[20:58:17.649] Init: frame zero: 0.000000, 0.000000 0.000000
[20:58:17.649] Init: Selected first frame. 
[20:58:17.748] Init: px average disparity is:0.177419 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:17.748] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:17.844] Init: px average disparity is:0.223859 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:17.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:17.943] Init: px average disparity is:0.233553 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:17.943] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:18.046] Init: px average disparity is:0.262488 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:18.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:18.143] Init: px average disparity is:0.231469 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:18.143] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:18.243] Init: px average disparity is:0.226662 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:18.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:18.347] Init: px average disparity is:0.227129 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:18.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:18.454] Init: px average disparity is:0.233048 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:18.454] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:18.550] Init: px average disparity is:0.258657 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:18.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:18.649] Init: px average disparity is:0.225607 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:18.649] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:18.747] Init: px average disparity is:0.235575 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:18.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:18.849] Init: px average disparity is:0.243507 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:18.850] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:18.951] Init: px average disparity is:0.233217 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:18.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:19.050] Init: px average disparity is:0.234714 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:19.050] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:19.150] Init: px average disparity is:0.224763 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:19.151] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:19.251] Init: px average disparity is:0.243291 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:19.251] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:19.351] Init: px average disparity is:0.259860 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:19.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:19.450] Init: px average disparity is:0.242725 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:19.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:19.551] Init: px average disparity is:0.227942 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:19.551] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:19.651] Init: px average disparity is:0.231145 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:19.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:19.751] Init: px average disparity is:0.251974 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:19.751] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:19.851] Init: px average disparity is:0.263864 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:19.851] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:19.952] Init: px average disparity is:0.238695 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:19.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:20.050] Init: px average disparity is:0.227129 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:20.050] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:20.150] Init: px average disparity is:0.251224 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:20.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:20.254] Init: px average disparity is:0.232577 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:20.254] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:20.351] Init: px average disparity is:0.216966 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:20.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:20.453] Init: px average disparity is:0.269437 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:20.453] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:20.552] Init: px average disparity is:0.220084 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:20.552] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:20.592] Odometry x=0.001723, y=-0.001821, theta=0.046382
[20:58:20.651] Init: px average disparity is:0.235918 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:20.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:20.688] Odometry x=0.001845, y=-0.001891, theta=0.049151
[20:58:20.752] Init: px average disparity is:0.210190 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:20.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:20.788] Odometry x=0.001818, y=-0.005489, theta=0.052267
[20:58:20.851] Init: px average disparity is:1.672457 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:20.851] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:20.888] Odometry x=0.001715, y=-0.009855, theta=0.055536
[20:58:20.952] Init: px average disparity is:5.894792 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:20.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:20.990] Odometry x=0.001624, y=-0.013922, theta=0.064054
[20:58:21.053] Init: px average disparity is:7.631528 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:21.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:21.090] Odometry x=0.001483, y=-0.018058, theta=0.065754
[20:58:21.153] Init: px average disparity is:4.931195 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:21.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:21.187] Odometry x=0.001385, y=-0.021954, theta=0.066113
[20:58:21.252] Init: px average disparity is:5.294877 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:21.252] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:21.291] Odometry x=0.001304, y=-0.025979, theta=0.068488
[20:58:21.352] Init: px average disparity is:4.285530 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:21.352] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:21.391] Odometry x=0.000537, y=-0.029795, theta=0.029966
[20:58:21.452] Init: px average disparity is:5.696423 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:21.452] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:21.487] Odometry x=0.000567, y=-0.033918, theta=0.022872
[20:58:21.552] Init: px average disparity is:4.595814 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:21.552] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:21.592] Odometry x=0.000576, y=-0.037806, theta=0.040427
[20:58:21.653] Init: px average disparity is:6.476372 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:21.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:21.687] Odometry x=0.000560, y=-0.042010, theta=0.040755
[20:58:21.754] Init: px average disparity is:7.986607 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:21.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:21.787] Odometry x=0.000538, y=-0.045512, theta=0.057601
[20:58:21.853] Init: px average disparity is:9.323085 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:21.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:21.892] Odometry x=0.000381, y=-0.049505, theta=0.058145
[20:58:21.954] Init: px average disparity is:12.644555 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:21.954] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:21.992] Odometry x=0.000130, y=-0.053390, theta=0.037204
[20:58:22.054] Init: px average disparity is:15.336477 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:22.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:22.092] Odometry x=0.000215, y=-0.057539, theta=0.039190
[20:58:22.153] Init: px average disparity is:13.629326 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:22.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:22.187] Odometry x=-0.000064, y=-0.061339, theta=0.044265
[20:58:22.254] Init: px average disparity is:12.813310 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:22.254] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:22.288] Odometry x=-0.000016, y=-0.065486, theta=0.040750
[20:58:22.354] Init: px average disparity is:11.218767 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:22.354] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:22.389] Odometry x=-0.000039, y=-0.069493, theta=0.037449
[20:58:22.453] Init: px average disparity is:12.559115 ,While minimum is: 40.000000  KLT tracked : 134
[20:58:22.454] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:22.489] Odometry x=-0.000039, y=-0.073647, theta=0.027597
[20:58:22.553] Init: px average disparity is:12.719724 ,While minimum is: 40.000000  KLT tracked : 133
[20:58:22.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:22.589] Odometry x=0.000083, y=-0.077775, theta=0.015884
[20:58:22.654] Init: px average disparity is:18.915009 ,While minimum is: 40.000000  KLT tracked : 133
[20:58:22.654] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:22.699] Odometry x=0.000184, y=-0.082198, theta=-0.001152
[20:58:22.753] Init: px average disparity is:13.776101 ,While minimum is: 40.000000  KLT tracked : 133
[20:58:22.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:22.789] Odometry x=0.000468, y=-0.086454, theta=-0.005445
[20:58:22.853] Init: px average disparity is:13.599998 ,While minimum is: 40.000000  KLT tracked : 133
[20:58:22.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:22.890] Odometry x=0.000621, y=-0.090265, theta=0.006696
[20:58:22.954] Init: px average disparity is:9.136824 ,While minimum is: 40.000000  KLT tracked : 133
[20:58:22.954] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:22.991] Odometry x=0.000762, y=-0.094136, theta=0.004399
[20:58:23.052] Init: px average disparity is:9.766147 ,While minimum is: 40.000000  KLT tracked : 133
[20:58:23.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:23.092] Odometry x=0.001025, y=-0.098121, theta=0.020768
[20:58:23.152] Init: px average disparity is:9.788155 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:23.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:23.194] Odometry x=0.001180, y=-0.102069, theta=0.022969
[20:58:23.253] Init: px average disparity is:10.700833 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:23.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:23.294] Odometry x=0.001236, y=-0.105776, theta=0.047114
