[10:03:00.593] Init: frame zero: 0.000000, 0.000000 0.000000
[10:03:00.593] Init: Selected first frame. 
[10:03:00.593] frame process finished the id is: 0 the obs is:0 
[10:03:00.695] Init: px average disparity is:0.186232 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:00.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:00.695] frame process finished the id is: 1 the obs is:0 
[10:03:00.789] Init: px average disparity is:0.220179 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:00.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:00.789] frame process finished the id is: 2 the obs is:0 
[10:03:00.889] Init: px average disparity is:0.235343 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:00.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:00.889] frame process finished the id is: 3 the obs is:0 
[10:03:00.990] Init: px average disparity is:0.251765 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:00.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:00.990] frame process finished the id is: 4 the obs is:0 
[10:03:01.090] Init: px average disparity is:0.230286 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:01.090] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:01.090] frame process finished the id is: 5 the obs is:0 
[10:03:01.189] Init: px average disparity is:0.225315 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:01.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:01.189] frame process finished the id is: 6 the obs is:0 
[10:03:01.296] Init: px average disparity is:0.235652 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:01.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:01.296] frame process finished the id is: 7 the obs is:0 
[10:03:01.394] Init: px average disparity is:0.223910 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:01.394] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:01.394] frame process finished the id is: 8 the obs is:0 
[10:03:01.491] Init: px average disparity is:0.249198 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:01.491] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:01.491] frame process finished the id is: 9 the obs is:0 
[10:03:01.589] Init: px average disparity is:0.218573 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:01.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:01.589] frame process finished the id is: 10 the obs is:0 
[10:03:01.689] Init: px average disparity is:0.231911 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:01.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:01.689] frame process finished the id is: 11 the obs is:0 
[10:03:01.788] Init: px average disparity is:0.239650 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:01.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:01.788] frame process finished the id is: 12 the obs is:0 
[10:03:01.889] Init: px average disparity is:0.225800 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:01.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:01.889] frame process finished the id is: 13 the obs is:0 
[10:03:01.998] Init: px average disparity is:0.236743 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:01.998] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:01.998] frame process finished the id is: 14 the obs is:0 
[10:03:02.097] Init: px average disparity is:0.219644 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:02.097] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:02.097] frame process finished the id is: 15 the obs is:0 
[10:03:02.197] Init: px average disparity is:0.234644 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:02.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:02.197] frame process finished the id is: 16 the obs is:0 
[10:03:02.297] Init: px average disparity is:0.256700 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:02.297] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:02.297] frame process finished the id is: 17 the obs is:0 
[10:03:02.396] Init: px average disparity is:0.232758 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:02.396] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:02.396] frame process finished the id is: 18 the obs is:0 
[10:03:02.490] Init: px average disparity is:0.220896 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:02.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:02.490] frame process finished the id is: 19 the obs is:0 
[10:03:02.589] Init: px average disparity is:0.220596 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:02.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:02.589] frame process finished the id is: 20 the obs is:0 
[10:03:02.692] Init: px average disparity is:0.247390 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:02.692] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:02.692] frame process finished the id is: 21 the obs is:0 
[10:03:02.795] Init: px average disparity is:0.254424 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:02.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:02.795] frame process finished the id is: 22 the obs is:0 
[10:03:02.897] Init: px average disparity is:0.232711 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:02.897] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:02.897] frame process finished the id is: 23 the obs is:0 
[10:03:02.997] Init: px average disparity is:0.225939 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:02.997] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:02.997] frame process finished the id is: 24 the obs is:0 
[10:03:03.096] Init: px average disparity is:0.248715 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:03.096] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:03.097] frame process finished the id is: 25 the obs is:0 
[10:03:03.200] Init: px average disparity is:0.230650 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:03.200] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:03.200] frame process finished the id is: 26 the obs is:0 
[10:03:03.297] Init: px average disparity is:0.218432 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:03.298] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:03.298] frame process finished the id is: 27 the obs is:0 
[10:03:03.399] Init: px average disparity is:0.258282 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:03.399] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:03.399] frame process finished the id is: 28 the obs is:0 
[10:03:03.498] Init: px average disparity is:0.218486 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:03.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:03.498] frame process finished the id is: 29 the obs is:0 
[10:03:03.539] Odometry x=0.000000, y=0.000000, theta=-0.000000
[10:03:03.598] Init: px average disparity is:0.221304 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:03.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:03.598] frame process finished the id is: 30 the obs is:0 
[10:03:03.634] Odometry x=0.000000, y=0.000000, theta=-0.000000
[10:03:03.697] Init: px average disparity is:0.203855 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:03.697] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:03.697] frame process finished the id is: 31 the obs is:0 
[10:03:03.734] Odometry x=0.000082, y=0.006154, theta=-0.001789
[10:03:03.798] Init: px average disparity is:1.682017 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:03.798] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:03.798] frame process finished the id is: 32 the obs is:0 
[10:03:03.836] Odometry x=0.000292, y=0.014235, theta=-0.001762
[10:03:03.898] Init: px average disparity is:5.909197 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:03.898] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:03.898] frame process finished the id is: 33 the obs is:0 
[10:03:03.936] Odometry x=0.000414, y=0.019665, theta=-0.004598
[10:03:03.999] Init: px average disparity is:7.636071 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:03.999] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:03.999] frame process finished the id is: 34 the obs is:0 
[10:03:04.037] Odometry x=0.000436, y=0.027105, theta=0.000072
[10:03:04.099] Init: px average disparity is:4.920073 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:04.099] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:04.099] frame process finished the id is: 35 the obs is:0 
[10:03:04.136] Odometry x=0.000486, y=0.032515, theta=-0.001879
