[11:49:10.164] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.175] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.185] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.195] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.205] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.215] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.225] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.235] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.246] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.256] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.266] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.276] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.286] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.296] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.306] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.317] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.327] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.337] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.347] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.357] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.367] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.377] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.387] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.397] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.408] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.418] Odometry x=0.000000, y=-0.000000, theta=0.000000
[11:49:10.428] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[11:49:10.438] Odometry x=0.000000, y=-0.000000, theta=-0.000331
[11:49:10.448] Odometry x=0.000000, y=-0.000000, theta=-0.000551
[11:49:10.458] Odometry x=0.000000, y=-0.000000, theta=-0.000908
[11:49:10.468] Odometry x=0.000000, y=-0.000000, theta=-0.001286
[11:49:10.478] Odometry x=0.000000, y=-0.000000, theta=-0.001601
[11:49:10.488] Odometry x=0.000000, y=-0.000000, theta=-0.001930
[11:49:10.499] Odometry x=0.000000, y=-0.000000, theta=-0.002252
[11:49:10.509] Odometry x=0.000000, y=-0.000000, theta=-0.002556
[11:49:10.519] Odometry x=0.000000, y=-0.000000, theta=-0.002761
[11:49:10.529] Odometry x=0.000000, y=-0.000000, theta=-0.003010
[11:49:10.539] Odometry x=0.000000, y=-0.000000, theta=-0.003321
[11:49:10.549] Odometry x=0.000000, y=-0.000000, theta=-0.003638
[11:49:10.559] Odometry x=0.000000, y=-0.000000, theta=-0.003959
[11:49:10.569] Odometry x=0.000000, y=-0.000000, theta=-0.004278
[11:49:10.579] Odometry x=0.000000, y=-0.000000, theta=-0.004593
[11:49:10.589] Odometry x=0.000000, y=-0.000000, theta=-0.004911
[11:49:10.600] Odometry x=0.000000, y=-0.000000, theta=-0.005336
[11:49:10.610] Odometry x=0.000000, y=-0.000000, theta=-0.005722
[11:49:10.620] Odometry x=0.000000, y=-0.000000, theta=-0.006035
[11:49:10.630] Odometry x=0.000000, y=-0.000000, theta=-0.006348
[11:49:10.640] Odometry x=0.000000, y=-0.000000, theta=-0.006664
[11:49:10.651] Odometry x=0.000000, y=-0.000000, theta=-0.006979
[11:49:10.661] Odometry x=0.000001, y=-0.000000, theta=-0.007295
[11:49:10.671] Odometry x=0.000001, y=-0.000000, theta=-0.007613
[11:49:10.681] Odometry x=0.000001, y=-0.000000, theta=-0.007934
[11:49:10.691] Odometry x=0.000001, y=-0.000000, theta=-0.008254
[11:49:10.701] Odometry x=0.000001, y=-0.000000, theta=-0.008570
[11:49:10.710] Init: frame zero: 0.000000, 0.000000 0.000000
[11:49:10.710] Init: Selected first frame. 
[11:49:10.711] Odometry x=0.000001, y=-0.000000, theta=-0.008885
[11:49:10.721] Odometry x=0.000001, y=-0.000000, theta=-0.009201
[11:49:10.731] Odometry x=0.000001, y=-0.000000, theta=-0.009523
[11:49:10.741] Odometry x=0.000001, y=-0.000000, theta=-0.009838
[11:49:10.751] Odometry x=0.000001, y=-0.000000, theta=-0.010147
[11:49:10.762] Odometry x=0.000001, y=-0.000000, theta=-0.010463
[11:49:10.772] Odometry x=0.000001, y=-0.000000, theta=-0.010787
[11:49:10.782] Odometry x=0.000001, y=-0.000000, theta=-0.011104
[11:49:10.792] Odometry x=0.000001, y=-0.000000, theta=-0.011416
[11:49:10.802] Odometry x=0.000001, y=-0.000000, theta=-0.011731
[11:49:10.812] Odometry x=0.000001, y=-0.000000, theta=-0.012053
[11:49:10.822] Odometry x=0.000001, y=-0.000000, theta=-0.012473
[11:49:10.827] Init: px average disparity is:0.214267 ,While minimum is: 40.000000  KLT tracked : 106
[11:49:10.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:10.833] Odometry x=0.000001, y=-0.000000, theta=-0.012860
[11:49:10.843] Odometry x=0.000001, y=-0.000000, theta=-0.013181
[11:49:10.853] Odometry x=0.000001, y=-0.000000, theta=-0.013494
[11:49:10.863] Odometry x=0.000001, y=-0.000000, theta=-0.013711
[11:49:10.873] Odometry x=0.000001, y=-0.000000, theta=-0.014063
[11:49:10.883] Odometry x=0.000001, y=-0.000000, theta=-0.014439
[11:49:10.893] Odometry x=0.000001, y=-0.000000, theta=-0.014753
[11:49:10.903] Odometry x=0.000001, y=-0.000000, theta=-0.015063
[11:49:10.913] Odometry x=0.000001, y=-0.000000, theta=-0.015380
[11:49:10.914] Init: px average disparity is:0.335530 ,While minimum is: 40.000000  KLT tracked : 103
[11:49:10.914] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:10.924] Odometry x=0.000001, y=-0.000000, theta=-0.015695
[11:49:10.934] Odometry x=0.000001, y=-0.000000, theta=-0.016009
[11:49:10.944] Odometry x=0.000001, y=-0.000000, theta=-0.016327
[11:49:10.954] Odometry x=0.000001, y=-0.000000, theta=-0.016645
[11:49:10.964] Odometry x=0.000001, y=-0.000000, theta=-0.016967
[11:49:10.974] Odometry x=0.000001, y=-0.000000, theta=-0.017289
[11:49:10.984] Odometry x=0.000001, y=-0.000000, theta=-0.017607
[11:49:10.995] Odometry x=0.000001, y=-0.000000, theta=-0.017823
[11:49:11.005] Odometry x=0.000001, y=-0.000000, theta=-0.018172
[11:49:11.015] Odometry x=0.000001, y=-0.000000, theta=-0.018553
[11:49:11.021] Init: px average disparity is:0.416572 ,While minimum is: 40.000000  KLT tracked : 102
[11:49:11.022] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:11.025] Odometry x=0.000001, y=-0.000000, theta=-0.018873
[11:49:11.035] Odometry x=0.000001, y=-0.000000, theta=-0.019194
[11:49:11.045] Odometry x=0.000001, y=-0.000000, theta=-0.019518
[11:49:11.055] Odometry x=0.000001, y=-0.000000, theta=-0.019840
[11:49:11.065] Odometry x=0.000001, y=-0.000000, theta=-0.020156
[11:49:11.076] Odometry x=0.000001, y=-0.000000, theta=-0.020476
[11:49:11.086] Odometry x=0.000001, y=-0.000000, theta=-0.020798
[11:49:11.096] Odometry x=0.000001, y=-0.000000, theta=-0.021116
[11:49:11.106] Odometry x=0.000001, y=-0.000000, theta=-0.021432
[11:49:11.110] Init: px average disparity is:0.376134 ,While minimum is: 40.000000  KLT tracked : 102
[11:49:11.111] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:11.116] Odometry x=0.000001, y=-0.000000, theta=-0.021752
[11:49:11.126] Odometry x=0.000002, y=-0.000000, theta=-0.022069
[11:49:11.136] Odometry x=0.000002, y=-0.000000, theta=-0.022392
[11:49:11.146] Odometry x=0.000002, y=-0.000000, theta=-0.022713
[11:49:11.156] Odometry x=0.000002, y=-0.000000, theta=-0.023026
[11:49:11.167] Odometry x=0.000002, y=-0.000000, theta=-0.023338
[11:49:11.177] Odometry x=0.000002, y=-0.000000, theta=-0.023651
[11:49:11.187] Odometry x=0.000002, y=-0.000000, theta=-0.023966
[11:49:11.197] Odometry x=0.000002, y=-0.000000, theta=-0.024281
[11:49:11.207] Odometry x=0.000002, y=-0.000000, theta=-0.024597
[11:49:11.218] Odometry x=0.000002, y=-0.000000, theta=-0.025018
[11:49:11.220] Init: px average disparity is:0.430333 ,While minimum is: 40.000000  KLT tracked : 99
[11:49:11.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:11.228] Odometry x=0.000002, y=-0.000000, theta=-0.025399
[11:49:11.238] Odometry x=0.000002, y=-0.000000, theta=-0.025714
[11:49:11.248] Odometry x=0.000002, y=-0.000000, theta=-0.026035
[11:49:11.258] Odometry x=0.000002, y=-0.000000, theta=-0.026351
[11:49:11.268] Odometry x=0.000002, y=-0.000000, theta=-0.026661
[11:49:11.278] Odometry x=0.000002, y=-0.000000, theta=-0.026980
[11:49:11.288] Odometry x=0.000002, y=-0.000000, theta=-0.027296
[11:49:11.298] Odometry x=0.000002, y=-0.000000, theta=-0.027511
[11:49:11.309] Odometry x=0.000002, y=-0.000000, theta=-0.027868
[11:49:11.315] Init: px average disparity is:0.430722 ,While minimum is: 40.000000  KLT tracked : 99
[11:49:11.315] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:11.319] Odometry x=0.000002, y=-0.000000, theta=-0.028252
[11:49:11.329] Odometry x=0.000002, y=-0.000000, theta=-0.028576
[11:49:11.339] Odometry x=0.000002, y=-0.000000, theta=-0.028898
[11:49:11.349] Odometry x=0.000002, y=-0.000000, theta=-0.029216
[11:49:11.359] Odometry x=0.000002, y=-0.000000, theta=-0.029532
[11:49:11.369] Odometry x=0.000002, y=-0.000000, theta=-0.029852
[11:49:11.379] Odometry x=0.000002, y=-0.000000, theta=-0.030173
[11:49:11.390] Odometry x=0.000002, y=-0.000000, theta=-0.030503
[11:49:11.400] Odometry x=0.000002, y=-0.000000, theta=-0.030822
[11:49:11.410] Odometry x=0.000002, y=-0.000000, theta=-0.031028
[11:49:11.411] Init: px average disparity is:0.460291 ,While minimum is: 40.000000  KLT tracked : 99
[11:49:11.411] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:11.420] Odometry x=0.000002, y=-0.000000, theta=-0.031378
[11:49:11.430] Odometry x=0.000002, y=-0.000000, theta=-0.031753
[11:49:11.440] Odometry x=0.000002, y=-0.000000, theta=-0.032068
[11:49:11.450] Odometry x=0.000002, y=-0.000000, theta=-0.032393
[11:49:11.460] Odometry x=0.000002, y=-0.000000, theta=-0.032720
[11:49:11.470] Odometry x=0.000002, y=-0.000000, theta=-0.033037
[11:49:11.480] Odometry x=0.000002, y=-0.000000, theta=-0.033352
[11:49:11.491] Odometry x=0.000002, y=-0.000000, theta=-0.033670
[11:49:11.501] Odometry x=0.000002, y=-0.000000, theta=-0.033988
[11:49:11.511] Odometry x=0.000002, y=-0.000000, theta=-0.034308
[11:49:11.511] Init: px average disparity is:0.444402 ,While minimum is: 40.000000  KLT tracked : 99
[11:49:11.511] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:11.521] Odometry x=0.000002, y=-0.000000, theta=-0.034623
[11:49:11.531] Odometry x=0.000002, y=-0.000000, theta=-0.034833
[11:49:11.541] Odometry x=0.000002, y=-0.000000, theta=-0.035089
[11:49:11.551] Odometry x=0.000002, y=-0.000000, theta=-0.035408
[11:49:11.561] Odometry x=0.000002, y=-0.000000, theta=-0.035720
[11:49:11.572] Odometry x=0.000002, y=-0.000000, theta=-0.036034
[11:49:11.582] Odometry x=0.000003, y=-0.000000, theta=-0.036350
[11:49:11.592] Odometry x=0.000003, y=-0.000000, theta=-0.036669
[11:49:11.602] Odometry x=0.000003, y=-0.000000, theta=-0.036896
[11:49:11.612] Odometry x=0.000003, y=-0.000000, theta=-0.037253
[11:49:11.622] Odometry x=0.000003, y=-0.000000, theta=-0.037733
[11:49:11.624] Init: px average disparity is:0.451214 ,While minimum is: 40.000000  KLT tracked : 99
[11:49:11.624] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:11.633] Odometry x=0.000003, y=-0.000000, theta=-0.038009
[11:49:11.643] Odometry x=0.000003, y=-0.000000, theta=-0.038372
[11:49:11.653] Odometry x=0.000003, y=-0.000000, theta=-0.038653
[11:49:11.663] Odometry x=0.000003, y=-0.000000, theta=-0.039013
[11:49:11.673] Odometry x=0.000003, y=-0.000000, theta=-0.039417
[11:49:11.683] Odometry x=0.000003, y=-0.000000, theta=-0.039755
[11:49:11.693] Odometry x=0.000003, y=-0.000000, theta=-0.040083
[11:49:11.704] Odometry x=0.000003, y=-0.000000, theta=-0.040496
[11:49:11.712] Init: px average disparity is:0.447031 ,While minimum is: 40.000000  KLT tracked : 99
[11:49:11.712] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:11.714] Odometry x=0.000003, y=-0.000000, theta=-0.040783
[11:49:11.724] Odometry x=0.000003, y=-0.000000, theta=-0.041134
[11:49:11.734] Odometry x=0.000003, y=-0.000000, theta=-0.041504
[11:49:11.744] Odometry x=0.000003, y=-0.000000, theta=-0.041825
[11:49:11.754] Odometry x=0.000003, y=-0.000000, theta=-0.042055
[11:49:11.764] Odometry x=0.000003, y=-0.000000, theta=-0.042407
[11:49:11.774] Odometry x=0.000003, y=-0.000000, theta=-0.042779
[11:49:11.784] Odometry x=0.000003, y=-0.000000, theta=-0.043103
[11:49:11.794] Odometry x=0.000003, y=-0.000000, theta=-0.043417
[11:49:11.804] Odometry x=0.000003, y=-0.000000, theta=-0.043723
[11:49:11.812] Init: px average disparity is:0.474195 ,While minimum is: 40.000000  KLT tracked : 99
[11:49:11.812] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:11.815] Odometry x=0.000003, y=-0.000000, theta=-0.044038
[11:49:11.825] Odometry x=0.000003, y=-0.000000, theta=-0.044351
[11:49:11.835] Odometry x=0.000003, y=-0.000000, theta=-0.044670
[11:49:11.845] Odometry x=0.000003, y=-0.000000, theta=-0.045020
[11:49:11.855] Odometry x=0.000003, y=-0.000000, theta=-0.045353
[11:49:11.865] Odometry x=0.000003, y=-0.000000, theta=-0.045575
[11:49:11.876] Odometry x=0.000003, y=-0.000000, theta=-0.045933
[11:49:11.886] Odometry x=0.000003, y=-0.000000, theta=-0.046310
[11:49:11.896] Odometry x=0.000003, y=-0.000000, theta=-0.046527
[11:49:11.906] Odometry x=0.000003, y=-0.000000, theta=-0.046882
[11:49:11.916] Odometry x=0.000003, y=-0.000000, theta=-0.047161
[11:49:11.924] Init: px average disparity is:0.454446 ,While minimum is: 40.000000  KLT tracked : 99
[11:49:11.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:11.926] Odometry x=0.000003, y=-0.000000, theta=-0.047425
[11:49:11.937] Odometry x=0.000003, y=-0.000000, theta=-0.047837
[11:49:11.947] Odometry x=0.000003, y=-0.000000, theta=-0.048219
[11:49:11.957] Odometry x=0.000003, y=-0.000000, theta=-0.048542
[11:49:11.967] Odometry x=0.000003, y=-0.000000, theta=-0.048763
[11:49:11.977] Odometry x=0.000003, y=-0.000000, theta=-0.049107
[11:49:11.987] Odometry x=0.000003, y=-0.000000, theta=-0.049477
[11:49:11.998] Odometry x=0.000003, y=-0.000000, theta=-0.049699
[11:49:12.008] Odometry x=0.000004, y=-0.000000, theta=-0.050058
[11:49:12.018] Odometry x=0.000004, y=-0.000000, theta=-0.050438
[11:49:12.019] Init: px average disparity is:0.465875 ,While minimum is: 40.000000  KLT tracked : 99
[11:49:12.019] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:12.028] Odometry x=0.000004, y=-0.000000, theta=-0.050756
[11:49:12.038] Odometry x=0.000004, y=-0.000000, theta=-0.050972
[11:49:12.048] Odometry x=0.000004, y=-0.000000, theta=-0.051315
[11:49:12.058] Odometry x=0.000004, y=-0.000000, theta=-0.051688
[11:49:12.068] Odometry x=0.000004, y=-0.000000, theta=-0.052009
[11:49:12.079] Odometry x=0.000004, y=-0.000000, theta=-0.052327
[11:49:12.089] Odometry x=0.000004, y=-0.000000, theta=-0.052648
[11:49:12.099] Odometry x=0.000004, y=-0.000000, theta=-0.052873
[11:49:12.109] Odometry x=0.000004, y=-0.000000, theta=-0.053227
[11:49:12.117] Init: px average disparity is:0.415874 ,While minimum is: 40.000000  KLT tracked : 99
[11:49:12.117] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:12.119] Odometry x=0.000004, y=-0.000000, theta=-0.053714
[11:49:12.129] Odometry x=0.000004, y=-0.000000, theta=-0.054008
[11:49:12.140] Odometry x=0.000004, y=-0.000000, theta=-0.054368
[11:49:12.150] Odometry x=0.000004, y=-0.000000, theta=-0.054748
[11:49:12.160] Odometry x=0.000004, y=-0.000000, theta=-0.055072
[11:49:12.170] Odometry x=0.000004, y=-0.000000, theta=-0.055390
[11:49:12.180] Odometry x=0.000004, y=-0.000000, theta=-0.055710
[11:49:12.190] Odometry x=0.000004, y=-0.000000, theta=-0.056031
[11:49:12.200] Odometry x=0.000004, y=-0.000000, theta=-0.056254
[11:49:12.211] Odometry x=0.000004, y=-0.000000, theta=-0.056513
[11:49:12.212] Init: px average disparity is:0.425993 ,While minimum is: 40.000000  KLT tracked : 98
[11:49:12.212] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:12.221] Odometry x=0.000004, y=-0.000000, theta=-0.056731
[11:49:12.231] Odometry x=0.000004, y=-0.000000, theta=-0.057091
[11:49:12.241] Odometry x=0.000004, y=-0.000000, theta=-0.057472
[11:49:12.251] Odometry x=0.000004, y=-0.000001, theta=-0.057883
[11:49:12.262] Odometry x=0.000004, y=-0.000001, theta=-0.058160
[11:49:12.272] Odometry x=0.000004, y=-0.000001, theta=-0.058513
[11:49:12.282] Odometry x=0.000004, y=-0.000001, theta=-0.058887
[11:49:12.292] Odometry x=0.000004, y=-0.000001, theta=-0.059207
[11:49:12.302] Odometry x=0.000004, y=-0.000001, theta=-0.059522
[11:49:12.312] Odometry x=0.000004, y=-0.000001, theta=-0.059840
[11:49:12.318] Init: px average disparity is:0.452366 ,While minimum is: 40.000000  KLT tracked : 98
[11:49:12.318] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:12.322] Odometry x=0.000004, y=-0.000001, theta=-0.060161
[11:49:12.332] Odometry x=0.000004, y=-0.000001, theta=-0.060483
[11:49:12.343] Odometry x=0.000004, y=-0.000001, theta=-0.060817
[11:49:12.353] Odometry x=0.000004, y=-0.000001, theta=-0.061133
[11:49:12.363] Odometry x=0.000004, y=-0.000001, theta=-0.061347
[11:49:12.373] Odometry x=0.000004, y=-0.000001, theta=-0.061709
[11:49:12.383] Odometry x=0.000004, y=-0.000001, theta=-0.062094
[11:49:12.393] Odometry x=0.000004, y=-0.000001, theta=-0.062422
[11:49:12.403] Odometry x=0.000004, y=-0.000001, theta=-0.062737
[11:49:12.413] Odometry x=0.000004, y=-0.000001, theta=-0.063056
[11:49:12.417] Init: px average disparity is:0.465272 ,While minimum is: 40.000000  KLT tracked : 98
[11:49:12.417] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:12.433] Odometry x=0.000005, y=-0.000001, theta=-0.063569
[11:49:12.444] Odometry x=0.000005, y=-0.000001, theta=-0.064005
[11:49:12.454] Odometry x=0.000005, y=-0.000001, theta=-0.064325
[11:49:12.464] Odometry x=0.000005, y=-0.000001, theta=-0.064545
[11:49:12.474] Odometry x=0.000005, y=-0.000001, theta=-0.064905
[11:49:12.484] Odometry x=0.000005, y=-0.000001, theta=-0.065239
[11:49:12.494] Odometry x=0.000005, y=-0.000001, theta=-0.065751
[11:49:12.504] Odometry x=0.000005, y=-0.000000, theta=-0.067727
[11:49:12.514] Odometry x=0.000005, y=0.000000, theta=-0.071349
[11:49:12.524] Init: px average disparity is:5.953571 ,While minimum is: 40.000000  KLT tracked : 98
[11:49:12.524] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:12.535] Odometry x=0.000093, y=-0.000000, theta=-0.007897
[11:49:12.545] Odometry x=0.000096, y=-0.000003, theta=-0.013077
[11:49:12.555] Odometry x=0.000100, y=-0.000004, theta=-0.015463
[11:49:12.565] Odometry x=0.000104, y=-0.000004, theta=-0.015480
[11:49:12.575] Odometry x=0.000108, y=-0.000004, theta=-0.013956
[11:49:12.585] Odometry x=0.000110, y=-0.000003, theta=-0.012383
[11:49:12.595] Odometry x=0.000111, y=-0.000003, theta=-0.011160
[11:49:12.606] Odometry x=0.000111, y=-0.000002, theta=-0.010084
[11:49:12.613] Init: px average disparity is:4.364587 ,While minimum is: 40.000000  KLT tracked : 98
[11:49:12.613] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:12.616] Odometry x=0.000111, y=-0.000001, theta=-0.009332
[11:49:12.636] Odometry x=0.000193, y=-0.000002, theta=-0.007742
[11:49:12.646] Odometry x=0.000193, y=-0.000002, theta=-0.006891
[11:49:12.656] Odometry x=0.000193, y=-0.000002, theta=-0.006483
[11:49:12.666] Odometry x=0.000193, y=-0.000003, theta=-0.005826
[11:49:12.676] Odometry x=0.000194, y=-0.000006, theta=-0.005075
[11:49:12.686] Odometry x=0.000194, y=-0.000010, theta=-0.004400
[11:49:12.697] Odometry x=0.000194, y=-0.000013, theta=-0.003936
[11:49:12.707] Odometry x=0.000194, y=-0.000020, theta=-0.003710
[11:49:12.712] Init: px average disparity is:8.420598 ,While minimum is: 40.000000  KLT tracked : 98
[11:49:12.712] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:12.717] Odometry x=0.000194, y=-0.000027, theta=-0.003862
[11:49:12.737] Odometry x=0.000285, y=-0.000036, theta=-0.004452
[11:49:12.747] Odometry x=0.000285, y=-0.000040, theta=-0.004646
[11:49:12.757] Odometry x=0.000285, y=-0.000042, theta=-0.004477
[11:49:12.767] Odometry x=0.000285, y=-0.000043, theta=-0.004266
[11:49:12.778] Odometry x=0.000285, y=-0.000044, theta=-0.004217
[11:49:12.788] Odometry x=0.000285, y=-0.000045, theta=-0.004292
[11:49:12.798] Odometry x=0.000285, y=-0.000045, theta=-0.004545
[11:49:12.808] Odometry x=0.000286, y=-0.000045, theta=-0.004833
[11:49:12.814] Init: px average disparity is:7.248514 ,While minimum is: 40.000000  KLT tracked : 98
[11:49:12.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:12.818] Odometry x=0.000287, y=-0.000045, theta=-0.005463
