[16:56:47.087] Init: frame zero: 0.000000, 0.000000 0.000000
[16:56:47.087] Init: Selected first frame. 
[16:56:47.188] Init: px average disparity is:0.199845 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:47.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:47.281] Init: px average disparity is:0.228584 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:47.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:47.381] Init: px average disparity is:0.247869 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:47.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:47.482] Init: px average disparity is:0.264516 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:47.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:47.582] Init: px average disparity is:0.244909 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:47.582] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:47.681] Init: px average disparity is:0.247212 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:47.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:47.786] Init: px average disparity is:0.245599 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:47.786] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:47.884] Init: px average disparity is:0.243039 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:47.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:47.980] Init: px average disparity is:0.265452 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:47.980] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:48.081] Init: px average disparity is:0.234299 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:48.081] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:48.180] Init: px average disparity is:0.243746 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:48.180] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:48.279] Init: px average disparity is:0.254030 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:48.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:48.380] Init: px average disparity is:0.239410 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:48.380] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:48.480] Init: px average disparity is:0.257267 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:48.480] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:48.580] Init: px average disparity is:0.238989 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:48.580] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:48.680] Init: px average disparity is:0.256103 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:48.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:48.781] Init: px average disparity is:0.261871 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:48.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:48.880] Init: px average disparity is:0.252308 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:48.880] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:48.981] Init: px average disparity is:0.232597 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:48.981] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:49.080] Init: px average disparity is:0.237933 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:49.080] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:49.179] Init: px average disparity is:0.266207 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:49.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:49.279] Init: px average disparity is:0.267942 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:49.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:49.381] Init: px average disparity is:0.241865 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:49.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:49.479] Init: px average disparity is:0.233046 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:49.479] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:49.579] Init: px average disparity is:0.264817 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:49.579] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:49.682] Init: px average disparity is:0.254301 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:49.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:49.780] Init: px average disparity is:0.224649 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:49.780] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:49.882] Init: px average disparity is:0.269531 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:49.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:49.980] Init: px average disparity is:0.232919 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:49.980] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:50.016] Odometry x=0.001748, y=-0.001846, theta=0.046293
[16:56:50.080] Init: px average disparity is:0.233538 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:50.080] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:50.116] Odometry x=0.001858, y=-0.001908, theta=0.049126
[16:56:50.180] Init: px average disparity is:0.216412 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:50.180] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:50.217] Odometry x=0.001830, y=-0.005507, theta=0.052242
[16:56:50.280] Init: px average disparity is:1.668148 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:50.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:50.317] Odometry x=0.001727, y=-0.009872, theta=0.055510
[16:56:50.381] Init: px average disparity is:5.889293 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:50.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:50.418] Odometry x=0.001632, y=-0.013943, theta=0.064133
[16:56:50.480] Init: px average disparity is:7.604896 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:50.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:50.517] Odometry x=0.001490, y=-0.018079, theta=0.065692
[16:56:50.581] Init: px average disparity is:4.900131 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:50.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:50.618] Odometry x=0.001368, y=-0.021957, theta=0.065981
[16:56:50.680] Init: px average disparity is:5.242668 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:50.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:50.719] Odometry x=0.001295, y=-0.026015, theta=0.068299
[16:56:50.782] Init: px average disparity is:4.227580 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:50.782] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:50.818] Odometry x=0.000528, y=-0.029837, theta=0.029658
[16:56:50.882] Init: px average disparity is:5.631726 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:50.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:50.917] Odometry x=0.000539, y=-0.033897, theta=0.022544
[16:56:50.983] Init: px average disparity is:4.536826 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:50.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:51.017] Odometry x=0.000558, y=-0.037777, theta=0.039868
[16:56:51.081] Init: px average disparity is:6.439505 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:51.081] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:51.117] Odometry x=0.000595, y=-0.041802, theta=0.039951
[16:56:51.183] Init: px average disparity is:7.900317 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:51.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:51.217] Odometry x=0.000589, y=-0.045501, theta=0.057023
[16:56:51.280] Init: px average disparity is:9.271796 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:51.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:51.320] Odometry x=0.000434, y=-0.049494, theta=0.057566
[16:56:51.382] Init: px average disparity is:12.623408 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:51.382] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:51.419] Odometry x=0.000135, y=-0.053327, theta=0.035957
[16:56:51.482] Init: px average disparity is:15.328059 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:51.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:51.522] Odometry x=0.000252, y=-0.057327, theta=0.038459
[16:56:51.583] Init: px average disparity is:13.620907 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:51.583] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:51.616] Odometry x=-0.000035, y=-0.061318, theta=0.043685
[16:56:51.683] Init: px average disparity is:12.845169 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:51.683] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:51.717] Odometry x=0.000016, y=-0.065465, theta=0.040170
[16:56:51.784] Init: px average disparity is:11.228482 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:51.784] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:51.817] Odometry x=-0.000014, y=-0.069456, theta=0.037026
[16:56:51.882] Init: px average disparity is:12.517680 ,While minimum is: 40.000000  KLT tracked : 141
[16:56:51.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:51.920] Odometry x=-0.000023, y=-0.073584, theta=0.027114
[16:56:51.982] Init: px average disparity is:12.672291 ,While minimum is: 40.000000  KLT tracked : 140
[16:56:51.982] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:52.020] Odometry x=0.000088, y=-0.077726, theta=0.015746
[16:56:52.082] Init: px average disparity is:18.810323 ,While minimum is: 40.000000  KLT tracked : 140
[16:56:52.082] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:52.131] Odometry x=0.000199, y=-0.082119, theta=-0.001302
[16:56:52.183] Init: px average disparity is:13.644659 ,While minimum is: 40.000000  KLT tracked : 140
[16:56:52.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:52.217] Odometry x=0.000506, y=-0.086442, theta=-0.005196
[16:56:52.282] Init: px average disparity is:13.433403 ,While minimum is: 40.000000  KLT tracked : 140
