[18:43:55.691] Init: frame zero: 0.000000, 0.000000 0.000000
[18:43:55.691] Init: Selected first frame. 
[18:43:55.691] frame process finished the id is: 0 the obs is:0 
[18:43:55.709] Init: px average disparity is:0.032512 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:55.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:55.709] frame process finished the id is: 1 the obs is:0 
[18:43:55.810] Init: px average disparity is:0.031284 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:55.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:55.810] frame process finished the id is: 2 the obs is:0 
[18:43:55.908] Init: px average disparity is:0.036556 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:55.908] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:55.908] frame process finished the id is: 3 the obs is:0 
[18:43:55.996] Init: px average disparity is:0.032202 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:55.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:55.996] frame process finished the id is: 4 the obs is:0 
[18:43:56.095] Init: px average disparity is:0.041515 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:56.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:56.095] frame process finished the id is: 5 the obs is:0 
[18:43:56.196] Init: px average disparity is:0.030973 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:56.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:56.197] frame process finished the id is: 6 the obs is:0 
[18:43:56.293] Init: px average disparity is:0.031908 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:56.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:56.293] frame process finished the id is: 7 the obs is:0 
[18:43:56.392] Init: px average disparity is:0.035828 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:56.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:56.392] frame process finished the id is: 8 the obs is:0 
[18:43:56.492] Init: px average disparity is:0.031084 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:56.492] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:56.492] frame process finished the id is: 9 the obs is:0 
[18:43:56.595] Init: px average disparity is:0.040163 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:56.595] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:56.595] frame process finished the id is: 10 the obs is:0 
[18:43:56.693] Init: px average disparity is:0.036231 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:56.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:56.693] frame process finished the id is: 11 the obs is:0 
[18:43:56.806] Init: px average disparity is:0.032094 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:56.807] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:56.807] frame process finished the id is: 12 the obs is:0 
[18:43:56.904] Init: px average disparity is:0.039061 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:56.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:56.904] frame process finished the id is: 13 the obs is:0 
[18:43:56.958] Odometry x=0.000000, y=0.000000, theta=-0.000000
[18:43:57.019] Init: px average disparity is:0.039995 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:57.019] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:57.019] frame process finished the id is: 14 the obs is:0 
[18:43:57.090] Init: px average disparity is:0.032783 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:57.090] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:57.090] frame process finished the id is: 15 the obs is:0 
[18:43:57.196] Odometry x=0.000002, y=0.019191, theta=0.000001
[18:43:57.210] Init: px average disparity is:0.152070 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:57.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:57.210] frame process finished the id is: 16 the obs is:0 
[18:43:57.309] Init: px average disparity is:6.438189 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:57.309] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:57.309] frame process finished the id is: 17 the obs is:0 
[18:43:57.414] Init: px average disparity is:4.621185 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:57.414] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:57.414] frame process finished the id is: 18 the obs is:0 
[18:43:57.455] Odometry x=-0.000039, y=0.050966, theta=0.000774
[18:43:57.517] Init: px average disparity is:4.962524 ,While minimum is: 10.000000  KLT tracked : 896
[18:43:57.517] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:57.517] frame process finished the id is: 19 the obs is:0 
[18:43:57.621] Init: px average disparity is:9.757717 ,While minimum is: 10.000000  KLT tracked : 895
[18:43:57.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:57.621] frame process finished the id is: 20 the obs is:0 
[18:43:57.729] Odometry x=-0.000047, y=0.081718, theta=-0.000073
[18:43:57.819] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:12.627500 ,While minimum is: 10.000000  KLT tracked: 895
[18:43:57.819] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:57.819] frame process finished the id is: 21 the obs is:0 
[18:43:57.926] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:15.604936 ,While minimum is: 10.000000  KLT tracked: 888
[18:43:57.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:57.927] frame process finished the id is: 22 the obs is:0 
[18:43:57.937] Odometry x=0.000499, y=0.112048, theta=0.000644
[18:43:58.025] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:19.846154 ,While minimum is: 10.000000  KLT tracked: 888
[18:43:58.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:58.025] frame process finished the id is: 23 the obs is:0 
[18:43:58.124] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:29.051805 ,While minimum is: 10.000000  KLT tracked: 888
[18:43:58.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:58.124] frame process finished the id is: 24 the obs is:0 
[18:43:58.224] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:27.308837 ,While minimum is: 10.000000  KLT tracked: 888
[18:43:58.224] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:58.224] frame process finished the id is: 25 the obs is:0 
[18:43:58.260] Odometry x=0.000038, y=0.140879, theta=0.004213
[18:43:58.326] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:28.646685 ,While minimum is: 10.000000  KLT tracked: 887
