[0m[ INFO] [1629992501.976395971]: Found parameter: vio/cam_width, value: 640[0m
[0m[ INFO] [1629992501.978338200]: Found parameter: vio/cam_height, value: 480[0m
[0m[ INFO] [1629992501.978985162]: Found parameter: vio/cam_model, value: ATAN[0m
[0m[ INFO] [1629992501.979580652]: Found parameter: vio/cam_width, value: 640[0m
[0m[ INFO] [1629992501.980094458]: Found parameter: vio/cam_height, value: 480[0m
[0m[ INFO] [1629992501.980657399]: Found parameter: vio/cam_fx, value: 0.490202[0m
[0m[ INFO] [1629992501.981187217]: Found parameter: vio/cam_fy, value: 0.866527[0m
[0m[ INFO] [1629992501.981690039]: Found parameter: vio/cam_cx, value: 0.485102[0m
[0m[ INFO] [1629992501.982181533]: Found parameter: vio/cam_cy, value: 0.508577[0m
[0m[ INFO] [1629992501.982669692]: Found parameter: vio/cam_d0, value: 1.03345[0m
[0m[ INFO] [1629992501.982755615]: SVO initialized[0m
[0m[ INFO] [1629992501.986235101]: Found parameter: svo/grid_size, value: 30[0m
[0m[ INFO] [1629992501.986756501]: Found parameter: svo/init_min_disparity, value: 80[0m
[0m[ INFO] [1629992501.987226350]: Found parameter: svo/init_min_tracked, value: 100[0m
[0m[ INFO] [1629992501.987691079]: Found parameter: svo/init_min_inliers, value: 40[0m
[0m[ INFO] [1629992501.990372896]: Found parameter: svo/poseoptim_thresh, value: 4[0m
[0m[ INFO] [1629992501.991424259]: Found parameter: svo/structureoptim_max_pts, value: 50[0m
[0m[ INFO] [1629992501.993870878]: Found parameter: svo/loba_num_iter, value: 0[0m
[0m[ INFO] [1629992501.994511813]: Found parameter: svo/kfselect_mindist, value: 0.01[0m
[0m[ INFO] [1629992501.997137605]: Found parameter: svo/max_n_kfs, value: 20[0m
[0m[ INFO] [1629992501.999017729]: Found parameter: svo/quality_min_fts, value: 10[0m
[0m[ INFO] [1629992501.999626079]: Found parameter: svo/quality_max_drop_fts, value: 90[0m
[0m[ INFO] [1629992502.003381169]: Found parameter: svo/ACC_noise, value: 0.5[0m
[0m[ INFO] [1629992502.004019862]: Found parameter: svo/GYO_noise, value: 0.001[0m
[0m[ INFO] [1629992502.004670180]: Found parameter: svo/svo_ekf, value: 1.5[0m
[0m[ INFO] [1629992502.007594896]: Found parameter: svo/Cmd_Cov, value: 0.1[0m
Find platform number:Intel(R) CPU Runtime for OpenCL(TM) Applications 
Find platform number:Intel(R) OpenCL HD Graphics 
CL_DEVICE_NAME: Intel(R) UHD Graphics 620 [0x5917] 
CL_DRIVER_VERSION: 21.15.19533 
CL_DEVICE_OPENCL_C_VERSION: OpenCL C 3.0  
CL_DEVICE_COMPILER_AVAILABLE: 1
CL_DEVICE_LOCAL_MEM_SIZE: 65536
CL_DEVICE_GLOBAL_MEM_SIZE: 9867214848
CL_DEVICE_EXECUTION_CAPABILITIES: 1
CL_DEVICE_EXTENSIONS: cl_khr_byte_addressable_store cl_khr_fp16 cl_khr_global_int32_base_atomics cl_khr_global_int32_extended_atomics cl_khr_icd cl_khr_local_int32_base_atomics cl_khr_local_int32_extended_atomics cl_intel_command_queue_families cl_intel_subgroups cl_intel_required_subgroup_size cl_intel_subgroups_short cl_khr_spir cl_intel_accelerator cl_intel_driver_diagnostics cl_khr_priority_hints cl_khr_throttle_hints cl_khr_create_command_queue cl_intel_subgroups_char cl_intel_subgroups_long cl_khr_il_program cl_intel_mem_force_host_memory cl_khr_subgroup_extended_types cl_khr_subgroup_non_uniform_vote cl_khr_subgroup_ballot cl_khr_subgroup_non_uniform_arithmetic cl_khr_subgroup_shuffle cl_khr_subgroup_shuffle_relative cl_khr_subgroup_clustered_reduce cl_khr_fp64 cl_khr_subgroups cl_intel_spirv_device_side_avc_motion_estimation cl_intel_spirv_media_block_io cl_intel_spirv_subgroups cl_khr_spirv_no_integer_wrap_decoration cl_intel_unified_shared_memory_preview cl_khr_mipmap_image cl_khr_mipmap_image_writes cl_intel_planar_yuv cl_intel_packed_yuv cl_intel_motion_estimation cl_intel_device_side_avc_motion_estimation cl_intel_advanced_motion_estimation cl_khr_int64_base_atomics cl_khr_int64_extended_atomics cl_khr_image2d_from_buffer cl_khr_depth_images cl_khr_3d_image_writes cl_intel_media_block_io cl_intel_va_api_media_sharing  
[0m[ INFO] [1629992504.327817116]: Found parameter: vio/start, value: /vio/start[0m
[0m[ INFO] [1629992504.329301610]: Found parameter: vio/stop, value: /vio/stop[0m
[0m[ INFO] [1629992504.330792968]: Found parameter: vio/odom, value: /vio/getOdom[0m
[0m[ INFO] [1629992504.361156265]: Found parameter: vio/cam_topic, value: /CoreNode/grey_img[0m
[0m[ INFO] [1629992505.532818998]: Found parameter: vio/imu_topic, value: /SensorNode/imu[0m
[0m[ INFO] [1629992505.540859251]: Found parameter: vio/cmd_topic, value: /cmd_vel[0m
[0m[ INFO] [1629992505.574727303]: RESET[0m
[0m[ INFO] [1629992506.072208125]: Init: Selected first frame.[0m
[0m[ INFO] [1629992506.177652153]: Init: px average disparity is: 3.29974 While: 80 minimum required.  KLT tracked : 101[0m
[0m[ INFO] [1629992506.378359122]: Init: px average disparity is: 4.31392 While: 80 minimum required.  KLT tracked : 101[0m
[0m[ INFO] [1629992506.687001967]: Init: px average disparity is: 7.94894 While: 80 minimum required.  KLT tracked : 101[0m
[0m[ INFO] [1629992506.775668120]: Init: px average disparity is: 9.37561 While: 80 minimum required.  KLT tracked : 101[0m
[0m[ INFO] [1629992506.915292930]: Init: px average disparity is: 11.2351 While: 80 minimum required.  KLT tracked : 101[0m
[0m[ INFO] [1629992506.983849390]: Init: px average disparity is: 12.34 While: 80 minimum required.  KLT tracked : 98[0m
[0m[ INFO] [1629992507.190400701]: Init: px average disparity is: 13.7714 While: 80 minimum required.  KLT tracked : 98[0m
[0m[ INFO] [1629992512.909757091]: Init Homography RANSAC (inlier) is: 10 While: 40 inliers minimum required.
Init: px average disparity is: 89.379 While: 80 minimum required.[0m
[0m[ INFO] [1629992512.992640445]: Init Homography RANSAC (inlier) is: 4 While: 40 inliers minimum required.
Init: px average disparity is: 106.98 While: 80 minimum required.[0m
[0m[ INFO] [1629992513.094315717]: Init Homography RANSAC (inlier) is: 5 While: 40 inliers minimum required.
Init: px average disparity is: 98.7201 While: 80 minimum required.[0m
[0m[ INFO] [1629992513.193530960]: Init Homography RANSAC (inlier) is: 7 While: 40 inliers minimum required.
Init: px average disparity is: 95.1698 While: 80 minimum required.[0m
[0m[ INFO] [1629992513.289358535]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 95.1921 While: 80 minimum required.[0m
[0m[ INFO] [1629992513.388667990]: Init Homography RANSAC (inlier) is: 9 While: 40 inliers minimum required.
Init: px average disparity is: 95.2044 While: 80 minimum required.[0m
[0m[ INFO] [1629992513.502306239]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 97.562 While: 80 minimum required.[0m
[0m[ INFO] [1629992513.608643961]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 95.18 While: 80 minimum required.[0m
[0m[ INFO] [1629992513.687532365]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 96.0204 While: 80 minimum required.[0m
[0m[ INFO] [1629992513.784754203]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 97.1607 While: 80 minimum required.[0m
[0m[ INFO] [1629992513.887969401]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 96.5052 While: 80 minimum required.[0m
[0m[ INFO] [1629992514.003374236]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 96.2368 While: 80 minimum required.[0m
[0m[ INFO] [1629992514.086593687]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 96.7417 While: 80 minimum required.[0m
[0m[ INFO] [1629992514.184347221]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 97.2976 While: 80 minimum required.[0m
[0m[ INFO] [1629992514.286550215]: Init Homography RANSAC (inlier) is: 5 While: 40 inliers minimum required.
Init: px average disparity is: 97.4329 While: 80 minimum required.[0m
[0m[ INFO] [1629992514.388325106]: Init Homography RANSAC (inlier) is: 0 While: 40 inliers minimum required.
Init: px average disparity is: 113.512 While: 80 minimum required.[0m
[0m[ INFO] [1629992514.501776556]: Init Homography RANSAC (inlier) is: 5 While: 40 inliers minimum required.
Init: px average disparity is: 116.998 While: 80 minimum required.[0m
[0m[ INFO] [1629992514.589807960]: Init Homography RANSAC (inlier) is: 12 While: 40 inliers minimum required.
Init: px average disparity is: 121.108 While: 80 minimum required.[0m
[0m[ INFO] [1629992514.688357945]: Init Homography RANSAC (inlier) is: 10 While: 40 inliers minimum required.
Init: px average disparity is: 124.89 While: 80 minimum required.[0m
[0m[ INFO] [1629992514.794360619]: Init Homography RANSAC (inlier) is: 4 While: 40 inliers minimum required.
Init: px average disparity is: 126.658 While: 80 minimum required.[0m
[0m[ INFO] [1629992514.865110718]: Init Homography RANSAC (inlier) is: 1 While: 40 inliers minimum required.
Init: px average disparity is: 127.452 While: 80 minimum required.[0m
[0m[ INFO] [1629992514.971070651]: Init Homography RANSAC (inlier) is: 2 While: 40 inliers minimum required.
Init: px average disparity is: 131.975 While: 80 minimum required.[0m
[0m[ INFO] [1629992515.066854111]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 133.575 While: 80 minimum required.[0m
[0m[ INFO] [1629992515.184915192]: Init Homography RANSAC (inlier) is: 14 While: 40 inliers minimum required.
Init: px average disparity is: 141.417 While: 80 minimum required.[0m
[0m[ INFO] [1629992515.286331864]: Init Homography RANSAC (inlier) is: 7 While: 40 inliers minimum required.
Init: px average disparity is: 143.93 While: 80 minimum required.[0m
[0m[ INFO] [1629992515.388769241]: Init Homography RANSAC (inlier) is: 4 While: 40 inliers minimum required.
Init: px average disparity is: 149.462 While: 80 minimum required.[0m
[0m[ INFO] [1629992515.484614444]: Init Homography RANSAC (inlier) is: 1 While: 40 inliers minimum required.
