0.003393
[18:03:05.049] Odometry x=0.040083, y=-1.344275, theta=0.141606
[18:03:05.104] After Reprojection Map nPoint:71 ,nCell:34 ,nMatches:31 ,distance between two frames x:0.004398 ,z=-0.000900,angle between two frames:0.001310
[18:03:05.104] n deleted obs = 88 	 n obs with reprojection error less than 0.5 px =5 	 error init =1.255779 	 error end=1.255779
[18:03:05.104] After pose optimization, distance between two frames x:0.004398 ,z=-0.000900,angle between two frames:0.001310
[18:03:05.141] Odometry x=0.040716, y=-1.353140, theta=0.139150
[18:03:05.240] Odometry x=0.041201, y=-1.360058, theta=0.134374
[18:03:05.261] After Reprojection Map nPoint:72 ,nCell:34 ,nMatches:30 ,distance between two frames x:0.007208 ,z=0.004817,angle between two frames:0.001510
[18:03:05.261] n deleted obs = 88 	 n obs with reprojection error less than 0.5 px =7 	 error init =1.303208 	 error end=1.303208
[18:03:05.261] After pose optimization, distance between two frames x:0.007208 ,z=0.004817,angle between two frames:0.001510
[18:03:05.338] Odometry x=0.041701, y=-1.367307, theta=0.146793
[18:03:05.420] After Reprojection Map nPoint:72 ,nCell:36 ,nMatches:33 ,distance between two frames x:0.000447 ,z=-0.000266,angle between two frames:0.000123
[18:03:05.420] n deleted obs = 95 	 n obs with reprojection error less than 0.5 px =3 	 error init =1.220249 	 error end=1.220249
[18:03:05.420] After pose optimization, distance between two frames x:0.000447 ,z=-0.000266,angle between two frames:0.000123
[18:03:05.437] Odometry x=0.042241, y=-1.374348, theta=0.159048
[18:03:05.532] Odometry x=0.042824, y=-1.381530, theta=0.174411
[18:03:05.571] After Reprojection Map nPoint:74 ,nCell:29 ,nMatches:28 ,distance between two frames x:-0.002773 ,z=-0.000542,angle between two frames:0.000026
[18:03:05.571] n deleted obs = 88 	 n obs with reprojection error less than 0.5 px =8 	 error init =1.185121 	 error end=1.185121
[18:03:05.571] After pose optimization, distance between two frames x:-0.002773 ,z=-0.000542,angle between two frames:0.000026
[18:03:05.631] Odometry x=0.043505, y=-1.389266, theta=0.177341
[18:03:05.736] After Reprojection Map nPoint:75 ,nCell:37 ,nMatches:33 ,distance between two frames x:0.017830 ,z=0.004230,angle between two frames:0.004939
[18:03:05.736] n deleted obs = 88 	 n obs with reprojection error less than 0.5 px =10 	 error init =1.139280 	 error end=1.139280
[18:03:05.736] After pose optimization, distance between two frames x:0.017830 ,z=0.004230,angle between two frames:0.004939
[18:03:05.736] Update EKF and 3D points, distance between two frames x:0.016826 ,z=0.003613,angle between two frames:0.005409
[18:03:05.736] Choose frame as a key frame Scene Depth mean:-0.422016 ,depth min:-1.315882
[18:03:05.738] Odometry x=0.060332, y=-1.385657, theta=0.181906
[18:03:05.840] Odometry x=0.061370, y=-1.396933, theta=0.186655
[18:03:05.901] After Reprojection Map nPoint:76 ,nCell:38 ,nMatches:35 ,distance between two frames x:0.000811 ,z=-0.000172,angle between two frames:0.000167
[18:03:05.901] n deleted obs = 69 	 n obs with reprojection error less than 0.5 px =32 	 error init =0.979219 	 error end=0.979219
[18:03:05.901] After pose optimization, distance between two frames x:0.000811 ,z=-0.000172,angle between two frames:0.000167
[18:03:05.901] Update EKF and 3D points, distance between two frames x:0.000865 ,z=-0.001256,angle between two frames:0.000209
[18:03:05.901] Choose frame as a key frame Scene Depth mean:-0.640479 ,depth min:-2.591972
[18:03:05.939] Odometry x=0.061546, y=-1.393601, theta=0.184671
[18:03:06.038] Odometry x=0.062265, y=-1.401071, theta=0.206189
[18:03:06.053] After Reprojection Map nPoint:65 ,nCell:26 ,nMatches:24 ,distance between two frames x:0.000344 ,z=-0.006644,angle between two frames:0.000238
[18:03:06.054] n deleted obs = 59 	 n obs with reprojection error less than 0.5 px =23 	 error init =1.056897 	 error end=1.056897
[18:03:06.054] After pose optimization, distance between two frames x:0.000344 ,z=-0.006644,angle between two frames:0.000238