[18:43:58.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:58.326] frame process finished the id is: 26 the obs is:0 
[18:43:58.428] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:34.191057 ,While minimum is: 10.000000  KLT tracked: 887
[18:43:58.428] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:58.428] frame process finished the id is: 27 the obs is:0 
[18:43:58.469] Odometry x=-0.000233, y=0.169962, theta=0.010181
[18:43:58.533] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:41.345493 ,While minimum is: 10.000000  KLT tracked: 883
[18:43:58.533] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:58.533] frame process finished the id is: 28 the obs is:0 
[18:43:58.643] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required.  px average disparity is:46.447236 ,While minimum is: 10.000000  KLT tracked: 881
[18:43:58.643] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:58.643] frame process finished the id is: 29 the obs is:0 
[18:43:58.706] Odometry x=-0.000432, y=0.199032, theta=0.008526
[18:43:58.764] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required.  px average disparity is:45.750816 ,While minimum is: 10.000000  KLT tracked: 831
[18:43:58.764] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:58.764] frame process finished the id is: 30 the obs is:0 
[18:43:58.871] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required.  px average disparity is:43.552221 ,While minimum is: 10.000000  KLT tracked: 786
[18:43:58.871] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:58.871] frame process finished the id is: 31 the obs is:0 
[18:43:58.965] Odometry x=-0.000654, y=0.228022, theta=0.007607
[18:43:58.977] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required.  px average disparity is:47.016770 ,While minimum is: 10.000000  KLT tracked: 760
[18:43:58.977] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:58.977] frame process finished the id is: 32 the obs is:0 
[18:43:59.086] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required.  px average disparity is:49.538279 ,While minimum is: 10.000000  KLT tracked: 753
[18:43:59.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:59.086] frame process finished the id is: 33 the obs is:0 
[18:43:59.191] Odometry x=-0.001126, y=0.256460, theta=0.017068
[18:43:59.196] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required.  px average disparity is:54.298697 ,While minimum is: 10.000000  KLT tracked: 746
[18:43:59.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:59.196] frame process finished the id is: 34 the obs is:0 
[18:43:59.305] Init: Homography RANSAC (inlier) is:6 ,While 40 inliers minimum required.  px average disparity is:50.945217 ,While minimum is: 10.000000  KLT tracked: 737
[18:43:59.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:59.305] frame process finished the id is: 35 the obs is:0 
[18:43:59.413] Init: Homography RANSAC (inlier) is:26 ,While 40 inliers minimum required.  px average disparity is:45.043521 ,While minimum is: 10.000000  KLT tracked: 737
[18:43:59.413] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:59.413] frame process finished the id is: 36 the obs is:0 
[18:43:59.425] Odometry x=-0.001252, y=0.297173, theta=0.012082
[18:43:59.522] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:42.852949 ,While minimum is: 10.000000  KLT tracked: 734
[18:43:59.522] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:59.522] frame process finished the id is: 37 the obs is:0 
[18:43:59.680] Odometry x=-0.000807, y=0.317767, theta=0.015953
[18:43:59.691] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:84.759117 ,While minimum is: 10.000000  KLT tracked: 718
[18:43:59.691] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:59.691] frame process finished the id is: 38 the obs is:0 
[18:43:59.805] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:41.534758 ,While minimum is: 10.000000  KLT tracked: 698
[18:43:59.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:59.805] frame process finished the id is: 39 the obs is:0 
[18:43:59.912] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:41.889841 ,While minimum is: 10.000000  KLT tracked: 694
[18:43:59.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:43:59.912] frame process finished the id is: 40 the obs is:0 
[18:43:59.934] Odometry x=-0.001043, y=0.342362, theta=0.011934
[18:44:00.022] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required.  px average disparity is:50.036754 ,While minimum is: 10.000000  KLT tracked: 694
[18:44:00.022] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:00.022] frame process finished the id is: 41 the obs is:0 
[18:44:00.130] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:50.460992 ,While minimum is: 10.000000  KLT tracked: 694
[18:44:00.130] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:00.130] frame process finished the id is: 42 the obs is:0 
[18:44:00.236] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:55.866771 ,While minimum is: 10.000000  KLT tracked: 694
[18:44:00.236] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:00.236] frame process finished the id is: 43 the obs is:0 
[18:44:00.267] Odometry x=-0.000298, y=0.366852, theta=0.015156
[18:44:00.342] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:55.873498 ,While minimum is: 10.000000  KLT tracked: 694
[18:44:00.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:00.342] frame process finished the id is: 44 the obs is:0 
[18:44:00.437] Odometry x=0.000646, y=0.390576, theta=0.033252
[18:44:00.447] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:54.897271 ,While minimum is: 10.000000  KLT tracked: 692
[18:44:00.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:00.447] frame process finished the id is: 45 the obs is:0 
[18:44:00.552] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:59.465025 ,While minimum is: 10.000000  KLT tracked: 687
[18:44:00.552] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:00.552] frame process finished the id is: 46 the obs is:0 
[18:44:00.656] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:59.022030 ,While minimum is: 10.000000  KLT tracked: 686
[18:44:00.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:00.656] frame process finished the id is: 47 the obs is:0 
[18:44:00.686] Odometry x=-0.000726, y=0.414747, theta=0.042948
