[11:07:44.426] frame process finished the id is: 0 the obs is:0 
[11:07:44.502] frame process finished the id is: 1 the obs is:0 
[11:07:44.602] frame process finished the id is: 2 the obs is:0 
[11:07:44.700] frame process finished the id is: 3 the obs is:0 
[11:07:44.801] frame process finished the id is: 4 the obs is:0 
[11:07:44.904] frame process finished the id is: 5 the obs is:0 
[11:07:45.008] frame process finished the id is: 6 the obs is:0 
[11:07:45.101] frame process finished the id is: 7 the obs is:0 
[11:07:45.204] frame process finished the id is: 8 the obs is:0 
[11:07:45.304] frame process finished the id is: 9 the obs is:0 
[11:07:45.333] Odometry x=0.000000, y=0.000000, theta=-0.000000
[11:07:45.413] frame process finished the id is: 10 the obs is:0 
[11:07:45.426] Odometry x=0.000000, y=0.000001, theta=-0.016692
[11:07:45.510] frame process finished the id is: 11 the obs is:0 
[11:07:45.524] Odometry x=0.000001, y=0.000002, theta=-0.029617
[11:07:45.603] frame process finished the id is: 12 the obs is:0 
[11:07:45.626] Odometry x=0.000001, y=0.000000, theta=-0.041431
[11:07:45.706] frame process finished the id is: 13 the obs is:0 
[11:07:45.723] Odometry x=-0.000000, y=0.000003, theta=-0.054312
[11:07:45.804] frame process finished the id is: 14 the obs is:0 
[11:07:45.825] Odometry x=0.000002, y=0.000008, theta=-0.067002
[11:07:45.903] frame process finished the id is: 15 the obs is:0 
[11:07:45.927] Odometry x=0.000004, y=0.000008, theta=-0.084093
[11:07:46.002] frame process finished the id is: 16 the obs is:0 
[11:07:46.024] Odometry x=0.000004, y=0.000011, theta=-0.102641
[11:07:46.102] Init: frame zero: 0.000000, 0.000000 0.000000
[11:07:46.102] Init: Selected first frame. 
[11:07:46.102] frame process finished the id is: 17 the obs is:0 
[11:07:46.125] Odometry x=0.000006, y=0.000013, theta=-0.121673
[11:07:46.203] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:12.042246 ,While minimum is: 10.000000  KLT tracked: 138
[11:07:46.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:07:46.203] frame process finished the id is: 18 the obs is:0 
[11:07:46.226] Odometry x=0.000009, y=0.000015, theta=-0.136986
[11:07:46.300] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:20.367628 ,While minimum is: 10.000000  KLT tracked: 138
[11:07:46.300] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:07:46.300] frame process finished the id is: 19 the obs is:0 
[11:07:46.326] Odometry x=0.000010, y=0.000016, theta=-0.151144
[11:07:46.399] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:31.280340 ,While minimum is: 10.000000  KLT tracked: 138
[11:07:46.399] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:07:46.399] frame process finished the id is: 20 the obs is:0 
[11:07:46.427] Odometry x=0.000012, y=0.000017, theta=-0.167675
[11:07:46.499] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:42.420543 ,While minimum is: 10.000000  KLT tracked: 138
[11:07:46.499] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:07:46.499] frame process finished the id is: 21 the obs is:0 
[11:07:46.524] Odometry x=0.000013, y=0.000019, theta=-0.184545
[11:07:46.600] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:53.315898 ,While minimum is: 10.000000  KLT tracked: 138
[11:07:46.600] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:07:46.600] frame process finished the id is: 22 the obs is:0 
[11:07:46.624] Odometry x=0.000011, y=0.000021, theta=-0.200154
[11:07:46.703] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:61.301365 ,While minimum is: 10.000000  KLT tracked: 138
[11:07:46.703] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:07:46.703] frame process finished the id is: 23 the obs is:0 
[11:07:46.725] Odometry x=0.000013, y=0.000022, theta=-0.215367
[11:07:46.802] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:72.550034 ,While minimum is: 10.000000  KLT tracked: 138
[11:07:46.802] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:07:46.802] frame process finished the id is: 24 the obs is:0 
[11:07:46.823] Odometry x=0.000015, y=0.000024, theta=-0.231299
[11:07:46.900] Init: Homography RANSAC (inlier) is:16 ,While 30 inliers minimum required.  px average disparity is:79.853727 ,While minimum is: 10.000000  KLT tracked: 137
[11:07:46.900] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:07:46.900] frame process finished the id is: 25 the obs is:0 
[11:07:46.924] Odometry x=0.000017, y=0.000027, theta=-0.245973
[11:07:47.002] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:88.832735 ,While minimum is: 10.000000  KLT tracked: 137
[11:07:47.002] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:07:47.002] frame process finished the id is: 26 the obs is:0 
[11:07:47.027] Odometry x=0.000018, y=0.000030, theta=-0.261039
[11:07:47.102] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:96.126849 ,While minimum is: 10.000000  KLT tracked: 137
[11:07:47.102] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:07:47.102] frame process finished the id is: 27 the obs is:0 
[11:07:47.124] Odometry x=0.000018, y=0.000029, theta=-0.274211
[11:07:47.202] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:104.884985 ,While minimum is: 10.000000  KLT tracked: 137
[11:07:47.202] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:07:47.202] frame process finished the id is: 28 the obs is:0 
[11:07:47.224] Odometry x=0.000018, y=0.000033, theta=-0.288882
[11:07:47.311] Init finished: Homography RANSAC (inlier) is:37 ,While 30 inliers minimum required.  px average disparity is:114.438048 ,While minimum is: 10.000000  KLT tracked: 137
[11:07:47.311] Init: distance between the first and current frame is x:0.000019 ,z=0.000036,angle between two frames: -0.304086 
[11:07:47.311] Init: Selected Second frame. 	 The number of features: 37 depth mean:0.000000 min:179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000
[11:07:47.312] frame process finished the id is: 29 the obs is:37 
[11:07:47.324] Odometry x=0.000019, y=0.000036, theta=-0.304086
[11:07:47.426] Odometry x=0.000024, y=0.000034, theta=-0.316887
[11:07:47.430] After Reprojection Map nPoint:37 ,nCell:13 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000907
[11:07:47.430] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =33 	 error init =0.000059 	 error end=0.000059
[11:07:47.430] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000907
[11:07:47.430] Update EKF and 3D points the number of feature in the new frame: 33 and number of obs: 33
[11:07:47.431] need key frame pitch dis: 0.313271 translation dif:0.000041
[11:07:47.431] Choose frame as a key frame Scene Depth mean:-30.632898 ,depth min:-2936.875336
[11:07:47.431] frame process finished the id is: 30 the obs is:33 
[11:07:47.524] Odometry x=0.000023, y=0.000035, theta=-0.328981
[11:07:47.539] After Reprojection Map nPoint:64 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:47.541] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =50 	 error init =0.000771 	 error end=0.000771
[11:07:47.541] After pose optimization, distance between ekf and vo x:-0.000044 ,z=-0.000182,angle between two frames:0.000000
[11:07:47.541] Update EKF and 3D points the number of feature in the new frame: 50 and number of obs: 50
[11:07:47.541] need key frame pitch dis: 0.322539 translation dif:0.000099
[11:07:47.541] Choose frame as a key frame Scene Depth mean:-103.143289 ,depth min:-2927.928454
[11:07:47.541] frame process finished the id is: 31 the obs is:50 
[11:07:47.625] Odometry x=0.000012, y=-0.000011, theta=-0.342302
[11:07:47.650] After Reprojection Map nPoint:81 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000
[11:07:47.650] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =64 	 error init =0.001195 	 error end=0.001195
[11:07:47.650] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000
[11:07:47.650] Update EKF and 3D points the number of feature in the new frame: 64 and number of obs: 64
[11:07:47.651] need key frame pitch dis: 0.013920 translation dif:0.000124
[11:07:47.651] frame process finished the id is: 32 the obs is:64 
[11:07:47.724] Odometry x=-0.000009, y=-0.000086, theta=-0.327191
[11:07:47.752] After Reprojection Map nPoint:95 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:47.755] n deleted obs = 9 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =84 	 error init =0.000930 	 error end=0.000930
[11:07:47.755] After pose optimization, distance between ekf and vo x:-0.000208 ,z=-0.001018,angle between two frames:0.000000
[11:07:47.755] Update EKF and 3D points the number of feature in the new frame: 84 and number of obs: 84
[11:07:47.757] need key frame pitch dis: 0.020715 translation dif:0.000802
[11:07:47.757] frame process finished the id is: 33 the obs is:84 
