[11:02:52.333] Init: frame zero: 0.000000, 0.000000 0.000000
[11:02:52.333] Init: Selected first frame. 
[11:02:52.333] frame process finished the id is: 0 the obs is:0 
[11:02:52.434] Init: px average disparity is:0.187281 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:52.434] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:52.434] frame process finished the id is: 1 the obs is:0 
[11:02:52.527] Init: px average disparity is:0.218041 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:52.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:52.527] frame process finished the id is: 2 the obs is:0 
[11:02:52.628] Init: px average disparity is:0.232766 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:52.628] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:52.628] frame process finished the id is: 3 the obs is:0 
[11:02:52.729] Init: px average disparity is:0.255164 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:52.729] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:52.729] frame process finished the id is: 4 the obs is:0 
[11:02:52.828] Init: px average disparity is:0.223722 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:52.828] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:52.828] frame process finished the id is: 5 the obs is:0 
[11:02:52.928] Init: px average disparity is:0.228289 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:52.928] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:52.928] frame process finished the id is: 6 the obs is:0 
[11:02:53.031] Init: px average disparity is:0.238544 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:53.031] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:53.031] frame process finished the id is: 7 the obs is:0 
[11:02:53.132] Init: px average disparity is:0.229526 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:53.132] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:53.132] frame process finished the id is: 8 the obs is:0 
[11:02:53.228] Init: px average disparity is:0.252443 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:53.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:53.229] frame process finished the id is: 9 the obs is:0 
[11:02:53.327] Init: px average disparity is:0.220686 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:53.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:53.327] frame process finished the id is: 10 the obs is:0 
[11:02:53.429] Init: px average disparity is:0.234342 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:53.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:53.429] frame process finished the id is: 11 the obs is:0 
[11:02:53.527] Init: px average disparity is:0.239405 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:53.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:53.527] frame process finished the id is: 12 the obs is:0 
[11:02:53.628] Init: px average disparity is:0.226341 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:53.628] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:53.628] frame process finished the id is: 13 the obs is:0 
[11:02:53.727] Init: px average disparity is:0.246785 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:53.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:53.727] frame process finished the id is: 14 the obs is:0 
[11:02:53.827] Init: px average disparity is:0.224909 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:53.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:53.827] frame process finished the id is: 15 the obs is:0 
[11:02:53.918] Init: px average disparity is:0.234867 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:53.918] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:53.918] frame process finished the id is: 16 the obs is:0 
[11:02:54.019] Init: px average disparity is:0.251769 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:54.019] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:54.019] frame process finished the id is: 17 the obs is:0 
[11:02:54.127] Init: px average disparity is:0.241222 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:54.127] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:54.127] frame process finished the id is: 18 the obs is:0 
[11:02:54.227] Init: px average disparity is:0.216469 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:54.227] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:54.227] frame process finished the id is: 19 the obs is:0 
[11:02:54.328] Init: px average disparity is:0.229117 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:54.329] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:54.329] frame process finished the id is: 20 the obs is:0 
[11:02:54.428] Init: px average disparity is:0.250748 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:54.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:54.429] frame process finished the id is: 21 the obs is:0 
[11:02:54.518] Init: px average disparity is:0.251933 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:54.518] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:54.518] frame process finished the id is: 22 the obs is:0 
[11:02:54.628] Init: px average disparity is:0.232130 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:54.628] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:54.628] frame process finished the id is: 23 the obs is:0 
[11:02:54.726] Init: px average disparity is:0.217840 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:54.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:54.726] frame process finished the id is: 24 the obs is:0 
[11:02:54.826] Init: px average disparity is:0.250590 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:54.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:54.827] frame process finished the id is: 25 the obs is:0 
[11:02:54.932] Init: px average disparity is:0.237456 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:54.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:54.932] frame process finished the id is: 26 the obs is:0 
[11:02:55.028] Init: px average disparity is:0.219125 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:55.028] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:55.028] frame process finished the id is: 27 the obs is:0 
[11:02:55.130] Init: px average disparity is:0.254428 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:55.131] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:55.131] frame process finished the id is: 28 the obs is:0 
[11:02:55.228] Init: px average disparity is:0.224679 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:55.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:55.228] frame process finished the id is: 29 the obs is:0 
[11:02:55.265] Odometry x=0.000000, y=0.000000, theta=0.000000
[11:02:55.327] Init: px average disparity is:0.225306 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:55.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:55.327] frame process finished the id is: 30 the obs is:0 
[11:02:55.363] Odometry x=0.000000, y=0.000000, theta=0.000000
[11:02:55.428] Init: px average disparity is:0.206806 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:55.428] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:55.428] frame process finished the id is: 31 the obs is:0 