[18:03:06.054] Update EKF and 3D points, distance between two frames x:0.000432 ,z=-0.007515,angle between two frames:0.001970
[18:03:06.054] Choose frame as a key frame Scene Depth mean:-0.805973 ,depth min:-2.194612
[18:03:06.140] Odometry x=0.062167, y=-1.399790, theta=0.218833
[18:03:06.234] After Reprojection Map nPoint:60 ,nCell:29 ,nMatches:25 ,distance between two frames x:0.001692 ,z=0.000291,angle between two frames:0.000451
[18:03:06.234] n deleted obs = 62 	 n obs with reprojection error less than 0.5 px =16 	 error init =1.063601 	 error end=1.063601
[18:03:06.234] After pose optimization, distance between two frames x:0.001692 ,z=0.000291,angle between two frames:0.000451
[18:03:06.234] Update EKF and 3D points, distance between two frames x:0.001674 ,z=-0.000470,angle between two frames:0.002824
[18:03:06.234] Choose frame as a key frame Scene Depth mean:51.626402 ,depth min:-26.744127
[18:03:06.239] Odometry x=0.063188, y=-1.399607, theta=0.201581
[18:03:06.340] Odometry x=0.063947, y=-1.407051, theta=0.200929
[18:03:06.405] After Reprojection Map nPoint:66 ,nCell:35 ,nMatches:32 ,distance between two frames x:-0.000114 ,z=-0.004663,angle between two frames:0.014673
[18:03:06.405] n deleted obs = 59 	 n obs with reprojection error less than 0.5 px =33 	 error init =0.883621 	 error end=0.883621
[18:03:06.405] After pose optimization, distance between two frames x:-0.000114 ,z=-0.004663,angle between two frames:0.014673
[18:03:06.405] Update EKF and 3D points, distance between two frames x:-0.000026 ,z=-0.005533,angle between two frames:0.014868
[18:03:06.406] Choose frame as a key frame Scene Depth mean:-1.110460 ,depth min:-15.575525
[18:03:06.439] Odometry x=0.063824, y=-1.405809, theta=0.204213
[18:03:06.539] Odometry x=0.064599, y=-1.413269, theta=0.213850
[18:03:06.576] After Reprojection Map nPoint:69 ,nCell:37 ,nMatches:33 ,distance between two frames x:0.000547 ,z=-0.005334,angle between two frames:0.001248
[18:03:06.576] n deleted obs = 83 	 n obs with reprojection error less than 0.5 px =11 	 error init =1.110912 	 error end=1.110912
[18:03:06.576] After pose optimization, distance between two frames x:0.000547 ,z=-0.005334,angle between two frames:0.001248
[18:03:06.576] Update EKF and 3D points, distance between two frames x:0.000640 ,z=-0.006205,angle between two frames:0.002215
[18:03:06.576] Choose frame as a key frame Scene Depth mean:-1.227405 ,depth min:-4.624005
[18:03:06.641] Odometry x=0.064485, y=-1.412002, theta=0.212808
[18:03:06.738] Odometry x=0.065334, y=-1.419830, theta=0.214454
[18:03:06.758] After Reprojection Map nPoint:62 ,nCell:29 ,nMatches:25 ,distance between two frames x:0.002465 ,z=-0.004055,angle between two frames:0.006964
[18:03:06.758] n deleted obs = 46 	 n obs with reprojection error less than 0.5 px =32 	 error init =0.883084 	 error end=0.883084
[18:03:06.758] After pose optimization, distance between two frames x:0.002465 ,z=-0.004055,angle between two frames:0.006964
[18:03:06.758] Update EKF and 3D points, distance between two frames x:0.002449 ,z=-0.004999,angle between two frames:0.007284
[18:03:06.758] Choose frame as a key frame Scene Depth mean:-0.765248 ,depth min:-8.401340
[18:03:06.840] Odometry x=0.066269, y=-1.417474, theta=0.222030
[18:03:06.938] After Reprojection Map nPoint:64 ,nCell:33 ,nMatches:31 ,distance between two frames x:-0.000096 ,z=-0.005779,angle between two frames:0.002187
[18:03:06.938] n deleted obs = 47 	 n obs with reprojection error less than 0.5 px =43 	 error init =0.786532 	 error end=0.786532
[18:03:06.938] After pose optimization, distance between two frames x:-0.000096 ,z=-0.005779,angle between two frames:0.002187
[18:03:06.938] Update EKF and 3D points, distance between two frames x:-0.000045 ,z=-0.006236,angle between two frames:0.003179
[18:03:06.939] Choose frame as a key frame Scene Depth mean:-0.845067 ,depth min:-5.720548
[18:03:06.939] Odometry x=0.066321, y=-1.417873, theta=0.214455
[18:03:07.038] Odometry x=0.067283, y=-1.426682, theta=0.219367