[10:03:04.197] Init: px average disparity is:5.261390 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:04.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:04.197] frame process finished the id is: 36 the obs is:0 
[10:03:04.235] Odometry x=0.002162, y=0.040283, theta=-0.000084
[10:03:04.298] Init: px average disparity is:4.229678 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:04.299] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:04.299] frame process finished the id is: 37 the obs is:0 
[10:03:04.335] Odometry x=0.002175, y=0.045674, theta=0.002027
[10:03:04.399] Init: px average disparity is:5.634337 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:04.399] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:04.399] frame process finished the id is: 38 the obs is:0 
[10:03:04.435] Odometry x=0.002180, y=0.058094, theta=0.009609
[10:03:04.499] Init: px average disparity is:4.449606 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:04.499] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:04.499] frame process finished the id is: 39 the obs is:0 
[10:03:04.535] Odometry x=0.002182, y=0.063436, theta=-0.004970
[10:03:04.599] Init: px average disparity is:6.282731 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:04.599] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:04.599] frame process finished the id is: 40 the obs is:0 
[10:03:04.635] Odometry x=0.002238, y=0.069510, theta=0.003230
[10:03:04.692] Init: px average disparity is:7.756208 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:04.692] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:04.692] frame process finished the id is: 41 the obs is:0 
[10:03:04.736] Odometry x=0.002261, y=0.073056, theta=0.003846
[10:03:04.799] Init: px average disparity is:9.140116 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:04.799] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:04.799] frame process finished the id is: 42 the obs is:0 
[10:03:04.836] Odometry x=0.002249, y=0.078274, theta=0.009246
[10:03:04.900] Init: px average disparity is:12.426741 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:04.900] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:04.900] frame process finished the id is: 43 the obs is:0 
[10:03:04.936] Odometry x=0.002309, y=0.083637, theta=-0.012829
[10:03:04.999] Init: px average disparity is:15.110802 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:04.999] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:04.999] frame process finished the id is: 44 the obs is:0 
[10:03:05.039] Odometry x=0.002605, y=0.090016, theta=-0.005465
[10:03:05.099] Init: px average disparity is:13.365964 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:05.099] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:05.099] frame process finished the id is: 45 the obs is:0 
[10:03:05.134] Odometry x=0.001383, y=0.094851, theta=-0.004278
[10:03:05.199] Init: px average disparity is:12.572339 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:05.199] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:05.199] frame process finished the id is: 46 the obs is:0 
[10:03:05.234] Odometry x=0.001474, y=0.102540, theta=-0.000008
[10:03:05.293] Init: px average disparity is:10.994333 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:05.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:05.294] frame process finished the id is: 47 the obs is:0 
[10:03:05.338] Odometry x=0.003215, y=0.107980, theta=0.004831
[10:03:05.399] Init: px average disparity is:12.728684 ,While minimum is: 20.000000  KLT tracked : 136
[10:03:05.399] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:05.399] frame process finished the id is: 48 the obs is:0 
[10:03:05.439] Odometry x=0.003357, y=0.113597, theta=0.004317
[10:03:05.499] Init: px average disparity is:12.906911 ,While minimum is: 20.000000  KLT tracked : 135
[10:03:05.499] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:05.499] frame process finished the id is: 49 the obs is:0 
[10:03:05.539] Odometry x=0.003524, y=0.119838, theta=0.000070
[10:03:05.599] Init: px average disparity is:18.991914 ,While minimum is: 20.000000  KLT tracked : 135
[10:03:05.599] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:05.599] frame process finished the id is: 50 the obs is:0 
[10:03:05.649] Odometry x=0.004329, y=0.126974, theta=0.007583
[10:03:05.698] Init: px average disparity is:13.837931 ,While minimum is: 20.000000  KLT tracked : 135
[10:03:05.699] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:05.699] frame process finished the id is: 51 the obs is:0 
[10:03:05.739] Odometry x=0.008181, y=0.133090, theta=-0.008328
[10:03:05.799] Init: px average disparity is:13.668796 ,While minimum is: 20.000000  KLT tracked : 135
[10:03:05.799] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:05.799] frame process finished the id is: 52 the obs is:0 
[10:03:05.839] Odometry x=0.008237, y=0.150262, theta=-0.007762
[10:03:05.900] Init: px average disparity is:9.212462 ,While minimum is: 20.000000  KLT tracked : 135
[10:03:05.900] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:05.900] frame process finished the id is: 53 the obs is:0 
[10:03:05.937] Odometry x=0.009741, y=0.155195, theta=0.000058
[10:03:05.998] Init: px average disparity is:9.783475 ,While minimum is: 20.000000  KLT tracked : 135
[10:03:05.998] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:05.998] frame process finished the id is: 54 the obs is:0 
[10:03:06.033] Odometry x=0.010155, y=0.160794, theta=-0.010085
[10:03:06.099] Init: px average disparity is:9.683608 ,While minimum is: 20.000000  KLT tracked : 134
[10:03:06.099] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:06.099] frame process finished the id is: 55 the obs is:0 
[10:03:06.136] Odometry x=0.011164, y=0.165917, theta=-0.007355
[10:03:06.198] Init: px average disparity is:10.577059 ,While minimum is: 20.000000  KLT tracked : 134
[10:03:06.199] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:06.199] frame process finished the id is: 56 the obs is:0 
[10:03:06.240] Odometry x=0.011270, y=0.171413, theta=-0.007772
[10:03:06.302] Init: px average disparity is:11.361489 ,While minimum is: 20.000000  KLT tracked : 134
[10:03:06.302] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:06.302] frame process finished the id is: 57 the obs is:0 
[10:03:06.342] Odometry x=0.021239, y=0.176681, theta=-0.002759
[10:03:06.404] Init: px average disparity is:9.367119 ,While minimum is: 20.000000  KLT tracked : 134
[10:03:06.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:06.404] frame process finished the id is: 58 the obs is:0 
[10:03:06.441] Odometry x=0.021230, y=0.182423, theta=0.008304
[10:03:06.492] Init: px average disparity is:11.387668 ,While minimum is: 20.000000  KLT tracked : 134
[10:03:06.492] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:06.492] frame process finished the id is: 59 the obs is:0 
[10:03:06.543] Odometry x=0.021690, y=0.189253, theta=-0.003949
[10:03:06.598] Init: px average disparity is:13.439891 ,While minimum is: 20.000000  KLT tracked : 134
[10:03:06.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:06.598] frame process finished the id is: 60 the obs is:0 
[10:03:06.638] Odometry x=0.021706, y=0.194830, theta=-0.007552
[10:03:06.700] Init: px average disparity is:14.666093 ,While minimum is: 20.000000  KLT tracked : 134
[10:03:06.700] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:06.700] frame process finished the id is: 61 the obs is:0 
[10:03:06.737] Odometry x=0.023083, y=0.200106, theta=-0.008000
[10:03:06.800] Init: px average disparity is:15.413366 ,While minimum is: 20.000000  KLT tracked : 134
[10:03:06.800] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:06.801] frame process finished the id is: 62 the obs is:0 
[10:03:06.837] Odometry x=0.023107, y=0.206204, theta=-0.003158
[10:03:06.899] Init: px average disparity is:15.941994 ,While minimum is: 20.000000  KLT tracked : 134
[10:03:06.900] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:06.900] frame process finished the id is: 63 the obs is:0 
[10:03:06.938] Odometry x=0.023946, y=0.212123, theta=-0.009663
[10:03:07.000] Init: px average disparity is:16.365819 ,While minimum is: 20.000000  KLT tracked : 134
[10:03:07.000] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:07.000] frame process finished the id is: 64 the obs is:0 
[10:03:07.033] Odometry x=0.024029, y=0.219506, theta=-0.004062
[10:03:07.101] Init: px average disparity is:18.758144 ,While minimum is: 20.000000  KLT tracked : 134
[10:03:07.101] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:03:07.101] frame process finished the id is: 65 the obs is:0 