[11:02:55.463] Odometry x=0.000083, y=0.006159, theta=0.001621
[11:02:55.527] Init: px average disparity is:1.709012 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:55.528] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:55.528] frame process finished the id is: 32 the obs is:0 
[11:02:55.564] Odometry x=0.000315, y=0.014506, theta=0.001673
[11:02:55.628] Init: px average disparity is:5.939196 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:55.628] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:55.628] frame process finished the id is: 33 the obs is:0 
[11:02:55.665] Odometry x=0.000437, y=0.019936, theta=0.004526
[11:02:55.726] Init: px average disparity is:7.664276 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:55.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:55.726] frame process finished the id is: 34 the obs is:0 
[11:02:55.764] Odometry x=0.000458, y=0.027376, theta=-0.000143
[11:02:55.832] Init: px average disparity is:4.997190 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:55.832] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:55.832] frame process finished the id is: 35 the obs is:0 
[11:02:55.863] Odometry x=0.000508, y=0.032786, theta=0.001808
[11:02:55.919] Init: px average disparity is:5.373949 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:55.919] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:55.919] frame process finished the id is: 36 the obs is:0 
[11:02:55.966] Odometry x=0.002184, y=0.040555, theta=0.000013
[11:02:56.027] Init: px average disparity is:4.380394 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:56.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:56.027] frame process finished the id is: 37 the obs is:0 
[11:02:56.064] Odometry x=0.002111, y=0.045147, theta=0.007648
[11:02:56.129] Init: px average disparity is:5.839307 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:56.129] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:56.129] frame process finished the id is: 38 the obs is:0 
[11:02:56.163] Odometry x=0.002136, y=0.051563, theta=-0.006108
[11:02:56.220] Init: px average disparity is:4.598785 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:56.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:56.220] frame process finished the id is: 39 the obs is:0 
[11:02:56.266] Odometry x=0.002164, y=0.056924, theta=0.004808
[11:02:56.326] Init: px average disparity is:6.456587 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:56.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:56.326] frame process finished the id is: 40 the obs is:0 
[11:02:56.364] Odometry x=0.002975, y=0.063283, theta=0.003612
[11:02:56.430] Init: px average disparity is:7.801657 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:56.430] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:56.430] frame process finished the id is: 41 the obs is:0 
[11:02:56.468] Odometry x=0.002964, y=0.068472, theta=-0.000431
[11:02:56.527] Init: px average disparity is:9.395217 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:56.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:56.527] frame process finished the id is: 42 the obs is:0 
[11:02:56.563] Odometry x=0.003136, y=0.075450, theta=-0.000288
[11:02:56.621] Init: px average disparity is:12.697550 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:56.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:56.621] frame process finished the id is: 43 the obs is:0 
[11:02:56.664] Odometry x=0.003154, y=0.080847, theta=0.009618
[11:02:56.721] Init: px average disparity is:15.611704 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:56.721] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:56.721] frame process finished the id is: 44 the obs is:0 
[11:02:56.768] Odometry x=0.003682, y=0.086671, theta=0.000076
[11:02:56.820] Init: px average disparity is:13.822195 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:56.820] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:56.820] frame process finished the id is: 45 the obs is:0 
[11:02:56.864] Odometry x=0.003457, y=0.092265, theta=-0.006009
[11:02:56.921] Init: px average disparity is:13.052692 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:56.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:56.922] frame process finished the id is: 46 the obs is:0 
[11:02:56.963] Odometry x=0.003712, y=0.098480, theta=-0.005355
[11:02:57.021] Init: px average disparity is:11.466963 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:57.021] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:57.021] frame process finished the id is: 47 the obs is:0 
[11:02:57.067] Odometry x=0.003680, y=0.103995, theta=-0.008898
[11:02:57.120] Init: px average disparity is:12.922224 ,While minimum is: 40.000000  KLT tracked : 133
[11:02:57.120] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:57.120] frame process finished the id is: 48 the obs is:0 
[11:02:57.164] Odometry x=0.003768, y=0.109887, theta=-0.010883
[11:02:57.220] Init: px average disparity is:13.055056 ,While minimum is: 40.000000  KLT tracked : 132
[11:02:57.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:57.220] frame process finished the id is: 49 the obs is:0 
[11:02:57.267] Odometry x=0.003971, y=0.116057, theta=-0.003634
[11:02:57.320] Init: px average disparity is:19.206657 ,While minimum is: 40.000000  KLT tracked : 132
[11:02:57.320] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:57.320] frame process finished the id is: 50 the obs is:0 
[11:02:57.375] Odometry x=0.003984, y=0.126878, theta=-0.010992
[11:02:57.428] Init: px average disparity is:13.867391 ,While minimum is: 40.000000  KLT tracked : 132
[11:02:57.428] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:57.428] frame process finished the id is: 51 the obs is:0 
[11:02:57.465] Odometry x=0.006282, y=0.133190, theta=-0.002551
[11:02:57.529] Init: px average disparity is:13.631560 ,While minimum is: 40.000000  KLT tracked : 132
[11:02:57.529] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:57.529] frame process finished the id is: 52 the obs is:0 
[11:02:57.566] Odometry x=0.006054, y=0.150077, theta=-0.005795
[11:02:57.630] Init: px average disparity is:8.895854 ,While minimum is: 40.000000  KLT tracked : 132
[11:02:57.630] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:57.630] frame process finished the id is: 53 the obs is:0 
[11:02:57.666] Odometry x=0.009420, y=0.155250, theta=-0.000685
[11:02:57.719] Init: px average disparity is:9.468409 ,While minimum is: 40.000000  KLT tracked : 132
[11:02:57.719] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:57.719] frame process finished the id is: 54 the obs is:0 
[11:02:57.763] Odometry x=0.010250, y=0.160812, theta=0.004575
[11:02:57.828] Init: px average disparity is:9.281379 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:57.828] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:57.828] frame process finished the id is: 55 the obs is:0 
[11:02:57.869] Odometry x=0.011656, y=0.166044, theta=0.005583
[11:02:57.928] Init: px average disparity is:10.252091 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:57.928] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:57.928] frame process finished the id is: 56 the obs is:0 