Init: px average disparity is: 159.404 While: 80 minimum required. Reinitialized[0m
[0m[ INFO] [1629992515.523743894]: Init: Selected first frame.[0m
[0m[ INFO] [1629992515.622692234]: Init: px average disparity is: 13.3074 While: 80 minimum required.  KLT tracked : 194[0m
[0m[ INFO] [1629992515.719474693]: Init: px average disparity is: 27.6244 While: 80 minimum required.  KLT tracked : 194[0m
[0m[ INFO] [1629992515.823766245]: Init: px average disparity is: 40.4245 While: 80 minimum required.  KLT tracked : 194[0m
[0m[ INFO] [1629992515.921032603]: Init: px average disparity is: 51.4033 While: 80 minimum required.  KLT tracked : 194[0m
[0m[ INFO] [1629992516.018409105]: Init: px average disparity is: 63.3285 While: 80 minimum required.  KLT tracked : 194[0m
[0m[ INFO] [1629992516.119229681]: Init: px average disparity is: 77.1557 While: 80 minimum required.  KLT tracked : 194[0m
[0m[ INFO] [1629992516.220507601]: Init Homography RANSAC (inlier) is: 68
KLT disparity is: 89.3776 px average disparity.
The number of feature: 57[0m
[0m[ INFO] [1629992516.222888840]: Init: triangulated initial map. Vio is starting ...[0m
It. 0	 Success	 new_chi2 = 1.70773e+06	 x_norm = 5.38022
It. 1	 Success	 new_chi2 = 13774.1	 x_norm = 5.44462
It. 2	 Failure	 new_chi2 = 14690.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16194.6	 x_norm = 5.31203
It. 1	 Success	 new_chi2 = 14969.2	 x_norm = 5.59382
It. 2	 Success	 new_chi2 = 14844.4	 x_norm = 5.50307
It. 3	 Failure	 new_chi2 = 15625.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 18251.1	 x_norm = 16.5642
It. 1	 Success	 new_chi2 = 16100.3	 x_norm = 16.0916
It. 2	 Failure	 new_chi2 = 17945.8	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 59.9621
It. 0	 Success	 new_chi2 = 1.72367e+06	 x_norm = 6.45762
It. 1	 Success	 new_chi2 = 12497.5	 x_norm = 6.63542
It. 2	 Failure	 new_chi2 = 12547.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15231.8	 x_norm = 6.52714
It. 1	 Failure	 new_chi2 = 16102.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 17481.7	 x_norm = 17.379
It. 1	 Success	 new_chi2 = 16805.1	 x_norm = 14.6946
It. 2	 Failure	 new_chi2 = 18275.3	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 51.7446
It. 0	 Success	 new_chi2 = 1.69984e+06	 x_norm = 6.27533
It. 1	 Success	 new_chi2 = 12435.2	 x_norm = 6.45326
It. 2	 Failure	 new_chi2 = 12595.7	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15328.1	 x_norm = 5.3895
It. 1	 Success	 new_chi2 = 14421.2	 x_norm = 4.76398
It. 2	 Failure	 new_chi2 = 14712	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16714.9	 x_norm = 12.8268
It. 1	 Failure	 new_chi2 = 18656.8	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 35.8068
It. 0	 Success	 new_chi2 = 1.6475e+06	 x_norm = 6.36964
It. 1	 Success	 new_chi2 = 11716.3	 x_norm = 6.25417
It. 2	 Failure	 new_chi2 = 12133.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14700.2	 x_norm = 5.6158
It. 1	 Success	 new_chi2 = 14423.8	 x_norm = 5.62933
It. 2	 Failure	 new_chi2 = 14641.7	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 17152.2	 x_norm = 13.9714
It. 1	 Success	 new_chi2 = 16066.1	 x_norm = 16.5957
It. 2	 Failure	 new_chi2 = 16257.7	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 54.5126
It. 0	 Success	 new_chi2 = 1.55806e+06	 x_norm = 6.04898
It. 1	 Success	 new_chi2 = 11421.4	 x_norm = 6.08545
It. 2	 Failure	 new_chi2 = 11826.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14525.8	 x_norm = 5.07227
It. 1	 Success	 new_chi2 = 14159.5	 x_norm = 4.64762
It. 2	 Success	 new_chi2 = 13977.6	 x_norm = 4.6849
It. 3	 Failure	 new_chi2 = 14338.7	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16129.6	 x_norm = 14.7966
It. 1	 Success	 new_chi2 = 15815.5	 x_norm = 15.8056
It. 2	 Failure	 new_chi2 = 15933.2	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 57.2139
It. 0	 Success	 new_chi2 = 1.54169e+06	 x_norm = 5.79118
It. 1	 Success	 new_chi2 = 11400.6	 x_norm = 6.02606
It. 2	 Success	 new_chi2 = 11367.9	 x_norm = 6.0754
It. 3	 Failure	 new_chi2 = 11514.7	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14115.6	 x_norm = 4.42611
It. 1	 Success	 new_chi2 = 14056.4	 x_norm = 4.39992
It. 2	 Failure	 new_chi2 = 14302.1	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16479.6	 x_norm = 12.8451
It. 1	 Success	 new_chi2 = 15342.4	 x_norm = 13.3627
It. 2	 Failure	 new_chi2 = 15764.7	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 52.9697
It. 0	 Success	 new_chi2 = 1.60636e+06	 x_norm = 6.19923
It. 1	 Success	 new_chi2 = 11724.5	 x_norm = 6.10313
It. 2	 Success	 new_chi2 = 11714	 x_norm = 6.12859
It. 3	 Success	 new_chi2 = 11580.5	 x_norm = 6.05549
It. 4	 Success	 new_chi2 = 11536.7	 x_norm = 6.0652
It. 5	 Failure	 new_chi2 = 11642.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14420.1	 x_norm = 3.8483
It. 1	 Success	 new_chi2 = 14218.8	 x_norm = 3.18583
It. 2	 Failure	 new_chi2 = 14369.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16640.1	 x_norm = 12.4069
It. 1	 Success	 new_chi2 = 15659.9	 x_norm = 13.758
It. 2	 Success	 new_chi2 = 15392.6	 x_norm = 13.257
It. 3	 Success	 new_chi2 = 15191	 x_norm = 14.9468
It. 4	 Failure	 new_chi2 = 15523.9	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 91.9811
It. 0	 Success	 new_chi2 = 1.57507e+06	 x_norm = 6.23934
It. 1	 Success	 new_chi2 = 11486.2	 x_norm = 6.10039
It. 2	 Failure	 new_chi2 = 11684.7	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14772.9	 x_norm = 3.48537
It. 1	 Success	 new_chi2 = 14435.2	 x_norm = 3.26785
It. 2	 Success	 new_chi2 = 14390.8	 x_norm = 3.01223
It. 3	 Failure	 new_chi2 = 14516.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16647.5	 x_norm = 12.2468
It. 1	 Success	 new_chi2 = 16274.4	 x_norm = 10.4945
It. 2	 Failure	 new_chi2 = 16404.2	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 44.8717
It. 0	 Success	 new_chi2 = 1.57472e+06	 x_norm = 5.8525
It. 1	 Success	 new_chi2 = 11607.3	 x_norm = 6.20614
It. 2	 Failure	 new_chi2 = 11610.8	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14565.7	 x_norm = 6.00035
It. 1	 Failure	 new_chi2 = 14889.1	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 17735.5	 x_norm = 12.1045
It. 1	 Success	 new_chi2 = 16637	 x_norm = 11.1534
It. 2	 Success	 new_chi2 = 16631.7	 x_norm = 11.051
It. 3	 Success	 new_chi2 = 16250.4	 x_norm = 10.2178
It. 4	 Success	 new_chi2 = 15294.6	 x_norm = 11.9801
It. 5	 Failure	 new_chi2 = 15994.1	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 74.5789
It. 0	 Success	 new_chi2 = 1.58935e+06	 x_norm = 6.08986
It. 1	 Success	 new_chi2 = 11369.2	 x_norm = 6.16298
It. 2	 Success	 new_chi2 = 11232.3	 x_norm = 6.18072
It. 3	 Success	 new_chi2 = 11122	 x_norm = 6.16999
It. 4	 Failure	 new_chi2 = 11712.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14737.4	 x_norm = 4.59212
It. 1	 Failure	 new_chi2 = 14956.7	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 17500.8	 x_norm = 10.3863
It. 1	 Success	 new_chi2 = 16621.9	 x_norm = 11.8898
It. 2	 Success	 new_chi2 = 16088.5	 x_norm = 13.5786
It. 3	 Success	 new_chi2 = 15460.1	 x_norm = 12.6182
It. 4	 Failure	 new_chi2 = 15471.1	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 77.6706
It. 0	 Success	 new_chi2 = 1.62894e+06	 x_norm = 6.0985
It. 1	 Success	 new_chi2 = 11508.1	 x_norm = 6.15231
It. 2	 Success	 new_chi2 = 11379.6	 x_norm = 6.00135
It. 3	 Success	 new_chi2 = 11354.6	 x_norm = 6.06481
It. 4	 Failure	 new_chi2 = 11444.8	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14880.9	 x_norm = 5.47573
It. 1	 Failure	 new_chi2 = 15034	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 17221.6	 x_norm = 14.8518
It. 1	 Failure	 new_chi2 = 17246.9	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 44.7159
It. 0	 Success	 new_chi2 = 1.58243e+06	 x_norm = 5.82987
It. 1	 Success	 new_chi2 = 11667.4	 x_norm = 6.05141
It. 2	 Success	 new_chi2 = 11626.8	 x_norm = 6.09914
It. 3	 Failure	 new_chi2 = 11709.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14815.9	 x_norm = 5.61524
It. 1	 Failure	 new_chi2 = 15685.8	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 18097.1	 x_norm = 18.5395
It. 1	 Success	 new_chi2 = 16266.3	 x_norm = 16.6856
It. 2	 Failure	 new_chi2 = 17313.7	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 58.838
It. 0	 Success	 new_chi2 = 1.65108e+06	 x_norm = 5.98208
It. 1	 Success	 new_chi2 = 11459.7	 x_norm = 6.15102
It. 2	 Failure	 new_chi2 = 11685.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14580.4	 x_norm = 5.72532
It. 1	 Success	 new_chi2 = 14494.6	 x_norm = 5.27909
It. 2	 Failure	 new_chi2 = 15104.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16703.4	 x_norm = 16.6771
It. 1	 Failure	 new_chi2 = 16930.1	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 39.8645
It. 0	 Success	 new_chi2 = 1.60319e+06	 x_norm = 6.11569
It. 1	 Success	 new_chi2 = 11841.5	 x_norm = 6.15297
It. 2	 Success	 new_chi2 = 11722.1	 x_norm = 6.39639
It. 3	 Success	 new_chi2 = 11715	 x_norm = 6.73876
It. 4	 Failure	 new_chi2 = 12425	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14219.9	 x_norm = 5.09865
It. 1	 Success	 new_chi2 = 14202.7	 x_norm = 4.66633
It. 2	 Success	 new_chi2 = 14201.7	 x_norm = 4.7045
It. 3	 Failure	 new_chi2 = 14463.1	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 17485.5	 x_norm = 16.8459
It. 1	 Success	 new_chi2 = 16741.4	 x_norm = 18.055