[11:49:12.838] Odometry x=0.000375, y=-0.000045, theta=-0.008879
[11:49:12.849] Odometry x=0.000376, y=-0.000045, theta=-0.010934
[11:49:12.859] Odometry x=0.000376, y=-0.000045, theta=-0.011961
[11:49:12.869] Odometry x=0.000376, y=-0.000045, theta=-0.012862
[11:49:12.879] Odometry x=0.000376, y=-0.000045, theta=-0.013552
[11:49:12.889] Odometry x=0.000375, y=-0.000045, theta=-0.014013
[11:49:12.899] Odometry x=0.000375, y=-0.000045, theta=-0.014333
[11:49:12.909] Odometry x=0.000375, y=-0.000046, theta=-0.014291
[11:49:12.911] Init: px average disparity is:10.664209 ,While minimum is: 40.000000  KLT tracked : 98
[11:49:12.911] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:12.920] Odometry x=0.000375, y=-0.000047, theta=-0.013509
[11:49:12.940] Odometry x=0.000467, y=-0.000049, theta=-0.013542
[11:49:12.950] Odometry x=0.000468, y=-0.000049, theta=-0.014236
[11:49:12.960] Odometry x=0.000470, y=-0.000050, theta=-0.014823
[11:49:12.970] Odometry x=0.000471, y=-0.000050, theta=-0.015241
[11:49:12.980] Odometry x=0.000472, y=-0.000050, theta=-0.015871
[11:49:12.990] Odometry x=0.000473, y=-0.000050, theta=-0.016615
[11:49:13.000] Odometry x=0.000473, y=-0.000050, theta=-0.017130
[11:49:13.010] Odometry x=0.000473, y=-0.000050, theta=-0.018139
[11:49:13.021] Odometry x=0.000473, y=-0.000051, theta=-0.019590
[11:49:13.022] Init: px average disparity is:10.603272 ,While minimum is: 40.000000  KLT tracked : 98
[11:49:13.022] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:13.041] Odometry x=0.000559, y=-0.000053, theta=-0.023058
[11:49:13.051] Odometry x=0.000559, y=-0.000053, theta=-0.025384
[11:49:13.061] Odometry x=0.000559, y=-0.000054, theta=-0.026743
[11:49:13.071] Odometry x=0.000559, y=-0.000054, theta=-0.027869
[11:49:13.082] Odometry x=0.000559, y=-0.000054, theta=-0.028975
[11:49:13.092] Odometry x=0.000559, y=-0.000054, theta=-0.030297
[11:49:13.102] Odometry x=0.000559, y=-0.000054, theta=-0.031846
[11:49:13.112] Odometry x=0.000559, y=-0.000054, theta=-0.033011
[11:49:13.117] Init: px average disparity is:12.588370 ,While minimum is: 40.000000  KLT tracked : 98
[11:49:13.117] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:13.132] Odometry x=0.000633, y=-0.000056, theta=-0.037007
[11:49:13.142] Odometry x=0.000633, y=-0.000056, theta=-0.039233
[11:49:13.152] Odometry x=0.000633, y=-0.000056, theta=-0.040117
[11:49:13.163] Odometry x=0.000633, y=-0.000056, theta=-0.040797
[11:49:13.173] Odometry x=0.000633, y=-0.000056, theta=-0.041495
[11:49:13.183] Odometry x=0.000633, y=-0.000057, theta=-0.042336
[11:49:13.193] Odometry x=0.000633, y=-0.000057, theta=-0.043112
[11:49:13.203] Odometry x=0.000633, y=-0.000057, theta=-0.043537
[11:49:13.213] Odometry x=0.000633, y=-0.000057, theta=-0.043699
[11:49:13.220] Init: px average disparity is:12.079123 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:13.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:13.234] Odometry x=0.000723, y=-0.000062, theta=-0.044695
[11:49:13.244] Odometry x=0.000724, y=-0.000062, theta=-0.045547
[11:49:13.254] Odometry x=0.000724, y=-0.000063, theta=-0.046441
[11:49:13.264] Odometry x=0.000724, y=-0.000063, theta=-0.047626
[11:49:13.274] Odometry x=0.000724, y=-0.000063, theta=-0.048905
[11:49:13.284] Odometry x=0.000725, y=-0.000063, theta=-0.050115
[11:49:13.294] Odometry x=0.000725, y=-0.000063, theta=-0.050904
[11:49:13.304] Odometry x=0.000725, y=-0.000063, theta=-0.051223
[11:49:13.312] Init: px average disparity is:14.656323 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:13.312] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:13.315] Odometry x=0.000725, y=-0.000063, theta=-0.051593
[11:49:13.335] Odometry x=0.000811, y=-0.000068, theta=-0.053185
[11:49:13.345] Odometry x=0.000811, y=-0.000068, theta=-0.054382
[11:49:13.355] Odometry x=0.000811, y=-0.000068, theta=-0.055217
[11:49:13.365] Odometry x=0.000811, y=-0.000068, theta=-0.055880
[11:49:13.375] Odometry x=0.000811, y=-0.000068, theta=-0.055676
[11:49:13.385] Odometry x=0.000811, y=-0.000068, theta=-0.054974
[11:49:13.396] Odometry x=0.000811, y=-0.000068, theta=-0.054789
[11:49:13.406] Odometry x=0.000811, y=-0.000068, theta=-0.055440
[11:49:13.416] Odometry x=0.000811, y=-0.000068, theta=-0.056716
[11:49:13.421] Init: px average disparity is:14.470497 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:13.421] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:13.436] Odometry x=0.000900, y=-0.000073, theta=-0.057699
[11:49:13.446] Odometry x=0.000900, y=-0.000073, theta=-0.058338
[11:49:13.456] Odometry x=0.000900, y=-0.000073, theta=-0.058848
[11:49:13.467] Odometry x=0.000900, y=-0.000073, theta=-0.059284
[11:49:13.477] Odometry x=0.000900, y=-0.000073, theta=-0.059390
[11:49:13.487] Odometry x=0.000901, y=-0.000073, theta=-0.059232
[11:49:13.497] Odometry x=0.000901, y=-0.000074, theta=-0.059039
[11:49:13.507] Odometry x=0.000901, y=-0.000074, theta=-0.058832
[11:49:13.511] Init: px average disparity is:14.260822 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:13.511] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:13.517] Odometry x=0.000901, y=-0.000074, theta=-0.058799
[11:49:13.537] Odometry x=0.000987, y=-0.000079, theta=-0.059758
[11:49:13.547] Odometry x=0.000987, y=-0.000079, theta=-0.060605
[11:49:13.557] Odometry x=0.000988, y=-0.000079, theta=-0.061479
[11:49:13.568] Odometry x=0.000988, y=-0.000080, theta=-0.062391
[11:49:13.578] Odometry x=0.000988, y=-0.000080, theta=-0.063180
[11:49:13.588] Odometry x=0.000988, y=-0.000080, theta=-0.063733
[11:49:13.598] Odometry x=0.000988, y=-0.000080, theta=-0.064086
[11:49:13.608] Odometry x=0.000988, y=-0.000080, theta=-0.064436
[11:49:13.618] Odometry x=0.000988, y=-0.000081, theta=-0.064740
[11:49:13.626] Init: px average disparity is:15.404923 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:13.626] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:13.639] Odometry x=0.001074, y=-0.000087, theta=-0.065538
[11:49:13.649] Odometry x=0.001074, y=-0.000087, theta=-0.066141
[11:49:13.659] Odometry x=0.001074, y=-0.000087, theta=-0.066486
[11:49:13.669] Odometry x=0.001074, y=-0.000087, theta=-0.066427
[11:49:13.679] Odometry x=0.001073, y=-0.000087, theta=-0.065930
[11:49:13.689] Odometry x=0.001073, y=-0.000087, theta=-0.065252
[11:49:13.700] Odometry x=0.001073, y=-0.000087, theta=-0.064615
[11:49:13.710] Odometry x=0.001073, y=-0.000087, theta=-0.064093
[11:49:13.713] Init: px average disparity is:13.913895 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:13.713] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:13.720] Odometry x=0.001073, y=-0.000087, theta=-0.063994
[11:49:13.740] Odometry x=0.001159, y=-0.000093, theta=-0.064335
[11:49:13.750] Odometry x=0.001159, y=-0.000093, theta=-0.063660
[11:49:13.760] Odometry x=0.001159, y=-0.000093, theta=-0.062300
[11:49:13.770] Odometry x=0.001160, y=-0.000096, theta=-0.061432
[11:49:13.781] Odometry x=0.001160, y=-0.000097, theta=-0.061128
[11:49:13.791] Odometry x=0.001160, y=-0.000099, theta=-0.060766
[11:49:13.801] Odometry x=0.001161, y=-0.000101, theta=-0.060393
[11:49:13.811] Odometry x=0.001161, y=-0.000102, theta=-0.060066
[11:49:13.814] Init: px average disparity is:10.822400 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:13.814] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:13.821] Odometry x=0.001161, y=-0.000103, theta=-0.059638
[11:49:13.841] Odometry x=0.001251, y=-0.000108, theta=-0.058307
[11:49:13.852] Odometry x=0.001251, y=-0.000108, theta=-0.057511
[11:49:13.862] Odometry x=0.001251, y=-0.000108, theta=-0.057198
[11:49:13.872] Odometry x=0.001251, y=-0.000108, theta=-0.056648
[11:49:13.882] Odometry x=0.001251, y=-0.000108, theta=-0.056200
[11:49:13.892] Odometry x=0.001251, y=-0.000108, theta=-0.055933
[11:49:13.902] Odometry x=0.001251, y=-0.000108, theta=-0.055577
[11:49:13.912] Init: px average disparity is:9.518647 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:13.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:13.912] Odometry x=0.001251, y=-0.000108, theta=-0.055285
[11:49:13.922] Odometry x=0.001251, y=-0.000108, theta=-0.054767
[11:49:13.942] Odometry x=0.001333, y=-0.000113, theta=-0.053398
[11:49:13.952] Odometry x=0.001333, y=-0.000114, theta=-0.052738
[11:49:13.963] Odometry x=0.001333, y=-0.000114, theta=-0.052482
[11:49:13.973] Odometry x=0.001333, y=-0.000114, theta=-0.052065
[11:49:13.983] Odometry x=0.001334, y=-0.000115, theta=-0.051642
[11:49:13.993] Odometry x=0.001334, y=-0.000116, theta=-0.051566
[11:49:14.003] Odometry x=0.001335, y=-0.000116, theta=-0.051714
[11:49:14.013] Odometry x=0.001335, y=-0.000116, theta=-0.051587
[11:49:14.017] Init: px average disparity is:10.713967 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:14.018] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:14.024] Odometry x=0.001335, y=-0.000116, theta=-0.051178
[11:49:14.044] Odometry x=0.001421, y=-0.000120, theta=-0.047960
[11:49:14.054] Odometry x=0.001421, y=-0.000121, theta=-0.045521
[11:49:14.064] Odometry x=0.001421, y=-0.000121, theta=-0.043849
[11:49:14.074] Odometry x=0.001421, y=-0.000122, theta=-0.042245
[11:49:14.084] Odometry x=0.001421, y=-0.000122, theta=-0.041053
[11:49:14.094] Odometry x=0.001421, y=-0.000123, theta=-0.040400
[11:49:14.105] Odometry x=0.001422, y=-0.000125, theta=-0.039945
[11:49:14.115] Odometry x=0.001422, y=-0.000126, theta=-0.039603
[11:49:14.115] Init: px average disparity is:9.753376 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:14.115] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:14.135] Odometry x=0.001502, y=-0.000132, theta=-0.041278
[11:49:14.145] Odometry x=0.001502, y=-0.000133, theta=-0.042628
[11:49:14.155] Odometry x=0.001503, y=-0.000133, theta=-0.043679
[11:49:14.165] Odometry x=0.001503, y=-0.000133, theta=-0.044474
[11:49:14.175] Odometry x=0.001503, y=-0.000133, theta=-0.044568
[11:49:14.185] Odometry x=0.001503, y=-0.000133, theta=-0.044378
[11:49:14.195] Odometry x=0.001503, y=-0.000133, theta=-0.044136
[11:49:14.206] Odometry x=0.001503, y=-0.000133, theta=-0.043947
[11:49:14.212] Init: px average disparity is:11.364820 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:14.212] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:14.216] Odometry x=0.001503, y=-0.000133, theta=-0.043877
[11:49:14.226] Odometry x=0.001503, y=-0.000133, theta=-0.043731
[11:49:14.246] Odometry x=0.001600, y=-0.000138, theta=-0.042740
[11:49:14.256] Odometry x=0.001600, y=-0.000138, theta=-0.041933
[11:49:14.266] Odometry x=0.001600, y=-0.000138, theta=-0.041336
[11:49:14.276] Odometry x=0.001600, y=-0.000138, theta=-0.040737
[11:49:14.287] Odometry x=0.001600, y=-0.000139, theta=-0.039968
[11:49:14.297] Odometry x=0.001600, y=-0.000140, theta=-0.039066
[11:49:14.307] Odometry x=0.001600, y=-0.000141, theta=-0.038124
[11:49:14.317] Odometry x=0.001600, y=-0.000142, theta=-0.037457
[11:49:14.321] Init: px average disparity is:11.550697 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:14.321] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:14.337] Odometry x=0.001678, y=-0.000146, theta=-0.036100
[11:49:14.347] Odometry x=0.001678, y=-0.000147, theta=-0.035123
[11:49:14.358] Odometry x=0.001678, y=-0.000147, theta=-0.034444
[11:49:14.368] Odometry x=0.001678, y=-0.000147, theta=-0.034061
[11:49:14.378] Odometry x=0.001678, y=-0.000147, theta=-0.034180
[11:49:14.388] Odometry x=0.001679, y=-0.000148, theta=-0.034668
[11:49:14.398] Odometry x=0.001679, y=-0.000148, theta=-0.035083
[11:49:14.408] Odometry x=0.001679, y=-0.000148, theta=-0.035090
[11:49:14.412] Init: px average disparity is:12.835490 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:14.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:14.418] Odometry x=0.001679, y=-0.000148, theta=-0.034928
[11:49:14.438] Odometry x=0.001760, y=-0.000153, theta=-0.034013
[11:49:14.449] Odometry x=0.001760, y=-0.000154, theta=-0.033467
[11:49:14.459] Odometry x=0.001760, y=-0.000157, theta=-0.033348
[11:49:14.469] Odometry x=0.001760, y=-0.000159, theta=-0.033426
[11:49:14.479] Odometry x=0.001760, y=-0.000159, theta=-0.033659
[11:49:14.489] Odometry x=0.001760, y=-0.000160, theta=-0.033962
[11:49:14.499] Odometry x=0.001760, y=-0.000160, theta=-0.034203
[11:49:14.509] Odometry x=0.001760, y=-0.000160, theta=-0.034944
[11:49:14.511] Init: px average disparity is:11.765167 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:14.511] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:14.519] Odometry x=0.001760, y=-0.000160, theta=-0.035727
[11:49:14.539] Odometry x=0.001857, y=-0.000163, theta=-0.036440
[11:49:14.549] Odometry x=0.001857, y=-0.000163, theta=-0.036936
[11:49:14.560] Odometry x=0.001857, y=-0.000163, theta=-0.037228
[11:49:14.570] Odometry x=0.001857, y=-0.000164, theta=-0.037477
[11:49:14.580] Odometry x=0.001857, y=-0.000164, theta=-0.037692
[11:49:14.590] Odometry x=0.001857, y=-0.000165, theta=-0.037791
[11:49:14.600] Odometry x=0.001857, y=-0.000166, theta=-0.037749
[11:49:14.610] Odometry x=0.001857, y=-0.000168, theta=-0.037605
[11:49:14.613] Init: px average disparity is:11.222797 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:14.613] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:14.620] Odometry x=0.001858, y=-0.000170, theta=-0.037581
[11:49:14.640] Odometry x=0.001945, y=-0.000184, theta=-0.037559
[11:49:14.650] Odometry x=0.001946, y=-0.000190, theta=-0.037421
[11:49:14.661] Odometry x=0.001946, y=-0.000193, theta=-0.037179
[11:49:14.671] Odometry x=0.001946, y=-0.000195, theta=-0.037095
[11:49:14.681] Odometry x=0.001946, y=-0.000196, theta=-0.037154
[11:49:14.691] Odometry x=0.001946, y=-0.000197, theta=-0.037164
[11:49:14.701] Odometry x=0.001946, y=-0.000197, theta=-0.037174
[11:49:14.711] Odometry x=0.001946, y=-0.000197, theta=-0.037405
[11:49:14.722] Odometry x=0.001946, y=-0.000198, theta=-0.037589
[11:49:14.725] Init: px average disparity is:9.358957 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:14.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:14.742] Odometry x=0.002032, y=-0.000201, theta=-0.037456
[11:49:14.752] Odometry x=0.002032, y=-0.000201, theta=-0.037373
[11:49:14.762] Odometry x=0.002032, y=-0.000201, theta=-0.037321
[11:49:14.772] Odometry x=0.002032, y=-0.000201, theta=-0.037022
[11:49:14.782] Odometry x=0.002032, y=-0.000201, theta=-0.036443
[11:49:14.793] Odometry x=0.002032, y=-0.000201, theta=-0.035603
[11:49:14.803] Odometry x=0.002032, y=-0.000201, theta=-0.034383
[11:49:14.813] Init: px average disparity is:13.091671 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:14.813] Odometry x=0.002032, y=-0.000201, theta=-0.033080
[11:49:14.813] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:14.823] Odometry x=0.002032, y=-0.000201, theta=-0.032166
[11:49:14.843] Odometry x=0.002116, y=-0.000209, theta=-0.029363
[11:49:14.853] Odometry x=0.002117, y=-0.000212, theta=-0.027654
[11:49:14.863] Odometry x=0.002118, y=-0.000212, theta=-0.026996
[11:49:14.874] Odometry x=0.002119, y=-0.000213, theta=-0.025772
[11:49:14.884] Odometry x=0.002120, y=-0.000214, theta=-0.024495
[11:49:14.894] Odometry x=0.002120, y=-0.000215, theta=-0.023661
[11:49:14.904] Odometry x=0.002120, y=-0.000215, theta=-0.023170
[11:49:14.913] Init: px average disparity is:13.898451 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:14.913] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:14.914] Odometry x=0.002120, y=-0.000216, theta=-0.023013
[11:49:14.934] Odometry x=0.002202, y=-0.000224, theta=-0.023930
[11:49:14.944] Odometry x=0.002202, y=-0.000228, theta=-0.024935
[11:49:14.955] Odometry x=0.002203, y=-0.000230, theta=-0.026517
[11:49:14.965] Odometry x=0.002203, y=-0.000230, theta=-0.027936
[11:49:14.975] Odometry x=0.002204, y=-0.000232, theta=-0.031068
[11:49:14.985] Odometry x=0.002204, y=-0.000233, theta=-0.034797
[11:49:14.995] Odometry x=0.002204, y=-0.000233, theta=-0.038136
[11:49:15.005] Odometry x=0.002204, y=-0.000233, theta=-0.041160
[11:49:15.012] Init: px average disparity is:8.463666 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:15.012] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:15.015] Odometry x=0.002204, y=-0.000233, theta=-0.043729
[11:49:15.025] Odometry x=0.002205, y=-0.000233, theta=-0.047095
[11:49:15.046] Odometry x=0.002305, y=-0.000238, theta=-0.051924
[11:49:15.056] Odometry x=0.002305, y=-0.000238, theta=-0.055270
[11:49:15.066] Odometry x=0.002305, y=-0.000238, theta=-0.056788
[11:49:15.076] Odometry x=0.002305, y=-0.000238, theta=-0.059053
[11:49:15.086] Odometry x=0.002305, y=-0.000238, theta=-0.061413
[11:49:15.096] Odometry x=0.002305, y=-0.000238, theta=-0.062737
[11:49:15.106] Odometry x=0.002305, y=-0.000238, theta=-0.064313
[11:49:15.116] Odometry x=0.002305, y=-0.000238, theta=-0.066365
[11:49:15.123] Init: px average disparity is:10.604053 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:15.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:15.127] Odometry x=0.002306, y=-0.000240, theta=-0.069015
[11:49:15.147] Odometry x=0.002392, y=-0.000251, theta=-0.073881
[11:49:15.157] Odometry x=0.002393, y=-0.000254, theta=-0.077756
[11:49:15.167] Odometry x=0.002393, y=-0.000254, theta=-0.080017
[11:49:15.177] Odometry x=0.002393, y=-0.000255, theta=-0.083671
[11:49:15.187] Odometry x=0.002393, y=-0.000256, theta=-0.087270
[11:49:15.198] Odometry x=0.002393, y=-0.000256, theta=-0.089068
[11:49:15.208] Odometry x=0.002393, y=-0.000256, theta=-0.091710
[11:49:15.211] Init: px average disparity is:14.879450 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:15.211] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:15.218] Odometry x=0.000914, y=-0.000256, theta=-0.037916
[11:49:15.238] Odometry x=0.000992, y=-0.000259, theta=-0.040417
[11:49:15.248] Odometry x=0.000992, y=-0.000259, theta=-0.042020
[11:49:15.259] Odometry x=0.000992, y=-0.000259, theta=-0.042922
[11:49:15.269] Odometry x=0.000992, y=-0.000259, theta=-0.043813
[11:49:15.279] Odometry x=0.000992, y=-0.000260, theta=-0.044741
[11:49:15.289] Odometry x=0.000992, y=-0.000261, theta=-0.045921
[11:49:15.299] Odometry x=0.000992, y=-0.000262, theta=-0.047306
[11:49:15.309] Odometry x=0.000992, y=-0.000263, theta=-0.048584
[11:49:15.313] Init: px average disparity is:18.322597 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:15.313] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:15.320] Odometry x=0.000992, y=-0.000263, theta=-0.049788
[11:49:15.341] Odometry x=0.001078, y=-0.000269, theta=-0.052686
[11:49:15.351] Odometry x=0.001078, y=-0.000270, theta=-0.054877
[11:49:15.361] Odometry x=0.001078, y=-0.000271, theta=-0.056663
[11:49:15.372] Odometry x=0.001078, y=-0.000272, theta=-0.058968
[11:49:15.382] Odometry x=0.001078, y=-0.000273, theta=-0.060910
[11:49:15.392] Odometry x=0.001078, y=-0.000273, theta=-0.062462
[11:49:15.403] Odometry x=0.001078, y=-0.000273, theta=-0.063935
[11:49:15.413] Odometry x=0.001078, y=-0.000273, theta=-0.065029
[11:49:15.423] Odometry x=0.001078, y=-0.000273, theta=-0.065873
[11:49:15.431] Init: px average disparity is:21.436366 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:15.431] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:15.443] Odometry x=0.001168, y=-0.000279, theta=-0.068235
[11:49:15.454] Odometry x=0.001168, y=-0.000279, theta=-0.070018
[11:49:15.464] Odometry x=0.001168, y=-0.000279, theta=-0.070974
[11:49:15.474] Odometry x=0.001168, y=-0.000279, theta=-0.072404
[11:49:15.485] Odometry x=0.001168, y=-0.000279, theta=-0.074001
[11:49:15.495] Odometry x=0.001168, y=-0.000279, theta=-0.075800
[11:49:15.505] Odometry x=0.001169, y=-0.000280, theta=-0.077914
[11:49:15.512] Init: px average disparity is:25.178290 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:15.512] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:15.515] Odometry x=0.000446, y=-0.000280, theta=-0.031988
[11:49:15.525] Odometry x=0.000446, y=-0.000280, theta=-0.034028
[11:49:15.545] Odometry x=0.000533, y=-0.000284, theta=-0.034941
[11:49:15.556] Odometry x=0.000533, y=-0.000284, theta=-0.035540
[11:49:15.566] Odometry x=0.000533, y=-0.000284, theta=-0.035751