[11:02:57.971] Odometry x=0.011738, y=0.171452, theta=0.004541
[11:02:58.031] Init: px average disparity is:11.171103 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:58.031] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:58.031] frame process finished the id is: 57 the obs is:0 
[11:02:58.072] Odometry x=0.020211, y=0.176784, theta=-0.002113
[11:02:58.129] Init: px average disparity is:9.216175 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:58.129] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:58.129] frame process finished the id is: 58 the obs is:0 
[11:02:58.172] Odometry x=0.020186, y=0.182495, theta=-0.013019
[11:02:58.229] Init: px average disparity is:11.718446 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:58.229] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:58.229] frame process finished the id is: 59 the obs is:0 
[11:02:58.272] Odometry x=0.020271, y=0.187943, theta=-0.000381
[11:02:58.329] Init: px average disparity is:14.178261 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:58.329] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:58.329] frame process finished the id is: 60 the obs is:0 
[11:02:58.367] Odometry x=0.020261, y=0.193889, theta=-0.005366
[11:02:58.429] Init: px average disparity is:15.136591 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:58.429] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:58.429] frame process finished the id is: 61 the obs is:0 
[11:02:58.467] Odometry x=0.022108, y=0.199369, theta=-0.001681
[11:02:58.531] Init: px average disparity is:16.247625 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:58.531] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:58.531] frame process finished the id is: 62 the obs is:0 
[11:02:58.567] Odometry x=0.022092, y=0.205193, theta=-0.006756
[11:02:58.629] Init: px average disparity is:16.698938 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:58.630] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:58.630] frame process finished the id is: 63 the obs is:0 
[11:02:58.666] Odometry x=0.022191, y=0.210769, theta=-0.001404
[11:02:58.730] Init: px average disparity is:17.081662 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:58.730] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:58.730] frame process finished the id is: 64 the obs is:0 
[11:02:58.765] Odometry x=0.022150, y=0.216182, theta=-0.006130
[11:02:58.831] Init: px average disparity is:19.191017 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:58.831] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:58.831] frame process finished the id is: 65 the obs is:0 
[11:02:58.865] Odometry x=0.022600, y=0.221975, theta=0.005325
[11:02:58.930] Init: px average disparity is:22.069938 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:58.930] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:58.930] frame process finished the id is: 66 the obs is:0 
[11:02:58.965] Odometry x=0.022613, y=0.227483, theta=0.000197
[11:02:59.030] Init: px average disparity is:19.974698 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:59.030] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:59.030] frame process finished the id is: 67 the obs is:0 
[11:02:59.065] Odometry x=0.022678, y=0.235399, theta=-0.010260
[11:02:59.132] Init: px average disparity is:19.313530 ,While minimum is: 40.000000  KLT tracked : 131
[11:02:59.132] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:59.132] frame process finished the id is: 68 the obs is:0 
[11:02:59.167] Odometry x=0.022481, y=0.242622, theta=0.003881
[11:02:59.230] Init: px average disparity is:19.038896 ,While minimum is: 40.000000  KLT tracked : 130
[11:02:59.231] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:59.231] frame process finished the id is: 69 the obs is:0 
[11:02:59.266] Odometry x=0.022628, y=0.248044, theta=-0.011295
[11:02:59.323] Init: px average disparity is:19.331162 ,While minimum is: 40.000000  KLT tracked : 130
[11:02:59.323] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:59.323] frame process finished the id is: 70 the obs is:0 
[11:02:59.365] Odometry x=0.023183, y=0.254114, theta=0.001542
[11:02:59.432] Init: px average disparity is:21.714218 ,While minimum is: 40.000000  KLT tracked : 130
[11:02:59.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:59.432] frame process finished the id is: 71 the obs is:0 
[11:02:59.471] Odometry x=0.023758, y=0.259705, theta=-0.012768
[11:02:59.532] Init: px average disparity is:21.140279 ,While minimum is: 40.000000  KLT tracked : 130
[11:02:59.532] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:59.532] frame process finished the id is: 72 the obs is:0 
[11:02:59.566] Odometry x=0.023847, y=0.266068, theta=0.012340
[11:02:59.632] Init: px average disparity is:21.731932 ,While minimum is: 40.000000  KLT tracked : 126
[11:02:59.632] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:59.632] frame process finished the id is: 73 the obs is:0 
[11:02:59.665] Odometry x=0.023291, y=0.275696, theta=0.012209
[11:02:59.732] Init: px average disparity is:22.202050 ,While minimum is: 40.000000  KLT tracked : 126
[11:02:59.732] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:59.733] frame process finished the id is: 74 the obs is:0 
[11:02:59.766] Odometry x=0.023332, y=0.281054, theta=0.017046
[11:02:59.831] Init: px average disparity is:20.604003 ,While minimum is: 40.000000  KLT tracked : 126
[11:02:59.832] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:59.832] frame process finished the id is: 75 the obs is:0 
[11:02:59.866] Odometry x=0.023455, y=0.286541, theta=0.025195
[11:02:59.932] Init: px average disparity is:21.489386 ,While minimum is: 40.000000  KLT tracked : 126
[11:02:59.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:02:59.932] frame process finished the id is: 76 the obs is:0 
[11:02:59.966] Odometry x=0.023538, y=0.292210, theta=0.022804
[11:03:00.033] Init: px average disparity is:21.235379 ,While minimum is: 40.000000  KLT tracked : 126
[11:03:00.033] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:00.033] frame process finished the id is: 77 the obs is:0 
[11:03:00.066] Odometry x=0.016740, y=0.299317, theta=0.009760
[11:03:00.132] Init: px average disparity is:23.308874 ,While minimum is: 40.000000  KLT tracked : 126
[11:03:00.132] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:00.133] frame process finished the id is: 78 the obs is:0 
[11:03:00.167] Odometry x=0.016776, y=0.304860, theta=0.013052
[11:03:00.232] Init: px average disparity is:21.758660 ,While minimum is: 40.000000  KLT tracked : 126
[11:03:00.232] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:00.232] frame process finished the id is: 79 the obs is:0 
[11:03:00.270] Odometry x=0.016814, y=0.311205, theta=0.001266
[11:03:00.332] Init: px average disparity is:22.844221 ,While minimum is: 40.000000  KLT tracked : 126
[11:03:00.332] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:00.333] frame process finished the id is: 80 the obs is:0 
[11:03:00.369] Odometry x=0.016842, y=0.316692, theta=0.008555
[11:03:00.421] Init: px average disparity is:21.768674 ,While minimum is: 40.000000  KLT tracked : 126