[11:07:47.826] Odometry x=-0.000043, y=-0.000266, theta=-0.346246
[11:07:47.858] After Reprojection Map nPoint:115 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:47.858] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =100 	 error init =0.000091 	 error end=0.000091
[11:07:47.858] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:47.858] Update EKF and 3D points the number of feature in the new frame: 100 and number of obs: 100
[11:07:47.860] need key frame pitch dis: 0.035116 translation dif:0.000306
[11:07:47.860] frame process finished the id is: 34 the obs is:100 
[11:07:47.924] Odometry x=-0.000042, y=-0.000264, theta=-0.348387
[11:07:47.963] After Reprojection Map nPoint:131 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:47.963] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =127 	 error init =0.000357 	 error end=0.000357
[11:07:47.963] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:47.963] Update EKF and 3D points the number of feature in the new frame: 127 and number of obs: 127
[11:07:47.965] need key frame pitch dis: 0.037580 translation dif:0.000306
[11:07:47.965] frame process finished the id is: 35 the obs is:127 
[11:07:48.024] Odometry x=-0.000042, y=-0.000264, theta=-0.350851
[11:07:48.078] After Reprojection Map nPoint:158 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:48.078] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =124 	 error init =0.000123 	 error end=0.000123
[11:07:48.078] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:48.078] Update EKF and 3D points the number of feature in the new frame: 124 and number of obs: 124
[11:07:48.080] need key frame pitch dis: 0.039252 translation dif:0.000306
[11:07:48.080] frame process finished the id is: 36 the obs is:124 
[11:07:48.128] Odometry x=-0.000041, y=-0.000264, theta=-0.352523
[11:07:48.194] After Reprojection Map nPoint:155 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:48.194] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =99 	 error init =0.000984 	 error end=0.000984
[11:07:48.194] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:48.194] Update EKF and 3D points the number of feature in the new frame: 99 and number of obs: 99
[11:07:48.196] need key frame pitch dis: 0.041158 translation dif:0.000305
[11:07:48.196] frame process finished the id is: 37 the obs is:99 
[11:07:48.225] Odometry x=-0.000041, y=-0.000263, theta=-0.354429
[11:07:48.300] After Reprojection Map nPoint:130 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[11:07:48.306] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =129 	 error init =0.000037 	 error end=0.000037
[11:07:48.306] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000005,angle between two frames:0.000000
[11:07:48.306] Update EKF and 3D points the number of feature in the new frame: 129 and number of obs: 129
[11:07:48.308] need key frame pitch dis: 0.043170 translation dif:0.000300
[11:07:48.308] frame process finished the id is: 38 the obs is:129 
[11:07:48.324] Odometry x=-0.000040, y=-0.000258, theta=-0.356440
[11:07:48.421] After Reprojection Map nPoint:160 ,nCell:10 ,nMatches:7 ,distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000
[11:07:48.421] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =85 	 error init =0.001023 	 error end=0.001023
[11:07:48.421] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000
[11:07:48.421] Update EKF and 3D points the number of feature in the new frame: 85 and number of obs: 85
[11:07:48.422] need key frame pitch dis: 0.045181 translation dif:0.000299
[11:07:48.422] frame process finished the id is: 39 the obs is:85 
[11:07:48.426] Odometry x=-0.000040, y=-0.000257, theta=-0.358452
[11:07:48.524] Odometry x=-0.000039, y=-0.000256, theta=-0.372921
[11:07:48.530] After Reprojection Map nPoint:116 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:48.530] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =86 	 error init =0.000022 	 error end=0.000022
[11:07:48.530] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:48.530] Update EKF and 3D points the number of feature in the new frame: 86 and number of obs: 86
[11:07:48.531] need key frame pitch dis: 0.049666 translation dif:0.000297
[11:07:48.532] frame process finished the id is: 40 the obs is:86 
[11:07:48.624] Odometry x=-0.000038, y=-0.000256, theta=-0.362937
[11:07:48.634] After Reprojection Map nPoint:117 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:48.637] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =85 	 error init =0.000045 	 error end=0.000045
[11:07:48.637] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000015,angle between two frames:0.000000
[11:07:48.637] Update EKF and 3D points the number of feature in the new frame: 85 and number of obs: 85
[11:07:48.639] need key frame pitch dis: 0.056452 translation dif:0.000307
[11:07:48.639] frame process finished the id is: 41 the obs is:85 
[11:07:48.724] Odometry x=-0.000038, y=-0.000258, theta=-0.378538
[11:07:48.748] After Reprojection Map nPoint:116 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:48.748] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =96 	 error init =0.000011 	 error end=0.000011
[11:07:48.748] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:48.748] Update EKF and 3D points the number of feature in the new frame: 96 and number of obs: 96
[11:07:48.749] need key frame pitch dis: 0.059657 translation dif:0.000306
[11:07:48.749] frame process finished the id is: 42 the obs is:96 
[11:07:48.826] Odometry x=-0.000038, y=-0.000265, theta=-0.372928
[11:07:48.856] After Reprojection Map nPoint:127 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:48.856] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =77 	 error init =0.001198 	 error end=0.001198
[11:07:48.856] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:48.856] Update EKF and 3D points the number of feature in the new frame: 77 and number of obs: 77
[11:07:48.857] need key frame pitch dis: 0.061918 translation dif:0.000305
[11:07:48.857] frame process finished the id is: 43 the obs is:77 
[11:07:48.920] Odometry x=-0.000038, y=-0.000264, theta=-0.375189
[11:07:48.967] After Reprojection Map nPoint:108 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:48.967] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =63 	 error init =0.000088 	 error end=0.000088
[11:07:48.967] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:48.967] Update EKF and 3D points the number of feature in the new frame: 63 and number of obs: 63
[11:07:48.968] need key frame pitch dis: 0.064879 translation dif:0.000305
[11:07:48.968] frame process finished the id is: 44 the obs is:63 
[11:07:49.016] Odometry x=-0.000038, y=-0.000264, theta=-0.378150
[11:07:49.072] After Reprojection Map nPoint:94 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:49.072] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =41 	 error init =0.000167 	 error end=0.000167
[11:07:49.072] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:49.072] Update EKF and 3D points the number of feature in the new frame: 41 and number of obs: 41
[11:07:49.073] need key frame pitch dis: 0.067405 translation dif:0.000304
[11:07:49.073] frame process finished the id is: 45 the obs is:41 
[11:07:49.119] Odometry x=-0.000037, y=-0.000263, theta=-0.380675
[11:07:49.173] After Reprojection Map nPoint:72 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:49.173] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =68 	 error init =0.000696 	 error end=0.000696
[11:07:49.173] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:49.173] Update EKF and 3D points the number of feature in the new frame: 68 and number of obs: 68
[11:07:49.174] need key frame pitch dis: 0.069130 translation dif:0.000304
[11:07:49.174] frame process finished the id is: 46 the obs is:68 
[11:07:49.217] Odometry x=-0.000037, y=-0.000263, theta=-0.382401
[11:07:49.276] After Reprojection Map nPoint:99 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:49.276] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =99 	 error init =0.000082 	 error end=0.000082
[11:07:49.276] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:49.276] Update EKF and 3D points the number of feature in the new frame: 99 and number of obs: 99
[11:07:49.278] need key frame pitch dis: 0.071990 translation dif:0.000303
[11:07:49.278] frame process finished the id is: 47 the obs is:99 
[11:07:49.326] Odometry x=-0.000037, y=-0.000262, theta=-0.385261
[11:07:49.387] After Reprojection Map nPoint:130 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:49.391] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =103 	 error init =0.000402 	 error end=0.000402