[20:58:23.355] Init: px average disparity is:11.541660 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:23.355] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:23.395] Odometry x=0.001372, y=-0.109829, theta=0.051305
[20:58:23.453] Init: px average disparity is:9.506661 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:23.453] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:23.495] Odometry x=0.001227, y=-0.113733, theta=0.053528
[20:58:23.554] Init: px average disparity is:11.507843 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:23.554] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:23.597] Odometry x=0.001164, y=-0.117793, theta=0.058676
[20:58:23.652] Init: px average disparity is:13.855592 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:23.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:23.693] Odometry x=0.000932, y=-0.121880, theta=0.068499
[20:58:23.753] Init: px average disparity is:15.023696 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:23.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:23.794] Odometry x=0.000375, y=-0.125769, theta=0.031309
[20:58:23.854] Init: px average disparity is:15.781218 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:23.854] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:23.889] Odometry x=0.000264, y=-0.129823, theta=0.032966
[20:58:23.953] Init: px average disparity is:16.301184 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:23.954] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:23.990] Odometry x=0.000283, y=-0.133708, theta=0.039306
[20:58:24.054] Init: px average disparity is:16.779255 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:24.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:24.090] Odometry x=0.000136, y=-0.137732, theta=0.040181
[20:58:24.155] Init: px average disparity is:19.326167 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:24.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:24.190] Odometry x=0.000106, y=-0.141691, theta=0.047923
[20:58:24.254] Init: px average disparity is:21.865213 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:24.254] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:24.290] Odometry x=-0.000083, y=-0.145737, theta=0.048337
[20:58:24.355] Init: px average disparity is:19.775742 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:24.355] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:24.391] Odometry x=-0.000129, y=-0.149801, theta=0.031418
[20:58:24.456] Init: px average disparity is:18.750664 ,While minimum is: 40.000000  KLT tracked : 132
[20:58:24.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:24.492] Odometry x=-0.000219, y=-0.153726, theta=0.036470
[20:58:24.555] Init: px average disparity is:18.344685 ,While minimum is: 40.000000  KLT tracked : 131
[20:58:24.555] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:24.593] Odometry x=-0.000367, y=-0.157722, theta=0.022173
[20:58:24.657] Init: px average disparity is:18.482124 ,While minimum is: 40.000000  KLT tracked : 131
[20:58:24.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:24.693] Odometry x=-0.000210, y=-0.161763, theta=0.016041
[20:58:24.756] Init: px average disparity is:20.627376 ,While minimum is: 40.000000  KLT tracked : 131
[20:58:24.756] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:24.793] Odometry x=-0.000397, y=-0.165962, theta=0.012403
[20:58:24.856] Init: px average disparity is:20.210804 ,While minimum is: 40.000000  KLT tracked : 131
[20:58:24.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:24.893] Odometry x=-0.000304, y=-0.170074, theta=0.003496
[20:58:24.956] Init: px average disparity is:21.049445 ,While minimum is: 40.000000  KLT tracked : 126
[20:58:24.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:24.993] Odometry x=-0.000374, y=-0.174048, theta=0.012267
[20:58:25.056] Init: px average disparity is:21.486311 ,While minimum is: 40.000000  KLT tracked : 126
[20:58:25.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:25.092] Odometry x=-0.000309, y=-0.178049, theta=0.015176
[20:58:25.155] Init: px average disparity is:20.061330 ,While minimum is: 40.000000  KLT tracked : 126
[20:58:25.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:25.186] Odometry x=-0.000366, y=-0.182083, theta=0.040311
[20:58:25.256] Init: px average disparity is:21.355285 ,While minimum is: 40.000000  KLT tracked : 126
[20:58:25.256] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:25.286] Odometry x=-0.000386, y=-0.185910, theta=0.045470
[20:58:25.356] Init: px average disparity is:20.992167 ,While minimum is: 40.000000  KLT tracked : 126
[20:58:25.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:25.391] Odometry x=-0.000622, y=-0.189870, theta=0.054860
[20:58:25.455] Init: px average disparity is:22.845510 ,While minimum is: 40.000000  KLT tracked : 125
[20:58:25.455] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:25.491] Odometry x=-0.000767, y=-0.193788, theta=0.061276
[20:58:25.557] Init: px average disparity is:21.222979 ,While minimum is: 40.000000  KLT tracked : 125
[20:58:25.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:25.593] Odometry x=-0.001068, y=-0.198056, theta=0.063798
[20:58:25.656] Init: px average disparity is:22.740191 ,While minimum is: 40.000000  KLT tracked : 125
[20:58:25.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:25.693] Odometry x=-0.001172, y=-0.201776, theta=0.066703
[20:58:25.755] Init: px average disparity is:21.233027 ,While minimum is: 40.000000  KLT tracked : 125
[20:58:25.756] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:25.792] Odometry x=-0.001525, y=-0.205990, theta=0.069228
[20:58:25.855] Init: px average disparity is:23.701732 ,While minimum is: 40.000000  KLT tracked : 125
[20:58:25.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:25.889] Odometry x=-0.000638, y=-0.209871, theta=0.032213
[20:58:25.955] Init: px average disparity is:21.530488 ,While minimum is: 40.000000  KLT tracked : 125
[20:58:25.955] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:25.993] Odometry x=-0.000819, y=-0.213857, theta=0.018634
[20:58:26.057] Init: px average disparity is:23.489955 ,While minimum is: 40.000000  KLT tracked : 125
[20:58:26.057] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:26.089] Odometry x=-0.000610, y=-0.217703, theta=0.029264
[20:58:26.156] Init: px average disparity is:21.671602 ,While minimum is: 40.000000  KLT tracked : 125
[20:58:26.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:26.192] Odometry x=-0.000804, y=-0.221799, theta=0.016893
[20:58:26.255] Init: px average disparity is:23.669085 ,While minimum is: 40.000000  KLT tracked : 122
[20:58:26.255] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:26.292] Odometry x=-0.000795, y=-0.225918, theta=0.002252
[20:58:26.355] Init: px average disparity is:23.850380 ,While minimum is: 40.000000  KLT tracked : 122
[20:58:26.355] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:26.394] Odometry x=-0.000687, y=-0.230122, theta=0.003300
[20:58:26.455] Init: px average disparity is:26.077929 ,While minimum is: 40.000000  KLT tracked : 122
[20:58:26.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:26.490] Odometry x=-0.000890, y=-0.233851, theta=-0.008857
[20:58:26.559] Init: px average disparity is:27.699369 ,While minimum is: 40.000000  KLT tracked : 122
[20:58:26.559] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:26.596] Odometry x=-0.000622, y=-0.237807, theta=-0.016597
[20:58:26.656] Init: px average disparity is:27.437103 ,While minimum is: 40.000000  KLT tracked : 122
[20:58:26.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:26.690] Odometry x=-0.000685, y=-0.241751, theta=0.000903
[20:58:26.756] Init: px average disparity is:26.945320 ,While minimum is: 40.000000  KLT tracked : 122
[20:58:26.756] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:26.790] Odometry x=-0.000484, y=-0.245881, theta=-0.002624
[20:58:26.859] Init: px average disparity is:26.175495 ,While minimum is: 40.000000  KLT tracked : 122
[20:58:26.859] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:26.896] Odometry x=-0.000641, y=-0.249620, theta=0.023660
[20:58:26.956] Init: px average disparity is:25.550728 ,While minimum is: 40.000000  KLT tracked : 122
[20:58:26.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:26.991] Odometry x=-0.000613, y=-0.253842, theta=0.025530
[20:58:27.060] Init: px average disparity is:25.071113 ,While minimum is: 40.000000  KLT tracked : 122
[20:58:27.060] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:27.096] Odometry x=-0.000723, y=-0.257742, theta=0.048095
[20:58:27.159] Init: px average disparity is:26.090361 ,While minimum is: 40.000000  KLT tracked : 122
[20:58:27.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:27.190] Odometry x=-0.000869, y=-0.261623, theta=0.053514
[20:58:27.258] Init: px average disparity is:25.721928 ,While minimum is: 40.000000  KLT tracked : 122
[20:58:27.258] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:27.289] Odometry x=-0.001144, y=-0.265499, theta=0.052700
[20:58:27.359] Init: px average disparity is:26.939345 ,While minimum is: 40.000000  KLT tracked : 122
[20:58:27.359] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:27.391] Odometry x=-0.001243, y=-0.269502, theta=0.053707
[20:58:27.460] Init: px average disparity is:26.617933 ,While minimum is: 40.000000  KLT tracked : 122
[20:58:27.460] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:27.491] Odometry x=-0.001513, y=-0.273547, theta=0.054536
[20:58:27.560] Init: px average disparity is:27.842117 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:27.560] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:27.592] Odometry x=-0.001620, y=-0.277448, theta=0.047691
[20:58:27.657] Init: px average disparity is:27.764071 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:27.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:27.693] Odometry x=-0.001983, y=-0.281466, theta=0.049276
[20:58:27.757] Init: px average disparity is:28.390011 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:27.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:27.793] Odometry x=-0.002068, y=-0.285545, theta=0.041734
[20:58:27.858] Init: px average disparity is:30.412077 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:27.858] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:27.896] Odometry x=-0.002325, y=-0.289445, theta=0.046326
[20:58:27.958] Init: px average disparity is:29.454747 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:27.958] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:27.990] Odometry x=-0.002537, y=-0.293380, theta=0.046530
[20:58:28.058] Init: px average disparity is:32.299450 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:28.058] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:28.096] Odometry x=-0.002585, y=-0.297242, theta=0.034513
[20:58:28.158] Init: px average disparity is:31.010536 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:28.158] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:28.194] Odometry x=-0.002864, y=-0.301325, theta=0.031334