[11:03:00.421] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:00.421] frame process finished the id is: 81 the obs is:0 
[11:03:00.467] Odometry x=0.016867, y=0.322709, theta=-0.001106
[11:03:00.532] Init: px average disparity is:23.868591 ,While minimum is: 40.000000  KLT tracked : 126
[11:03:00.532] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:00.532] frame process finished the id is: 82 the obs is:0 
[11:03:00.566] Odometry x=0.016945, y=0.327379, theta=0.015800
[11:03:00.633] Init: px average disparity is:22.181142 ,While minimum is: 40.000000  KLT tracked : 126
[11:03:00.633] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:00.633] frame process finished the id is: 83 the obs is:0 
[11:03:00.670] Odometry x=0.017665, y=0.332335, theta=-0.005166
[11:03:00.732] Init: px average disparity is:23.537503 ,While minimum is: 40.000000  KLT tracked : 126
[11:03:00.733] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:00.733] frame process finished the id is: 84 the obs is:0 
[11:03:00.765] Odometry x=0.018206, y=0.337937, theta=0.025456
[11:03:00.832] Init: px average disparity is:22.125601 ,While minimum is: 40.000000  KLT tracked : 126
[11:03:00.832] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:00.832] frame process finished the id is: 85 the obs is:0 
[11:03:00.868] Odometry x=0.012156, y=0.365885, theta=-0.010050
[11:03:00.932] Init: px average disparity is:23.702301 ,While minimum is: 40.000000  KLT tracked : 123
[11:03:00.932] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:00.932] frame process finished the id is: 86 the obs is:0 
[11:03:00.969] Odometry x=0.012678, y=0.371539, theta=0.005735
[11:03:01.032] Init: px average disparity is:24.065722 ,While minimum is: 40.000000  KLT tracked : 123
[11:03:01.033] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:01.033] frame process finished the id is: 87 the obs is:0 
[11:03:01.070] Odometry x=0.010710, y=0.384798, theta=0.007864
[11:03:01.132] Init: px average disparity is:26.328054 ,While minimum is: 40.000000  KLT tracked : 123
[11:03:01.132] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:01.132] frame process finished the id is: 88 the obs is:0 
[11:03:01.167] Odometry x=0.010730, y=0.390094, theta=-0.004779
[11:03:01.234] Init: px average disparity is:27.827415 ,While minimum is: 40.000000  KLT tracked : 123
[11:03:01.234] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:01.234] frame process finished the id is: 89 the obs is:0 
[11:03:01.272] Odometry x=0.012398, y=0.401092, theta=0.007053
[11:03:01.332] Init: px average disparity is:27.677239 ,While minimum is: 40.000000  KLT tracked : 123
[11:03:01.332] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:01.332] frame process finished the id is: 90 the obs is:0 
[11:03:01.370] Odometry x=0.006292, y=0.406508, theta=0.017974
[11:03:01.432] Init: px average disparity is:27.149284 ,While minimum is: 40.000000  KLT tracked : 123
[11:03:01.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:01.432] frame process finished the id is: 91 the obs is:0 
[11:03:01.466] Odometry x=0.006568, y=0.411926, theta=0.010232
[11:03:01.535] Init: px average disparity is:26.373919 ,While minimum is: 40.000000  KLT tracked : 123
[11:03:01.535] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:01.535] frame process finished the id is: 92 the obs is:0 
[11:03:01.570] Odometry x=0.005705, y=0.417080, theta=0.020980
[11:03:01.624] Init: px average disparity is:25.921560 ,While minimum is: 40.000000  KLT tracked : 123
[11:03:01.624] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:01.624] frame process finished the id is: 93 the obs is:0 
[11:03:01.674] Odometry x=0.005848, y=0.423478, theta=0.012587
[11:03:01.735] Init: px average disparity is:25.482353 ,While minimum is: 40.000000  KLT tracked : 123
[11:03:01.735] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:01.735] frame process finished the id is: 94 the obs is:0 
[11:03:01.772] Odometry x=0.005057, y=0.428930, theta=0.022381
[11:03:01.835] Init: px average disparity is:26.348932 ,While minimum is: 40.000000  KLT tracked : 123
[11:03:01.835] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:01.835] frame process finished the id is: 95 the obs is:0 
[11:03:01.867] Odometry x=0.005130, y=0.434362, theta=0.016239
[11:03:01.933] Init: px average disparity is:26.062399 ,While minimum is: 40.000000  KLT tracked : 123
[11:03:01.933] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:01.933] frame process finished the id is: 96 the obs is:0 
[11:03:01.968] Odometry x=0.005190, y=0.440132, theta=-0.000189
[11:03:02.034] Init: px average disparity is:27.211787 ,While minimum is: 40.000000  KLT tracked : 123
[11:03:02.035] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:02.035] frame process finished the id is: 97 the obs is:0 
[11:03:02.072] Odometry x=0.005243, y=0.445621, theta=0.015265
[11:03:02.137] Init: px average disparity is:26.394847 ,While minimum is: 40.000000  KLT tracked : 123
[11:03:02.138] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:02.138] frame process finished the id is: 98 the obs is:0 
[11:03:02.172] Odometry x=0.005153, y=0.466592, theta=0.004247
[11:03:02.234] Init: px average disparity is:27.573927 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:02.235] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:02.235] frame process finished the id is: 99 the obs is:0 
[11:03:02.265] Odometry x=0.005166, y=0.471973, theta=0.013182
[11:03:02.333] Init: px average disparity is:27.468371 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:02.333] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:02.333] frame process finished the id is: 100 the obs is:0 
[11:03:02.372] Odometry x=-0.000551, y=0.487879, theta=0.019204
[11:03:02.434] Init: px average disparity is:28.337235 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:02.434] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:02.434] frame process finished the id is: 101 the obs is:0 
[11:03:02.469] Odometry x=-0.000329, y=0.493464, theta=0.016802
[11:03:02.534] Init: px average disparity is:30.123460 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:02.534] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:02.534] frame process finished the id is: 102 the obs is:0 
[11:03:02.566] Odometry x=-0.000279, y=0.499013, theta=0.019071
[11:03:02.633] Init: px average disparity is:29.524101 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:02.634] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:02.634] frame process finished the id is: 103 the obs is:0 
[11:03:02.670] Odometry x=-0.000161, y=0.504402, theta=0.019509
[11:03:02.723] Init: px average disparity is:32.223485 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:02.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:02.723] frame process finished the id is: 104 the obs is:0 
[11:03:02.772] Odometry x=-0.000112, y=0.510880, theta=-0.001845
[11:03:02.833] Init: px average disparity is:31.141180 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:02.834] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:02.834] frame process finished the id is: 105 the obs is:0 
[11:03:02.869] Odometry x=-0.006639, y=0.523239, theta=0.027717