[10:03:07.138] Odometry x=0.024279, y=0.225077, theta=-0.011031
[10:03:07.237] Odometry x=0.024328, y=0.230566, theta=-0.005766
[10:03:07.270] cur: x=-0.466419, y=-0.476442, z=0.745289 ref: x=-0.403867 y=-0.484616 z=0.775911
[10:03:07.270] cur: x=0.147257, y=-0.534141, z=0.832472 ref: x=0.156052 y=-0.478265 z=0.864240
[10:03:07.270] cur: x=0.147190, y=-0.532144, z=0.833762 ref: x=0.156084 y=-0.476225 z=0.865360
[10:03:07.270] cur: x=0.081535, y=-0.520356, z=0.850048 ref: x=0.096787 y=-0.464643 z=0.880193
[10:03:07.270] cur: x=0.064522, y=-0.509227, z=0.858210 ref: x=0.039918 y=-0.471158 z=0.881145
[10:03:07.270] cur: x=0.068497, y=-0.509223, z=0.857904 ref: x=0.042762 y=-0.471147 z=0.881017
[10:03:07.270] cur: x=0.075181, y=-0.513342, z=0.854884 ref: x=0.091179 y=-0.456459 z=0.885060
[10:03:07.270] cur: x=-0.014099, y=-0.438449, z=0.898645 ref: x=0.008683 y=-0.402739 z=0.915274
[10:03:07.270] cur: x=-0.039832, y=-0.414701, z=0.909085 ref: x=-0.017095 y=-0.379612 z=0.924988
[10:03:07.270] cur: x=-0.037089, y=-0.414605, z=0.909245 ref: x=-0.014229 y=-0.379615 z=0.925035
[10:03:07.270] cur: x=-0.056928, y=-0.398299, z=0.915487 ref: x=-0.028577 y=-0.369045 z=0.928972
[10:03:07.270] cur: x=-0.076566, y=-0.378015, z=0.922628 ref: x=-0.045826 y=-0.352076 z=0.934849
[10:03:07.270] cur: x=-0.076402, y=-0.380436, z=0.921646 ref: x=-0.045820 y=-0.354195 z=0.934048
[10:03:07.270] cur: x=-0.048134, y=-0.341461, z=0.938663 ref: x=-0.022916 y=-0.313819 z=0.949206
[10:03:07.270] cur: x=-0.111832, y=-0.345688, z=0.931661 ref: x=-0.083259 y=-0.320054 z=0.943734
[10:03:07.270] cur: x=-0.250194, y=-0.247765, z=0.935957 ref: x=-0.218433 y=-0.239915 z=0.945901
[10:03:07.270] cur: x=-0.247135, y=-0.247689, z=0.936789 ref: x=-0.215580 y=-0.239939 z=0.946549
[10:03:07.270] cur: x=-0.238449, y=-0.243350, z=0.940171 ref: x=-0.207049 y=-0.235711 z=0.949511
[10:03:07.270] cur: x=-0.229973, y=-0.234674, z=0.944479 ref: x=-0.198538 y=-0.227168 z=0.953403
[10:03:07.270] cur: x=-0.226999, y=-0.234602, z=0.945216 ref: x=-0.195677 y=-0.227188 z=0.953990
[10:03:07.270] cur: x=-0.229923, y=-0.236817, z=0.943956 ref: x=-0.198522 y=-0.229321 z=0.952891
[10:03:07.270] cur: x=-0.235644, y=-0.241194, z=0.941434 ref: x=-0.204208 y=-0.233582 z=0.950652
[10:03:07.270] cur: x=-0.229842, y=-0.238947, z=0.943439 ref: x=-0.198506 y=-0.231473 z=0.952374
[10:03:07.270] cur: x=-0.215632, y=-0.227211, z=0.949673 ref: x=-0.181415 y=-0.218663 z=0.958788
[10:03:07.270] cur: x=-0.338281, y=-0.203740, z=0.918725 ref: x=-0.289722 y=-0.213448 z=0.933006
[10:03:07.270] cur: x=-0.187562, y=-0.212238, z=0.959049 ref: x=-0.152794 y=-0.203705 z=0.967036
[10:03:07.270] cur: x=-0.187654, y=-0.210157, z=0.959489 ref: x=-0.152805 y=-0.201543 z=0.967487
[10:03:07.270] cur: x=-0.394710, y=-0.138186, z=0.908355 ref: x=-0.346836 y=-0.135421 z=0.928098
[10:03:07.270] cur: x=-0.214485, y=-0.058523, z=0.974972 ref: x=-0.182030 y=-0.060221 z=0.981447
[10:03:07.270] cur: x=-0.211704, y=-0.058533, z=0.975580 ref: x=-0.179153 y=-0.060226 z=0.981976
[10:03:07.270] cur: x=-0.208852, y=-0.058542, z=0.976193 ref: x=-0.176275 y=-0.060230 z=0.982497
[10:03:07.270] cur: x=-0.426643, y=0.042973, z=0.903398 ref: x=-0.369771 y=-0.044588 z=0.928053
[10:03:07.270] cur: x=-0.424188, y=0.041598, z=0.904618 ref: x=-0.366970 y=-0.044596 z=0.929163
[10:03:07.270] cur: x=-0.418078, y=0.033844, z=0.907780 ref: x=-0.361364 y=-0.044612 z=0.931357
[10:03:07.270] cur: x=-0.194553, y=-0.056354, z=0.979272 ref: x=-0.161879 y=-0.058071 z=0.985101
[10:03:07.270] cur: x=-0.102048, y=-0.059323, z=0.993009 ref: x=-0.072326 y=-0.047237 z=0.996262
[10:03:07.270] cur: x=-0.194591, y=-0.054141, z=0.979389 ref: x=-0.161882 y=-0.055891 z=0.985226
[10:03:07.270] cur: x=-0.411707, y=0.036789, z=0.910573 ref: x=-0.355762 y=-0.040299 z=0.933707
[10:03:07.270] cur: x=-0.102354, y=-0.053189, z=0.993325 ref: x=-0.072327 y=-0.045053 z=0.996363
[10:03:07.270] cur: x=-0.203653, y=-0.038837, z=0.978272 ref: x=-0.170542 y=-0.040614 z=0.984513
[10:03:07.270] cur: x=-0.203788, y=-0.034476, z=0.978408 ref: x=-0.170546 y=-0.036252 z=0.984683
[10:03:07.270] cur: x=-0.206709, y=-0.032287, z=0.977870 ref: x=-0.173427 y=-0.034068 z=0.984257
[10:03:07.270] cur: x=-0.406686, y=0.010931, z=0.913503 ref: x=-0.355802 y=-0.016490 z=0.934416
[10:03:07.270] cur: x=-0.425681, y=0.011983, z=0.904794 ref: x=-0.375420 y=-0.018631 z=0.926667
[10:03:07.270] cur: x=-0.418423, y=0.018191, z=0.908070 ref: x=-0.367026 y=-0.014315 z=0.930100
[10:03:07.270] cur: x=-0.435665, y=0.138178, z=0.889440 ref: x=-0.378227 y=0.005152 z=0.925699
[10:03:07.270] cur: x=-0.415685, y=0.006210, z=0.909487 ref: x=-0.367032 y=0.002992 z=0.930203
[10:03:07.270] cur: x=-0.431876, y=0.073998, z=0.898892 ref: x=-0.378226 y=0.007314 z=0.925685
[10:03:07.270] cur: x=-0.305918, y=0.012434, z=0.951977 ref: x=-0.262329 y=0.018235 z=0.964806
[10:03:07.270] cur: x=-0.353328, y=0.122272, z=0.927474 ref: x=-0.369687 y=0.067856 z=0.926675
[10:03:07.270] cur: x=-0.436407, y=0.144030, z=0.888147 ref: x=-0.383670 y=0.065634 z=0.921135
[10:03:07.270] cur: x=-0.357155, y=0.165104, z=0.919337 ref: x=-0.372445 y=0.076482 z=0.924897
[10:03:07.270] cur: x=-0.208121, y=0.074190, z=0.975285 ref: x=-0.170492 y=0.074987 z=0.982502
[10:03:07.270] cur: x=-0.205278, y=0.074178, z=0.975889 ref: x=-0.167613 y=0.074992 z=0.982997
[10:03:07.270] cur: x=-0.208272, y=0.076675, z=0.975061 ref: x=-0.170488 y=0.077166 z=0.982334
[10:03:07.270] cur: x=-0.205423, y=0.076649, z=0.975667 ref: x=-0.167609 y=0.077171 z=0.982829
[10:03:07.270] cur: x=-0.288229, y=0.080796, z=0.954147 ref: x=-0.259356 y=0.079114 z=0.962536
[10:03:07.270] cur: x=-0.285384, y=0.080599, z=0.955018 ref: x=-0.256503 y=0.079123 z=0.963300
[10:03:07.270] cur: x=-0.575582, y=-0.042539, z=0.816637 ref: x=-0.520196 y=0.088264 z=0.849474
[10:03:07.270] cur: x=-0.578038, y=-0.022114, z=0.815710 ref: x=-0.520063 y=0.101036 z=0.848131
[10:03:07.270] cur: x=-0.522890, y=-0.031622, z=0.851813 ref: x=-0.490642 y=0.092823 z=0.866403
[10:03:07.270] cur: x=-0.356062, y=0.088661, z=0.930247 ref: x=-0.377719 y=0.123887 z=0.917595
[10:03:07.270] cur: x=-0.367346, y=0.079160, z=0.926710 ref: x=-0.372153 y=0.121780 z=0.920148
[10:03:07.270] cur: x=-0.082310, y=0.164882, z=0.982873 ref: x=-0.051982 y=0.149244 z=0.987433
[10:03:07.270] cur: x=-0.085177, y=0.166554, z=0.982347 ref: x=-0.054871 y=0.151416 z=0.986946
[10:03:07.270] cur: x=-0.099838, y=0.168475, z=0.980637 ref: x=-0.069325 y=0.153571 z=0.985703
[10:03:07.270] cur: x=-0.088008, y=0.172411, z=0.981086 ref: x=-0.057755 y=0.157936 z=0.985759
[10:03:07.270] cur: x=-0.105403, y=0.194502, z=0.975223 ref: x=-0.075058 y=0.179628 z=0.980867
[10:03:07.270] cur: x=-0.102487, y=0.194671, z=0.975500 ref: x=-0.072170 y=0.179634 z=0.981083
[10:03:07.270] cur: x=-0.081929, y=0.192322, z=0.977906 ref: x=-0.051947 y=0.177496 z=0.982750
[10:03:07.270] cur: x=-0.096496, y=0.192356, z=0.976569 ref: x=-0.066396 y=0.177474 z=0.981883
[10:03:07.270] cur: x=-0.017798, y=0.200640, z=0.979503 ref: x=0.005883 y=0.186213 z=0.982492
[10:03:07.270] cur: x=-0.017777, y=0.202803, z=0.979058 ref: x=0.005883 y=0.188383 z=0.982078
[10:03:07.270] cur: x=-0.026426, y=0.205102, z=0.978384 ref: x=-0.002791 y=0.190552 z=0.981673
[10:03:07.270] cur: x=-0.105292, y=0.207998, z=0.972446 ref: x=-0.075031 y=0.192641 z=0.978397
[10:03:07.270] cur: x=-0.023524, y=0.207232, z=0.978009 ref: x=0.000100 y=0.192721 z=0.981254
[10:03:07.270] cur: x=-0.588966, y=0.269835, z=0.761779 ref: x=-0.514089 y=0.261491 z=0.816906
[10:03:07.270] cur: x=0.153621, y=0.290359, z=0.944506 ref: x=0.158330 y=0.272080 z=0.949160
[10:03:07.271] cur: x=0.156534, y=0.290540, z=0.943972 ref: x=0.161195 y=0.272059 z=0.948683
[10:03:07.271] cur: x=0.056889, y=0.357477, z=0.932188 ref: x=0.074811 y=0.328112 z=0.941672
[10:03:07.271] cur: x=0.059844, y=0.357595, z=0.931957 ref: x=0.077682 y=0.328100 z=0.941444
[10:03:07.271] cur: x=0.059285, y=0.359296, z=0.931339 ref: x=0.077673 y=0.330228 z=0.940700
[10:03:07.271] cur: x=-0.279474, y=0.359953, z=0.890128 ref: x=-0.256887 y=0.343274 z=0.903423
[10:03:07.271] cur: x=0.104762, y=0.409007, z=0.906498 ref: x=0.160034 y=0.395045 z=0.904615
[10:03:07.271] cur: x=0.075193, y=-0.515334, z=0.853684 ref: x=0.091161 y=-0.458519 z=0.883996
[10:03:07.271] cur: x=0.075367, y=-0.521908, z=0.849666 ref: x=0.091091 y=-0.466745 z=0.879688
[10:03:07.271] cur: x=0.075075, y=-0.519062, z=0.851433 ref: x=0.091127 y=-0.462635 z=0.881853
[10:03:07.271] cur: x=-0.016959, y=-0.440546, z=0.897570 ref: x=0.005821 y=-0.404835 z=0.914371
[10:03:07.271] cur: x=-0.028420, y=-0.431941, z=0.901454 ref: x=-0.005626 y=-0.396448 z=0.918040