[20:58:28.258] Init: px average disparity is:35.309936 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:28.258] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:28.289] Odometry x=-0.002729, y=-0.305035, theta=0.031534
[20:58:28.359] Init: px average disparity is:31.913875 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:28.359] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:28.389] Odometry x=-0.003034, y=-0.309029, theta=0.041432
[20:58:28.458] Init: px average disparity is:34.766099 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:28.458] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:28.494] Odometry x=-0.002995, y=-0.312990, theta=0.035025
[20:58:28.558] Init: px average disparity is:33.812868 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:28.558] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:28.592] Odometry x=-0.003281, y=-0.317129, theta=0.052504
[20:58:28.656] Init: px average disparity is:33.404731 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:28.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:28.693] Odometry x=-0.003373, y=-0.320984, theta=0.047108
[20:58:28.759] Init: px average disparity is:32.091531 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:28.759] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:28.791] Odometry x=-0.003638, y=-0.324930, theta=0.066149
[20:58:28.857] Init: px average disparity is:32.404283 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:28.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:28.890] Odometry x=-0.001497, y=-0.328859, theta=0.031784
[20:58:28.957] Init: px average disparity is:32.003213 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:28.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:28.990] Odometry x=-0.001688, y=-0.332656, theta=0.047853
[20:58:29.057] Init: px average disparity is:32.971209 ,While minimum is: 40.000000  KLT tracked : 121
[20:58:29.057] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:29.093] Odometry x=-0.001647, y=-0.336849, theta=0.056429
[20:58:29.160] Init: px average disparity is:33.634680 ,While minimum is: 40.000000  KLT tracked : 115
[20:58:29.160] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:29.193] Odometry x=-0.001901, y=-0.340829, theta=0.056130
[20:58:29.259] Init: px average disparity is:33.411890 ,While minimum is: 40.000000  KLT tracked : 115
[20:58:29.260] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:29.289] Odometry x=-0.001885, y=-0.344976, theta=0.066598
[20:58:29.360] Init: px average disparity is:34.700343 ,While minimum is: 40.000000  KLT tracked : 113
[20:58:29.360] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:29.389] Odometry x=-0.002190, y=-0.348741, theta=0.062266
[20:58:29.458] Init: px average disparity is:34.379707 ,While minimum is: 40.000000  KLT tracked : 113
[20:58:29.459] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:29.490] Odometry x=-0.002259, y=-0.352811, theta=0.067859
[20:58:29.560] Init: px average disparity is:35.415852 ,While minimum is: 40.000000  KLT tracked : 113
[20:58:29.560] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:29.591] Odometry x=-0.002584, y=-0.356632, theta=0.063696
[20:58:29.659] Init: px average disparity is:38.143581 ,While minimum is: 40.000000  KLT tracked : 112
[20:58:29.659] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:29.691] Odometry x=-0.002592, y=-0.360558, theta=0.053361
[20:58:29.759] Init: px average disparity is:38.443823 ,While minimum is: 40.000000  KLT tracked : 112
[20:58:29.759] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[20:58:29.793] Odometry x=-0.002927, y=-0.364463, theta=0.057731
[20:58:29.892] Odometry x=-0.002937, y=-0.368458, theta=0.033377
[20:58:29.932] homography: x=-229.736261 y=-219.680982 z=-1.896572 roll=-0.000000 pitch=0.001507 yaw=0.000000 	 ekf: x=-0.000338 z=-0.037218 pitch=0.044328
[20:58:29.932] homography after fuse: x=-0.000338 y=0.000000 z=-0.037218 pitch=0.044328	 number of outlier: 67
[20:58:29.932] Init finished: Homography RANSAC (inlier) is:44 ,While 30 inliers minimum required.  px average disparity is:41.485478 ,While minimum is: 40.000000  KLT tracked: 111
[20:58:29.932] Init: distance between the first and current frame is x:-0.000338 ,z=-0.037218,angle between two frames: 0.044328 
[20:58:29.932] Init: Selected Second frame. 	 The number of features: 44
[20:58:29.989] Odometry x=-0.003297, y=-0.372285, theta=0.046256
[20:58:30.091] Odometry x=-0.003392, y=-0.376140, theta=0.044228
[20:58:30.092] After Reprojection Map nPoint:57 ,nCell:18 ,nMatches:17 ,distance between two frames x:-0.000521 ,z=0.004473,angle between two frames:0.000611
[20:58:30.094] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =61 	 error init =0.123775 	 error end=0.101478
[20:58:30.094] After pose optimization, distance between two frames x:-0.032905 ,z=0.029860,angle between two frames:0.003166
[20:58:30.189] Odometry x=-0.003524, y=-0.380090, theta=0.063546
[20:58:30.239] After Reprojection Map nPoint:50 ,nCell:40 ,nMatches:14 ,distance between two frames x:-0.000976 ,z=-0.000410,angle between two frames:0.000899
[20:58:30.239] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =31 	 error init =0.153596 	 error end=0.153596
[20:58:30.239] After pose optimization, distance between two frames x:-0.000976 ,z=-0.000410,angle between two frames:0.000899
[20:58:30.239] Update EKF and 3D points, distance between two frames x:-0.000921 ,z=-0.000432,angle between two frames:0.001966
[20:58:30.291] Odometry x=-0.009109, y=-0.381806, theta=0.048474
[20:58:30.383] After Reprojection Map nPoint:49 ,nCell:42 ,nMatches:17 ,distance between two frames x:-0.000240 ,z=-0.000186,angle between two frames:0.006019
[20:58:30.384] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =30 	 error init =0.281441 	 error end=0.281441
[20:58:30.384] After pose optimization, distance between two frames x:-0.000240 ,z=-0.000186,angle between two frames:0.006019
[20:58:30.384] Update EKF and 3D points, distance between two frames x:-0.000207 ,z=-0.000207,angle between two frames:0.007174
[20:58:30.389] Odometry x=-0.014677, y=-0.382525, theta=0.053369
[20:58:30.491] Odometry x=-0.014769, y=-0.387317, theta=0.068846
[20:58:30.528] After Reprojection Map nPoint:46 ,nCell:34 ,nMatches:15 ,distance between two frames x:-0.001208 ,z=-0.000045,angle between two frames:0.001016
[20:58:30.528] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =36 	 error init =0.157145 	 error end=0.157145
[20:58:30.528] After pose optimization, distance between two frames x:-0.001208 ,z=-0.000045,angle between two frames:0.001016
[20:58:30.528] Update EKF and 3D points, distance between two frames x:-0.001139 ,z=-0.000092,angle between two frames:0.000636
[20:58:30.593] Odometry x=-0.022048, y=-0.386587, theta=0.059037
[20:58:30.672] After Reprojection Map nPoint:44 ,nCell:35 ,nMatches:10 ,distance between two frames x:-0.000435 ,z=0.000029,angle between two frames:0.000328
[20:58:30.672] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =26 	 error init =0.137767 	 error end=0.137767
[20:58:30.672] After pose optimization, distance between two frames x:-0.000435 ,z=0.000029,angle between two frames:0.000328
[20:58:30.672] Update EKF and 3D points, distance between two frames x:-0.000387 ,z=-0.000013,angle between two frames:0.000960
[20:58:30.690] Odometry x=-0.026902, y=-0.386199, theta=0.060615
[20:58:30.787] Odometry x=-0.027074, y=-0.390179, theta=0.046377
[20:58:30.815] After Reprojection Map nPoint:38 ,nCell:29 ,nMatches:10 ,distance between two frames x:-0.000020 ,z=-0.000182,angle between two frames:0.007636
[20:58:30.815] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =24 	 error init =0.240924 	 error end=0.240924
[20:58:30.815] After pose optimization, distance between two frames x:-0.000020 ,z=-0.000182,angle between two frames:0.007636
[20:58:30.815] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=-0.000230,angle between two frames:0.007067
[20:58:30.885] Odometry x=-0.028829, y=-0.388950, theta=0.062163
[20:58:30.958] After Reprojection Map nPoint:40 ,nCell:32 ,nMatches:13 ,distance between two frames x:-0.001411 ,z=-0.000528,angle between two frames:0.004313
[20:58:30.958] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =28 	 error init =0.203668 	 error end=0.203668
[20:58:30.958] After pose optimization, distance between two frames x:-0.001411 ,z=-0.000528,angle between two frames:0.004313
[20:58:30.958] Update EKF and 3D points, distance between two frames x:-0.001323 ,z=-0.000538,angle between two frames:0.004298
[20:58:30.987] Odometry x=-0.037762, y=-0.391919, theta=0.054817
[20:58:31.095] Odometry x=-0.037967, y=-0.395759, theta=0.063076
[20:58:31.102] After Reprojection Map nPoint:45 ,nCell:39 ,nMatches:17 ,distance between two frames x:-0.000799 ,z=-0.000157,angle between two frames:0.001282
[20:58:31.102] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =29 	 error init =0.270672 	 error end=0.270672
[20:58:31.102] After pose optimization, distance between two frames x:-0.000799 ,z=-0.000157,angle between two frames:0.001282
[20:58:31.102] Update EKF and 3D points, distance between two frames x:-0.000723 ,z=-0.000198,angle between two frames:0.000687
[20:58:31.191] Odometry x=-0.045601, y=-0.395899, theta=0.059578
[20:58:31.244] After Reprojection Map nPoint:55 ,nCell:42 ,nMatches:18 ,distance between two frames x:-0.001765 ,z=-0.000429,angle between two frames:0.002192
[20:58:31.244] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =36 	 error init =0.259342 	 error end=0.238196
[20:58:31.244] After pose optimization, distance between two frames x:-0.028769 ,z=0.009126,angle between two frames:0.017828
[20:58:31.292] Odometry x=-0.045891, y=-0.399665, theta=0.057861
[20:58:31.387] After Reprojection Map nPoint:57 ,nCell:44 ,nMatches:12 ,distance between two frames x:-0.000379 ,z=0.000045,angle between two frames:0.000152
[20:58:31.388] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =30 	 error init =0.158961 	 error end=0.145278
[20:58:31.388] After pose optimization, distance between two frames x:-0.017422 ,z=0.008455,angle between two frames:0.006079
[20:58:31.390] Odometry x=-0.045834, y=-0.403521, theta=0.048371
[20:58:31.489] Odometry x=-0.046117, y=-0.407687, theta=0.048576
[20:58:31.530] After Reprojection Map nPoint:50 ,nCell:41 ,nMatches:15 ,distance between two frames x:-0.000818 ,z=-0.000071,angle between two frames:0.000730
[20:58:31.530] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =30 	 error init =0.245722 	 error end=0.245722
[20:58:31.531] After pose optimization, distance between two frames x:-0.000818 ,z=-0.000071,angle between two frames:0.000730
[20:58:31.531] Update EKF and 3D points, distance between two frames x:-0.000772 ,z=-0.000113,angle between two frames:0.001212
[20:58:31.588] Odometry x=-0.050734, y=-0.407365, theta=0.034106