[11:03:02.933] Init: px average disparity is:35.133772 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:02.933] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:02.933] frame process finished the id is: 106 the obs is:0 
[11:03:02.966] Odometry x=-0.006344, y=0.528556, theta=0.025556
[11:03:03.035] Init: px average disparity is:32.187850 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:03.035] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:03.035] frame process finished the id is: 107 the obs is:0 
[11:03:03.067] Odometry x=-0.015072, y=0.537231, theta=0.031466
[11:03:03.133] Init: px average disparity is:34.733862 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:03.133] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:03.133] frame process finished the id is: 108 the obs is:0 
[11:03:03.171] Odometry x=-0.014890, y=0.543870, theta=0.018380
[11:03:03.234] Init: px average disparity is:33.824026 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:03.234] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:03.235] frame process finished the id is: 109 the obs is:0 
[11:03:03.267] Odometry x=-0.023402, y=0.549631, theta=0.035850
[11:03:03.334] Init: px average disparity is:33.438455 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:03.334] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:03.334] frame process finished the id is: 110 the obs is:0 
[11:03:03.368] Odometry x=-0.022159, y=0.560346, theta=0.015077
[11:03:03.433] Init: px average disparity is:32.210106 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:03.433] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:03.433] frame process finished the id is: 111 the obs is:0 
[11:03:03.468] Odometry x=-0.022143, y=0.567450, theta=0.027750
[11:03:03.533] Init: px average disparity is:32.441085 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:03.533] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:03.533] frame process finished the id is: 112 the obs is:0 
[11:03:03.566] Odometry x=-0.022051, y=0.573310, theta=0.026050
[11:03:03.633] Init: px average disparity is:32.143786 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:03.633] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:03.633] frame process finished the id is: 113 the obs is:0 
[11:03:03.667] Odometry x=-0.021972, y=0.578446, theta=0.020929
[11:03:03.733] Init: px average disparity is:32.892638 ,While minimum is: 40.000000  KLT tracked : 122
[11:03:03.733] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:03.733] frame process finished the id is: 114 the obs is:0 
[11:03:03.768] Odometry x=-0.021117, y=0.589333, theta=0.027272
[11:03:03.837] Init: px average disparity is:33.639554 ,While minimum is: 40.000000  KLT tracked : 117
[11:03:03.837] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:03.837] frame process finished the id is: 115 the obs is:0 
[11:03:03.867] Odometry x=-0.020642, y=0.594882, theta=0.011236
[11:03:03.924] Init: px average disparity is:33.377052 ,While minimum is: 40.000000  KLT tracked : 117
[11:03:03.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:03.924] frame process finished the id is: 116 the obs is:0 
[11:03:03.966] Odometry x=-0.019565, y=0.601024, theta=0.026266
[11:03:04.035] Init: px average disparity is:34.554567 ,While minimum is: 40.000000  KLT tracked : 115
[11:03:04.035] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:04.035] frame process finished the id is: 117 the obs is:0 
[11:03:04.067] Odometry x=-0.019539, y=0.605789, theta=0.012467
[11:03:04.135] Init: px average disparity is:34.269280 ,While minimum is: 40.000000  KLT tracked : 115
[11:03:04.135] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:04.135] frame process finished the id is: 118 the obs is:0 
[11:03:04.167] Odometry x=-0.017677, y=0.612450, theta=0.018356
[11:03:04.235] Init: px average disparity is:35.397759 ,While minimum is: 40.000000  KLT tracked : 115
[11:03:04.235] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:04.235] frame process finished the id is: 119 the obs is:0 
[11:03:04.267] Odometry x=-0.015115, y=0.617586, theta=0.005500
[11:03:04.335] Init: px average disparity is:37.887405 ,While minimum is: 40.000000  KLT tracked : 114
[11:03:04.335] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:04.335] frame process finished the id is: 120 the obs is:0 
[11:03:04.367] Odometry x=-0.013924, y=0.623699, theta=0.013295
[11:03:04.435] Init: px average disparity is:38.332232 ,While minimum is: 40.000000  KLT tracked : 114
[11:03:04.435] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:04.435] frame process finished the id is: 121 the obs is:0 
[11:03:04.468] Odometry x=-0.013894, y=0.629015, theta=0.012137
[11:03:04.567] Odometry x=-0.011413, y=0.634500, theta=0.008947
[11:03:04.603] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:41.218393 ,While minimum is: 40.000000  KLT tracked: 113
[11:03:04.603] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:04.603] frame process finished the id is: 122 the obs is:0 
[11:03:04.664] Odometry x=-0.011677, y=0.641597, theta=0.038688
[11:03:04.687] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:41.195391 ,While minimum is: 40.000000  KLT tracked: 113
[11:03:04.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:04.687] frame process finished the id is: 123 the obs is:0 
[11:03:04.768] Odometry x=-0.011403, y=0.647214, theta=0.025053
[11:03:04.786] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:42.722102 ,While minimum is: 40.000000  KLT tracked: 113
[11:03:04.786] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:04.786] frame process finished the id is: 124 the obs is:0 
[11:03:04.865] Odometry x=-0.011369, y=0.652569, theta=0.036870
[11:03:04.887] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:40.319349 ,While minimum is: 40.000000  KLT tracked: 113
[11:03:04.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:04.887] frame process finished the id is: 125 the obs is:0 
[11:03:04.968] Odometry x=-0.011248, y=0.658042, theta=0.026782
[11:03:04.988] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:42.245823 ,While minimum is: 40.000000  KLT tracked: 113
[11:03:04.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:04.988] frame process finished the id is: 126 the obs is:0 
[11:03:05.033] Init: px average disparity is:38.518667 ,While minimum is: 40.000000  KLT tracked : 112
[11:03:05.033] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:05.033] frame process finished the id is: 127 the obs is:0 
[11:03:05.066] Odometry x=-0.011542, y=0.663369, theta=0.031685
[11:03:05.135] Init: px average disparity is:39.570623 ,While minimum is: 40.000000  KLT tracked : 112
[11:03:05.135] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:05.135] frame process finished the id is: 128 the obs is:0 
[11:03:05.166] Odometry x=-0.011331, y=0.669998, theta=0.037778
[11:03:05.235] Init: px average disparity is:38.586085 ,While minimum is: 40.000000  KLT tracked : 112
[11:03:05.235] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:05.235] frame process finished the id is: 129 the obs is:0 
[11:03:05.271] Odometry x=-0.010700, y=0.675520, theta=0.020633
[11:03:05.369] Odometry x=-0.010446, y=0.680991, theta=0.049580