It. 2	 Success	 new_chi2 = 16636.4	 x_norm = 17.5848
It. 3	 Failure	 new_chi2 = 18489.1	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 92.3958
It. 0	 Success	 new_chi2 = 1.56429e+06	 x_norm = 6.68241
It. 1	 Success	 new_chi2 = 11970.1	 x_norm = 6.3415
It. 2	 Success	 new_chi2 = 11177.7	 x_norm = 5.92734
It. 3	 Failure	 new_chi2 = 11406.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13699.2	 x_norm = 4.31887
It. 1	 Failure	 new_chi2 = 14931.3	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16997.6	 x_norm = 17.4888
It. 1	 Success	 new_chi2 = 16968.2	 x_norm = 19.5987
It. 2	 Success	 new_chi2 = 16053.7	 x_norm = 17.8331
It. 3	 Failure	 new_chi2 = 17734.3	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 78.1986
It. 0	 Success	 new_chi2 = 1.63504e+06	 x_norm = 5.92005
It. 1	 Success	 new_chi2 = 11532.1	 x_norm = 5.55711
It. 2	 Failure	 new_chi2 = 11638.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14353.3	 x_norm = 4.83337
It. 1	 Success	 new_chi2 = 13927.8	 x_norm = 4.69303
It. 2	 Failure	 new_chi2 = 13952.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16017.8	 x_norm = 15.1555
It. 1	 Success	 new_chi2 = 15589.3	 x_norm = 13.7815
It. 2	 Failure	 new_chi2 = 16664.8	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 49.9634
It. 0	 Success	 new_chi2 = 1.652e+06	 x_norm = 5.66051
It. 1	 Success	 new_chi2 = 11872.9	 x_norm = 5.6046
It. 2	 Success	 new_chi2 = 11555.5	 x_norm = 5.62409
It. 3	 Failure	 new_chi2 = 12345.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14658.4	 x_norm = 5.78839
It. 1	 Success	 new_chi2 = 14083.9	 x_norm = 5.45859
It. 2	 Failure	 new_chi2 = 14708.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15934.4	 x_norm = 14.5922
It. 1	 Failure	 new_chi2 = 16968.5	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 42.7909
It. 0	 Success	 new_chi2 = 1.65648e+06	 x_norm = 5.1756
It. 1	 Success	 new_chi2 = 12169.9	 x_norm = 5.46305
It. 2	 Success	 new_chi2 = 11828.1	 x_norm = 5.61327
It. 3	 Failure	 new_chi2 = 12450	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14964.1	 x_norm = 5.2026
It. 1	 Success	 new_chi2 = 14230.3	 x_norm = 4.84865
It. 2	 Failure	 new_chi2 = 14403.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16876.6	 x_norm = 15.3492
It. 1	 Success	 new_chi2 = 16499.3	 x_norm = 19.4492
It. 2	 Success	 new_chi2 = 16372.9	 x_norm = 17.6589
It. 3	 Failure	 new_chi2 = 18865.5	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 78.778
It. 0	 Success	 new_chi2 = 1.71221e+06	 x_norm = 5.26512
It. 1	 Success	 new_chi2 = 11927.5	 x_norm = 5.49811
It. 2	 Failure	 new_chi2 = 12164.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13949.9	 x_norm = 4.81994
It. 1	 Failure	 new_chi2 = 14399.3	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15944.6	 x_norm = 12.3923
It. 1	 Success	 new_chi2 = 15385.5	 x_norm = 12.048
It. 2	 Failure	 new_chi2 = 16056.9	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 40.0307
It. 0	 Success	 new_chi2 = 1.72208e+06	 x_norm = 5.83833
It. 1	 Success	 new_chi2 = 12060.3	 x_norm = 5.9529
It. 2	 Success	 new_chi2 = 11795.3	 x_norm = 5.97401
It. 3	 Success	 new_chi2 = 11607	 x_norm = 6.01864
It. 4	 Success	 new_chi2 = 11498.3	 x_norm = 6.00729
It. 5	 Failure	 new_chi2 = 12681.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14770.1	 x_norm = 5.68903
It. 1	 Success	 new_chi2 = 14472.8	 x_norm = 5.4006
It. 2	 Failure	 new_chi2 = 14511.8	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16708.3	 x_norm = 18.7661
It. 1	 Success	 new_chi2 = 15918.7	 x_norm = 18.3478
It. 2	 Failure	 new_chi2 = 16692.3	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 78.0538
It. 0	 Success	 new_chi2 = 1.6668e+06	 x_norm = 5.96191
It. 1	 Success	 new_chi2 = 11830.2	 x_norm = 6.03657
It. 2	 Success	 new_chi2 = 11500.9	 x_norm = 6.03524
It. 3	 Failure	 new_chi2 = 11603.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14358.4	 x_norm = 5.27412
It. 1	 Failure	 new_chi2 = 14969	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16876.5	 x_norm = 13.6261
It. 1	 Success	 new_chi2 = 15632.7	 x_norm = 14.9488
It. 2	 Success	 new_chi2 = 15001.3	 x_norm = 14.7658
It. 3	 Failure	 new_chi2 = 16543.8	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 66.6502
It. 0	 Success	 new_chi2 = 1.60617e+06	 x_norm = 6.00261
It. 1	 Success	 new_chi2 = 11412.3	 x_norm = 5.97397
It. 2	 Failure	 new_chi2 = 11891.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14528	 x_norm = 5.082
It. 1	 Failure	 new_chi2 = 14846.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16808.8	 x_norm = 13.2315
It. 1	 Success	 new_chi2 = 15432.9	 x_norm = 13.8559
It. 2	 Failure	 new_chi2 = 15495	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 44.1505
It. 0	 Success	 new_chi2 = 1.53389e+06	 x_norm = 6.08545
It. 1	 Success	 new_chi2 = 11611	 x_norm = 6.21009
It. 2	 Failure	 new_chi2 = 13210.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14235.1	 x_norm = 4.05712
It. 1	 Success	 new_chi2 = 13887.4	 x_norm = 3.95894
It. 2	 Failure	 new_chi2 = 14154.3	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16355.7	 x_norm = 12.9044
It. 1	 Success	 new_chi2 = 15260	 x_norm = 13.78
It. 2	 Failure	 new_chi2 = 15921.4	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 47.0127
It. 0	 Success	 new_chi2 = 1.54304e+06	 x_norm = 6.07236
It. 1	 Success	 new_chi2 = 13354.9	 x_norm = 5.44031
It. 2	 Success	 new_chi2 = 12676.3	 x_norm = 5.62947
It. 3	 Success	 new_chi2 = 12500.2	 x_norm = 5.55079
It. 4	 Success	 new_chi2 = 12195.8	 x_norm = 5.72126
It. 5	 Success	 new_chi2 = 11848.3	 x_norm = 5.72609
It. 6	 Success	 new_chi2 = 11371.1	 x_norm = 5.95045
It. 7	 Success	 new_chi2 = 11192.2	 x_norm = 6.06834
It. 8	 Failure	 new_chi2 = 11433.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14427.7	 x_norm = 4.7226
It. 1	 Success	 new_chi2 = 14192.3	 x_norm = 5.27729
It. 2	 Failure	 new_chi2 = 14341.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16563.8	 x_norm = 15.0899
It. 1	 Success	 new_chi2 = 15834.4	 x_norm = 14.8928
It. 2	 Failure	 new_chi2 = 16939.3	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 86.2718
It. 0	 Success	 new_chi2 = 1.76049e+06	 x_norm = 5.40192
It. 1	 Success	 new_chi2 = 12671	 x_norm = 5.47935
It. 2	 Success	 new_chi2 = 12245.8	 x_norm = 5.61056
It. 3	 Success	 new_chi2 = 11844.9	 x_norm = 5.68447
It. 4	 Success	 new_chi2 = 11496.3	 x_norm = 5.67241
It. 5	 Success	 new_chi2 = 11241	 x_norm = 5.73657
It. 6	 Failure	 new_chi2 = 11387.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14588.1	 x_norm = 4.25026
It. 1	 Success	 new_chi2 = 14082.4	 x_norm = 4.82105
It. 2	 Success	 new_chi2 = 13498.3	 x_norm = 4.87265
It. 3	 Success	 new_chi2 = 13269.5	 x_norm = 4.50165
It. 4	 Failure	 new_chi2 = 14198.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16007.9	 x_norm = 12.6183
It. 1	 Failure	 new_chi2 = 16548	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 64.848
It. 0	 Success	 new_chi2 = 1.78593e+06	 x_norm = 5.71554
It. 1	 Success	 new_chi2 = 12320.1	 x_norm = 5.58124
It. 2	 Success	 new_chi2 = 12052	 x_norm = 5.64973
It. 3	 Success	 new_chi2 = 11561.5	 x_norm = 5.55185
It. 4	 Success	 new_chi2 = 11401.8	 x_norm = 5.60928
It. 5	 Success	 new_chi2 = 11289.7	 x_norm = 5.62402
It. 6	 Failure	 new_chi2 = 11382.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14553.1	 x_norm = 4.22537
It. 1	 Success	 new_chi2 = 13852.2	 x_norm = 4.41694
It. 2	 Success	 new_chi2 = 13514.5	 x_norm = 4.16295
It. 3	 Success	 new_chi2 = 13383.8	 x_norm = 4.64854
It. 4	 Failure	 new_chi2 = 14490.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16236.4	 x_norm = 13.6012
It. 1	 Success	 new_chi2 = 15877.2	 x_norm = 15.1115
It. 2	 Failure	 new_chi2 = 17361.9	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 80.0192
It. 0	 Success	 new_chi2 = 1.7441e+06	 x_norm = 5.75274
It. 1	 Success	 new_chi2 = 11997.5	 x_norm = 5.73204
It. 2	 Success	 new_chi2 = 11629.7	 x_norm = 5.70998
It. 3	 Success	 new_chi2 = 11408	 x_norm = 5.74094
It. 4	 Success	 new_chi2 = 11359.9	 x_norm = 5.63445
It. 5	 Failure	 new_chi2 = 11675.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14742	 x_norm = 4.09706
It. 1	 Success	 new_chi2 = 13872.5	 x_norm = 4.1017
It. 2	 Success	 new_chi2 = 13572.1	 x_norm = 4.39198
It. 3	 Success	 new_chi2 = 13498.2	 x_norm = 4.69274
It. 4	 Failure	 new_chi2 = 14506.7	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16041.8	 x_norm = 13.5602
It. 1	 Success	 new_chi2 = 15125.8	 x_norm = 15.5005
It. 2	 Failure	 new_chi2 = 16289.7	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 75.0117
It. 0	 Success	 new_chi2 = 1.60476e+06	 x_norm = 5.74345
It. 1	 Success	 new_chi2 = 11379.1	 x_norm = 5.76266
It. 2	 Failure	 new_chi2 = 11415.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14878.5	 x_norm = 4.50237
It. 1	 Success	 new_chi2 = 14319.9	 x_norm = 4.31677
It. 2	 Success	 new_chi2 = 13957.1	 x_norm = 4.24774
It. 3	 Success	 new_chi2 = 13638.2	 x_norm = 4.55674
It. 4	 Failure	 new_chi2 = 13884.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16017.7	 x_norm = 13.6287
It. 1	 Success	 new_chi2 = 14994.4	 x_norm = 13.4116
It. 2	 Failure	 new_chi2 = 15342.7	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 56.2141
It. 0	 Success	 new_chi2 = 1.56637e+06	 x_norm = 5.74772
It. 1	 Success	 new_chi2 = 11779.7	 x_norm = 5.76756