[11:07:49.391] After pose optimization, distance between ekf and vo x:-0.000075 ,z=-0.000005,angle between two frames:0.000000
[11:07:49.391] Update EKF and 3D points the number of feature in the new frame: 103 and number of obs: 103
[11:07:49.393] need key frame pitch dis: 0.075435 translation dif:0.000324
[11:07:49.393] frame process finished the id is: 48 the obs is:103 
[11:07:49.419] Odometry x=-0.000099, y=-0.000266, theta=-0.388706
[11:07:49.501] After Reprojection Map nPoint:134 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:49.506] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =119 	 error init =0.000750 	 error end=0.000750
[11:07:49.506] After pose optimization, distance between ekf and vo x:-0.000033 ,z=-0.000157,angle between two frames:0.000000
[11:07:49.507] Update EKF and 3D points the number of feature in the new frame: 119 and number of obs: 119
[11:07:49.508] need key frame pitch dis: 0.077552 translation dif:0.000462
[11:07:49.508] frame process finished the id is: 49 the obs is:119 
[11:07:49.517] Odometry x=-0.000127, y=-0.000402, theta=-0.390822
[11:07:49.619] Odometry x=-0.000126, y=-0.000403, theta=-0.410889
[11:07:49.619] After Reprojection Map nPoint:150 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:49.619] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =131 	 error init =0.000242 	 error end=0.000242
[11:07:49.619] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:49.619] Update EKF and 3D points the number of feature in the new frame: 131 and number of obs: 131
[11:07:49.621] need key frame pitch dis: 0.089159 translation dif:0.000462
[11:07:49.621] frame process finished the id is: 50 the obs is:131 
[11:07:49.724] After Reprojection Map nPoint:162 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:49.724] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =122 	 error init =0.000164 	 error end=0.000164
[11:07:49.724] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:49.724] Update EKF and 3D points the number of feature in the new frame: 122 and number of obs: 122
[11:07:49.726] Odometry x=-0.000126, y=-0.000403, theta=-0.406268
[11:07:49.726] need key frame pitch dis: 0.092998 translation dif:0.000462
[11:07:49.726] frame process finished the id is: 51 the obs is:122 
[11:07:49.819] Odometry x=-0.000123, y=-0.000402, theta=-0.422019
[11:07:49.836] After Reprojection Map nPoint:153 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:49.836] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =90 	 error init =0.001517 	 error end=0.001517
[11:07:49.836] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:49.836] Update EKF and 3D points the number of feature in the new frame: 90 and number of obs: 90
[11:07:49.837] need key frame pitch dis: 0.103361 translation dif:0.000462
[11:07:49.837] frame process finished the id is: 52 the obs is:90 
[11:07:49.917] Odometry x=-0.000126, y=-0.000396, theta=-0.435264
[11:07:49.937] After Reprojection Map nPoint:121 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:0.000003 ,z=0.000000,angle between two frames:0.000000
[11:07:49.938] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =79 	 error init =0.001005 	 error end=0.001005
[11:07:49.938] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000000,angle between two frames:0.000000
[11:07:49.938] Update EKF and 3D points the number of feature in the new frame: 79 and number of obs: 79
[11:07:49.939] need key frame pitch dis: 0.107644 translation dif:0.000460
[11:07:49.939] frame process finished the id is: 53 the obs is:79 
[11:07:50.019] Odometry x=-0.000121, y=-0.000402, theta=-0.420915
[11:07:50.036] After Reprojection Map nPoint:110 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.000000
[11:07:50.036] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =94 	 error init =0.000698 	 error end=0.000698
[11:07:50.036] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.000000
[11:07:50.036] Update EKF and 3D points the number of feature in the new frame: 94 and number of obs: 94
[11:07:50.038] need key frame pitch dis: 0.110181 translation dif:0.000458
[11:07:50.038] frame process finished the id is: 54 the obs is:94 
[11:07:50.117] Odometry x=-0.000118, y=-0.000401, theta=-0.423451
[11:07:50.133] After Reprojection Map nPoint:125 ,nCell:5 ,nMatches:3 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.133] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =108 	 error init =0.000096 	 error end=0.000096
[11:07:50.133] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.133] Update EKF and 3D points the number of feature in the new frame: 108 and number of obs: 108
[11:07:50.135] need key frame pitch dis: 0.116959 translation dif:0.000458
[11:07:50.135] frame process finished the id is: 55 the obs is:108 
[11:07:50.218] Odometry x=-0.000116, y=-0.000400, theta=-0.445176
[11:07:50.231] After Reprojection Map nPoint:139 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.231] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =120 	 error init =0.000109 	 error end=0.000109
[11:07:50.231] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.231] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120
[11:07:50.233] need key frame pitch dis: 0.127085 translation dif:0.000458
[11:07:50.233] frame process finished the id is: 56 the obs is:120 
[11:07:50.320] Odometry x=-0.000113, y=-0.000399, theta=-0.459163
[11:07:50.332] After Reprojection Map nPoint:151 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:0.000002 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.332] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =140 	 error init =0.001259 	 error end=0.001259
[11:07:50.332] After pose optimization, distance between ekf and vo x:0.000002 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.332] Update EKF and 3D points the number of feature in the new frame: 140 and number of obs: 140
[11:07:50.335] need key frame pitch dis: 0.151311 translation dif:0.000454
[11:07:50.335] frame process finished the id is: 57 the obs is:140 
[11:07:50.417] Odometry x=-0.000111, y=-0.000398, theta=-0.471113
[11:07:50.436] After Reprojection Map nPoint:171 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:0.000002 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.436] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =143 	 error init =0.000277 	 error end=0.000277
[11:07:50.436] After pose optimization, distance between ekf and vo x:0.000002 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.436] Update EKF and 3D points the number of feature in the new frame: 143 and number of obs: 143
[11:07:50.439] need key frame pitch dis: 0.153858 translation dif:0.000452
[11:07:50.439] frame process finished the id is: 58 the obs is:143 
[11:07:50.518] Odometry x=-0.000109, y=-0.000398, theta=-0.467129
[11:07:50.545] After Reprojection Map nPoint:174 ,nCell:5 ,nMatches:3 ,distance between ekf and vo x:0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.545] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =170 	 error init =0.000158 	 error end=0.000158
[11:07:50.545] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.545] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170
[11:07:50.548] need key frame pitch dis: 0.156000 translation dif:0.000452
[11:07:50.548] frame process finished the id is: 59 the obs is:170 
[11:07:50.617] Odometry x=-0.000106, y=-0.000399, theta=-0.469271
[11:07:50.651] After Reprojection Map nPoint:201 ,nCell:8 ,nMatches:3 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.651] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =191 	 error init =0.000825 	 error end=0.000825
[11:07:50.652] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.652] Update EKF and 3D points the number of feature in the new frame: 191 and number of obs: 191
[11:07:50.655] need key frame pitch dis: 0.158209 translation dif:0.000452
[11:07:50.655] frame process finished the id is: 60 the obs is:191 
[11:07:50.719] Odometry x=-0.000105, y=-0.000399, theta=-0.471480
[11:07:50.762] After Reprojection Map nPoint:222 ,nCell:11 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.763] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =192 	 error init =0.000018 	 error end=0.000018
[11:07:50.763] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.763] Update EKF and 3D points the number of feature in the new frame: 192 and number of obs: 192
[11:07:50.765] need key frame pitch dis: 0.161280 translation dif:0.000452
[11:07:50.765] frame process finished the id is: 61 the obs is:192 
[11:07:50.821] Odometry x=-0.000105, y=-0.000399, theta=-0.474550