[11:03:05.403] Init: Homography RANSAC (inlier) is:2 ,While 20 inliers minimum required.  px average disparity is:41.296120 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:05.403] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:05.403] frame process finished the id is: 130 the obs is:0 
[11:03:05.462] Odometry x=-0.010190, y=0.686274, theta=0.030969
[11:03:05.487] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:40.458279 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:05.487] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:05.487] frame process finished the id is: 131 the obs is:0 
[11:03:05.565] Odometry x=-0.010276, y=0.688495, theta=0.051522
[11:03:05.587] Init: Homography RANSAC (inlier) is:3 ,While 20 inliers minimum required.  px average disparity is:42.293274 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:05.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:05.587] frame process finished the id is: 132 the obs is:0 
[11:03:05.662] Odometry x=-0.010130, y=0.693849, theta=0.045501
[11:03:05.687] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required.  px average disparity is:41.567467 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:05.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:05.687] frame process finished the id is: 133 the obs is:0 
[11:03:05.771] Odometry x=-0.010092, y=0.695879, theta=0.047658
[11:03:05.787] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required.  px average disparity is:43.467940 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:05.787] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:05.787] frame process finished the id is: 134 the obs is:0 
[11:03:05.867] Odometry x=-0.007471, y=0.702103, theta=0.043175
[11:03:05.888] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required.  px average disparity is:42.433396 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:05.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:05.888] frame process finished the id is: 135 the obs is:0 
[11:03:05.968] Odometry x=-0.007367, y=0.707149, theta=0.040700
[11:03:05.987] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:41.126205 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:05.987] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:05.987] frame process finished the id is: 136 the obs is:0 
[11:03:06.066] Odometry x=-0.007057, y=0.712752, theta=0.040741
[11:03:06.086] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:42.465372 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:06.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:06.086] frame process finished the id is: 137 the obs is:0 
[11:03:06.165] Odometry x=-0.015328, y=0.721063, theta=0.049688
[11:03:06.185] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:42.047963 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:06.185] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:06.185] frame process finished the id is: 138 the obs is:0 
[11:03:06.264] Odometry x=-0.015046, y=0.726319, theta=0.040543
[11:03:06.286] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:45.164152 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:06.286] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:06.286] frame process finished the id is: 139 the obs is:0 
[11:03:06.364] Odometry x=-0.014737, y=0.739561, theta=0.048452
[11:03:06.387] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:45.117426 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:06.387] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:06.387] frame process finished the id is: 140 the obs is:0 
[11:03:06.468] Odometry x=-0.013985, y=0.744977, theta=0.047674
[11:03:06.486] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:47.132869 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:06.486] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:06.486] frame process finished the id is: 141 the obs is:0 
[11:03:06.565] Odometry x=-0.013426, y=0.750693, theta=0.057522
[11:03:06.587] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:48.879078 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:06.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:06.587] frame process finished the id is: 142 the obs is:0 
[11:03:06.669] Odometry x=-0.012264, y=0.755954, theta=0.046884
[11:03:06.690] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:49.255546 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:06.690] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:06.690] frame process finished the id is: 143 the obs is:0 
[11:03:06.766] Odometry x=-0.012134, y=0.761382, theta=0.049299
[11:03:06.787] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:48.362779 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:06.787] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:06.787] frame process finished the id is: 144 the obs is:0 
[11:03:06.870] Odometry x=-0.011855, y=0.767258, theta=0.060195
[11:03:06.886] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:47.118736 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:06.886] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:06.886] frame process finished the id is: 145 the obs is:0 
[11:03:06.963] Odometry x=-0.011698, y=0.772906, theta=0.048467
[11:03:06.999] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:46.644525 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:06.999] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:06.999] frame process finished the id is: 146 the obs is:0 
[11:03:07.066] Odometry x=-0.011323, y=0.778536, theta=0.068853
[11:03:07.086] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required.  px average disparity is:45.759854 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:07.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:07.086] frame process finished the id is: 147 the obs is:0 
[11:03:07.163] Odometry x=-0.011147, y=0.783860, theta=0.059476
[11:03:07.188] Init: Homography RANSAC (inlier) is:2 ,While 20 inliers minimum required.  px average disparity is:45.704030 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:07.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:07.188] frame process finished the id is: 148 the obs is:0 
[11:03:07.266] Odometry x=-0.010980, y=0.789127, theta=0.076273
[11:03:07.287] Init: Homography RANSAC (inlier) is:2 ,While 20 inliers minimum required.  px average disparity is:45.452652 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:07.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:07.287] frame process finished the id is: 149 the obs is:0 
[11:03:07.368] Odometry x=-0.010574, y=0.794679, theta=0.049723
[11:03:07.387] Init: Homography RANSAC (inlier) is:2 ,While 20 inliers minimum required.  px average disparity is:46.400881 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:07.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:07.388] frame process finished the id is: 150 the obs is:0 
[11:03:07.466] Odometry x=-0.010406, y=0.800120, theta=0.058801
[11:03:07.492] Init: Homography RANSAC (inlier) is:2 ,While 20 inliers minimum required.  px average disparity is:45.682349 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:07.492] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:07.492] frame process finished the id is: 151 the obs is:0 
[11:03:07.568] Odometry x=-0.010239, y=0.805510, theta=0.060229
[11:03:07.588] Init: Homography RANSAC (inlier) is:2 ,While 20 inliers minimum required.  px average disparity is:47.110682 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:07.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:07.588] frame process finished the id is: 152 the obs is:0 
[11:03:07.665] Odometry x=-0.010548, y=0.814035, theta=0.049214
[11:03:07.688] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required.  px average disparity is:46.760269 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:07.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:07.688] frame process finished the id is: 153 the obs is:0 
[11:03:07.768] Odometry x=-0.010389, y=0.819882, theta=0.054367
[11:03:07.789] Init: Homography RANSAC (inlier) is:3 ,While 20 inliers minimum required.  px average disparity is:49.851755 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:07.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:07.789] frame process finished the id is: 154 the obs is:0 
[11:03:07.871] Odometry x=-0.011054, y=0.826154, theta=0.043035
[11:03:07.888] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:47.310004 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:07.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:07.888] frame process finished the id is: 155 the obs is:0 
[11:03:07.963] Odometry x=-0.010928, y=0.831629, theta=0.052732
[11:03:08.002] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:48.539425 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:08.002] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:08.002] frame process finished the id is: 156 the obs is:0 
[11:03:08.063] Odometry x=-0.010785, y=0.837462, theta=0.042921
[11:03:08.092] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:47.506489 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:08.092] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:08.092] frame process finished the id is: 157 the obs is:0 
[11:03:08.171] Odometry x=-0.010661, y=0.843118, theta=0.051876
[11:03:08.187] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:48.876590 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:08.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:08.187] frame process finished the id is: 158 the obs is:0 
[11:03:08.264] Odometry x=-0.010770, y=0.849715, theta=0.049747
[11:03:08.287] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:49.170987 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:08.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:08.287] frame process finished the id is: 159 the obs is:0 
[11:03:08.368] Odometry x=-0.010635, y=0.854985, theta=0.052750
[11:03:08.388] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:50.125004 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:08.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:08.388] frame process finished the id is: 160 the obs is:0 
[11:03:08.481] Odometry x=-0.010444, y=0.862393, theta=0.046582
[11:03:08.488] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:51.907976 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:08.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:08.488] frame process finished the id is: 161 the obs is:0 
[11:03:08.564] Odometry x=-0.010298, y=0.868297, theta=0.054079
[11:03:08.587] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:54.008200 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:08.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:08.587] frame process finished the id is: 162 the obs is:0 
[11:03:08.677] Odometry x=-0.010159, y=0.873236, theta=0.053327
[11:03:08.686] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:53.818434 ,While minimum is: 40.000000  KLT tracked: 111
[11:03:08.686] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:08.686] frame process finished the id is: 163 the obs is:0 
[11:03:08.770] Odometry x=-0.010001, y=0.879012, theta=0.054592
[11:03:08.787] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:52.808492 ,While minimum is: 40.000000  KLT tracked: 109
[11:03:08.787] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:08.787] frame process finished the id is: 164 the obs is:0 
[11:03:08.869] Odometry x=-0.009842, y=0.884348, theta=0.052012
[11:03:08.887] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:53.914693 ,While minimum is: 40.000000  KLT tracked: 109
[11:03:08.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:08.888] frame process finished the id is: 165 the obs is:0 
[11:03:08.966] Odometry x=-0.009703, y=0.889545, theta=0.054234
[11:03:08.987] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:54.417571 ,While minimum is: 40.000000  KLT tracked: 109
[11:03:08.987] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:08.987] frame process finished the id is: 166 the obs is:0 
[11:03:09.066] Odometry x=-0.009546, y=0.894939, theta=0.058561
[11:03:09.087] Init: Homography RANSAC (inlier) is:17 ,While 20 inliers minimum required.  px average disparity is:52.191031 ,While minimum is: 40.000000  KLT tracked: 108
[11:03:09.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:09.087] frame process finished the id is: 167 the obs is:0 
[11:03:09.162] Odometry x=-0.009327, y=0.901923, theta=0.055967
[11:03:09.186] Init: Homography RANSAC (inlier) is:18 ,While 20 inliers minimum required.  px average disparity is:49.807962 ,While minimum is: 40.000000  KLT tracked: 107
[11:03:09.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:09.186] frame process finished the id is: 168 the obs is:0 
[11:03:09.267] Odometry x=-0.009042, y=0.907240, theta=0.055283
[11:03:09.286] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required.  px average disparity is:49.693112 ,While minimum is: 40.000000  KLT tracked: 107
[11:03:09.286] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:09.286] frame process finished the id is: 169 the obs is:0 
[11:03:09.365] Odometry x=-0.008748, y=0.915547, theta=0.047248
[11:03:09.389] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:50.033757 ,While minimum is: 40.000000  KLT tracked: 107
[11:03:09.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:09.389] frame process finished the id is: 170 the obs is:0 
[11:03:09.468] Odometry x=-0.008593, y=0.922144, theta=0.047851
[11:03:09.489] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required.  px average disparity is:49.406152 ,While minimum is: 40.000000  KLT tracked: 106
[11:03:09.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:09.489] frame process finished the id is: 171 the obs is:0 
[11:03:09.567] Odometry x=-0.008362, y=0.927370, theta=0.051931
[11:03:09.587] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required.  px average disparity is:51.218692 ,While minimum is: 40.000000  KLT tracked: 106
[11:03:09.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:09.588] frame process finished the id is: 172 the obs is:0 
[11:03:09.666] Odometry x=-0.008225, y=0.933161, theta=0.041309
[11:03:09.687] Init: Homography RANSAC (inlier) is:18 ,While 20 inliers minimum required.  px average disparity is:48.195876 ,While minimum is: 40.000000  KLT tracked: 105
[11:03:09.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:09.687] frame process finished the id is: 173 the obs is:0 
[11:03:09.770] Odometry x=-0.008080, y=0.939442, theta=0.043880