It. 2	 Success	 new_chi2 = 11501.1	 x_norm = 5.71654
It. 3	 Success	 new_chi2 = 11458.3	 x_norm = 5.89228
It. 4	 Failure	 new_chi2 = 11987.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13988.3	 x_norm = 5.14792
It. 1	 Failure	 new_chi2 = 14370.3	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15910.6	 x_norm = 13.8912
It. 1	 Success	 new_chi2 = 14846.1	 x_norm = 13.6729
It. 2	 Failure	 new_chi2 = 15355.5	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 55.8593
It. 0	 Success	 new_chi2 = 1.57679e+06	 x_norm = 5.87717
It. 1	 Success	 new_chi2 = 11920.7	 x_norm = 5.67148
It. 2	 Success	 new_chi2 = 11744.4	 x_norm = 5.65273
It. 3	 Success	 new_chi2 = 11530.5	 x_norm = 5.71638
It. 4	 Failure	 new_chi2 = 11551.7	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14193.5	 x_norm = 5.06814
It. 1	 Success	 new_chi2 = 13939.9	 x_norm = 5.05376
It. 2	 Failure	 new_chi2 = 13942.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15369.4	 x_norm = 13.5394
It. 1	 Success	 new_chi2 = 14848.6	 x_norm = 13.3098
It. 2	 Failure	 new_chi2 = 15042.1	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 59.9227
It. 0	 Success	 new_chi2 = 1.65411e+06	 x_norm = 5.86631
It. 1	 Success	 new_chi2 = 11953.9	 x_norm = 5.83203
It. 2	 Success	 new_chi2 = 11703.2	 x_norm = 5.84258
It. 3	 Failure	 new_chi2 = 11983.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14445.4	 x_norm = 5.04077
It. 1	 Success	 new_chi2 = 13929.4	 x_norm = 4.83784
It. 2	 Failure	 new_chi2 = 13955.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15659.3	 x_norm = 13.2703
It. 1	 Success	 new_chi2 = 15033.3	 x_norm = 13.2217
It. 2	 Failure	 new_chi2 = 15085.6	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 53.9263
It. 0	 Success	 new_chi2 = 1.61615e+06	 x_norm = 6.49878
It. 1	 Success	 new_chi2 = 11873.6	 x_norm = 6.00193
It. 2	 Failure	 new_chi2 = 11930.1	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14133	 x_norm = 5.16785
It. 1	 Failure	 new_chi2 = 14512.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16072.6	 x_norm = 13.8596
It. 1	 Success	 new_chi2 = 15043.4	 x_norm = 13.7158
It. 2	 Success	 new_chi2 = 14981.3	 x_norm = 13.073
It. 3	 Failure	 new_chi2 = 15068.8	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 58.3178
It. 0	 Success	 new_chi2 = 1.64125e+06	 x_norm = 6.53556
It. 1	 Success	 new_chi2 = 12248.5	 x_norm = 6.28866
It. 2	 Success	 new_chi2 = 11850.9	 x_norm = 6.27464
It. 3	 Success	 new_chi2 = 11679.4	 x_norm = 6.18887
It. 4	 Success	 new_chi2 = 11625.7	 x_norm = 6.07041
It. 5	 Failure	 new_chi2 = 11735.8	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14020.6	 x_norm = 5.19595
It. 1	 Failure	 new_chi2 = 14201.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15973.9	 x_norm = 13.5637
It. 1	 Success	 new_chi2 = 14888.5	 x_norm = 14.4863
It. 2	 Failure	 new_chi2 = 15226	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 64.6439
It. 0	 Success	 new_chi2 = 1.64183e+06	 x_norm = 6.45123
It. 1	 Success	 new_chi2 = 11846.6	 x_norm = 6.19502
It. 2	 Success	 new_chi2 = 11627.7	 x_norm = 6.16209
It. 3	 Success	 new_chi2 = 11557.1	 x_norm = 6.04281
It. 4	 Failure	 new_chi2 = 11839.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13745.9	 x_norm = 5.19636
It. 1	 Failure	 new_chi2 = 14018.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16007	 x_norm = 13.9111
It. 1	 Success	 new_chi2 = 15123	 x_norm = 14.3948
It. 2	 Failure	 new_chi2 = 15273.1	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 58.3731
It. 0	 Success	 new_chi2 = 1.59358e+06	 x_norm = 6.34658
It. 1	 Success	 new_chi2 = 11633.7	 x_norm = 6.21156
It. 2	 Failure	 new_chi2 = 11705.1	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13920.9	 x_norm = 5.0558
It. 1	 Failure	 new_chi2 = 13954.7	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15879.2	 x_norm = 15.1127
It. 1	 Success	 new_chi2 = 15133.1	 x_norm = 13.9934
It. 2	 Failure	 new_chi2 = 15263.6	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 46.7208
It. 0	 Success	 new_chi2 = 1.59586e+06	 x_norm = 6.19422
It. 1	 Success	 new_chi2 = 11510.1	 x_norm = 6.13037
It. 2	 Failure	 new_chi2 = 11697.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13746.6	 x_norm = 5.26142
It. 1	 Failure	 new_chi2 = 14075.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16201	 x_norm = 16.2798
It. 1	 Success	 new_chi2 = 14782.1	 x_norm = 15.1055
It. 2	 Failure	 new_chi2 = 15088.9	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 48.9726
It. 0	 Success	 new_chi2 = 1.56355e+06	 x_norm = 5.9619
It. 1	 Success	 new_chi2 = 11699.4	 x_norm = 6.23562
It. 2	 Success	 new_chi2 = 11647.4	 x_norm = 6.12247
It. 3	 Failure	 new_chi2 = 11657.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14303.7	 x_norm = 6.37181
It. 1	 Success	 new_chi2 = 14112.2	 x_norm = 5.65349
It. 2	 Success	 new_chi2 = 13741.1	 x_norm = 5.17502
It. 3	 Failure	 new_chi2 = 13780.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15609.4	 x_norm = 14.7327
It. 1	 Success	 new_chi2 = 15053.6	 x_norm = 14.336
It. 2	 Failure	 new_chi2 = 15075.8	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 64.6137
It. 0	 Success	 new_chi2 = 1.56244e+06	 x_norm = 6.21161
It. 1	 Success	 new_chi2 = 11440.7	 x_norm = 6.1686
It. 2	 Success	 new_chi2 = 11391.4	 x_norm = 6.15913
It. 3	 Success	 new_chi2 = 11279	 x_norm = 6.0938
It. 4	 Failure	 new_chi2 = 11414.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13903.3	 x_norm = 5.06645
It. 1	 Failure	 new_chi2 = 13961.8	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15543.2	 x_norm = 15.116
It. 1	 Success	 new_chi2 = 14770.5	 x_norm = 12.5884
It. 2	 Failure	 new_chi2 = 14944.7	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 57.4173
It. 0	 Success	 new_chi2 = 1.54122e+06	 x_norm = 6.13
It. 1	 Success	 new_chi2 = 11500.7	 x_norm = 6.24494
It. 2	 Failure	 new_chi2 = 11519	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14204.5	 x_norm = 5.97173
It. 1	 Success	 new_chi2 = 14144.4	 x_norm = 5.45197
It. 2	 Success	 new_chi2 = 13999.3	 x_norm = 5.23305
It. 3	 Success	 new_chi2 = 13731.3	 x_norm = 4.89248
It. 4	 Success	 new_chi2 = 13557.4	 x_norm = 4.77782
It. 5	 Failure	 new_chi2 = 13637.1	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15433.4	 x_norm = 13.9589
It. 1	 Success	 new_chi2 = 14944.1	 x_norm = 13.8629
It. 2	 Success	 new_chi2 = 14456.5	 x_norm = 13.8118
It. 3	 Failure	 new_chi2 = 15343.9	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 80.354
It. 0	 Success	 new_chi2 = 1.55999e+06	 x_norm = 5.94669
It. 1	 Success	 new_chi2 = 11648.4	 x_norm = 5.86979
It. 2	 Success	 new_chi2 = 11551.2	 x_norm = 5.87821
It. 3	 Failure	 new_chi2 = 11614	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13829.4	 x_norm = 4.58548
It. 1	 Success	 new_chi2 = 13621.3	 x_norm = 4.64375
It. 2	 Failure	 new_chi2 = 13844.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15619.2	 x_norm = 13.058
It. 1	 Success	 new_chi2 = 14925.2	 x_norm = 13.6535
It. 2	 Success	 new_chi2 = 14659.6	 x_norm = 13.1125
It. 3	 Failure	 new_chi2 = 15009.3	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 66.7527
It. 0	 Success	 new_chi2 = 1.55184e+06	 x_norm = 5.96538
It. 1	 Success	 new_chi2 = 11489.3	 x_norm = 5.95583
It. 2	 Failure	 new_chi2 = 11580.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13845.2	 x_norm = 5.28075
It. 1	 Success	 new_chi2 = 13809.9	 x_norm = 5.04833
It. 2	 Failure	 new_chi2 = 13839.7	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15522.3	 x_norm = 12.9253
It. 1	 Success	 new_chi2 = 14751.7	 x_norm = 13.1322
It. 2	 Failure	 new_chi2 = 14894.4	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 48.3157
It. 0	 Success	 new_chi2 = 1.54542e+06	 x_norm = 6.06049
It. 1	 Success	 new_chi2 = 11412.1	 x_norm = 6.01791
It. 2	 Success	 new_chi2 = 11340.5	 x_norm = 5.97476
It. 3	 Success	 new_chi2 = 11332.5	 x_norm = 5.99045
It. 4	 Success	 new_chi2 = 11315.8	 x_norm = 6.00672
It. 5	 Success	 new_chi2 = 11294.3	 x_norm = 5.81592
It. 6	 Failure	 new_chi2 = 11356.3	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13800.9	 x_norm = 4.64497
It. 1	 Success	 new_chi2 = 13623.8	 x_norm = 4.70202
It. 2	 Success	 new_chi2 = 13495.8	 x_norm = 4.63202
It. 3	 Success	 new_chi2 = 13472.4	 x_norm = 4.47012
It. 4	 Failure	 new_chi2 = 13789.1	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15581.2	 x_norm = 13.6043
It. 1	 Success	 new_chi2 = 14771.2	 x_norm = 13.0456
It. 2	 Success	 new_chi2 = 14755.9	 x_norm = 12.8738
It. 3	 Failure	 new_chi2 = 14789.6	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 93.9018
It. 0	 Success	 new_chi2 = 1.49697e+06	 x_norm = 6.16899
It. 1	 Success	 new_chi2 = 11234.3	 x_norm = 6.21422
It. 2	 Failure	 new_chi2 = 11240.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13790.1	 x_norm = 5.2844
It. 1	 Success	 new_chi2 = 13628.2	 x_norm = 4.96819
It. 2	 Success	 new_chi2 = 13547.3	 x_norm = 4.82715
It. 3	 Failure	 new_chi2 = 13890.7	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15685	 x_norm = 13.64
It. 1	 Success	 new_chi2 = 14646.1	 x_norm = 13.6596
It. 2	 Failure	 new_chi2 = 14775.5	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 54.7862
It. 0	 Success	 new_chi2 = 1.51914e+06	 x_norm = 6.13571
It. 1	 Success	 new_chi2 = 11405.1	 x_norm = 6.11446
It. 2	 Failure	 new_chi2 = 11601.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13937.9	 x_norm = 5.26255