[20:58:31.675] After Reprojection Map nPoint:49 ,nCell:36 ,nMatches:12 ,distance between two frames x:0.000095 ,z=0.000120,angle between two frames:0.000155
[20:58:31.675] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =27 	 error init =0.239580 	 error end=0.239580
[20:58:31.675] After pose optimization, distance between two frames x:0.000095 ,z=0.000120,angle between two frames:0.000155
[20:58:31.675] Update EKF and 3D points, distance between two frames x:0.000105 ,z=0.000074,angle between two frames:0.000308
[20:58:31.688] Odometry x=-0.051883, y=-0.406726, theta=0.044132
[20:58:31.791] Odometry x=-0.051987, y=-0.410607, theta=0.045027
[20:58:31.819] After Reprojection Map nPoint:55 ,nCell:45 ,nMatches:18 ,distance between two frames x:0.000154 ,z=-0.000190,angle between two frames:0.002634
[20:58:31.819] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =38 	 error init =0.223592 	 error end=0.223592
[20:58:31.819] After pose optimization, distance between two frames x:0.000154 ,z=-0.000190,angle between two frames:0.002634
[20:58:31.819] Update EKF and 3D points, distance between two frames x:0.000147 ,z=-0.000241,angle between two frames:0.002323
[20:58:31.888] Odometry x=-0.051353, y=-0.409484, theta=0.056393
[20:58:31.964] After Reprojection Map nPoint:51 ,nCell:37 ,nMatches:13 ,distance between two frames x:-0.000485 ,z=-0.000320,angle between two frames:0.002023
[20:58:31.964] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =32 	 error init =0.169951 	 error end=0.169951
[20:58:31.964] After pose optimization, distance between two frames x:-0.000485 ,z=-0.000320,angle between two frames:0.002023
[20:58:31.964] Update EKF and 3D points, distance between two frames x:-0.000459 ,z=-0.000343,angle between two frames:0.002316
[20:58:31.990] Odometry x=-0.054079, y=-0.411183, theta=0.048663
[20:58:32.093] Odometry x=-0.054209, y=-0.415073, theta=0.055603
[20:58:32.108] After Reprojection Map nPoint:47 ,nCell:34 ,nMatches:11 ,distance between two frames x:0.000269 ,z=-0.000004,angle between two frames:0.001988
[20:58:32.108] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =28 	 error init =0.213224 	 error end=0.213224
[20:58:32.108] After pose optimization, distance between two frames x:0.000269 ,z=-0.000004,angle between two frames:0.001988
[20:58:32.108] Update EKF and 3D points, distance between two frames x:0.000260 ,z=-0.000058,angle between two frames:0.002683
[20:58:32.191] Odometry x=-0.053447, y=-0.413780, theta=0.058118
[20:58:32.253] After Reprojection Map nPoint:50 ,nCell:40 ,nMatches:16 ,distance between two frames x:-0.000255 ,z=0.000146,angle between two frames:0.000173
[20:58:32.253] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =33 	 error init =0.193286 	 error end=0.193286
[20:58:32.253] After pose optimization, distance between two frames x:-0.000255 ,z=0.000146,angle between two frames:0.000173
[20:58:32.253] Update EKF and 3D points, distance between two frames x:-0.000244 ,z=0.000095,angle between two frames:0.000692
[20:58:32.288] Odometry x=-0.054815, y=-0.412511, theta=0.064075
[20:58:32.385] Odometry x=-0.054942, y=-0.416327, theta=0.082111
[20:58:32.396] After Reprojection Map nPoint:43 ,nCell:33 ,nMatches:10 ,distance between two frames x:-0.000266 ,z=-0.000250,angle between two frames:0.006037
[20:58:32.397] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =25 	 error init =0.188598 	 error end=0.169723
[20:58:32.397] After pose optimization, distance between two frames x:-0.024100 ,z=0.010317,angle between two frames:0.002510
[20:58:32.488] Odometry x=-0.055291, y=-0.420103, theta=0.081483
[20:58:32.541] After Reprojection Map nPoint:44 ,nCell:33 ,nMatches:15 ,distance between two frames x:-0.000467 ,z=0.000068,angle between two frames:0.000458
[20:58:32.541] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =33 	 error init =0.190726 	 error end=0.190726
[20:58:32.541] After pose optimization, distance between two frames x:-0.000467 ,z=0.000068,angle between two frames:0.000458
[20:58:32.541] Update EKF and 3D points, distance between two frames x:-0.000441 ,z=0.000042,angle between two frames:0.000267
[20:58:32.590] Odometry x=-0.058048, y=-0.421433, theta=0.092833
[20:58:32.684] After Reprojection Map nPoint:45 ,nCell:36 ,nMatches:14 ,distance between two frames x:-0.000156 ,z=-0.000085,angle between two frames:0.004641
[20:58:32.685] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =29 	 error init =0.225122 	 error end=0.189325
[20:58:32.685] After pose optimization, distance between two frames x:-0.045457 ,z=0.022169,angle between two frames:0.002399
[20:58:32.692] Odometry x=-0.058341, y=-0.425358, theta=0.082946
[20:58:32.789] Odometry x=-0.058739, y=-0.429447, theta=0.088041
[20:58:32.828] After Reprojection Map nPoint:50 ,nCell:38 ,nMatches:15 ,distance between two frames x:-0.001189 ,z=-0.000146,angle between two frames:0.001426
[20:58:32.828] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =35 	 error init =0.236385 	 error end=0.236385
[20:58:32.828] After pose optimization, distance between two frames x:-0.001189 ,z=-0.000146,angle between two frames:0.001426
[20:58:32.828] Update EKF and 3D points, distance between two frames x:-0.001124 ,z=-0.000184,angle between two frames:0.000929
[20:58:32.892] Odometry x=-0.065519, y=-0.429559, theta=0.085174
[20:58:32.972] After Reprojection Map nPoint:51 ,nCell:40 ,nMatches:18 ,distance between two frames x:-0.000205 ,z=-0.000201,angle between two frames:0.002618
[20:58:32.974] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =39 	 error init =0.204059 	 error end=0.172506
[20:58:32.974] After pose optimization, distance between two frames x:-0.042353 ,z=0.020995,angle between two frames:0.012070
[20:58:32.989] Odometry x=-0.065881, y=-0.433550, theta=0.082139
[20:58:33.091] Odometry x=-0.066143, y=-0.437429, theta=0.084857
[20:58:33.117] After Reprojection Map nPoint:53 ,nCell:46 ,nMatches:15 ,distance between two frames x:-0.000631 ,z=0.000008,angle between two frames:0.000533
[20:58:33.117] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =30 	 error init =0.259393 	 error end=0.259393
[20:58:33.117] After pose optimization, distance between two frames x:-0.000631 ,z=0.000008,angle between two frames:0.000533
[20:58:33.117] Update EKF and 3D points, distance between two frames x:-0.000598 ,z=-0.000037,angle between two frames:0.000515
[20:58:33.194] Odometry x=-0.069817, y=-0.436881, theta=0.074354
[20:58:33.259] After Reprojection Map nPoint:47 ,nCell:37 ,nMatches:13 ,distance between two frames x:-0.000190 ,z=0.000092,angle between two frames:0.000139
[20:58:33.259] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =31 	 error init =0.177958 	 error end=0.177958
[20:58:33.259] After pose optimization, distance between two frames x:-0.000190 ,z=0.000092,angle between two frames:0.000139
[20:58:33.259] Update EKF and 3D points, distance between two frames x:-0.000168 ,z=0.000047,angle between two frames:0.000338
[20:58:33.287] Odometry x=-0.072195, y=-0.436237, theta=0.078409
[20:58:33.387] Odometry x=-0.072481, y=-0.440109, theta=0.072628
[20:58:33.403] After Reprojection Map nPoint:47 ,nCell:37 ,nMatches:15 ,distance between two frames x:-0.000485 ,z=-0.000185,angle between two frames:0.001620
[20:58:33.403] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =33 	 error init =0.201651 	 error end=0.201651
[20:58:33.403] After pose optimization, distance between two frames x:-0.000485 ,z=-0.000185,angle between two frames:0.001620
[20:58:33.403] Update EKF and 3D points, distance between two frames x:-0.000452 ,z=-0.000235,angle between two frames:0.001960
[20:58:33.495] Odometry x=-0.076016, y=-0.439050, theta=0.071147
[20:58:33.546] After Reprojection Map nPoint:48 ,nCell:41 ,nMatches:20 ,distance between two frames x:-0.000435 ,z=0.000094,angle between two frames:0.000296
[20:58:33.548] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =40 	 error init =0.176971 	 error end=0.144498
[20:58:33.548] After pose optimization, distance between two frames x:-0.051015 ,z=0.035534,angle between two frames:0.016187
[20:58:33.590] Odometry x=-0.076392, y=-0.443272, theta=0.070003
[20:58:33.691] After Reprojection Map nPoint:54 ,nCell:42 ,nMatches:18 ,distance between two frames x:0.000548 ,z=0.000236,angle between two frames:0.001000
[20:58:33.691] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =39 	 error init =0.208876 	 error end=0.208876
[20:58:33.691] After pose optimization, distance between two frames x:0.000548 ,z=0.000236,angle between two frames:0.001000
[20:58:33.691] Update EKF and 3D points, distance between two frames x:0.000515 ,z=0.000200,angle between two frames:0.000934
[20:58:33.692] Odometry x=-0.071253, y=-0.441219, theta=0.068153
[20:58:33.805] Odometry x=-0.071557, y=-0.446448, theta=0.065480
[20:58:33.834] After Reprojection Map nPoint:51 ,nCell:43 ,nMatches:18 ,distance between two frames x:-0.000026 ,z=0.000074,angle between two frames:0.000041
[20:58:33.836] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =37 	 error init =0.232328 	 error end=0.205439
[20:58:33.836] After pose optimization, distance between two frames x:-0.049777 ,z=0.038493,angle between two frames:0.008137
[20:58:33.888] Odometry x=-0.071762, y=-0.450693, theta=0.070380
[20:58:33.979] After Reprojection Map nPoint:47 ,nCell:38 ,nMatches:14 ,distance between two frames x:-0.000311 ,z=0.000085,angle between two frames:0.000209
[20:58:33.980] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =29 	 error init =0.244950 	 error end=0.244950
[20:58:33.980] After pose optimization, distance between two frames x:-0.000311 ,z=0.000085,angle between two frames:0.000209
[20:58:33.980] Update EKF and 3D points, distance between two frames x:-0.000294 ,z=0.000060,angle between two frames:0.000306
[20:58:34.001] Odometry x=-0.073707, y=-0.451636, theta=0.072429
[20:58:34.094] Odometry x=-0.073999, y=-0.455853, theta=0.078655
[20:58:34.125] After Reprojection Map nPoint:44 ,nCell:37 ,nMatches:17 ,distance between two frames x:-0.000758 ,z=-0.000278,angle between two frames:0.002753
[20:58:34.125] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =33 	 error init =0.272855 	 error end=0.272855
[20:58:34.125] After pose optimization, distance between two frames x:-0.000758 ,z=-0.000278,angle between two frames:0.002753
[20:58:34.125] Update EKF and 3D points, distance between two frames x:-0.000711 ,z=-0.000318,angle between two frames:0.003167
[20:58:34.193] Odometry x=-0.078999, y=-0.455765, theta=0.075798
[20:58:34.268] After Reprojection Map nPoint:49 ,nCell:38 ,nMatches:17 ,distance between two frames x:-0.000476 ,z=-0.000346,angle between two frames:0.001942
[20:58:34.268] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =36 	 error init =0.238450 	 error end=0.238450
[20:58:34.268] After pose optimization, distance between two frames x:-0.000476 ,z=-0.000346,angle between two frames:0.001942