[11:07:50.866] After Reprojection Map nPoint:223 ,nCell:15 ,nMatches:7 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:50.872] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =182 	 error init =0.000182 	 error end=0.000182
[11:07:50.872] After pose optimization, distance between ekf and vo x:-0.000010 ,z=-0.000001,angle between two frames:0.000000
[11:07:50.872] Update EKF and 3D points the number of feature in the new frame: 182 and number of obs: 182
[11:07:50.875] need key frame pitch dis: 0.164139 translation dif:0.000455
[11:07:50.875] frame process finished the id is: 62 the obs is:182 
[11:07:50.918] Odometry x=-0.000112, y=-0.000400, theta=-0.477410
[11:07:50.983] After Reprojection Map nPoint:213 ,nCell:18 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:50.984] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =194 	 error init =0.000463 	 error end=0.000463
[11:07:50.984] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:50.984] Update EKF and 3D points the number of feature in the new frame: 194 and number of obs: 194
[11:07:50.987] need key frame pitch dis: 0.166930 translation dif:0.000456
[11:07:50.987] frame process finished the id is: 63 the obs is:194 
[11:07:51.021] Odometry x=-0.000112, y=-0.000401, theta=-0.480201
[11:07:51.095] After Reprojection Map nPoint:225 ,nCell:21 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:51.102] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =198 	 error init =0.000233 	 error end=0.000233
[11:07:51.102] After pose optimization, distance between ekf and vo x:-0.000051 ,z=-0.000131,angle between two frames:0.000000
[11:07:51.102] Update EKF and 3D points the number of feature in the new frame: 198 and number of obs: 198
[11:07:51.105] need key frame pitch dis: 0.169788 translation dif:0.000577
[11:07:51.105] frame process finished the id is: 64 the obs is:198 
[11:07:51.119] Odometry x=-0.000157, y=-0.000514, theta=-0.483058
[11:07:51.212] After Reprojection Map nPoint:229 ,nCell:20 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:51.220] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =219 	 error init =0.000059 	 error end=0.000059
[11:07:51.220] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000000,angle between two frames:0.000000
[11:07:51.220] Update EKF and 3D points the number of feature in the new frame: 219 and number of obs: 219
[11:07:51.220] Odometry x=-0.000157, y=-0.000515, theta=-0.486099
[11:07:51.224] need key frame pitch dis: 0.172829 translation dif:0.000578
[11:07:51.224] frame process finished the id is: 65 the obs is:219 
[11:07:51.322] Odometry x=-0.000156, y=-0.000513, theta=-0.501246
[11:07:51.333] After Reprojection Map nPoint:250 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:51.342] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =236 	 error init =0.000233 	 error end=0.000233
[11:07:51.342] After pose optimization, distance between ekf and vo x:-0.000576 ,z=-0.001489,angle between two frames:0.000000
[11:07:51.342] Update EKF and 3D points the number of feature in the new frame: 236 and number of obs: 236
[11:07:51.346] need key frame pitch dis: 0.176983 translation dif:0.001963
[11:07:51.346] frame process finished the id is: 66 the obs is:236 
[11:07:51.419] Odometry x=-0.000656, y=-0.001807, theta=-0.490254
[11:07:51.458] After Reprojection Map nPoint:267 ,nCell:12 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:51.458] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =196 	 error init =0.000485 	 error end=0.000485
[11:07:51.458] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:51.458] Update EKF and 3D points the number of feature in the new frame: 196 and number of obs: 196
[11:07:51.461] need key frame pitch dis: 0.179510 translation dif:0.001962
[11:07:51.461] frame process finished the id is: 67 the obs is:196 
[11:07:51.521] Odometry x=-0.000655, y=-0.001807, theta=-0.492781
[11:07:51.567] After Reprojection Map nPoint:227 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:51.567] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =40 	 error init =0.000145 	 error end=0.000145
[11:07:51.567] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:51.567] Update EKF and 3D points the number of feature in the new frame: 40 and number of obs: 40
[11:07:51.568] need key frame pitch dis: 0.182572 translation dif:0.001962
[11:07:51.568] frame process finished the id is: 68 the obs is:40 
[11:07:51.624] Odometry x=-0.000654, y=-0.001807, theta=-0.495843
[11:07:51.663] After Reprojection Map nPoint:71 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:51.663] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =65 	 error init =0.000235 	 error end=0.000235
[11:07:51.663] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:51.663] Update EKF and 3D points the number of feature in the new frame: 65 and number of obs: 65
[11:07:51.664] need key frame pitch dis: 0.185533 translation dif:0.001961
[11:07:51.664] frame process finished the id is: 69 the obs is:65 
[11:07:51.721] Odometry x=-0.000654, y=-0.001806, theta=-0.498804
[11:07:51.760] After Reprojection Map nPoint:96 ,nCell:12 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:51.762] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =52 	 error init =0.000073 	 error end=0.000073
[11:07:51.762] After pose optimization, distance between ekf and vo x:-0.000036 ,z=-0.000085,angle between two frames:0.000000
[11:07:51.762] Update EKF and 3D points the number of feature in the new frame: 52 and number of obs: 52
[11:07:51.762] need key frame pitch dis: 0.187118 translation dif:0.002040
[11:07:51.762] frame process finished the id is: 70 the obs is:52 
[11:07:51.822] Odometry x=-0.000685, y=-0.001879, theta=-0.500388
[11:07:51.859] After Reprojection Map nPoint:83 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:51.861] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =53 	 error init =0.000942 	 error end=0.000942
[11:07:51.861] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000012,angle between two frames:0.000000
[11:07:51.861] Update EKF and 3D points the number of feature in the new frame: 53 and number of obs: 53
[11:07:51.862] need key frame pitch dis: 0.188529 translation dif:0.002047
[11:07:51.862] frame process finished the id is: 71 the obs is:53 
[11:07:51.926] Odometry x=-0.000680, y=-0.001889, theta=-0.501800
[11:07:51.966] After Reprojection Map nPoint:84 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:51.966] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =82 	 error init =0.000904 	 error end=0.000904
[11:07:51.966] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:51.966] Update EKF and 3D points the number of feature in the new frame: 82 and number of obs: 82
[11:07:51.967] need key frame pitch dis: 0.191742 translation dif:0.002049
[11:07:51.967] frame process finished the id is: 72 the obs is:82 
[11:07:52.018] Odometry x=-0.000680, y=-0.001890, theta=-0.505012
[11:07:52.063] After Reprojection Map nPoint:113 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:52.064] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =89 	 error init =0.000060 	 error end=0.000060
[11:07:52.064] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:52.064] Update EKF and 3D points the number of feature in the new frame: 89 and number of obs: 89
[11:07:52.065] need key frame pitch dis: 0.194521 translation dif:0.002048
[11:07:52.065] frame process finished the id is: 73 the obs is:89 
[11:07:52.123] Odometry x=-0.000680, y=-0.001890, theta=-0.507792
[11:07:52.169] After Reprojection Map nPoint:120 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:52.173] n deleted obs = 31 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =50 	 error init =0.003834 	 error end=0.003834
[11:07:52.173] After pose optimization, distance between ekf and vo x:-0.000060 ,z=-0.000005,angle between two frames:0.000000
[11:07:52.173] Update EKF and 3D points the number of feature in the new frame: 50 and number of obs: 50
[11:07:52.173] need key frame pitch dis: 0.195916 translation dif:0.002069
[11:07:52.173] frame process finished the id is: 74 the obs is:50 
[11:07:52.221] Odometry x=-0.000731, y=-0.001893, theta=-0.509187
[11:07:52.270] After Reprojection Map nPoint:81 ,nCell:5 ,nMatches:3 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:52.272] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =31 	 error init =0.000735 	 error end=0.000735
[11:07:52.272] After pose optimization, distance between ekf and vo x:0.000031 ,z=-0.000003,angle between two frames:0.000000
[11:07:52.272] Update EKF and 3D points the number of feature in the new frame: 31 and number of obs: 31
[11:07:52.272] need key frame pitch dis: 0.198165 translation dif:0.002061
[11:07:52.272] frame process finished the id is: 75 the obs is:31 