It. 1	 Success	 new_chi2 = 13730.9	 x_norm = 5.15898
It. 2	 Failure	 new_chi2 = 13771.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15744.3	 x_norm = 15.0423
It. 1	 Success	 new_chi2 = 14896.9	 x_norm = 14.511
It. 2	 Success	 new_chi2 = 14881.2	 x_norm = 14.8245
It. 3	 Success	 new_chi2 = 14721.2	 x_norm = 13.945
It. 4	 Success	 new_chi2 = 14607.5	 x_norm = 13.3202
It. 5	 Failure	 new_chi2 = 14968.9	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 94.3154
It. 0	 Success	 new_chi2 = 1.53786e+06	 x_norm = 6.0389
It. 1	 Success	 new_chi2 = 11482.1	 x_norm = 6.05025
It. 2	 Success	 new_chi2 = 11445.9	 x_norm = 6.03247
It. 3	 Success	 new_chi2 = 11396.6	 x_norm = 6.00013
It. 4	 Success	 new_chi2 = 11371.4	 x_norm = 5.99225
It. 5	 Success	 new_chi2 = 11367.6	 x_norm = 5.94328
It. 6	 Success	 new_chi2 = 11316.8	 x_norm = 5.91229
It. 7	 Success	 new_chi2 = 11275.7	 x_norm = 5.88157
It. 8	 Success	 new_chi2 = 11234.1	 x_norm = 5.85121
It. 9	 Success	 new_chi2 = 11192	 x_norm = 5.82076
It. 10	 Success	 new_chi2 = 11149.4	 x_norm = 5.79029
It. 11	 Success	 new_chi2 = 11106.4	 x_norm = 5.76027
It. 12	 Success	 new_chi2 = 11091.7	 x_norm = 5.75046
It. 13	 Failure	 new_chi2 = 11162.3	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13726.6	 x_norm = 4.66692
It. 1	 Success	 new_chi2 = 13527.8	 x_norm = 4.70831
It. 2	 Success	 new_chi2 = 13429.3	 x_norm = 4.62452
It. 3	 Failure	 new_chi2 = 13453.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15462	 x_norm = 13.7719
It. 1	 Success	 new_chi2 = 14851.8	 x_norm = 13.3189
It. 2	 Success	 new_chi2 = 14824.7	 x_norm = 13.2206
It. 3	 Failure	 new_chi2 = 14834.6	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 131.326
It. 0	 Success	 new_chi2 = 1.48913e+06	 x_norm = 5.83193
It. 1	 Success	 new_chi2 = 11256.2	 x_norm = 5.87318
It. 2	 Success	 new_chi2 = 11207.8	 x_norm = 5.84515
It. 3	 Failure	 new_chi2 = 11260.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13983.8	 x_norm = 5.28913
It. 1	 Success	 new_chi2 = 13802.8	 x_norm = 5.29581
It. 2	 Success	 new_chi2 = 13678.6	 x_norm = 5.22499
It. 3	 Success	 new_chi2 = 13590.9	 x_norm = 5.14849
It. 4	 Success	 new_chi2 = 13552.1	 x_norm = 5.18852
It. 5	 Success	 new_chi2 = 13508.1	 x_norm = 5.28478
It. 6	 Failure	 new_chi2 = 13553.1	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15582.4	 x_norm = 14.1797
It. 1	 Success	 new_chi2 = 14960.9	 x_norm = 14.6083
It. 2	 Success	 new_chi2 = 14860.3	 x_norm = 13.8107
It. 3	 Failure	 new_chi2 = 15002.6	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 91.6183
It. 0	 Success	 new_chi2 = 1.54373e+06	 x_norm = 5.97671
It. 1	 Success	 new_chi2 = 11564.3	 x_norm = 6.02755
It. 2	 Success	 new_chi2 = 11514.2	 x_norm = 6.00717
It. 3	 Failure	 new_chi2 = 11527.3	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13864.5	 x_norm = 4.9689
It. 1	 Success	 new_chi2 = 13707	 x_norm = 4.89997
It. 2	 Success	 new_chi2 = 13658.8	 x_norm = 4.92546
It. 3	 Success	 new_chi2 = 13656	 x_norm = 4.97337
It. 4	 Success	 new_chi2 = 13610	 x_norm = 4.98603
It. 5	 Failure	 new_chi2 = 13618.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15551.8	 x_norm = 13.5972
It. 1	 Success	 new_chi2 = 14973.8	 x_norm = 13.2398
It. 2	 Failure	 new_chi2 = 14999.5	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 69.6568
It. 0	 Success	 new_chi2 = 1.48024e+06	 x_norm = 5.72284
It. 1	 Success	 new_chi2 = 11176.7	 x_norm = 5.7069
It. 2	 Success	 new_chi2 = 11148.5	 x_norm = 5.69046
It. 3	 Failure	 new_chi2 = 11149.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13951.5	 x_norm = 4.78982
It. 1	 Success	 new_chi2 = 13670.4	 x_norm = 4.77087
It. 2	 Success	 new_chi2 = 13610.1	 x_norm = 4.72371
It. 3	 Success	 new_chi2 = 13584	 x_norm = 4.80285
It. 4	 Success	 new_chi2 = 13534.7	 x_norm = 4.78336
It. 5	 Failure	 new_chi2 = 13547.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15557.1	 x_norm = 13.2472
It. 1	 Success	 new_chi2 = 14802.7	 x_norm = 13.0039
It. 2	 Success	 new_chi2 = 14743.8	 x_norm = 12.6599
It. 3	 Failure	 new_chi2 = 14976	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 79.9336
It. 0	 Success	 new_chi2 = 1.44319e+06	 x_norm = 5.60433
It. 1	 Success	 new_chi2 = 11010.7	 x_norm = 5.59577
It. 2	 Failure	 new_chi2 = 11065.3	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13666.8	 x_norm = 5.27517
It. 1	 Success	 new_chi2 = 13489.9	 x_norm = 5.1125
It. 2	 Success	 new_chi2 = 13455.7	 x_norm = 5.11849
It. 3	 Failure	 new_chi2 = 13467.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15511.5	 x_norm = 13.7288
It. 1	 Success	 new_chi2 = 14704.1	 x_norm = 13.9534
It. 2	 Success	 new_chi2 = 14655.2	 x_norm = 13.8443
It. 3	 Success	 new_chi2 = 14561.9	 x_norm = 13.6981
It. 4	 Failure	 new_chi2 = 14670.4	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 81.9308
It. 0	 Success	 new_chi2 = 1.49526e+06	 x_norm = 5.52175
It. 1	 Success	 new_chi2 = 11299.1	 x_norm = 5.51841
It. 2	 Success	 new_chi2 = 11278.5	 x_norm = 5.51422
It. 3	 Success	 new_chi2 = 11263.7	 x_norm = 5.5098
It. 4	 Failure	 new_chi2 = 11283.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13398	 x_norm = 4.36233
It. 1	 Failure	 new_chi2 = 13462.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15546.8	 x_norm = 14.377
It. 1	 Success	 new_chi2 = 14736.8	 x_norm = 14.2718
It. 2	 Success	 new_chi2 = 14709.4	 x_norm = 14.2468
It. 3	 Failure	 new_chi2 = 14726.6	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 69.3284
It. 0	 Success	 new_chi2 = 1.48767e+06	 x_norm = 5.26765
It. 1	 Success	 new_chi2 = 11309.1	 x_norm = 5.26948
It. 2	 Success	 new_chi2 = 11289.4	 x_norm = 5.27149
It. 3	 Success	 new_chi2 = 11269.5	 x_norm = 5.27333
It. 4	 Success	 new_chi2 = 11249.5	 x_norm = 5.27493
It. 5	 Success	 new_chi2 = 11229.3	 x_norm = 5.27631
It. 6	 Success	 new_chi2 = 11209.1	 x_norm = 5.27823
It. 7	 Failure	 new_chi2 = 11290.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 13652.2	 x_norm = 4.24443
It. 1	 Success	 new_chi2 = 13488.3	 x_norm = 4.30843
It. 2	 Success	 new_chi2 = 13412.8	 x_norm = 4.30006
It. 3	 Success	 new_chi2 = 13388.3	 x_norm = 4.29554
It. 4	 Success	 new_chi2 = 13361.3	 x_norm = 4.28814
It. 5	 Success	 new_chi2 = 13334.3	 x_norm = 4.28083
It. 6	 Success	 new_chi2 = 13329.4	 x_norm = 4.31205
It. 7	 Failure	 new_chi2 = 13368.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15387.5	 x_norm = 13.3512
It. 1	 Success	 new_chi2 = 14680	 x_norm = 13.3287
It. 2	 Failure	 new_chi2 = 14687.1	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 93.82
It. 0	 Success	 new_chi2 = 1.56614e+06	 x_norm = 4.50369
It. 1	 Success	 new_chi2 = 12207.9	 x_norm = 4.55575
It. 2	 Failure	 new_chi2 = 12235.1	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14311.7	 x_norm = 2.98317
It. 1	 Failure	 new_chi2 = 14433.3	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16393.7	 x_norm = 12.3212
It. 1	 Success	 new_chi2 = 15582.9	 x_norm = 12.3173
It. 2	 Failure	 new_chi2 = 15587.2	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 36.6852
It. 0	 Success	 new_chi2 = 1.86363e+06	 x_norm = 5.10289
It. 1	 Success	 new_chi2 = 13285.2	 x_norm = 5.10283
It. 2	 Failure	 new_chi2 = 13286.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16256.2	 x_norm = 2.16257
It. 1	 Success	 new_chi2 = 15922.7	 x_norm = 2.15149
It. 2	 Failure	 new_chi2 = 16265.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 17663.4	 x_norm = 12.2848
It. 1	 Success	 new_chi2 = 16904	 x_norm = 12.788
It. 2	 Failure	 new_chi2 = 17197.4	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 39.5995
It. 0	 Success	 new_chi2 = 1.72715e+06	 x_norm = 5.64447
It. 1	 Success	 new_chi2 = 12643.2	 x_norm = 5.92168
It. 2	 Success	 new_chi2 = 12450.2	 x_norm = 5.88538
It. 3	 Success	 new_chi2 = 12441	 x_norm = 6.13184
It. 4	 Success	 new_chi2 = 12233.9	 x_norm = 6.08346
It. 5	 Failure	 new_chi2 = 12257.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15144.9	 x_norm = 4.45313
It. 1	 Success	 new_chi2 = 14357.5	 x_norm = 4.29343
It. 2	 Success	 new_chi2 = 14098.5	 x_norm = 4.13534
It. 3	 Failure	 new_chi2 = 14849	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 16821.9	 x_norm = 12.8786
It. 1	 Success	 new_chi2 = 16066.1	 x_norm = 14.1432
It. 2	 Failure	 new_chi2 = 16404.8	 Error increased. Stop optimizing.
Reprojection Map nPoint: 57	nCell: 2	 nMatches: 1	 distance between two frames: 69.6358
It. 0	 Success	 new_chi2 = -0.134036	 x_norm = 316.009
It. 1	 Failure	 new_chi2 = 156226	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1544.24	 x_norm = 62366.7
It. 1	 Failure	 new_chi2 = 3636.32	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 3467.77	 x_norm = 150455
It. 1	 Success	 new_chi2 = 2357.31	 x_norm = 44329.2
It. 2	 Success	 new_chi2 = 2294.93	 x_norm = 25177.4
It. 3	 Failure	 new_chi2 = 2376.33	 Error increased. Stop optimizing.
Reprojection Map nPoint: 57	nCell: 57	 nMatches: 0	 distance between two frames: 187437
It. 0	 Success	 new_chi2 = -0.234668	 x_norm = 420.39
It. 1	 Failure	 new_chi2 = 3.08686	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 29.5042	 x_norm = 4811.36
It. 1	 Failure	 new_chi2 = 18673.3	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 2717.03	 x_norm = 31770.6
It. 1	 Success	 new_chi2 = 0.771171	 x_norm = 5900.73
It. 2	 Failure	 new_chi2 = 9.49464	 Error increased. Stop optimizing.