[11:49:15.576] Odometry x=0.000534, y=-0.000284, theta=-0.035530
[11:49:15.586] Odometry x=0.000534, y=-0.000284, theta=-0.035082
[11:49:15.597] Odometry x=0.000534, y=-0.000284, theta=-0.034756
[11:49:15.607] Odometry x=0.000534, y=-0.000284, theta=-0.034141
[11:49:15.617] Odometry x=0.000534, y=-0.000284, theta=-0.033084
[11:49:15.625] Init: px average disparity is:23.377357 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:15.625] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:15.627] Odometry x=0.000535, y=-0.000284, theta=-0.032210
[11:49:15.648] Odometry x=0.000625, y=-0.000287, theta=-0.031422
[11:49:15.658] Odometry x=0.000625, y=-0.000287, theta=-0.030968
[11:49:15.668] Odometry x=0.000625, y=-0.000287, theta=-0.030721
[11:49:15.679] Odometry x=0.000625, y=-0.000288, theta=-0.030493
[11:49:15.689] Odometry x=0.000625, y=-0.000288, theta=-0.030113
[11:49:15.700] Odometry x=0.000625, y=-0.000289, theta=-0.029548
[11:49:15.710] Odometry x=0.000625, y=-0.000291, theta=-0.028700
[11:49:15.721] Odometry x=0.000625, y=-0.000292, theta=-0.027555
[11:49:15.727] Init: px average disparity is:20.193112 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:15.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:15.741] Odometry x=0.000702, y=-0.000300, theta=-0.025662
[11:49:15.751] Odometry x=0.000702, y=-0.000303, theta=-0.024337
[11:49:15.761] Odometry x=0.000702, y=-0.000304, theta=-0.023827
[11:49:15.772] Odometry x=0.000702, y=-0.000306, theta=-0.023238
[11:49:15.782] Odometry x=0.000702, y=-0.000308, theta=-0.022681
[11:49:15.792] Odometry x=0.000702, y=-0.000309, theta=-0.022180
[11:49:15.802] Odometry x=0.000702, y=-0.000310, theta=-0.021527
[11:49:15.813] Odometry x=0.000702, y=-0.000310, theta=-0.020919
[11:49:15.820] Init: px average disparity is:18.069117 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:15.820] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:15.823] Odometry x=0.000702, y=-0.000310, theta=-0.020373
[11:49:15.843] Odometry x=0.000793, y=-0.000312, theta=-0.020109
[11:49:15.853] Odometry x=0.000794, y=-0.000312, theta=-0.019835
[11:49:15.863] Odometry x=0.000794, y=-0.000312, theta=-0.019599
[11:49:15.873] Odometry x=0.000794, y=-0.000312, theta=-0.018826
[11:49:15.883] Odometry x=0.000794, y=-0.000312, theta=-0.017984
[11:49:15.894] Odometry x=0.000794, y=-0.000313, theta=-0.017068
[11:49:15.904] Odometry x=0.000794, y=-0.000313, theta=-0.015815
[11:49:15.912] Init: px average disparity is:14.552560 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:15.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:15.914] Odometry x=0.000794, y=-0.000315, theta=-0.014339
[11:49:15.924] Odometry x=0.000794, y=-0.000316, theta=-0.012804
[11:49:15.944] Odometry x=0.000880, y=-0.000317, theta=-0.010498
[11:49:15.954] Odometry x=0.000880, y=-0.000318, theta=-0.008758
[11:49:15.964] Odometry x=0.000880, y=-0.000318, theta=-0.007869
[11:49:15.975] Odometry x=0.000880, y=-0.000318, theta=-0.006481
[11:49:15.985] Odometry x=0.000880, y=-0.000318, theta=-0.004900
[11:49:15.995] Odometry x=0.000880, y=-0.000318, theta=-0.003585
[11:49:16.005] Odometry x=0.000880, y=-0.000318, theta=-0.002608
[11:49:16.012] Init: px average disparity is:11.194289 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:16.012] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:16.015] Odometry x=0.000880, y=-0.000318, theta=-0.002009
[11:49:16.035] Odometry x=0.000957, y=-0.000321, theta=-0.000499
[11:49:16.045] Odometry x=0.000957, y=-0.000322, theta=0.001022
[11:49:16.056] Odometry x=0.000957, y=-0.000324, theta=0.002217
[11:49:16.066] Odometry x=0.000957, y=-0.000324, theta=0.002977
[11:49:16.076] Odometry x=0.000957, y=-0.000325, theta=0.004325
[11:49:16.086] Odometry x=0.000957, y=-0.000327, theta=0.006607
[11:49:16.096] Odometry x=0.000957, y=-0.000329, theta=0.008046
[11:49:16.106] Odometry x=0.000957, y=-0.000329, theta=0.008784
[11:49:16.111] Init: px average disparity is:7.726857 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:16.111] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:16.116] Odometry x=0.000957, y=-0.000329, theta=0.009034
[11:49:16.126] Odometry x=0.000957, y=-0.000329, theta=0.009155
[11:49:16.147] Odometry x=0.001056, y=-0.000328, theta=0.010439
[11:49:16.157] Odometry x=0.001057, y=-0.000328, theta=0.011129
[11:49:16.167] Odometry x=0.001057, y=-0.000328, theta=0.011183
[11:49:16.177] Odometry x=0.001059, y=-0.000328, theta=0.010731
[11:49:16.187] Odometry x=0.001059, y=-0.000328, theta=0.010006
[11:49:16.197] Odometry x=0.001060, y=-0.000328, theta=0.009368
[11:49:16.207] Odometry x=0.001060, y=-0.000328, theta=0.009206
[11:49:16.211] Init: px average disparity is:6.360187 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:16.211] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:16.218] Odometry x=0.001060, y=-0.000328, theta=0.009478
[11:49:16.238] Odometry x=0.001137, y=-0.000328, theta=0.010784
[11:49:16.248] Odometry x=0.001137, y=-0.000328, theta=0.011649
[11:49:16.258] Odometry x=0.001136, y=-0.000329, theta=0.012028
[11:49:16.268] Odometry x=0.001136, y=-0.000330, theta=0.012439
[11:49:16.278] Odometry x=0.001136, y=-0.000330, theta=0.013059
[11:49:16.289] Odometry x=0.001135, y=-0.000331, theta=0.014007
[11:49:16.299] Odometry x=0.001135, y=-0.000332, theta=0.015163
[11:49:16.309] Odometry x=0.001135, y=-0.000332, theta=0.016274
[11:49:16.313] Init: px average disparity is:6.513986 ,While minimum is: 40.000000  KLT tracked : 97
[11:49:16.313] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:16.319] Odometry x=0.001135, y=-0.000333, theta=0.017187
[11:49:16.339] Odometry x=0.001221, y=-0.000331, theta=0.019039
[11:49:16.349] Odometry x=0.001221, y=-0.000332, theta=0.020409
[11:49:16.360] Odometry x=0.001222, y=-0.000332, theta=0.021222
[11:49:16.370] Odometry x=0.001222, y=-0.000332, theta=0.021693
[11:49:16.380] Odometry x=0.001222, y=-0.000332, theta=0.021780
[11:49:16.390] Odometry x=0.001223, y=-0.000332, theta=0.021755
[11:49:16.400] Odometry x=0.001223, y=-0.000332, theta=0.021742
[11:49:16.410] Odometry x=0.001223, y=-0.000331, theta=0.021983
[11:49:16.412] Init: px average disparity is:6.646046 ,While minimum is: 40.000000  KLT tracked : 96
[11:49:16.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:16.420] Odometry x=0.001223, y=-0.000331, theta=0.022677
[11:49:16.441] Odometry x=0.001310, y=-0.000329, theta=0.023811
[11:49:16.451] Odometry x=0.001310, y=-0.000329, theta=0.024437
[11:49:16.461] Odometry x=0.001310, y=-0.000329, theta=0.024750
[11:49:16.471] Odometry x=0.001310, y=-0.000329, theta=0.025199
[11:49:16.481] Odometry x=0.001310, y=-0.000329, theta=0.025991
[11:49:16.491] Odometry x=0.001310, y=-0.000329, theta=0.027351
[11:49:16.501] Odometry x=0.001310, y=-0.000329, theta=0.029047
[11:49:16.512] Odometry x=0.001310, y=-0.000330, theta=0.030919
[11:49:16.514] Init: px average disparity is:10.770120 ,While minimum is: 40.000000  KLT tracked : 96
[11:49:16.514] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:16.522] Odometry x=0.001310, y=-0.000330, theta=0.032070
[11:49:16.542] Odometry x=0.001397, y=-0.000330, theta=0.034007
[11:49:16.552] Odometry x=0.001397, y=-0.000332, theta=0.035258
[11:49:16.562] Odometry x=0.001397, y=-0.000332, theta=0.035828
[11:49:16.573] Odometry x=0.001397, y=-0.000332, theta=0.036745
[11:49:16.583] Odometry x=0.001397, y=-0.000332, theta=0.038097
[11:49:16.593] Odometry x=0.001397, y=-0.000333, theta=0.039536
[11:49:16.603] Odometry x=0.001397, y=-0.000333, theta=0.040489
[11:49:16.612] Init: px average disparity is:12.629547 ,While minimum is: 40.000000  KLT tracked : 96
[11:49:16.612] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:16.613] Odometry x=0.001397, y=-0.000333, theta=0.041337
[11:49:16.633] Odometry x=0.001470, y=-0.000331, theta=0.041801
[11:49:16.643] Odometry x=0.001470, y=-0.000331, theta=0.041702
[11:49:16.654] Odometry x=0.001470, y=-0.000331, theta=0.040993
[11:49:16.664] Odometry x=0.001470, y=-0.000331, theta=0.039874
[11:49:16.674] Odometry x=0.001471, y=-0.000331, theta=0.038741
[11:49:16.684] Odometry x=0.001472, y=-0.000331, theta=0.037952
[11:49:16.694] Odometry x=0.001473, y=-0.000331, theta=0.036872
[11:49:16.704] Odometry x=0.001474, y=-0.000331, theta=0.035802
[11:49:16.714] Init: px average disparity is:9.242055 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:16.714] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:16.714] Odometry x=0.001474, y=-0.000331, theta=0.034661
[11:49:16.725] Odometry x=0.001474, y=-0.000331, theta=0.033105
[11:49:16.745] Odometry x=0.001564, y=-0.000328, theta=0.029892
[11:49:16.755] Odometry x=0.001565, y=-0.000328, theta=0.028157
[11:49:16.765] Odometry x=0.001565, y=-0.000328, theta=0.026934
[11:49:16.775] Odometry x=0.001565, y=-0.000328, theta=0.024807
[11:49:16.785] Odometry x=0.001565, y=-0.000329, theta=0.022661
[11:49:16.796] Odometry x=0.001565, y=-0.000329, theta=0.020976
[11:49:16.806] Odometry x=0.001565, y=-0.000329, theta=0.019390
[11:49:16.816] Odometry x=0.001565, y=-0.000329, theta=0.018103
[11:49:16.817] Init: px average disparity is:8.938266 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:16.817] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:16.826] Odometry x=0.001565, y=-0.000329, theta=0.017317
[11:49:16.846] Odometry x=0.001655, y=-0.000328, theta=0.014361
[11:49:16.857] Odometry x=0.001655, y=-0.000328, theta=0.012392
[11:49:16.867] Odometry x=0.001655, y=-0.000329, theta=0.010691
[11:49:16.877] Odometry x=0.001655, y=-0.000329, theta=0.009489
[11:49:16.888] Odometry x=0.001655, y=-0.000330, theta=0.008314
[11:49:16.898] Odometry x=0.001655, y=-0.000331, theta=0.007151
[11:49:16.908] Odometry x=0.001655, y=-0.000332, theta=0.006031
[11:49:16.914] Init: px average disparity is:4.369888 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:16.914] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:16.918] Odometry x=0.001655, y=-0.000332, theta=0.004660
[11:49:16.938] Odometry x=0.001743, y=-0.000332, theta=0.001962
[11:49:16.949] Odometry x=0.001743, y=-0.000332, theta=0.000547
[11:49:16.959] Odometry x=0.001743, y=-0.000332, theta=-0.000979
[11:49:16.969] Odometry x=0.001743, y=-0.000332, theta=-0.002369
[11:49:16.979] Odometry x=0.001743, y=-0.000332, theta=-0.004219
[11:49:16.989] Odometry x=0.001743, y=-0.000332, theta=-0.006763
[11:49:17.000] Odometry x=0.001743, y=-0.000332, theta=-0.008534
[11:49:17.010] Odometry x=0.001743, y=-0.000332, theta=-0.011155
[11:49:17.014] Init: px average disparity is:10.408968 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:17.014] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:17.020] Odometry x=0.001743, y=-0.000332, theta=-0.014056
[11:49:17.040] Odometry x=0.001828, y=-0.000334, theta=-0.016544
[11:49:17.051] Odometry x=0.001828, y=-0.000335, theta=-0.018567
[11:49:17.061] Odometry x=0.001828, y=-0.000336, theta=-0.020955
[11:49:17.071] Odometry x=0.001828, y=-0.000336, theta=-0.022636
[11:49:17.081] Odometry x=0.001828, y=-0.000336, theta=-0.024195
[11:49:17.092] Odometry x=0.001827, y=-0.000336, theta=-0.026043
[11:49:17.102] Odometry x=0.001827, y=-0.000336, theta=-0.027873
[11:49:17.112] Odometry x=0.001827, y=-0.000336, theta=-0.029874
[11:49:17.125] Init: px average disparity is:14.199807 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:17.125] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:17.132] Odometry x=0.001903, y=-0.000338, theta=-0.032958
[11:49:17.143] Odometry x=0.001903, y=-0.000338, theta=-0.034942
[11:49:17.153] Odometry x=0.001903, y=-0.000339, theta=-0.035799
[11:49:17.164] Odometry x=0.001903, y=-0.000339, theta=-0.036195
[11:49:17.174] Odometry x=0.001904, y=-0.000340, theta=-0.036523
[11:49:17.184] Odometry x=0.001904, y=-0.000340, theta=-0.036876
[11:49:17.195] Odometry x=0.001904, y=-0.000341, theta=-0.037417
[11:49:17.205] Odometry x=0.001905, y=-0.000341, theta=-0.038045
[11:49:17.215] Odometry x=0.001905, y=-0.000341, theta=-0.038409
[11:49:17.225] Init: px average disparity is:13.978611 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:17.225] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:17.226] Odometry x=0.001905, y=-0.000341, theta=-0.038642
[11:49:17.246] Odometry x=0.002008, y=-0.000345, theta=-0.038786
[11:49:17.257] Odometry x=0.002008, y=-0.000345, theta=-0.038718
[11:49:17.267] Odometry x=0.002008, y=-0.000345, theta=-0.038652
[11:49:17.278] Odometry x=0.002008, y=-0.000345, theta=-0.038705
[11:49:17.288] Odometry x=0.002008, y=-0.000345, theta=-0.038898
[11:49:17.299] Odometry x=0.002008, y=-0.000345, theta=-0.039081
[11:49:17.309] Odometry x=0.002008, y=-0.000345, theta=-0.038877
[11:49:17.319] Odometry x=0.002008, y=-0.000345, theta=-0.038406
[11:49:17.326] Init: px average disparity is:13.410052 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:17.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:17.340] Odometry x=0.002092, y=-0.000348, theta=-0.038278
[11:49:17.350] Odometry x=0.002092, y=-0.000349, theta=-0.038274
[11:49:17.361] Odometry x=0.002092, y=-0.000349, theta=-0.038462
[11:49:17.371] Odometry x=0.002092, y=-0.000349, theta=-0.038825
[11:49:17.381] Odometry x=0.002092, y=-0.000349, theta=-0.039041
[11:49:17.392] Odometry x=0.002092, y=-0.000349, theta=-0.038683
[11:49:17.403] Odometry x=0.002092, y=-0.000349, theta=-0.037694
[11:49:17.413] Odometry x=0.002092, y=-0.000349, theta=-0.036492
[11:49:17.423] Odometry x=0.002093, y=-0.000349, theta=-0.035640
[11:49:17.426] Init: px average disparity is:11.958596 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:17.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:17.444] Odometry x=0.002182, y=-0.000353, theta=-0.036260
[11:49:17.454] Odometry x=0.002184, y=-0.000353, theta=-0.036830
[11:49:17.464] Odometry x=0.002184, y=-0.000353, theta=-0.037277
[11:49:17.474] Odometry x=0.002184, y=-0.000353, theta=-0.037757
[11:49:17.484] Odometry x=0.002184, y=-0.000354, theta=-0.038061
[11:49:17.495] Odometry x=0.002184, y=-0.000354, theta=-0.038155
[11:49:17.505] Odometry x=0.002184, y=-0.000354, theta=-0.038529
[11:49:17.512] Init: px average disparity is:13.014198 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:17.512] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:17.515] Odometry x=0.002184, y=-0.000354, theta=-0.039289
[11:49:17.525] Odometry x=0.002184, y=-0.000354, theta=-0.040331
[11:49:17.546] Odometry x=0.002275, y=-0.000358, theta=-0.042015
[11:49:17.557] Odometry x=0.002275, y=-0.000358, theta=-0.043131
[11:49:17.567] Odometry x=0.002275, y=-0.000358, theta=-0.043597
[11:49:17.577] Odometry x=0.002275, y=-0.000358, theta=-0.043752
[11:49:17.588] Odometry x=0.002275, y=-0.000358, theta=-0.043990
[11:49:17.598] Odometry x=0.002275, y=-0.000358, theta=-0.044425
[11:49:17.608] Odometry x=0.002275, y=-0.000358, theta=-0.044723
[11:49:17.619] Odometry x=0.002275, y=-0.000358, theta=-0.044979
[11:49:17.625] Init: px average disparity is:13.103636 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:17.625] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:17.639] Odometry x=0.002352, y=-0.000362, theta=-0.044749
[11:49:17.650] Odometry x=0.002352, y=-0.000363, theta=-0.044608
[11:49:17.660] Odometry x=0.002352, y=-0.000363, theta=-0.044584
[11:49:17.671] Odometry x=0.002352, y=-0.000363, theta=-0.044657
[11:49:17.681] Odometry x=0.002352, y=-0.000363, theta=-0.045104
[11:49:17.692] Odometry x=0.002352, y=-0.000363, theta=-0.045647
[11:49:17.702] Odometry x=0.002352, y=-0.000363, theta=-0.046052
[11:49:17.712] Odometry x=0.002352, y=-0.000363, theta=-0.046388
[11:49:17.722] Odometry x=0.002352, y=-0.000363, theta=-0.046731
[11:49:17.726] Init: px average disparity is:12.833996 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:17.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:17.744] Odometry x=0.002443, y=-0.000368, theta=-0.047908
[11:49:17.754] Odometry x=0.002443, y=-0.000368, theta=-0.048949
[11:49:17.764] Odometry x=0.002443, y=-0.000368, theta=-0.049846
[11:49:17.774] Odometry x=0.002443, y=-0.000368, theta=-0.051663
[11:49:17.785] Odometry x=0.002443, y=-0.000368, theta=-0.053351
[11:49:17.795] Odometry x=0.002443, y=-0.000368, theta=-0.054163
[11:49:17.805] Odometry x=0.002443, y=-0.000368, theta=-0.055311
[11:49:17.816] Odometry x=0.002443, y=-0.000368, theta=-0.056572
[11:49:17.826] Init: px average disparity is:16.504478 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:17.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:17.826] Odometry x=0.002443, y=-0.000368, theta=-0.057888
[11:49:17.847] Odometry x=0.002533, y=-0.000373, theta=-0.059716
[11:49:17.857] Odometry x=0.002533, y=-0.000373, theta=-0.060917
[11:49:17.868] Odometry x=0.002533, y=-0.000373, theta=-0.061794
[11:49:17.878] Odometry x=0.002533, y=-0.000373, theta=-0.062852
[11:49:17.888] Odometry x=0.002533, y=-0.000373, theta=-0.063613
[11:49:17.898] Odometry x=0.002533, y=-0.000373, theta=-0.064213
[11:49:17.909] Odometry x=0.002533, y=-0.000374, theta=-0.064869
[11:49:17.919] Odometry x=0.002533, y=-0.000374, theta=-0.065790
[11:49:17.926] Init: px average disparity is:18.765188 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:17.926] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:17.939] Odometry x=0.002615, y=-0.000381, theta=-0.066983
[11:49:17.950] Odometry x=0.002616, y=-0.000381, theta=-0.067922
[11:49:17.960] Odometry x=0.002616, y=-0.000381, theta=-0.068602
[11:49:17.970] Odometry x=0.002616, y=-0.000381, theta=-0.069507
[11:49:17.981] Odometry x=0.002616, y=-0.000381, theta=-0.070698
[11:49:17.991] Odometry x=0.002616, y=-0.000381, theta=-0.071910
[11:49:18.001] Odometry x=0.002616, y=-0.000381, theta=-0.072915
[11:49:18.011] Odometry x=0.002616, y=-0.000381, theta=-0.073729
[11:49:18.021] Init: px average disparity is:20.702866 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:18.021] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:18.021] Odometry x=0.000999, y=-0.000381, theta=-0.028931
[11:49:18.042] Odometry x=0.001085, y=-0.000384, theta=-0.030734
[11:49:18.052] Odometry x=0.001085, y=-0.000384, theta=-0.031812
[11:49:18.062] Odometry x=0.001085, y=-0.000384, theta=-0.032269
[11:49:18.073] Odometry x=0.001085, y=-0.000384, theta=-0.032616
[11:49:18.083] Odometry x=0.001085, y=-0.000385, theta=-0.033064
[11:49:18.094] Odometry x=0.001085, y=-0.000385, theta=-0.033830
[11:49:18.104] Odometry x=0.001085, y=-0.000385, theta=-0.034677
[11:49:18.114] Odometry x=0.001085, y=-0.000385, theta=-0.035927
[11:49:18.123] Init: px average disparity is:22.579201 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:18.123] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:18.124] Odometry x=0.001085, y=-0.000385, theta=-0.036941
[11:49:18.145] Odometry x=0.001175, y=-0.000388, theta=-0.037693
[11:49:18.155] Odometry x=0.001175, y=-0.000388, theta=-0.038304
[11:49:18.165] Odometry x=0.001175, y=-0.000388, theta=-0.038751
[11:49:18.176] Odometry x=0.001175, y=-0.000388, theta=-0.039066
[11:49:18.186] Odometry x=0.001175, y=-0.000388, theta=-0.039454
[11:49:18.197] Odometry x=0.001175, y=-0.000388, theta=-0.039730
[11:49:18.207] Odometry x=0.001175, y=-0.000388, theta=-0.040066
[11:49:18.217] Odometry x=0.001175, y=-0.000388, theta=-0.040523
[11:49:18.225] Init: px average disparity is:22.926487 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:18.225] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:18.238] Odometry x=0.001253, y=-0.000393, theta=-0.040556
[11:49:18.249] Odometry x=0.001253, y=-0.000393, theta=-0.040516
[11:49:18.259] Odometry x=0.001253, y=-0.000394, theta=-0.040781
[11:49:18.269] Odometry x=0.001253, y=-0.000394, theta=-0.041136
[11:49:18.279] Odometry x=0.001254, y=-0.000394, theta=-0.041774
[11:49:18.290] Odometry x=0.001254, y=-0.000394, theta=-0.042429
[11:49:18.300] Odometry x=0.001254, y=-0.000394, theta=-0.042925
[11:49:18.310] Odometry x=0.001253, y=-0.000393, theta=-0.043526
[11:49:18.320] Odometry x=0.001253, y=-0.000393, theta=-0.043923
[11:49:18.326] Init: px average disparity is:24.272244 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:18.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:18.341] Odometry x=0.001338, y=-0.000397, theta=-0.043756