[11:07:52.320] Odometry x=-0.000703, y=-0.001895, theta=-0.511436
[11:07:52.374] After Reprojection Map nPoint:62 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:52.374] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =62 	 error init =0.000449 	 error end=0.000449
[11:07:52.374] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:52.374] Update EKF and 3D points the number of feature in the new frame: 62 and number of obs: 62
[11:07:52.375] need key frame pitch dis: 0.200941 translation dif:0.002060
[11:07:52.375] Choose frame as a key frame Scene Depth mean:242.454244 ,depth min:-2687.825210
[11:07:52.375] frame process finished the id is: 76 the obs is:62 
[11:07:52.417] Odometry x=-0.000701, y=-0.001894, theta=-0.514212
[11:07:52.479] After Reprojection Map nPoint:155 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:52.480] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =127 	 error init =0.000194 	 error end=0.000194
[11:07:52.480] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000
[11:07:52.480] Update EKF and 3D points the number of feature in the new frame: 127 and number of obs: 127
[11:07:52.483] need key frame pitch dis: 0.204070 translation dif:0.002057
[11:07:52.483] Choose frame as a key frame Scene Depth mean:275.462862 ,depth min:-2683.060611
[11:07:52.483] frame process finished the id is: 77 the obs is:127 
[11:07:52.517] Odometry x=-0.000699, y=-0.001892, theta=-0.517340
[11:07:52.597] After Reprojection Map nPoint:347 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:52.608] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =297 	 error init =0.000065 	 error end=0.000065
[11:07:52.608] After pose optimization, distance between ekf and vo x:-0.000008 ,z=-0.000015,angle between two frames:0.000000
[11:07:52.608] Update EKF and 3D points the number of feature in the new frame: 297 and number of obs: 297
[11:07:52.617] Odometry x=-0.000705, y=-0.001906, theta=-0.519644
[11:07:52.618] need key frame pitch dis: 0.005432 translation dif:0.000013
[11:07:52.618] frame process finished the id is: 78 the obs is:297 
[11:07:52.723] Odometry x=-0.000706, y=-0.001905, theta=-0.537192
[11:07:52.738] After Reprojection Map nPoint:517 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:52.756] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =485 	 error init =0.001719 	 error end=0.001719
[11:07:52.756] After pose optimization, distance between ekf and vo x:-0.000119 ,z=-0.000066,angle between two frames:0.000000
[11:07:52.756] Update EKF and 3D points the number of feature in the new frame: 485 and number of obs: 485
[11:07:52.772] need key frame pitch dis: 0.006670 translation dif:0.000129
[11:07:52.772] frame process finished the id is: 79 the obs is:485 
[11:07:52.817] Odometry x=-0.000808, y=-0.001963, theta=-0.524011
[11:07:52.889] After Reprojection Map nPoint:705 ,nCell:10 ,nMatches:7 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:52.890] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =635 	 error init =0.000083 	 error end=0.000083
[11:07:52.890] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:52.890] Update EKF and 3D points the number of feature in the new frame: 635 and number of obs: 635
[11:07:52.911] need key frame pitch dis: 0.007362 translation dif:0.000129
[11:07:52.911] frame process finished the id is: 80 the obs is:635 
[11:07:52.917] Odometry x=-0.000807, y=-0.001964, theta=-0.524702
[11:07:53.023] Odometry x=-0.000806, y=-0.001964, theta=-0.546601
[11:07:53.052] After Reprojection Map nPoint:855 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000
[11:07:53.053] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =719 	 error init =0.000044 	 error end=0.000044
[11:07:53.053] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000
[11:07:53.053] Update EKF and 3D points the number of feature in the new frame: 719 and number of obs: 719
[11:07:53.076] need key frame pitch dis: 0.019502 translation dif:0.000129
[11:07:53.076] frame process finished the id is: 81 the obs is:719 
[11:07:53.118] Odometry x=-0.000802, y=-0.001963, theta=-0.559094
[11:07:53.213] After Reprojection Map nPoint:939 ,nCell:12 ,nMatches:6 ,distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000000
[11:07:53.215] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =834 	 error init =0.001438 	 error end=0.001438
[11:07:53.215] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000000
[11:07:53.215] Update EKF and 3D points the number of feature in the new frame: 834 and number of obs: 834
[11:07:53.218] Odometry x=-0.000803, y=-0.001962, theta=-0.561487
[11:07:53.239] need key frame pitch dis: 0.044147 translation dif:0.000125
[11:07:53.239] frame process finished the id is: 82 the obs is:834 
[11:07:53.323] Odometry x=-0.000803, y=-0.001964, theta=-0.578728
[11:07:53.366] After Reprojection Map nPoint:1054 ,nCell:11 ,nMatches:7 ,distance between ekf and vo x:0.000005 ,z=-0.000001,angle between two frames:0.000000
[11:07:53.376] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =236 	 error init =0.000272 	 error end=0.000272
[11:07:53.376] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000010,angle between two frames:0.000000
[11:07:53.376] Update EKF and 3D points the number of feature in the new frame: 236 and number of obs: 236
[11:07:53.383] need key frame pitch dis: 0.063679 translation dif:0.000128
[11:07:53.383] frame process finished the id is: 83 the obs is:236 
[11:07:53.417] Odometry x=-0.000799, y=-0.001973, theta=-0.581019
[11:07:53.497] After Reprojection Map nPoint:456 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000000
[11:07:53.497] n deleted obs = 76 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =299 	 error init =0.002338 	 error end=0.002338
[11:07:53.497] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000000
[11:07:53.497] Update EKF and 3D points the number of feature in the new frame: 299 and number of obs: 299
[11:07:53.507] need key frame pitch dis: 0.066644 translation dif:0.000127
[11:07:53.507] frame process finished the id is: 84 the obs is:299 
[11:07:53.523] Odometry x=-0.000799, y=-0.001972, theta=-0.583985
[11:07:53.615] After Reprojection Map nPoint:519 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[11:07:53.616] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =378 	 error init =0.000404 	 error end=0.000404
[11:07:53.616] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[11:07:53.616] Update EKF and 3D points the number of feature in the new frame: 378 and number of obs: 378
[11:07:53.617] Odometry x=-0.000798, y=-0.001972, theta=-0.584683
[11:07:53.627] need key frame pitch dis: 0.067343 translation dif:0.000126
[11:07:53.627] frame process finished the id is: 85 the obs is:378 
[11:07:53.723] Odometry x=-0.000795, y=-0.001971, theta=-0.595782
[11:07:53.749] After Reprojection Map nPoint:598 ,nCell:11 ,nMatches:8 ,distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000000
[11:07:53.749] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =390 	 error init =0.000160 	 error end=0.000160
[11:07:53.749] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000000
[11:07:53.749] Update EKF and 3D points the number of feature in the new frame: 390 and number of obs: 390
[11:07:53.763] need key frame pitch dis: 0.071247 translation dif:0.000127
[11:07:53.763] frame process finished the id is: 86 the obs is:390 
[11:07:53.818] Odometry x=-0.000798, y=-0.001971, theta=-0.588588
[11:07:53.873] After Reprojection Map nPoint:610 ,nCell:10 ,nMatches:8 ,distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000
[11:07:53.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =578 	 error init =0.000062 	 error end=0.000062
[11:07:53.895] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000019,angle between two frames:0.000000
[11:07:53.895] Update EKF and 3D points the number of feature in the new frame: 578 and number of obs: 578
[11:07:53.914] need key frame pitch dis: 0.073840 translation dif:0.000145
[11:07:53.914] frame process finished the id is: 87 the obs is:578 
[11:07:53.918] Odometry x=-0.000809, y=-0.001987, theta=-0.591180
[11:07:54.023] Odometry x=-0.000807, y=-0.001986, theta=-0.612413
[11:07:54.025] After Reprojection Map nPoint:798 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[11:07:54.048] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =607 	 error init =0.000006 	 error end=0.000006
[11:07:54.048] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:54.048] Update EKF and 3D points the number of feature in the new frame: 607 and number of obs: 607
[11:07:54.067] need key frame pitch dis: 0.079327 translation dif:0.000144
[11:07:54.067] frame process finished the id is: 88 the obs is:607 