Reprojection Map nPoint: 57	nCell: 57	 nMatches: 0	 distance between two frames: 31510.9
It. 0	 Success	 new_chi2 = 444.878	 x_norm = 2317.83
It. 1	 Success	 new_chi2 = 0.771615	 x_norm = 554.682
It. 2	 Failure	 new_chi2 = 265.714	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1.43975	 x_norm = 3711.35
It. 1	 Failure	 new_chi2 = 4718	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1279.46	 x_norm = 42370.2
It. 1	 Failure	 new_chi2 = 5433.61	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 58381.9
It. 0	 Success	 new_chi2 = 51.4891	 x_norm = 8710.17
It. 1	 Success	 new_chi2 = 7.04157	 x_norm = 894.001
It. 2	 Failure	 new_chi2 = 17.928	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 9.29935	 x_norm = 5303.48
It. 1	 Failure	 new_chi2 = 3404.71	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 906.608	 x_norm = 18587.5
It. 1	 Success	 new_chi2 = 2.19935	 x_norm = 3569.24
It. 2	 Failure	 new_chi2 = 19.5352	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 21524.6
It. 0	 Success	 new_chi2 = -226.353	 x_norm = 3173.77
It. 1	 Failure	 new_chi2 = 7248.5	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 68.7381	 x_norm = 17891.3
It. 1	 Failure	 new_chi2 = 767.659	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1052.56	 x_norm = 36913.2
It. 1	 Success	 new_chi2 = 968.083	 x_norm = 57823.8
It. 2	 Success	 new_chi2 = 21.527	 x_norm = 58492.4
It. 3	 Failure	 new_chi2 = 2418.11	 Error increased. Stop optimizing.
Reprojection Map nPoint: 57	nCell: 31	 nMatches: 1	 distance between two frames: 53556
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 57	nCell: 5	 nMatches: 1	 distance between two frames: 644919
It. 0	 Success	 new_chi2 = 116.538	 x_norm = 134.805
It. 1	 Failure	 new_chi2 = 154.192	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 11.9081	 x_norm = 21.8684
It. 1	 Failure	 new_chi2 = 48.717	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 24.577	 x_norm = 17304.8
It. 1	 Failure	 new_chi2 = 13552.6	 Error increased. Stop optimizing.
Reprojection Map nPoint: 57	nCell: 2	 nMatches: 1	 distance between two frames: 18002.4
It. 0	 Success	 new_chi2 = 119.556	 x_norm = 50790.6
Matrix is close to singular! Stop Optimizing.
It. 1	 Failure	 new_chi2 = 9492.43	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 108.063	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 22462.1	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 85219.3
It. 0	 Success	 new_chi2 = -1738.18	 x_norm = 17204.6
Matrix is close to singular! Stop Optimizing.
It. 1	 Failure	 new_chi2 = 13853.4	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 2002.3	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 5246.92	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 40365.5
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 133766	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 2756.55	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 2688.28	 Error increased. Stop optimizing.
Reprojection Map nPoint: 57	nCell: 5	 nMatches: 1	 distance between two frames: 18002.4
It. 0	 Success	 new_chi2 = 317.647	 x_norm = 641.424
It. 1	 Failure	 new_chi2 = 16095.6	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 998.638	 x_norm = 5348.1
It. 1	 Success	 new_chi2 = 92.8674	 x_norm = 142.614
It. 2	 Failure	 new_chi2 = 294.128	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 15968.1	 x_norm = 39194.6
It. 1	 Success	 new_chi2 = 1225.89	 x_norm = 32434
It. 2	 Failure	 new_chi2 = 1310.8	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 68675.5
It. 0	 Success	 new_chi2 = 425.817	 x_norm = 566.023
It. 1	 Failure	 new_chi2 = 5663.4	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 412.666	 x_norm = 291.17
It. 1	 Success	 new_chi2 = -5.76369	 x_norm = 183.55
It. 2	 Failure	 new_chi2 = 157.248	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 18.8189	 x_norm = 3209.02
It. 1	 Failure	 new_chi2 = 376.042	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 3380.48
It. 0	 Success	 new_chi2 = 354.059	 x_norm = 33.2789
It. 1	 Failure	 new_chi2 = 7419.04	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 626.561	 x_norm = 1674.38
It. 1	 Failure	 new_chi2 = 6970.79	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 3858.4	 x_norm = 100187
It. 1	 Success	 new_chi2 = 693.59	 x_norm = 23684.3
It. 2	 Failure	 new_chi2 = 885.016	 Error increased. Stop optimizing.
Reprojection Map nPoint: 57	nCell: 1	 nMatches: 1	 distance between two frames: 105448
It. 0	 Success	 new_chi2 = 4926.93	 x_norm = 36469.3
Matrix is close to singular! Stop Optimizing.
It. 1	 Failure	 new_chi2 = 10475.4	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 1346.12	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 4060.24	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 149952
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 657279	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 4271.73	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 9913.33	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 512973	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 3237.38	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 11779.9	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 219971	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 1053.59	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 20189.6	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 176703	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 15074.6	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 7538.31	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 148126	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 14169.6	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 8062.76	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 133133	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 13395.3	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 8311.31	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 112681	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 12658.7	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 8548.23	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 99440.2	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 12034.9	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 9014.32	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 81234.5	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 11113.8	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 9197.27	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 67789.9	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 10593.3	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 9782.88	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 56080.9	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 9902.75	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 10242.9	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 45778.8	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 9499.26	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 11380	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 35913.3	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 8714.96	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 12056.4	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 31660.2	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 8553.17	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 12627.5	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 105448
It. 0	 Success	 new_chi2 = 23704.8	 x_norm = 30285
Matrix is close to singular! Stop Optimizing.
It. 1	 Failure	 new_chi2 = 7976.35	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 1735.45	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 4851.71	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 142860
It. 0	 Success	 new_chi2 = 18707.9	 x_norm = 80243.9
Matrix is close to singular! Stop Optimizing.
It. 1	 Failure	 new_chi2 = 3746.57	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 6760.7	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 4344.23	 Error increased. Stop optimizing.
Reprojection Map nPoint: 57	nCell: 1	 nMatches: 1	 distance between two frames: 15018.2
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 14322.2	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 6960.99	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 3928.17	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 11829	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 6487.1	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 4143.39	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 9715.6	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 5873.43	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 4061.12	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 7821.47	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 5309.22	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 4180.85	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 6085.59	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 4778.59	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 4278.67	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 4673.49	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 4254.9	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 4469.63	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 3528.36	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 3773.33	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 4430.3	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 2561.73	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 3461.99	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 7417.01	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 1898.72	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 3067.59	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 7891.76	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 99919.4
It. 0	 Success	 new_chi2 = 1169.21	 x_norm = 76417.9
Matrix is close to singular! Stop Optimizing.
It. 1	 Failure	 new_chi2 = 349.332	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 598.522	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 327.753	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 206152
It. 0	 Success	 new_chi2 = 761.814	 x_norm = 38210.1
Matrix is close to singular! Stop Optimizing.
It. 1	 Failure	 new_chi2 = 9054.7	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 1113.23	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 2038.18	 Error increased. Stop optimizing.
Reprojection Map nPoint: 57	nCell: 15	 nMatches: 1	 distance between two frames: 47774.6
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 55	nCell: 5	 nMatches: 1	 distance between two frames: 1.17666e+07
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 3.8147e-06
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
Reprojection Map nPoint: 0	nCell: 0	 nMatches: 0	 distance between two frames: 0.0550146
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
Reprojection Map nPoint: 55	nCell: 2	 nMatches: 1	 distance between two frames: 0.0550148
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
Reprojection Map nPoint: 57	nCell: 5	 nMatches: 1	 distance between two frames: 0.05501
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
Reprojection Map nPoint: 44	nCell: 5	 nMatches: 1	 distance between two frames: 7.8642e-06
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
Reprojection Map nPoint: 57	nCell: 5	 nMatches: 1	 distance between two frames: 0.0550116
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
Reprojection Map nPoint: 56	nCell: 2	 nMatches: 1	 distance between two frames: 8.1482e-06
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
Reprojection Map nPoint: 57	nCell: 5	 nMatches: 1	 distance between two frames: 0.0550064
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
Reprojection Map nPoint: 56	nCell: 5	 nMatches: 1	 distance between two frames: 8.1482e-06
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
Reprojection Map nPoint: 56	nCell: 4	 nMatches: 1	 distance between two frames: 0.0550104
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
Reprojection Map nPoint: 56	nCell: 4	 nMatches: 1	 distance between two frames: 3.58358e-05
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
Reprojection Map nPoint: 56	nCell: 4	 nMatches: 1	 distance between two frames: 0.0550162
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 2493.44	 x_norm = 12875.1
It. 1	 Failure	 new_chi2 = 25658.8	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 13410.1
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 999.655	 x_norm = 12127.7
It. 1	 Failure	 new_chi2 = 26452.4	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 12214.8
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 1362.93	 x_norm = 14685.3
It. 1	 Failure	 new_chi2 = 15716.2	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 15520.6
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 991.428	 x_norm = 11794.5
It. 1	 Failure	 new_chi2 = 19262.7	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 12248
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 971.861	 x_norm = 11342.5
It. 1	 Failure	 new_chi2 = 18846.5	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 11355.9
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 753.81	 x_norm = 9958.38
It. 1	 Failure	 new_chi2 = 14937.4	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 12007.1
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 879.841	 x_norm = 10023.9
It. 1	 Failure	 new_chi2 = 11729.2	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 10133.6
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 1096.27	 x_norm = 10378.2
It. 1	 Failure	 new_chi2 = 4723.29	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 10883.5
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 1332.74	 x_norm = 10260.9
It. 1	 Failure	 new_chi2 = 4413.87	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 11632.9
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 1355.05	 x_norm = 9484.9
It. 1	 Failure	 new_chi2 = 3503.07	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 10529.8
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 1733.15	 x_norm = 10482.2
It. 1	 Failure	 new_chi2 = 6363.24	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 11219.9
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 1370.46	 x_norm = 11338
It. 1	 Failure	 new_chi2 = 4539.3	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 11337.8
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 1043.56	 x_norm = 12200.4
It. 1	 Failure	 new_chi2 = 10089.1	 Error increased. Stop optimizing.
Reprojection Map nPoint: 56	nCell: 3	 nMatches: 1	 distance between two frames: 15487.6
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 1739.58	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 757.834	 Error increased. Stop optimizing.
Reprojection Map nPoint: 55	nCell: 1	 nMatches: 1	 distance between two frames: 15487.8
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 302.896	 x_norm = 9016.59
It. 1	 Failure	 new_chi2 = 9515.75	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 9650.24
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 153.424	 x_norm = 3132.95
It. 1	 Failure	 new_chi2 = 7907.7	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 3140.94
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 134.254	 x_norm = 3815.03
It. 1	 Failure	 new_chi2 = 6577.48	 Error increased. Stop optimizing.
Reprojection Map nPoint: 55	nCell: 3	 nMatches: 1	 distance between two frames: 4318.08
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 521299	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 5518.25	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 11477	 Error increased. Stop optimizing.
Reprojection Map nPoint: 54	nCell: 1	 nMatches: 1	 distance between two frames: 4317.98
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 5.6833	 x_norm = 451.546
It. 1	 Failure	 new_chi2 = 13477.8	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 550.252
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 16.5823	 x_norm = 74.8259
It. 1	 Failure	 new_chi2 = 89.1849	 Error increased. Stop optimizing.
Reprojection Map nPoint: 54	nCell: 1	 nMatches: 1	 distance between two frames: 77.4468
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 6.42621	 x_norm = 398.198
It. 1	 Success	 new_chi2 = -33.2255	 x_norm = 3112.17
It. 2	 Failure	 new_chi2 = 4.70752	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 17.6202	 x_norm = 3554
It. 1	 Failure	 new_chi2 = 24922.5	 Error increased. Stop optimizing.
Reprojection Map nPoint: 54	nCell: 1	 nMatches: 1	 distance between two frames: 3731.37
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 12491.3	 Error increased. Stop optimizing.
It. 0	 Failure	 new_chi2 = 35.8462	 Error increased. Stop optimizing.
It. 0	 Failure	 new_chi2 = 1377.17	 Error increased. Stop optimizing.
Reprojection Map nPoint: 54	nCell: 1	 nMatches: 1	 distance between two frames: 3728.15
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 4.34039	 x_norm = 860.517
It. 1	 Failure	 new_chi2 = 128.737	 Error increased. Stop optimizing.