[11:49:18.352] Odometry x=0.001337, y=-0.000397, theta=-0.043859
[11:49:18.362] Odometry x=0.001337, y=-0.000398, theta=-0.044199
[11:49:18.372] Odometry x=0.001337, y=-0.000398, theta=-0.044444
[11:49:18.383] Odometry x=0.001337, y=-0.000398, theta=-0.044438
[11:49:18.393] Odometry x=0.001337, y=-0.000398, theta=-0.044371
[11:49:18.404] Odometry x=0.001337, y=-0.000398, theta=-0.044338
[11:49:18.414] Odometry x=0.001337, y=-0.000398, theta=-0.044399
[11:49:18.424] Odometry x=0.001337, y=-0.000398, theta=-0.044072
[11:49:18.426] Init: px average disparity is:22.373971 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:18.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:18.435] Odometry x=0.001337, y=-0.000398, theta=-0.043374
[11:49:18.455] Odometry x=0.001441, y=-0.000403, theta=-0.040561
[11:49:18.465] Odometry x=0.001441, y=-0.000403, theta=-0.038577
[11:49:18.476] Odometry x=0.001441, y=-0.000403, theta=-0.037109
[11:49:18.486] Odometry x=0.001441, y=-0.000403, theta=-0.035683
[11:49:18.496] Odometry x=0.001441, y=-0.000403, theta=-0.034723
[11:49:18.506] Odometry x=0.001441, y=-0.000403, theta=-0.033227
[11:49:18.517] Odometry x=0.001441, y=-0.000404, theta=-0.031698
[11:49:18.527] Init: px average disparity is:17.432403 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:18.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:18.537] Odometry x=0.001509, y=-0.000407, theta=-0.028753
[11:49:18.547] Odometry x=0.001509, y=-0.000408, theta=-0.026751
[11:49:18.557] Odometry x=0.001509, y=-0.000408, theta=-0.025404
[11:49:18.568] Odometry x=0.001509, y=-0.000408, theta=-0.024181
[11:49:18.578] Odometry x=0.001509, y=-0.000408, theta=-0.023171
[11:49:18.589] Odometry x=0.001509, y=-0.000409, theta=-0.022363
[11:49:18.599] Odometry x=0.001509, y=-0.000409, theta=-0.021181
[11:49:18.609] Odometry x=0.001509, y=-0.000409, theta=-0.019976
[11:49:18.616] Init: px average disparity is:13.361799 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:18.616] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:18.619] Odometry x=0.001509, y=-0.000409, theta=-0.019031
[11:49:18.640] Odometry x=0.001600, y=-0.000410, theta=-0.016800
[11:49:18.650] Odometry x=0.001600, y=-0.000411, theta=-0.015210
[11:49:18.660] Odometry x=0.001600, y=-0.000411, theta=-0.014031
[11:49:18.671] Odometry x=0.001600, y=-0.000411, theta=-0.012873
[11:49:18.681] Odometry x=0.001600, y=-0.000411, theta=-0.011721
[11:49:18.691] Odometry x=0.001600, y=-0.000411, theta=-0.010873
[11:49:18.702] Odometry x=0.001600, y=-0.000411, theta=-0.009224
[11:49:18.712] Odometry x=0.001600, y=-0.000411, theta=-0.007403
[11:49:18.722] Odometry x=0.001600, y=-0.000412, theta=-0.005774
[11:49:18.726] Init: px average disparity is:8.888007 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:18.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:18.743] Odometry x=0.001686, y=-0.000415, theta=-0.003353
[11:49:18.753] Odometry x=0.001686, y=-0.000416, theta=-0.001565
[11:49:18.764] Odometry x=0.001686, y=-0.000417, theta=-0.000464
[11:49:18.774] Odometry x=0.001686, y=-0.000417, theta=0.000856
[11:49:18.785] Odometry x=0.001686, y=-0.000417, theta=0.002249
[11:49:18.795] Odometry x=0.001686, y=-0.000417, theta=0.003189
[11:49:18.805] Odometry x=0.001686, y=-0.000417, theta=0.004833
[11:49:18.815] Odometry x=0.001686, y=-0.000417, theta=0.006467
[11:49:18.826] Odometry x=0.001686, y=-0.000417, theta=0.007690
[11:49:18.826] Init: px average disparity is:6.466756 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:18.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:18.836] Odometry x=0.001686, y=-0.000418, theta=0.008492
[11:49:18.857] Odometry x=0.001785, y=-0.000418, theta=0.007780
[11:49:18.868] Odometry x=0.001785, y=-0.000418, theta=0.007087
[11:49:18.878] Odometry x=0.001785, y=-0.000418, theta=0.006414
[11:49:18.889] Odometry x=0.001785, y=-0.000418, theta=0.005817
[11:49:18.899] Odometry x=0.001785, y=-0.000418, theta=0.005261
[11:49:18.909] Odometry x=0.001785, y=-0.000418, theta=0.004898
[11:49:18.920] Odometry x=0.001785, y=-0.000419, theta=0.004491
[11:49:18.926] Init: px average disparity is:7.021036 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:18.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:18.940] Odometry x=0.001857, y=-0.000418, theta=0.003420
[11:49:18.950] Odometry x=0.001856, y=-0.000418, theta=0.002466
[11:49:18.960] Odometry x=0.001856, y=-0.000418, theta=0.002283
[11:49:18.971] Odometry x=0.001856, y=-0.000418, theta=0.002360
[11:49:18.981] Odometry x=0.001857, y=-0.000418, theta=0.002265
[11:49:18.991] Odometry x=0.001857, y=-0.000419, theta=0.002011
[11:49:19.001] Odometry x=0.001857, y=-0.000419, theta=0.001830
[11:49:19.012] Odometry x=0.001857, y=-0.000419, theta=0.001751
[11:49:19.022] Odometry x=0.001857, y=-0.000420, theta=0.001444
[11:49:19.030] Init: px average disparity is:7.100180 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:19.030] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:19.042] Odometry x=0.001948, y=-0.000423, theta=0.000301
[11:49:19.052] Odometry x=0.001948, y=-0.000424, theta=-0.000408
[11:49:19.063] Odometry x=0.001948, y=-0.000424, theta=-0.000868
[11:49:19.073] Odometry x=0.001948, y=-0.000424, theta=-0.001457
[11:49:19.083] Odometry x=0.001948, y=-0.000424, theta=-0.002182
[11:49:19.093] Odometry x=0.001948, y=-0.000424, theta=-0.002932
[11:49:19.104] Odometry x=0.001948, y=-0.000424, theta=-0.003451
[11:49:19.113] Init: px average disparity is:7.091881 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:19.113] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:19.114] Odometry x=0.001948, y=-0.000424, theta=-0.003718
[11:49:19.125] Odometry x=0.001948, y=-0.000424, theta=-0.003944
[11:49:19.145] Odometry x=0.002034, y=-0.000425, theta=-0.005147
[11:49:19.155] Odometry x=0.002034, y=-0.000425, theta=-0.005968
[11:49:19.165] Odometry x=0.002034, y=-0.000425, theta=-0.006330
[11:49:19.176] Odometry x=0.002034, y=-0.000425, theta=-0.006993
[11:49:19.186] Odometry x=0.002034, y=-0.000425, theta=-0.007646
[11:49:19.196] Odometry x=0.002034, y=-0.000425, theta=-0.007976
[11:49:19.207] Odometry x=0.002034, y=-0.000425, theta=-0.008403
[11:49:19.217] Odometry x=0.002034, y=-0.000425, theta=-0.008985
[11:49:19.226] Init: px average disparity is:8.568227 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:19.226] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:19.227] Odometry x=0.002034, y=-0.000425, theta=-0.009713
[11:49:19.248] Odometry x=0.002124, y=-0.000426, theta=-0.011906
[11:49:19.259] Odometry x=0.002124, y=-0.000427, theta=-0.013394
[11:49:19.269] Odometry x=0.002124, y=-0.000427, theta=-0.014492
[11:49:19.280] Odometry x=0.002124, y=-0.000427, theta=-0.015705
[11:49:19.290] Odometry x=0.002125, y=-0.000427, theta=-0.017236
[11:49:19.301] Odometry x=0.002125, y=-0.000427, theta=-0.018243
[11:49:19.311] Odometry x=0.002125, y=-0.000427, theta=-0.019394
[11:49:19.321] Odometry x=0.002125, y=-0.000427, theta=-0.020633
[11:49:19.326] Init: px average disparity is:11.297342 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:19.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:19.342] Odometry x=0.002207, y=-0.000429, theta=-0.022556
[11:49:19.353] Odometry x=0.002207, y=-0.000429, theta=-0.024150
[11:49:19.363] Odometry x=0.002207, y=-0.000429, theta=-0.025003
[11:49:19.373] Odometry x=0.002207, y=-0.000430, theta=-0.026309
[11:49:19.384] Odometry x=0.002207, y=-0.000430, theta=-0.027639
[11:49:19.394] Odometry x=0.002207, y=-0.000431, theta=-0.028840
[11:49:19.405] Odometry x=0.002207, y=-0.000431, theta=-0.030462
[11:49:19.415] Odometry x=0.002207, y=-0.000431, theta=-0.032183
[11:49:19.425] Odometry x=0.002207, y=-0.000431, theta=-0.033870
[11:49:19.428] Init: px average disparity is:14.728075 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:19.428] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:19.446] Odometry x=0.002294, y=-0.000434, theta=-0.036444
[11:49:19.456] Odometry x=0.002294, y=-0.000434, theta=-0.038227
[11:49:19.466] Odometry x=0.002294, y=-0.000434, theta=-0.039362
[11:49:19.477] Odometry x=0.002294, y=-0.000434, theta=-0.040311
[11:49:19.487] Odometry x=0.002294, y=-0.000434, theta=-0.041171
[11:49:19.497] Odometry x=0.002294, y=-0.000434, theta=-0.042216
[11:49:19.507] Odometry x=0.002294, y=-0.000434, theta=-0.043369
[11:49:19.518] Odometry x=0.002294, y=-0.000434, theta=-0.044569
[11:49:19.525] Init: px average disparity is:18.266471 ,While minimum is: 40.000000  KLT tracked : 95
[11:49:19.525] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:19.538] Odometry x=0.002374, y=-0.000438, theta=-0.048302
[11:49:19.548] Odometry x=0.002374, y=-0.000438, theta=-0.051324
[11:49:19.558] Odometry x=0.002374, y=-0.000439, theta=-0.053979
[11:49:19.568] Odometry x=0.002374, y=-0.000439, theta=-0.056551
[11:49:19.579] Odometry x=0.002374, y=-0.000439, theta=-0.058787
[11:49:19.589] Odometry x=0.002374, y=-0.000439, theta=-0.060691
[11:49:19.599] Odometry x=0.002374, y=-0.000439, theta=-0.062702
[11:49:19.609] Odometry x=0.002374, y=-0.000439, theta=-0.064572
[11:49:19.613] Init: px average disparity is:24.005792 ,While minimum is: 40.000000  KLT tracked : 94
[11:49:19.613] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:19.620] Odometry x=0.002374, y=-0.000439, theta=-0.065782
[11:49:19.640] Odometry x=0.002459, y=-0.000445, theta=-0.070292
[11:49:19.651] Odometry x=0.002459, y=-0.000446, theta=-0.074349
[11:49:19.661] Odometry x=0.002459, y=-0.000446, theta=-0.076471
[11:49:19.671] Odometry x=0.002459, y=-0.000447, theta=-0.079422
[11:49:19.682] Odometry x=0.002459, y=-0.000447, theta=-0.082804
[11:49:19.692] Odometry x=0.002459, y=-0.000447, theta=-0.085847
[11:49:19.702] Odometry x=0.002459, y=-0.000447, theta=-0.088055
[11:49:19.713] Odometry x=0.002459, y=-0.000447, theta=-0.092457
[11:49:19.723] Odometry x=0.002459, y=-0.000447, theta=-0.096066
[11:49:19.725] Init: px average disparity is:34.651016 ,While minimum is: 40.000000  KLT tracked : 94
[11:49:19.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:19.744] Odometry x=0.000092, y=-0.000447, theta=-0.008274
[11:49:19.754] Odometry x=0.000092, y=-0.000447, theta=-0.013971
[11:49:19.765] Odometry x=0.000092, y=-0.000447, theta=-0.016548
[11:49:19.775] Odometry x=0.000092, y=-0.000447, theta=-0.019059
[11:49:19.786] Odometry x=0.000093, y=-0.000447, theta=-0.022774
[11:49:19.796] Odometry x=0.000093, y=-0.000447, theta=-0.025630
[11:49:19.807] Odometry x=0.000093, y=-0.000447, theta=-0.027678
[11:49:19.817] Odometry x=0.000093, y=-0.000447, theta=-0.029588
[11:49:19.825] Init: px average disparity is:39.955892 ,While minimum is: 40.000000  KLT tracked : 94
[11:49:19.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:49:19.837] Odometry x=0.000174, y=-0.000450, theta=-0.031291
[11:49:19.848] Odometry x=0.000174, y=-0.000450, theta=-0.033990
[11:49:19.858] Odometry x=0.000174, y=-0.000450, theta=-0.036118
[11:49:19.869] Odometry x=0.000174, y=-0.000450, theta=-0.037820
[11:49:19.879] Odometry x=0.000174, y=-0.000449, theta=-0.041109
[11:49:19.889] Odometry x=0.000174, y=-0.000449, theta=-0.044724
[11:49:19.900] Odometry x=0.000174, y=-0.000449, theta=-0.046953
[11:49:19.910] Odometry x=0.000174, y=-0.000449, theta=-0.050844
[11:49:19.920] Odometry x=0.000174, y=-0.000450, theta=-0.054847
[11:49:19.941] Odometry x=0.000270, y=-0.000455, theta=-0.058324
[11:49:19.951] Odometry x=0.000270, y=-0.000455, theta=-0.060707
[11:49:19.961] Odometry x=0.000270, y=-0.000455, theta=-0.061839
[11:49:19.971] Odometry x=0.000270, y=-0.000455, theta=-0.063260
[11:49:19.976] homography: x=4815.389686 y=2521.754912 z=-14.143430 roll=-0.000000 pitch=-3.131831 yaw=-0.000000 	 ekf: x=0.000270 z=-0.000455 pitch=-0.063260
[11:49:19.976] homography after fuse: x=0.000270 y=0.000000 z=-0.000455 pitch=-0.063260	 number of outlier: 14
[11:49:19.976] Init finished: Homography RANSAC (inlier) is:80 ,While 30 inliers minimum required.  px average disparity is:47.133351 ,While minimum is: 40.000000  KLT tracked: 94
[11:49:19.976] Init: distance between the first and current frame is x:0.000270 ,z=-0.000455,angle between two frames: -0.063260 
[11:49:19.976] Init: Selected Second frame. 	 The number of features: 80
[11:49:19.981] Odometry x=0.000270, y=-0.000455, theta=-0.065145
[11:49:19.992] Odometry x=0.000270, y=-0.000454, theta=-0.066996
[11:49:20.002] Odometry x=0.000271, y=-0.000454, theta=-0.068530
[11:49:20.012] Odometry x=0.000271, y=-0.000454, theta=-0.069403
[11:49:20.022] Odometry x=0.000271, y=-0.000454, theta=-0.070297
[11:49:20.042] Odometry x=0.000349, y=-0.000459, theta=-0.071699
[11:49:20.052] Odometry x=0.000349, y=-0.000459, theta=-0.072772
[11:49:20.063] Odometry x=0.000350, y=-0.000459, theta=-0.073631
[11:49:20.073] Odometry x=0.000351, y=-0.000459, theta=-0.074091
[11:49:20.082] After Reprojection Map nPoint:52 ,nCell:49 ,nMatches:6 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.005437
[11:49:20.082] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.400160 	 error end=0.400160
[11:49:20.082] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.005437
[11:49:20.082] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.005437
[11:49:20.083] Odometry x=0.000301, y=-0.000458, theta=-0.070637
[11:49:20.093] Odometry x=0.000303, y=-0.000458, theta=-0.070016
[11:49:20.103] Odometry x=0.000305, y=-0.000459, theta=-0.068965
[11:49:20.113] Odometry x=0.000306, y=-0.000459, theta=-0.067234
[11:49:20.124] Odometry x=0.000306, y=-0.000459, theta=-0.064962
[11:49:20.144] Odometry x=0.000398, y=-0.000465, theta=-0.063205
[11:49:20.154] Odometry x=0.000398, y=-0.000465, theta=-0.062010
[11:49:20.164] Odometry x=0.000398, y=-0.000465, theta=-0.061444
[11:49:20.174] Odometry x=0.000398, y=-0.000465, theta=-0.061137
[11:49:20.179] After Reprojection Map nPoint:54 ,nCell:49 ,nMatches:4 ,distance between two frames x:0.000036 ,z=-0.000002,angle between two frames:0.000267
[11:49:20.179] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.483398 	 error end=0.483398
[11:49:20.179] After pose optimization, distance between two frames x:0.000036 ,z=-0.000002,angle between two frames:0.000267
[11:49:20.179] Update EKF and 3D points, distance between two frames x:0.000036 ,z=-0.000002,angle between two frames:0.000267
[11:49:20.185] Odometry x=0.000341, y=-0.000461, theta=-0.065533
[11:49:20.195] Odometry x=0.000341, y=-0.000460, theta=-0.064647
[11:49:20.206] Odometry x=0.000341, y=-0.000460, theta=-0.063365
[11:49:20.216] Odometry x=0.000342, y=-0.000460, theta=-0.061418
[11:49:20.236] Odometry x=0.000420, y=-0.000465, theta=-0.056960
[11:49:20.246] Odometry x=0.000421, y=-0.000465, theta=-0.053826
[11:49:20.256] Odometry x=0.000421, y=-0.000465, theta=-0.051513
[11:49:20.266] Odometry x=0.000421, y=-0.000465, theta=-0.049196
[11:49:20.277] Odometry x=0.000421, y=-0.000465, theta=-0.047154
[11:49:20.287] Odometry x=0.000421, y=-0.000465, theta=-0.045214
[11:49:20.297] Odometry x=0.000421, y=-0.000464, theta=-0.043236
[11:49:20.307] Odometry x=0.000421, y=-0.000464, theta=-0.041179
[11:49:20.311] After Reprojection Map nPoint:52 ,nCell:48 ,nMatches:7 ,distance between two frames x:-0.009117 ,z=0.001971,angle between two frames:0.001960
[11:49:20.311] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.784089 	 error end=0.784089
[11:49:20.311] After pose optimization, distance between two frames x:-0.009117 ,z=0.001971,angle between two frames:0.001960
[11:49:20.311] Update EKF and 3D points, distance between two frames x:-0.009117 ,z=0.001971,angle between two frames:0.001960
[11:49:20.317] Odometry x=-0.005285, y=0.000757, theta=-0.057197
[11:49:20.337] Odometry x=-0.005196, y=0.000752, theta=-0.051237
[11:49:20.347] Odometry x=-0.005195, y=0.000752, theta=-0.046987
[11:49:20.357] Odometry x=-0.005195, y=0.000752, theta=-0.044169
[11:49:20.368] Odometry x=-0.005195, y=0.000752, theta=-0.041557
[11:49:20.378] Odometry x=-0.005195, y=0.000752, theta=-0.039183
[11:49:20.383] After Reprojection Map nPoint:55 ,nCell:46 ,nMatches:4 ,distance between two frames x:-0.000289 ,z=-0.000039,angle between two frames:0.000235
[11:49:20.383] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.075633 	 error end=0.013659
[11:49:20.383] After pose optimization, distance between two frames x:0.037265 ,z=-0.001710,angle between two frames:0.051341
[11:49:20.383] Update EKF and 3D points, distance between two frames x:0.037265 ,z=-0.001710,angle between two frames:0.051341
[11:49:20.388] Odometry x=0.015602, y=0.000165, theta=-0.024760
[11:49:20.398] Odometry x=0.015602, y=0.000165, theta=-0.022620
[11:49:20.409] Odometry x=0.015602, y=0.000165, theta=-0.021268
[11:49:20.419] Odometry x=0.015602, y=0.000165, theta=-0.019395
[11:49:20.439] Odometry x=0.015691, y=0.000163, theta=-0.016957
[11:49:20.449] Odometry x=0.015691, y=0.000163, theta=-0.015007
[11:49:20.460] Odometry x=0.015692, y=0.000163, theta=-0.013339
[11:49:20.470] Odometry x=0.015692, y=0.000163, theta=-0.011732
[11:49:20.480] Odometry x=0.015692, y=0.000163, theta=-0.009542
[11:49:20.487] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between two frames x:-0.011084 ,z=-0.000512,angle between two frames:0.000638
[11:49:20.490] Odometry x=0.015692, y=0.000163, theta=-0.007154
[11:49:20.501] Odometry x=0.015692, y=0.000163, theta=-0.005583
[11:49:20.511] Image Alignment failed 0
[11:49:20.511] Odometry x=0.015692, y=0.000163, theta=-0.003807
[11:49:20.521] Odometry x=0.015692, y=0.000163, theta=-0.001260
[11:49:20.541] Odometry x=0.015778, y=0.000163, theta=0.002186
[11:49:20.548] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.003959
[11:49:20.551] Odometry x=0.015778, y=0.000162, theta=0.004324
[11:49:20.562] Odometry x=0.015778, y=0.000162, theta=0.005358
[11:49:20.572] Odometry x=0.015779, y=0.000162, theta=0.006138
[11:49:20.582] Odometry x=0.015779, y=0.000162, theta=0.006759
[11:49:20.593] Odometry x=0.015779, y=0.000162, theta=0.007328
[11:49:20.603] Odometry x=0.015779, y=0.000162, theta=0.007934
[11:49:20.611] Image Alignment failed 0
[11:49:20.613] Odometry x=0.015779, y=0.000162, theta=0.008571
[11:49:20.623] Odometry x=0.015779, y=0.000162, theta=0.009157
[11:49:20.643] Odometry x=0.015868, y=0.000162, theta=0.009552
[11:49:20.654] Odometry x=0.015868, y=0.000162, theta=0.009742
[11:49:20.659] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.005748
[11:49:20.664] Odometry x=0.015868, y=0.000162, theta=0.009751
[11:49:20.675] Odometry x=0.015868, y=0.000162, theta=0.009834
[11:49:20.685] Odometry x=0.015869, y=0.000162, theta=0.010162
[11:49:20.695] Odometry x=0.015869, y=0.000162, theta=0.010583
[11:49:20.705] Odometry x=0.015869, y=0.000162, theta=0.010969
[11:49:20.713] Image Alignment failed 0
[11:49:20.716] Odometry x=0.015869, y=0.000162, theta=0.011365
[11:49:20.726] Odometry x=0.015869, y=0.000162, theta=0.011857
[11:49:20.746] Odometry x=0.015957, y=0.000163, theta=0.012951
[11:49:20.756] Odometry x=0.015957, y=0.000163, theta=0.013936
[11:49:20.767] Odometry x=0.015957, y=0.000163, theta=0.014742
[11:49:20.769] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001226
[11:49:20.777] Odometry x=0.015957, y=0.000163, theta=0.015421
[11:49:20.787] Odometry x=0.015957, y=0.000163, theta=0.015935
[11:49:20.798] Odometry x=0.015957, y=0.000163, theta=0.016409
[11:49:20.808] Odometry x=0.015957, y=0.000163, theta=0.016918
[11:49:20.812] Image Alignment failed 0
[11:49:20.818] Odometry x=0.015958, y=0.000163, theta=0.017453
[11:49:20.839] Odometry x=0.016038, y=0.000164, theta=0.019573
[11:49:20.849] Odometry x=0.016038, y=0.000164, theta=0.021043
[11:49:20.855] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.002177
[11:49:20.859] Odometry x=0.016039, y=0.000164, theta=0.021899
[11:49:20.869] Odometry x=0.016039, y=0.000164, theta=0.022706
[11:49:20.880] Odometry x=0.016039, y=0.000164, theta=0.023702
[11:49:20.890] Odometry x=0.016039, y=0.000164, theta=0.025379
[11:49:20.900] Odometry x=0.016039, y=0.000164, theta=0.026480
[11:49:20.911] Odometry x=0.016039, y=0.000164, theta=0.026952
[11:49:20.914] Image Alignment failed 0