[18:03:07.124] After Reprojection Map nPoint:62 ,nCell:30 ,nMatches:23 ,distance between two frames x:-0.000018 ,z=0.000017,angle between two frames:0.000004
[18:03:07.125] n deleted obs = 60 	 n obs with reprojection error less than 0.5 px =15 	 error init =1.010320 	 error end=1.010320
[18:03:07.125] After pose optimization, distance between two frames x:-0.000018 ,z=0.000017,angle between two frames:0.000004
[18:03:07.125] Update EKF and 3D points, distance between two frames x:0.000088 ,z=-0.000931,angle between two frames:0.000628
[18:03:07.125] Choose frame as a key frame Scene Depth mean:-0.687544 ,depth min:-3.246384
[18:03:07.138] Odometry x=0.067063, y=-1.424657, theta=0.219673
[18:03:07.241] Odometry x=0.067900, y=-1.432108, theta=0.222846
[18:03:07.338] Odometry x=0.068754, y=-1.439582, theta=0.216175
[18:03:07.339] After Reprojection Map nPoint:67 ,nCell:31 ,nMatches:29 ,distance between two frames x:-0.000668 ,z=-0.006497,angle between two frames:0.003849
[18:03:07.340] n deleted obs = 60 	 n obs with reprojection error less than 0.5 px =30 	 error init =0.872327 	 error end=0.872327
[18:03:07.340] After pose optimization, distance between two frames x:-0.000668 ,z=-0.006497,angle between two frames:0.003849
[18:03:07.340] Update EKF and 3D points, distance between two frames x:-0.000367 ,z=-0.008465,angle between two frames:0.003691
[18:03:07.340] Choose frame as a key frame Scene Depth mean:-0.349865 ,depth min:-1.744708
[18:03:07.438] Odometry x=0.067899, y=-1.439430, theta=0.215301
[18:03:07.533] Odometry x=0.068723, y=-1.446826, theta=0.217807
[18:03:07.555] After Reprojection Map nPoint:109 ,nCell:32 ,nMatches:31 ,distance between two frames x:0.002025 ,z=-0.012137,angle between two frames:0.001228
[18:03:07.555] n deleted obs = 118 	 n obs with reprojection error less than 0.5 px =20 	 error init =1.055338 	 error end=1.055338
[18:03:07.555] After pose optimization, distance between two frames x:0.002025 ,z=-0.012137,angle between two frames:0.001228
[18:03:07.555] Update EKF and 3D points, distance between two frames x:0.002109 ,z=-0.012982,angle between two frames:0.001373
[18:03:07.555] Choose frame as a key frame Scene Depth mean:-0.720289 ,depth min:-1.417035
[18:03:07.638] Odometry x=0.068670, y=-1.445478, theta=0.210229
[18:03:07.738] Odometry x=0.069484, y=-1.452972, theta=0.201204
[18:03:07.766] After Reprojection Map nPoint:114 ,nCell:42 ,nMatches:35 ,distance between two frames x:-0.000056 ,z=0.000036,angle between two frames:0.000014
[18:03:07.766] n deleted obs = 97 	 n obs with reprojection error less than 0.5 px =38 	 error init =0.924579 	 error end=0.924579
[18:03:07.766] After pose optimization, distance between two frames x:-0.000056 ,z=0.000036,angle between two frames:0.000014
[18:03:07.766] Update EKF and 3D points, distance between two frames x:0.000070 ,z=-0.001142,angle between two frames:0.001193
[18:03:07.766] Choose frame as a key frame Scene Depth mean:-0.999457 ,depth min:-3.270016
[18:03:07.837] Odometry x=0.068990, y=-1.448619, theta=0.202455
[18:03:07.992] After Reprojection Map nPoint:115 ,nCell:37 ,nMatches:35 ,distance between two frames x:0.000946 ,z=-0.007231,angle between two frames:0.007842
[18:03:07.992] n deleted obs = 115 	 n obs with reprojection error less than 0.5 px =25 	 error init =1.048087 	 error end=1.048087
[18:03:07.992] After pose optimization, distance between two frames x:0.000946 ,z=-0.007231,angle between two frames:0.007842
[18:03:07.992] Update EKF and 3D points, distance between two frames x:0.000981 ,z=-0.007665,angle between two frames:0.007606
[18:03:08.235] After Reprojection Map nPoint:115 ,nCell:44 ,nMatches:40 ,distance between two frames x:0.000557 ,z=-0.003418,angle between two frames:0.001707
[18:03:08.235] n deleted obs = 96 	 n obs with reprojection error less than 0.5 px =50 	 error init =0.870815 	 error end=0.870815
[18:03:08.235] After pose optimization, distance between two frames x:0.000557 ,z=-0.003418,angle between two frames:0.001707
[18:03:08.236] Update EKF and 3D points, distance between two frames x:0.000537 ,z=-0.003373,angle between two frames