Reprojection Map nPoint: 54	nCell: 1	 nMatches: 1	 distance between two frames: 906.487
It. 0	 Success	 new_chi2 = 395807	 x_norm = 4142.43
It. 1	 Success	 new_chi2 = 85.4991	 x_norm = 37.9313
It. 2	 Failure	 new_chi2 = 413.954	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 278.222	 x_norm = 821.627
It. 1	 Failure	 new_chi2 = 291.133	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 194.443	 x_norm = 69.2667
It. 1	 Failure	 new_chi2 = 206.118	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 5718.16
It. 0	 Success	 new_chi2 = 225281	 x_norm = 1608.44
It. 1	 Success	 new_chi2 = 444.124	 x_norm = 1148.95
It. 2	 Success	 new_chi2 = 276.874	 x_norm = 25.1633
It. 3	 Failure	 new_chi2 = 460.375	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 277.214	 x_norm = 10153.8
It. 1	 Success	 new_chi2 = 272.537	 x_norm = 606.641
It. 2	 Success	 new_chi2 = 207.735	 x_norm = 514.162
It. 3	 Failure	 new_chi2 = 318.639	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 772.419	 x_norm = 1029.16
It. 1	 Success	 new_chi2 = 195.259	 x_norm = 86.7938
It. 2	 Failure	 new_chi2 = 399.079	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 7296.81
It. 0	 Success	 new_chi2 = 266174	 x_norm = 11627.2
It. 1	 Success	 new_chi2 = 92.7936	 x_norm = 479.094
It. 2	 Failure	 new_chi2 = 12827.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 2623.7	 x_norm = 10463.9
It. 1	 Failure	 new_chi2 = 2637.57	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 2412.26	 x_norm = 812.28
It. 1	 Success	 new_chi2 = 2110.22	 x_norm = 12699.3
It. 2	 Failure	 new_chi2 = 3025.59	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 34558.7
It. 0	 Success	 new_chi2 = 226797	 x_norm = 24093.6
It. 1	 Success	 new_chi2 = 440.448	 x_norm = 1868.94
It. 2	 Failure	 new_chi2 = 1053.55	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 261.78	 x_norm = 1754.5
It. 1	 Failure	 new_chi2 = 419.913	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 174.545	 x_norm = 76.1452
It. 1	 Failure	 new_chi2 = 240.36	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 25999.2
It. 0	 Success	 new_chi2 = 395581	 x_norm = 25593.3
It. 1	 Success	 new_chi2 = 5.13993	 x_norm = 3265.59
It. 2	 Success	 new_chi2 = -290.432	 x_norm = 6056.07
It. 3	 Failure	 new_chi2 = 24126.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 2956.45	 x_norm = 6165.06
It. 1	 Success	 new_chi2 = 1335.2	 x_norm = 171.902
It. 2	 Failure	 new_chi2 = 2021.69	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 3549.54	 x_norm = 516.587
It. 1	 Success	 new_chi2 = 3135.01	 x_norm = 503.476
It. 2	 Failure	 new_chi2 = 3342.72	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 37336.1
It. 0	 Success	 new_chi2 = 268014	 x_norm = 3325.33
It. 1	 Success	 new_chi2 = -77.2182	 x_norm = 1099.69
It. 2	 Failure	 new_chi2 = 2245.56	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 211.081	 x_norm = 2168.29
It. 1	 Failure	 new_chi2 = 8084.43	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 2103.41	 x_norm = 1855.82
It. 1	 Success	 new_chi2 = 206.228	 x_norm = 273.123
It. 2	 Failure	 new_chi2 = 275.128	 Error increased. Stop optimizing.
Reprojection Map nPoint: 54	nCell: 1	 nMatches: 1	 distance between two frames: 4136.03
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 30120.4	 Error increased. Stop optimizing.
It. 0	 Failure	 new_chi2 = 2022.87	 Error increased. Stop optimizing.
It. 0	 Failure	 new_chi2 = 1621.4	 Error increased. Stop optimizing.
Reprojection Map nPoint: 54	nCell: 1	 nMatches: 1	 distance between two frames: 3863.13
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 68.8537	 x_norm = 0.70021
It. 1	 Failure	 new_chi2 = 297.216	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 2801	 x_norm = 3985.03
It. 1	 Failure	 new_chi2 = 3781.02	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 4095.38
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 20.3669	 x_norm = 0.660298
It. 1	 Failure	 new_chi2 = 109.7	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 2942.8	 x_norm = 33799.6
It. 1	 Failure	 new_chi2 = 3510.33	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 42215.2
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 10.6042	 x_norm = 5.57851
It. 1	 Success	 new_chi2 = 5.58436	 x_norm = 0.146564
It. 2	 Failure	 new_chi2 = 13.3271	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 5121.92	 x_norm = 3884.49
It. 1	 Success	 new_chi2 = 1675.55	 x_norm = 364.4
It. 2	 Success	 new_chi2 = 972.118	 x_norm = 326.712
It. 3	 Success	 new_chi2 = 294.071	 x_norm = 231.742
It. 4	 Failure	 new_chi2 = 314.215	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 5073.47
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 13.3046	 x_norm = 0.895029
It. 1	 Failure	 new_chi2 = 54.8853	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 3118.33	 x_norm = 4497.28
It. 1	 Success	 new_chi2 = 14.2063	 x_norm = 1932.4
It. 2	 Failure	 new_chi2 = 24580.5	 Error increased. Stop optimizing.
Reprojection Map nPoint: 54	nCell: 1	 nMatches: 1	 distance between two frames: 4128.08
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 64480.5	 Error increased. Stop optimizing.
It. 0	 Failure	 new_chi2 = 1614.04	 Error increased. Stop optimizing.
It. 0	 Failure	 new_chi2 = 1447.63	 Error increased. Stop optimizing.
Reprojection Map nPoint: 54	nCell: 1	 nMatches: 1	 distance between two frames: 4128.14
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 2645.74	 x_norm = 296.971
It. 1	 Success	 new_chi2 = 759.715	 x_norm = 220.71
It. 2	 Failure	 new_chi2 = 915.895	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 918.99	 x_norm = 213.358
It. 1	 Failure	 new_chi2 = 1102.09	 Error increased. Stop optimizing.
Reprojection Map nPoint: 54	nCell: 6	 nMatches: 1	 distance between two frames: 616.717
It. 0	 Success	 new_chi2 = 44966.6	 x_norm = 104.356
It. 1	 Success	 new_chi2 = 3599.32	 x_norm = 304.474
It. 2	 Success	 new_chi2 = 1148.09	 x_norm = 865.19
It. 3	 Failure	 new_chi2 = 2094.41	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1790.01	 x_norm = 208.869
It. 1	 Failure	 new_chi2 = 3432.53	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 7171.78	 x_norm = 51571.1
It. 1	 Success	 new_chi2 = 943.037	 x_norm = 24604.3
It. 2	 Failure	 new_chi2 = 1667.2	 Error increased. Stop optimizing.
Reprojection Map nPoint: 53	nCell: 29	 nMatches: 1	 distance between two frames: 60460
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 53	nCell: 1	 nMatches: 1	 distance between two frames: 1.62533e+07
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 2990.14	 x_norm = 1420.33
It. 1	 Success	 new_chi2 = 640.9	 x_norm = 675.681
It. 2	 Success	 new_chi2 = 508.228	 x_norm = 188.062
It. 3	 Failure	 new_chi2 = 6412.54	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 4530.62	 x_norm = 113171
It. 1	 Success	 new_chi2 = 575.68	 x_norm = 11771
It. 2	 Failure	 new_chi2 = 1094.22	 Error increased. Stop optimizing.
Reprojection Map nPoint: 53	nCell: 53	 nMatches: 0	 distance between two frames: 137820
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 3847.12	 x_norm = 944.467
It. 1	 Success	 new_chi2 = 901.666	 x_norm = 397.732
It. 2	 Failure	 new_chi2 = 1109.8	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1005.97	 x_norm = 17695.9
It. 1	 Failure	 new_chi2 = 1172.85	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 19017.3
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 1323.03	 x_norm = 313.312
It. 1	 Success	 new_chi2 = 892.748	 x_norm = 1076.8
It. 2	 Failure	 new_chi2 = 1278.25	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1024.15	 x_norm = 24259.3
It. 1	 Failure	 new_chi2 = 1090.85	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 26211
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 3050.86	 x_norm = 220.24
It. 1	 Success	 new_chi2 = 421.106	 x_norm = 331.426
It. 2	 Failure	 new_chi2 = 1607.97	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 8624.1	 x_norm = 29528.4
It. 1	 Success	 new_chi2 = 546.63	 x_norm = 18346.4
It. 2	 Failure	 new_chi2 = 1108.34	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 40547.2
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 3653.88	 x_norm = 400.143
It. 1	 Success	 new_chi2 = 745.444	 x_norm = 38.6476
It. 2	 Failure	 new_chi2 = 1452.93	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1255.35	 x_norm = 24751.1
It. 1	 Success	 new_chi2 = 1033.67	 x_norm = 27461.8
It. 2	 Failure	 new_chi2 = 1059.93	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 64251.1
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 4309	 x_norm = 1637.55
It. 1	 Success	 new_chi2 = 687.279	 x_norm = 382.557
It. 2	 Failure	 new_chi2 = 3853.94	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 5954.65	 x_norm = 39364.6
It. 1	 Success	 new_chi2 = 584.847	 x_norm = 27084.7
It. 2	 Failure	 new_chi2 = 1066.76	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 65195.8
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 2585.77	 x_norm = 571.856
It. 1	 Success	 new_chi2 = 969.622	 x_norm = 297.732
It. 2	 Failure	 new_chi2 = 1225.17	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 2227.32	 x_norm = 53298.2
It. 1	 Success	 new_chi2 = 803.214	 x_norm = 14894.2
It. 2	 Failure	 new_chi2 = 1055.28	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 80702.5
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 2786.24	 x_norm = 1009.57
It. 1	 Success	 new_chi2 = 788.911	 x_norm = 85.5135
It. 2	 Failure	 new_chi2 = 930.682	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1100.86	 x_norm = 102621
It. 1	 Failure	 new_chi2 = 16003	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 112391
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 1176.96	 x_norm = 193.946
It. 1	 Success	 new_chi2 = 488.374	 x_norm = 462.043
It. 2	 Failure	 new_chi2 = 1476.43	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 8300.15	 x_norm = 38031.7
It. 1	 Success	 new_chi2 = 523.337	 x_norm = 91497.8
It. 2	 Failure	 new_chi2 = 1035.26	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 156407
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 1488.33	 x_norm = 7700.49
It. 1	 Failure	 new_chi2 = 1720.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 940.231	 x_norm = 23720.2
It. 1	 Failure	 new_chi2 = 1030.87	 Error increased. Stop optimizing.
Reprojection Map nPoint: 0	nCell: 0	 nMatches: 0	 distance between two frames: 41587.4
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 1407.43	 x_norm = 729.633
It. 1	 Success	 new_chi2 = 1100.37	 x_norm = 140.901
It. 2	 Failure	 new_chi2 = 1344.35	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 988.471	 x_norm = 163238
It. 1	 Failure	 new_chi2 = 1030.51	 Error increased. Stop optimizing.