[11:07:54.118] Odometry x=-0.000809, y=-0.001987, theta=-0.596667
[11:07:54.177] After Reprojection Map nPoint:827 ,nCell:11 ,nMatches:3 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[11:07:54.178] n deleted obs = 61 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =342 	 error init =0.001205 	 error end=0.001205
[11:07:54.178] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[11:07:54.178] Update EKF and 3D points the number of feature in the new frame: 342 and number of obs: 342
[11:07:54.190] need key frame pitch dis: 0.081930 translation dif:0.000144
[11:07:54.190] frame process finished the id is: 89 the obs is:342 
[11:07:54.218] Odometry x=-0.000808, y=-0.001986, theta=-0.599271
[11:07:54.292] After Reprojection Map nPoint:562 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000000
[11:07:54.311] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =494 	 error init =0.000002 	 error end=0.000002
[11:07:54.311] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000000
[11:07:54.311] Update EKF and 3D points the number of feature in the new frame: 494 and number of obs: 494
[11:07:54.327] Odometry x=-0.000810, y=-0.001985, theta=-0.601454
[11:07:54.328] need key frame pitch dis: 0.084114 translation dif:0.000144
[11:07:54.328] frame process finished the id is: 90 the obs is:494 
[11:07:54.420] Odometry x=-0.000809, y=-0.001983, theta=-0.617699
[11:07:54.436] After Reprojection Map nPoint:714 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000000
[11:07:54.459] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =616 	 error init =0.000077 	 error end=0.000077
[11:07:54.459] After pose optimization, distance between ekf and vo x:-0.000008 ,z=0.000005,angle between two frames:0.000000
[11:07:54.459] Update EKF and 3D points the number of feature in the new frame: 616 and number of obs: 616
[11:07:54.481] need key frame pitch dis: 0.088164 translation dif:0.000147
[11:07:54.481] frame process finished the id is: 91 the obs is:616 
[11:07:54.520] Odometry x=-0.000817, y=-0.001981, theta=-0.605505
[11:07:54.591] After Reprojection Map nPoint:836 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000002 ,z=-0.000002,angle between two frames:0.000000
[11:07:54.613] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =583 	 error init =0.000102 	 error end=0.000102
[11:07:54.613] After pose optimization, distance between ekf and vo x:0.000081 ,z=-0.000009,angle between two frames:0.000000
[11:07:54.613] Update EKF and 3D points the number of feature in the new frame: 583 and number of obs: 583
[11:07:54.624] Odometry x=-0.000745, y=-0.001988, theta=-0.608196
[11:07:54.633] need key frame pitch dis: 0.090856 translation dif:0.000106
[11:07:54.633] frame process finished the id is: 92 the obs is:583 
[11:07:54.726] Odometry x=-0.000745, y=-0.001989, theta=-0.626015
[11:07:54.741] After Reprojection Map nPoint:803 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000001 ,z=-0.000001,angle between two frames:0.000000
[11:07:54.742] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =672 	 error init =0.000137 	 error end=0.000137
[11:07:54.742] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000001,angle between two frames:0.000000
[11:07:54.742] Update EKF and 3D points the number of feature in the new frame: 672 and number of obs: 672
[11:07:54.765] need key frame pitch dis: 0.114470 translation dif:0.000107
[11:07:54.765] frame process finished the id is: 93 the obs is:672 
[11:07:54.819] Odometry x=-0.000742, y=-0.001989, theta=-0.649033
[11:07:54.866] After Reprojection Map nPoint:892 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:54.898] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =881 	 error init =0.000172 	 error end=0.000172
[11:07:54.898] After pose optimization, distance between ekf and vo x:0.000118 ,z=-0.000017,angle between two frames:0.000000
[11:07:54.898] Update EKF and 3D points the number of feature in the new frame: 881 and number of obs: 881
[11:07:54.922] Odometry x=-0.000638, y=-0.002004, theta=-0.650880
[11:07:54.928] need key frame pitch dis: 0.133540 translation dif:0.000127
[11:07:54.928] frame process finished the id is: 94 the obs is:881 
[11:07:55.019] Odometry x=-0.000637, y=-0.002005, theta=-0.668496
[11:07:55.027] After Reprojection Map nPoint:1101 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:0.000007 ,z=-0.000003,angle between two frames:0.000000
[11:07:55.046] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =489 	 error init =0.000001 	 error end=0.000001
[11:07:55.046] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000003,angle between two frames:0.000000
[11:07:55.046] Update EKF and 3D points the number of feature in the new frame: 489 and number of obs: 489
[11:07:55.066] need key frame pitch dis: 0.144447 translation dif:0.000132
[11:07:55.066] frame process finished the id is: 95 the obs is:489 
[11:07:55.121] Odometry x=-0.000635, y=-0.002005, theta=-0.672482
[11:07:55.174] After Reprojection Map nPoint:709 ,nCell:14 ,nMatches:4 ,distance between ekf and vo x:0.000001 ,z=-0.000001,angle between two frames:0.000000
[11:07:55.175] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =571 	 error init =0.000221 	 error end=0.000221
[11:07:55.175] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000001,angle between two frames:0.000000
[11:07:55.175] Update EKF and 3D points the number of feature in the new frame: 571 and number of obs: 571
[11:07:55.199] need key frame pitch dis: 0.157742 translation dif:0.000132
[11:07:55.199] frame process finished the id is: 96 the obs is:571 
[11:07:55.219] Odometry x=-0.000633, y=-0.002006, theta=-0.675082
[11:07:55.305] After Reprojection Map nPoint:791 ,nCell:2 ,nMatches:2 ,distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:55.306] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =785 	 error init =0.000082 	 error end=0.000082
[11:07:55.306] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000000,angle between two frames:0.000000
[11:07:55.306] Update EKF and 3D points the number of feature in the new frame: 785 and number of obs: 785
[11:07:55.319] Odometry x=-0.000634, y=-0.002006, theta=-0.677981
[11:07:55.337] need key frame pitch dis: 0.160641 translation dif:0.000131
[11:07:55.337] frame process finished the id is: 97 the obs is:785 
[11:07:55.422] Odometry x=-0.000633, y=-0.002007, theta=-0.697234
[11:07:55.436] After Reprojection Map nPoint:1005 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000044 ,z=-0.000031,angle between two frames:0.000000
[11:07:55.439] n deleted obs = 19 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =45 	 error init =0.003925 	 error end=0.003925
[11:07:55.439] After pose optimization, distance between ekf and vo x:0.000064 ,z=-0.000111,angle between two frames:0.000000
[11:07:55.439] Update EKF and 3D points the number of feature in the new frame: 45 and number of obs: 45
[11:07:55.441] need key frame pitch dis: 0.185689 translation dif:0.000222
[11:07:55.441] frame process finished the id is: 98 the obs is:45 
[11:07:55.519] Odometry x=-0.000617, y=-0.002031, theta=-0.719262
[11:07:55.525] After Reprojection Map nPoint:265 ,nCell:3 ,nMatches:1 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000
[11:07:55.525] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =263 	 error init =0.000000 	 error end=0.000000
[11:07:55.525] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000
[11:07:55.525] Update EKF and 3D points the number of feature in the new frame: 263 and number of obs: 263
[11:07:55.533] need key frame pitch dis: 0.207340 translation dif:0.000162
[11:07:55.534] Choose frame as a key frame Scene Depth mean:243.515873 ,depth min:-2311.221268
[11:07:55.534] frame process finished the id is: 99 the obs is:263 
[11:07:55.621] Odometry x=-0.000614, y=-0.002029, theta=-0.735109
[11:07:55.627] After Reprojection Map nPoint:483 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:-0.000006 ,z=0.000005,angle between two frames:0.000000
[11:07:55.628] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =455 	 error init =0.000000 	 error end=0.000000
[11:07:55.628] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000005,angle between two frames:0.000000
[11:07:55.628] Update EKF and 3D points the number of feature in the new frame: 455 and number of obs: 455
[11:07:55.673] need key frame pitch dis: 0.215365 translation dif:0.000156
[11:07:55.673] Choose frame as a key frame Scene Depth mean:171.905978 ,depth min:-2294.722747
[11:07:55.673] frame process finished the id is: 100 the obs is:455 
[11:07:55.718] Odometry x=-0.000615, y=-0.002027, theta=-0.747177