[20:58:34.268] Update EKF and 3D points, distance between two frames x:-0.000433 ,z=-0.000362,angle between two frames:0.002521
[20:58:34.290] Odometry x=-0.083511, y=-0.457829, theta=0.083119
[20:58:34.389] Odometry x=-0.083785, y=-0.461856, theta=0.101257
[20:58:34.411] After Reprojection Map nPoint:47 ,nCell:36 ,nMatches:14 ,distance between two frames x:0.000004 ,z=-0.000092,angle between two frames:0.005093
[20:58:34.412] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =31 	 error init =0.208504 	 error end=0.178206
[20:58:34.412] After pose optimization, distance between two frames x:-0.042282 ,z=0.028952,angle between two frames:0.010812
[20:58:34.487] Odometry x=-0.084128, y=-0.465901, theta=0.110257
[20:58:34.556] After Reprojection Map nPoint:48 ,nCell:36 ,nMatches:14 ,distance between two frames x:-0.000125 ,z=0.000112,angle between two frames:0.000505
[20:58:34.558] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =33 	 error init =0.234680 	 error end=0.184206
[20:58:34.558] After pose optimization, distance between two frames x:-0.048670 ,z=0.010477,angle between two frames:0.027109
[20:58:34.590] Odometry x=-0.084484, y=-0.469557, theta=0.121503
[20:58:34.689] Odometry x=-0.084940, y=-0.473864, theta=0.120080
[20:58:34.701] After Reprojection Map nPoint:43 ,nCell:35 ,nMatches:14 ,distance between two frames x:-0.000967 ,z=-0.000079,angle between two frames:0.000292
[20:58:34.703] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =28 	 error init =0.311313 	 error end=0.262211
[20:58:34.703] After pose optimization, distance between two frames x:-0.063118 ,z=0.031834,angle between two frames:0.014883
[20:58:34.792] Odometry x=-0.085381, y=-0.477706, theta=0.130560
[20:58:34.847] After Reprojection Map nPoint:45 ,nCell:34 ,nMatches:17 ,distance between two frames x:-0.000470 ,z=-0.000003,angle between two frames:0.000161
[20:58:34.849] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =36 	 error init =0.287929 	 error end=0.215480
[20:58:34.849] After pose optimization, distance between two frames x:-0.081184 ,z=0.039961,angle between two frames:0.023546
[20:58:34.891] Odometry x=-0.085710, y=-0.481417, theta=0.132800
[20:58:34.990] Odometry x=-0.086287, y=-0.485608, theta=0.123764
[20:58:34.993] After Reprojection Map nPoint:45 ,nCell:35 ,nMatches:17 ,distance between two frames x:-0.000822 ,z=-0.000131,angle between two frames:0.000614
[20:58:34.994] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =38 	 error init =0.263305 	 error end=0.196155
[20:58:34.994] After pose optimization, distance between two frames x:-0.078701 ,z=0.029868,angle between two frames:0.026743
[20:58:35.092] Odometry x=-0.086708, y=-0.489440, theta=0.117221
[20:58:35.139] After Reprojection Map nPoint:53 ,nCell:43 ,nMatches:20 ,distance between two frames x:0.000351 ,z=-0.000176,angle between two frames:0.000175
[20:58:35.140] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =41 	 error init =0.292224 	 error end=0.228265
[20:58:35.140] After pose optimization, distance between two frames x:-0.078209 ,z=0.029730,angle between two frames:0.022849
[20:58:35.190] Odometry x=-0.087176, y=-0.493507, theta=0.117159
[20:58:35.283] After Reprojection Map nPoint:49 ,nCell:40 ,nMatches:15 ,distance between two frames x:-0.000150 ,z=0.000055,angle between two frames:0.000339
[20:58:35.285] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =32 	 error init =0.258065 	 error end=0.191984
[20:58:35.285] After pose optimization, distance between two frames x:-0.079712 ,z=0.039768,angle between two frames:0.013195
[20:58:35.290] Odometry x=-0.087569, y=-0.497423, theta=0.111765
[20:58:35.389] Odometry x=-0.087935, y=-0.501340, theta=0.103307
[20:58:35.437] After Reprojection Map nPoint:55 ,nCell:43 ,nMatches:18 ,distance between two frames x:-0.001088 ,z=-0.000167,angle between two frames:0.000938
[20:58:35.440] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =39 	 error init =0.286214 	 error end=0.228292
[20:58:35.440] After pose optimization, distance between two frames x:-0.094397 ,z=0.052459,angle between two frames:0.006759
[20:58:35.489] Odometry x=-0.088310, y=-0.505288, theta=0.096591
[20:58:35.585] After Reprojection Map nPoint:56 ,nCell:42 ,nMatches:15 ,distance between two frames x:-0.000577 ,z=-0.000079,angle between two frames:0.001080
[20:58:35.585] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =36 	 error init =0.220085 	 error end=0.220085
[20:58:35.585] After pose optimization, distance between two frames x:-0.000577 ,z=-0.000079,angle between two frames:0.001080
[20:58:35.585] Update EKF and 3D points, distance between two frames x:-0.000544 ,z=-0.000098,angle between two frames:0.001294
[20:58:35.585] Choose frame as a key frame Scene Depth mean:0.912330 ,depth min:0.760710
[20:58:35.589] Odometry x=-0.093785, y=-0.506222, theta=0.098764
[20:58:35.691] Odometry x=-0.094255, y=-0.511169, theta=0.102287
[20:58:35.732] After Reprojection Map nPoint:56 ,nCell:43 ,nMatches:18 ,distance between two frames x:-0.000364 ,z=-0.000069,angle between two frames:0.000272
[20:58:35.732] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =41 	 error init =0.200955 	 error end=0.200955
[20:58:35.732] After pose optimization, distance between two frames x:-0.000364 ,z=-0.000069,angle between two frames:0.000272
[20:58:35.732] Update EKF and 3D points, distance between two frames x:-0.000348 ,z=-0.000116,angle between two frames:0.000325
[20:58:35.732] Choose frame as a key frame Scene Depth mean:0.909860 ,depth min:0.760767
[20:58:35.789] Odometry x=-0.096251, y=-0.510373, theta=0.110682
[20:58:35.881] After Reprojection Map nPoint:78 ,nCell:66 ,nMatches:19 ,distance between two frames x:-0.000213 ,z=-0.000252,angle between two frames:0.003995
[20:58:35.881] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =41 	 error init =0.258639 	 error end=0.258639
[20:58:35.881] After pose optimization, distance between two frames x:-0.000213 ,z=-0.000252,angle between two frames:0.003995
[20:58:35.881] Update EKF and 3D points, distance between two frames x:-0.000197 ,z=-0.000277,angle between two frames:0.005035
[20:58:35.881] Choose frame as a key frame Scene Depth mean:0.911328 ,depth min:0.763161
[20:58:35.890] Odometry x=-0.098242, y=-0.511732, theta=0.110916
[20:58:35.992] Odometry x=-0.098675, y=-0.515580, theta=0.131283
[20:58:36.033] After Reprojection Map nPoint:101 ,nCell:85 ,nMatches:19 ,distance between two frames x:0.000117 ,z=-0.000065,angle between two frames:0.006870
[20:58:36.033] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =36 	 error init =0.267017 	 error end=0.212249
[20:58:36.033] After pose optimization, distance between two frames x:-0.088538 ,z=0.072106,angle between two frames:0.006689
[20:58:36.090] Odometry x=-0.099149, y=-0.519634, theta=0.142503
[20:58:36.185] After Reprojection Map nPoint:123 ,nCell:102 ,nMatches:18 ,distance between two frames x:-0.000072 ,z=0.000151,angle between two frames:0.000777
[20:58:36.185] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =41 	 error init =0.202768 	 error end=0.202768
[20:58:36.185] After pose optimization, distance between two frames x:-0.000072 ,z=0.000151,angle between two frames:0.000777
[20:58:36.185] Update EKF and 3D points, distance between two frames x:-0.000070 ,z=0.000120,angle between two frames:0.001719
[20:58:36.186] Choose frame as a key frame Scene Depth mean:0.903889 ,depth min:0.780036
[20:58:36.187] Odometry x=-0.099871, y=-0.518426, theta=0.138532
[20:58:36.290] Odometry x=-0.100456, y=-0.523163, theta=0.139383
[20:58:36.337] After Reprojection Map nPoint:119 ,nCell:98 ,nMatches:18 ,distance between two frames x:-0.000529 ,z=-0.000072,angle between two frames:0.000432
[20:58:36.338] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =42 	 error init =0.237912 	 error end=0.172912
[20:58:36.338] After pose optimization, distance between two frames x:-0.129770 ,z=0.076774,angle between two frames:0.001586
[20:58:36.392] Odometry x=-0.100971, y=-0.527132, theta=0.137236
[20:58:36.490] Odometry x=-0.101434, y=-0.531124, theta=0.140847
[20:58:36.492] After Reprojection Map nPoint:144 ,nCell:108 ,nMatches:18 ,distance between two frames x:-0.000094 ,z=-0.000001,angle between two frames:0.000152
[20:58:36.492] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =40 	 error init =0.272022 	 error end=0.216072
[20:58:36.492] After pose optimization, distance between two frames x:-0.109196 ,z=0.106482,angle between two frames:0.012552
[20:58:36.590] Odometry x=-0.101928, y=-0.534898, theta=0.137422
[20:58:36.647] After Reprojection Map nPoint:150 ,nCell:114 ,nMatches:17 ,distance between two frames x:-0.000093 ,z=-0.000295,angle between two frames:0.000032
[20:58:36.648] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =39 	 error init =0.283720 	 error end=0.214352
[20:58:36.648] After pose optimization, distance between two frames x:-0.124721 ,z=0.073007,angle between two frames:0.005401
[20:58:36.690] Odometry x=-0.102473, y=-0.538570, theta=0.136092
[20:58:36.785] Odometry x=-0.103033, y=-0.542777, theta=0.132486
[20:58:36.802] After Reprojection Map nPoint:137 ,nCell:119 ,nMatches:16 ,distance between two frames x:-0.000257 ,z=-0.000037,angle between two frames:0.000209
[20:58:36.802] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =37 	 error init =0.245026 	 error end=0.245026
[20:58:36.802] After pose optimization, distance between two frames x:-0.000257 ,z=-0.000037,angle between two frames:0.000209
[20:58:36.802] Update EKF and 3D points, distance between two frames x:-0.000248 ,z=-0.000082,angle between two frames:0.000468
[20:58:36.802] Choose frame as a key frame Scene Depth mean:0.900787 ,depth min:0.776936
[20:58:36.890] Odometry x=-0.104415, y=-0.542153, theta=0.132029
[20:58:36.958] After Reprojection Map nPoint:148 ,nCell:99 ,nMatches:17 ,distance between two frames x:-0.000156 ,z=-0.000253,angle between two frames:0.001663
[20:58:36.958] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =42 	 error init =0.217466 	 error end=0.217466
[20:58:36.958] After pose optimization, distance between two frames x:-0.000156 ,z=-0.000253,angle between two frames:0.001663
[20:58:36.958] Update EKF and 3D points, distance between two frames x:-0.000147 ,z=-0.000278,angle between two frames:0.001786
[20:58:36.958] Choose frame as a key frame Scene Depth mean:0.913071 ,depth min:0.775760
[20:58:36.994] Odometry x=-0.105867, y=-0.543728, theta=0.133224
[20:58:37.089] Odometry x=-0.106366, y=-0.547715, theta=0.131158
[20:58:37.117] After Reprojection Map nPoint:182 ,nCell:144 ,nMatches:24 ,distance between two frames x:-0.000286 ,z=-0.000010,angle between two frames:0.000201
[20:58:37.118] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =54 	 error init =0.215411 	 error end=0.152302
[20:58:37.118] After pose optimization, distance between two frames x:-0.083619 ,z=0.046758,angle between two frames:0.036517
[20:58:37.184] Odometry x=-0.106847, y=-0.551486, theta=0.129670