[18:44:00.760] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:63.374557 ,While minimum is: 10.000000  KLT tracked: 683
[18:44:00.760] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:00.760] frame process finished the id is: 48 the obs is:0 
[18:44:00.864] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:64.334452 ,While minimum is: 10.000000  KLT tracked: 682
[18:44:00.864] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:00.864] frame process finished the id is: 49 the obs is:0 
[18:44:00.929] Odometry x=-0.003032, y=0.438028, theta=0.033404
[18:44:00.968] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:61.895825 ,While minimum is: 10.000000  KLT tracked: 681
[18:44:00.968] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:00.969] frame process finished the id is: 50 the obs is:0 
[18:44:01.074] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required.  px average disparity is:61.954572 ,While minimum is: 10.000000  KLT tracked: 681
[18:44:01.074] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:01.074] frame process finished the id is: 51 the obs is:0 
[18:44:01.181] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:63.552660 ,While minimum is: 10.000000  KLT tracked: 679
[18:44:01.181] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:01.181] frame process finished the id is: 52 the obs is:0 
[18:44:01.209] Odometry x=-0.003750, y=0.462662, theta=0.042577
[18:44:01.285] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:61.025470 ,While minimum is: 10.000000  KLT tracked: 567
[18:44:01.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:01.285] frame process finished the id is: 53 the obs is:0 
[18:44:01.386] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:62.655230 ,While minimum is: 10.000000  KLT tracked: 552
[18:44:01.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:01.386] frame process finished the id is: 54 the obs is:0 
[18:44:01.432] Odometry x=-0.004331, y=0.479101, theta=0.046856
[18:44:01.487] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:66.216194 ,While minimum is: 10.000000  KLT tracked: 540
[18:44:01.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:01.488] frame process finished the id is: 55 the obs is:0 
[18:44:01.587] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:67.097597 ,While minimum is: 10.000000  KLT tracked: 540
[18:44:01.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:01.587] frame process finished the id is: 56 the obs is:0 
[18:44:01.688] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:62.105247 ,While minimum is: 10.000000  KLT tracked: 540
[18:44:01.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:01.688] frame process finished the id is: 57 the obs is:0 
[18:44:01.693] Odometry x=-0.005289, y=0.496097, theta=0.049716
[18:44:01.794] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:59.361343 ,While minimum is: 10.000000  KLT tracked: 540
[18:44:01.794] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:01.794] frame process finished the id is: 58 the obs is:0 
[18:44:01.895] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:57.242792 ,While minimum is: 10.000000  KLT tracked: 540
[18:44:01.895] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:01.895] frame process finished the id is: 59 the obs is:0 
[18:44:01.945] Odometry x=-0.006040, y=0.513883, theta=0.043223
[18:44:01.995] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:56.919297 ,While minimum is: 10.000000  KLT tracked: 540
[18:44:01.995] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:01.995] frame process finished the id is: 60 the obs is:0 
[18:44:02.095] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:57.749509 ,While minimum is: 10.000000  KLT tracked: 540
[18:44:02.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:02.095] frame process finished the id is: 61 the obs is:0 
[18:44:02.196] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:59.171287 ,While minimum is: 10.000000  KLT tracked: 540
[18:44:02.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:02.196] frame process finished the id is: 62 the obs is:0 
[18:44:02.249] Odometry x=-0.008370, y=0.533132, theta=0.053679
[18:44:02.300] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:60.963264 ,While minimum is: 10.000000  KLT tracked: 540
[18:44:02.300] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:02.300] frame process finished the id is: 63 the obs is:0 
[18:44:02.405] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:66.259251 ,While minimum is: 10.000000  KLT tracked: 538
[18:44:02.405] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:02.405] frame process finished the id is: 64 the obs is:0 
[18:44:02.424] Odometry x=-0.009464, y=0.554440, theta=0.064358
[18:44:02.512] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:66.516626 ,While minimum is: 10.000000  KLT tracked: 538
[18:44:02.512] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:02.512] frame process finished the id is: 65 the obs is:0 
[18:44:02.620] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:59.705831 ,While minimum is: 10.000000  KLT tracked: 538
[18:44:02.620] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:02.620] frame process finished the id is: 66 the obs is:0 
[18:44:02.709] Odometry x=-0.010209, y=0.572925, theta=0.045810
[18:44:02.722] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:57.802720 ,While minimum is: 10.000000  KLT tracked: 538
[18:44:02.722] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:02.723] frame process finished the id is: 67 the obs is:0 
[18:44:02.827] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:56.110475 ,While minimum is: 10.000000  KLT tracked: 538
[18:44:02.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:02.827] frame process finished the id is: 68 the obs is:0 
[18:44:02.920] Odometry x=-0.010320, y=0.592247, theta=0.041359
[18:44:02.944] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:57.525921 ,While minimum is: 10.000000  KLT tracked: 537
[18:44:02.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:02.944] frame process finished the id is: 69 the obs is:0 
[18:44:03.059] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:60.403340 ,While minimum is: 10.000000  KLT tracked: 537
[18:44:03.059] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:03.059] frame process finished the id is: 70 the obs is:0 