[11:07:55.755] After Reprojection Map nPoint:675 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:55.757] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =600 	 error init =0.000021 	 error end=0.000021
[11:07:55.757] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:55.757] Update EKF and 3D points the number of feature in the new frame: 600 and number of obs: 600
[11:07:55.822] Odometry x=-0.000615, y=-0.002028, theta=-0.749274
[11:07:55.871] need key frame pitch dis: 0.231934 translation dif:0.000160
[11:07:55.871] Choose frame as a key frame Scene Depth mean:263.264056 ,depth min:-2260.189953
[11:07:55.871] frame process finished the id is: 101 the obs is:600 
[11:07:55.919] Odometry x=-0.000611, y=-0.002028, theta=-0.768020
[11:07:55.958] After Reprojection Map nPoint:1420 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:56.011] n deleted obs = 10 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1410 	 error init =0.001371 	 error end=0.001371
[11:07:56.011] After pose optimization, distance between ekf and vo x:-0.000175 ,z=-0.000094,angle between two frames:0.000000
[11:07:56.011] Update EKF and 3D points the number of feature in the new frame: 1410 and number of obs: 1410
[11:07:56.023] Odometry x=-0.000763, y=-0.002110, theta=-0.770303
[11:07:56.126] Odometry x=-0.000760, y=-0.002109, theta=-0.788352
[11:07:56.223] Odometry x=-0.000760, y=-0.002111, theta=-0.804154
[11:07:56.320] Odometry x=-0.000757, y=-0.002111, theta=-0.820083
[11:07:56.357] need key frame pitch dis: 0.252963 translation dif:0.000226
[11:07:56.358] Choose frame as a key frame Scene Depth mean:259.950892 ,depth min:-2215.470044
[11:07:56.359] frame process finished the id is: 102 the obs is:1410 
[11:07:56.422] Odometry x=-0.000750, y=-0.002110, theta=-0.837603
[11:07:56.463] After Reprojection Map nPoint:3640 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:56.469] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3572 	 error init =0.000056 	 error end=0.000056
[11:07:56.469] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:56.469] Update EKF and 3D points the number of feature in the new frame: 3572 and number of obs: 3572
[11:07:56.520] Odometry x=-0.000750, y=-0.002111, theta=-0.839513
[11:07:56.623] Odometry x=-0.000748, y=-0.002111, theta=-0.856626
[11:07:56.722] Odometry x=-0.000748, y=-0.002111, theta=-0.872302
[11:07:56.819] Odometry x=-0.000746, y=-0.002112, theta=-0.887743
[11:07:56.922] Odometry x=-0.000744, y=-0.002114, theta=-0.901453
[11:07:57.025] Odometry x=-0.000742, y=-0.002112, theta=-0.916994
[11:07:57.127] Odometry x=-0.000743, y=-0.002112, theta=-0.931174
[11:07:57.224] Odometry x=-0.000742, y=-0.002111, theta=-0.947048
[11:07:57.231] need key frame pitch dis: 0.090239 translation dif:0.000158
[11:07:57.231] frame process finished the id is: 103 the obs is:3572 
[11:07:57.325] Odometry x=-0.000742, y=-0.002108, theta=-0.961029
[11:07:57.355] After Reprojection Map nPoint:5802 ,nCell:10 ,nMatches:7 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000000
[11:07:57.427] Odometry x=-0.000741, y=-0.002110, theta=-0.976569
[11:07:57.524] Odometry x=-0.000741, y=-0.002110, theta=-0.991439
[11:07:57.564] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5664 	 error init =0.000144 	 error end=0.000144
[11:07:57.564] After pose optimization, distance between ekf and vo x:-0.000475 ,z=-0.000296,angle between two frames:0.000000
[11:07:57.564] Update EKF and 3D points the number of feature in the new frame: 5664 and number of obs: 5664
[11:07:57.618] Odometry x=-0.001154, y=-0.002369, theta=-0.955001
[11:07:57.725] Odometry x=-0.001154, y=-0.002369, theta=-0.972255
[11:07:57.817] Odometry x=-0.001151, y=-0.002368, theta=-0.988406
[11:07:57.924] Odometry x=-0.001151, y=-0.002369, theta=-1.006015
[11:07:58.021] Odometry x=-0.001149, y=-0.002369, theta=-1.021138
[11:07:58.123] Odometry x=-0.001148, y=-0.002371, theta=-1.036052
[11:07:58.222] Odometry x=-0.001146, y=-0.002369, theta=-1.051915
[11:07:58.320] Odometry x=-0.001145, y=-0.002377, theta=-1.065162
[11:07:58.427] Odometry x=-0.001144, y=-0.002376, theta=-1.077906
[11:07:58.520] Odometry x=-0.001144, y=-0.002377, theta=-1.089646
[11:07:58.622] Odometry x=-0.001143, y=-0.002376, theta=-1.100878
[11:07:58.722] Odometry x=-0.001144, y=-0.002378, theta=-1.113557
[11:07:58.779] need key frame pitch dis: 0.184698 translation dif:0.000470
[11:07:58.779] frame process finished the id is: 104 the obs is:5664 
[11:07:58.825] Odometry x=-0.001140, y=-0.002377, theta=-1.124702
[11:07:58.904] After Reprojection Map nPoint:5853 ,nCell:15 ,nMatches:7 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:07:58.928] Odometry x=-0.001140, y=-0.002379, theta=-1.141543
[11:07:59.027] Odometry x=-0.001138, y=-0.002378, theta=-1.152305
[11:07:59.060] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4239 	 error init =0.000182 	 error end=0.000182
[11:07:59.060] After pose optimization, distance between ekf and vo x:-0.001977 ,z=-0.000832,angle between two frames:0.000001
[11:07:59.060] Update EKF and 3D points the number of feature in the new frame: 4239 and number of obs: 4239
[11:07:59.125] Odometry x=-0.002863, y=-0.003103, theta=-1.130143
[11:07:59.225] Odometry x=-0.002862, y=-0.003104, theta=-1.149577
[11:07:59.322] Odometry x=-0.002863, y=-0.003104, theta=-1.166527
[11:07:59.421] Odometry x=-0.002862, y=-0.003105, theta=-1.181705
[11:07:59.523] Odometry x=-0.002861, y=-0.003107, theta=-1.195976
[11:07:59.620] Odometry x=-0.002864, y=-0.003107, theta=-1.211790
[11:07:59.721] Odometry x=-0.002863, y=-0.003108, theta=-1.227820
[11:07:59.822] Odometry x=-0.002864, y=-0.003109, theta=-1.243971
[11:07:59.920] Odometry x=-0.002863, y=-0.003112, theta=-1.258256
[11:07:59.989] need key frame pitch dis: 0.612803 translation dif:0.002480
[11:07:59.992] Choose frame as a key frame Scene Depth mean:147.616375 ,depth min:-1316.498540
[11:07:59.993] frame process finished the id is: 105 the obs is:4239 
[11:08:00.020] Odometry x=-0.002863, y=-0.003110, theta=-1.272254
[11:08:00.121] Odometry x=-0.002862, y=-0.003111, theta=-1.288288
[11:08:00.222] Odometry x=-0.002860, y=-0.003113, theta=-1.302477
[11:08:00.327] Odometry x=-0.002860, y=-0.003114, theta=-1.316071
[11:08:00.422] Odometry x=-0.002861, y=-0.003119, theta=-1.331462
[11:08:00.522] Odometry x=-0.002860, y=-0.003120, theta=-1.348317
[11:08:00.625] Odometry x=-0.002860, y=-0.003119, theta=-1.360787
[11:08:00.679] After Reprojection Map nPoint:4239 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:08:00.683] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1104 	 error init =0.000009 	 error end=0.000009
[11:08:00.683] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:08:00.683] Update EKF and 3D points the number of feature in the new frame: 1104 and number of obs: 1104
[11:08:00.724] Odometry x=-0.002857, y=-0.003119, theta=-1.362936
[11:08:00.821] Odometry x=-0.002857, y=-0.003120, theta=-1.377859
[11:08:00.880] need key frame pitch dis: 1.362936 translation dif:0.004230
[11:08:00.880] Choose frame as a key frame Scene Depth mean:100.816619 ,depth min:-775.077626
[11:08:00.881] frame process finished the id is: 106 the obs is:1104 
[11:08:00.925] Odometry x=-0.002856, y=-0.003118, theta=-1.394382
[11:08:01.022] Odometry x=-0.002857, y=-0.003116, theta=-1.411732
[11:08:01.122] Odometry x=-0.002856, y=-0.003119, theta=-1.427510
[11:08:01.223] Odometry x=-0.002855, y=-0.003121, theta=-1.441490
[11:08:01.323] Odometry x=-0.002855, y=-0.003119, theta=-1.456652
[11:08:01.418] Odometry x=-0.002858, y=-0.003119, theta=-1.470889
[11:08:01.518] Odometry x=-0.002859, y=-0.003121, theta=-1.487352
[11:08:01.618] Odometry x=-0.002859, y=-0.003123, theta=-1.501794
[11:08:01.718] Odometry x=-0.002856, y=-0.003126, theta=-1.515446
[11:08:01.822] Odometry x=-0.002857, y=-0.003125, theta=-1.528991
[11:08:01.920] Odometry x=-0.002858, y=-0.003127, theta=-1.543610
[11:08:02.028] Odometry x=-0.002859, y=-0.003128, theta=-1.558156
[11:08:02.122] Odometry x=-0.002858, y=-0.003124, theta=-1.571147
[11:08:02.219] Odometry x=-0.002856, y=-0.003124, theta=-1.583151
[11:08:02.257] After Reprojection Map nPoint:1104 ,nCell:15 ,nMatches:3 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000
[11:08:02.258] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =344 	 error init =0.002192 	 error end=0.002192
[11:08:02.258] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000
[11:08:02.258] Update EKF and 3D points the number of feature in the new frame: 344 and number of obs: 344
[11:08:02.283] need key frame pitch dis: 1.585087 translation dif:0.004233
[11:08:02.283] Choose frame as a key frame Scene Depth mean:-6.228539 ,depth min:-416.996507
[11:08:02.284] frame process finished the id is: 107 the obs is:344 
[11:08:02.317] Odometry x=-0.002856, y=-0.003124, theta=-1.585087
[11:08:02.420] Odometry x=-0.002856, y=-0.003124, theta=-1.601353
[11:08:02.521] Odometry x=-0.002855, y=-0.003125, theta=-1.617768
[11:08:02.618] Odometry x=-0.002853, y=-0.003127, theta=-1.632449
[11:08:02.718] Odometry x=-0.002853, y=-0.003125, theta=-1.646133
[11:08:02.823] Odometry x=-0.002853, y=-0.003124, theta=-1.660778
[11:08:02.921] Odometry x=-0.002852, y=-0.003127, theta=-1.674348
[11:08:03.022] Odometry x=-0.002850, y=-0.003125, theta=-1.689772
[11:08:03.121] Odometry x=-0.002850, y=-0.003128, theta=-1.703421
[11:08:03.139] After Reprojection Map nPoint:344 ,nCell:3 ,nMatches:2 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[11:08:03.139] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =344 	 error init =0.000218 	 error end=0.000218
[11:08:03.139] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[11:08:03.139] Update EKF and 3D points the number of feature in the new frame: 344 and number of obs: 344
[11:08:03.160] need key frame pitch dis: 1.693250 translation dif:0.004229
[11:08:03.160] Choose frame as a key frame Scene Depth mean:-15.716132 ,depth min:-446.555996
[11:08:03.160] frame process finished the id is: 108 the obs is:344 
[11:08:03.218] Odometry x=-0.002849, y=-0.003125, theta=-1.693250
[11:08:03.260] After Reprojection Map nPoint:344 ,nCell:140 ,nMatches:1 ,distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000000
[11:08:03.260] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =249 	 error init =0.000027 	 error end=0.000027
[11:08:03.260] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000000
[11:08:03.260] Update EKF and 3D points the number of feature in the new frame: 249 and number of obs: 249
[11:08:03.272] need key frame pitch dis: 1.695044 translation dif:0.004230
[11:08:03.272] Choose frame as a key frame Scene Depth mean:-7.825470 ,depth min:-451.916524
[11:08:03.272] frame process finished the id is: 109 the obs is:249 
[11:08:03.323] Odometry x=-0.002849, y=-0.003126, theta=-1.695044
[11:08:03.375] After Reprojection Map nPoint:248 ,nCell:2 ,nMatches:2 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:08:03.375] n deleted obs = 18 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.007369 	 error end=0.007369
[11:08:03.375] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[11:08:03.375] frame process finished the id is: 109 the obs is:249 
[11:08:03.426] Odometry x=-0.002849, y=-0.003125, theta=-1.711460
[11:08:03.525] Odometry x=-0.002848, y=-0.003124, theta=-1.728278
[11:08:03.624] Odometry x=-0.002847, y=-0.003124, theta=-1.743463
[11:08:03.724] Odometry x=-0.002846, y=-0.003124, theta=-1.758886
[11:08:03.825] Odometry x=-0.002845, y=-0.003125, theta=-1.774090
[11:08:03.927] Odometry x=-0.002844, y=-0.003126, theta=-1.786079
[11:08:04.027] Odometry x=-0.002845, y=-0.003126, theta=-1.800079
[11:08:04.124] Odometry x=-0.002843, y=-0.003127, theta=-1.816337
[11:08:04.226] Odometry x=-0.002842, y=-0.003126, theta=-1.831383
[11:08:04.325] Odometry x=-0.002841, y=-0.003126, theta=-1.850417
[11:08:04.425] Odometry x=-0.002842, y=-0.003127, theta=-1.866087
[11:08:04.525] Odometry x=-0.002840, y=-0.003124, theta=-1.879691
[11:08:04.624] Odometry x=-0.002839, y=-0.003124, theta=-1.893096
[11:08:04.725] Odometry x=-0.002834, y=-0.003124, theta=-1.909125
[11:08:04.821] Odometry x=-0.002834, y=-0.003123, theta=-1.923529
[11:08:04.929] Odometry x=-0.002835, y=-0.003123, theta=-1.937635
[11:08:05.025] Odometry x=-0.002833, y=-0.003126, theta=-1.949734
[11:08:05.124] Odometry x=-0.002832, y=-0.003122, theta=-1.964846
[11:08:05.229] Odometry x=-0.002829, y=-0.003126, theta=-1.979067
[11:08:05.322] Odometry x=-0.002828, y=-0.003128, theta=-1.992814
[11:08:05.427] Odometry x=-0.002826, y=-0.003128, theta=-2.006131
[11:08:05.530] Odometry x=-0.002825, y=-0.003126, theta=-2.020446
[11:08:05.619] Odometry x=-0.002824, y=-0.003127, theta=-2.035143
[11:08:05.726] Odometry x=-0.002821, y=-0.003128, theta=-2.048052
[11:08:05.821] Odometry x=-0.002819, y=-0.003126, theta=-2.066195
[11:08:05.922] Odometry x=-0.002817, y=-0.003127, theta=-2.079171
[11:08:06.023] Odometry x=-0.002817, y=-0.003128, theta=-2.094340
[11:08:06.119] Odometry x=-0.002815, y=-0.003130, theta=-2.110215
[11:08:06.219] Odometry x=-0.002814, y=-0.003130, theta=-2.124708
[11:08:06.325] Odometry x=-0.002815, y=-0.003132, theta=-2.138289
[11:08:06.425] Odometry x=-0.002813, y=-0.003132, theta=-2.153419
[11:08:06.519] Odometry x=-0.002809, y=-0.003132, theta=-2.167452
[11:08:06.624] Odometry x=-0.002808, y=-0.003132, theta=-2.183266
[11:08:06.719] Odometry x=-0.002806, y=-0.003132, theta=-2.196696
[11:08:06.819] Odometry x=-0.002804, y=-0.003133, theta=-2.210876
[11:08:06.919] Odometry x=-0.002804, y=-0.003132, theta=-2.223484
[11:08:07.019] Odometry x=-0.002804, y=-0.003133, theta=-2.236877
[11:08:07.126] Odometry x=-0.002804, y=-0.003133, theta=-2.252321
[11:08:07.227] Odometry x=-0.002804, y=-0.003138, theta=-2.269524
[11:08:07.322] Odometry x=-0.002805, y=-0.003141, theta=-2.283519
[11:08:07.429] Odometry x=-0.002806, y=-0.003144, theta=-2.297518
[11:08:07.519] Odometry x=-0.002805, y=-0.003145, theta=-2.313967
[11:08:07.623] Odometry x=-0.002807, y=-0.003150, theta=-2.328649
[11:08:07.726] Odometry x=-0.002807, y=-0.003152, theta=-2.342560
[11:08:07.825] Odometry x=-0.002805, y=-0.003151, theta=-2.356010
[11:08:07.855] After Reprojection Map nPoint:3728 ,nCell:2 ,nMatches:2 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[11:08:07.922] Odometry x=-0.002803, y=-0.003154, theta=-2.370012
[11:08:07.999] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3727 	 error init =0.000060 	 error end=0.000060
[11:08:08.000] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000049
[11:08:08.000] Update EKF and 3D points the number of feature in the new frame: 3727 and number of obs: 3727
[11:08:08.017] Odometry x=-0.002808, y=-0.003153, theta=-2.347853
[11:08:08.124] Odometry x=-0.002806, y=-0.003156, theta=-2.359986
[11:08:08.143] need key frame pitch dis: 0.984917 translation dif:0.000061
[11:08:08.145] Choose frame as a key frame Scene Depth mean:-132.761909 ,depth min:-2174.035195
[11:08:08.146] frame process finished the id is: 111 the obs is:3727 
[11:08:08.224] Odometry x=-0.002807, y=-0.003156, theta=-2.371194
[11:08:08.314] After Reprojection Map nPoint:10933 ,nCell:209 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000
[11:08:08.322] Odometry x=-0.002806, y=-0.003158, theta=-2.384467
[11:08:08.417] Odometry x=-0.002805, y=-0.003160, theta=-2.400386
[11:08:08.517] Odometry x=-0.002805, y=-0.003162, theta=-2.415478
[11:08:08.625] Odometry x=-0.002805, y=-0.003163, theta=-2.434882
[11:08:08.722] Odometry x=-0.002802, y=-0.003162, theta=-2.451248
[11:08:08.728] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10773 	 error init =0.000113 	 error end=0.000113
[11:08:08.728] After pose optimization, distance between ekf and vo x:-0.000015 ,z=-0.000013,angle between two frames:0.000401
[11:08:08.728] Update EKF and 3D points the number of feature in the new frame: 10773 and number of obs: 10773
[11:08:08.824] Odometry x=-0.002806, y=-0.003164, theta=-2.443949
[11:08:08.921] Odometry x=-0.002806, y=-0.003165, theta=-2.458884
[11:08:09.024] Odometry x=-0.002805, y=-0.003168, theta=-2.474517
[11:08:09.123] Odometry x=-0.002801, y=-0.003169, theta=-2.487791
[11:08:09.225] Odometry x=-0.002802, y=-0.003171, theta=-2.501599
[11:08:09.319] Odometry x=-0.002805, y=-0.003171, theta=-2.516470
[11:08:09.421] Odometry x=-0.002805, y=-0.003174, theta=-2.531037
[11:08:09.523] Odometry x=-0.002804, y=-0.003177, theta=-2.545833
[11:08:09.623] Odometry x=-0.002806, y=-0.003178, theta=-2.558817
[11:08:09.725] Odometry x=-0.002807, y=-0.003178, theta=-2.573606
[11:08:09.818] Odometry x=-0.002806, y=-0.003180, theta=-2.588453
[11:08:09.920] Odometry x=-0.002805, y=-0.003182, theta=-2.602723
[11:08:10.022] Odometry x=-0.002804, y=-0.003186, theta=-2.615895
[11:08:10.125] Odometry x=-0.002803, y=-0.003187, theta=-2.629361
[11:08:10.227] Odometry x=-0.002803, y=-0.003187, theta=-2.642628
[11:08:10.319] Odometry x=-0.002801, y=-0.003190, theta=-2.656343
[11:08:10.423] Odometry x=-0.002802, y=-0.003190, theta=-2.671399
[11:08:10.520] Odometry x=-0.002802, y=-0.003192, theta=-2.686057
[11:08:10.625] Odometry x=-0.002802, y=-0.003197, theta=-2.699911
[11:08:10.730] Odometry x=-0.002800, y=-0.003195, theta=-2.715099
[11:08:10.819] Odometry x=-0.002800, y=-0.003197, theta=-2.729668
[11:08:10.930] Odometry x=-0.002800, y=-0.003197, theta=-2.744038
[11:08:11.022] Odometry x=-0.002796, y=-0.003199, theta=-2.756390
[11:08:11.120] Odometry x=-0.002795, y=-0.003199, theta=-2.772663
[11:08:11.218] Odometry x=-0.002797, y=-0.003203, theta=