[16:56:52.282] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:52.322] Odometry x=0.000629, y=-0.090230, theta=0.006733
[16:56:52.383] Init: px average disparity is:8.942875 ,While minimum is: 40.000000  KLT tracked : 140
[16:56:52.383] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:52.420] Odometry x=0.000856, y=-0.094088, theta=0.004129
[16:56:52.481] Init: px average disparity is:9.564199 ,While minimum is: 40.000000  KLT tracked : 140
[16:56:52.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:52.520] Odometry x=0.001121, y=-0.098073, theta=0.020498
[16:56:52.581] Init: px average disparity is:9.621380 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:52.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:52.620] Odometry x=0.001276, y=-0.102021, theta=0.022698
[16:56:52.682] Init: px average disparity is:10.655478 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:52.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:52.724] Odometry x=0.001333, y=-0.105727, theta=0.046843
[16:56:52.784] Init: px average disparity is:11.881271 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:52.784] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:52.824] Odometry x=0.001482, y=-0.109798, theta=0.051030
[16:56:52.882] Init: px average disparity is:10.134313 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:52.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:52.924] Odometry x=0.001336, y=-0.113695, theta=0.053150
[16:56:52.982] Init: px average disparity is:12.372132 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:52.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:53.024] Odometry x=0.001275, y=-0.117747, theta=0.058155
[16:56:53.082] Init: px average disparity is:14.799960 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:53.082] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:53.124] Odometry x=0.001031, y=-0.121803, theta=0.067822
[16:56:53.183] Init: px average disparity is:15.967116 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:53.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:53.224] Odometry x=0.000428, y=-0.125687, theta=0.030984
[16:56:53.278] Init: px average disparity is:16.881765 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:53.278] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:53.317] Odometry x=0.000283, y=-0.129749, theta=0.032906
[16:56:53.383] Init: px average disparity is:17.417264 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:53.383] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:53.417] Odometry x=0.000290, y=-0.133622, theta=0.039261
[16:56:53.483] Init: px average disparity is:17.972542 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:53.483] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:53.516] Odometry x=0.000146, y=-0.137629, theta=0.040263
[16:56:53.586] Init: px average disparity is:20.458865 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:53.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:53.621] Odometry x=0.000117, y=-0.141583, theta=0.048100
[16:56:53.685] Init: px average disparity is:23.029251 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:53.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:53.720] Odometry x=-0.000091, y=-0.145625, theta=0.048468
[16:56:53.785] Init: px average disparity is:21.158786 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:53.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:53.819] Odometry x=-0.000137, y=-0.149689, theta=0.031550
[16:56:53.885] Init: px average disparity is:20.309493 ,While minimum is: 40.000000  KLT tracked : 139
[16:56:53.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:53.919] Odometry x=-0.000223, y=-0.153613, theta=0.036548
[16:56:53.992] Init: px average disparity is:20.115124 ,While minimum is: 40.000000  KLT tracked : 138
[16:56:53.992] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:54.019] Odometry x=-0.000413, y=-0.157640, theta=0.022272
[16:56:54.085] Init: px average disparity is:20.367568 ,While minimum is: 40.000000  KLT tracked : 138
[16:56:54.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:54.118] Odometry x=-0.000283, y=-0.161637, theta=0.015980
[16:56:54.187] Init: px average disparity is:22.556545 ,While minimum is: 40.000000  KLT tracked : 138
[16:56:54.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:54.218] Odometry x=-0.000381, y=-0.165710, theta=0.012817
[16:56:54.287] Init: px average disparity is:22.160010 ,While minimum is: 40.000000  KLT tracked : 138
[16:56:54.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:54.319] Odometry x=-0.000277, y=-0.169798, theta=0.003755
[16:56:54.386] Init: px average disparity is:23.012553 ,While minimum is: 40.000000  KLT tracked : 133
[16:56:54.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:54.418] Odometry x=-0.000329, y=-0.173760, theta=0.012404
[16:56:54.487] Init: px average disparity is:23.446189 ,While minimum is: 40.000000  KLT tracked : 133
[16:56:54.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:54.518] Odometry x=-0.000242, y=-0.177762, theta=0.015281
[16:56:54.586] Init: px average disparity is:22.011711 ,While minimum is: 40.000000  KLT tracked : 133
[16:56:54.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:54.618] Odometry x=-0.000251, y=-0.181711, theta=0.040094
[16:56:54.685] Init: px average disparity is:22.996573 ,While minimum is: 40.000000  KLT tracked : 133
[16:56:54.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:54.718] Odometry x=-0.000262, y=-0.185528, theta=0.044769
[16:56:54.785] Init: px average disparity is:22.768269 ,While minimum is: 40.000000  KLT tracked : 133
[16:56:54.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:54.818] Odometry x=-0.000546, y=-0.189502, theta=0.054347
[16:56:54.884] Init: px average disparity is:24.337389 ,While minimum is: 40.000000  KLT tracked : 132
[16:56:54.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:54.918] Odometry x=-0.000681, y=-0.193387, theta=0.060758
[16:56:54.986] Init: px average disparity is:23.094483 ,While minimum is: 40.000000  KLT tracked : 132
[16:56:54.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:55.018] Odometry x=-0.000957, y=-0.197461, theta=0.063246
[16:56:55.086] Init: px average disparity is:24.222666 ,While minimum is: 40.000000  KLT tracked : 132
[16:56:55.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:55.124] Odometry x=-0.001073, y=-0.201378, theta=0.066331
[16:56:55.186] Init: px average disparity is:23.117713 ,While minimum is: 40.000000  KLT tracked : 132
[16:56:55.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:55.221] Odometry x=-0.001473, y=-0.205617, theta=0.069284
[16:56:55.285] Init: px average disparity is:25.206573 ,While minimum is: 40.000000  KLT tracked : 132
[16:56:55.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:55.318] Odometry x=-0.000616, y=-0.209498, theta=0.032237
[16:56:55.389] Init: px average disparity is:23.432607 ,While minimum is: 40.000000  KLT tracked : 132
[16:56:55.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:55.421] Odometry x=-0.000903, y=-0.213591, theta=0.018187
[16:56:55.484] Init: px average disparity is:24.976364 ,While minimum is: 40.000000  KLT tracked : 132
[16:56:55.484] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:55.518] Odometry x=-0.000725, y=-0.217456, theta=0.029001
[16:56:55.587] Init: px average disparity is:23.540417 ,While minimum is: 40.000000  KLT tracked : 132
[16:56:55.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:55.620] Odometry x=-0.000918, y=-0.221552, theta=0.016630
[16:56:55.687] Init: px average disparity is:25.422799 ,While minimum is: 40.000000  KLT tracked : 129
[16:56:55.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:55.720] Odometry x=-0.000904, y=-0.225706, theta=0.002476
[16:56:55.786] Init: px average disparity is:25.606499 ,While minimum is: 40.000000  KLT tracked : 129
[16:56:55.786] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:55.822] Odometry x=-0.000798, y=-0.229909, theta=0.003524
[16:56:55.885] Init: px average disparity is:27.805471 ,While minimum is: 40.000000  KLT tracked : 129
[16:56:55.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:55.918] Odometry x=-0.001015, y=-0.233660, theta=-0.009173
[16:56:55.989] Init: px average disparity is:29.274710 ,While minimum is: 40.000000  KLT tracked : 129
[16:56:55.989] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:56.024] Odometry x=-0.000745, y=-0.237615, theta=-0.016914
[16:56:56.086] Init: px average disparity is:29.080838 ,While minimum is: 40.000000  KLT tracked : 129
[16:56:56.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:56.123] Odometry x=-0.000785, y=-0.241570, theta=0.000758
[16:56:56.185] Init: px average disparity is:28.571370 ,While minimum is: 40.000000  KLT tracked : 129
[16:56:56.185] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:56.218] Odometry x=-0.000569, y=-0.245722, theta=-0.002792
[16:56:56.288] Init: px average disparity is:27.890500 ,While minimum is: 40.000000  KLT tracked : 129
[16:56:56.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:56.319] Odometry x=-0.000727, y=-0.249482, theta=0.023446
[16:56:56.386] Init: px average disparity is:27.323397 ,While minimum is: 40.000000  KLT tracked : 129
[16:56:56.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:56.419] Odometry x=-0.000718, y=-0.253662, theta=0.025499
[16:56:56.488] Init: px average disparity is:26.864283 ,While minimum is: 40.000000  KLT tracked : 129
[16:56:56.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:56.525] Odometry x=-0.000854, y=-0.257585, theta=0.047857
[16:56:56.587] Init: px average disparity is:27.671257 ,While minimum is: 40.000000  KLT tracked : 129
[16:56:56.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:56.618] Odometry x=-0.000999, y=-0.261466, theta=0.053275
[16:56:56.687] Init: px average disparity is:27.577535 ,While minimum is: 40.000000  KLT tracked : 129