[18:44:03.179] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:61.333779 ,While minimum is: 10.000000  KLT tracked: 537
[18:44:03.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:03.179] frame process finished the id is: 71 the obs is:0 
[18:44:03.180] Odometry x=-0.011090, y=0.610443, theta=0.042326
[18:44:03.294] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:66.747909 ,While minimum is: 10.000000  KLT tracked: 534
[18:44:03.294] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:03.294] frame process finished the id is: 72 the obs is:0 
[18:44:03.404] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:68.837536 ,While minimum is: 10.000000  KLT tracked: 534
[18:44:03.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:03.404] frame process finished the id is: 73 the obs is:0 
[18:44:03.444] Odometry x=-0.012010, y=0.628767, theta=0.050163
[18:44:03.512] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:67.015109 ,While minimum is: 10.000000  KLT tracked: 534
[18:44:03.512] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:03.512] frame process finished the id is: 74 the obs is:0 
[18:44:03.622] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:68.414476 ,While minimum is: 10.000000  KLT tracked: 533
[18:44:03.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:03.622] frame process finished the id is: 75 the obs is:0 
[18:44:03.674] Odometry x=-0.013076, y=0.647027, theta=0.049776
[18:44:03.735] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:67.421060 ,While minimum is: 10.000000  KLT tracked: 533
[18:44:03.735] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:03.735] frame process finished the id is: 76 the obs is:0 
[18:44:03.841] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:68.500216 ,While minimum is: 10.000000  KLT tracked: 533
[18:44:03.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:03.841] frame process finished the id is: 77 the obs is:0 
[18:44:03.926] Odometry x=-0.013565, y=0.666979, theta=0.060852
[18:44:03.948] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:69.755903 ,While minimum is: 10.000000  KLT tracked: 533
[18:44:03.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:03.948] frame process finished the id is: 78 the obs is:0 
[18:44:04.064] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:69.363787 ,While minimum is: 10.000000  KLT tracked: 533
[18:44:04.064] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:04.064] frame process finished the id is: 79 the obs is:0 
[18:44:04.171] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:74.502750 ,While minimum is: 10.000000  KLT tracked: 533
[18:44:04.171] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:04.171] frame process finished the id is: 80 the obs is:0 
[18:44:04.255] Odometry x=-0.014746, y=0.685934, theta=0.062709
[18:44:04.279] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:71.887873 ,While minimum is: 10.000000  KLT tracked: 533
[18:44:04.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:04.279] frame process finished the id is: 81 the obs is:0 
[18:44:04.380] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:72.958960 ,While minimum is: 10.000000  KLT tracked: 533
[18:44:04.380] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:04.380] frame process finished the id is: 82 the obs is:0 
[18:44:04.421] Odometry x=-0.015977, y=0.704969, theta=0.065162
[18:44:04.481] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:73.652213 ,While minimum is: 10.000000  KLT tracked: 532
[18:44:04.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:04.481] frame process finished the id is: 83 the obs is:0 
[18:44:04.582] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:78.190707 ,While minimum is: 10.000000  KLT tracked: 531
[18:44:04.582] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:04.582] frame process finished the id is: 84 the obs is:0 
[18:44:04.684] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:79.204154 ,While minimum is: 10.000000  KLT tracked: 529
[18:44:04.684] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:04.684] frame process finished the id is: 85 the obs is:0 
[18:44:04.726] Odometry x=-0.017033, y=0.724034, theta=0.070960
[18:44:04.784] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:87.795534 ,While minimum is: 10.000000  KLT tracked: 508
[18:44:04.784] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:04.784] frame process finished the id is: 86 the obs is:0 
[18:44:04.885] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:89.313496 ,While minimum is: 10.000000  KLT tracked: 503
[18:44:04.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:04.885] frame process finished the id is: 87 the obs is:0 
[18:44:04.926] Odometry x=-0.018922, y=0.742870, theta=0.078247
[18:44:04.986] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:92.037097 ,While minimum is: 10.000000  KLT tracked: 501
[18:44:04.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:04.986] frame process finished the id is: 88 the obs is:0 
[18:44:05.084] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:87.494338 ,While minimum is: 10.000000  KLT tracked: 498
[18:44:05.084] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:05.084] frame process finished the id is: 89 the obs is:0 
[18:44:05.177] Odometry x=-0.020178, y=0.762759, theta=0.085316
[18:44:05.183] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:85.709740 ,While minimum is: 10.000000  KLT tracked: 498
[18:44:05.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:05.183] frame process finished the id is: 90 the obs is:0 
[18:44:05.285] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:84.084772 ,While minimum is: 10.000000  KLT tracked: 498
[18:44:05.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:05.285] frame process finished the id is: 91 the obs is:0 
[18:44:05.383] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:85.905853 ,While minimum is: 10.000000  KLT tracked: 498
[18:44:05.383] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:05.383] frame process finished the id is: 92 the obs is:0 
[18:44:05.430] Odometry x=-0.021667, y=0.781776, theta=0.077609
[18:44:05.483] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.907759 ,While minimum is: 10.000000  KLT tracked: 498
[18:44:05.483] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:05.483] frame process finished the id is: 93 the obs is:0 