[11:49:20.921] Odometry x=0.016039, y=0.000164, theta=0.027291
[11:49:20.941] Odometry x=0.016126, y=0.000166, theta=0.027664
[11:49:20.951] Odometry x=0.016126, y=0.000166, theta=0.027856
[11:49:20.961] Odometry x=0.016126, y=0.000166, theta=0.028010
[11:49:20.971] Odometry x=0.016126, y=0.000166, theta=0.028067
[11:49:20.976] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.005909
[11:49:20.982] Odometry x=0.016126, y=0.000166, theta=0.027928
[11:49:20.992] Odometry x=0.016127, y=0.000166, theta=0.027657
[11:49:21.002] Odometry x=0.016127, y=0.000166, theta=0.027730
[11:49:21.011] Image Alignment failed 0
[11:49:21.012] Odometry x=0.016128, y=0.000166, theta=0.028305
[11:49:21.022] Odometry x=0.016130, y=0.000166, theta=0.029389
[11:49:21.043] Odometry x=0.016225, y=0.000165, theta=0.030688
[11:49:21.053] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000337
[11:49:21.053] Odometry x=0.016229, y=0.000163, theta=0.031440
[11:49:21.063] Odometry x=0.016230, y=0.000162, theta=0.031672
[11:49:21.073] Odometry x=0.016231, y=0.000162, theta=0.031909
[11:49:21.084] Odometry x=0.016231, y=0.000161, theta=0.032065
[11:49:21.094] Odometry x=0.016231, y=0.000161, theta=0.032073
[11:49:21.104] Odometry x=0.016231, y=0.000161, theta=0.031703
[11:49:21.112] Image Alignment failed 0
[11:49:21.114] Odometry x=0.016231, y=0.000161, theta=0.031039
[11:49:21.135] Odometry x=0.016310, y=0.000164, theta=0.029321
[11:49:21.145] Odometry x=0.016310, y=0.000164, theta=0.028061
[11:49:21.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000002,angle between two frames:0.000263
[11:49:21.155] Odometry x=0.016310, y=0.000164, theta=0.027065
[11:49:21.166] Odometry x=0.016310, y=0.000164, theta=0.026108
[11:49:21.176] Odometry x=0.016310, y=0.000164, theta=0.025482
[11:49:21.187] Odometry x=0.016310, y=0.000164, theta=0.025300
[11:49:21.197] Odometry x=0.016310, y=0.000164, theta=0.025154
[11:49:21.207] Odometry x=0.016311, y=0.000164, theta=0.024722
[11:49:21.214] Image Alignment failed 0
[11:49:21.218] Odometry x=0.016313, y=0.000163, theta=0.024464
[11:49:21.238] Odometry x=0.016403, y=0.000165, theta=0.025131
[11:49:21.248] Odometry x=0.016404, y=0.000164, theta=0.025647
[11:49:21.258] Odometry x=0.016405, y=0.000163, theta=0.026103
[11:49:21.268] Odometry x=0.016407, y=0.000163, theta=0.026474
[11:49:21.279] Odometry x=0.016411, y=0.000162, theta=0.026672
[11:49:21.279] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.003339
[11:49:21.289] Odometry x=0.016417, y=0.000161, theta=0.026683
[11:49:21.300] Odometry x=0.016421, y=0.000160, theta=0.026377
[11:49:21.310] Odometry x=0.016422, y=0.000160, theta=0.026124
[11:49:21.318] Image Alignment failed 0
[11:49:21.320] Odometry x=0.016423, y=0.000160, theta=0.026223
[11:49:21.341] Odometry x=0.016513, y=0.000163, theta=0.025651
[11:49:21.351] Odometry x=0.016513, y=0.000163, theta=0.025158
[11:49:21.361] Odometry x=0.016513, y=0.000163, theta=0.024668
[11:49:21.371] Odometry x=0.016513, y=0.000162, theta=0.024109
[11:49:21.377] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=-0.000001,angle between two frames:0.000548
[11:49:21.381] Odometry x=0.016513, y=0.000162, theta=0.023493
[11:49:21.392] Odometry x=0.016513, y=0.000162, theta=0.022639
[11:49:21.402] Odometry x=0.016513, y=0.000162, theta=0.021800
[11:49:21.411] Image Alignment failed 0
[11:49:21.412] Odometry x=0.016513, y=0.000162, theta=0.021692
[11:49:21.422] Odometry x=0.016513, y=0.000163, theta=0.022206
[11:49:21.442] Odometry x=0.016602, y=0.000165, theta=0.023031
[11:49:21.452] Odometry x=0.016602, y=0.000165, theta=0.023259
[11:49:21.452] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.002309
[11:49:21.463] Odometry x=0.016602, y=0.000165, theta=0.023129
[11:49:21.473] Odometry x=0.016602, y=0.000165, theta=0.023013
[11:49:21.484] Odometry x=0.016603, y=0.000165, theta=0.022757
[11:49:21.494] Odometry x=0.016603, y=0.000165, theta=0.022554
[11:49:21.505] Odometry x=0.016604, y=0.000165, theta=0.022753
[11:49:21.514] Image Alignment failed 0
[11:49:21.515] Odometry x=0.016604, y=0.000164, theta=0.023134
[11:49:21.535] Odometry x=0.016686, y=0.000162, theta=0.023728
[11:49:21.545] Odometry x=0.016688, y=0.000159, theta=0.024184
[11:49:21.555] Odometry x=0.016689, y=0.000158, theta=0.024449
[11:49:21.566] Odometry x=0.016691, y=0.000158, theta=0.024528
[11:49:21.576] Odometry x=0.016692, y=0.000158, theta=0.024500
[11:49:21.578] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.000507
[11:49:21.586] Odometry x=0.016692, y=0.000158, theta=0.024622
[11:49:21.597] Odometry x=0.016692, y=0.000158, theta=0.024819
[11:49:21.607] Odometry x=0.016692, y=0.000158, theta=0.025232
[11:49:21.611] Image Alignment failed 0
[11:49:21.617] Odometry x=0.016692, y=0.000158, theta=0.025585
[11:49:21.638] Odometry x=0.016780, y=0.000160, theta=0.025065
[11:49:21.648] Odometry x=0.016780, y=0.000160, theta=0.024545
[11:49:21.649] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000732
[11:49:21.658] Odometry x=0.016780, y=0.000160, theta=0.024013
[11:49:21.669] Odometry x=0.016780, y=0.000160, theta=0.023682
[11:49:21.679] Odometry x=0.016780, y=0.000160, theta=0.023612
[11:49:21.689] Odometry x=0.016780, y=0.000160, theta=0.023561
[11:49:21.699] Odometry x=0.016780, y=0.000160, theta=0.023489
[11:49:21.710] Odometry x=0.016780, y=0.000160, theta=0.023437
[11:49:21.716] Image Alignment failed 0
[11:49:21.720] Odometry x=0.016780, y=0.000161, theta=0.023147
[11:49:21.740] Odometry x=0.016869, y=0.000163, theta=0.022750
[11:49:21.750] Odometry x=0.016869, y=0.000163, theta=0.022775
[11:49:21.760] Odometry x=0.016869, y=0.000163, theta=0.023200
[11:49:21.771] Odometry x=0.016869, y=0.000163, theta=0.024427
[11:49:21.781] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001109
[11:49:21.781] Odometry x=0.016869, y=0.000163, theta=0.025401
[11:49:21.791] Odometry x=0.016870, y=0.000161, theta=0.026353
[11:49:21.801] Odometry x=0.016871, y=0.000161, theta=0.027004
[11:49:21.811] Image Alignment failed 0
[11:49:21.812] Odometry x=0.016872, y=0.000160, theta=0.027555
[11:49:21.822] Odometry x=0.016873, y=0.000160, theta=0.028089
[11:49:21.842] Odometry x=0.016963, y=0.000162, theta=0.028791
[11:49:21.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000002,angle between two frames:0.002578
[11:49:21.852] Odometry x=0.016964, y=0.000162, theta=0.029364
[11:49:21.863] Odometry x=0.016965, y=0.000162, theta=0.029722
[11:49:21.873] Odometry x=0.016965, y=0.000162, theta=0.030345
[11:49:21.883] Odometry x=0.016965, y=0.000162, theta=0.031950
[11:49:21.894] Odometry x=0.016965, y=0.000162, theta=0.033714
[11:49:21.904] Odometry x=0.016965, y=0.000162, theta=0.035499
[11:49:21.914] Image Alignment failed 0
[11:49:21.914] Odometry x=0.016965, y=0.000162, theta=0.037462
[11:49:21.934] Odometry x=0.017044, y=0.000165, theta=0.038885
[11:49:21.944] Odometry x=0.017045, y=0.000165, theta=0.039699
[11:49:21.952] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000000,angle between two frames:0.006708
[11:49:21.955] Odometry x=0.017045, y=0.000165, theta=0.040332
[11:49:21.965] Odometry x=0.017045, y=0.000165, theta=0.041152
[11:49:21.975] Odometry x=0.017045, y=0.000165, theta=0.041808
[11:49:21.985] Odometry x=0.017045, y=0.000165, theta=0.042021
[11:49:21.995] Odometry x=0.017045, y=0.000165, theta=0.041739
[11:49:22.006] Odometry x=0.017045, y=0.000165, theta=0.041223
[11:49:22.011] Image Alignment failed 0
[11:49:22.016] Odometry x=0.017045, y=0.000165, theta=0.040481
[11:49:22.036] Odometry x=0.017128, y=0.000169, theta=0.038503
[11:49:22.046] Odometry x=0.017128, y=0.000169, theta=0.037097
[11:49:22.054] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.001524
[11:49:22.056] Odometry x=0.017128, y=0.000169, theta=0.036474
[11:49:22.067] Odometry x=0.017129, y=0.000169, theta=0.036514
[11:49:22.077] Odometry x=0.017129, y=0.000169, theta=0.036879
[11:49:22.087] Odometry x=0.017129, y=0.000169, theta=0.037028
[11:49:22.098] Odometry x=0.017130, y=0.000169, theta=0.036963
[11:49:22.108] Odometry x=0.017131, y=0.000169, theta=0.036405
[11:49:22.116] Image Alignment failed 0
[11:49:22.118] Odometry x=0.017132, y=0.000169, theta=0.035053
[11:49:22.139] Odometry x=0.017222, y=0.000172, theta=0.034164
[11:49:22.149] Odometry x=0.017222, y=0.000172, theta=0.033581
[11:49:22.159] Odometry x=0.017222, y=0.000172, theta=0.033149
[11:49:22.169] Odometry x=0.017222, y=0.000172, theta=0.032574
[11:49:22.179] Odometry x=0.017222, y=0.000172, theta=0.031632
[11:49:22.183] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.000692
[11:49:22.190] Odometry x=0.017222, y=0.000172, theta=0.030169
[11:49:22.200] Odometry x=0.017222, y=0.000172, theta=0.029078
[11:49:22.209] Image Alignment failed 0
[11:49:22.210] Odometry x=0.017222, y=0.000173, theta=0.027671
[11:49:22.220] Odometry x=0.017222, y=0.000173, theta=0.026324
[11:49:22.240] Odometry x=0.017311, y=0.000177, theta=0.024286
[11:49:22.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.002553
[11:49:22.251] Odometry x=0.017311, y=0.000178, theta=0.022454
[11:49:22.261] Odometry x=0.017311, y=0.000178, theta=0.020973
[11:49:22.272] Odometry x=0.017311, y=0.000178, theta=0.019659
[11:49:22.282] Odometry x=0.017311, y=0.000178, theta=0.018457
[11:49:22.292] Odometry x=0.017311, y=0.000178, theta=0.017369
[11:49:22.302] Odometry x=0.017312, y=0.000178, theta=0.016371
[11:49:22.312] Odometry x=0.017312, y=0.000178, theta=0.015499
[11:49:22.321] Image Alignment failed 0
[11:49:22.323] Odometry x=0.017313, y=0.000178, theta=0.014595
[11:49:22.343] Odometry x=0.017402, y=0.000180, theta=0.012242
[11:49:22.353] Odometry x=0.017403, y=0.000180, theta=0.010574
[11:49:22.363] Odometry x=0.017403, y=0.000180, theta=0.009288
[11:49:22.374] Odometry x=0.017403, y=0.000180, theta=0.008066
[11:49:22.384] Odometry x=0.017404, y=0.000180, theta=0.007093
[11:49:22.385] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000001,angle between two frames:0.008787
[11:49:22.394] Odometry x=0.017404, y=0.000180, theta=0.006259
[11:49:22.405] Odometry x=0.017404, y=0.000180, theta=0.005518
[11:49:22.412] Image Alignment failed 0
[11:49:22.415] Odometry x=0.017405, y=0.000180, theta=0.005170
[11:49:22.425] Odometry x=0.017405, y=0.000180, theta=0.004893
[11:49:22.445] Odometry x=0.017492, y=0.000180, theta=0.003724
[11:49:22.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.001574
[11:49:22.456] Odometry x=0.017492, y=0.000180, theta=0.002753
[11:49:22.466] Odometry x=0.017492, y=0.000180, theta=0.001915
[11:49:22.476] Odometry x=0.017492, y=0.000180, theta=0.000998
[11:49:22.486] Odometry x=0.017492, y=0.000180, theta=-0.000525
[11:49:22.496] Odometry x=0.017492, y=0.000180, theta=-0.001644
[11:49:22.506] Odometry x=0.017492, y=0.000180, theta=-0.002863
[11:49:22.515] Image Alignment failed 0
[11:49:22.516] Odometry x=0.017493, y=0.000180, theta=-0.004558
[11:49:22.527] Odometry x=0.017493, y=0.000181, theta=-0.006169
[11:49:22.547] Odometry x=0.017580, y=0.000180, theta=-0.008905
[11:49:22.557] Odometry x=0.017580, y=0.000180, theta=-0.011062
[11:49:22.559] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.006587
[11:49:22.567] Odometry x=0.017580, y=0.000180, theta=-0.012288
[11:49:22.578] Odometry x=0.017580, y=0.000180, theta=-0.014534
[11:49:22.588] Odometry x=0.017581, y=0.000180, theta=-0.017164
[11:49:22.598] Odometry x=0.017582, y=0.000180, theta=-0.020466
[11:49:22.608] Odometry x=0.017583, y=0.000180, theta=-0.023449
[11:49:22.611] Image Alignment failed 0
[11:49:22.619] Odometry x=0.017583, y=0.000180, theta=-0.026267
[11:49:22.639] Odometry x=0.017667, y=0.000178, theta=-0.029169
[11:49:22.649] Odometry x=0.017667, y=0.000178, theta=-0.031691
[11:49:22.659] Odometry x=0.017667, y=0.000178, theta=-0.033853
[11:49:22.666] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=0.000000,angle between two frames:0.012387
[11:49:22.669] Odometry x=0.017667, y=0.000178, theta=-0.035858
[11:49:22.680] Odometry x=0.017667, y=0.000178, theta=-0.037432
[11:49:22.691] Odometry x=0.017667, y=0.000178, theta=-0.038649
[11:49:22.701] Odometry x=0.017667, y=0.000178, theta=-0.039667
[11:49:22.709] Image Alignment failed 0
[11:49:22.711] Odometry x=0.017667, y=0.000178, theta=-0.040964
[11:49:22.722] Odometry x=0.017667, y=0.000178, theta=-0.042466
[11:49:22.742] Odometry x=0.017758, y=0.000174, theta=-0.045775
[11:49:22.752] Odometry x=0.017760, y=0.000174, theta=-0.048138
[11:49:22.755] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.005814
[11:49:22.763] Odometry x=0.017760, y=0.000174, theta=-0.049300
[11:49:22.773] Odometry x=0.017761, y=0.000174, theta=-0.051114
[11:49:22.783] Odometry x=0.017761, y=0.000174, theta=-0.053346
[11:49:22.794] Odometry x=0.017761, y=0.000174, theta=-0.055632
[11:49:22.804] Odometry x=0.017761, y=0.000174, theta=-0.057913
[11:49:22.814] Image Alignment failed 0
[11:49:22.814] Odometry x=0.017761, y=0.000174, theta=-0.059453
[11:49:22.834] Odometry x=0.017835, y=0.000170, theta=-0.064073
[11:49:22.844] Odometry x=0.017835, y=0.000170, theta=-0.067190
[11:49:22.855] Odometry x=0.017835, y=0.000170, theta=-0.069370
[11:49:22.865] Odometry x=0.017835, y=0.000170, theta=-0.071734
[11:49:22.875] Odometry x=0.017835, y=0.000170, theta=-0.074204
[11:49:22.875] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.009775
[11:49:22.885] Odometry x=0.017835, y=0.000170, theta=-0.076646
[11:49:22.895] Odometry x=0.017835, y=0.000170, theta=-0.078895
[11:49:22.905] Odometry x=0.017836, y=0.000170, theta=-0.081086
[11:49:22.911] Image Alignment failed 0
[11:49:22.916] Odometry x=0.017837, y=0.000170, theta=-0.083307
[11:49:22.926] Odometry x=0.017838, y=0.000170, theta=-0.085246
[11:49:22.946] Odometry x=0.017939, y=0.000161, theta=-0.087026
[11:49:22.953] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.006882
[11:49:22.957] Odometry x=0.017940, y=0.000161, theta=-0.088049
[11:49:22.967] Odometry x=0.017941, y=0.000160, theta=-0.088754
[11:49:22.977] Odometry x=0.017941, y=0.000160, theta=-0.090019
[11:49:22.988] Odometry x=0.017941, y=0.000160, theta=-0.092280
[11:49:22.998] Odometry x=0.017941, y=0.000160, theta=-0.094078
[11:49:23.008] Odometry x=0.017941, y=0.000160, theta=-0.094924
[11:49:23.015] Image Alignment failed 0
[11:49:23.018] Odometry x=0.017941, y=0.000160, theta=-0.095741
[11:49:23.039] Odometry x=0.018023, y=0.000152, theta=-0.096032
[11:49:23.049] Odometry x=0.018023, y=0.000152, theta=-0.096459
[11:49:23.059] Odometry x=0.018023, y=0.000152, theta=-0.097137
[11:49:23.065] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000001,angle between two frames:0.007898
[11:49:23.069] Odometry x=0.018023, y=0.000152, theta=-0.098064
[11:49:23.079] Odometry x=0.018024, y=0.000152, theta=-0.098387
[11:49:23.090] Odometry x=0.018024, y=0.000152, theta=-0.098585
[11:49:23.100] Odometry x=0.018024, y=0.000152, theta=-0.099420
[11:49:23.110] Odometry x=0.018024, y=0.000152, theta=-0.100568
[11:49:23.111] Image Alignment failed 0
[11:49:23.120] Odometry x=0.018024, y=0.000152, theta=-0.101654
[11:49:23.141] Odometry x=0.018111, y=0.000143, theta=-0.103442
[11:49:23.151] Odometry x=0.018111, y=0.000143, theta=-0.104305
[11:49:23.159] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.003432
[11:49:23.161] Odometry x=0.018111, y=0.000143, theta=-0.104392
[11:49:23.172] Odometry x=0.018111, y=0.000143, theta=-0.104065
[11:49:23.182] Odometry x=0.018111, y=0.000143, theta=-0.103737
[11:49:23.192] Odometry x=0.018111, y=0.000143, theta=-0.103520
[11:49:23.203] Odometry x=0.018111, y=0.000143, theta=-0.103087
[11:49:23.213] Image Alignment failed 0
[11:49:23.213] Odometry x=0.018111, y=0.000143, theta=-0.102914
[11:49:23.223] Odometry x=0.018111, y=0.000143, theta=-0.103135
[11:49:23.243] Odometry x=0.018201, y=0.000134, theta=-0.101845
[11:49:23.253] Odometry x=0.018201, y=0.000134, theta=-0.100680
[11:49:23.264] Odometry x=0.018201, y=0.000134, theta=-0.099954
[11:49:23.266] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.001218
[11:49:23.274] Odometry x=0.018201, y=0.000133, theta=-0.099035
[11:49:23.285] Odometry x=0.018202, y=0.000131, theta=-0.098239
[11:49:23.295] Odometry x=0.018202, y=0.000130, theta=-0.097754
[11:49:23.306] Odometry x=0.018202, y=0.000129, theta=-0.097621
[11:49:23.312] Image Alignment failed 0
[11:49:23.316] Odometry x=0.018202, y=0.000129, theta=-0.097767
[11:49:23.336] Odometry x=0.018275, y=0.000121, theta=-0.101875
[11:49:23.346] Odometry x=0.018275, y=0.000121, theta=-0.104248
[11:49:23.356] Odometry x=0.018275, y=0.000121, theta=-0.105299
[11:49:23.367] Odometry x=0.018275, y=0.000121, theta=-0.106015
[11:49:23.367] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000004,angle between two frames:0.002333
[11:49:23.377] Odometry x=0.018275, y=0.000121, theta=-0.106275
[11:49:23.387] Odometry x=0.018275, y=0.000121, theta=-0.106362
[11:49:23.398] Odometry x=0.018275, y=0.000121, theta=-0.106553
[11:49:23.408] Odometry x=0.018275, y=0.000121, theta=-0.107431
[11:49:23.411] Image Alignment failed 0
[11:49:23.418] Odometry x=0.018275, y=0.000121, theta=-0.108320
[11:49:23.438] Odometry x=0.018371, y=0.000111, theta=-0.107644
[11:49:23.449] Odometry x=0.018372, y=0.000111, theta=-0.107029
[11:49:23.459] Odometry x=0.018372, y=0.000111, theta=-0.106119
[11:49:23.464] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.001417
[11:49:23.469] Odometry x=0.018373, y=0.000111, theta=-0.104769
[11:49:23.480] Odometry x=0.018373, y=0.000111, theta=-0.103325
[11:49:23.490] Odometry x=0.018374, y=0.000110, theta=-0.101756
[11:49:23.500] Odometry x=0.018374, y=0.000110, theta=-0.100262
[11:49:23.510] Odometry x=0.018374, y=0.000110, theta=-0.098798
[11:49:23.512] Image Alignment failed 0
[11:49:23.520] Odometry x=0.018374, y=0.000110, theta=-0.097108
[11:49:23.541] Odometry x=0.018459, y=0.000099, theta=-0.093810
[11:49:23.551] Odometry x=0.018460, y=0.000098, theta=-0.091349
[11:49:23.560] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.007320
[11:49:23.561] Odometry x=0.018460, y=0.000098, theta=-0.089627
[11:49:23.572] Odometry x=0.018460, y=0.000098, theta=-0.088438
[11:49:23.582] Odometry x=0.018460, y=0.000098, theta=-0.088195
[11:49:23.592] Odometry x=0.018460, y=0.000097, theta=-0.088251
[11:49:23.602] Odometry x=0.018461, y=0.000097, theta=-0.087881
[11:49:23.612] Image Alignment failed 0
[11:49:23.613] Odometry x=0.018461, y=0.000097, theta=-0.087017
[11:49:23.623] Odometry x=0.018461, y=0.000098, theta=-0.086306
[11:49:23.643] Odometry x=0.018552, y=0.000090, theta=-0.085738
[11:49:23.653] Odometry x=0.018552, y=0.000090, theta=-0.084729
[11:49:23.663] Odometry x=0.018552, y=0.000090, theta=-0.083754
[11:49:23.665] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.003468
[11:49:23.673] Odometry x=0.018552, y=0.000090, theta=-0.081869
[11:49:23.684] Odometry x=0.018552, y=0.000090, theta=-0.079615
[11:49:23.694] Odometry x=0.018552, y=0.000089, theta=-0.077551
[11:49:23.704] Odometry x=0.018552, y=0.000089, theta=-0.075560
[11:49:23.714] Odometry x=0.018553, y=0.000088, theta=-0.073687
[11:49:23.717] Image Alignment failed 0
[11:49:23.724] Odometry x=0.018554, y=0.000088, theta=-0.071903
[11:49:23.745] Odometry x=0.018642, y=0.000081, theta=-0.068406
[11:49:23.755] Odometry x=0.018642, y=0.000080, theta=-0.065989
[11:49:23.765] Odometry x=0.018643, y=0.000080, theta=-0.064158
[11:49:23.775] Odometry x=0.018643, y=0.000080, theta=-0.062286
[11:49:23.776] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000001,angle between two frames:0.010066
[11:49:23.785] Odometry x=0.018643, y=0.000080, theta=-0.060112
[11:49:23.796] Odometry x=0.018643, y=0.000080, theta=-0.057617
[11:49:23.806] Odometry x=0.018643, y=0.000080, theta=-0.055189
[11:49:23.810] Image Alignment failed 0
[11:49:23.816] Odometry x=0.018643, y=0.000080, theta=-0.053738
[11:49:23.836] Odometry x=0.018717, y=0.000076, theta=-0.051712
[11:49:23.847] Odometry x=0.018717, y=0.000075, theta=-0.050564
[11:49:23.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.007097
[11:49:23.857] Odometry x=0.018717, y=0.000075, theta=-0.050099
[11:49:23.867] Odometry x=0.018717, y=0.000075, theta=-0.048608
[11:49:23.878] Odometry x=0.018717, y=0.000074, theta=-0.046746