[20:58:37.278] After Reprojection Map nPoint:199 ,nCell:171 ,nMatches:22 ,distance between two frames x:-0.000368 ,z=0.000028,angle between two frames:0.000386
[20:58:37.278] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =48 	 error init =0.220098 	 error end=0.155670
[20:58:37.278] After pose optimization, distance between two frames x:-0.103747 ,z=0.072143,angle between two frames:0.023713
[20:58:37.290] Odometry x=-0.107322, y=-0.555085, theta=0.126151
[20:58:37.387] Odometry x=-0.107843, y=-0.559346, theta=0.122709
[20:58:37.442] After Reprojection Map nPoint:201 ,nCell:173 ,nMatches:22 ,distance between two frames x:0.000249 ,z=0.000029,angle between two frames:0.000155
[20:58:37.443] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =46 	 error init =0.242788 	 error end=0.189414
[20:58:37.443] After pose optimization, distance between two frames x:-0.125396 ,z=0.130265,angle between two frames:0.002533
[20:58:37.489] Odometry x=-0.108265, y=-0.563138, theta=0.120768
[20:58:37.592] Odometry x=-0.108695, y=-0.567040, theta=0.125246
[20:58:37.600] After Reprojection Map nPoint:190 ,nCell:161 ,nMatches:18 ,distance between two frames x:-0.000132 ,z=0.000053,angle between two frames:0.000215
[20:58:37.602] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =42 	 error init =0.243011 	 error end=0.216763
[20:58:37.602] After pose optimization, distance between two frames x:-0.042746 ,z=0.026929,angle between two frames:0.005892
[20:58:37.689] Odometry x=-0.109124, y=-0.570892, theta=0.128002
[20:58:37.761] After Reprojection Map nPoint:191 ,nCell:162 ,nMatches:20 ,distance between two frames x:-0.000365 ,z=-0.000111,angle between two frames:0.000038
[20:58:37.762] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =43 	 error init =0.238031 	 error end=0.185282
[20:58:37.763] After pose optimization, distance between two frames x:-0.077224 ,z=0.042252,angle between two frames:0.035274
[20:58:37.792] Odometry x=-0.109622, y=-0.574701, theta=0.131826
[20:58:37.889] Odometry x=-0.110108, y=-0.578471, theta=0.148971
[20:58:37.921] After Reprojection Map nPoint:193 ,nCell:167 ,nMatches:19 ,distance between two frames x:-0.000092 ,z=-0.000010,angle between two frames:0.000476
[20:58:37.921] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =38 	 error init =0.269055 	 error end=0.269055
[20:58:37.921] After pose optimization, distance between two frames x:-0.000092 ,z=-0.000010,angle between two frames:0.000476
[20:58:37.921] Update EKF and 3D points, distance between two frames x:-0.000093 ,z=-0.000054,angle between two frames:0.001919
[20:58:37.921] Choose frame as a key frame Scene Depth mean:0.900649 ,depth min:0.770622
[20:58:37.992] Odometry x=-0.110565, y=-0.578001, theta=0.149980
[20:58:38.089] Odometry x=-0.111117, y=-0.581875, theta=0.162308
[20:58:38.089] After Reprojection Map nPoint:194 ,nCell:157 ,nMatches:20 ,distance between two frames x:0.000496 ,z=-0.000072,angle between two frames:0.009814
[20:58:38.089] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =43 	 error init =0.269349 	 error end=0.269349
[20:58:38.089] After pose optimization, distance between two frames x:0.000496 ,z=-0.000072,angle between two frames:0.009814
[20:58:38.089] Update EKF and 3D points, distance between two frames x:0.000455 ,z=-0.000164,angle between two frames:0.011057
[20:58:38.089] Choose frame as a key frame Scene Depth mean:0.898728 ,depth min:0.776007
[20:58:38.189] Odometry x=-0.108497, y=-0.582705, theta=0.160218
[20:58:38.251] After Reprojection Map nPoint:218 ,nCell:179 ,nMatches:18 ,distance between two frames x:-0.000184 ,z=-0.000005,angle between two frames:0.000110
[20:58:38.253] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =44 	 error init =0.185041 	 error end=0.130240
[20:58:38.253] After pose optimization, distance between two frames x:-0.124949 ,z=0.064119,angle between two frames:0.011146
[20:58:38.286] Odometry x=-0.109037, y=-0.586608, theta=0.161100
[20:58:38.388] Odometry x=-0.109548, y=-0.590420, theta=0.161672
[20:58:38.414] After Reprojection Map nPoint:215 ,nCell:153 ,nMatches:12 ,distance between two frames x:-0.000064 ,z=0.000043,angle between two frames:0.000116
[20:58:38.414] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =20 	 error init =0.286107 	 error end=0.286107
[20:58:38.414] After pose optimization, distance between two frames x:-0.000064 ,z=0.000043,angle between two frames:0.000116
[20:58:38.414] Update EKF and 3D points, distance between two frames x:-0.000067 ,z=-0.000004,angle between two frames:0.000110
[20:58:38.414] Choose frame as a key frame Scene Depth mean:0.853910 ,depth min:0.551487
[20:58:38.486] Odometry x=-0.109883, y=-0.589644, theta=0.162013
[20:58:38.583] After Reprojection Map nPoint:204 ,nCell:172 ,nMatches:16 ,distance between two frames x:0.000172 ,z=0.000054,angle between two frames:0.000089
[20:58:38.584] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =26 	 error init =0.308504 	 error end=0.263553
[20:58:38.584] After pose optimization, distance between two frames x:-0.143923 ,z=0.111514,angle between two frames:0.001847
[20:58:38.588] Odometry x=-0.110508, y=-0.593628, theta=0.159156
[20:58:38.691] Odometry x=-0.111100, y=-0.597577, theta=0.153597
[20:58:38.747] After Reprojection Map nPoint:219 ,nCell:141 ,nMatches:17 ,distance between two frames x:-0.000169 ,z=-0.000096,angle between two frames:0.000183
[20:58:38.747] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =30 	 error init =0.300414 	 error end=0.300414
[20:58:38.747] After pose optimization, distance between two frames x:-0.000169 ,z=-0.000096,angle between two frames:0.000183
[20:58:38.747] Update EKF and 3D points, distance between two frames x:-0.000166 ,z=-0.000136,angle between two frames:0.000562
[20:58:38.747] Choose frame as a key frame Scene Depth mean:0.869256 ,depth min:0.549595
[20:58:38.788] Odometry x=-0.111960, y=-0.597564, theta=0.155959
[20:58:38.886] Odometry x=-0.112546, y=-0.601476, theta=0.155229
[20:58:38.914] After Reprojection Map nPoint:217 ,nCell:144 ,nMatches:14 ,distance between two frames x:0.000080 ,z=-0.000210,angle between two frames:0.002366
[20:58:38.915] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =37 	 error init =0.207589 	 error end=0.139704
[20:58:38.915] After pose optimization, distance between two frames x:-0.111837 ,z=0.032023,angle between two frames:0.002937
[20:58:38.988] Odometry x=-0.113080, y=-0.605366, theta=0.152451
[20:58:39.082] After Reprojection Map nPoint:250 ,nCell:185 ,nMatches:22 ,distance between two frames x:-0.000327 ,z=-0.000012,angle between two frames:0.000286
[20:58:39.084] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =48 	 error init =0.270333 	 error end=0.195269
[20:58:39.084] After pose optimization, distance between two frames x:-0.110317 ,z=0.038295,angle between two frames:0.018454
[20:58:39.091] Odometry x=-0.113657, y=-0.609449, theta=0.147350
[20:58:39.188] Odometry x=-0.114183, y=-0.613321, theta=0.142652
[20:58:39.252] After Reprojection Map nPoint:254 ,nCell:169 ,nMatches:25 ,distance between two frames x:-0.000018 ,z=0.000073,angle between two frames:0.000261
[20:58:39.254] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =59 	 error init =0.214907 	 error end=0.157668
[20:58:39.254] After pose optimization, distance between two frames x:-0.113059 ,z=0.049258,angle between two frames:0.003816
[20:58:39.287] Odometry x=-0.114727, y=-0.617268, theta=0.140883
[20:58:39.385] Odometry x=-0.115178, y=-0.621161, theta=0.151350
[20:58:39.420] After Reprojection Map nPoint:258 ,nCell:150 ,nMatches:27 ,distance between two frames x:-0.000014 ,z=0.000037,angle between two frames:0.000199
[20:58:39.420] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =58 	 error init =0.265143 	 error end=0.211445
[20:58:39.420] After pose optimization, distance between two frames x:-0.101114 ,z=0.088730,angle between two frames:0.015288
[20:58:39.488] Odometry x=-0.115762, y=-0.625147, theta=0.160601
[20:58:39.590] Odometry x=-0.116307, y=-0.629137, theta=0.169400
[20:58:39.592] After Reprojection Map nPoint:247 ,nCell:154 ,nMatches:24 ,distance between two frames x:-0.000215 ,z=0.000241,angle between two frames:0.000087
[20:58:39.595] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =57 	 error init =0.272242 	 error end=0.203196
[20:58:39.595] After pose optimization, distance between two frames x:-0.124627 ,z=0.058254,angle between two frames:0.008206
[20:58:39.688] Odometry x=-0.116950, y=-0.633119, theta=0.181261
[20:58:39.783] After Reprojection Map nPoint:248 ,nCell:135 ,nMatches:26 ,distance between two frames x:-0.000645 ,z=-0.001249,angle between two frames:0.000218
[20:58:39.783] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =63 	 error init =0.278672 	 error end=0.278672
[20:58:39.783] After pose optimization, distance between two frames x:-0.000645 ,z=-0.001249,angle between two frames:0.000218
[20:58:39.783] Update EKF and 3D points, distance between two frames x:-0.000614 ,z=-0.001222,angle between two frames:0.000524
[20:58:39.783] Choose frame as a key frame Scene Depth mean:1.044638 ,depth min:0.552435
[20:58:39.788] Odometry x=-0.122449, y=-0.641354, theta=0.169924
[20:58:39.894] Odometry x=-0.123255, y=-0.646089, theta=0.184051
[20:58:39.951] After Reprojection Map nPoint:256 ,nCell:123 ,nMatches:22 ,distance between two frames x:-0.000017 ,z=0.000016,angle between two frames:0.000000
[20:58:39.951] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =78 	 error init =0.180860 	 error end=0.180860
[20:58:39.951] After pose optimization, distance between two frames x:-0.000017 ,z=0.000016,angle between two frames:0.000000
[20:58:39.951] Update EKF and 3D points, distance between two frames x:-0.000025 ,z=-0.000036,angle between two frames:0.001222
[20:58:39.951] Choose frame as a key frame Scene Depth mean:1.079914 ,depth min:0.553200
[20:58:39.989] Odometry x=-0.123170, y=-0.644943, theta=0.181279
[20:58:40.092] Odometry x=-0.123830, y=-0.648795, theta=0.200045
[20:58:40.127] After Reprojection Map nPoint:267 ,nCell:154 ,nMatches:28 ,distance between two frames x:0.000030 ,z=-0.000463,angle between two frames:0.007678
[20:58:40.127] n deleted obs = 16 	 n obs with reprojection error less than 0.5 px =67 	 error init =0.285645 	 error end=0.285645
[20:58:40.127] After pose optimization, distance between two frames x:0.000030 ,z=-0.000463,angle between two frames:0.007678
[20:58:40.127] Update EKF and 3D points, distance between two frames x:0.000017 ,z=-0.000500,angle between two frames:0.009123
[20:58:40.127] Choose frame as a key frame Scene Depth mean:1.084691 ,depth min:0.558656
[20:58:40.192] Odometry x=-0.123263, y=-0.649111, theta=0.191820
[20:58:40.291] Odometry x=-0.124044, y=-0.653223, theta=0.203455
[20:58:40.310] After Reprojection Map nPoint:303 ,nCell:141 ,nMatches:25 ,distance between two frames x:0.000044 ,z=-0.000108,angle between two frames:0.009294
[20:58:40.310] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =86 	 error init =0.244477 	 error end=0.157684