[11:03:09.788] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required.  px average disparity is:48.283068 ,While minimum is: 40.000000  KLT tracked: 105
[11:03:09.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:09.788] frame process finished the id is: 174 the obs is:0 
[11:03:09.867] Odometry x=-0.007954, y=0.944982, theta=0.048161
[11:03:09.907] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:48.372559 ,While minimum is: 40.000000  KLT tracked: 105
[11:03:09.907] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:09.907] frame process finished the id is: 175 the obs is:0 
[11:03:09.966] Odometry x=-0.007826, y=0.950582, theta=0.043458
[11:03:09.987] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:49.124700 ,While minimum is: 40.000000  KLT tracked: 105
[11:03:09.987] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:09.987] frame process finished the id is: 176 the obs is:0 
[11:03:10.065] Odometry x=-0.007734, y=0.956004, theta=0.043297
[11:03:10.087] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:50.209028 ,While minimum is: 40.000000  KLT tracked: 105
[11:03:10.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:10.088] frame process finished the id is: 177 the obs is:0 
[11:03:10.165] Odometry x=-0.007618, y=0.961438, theta=0.043784
[11:03:10.187] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required.  px average disparity is:50.940630 ,While minimum is: 40.000000  KLT tracked: 105
[11:03:10.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:10.187] frame process finished the id is: 178 the obs is:0 
[11:03:10.265] Odometry x=-0.007491, y=0.966915, theta=0.046996
[11:03:10.288] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:52.211970 ,While minimum is: 40.000000  KLT tracked: 105
[11:03:10.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:10.288] frame process finished the id is: 179 the obs is:0 
[11:03:10.365] Odometry x=-0.007330, y=0.973437, theta=0.048817
[11:03:10.388] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:54.080479 ,While minimum is: 40.000000  KLT tracked: 105
[11:03:10.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:10.388] frame process finished the id is: 180 the obs is:0 
[11:03:10.465] Odometry x=-0.007160, y=0.978952, theta=0.055861
[11:03:10.488] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:57.006023 ,While minimum is: 40.000000  KLT tracked: 105
[11:03:10.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:10.488] frame process finished the id is: 181 the obs is:0 
[11:03:10.566] Odometry x=-0.006979, y=0.984633, theta=0.053283
[11:03:10.588] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:53.613168 ,While minimum is: 40.000000  KLT tracked: 104
[11:03:10.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:10.588] frame process finished the id is: 182 the obs is:0 
[11:03:10.669] Odometry x=-0.006801, y=0.990951, theta=0.059873
[11:03:10.690] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:53.910388 ,While minimum is: 40.000000  KLT tracked: 104
[11:03:10.690] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:10.690] frame process finished the id is: 183 the obs is:0 
[11:03:10.767] Odometry x=-0.006567, y=0.997666, theta=0.057365
[11:03:10.790] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:55.384658 ,While minimum is: 40.000000  KLT tracked: 104
[11:03:10.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:10.790] frame process finished the id is: 184 the obs is:0 
[11:03:10.865] Odometry x=-0.006404, y=1.003065, theta=0.055888
[11:03:10.890] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:55.248705 ,While minimum is: 40.000000  KLT tracked: 104
[11:03:10.890] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:10.890] frame process finished the id is: 185 the obs is:0 
[11:03:10.968] Odometry x=-0.006249, y=1.008641, theta=0.049581
[11:03:10.990] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required.  px average disparity is:56.258386 ,While minimum is: 40.000000  KLT tracked: 104
[11:03:10.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:10.991] frame process finished the id is: 186 the obs is:0 
[11:03:11.067] Odometry x=-0.006116, y=1.014321, theta=0.043516
[11:03:11.091] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required.  px average disparity is:55.203830 ,While minimum is: 40.000000  KLT tracked: 104
[11:03:11.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:11.091] frame process finished the id is: 187 the obs is:0 
[11:03:11.166] Odometry x=-0.005961, y=1.020364, theta=0.050607
[11:03:11.189] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:55.990681 ,While minimum is: 40.000000  KLT tracked: 104
[11:03:11.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:11.189] frame process finished the id is: 188 the obs is:0 
[11:03:11.267] Odometry x=-0.005811, y=1.025738, theta=0.042076
[11:03:11.287] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required.  px average disparity is:49.936530 ,While minimum is: 40.000000  KLT tracked: 101
[11:03:11.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:11.287] frame process finished the id is: 189 the obs is:0 
[11:03:11.366] Odometry x=-0.005705, y=1.030787, theta=0.044619
[11:03:11.389] Init: Homography RANSAC (inlier) is:17 ,While 20 inliers minimum required.  px average disparity is:48.804547 ,While minimum is: 40.000000  KLT tracked: 101
[11:03:11.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:11.389] frame process finished the id is: 190 the obs is:0 
[11:03:11.462] Odometry x=-0.005584, y=1.036575, theta=0.041572
[11:03:11.489] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required.  px average disparity is:48.015571 ,While minimum is: 40.000000  KLT tracked: 101
[11:03:11.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:11.489] frame process finished the id is: 191 the obs is:0 
[11:03:11.566] Odometry x=-0.005457, y=1.043033, theta=0.043915
[11:03:11.589] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required.  px average disparity is:48.039038 ,While minimum is: 40.000000  KLT tracked: 101
[11:03:11.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:11.589] frame process finished the id is: 192 the obs is:0 
[11:03:11.670] Odometry x=-0.005325, y=1.049233, theta=0.042089
[11:03:11.688] Init: Homography RANSAC (inlier) is:17 ,While 20 inliers minimum required.  px average disparity is:47.615663 ,While minimum is: 40.000000  KLT tracked: 101
[11:03:11.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:11.688] frame process finished the id is: 193 the obs is:0 
[11:03:11.765] Odometry x=-0.005193, y=1.055549, theta=0.043127
[11:03:11.788] Init: Homography RANSAC (inlier) is:17 ,While 20 inliers minimum required.  px average disparity is:48.731978 ,While minimum is: 40.000000  KLT tracked: 101
[11:03:11.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:11.789] frame process finished the id is: 194 the obs is:0 
[11:03:11.861] Odometry x=-0.005082, y=1.060680, theta=0.044481
[11:03:11.888] Init: Homography RANSAC (inlier) is:16 ,While 20 inliers minimum required.  px average disparity is:49.198888 ,While minimum is: 40.000000  KLT tracked: 101
[11:03:11.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:03:11.889] frame process finished the id is: 195 the obs is:0 
[11:03:11.967] Odometry x=-0.004953, y=1.066698, theta=0.041184
[11:03:11