[11:49:23.888] Odometry x=0.018717, y=0.000074, theta=-0.044805
[11:49:23.898] Odometry x=0.018717, y=0.000074, theta=-0.042535
[11:49:23.908] Odometry x=0.018717, y=0.000074, theta=-0.040333
[11:49:23.917] Image Alignment failed 0
[11:49:23.918] Odometry x=0.018717, y=0.000074, theta=-0.038283
[11:49:23.939] Odometry x=0.018811, y=0.000070, theta=-0.035431
[11:49:23.949] Odometry x=0.018812, y=0.000069, theta=-0.033910
[11:49:23.959] Odometry x=0.018813, y=0.000069, theta=-0.033455
[11:49:23.969] Odometry x=0.018814, y=0.000069, theta=-0.033031
[11:49:23.979] Odometry x=0.018814, y=0.000069, theta=-0.033127
[11:49:23.980] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.010231
[11:49:23.990] Odometry x=0.018814, y=0.000069, theta=-0.033792
[11:49:24.000] Odometry x=0.018815, y=0.000069, theta=-0.034644
[11:49:24.010] Odometry x=0.018815, y=0.000069, theta=-0.035015
[11:49:24.011] Image Alignment failed 0
[11:49:24.020] Odometry x=0.018815, y=0.000069, theta=-0.034917
[11:49:24.040] Odometry x=0.018907, y=0.000063, theta=-0.033750
[11:49:24.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001887
[11:49:24.051] Odometry x=0.018907, y=0.000061, theta=-0.033402
[11:49:24.061] Odometry x=0.018908, y=0.000061, theta=-0.033360
[11:49:24.072] Odometry x=0.018909, y=0.000060, theta=-0.033156
[11:49:24.083] Odometry x=0.018910, y=0.000060, theta=-0.032812
[11:49:24.093] Odometry x=0.018910, y=0.000060, theta=-0.032470
[11:49:24.104] Odometry x=0.018911, y=0.000060, theta=-0.032420
[11:49:24.114] Odometry x=0.018911, y=0.000060, theta=-0.032725
[11:49:24.117] Image Alignment failed 0
[11:49:24.134] Odometry x=0.018989, y=0.000058, theta=-0.032231
[11:49:24.145] Odometry x=0.018989, y=0.000058, theta=-0.031588
[11:49:24.155] Odometry x=0.018990, y=0.000058, theta=-0.031041
[11:49:24.165] Odometry x=0.018990, y=0.000057, theta=-0.030323
[11:49:24.175] Odometry x=0.018991, y=0.000057, theta=-0.029531
[11:49:24.180] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000003,angle between two frames:0.001025
[11:49:24.185] Odometry x=0.018991, y=0.000056, theta=-0.029095
[11:49:24.195] Odometry x=0.018991, y=0.000055, theta=-0.029002
[11:49:24.205] Odometry x=0.018991, y=0.000055, theta=-0.029290
[11:49:24.210] Image Alignment failed 0
[11:49:24.216] Odometry x=0.018991, y=0.000055, theta=-0.029968
[11:49:24.236] Odometry x=0.019079, y=0.000052, theta=-0.031435
[11:49:24.246] Odometry x=0.019080, y=0.000052, theta=-0.032282
[11:49:24.247] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.000241
[11:49:24.256] Odometry x=0.019080, y=0.000052, theta=-0.033567
[11:49:24.266] Odometry x=0.019080, y=0.000052, theta=-0.034668
[11:49:24.277] Odometry x=0.019080, y=0.000051, theta=-0.034951
[11:49:24.287] Odometry x=0.019081, y=0.000050, theta=-0.034569
[11:49:24.297] Odometry x=0.019081, y=0.000050, theta=-0.034147
[11:49:24.308] Odometry x=0.019084, y=0.000048, theta=-0.033803
[11:49:24.316] Image Alignment failed 0
[11:49:24.318] Odometry x=0.019086, y=0.000046, theta=-0.033939
[11:49:24.338] Odometry x=0.019180, y=0.000042, theta=-0.035358
[11:49:24.348] Odometry x=0.019181, y=0.000042, theta=-0.036195
[11:49:24.359] Odometry x=0.019182, y=0.000042, theta=-0.036551
[11:49:24.369] Odometry x=0.019182, y=0.000042, theta=-0.037056
[11:49:24.379] Odometry x=0.019183, y=0.000042, theta=-0.037329
[11:49:24.381] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000005,angle between two frames:0.001522
[11:49:24.389] Odometry x=0.019183, y=0.000042, theta=-0.037391
[11:49:24.400] Odometry x=0.019183, y=0.000042, theta=-0.037361
[11:49:24.410] Odometry x=0.019183, y=0.000042, theta=-0.037309
[11:49:24.411] Image Alignment failed 0
[11:49:24.420] Odometry x=0.019184, y=0.000042, theta=-0.037456
[11:49:24.440] Odometry x=0.019270, y=0.000039, theta=-0.039121
[11:49:24.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.000021
[11:49:24.451] Odometry x=0.019271, y=0.000039, theta=-0.040023
[11:49:24.461] Odometry x=0.019271, y=0.000039, theta=-0.040680
[11:49:24.472] Odometry x=0.019271, y=0.000039, theta=-0.041527
[11:49:24.482] Odometry x=0.019271, y=0.000039, theta=-0.042475
[11:49:24.493] Odometry x=0.019271, y=0.000039, theta=-0.043112
[11:49:24.503] Odometry x=0.019271, y=0.000038, theta=-0.043582
[11:49:24.513] Odometry x=0.019272, y=0.000037, theta=-0.044138
[11:49:24.515] Image Alignment failed 0
[11:49:24.523] Odometry x=0.019274, y=0.000035, theta=-0.045156
[11:49:24.544] Odometry x=0.019367, y=0.000027, theta=-0.047818
[11:49:24.554] Odometry x=0.019369, y=0.000025, theta=-0.049811
[11:49:24.564] Odometry x=0.019370, y=0.000025, theta=-0.051402
[11:49:24.574] Odometry x=0.019370, y=0.000025, theta=-0.052884
[11:49:24.580] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000002,angle between two frames:0.005016
[11:49:24.585] Odometry x=0.019371, y=0.000025, theta=-0.054032
[11:49:24.595] Odometry x=0.019371, y=0.000025, theta=-0.054889
[11:49:24.605] Odometry x=0.019371, y=0.000025, theta=-0.055521
[11:49:24.610] Image Alignment failed 0
[11:49:24.615] Odometry x=0.019372, y=0.000025, theta=-0.056099
[11:49:24.636] Odometry x=0.019449, y=0.000021, theta=-0.058138
[11:49:24.646] Odometry x=0.019449, y=0.000021, theta=-0.059274
[11:49:24.650] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.002636
[11:49:24.656] Odometry x=0.019449, y=0.000021, theta=-0.059583
[11:49:24.666] Odometry x=0.019449, y=0.000021, theta=-0.060076
[11:49:24.676] Odometry x=0.019449, y=0.000021, theta=-0.060762
[11:49:24.687] Odometry x=0.019449, y=0.000021, theta=-0.061755
[11:49:24.697] Odometry x=0.019449, y=0.000021, theta=-0.062663
[11:49:24.707] Odometry x=0.019452, y=0.000021, theta=-0.064371
[11:49:24.711] Image Alignment failed 0
[11:49:24.717] Odometry x=0.019453, y=0.000021, theta=-0.065265
[11:49:24.738] Odometry x=0.019542, y=0.000015, theta=-0.069024
[11:49:24.748] Odometry x=0.019543, y=0.000015, theta=-0.071179
[11:49:24.758] Odometry x=0.019543, y=0.000015, theta=-0.071857
[11:49:24.768] Odometry x=0.019543, y=0.000014, theta=-0.072191
[11:49:24.769] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000000,angle between two frames:0.005097
[11:49:24.778] Odometry x=0.019544, y=0.000014, theta=-0.072410
[11:49:24.789] Odometry x=0.019544, y=0.000013, theta=-0.072708
[11:49:24.799] Odometry x=0.019544, y=0.000013, theta=-0.072979
[11:49:24.810] Odometry x=0.019545, y=0.000013, theta=-0.073573
[11:49:24.811] Image Alignment failed 0
[11:49:24.820] Odometry x=0.019547, y=0.000012, theta=-0.074588
[11:49:24.840] Odometry x=0.019633, y=0.000006, theta=-0.076161
[11:49:24.850] Odometry x=0.019634, y=0.000006, theta=-0.077014
[11:49:24.857] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000002,angle between two frames:0.001382
[11:49:24.860] Odometry x=0.019634, y=0.000006, theta=-0.077511
[11:49:24.871] Odometry x=0.019634, y=0.000006, theta=-0.078047
[11:49:24.881] Odometry x=0.019634, y=0.000006, theta=-0.078440
[11:49:24.891] Odometry x=0.019634, y=0.000006, theta=-0.078071
[11:49:24.902] Odometry x=0.019634, y=0.000006, theta=-0.077531
[11:49:24.912] Odometry x=0.019635, y=0.000006, theta=-0.077261
[11:49:24.918] Image Alignment failed 0
[11:49:24.922] Odometry x=0.019638, y=0.000005, theta=-0.077365
[11:49:24.942] Odometry x=0.019746, y=-0.000005, theta=-0.076143
[11:49:24.953] Odometry x=0.019751, y=-0.000006, theta=-0.075459
[11:49:24.963] Odometry x=0.019752, y=-0.000007, theta=-0.075389
[11:49:24.973] Odometry x=0.019753, y=-0.000007, theta=-0.075800
[11:49:24.981] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.000247
[11:49:24.983] Odometry x=0.019753, y=-0.000007, theta=-0.076125
[11:49:24.993] Odometry x=0.019753, y=-0.000007, theta=-0.075880
[11:49:25.004] Odometry x=0.019754, y=-0.000008, theta=-0.075548
[11:49:25.010] Image Alignment failed 0
[11:49:25.014] Odometry x=0.019754, y=-0.000008, theta=-0.075283
[11:49:25.034] Odometry x=0.019832, y=-0.000014, theta=-0.076480
[11:49:25.044] Odometry x=0.019833, y=-0.000014, theta=-0.077559
[11:49:25.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000252
[11:49:25.055] Odometry x=0.019834, y=-0.000014, theta=-0.078523
[11:49:25.065] Odometry x=0.019835, y=-0.000015, theta=-0.079379
[11:49:25.076] Odometry x=0.019835, y=-0.000015, theta=-0.079890
[11:49:25.086] Odometry x=0.019835, y=-0.000015, theta=-0.079880
[11:49:25.097] Odometry x=0.019836, y=-0.000015, theta=-0.079517
[11:49:25.107] Odometry x=0.019836, y=-0.000016, theta=-0.079155
[11:49:25.114] Image Alignment failed 0
[11:49:25.117] Odometry x=0.019836, y=-0.000016, theta=-0.079277
[11:49:25.137] Odometry x=0.019924, y=-0.000024, theta=-0.082881
[11:49:25.148] Odometry x=0.019927, y=-0.000024, theta=-0.085087
[11:49:25.158] Odometry x=0.019930, y=-0.000024, theta=-0.085752
[11:49:25.168] Odometry x=0.019934, y=-0.000025, theta=-0.085639
[11:49:25.178] Odometry x=0.019936, y=-0.000025, theta=-0.085225
[11:49:25.180] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000002,angle between two frames:0.001596
[11:49:25.188] Odometry x=0.019939, y=-0.000025, theta=-0.084964
[11:49:25.199] Odometry x=0.019941, y=-0.000025, theta=-0.084809
[11:49:25.209] Odometry x=0.019943, y=-0.000025, theta=-0.084744
[11:49:25.211] Image Alignment failed 0
[11:49:25.219] Odometry x=0.019945, y=-0.000026, theta=-0.083416
[11:49:25.239] Odometry x=0.020036, y=-0.000043, theta=-0.081460
[11:49:25.249] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000007 ,z=-0.000001,angle between two frames:0.000481
[11:49:25.249] Odometry x=0.020035, y=-0.000051, theta=-0.080373
[11:49:25.259] Odometry x=0.020034, y=-0.000057, theta=-0.080336
[11:49:25.270] Odometry x=0.020034, y=-0.000064, theta=-0.081022
[11:49:25.280] Odometry x=0.020033, y=-0.000069, theta=-0.081565
[11:49:25.290] Odometry x=0.020033, y=-0.000073, theta=-0.081730
[11:49:25.301] Odometry x=0.020033, y=-0.000075, theta=-0.081847
[11:49:25.311] Odometry x=0.020033, y=-0.000077, theta=-0.082374
[11:49:25.312] Image Alignment failed 0
[11:49:25.321] Odometry x=0.020034, y=-0.000079, theta=-0.083670
[11:49:25.342] Odometry x=0.020127, y=-0.000087, theta=-0.083626
[11:49:25.352] Odometry x=0.020131, y=-0.000088, theta=-0.083744
[11:49:25.362] Odometry x=0.020134, y=-0.000088, theta=-0.084083
[11:49:25.366] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000034,angle between two frames:0.000915
[11:49:25.372] Odometry x=0.020137, y=-0.000088, theta=-0.084058
[11:49:25.383] Odometry x=0.020138, y=-0.000089, theta=-0.083583
[11:49:25.393] Odometry x=0.020138, y=-0.000090, theta=-0.083274
[11:49:25.404] Odometry x=0.020138, y=-0.000092, theta=-0.083561
[11:49:25.411] Image Alignment failed 0
[11:49:25.414] Odometry x=0.020138, y=-0.000095, theta=-0.084807
[11:49:25.424] Odometry x=0.020138, y=-0.000097, theta=-0.086263
[11:49:25.444] Odometry x=0.020227, y=-0.000114, theta=-0.085767
[11:49:25.454] Odometry x=0.020228, y=-0.000119, theta=-0.085349
[11:49:25.461] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000004,angle between two frames:0.000522
[11:49:25.465] Odometry x=0.020229, y=-0.000120, theta=-0.085014
[11:49:25.475] Odometry x=0.020230, y=-0.000123, theta=-0.084427
[11:49:25.486] Odometry x=0.020231, y=-0.000127, theta=-0.084250
[11:49:25.496] Odometry x=0.020232, y=-0.000130, theta=-0.084899
[11:49:25.506] Odometry x=0.020233, y=-0.000134, theta=-0.086114
[11:49:25.514] Image Alignment failed 0
[11:49:25.516] Odometry x=0.020235, y=-0.000138, theta=-0.087404
[11:49:25.527] Odometry x=0.020236, y=-0.000141, theta=-0.088812
[11:49:25.547] Odometry x=0.020329, y=-0.000157, theta=-0.092436
[11:49:25.557] Odometry x=0.020332, y=-0.000160, theta=-0.094899
[11:49:25.567] Odometry x=0.020333, y=-0.000161, theta=-0.096558
[11:49:25.571] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000015,angle between two frames:0.000766
[11:49:25.577] Odometry x=0.020333, y=-0.000162, theta=-0.098701
[11:49:25.588] Odometry x=0.020333, y=-0.000162, theta=-0.101263
[11:49:25.598] Odometry x=0.020334, y=-0.000163, theta=-0.103270
[11:49:25.609] Odometry x=0.020334, y=-0.000163, theta=-0.104239
[11:49:25.617] Image Alignment failed 0
[11:49:25.619] Odometry x=0.020334, y=-0.000163, theta=-0.104482
[11:49:25.639] Odometry x=0.020414, y=-0.000179, theta=-0.105613
[11:49:25.650] Odometry x=0.020414, y=-0.000183, theta=-0.106585
[11:49:25.660] Odometry x=0.020415, y=-0.000185, theta=-0.107106
[11:49:25.668] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.007681
[11:49:25.670] Odometry x=0.020415, y=-0.000186, theta=-0.107390
[11:49:25.680] Odometry x=0.020415, y=-0.000188, theta=-0.107535
[11:49:25.691] Odometry x=0.020415, y=-0.000189, theta=-0.107509
[11:49:25.701] Odometry x=0.020415, y=-0.000191, theta=-0.107188
[11:49:25.711] Odometry x=0.020415, y=-0.000193, theta=-0.106906
[11:49:25.713] Image Alignment failed 0
[11:49:25.721] Odometry x=0.020415, y=-0.000196, theta=-0.106513
[11:49:25.741] Odometry x=0.020506, y=-0.000211, theta=-0.104548
[11:49:25.752] Odometry x=0.020507, y=-0.000215, theta=-0.103203
[11:49:25.752] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000008,angle between two frames:0.000200
[11:49:25.762] Odometry x=0.020509, y=-0.000217, theta=-0.102560
[11:49:25.772] Odometry x=0.020511, y=-0.000220, theta=-0.101985
[11:49:25.783] Odometry x=0.020512, y=-0.000224, theta=-0.101383
[11:49:25.793] Odometry x=0.020513, y=-0.000228, theta=-0.100933
[11:49:25.803] Odometry x=0.020513, y=-0.000233, theta=-0.100770
[11:49:25.811] Image Alignment failed 0
[11:49:25.813] Odometry x=0.020514, y=-0.000240, theta=-0.101188
[11:49:25.823] Odometry x=0.020514, y=-0.000247, theta=-0.102309
[11:49:25.844] Odometry x=0.020600, y=-0.000264, theta=-0.106517
[11:49:25.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=-0.000018,angle between two frames:0.002433
[11:49:25.854] Odometry x=0.020600, y=-0.000272, theta=-0.108314
[11:49:25.865] Odometry x=0.020601, y=-0.000279, theta=-0.108738
[11:49:25.875] Odometry x=0.020601, y=-0.000286, theta=-0.109394
[11:49:25.885] Odometry x=0.020601, y=-0.000292, theta=-0.110508
[11:49:25.895] Odometry x=0.020602, y=-0.000296, theta=-0.111888
[11:49:25.905] Odometry x=0.020603, y=-0.000300, theta=-0.114140
[11:49:25.915] Odometry x=0.020604, y=-0.000303, theta=-0.116394
[11:49:25.916] Image Alignment failed 0
[11:49:25.926] Odometry x=0.020605, y=-0.000305, theta=-0.118328
[11:49:25.946] Odometry x=0.020696, y=-0.000319, theta=-0.122439
[11:49:25.956] Odometry x=0.020696, y=-0.000320, theta=-0.125673
[11:49:25.966] Odometry x=0.020697, y=-0.000320, theta=-0.128176
[11:49:25.977] Odometry x=0.020697, y=-0.000320, theta=-0.130565
[11:49:25.979] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000039,angle between two frames:0.009877
[11:49:25.987] Odometry x=0.020698, y=-0.000321, theta=-0.133386
[11:49:25.997] Odometry x=0.020698, y=-0.000321, theta=-0.136239
[11:49:26.008] Odometry x=0.020698, y=-0.000321, theta=-0.138435
[11:49:26.012] Image Alignment failed 0
[11:49:26.018] Odometry x=0.020698, y=-0.000321, theta=-0.139984
[11:49:26.038] Odometry x=0.020776, y=-0.000332, theta=-0.138826
[11:49:26.049] Odometry x=0.020777, y=-0.000333, theta=-0.138216
[11:49:26.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.007870
[11:49:26.059] Odometry x=0.020777, y=-0.000334, theta=-0.138341
[11:49:26.070] Odometry x=0.020777, y=-0.000335, theta=-0.138798
[11:49:26.080] Odometry x=0.020776, y=-0.000339, theta=-0.139620
[11:49:26.090] Odometry x=0.020776, y=-0.000343, theta=-0.140330
[11:49:26.100] Odometry x=0.020775, y=-0.000344, theta=-0.140623
[11:49:26.110] Odometry x=0.020775, y=-0.000349, theta=-0.140264
[11:49:26.115] Image Alignment failed 0
[11:49:26.120] Odometry x=0.020774, y=-0.000354, theta=-0.139645
[11:49:26.140] Odometry x=0.020860, y=-0.000387, theta=-0.138608
[11:49:26.151] Odometry x=0.020859, y=-0.000401, theta=-0.138243
[11:49:26.153] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000016,angle between two frames:0.002048
[11:49:26.161] Odometry x=0.020858, y=-0.000408, theta=-0.138338
[11:49:26.171] Odometry x=0.020857, y=-0.000415, theta=-0.137841
[11:49:26.182] Odometry x=0.020858, y=-0.000421, theta=-0.136973
[11:49:26.192] Odometry x=0.020859, y=-0.000427, theta=-0.136269
[11:49:26.203] Odometry x=0.020861, y=-0.000431, theta=-0.135956
[11:49:26.213] Odometry x=0.020862, y=-0.000433, theta=-0.135862
[11:49:26.221] Image Alignment failed 0
[11:49:26.223] Odometry x=0.020863, y=-0.000436, theta=-0.136254
[11:49:26.244] Odometry x=0.020959, y=-0.000454, theta=-0.134939
[11:49:26.254] Odometry x=0.020965, y=-0.000457, theta=-0.133414
[11:49:26.264] Odometry x=0.020968, y=-0.000458, theta=-0.132930
[11:49:26.274] Odometry x=0.020969, y=-0.000459, theta=-0.133969
[11:49:26.285] Odometry x=0.020969, y=-0.000459, theta=-0.135720
[11:49:26.285] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000032,angle between two frames:0.002381
[11:49:26.295] Odometry x=0.020969, y=-0.000459, theta=-0.137267
[11:49:26.305] Odometry x=0.020970, y=-0.000459, theta=-0.138121
[11:49:26.311] Image Alignment failed 0
[11:49:26.315] Odometry x=0.020970, y=-0.000459, theta=-0.138310
[11:49:26.326] Odometry x=0.020970, y=-0.000459, theta=-0.138335
[11:49:26.346] Odometry x=0.021060, y=-0.000472, theta=-0.135247
[11:49:26.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.002401
[11:49:26.356] Odometry x=0.021060, y=-0.000472, theta=-0.132674
[11:49:26.367] Odometry x=0.021060, y=-0.000472, theta=-0.130280
[11:49:26.377] Odometry x=0.021061, y=-0.000473, theta=-0.127848
[11:49:26.388] Odometry x=0.021062, y=-0.000473, theta=-0.125883
[11:49:26.398] Odometry x=0.021062, y=-0.000473, theta=-0.124848
[11:49:26.408] Odometry x=0.021062, y=-0.000474, theta=-0.124025
[11:49:26.415] Image Alignment failed 0
[11:49:26.419] Odometry x=0.021062, y=-0.000474, theta=-0.123163
[11:49:26.429] Odometry x=0.021062, y=-0.000474, theta=-0.122276
[11:49:26.449] Odometry x=0.021147, y=-0.000489, theta=-0.121836
[11:49:26.459] Odometry x=0.021147, y=-0.000492, theta=-0.121534
[11:49:26.469] Odometry x=0.021147, y=-0.000494, theta=-0.119386
[11:49:26.478] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000002,angle between two frames:0.011222
[11:49:26.479] Odometry x=0.021147, y=-0.000495, theta=-0.117363
[11:49:26.490] Odometry x=0.021148, y=-0.000495, theta=-0.115139
[11:49:26.500] Odometry x=0.021148, y=-0.000496, theta=-0.113530
[11:49:26.510] Odometry x=0.021149, y=-0.000496, theta=-0.112577
[11:49:26.520] Odometry x=0.021151, y=-0.000496, theta=-0.111948
[11:49:26.525] Image Alignment failed 0
[11:49:26.541] Odometry x=0.021235, y=-0.000506, theta=-0.114226
[11:49:26.551] Odometry x=0.021237, y=-0.000506, theta=-0.115830
[11:49:26.561] Odometry x=0.021237, y=-0.000506, theta=-0.116908
[11:49:26.571] Odometry x=0.021237, y=-0.000506, theta=-0.117883
[11:49:26.582] Odometry x=0.021238, y=-0.000506, theta=-0.118762
[11:49:26.582] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000003,angle between two frames:0.007438
[11:49:26.592] Odometry x=0.021238, y=-0.000506, theta=-0.119489
[11:49:26.603] Odometry x=0.021238, y=-0.000506, theta=-0.120173
[11:49:26.612] Image Alignment failed 0
[11:49:26.613] Odometry x=0.021239, y=-0.000506, theta=-0.121079
[11:49:26.623] Odometry x=0.021239, y=-0.000506, theta=-0.122232
[11:49:26.643] Odometry x=0.021324, y=-0.000517, theta=-0.124063
[11:49:26.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001411
[11:49:26.654] Odometry x=0.021324, y=-0.000517, theta=-0.125229
[11:49:26.665] Odometry x=0.021324, y=-0.000518, theta=-0.125424
[11:49:26.675] Odometry x=0.021324, y=-0.000519, theta=-0.123647
[11:49:26.685] Odometry x=0.021324, y=-0.000520, theta=-0.122096
[11:49:26.695] Odometry x=0.021323, y=-0.000524, theta=-0.120804
[11:49:26.705] Odometry x=0.021323, y=-0.000529, theta=-0.119795
[11:49:26.715] Image Alignment failed 0
[11:49:26.715] Odometry x=0.021323, y=-0.000530, theta=-0.119383
[11:49:26.726] Odometry x=0.021322, y=-0.000534, theta=-0.119009
[11:49:26.746] Odometry x=0.021411, y=-0.000552, theta=-0.119733
[11:49:26.756] Odometry x=0.021411, y=-0.000555, theta=-0.120393
[11:49:26.766] Odometry x=0.021411, y=-0.000556, theta=-0.120910