[16:56:56.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:56.718] Odometry x=-0.001273, y=-0.265342, theta=0.052462
[16:56:56.790] Init: px average disparity is:28.541893 ,While minimum is: 40.000000  KLT tracked : 129
[16:56:56.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:56.824] Odometry x=-0.001380, y=-0.269318, theta=0.053591
[16:56:56.889] Init: px average disparity is:28.339669 ,While minimum is: 40.000000  KLT tracked : 129
[16:56:56.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:56.922] Odometry x=-0.001619, y=-0.273381, theta=0.054341
[16:56:56.990] Init: px average disparity is:29.375958 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:56.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:57.018] Odometry x=-0.001716, y=-0.277285, theta=0.047431
[16:56:57.087] Init: px average disparity is:29.436318 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:57.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:57.123] Odometry x=-0.002021, y=-0.281255, theta=0.048654
[16:56:57.187] Init: px average disparity is:30.050139 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:57.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:57.219] Odometry x=-0.002118, y=-0.285362, theta=0.040875
[16:56:57.288] Init: px average disparity is:31.933067 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:57.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:57.320] Odometry x=-0.002281, y=-0.289207, theta=0.044516
[16:56:57.386] Init: px average disparity is:31.196739 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:57.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:57.423] Odometry x=-0.002477, y=-0.293131, theta=0.044912
[16:56:57.487] Init: px average disparity is:33.847034 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:57.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:57.524] Odometry x=-0.002510, y=-0.297018, theta=0.032715
[16:56:57.587] Init: px average disparity is:32.836846 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:57.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:57.618] Odometry x=-0.002781, y=-0.301129, theta=0.029614
[16:56:57.687] Init: px average disparity is:36.742226 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:57.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:57.719] Odometry x=-0.002692, y=-0.304867, theta=0.029751
[16:56:57.788] Init: px average disparity is:33.684067 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:57.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:57.820] Odometry x=-0.002990, y=-0.308861, theta=0.039648
[16:56:57.886] Init: px average disparity is:36.308023 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:57.886] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:57.922] Odometry x=-0.002959, y=-0.312797, theta=0.033273
[16:56:57.988] Init: px average disparity is:35.402450 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:57.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:58.018] Odometry x=-0.003221, y=-0.317000, theta=0.050796
[16:56:58.088] Init: px average disparity is:35.080882 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:58.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:58.117] Odometry x=-0.003375, y=-0.320814, theta=0.046080
[16:56:58.190] Init: px average disparity is:33.866669 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:58.190] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:58.219] Odometry x=-0.003647, y=-0.324776, theta=0.064601
[16:56:58.280] Init: px average disparity is:34.136894 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:58.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:58.318] Odometry x=-0.001494, y=-0.328705, theta=0.031319
[16:56:58.387] Init: px average disparity is:33.815742 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:58.387] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:58.418] Odometry x=-0.001661, y=-0.332476, theta=0.047700
[16:56:58.487] Init: px average disparity is:34.465015 ,While minimum is: 40.000000  KLT tracked : 128
[16:56:58.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:58.518] Odometry x=-0.001637, y=-0.336670, theta=0.056361
[16:56:58.590] Init: px average disparity is:35.652162 ,While minimum is: 40.000000  KLT tracked : 123
[16:56:58.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:58.617] Odometry x=-0.001928, y=-0.340685, theta=0.056105
[16:56:58.689] Init: px average disparity is:35.245859 ,While minimum is: 40.000000  KLT tracked : 123
[16:56:58.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:58.721] Odometry x=-0.001971, y=-0.344761, theta=0.066375
[16:56:58.792] Init: px average disparity is:36.054419 ,While minimum is: 40.000000  KLT tracked : 119
[16:56:58.792] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:58.819] Odometry x=-0.002205, y=-0.348495, theta=0.062097
[16:56:58.887] Init: px average disparity is:35.766178 ,While minimum is: 40.000000  KLT tracked : 119
[16:56:58.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:58.919] Odometry x=-0.002272, y=-0.352565, theta=0.067690
[16:56:58.990] Init: px average disparity is:37.025734 ,While minimum is: 40.000000  KLT tracked : 119
[16:56:58.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:59.019] Odometry x=-0.002597, y=-0.356386, theta=0.063527
[16:56:59.089] Init: px average disparity is:39.402319 ,While minimum is: 40.000000  KLT tracked : 118
[16:56:59.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:59.119] Odometry x=-0.002604, y=-0.360311, theta=0.053191
[16:56:59.189] Init: px average disparity is:39.908562 ,While minimum is: 40.000000  KLT tracked : 118
[16:56:59.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:59.219] Odometry x=-0.002913, y=-0.364224, theta=0.057275
[16:56:59.318] Odometry x=-0.002933, y=-0.368153, theta=0.032662
[16:56:59.359] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required.  px average disparity is:42.799618 ,While minimum is: 40.000000  KLT tracked: 117
[16:56:59.359] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:59.421] Odometry x=-0.003066, y=-0.372017, theta=0.044534
[16:56:59.443] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required.  px average disparity is:42.733281 ,While minimum is: 40.000000  KLT tracked: 117
[16:56:59.443] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:59.518] Odometry x=-0.003089, y=-0.375886, theta=0.042443
[16:56:59.543] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:44.212266 ,While minimum is: 40.000000  KLT tracked: 117
[16:56:59.543] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:59.621] Odometry x=-0.003235, y=-0.379836, theta=0.061590
[16:56:59.640] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:41.919257 ,While minimum is: 40.000000  KLT tracked: 117
[16:56:59.640] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:59.719] Odometry x=-0.003338, y=-0.383913, theta=0.057502
[16:56:59.741] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:43.720157 ,While minimum is: 40.000000  KLT tracked: 117
[16:56:59.741] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:59.818] Odometry x=-0.003577, y=-0.387721, theta=0.080515
[16:56:59.841] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:40.664316 ,While minimum is: 40.000000  KLT tracked: 116
[16:56:59.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:56:59.921] Odometry x=-0.003721, y=-0.391560, theta=0.096118
[16:56:59.940] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:41.536004 ,While minimum is: 40.000000  KLT tracked: 116
[16:56:59.941] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:00.022] Odometry x=-0.004241, y=-0.395581, theta=0.091328
[16:57:00.041] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:40.484126 ,While minimum is: 40.000000  KLT tracked: 116
[16:57:00.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:00.120] Odometry x=-0.004406, y=-0.399443, theta=0.105963
[16:57:00.140] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:42.972791 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:00.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:00.218] Odometry x=-0.004758, y=-0.403410, theta=0.091724
[16:57:00.241] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:42.124904 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:00.241] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:00.316] Odometry x=-0.004980, y=-0.407058, theta=0.101284
[16:57:00.341] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:43.877975 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:00.341] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:00.414] Odometry x=-0.005281, y=-0.411017, theta=0.094386
[16:57:00.442] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:43.138903 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:00.442] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:00.523] Odometry x=-0.005637, y=-0.414845, theta=0.102645
[16:57:00.540] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:45.000427 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:00.540] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:00.620] Odometry x=-0.005895, y=-0.419047, theta=0.104206
[16:57:00.641] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:43.806255 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:00.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:00.721] Odometry x=-0.006352, y=-0.422797, theta=0.102488
[16:57:00.739] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:42.862623 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:00.739] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:00.819] Odometry x=-0.006467, y=-0.426652, theta=0.092999
[16:57:00.840] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:44.241816 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:00.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:00.918] Odometry x=-0.006937, y=-0.430801, theta=0.093203