[10:03:07.271] cur: x=-0.016956, y=-0.436303, z=0.899640 ref: x=0.005823 y=-0.400644 z=0.916215
[10:03:07.271] cur: x=-0.057100, y=-0.404697, z=0.912666 ref: x=-0.028565 y=-0.375378 z=0.926432
[10:03:07.271] cur: x=-0.062395, y=-0.400602, z=0.914125 ref: x=-0.034306 y=-0.371145 z=0.927941
[10:03:07.271] cur: x=-0.238684, y=-0.236956, z=0.941744 ref: x=-0.207099 y=-0.229256 z=0.951079
[10:03:07.271] cur: x=-0.544186, y=-0.300186, z=0.783422 ref: x=-0.484343 y=-0.279612 z=0.828993
[10:03:07.271] cur: x=-0.244328, y=-0.241223, z=0.939210 ref: x=-0.212779 y=-0.233514 z=0.948787
[10:03:07.271] cur: x=-0.238517, y=-0.241216, z=0.940704 ref: x=-0.207066 y=-0.233560 z=0.950039
[10:03:07.271] cur: x=-0.201721, y=-0.216626, z=0.955187 ref: x=-0.167136 y=-0.207954 z=0.963753
[10:03:07.271] cur: x=-0.402219, y=-0.096106, z=0.910485 ref: x=-0.282264 y=0.026912 z=0.958959
[10:03:07.271] cur: x=-0.205278, y=0.074178, z=0.975889 ref: x=-0.167613 y=0.074992 z=0.982997
[10:03:07.271] cur: x=-0.413582, y=-0.050812, z=0.909048 ref: x=-0.471585 y=0.103697 z=0.875702
[10:03:07.271] cur: x=-0.645734, y=0.221534, z=0.730719 ref: x=-0.570122 y=0.220076 z=0.791535
[10:03:07.271] cur: x=-0.099594, y=0.285171, z=0.953288 ref: x=-0.069077 y=0.266075 z=0.961474
[10:03:07.271] cur: x=-0.610034, y=0.260052, z=0.748486 ref: x=-0.532699 y=0.254627 z=0.807092
[10:03:07.271] cur: x=0.156626, y=0.284199, z=0.945885 ref: x=0.161240 y=0.265625 z=0.950497
[10:03:07.271] cur: x=-0.625817, y=0.254240, z=0.737370 ref: x=-0.548490 y=0.249926 z=0.797932
[10:03:07.271] cur: x=0.072344, y=0.292768, z=0.953443 ref: x=0.086521 y=0.274611 z=0.957655
[10:03:07.271] cur: x=0.156558, y=0.288441, z=0.944612 ref: x=0.161210 y=0.269915 z=0.949293
[10:03:07.271] cur: x=-0.112051, y=0.325606, z=0.938843 ref: x=-0.080452 y=0.304625 z=0.949068
[10:03:07.271] cur: x=-0.123673, y=0.321370, z=0.938843 ref: x=-0.091965 y=0.300301 z=0.949401
[10:03:07.271] cur: x=0.057214, y=0.355446, z=0.932944 ref: x=0.074820 y=0.325983 z=0.942410
[10:03:07.271] cur: x=-0.717914, y=0.302680, z=0.626885 ref: x=-0.571748 y=0.310689 z=0.759326
[10:03:07.271] cur: x=-0.274427, y=0.362194, z=0.890789 ref: x=-0.251209 y=0.345473 z=0.904181
[10:03:07.271] cur: x=-0.291224, y=0.384011, z=0.876198 ref: x=-0.267739 y=0.366186 z=0.891192
[10:03:07.271] cur: x=-0.275595, y=0.394324, z=0.876673 ref: x=-0.383200 y=0.400471 z=0.832335
[10:03:07.271] cur: x=-0.324752, y=-0.241754, z=0.914380 ref: x=-0.281023 y=-0.232853 z=0.931024
[10:03:07.271] cur: x=-0.313059, y=-0.242435, z=0.918270 ref: x=-0.269694 y=-0.232978 z=0.934337
[10:03:07.271] cur: x=-0.301622, y=-0.242909, z=0.921965 ref: x=-0.258345 y=-0.233097 z=0.937509
[10:03:07.271] cur: x=-0.301341, y=-0.251438, z=0.919768 ref: x=-0.258255 y=-0.241678 z=0.935359
[10:03:07.271] cur: x=0.117368, y=-0.525216, z=0.842836 ref: x=0.130735 y=-0.470439 z=0.872694
[10:03:07.271] cur: x=-0.213062, y=-0.216515, z=0.952747 ref: x=-0.178614 y=-0.207890 z=0.961706
[10:03:07.271] cur: x=-0.407317, y=-0.157563, z=0.899593 ref: x=-0.360677 y=-0.154673 z=0.919776
[10:03:07.271] cur: x=-0.233742, y=-0.075448, z=0.969367 ref: x=-0.202114 y=-0.077607 z=0.976282
[10:03:07.271] cur: x=-0.223230, y=-0.075774, z=0.971816 ref: x=-0.190623 y=-0.077633 z=0.978589
[10:03:07.271] cur: x=-0.399499, y=-0.103178, z=0.910909 ref: x=-0.282273 y=0.018219 z=0.959161
[10:03:07.271] cur: x=-0.217262, y=0.088395, z=0.972103 ref: x=-0.179098 y=0.088039 z=0.979884
[10:03:07.271] cur: x=-0.533625, y=-0.026091, z=0.845319 ref: x=-0.504080 y=0.094823 z=0.858436
[10:03:07.271] cur: x=-0.212703, y=0.266599, z=0.940044 ref: x=-0.178319 y=0.252622 z=0.950991
[10:03:07.271] cur: x=0.151002, y=0.270971, z=0.950670 ref: x=0.155592 y=0.252776 z=0.954932
[10:03:07.271] cur: x=-0.348377, y=0.007365, z=0.937326 ref: x=-0.394516 y=0.112984 z=0.911916
[10:03:07.271] cur: x=-0.333106, y=0.005802, z=0.942871 ref: x=-0.383383 y=0.113074 z=0.916642
[10:03:07.271] cur: x=-0.053504, y=0.189892, z=0.980346 ref: x=-0.028820 y=0.175349 z=0.984084
[10:03:07.271] cur: x=-0.648972, y=0.295058, z=0.701268 ref: x=-0.642545 y=0.282517 z=0.712264
[10:03:07.271] cur: x=-0.212603, y=0.257800, z=0.942517 ref: x=-0.178381 y=0.244024 z=0.953222
[10:03:07.271] cur: x=0.025240, y=0.391129, z=0.919990 ref: x=0.119921 y=0.422593 z=0.898351
[10:03:07.271] Init finished: Homography RANSAC (inlier) is:38 ,While 25 inliers minimum required.  px average disparity is:21.245006 ,While minimum is: 20.000000  KLT tracked: 134
[10:03:07.271] Init: distance between the first and current frame is x:0.024503 ,z=0.239518,angle between two frames: 0.003943 
[10:03:07.271] Init: Selected Second frame. 	 The number of features: 30 depth mean:0.155484 min:-2.403842
[10:03:07.271] frame process finished the id is: 66 the obs is:30 
[10:03:07.335] Odometry x=0.024503, y=0.239518, theta=0.003943
[10:03:07.424] After Reprojection Map nPoint:24 ,nCell:24 ,nMatches:4 ,distance between ekf and vo x:-0.000165 ,z=0.000049,angle between two frames:0.000090
[10:03:07.424] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.079112 	 error end=0.074894
[10:03:07.424] After pose optimization, distance between ekf and vo x:0.010318 ,z=-0.000954,angle between two frames:0.012837
[10:03:07.424] frame process finished the id is: 66 the obs is:30 
[10:03:07.437] Odometry x=0.023674, y=0.246490, theta=-0.011823
[10:03:07.535] Odometry x=0.023952, y=0.253357, theta=0.011799
[10:03:07.578] After Reprojection Map nPoint:23 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000099 ,z=0.000071,angle between two frames:0.000038
[10:03:07.578] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.030461 	 error end=0.030309
[10:03:07.578] After pose optimization, distance between ekf and vo x:-0.000099 ,z=0.000209,angle between two frames:0.000101
[10:03:07.578] frame process finished the id is: 66 the obs is:30 
[10:03:07.637] Odometry x=0.024463, y=0.259532, theta=0.000394
[10:03:07.721] After Reprojection Map nPoint:22 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000116 ,z=0.000071,angle between two frames:0.000034
[10:03:07.721] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.244716 	 error end=0.244716
[10:03:07.721] After pose optimization, distance between ekf and vo x:-0.000116 ,z=0.000071,angle between two frames:0.000034
[10:03:07.721] frame process finished the id is: 66 the obs is:30 
[10:03:07.739] Odometry x=0.024510, y=0.282812, theta=0.005347
[10:03:07.837] Odometry x=0.024521, y=0.289238, theta=0.002936
[10:03:07.864] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:3 ,distance between ekf and vo x:-0.000131 ,z=0.000097,angle between two frames:0.000040
[10:03:07.864] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.049070 	 error end=0.031941
[10:03:07.864] After pose optimization, distance between ekf and vo x:-0.048669 ,z=-0.006924,angle between two frames:0.007792
[10:03:07.864] frame process finished the id is: 66 the obs is:30 
[10:03:07.934] Odometry x=0.024517, y=0.294633, theta=-0.006229
[10:03:08.007] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:3 ,distance between ekf and vo x:-0.000011 ,z=0.000034,angle between two frames:0.000000
[10:03:08.007] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.075948 	 error end=0.075948
[10:03:08.007] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000034,angle between two frames:0.000000
[10:03:08.007] frame process finished the id is: 66 the obs is:30 
[10:03:08.037] Odometry x=0.024631, y=0.300122, theta=-0.006065
[10:03:08.134] Odometry x=0.025235, y=0.305485, theta=-0.016526
[10:03:08.149] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:0.000111 ,z=0.000009,angle between two frames:0.000000
[10:03:08.149] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.045462 	 error end=0.045383
[10:03:08.149] After pose optimization, distance between ekf and vo x:-0.000804 ,z=-0.000133,angle between two frames:0.002485
[10:03:08.149] frame process finished the id is: 66 the obs is:30 
[10:03:08.236] Odometry x=0.025289, y=0.310975, theta=-0.012057
[10:03:08.292] After Reprojection Map nPoint:20 ,nCell:19 ,nMatches:3 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
[10:03:08.292] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.110354 	 error end=0.107934
[10:03:08.292] After pose optimization, distance between ekf and vo x:-0.004730 ,z=-0.003904,angle between two frames:0.000016
[10:03:08.292] frame process finished the id is: 66 the obs is:30 
[10:03:08.307] Image Alignment failed 0
[10:03:08.307] frame process finished the id is: 66 the obs is:30 
[10:03:08.335] Odometry x=0.024594, y=0.326334, theta=0.006276
[10:03:08.408] Image Alignment failed 0
[10:03:08.408] frame process finished the id is: 66 the obs is:30 
[10:03:08.434] Odometry x=0.024638, y=0.331561, theta=-0.006663
[10:03:08.499] Image Alignment failed 0
[10:03:08.499] frame process finished the id is: 66 the obs is:30 
[10:03:08.539] Odometry x=0.024658, y=0.336990, theta=-0.000654
[10:03:08.607] Image Alignment failed 0
[10:03:08.608] frame process finished the id is: 66 the obs is:30 
[10:03:08.638] Odometry x=0.024763, y=0.342539, theta=-0.004655
[10:03:08.707] Image Alignment failed 0
[10:03:08.707] frame process finished the id is: 66 the obs is:30 
[10:03:08.737] Odometry x=0.024772, y=0.348588, theta=-0.001000
[10:03:08.807] Image Alignment failed 0
[10:03:08.807] frame process finished the id is: 66 the obs is:30 
[10:03:08.836] Odometry x=0.024788, y=0.353976, theta=-0.013339
[10:03:08.908] Image Alignment failed 0
[10:03:08.908] frame process finished the id is: 66 the obs is:30 
[10:03:08.939] Odometry x=0.025154, y=0.378387, theta=0.010578
[10:03:09.009] Image Alignment failed 0
[10:03:09.009] frame process finished the id is: 66 the obs is:30 
[10:03:09.036] Odometry x=0.025246, y=0.383952, theta=-0.018710
[10:03:09.109] Image Alignment failed 0
[10:03:09.109] frame process finished the id is: 66 the obs is:30 
[10:03:09.137] Odometry x=0.025279, y=0.389035, theta=0.005000
[10:03:09.207] Image Alignment failed 0
[10:03:09.207] frame process finished the id is: 66 the obs is:30 
[10:03:09.238] Odometry x=0.027789, y=0.394569, theta=-0.010816
[10:03:09.307] Image Alignment failed 0
[10:03:09.307] frame process finished the id is: 66 the obs is:30 
[10:03:09.339] Odometry x=0.026282, y=0.406120, theta=-0.015591
[10:03:09.410] Image Alignment failed 0
[10:03:09.410] frame process finished the id is: 66 the obs is:30 
[10:03:09.439] Odometry x=0.026321, y=0.411413, theta=-0.002993
[10:03:09.514] Image Alignment failed 0
[10:03:09.514] frame process finished the id is: 66 the obs is:30 
[10:03:09.542] Odometry x=0.028032, y=0.422385, theta=-0.014822
[10:03:09.611] Image Alignment failed 0
[10:03:09.611] frame process finished the id is: 66 the obs is:30 
[10:03:09.636] Odometry x=0.024729, y=0.427859, theta=-0.028237
[10:03:09.702] Image Alignment failed 0
[10:03:09.702] frame process finished the id is: 66 the obs is:30 
[10:03:09.736] Odometry x=0.025101, y=0.433289, theta=-0.016303
[10:03:09.798] Image Alignment failed 0
[10:03:09.798] frame process finished the id is: 66 the obs is:30 
[10:03:09.840] Odometry x=0.025211, y=0.426844, theta=-0.036273
[10:03:09.897] Image Alignment failed 0
[10:03:09.897] frame process finished the id is: 66 the obs is:30 
[10:03:09.940] Odometry x=0.025987, y=0.432366, theta=-0.008359
[10:03:10.011] Image Alignment failed 0
[10:03:10.011] frame process finished the id is: 66 the obs is:30 
[10:03:10.041] Odometry x=0.025743, y=0.437748, theta=-0.009271
[10:03:10.103] Image Alignment failed 0
[10:03:10.103] frame process finished the id is: 66 the obs is:30 
[10:03:10.136] Odometry x=0.025771, y=0.443049, theta=-0.007155
[10:03:10.208] Image Alignment failed 0
[10:03:10.208] frame process finished the id is: 66 the obs is:30 
[10:03:10.235] Odometry x=0.025780, y=0.448969, theta=0.007035
[10:03:10.309] Image Alignment failed 0
[10:03:10.309] frame process finished the id is: 66 the obs is:30 
[10:03:10.342] Odometry x=0.025898, y=0.454413, theta=-0.005378
[10:03:10.411] Image Alignment failed 0
[10:03:10.411] frame process finished the id is: 66 the obs is:30 
[10:03:10.442] Odometry x=0.025713, y=0.473857, theta=0.004074
[10:03:10.509] Image Alignment failed 0
[10:03:10.509] frame process finished the id is: 66 the obs is:30 
[10:03:10.536] Odometry x=0.025704, y=0.479238, theta=-0.004864
[10:03:10.608] Image Alignment failed 0
[10:03:10.608] frame process finished the id is: 66 the obs is:30 
[10:03:10.642] Odometry x=0.019922, y=0.495048, theta=-0.010884
[10:03:10.708] Image Alignment failed 0
[10:03:10.708] frame process finished the id is: 66 the obs is:30 
[10:03:10.742] Odometry x=0.020120, y=0.500637, theta=-0.008482
[10:03:10.811] Image Alignment failed 0
[10:03:10.811] frame process finished the id is: 66 the obs is:30 
[10:03:10.842] Odometry x=0.020035, y=0.509108, theta=-0.008898
[10:03:10.909] Image Alignment failed 0
[10:03:10.909] frame process finished the id is: 66 the obs is:30 
[10:03:10.936] Odometry x=0.020161, y=0.514483, theta=-0.010277
[10:03:11.010] Image Alignment failed 0
[10:03:11.010] frame process finished the id is: 66 the obs is:30 
[10:03:11.041] Odometry x=0.021068, y=0.521573, theta=0.002875
[10:03:11.108] Image Alignment failed 0
[10:03:11.108] frame process finished the id is: 66 the obs is:30 
[10:03:11.141] Odometry x=0.021044, y=0.526961, theta=-0.002661
[10:03:11.208] Image Alignment failed 0
[10:03:11.208] frame process finished the id is: 66 the obs is:30 
[10:03:11.235] Odometry x=0.021258, y=0.532713, theta=-0.004109
[10:03:11.310] Image Alignment failed 0
[10:03:11.310] frame process finished the id is: 66 the obs is:30 
[10:03:11.336] Odometry x=0.021253, y=0.549734, theta=-0.004557
[10:03:11.408] Image Alignment failed 0
[10:03:11.408] frame process finished the id is: 66 the obs is:30 
[10:03:11.442] Odometry x=0.021260, y=0.555074, theta=-0.005552
[10:03:11.509] Image Alignment failed 0
[10:03:11.509] frame process finished the id is: 66 the obs is:30 
[10:03:11.537] Odometry x=0.021240, y=0.560461, theta=-0.014608
[10:03:11.607] Image Alignment failed 0
[10:03:11.607] frame process finished the id is: 66 the obs is:30 
[10:03:11.639] Odometry x=0.021857, y=0.565636, theta=-0.008296
[10:03:11.708] Image Alignment failed 0
[10:03:11.708] frame process finished the id is: 66 the obs is:30 
[10:03:11.737] Odometry x=0.020988, y=0.571245, theta=-0.013330
[10:03:11.808] Image Alignment failed 0
[10:03:11.808] frame process finished the id is: 66 the obs is:30 
[10:03:11.836] Odometry x=0.021049, y=0.576953, theta=-0.013109
[10:03:11.908] Image Alignment failed 0
[10:03:11.908] frame process finished the id is: 66 the obs is:30 
[10:03:11.936] Odometry x=0.020371, y=0.582292, theta=-0.013935
[10:03:11.997] Image Alignment failed 0
[10:03:11.997] frame process finished the id is: 66 the obs is:30 
[10:03:12.034] Odometry x=0.020830, y=0.589928, theta=-0.015281
[10:03:12.111] Image Alignment failed 0
[10:03:12.111] frame process finished the id is: 66 the obs is:30 
[10:03:12.139] Odometry x=0.020971, y=0.595512, theta=-0.003652
[10:03:12.210] Image Alignment failed 0
[10:03:12.210] frame process finished the id is: 66 the obs is:30 
[10:03:12.237] Odometry x=0.021628, y=0.603950, theta=-0.021620
[10:03:12.313] Image Alignment failed 0
[10:03:12.313] frame process finished the id is: 66 the obs is:30 
[10:03:12.336] Odometry x=0.022055, y=0.609296, theta=-0.009890
[10:03:12.410] Image Alignment failed 0
[10:03:12.411] frame process finished the id is: 66 the obs is:30 
[10:03:12.439] Odometry x=0.022495, y=0.620953, theta=-0.020559
[10:03:12.504] Image Alignment failed 0
[10:03:12.504] frame process finished the id is: 66 the obs is:30 
[10:03:12.537] Odometry x=0.022948, y=0.625718, theta=-0.001603
[10:03:12.610] Image Alignment failed 0
[10:03:12.610] frame process finished the id is: 66 the obs is:30 
[10:03:12.636] Odometry x=0.023855, y=0.631334, theta=-0.019313
[10:03:12.711] Image Alignment failed 0
[10:03:12.711] frame process finished the id is: 66 the obs is:30 
[10:03:12.736] Odometry x=0.023898, y=0.636664, theta=-0.014798
[10:03:12.811] Image Alignment failed 0
[10:03:12.811] frame process finished the id is: 66 the obs is:30 
[10:03:12.836] Odometry x=0.023977, y=0.642045, theta=-0.009866
[10:03:12.910] Image Alignment failed 0
[10:03:12.910] frame process finished the id is: 66 the obs is:30 
[10:03:12.936] Odometry x=0.023239, y=0.647383, theta=-0.031196
[10:03:13.010] Image Alignment failed 0
[10:03:13.010] frame process finished the id is: 66 the obs is:30 
[10:03:13.035] Odometry x=0.023906, y=0.652320, theta=-0.009931
[10:03:13.111] Image Alignment failed 0
[10:03:13.111] frame process finished the id is: 66 the obs is:30 
[10:03:13.135] Odometry x=0.023922, y=0.657678, theta=-0.021474
[10:03:13.210] Image Alignment failed 0
[10:03:13.210] frame process finished the id is: 66 the obs is:30 
[10:03:13.235] Odometry x=0.024001, y=0.663154, theta=-0.011383
[10:03:13.309] Image Alignment failed 0
[10:03:13.309] frame process finished the id is: 66 the obs is:30 
[10:03:13.336] Odometry x=0.017560, y=0.670111, theta=-0.021011
[10:03:13.411] Image Alignment failed 0
[10:03:13.411] frame process finished the id is: 66 the obs is:30 
[10:03:13.436] Odometry x=0.017787, y=0.675892, theta=-0.026323
[10:03:13.513] Image Alignment failed 0
[10:03:13.513] frame process finished the id is: 66 the obs is:30 
[10:03:13.541] Odometry x=0.018281, y=0.681206, theta=-0.003656
[10:03:13.613] Image Alignment failed 0
[10:03:13.613] frame process finished the id is: 66 the obs is:30 
[10:03:13.641] Odometry x=0.018627, y=0.686751, theta=-0.021675
[10:03:13.712] Image Alignment failed 0
[10:03:13.712] frame process finished the id is: 66 the obs is:30 
[10:03:13.740] Odometry x=0.018697, y=0.692164, theta=0.001282
[10:03:13.814] Image Alignment failed 0
[10:03:13.814] frame process finished the id is: 66 the obs is:30 
[10:03:13.839] Odometry x=0.018748, y=0.697531, theta=-0.014424
[10:03:13.910] Image Alignment failed 0
[10:03:13.910] frame process finished the id is: 66 the obs is:30 
[10:03:13.938] Odometry x=0.022172, y=0.703074, theta=-0.000037
[10:03:14.011] Image Alignment failed 0
[10:03:14.011] frame process finished the id is: 66 the obs is:30 
[10:03:14.043] Odometry x=0.022178, y=0.708411, theta=-0.006323
[10:03:14.110] Image Alignment failed 0
[10:03:14.110] frame process finished the id is: 66 the obs is:30 
[10:03:14.139] Odometry x=0.025513, y=0.715266, theta=-0.001546
[10:03:14.208] Image Alignment failed 0
[10:03:14.208] frame process finished the id is: 66 the obs is:30 
[10:03:14.241] Odometry x=0.023873, y=0.720199, theta=0.001699
[10:03:14.308] Image Alignment failed 0
[10:03:14.308] frame process finished the id is: 66 the obs is:30 
[10:03:14.338] Odometry x=0.023952, y=0.725755, theta=0.002068
[10:03:14.408] Image Alignment failed 0
[10:03:14.408] frame process finished the id is: 66 the obs is:30 
[10:03:14.436] Odometry x=0.021806, y=0.732272, theta=0.005156
[10:03:14.508] Image Alignment failed 0
[10:03:14.508] frame process finished the id is: 66 the obs is:30 
[10:03:14.536] Odometry x=0.023763, y=0.738740, theta=0.010287
[10:03:14.608] Image Alignment failed 0
[10:03:14.608] frame process finished the id is: 66 the obs is:30 
[10:03:14.636] Odometry x=0.018857, y=0.743557, theta=-0.010479
[10:03:14.708] Image Alignment failed 0
[10:03:14.708] frame process finished the id is: 66 the obs is:30 
[10:03:14.736] Odometry x=0.019189, y=0.749350, theta=-0.000254
[10:03:14.809] Image Alignment failed 0
[10:03:14.809] frame process finished the id is: 66 the obs is:30 
[10:03:14.836] Odometry x=0.019230, y=0.754858, theta=-0.012446
[10:03:14.902] Image Alignment failed 0
[10:03:14.902] frame process finished the id is: 66 the obs is:30 
[10:03:14.940] Odometry x=0.019746, y=0.760278, theta=-0.003861
[10:03:15.008] Image Alignment failed 0
[10:03:15.008] frame process finished the id is: 66 the obs is:30 
[10:03:15.039] Odometry x=0.020019, y=0.765721, theta=-0.006515
[10:03:15.108] Image Alignment failed 0
[10:03:15.108] frame process finished the id is: 66 the obs is:30 
[10:03:15.140] Odometry x=0.020165, y=0.771145, theta=-0.013982
[10:03:15.209] Image Alignment failed 0
[10:03:15.209] frame process finished the id is: 66 the obs is:30 
[10:03:15.234] Odometry x=0.017399, y=0.776066, theta=-0.007251
[10:03:15.309] Image Alignment failed 0
[10:03:15.309] frame process finished the id is: 66 the obs is:30 
[10:03:15.340] Odometry x=0.017510, y=0.781284, theta=-0.012500
[10:03:15.410] Image Alignment failed 0
[10:03:15.410] frame process finished the id is: 66 the obs is:30 
[10:03:15.439] Odometry x=0.017531, y=0.787031, theta=0.013641
[10:03:15.509] Image Alignment failed 0
[10:03:15.509] frame process finished the id is: 66 the obs is:30 
[10:03:15.535] Odometry x=0.017956, y=0.792435, theta=-0.002139
[10:03:15.609] Image Alignment failed 0
[10:03:15.609] frame process finished the id is: 66 the obs is:30 
[10:03:15.639] Odometry x=0.018068, y=0.797674, theta=0.009118
[10:03:15.710] Image Alignment failed 0
[10:03:15.710] frame process finished the id is: 66 the obs is:30 
[10:03:15.739] Odometry x=0.018075, y=0.803125, theta=0.000047
[10:03:15.808] Image Alignment failed 0
[10:03:15.808] frame process finished the id is: 66 the obs is:30 
[10:03:15.839] Odometry x=0.018098, y=0.808515, theta=-0.000254
[10:03:15.912] Image Alignment failed 0
[10:03:15.912] frame process finished the id is: 66 the obs is:30 
[10:03:15.939] Odometry x=0.016604, y=0.820306, theta=0.009076
[10:03:16.011] Image Alignment failed 0
[10:03:16.011] frame process finished the id is: 66 the obs is:30 
[10:03:16.039] Odometry x=0.016594, y=0.825670, theta=0.003024
[10:03:16.109] Image Alignment failed 0
[10:03:16.109] frame process finished the id is: 66 the obs is:30 
[10:03:16.137] Odometry x=0.015971, y=0.831760, theta=0.016812
[10:03:16.208] Image Alignment failed 0
[10:03:16.208] frame process finished the id is: 66 the obs is:30 
[10:03:16.236] Odometry x=0.015972, y=0.837183, theta=0.009621
[10:03:16.309] Image Alignment failed 0
[10:03:16.309] frame process finished the id is: 66 the obs is:30 
[10:03:16.337] Odometry x=0.011297, y=0.865368, theta=0.017104
[10:03:16.410] Image Alignment failed 0
[10:03:16.410] frame process finished the id is: 66 the obs is:30 
[10:03:16.441] Odometry x=0.011241, y=0.871663, theta=0.013591
[10:03:16.509] Image Alignment failed 0
[10:03:16.509] frame process finished the id is: 66 the obs is:30 
[10:03:16.533] Odometry x=0.010801, y=0.878617, theta=0.019358
[10:03:16.610] Image Alignment failed 0
[10:03:16.611] frame process finished the id is: 66 the obs is:30 
[10:03:16.643] Odometry x=0.010755, y=0.883947, theta=0.015390
[10:03:16.709] Image Alignment failed 0
[10:03:16.709] frame process finished the id is: 66 the obs is:30 
[10:03:16.753] Odometry x=0.010692, y=0.890535, theta=0.023674
[10:03:16.809] Image Alignment failed 0
[10:03:16.809] frame process finished the id is: 66 the obs is:30 
[10:03:16.835] Odometry x=0.010654, y=0.896887, theta=0.012049
[10:03:16.909] Image Alignment failed 0
[10:03:16.909] frame process finished the id is: 66 the obs is:30 
[10:03:16.948] Odometry x=0.010626, y=0.901631, theta=0.013209
[10:03:17.009] Image Alignment failed 0
[10:03:17.009] frame process finished the id is: 66 the obs is:30 
[10:03:17.038] Odometry x=0.010591, y=0.907490, theta=0.011604
[10:03:17.109] Image Alignment failed 0
[10:03:17.109] frame process finished the id is: 66 the obs is:30 
[10:03:17.145] Odometry x=0.010613, y=0.912781, theta=0.015451
[10:03:17.208] Image Alignment failed 0
[10:03:17.208] frame process finished the id is: 66 the obs is:30 
[10:03:17.237] Odometry x=0.010576, y=0.918418, theta=0.010279
[10:03:17.307] Image Alignment failed 0
[10:03:17.307] frame process finished the id is: 66 the obs is:30 
[10:03:17.337] Odometry x=0.010582, y=0.924710, theta=0.001743
[10:03:17.408] Image Alignment failed 0
[10:03:17.408] frame process finished the id is: 66 the obs is:30 
[10:03:17.433] Odometry x=0.010648, y=0.930593, theta=0.006986
[10:03:17.508] Image Alignment failed 0
[10:03:17.508] frame process finished the id is: 66 the obs is:30 
[10:03:17.538] Odometry x=0.010635, y=0.935589, theta=0.005431
[10:03:17.609] Image Alignment failed 0
[10:03:17.609] frame process finished the id is: 66 the obs is:30 
[10:03:17.637] Odometry x=0.010623, y=0.943102, theta=0.014053
[10:03:17.709] Image Alignment failed 0
[10:03:17.709] frame process finished the id is: 66 the obs is:30 
[10:03:17.739] Odometry x=0.010649, y=0.948338, theta=0.004931
[10:03:17.808] Image Alignment failed 0
[10:03:17.808] frame process finished the id is: 66 the obs is:30 
[10:03:17.839] Odometry x=0.010636, y=0.953488, theta=0.010643
[10:03:17.908] Image Alignment failed 0
[10:03:17.908] frame process finished the id is: 66 the obs is:30 
[10:03:17.937] Odometry x=0.010589, y=0.959248, theta=0.016014
[10:03:18.008] Image Alignment failed 0
[10:03:18.008] frame process finished the id is: 66 the obs is:30 
[10:03:18.037] Odometry x=0.010545, y=0.965177, theta=0.015058
[10:03:18.110] Image Alignment failed 0
[10:03:18.110] frame process finished the id is: 66 the obs is:30 
[10:03:18.139] Odometry x=0.010502, y=0.971062, theta=0.011930
[10:03:18.208] Image Alignment failed 0
[10:03:18.208] frame process finished the id is: 66 the obs is:30 
[10:03:18.237] Odometry x=0.010553, y=0.977558, theta=0.013456
[10:03:18.313] Image Alignment failed 0
[10:03:18.313] frame process finished the id is: 66 the obs is:30 
[10:03:18.337] Odometry x=0.010510, y=0.982987, theta=0.016359
[10:03:18.410] Image Alignment failed 0
[10:03:18.410] frame process finished the id is: 66 the obs is:30 
[10:03:18.437] Odometry x=0.010459, y=0.988938, theta=0.015017
[10:03:18.510] Image Alignment failed 0
[10:03:18.510] frame process finished the id is: 66 the obs is:30 
[10:03:18.536] Odometry x=0.010426, y=0.994176, theta=0.010955
[10:03:18.610] Image Alignment failed 0
[10:03:18.610] frame process finished the id is: 66 the obs is:30 
[10:03:18.636] Odometry x=0.010405, y=0.999785, theta=0.011945
[10:03:18.709] Image Alignment failed 0
[10:03:18.709] frame process finished the id is: 66 the obs is:30 
[10:03:18.736] Odometry x=0.010385, y=1.005200, theta=0.006550
[10:03:18.809] Image Alignment failed 0
[10:03:18.809] frame process finished the id is: 66 the obs is:30 
[10:03:18.837] Odometry x=0.010370, y=1.010739, theta=0.009018
[10:03:18.911] Image Alignment failed 0
[10:03:18.911] frame process finished the id is: 66 the obs is:30 
[10:03:18.937] Odometry x=0.010356, y=1.016056, theta=0.007829
[10:03:19.011] Image Alignment failed 0
[10:03:19.011] frame process finished the id is: 66 the obs is:30 
[10:03:19.038] Odometry x=0.010378, y=1.021826, theta=0.010349
[10:03:19.109] Image Alignment failed 0
[10:03:19.109] frame process finished the id is: 66 the obs is:30 
[10:03:19.134] Odometry x=0.010375, y=1.027064, theta=0.009955
[10:03:19.209] Image Alignment failed 0
[10:03:19.209] frame process finished the id is: 66 the obs is:30 
[10:03:19.236] Odometry x=0.010346, y=1.032362, theta=0.014558
[10:03:19.309] Image Alignment failed 0
[10:03:19.309] frame process finished the id is: 66 the obs is:30 
[10:03:19.340] Odometry x=0.010303, y=1.038416, theta=0.023631
[10:03:19.408] Image Alignment failed 0
[10:03:19.409] frame process finished the id is: 66 the obs is:30 
[10:03:19.436] Odometry x=0.010272, y=1.044275, theta=0.012686
[10:03:19.508] Image Alignment failed 0
[10:03:19.508] frame process finished the id is: 66 the obs is:30 
[10:03:19.537] Odometry x=0.010238, y=1.049511, theta=0.017568
[10:03:19.611] Image Alignment failed 0
[10:03:19.611] frame process finished the id is: 66 the obs is:30 
[10:03:19.636] Odometry x=0.010181, y=1.055855, theta=0.017652
[10:03:19.709] Image Alignment failed 0
[10:03:19.709] frame process finished the id is: 66 the obs is:30 
[10:03:19.732] Odometry x=0.010129, y=1.061589, theta=0.017795
[10:03:19.810] Image Alignment failed 0
[10:03:19.810] frame process finished the id is: 66 the obs is:30 
[10:03:19.838] Odometry x=0.010081, y=1.067082, theta=0.015842
[10:03:19.909] Image Alignment failed 0
[10:03:19.909] frame process finished the id is: 66 the obs is:30 
[10:03:19.943] Odometry x=0.010030, y=1.073145, theta=0.017945
[10:03:20.009] Image Alignment failed 0
[10:03:20.009] frame process finished the id is: 66 the obs is:30 
[10:03:20.036] Odometry x=0.009975, y=1.078842, theta=0.018530
[10:03:20.110] Image Alignment failed 0
[10:03:20.110] frame process finished the id is: 66 the obs is:30 
[10:03:20.131] Odometry x=0.009928, y=1.083975, theta=0.017243
[10:03:20.209] Image Alignment failed 0
[10:03:20.209] frame process finished the id is: 66 the obs is:30 
[10:03:20.239] Odometry x=0.009880, y=1.089324, theta=0.017755
[10:03:20.311] Image Alignment failed 0
[10:03:20.311] frame process finished the id is: 66 the obs is:30 
[10:03:20.337] Odometry x=0.009825, y=1.095523, theta=0.016101
[10:03:20.410] Image Alignment failed 0
[10:03:20.410] frame process finished the id is: 66 the obs is:30 
[10:03:20.436] Odometry x=0.009778, y=1.101799, theta=0.017181
[10:03:20.510] Image Alignment failed 0
[10:03:20.510] frame process finished the id is: 66 the obs is:30 
[10:03:20.536] Odometry x=0.009775, y=1.107634, theta=0.011828
[10:03:20.609] Image Alignment failed 0
[10:03:20.609] frame process finished the id is: 66 the obs is:30 
[10:03:20.636] Odometry x=0.009756, y=1.113101, theta=0.011341
[10:03:20.710] Image Alignment failed 0
[10:03:20.710] frame process finished the id is: 66 the obs is:30 
[10:03:20.736] Odometry x=0.009723, y=1.118470, theta=0.013988
[10:03:20.811] Image Alignment failed 0
[10:03:20.811] frame process finished the id is: 66 the obs is:30 
[10:03:20.835] Odometry x=0.009700, y=1.123854, theta=0.004502
[10:03:20.909] Image Alignment failed 0
[10:03:20.909] frame process finished the id is: 66 the obs is:30 
[10:03:20.939] Odometry x=0.009691, y=1.129379, theta=0.008209
[10:03:21.010] Image Alignment failed 0
[10:03:21.010] frame process finished the id is: 66 the obs is:30 
[10:03:21.038] Odometry x=0.009692, y=1.134747, theta=0.008423
[10:03:21.111] Image Alignment failed 0
[10:03:21.111] frame process finished the id is: 66 the obs is:30 
[10:03:21.136] Odometry x=0.009678, y=1.140845, theta=0.010316
[10:03:21.212] Image Alignment failed 0
[10:03:21.212] frame process finished the id is: 66 the obs is:30 
[10:03:21.231] Odometry x=0.009673, y=1.146236, theta=0.015855
[10:03:21.310] Image Alignment failed 0
[10:03:21.310] frame process finished the id is: 66 the obs is:30 
[10:03:21.336] Odometry x=0.009680, y=1.151505, theta=0.012420
[10:03:21.409] Image Alignment failed 0
[10:03:21.409] frame process finished the id is: 66 the obs is:30 
[10:03:21.435] Odometry x=0.009646, y=1.157045, theta=0.017701
[10:03:21.510] Image Alignment failed 0
[10:03:21.510] frame process finished the id is: 66 the obs is:30 
[10:03:21.535] Odometry x=0.009580, y=1.164304, theta=0.015359
[10:03:21.609] Image Alignment failed 0
[10:03:21.609] frame process finished the id is: 66 the obs is:30 
[10:03:21.634] Odometry x=0.009613, y=1.170439, theta=0.018390
[10:03:21.710] Image Alignment failed 0
[10:03:21.710] frame process finished the id is: 66 the obs is:30 
[10:03:21.739] Odometry x=0.009568, y=1.177375, theta=0.014297
[10:03:21.810] Image Alignment failed 0
[10:03:21.810] frame process finished the id is: 66 the obs is:30 
[10:03:21.839] Odometry x=0.009532, y=1.183136, theta=0.013624
[10:03:21.911] Image Alignment failed 0
[10:03:21.911] frame process finished the id is: 66 the obs is:30 
[10:03:21.935] Odometry x=0.010217, y=1.193352, theta=0.012948
[10:03:22.009] Image Alignment failed 0
[10:03:22.009] frame process finished the id is: 66 the obs is:30 
[10:03:22.035] Odometry x=0.010178, y=1.199129, theta=0.015323
[10:03:22.101] Image Alignment failed 0
[10:03:22.101] frame process finished the id is: 66 the obs is:30 
[10:03:22.139] Odometry x=0.010172, y=1.204495, theta=0.016837
[10:03:22.210] Image Alignment failed 0
[10:03:22.210] frame process finished the id is: 66 the obs is:30 
[10:03:22.239] Odometry x=0.010120, y=1.210848, theta=0.014676
[10:03:22.309] Image Alignment failed 0
[10:03:22.309] frame process finished the id is: 66 the obs is:30 
[10:03:22.338] Odometry x=0.010096, y=1.216098, theta=0.005929
[10:03:22.410] Image Alignment failed 0
[10:03:22.410] frame process finished the id is: 66 the obs is:30 
[10:03:22.436] Odometry x=0.010095, y=1.221777, theta=0.007145
[10:03:22.513] Image Alignment failed 0
[10:03:22.513] frame process finished the id is: 66 the obs is:30 
[10:03:22.536] Odometry x=0.010138, y=1.228163, theta=0.008203
[10:03:22.608] Image Alignment failed 0
[10:03:22.608] frame process finished the id is: 66 the obs is:30 
[10:03:22.636] Odometry x=0.010125, y=1.233763, theta=0.003359
[10:03:22.709] Image Alignment failed 0
[10:03:22.709] frame process finished the id is: 66 the obs is:30 
[10:03:22.742] Odometry x=0.011006, y=1.239153, theta=0.015111
[10:03:22.810] Image Alignment failed 0
[10:03:22.810] frame process finished the id is: 66 the obs is:30 
[10:03:22.841] Odometry x=0.010960, y=1.244738, theta=0.010236
[10:03:22.907] Image Alignment failed 0
[10:03:22.907] frame process finished the id is: 66 the obs is:30 
[10:03:22.936] Odometry x=0.010945, y=1.250679, theta=0.010801
[10:03:23.007] Image Alignment failed 0
[10:03:23.007] frame process finished the id is: 66 the obs is:30 
[10:03:23.035] Odometry x=0.010935, y=1.256703, theta=0.004614
[10:03:23.109] Image Alignment failed 0
[10:03:23.109] frame process finished the id is: 66 the obs is:30 
[10:03:23.139] Odometry x=0.010929, y=1.262230, theta=0.011503
[10:03:23.208] Image Alignment failed 0
[10:03:23.208] frame process finished the id is: 66 the obs is:30 
[10:03:23.239] Odometry x=0.010876, y=1.267793, theta=0.010166
[10:03:23.308] Image Alignment failed 0
[10:03:23.308] frame process finished the id is: 66 the obs is:30 
[10:03:23.334] Odometry x=0.011005, y=1.273495, theta=0.009474
[10:03:23.411] Image Alignment failed 0
[10:03:23.411] frame process finished the id is: 66 the obs is:30 
[10:03:23.435] Odometry x=0.010984, y=1.278671, theta=0.012989
[10:03:23.508] Image Alignment failed 0
[10:03:23.508] frame process finished the id is: 66 the obs is:30 
[10:03:23.536] Odometry x=0.011040, y=1.284399, theta=0.018972
[10:03:23.613] Image Alignment failed 0
[10:03:23.613] frame process finished the id is: 66 the obs is:30 
[10:03:23.636] Odometry x=0.010985, y=1.290273, theta=0.017543
[10:03:23.709] Image Alignment failed 0
[10:03:23.709] frame process finished the id is: 66 the obs is:30 
[10:03:23.739] Odometry x=0.010945, y=1.295786, theta=0.018036
[10:03:23.808] Image Alignment failed 0
[10:03:23.809] frame process finished the id is: 66 the obs is:30 
[10:03:23.838] Odometry x=0.010863, y=1.302141, theta=0.023915
[10:03:23.910] Image Alignment failed 0
[10:03:23.910] frame process finished the id is: 66 the obs is:30 
[10:03:23.937] Odometry x=0.010781, y=1.308735, theta=0.020740
[10:03:24.011] Image Alignment failed 0
[10:03:24.011] frame process finished the id is: 66 the obs is:30 
[10:03:24.035] Odometry x=0.010733, y=1.314068, theta=0.016677
[10:03:24.109] Image Alignment failed 0
[10:03:24.109] frame process finished the id is: 66 the obs is:30 
[10:03:24.136] Odometry x=0.010688, y=1.319468, theta=0.015012
[10:03:24.210] Image Alignment failed 0
[10:03:24.210] frame process finished the id is: 66 the obs is:30 
[10:03:24.236] Odometry x=0.010684, y=1.324899, theta=0.012619
[10:03:24.309] Image Alignment failed 0
[10:03:24.309] frame process finished the id is: 66 the obs is:30 
[10:03:24.336] Odometry x=0.010777, y=1.330264, theta=0.021121
[10:03:24.409] Image Alignment failed 0
[10:03:24.409] frame process finished the id is: 66 the obs is:30 
[10:03:24.434] Odometry x=0.010744, y=1.335951, theta=0.008784
[10:03:24.501] Image Alignment failed 0
[10:03:24.501] frame process finished the id is: 66 the obs is:30 
[10:03:24.537] Odometry x=0.010723, y=1.341305, theta=0.009149
[10:03:24.609] Image Alignment failed 0
[10:03:24.609] frame process finished the id is: 66 the obs is:30 
[10:03:24.637] Odometry x=0.010842, y=1.347376, theta=0.012948
[10:03:24.710] Image Alignment failed 0
[10:03:24.710] frame process finished the id is: 66 the obs is:30 
[10:03:24.741] Odometry x=0.010812, y=1.352705, theta=0.014873
[10:03:24.809] Image Alignment failed 0
[10:03:24.809] frame process finished the id is: 66 the obs is:30 
[10:03:24.836] Odometry x=0.010755, y=1.360785, theta=0.004618
[10:03:24.909] Image Alignment failed 0
[10:03:24.909] frame process finished the id is: 66 the obs is:30 
[10:03:24.933] Odometry x=0.010758, y=1.366106, theta=0.002037
[10:03:25.009] Image Alignment failed 0
[10:03:25.009] frame process finished the id is: 66 the obs is:30 
[10:03:25.036] Odometry x=0.010910, y=1.371598, theta=0.010202
[10:03:25.110] Image Alignment failed 0
[10:03:25.111] frame process finished the id is: 66 the obs is:30 
[10:03:25.137] Odometry x=0.010887, y=1.378088, theta=0.001969
[10:03:25.216] Image Alignment failed 0
[10:03:25.216] frame process finished the id is: 66 the obs is:30 
[10:03:25.240] Odometry x=0.010889, y=1.384115, theta=0.000143
[10:03:25.310] Image Alignment failed 0
[10:03:25.310] frame process finished the id is: 66 the obs is:30 
[10:03:25.339] Odometry x=0.010960, y=1.390787, theta=0.005740
[10:03:25.410] Image Alignment failed 0
[10:03:25.410] frame process finished the id is: 66 the obs is:30 
[10:03:25.435] Odometry x=0.010934, y=1.396256, theta=0.012821
[10:03:25.509] Image Alignment failed 0
[10:03:25.509] frame process finished the id is: 66 the obs is:30 
[10:03:25.544] Odometry x=0.010893, y=1.401441, theta=0.012847
[10:03:25.608] Image Alignment failed 0
[10:03:25.608] frame process finished the id is: 66 the obs is:30 
[10:03:25.634] Odometry x=0.010881, y=1.407679, theta=0.005817
[10:03:25.708] Image Alignment failed 0
[10:03:25.708] frame process finished the id is: 66 the obs is:30 
[10:03:25.740] Odometry x=0.010896, y=1.412592, theta=0.009105
[10:03:25.811] Image Alignment failed 0
[10:03:25.811] frame process finished the id is: 66 the obs is:30 
[10:03:25.839] Odometry x=0.010862, y=1.418391, theta=0.011758
[10:03:25.909] Image Alignment failed 0
[10:03:25.909] frame process finished the id is: 66 the obs is:30 
[10:03:25.938] Odometry x=0.010835, y=1.423490, theta=0.009037
[10:03:26.009] Image Alignment failed 0
[10:03:26.009] frame process finished the id is: 66 the obs is:30 
[10:03:26.038] Odometry x=0.010792, y=1.432013, theta=-0.006837
[10:03:26.109] Image Alignment failed 0
[10:03:26.109] frame process finished the id is: 66 the obs is:30 
[10:03:26.139] Odometry x=0.010813, y=1.437302, theta=-0.002850
[10:03:26.210] Image Alignment failed 0
[10:03:26.211] frame process finished the id is: 66 the obs is:30 
[10:03:26.235] Odometry x=0.010876, y=1.443120, theta=0.000483
[10:03:26.310] Image Alignment failed 0
[10:03:26.310] frame process finished the id is: 66 the obs is:30 
[10:03:26.337] Odometry x=0.010879, y=1.448372, theta=-0.002034
[10:03:26.409] Image Alignment failed 0
[10:03:26.409] frame process finished the id is: 66 the obs is:30 
[10:03:26.508] Image Alignment failed 0
[10:03:26.508] frame process finished the id is: 66 the obs is:30 
[10:03:26.609] Image Alignment failed 0
[10:03:26.609] frame process finished the id is: 66 the obs is:30 
[10:03:26.710] Image Alignment failed 0
[10:03:26.710] frame process finished the id is: 66 the obs is:30 
[10:03:26.810] Image Alignment failed 0
[10:03:26.810] frame process finished the id is: 66 the obs is:30 
[10:03:26.910] Image Alignment failed 0
[10:03:26.910] frame process finished the id is: 66 the obs is:30 
[10:03:27.006] Image Alignment failed 0
[10:03:27.006] frame process finished the id is: 66 the obs is:30 
[10:03:27.109] Image Alignment failed 0
[10:03:27.110] frame process finished the id is: 66 the obs is:30 
[10:03:27.208] Image Alignment failed 0
[10:03:27.208] frame process finished the id is: 66 the obs is:30 
[10:03:27.307] Image Alignment failed 0
[10:03:27.307] frame process finished the id is: 66 the obs is:30 
[10:03:27.410] Image Alignment failed 0
[10:03:27.410] frame process finished the id is: 66 the obs is:30 
[10:03:27.510] Image Alignment failed 0
[10:03:27.510] frame process finished the id is: 66 the obs is:30 
[10:03:27.610] Image Alignment failed 0
[10:03:27.610] frame process finished the id is: 66 the obs is:30 
[10:03:27.710] Image Alignment failed 0
[10:03:27.710] frame process finished the id is: 66 the obs is:30 
[10:03:27.809] Image Alignment failed 0
[10:03:27.809] frame process finished the id is: 66 the obs is:30 
[10:03:27.910] Image Alignment failed 0
[10:03:27.910] frame process finished the id is: 66 the obs is:30 
[10:03:28.009] Image Alignment failed 0
[10:03:28.009] frame process finished the id is: 66 the obs is:30 
[10:03:28.110] Image Alignment failed 0
[10:03:28.110] frame process finished the id is: 66 the obs is:30 
[10:03:28.209] Image Alignment failed 0
[10:03:28.209] frame process finished the id is: 66 the obs is:30 
[10:03:28.308] Image Alignment failed 0
[10:03:28.308] frame process finished the id is: 66 the obs is:30 
[10:03:28.409] Image Alignment failed 0
[10:03:28.409] frame process finished the id is: 66 the obs is:30 
[10:03:28.519] Image Alignment failed 0
[10:03:28.519] frame process finished the id is: 66 the obs is:30 
[10:03:28.610] Image Alignment failed 0
[10:03:28.610] frame process finished the id is: 66 the obs is:30 
[10:03:28.709] Image Alignment failed 0
[10:03:28.709] frame process finished the id is: 66 the obs is:30 
[10:03:28.810] Image Alignment failed 0
[10:03:28.810] frame process finished the id is: 66 the obs is:30 
[10:03:28.909] Image Alignment failed 0
[10:03:28.909] frame process finished the id is: 66 the obs is:30 
[10:03:29.010] Image Alignment failed 0
[10:03:29.010] frame process finished the id is: 66 the obs is:30 
[10:03:29.110] Image Alignment failed 0
[10:03:29.110] frame process finished the id is: 66 the obs is:30 
[10:03:29.209] Image Alignment failed 0
[10:03:29.209] frame process finished the id is: 66 the obs is:30 
[10:03:29.309] Image Alignment failed 0
[10:03:29.309] frame process finished the id is: 66 the obs is:30 
[10:03:29.410] Image Alignment failed 0
[10:03:29.410] frame process finished the id is: 66 the obs is:30 
[10:03:29.510] Image Alignment failed 0
[10:03:29.510] frame process finished the id is: 66 the obs is:30 
[10:03:29.609] Image Alignment failed 0
[10:03:29.609] frame process finished the id is: 66 the obs is:30 
[10:03:29.709] Image Alignment failed 0
[10:03:29.709] frame process finished the id is: 66 the obs is:30 
[10:03:29.810] Image Alignment failed 0
[10:03:29.810] frame process finished the id is: 66 the obs is:30 
[10:03:29.911] Image