[11:49:26.777] Odometry x=0.021411, y=-0.000556, theta=-0.121763
[11:49:26.778] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000011,angle between two frames:0.004268
[11:49:26.787] Odometry x=0.021411, y=-0.000556, theta=-0.122782
[11:49:26.798] Odometry x=0.021411, y=-0.000556, theta=-0.124239
[11:49:26.808] Odometry x=0.021411, y=-0.000556, theta=-0.126278
[11:49:26.818] Odometry x=0.021411, y=-0.000556, theta=-0.128434
[11:49:26.818] Image Alignment failed 0
[11:49:26.828] Odometry x=0.021412, y=-0.000556, theta=-0.129991
[11:49:26.849] Odometry x=0.021515, y=-0.000569, theta=-0.129474
[11:49:26.859] Odometry x=0.021525, y=-0.000571, theta=-0.129851
[11:49:26.869] Odometry x=0.021529, y=-0.000570, theta=-0.131604
[11:49:26.876] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.006671
[11:49:26.879] Odometry x=0.021531, y=-0.000569, theta=-0.133860
[11:49:26.890] Odometry x=0.021532, y=-0.000565, theta=-0.136100
[11:49:26.900] Odometry x=0.021532, y=-0.000564, theta=-0.137222
[11:49:26.910] Odometry x=0.021532, y=-0.000564, theta=-0.137407
[11:49:26.919] Image Alignment failed 0
[11:49:26.920] Odometry x=0.021532, y=-0.000563, theta=-0.137393
[11:49:26.940] Odometry x=0.021613, y=-0.000575, theta=-0.136581
[11:49:26.951] Odometry x=0.021613, y=-0.000576, theta=-0.135484
[11:49:26.961] Odometry x=0.021613, y=-0.000578, theta=-0.133990
[11:49:26.971] Odometry x=0.021612, y=-0.000580, theta=-0.132181
[11:49:26.976] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=0.000007,angle between two frames:0.005803
[11:49:26.981] Odometry x=0.021612, y=-0.000582, theta=-0.130584
[11:49:26.991] Odometry x=0.021612, y=-0.000584, theta=-0.129550
[11:49:27.002] Odometry x=0.021612, y=-0.000584, theta=-0.129103
[11:49:27.012] Odometry x=0.021612, y=-0.000584, theta=-0.129097
[11:49:27.012] Image Alignment failed 0
[11:49:27.022] Odometry x=0.021612, y=-0.000584, theta=-0.129348
[11:49:27.042] Odometry x=0.021701, y=-0.000591, theta=-0.130501
[11:49:27.052] Odometry x=0.021703, y=-0.000587, theta=-0.131278
[11:49:27.053] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000004,angle between two frames:0.003084
[11:49:27.063] Odometry x=0.021705, y=-0.000585, theta=-0.131243
[11:49:27.073] Odometry x=0.021706, y=-0.000584, theta=-0.131001
[11:49:27.084] Odometry x=0.021707, y=-0.000584, theta=-0.131026
[11:49:27.095] Odometry x=0.021708, y=-0.000585, theta=-0.131205
[11:49:27.105] Odometry x=0.021708, y=-0.000585, theta=-0.131006
[11:49:27.115] Odometry x=0.021708, y=-0.000585, theta=-0.130754
[11:49:27.115] Image Alignment failed 0
[11:49:27.135] Odometry x=0.021785, y=-0.000595, theta=-0.131701
[11:49:27.145] Odometry x=0.021785, y=-0.000595, theta=-0.132455
[11:49:27.155] Odometry x=0.021785, y=-0.000595, theta=-0.132660
[11:49:27.166] Odometry x=0.021785, y=-0.000595, theta=-0.132334
[11:49:27.176] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=0.000003,angle between two frames:0.000524
[11:49:27.176] Odometry x=0.021786, y=-0.000595, theta=-0.131424
[11:49:27.186] Odometry x=0.021786, y=-0.000595, theta=-0.130157
[11:49:27.196] Odometry x=0.021786, y=-0.000596, theta=-0.129176
[11:49:27.207] Odometry x=0.021787, y=-0.000596, theta=-0.128716
[11:49:27.217] Image Alignment failed 0
[11:49:27.218] Odometry x=0.021788, y=-0.000597, theta=-0.128330
[11:49:27.228] Odometry x=0.021789, y=-0.000597, theta=-0.127903
[11:49:27.248] Odometry x=0.021890, y=-0.000610, theta=-0.128200
[11:49:27.258] Odometry x=0.021891, y=-0.000610, theta=-0.128239
[11:49:27.268] Odometry x=0.021891, y=-0.000610, theta=-0.127798
[11:49:27.274] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.003617
[11:49:27.279] Odometry x=0.021891, y=-0.000610, theta=-0.127219
[11:49:27.289] Odometry x=0.021891, y=-0.000610, theta=-0.126666
[11:49:27.300] Odometry x=0.021891, y=-0.000610, theta=-0.126053
[11:49:27.310] Odometry x=0.021891, y=-0.000610, theta=-0.125536
[11:49:27.312] Image Alignment failed 0
[11:49:27.320] Odometry x=0.021891, y=-0.000610, theta=-0.125421
[11:49:27.340] Odometry x=0.021969, y=-0.000620, theta=-0.125719
[11:49:27.350] Odometry x=0.021969, y=-0.000620, theta=-0.126035
[11:49:27.355] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.002263
[11:49:27.361] Odometry x=0.021969, y=-0.000620, theta=-0.126275
[11:49:27.371] Odometry x=0.021969, y=-0.000620, theta=-0.126413
[11:49:27.381] Odometry x=0.021969, y=-0.000620, theta=-0.126504
[11:49:27.391] Odometry x=0.021970, y=-0.000620, theta=-0.127123
[11:49:27.402] Odometry x=0.021970, y=-0.000619, theta=-0.127154
[11:49:27.412] Odometry x=0.021970, y=-0.000619, theta=-0.126577
[11:49:27.412] Image Alignment failed 0
[11:49:27.422] Odometry x=0.021970, y=-0.000619, theta=-0.125108
[11:49:27.442] Odometry x=0.022058, y=-0.000631, theta=-0.122554
[11:49:27.452] Odometry x=0.022058, y=-0.000632, theta=-0.120963
[11:49:27.461] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.000542
[11:49:27.463] Odometry x=0.022058, y=-0.000633, theta=-0.120198
[11:49:27.473] Odometry x=0.022058, y=-0.000634, theta=-0.119794
[11:49:27.483] Odometry x=0.022059, y=-0.000634, theta=-0.119935
[11:49:27.494] Odometry x=0.022062, y=-0.000635, theta=-0.119958
[11:49:27.504] Odometry x=0.022066, y=-0.000636, theta=-0.119410
[11:49:27.513] Image Alignment failed 0
[11:49:27.514] Odometry x=0.022068, y=-0.000637, theta=-0.119017
[11:49:27.524] Odometry x=0.022070, y=-0.000637, theta=-0.118910
[11:49:27.545] Odometry x=0.022158, y=-0.000648, theta=-0.118348
[11:49:27.555] Odometry x=0.022158, y=-0.000648, theta=-0.118234
[11:49:27.565] Odometry x=0.022159, y=-0.000648, theta=-0.118424
[11:49:27.571] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000004,angle between two frames:0.001553
[11:49:27.575] Odometry x=0.022159, y=-0.000648, theta=-0.119003
[11:49:27.585] Odometry x=0.022160, y=-0.000648, theta=-0.119600
[11:49:27.596] Odometry x=0.022160, y=-0.000648, theta=-0.120105
[11:49:27.606] Odometry x=0.022160, y=-0.000648, theta=-0.120489
[11:49:27.611] Image Alignment failed 0
[11:49:27.616] Odometry x=0.022160, y=-0.000648, theta=-0.120676
[11:49:27.636] Odometry x=0.022234, y=-0.000657, theta=-0.119773
[11:49:27.646] Odometry x=0.022234, y=-0.000657, theta=-0.119313
[11:49:27.656] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.002066
[11:49:27.657] Odometry x=0.022234, y=-0.000657, theta=-0.119182
[11:49:27.667] Odometry x=0.022235, y=-0.000657, theta=-0.119233
[11:49:27.677] Odometry x=0.022236, y=-0.000658, theta=-0.118992
[11:49:27.687] Odometry x=0.022237, y=-0.000658, theta=-0.118690
[11:49:27.697] Odometry x=0.022238, y=-0.000658, theta=-0.118577
[11:49:27.708] Odometry x=0.022238, y=-0.000658, theta=-0.118649
[11:49:27.713] Image Alignment failed 0
[11:49:27.718] Odometry x=0.022239, y=-0.000658, theta=-0.118827
[11:49:27.728] Odometry x=0.022239, y=-0.000658, theta=-0.119100
[11:49:27.748] Odometry x=0.022333, y=-0.000669, theta=-0.118394
[11:49:27.758] Odometry x=0.022333, y=-0.000669, theta=-0.117912
[11:49:27.769] Odometry x=0.022333, y=-0.000669, theta=-0.117698
[11:49:27.776] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000001,angle between two frames:0.000664
[11:49:27.779] Odometry x=0.022333, y=-0.000669, theta=-0.117109
[11:49:27.789] Odometry x=0.022333, y=-0.000669, theta=-0.116053
[11:49:27.800] Odometry x=0.022333, y=-0.000669, theta=-0.115360
[11:49:27.810] Odometry x=0.022333, y=-0.000669, theta=-0.115128
[11:49:27.811] Image Alignment failed 0
[11:49:27.820] Odometry x=0.022334, y=-0.000669, theta=-0.114736
[11:49:27.840] Odometry x=0.022416, y=-0.000679, theta=-0.115034
[11:49:27.850] Odometry x=0.022416, y=-0.000679, theta=-0.115472
[11:49:27.853] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.002570
[11:49:27.861] Odometry x=0.022416, y=-0.000679, theta=-0.116426
[11:49:27.871] Odometry x=0.022417, y=-0.000679, theta=-0.117672
[11:49:27.881] Odometry x=0.022417, y=-0.000679, theta=-0.119072
[11:49:27.891] Odometry x=0.022417, y=-0.000679, theta=-0.120753
[11:49:27.902] Odometry x=0.022417, y=-0.000679, theta=-0.121767
[11:49:27.911] Image Alignment failed 0
[11:49:27.912] Odometry x=0.022417, y=-0.000679, theta=-0.122425
[11:49:27.922] Odometry x=0.022417, y=-0.000679, theta=-0.123193
[11:49:27.942] Odometry x=0.022501, y=-0.000689, theta=-0.124710
[11:49:27.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.006295
[11:49:27.953] Odometry x=0.022501, y=-0.000689, theta=-0.125890
[11:49:27.963] Odometry x=0.022501, y=-0.000689, theta=-0.127172
[11:49:27.973] Odometry x=0.022501, y=-0.000689, theta=-0.128483
[11:49:27.984] Odometry x=0.022501, y=-0.000689, theta=-0.129589
[11:49:27.994] Odometry x=0.022501, y=-0.000689, theta=-0.130373
[11:49:28.004] Odometry x=0.022501, y=-0.000689, theta=-0.130416
[11:49:28.014] Odometry x=0.022501, y=-0.000689, theta=-0.130295
[11:49:28.016] Image Alignment failed 0
[11:49:28.025] Odometry x=0.022501, y=-0.000689, theta=-0.130821
[11:49:28.045] Odometry x=0.022588, y=-0.000700, theta=-0.130871
[11:49:28.055] Odometry x=0.022588, y=-0.000701, theta=-0.131158
[11:49:28.065] Odometry x=0.022589, y=-0.000701, theta=-0.131491
[11:49:28.075] Odometry x=0.022590, y=-0.000701, theta=-0.132113
[11:49:28.080] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.005584
[11:49:28.086] Odometry x=0.022590, y=-0.000701, theta=-0.132913
[11:49:28.097] Odometry x=0.022590, y=-0.000701, theta=-0.133625
[11:49:28.107] Odometry x=0.022590, y=-0.000702, theta=-0.135738
[11:49:28.110] Image Alignment failed 0
[11:49:28.117] Odometry x=0.022590, y=-0.000702, theta=-0.137505
[11:49:28.137] Odometry x=0.022668, y=-0.000712, theta=-0.139680
[11:49:28.147] Odometry x=0.022668, y=-0.000712, theta=-0.140816
[11:49:28.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.003625
[11:49:28.157] Odometry x=0.022668, y=-0.000712, theta=-0.141062
[11:49:28.168] Odometry x=0.022669, y=-0.000712, theta=-0.141160
[11:49:28.178] Odometry x=0.022669, y=-0.000712, theta=-0.141323
[11:49:28.189] Odometry x=0.022669, y=-0.000712, theta=-0.141728
[11:49:28.199] Odometry x=0.022669, y=-0.000712, theta=-0.142164
[11:49:28.209] Odometry x=0.022669, y=-0.000712, theta=-0.142829
[11:49:28.215] Image Alignment failed 0
[11:49:28.219] Odometry x=0.022669, y=-0.000712, theta=-0.143580
[11:49:28.239] Odometry x=0.022759, y=-0.000725, theta=-0.143318
[11:49:28.250] Odometry x=0.022759, y=-0.000725, theta=-0.143261
[11:49:28.260] Odometry x=0.022759, y=-0.000725, theta=-0.143519
[11:49:28.270] Odometry x=0.022760, y=-0.000725, theta=-0.144480
[11:49:28.279] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.002013
[11:49:28.280] Odometry x=0.022760, y=-0.000725, theta=-0.145298
[11:49:28.290] Odometry x=0.022760, y=-0.000725, theta=-0.146580
[11:49:28.301] Odometry x=0.022760, y=-0.000725, theta=-0.147609
[11:49:28.310] Image Alignment failed 0
[11:49:28.311] Odometry x=0.022760, y=-0.000725, theta=-0.148475
[11:49:28.331] Odometry x=0.022837, y=-0.000737, theta=-0.150736
[11:49:28.341] Odometry x=0.022837, y=-0.000737, theta=-0.152233
[11:49:28.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.003129
[11:49:28.352] Odometry x=0.022837, y=-0.000737, theta=-0.153289
[11:49:28.362] Odometry x=0.022837, y=-0.000737, theta=-0.154324
[11:49:28.372] Odometry x=0.022837, y=-0.000737, theta=-0.154559
[11:49:28.382] Odometry x=0.022837, y=-0.000737, theta=-0.154297
[11:49:28.393] Odometry x=0.022837, y=-0.000737, theta=-0.154074
[11:49:28.403] Odometry x=0.022837, y=-0.000737, theta=-0.153829
[11:49:28.413] Odometry x=0.022837, y=-0.000737, theta=-0.153676
[11:49:28.416] Image Alignment failed 0
[11:49:28.423] Odometry x=0.022837, y=-0.000737, theta=-0.153689
[11:49:28.444] Odometry x=0.022940, y=-0.000752, theta=-0.154268
[11:49:28.454] Odometry x=0.022940, y=-0.000752, theta=-0.154552
[11:49:28.454] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.001443
[11:49:28.464] Odometry x=0.022940, y=-0.000752, theta=-0.154643
[11:49:28.474] Odometry x=0.022940, y=-0.000752, theta=-0.154586
[11:49:28.485] Odometry x=0.022941, y=-0.000752, theta=-0.154462
[11:49:28.496] Odometry x=0.022941, y=-0.000752, theta=-0.154404
[11:49:28.506] Odometry x=0.022941, y=-0.000752, theta=-0.154512
[11:49:28.512] Image Alignment failed 0
[11:49:28.516] Odometry x=0.022941, y=-0.000752, theta=-0.154849
[11:49:28.536] Odometry x=0.023018, y=-0.000764, theta=-0.155376
[11:49:28.546] Odometry x=0.023018, y=-0.000764, theta=-0.155584
[11:49:28.557] Odometry x=0.023019, y=-0.000764, theta=-0.155691
[11:49:28.567] Odometry x=0.023019, y=-0.000764, theta=-0.156061
[11:49:28.570] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.000040
[11:49:28.577] Odometry x=0.023019, y=-0.000764, theta=-0.156573
[11:49:28.587] Odometry x=0.023019, y=-0.000764, theta=-0.157079
[11:49:28.597] Odometry x=0.023019, y=-0.000764, theta=-0.157432
[11:49:28.608] Odometry x=0.023019, y=-0.000764, theta=-0.157777
[11:49:28.611] Image Alignment failed 0
[11:49:28.618] Odometry x=0.023019, y=-0.000764, theta=-0.158005
[11:49:28.638] Odometry x=0.023109, y=-0.000778, theta=-0.158273
[11:49:28.648] Odometry x=0.023109, y=-0.000778, theta=-0.158581
[11:49:28.653] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.001716
[11:49:28.658] Odometry x=0.023109, y=-0.000778, theta=-0.158865
[11:49:28.669] Odometry x=0.023109, y=-0.000778, theta=-0.159059
[11:49:28.680] Odometry x=0.023109, y=-0.000778, theta=-0.159054
[11:49:28.690] Odometry x=0.023109, y=-0.000778, theta=-0.159078
[11:49:28.701] Odometry x=0.023109, y=-0.000778, theta=-0.158988
[11:49:28.711] Odometry x=0.023109, y=-0.000778, theta=-0.158632
[11:49:28.712] Image Alignment failed 0
[11:49:28.721] Odometry x=0.023109, y=-0.000778, theta=-0.158359
[11:49:28.741] Odometry x=0.023194, y=-0.000791, theta=-0.159175
[11:49:28.752] Odometry x=0.023193, y=-0.000791, theta=-0.159364
[11:49:28.762] Odometry x=0.023193, y=-0.000791, theta=-0.159186
[11:49:28.771] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000052
[11:49:28.772] Odometry x=0.023194, y=-0.000791, theta=-0.158880
[11:49:28.782] Odometry x=0.023194, y=-0.000791, theta=-0.158545
[11:49:28.792] Odometry x=0.023194, y=-0.000791, theta=-0.158482
[11:49:28.802] Odometry x=0.023195, y=-0.000791, theta=-0.158591
[11:49:28.811] Image Alignment failed 0
[11:49:28.813] Odometry x=0.023196, y=-0.000792, theta=-0.158818
[11:49:28.833] Odometry x=0.023279, y=-0.000805, theta=-0.159488
[11:49:28.843] Odometry x=0.023280, y=-0.000805, theta=-0.159995
[11:49:28.852] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.000595
[11:49:28.853] Odometry x=0.023280, y=-0.000805, theta=-0.160204
[11:49:28.864] Odometry x=0.023280, y=-0.000805, theta=-0.160259
[11:49:28.874] Odometry x=0.023280, y=-0.000805, theta=-0.160671
[11:49:28.885] Odometry x=0.023280, y=-0.000805, theta=-0.160894
[11:49:28.895] Odometry x=0.023280, y=-0.000805, theta=-0.160847
[11:49:28.905] Odometry x=0.023280, y=-0.000805, theta=-0.160996
[11:49:28.915] Image Alignment failed 0
[11:49:28.916] Odometry x=0.023280, y=-0.000805, theta=-0.161193
[11:49:28.936] Odometry x=0.023363, y=-0.000819, theta=-0.160039
[11:49:28.946] Odometry x=0.023364, y=-0.000819, theta=-0.159205
[11:49:28.956] Odometry x=0.023364, y=-0.000819, theta=-0.158603
[11:49:28.966] Odometry x=0.023365, y=-0.000819, theta=-0.157682
[11:49:28.977] Odometry x=0.023365, y=-0.000819, theta=-0.156649
[11:49:28.977] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.001001
[11:49:28.987] Odometry x=0.023365, y=-0.000819, theta=-0.156180
[11:49:28.997] Odometry x=0.023365, y=-0.000818, theta=-0.156067
[11:49:29.007] Odometry x=0.023365, y=-0.000818, theta=-0.155666
[11:49:29.011] Image Alignment failed 0
[11:49:29.017] Odometry x=0.023365, y=-0.000818, theta=-0.154352
[11:49:29.028] Odometry x=0.023365, y=-0.000818, theta=-0.153064
[11:49:29.048] Odometry x=0.023467, y=-0.000834, theta=-0.151753
[11:49:29.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000983
[11:49:29.058] Odometry x=0.023468, y=-0.000834, theta=-0.151229
[11:49:29.068] Odometry x=0.023468, y=-0.000834, theta=-0.151263
[11:49:29.079] Odometry x=0.023470, y=-0.000835, theta=-0.151219
[11:49:29.089] Odometry x=0.023473, y=-0.000835, theta=-0.151290
[11:49:29.100] Odometry x=0.023474, y=-0.000835, theta=-0.152030
[11:49:29.110] Odometry x=0.023475, y=-0.000836, theta=-0.153436
[11:49:29.116] Image Alignment failed 0
[11:49:29.120] Odometry x=0.023475, y=-0.000836, theta=-0.154729
[11:49:29.141] Odometry x=0.023551, y=-0.000847, theta=-0.155737
[11:49:29.151] Odometry x=0.023552, y=-0.000846, theta=-0.156508
[11:49:29.161] Odometry x=0.023552, y=-0.000845, theta=-0.156207
[11:49:29.171] Odometry x=0.023552, y=-0.000844, theta=-0.154952
[11:49:29.179] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000007 ,z=-0.000001,angle between two frames:0.001683
[11:49:29.181] Odometry x=0.023552, y=-0.000844, theta=-0.153160
[11:49:29.192] Odometry x=0.023552, y=-0.000844, theta=-0.151197
[11:49:29.202] Odometry x=0.023552, y=-0.000844, theta=-0.149580
[11:49:29.211] Image Alignment failed 0
[11:49:29.212] Odometry x=0.023552, y=-0.000844, theta=-0.148473
[11:49:29.222] Odometry x=0.023552, y=-0.000844, theta=-0.147727
[11:49:29.243] Odometry x=0.023637, y=-0.000857, theta=-0.146958
[11:49:29.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.005373
[11:49:29.253] Odometry x=0.023638, y=-0.000857, theta=-0.146583
[11:49:29.263] Odometry x=0.023638, y=-0.000857, theta=-0.146301
[11:49:29.274] Odometry x=0.023638, y=-0.000857, theta=-0.145762
[11:49:29.284] Odometry x=0.023638, y=-0.000857, theta=-0.145211
[11:49:29.295] Odometry x=0.023638, y=-0.000857, theta=-0.144815
[11:49:29.305] Odometry x=0.023638, y=-0.000857, theta=-0.144486
[11:49:29.315] Odometry x=0.023639, y=-0.000857, theta=-0.144212
[11:49:29.317] Image Alignment failed 0
[11:49:29.326] Odometry x=0.023640, y=-0.000858, theta=-0.144154
[11:49:29.346] Odometry x=0.023730, y=-0.000871, theta=-0.144875
[11:49:29.356] Odometry x=0.023731, y=-0.000871, theta=-0.145635
[11:49:29.366] Odometry x=0.023731, y=-0.000870, theta=-0.146312
[11:49:29.377] Odometry x=0.023731, y=-0.000869, theta=-0.146569
[11:49:29.379] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.002746
[11:49:29.387] Odometry x=0.023732, y=-0.000867, theta=-0.146240
[11:49:29.397] Odometry x=0.023732, y=-0.000867, theta=-0.145842
[11:49:29.408] Odometry x=0.023732, y=-0.000867, theta=-0.144996
[11:49:29.410] Image Alignment failed 0
[11:49:29.418] Odometry x=0.023732, y=-0.000867, theta=-0.143484
[11:49:29.438] Odometry x=0.023809, y=-0.000878, theta=-0.140500
[11:49:29.448] Odometry x=0.023809, y=-0.000879, theta=-0.138756
[11:49:29.448] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000001,angle between two frames:0.001573
[11:49:29.459] Odometry x=0.023809, y=-0.000879, theta=-0.138203
[11:49:29.469] Odometry x=0.023809, y=-0.000880, theta=-0.138255
[11:49:29.479] Odometry x=0.023809, y=-0.000880, theta=-0.138833
[11:49:29.489] Odometry x=0.023809, y=-0.000880, theta=-0.139758
[11:49:29.499] Odometry x=0.023809, y=-0.000880, theta=-0.140678
[11:49:29.510] Odometry x=0.023809, y=-0.000880, theta=-0.141458
[11:49:29.511] Image Alignment failed 0
[11:49:29.520] Odometry x=0.023809, y=-0.000880, theta=-0.141976
[11:49:29.540] Odometry x=0.023898, y=-0.000893, theta=-0.143320
[11:49:29.550] Odometry x=0.023898, y=-0.000893, theta=-0.144984
[11:49:29.552] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000002,angle between two frames:0.002701
[11:49:29.561] Odometry x=0.023898, y=-0.000893, theta=-0.147014
[11:49:29.572] Odometry x=0.023898, y=-0.000893, theta=-0.148815
[11:49:29.582] Odometry x=0.023899, y=-0.000892, theta=-0.150356
[11:49:29.592] Odometry x=0.023899, y=-0.000891, theta=-0.151901
[11:49:29.602] Odometry x=0.023899, y=-0.000891, theta=-0.153388
[11:49:29.613] Odometry x=0.023899, y=-0.000891, theta=-0.154837
[11:49:29.614] Image Alignment failed 0
[11:49:29.623] Odometry x=0.023899, y=-0.000892, theta=-0.155664
[11:49:29.643] Odometry x=0.023990, y=-0.000911, theta=-0.155997
[11:49:29.653] Odometry x=0.023990, y=-0.000913, theta=-0.156369
[11:49:29.663] Odometry x=0.023990, y=-0.000914, theta=-0.156727
[11:49:29.673] Odometry x=0.023990, y=-0.000914, theta=-0.157589