[16:57:00.939] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:43.744958 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:00.939] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:01.017] Odometry x=-0.007161, y=-0.434686, theta=0.074563
[16:57:01.040] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:47.034720 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:01.040] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:01.117] Odometry x=-0.007478, y=-0.438573, theta=0.079855
[16:57:01.140] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:46.988252 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:01.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:01.220] Odometry x=-0.007721, y=-0.442449, theta=0.080750
[16:57:01.240] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:49.191608 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:01.240] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:01.318] Odometry x=-0.007989, y=-0.446442, theta=0.094894
[16:57:01.342] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:50.458442 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:01.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:01.417] Odometry x=-0.008269, y=-0.450400, theta=0.090314
[16:57:01.445] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:50.910475 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:01.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:01.520] Odometry x=-0.008561, y=-0.454282, theta=0.097253
[16:57:01.542] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:50.026571 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:01.542] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:01.618] Odometry x=-0.008816, y=-0.458317, theta=0.106177
[16:57:01.642] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:48.747043 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:01.642] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:01.716] Odometry x=-0.009344, y=-0.462087, theta=0.120254
[16:57:01.742] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:48.211866 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:01.742] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:01.819] Odometry x=-0.009683, y=-0.465887, theta=0.138566
[16:57:01.840] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:47.226457 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:01.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:01.916] Odometry x=-0.010273, y=-0.469823, theta=0.137745
[16:57:01.940] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required.  px average disparity is:47.204117 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:01.940] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:02.019] Odometry x=-0.010690, y=-0.473533, theta=0.155984
[16:57:02.041] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required.  px average disparity is:46.898639 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:02.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:02.118] Odometry x=-0.011223, y=-0.477441, theta=0.145973
[16:57:02.140] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required.  px average disparity is:47.868773 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:02.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:02.221] Odometry x=-0.011838, y=-0.481456, theta=0.150806
[16:57:02.241] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required.  px average disparity is:47.294273 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:02.241] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:02.320] Odometry x=-0.012345, y=-0.485334, theta=0.152724
[16:57:02.340] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required.  px average disparity is:48.700626 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:02.340] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:02.418] Odometry x=-0.012997, y=-0.489307, theta=0.149647
[16:57:02.441] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required.  px average disparity is:48.353654 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:02.441] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:02.521] Odometry x=-0.013521, y=-0.493160, theta=0.152365
[16:57:02.541] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required.  px average disparity is:51.413175 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:02.541] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:02.623] Odometry x=-0.014160, y=-0.497130, theta=0.142399
[16:57:02.641] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required.  px average disparity is:48.726179 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:02.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:02.716] Odometry x=-0.014655, y=-0.500996, theta=0.144415
[16:57:02.740] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required.  px average disparity is:49.939785 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:02.740] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:02.817] Odometry x=-0.015196, y=-0.504841, theta=0.138633
[16:57:02.840] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required.  px average disparity is:48.905919 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:02.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:02.920] Odometry x=-0.015702, y=-0.508799, theta=0.133739
[16:57:02.941] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required.  px average disparity is:50.259221 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:02.941] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:03.014] Odometry x=-0.016313, y=-0.512975, theta=0.132449
[16:57:03.043] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required.  px average disparity is:50.525339 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:03.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:03.122] Odometry x=-0.016774, y=-0.516729, theta=0.129860
[16:57:03.140] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required.  px average disparity is:51.588312 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:03.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:03.234] Odometry x=-0.017269, y=-0.520933, theta=0.127142
[16:57:03.241] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required.  px average disparity is:53.369681 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:03.241] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:03.317] Odometry x=-0.017740, y=-0.525162, theta=0.131926
[16:57:03.342] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required.  px average disparity is:55.476506 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:03.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:03.430] Odometry x=-0.018188, y=-0.528566, theta=0.138793
[16:57:03.445] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required.  px average disparity is:55.603795 ,While minimum is: 40.000000  KLT tracked: 114
[16:57:03.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:03.523] Odometry x=-0.018758, y=-0.532754, theta=0.145018
[16:57:03.541] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required.  px average disparity is:54.641108 ,While minimum is: 40.000000  KLT tracked: 112
[16:57:03.541] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:03.622] Odometry x=-0.019305, y=-0.536573, theta=0.146286
[16:57:03.641] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:55.714571 ,While minimum is: 40.000000  KLT tracked: 112
[16:57:03.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:03.719] Odometry x=-0.019782, y=-0.540184, theta=0.158947
[16:57:03.740] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required.  px average disparity is:56.139668 ,While minimum is: 40.000000  KLT tracked: 112
[16:57:03.740] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:57:03.819] Odometry x=-0.020360, y=-0.544179, theta=0.177084
[16:57:03.840] Init finished: Homography RANSAC (inlier) is:30 ,While 30 inliers minimum required.  px average disparity is:54.009591 ,While minimum is: 40.000000  KLT tracked: 111
[16:57:03.840] Init: distance between the first and current frame is x:-0.021045 ,z=-0.548093,angle between two frames: 0.179187 
[16:57:03.840] Init: Selected Second frame. 	 The number of features: 30
[16:57:03.915] Odometry x=-0.021006, y=-0.548187, theta=0.186057
[16:57:04.011] After Reprojection Map nPoint:31 ,nCell:14 ,nMatches:9 ,distance between two frames x:-0.000011 ,z=-0.000017,angle between two frames:0.002546
[16:57:04.011] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =23 	 error init =0.320186 	 error end=0.306870
[16:57:04.011] After pose optimization, distance between two frames x:-0.044057 ,z=0.011984,angle between two frames:0.018650
[16:57:04.019] Odometry x=-0.021638, y=-0.551806, theta=0.197303
[16:57:04.118] Odometry x=-0.022426, y=-0.556072, theta=0.195814
[16:57:04.161] After Reprojection Map nPoint:29 ,nCell:23 ,nMatches:7 ,distance between two frames x:0.001225 ,z=0.000604,angle between two frames:0.000808
[16:57:04.161] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =14 	 error init =0.332397 	 error end=0.287844
[16:57:04.161] After pose optimization, distance between two frames x:-0.029314 ,z=0.041206,angle between two frames:0.005888
[16:57:04.221] Odometry x=-0.023161, y=-0.559878, theta=0.206286
[16:57:04.305] After Reprojection Map nPoint:29 ,nCell:25 ,nMatches:9 ,distance between two frames x:-0.000469 ,z=0.000091,angle between two frames:0.000607
[16:57:04.306] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =17 	 error init =0.404105 	 error end=0.306786
[16:57:04.306] After pose optimization, distance between two frames x:-0.078383 ,z=0.119370,angle between two frames:0.020204
[16:57:04.320] Odometry x=-0.023770, y=-0.563553, theta=0.208526
[16:57:04.419] Odometry x=-0.024662, y=-0.567688, theta=0.199490