[18:44:05.585] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:82.192528 ,While minimum is: 10.000000  KLT tracked: 498
[18:44:05.585] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:05.585] frame process finished the id is: 94 the obs is:0 
[18:44:05.661] Odometry x=-0.023119, y=0.801038, theta=0.079648
[18:44:05.719] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.814438 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:05.719] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:05.719] frame process finished the id is: 95 the obs is:0 
[18:44:05.829] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.546939 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:05.829] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:05.829] frame process finished the id is: 96 the obs is:0 
[18:44:05.916] Odometry x=-0.024886, y=0.819996, theta=0.088929
[18:44:05.952] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:84.416801 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:05.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:05.952] frame process finished the id is: 97 the obs is:0 
[18:44:06.067] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:79.159363 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:06.068] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:06.068] frame process finished the id is: 98 the obs is:0 
[18:44:06.176] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:77.842426 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:06.176] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:06.176] frame process finished the id is: 99 the obs is:0 
[18:44:06.280] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.825120 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:06.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:06.280] frame process finished the id is: 100 the obs is:0 
[18:44:06.386] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.682399 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:06.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:06.386] frame process finished the id is: 101 the obs is:0 
[18:44:06.499] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.249066 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:06.499] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:06.499] frame process finished the id is: 102 the obs is:0 
[18:44:06.608] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.278565 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:06.608] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:06.608] frame process finished the id is: 103 the obs is:0 
[18:44:06.718] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.291165 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:06.718] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:06.718] frame process finished the id is: 104 the obs is:0 
[18:44:06.826] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.305568 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:06.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:06.826] frame process finished the id is: 105 the obs is:0 
[18:44:06.931] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.277216 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:06.931] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:06.931] frame process finished the id is: 106 the obs is:0 
[18:44:07.036] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.215424 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:07.036] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:07.036] frame process finished the id is: 107 the obs is:0 
[18:44:07.139] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.296530 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:07.139] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:07.139] frame process finished the id is: 108 the obs is:0 
[18:44:07.238] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.259232 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:07.238] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:07.238] frame process finished the id is: 109 the obs is:0 
[18:44:07.337] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.371327 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:07.338] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:07.338] frame process finished the id is: 110 the obs is:0 
[18:44:07.436] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.282695 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:07.436] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:07.436] frame process finished the id is: 111 the obs is:0 
[18:44:07.536] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.209178 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:07.536] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:07.536] frame process finished the id is: 112 the obs is:0 
[18:44:07.635] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.226372 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:07.635] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:07.635] frame process finished the id is: 113 the obs is:0 
[18:44:07.690] Odometry x=-0.024742, y=0.819510, theta=0.082229
[18:44:07.733] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.231785 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:07.733] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:07.733] frame process finished the id is: 114 the obs is:0 
[18:44:07.832] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.266204 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:07.832] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:07.832] frame process finished the id is: 115 the obs is:0 
[18:44:07.931] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.271810 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:07.931] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:07.931] frame process finished the id is: 116 the obs is:0 
[18:44:07.946] Odometry x=-0.024750, y=0.819570, theta=0.071607
[18:44:08.030] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.166279 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:08.030] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:08.030] frame process finished the id is: 117 the obs is:0 