Reprojection Map nPoint: 53	nCell: 53	 nMatches: 0	 distance between two frames: 214392
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 8479.31	 x_norm = 310.771
It. 1	 Success	 new_chi2 = 524.939	 x_norm = 118.81
It. 2	 Failure	 new_chi2 = 1828.63	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1045.94	 x_norm = 15236.8
It. 1	 Failure	 new_chi2 = 2556.34	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 17657.3
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 788.226	 x_norm = 184.208
It. 1	 Failure	 new_chi2 = 1057.14	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 6775.28	 x_norm = 38877.4
It. 1	 Success	 new_chi2 = 559.827	 x_norm = 6791.57
It. 2	 Failure	 new_chi2 = 1044.71	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 49500.1
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 5885.46	 x_norm = 1508.37
It. 1	 Success	 new_chi2 = 424.005	 x_norm = 253.754
It. 2	 Failure	 new_chi2 = 6619.01	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 14662.8	 x_norm = 91886.6
It. 1	 Success	 new_chi2 = 5415.56	 x_norm = 147586
It. 2	 Failure	 new_chi2 = 5791.61	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 286411
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 3637.13	 x_norm = 198.464
It. 1	 Success	 new_chi2 = 2318.56	 x_norm = 689.461
It. 2	 Success	 new_chi2 = 683.893	 x_norm = 236.376
It. 3	 Failure	 new_chi2 = 4072.9	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 3656	 x_norm = 39236.9
It. 1	 Success	 new_chi2 = 584.774	 x_norm = 431173
It. 2	 Failure	 new_chi2 = 1027.31	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 621573
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 513.72	 x_norm = 64.4913
It. 1	 Failure	 new_chi2 = 4471.86	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 3231.72	 x_norm = 135063
It. 1	 Success	 new_chi2 = 611.233	 x_norm = 9039.2
It. 2	 Failure	 new_chi2 = 1028.17	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 157926
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 6441.71	 x_norm = 272.907
It. 1	 Success	 new_chi2 = 704.109	 x_norm = 216.534
It. 2	 Failure	 new_chi2 = 1585.57	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1808.24	 x_norm = 26766.9
It. 1	 Success	 new_chi2 = 820.396	 x_norm = 57690.4
It. 2	 Failure	 new_chi2 = 995.205	 Error increased. Stop optimizing.
Reprojection Map nPoint: 53	nCell: 31	 nMatches: 1	 distance between two frames: 88257.5
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 53	nCell: 1	 nMatches: 1	 distance between two frames: 220260
It. 0	 Success	 new_chi2 = 46329.4	 x_norm = 144.522
It. 1	 Success	 new_chi2 = 50.3752	 x_norm = 27.1514
It. 2	 Failure	 new_chi2 = 13568.3	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1776.85	 x_norm = 4199.74
It. 1	 Failure	 new_chi2 = 2293.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 914.272	 x_norm = 26703.7
It. 1	 Failure	 new_chi2 = 1088.34	 Error increased. Stop optimizing.
Reprojection Map nPoint: 53	nCell: 37	 nMatches: 1	 distance between two frames: 37121.5
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
It. 0	 Success	 new_chi2 = -nan	 x_norm = 0
Reprojection Map nPoint: 53	nCell: 1	 nMatches: 1	 distance between two frames: 633530
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 4067.16	 x_norm = 7096.65
It. 1	 Success	 new_chi2 = 1638.2	 x_norm = 2481.11
It. 2	 Success	 new_chi2 = 1146.6	 x_norm = 14208.3
It. 3	 Success	 new_chi2 = 968.046	 x_norm = 4542.34
It. 4	 Failure	 new_chi2 = 1057.11	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 982.944	 x_norm = 24914.4
It. 1	 Success	 new_chi2 = 964.907	 x_norm = 18889.9
It. 2	 Failure	 new_chi2 = 966.866	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 71940
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 4188.61	 x_norm = 41405.5
It. 1	 Success	 new_chi2 = 708.135	 x_norm = 28318.6
It. 2	 Failure	 new_chi2 = 1028.77	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 998.295	 x_norm = 37813.4
It. 1	 Success	 new_chi2 = 994.556	 x_norm = 18957
It. 2	 Success	 new_chi2 = 989.445	 x_norm = 18717.4
It. 3	 Failure	 new_chi2 = 999.938	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 99820.4
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 2543.2	 x_norm = 6069.05
It. 1	 Success	 new_chi2 = 1005.94	 x_norm = 2652.17
It. 2	 Failure	 new_chi2 = 3165.55	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 8602.84	 x_norm = 41423.2
It. 1	 Success	 new_chi2 = 440.275	 x_norm = 18509.4
It. 2	 Failure	 new_chi2 = 1014.01	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 74632.8
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 2352.46	 x_norm = 4669.4
It. 1	 Failure	 new_chi2 = 6253.73	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 5602.36	 x_norm = 42104.5
It. 1	 Success	 new_chi2 = 457.268	 x_norm = 18049.9
It. 2	 Failure	 new_chi2 = 1031.35	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 60599.7
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 3335.41	 x_norm = 3704.75
It. 1	 Success	 new_chi2 = 1603.07	 x_norm = 16483.3
It. 2	 Success	 new_chi2 = 951.263	 x_norm = 11434.3
It. 3	 Failure	 new_chi2 = 1152.06	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1004.15	 x_norm = 19534.5
It. 1	 Failure	 new_chi2 = 1070.4	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 58411.1
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 2824.76	 x_norm = 28511.1
It. 1	 Success	 new_chi2 = 1062.51	 x_norm = 4073.56
It. 2	 Failure	 new_chi2 = 1227.69	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 939.82	 x_norm = 28646.4
It. 1	 Failure	 new_chi2 = 1047.73	 Error increased. Stop optimizing.
Reprojection Map nPoint: 53	nCell: 53	 nMatches: 0	 distance between two frames: 65263.1
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 2373.38	 x_norm = 13845.4
It. 1	 Success	 new_chi2 = 1142.74	 x_norm = 2145.3
It. 2	 Failure	 new_chi2 = 1416.74	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 937.939	 x_norm = 19268.7
It. 1	 Failure	 new_chi2 = 1079.78	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 32846.7
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 1341.16	 x_norm = 5200.45
It. 1	 Failure	 new_chi2 = 8015.41	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 5027.06	 x_norm = 106930
It. 1	 Success	 new_chi2 = 484.992	 x_norm = 18814.9
It. 2	 Failure	 new_chi2 = 1043.31	 Error increased. Stop optimizing.
Reprojection Map nPoint: 53	nCell: 53	 nMatches: 0	 distance between two frames: 126153
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 1066.89	 x_norm = 1392.84
It. 1	 Failure	 new_chi2 = 4108.95	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1964.09	 x_norm = 30102.8
It. 1	 Success	 new_chi2 = 747.485	 x_norm = 19930.6
It. 2	 Failure	 new_chi2 = 1066.55	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 49384.9
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 893.973	 x_norm = 6487.85
It. 1	 Failure	 new_chi2 = 2272.68	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1221.07	 x_norm = 17636.6
It. 1	 Success	 new_chi2 = 937.449	 x_norm = 18992.5
It. 2	 Failure	 new_chi2 = 1058.36	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 55000.3
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 708.995	 x_norm = 48432.5
It. 1	 Failure	 new_chi2 = 4925	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 5776.79	 x_norm = 38355.4
It. 1	 Success	 new_chi2 = 5257	 x_norm = 64594.4
It. 2	 Success	 new_chi2 = 498.061	 x_norm = 17739.7
It. 3	 Failure	 new_chi2 = 1073.85	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 60643.8
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 553.39	 x_norm = 4226.11
It. 1	 Failure	 new_chi2 = 12936.2	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 5090.35	 x_norm = 42688.9
It. 1	 Success	 new_chi2 = 516.174	 x_norm = 51673.5
It. 2	 Failure	 new_chi2 = 1047.66	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 102319
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 8331.14	 x_norm = 13617.8
It. 1	 Success	 new_chi2 = 591.591	 x_norm = 2289.8
It. 2	 Failure	 new_chi2 = 1147.13	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1027.32	 x_norm = 20228
It. 1	 Failure	 new_chi2 = 1083.75	 Error increased. Stop optimizing.
Reprojection Map nPoint: 257	nCell: 0	 nMatches: 0	 distance between two frames: 36902.9
It. 0	 Success	 new_chi2 = 0	 x_norm = 0
It. 0	 Success	 new_chi2 = 7482.16	 x_norm = 6443.73
It. 1	 Success	 new_chi2 = 1104.82	 x_norm = 13713.8
It. 2	 Failure	 new_chi2 = 4167.23	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 4512.18	 x_norm = 72599.4
It. 1	 Success	 new_chi2 = 559.46	 x_norm = 18232.2
It. 2	 Failure	 new_chi2 = 1047.05	 Error increased. Stop optimizing.
Reprojection Map nPoint: 53	nCell: 2	 nMatches: 1	 distance between two frames: 91476.5
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 66883.6	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 7830.88	 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0	 Failure	 new_chi2 = 5939.04	 Error increased. Stop optimizing.
Reprojection Map nPoint: 53	nCell: 1	 nMatches: 1	 distance between two frames: 91476.5
It. 0	 Success	 new_chi2 = 263486	 x_norm = 15.6907
It. 1	 Success	 new_chi2 = 4849.51	 x_norm = 20.402
It. 2	 Success	 new_chi2 = 60.8536	 x_norm = 5.47307
It. 3	 Failure	 new_chi2 = 267.575	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 1988.59	 x_norm = 234.086
It. 1	 Success	 new_chi2 = 725.775	 x_norm = 208.11
It. 2	 Success	 new_chi2 = 468.104	 x_norm = 155.045
It. 3	 Failure	 new_chi2 = 600.298	 Error increased. Stop optimizing.
It. 0	 Success	 new_chi2 = 7956.21	 x_norm = 40825.8
It. 1	 Success	 new_chi2 = 604.799	 x_norm = 5946.45
It. 2	 Failure	 new_chi2 = 1461.24	 Error increased. Stop optimizing.
Reprojection Map nPoint: 53	nCell: 45	 nMatches: 1	 distance between two frames: 39744.9
SVO terminated.
... logging to /root/.ros/log/f8187f52-0679-11ec-84b4-8c16454ee8e8/roslaunch-gfuse-8474.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/root/Project/ROS/src/vio_svo/GPU_version/vio/launch/Px30.launch
[1mstarted roslaunch server http://gfuse:38115/[0m

SUMMARY
========

CLEAR PARAMETERS
 * /vio/

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.7
 * /svo/ACC_noise: 0.5
 * /svo/Cmd_Cov: 0.1
 * /svo/GYO_noise: 0.001
 * /svo/grid_size: 30
 * /svo/init_min_disparity: 80
 * /svo/init_min_inliers: 40
 * /svo/init_min_tracked: 100
 * /svo/kfselect_mindist: 0.01
 * /svo/loba_num_iter: 0
 * /svo/max_n_kfs: 20
 * /svo/poseoptim_thresh: 4.0
 * /svo/quality_max_drop_fts: 90
 * /svo/quality_min_fts: 10
 * /svo/structureoptim_max_pts: 50
 * /svo/svo_ekf: 1.5
 * /vio/cam_cx: 0.485102
 * /vio/cam_cy: 0.508577
 * /vio/cam_d0: 1.03345
 * /vio/cam_fx: 0.490202
 * /vio/cam_fy: 0.866527
 * /vio/cam_height: 480
 * /vio/cam_model: ATAN
 * /vio/cam_topic: /CoreNode/grey_img
 * /vio/cam_width: 640
 * /vio/cmd_topic: /cmd_vel
 * /vio/imu_topic: /SensorNode/imu
 * /vio/odom: /vio/getOdom
 * /vio/start: /vio/start
 * /vio/stop: /vio/stop

NODES
  /
    vio (vio/vio)

[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/root/Project/ROS/src/vio_svo/GPU_version/vio/launch/Px30.launch http://localhost:11311
[1mprocess[vio-1]: started with pid [8490][0m
[vio-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
[1mdone[0m