[20:58:40.310] After pose optimization, distance between two frames x:-0.165864 ,z=0.021726,angle between two frames:0.053096
[20:58:40.388] Odometry x=-0.124676, y=-0.657021, theta=0.210731
[20:58:40.485] After Reprojection Map nPoint:336 ,nCell:186 ,nMatches:28 ,distance between two frames x:-0.000132 ,z=-0.000050,angle between two frames:0.000506
[20:58:40.486] Odometry x=-0.125458, y=-0.660715, theta=0.209858
[20:58:40.489] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =91 	 error init =0.228491 	 error end=0.166772
[20:58:40.489] After pose optimization, distance between two frames x:-0.089175 ,z=0.019035,angle between two frames:0.015908
[20:58:40.588] Odometry x=-0.126246, y=-0.664726, theta=0.204796
[20:58:40.661] After Reprojection Map nPoint:340 ,nCell:198 ,nMatches:31 ,distance between two frames x:-0.000277 ,z=-0.000409,angle between two frames:0.000178
[20:58:40.661] n deleted obs = 13 	 n obs with reprojection error less than 0.5 px =93 	 error init =0.251944 	 error end=0.251944
[20:58:40.661] After pose optimization, distance between two frames x:-0.000277 ,z=-0.000409,angle between two frames:0.000178
[20:58:40.661] Update EKF and 3D points, distance between two frames x:-0.000270 ,z=-0.000432,angle between two frames:0.000546
[20:58:40.661] Choose frame as a key frame Scene Depth mean:1.012465 ,depth min:0.575436
[20:58:40.691] Odometry x=-0.127739, y=-0.666435, theta=0.206235
[20:58:40.790] Odometry x=-0.128492, y=-0.670418, theta=0.191273
[20:58:40.839] After Reprojection Map nPoint:331 ,nCell:183 ,nMatches:28 ,distance between two frames x:0.000039 ,z=-0.000137,angle between two frames:0.002308
[20:58:40.843] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =96 	 error init =0.258650 	 error end=0.151279
[20:58:40.843] After pose optimization, distance between two frames x:-0.159808 ,z=0.051187,angle between two frames:0.025397
[20:58:40.893] Odometry x=-0.129279, y=-0.674415, theta=0.177506
[20:58:40.991] Odometry x=-0.129923, y=-0.678418, theta=0.168501
[20:58:41.023] After Reprojection Map nPoint:372 ,nCell:203 ,nMatches:25 ,distance between two frames x:-0.000077 ,z=-0.000015,angle between two frames:0.000741
[20:58:41.024] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =98 	 error init =0.250851 	 error end=0.164164
[20:58:41.024] After pose optimization, distance between two frames x:-0.151575 ,z=0.074415,angle between two frames:0.002164
[20:58:41.088] Odometry x=-0.130503, y=-0.682162, theta=0.165569
[20:58:41.190] Odometry x=-0.131131, y=-0.686036, theta=0.165480
[20:58:41.206] After Reprojection Map nPoint:367 ,nCell:202 ,nMatches:29 ,distance between two frames x:0.000209 ,z=0.000152,angle between two frames:0.000124
[20:58:41.210] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =107 	 error init =0.261133 	 error end=0.172579
[20:58:41.210] After pose optimization, distance between two frames x:-0.143824 ,z=0.067446,angle between two frames:0.002529
[20:58:41.288] Odometry x=-0.131662, y=-0.689887, theta=0.161181
[20:58:41.390] Odometry x=-0.132227, y=-0.693720, theta=0.155002
[20:58:41.393] After Reprojection Map nPoint:376 ,nCell:244 ,nMatches:31 ,distance between two frames x:-0.000034 ,z=0.000007,angle between two frames:0.000011
[20:58:41.393] n deleted obs = 13 	 n obs with reprojection error less than 0.5 px =107 	 error init =0.263264 	 error end=0.263264
[20:58:41.393] After pose optimization, distance between two frames x:-0.000034 ,z=0.000007,angle between two frames:0.000011
[20:58:41.393] Update EKF and 3D points, distance between two frames x:-0.000044 ,z=-0.000074,angle between two frames:0.000642
[20:58:41.393] Choose frame as a key frame Scene Depth mean:1.007275 ,depth min:0.461370
[20:58:41.487] Odometry x=-0.132736, y=-0.695618, theta=0.166116
[20:58:41.574] After Reprojection Map nPoint:389 ,nCell:208 ,nMatches:40 ,distance between two frames x:-0.000094 ,z=-0.000469,angle between two frames:0.003534
[20:58:41.577] n deleted obs = 18 	 n obs with reprojection error less than 0.5 px =126 	 error init =0.275262 	 error end=0.195870
[20:58:41.577] After pose optimization, distance between two frames x:-0.142283 ,z=0.071024,angle between two frames:0.003405
[20:58:41.589] Odometry x=-0.133326, y=-0.699453, theta=0.171129
[20:58:41.686] Odometry x=-0.133916, y=-0.703407, theta=0.169642
[20:58:41.757] After Reprojection Map nPoint:379 ,nCell:187 ,nMatches:28 ,distance between two frames x:0.000012 ,z=0.000043,angle between two frames:0.000298
[20:58:41.758] n deleted obs = 14 	 n obs with reprojection error less than 0.5 px =121 	 error init =0.244367 	 error end=0.226619
[20:58:41.758] After pose optimization, distance between two frames x:-0.122136 ,z=0.114989,angle between two frames:0.091759
[20:58:41.794] Odometry x=-0.134551, y=-0.707250, theta=0.169156
[20:58:41.891] Odometry x=-0.135196, y=-0.711458, theta=0.179708
[20:58:41.947] After Reprojection Map nPoint:390 ,nCell:210 ,nMatches:36 ,distance between two frames x:0.000004 ,z=0.000057,angle between two frames:0.000037
[20:58:41.947] n deleted obs = 20 	 n obs with reprojection error less than 0.5 px =124 	 error init =0.252613 	 error end=0.252613
[20:58:41.947] After pose optimization, distance between two frames x:0.000004 ,z=0.000057,angle between two frames:0.000037
[20:58:41.947] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000007,angle between two frames:0.001185
[20:58:41.948] Choose frame as a key frame Scene Depth mean:1.013569 ,depth min:0.461484
[20:58:41.986] Odometry x=-0.135027, y=-0.710289, theta=0.176556
[20:58:42.089] Odometry x=-0.135673, y=-0.714046, theta=0.182322
[20:58:42.141] After Reprojection Map nPoint:380 ,nCell:214 ,nMatches:30 ,distance between two frames x:0.000104 ,z=-0.000054,angle between two frames:0.000088
[20:58:42.142] n deleted obs = 14 	 n obs with reprojection error less than 0.5 px =127 	 error init =0.258942 	 error end=0.168871
[20:58:42.142] After pose optimization, distance between two frames x:-0.094165 ,z=0.025020,angle between two frames:0.019274
[20:58:42.189] Odometry x=-0.136319, y=-0.718005, theta=0.193172
[20:58:42.292] Odometry x=-0.137070, y=-0.722075, theta=0.205006
[20:58:42.328] After Reprojection Map nPoint:435 ,nCell:259 ,nMatches:37 ,distance between two frames x:-0.000070 ,z=-0.000028,angle between two frames:0.000546
[20:58:42.330] n deleted obs = 14 	 n obs with reprojection error less than 0.5 px =146 	 error init =0.245228 	 error end=0.158426
[20:58:42.330] After pose optimization, distance between two frames x:-0.184799 ,z=0.076413,angle between two frames:0.057564
[20:58:42.391] Odometry x=-0.137821, y=-0.726080, theta=0.207897
[20:58:42.488] Odometry x=-0.138619, y=-0.730060, theta=0.199761
[20:58:42.515] After Reprojection Map nPoint:427 ,nCell:239 ,nMatches:31 ,distance between two frames x:-0.000023 ,z=-0.000008,angle between two frames:0.000349
[20:58:42.520] n deleted obs = 15 	 n obs with reprojection error less than 0.5 px =140 	 error init =0.265379 	 error end=0.168520
[20:58:42.520] After pose optimization, distance between two frames x:-0.190696 ,z=0.074921,angle between two frames:0.051722
[20:58:42.596] Odometry x=-0.139351, y=-0.733759, theta=0.193911
[20:58:42.686] Odometry x=-0.140141, y=-0.737852, theta=0.192179
[20:58:42.705] After Reprojection Map nPoint:407 ,nCell:201 ,nMatches:31 ,distance between two frames x:0.000008 ,z=0.000022,angle between two frames:0.000386
[20:58:42.706] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =141 	 error init =0.235831 	 error end=0.235831
[20:58:42.706] After pose optimization, distance between two frames x:0.000008 ,z=0.000022,angle between two frames:0.000386
[20:58:42.706] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=-0.000024,angle between two frames:0.000741
[20:58:42.706] Choose frame as a key frame Scene Depth mean:1.031040 ,depth min:0.472621
[20:58:42.791] Odometry x=-0.139878, y=-0.736839, theta=0.187823
[20:58:42.889] Odometry x=-0.140645, y=-0.740834, theta=0.181192
[20:58:42.902] After Reprojection Map nPoint:417 ,nCell:226 ,nMatches:37 ,distance between two frames x:0.000037 ,z=-0.000195,angle between two frames:0.002341
[20:58:42.904] n deleted obs = 21 	 n obs with reprojection error less than 0.5 px =138 	 error init =0.254541 	 error end=0.170239
[20:58:42.904] After pose optimization, distance between two frames x:-0.203302 ,z=0.093685,angle between two frames:0.045439
[20:58:42.992] Odometry x=-0.141312, y=-0.744730, theta=0.181323
[20:58:43.089] Odometry x=-0.142039, y=-0.748670, theta=0.200722
[20:58:43.092] After Reprojection Map nPoint:439 ,nCell:256 ,nMatches:33 ,distance between two frames x:0.000078 ,z=0.000066,angle between two frames:0.000028
[20:58:43.094] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =153 	 error init =0.216290 	 error end=0.128264
[20:58:43.094] After pose optimization, distance between two frames x:-0.160361 ,z=0.077482,angle between two frames:0.021724
[20:58:43.191] Odometry x=-0.142761, y=-0.752372, theta=0.207503
[20:58:43.288] Odometry x=-0.143478, y=-0.756260, theta=0.213010
[20:58:43.291] After Reprojection Map nPoint:401 ,nCell:191 ,nMatches:26 ,distance between two frames x:0.000129 ,z=-0.000457,angle between two frames:0.001102
[20:58:43.293] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =136 	 error init =0.193324 	 error end=0.118146
[20:58:43.293] After pose optimization, distance between two frames x:-0.179027 ,z=0.067980,angle between two frames:0.050271
[20:58:43.389] Odometry x=-0.144294, y=-0.760031, theta=0.224325
[20:58:43.489] After Reprojection Map nPoint:456 ,nCell:206 ,nMatches:31 ,distance between two frames x:-0.000095 ,z=-0.000215,angle between two frames:0.000127
[20:58:43.495] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =165 	 error init =0.238045 	 error end=0.156152
[20:58:43.495] After pose optimization, distance between two frames x:-0.099368 ,z=0.027697,angle between two frames:0.004141
[20:58:43.697] After Reprojection Map nPoint:460 ,nCell:225 ,nMatches:31 ,distance between two frames x:-0.000194 ,z=-0.000113,angle between two frames:0.000406
[20:58:43.697] n deleted obs = 17 	 n obs with reprojection error less than 0.5 px =160 	 error init =0.279270 	 error end=0.279270
[20:58:43.697] After pose optimization, distance between two frames x:-0.000195 ,z=-0.000113,angle between two frames:0.000406
[20:58:43.697] Update EKF and 3D points, distance between two frames x:-0.000183 ,z=-0.000107,angle between two frames:0.001843
[20:58:43.698] Choose frame as a key frame Scene Depth mean:1.011879 ,depth min:0.490916
[20:58:43.893] After Reprojection Map nPoint:441 ,nCell:191 ,nMatches:27 ,distance between two frames x:0.000151 ,z=-0.000011,angle between two frames:0.009412
[20:58:43.896] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =169 	 error init =0.254803 	 error end=0.124766
[20:58:43.896] After pose optimization, distance between two frames x:-0.222389 ,z=0.069556,angle between two frames:0.050169
[20:58:44.109] After Reprojection Map nPoint:475 ,nCell:266 ,nMatches:36 ,distance between two frames x:0.000053 ,z=-0.000254,angle between two frames:0.000245
[20:58:44.115] n deleted obs = 14 	 n obs with reprojection error less than 0.5 px =174 	 error init =0.279798 	 error end=0.130892
[20:58:44.115] After pose optimization, distance between two frames x:-0.283880 ,z=0.098159,angle between two frames:0.062069
[20:58:44.321] After Reprojection Map nPoint:476 ,nCell:236 ,nMatches:31 ,distance between two frames x:0.000439 ,z=0.000034,angle between two frames:0.001080
[20:58:44.327] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =181 	 error init =0.278957 	 error end=0.131677
[20:58:44.327] After pose optimization, distance between two frames x:-0.280773 ,z=0.075569,angle between two frames:0.064291
[20:58:44.527] After Reprojection Map nPoint:474 ,nCell:236 ,nMatches:33 ,distance between two frames x:0.000063 ,z=-0.000162,angle between two frames:0.000114
[20:58:44.530] n deleted obs = 19 	 n obs with reprojection error less than 0.5 px =165 	 error init =0.335334 	 error end=0.147777
[20:58:44.530] After pose optimization, distance between two frames x:-0.270072 ,z=0.053943,angle between two frames:0.011636
[20:58:44.728] After Reprojection Map nPoint:468 ,nCell:223 ,nMatches:31 ,distance between two frames x:0.000129 ,z=-0.000139,angle between two frames:0.000030
[20:58:44.730] n deleted obs = 13 	 n obs with reprojection error less than 0.5 px =178 	 error init =0.335480 	 error end=0.177314
[20:58:44.730] After pose optimization, distance between two frames x:-0.302360 ,z=0.095620,angle between two frames:0.093420
[20:58:44.925] After Reprojection Map nPoint:465 ,nCell:218 ,nMatches:30 ,distance between two frames x:-0.000108 ,z=-0.000235,angle between two frames:0.000031
[20:58:44.927] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =185 	 error init =0.303935 	 error end=0.142425
[20:58:44.927] After pose optimization, distance between two frames x:-0.256812 ,z=0.063038,angle between two frames:0.048786
[20:58:45.137] After Reprojection Map nPoint:461 ,nCell:202 ,nMatches:30 ,distance between two frames x:-0.000044 ,z=-0.000258,angle between two frames:0.000033
[20:58:45.138] n deleted obs = 28 	 n obs with reprojection error less than 0.5 px =175 	 error init =0.336688 	 error end=0.336682
[20:58:45.138] After pose optimization, distance between two frames x:-0.000016 ,z=-0.000189,angle between two frames:0.000033
[20:58:45.138] Update EKF and 3D points, distance between two frames x:-0.000015 ,z=-0.000180,angle between two frames:0.000353
[20:58:45.138] Choose frame as a key frame Scene Depth mean:1.002543 ,depth min:0.529314
[20:58:45.339] After Reprojection Map nPoint:499 ,nCell:169 ,nMatches:36 ,distance between two frames x:0.000054 ,z=-0.000094,angle between two frames:0.000003
[20:58:45.340] n deleted obs = 23 	 n obs with reprojection error less than 0.5 px =203 	 error init =0.400783 	 error end=0.256728
[20:58:45.340] After pose optimization, distance between two frames x:-0.254832 ,z=0.086850,angle between two frames:0.098447
[20:58:45.546] After Reprojection Map nPoint:530 ,nCell:234 ,nMatches:32 ,distance between two frames x:0.000690 ,z=0.000113,angle between two frames:0.000519
[20:58:45.548] n deleted obs = 14 	 n obs with reprojection error less than 0.5 px =201 	 error init =0.369194 	 error end=0.207663
[20:58:45.548] After pose optimization, distance between two frames x:-0.251922 ,z=0.065395,angle between two frames:0.067826
[20:58:45.752] After Reprojection Map nPoint:531 ,nCell:190 ,nMatches:31 ,distance between two frames x:0.000136 ,z=-0.000136,angle between two frames:0.000244
[20:58:45.756] n deleted obs = 23 	 n obs with reprojection error less than 0.5 px =201 	 error init =0.482548 	 error end=0.266438
[20:58:45.756] After pose optimization, distance between two frames x:-0.259762 ,z=0.058402,angle between two frames:0.056852
[20:58:45.953] After Reprojection Map nPoint:538 ,nCell:170 ,nMatches:33 ,distance between two frames x:0.000161 ,z=0.000026,angle between two frames:0.000269
[20:58:45.954] n deleted obs = 26 	 n obs with reprojection error less than 0.5 px =212 	 error init =0.484649 	 error end=0.365910
[20:58:45.954] After pose optimization, distance between two frames x:-0.150406 ,z=0.054415,angle between two frames:0.051336
[20:58:46.168] After Reprojection Map nPoint:563 ,nCell:206 ,nMatches:33 ,distance between two frames x:0.000453 ,z=0.000077,angle between two frames:0.000419
[20:58:46.168] n deleted obs = 32 	 n obs with reprojection error less than 0.5 px =213 	 error init =0.546406 	 error end=0.478793
[20:58:46.168] After pose optimization, distance between two frames x:-0.092961 ,z=0.048238,angle between two frames:0.050421
[20:58:46.369] After Reprojection Map nPoint:510 ,nCell:167 ,nMatches:28 ,distance between two frames x:0.000055 ,z=-0.000053,angle between two frames:0.000167
[20:58:46.370] n deleted obs = 24 	 n obs with reprojection error less than 0.5 px =209 	 error init =0.502819 	 error end=0.435857
[20:58:46.370] After pose optimization, distance between two frames x:-0.124833 ,z=0.097481,angle between two frames:0.099897
[20:58:46.583] After Reprojection Map nPoint:517 ,nCell:133 ,nMatches:35 ,distance between two frames x:0.001215 ,z=0.000412,angle between two frames:0.001157
[20:58:46.583] n deleted obs = 25 	 n obs with reprojection error less than 0.5 px =224 	 error init =0.517862 	 error end=0.372454
[20:58:46.583] After pose optimization, distance between two frames x:-0.183418 ,z=0.071186,angle between two frames:0.070211
[20:58:46.793] After Reprojection Map nPoint:550 ,nCell:176 ,nMatches:34 ,distance between two frames x:0.000118 ,z=-0.000039,angle between two frames:0.000218
[20:58:46.793] n deleted obs = 47 	 n obs with reprojection error less than 0.5 px =200 	 error init =0.588982 	 error end=0.588982
[20:58:46.793] After pose optimization, distance between two frames x:0.000118 ,z=-0.000039,angle between two frames:0.000218
[20:58:46.793] Update EKF and 3D points, distance between two frames x:0.000111 ,z=-0.000038,angle between two frames:0.000587
[20:58:46.794] Choose frame as a key frame Scene Depth mean:0.994913 ,depth min:0.456654
[20:58:46.998] After Reprojection Map nPoint:527 ,nCell:146 ,nMatches:33 ,distance between two frames x:0.000027 ,z=-0.000051,angle between two frames:0.002386
[20:58:46.999] n deleted obs = 20 	 n obs with reprojection error less than 0.5 px =239 	 error init =0.572312 	 error end=0.143010
[20:58:46.999] After pose optimization, distance between two frames x:-0.339897 ,z=0.072501,angle between two frames:0.002762
[20:58:47.214] After Reprojection Map nPoint:632 ,nCell:211 ,nMatches:37 ,distance between two frames x:-0.000200 ,z=-0.000310,angle between two frames:0.000323
[20:58:47.215] n deleted obs = 39 	 n obs with reprojection error less than 0.5 px =239 	 error init =0.594598 	 error end=0.494897
[20:58:47.215] After pose optimization, distance between two frames x:-0.147191 ,z=0.104385,angle between two frames:0.105833
[20:58:47.415] After Reprojection Map nPoint:592 ,nCell:156 ,nMatches:35 ,distance between two frames x:0.000135 ,z=-0.000006,angle between two frames:0.000078
[20:58:47.415] n deleted obs = 56 	 n obs with reprojection error less than 0.5 px =217 	 error init =0.621326 	 error end=0.621326
[20:58:47.415] After pose optimization, distance between two frames x:0.000135 ,z=-0.000006,angle between two frames:0.000078
[20:58:47.415] Update EKF and 3D points, distance between two frames x:0.000127 ,z=-0.000007,angle between two frames:0.000428
[20:58:47.416] Choose frame as a key frame Scene Depth mean:0.982071 ,depth min:0.415692
[20:58:47.635] After Reprojection Map nPoint:589 ,nCell:153 ,nMatches:38 ,distance between two frames x:0.000203 ,z=-0.000202,angle between two frames:0.002325
[20:58:47.635] n deleted obs = 67 	 n obs with reprojection error less than 0.5 px =215 	 error init =0.676398 	 error end=0.676398
[20:58:47.635] After pose optimization, distance between two frames x:0.000203 ,z=-0.000202,angle between two frames:0.002325
[20:58:47.635] Update EKF and 3D points, distance between two frames x:0.000188 ,z=-0.000194,angle between two frames:0.002719
[20:58:47.636] Choose frame as a key frame Scene Depth mean:1.233588 ,depth min:0.405228
[20:58:47.857] After Reprojection Map nPoint:621 ,nCell:151 ,nMatches:31 ,distance between two frames x:0.000078 ,z=-0.000002,angle between two frames:0.002542
[20:58:47.858] n deleted obs = 36 	 n obs with reprojection error less than 0.5 px =240 	 error init =0.769392 	 error end=0.654839
[20:58:47.858] After pose optimization, distance between two frames x:-0.170105 ,z=0.128401,angle between two frames:0.140005
[20:58:48.071] After Reprojection Map nPoint:690 ,nCell:179 ,nMatches:37 ,distance between two frames x:-0.000173 ,z=-0.000249,angle between two frames:0.000133
[20:58:48.074] n deleted obs = 24 	 n obs with reprojection error less than 0.5 px =267 	 error init =0.730288 	 error end=0.197880
[20:58:48.074] After pose optimization, distance between two frames x:-0.384645 ,z=0.078755,angle between two frames:0.028567
[20:58:48.294] After Reprojection Map nPoint:693 ,nCell:197 ,nMatches:36 ,distance between two frames x:-0.000059 ,z=-0.000265,angle between two frames:0.000075
[20:58:48.294] n deleted obs = 70 	 n obs with reprojection error less than 0.5 px =219 	 error init =0.749136 	 error end=0.749136
[20:58:48.294] After pose optimization, distance between two frames x:-0.000059 ,z=-0.000265,angle between two frames:0.000075
[20:58:48.294] Update EKF and 3D points, distance between two frames x:-0.000056 ,z=-0.000252,angle between two frames:0.000339
[20:58:48.295] Choose frame as a key frame Scene Depth mean:1.208360 ,depth min:0.230970
[20:58:48.520] After Reprojection Map nPoint:658 ,nCell:122 ,nMatches:33 ,distance between two frames x:0.000189 ,z=-0.000017,angle between two frames:0.002655
[20:58:48.521] n deleted obs = 40 	 n obs with reprojection error less than 0.5 px =253 	 error init =0.826414 	 error end=0.727593
[20:58:48.521] After pose optimization, distance between two frames x:-0.082846 ,z=0.034833,angle between two frames:0.037874
[20:58:48.741] After Reprojection Map nPoint:718 ,nCell:142 ,nMatches:36 ,distance between two frames x:-0.000070 ,z=-0.000120,angle between two frames:0.000126
[20:58:48.741] n deleted obs = 83 	 n obs with reprojection error less than 0.5 px =208 	 error init =0.975641 	 error end=0.975641
[20:58:48.741] After pose optimization, distance between two frames x:-0.000070 ,z=-0.000120,angle between two frames:0.000126
[20:58:48.741] Update EKF and 3D points, distance between two frames x:-0.000066 ,z=-0.000113,angle between two frames:0.000109
[20:58:48.742] Choose frame as a key frame Scene Depth mean:1.203067 ,depth min:0.438120