[18:44:08.130] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:83.228068 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:08.130] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:08.130] frame process finished the id is: 118 the obs is:0 
[18:44:08.228] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:80.210761 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:08.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:08.228] frame process finished the id is: 119 the obs is:0 
[18:44:08.252] Odometry x=-0.024739, y=0.819708, theta=0.014334
[18:44:08.327] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:72.799543 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:08.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:08.328] frame process finished the id is: 120 the obs is:0 
[18:44:08.430] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:59.758386 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:08.430] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:08.430] frame process finished the id is: 121 the obs is:0 
[18:44:08.439] Odometry x=-0.024762, y=0.819704, theta=-0.115063
[18:44:08.533] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:45.123949 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:08.533] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:08.533] frame process finished the id is: 122 the obs is:0 
[18:44:08.635] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:34.898259 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:08.635] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:08.635] frame process finished the id is: 123 the obs is:0 
[18:44:08.683] Odometry x=-0.024779, y=0.819797, theta=-0.254018
[18:44:08.737] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:33.247118 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:08.737] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:08.737] frame process finished the id is: 124 the obs is:0 
[18:44:08.838] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:49.569852 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:08.838] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:08.838] frame process finished the id is: 125 the obs is:0 
[18:44:08.938] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.040054 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:08.938] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:08.938] frame process finished the id is: 126 the obs is:0 
[18:44:09.041] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:64.907437 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:09.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:09.041] frame process finished the id is: 127 the obs is:0 
[18:44:09.141] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.341845 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:09.141] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:09.141] frame process finished the id is: 128 the obs is:0 
[18:44:09.240] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.202244 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:09.240] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:09.240] frame process finished the id is: 129 the obs is:0 
[18:44:09.339] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.192144 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:09.339] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:09.339] frame process finished the id is: 130 the obs is:0 
[18:44:09.438] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.921301 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:09.438] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:09.438] frame process finished the id is: 131 the obs is:0 
[18:44:09.539] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.828723 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:09.539] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:09.539] frame process finished the id is: 132 the obs is:0 
[18:44:09.642] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.803860 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:09.642] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:09.642] frame process finished the id is: 133 the obs is:0 
[18:44:09.742] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.814957 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:09.742] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:09.742] frame process finished the id is: 134 the obs is:0 
[18:44:09.841] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.861349 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:09.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:09.841] frame process finished the id is: 135 the obs is:0 
[18:44:09.931] Odometry x=-0.024774, y=0.819817, theta=-0.304459
[18:44:09.956] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.891217 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:09.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:09.956] frame process finished the id is: 136 the obs is:0 
[18:44:10.056] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.793371 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:10.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:10.056] frame process finished the id is: 137 the obs is:0 
[18:44:10.157] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.883318 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:10.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:10.157] frame process finished the id is: 138 the obs is:0 
[18:44:10.246] Odometry x=-0.024489, y=0.820717, theta=-0.303075
[18:44:10.310] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.906476 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:10.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:10.310] frame process finished the id is: 139 the obs is:0 
[18:44:10.429] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:65.308425 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:10.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:10.429] frame process finished the id is: 140 the obs is:0 
[18:44:10.460] Odometry x=-0.022005, y=0.828790, theta=-0.296761
[18:44:10.547] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required.  px average disparity is:61.403862 ,While minimum is: 10.000000  KLT tracked: 497
[18:44:10.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[18:44:10.547] frame process finished the id is: 141 the obs is:0 
[18:44:10.651] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimu