[16:31:50.906] frame process finished the id is: 0 the obs is:0 
[16:31:50.997] Init: frame zero: 0.000000, 0.000000 0.000000
[16:31:50.997] Init: Selected first frame. 
[16:31:50.997] frame process finished the id is: 1 the obs is:0 
[16:31:51.099] Init: px average disparity is:0.176662 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:51.099] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:51.099] frame process finished the id is: 2 the obs is:0 
[16:31:51.197] Init: px average disparity is:0.231702 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:51.198] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:51.198] frame process finished the id is: 3 the obs is:0 
[16:31:51.297] Init: px average disparity is:0.243649 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:51.297] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:51.297] frame process finished the id is: 4 the obs is:0 
[16:31:51.396] Init: px average disparity is:0.298366 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:51.396] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:51.396] frame process finished the id is: 5 the obs is:0 
[16:31:51.498] Init: px average disparity is:0.446487 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:51.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:51.498] frame process finished the id is: 6 the obs is:0 
[16:31:51.598] Init: px average disparity is:0.356445 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:51.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:51.598] frame process finished the id is: 7 the obs is:0 
[16:31:51.695] Init: px average disparity is:0.490347 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:51.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:51.695] frame process finished the id is: 8 the obs is:0 
[16:31:51.797] Init: px average disparity is:0.488559 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:51.797] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:51.797] frame process finished the id is: 9 the obs is:0 
[16:31:51.896] Init: px average disparity is:0.486688 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:51.896] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:51.896] frame process finished the id is: 10 the obs is:0 
[16:31:51.996] Init: px average disparity is:0.551365 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:51.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:51.996] frame process finished the id is: 11 the obs is:0 
[16:31:52.095] Init: px average disparity is:0.619942 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:52.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:52.095] frame process finished the id is: 12 the obs is:0 
[16:31:52.195] Init: px average disparity is:0.690610 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:52.195] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:52.195] frame process finished the id is: 13 the obs is:0 
[16:31:52.296] Init: px average disparity is:0.677722 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:52.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:52.297] frame process finished the id is: 14 the obs is:0 
[16:31:52.397] Init: px average disparity is:0.647427 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:52.397] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:52.397] frame process finished the id is: 15 the obs is:0 
[16:31:52.495] Init: px average disparity is:0.708423 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:52.495] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:52.495] frame process finished the id is: 16 the obs is:0 
[16:31:52.598] Init: px average disparity is:0.606615 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:52.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:52.598] frame process finished the id is: 17 the obs is:0 
[16:31:52.695] Init: px average disparity is:0.630407 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:52.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:52.695] frame process finished the id is: 18 the obs is:0 
[16:31:52.795] Init: px average disparity is:0.679305 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:52.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:52.795] frame process finished the id is: 19 the obs is:0 
[16:31:52.895] Init: px average disparity is:0.742493 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:52.895] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:52.895] frame process finished the id is: 20 the obs is:0 
[16:31:53.002] Init: px average disparity is:0.626572 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:53.002] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:53.002] frame process finished the id is: 21 the obs is:0 
[16:31:53.102] Init: px average disparity is:0.663087 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:53.102] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:53.102] frame process finished the id is: 22 the obs is:0 
[16:31:53.202] Init: px average disparity is:0.670134 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:53.202] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:53.202] frame process finished the id is: 23 the obs is:0 
[16:31:53.301] Init: px average disparity is:0.621564 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:53.302] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:53.302] frame process finished the id is: 24 the obs is:0 
[16:31:53.401] Init: px average disparity is:0.620483 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:53.402] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:53.402] frame process finished the id is: 25 the obs is:0 
[16:31:53.503] Init: px average disparity is:0.672609 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:53.503] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:53.503] frame process finished the id is: 26 the obs is:0 
[16:31:53.605] Init: px average disparity is:0.566756 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:53.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:53.605] frame process finished the id is: 27 the obs is:0 
[16:31:53.702] Init: px average disparity is:0.684367 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:53.702] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:53.702] frame process finished the id is: 28 the obs is:0 
[16:31:53.802] Init: px average disparity is:0.643930 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:53.802] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:53.802] frame process finished the id is: 29 the obs is:0 
[16:31:53.903] Init: px average disparity is:0.623237 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:53.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:53.903] frame process finished the id is: 30 the obs is:0 
[16:31:54.003] Init: px average disparity is:0.609370 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:54.003] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:54.003] frame process finished the id is: 31 the obs is:0 
[16:31:54.103] Init: px average disparity is:0.673813 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:54.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:54.103] frame process finished the id is: 32 the obs is:0 
[16:31:54.203] Init: px average disparity is:0.696077 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:54.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:54.203] frame process finished the id is: 33 the obs is:0 
[16:31:54.302] Init: px average disparity is:0.581767 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:54.302] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:54.302] frame process finished the id is: 34 the obs is:0 
[16:31:54.403] Init: px average disparity is:0.533788 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:54.403] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:54.403] frame process finished the id is: 35 the obs is:0 
[16:31:54.500] Init: px average disparity is:0.618649 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:54.500] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:54.500] frame process finished the id is: 36 the obs is:0 
[16:31:54.604] Init: px average disparity is:0.634760 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:54.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:54.605] frame process finished the id is: 37 the obs is:0 
[16:31:54.703] Init: px average disparity is:0.591073 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:54.703] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:54.703] frame process finished the id is: 38 the obs is:0 
[16:31:54.803] Init: px average disparity is:0.561905 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:54.803] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:54.803] frame process finished the id is: 39 the obs is:0 
[16:31:54.904] Init: px average disparity is:0.686149 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:54.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:54.904] frame process finished the id is: 40 the obs is:0 
[16:31:55.004] Init: px average disparity is:0.561582 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:55.004] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:55.004] frame process finished the id is: 41 the obs is:0 
[16:31:55.104] Init: px average disparity is:0.673549 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:55.105] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:55.105] frame process finished the id is: 42 the obs is:0 
[16:31:55.203] Init: px average disparity is:0.588607 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:55.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:55.203] frame process finished the id is: 43 the obs is:0 
[16:31:55.303] Init: px average disparity is:0.657390 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:55.303] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:55.303] frame process finished the id is: 44 the obs is:0 
[16:31:55.404] Init: px average disparity is:0.646623 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:55.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:55.404] frame process finished the id is: 45 the obs is:0 
[16:31:55.503] Init: px average disparity is:0.694260 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:55.503] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:55.503] frame process finished the id is: 46 the obs is:0 
[16:31:55.605] Init: px average disparity is:0.611804 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:55.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:55.605] frame process finished the id is: 47 the obs is:0 
[16:31:55.704] Init: px average disparity is:0.686522 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:55.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:55.704] frame process finished the id is: 48 the obs is:0 
[16:31:55.806] Init: px average disparity is:0.512358 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:55.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:55.806] frame process finished the id is: 49 the obs is:0 
[16:31:55.895] Init: px average disparity is:0.705084 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:55.895] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:55.895] frame process finished the id is: 50 the obs is:0 
[16:31:56.001] Init: px average disparity is:0.679996 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:56.001] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:56.001] frame process finished the id is: 51 the obs is:0 
[16:31:56.107] Init: px average disparity is:0.681286 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:56.107] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:56.107] frame process finished the id is: 52 the obs is:0 
[16:31:56.208] Init: px average disparity is:0.599166 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:56.208] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:56.208] frame process finished the id is: 53 the obs is:0 
[16:31:56.305] Init: px average disparity is:0.640090 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:56.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:56.305] frame process finished the id is: 54 the obs is:0 
[16:31:56.390] Odometry x=0.000000, y=0.000000, theta=0.000000
[16:31:56.405] Init: px average disparity is:0.627500 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:56.405] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:56.405] frame process finished the id is: 55 the obs is:0 
[16:31:56.491] Odometry x=0.000000, y=0.000000, theta=0.000000
[16:31:56.504] Init: px average disparity is:0.583611 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:56.505] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:56.505] frame process finished the id is: 56 the obs is:0 
[16:31:56.590] Odometry x=-0.000000, y=-0.005932, theta=0.001023
[16:31:56.605] Init: px average disparity is:0.645293 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:56.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:56.605] frame process finished the id is: 57 the obs is:0 
[16:31:56.690] Odometry x=-0.002523, y=-0.043713, theta=0.003731
[16:31:56.705] Init: px average disparity is:5.093438 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:56.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:56.706] frame process finished the id is: 58 the obs is:0 
[16:31:56.785] Odometry x=-0.002529, y=-0.049048, theta=-0.000767
[16:31:56.806] Init: px average disparity is:9.921133 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:56.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:56.806] frame process finished the id is: 59 the obs is:0 
[16:31:56.889] Odometry x=-0.002514, y=-0.054155, theta=-0.000421
[16:31:56.905] Init: px average disparity is:9.389783 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:56.905] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:56.905] frame process finished the id is: 60 the obs is:0 
[16:31:56.986] Odometry x=-0.002427, y=-0.059616, theta=-0.004278
[16:31:57.006] Init: px average disparity is:10.847570 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:57.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:57.006] frame process finished the id is: 61 the obs is:0 
[16:31:57.089] Odometry x=-0.002401, y=-0.064898, theta=-0.000269
[16:31:57.105] Init: px average disparity is:13.652140 ,While minimum is: 40.000000  KLT tracked : 123
[16:31:57.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:57.106] frame process finished the id is: 62 the obs is:0 
[16:31:57.189] Odometry x=-0.002343, y=-0.069973, theta=0.005129
[16:31:57.207] Init: px average disparity is:17.292907 ,While minimum is: 40.000000  KLT tracked : 122
[16:31:57.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:57.207] frame process finished the id is: 63 the obs is:0 
[16:31:57.291] Odometry x=-0.002460, y=-0.075410, theta=-0.001224
[16:31:57.297] Init: px average disparity is:18.699293 ,While minimum is: 40.000000  KLT tracked : 121
[16:31:57.297] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:57.297] frame process finished the id is: 64 the obs is:0 
[16:31:57.383] Odometry x=-0.002444, y=-0.080998, theta=-0.005174
[16:31:57.406] Init: px average disparity is:21.120296 ,While minimum is: 40.000000  KLT tracked : 120
[16:31:57.406] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:57.406] frame process finished the id is: 65 the obs is:0 
[16:31:57.489] Odometry x=-0.002426, y=-0.085616, theta=-0.001409
[16:31:57.505] Init: px average disparity is:23.236261 ,While minimum is: 40.000000  KLT tracked : 120
[16:31:57.505] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:57.505] frame process finished the id is: 66 the obs is:0 
[16:31:57.590] Odometry x=-0.002230, y=-0.091294, theta=-0.002806
[16:31:57.604] Init: px average disparity is:26.126563 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:57.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:57.605] frame process finished the id is: 67 the obs is:0 
[16:31:57.686] Odometry x=-0.002230, y=-0.096925, theta=0.006066
[16:31:57.711] Init: px average disparity is:25.314079 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:57.711] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:57.711] frame process finished the id is: 68 the obs is:0 
[16:31:57.792] Odometry x=-0.001818, y=-0.102521, theta=0.004114
[16:31:57.806] Init: px average disparity is:18.448878 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:57.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:57.806] frame process finished the id is: 69 the obs is:0 
[16:31:57.887] Odometry x=-0.001826, y=-0.108179, theta=0.001484
[16:31:57.904] Init: px average disparity is:14.937389 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:57.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:57.904] frame process finished the id is: 70 the obs is:0 
[16:31:57.989] Odometry x=-0.001710, y=-0.112842, theta=0.007070
[16:31:58.005] Init: px average disparity is:11.649527 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:58.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:58.005] frame process finished the id is: 71 the obs is:0 
[16:31:58.091] Odometry x=-0.001713, y=-0.116056, theta=0.001882
[16:31:58.105] Init: px average disparity is:10.527807 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:58.105] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:58.105] frame process finished the id is: 72 the obs is:0 
[16:31:58.192] Odometry x=-0.001722, y=-0.121207, theta=0.002587
[16:31:58.206] Init: px average disparity is:10.349943 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:58.206] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:58.206] frame process finished the id is: 73 the obs is:0 
[16:31:58.292] Odometry x=-0.001720, y=-0.126831, theta=-0.000953
[16:31:58.307] Init: px average disparity is:9.816593 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:58.307] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:58.307] frame process finished the id is: 74 the obs is:0 
[16:31:58.391] Odometry x=-0.001733, y=-0.129442, theta=0.004560
[16:31:58.397] Init: px average disparity is:10.789921 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:58.397] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:58.397] frame process finished the id is: 75 the obs is:0 
[16:31:58.491] Odometry x=-0.001461, y=-0.132372, theta=-0.009195
[16:31:58.506] Init: px average disparity is:13.466755 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:58.506] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:58.506] frame process finished the id is: 76 the obs is:0 
[16:31:58.591] Odometry x=-0.001461, y=-0.137444, theta=0.012532
[16:31:58.612] Init: px average disparity is:14.047947 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:58.612] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:58.612] frame process finished the id is: 77 the obs is:0 
[16:31:58.690] Odometry x=-0.001390, y=-0.142885, theta=0.007022
[16:31:58.706] Init: px average disparity is:14.984088 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:58.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:58.706] frame process finished the id is: 78 the obs is:0 
[16:31:58.790] Odometry x=-0.001402, y=-0.147680, theta=0.011780
[16:31:58.806] Init: px average disparity is:17.076736 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:58.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:58.806] frame process finished the id is: 79 the obs is:0 
[16:31:58.890] Odometry x=0.000251, y=-0.152547, theta=0.016507
[16:31:58.906] Init: px average disparity is:15.960668 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:58.906] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:58.906] frame process finished the id is: 80 the obs is:0 
[16:31:58.990] Odometry x=0.000207, y=-0.157904, theta=0.013762
[16:31:59.006] Init: px average disparity is:20.359493 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:59.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:59.006] frame process finished the id is: 81 the obs is:0 
[16:31:59.089] Odometry x=0.000218, y=-0.163431, theta=0.007616
[16:31:59.107] Init: px average disparity is:22.889392 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:59.107] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:59.107] frame process finished the id is: 82 the obs is:0 
[16:31:59.189] Odometry x=0.000197, y=-0.168736, theta=0.009589
[16:31:59.209] Init: px average disparity is:23.864906 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:59.209] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:59.209] frame process finished the id is: 83 the obs is:0 
[16:31:59.289] Odometry x=0.000176, y=-0.174216, theta=0.006115
[16:31:59.307] Init: px average disparity is:24.940109 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:59.307] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:59.307] frame process finished the id is: 84 the obs is:0 
[16:31:59.389] Odometry x=0.000154, y=-0.179610, theta=0.012547
[16:31:59.407] Init: px average disparity is:20.805350 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:59.407] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:59.407] frame process finished the id is: 85 the obs is:0 
[16:31:59.492] Odometry x=0.000164, y=-0.185007, theta=0.003008
[16:31:59.497] Init: px average disparity is:19.360137 ,While minimum is: 40.000000  KLT tracked : 119
[16:31:59.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:59.498] frame process finished the id is: 86 the obs is:0 
[16:31:59.598] Odometry x=0.000131, y=-0.190360, theta=0.018428
[16:31:59.607] Init: px average disparity is:13.951045 ,While minimum is: 40.000000  KLT tracked : 118
[16:31:59.607] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:59.607] frame process finished the id is: 87 the obs is:0 
[16:31:59.691] Odometry x=0.000104, y=-0.195795, theta=0.011930
[16:31:59.707] Init: px average disparity is:12.056556 ,While minimum is: 40.000000  KLT tracked : 118
[16:31:59.707] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:59.707] frame process finished the id is: 88 the obs is:0 
[16:31:59.791] Odometry x=0.000148, y=-0.198915, theta=0.018243
[16:31:59.815] Init: px average disparity is:13.289181 ,While minimum is: 40.000000  KLT tracked : 118
[16:31:59.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:59.815] frame process finished the id is: 89 the obs is:0 
[16:31:59.891] Odometry x=0.000082, y=-0.204192, theta=0.020399
[16:31:59.907] Init: px average disparity is:15.981768 ,While minimum is: 40.000000  KLT tracked : 118
[16:31:59.908] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:31:59.908] frame process finished the id is: 90 the obs is:0 
[16:31:59.986] Odometry x=0.000027, y=-0.208450, theta=0.000841
[16:32:00.006] Init: px average disparity is:13.674085 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:00.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:00.006] frame process finished the id is: 91 the obs is:0 
[16:32:00.087] Odometry x=-0.000013, y=-0.213562, theta=0.001724
[16:32:00.106] Init: px average disparity is:16.058524 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:00.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:00.106] frame process finished the id is: 92 the obs is:0 
[16:32:00.195] Odometry x=-0.000119, y=-0.213182, theta=0.002589
[16:32:00.207] Init: px average disparity is:13.762964 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:00.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:00.207] frame process finished the id is: 93 the obs is:0 
[16:32:00.286] Odometry x=0.000439, y=-0.218676, theta=-0.003095
[16:32:00.306] Init: px average disparity is:13.568470 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:00.306] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:00.306] frame process finished the id is: 94 the obs is:0 
[16:32:00.387] Odometry x=0.000389, y=-0.223599, theta=0.003446
[16:32:00.406] Init: px average disparity is:15.165335 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:00.406] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:00.406] frame process finished the id is: 95 the obs is:0 
[16:32:00.485] Odometry x=0.000495, y=-0.228631, theta=-0.000229
[16:32:00.508] Init: px average disparity is:16.081270 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:00.508] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:00.508] frame process finished the id is: 96 the obs is:0 
[16:32:00.591] Odometry x=0.000496, y=-0.234301, theta=0.000302
[16:32:00.612] Init: px average disparity is:23.001996 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:00.612] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:00.612] frame process finished the id is: 97 the obs is:0 
[16:32:00.690] Odometry x=0.003069, y=-0.223732, theta=0.004429
[16:32:00.701] Init: px average disparity is:22.149165 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:00.701] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:00.701] frame process finished the id is: 98 the obs is:0 
[16:32:00.794] Odometry x=0.003038, y=-0.229881, theta=0.009631
[16:32:00.808] Init: px average disparity is:21.013592 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:00.808] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:00.808] frame process finished the id is: 99 the obs is:0 
[16:32:00.887] Odometry x=0.003406, y=-0.234084, theta=0.012792
[16:32:00.907] Init: px average disparity is:19.147360 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:00.907] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:00.907] frame process finished the id is: 100 the obs is:0 
[16:32:00.988] Odometry x=0.003383, y=-0.239128, theta=0.002506
[16:32:01.007] Init: px average disparity is:20.135640 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:01.007] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:01.007] frame process finished the id is: 101 the obs is:0 
[16:32:01.089] Odometry x=0.003614, y=-0.244615, theta=0.003991
[16:32:01.107] Init: px average disparity is:20.555002 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:01.107] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:01.107] frame process finished the id is: 102 the obs is:0 
[16:32:01.192] Odometry x=0.003651, y=-0.250146, theta=0.008094
[16:32:01.198] Init: px average disparity is:19.413411 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:01.198] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:01.198] frame process finished the id is: 103 the obs is:0 
[16:32:01.289] Odometry x=0.003659, y=-0.255649, theta=-0.004196
[16:32:01.307] Init: px average disparity is:22.195258 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:01.307] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:01.307] frame process finished the id is: 104 the obs is:0 
[16:32:01.390] Odometry x=0.003799, y=-0.260128, theta=0.010205
[16:32:01.407] Init: px average disparity is:21.626414 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:01.408] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:01.408] frame process finished the id is: 105 the obs is:0 
[16:32:01.489] Odometry x=0.004390, y=-0.264364, theta=0.007403
[16:32:01.514] Init: px average disparity is:21.513379 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:01.514] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:01.514] frame process finished the id is: 106 the obs is:0 
[16:32:01.589] Odometry x=0.004534, y=-0.269860, theta=0.007934
[16:32:01.607] Init: px average disparity is:22.921550 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:01.607] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:01.607] frame process finished the id is: 107 the obs is:0 
[16:32:01.691] Odometry x=0.004572, y=-0.274910, theta=-0.006605
[16:32:01.709] Init: px average disparity is:23.733170 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:01.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:01.709] frame process finished the id is: 108 the obs is:0 
[16:32:01.788] Odometry x=0.004620, y=-0.280607, theta=-0.004723
[16:32:01.798] Init: px average disparity is:22.727107 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:01.798] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:01.798] frame process finished the id is: 109 the obs is:0 
[16:32:01.887] Odometry x=0.004711, y=-0.285835, theta=-0.010626
[16:32:01.908] Init: px average disparity is:22.767356 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:01.908] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:01.908] frame process finished the id is: 110 the obs is:0 
[16:32:01.988] Odometry x=0.004738, y=-0.290977, theta=0.001416
[16:32:02.008] Init: px average disparity is:22.155347 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:02.008] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:02.008] frame process finished the id is: 111 the obs is:0 
[16:32:02.093] Odometry x=0.005450, y=-0.296578, theta=-0.007215
[16:32:02.108] Init: px average disparity is:23.712618 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:02.109] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:02.109] frame process finished the id is: 112 the obs is:0 
[16:32:02.189] Odometry x=0.004948, y=-0.301987, theta=-0.002522
[16:32:02.208] Init: px average disparity is:24.651488 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:02.208] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:02.208] frame process finished the id is: 113 the obs is:0 
[16:32:02.293] Odometry x=0.004957, y=-0.307213, theta=-0.004920
[16:32:02.314] Init: px average disparity is:26.721089 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:02.314] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:02.314] frame process finished the id is: 114 the obs is:0 
[16:32:02.389] Odometry x=0.004966, y=-0.312645, theta=-0.001516
[16:32:02.408] Init: px average disparity is:26.872318 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:02.409] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:02.409] frame process finished the id is: 115 the obs is:0 
[16:32:02.489] Odometry x=0.005073, y=-0.315958, theta=-0.009413
[16:32:02.509] Init: px average disparity is:25.744648 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:02.509] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:02.509] frame process finished the id is: 116 the obs is:0 
[16:32:02.589] Odometry x=0.005096, y=-0.321309, theta=-0.004572
[16:32:02.610] Init: px average disparity is:23.628069 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:02.610] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:02.610] frame process finished the id is: 117 the obs is:0 
[16:32:02.691] Odometry x=0.005132, y=-0.326650, theta=-0.009712
[16:32:02.714] Init: px average disparity is:24.661978 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:02.714] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:02.714] frame process finished the id is: 118 the obs is:0 
[16:32:02.790] Odometry x=0.005161, y=-0.332113, theta=-0.010277
[16:32:02.814] Init: px average disparity is:25.049956 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:02.814] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:02.814] frame process finished the id is: 119 the obs is:0 
[16:32:02.888] Odometry x=0.005179, y=-0.337380, theta=-0.003007
[16:32:02.903] Init: px average disparity is:26.396367 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:02.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:02.903] frame process finished the id is: 120 the obs is:0 
[16:32:02.989] Odometry x=0.005182, y=-0.342678, theta=-0.002181
[16:32:03.010] Init: px average disparity is:25.234994 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:03.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:03.010] frame process finished the id is: 121 the obs is:0 
[16:32:03.095] Odometry x=0.005183, y=-0.348106, theta=-0.000980
[16:32:03.108] Init: px average disparity is:26.675480 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:03.108] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:03.108] frame process finished the id is: 122 the obs is:0 
[16:32:03.188] Odometry x=0.005258, y=-0.353824, theta=-0.005902
[16:32:03.208] Init: px average disparity is:26.265634 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:03.208] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:03.208] frame process finished the id is: 123 the obs is:0 
[16:32:03.294] Odometry x=0.005268, y=-0.359009, theta=-0.004718
[16:32:03.309] Init: px average disparity is:28.219774 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:03.309] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:03.309] frame process finished the id is: 124 the obs is:0 
[16:32:03.390] Odometry x=0.005270, y=-0.364647, theta=0.000068
[16:32:03.409] Init: px average disparity is:28.996223 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:03.409] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:03.409] frame process finished the id is: 125 the obs is:0 
[16:32:03.485] Odometry x=0.005266, y=-0.369825, theta=-0.003705
[16:32:03.508] Init: px average disparity is:32.256793 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:03.509] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:03.509] frame process finished the id is: 126 the obs is:0 
[16:32:03.590] Odometry x=0.005284, y=-0.374079, theta=-0.005087
[16:32:03.619] Init: px average disparity is:30.452129 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:03.619] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:03.619] frame process finished the id is: 127 the obs is:0 
[16:32:03.690] Odometry x=0.005321, y=-0.379395, theta=-0.008989
[16:32:03.709] Init: px average disparity is:29.675494 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:03.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:03.709] frame process finished the id is: 128 the obs is:0 
[16:32:03.789] Odometry x=0.005373, y=-0.385117, theta=-0.009392
[16:32:03.809] Init: px average disparity is:30.339197 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:03.809] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:03.809] frame process finished the id is: 129 the obs is:0 
[16:32:03.890] Odometry x=0.005403, y=-0.390583, theta=-0.012982
[16:32:03.909] Init: px average disparity is:33.056479 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:03.909] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:03.910] frame process finished the id is: 130 the obs is:0 
[16:32:03.990] Odometry x=0.005422, y=-0.394713, theta=-0.011219
[16:32:04.009] Init: px average disparity is:32.944858 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:04.009] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:04.009] frame process finished the id is: 131 the obs is:0 
[16:32:04.089] Odometry x=0.005579, y=-0.400057, theta=-0.017518
[16:32:04.098] Init: px average disparity is:34.336130 ,While minimum is: 40.000000  KLT tracked : 118
[16:32:04.098] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:04.098] frame process finished the id is: 132 the obs is:0 
[16:32:04.188] Odometry x=0.005657, y=-0.405415, theta=-0.009065
[16:32:04.217] Init: px average disparity is:36.675949 ,While minimum is: 40.000000  KLT tracked : 117
[16:32:04.217] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:04.217] frame process finished the id is: 133 the obs is:0 
[16:32:04.288] Odometry x=0.005715, y=-0.408248, theta=-0.017489
[16:32:04.310] Init: px average disparity is:37.425772 ,While minimum is: 40.000000  KLT tracked : 117
[16:32:04.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:04.310] frame process finished the id is: 134 the obs is:0 
[16:32:04.388] Odometry x=0.005752, y=-0.413353, theta=-0.009997
[16:32:04.410] Init: px average disparity is:32.327735 ,While minimum is: 40.000000  KLT tracked : 115
[16:32:04.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:04.410] frame process finished the id is: 135 the obs is:0 
[16:32:04.488] Odometry x=0.005750, y=-0.418674, theta=-0.016637
[16:32:04.509] Init: px average disparity is:28.573211 ,While minimum is: 40.000000  KLT tracked : 113
[16:32:04.510] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:04.510] frame process finished the id is: 136 the obs is:0 
[16:32:04.588] Odometry x=0.005818, y=-0.423990, theta=-0.019360
[16:32:04.611] Init: px average disparity is:28.717315 ,While minimum is: 40.000000  KLT tracked : 113
[16:32:04.611] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:04.611] frame process finished the id is: 137 the obs is:0 
[16:32:04.688] Odometry x=0.005868, y=-0.429716, theta=-0.014029
[16:32:04.711] Init: px average disparity is:34.774880 ,While minimum is: 40.000000  KLT tracked : 113
[16:32:04.711] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:04.711] frame process finished the id is: 138 the obs is:0 
[16:32:04.788] Odometry x=0.006027, y=-0.434157, theta=-0.019355
[16:32:04.810] Init: px average disparity is:34.784472 ,While minimum is: 40.000000  KLT tracked : 111
[16:32:04.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:04.810] frame process finished the id is: 139 the obs is:0 
[16:32:04.888] Odometry x=0.006095, y=-0.439493, theta=-0.008592
[16:32:04.911] Init: px average disparity is:32.999429 ,While minimum is: 40.000000  KLT tracked : 110
[16:32:04.911] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:04.911] frame process finished the id is: 140 the obs is:0 
[16:32:04.987] Odometry x=0.006110, y=-0.444647, theta=-0.004616
[16:32:05.009] Init: px average disparity is:31.624653 ,While minimum is: 40.000000  KLT tracked : 109
[16:32:05.009] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:05.009] frame process finished the id is: 141 the obs is:0 
[16:32:05.093] Odometry x=0.006140, y=-0.450006, theta=-0.009641
[16:32:05.109] Init: px average disparity is:32.967347 ,While minimum is: 40.000000  KLT tracked : 109
[16:32:05.110] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:05.110] frame process finished the id is: 142 the obs is:0 
[16:32:05.186] Odometry x=0.006159, y=-0.455631, theta=-0.014783
[16:32:05.210] Init: px average disparity is:33.717344 ,While minimum is: 40.000000  KLT tracked : 109
[16:32:05.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:05.210] frame process finished the id is: 143 the obs is:0 
[16:32:05.286] Odometry x=0.006192, y=-0.460525, theta=-0.015146
[16:32:05.310] Init: px average disparity is:35.856300 ,While minimum is: 40.000000  KLT tracked : 109
[16:32:05.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:05.310] frame process finished the id is: 144 the obs is:0 
[16:32:05.388] Odometry x=0.006233, y=-0.465612, theta=-0.018771
[16:32:05.409] Init: px average disparity is:37.873664 ,While minimum is: 40.000000  KLT tracked : 109
[16:32:05.409] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:05.409] frame process finished the id is: 145 the obs is:0 
[16:32:05.488] Odometry x=0.006272, y=-0.470918, theta=-0.015033
[16:32:05.515] Init: px average disparity is:39.989901 ,While minimum is: 40.000000  KLT tracked : 109
[16:32:05.515] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:32:05.516] frame process finished the id is: 146 the obs is:0 
[16:32:05.593] Odometry x=0.006330, y=-0.475363, theta=-0.015908
[16:32:05.679] inlier: x=-2.316586, y=2.037493, z=-5.145954 pos: x=-2.214474 y=1.390050 z=-5.878202
[16:32:05.679] inlier: x=-2.303918, y=2.028512, z=-5.163616 pos: x=-2.201481 y=1.379012 z=-5.894403
[16:32:05.679] inlier: x=-2.342526, y=2.049010, z=-5.203282 pos: x=-2.239348 y=1.394437 z=-5.936974
[16:32:05.679] inlier: x=-2.344439, y=2.082391, z=-5.662436 pos: x=-2.232754 y=1.371618 z=-6.396730
[16:32:05.679] inlier: x=-2.083312, y=2.456384, z=-7.196304 pos: x=-1.943258 y=1.556513 z=-7.959681
[16:32:05.679] inlier: x=-2.422527, y=2.859102, z=-8.370996 pos: x=-2.260654 y=1.812329 z=-9.180733
[16:32:05.679] inlier: x=-2.745556, y=2.207917, z=-7.430581 pos: x=-2.601048 y=1.279857 z=-8.174067
[16:32:05.679] inlier: x=0.146745, y=-0.323411, z=1.469316 pos: x=0.125887 y=-0.141635 z=1.019646
[16:32:05.679] inlier: x=0.142276, y=-0.328848, z=1.477362 pos: x=0.121270 y=-0.146061 z=1.028211
[16:32:05.679] inlier: x=0.148215, y=-0.330419, z=1.485039 pos: x=0.127066 y=-0.146672 z=1.036131
[16:32:05.679] inlier: x=-1.096571, y=0.111344, z=-3.090179 pos: x=-1.032751 y=-0.268495 z=-3.580931
[16:32:05.679] inlier: x=-1.009955, y=-0.302019, z=-3.151666 pos: x=-0.945011 y=-0.686073 z=-3.589980
[16:32:05.679] inlier: x=-1.167294, y=-0.378295, z=-1.784291 pos: x=-1.127654 y=-0.595524 z=-2.226627
[16:32:05.679] inlier: x=-2.386639, y=2.106846, z=-5.760110 pos: x=-2.273138 y=1.383894 z=-6.497416
[16:32:05.679] inlier: x=-6.025852, y=7.382330, z=-21.349844 pos: x=-5.622930 y=4.712255 z=-22.678124
[16:32:05.679] inlier: x=6.970421, y=-8.869008, z=27.006518 pos: x=6.475321 y=-5.496463 z=27.529059
[16:32:05.679] inlier: x=0.149803, y=-0.311724, z=1.448875 pos: x=0.129324 y=-0.132519 z=0.997993
[16:32:05.679] inlier: x=-1.081253, y=-0.031918, z=-3.006827 pos: x=-1.018980 y=-0.400498 z=-3.480473
[16:32:05.679] inlier: x=-4.370262, y=5.647190, z=-16.092861 pos: x=-4.065008 y=3.634341 z=-17.219320
[16:32:05.679] inlier: x=0.132925, y=-0.282150, z=1.372073 pos: x=0.113872 y=-0.112562 z=0.917862
[16:32:05.679] inlier: x=0.220071, y=-0.654654, z=2.339989 pos: x=0.183072 y=-0.364154 z=1.925397
[16:32:05.679] Init finished: Homography RANSAC (inlier) is:21 ,While 20 inliers minimum required.  px average disparity is:41.625505 ,While minimum is: 40.000000  KLT tracked: 108
[16:32:05.679] Init: distance between the first and current frame is x:0.006387 ,z=-0.480580,angle between two frames: -0.018526 
[16:32:05.682] Init: Selected Second frame. 	 The number of features: 21 depth mean:-4.076583 min:-23.663468
[16:32:05.682] frame process finished the id is: 147 the obs is:21 
[16:32:05.693] Odometry x=0.006387, y=-0.480580, theta=-0.018526
[16:32:05.791] Odometry x=0.006488, y=-0.485119, theta=-0.034196
[16:32:05.834] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000004 ,z=-0.000003,angle between two frames:0.000000
[16:32:05.834] After pose optimization, distance between ekf and vo x:-0.000004 ,z=-0.000003,angle between two frames:0.000000
[16:32:05.834] frame process finished the id is: 147 the obs is:21 
[16:32:05.886] Odometry x=0.006669, y=-0.490335, theta=-0.026023
[16:32:05.977] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.000007 ,z=-0.000011,angle between two frames:0.000000
[16:32:05.977] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000011,angle between two frames:0.000000
[16:32:05.977] frame process finished the id is: 147 the obs is:21 
[16:32:05.990] Odometry x=0.006722, y=-0.495371, theta=-0.017152
[16:32:06.087] Odometry x=0.006807, y=-0.501009, theta=-0.032935
[16:32:06.121] After Reprojection Map nPoint:19 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000008 ,z=-0.000012,angle between two frames:0.000000
[16:32:06.121] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.121862 	 error end=0.119048
[16:32:06.121] After pose optimization, distance between ekf and vo x:0.001893 ,z=-0.041526,angle between two frames:0.003693
[16:32:06.121] frame process finished the id is: 147 the obs is:21 
[16:32:06.189] Odometry x=0.006891, y=-0.506089, theta=-0.030343
[16:32:06.266] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000025 ,z=-0.000043,angle between two frames:0.000000
[16:32:06.266] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.299711 	 error end=0.299711
[16:32:06.266] After pose optimization, distance between ekf and vo x:-0.000025 ,z=-0.000043,angle between two frames:0.000000
[16:32:06.266] frame process finished the id is: 147 the obs is:21 
[16:32:06.287] Odometry x=0.006984, y=-0.511488, theta=-0.036134
[16:32:06.389] Odometry x=0.007097, y=-0.516883, theta=-0.028379
[16:32:06.410] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000018 ,z=-0.000040,angle between two frames:0.000000
[16:32:06.410] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.746387 	 error end=0.480837
[16:32:06.410] After pose optimization, distance between ekf and vo x:-0.056921 ,z=-0.147799,angle between two frames:0.079629
[16:32:06.410] frame process finished the id is: 147 the obs is:21 
[16:32:06.487] Odometry x=0.007192, y=-0.522242, theta=-0.037669
[16:32:06.560] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000023 ,z=-0.000029,angle between two frames:0.000002
[16:32:06.560] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.186783 	 error end=0.186783
[16:32:06.560] After pose optimization, distance between ekf and vo x:-0.000023 ,z=-0.000029,angle between two frames:0.000002
[16:32:06.560] frame process finished the id is: 147 the obs is:21 
[16:32:06.585] Odometry x=0.007279, y=-0.527590, theta=-0.028151
[16:32:06.687] Odometry x=0.007429, y=-0.532556, theta=-0.036683
[16:32:06.705] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:0.000475 ,z=0.002503,angle between two frames:0.000146
[16:32:06.705] After pose optimization, distance between ekf and vo x:0.000475 ,z=0.002503,angle between two frames:0.000146
[16:32:06.705] frame process finished the id is: 147 the obs is:21 
[16:32:06.784] Odometry x=0.007516, y=-0.537495, theta=-0.034721
[16:32:06.856] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000021,angle between two frames:0.000000
[16:32:06.856] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.654590 	 error end=0.654590
[16:32:06.856] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000021,angle between two frames:0.000000
[16:32:06.856] frame process finished the id is: 147 the obs is:21 
[16:32:06.886] Odometry x=0.007607, y=-0.542854, theta=-0.030204
[16:32:06.984] Odometry x=0.007687, y=-0.548176, theta=-0.032988
[16:32:07.001] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.000019 ,z=-0.000029,angle between two frames:0.000000
[16:32:07.001] After pose optimization, distance between ekf and vo x:-0.000019 ,z=-0.000029,angle between two frames:0.000000
[16:32:07.001] frame process finished the id is: 147 the obs is:21 
[16:32:07.087] Odometry x=0.007766, y=-0.553373, theta=-0.029916
[16:32:07.144] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000014 ,z=-0.000018,angle between two frames:0.000001
[16:32:07.144] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000018,angle between two frames:0.000001
[16:32:07.144] frame process finished the id is: 147 the obs is:21 
[16:32:07.185] Odometry x=0.007810, y=-0.558768, theta=-0.030678
[16:32:07.283] Odometry x=0.008214, y=-0.563365, theta=-0.031652
[16:32:07.287] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000008 ,z=0.000001,angle between two frames:0.000001
[16:32:07.287] After pose optimization, distance between ekf and vo x:-0.000008 ,z=0.000001,angle between two frames:0.000001
[16:32:07.287] frame process finished the id is: 147 the obs is:21 
[16:32:07.384] Odometry x=0.008288, y=-0.568728, theta=-0.027563
[16:32:07.434] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:-0.000005 ,z=-0.000018,angle between two frames:0.000000
[16:32:07.434] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.153272 	 error end=0.134457
[16:32:07.434] After pose optimization, distance between ekf and vo x:-0.003364 ,z=0.002861,angle between two frames:0.004134
[16:32:07.434] frame process finished the id is: 147 the obs is:21 
[16:32:07.486] Odometry x=0.008405, y=-0.573564, theta=-0.030817
[16:32:07.583] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:0.000022 ,z=0.000023,angle between two frames:0.000000
[16:32:07.583] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.459275 	 error end=0.459275
[16:32:07.583] After pose optimization, distance between ekf and vo x:0.000022 ,z=0.000023,angle between two frames:0.000000
[16:32:07.583] frame process finished the id is: 147 the obs is:21 
[16:32:07.585] Odometry x=0.008502, y=-0.577904, theta=-0.044393
[16:32:07.685] Odometry x=0.008765, y=-0.583069, theta=-0.040863
[16:32:07.727] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:2 ,distance between ekf and vo x:-0.000025 ,z=-0.000048,angle between two frames:0.000000
[16:32:07.727] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.670155 	 error end=0.670155
[16:32:07.727] After pose optimization, distance between ekf and vo x:-0.000025 ,z=-0.000048,angle between two frames:0.000000
[16:32:07.727] frame process finished the id is: 147 the obs is:21 
[16:32:07.782] Odometry x=0.008957, y=-0.587414, theta=-0.041081
[16:32:07.875] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:2 ,distance between ekf and vo x:-0.000007 ,z=-0.000030,angle between two frames:0.000000
[16:32:07.875] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.537067 	 error end=0.537067
[16:32:07.875] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000030,angle between two frames:0.000000
[16:32:07.875] frame process finished the id is: 147 the obs is:21 
[16:32:07.887] Odometry x=0.009083, y=-0.592730, theta=-0.042911
[16:32:07.990] Odometry x=0.009397, y=-0.598063, theta=-0.033465
[16:32:08.019] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000013 ,z=-0.000018,angle between two frames:0.000001
[16:32:08.019] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.498526 	 error end=0.487367
[16:32:08.019] After pose optimization, distance between ekf and vo x:0.176049 ,z=0.043105,angle between two frames:0.056793
[16:32:08.019] frame process finished the id is: 147 the obs is:21 
[16:32:08.087] Odometry x=0.009493, y=-0.603223, theta=-0.033956
[16:32:08.165] After Reprojection Map nPoint:26 ,nCell:19 ,nMatches:6 ,distance between ekf and vo x:-0.000035 ,z=-0.000077,angle between two frames:0.000000
[16:32:08.165] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =14 	 error init =0.397616 	 error end=0.392796
[16:32:08.165] After pose optimization, distance between ekf and vo x:-0.066712 ,z=-0.020721,angle between two frames:0.026977
[16:32:08.165] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18
[16:32:08.165] key frame check new frame:-0.053572 -0.623106 -0.059700, key close:0.006387 -0.480580 -0.018526
[16:32:08.165] Choose frame as a key frame Scene Depth mean:0.347407 ,depth min:0.316508
[16:32:08.165] frame process finished the id is: 164 the obs is:18 
[16:32:08.189] Odometry x=-0.053572, y=-0.623106, theta=-0.059700
[16:32:08.286] Odometry x=-0.053347, y=-0.629593, theta=-0.064351
[16:32:08.309] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000384 ,z=0.000115,angle between two frames:0.000158
[16:32:08.309] After pose optimization, distance between ekf and vo x:-0.000384 ,z=0.000115,angle between two frames:0.000158
[16:32:08.309] frame process finished the id is: 164 the obs is:18 
[16:32:08.388] Odometry x=-0.053155, y=-0.634598, theta=-0.056661
[16:32:08.452] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:-0.000241 ,z=0.000048,angle between two frames:0.000088
[16:32:08.452] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.298615 	 error end=0.298615
[16:32:08.452] After pose optimization, distance between ekf and vo x:-0.000241 ,z=0.000048,angle between two frames:0.000088
[16:32:08.452] frame process finished the id is: 164 the obs is:18 
[16:32:08.488] Odometry x=-0.052993, y=-0.640182, theta=-0.059913
[16:32:08.590] Odometry x=-0.052808, y=-0.645454, theta=-0.053001
[16:32:08.596] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:-0.000542 ,z=0.000065,angle between two frames:0.000216
[16:32:08.596] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.305267 	 error end=0.303649
[16:32:08.596] After pose optimization, distance between ekf and vo x:-0.001854 ,z=0.002164,angle between two frames:0.000646
[16:32:08.596] frame process finished the id is: 164 the obs is:18 
[16:32:08.693] Odometry x=-0.052666, y=-0.650550, theta=-0.054826
[16:32:08.740] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000549 ,z=0.000103,angle between two frames:0.000225
[16:32:08.740] After pose optimization, distance between ekf and vo x:-0.000549 ,z=0.000103,angle between two frames:0.000225
[16:32:08.740] frame process finished the id is: 164 the obs is:18 
[16:32:08.788] Odometry x=-0.052522, y=-0.656477, theta=-0.054258
[16:32:08.883] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000949 ,z=0.000153,angle between two frames:0.000389
[16:32:08.883] After pose optimization, distance between ekf and vo x:-0.000949 ,z=0.000153,angle between two frames:0.000389
[16:32:08.883] frame process finished the id is: 164 the obs is:18 
[16:32:08.891] Odometry x=-0.052335, y=-0.661353, theta=-0.057094
[16:32:08.989] Odometry x=-0.052181, y=-0.667041, theta=-0.055521
[16:32:09.027] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000494 ,z=0.000117,angle between two frames:0.000199
[16:32:09.027] After pose optimization, distance between ekf and vo x:-0.000494 ,z=0.000117,angle between two frames:0.000199
[16:32:09.027] frame process finished the id is: 164 the obs is:18 
[16:32:09.083] Odometry x=-0.052027, y=-0.671902, theta=-0.054103
[16:32:09.173] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000672 ,z=0.000143,angle between two frames:0.000272
[16:32:09.173] After pose optimization, distance between ekf and vo x:-0.000672 ,z=0.000143,angle between two frames:0.000272
[16:32:09.173] frame process finished the id is: 164 the obs is:18 
[16:32:09.187] Odometry x=-0.051893, y=-0.676236, theta=-0.062766
[16:32:09.288] Odometry x=-0.051701, y=-0.681978, theta=-0.061314
[16:32:09.318] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000052 ,z=0.000007,angle between two frames:0.000001
[16:32:09.318] After pose optimization, distance between ekf and vo x:-0.000052 ,z=0.000007,angle between two frames:0.000001
[16:32:09.318] frame process finished the id is: 164 the obs is:18 
[16:32:09.389] Odometry x=-0.051544, y=-0.687344, theta=-0.059152
[16:32:09.463] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000119 ,z=0.000020,angle between two frames:0.000035
[16:32:09.463] After pose optimization, distance between ekf and vo x:-0.000119 ,z=0.000020,angle between two frames:0.000035
[16:32:09.463] frame process finished the id is: 164 the obs is:18 
[16:32:09.488] Odometry x=-0.051836, y=-0.692291, theta=-0.062371
[16:32:09.589] Odometry x=-0.051657, y=-0.697434, theta=-0.064931
[16:32:09.608] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000155 ,z=0.000004,angle between two frames:0.000041
[16:32:09.609] After pose optimization, distance between ekf and vo x:-0.000155 ,z=0.000004,angle between two frames:0.000041
[16:32:09.609] frame process finished the id is: 164 the obs is:18 
[16:32:09.689] Odometry x=-0.051274, y=-0.702945, theta=-0.069471
[16:32:09.753] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000209 ,z=0.000081,angle between two frames:0.000082
[16:32:09.754] After pose optimization, distance between ekf and vo x:-0.000209 ,z=0.000081,angle between two frames:0.000082
[16:32:09.754] frame process finished the id is: 164 the obs is:18 
[16:32:09.789] Odometry x=-0.050870, y=-0.708071, theta=-0.059563
[16:32:09.884] Odometry x=-0.050697, y=-0.713437, theta=-0.061876
[16:32:09.898] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000100 ,z=0.000010,angle between two frames:0.000023
[16:32:09.898] After pose optimization, distance between ekf and vo x:-0.000100 ,z=0.000010,angle between two frames:0.000023
[16:32:09.898] frame process finished the id is: 164 the obs is:18 
[16:32:09.989] Odometry x=-0.050441, y=-0.718474, theta=-0.047867
[16:32:10.043] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:-0.000172 ,z=0.000032,angle between two frames:0.000063
[16:32:10.043] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.174213 	 error end=0.174213
[16:32:10.043] After pose optimization, distance between ekf and vo x:-0.000172 ,z=0.000032,angle between two frames:0.000063
[16:32:10.043] frame process finished the id is: 164 the obs is:18 
[16:32:10.089] Odometry x=-0.050251, y=-0.724000, theta=-0.044043
[16:32:10.184] Odometry x=-0.050117, y=-0.729519, theta=-0.058049
[16:32:10.188] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000110 ,z=0.000098,angle between two frames:0.000043
[16:32:10.188] After pose optimization, distance between ekf and vo x:-0.000110 ,z=0.000098,angle between two frames:0.000043
[16:32:10.188] frame process finished the id is: 164 the obs is:18 
[16:32:10.289] Odometry x=-0.049959, y=-0.734312, theta=-0.058124
[16:32:10.334] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000276 ,z=0.000040,angle between two frames:0.000104
[16:32:10.334] After pose optimization, distance between ekf and vo x:-0.000276 ,z=0.000040,angle between two frames:0.000104
[16:32:10.334] frame process finished the id is: 164 the obs is:18 
[16:32:10.389] Odometry x=-0.049802, y=-0.740008, theta=-0.052477
[16:32:10.479] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000342 ,z=0.000052,angle between two frames:0.000126
[16:32:10.479] After pose optimization, distance between ekf and vo x:-0.000342 ,z=0.000052,angle between two frames:0.000126
[16:32:10.479] frame process finished the id is: 164 the obs is:18 
[16:32:10.489] Odometry x=-0.049607, y=-0.745527, theta=-0.056376
[16:32:10.589] Odometry x=-0.049466, y=-0.750684, theta=-0.055362
[16:32:10.623] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:-0.000307 ,z=0.000085,angle between two frames:0.000118
[16:32:10.623] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =6 	 error init =3.031884 	 error end=3.031884
[16:32:10.623] After pose optimization, distance between ekf and vo x:-0.000307 ,z=0.000085,angle between two frames:0.000118
[16:32:10.623] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
[16:32:10.624] key frame check new frame:-0.049880 -0.745934 -0.056898, key close:-0.053572 -0.623106 -0.059700
[16:32:10.624] frame process finished the id is: 181 the obs is:12 
[16:32:10.684] Odometry x=-0.049880, y=-0.745934, theta=-0.056898
[16:32:10.774] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000219 ,z=-0.000610,angle between two frames:0.000266
[16:32:10.774] After pose optimization, distance between ekf and vo x:0.000219 ,z=-0.000610,angle between two frames:0.000266
[16:32:10.774] frame process finished the id is: 181 the obs is:12 
[16:32:10.789] Odometry x=-0.049720, y=-0.751746, theta=-0.058045
[16:32:10.889] Odometry x=-0.049529, y=-0.757519, theta=-0.064266
[16:32:10.924] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000188 ,z=-0.000565,angle between two frames:0.000243
[16:32:10.924] After pose optimization, distance between ekf and vo x:0.000188 ,z=-0.000565,angle between two frames:0.000243
[16:32:10.924] frame process finished the id is: 181 the obs is:12 
[16:32:10.989] Odometry x=-0.049326, y=-0.758388, theta=-0.057937
[16:32:11.075] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000151 ,z=-0.000515,angle between two frames:0.000216
[16:32:11.075] After pose optimization, distance between ekf and vo x:0.000151 ,z=-0.000515,angle between two frames:0.000216
[16:32:11.075] frame process finished the id is: 181 the obs is:12 
[16:32:11.088] Odometry x=-0.049148, y=-0.763734, theta=-0.058127
[16:32:11.191] Odometry x=-0.048982, y=-0.769100, theta=-0.065120
[16:32:11.225] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000165 ,z=-0.000496,angle between two frames:0.000214
[16:32:11.225] After pose optimization, distance between ekf and vo x:0.000165 ,z=-0.000496,angle between two frames:0.000214
[16:32:11.225] frame process finished the id is: 181 the obs is:12 
[16:32:11.285] Odometry x=-0.048848, y=-0.772992, theta=-0.063609
[16:32:11.367] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000204 ,z=0.000044,angle between two frames:0.000068
[16:32:11.367] After pose optimization, distance between ekf and vo x:-0.000204 ,z=0.000044,angle between two frames:0.000068
[16:32:11.367] frame process finished the id is: 181 the obs is:12 
[16:32:11.388] Odometry x=-0.048691, y=-0.777889, theta=-0.063274
[16:32:11.489] Odometry x=-0.048496, y=-0.783509, theta=-0.072459
[16:32:11.510] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000207 ,z=0.000043,angle between two frames:0.000069
[16:32:11.510] After pose optimization, distance between ekf and vo x:-0.000207 ,z=0.000043,angle between two frames:0.000069
[16:32:11.510] frame process finished the id is: 181 the obs is:12 
[16:32:11.587] Odometry x=-0.048329, y=-0.788576, theta=-0.063946
[16:32:11.655] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000350 ,z=0.000075,angle between two frames:0.000119
[16:32:11.655] After pose optimization, distance between ekf and vo x:-0.000350 ,z=0.000075,angle between two frames:0.000119
[16:32:11.655] frame process finished the id is: 181 the obs is:12 
[16:32:11.688] Odometry x=-0.048122, y=-0.793867, theta=-0.078717
[16:32:11.790] Odometry x=-0.047917, y=-0.799247, theta=-0.061289
[16:32:11.797] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000287 ,z=0.000060,angle between two frames:0.000095
[16:32:11.797] After pose optimization, distance between ekf and vo x:-0.000287 ,z=0.000060,angle between two frames:0.000095
[16:32:11.797] frame process finished the id is: 181 the obs is:12 
[16:32:11.890] Odometry x=-0.047598, y=-0.804724, theta=-0.063974
[16:32:11.940] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000219 ,z=0.000019,angle between two frames:0.000067
[16:32:11.940] After pose optimization, distance between ekf and vo x:-0.000219 ,z=0.000019,angle between two frames:0.000067
[16:32:11.940] frame process finished the id is: 181 the obs is:12 
[16:32:11.990] Odometry x=-0.047436, y=-0.810073, theta=-0.064362
[16:32:12.083] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000188 ,z=0.000005,angle between two frames:0.000054
[16:32:12.083] After pose optimization, distance between ekf and vo x:-0.000188 ,z=0.000005,angle between two frames:0.000054
[16:32:12.083] frame process finished the id is: 181 the obs is:12 
[16:32:12.089] Odometry x=-0.047179, y=-0.815407, theta=-0.068484
[16:32:12.191] Odometry x=-0.047020, y=-0.820786, theta=-0.062309
[16:32:12.224] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000188 ,z=0.000019,angle between two frames:0.000057
[16:32:12.224] After pose optimization, distance between ekf and vo x:-0.000188 ,z=0.000019,angle between two frames:0.000057
[16:32:12.224] frame process finished the id is: 181 the obs is:12 
[16:32:12.288] Odometry x=-0.046842, y=-0.826396, theta=-0.064403
[16:32:12.367] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000200 ,z=0.000020,angle between two frames:0.000061
[16:32:12.367] After pose optimization, distance between ekf and vo x:-0.000200 ,z=0.000020,angle between two frames:0.000061
[16:32:12.367] frame process finished the id is: 181 the obs is:12 
[16:32:12.391] Odometry x=-0.046697, y=-0.831118, theta=-0.062170
[16:32:12.490] Odometry x=-0.046442, y=-0.836578, theta=-0.060818
[16:32:12.508] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000207 ,z=0.000015,angle between two frames:0.000061
[16:32:12.508] After pose optimization, distance between ekf and vo x:-0.000207 ,z=0.000015,angle between two frames:0.000061
[16:32:12.508] frame process finished the id is: 181 the obs is:12 
[16:32:12.590] Odometry x=-0.046291, y=-0.841658, theta=-0.061804
[16:32:12.649] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000208 ,z=0.000016,angle between two frames:0.000062
[16:32:12.649] After pose optimization, distance between ekf and vo x:-0.000208 ,z=0.000016,angle between two frames:0.000062
[16:32:12.649] frame process finished the id is: 181 the obs is:12 
[16:32:12.687] Odometry x=-0.046100, y=-0.846696, theta=-0.062685
[16:32:12.790] Odometry x=-0.045903, y=-0.851791, theta=-0.062923
[16:32:12.793] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000343 ,z=0.000068,angle between two frames:0.000114
[16:32:12.793] After pose optimization, distance between ekf and vo x:-0.000343 ,z=0.000068,angle between two frames:0.000114
[16:32:12.793] frame process finished the id is: 181 the obs is:12 
[16:32:12.893] Odometry x=-0.045698, y=-0.857383, theta=-0.064097
[16:32:12.936] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000345 ,z=0.000073,angle between two frames:0.000116
[16:32:12.937] After pose optimization, distance between ekf and vo x:-0.000345 ,z=0.000073,angle between two frames:0.000116
[16:32:12.937] frame process finished the id is: 181 the obs is:12 
[16:32:12.990] Odometry x=-0.045485, y=-0.861792, theta=-0.060091
[16:32:13.077] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000233 ,z=0.000037,angle between two frames:0.000075
[16:32:13.077] After pose optimization, distance between ekf and vo x:-0.000233 ,z=0.000037,angle between two frames:0.000075
[16:32:13.077] frame process finished the id is: 181 the obs is:12 
[16:32:13.088] Odometry x=-0.045314, y=-0.867137, theta=-0.071861
[16:32:13.190] Odometry x=-0.045134, y=-0.872154, theta=-0.069362
[16:32:13.226] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000162 ,z=-0.000372,angle between two frames:0.000171
[16:32:13.226] After pose optimization, distance between ekf and vo x:0.000162 ,z=-0.000372,angle between two frames:0.000171
[16:32:13.226] frame process finished the id is: 181 the obs is:12 
[16:32:13.287] Odometry x=-0.044927, y=-0.877749, theta=-0.077578
[16:32:13.369] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000158 ,z=0.000009,angle between two frames:0.000043
[16:32:13.369] After pose optimization, distance between ekf and vo x:-0.000158 ,z=0.000009,angle between two frames:0.000043
[16:32:13.369] frame process finished the id is: 181 the obs is:12 
[16:32:13.384] Odometry x=-0.044551, y=-0.882436, theta=-0.074406
[16:32:13.492] Odometry x=-0.044308, y=-0.887658, theta=-0.073098
[16:32:13.511] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000303 ,z=0.000079,angle between two frames:0.000103
[16:32:13.511] After pose optimization, distance between ekf and vo x:-0.000303 ,z=0.000079,angle between two frames:0.000103
[16:32:13.511] frame process finished the id is: 181 the obs is:12 
[16:32:13.588] Odometry x=-0.044080, y=-0.892860, theta=-0.072866
[16:32:13.653] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000243 ,z=0.000062,angle between two frames:0.000081
[16:32:13.653] After pose optimization, distance between ekf and vo x:-0.000243 ,z=0.000062,angle between two frames:0.000081
[16:32:13.653] frame process finished the id is: 181 the obs is:12 
[16:32:13.691] Odometry x=-0.043892, y=-0.897937, theta=-0.073505
[16:32:13.788] Odometry x=-0.043670, y=-0.903518, theta=-0.078064
[16:32:13.796] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000332 ,z=0.000077,angle between two frames:0.000109
[16:32:13.796] After pose optimization, distance between ekf and vo x:-0.000332 ,z=0.000077,angle between two frames:0.000109
[16:32:13.796] frame process finished the id is: 181 the obs is:12 
[16:32:13.887] Odometry x=-0.043469, y=-0.908669, theta=-0.071563
[16:32:13.939] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000257 ,z=-0.000010,angle between two frames:0.000062
[16:32:13.939] After pose optimization, distance between ekf and vo x:-0.000257 ,z=-0.000010,angle between two frames:0.000062
[16:32:13.939] frame process finished the id is: 181 the obs is:12 
[16:32:13.989] Odometry x=-0.043275, y=-0.913763, theta=-0.074298
[16:32:14.086] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000083 ,z=-0.000170,angle between two frames:0.000035
[16:32:14.086] After pose optimization, distance between ekf and vo x:-0.000083 ,z=-0.000170,angle between two frames:0.000035
[16:32:14.086] frame process finished the id is: 181 the obs is:12 
[16:32:14.088] Odometry x=-0.043001, y=-0.918971, theta=-0.068116
[16:32:14.185] Odometry x=-0.042791, y=-0.924356, theta=-0.064391
[16:32:14.229] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000243 ,z=0.000072,angle between two frames:0.000081
[16:32:14.229] After pose optimization, distance between ekf and vo x:-0.000243 ,z=0.000072,angle between two frames:0.000081
[16:32:14.229] frame process finished the id is: 181 the obs is:12 
[16:32:14.294] Odometry x=-0.042620, y=-0.929441, theta=-0.069377
[16:32:14.378] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000251 ,z=-0.000576,angle between two frames:0.000243
[16:32:14.378] After pose optimization, distance between ekf and vo x:0.000251 ,z=-0.000576,angle between two frames:0.000243
[16:32:14.378] frame process finished the id is: 181 the obs is:12 
[16:32:14.392] Odometry x=-0.042401, y=-0.931926, theta=-0.066797
[16:32:14.491] Odometry x=-0.042219, y=-0.937059, theta=-0.070868
[16:32:14.521] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000248 ,z=0.000075,angle between two frames:0.000083
[16:32:14.521] After pose optimization, distance between ekf and vo x:-0.000248 ,z=0.000075,angle between two frames:0.000083
[16:32:14.521] frame process finished the id is: 181 the obs is:12 
[16:32:14.589] Odometry x=-0.042009, y=-0.941896, theta=-0.068986
[16:32:14.671] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000245 ,z=-0.000543,angle between two frames:0.000232
[16:32:14.671] After pose optimization, distance between ekf and vo x:0.000245 ,z=-0.000543,angle between two frames:0.000232
[16:32:14.671] frame process finished the id is: 181 the obs is:12 
[16:32:14.688] Odometry x=-0.041608, y=-0.943900, theta=-0.058619
[16:32:14.788] Odometry x=-0.041465, y=-0.948834, theta=-0.056895
[16:32:14.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000491 ,z=0.000158,angle between two frames:0.000168
[16:32:14.814] After pose optimization, distance between ekf and vo x:-0.000491 ,z=0.000158,angle between two frames:0.000168
[16:32:14.814] frame process finished the id is: 181 the obs is:12 
[16:32:14.882] Odometry x=-0.041311, y=-0.954338, theta=-0.060732
[16:32:14.957] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000356 ,z=0.000117,angle between two frames:0.000123
[16:32:14.957] After pose optimization, distance between ekf and vo x:-0.000356 ,z=0.000117,angle between two frames:0.000123
[16:32:14.957] frame process finished the id is: 181 the obs is:12 
[16:32:14.989] Odometry x=-0.041175, y=-0.958815, theta=-0.060944
[16:32:15.090] Odometry x=-0.040991, y=-0.965231, theta=-0.055827
[16:32:15.100] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000360 ,z=0.000099,angle between two frames:0.000121
[16:32:15.100] After pose optimization, distance between ekf and vo x:-0.000360 ,z=0.000099,angle between two frames:0.000121
[16:32:15.100] frame process finished the id is: 181 the obs is:12 
[16:32:15.190] Odometry x=-0.040832, y=-0.970594, theta=-0.063962
[16:32:15.242] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000287 ,z=0.000071,angle between two frames:0.000093
[16:32:15.242] After pose optimization, distance between ekf and vo x:-0.000287 ,z=0.000071,angle between two frames:0.000093
[16:32:15.242] frame process finished the id is: 181 the obs is:12 
[16:32:15.289] Odometry x=-0.040360, y=-0.975680, theta=-0.048021
[16:32:15.384] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000357 ,z=0.000087,angle between two frames:0.000118
[16:32:15.384] After pose optimization, distance between ekf and vo x:-0.000357 ,z=0.000087,angle between two frames:0.000118
[16:32:15.384] frame process finished the id is: 181 the obs is:12 
[16:32:15.389] Odometry x=-0.040277, y=-0.980073, theta=-0.046366
[16:32:15.489] Odometry x=-0.039702, y=-0.984852, theta=-0.056812
[16:32:15.528] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000328 ,z=0.000088,angle between two frames:0.000109
[16:32:15.528] After pose optimization, distance between ekf and vo x:-0.000328 ,z=0.000088,angle between two frames:0.000109
[16:32:15.528] frame process finished the id is: 181 the obs is:12 
[16:32:15.589] Odometry x=-0.039553, y=-0.989908, theta=-0.063742
[16:32:15.671] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000274 ,z=0.000072,angle between two frames:0.000087
[16:32:15.671] After pose optimization, distance between ekf and vo x:-0.000274 ,z=0.000072,angle between two frames:0.000087
[16:32:15.671] frame process finished the id is: 181 the obs is:12 
[16:32:15.689] Odometry x=-0.039368, y=-0.994974, theta=-0.059524
[16:32:15.789] Odometry x=-0.039217, y=-0.999883, theta=-0.062310
[16:32:15.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000258 ,z=0.000058,angle between two frames:0.000081
[16:32:15.814] After pose optimization, distance between ekf and vo x:-0.000258 ,z=0.000058,angle between two frames:0.000081
[16:32:15.814] frame process finished the id is: 181 the obs is:12 
[16:32:15.889] Odometry x=-0.039000, y=-1.005211, theta=-0.058736
[16:32:15.955] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000271 ,z=0.000066,angle between two frames:0.000087
[16:32:15.956] After pose optimization, distance between ekf and vo x:-0.000271 ,z=0.000066,angle between two frames:0.000087
[16:32:15.956] frame process finished the id is: 181 the obs is:12 
[16:32:15.991] Odometry x=-0.038746, y=-1.010576, theta=-0.067243
[16:32:16.089] Odometry x=-0.038562, y=-1.016161, theta=-0.062131
[16:32:16.100] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000325 ,z=0.000093,angle between two frames:0.000107
[16:32:16.100] After pose optimization, distance between ekf and vo x:-0.000325 ,z=0.000093,angle between two frames:0.000107
[16:32:16.100] frame process finished the id is: 181 the obs is:12 
[16:32:16.191] Odometry x=-0.038393, y=-1.021729, theta=-0.063299
[16:32:16.243] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000287 ,z=0.000075,angle between two frames:0.000095
[16:32:16.243] After pose optimization, distance between ekf and vo x:-0.000287 ,z=0.000075,angle between two frames:0.000095
[16:32:16.243] frame process finished the id is: 181 the obs is:12 
[16:32:16.289] Odometry x=-0.038083, y=-1.026208, theta=-0.064449
[16:32:16.386] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000306 ,z=0.000073,angle between two frames:0.000098
[16:32:16.386] After pose optimization, distance between ekf and vo x:-0.000306 ,z=0.000073,angle between two frames:0.000098
[16:32:16.386] frame process finished the id is: 181 the obs is:12 
[16:32:16.389] Odometry x=-0.037865, y=-1.031143, theta=-0.066292
[16:32:16.491] Odometry x=-0.037656, y=-1.036480, theta=-0.062520
[16:32:16.529] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000293 ,z=0.000089,angle between two frames:0.000097
[16:32:16.529] After pose optimization, distance between ekf and vo x:-0.000293 ,z=0.000089,angle between two frames:0.000097
[16:32:16.529] frame process finished the id is: 181 the obs is:12 
[16:32:16.589] Odometry x=-0.037435, y=-1.040294, theta=-0.074396
[16:32:16.672] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000315 ,z=0.000089,angle between two frames:0.000105
[16:32:16.672] After pose optimization, distance between ekf and vo x:-0.000315 ,z=0.000089,angle between two frames:0.000105
[16:32:16.672] frame process finished the id is: 181 the obs is:12 
[16:32:16.693] Odometry x=-0.037231, y=-1.045616, theta=-0.073257
[16:32:16.786] Odometry x=-0.037065, y=-1.050086, theta=-0.066025
[16:32:16.816] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000309 ,z=0.000079,angle between two frames:0.000101
[16:32:16.816] After pose optimization, distance between ekf and vo x:-0.000309 ,z=0.000079,angle between two frames:0.000101
[16:32:16.816] frame process finished the id is: 181 the obs is:12 
[16:32:16.888] Odometry x=-0.036895, y=-1.054841, theta=-0.071708
[16:32:16.959] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000309 ,z=0.000073,angle between two frames:0.000099
[16:32:16.959] After pose optimization, distance between ekf and vo x:-0.000309 ,z=0.000073,angle between two frames:0.000099
[16:32:16.959] frame process finished the id is: 181 the obs is:12 
[16:32:16.988] Odometry x=-0.036684, y=-1.060136, theta=-0.072268
[16:32:17.087] Odometry x=-0.036472, y=-1.065417, theta=-0.071192
[16:32:17.102] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000260 ,z=0.000057,angle between two frames:0.000082
[16:32:17.102] After pose optimization, distance between ekf and vo x:-0.000260 ,z=0.000057,angle between two frames:0.000082
[16:32:17.102] frame process finished the id is: 181 the obs is:12 
[16:32:17.245] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000315 ,z=0.000054,angle between two frames:0.000094
[16:32:17.245] After pose optimization, distance between ekf and vo x:-0.000315 ,z=0.000054,angle between two frames:0.000094
[16:32:17.245] frame process finished the id is: 181 the obs is:12 
[16:32:17.386] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000319 ,z=0.000058,angle between two frames:0.000096
[16:32:17.386] After pose optimization, distance between ekf and vo x:-0.000319 ,z=0.000058,angle between two frames:0.000096
[16:32:17.386] frame process finished the id is: 181 the obs is:12 
[16:32:17.529] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000321 ,z=0.000059,angle between two frames:0.000097
[16:32:17.529] After pose optimization, distance between ekf and vo x:-0.000321 ,z=0.000059,angle between two frames:0.000097
[16:32:17.529] frame process finished the id is: 181 the obs is:12 
[16:32:17.672] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000322 ,z=0.000060,angle between two frames:0.000098
[16:32:17.672] After pose optimization, distance between ekf and vo x:-0.000322 ,z=0.000060,angle between two frames:0.000098
[16:32:17.672] frame process finished the id is: 181 the obs is:12 
[16:32:17.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000323 ,z=0.000063,angle between two frames:0.000099
[16:32:17.814] After pose optimization, distance between ekf and vo x:-0.000323 ,z=0.000063,angle between two frames:0.000099
[16:32:17.814] frame process finished the id is: 181 the obs is:12 
[16:32:17.957] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000323 ,z=0.000069,angle between two frames:0.000100
[16:32:17.957] After pose optimization, distance between ekf and vo x:-0.000323 ,z=0.000069,angle between two frames:0.000100
[16:32:17.957] frame process finished the id is: 181 the obs is:12 
[16:32:18.098] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000323 ,z=0.000070,angle between two frames:0.000101
[16:32:18.098] After pose optimization, distance between ekf and vo x:-0.000323 ,z=0.000070,angle between two frames:0.000101
[16:32:18.098] frame process finished the id is: 181 the obs is:12 
[16:32:18.240] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000319 ,z=0.000065,angle between two frames:0.000099
[16:32:18.240] After pose optimization, distance between ekf and vo x:-0.000319 ,z=0.000065,angle between two frames:0.000099
[16:32:18.240] frame process finished the id is: 181 the obs is:12 
[16:32:18.383] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000058,angle between two frames:0.000097
[16:32:18.383] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000058,angle between two frames:0.000097
[16:32:18.384] frame process finished the id is: 181 the obs is:12 
[16:32:18.528] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000060,angle between two frames:0.000097
[16:32:18.528] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000060,angle between two frames:0.000097
[16:32:18.528] frame process finished the id is: 181 the obs is:12 
[16:32:18.671] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:18.671] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:18.671] frame process finished the id is: 181 the obs is:12 
[16:32:18.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000060,angle between two frames:0.000097
[16:32:18.814] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000060,angle between two frames:0.000097
[16:32:18.814] frame process finished the id is: 181 the obs is:12 
[16:32:18.957] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097
[16:32:18.957] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097
[16:32:18.957] frame process finished the id is: 181 the obs is:12 
[16:32:19.099] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097
[16:32:19.100] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097
[16:32:19.100] frame process finished the id is: 181 the obs is:12 
[16:32:19.242] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:19.242] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:19.243] frame process finished the id is: 181 the obs is:12 
[16:32:19.385] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097
[16:32:19.385] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097
[16:32:19.385] frame process finished the id is: 181 the obs is:12 
[16:32:19.528] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:19.528] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:19.528] frame process finished the id is: 181 the obs is:12 
[16:32:19.671] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:19.671] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:19.671] frame process finished the id is: 181 the obs is:12 
[16:32:19.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097
[16:32:19.814] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097
[16:32:19.814] frame process finished the id is: 181 the obs is:12 
[16:32:19.958] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:19.958] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:19.958] frame process finished the id is: 181 the obs is:12 
[16:32:20.102] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097
[16:32:20.102] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097
[16:32:20.102] frame process finished the id is: 181 the obs is:12 
[16:32:20.245] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000319 ,z=0.000059,angle between two frames:0.000097
[16:32:20.245] After pose optimization, distance between ekf and vo x:-0.000319 ,z=0.000059,angle between two frames:0.000097
[16:32:20.245] frame process finished the id is: 181 the obs is:12 
[16:32:20.389] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:20.389] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:20.389] frame process finished the id is: 181 the obs is:12 
[16:32:20.532] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:20.532] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:20.532] frame process finished the id is: 181 the obs is:12 
[16:32:20.674] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:20.674] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:20.674] frame process finished the id is: 181 the obs is:12 
[16:32:20.816] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:20.816] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:20.816] frame process finished the id is: 181 the obs is:12 
[16:32:20.959] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:20.959] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097
[16:32:20.959] frame process finished the id is: 181 the obs is:12 
[16:32:21.102] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000060,angle between two frames:0.000097
[16:32:21.102] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000060,angle between two frames:0.000097
[16:32:21.102] frame process finished the id is: 181 the obs is:12 