[16:57:04.452] After Reprojection Map nPoint:26 ,nCell:23 ,nMatches:9 ,distance between two frames x:-0.001145 ,z=-0.000128,angle between two frames:0.000452
[16:57:04.453] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =14 	 error init =0.392450 	 error end=0.276496
[16:57:04.453] After pose optimization, distance between two frames x:-0.084639 ,z=0.114951,angle between two frames:0.016781
[16:57:04.521] Odometry x=-0.025372, y=-0.571478, theta=0.192947
[16:57:04.597] After Reprojection Map nPoint:25 ,nCell:21 ,nMatches:8 ,distance between two frames x:-0.002004 ,z=-0.000369,angle between two frames:0.001182
[16:57:04.598] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =15 	 error init =0.333162 	 error end=0.211289
[16:57:04.598] After pose optimization, distance between two frames x:-0.081410 ,z=0.156270,angle between two frames:0.008023
[16:57:04.619] Odometry x=-0.026146, y=-0.575497, theta=0.192885
[16:57:04.719] Odometry x=-0.026835, y=-0.579372, theta=0.187491
[16:57:04.743] After Reprojection Map nPoint:32 ,nCell:28 ,nMatches:12 ,distance between two frames x:-0.000748 ,z=-0.000129,angle between two frames:0.000402
[16:57:04.744] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =18 	 error init =0.453924 	 error end=0.272833
[16:57:04.744] After pose optimization, distance between two frames x:-0.145987 ,z=0.201035,angle between two frames:0.055548
[16:57:04.818] Odometry x=-0.027496, y=-0.583251, theta=0.179033
[16:57:04.890] After Reprojection Map nPoint:35 ,nCell:31 ,nMatches:11 ,distance between two frames x:0.001649 ,z=0.000677,angle between two frames:0.000484
[16:57:04.890] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =18 	 error init =0.439960 	 error end=0.321213
[16:57:04.890] After pose optimization, distance between two frames x:-0.078617 ,z=0.102380,angle between two frames:0.010314
[16:57:04.917] Odometry x=-0.028168, y=-0.587159, theta=0.172317
[16:57:05.018] Odometry x=-0.028729, y=-0.591077, theta=0.171013
[16:57:05.036] After Reprojection Map nPoint:31 ,nCell:26 ,nMatches:11 ,distance between two frames x:-0.000474 ,z=-0.000073,angle between two frames:0.000689
[16:57:05.037] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =19 	 error init =0.419491 	 error end=0.302210
[16:57:05.037] After pose optimization, distance between two frames x:-0.073334 ,z=0.114291,angle between two frames:0.008850
[16:57:05.120] Odometry x=-0.029387, y=-0.595004, theta=0.174559
[16:57:05.188] After Reprojection Map nPoint:31 ,nCell:26 ,nMatches:10 ,distance between two frames x:0.002253 ,z=0.000560,angle between two frames:0.001314
[16:57:05.189] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =16 	 error init =0.443003 	 error end=0.332857
[16:57:05.189] After pose optimization, distance between two frames x:-0.058298 ,z=0.132800,angle between two frames:0.030072
[16:57:05.218] Odometry x=-0.030043, y=-0.598864, theta=0.188462
[16:57:05.319] Odometry x=-0.030728, y=-0.602719, theta=0.198780
[16:57:05.339] After Reprojection Map nPoint:31 ,nCell:24 ,nMatches:9 ,distance between two frames x:0.004000 ,z=0.001724,angle between two frames:0.003083
[16:57:05.339] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =15 	 error init =0.901406 	 error end=0.818028
[16:57:05.339] After pose optimization, distance between two frames x:-0.054497 ,z=0.037545,angle between two frames:0.014091
[16:57:05.421] Odometry x=-0.031498, y=-0.606514, theta=0.219147
[16:57:05.486] After Reprojection Map nPoint:30 ,nCell:26 ,nMatches:9 ,distance between two frames x:-0.000246 ,z=0.000014,angle between two frames:0.000079
[16:57:05.487] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =16 	 error init =0.417430 	 error end=0.296814
[16:57:05.487] After pose optimization, distance between two frames x:-0.070377 ,z=0.107558,angle between two frames:0.020433
[16:57:05.519] Odometry x=-0.032325, y=-0.610511, theta=0.230366
[16:57:05.616] Odometry x=-0.033141, y=-0.614246, theta=0.241339
[16:57:05.643] After Reprojection Map nPoint:31 ,nCell:28 ,nMatches:10 ,distance between two frames x:-0.000736 ,z=-0.000216,angle between two frames:0.000213
[16:57:05.644] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =17 	 error init =0.524247 	 error end=0.340504
[16:57:05.644] After pose optimization, distance between two frames x:-0.119881 ,z=0.155360,angle between two frames:0.013792
[16:57:05.719] Odometry x=-0.033988, y=-0.617995, theta=0.242211
[16:57:05.791] After Reprojection Map nPoint:30 ,nCell:24 ,nMatches:10 ,distance between two frames x:0.000225 ,z=0.000154,angle between two frames:0.000244
[16:57:05.792] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =17 	 error init =0.894112 	 error end=0.345368
[16:57:05.792] After pose optimization, distance between two frames x:-0.176334 ,z=0.244320,angle between two frames:0.120512
[16:57:05.821] Odometry x=-0.034907, y=-0.621891, theta=0.240063
[16:57:05.919] Odometry x=-0.035778, y=-0.625814, theta=0.243675
[16:57:05.937] After Reprojection Map nPoint:30 ,nCell:27 ,nMatches:11 ,distance between two frames x:0.000269 ,z=0.000170,angle between two frames:0.000490
[16:57:05.937] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =17 	 error init =0.437482 	 error end=0.316087
[16:57:05.937] After pose optimization, distance between two frames x:-0.064134 ,z=0.145069,angle between two frames:0.036484
[16:57:06.019] Odometry x=-0.036656, y=-0.629517, theta=0.240250
[16:57:06.082] After Reprojection Map nPoint:26 ,nCell:25 ,nMatches:9 ,distance between two frames x:-0.000954 ,z=-0.000218,angle between two frames:0.000525
[16:57:06.082] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =13 	 error init =0.598469 	 error end=0.471030
[16:57:06.082] After pose optimization, distance between two frames x:-0.084128 ,z=0.103365,angle between two frames:0.018333
[16:57:06.119] Odometry x=-0.037575, y=-0.633114, theta=0.238920
[16:57:06.215] Odometry x=-0.038567, y=-0.637235, theta=0.235605
[16:57:06.226] After Reprojection Map nPoint:29 ,nCell:23 ,nMatches:8 ,distance between two frames x:-0.000292 ,z=-0.000047,angle between two frames:0.000140
[16:57:06.227] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =16 	 error init =0.488488 	 error end=0.299266
[16:57:06.227] After pose optimization, distance between two frames x:-0.084316 ,z=0.189263,angle between two frames:0.082876
[16:57:06.319] Odometry x=-0.039446, y=-0.640984, theta=0.232506
[16:57:06.374] After Reprojection Map nPoint:33 ,nCell:31 ,nMatches:11 ,distance between two frames x:0.001414 ,z=0.000845,angle between two frames:0.000858
[16:57:06.374] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =16 	 error init =0.470497 	 error end=0.452040
[16:57:06.374] After pose optimization, distance between two frames x:-0.054791 ,z=0.016222,angle between two frames:0.023115
[16:57:06.423] Odometry x=-0.040385, y=-0.645011, theta=0.232381
[16:57:06.518] Odometry x=-0.041277, y=-0.648930, theta=0.230315
[16:57:06.518] After Reprojection Map nPoint:31 ,nCell:26 ,nMatches:9 ,distance between two frames x:-0.000567 ,z=-0.000022,angle between two frames:0.000199
[16:57:06.518] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =14 	 error init =0.472911 	 error end=0.416737
[16:57:06.518] After pose optimization, distance between two frames x:-0.058418 ,z=0.015028,angle between two frames:0.023782
[16:57:06.613] Odometry x=-0.042128, y=-0.652635, theta=0.228827
[16:57:06.661] After Reprojection Map nPoint:29 ,nCell:24 ,nMatches:8 ,distance between two frames x:-0.000904 ,z=-0.000101,angle between two frames:0.000348
[16:57:06.661] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =11 	 error init =0.480341 	 error end=0.480341
[16:57:06.661] After pose optimization, distance between two frames x:-0.000904 ,z=-0.000101,angle between two frames:0.000348
[16:57:06.661] Update EKF and 3D points, distance between two frames x:-0.000949 ,z=-0.000518,angle between two frames:0.000584
[16:57:06.719] Odometry x=-0.042509, y=-0.652019, theta=0.227237
[16:57:06.808] After Reprojection Map nPoint:29 ,nCell:28 ,nMatches:11 ,distance between two frames x:-0.002960 ,z=-0.003318,angle between two frames:0.002998
[16:57:06.809] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =12 	 error init =0.884337 	 error end=0.437390
[16:57:06.809] After pose optimization, distance between two frames x:-0.133865 ,z=0.190830,angle between two frames:0.036201
[16:57:06.814] Odometry x=-0.043457, y=-0.656211, theta=0.223775
[16:57:06.916] Odometry x=-0.044256, y=-0.659937, theta=0.222031
[16:57:06.953] After Reprojection Map nPoint:29 ,nCell:24 ,nMatches:10 ,distance between two frames x:0.000259 ,z=0.000139,angle between two frames:0.000164
[16:57:06.953] n deleted obs = 13 	 n obs with reprojection error less than 0.5 px =12 	 error init =0.991870 	 error end=0.991870
[16:57:06.953] After pose optimization, distance between two frames x:0.000259 ,z=0.000139,angle between two frames:0.000164
[16:57:06.953] Update EKF and 3D points, distance between two frames x:0.000148 ,z=-0.000307,angle between two frames:0.000129
[16:57:07.019] Odometry x=-0.043969, y=-0.659322, theta=0.226920
[16:57:07.115] After Reprojection Map nPoint:32 ,nCell:22 ,nMatches:9 ,distance between two frames x:0.000366 ,z=0.000288,angle between two frames:0.000267
[16:57:07.115] n deleted obs = 13 	 n obs with reprojection error less than 0.5 px =13 	 error init =1.075156 	 error end=1.075156
[16:57:07.115] After pose optimization, distance between two frames x:0.000366 ,z=0.000288,angle between two frames:0.000267
[16:57:07.115] Update EKF and 3D points, distance between two frames x:0.000258 ,z=-0.000114,angle between two frames:0.000592
[16:57:07.120] Odometry x=-0.043716, y=-0.659116, theta=0.226605
[16:57:07.217] Odometry x=-0.044589, y=-0.662854, theta=0.230779
[16:57:07.261] After Reprojection Map nPoint:34 ,nCell:23 ,nMatches:8 ,distance between two frames x:-0.001247 ,z=-0.002600,angle between two frames:0.001889
[16:57:07.263] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =16 	 error init =1.683323 	 error end=0.610423
[16:57:07.263] After pose optimization, distance between two frames x:-0.127539 ,z=0.293230,angle between two frames:0.220580
[16:57:07.320] Odometry x=-0.045453, y=-0.666570, theta=0.247918
[16:57:07.412] After Reprojection Map nPoint:37 ,nCell:26 ,nMatches:14 ,distance between two frames x:0.000582 ,z=0.000379,angle between two frames:0.001197
[16:57:07.412] n deleted obs = 28 	 n obs with reprojection error less than 0.5 px =7 	 error init =1.833810 	 error end=0.934215
[16:57:07.412] After pose optimization, distance between two frames x:-0.281233 ,z=0.099094,angle between two frames:0.100665
[16:57:07.417] Odometry x=-0.046366, y=-0.670380, theta=0.262991
[16:57:07.519] Odometry x=-0.047350, y=-0.674162, theta=0.275379
[16:57:07.564] After Reprojection Map nPoint:34 ,nCell:19 ,nMatches:15 ,distance between two frames x:0.000253 ,z=0.000146,angle between two frames:0.000137
[16:57:07.565] n deleted obs = 19 	 n obs with reprojection error less than 0.5 px =22 	 error init =2.921414 	 error end=0.693298
[16:57:07.565] After pose optimization, distance between two frames x:-0.403667 ,z=0.519699,angle between two frames:0.521608
[16:57:07.617] Odometry x=-0.048354, y=-0.677981, theta=0.285735
[16:57:07.710] After Reprojection Map nPoint:41 ,nCell:28 ,nMatches:14 ,distance between two frames x:-0.000268 ,z=-0.000118,angle between two frames:0.000334
[16:57:07.712] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =32 	 error init =2.828647 	 error end=0.248795
[16:57:07.712] After pose optimization, distance between two frames x:-0.383334 ,z=0.801532,angle between two frames:0.265850
[16:57:07.715] Odometry x=-0.049379, y=-0.681786, theta=0.286618
[16:57:07.816] Odometry x=-0.050363, y=-0.685504, theta=0.287190
[16:57:07.864] After Reprojection Map nPoint:40 ,nCell:34 ,nMatches:11 ,distance between two frames x:-0.000345 ,z=-0.000186,angle between two frames:0.000161
[16:57:07.865] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =24 	 error init =5.617108 	 error end=0.328347
[16:57:07.865] After pose optimization, distance between two frames x:4.273812 ,z=34.032846,angle between two frames:2.440983
[16:57:07.918] Odometry x=-0.051468, y=-0.689338, theta=0.287511
[16:57:08.016] Odometry x=-0.052566, y=-0.693224, theta=0.284596
[16:57:08.030] After Reprojection Map nPoint:36 ,nCell:29 ,nMatches:12 ,distance between two frames x:-0.000729 ,z=-0.000216,angle between two frames:0.000320
[16:57:08.030] n deleted obs = 22 	 n obs with reprojection error less than 0.5 px =7 	 error init =8.404643 	 error end=0.761826
[16:57:08.030] After pose optimization, distance between two frames x:12.495614 ,z=20.647873,angle between two frames:3.410851
[16:57:08.118] Odometry x=-0.053648, y=-0.697068, theta=0.279036
[16:57:08.180] After Reprojection Map nPoint:35 ,nCell:16 ,nMatches:12 ,distance between two frames x:0.000471 ,z=0.000181,angle between two frames:0.000241
[16:57:08.180] n deleted obs = 39 	 n obs with reprojection error less than 0.5 px =0 	 error init =12.362821 	 error end=4.386689
[16:57:08.180] After pose optimization, distance between two frames x:21.370085 ,z=5.977602,angle between two frames:3.120183
[16:57:08.185] Image Alignment failed 0
[16:57:08.220] Odometry x=-0.054692, y=-0.700945, theta=0.277710
[16:57:08.317] Odometry x=-0.055749, y=-0.704757, theta=0.276979
[16:57:08.325] After Reprojection Map nPoint:41 ,nCell:22 ,nMatches:20 ,distance between two frames x:-0.000002 ,z=-0.000008,angle between two frames:0.000097
[16:57:08.327] n deleted obs = 35 	 n obs with reprojection error less than 0.5 px =21 	 error init =13.420795 	 error end=0.652936
[16:57:08.327] After pose optimization, distance between two frames x:6.204062 ,z=17.927219,angle between two frames:2.849369
[16:57:08.419] Odometry x=-0.056766, y=-0.708528, theta=0.274070
[16:57:08.495] After Reprojection Map nPoint:54 ,nCell:31 ,nMatches:21 ,distance between two frames x:0.002239 ,z=0.001227,angle between two frames:0.000916
[16:57:08.496] n deleted obs = 20 	 n obs with reprojection error less than 0.5 px =39 	 error init =10.577184 	 error end=0.443697
[16:57:08.496] After pose optimization, distance between two frames x:-34.598309 ,z=-267.704768,angle between two frames:0.483368
[16:57:08.516] Odometry x=-0.057834, y=-0.712518, theta=0.268929
[16:57:08.618] Odometry x=-0.058829, y=-0.716291, theta=0.264262
[16:57:08.647] After Reprojection Map nPoint:51 ,nCell:38 ,nMatches:15 ,distance between two frames x:-0.001071 ,z=-0.000350,angle between two frames:0.000452
[16:57:08.647] n deleted obs = 30 	 n obs with reprojection error less than 0.5 px =10 	 error init =3.426891 	 error end=3.426891
[16:57:08.647] After pose optimization, distance between two frames x:-0.001071 ,z=-0.000350,angle between two frames:0.000452
[16:57:08.647] Update EKF and 3D points, distance between two frames x:-0.001125 ,z=-0.000768,angle between two frames:0.000743
[16:57:08.647] Choose frame as a key frame Scene Depth mean:0.303688 ,depth min:0.157525
[16:57:08.715] Odometry x=-0.059306, y=-0.715961, theta=0.265280
[16:57:08.814] Odometry x=-0.060238, y=-0.719764, theta=0.275873
[16:57:08.819] After Reprojection Map nPoint:49 ,nCell:26 ,nMatches:18 ,distance between two frames x:-0.009117 ,z=-0.008677,angle between two frames:0.006741
[16:57:08.819] n deleted obs = 50 	 n obs with reprojection error less than 0.5 px =7 	 error init =4.615433 	 error end=4.615433
[16:57:08.819] After pose optimization, distance between two frames x:-0.009117 ,z=-0.008677,angle between two frames:0.006741
[16:57:08.917] Odometry x=-0.061313, y=-0.723658, theta=0.285102
[16:57:08.967] After Reprojection Map nPoint:61 ,nCell:29 ,nMatches:24 ,distance between two frames x:-0.000993 ,z=-0.003628,angle between two frames:0.000558
[16:57:08.967] n deleted obs = 61 	 n obs with reprojection error less than 0.5 px =13 	 error init =3.446296 	 error end=3.446296
[16:57:08.967] After pose optimization, distance between two frames x:-0.000993 ,z=-0.003628,angle between two frames:0.000558
[16:57:08.967] Update EKF and 3D points, distance between two frames x:-0.001058 ,z=-0.003865,angle between two frames:0.001265
[16:57:08.967] Choose frame as a key frame Scene Depth mean:0.459989 ,depth min:0.154646
[16:57:09.020] Odometry x=-0.061694, y=-0.725182, theta=0.287107
[16:57:09.119] Odometry x=-0.062800, y=-0.729061, theta=0.298968
[16:57:09.122] After Reprojection Map nPoint:100 ,nCell:35 ,nMatches:25 ,distance between two frames x:-0.000552 ,z=-0.001524,angle between two frames:0.004609
[16:57:09.122] n deleted obs = 90 	 n obs with reprojection error less than 0.5 px =18 	 error init =3.626424 	 error end=3.626424
[16:57:09.122] After pose optimization, distance between two frames x:-0.000552 ,z=-0.001524,angle between two frames:0.004609
[16:57:09.122] Update EKF and 3D points, distance between two frames x:-0.000773 ,z=-0.002302,angle between two frames:0.005612
[16:57:09.122] Choose frame as a key frame Scene Depth mean:0.315688 ,depth min:0.151923
[16:57:09.217] Odometry x=-0.063312, y=-0.730826, theta=0.289295
[16:57:09.276] After Reprojection Map nPoint:114 ,nCell:30 ,nMatches:23 ,distance between two frames x:-0.001572 ,z=-0.004789,angle between two frames:0.006170
[16:57:09.276] n deleted obs = 87 	 n obs with reprojection error less than 0.5 px =24 	 error init =3.404891 	 error end=3.404891
[16:57:09.276] After pose optimization, distance between two frames x:-0.001572 ,z=-0.004789,angle between two frames:0.006170
[16:57:09.323] Odometry x=-0.064413, y=-0.734539, theta=0.303506
[16:57:09.418] Odometry x=-0.065584, y=-0.738425, theta=0.312618
[16:57:09.444] After Reprojection Map nPoint:130 ,nCell:33 ,nMatches:27 ,distance between two frames x:-0.003672 ,z=-0.001897,angle between two frames:0.000490
[16:57:09.445] n deleted obs = 100 	 n obs with reprojection error less than 0.5 px =24 	 error init =3.516763 	 error end=3.516763
[16:57:09.445] After pose optimization, distance between two frames x:-0.003672 ,z=-0.001897,angle between two frames:0.000490
[16:57:09.445] Update EKF and 3D points, distance between two frames x:-0.003593 ,z=-0.002228,angle between two frames:0.000831
[16:57:09.445] Choose frame as a key frame Scene Depth mean:0.292367 ,depth min:0.123542
[16:57:09.521] Odometry x=-0.067527, y=-0.738852, theta=0.318795
[16:57:09.618] Odometry x=-0.068688, y=-0.742738, theta=0.324676
[16:57:09.631] After Reprojection Map nPoint:150 ,nCell:36 ,nMatches:28 ,distance between two frames x:-0.002625 ,z=-0.004213,angle between two frames:0.007324
[16:57:09.636] n deleted obs = 21 	 n obs with reprojection error less than 0.5 px =130 	 error init =5.260816 	 error end=0.300573
[16:57:09.636] After pose optimization, distance between two frames x:-2.781231 ,z=11.102395,angle between two frames:0.528309
[16:57:09.720] Odometry x=-0.069949, y=-0.746524, theta=0.336334
[16:57:09.807] After Reprojection Map nPoint:170 ,nCell:71 ,nMatches:30 ,distance between two frames x:-0.000516 ,z=-0.000175,angle between two frames:0.000305
[16:57:09.807] n deleted obs = 138 	 n obs with reprojection error less than 0.5 px =0 	 error init =59.062118 	 error end=2.173062
[16:57:09.807] After pose optimization, distance between two frames x:36.270899 ,z=14.127681,angle between two frames:2.388093
[16:57:09.812] Image Alignment failed 0
[16:57:09.813] Odometry x=-0.071137, y=-0.750430, theta=0.343618
[16:57:09.915] Odometry x=-0.072402, y=-0.753988, theta=0.342746
[16:57:09.963] After Reprojection Map nPoint:153 ,nCell:40 ,nMatches:34 ,distance between two frames x:-0.000001 ,z=-0.000009,angle between two frames:0.000023
[16:57:09.963] n deleted obs = 129 	 n obs with reprojection error less than 0.5 px =35 	 error init =3.419291 	 error end=3.419291
[16:57:09.963] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000009,angle between two frames:0.000023
[16:57:09.963] Update EKF and 3D points, distance between two frames x:-0.000149 ,z=-0.000436,angle between two frames:0.000234
[16:57:09.963] Choose frame as a key frame Scene Depth mean:0.385474 ,depth min:0.099109
[16:57:10.017] Odometry x=-0.072228, y=-0.753596, theta=0.339623
[16:57:10.120] Odometry x=-0.073550, y=-0.757370, theta=0.337384
[16:57:10.158] After Reprojection Map nPoint:193 ,nCell:47 ,nMatches:32 ,distance between two frames x:-0.000823 ,z=-0.000424,angle between two frames:0.000384
[16:57:10.158] n deleted obs = 154 	 n obs with reprojection error less than 0.5 px =34 	 error init =4.230090 	 error end=4.230090
[16:57:10.158] After pose optimization, distance between two frames x:-0.000823 ,z=-0.000424,angle between two frames:0.000384
[16:57:10.158] Update EKF and 3D points, distance between two frames x:-0.000981 ,z=-0.000997,angle between two frames:0.000837
[16:57:10.158] Choose frame as a key frame Scene Depth mean:0.364365 ,depth min:0.098316
[16:57:10.220] Odometry x=-0.073228, y=-0.755495, theta=0.326669
[16:57:10.323] Odometry x=-0.074548, y=-0.759349, theta=0.312902
[16:57:10.342] After Reprojection Map nPoint:223 ,nCell:49 ,nMatches:35 ,distance between two frames x:-0.001145 ,z=-0.003596,angle between two frames:0.003262
[16:57:10.342] n deleted obs = 169 	 n obs with reprojection error less than 0.5 px =41 	 error init =4.115191 	 error end=4.115191
[16:57:10.342] After pose optimization, distance between two frames x:-0.001145 ,z=-0.003596,angle between two frames:0.003262
[16:57:10.342] Update EKF and 3D points, distance between two frames x:-0.001279 ,z=-0.004039,angle between two frames:0.004930
[16:57:10.342] Choose frame as a key frame Scene Depth mean:0.476566 ,depth min:0.095463
[16:57:10.416] Odometry x=-0.074392, y=-0.758833, theta=0.320299
[16:57:10.518] Odometry x=-0.075528, y=-0.762435, theta=0.317420
[16:57:10.522] After Reprojection Map nPoint:259 ,nCell:46 ,nMatches:32 ,distance between two frames x:-0.000867 ,z=-0.002733,angle between two frames:0.010676
[16:57:10.522] n deleted obs = 179 	 n obs with reprojection error less than 0.5 px =56 	 error init =4.209288 	 error end=4.209288
[16:57:10.522] After pose optimization, distance between two frames x:-0.000867 ,z=-0.002733,angle between two frames:0.010676
[16:57:10.522] Update EKF and 3D points, distance between two frames x:-0.001116 ,z=-0.003508,angle between two frames:0.011231
[16:57:10.522] Choose frame as a key frame Scene Depth mean:0.388197 ,depth min:0.094579
[16:57:10.620] Odometry x=-0.076208, y=-0.764292, theta=0.322887
[16:57:10.707] After Reprojection Map nPoint:311 ,nCell:44 ,nMatches:34 ,distance between two frames x:-0.001534 ,z=-0.004801,angle between two frames:0.003936
[16:57:10.707] n deleted obs = 240 	 n obs with reprojection error less than 0.5 px =40 	 error init =3.663614 	 error end=3.663614
[16:57:10.707] After pose optimization, distance between two frames x:-0.001534 ,z=-0.004801,angle between two frames:0.003936
[16:57:10.718] Odometry x=-0.077338, y=-0.768014, theta=0.318433
[16:57:10.815] Odometry x=-0.078498, y=-0.771714, theta=0.312232
[16:57:10.892] After Reprojection Map nPoint:326 ,nCell:45 ,nMatches:36 ,distance between two frames x:0.000167 ,z=0.000080,angle between two frames:0.000529
[16:57:10.892] n deleted obs = 230 	 n obs with reprojection error less than 0.5 px =57 	 error init =3.662255 	 error end=3.662255
[16:57:10.892] After pose optimization, distance between two frames x:0.000167 ,z=0.000080,angle between two frames:0.000529
[16:57:10.892] Update EKF and 3D points, distance between two frames x:0.000024 ,z=-0.000357,angle between two frames:0.000656
[16:57:10.892] Choose frame as a key frame Scene Depth mean:0.332232 ,depth min:0.087272
[16:57:10.916] Odometry x=-0.078206, y=-0.771052, theta=0.318154
[16:57:11.019] Odometry x=-0.079370, y=-0.774753, theta=0.323167
[16:57:11.096] After Reprojection Map nPoint:330 ,nCell:39 ,nMatches:33 ,distance between two frames x:-0.001535 ,z=-0.003173,angle between two frames:0.000978
[16:57:11.097] n deleted obs = 247 	 n obs with reprojection error less than 0.5 px =51 	 error init =3.870413 	 error end=3.870413
[16:57:11.097] After pose optimization, distance between two frames x:-0.001535 ,z=-0.003173,angle between two frames:0.000978
[16:57:11.097] Update EKF and 3D points, distance between two frames x:-0.001633 ,z=-0.003582,angle between two frames:0.000725
[16:57:11.097] Choose frame as a key frame Scene Depth mean:0.290793 ,depth min:0.083851
[16:57:11.116] Odometry x=-0.079567, y=-0.774488, theta=0.319371
[16:57:11.223] Odometry x=-0.080769, y=-0.778193, theta=0.318885
[16:57:11.295] After Reprojection Map nPoint:413 ,nCell:43 ,nMatches:37 ,distance between two frames x:-0.000660 ,z=-0.002562,angle between two frames:0.001466
[16:57:11.295] n deleted obs = 322 	 n obs with reprojection error less than 0.5 px =45 	 error init =4.487689 	 error end=4.487689
[16:57:11.295] After pose optimization, distance between two frames x:-0.000660 ,z=-0.002562,angle between two frames:0.001466
[16:57:11.295] Update EKF and 3D points, distance between two frames x:-0.000801 ,z=-0.003010,angle between two frames:0.001859
[16:57:11.296] Choose frame as a key frame Scene Depth mean:0.396633 ,depth min:0.080427
[16:57:11.320] Odometry x=-0.080627, y=-0.777805, theta=0.326490
[16:57:11.415] Odometry x=-0.081838, y=-0.781638, theta=0.333647
[16:57:11.511] After Reprojection Map nPoint:447 ,nCell:45 ,nMatches:41 ,distance between two frames x:-0.000914 ,z=-0.002757,angle between two frames:0.002904
[16:57:11.512] n deleted obs = 353 	 n obs with reprojection error less than 0.5 px =50 	 error init =3.611283 	 error end=3.611283
[16:57:11.512] After pose optimization, distance between two frames x:-0.000914 ,z=-0.002757,angle between two frames:0.002904
[16:57:11.512] Update EKF and 3D points, distance between two frames x:-0.001049 ,z=-0.003185,angle between two frames:0.003850
[16:57:11.512] Choose frame as a key frame Scene Depth mean:0.283221 ,depth min:0.076375
[16:57:11.518] Odometry x=-0.081644, y=-0.780792, theta=0.330331
[16:57:11.618] Odometry x=-0.082866, y=-0.784612, theta=0.341181
[16:57:11.721] Odometry x=-0.084203, y=-0.788492, theta=0.352987
[16:57:11.727] After Reprojection Map nPoint:436 ,nCell:43 ,nMatches:40 ,distance between two frames x:-0.000796 ,z=-0.002623,angle between two frames:0.006309
[16:57:11.728] n deleted obs = 332 	 n obs with reprojection error less than 0.5 px =71 	 error init =3.095068 	 error end=3.095068
[16:57:11.728] After pose optimization, distance between two frames x:-0.000796 ,z=-0.002623,angle between two frames:0.006309
[16:57:11.728] Update EKF and 3D points, distance between two frames x:-0.001024 ,z=-0.003287,angle between two frames:0.007672
[16:57:11.728] Choose frame as a key frame Scene Depth mean:0.284055 ,depth min:0.056632
[16:57:11.820] Odometry x=-0.083233, y=-0.785667, theta=0.342864
[16:57:11.917] Odometry x=-0.084559, y=-0.789503, theta=0.334729
[16:57:11.993] After Reprojection Map nPoint:461 ,nCell:39 ,nMatches:35 ,distance between two frames x:-0.003598 ,z=-0.005813,angle between two frames:0.007424
[16:57:11.994] n deleted obs = 361 	 n obs with reprojection error less than 0.5 px =61 	 error init =3.579419 	 error end=3.579419
[16:57:11.994] After pose optimization, distance between two frames x:-0.003598 ,z=-0.005813,angle between two frames:0.007424
[16:57:12.025] Odometry x=-0.085783, y=-0.793069, theta=0.328878
[16:57:12.115] Odometry x=-0.087099, y=-0.797008, theta=0.327133
[16:57:12.220] Odometry x=-0.088187, y=-0.800445, theta=0.319522
[16:57:12.222] After Reprojection Map nPoint:515 ,nCell:55 ,nMatches:47 ,distance between two frames x:-0.000095 ,z=-0.000142,angle between two frames:0.000376
[16:57:12.223] n deleted obs = 395 	 n obs with reprojection error less than 0.5 px =78 	 error init =3.187368 	 error end=3.187368
[16:57:12.223] After pose optimization, distance between two frames x:-0.000095 ,z=-0.000142,angle between two frames:0.000376
[16:57:12.223] Update EKF and 3D points, distance between two frames x:-0.000420 ,z=-0.001132,angle between two frames:0.000969
[16:57:12.223] Choose frame as a key frame Scene Depth mean:0.331601 ,depth min:0.059186
[16:57:12.319] Odometry x=-0.088244, y=-0.800432, theta=0.318796
[16:57:12.421] Odometry x=-0.089451, y=-0.804226, theta=0.319223
[16:57:12.455] After Reprojection Map nPoint:542 ,nCell:49 ,nMatches:40 ,distance between two frames x:-0.002159 ,z=-0.006192,angle between two frames:0.003717
[16:57:12.456] n deleted obs = 410 	 n obs with reprojection error less than 0.5 px =85 	 error init =5.028159 	 error end=5.028159
[16:57:12.456] After pose optimization, distance between two frames x:-0.002159 ,z=-0.006192,angle between two frames:0.003717
[16:57:12.519] Odometry x=-0.090758, y=-0.808181, theta=0.338048
[16:57:12.620] Odometry x=-0.091918, y=-0.811570, theta=0.344830
[16:57:12.686] After Reprojection Map nPoint:554 ,nCell:51 ,nMatches:43 ,distance between two frames x:-0.000664 ,z=-0.000384,angle between two frames:0.000794
[16:57:12.688] n deleted obs = 117 	 n obs with reprojection error less than 0.5 px =381 	 error init =132.584561 	 error end=0.417699
[16:57:12.688] After pose optimization, distance between two frames x:4630.350083 ,z=-66878.623095,angle between two frames:0.296461
[16:57:12.717] Odometry x=-0.093160, y=-0.815324, theta=0.350337
[16:57:12.818] Odometry x=-0.094485, y=-0.818947, theta=0.361652
[16:57:12.910] After Reprojection Map nPoint:551 ,nCell:84 ,nMatches:37 ,distance between two frames x:0.000080 ,z=0.000031,angle between two frames:0.000142
[16:57:12.911] n deleted obs = 386 	 n obs with reprojection error less than 0.5 px =64 	 error init =12.796887 	 error end=12.796887
[16:57:12.911] After pose optimization, distance between two frames x:0.000080 ,z=0.000031,angle between two frames:0.000142
[16:57:12.911] Update EKF and 3D points, distance between two frames x:-0.000080 ,z=-0.000399,angle between two frames:0.001528
[16:57:12.911] Choose frame as a key frame Scene Depth mean:0.280771 ,depth min:0.045475
[16:57:13.154] After Reprojection Map nPoint:617 ,nCell:41 ,nMatches:36 ,distance between two frames x:-0.000981 ,z=-0.002950,angle between two frames:0.008825
[16:57:13.155] n deleted obs = 479 	 n obs with reprojection error less than 0.5 px =80 	 error init =11.081945 	 error end=11.081945
[16:57:13.155] After pose optimization, distance between two frames x:-0.000981 ,z=-0.002950,angle between two frames:0.008825
[16:57:13.155] Update EKF and 3D points, distance between two frames x:-0.000982 ,z=-0.002945,angle between two frames:0.010647
[16:57:13.155] Choose frame as a key frame Scene Depth mean:0.308601 ,depth min:0.081042
[16:57:13.410] After Reprojection Map nPoint:653 ,nCell:41 ,nMatches:35 ,distance between two frames x:0.000205 ,z=-0.000428,angle between two frames:0.011692
[16:57:13.426] n deleted obs = 147 	 n obs with reprojection error less than 0.5 px =446 	 error init =17.986318 	 error end=0.383636
[16:57:13.426] After pose optimization, distance between two frames x:-3.753411 ,z=53.461298,angle between two frames:1.551438
[16:57:13.676] After Reprojection Map nPoint:655 ,nCell:88 ,nMatches:39 ,distance between two frames x:0.000225 ,z=-0.000009,angle between two frames:0.000049
[16:57:13.679] n deleted obs = 122 	 n obs with reprojection error less than 0.5 px =434 	 error init =11.457302 	 error end=0.363173
[16:57:13.679] After pose optimization, distance between two frames x:-3.046133 ,z=34.763231,angle between two frames:1.192111
[16:57:13.931] After Reprojection Map nPoint:625 ,nCell:86 ,nMatches:36 ,distance between two frames x:0.000071 ,z=0.000018,angle between two frames:0.000434
[16:57:13.931] n deleted obs = 444 	 n obs with reprojection error less than 0.5 px =75 	 error init =14.838809 	 error end=14.838809
[16:57:13.931] After pose optimization, distance between two frames x:0.000071 ,z=0.000018,angle between two frames:0.000434
[16:57:13.931] Update EKF and 3D points, distance between two frames x:0.000065 ,z=-0.000011,angle between two frames:0.000913
[16:57:13.932] Choose frame as a key frame Scene Depth mean:0.318475 ,depth min:0.009242
[16:57:14.190] After Reprojection Map nPoint:723 ,nCell:39 ,nMatches:37 ,distance between two frames x:0.000249 ,z=-0.000237,angle between two frames:0.003028
[16:57:14.191] n deleted obs = 198 	 n obs with reprojection error less than 0.5 px =452 	 error init =14.658043 	 error end=0.425869
[16:57:14.191] After pose optimization, distance between two frames x:1.413224 ,z=10.578393,angle between two frames:0.999683
[16:57:14.454] After Reprojection Map nPoint:669 ,nCell:70 ,nMatches:37 ,distance between two frames x:0.000025 ,z=0.000009,angle between two frames:0.000193
[16:57:14.455] n deleted obs = 486 	 n obs with reprojection error less than 0.5 px =79 	 error init =8.830209 	 error end=8.830209
[16:57:14.455] After pose optimization, distance between two frames x:0.000025 ,z=0.000009,angle between two frames:0.000193
[16:57:14.455] Update EKF and 3D points, distance between two frames x:0.000022 ,z=-0.000019,angle between two frames:0.000657
[16:57:14.455] Choose frame as a key frame Scene Depth mean:0.328377 ,depth min:0.005036
[16:57:14.726] After Reprojection Map nPoint:749 ,nCell:44 ,nMatches:40 ,distance between two frames x:-0.000015 ,z=-0.000219,angle between two frames:0.002936
[16:57:14.727] n deleted obs = 593 	 n obs with reprojection error less than 0.5 px =86 	 error init =15.421143 	 error end=15.421143
[16:57:14.727] After pose optimization, distance between two frames x:-0.000015 ,z=-0.000219,angle between two frames:0.002936
[16:57:14.727] Update EKF and 3D points, distance between two frames x:-0.000017 ,z=-0.000245,angle between two frames:0.003423
[16:57:14.727] Choose frame as a key frame Scene Depth mean:0.351507 ,depth min:0.003695
[16:57:15.014] After Reprojection Map nPoint:801 ,nCell:48 ,nMatches:40 ,distance between two frames x:0.000878 ,z=-0.000299,angle between two frames:0.003085
[16:57:15.016] n deleted obs = 317 	 n obs with reprojection error less than 0.5 px =410 	 error init =8.655468 	 error end=0.497873
[16:57:15.016] After pose optimization, distance between two frames x:2.227401 ,z=4.045424,angle between two frames:0.487325
[16:57:15.290] After Reprojection Map nPoint:803 ,nCell:57 ,nMatches:35 ,distance between two frames x:-0.000030 ,z=-0.000009,angle between two frames:0.000140
[16:57:15.291] n deleted obs = 597 	 n obs with reprojection error less than 0.5 px =88 	 error init =11.631466 	 error end=11.631466
[16:57:15.291] After pose optimization, distance between two frames x:-0.000030 ,z=-0.000009,angle between two frames:0.000140
[16:57:15.291] Update EKF and 3D points, distance between two frames x:-0.000030 ,z=-0.000035,angle between two frames:0.000619
[16:57:15.291] Choose frame as a key frame Scene Depth mean:0.370439 ,depth min:0.055015
[16:57:15.586] After Reprojection Map nPoint:940 ,nCell:46 ,nMatches:40 ,distance between two frames x:0.000165 ,z=-0.000387,angle between two frames:0.003046
[16:57:15.587] n deleted obs = 719 	 n obs with reprojection error less than 0.5 px =130 	 error init =13.403856 	 error end=13.403856
[16:57:15.588] After pose optimization, distance between two frames x:0.000165 ,z=-0.000387,angle between two frames:0.003046
[16:57:15.588] Update EKF and 3D points, distance between two frames x:0.000153 ,z=-0.000405,angle between two frames:0.003576
[16:57:15.588] Choose frame as a key frame Scene Depth mean:0.341954 ,depth min:0.054013
[16:57:15.895] After Reprojection Map nPoint:945 ,nCell:41 ,nMatches:33 ,distance between two frames x:0.000216 ,z=-0.000290,angle between two frames:0.003318
[16:57:15.898] n deleted obs = 190 	 n obs with reprojection error less than 0.5 px =647 	 error init =12.778012 	 error end=0.378965
[16:57:15.898] After pose optimization, distance between two frames x:91.374530 ,z=-911.030551,angle between two frames:1.145878
[16:57:16.206] After Reprojection Map nPoint:942 ,nCell:77 ,nMatches:34 ,distance between two frames x:-0.000403 ,z=-0.000352,angle between two frames:0.000049
[16:57:16.208] n deleted obs = 689 	 n obs with reprojection error less than 0.5 px =102 	 error init =23.829769 	 error end=23.829769
[16:57:16.208] After pose optimization, distance between two frames x:-0.000403 ,z=-0.000352,angle between two frames:0.000049
[16:57:16.208] Update EKF and 3D points, distance between two frames x:-0.000382 ,z=-0.000364,angle between two frames:0.000513
[16:57:16.208] Choose frame as a key frame Scene Depth mean:0.349214 ,depth min:0.050744
[16:57:16.530] After Reprojection Map nPoint:961 ,nCell:35 ,nMatches:34 ,distance between two frames x:0.000318 ,z=-0.000138,angle between two frames:0.003562
[16:57:16.535] n deleted obs = 250 	 n obs with reprojection error less than 0.5 px =620 	 error init =12.213993 	 error end=0.411763
[16:57:16.535] After pose optimization, distance between two frames x:6.276927 ,z=-148.314403,angle between two frames:0.950186
[16:57:16.843] After Reprojection Map nPoint:989 ,nCell:64 ,nMatches:42 ,distance between two frames x:-0.000040 ,z=-0.000174,angle between two frames:0.000053
[16:57:16.846] n deleted obs = 184 	 n obs with reprojection error less than 0.5 px =670 	 error init =13.528270 	 error end=0.372262
[16:57:16.846] After pose optimization, distance between two frames x:-772.120755 ,z=5799.458727,angle between two frames:0.897264
[16:57:17.169] After Reprojection Map nPoint:1028 ,nCell:78 ,nMatches:40 ,distance between two frames x:-0.000255 ,z=-0.000261,angle between two frames:0.000002
[16:57:17.173] n deleted obs = 218 	 n obs with reprojection error less than 0.5 px =658 	 error init =19.641106 	 error end=0.380484
[16:57:17.173] After pose optimization, distance between two frames x:47.517090 ,z=-937.379122,angle between two frames:1.567944
[16:57:17.490] After Reprojection Map nPoint:987 ,nCell:68 ,nMatches:38 ,distance between two frames x:-0.000060 ,z=-0.000160,angle between two frames:0.000087
[16:57:17.492] n deleted obs = 257 	 n obs with reprojection error less than 0.5 px =600 	 error init =55.783201 	 error end=0.467115
[16:57:17.492] After pose optimization, distance between two frames x:2656.743532 ,z=-6511.028731,angle between two frames:2.559673
[16:57:17.823] After Reprojection Map nPoint:1074 ,nCell:89 ,nMatches:42 ,distance between two frames x:-0.000359 ,z=-0.000426,angle between two frames:0.000075
[16:57:17.826] n deleted obs = 216 	 n obs with reprojection error less than 0.5 px =697 	 error init =8.406800 	 error end=0.402245
[16:57:17.826] After pose optimization, distance between two frames x:-80.345420 ,z=595.224475,angle between two frames:0.414437
[16:57:18.144] After Reprojection Map nPoint:1056 ,nCell:66 ,nMatches:44 ,distance between two frames x:-0.000035 ,z=-0.000073,angle between two frames:0.000121
[16:57:18.146] n deleted obs = 397 	 n obs with reprojection error less than 0.5 px =521 	 error init =13.713360 	 error end=0.557514
[16:57:18.146] After pose optimization, distance between two frames x:262.151117 ,z=-447.091004,angle between two frames:0.063391
[16:57:18.467] After Reprojection Map nPoint:1028 ,nCell:76 ,nMatches:38 ,distance between two frames x:-0.000138 ,z=-0.000154,angle between two frames:0.000101
[16:57:18.469] n deleted obs = 253 	 n obs with reprojection error less than 0.5 px =624 	 error init =20.823346 	 error end=0.414697
[16:57:18.469] After pose optimization, distance between two frames x:-16.538165 ,z=2059.648834,angle between two frames:1.581722