[11:49:29.676] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.009853
[11:49:29.684] Odometry x=0.023991, y=-0.000914, theta=-0.158364
[11:49:29.694] Odometry x=0.023991, y=-0.000914, theta=-0.159026
[11:49:29.705] Odometry x=0.023991, y=-0.000914, theta=-0.159669
[11:49:29.712] Image Alignment failed 0
[11:49:29.715] Odometry x=0.023991, y=-0.000914, theta=-0.159904
[11:49:29.735] Odometry x=0.024068, y=-0.000926, theta=-0.159654
[11:49:29.745] Odometry x=0.024068, y=-0.000926, theta=-0.159826
[11:49:29.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.002079
[11:49:29.756] Odometry x=0.024068, y=-0.000926, theta=-0.160487
[11:49:29.766] Odometry x=0.024068, y=-0.000926, theta=-0.161540
[11:49:29.776] Odometry x=0.024068, y=-0.000926, theta=-0.162597
[11:49:29.787] Odometry x=0.024068, y=-0.000926, theta=-0.163526
[11:49:29.797] Odometry x=0.024068, y=-0.000927, theta=-0.164666
[11:49:29.808] Odometry x=0.024068, y=-0.000927, theta=-0.166582
[11:49:29.818] Odometry x=0.024068, y=-0.000927, theta=-0.168043
[11:49:29.818] Image Alignment failed 0
[11:49:29.839] Odometry x=0.024149, y=-0.000943, theta=-0.173492
[11:49:29.849] Odometry x=0.024151, y=-0.000944, theta=-0.176637
[11:49:29.859] Odometry x=0.024153, y=-0.000945, theta=-0.178076
[11:49:29.869] Odometry x=0.024153, y=-0.000945, theta=-0.179881
[11:49:29.879] Odometry x=0.024154, y=-0.000945, theta=-0.182498
[11:49:29.881] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.008217
[11:49:29.889] Odometry x=0.024155, y=-0.000945, theta=-0.185585
[11:49:29.900] Odometry x=0.024155, y=-0.000945, theta=-0.188376
[11:49:29.910] Odometry x=0.024155, y=-0.000945, theta=-0.190728
[11:49:29.911] Image Alignment failed 0
[11:49:29.920] Odometry x=0.024155, y=-0.000945, theta=-0.192678
[11:49:29.930] Odometry x=0.024155, y=-0.000945, theta=-0.194226
[11:49:29.950] Odometry x=0.024256, y=-0.000965, theta=-0.196268
[11:49:29.952] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.008230
[11:49:29.961] Odometry x=0.024256, y=-0.000965, theta=-0.197866
[11:49:29.972] Odometry x=0.024256, y=-0.000965, theta=-0.199265
[11:49:29.982] Odometry x=0.024256, y=-0.000965, theta=-0.200877
[11:49:29.993] Odometry x=0.024256, y=-0.000965, theta=-0.202593
[11:49:30.003] Odometry x=0.024256, y=-0.000965, theta=-0.204008
[11:49:30.013] Odometry x=0.024256, y=-0.000966, theta=-0.206176
[11:49:30.014] Image Alignment failed 0
[11:49:30.023] Odometry x=0.024256, y=-0.000966, theta=-0.208442
[11:49:30.043] Odometry x=0.024337, y=-0.000983, theta=-0.212747
[11:49:30.054] Odometry x=0.024337, y=-0.000983, theta=-0.216074
[11:49:30.064] Odometry x=0.024337, y=-0.000983, theta=-0.217844
[11:49:30.071] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.009908
[11:49:30.074] Odometry x=0.024337, y=-0.000984, theta=-0.219882
[11:49:30.084] Odometry x=0.024338, y=-0.000983, theta=-0.221796
[11:49:30.095] Odometry x=0.024338, y=-0.000983, theta=-0.223222
[11:49:30.105] Odometry x=0.024338, y=-0.000983, theta=-0.224325
[11:49:30.112] Image Alignment failed 0
[11:49:30.115] Odometry x=0.024338, y=-0.000983, theta=-0.224999
[11:49:30.135] Odometry x=0.024409, y=-0.000999, theta=-0.226434
[11:49:30.145] Odometry x=0.024409, y=-0.000999, theta=-0.226963
[11:49:30.156] Odometry x=0.024409, y=-0.000999, theta=-0.226733
[11:49:30.157] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.006481
[11:49:30.166] Odometry x=0.024409, y=-0.000999, theta=-0.226562
[11:49:30.176] Odometry x=0.024409, y=-0.000999, theta=-0.226575
[11:49:30.187] Odometry x=0.024409, y=-0.001000, theta=-0.226776
[11:49:30.197] Odometry x=0.024409, y=-0.001000, theta=-0.227023
[11:49:30.208] Odometry x=0.024409, y=-0.001000, theta=-0.227896
[11:49:30.213] Image Alignment failed 0
[11:49:30.218] Odometry x=0.024410, y=-0.001000, theta=-0.228911
[11:49:30.228] Odometry x=0.024410, y=-0.001000, theta=-0.229902
[11:49:30.248] Odometry x=0.024507, y=-0.001024, theta=-0.231439
[11:49:30.258] Odometry x=0.024507, y=-0.001025, theta=-0.232828
[11:49:30.269] Odometry x=0.024507, y=-0.001025, theta=-0.234025
[11:49:30.271] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.001163
[11:49:30.279] Odometry x=0.024507, y=-0.001026, theta=-0.235299
[11:49:30.289] Odometry x=0.024506, y=-0.001027, theta=-0.236673
[11:49:30.300] Odometry x=0.024506, y=-0.001027, theta=-0.238577
[11:49:30.310] Odometry x=0.024506, y=-0.001027, theta=-0.242618
[11:49:30.311] Image Alignment failed 0
[11:49:30.320] Odometry x=0.024507, y=-0.001027, theta=-0.245964
[11:49:30.341] Odometry x=0.024582, y=-0.001046, theta=-0.252964
[11:49:30.351] Odometry x=0.024583, y=-0.001046, theta=-0.256573
[11:49:30.354] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000002,angle between two frames:0.008593
[11:49:30.361] Odometry x=0.024583, y=-0.001047, theta=-0.258840
[11:49:30.372] Odometry x=0.024585, y=-0.001047, theta=-0.261078
[11:49:30.382] Odometry x=0.024586, y=-0.001047, theta=-0.262937
[11:49:30.392] Odometry x=0.024586, y=-0.001047, theta=-0.264671
[11:49:30.402] Odometry x=0.024586, y=-0.001047, theta=-0.266270
[11:49:30.413] Odometry x=0.024586, y=-0.001047, theta=-0.267316
[11:49:30.414] Image Alignment failed 0
[11:49:30.433] Odometry x=0.024663, y=-0.001068, theta=-0.268529
[11:49:30.443] Odometry x=0.024663, y=-0.001068, theta=-0.270124
[11:49:30.453] Odometry x=0.024663, y=-0.001068, theta=-0.271666
[11:49:30.464] Odometry x=0.024663, y=-0.001068, theta=-0.273125
[11:49:30.474] Odometry x=0.024663, y=-0.001069, theta=-0.273946
[11:49:30.478] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000001,angle between two frames:0.010742
[11:49:30.484] Odometry x=0.024663, y=-0.001069, theta=-0.273925
[11:49:30.494] Odometry x=0.024663, y=-0.001069, theta=-0.273693
[11:49:30.505] Odometry x=0.024665, y=-0.001070, theta=-0.274428
[11:49:30.511] Image Alignment failed 0
[11:49:30.515] Odometry x=0.024666, y=-0.001070, theta=-0.275499
[11:49:30.525] Odometry x=0.024667, y=-0.001071, theta=-0.276400
[11:49:30.546] Odometry x=0.024761, y=-0.001097, theta=-0.276758
[11:49:30.553] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000001,angle between two frames:0.000481
[11:49:30.556] Odometry x=0.024761, y=-0.001097, theta=-0.277136
[11:49:30.566] Odometry x=0.024761, y=-0.001097, theta=-0.277428
[11:49:30.577] Odometry x=0.024761, y=-0.001097, theta=-0.278011
[11:49:30.587] Odometry x=0.024761, y=-0.001097, theta=-0.278995
[11:49:30.597] Odometry x=0.024761, y=-0.001097, theta=-0.280317
[11:49:30.608] Odometry x=0.024761, y=-0.001097, theta=-0.281357
[11:49:30.613] Image Alignment failed 0
[11:49:30.618] Odometry x=0.024761, y=-0.001097, theta=-0.281598
[11:49:30.638] Odometry x=0.024838, y=-0.001119, theta=-0.283343
[11:49:30.648] Odometry x=0.024840, y=-0.001120, theta=-0.284885
[11:49:30.658] Odometry x=0.024841, y=-0.001120, theta=-0.286545
[11:49:30.669] Odometry x=0.024841, y=-0.001120, theta=-0.287638
[11:49:30.670] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.004599
[11:49:30.679] Odometry x=0.024841, y=-0.001120, theta=-0.288050
[11:49:30.689] Odometry x=0.024841, y=-0.001120, theta=-0.288021
[11:49:30.700] Odometry x=0.024841, y=-0.001120, theta=-0.287611
[11:49:30.710] Odometry x=0.024841, y=-0.001121, theta=-0.287236
[11:49:30.711] Image Alignment failed 0
[11:49:30.720] Odometry x=0.024841, y=-0.001121, theta=-0.286267
[11:49:30.740] Odometry x=0.024929, y=-0.001146, theta=-0.286301
[11:49:30.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000403
[11:49:30.750] Odometry x=0.024929, y=-0.001146, theta=-0.286382
[11:49:30.761] Odometry x=0.024929, y=-0.001146, theta=-0.286469
[11:49:30.771] Odometry x=0.024929, y=-0.001146, theta=-0.286695
[11:49:30.781] Odometry x=0.024929, y=-0.001146, theta=-0.287016
[11:49:30.792] Odometry x=0.024929, y=-0.001146, theta=-0.287385
[11:49:30.802] Odometry x=0.024929, y=-0.001146, theta=-0.287583
[11:49:30.812] Odometry x=0.024929, y=-0.001146, theta=-0.286951
[11:49:30.820] Image Alignment failed 0
[11:49:30.823] Odometry x=0.024929, y=-0.001147, theta=-0.286920
[11:49:30.843] Odometry x=0.025015, y=-0.001173, theta=-0.287373
[11:49:30.853] Odometry x=0.025015, y=-0.001173, theta=-0.287753
[11:49:30.863] Odometry x=0.025015, y=-0.001173, theta=-0.287862
[11:49:30.873] Odometry x=0.025015, y=-0.001173, theta=-0.287826
[11:49:30.883] Odometry x=0.025015, y=-0.001173, theta=-0.287773
[11:49:30.884] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000569
[11:49:30.894] Odometry x=0.025015, y=-0.001173, theta=-0.287304
[11:49:30.904] Odometry x=0.025015, y=-0.001173, theta=-0.286942
[11:49:30.911] Image Alignment failed 0
[11:49:30.914] Odometry x=0.025015, y=-0.001173, theta=-0.286971
[11:49:30.925] Odometry x=0.025015, y=-0.001173, theta=-0.287264
[11:49:30.945] Odometry x=0.025103, y=-0.001199, theta=-0.287314
[11:49:30.948] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000831
[11:49:30.956] Odometry x=0.025103, y=-0.001199, theta=-0.287258
[11:49:30.966] Odometry x=0.025103, y=-0.001199, theta=-0.287321
[11:49:30.977] Odometry x=0.025103, y=-0.001200, theta=-0.287462
[11:49:30.987] Odometry x=0.025104, y=-0.001200, theta=-0.287585
[11:49:30.997] Odometry x=0.025104, y=-0.001200, theta=-0.287371
[11:49:31.007] Odometry x=0.025104, y=-0.001200, theta=-0.286680
[11:49:31.015] Image Alignment failed 0
[11:49:31.018] Odometry x=0.025105, y=-0.001200, theta=-0.286059
[11:49:31.028] Odometry x=0.025105, y=-0.001200, theta=-0.285387
[11:49:31.048] Odometry x=0.025183, y=-0.001227, theta=-0.283430
[11:49:31.058] Odometry x=0.025183, y=-0.001229, theta=-0.283038
[11:49:31.068] Odometry x=0.025183, y=-0.001229, theta=-0.284053
[11:49:31.079] Odometry x=0.025182, y=-0.001230, theta=-0.285335
[11:49:31.079] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000633
[11:49:31.089] Odometry x=0.025182, y=-0.001230, theta=-0.286333
[11:49:31.099] Odometry x=0.025182, y=-0.001231, theta=-0.287152
[11:49:31.109] Odometry x=0.025182, y=-0.001231, theta=-0.288277
[11:49:31.117] Image Alignment failed 0
[11:49:31.120] Odometry x=0.025182, y=-0.001231, theta=-0.289267
[11:49:31.140] Odometry x=0.025258, y=-0.001253, theta=-0.293874
[11:49:31.150] Odometry x=0.025258, y=-0.001253, theta=-0.296424
[11:49:31.160] Odometry x=0.025258, y=-0.001252, theta=-0.297137
[11:49:31.170] Odometry x=0.025258, y=-0.001252, theta=-0.297632
[11:49:31.172] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.002942
[11:49:31.180] Odometry x=0.025258, y=-0.001252, theta=-0.298393
[11:49:31.191] Odometry x=0.025258, y=-0.001252, theta=-0.298729
[11:49:31.201] Odometry x=0.025258, y=-0.001252, theta=-0.298091
[11:49:31.211] Image Alignment failed 0
[11:49:31.211] Odometry x=0.025259, y=-0.001252, theta=-0.297270
[11:49:31.221] Odometry x=0.025259, y=-0.001252, theta=-0.296926
[11:49:31.241] Odometry x=0.025346, y=-0.001279, theta=-0.296348
[11:49:31.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000458
[11:49:31.252] Odometry x=0.025346, y=-0.001280, theta=-0.295880
[11:49:31.262] Odometry x=0.025346, y=-0.001280, theta=-0.295243
[11:49:31.273] Odometry x=0.025347, y=-0.001280, theta=-0.294376
[11:49:31.283] Odometry x=0.025347, y=-0.001280, theta=-0.293680
[11:49:31.293] Odometry x=0.025347, y=-0.001280, theta=-0.293152
[11:49:31.304] Odometry x=0.025347, y=-0.001280, theta=-0.292422
[11:49:31.314] Odometry x=0.025347, y=-0.001280, theta=-0.291715
[11:49:31.316] Image Alignment failed 0
[11:49:31.324] Odometry x=0.025346, y=-0.001281, theta=-0.291037
[11:49:31.345] Odometry x=0.025429, y=-0.001306, theta=-0.290842
[11:49:31.355] Odometry x=0.025430, y=-0.001306, theta=-0.290707
[11:49:31.365] Odometry x=0.025430, y=-0.001306, theta=-0.290216
[11:49:31.375] Odometry x=0.025430, y=-0.001306, theta=-0.289218
[11:49:31.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.004633
[11:49:31.385] Odometry x=0.025430, y=-0.001306, theta=-0.287953
[11:49:31.396] Odometry x=0.025430, y=-0.001306, theta=-0.286918
[11:49:31.406] Odometry x=0.025430, y=-0.001306, theta=-0.284046
[11:49:31.411] Image Alignment failed 0
[11:49:31.417] Odometry x=0.025430, y=-0.001306, theta=-0.281146
[11:49:31.427] Odometry x=0.025430, y=-0.001306, theta=-0.279448
[11:49:31.447] Odometry x=0.025517, y=-0.001332, theta=-0.277076
[11:49:31.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.005172
[11:49:31.457] Odometry x=0.025517, y=-0.001332, theta=-0.275321
[11:49:31.468] Odometry x=0.025517, y=-0.001332, theta=-0.274264
[11:49:31.478] Odometry x=0.025517, y=-0.001332, theta=-0.273496
[11:49:31.488] Odometry x=0.025517, y=-0.001332, theta=-0.272625
[11:49:31.498] Odometry x=0.025517, y=-0.001332, theta=-0.271558
[11:49:31.508] Odometry x=0.025517, y=-0.001332, theta=-0.270123
[11:49:31.517] Image Alignment failed 0
[11:49:31.519] Odometry x=0.025517, y=-0.001332, theta=-0.268490
[11:49:31.539] Odometry x=0.025592, y=-0.001353, theta=-0.267281
[11:49:31.549] Odometry x=0.025592, y=-0.001353, theta=-0.266120
[11:49:31.559] Odometry x=0.025591, y=-0.001353, theta=-0.265011
[11:49:31.569] Odometry x=0.025591, y=-0.001353, theta=-0.263861
[11:49:31.579] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.006953
[11:49:31.579] Odometry x=0.025591, y=-0.001353, theta=-0.263138
[11:49:31.590] Odometry x=0.025591, y=-0.001353, theta=-0.263132
[11:49:31.600] Odometry x=0.025591, y=-0.001353, theta=-0.262596
[11:49:31.611] Odometry x=0.025591, y=-0.001353, theta=-0.260990
[11:49:31.611] Image Alignment failed 0
[11:49:31.621] Odometry x=0.025591, y=-0.001354, theta=-0.259544
[11:49:31.641] Odometry x=0.025676, y=-0.001376, theta=-0.257421
[11:49:31.650] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.002871
[11:49:31.651] Odometry x=0.025677, y=-0.001377, theta=-0.256152
[11:49:31.662] Odometry x=0.025677, y=-0.001377, theta=-0.255302
[11:49:31.672] Odometry x=0.025677, y=-0.001377, theta=-0.254240
[11:49:31.682] Odometry x=0.025677, y=-0.001377, theta=-0.253071
[11:49:31.692] Odometry x=0.025677, y=-0.001377, theta=-0.251911
[11:49:31.702] Odometry x=0.025677, y=-0.001377, theta=-0.251085
[11:49:31.711] Image Alignment failed 0
[11:49:31.712] Odometry x=0.025677, y=-0.001377, theta=-0.249548
[11:49:31.722] Odometry x=0.025677, y=-0.001377, theta=-0.248071
[11:49:31.743] Odometry x=0.025765, y=-0.001399, theta=-0.247678
[11:49:31.749] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.006335
[11:49:31.753] Odometry x=0.025765, y=-0.001399, theta=-0.247684
[11:49:31.764] Odometry x=0.025765, y=-0.001399, theta=-0.248097
[11:49:31.774] Odometry x=0.025765, y=-0.001399, theta=-0.248602
[11:49:31.785] Odometry x=0.025765, y=-0.001399, theta=-0.248983
[11:49:31.795] Odometry x=0.025764, y=-0.001399, theta=-0.249198
[11:49:31.805] Odometry x=0.025764, y=-0.001400, theta=-0.248233
[11:49:31.816] Odometry x=0.025762, y=-0.001408, theta=-0.246802
[11:49:31.817] Image Alignment failed 0
[11:49:31.826] Odometry x=0.025758, y=-0.001427, theta=-0.245506
[11:49:31.846] Odometry x=0.025843, y=-0.001460, theta=-0.244127
[11:49:31.856] Odometry x=0.025842, y=-0.001465, theta=-0.243218
[11:49:31.866] Odometry x=0.025843, y=-0.001465, theta=-0.242965
[11:49:31.877] Odometry x=0.025843, y=-0.001465, theta=-0.242936
[11:49:31.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000009,angle between two frames:0.000877
[11:49:31.887] Odometry x=0.025843, y=-0.001465, theta=-0.242867
[11:49:31.897] Odometry x=0.025843, y=-0.001465, theta=-0.242684
[11:49:31.907] Odometry x=0.025843, y=-0.001465, theta=-0.242109
[11:49:31.911] Image Alignment failed 0
[11:49:31.917] Odometry x=0.025843, y=-0.001465, theta=-0.241452
[11:49:31.928] Odometry x=0.025843, y=-0.001465, theta=-0.240879
[11:49:31.948] Odometry x=0.025927, y=-0.001485, theta=-0.239328
[11:49:31.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000827
[11:49:31.958] Odometry x=0.025927, y=-0.001485, theta=-0.238412
[11:49:31.969] Odometry x=0.025927, y=-0.001486, theta=-0.238130
[11:49:31.979] Odometry x=0.025927, y=-0.001486, theta=-0.238098
[11:49:31.989] Odometry x=0.025927, y=-0.001486, theta=-0.238199
[11:49:32.000] Odometry x=0.025927, y=-0.001486, theta=-0.238096
[11:49:32.010] Odometry x=0.025928, y=-0.001486, theta=-0.237791
[11:49:32.015] Image Alignment failed 0
[11:49:32.020] Odometry x=0.025928, y=-0.001486, theta=-0.237276
[11:49:32.041] Odometry x=0.026003, y=-0.001505, theta=-0.232727
[11:49:32.051] Odometry x=0.026002, y=-0.001506, theta=-0.229327
[11:49:32.061] Odometry x=0.026002, y=-0.001509, theta=-0.226886
[11:49:32.071] Odometry x=0.026001, y=-0.001513, theta=-0.224821
[11:49:32.076] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001537
[11:49:32.082] Odometry x=0.026001, y=-0.001519, theta=-0.223216
[11:49:32.092] Odometry x=0.026001, y=-0.001524, theta=-0.222113
[11:49:32.102] Odometry x=0.026002, y=-0.001528, theta=-0.221320
[11:49:32.112] Image Alignment failed 0
[11:49:32.112] Odometry x=0.026003, y=-0.001531, theta=-0.220709
[11:49:32.123] Odometry x=0.026003, y=-0.001532, theta=-0.220383
[11:49:32.143] Odometry x=0.026093, y=-0.001553, theta=-0.222160
[11:49:32.153] Odometry x=0.026094, y=-0.001554, theta=-0.223554
[11:49:32.154] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000014,angle between two frames:0.003501
[11:49:32.164] Odometry x=0.026094, y=-0.001554, theta=-0.224989
[11:49:32.174] Odometry x=0.026095, y=-0.001554, theta=-0.226509
[11:49:32.184] Odometry x=0.026095, y=-0.001554, theta=-0.227720
[11:49:32.194] Odometry x=0.026095, y=-0.001554, theta=-0.228781
[11:49:32.205] Odometry x=0.026095, y=-0.001554, theta=-0.229884
[11:49:32.215] Odometry x=0.026095, y=-0.001554, theta=-0.230692
[11:49:32.215] Image Alignment failed 0
[11:49:32.236] Odometry x=0.026168, y=-0.001571, theta=-0.237049
[11:49:32.246] Odometry x=0.026168, y=-0.001571, theta=-0.241303
[11:49:32.256] Odometry x=0.026168, y=-0.001571, theta=-0.243778
[11:49:32.263] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.007138
[11:49:32.266] Odometry x=0.026169, y=-0.001572, theta=-0.245134
[11:49:32.276] Odometry x=0.026169, y=-0.001572, theta=-0.246377
[11:49:32.287] Odometry x=0.026170, y=-0.001572, theta=-0.247385
[11:49:32.297] Odometry x=0.026171, y=-0.001572, theta=-0.247855
[11:49:32.308] Odometry x=0.026174, y=-0.001573, theta=-0.248945
[11:49:32.312] Image Alignment failed 0
[11:49:32.318] Odometry x=0.026177, y=-0.001574, theta=-0.250536
[11:49:32.328] Odometry x=0.026178, y=-0.001575, theta=-0.252147
[11:49:32.348] Odometry x=0.026278, y=-0.001604, theta=-0.253614
[11:49:32.359] Odometry x=0.026278, y=-0.001607, theta=-0.254673
[11:49:32.368] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=-0.000002,angle between two frames:0.005166
[11:49:32.369] Odometry x=0.026278, y=-0.001608, theta=-0.255778
[11:49:32.380] Odometry x=0.026278, y=-0.001608, theta=-0.257241
[11:49:32.390] Odometry x=0.026278, y=-0.001609, theta=-0.258793
[11:49:32.400] Odometry x=0.026279, y=-0.001610, theta=-0.260521
[11:49:32.410] Odometry x=0.026280, y=-0.001610, theta=-0.262101
[11:49:32.412] Image Alignment failed 0
[11:49:32.420] Odometry x=0.026281, y=-0.001610, theta=-0.263391
[11:49:32.440] Odometry x=0.026356, y=-0.001630, theta=-0.266038
[11:49:32.450] Odometry x=0.026356, y=-0.001630, theta=-0.267933
[11:49:32.455] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000003,angle between two frames:0.007428
[11:49:32.461] Odometry x=0.026356, y=-0.001630, theta=-0.269375
[11:49:32.471] Odometry x=0.026356, y=-0.001630, theta=-0.271151
[11:49:32.481] Odometry x=0.026356, y=-0.001630, theta=-0.272739
[11:49:32.491] Odometry x=0.026356, y=-0.001631, theta=-0.273955
[11:49:32.501] Odometry x=0.026356, y=-0.001632, theta=-0.275103
[11:49:32.512] Odometry x=0.026356, y=-0.001633, theta=-0.275957
[11:49:32.515] Image Alignment failed 0
[11:49:32.522] Odometry x=0.026358, y=-0.001634, theta=-0.277804
[11:49:32.542] Odometry x=0.026447, y=-0.001659, theta=-0.281455
[11:49:32.552] Odometry x=0.026449, y=-0.001660, theta=-0.283953
[11:49:32.562] Odometry x=0.026449, y=-0.001660, theta=-0.285615
[11:49:32.573] Odometry x=0.026449, y=-0.001660, theta=-0.287239
[11:49:32.578] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.008024
[11:49:32.583] Odometry x=0.026450, y=-0.001660, theta=-0.288732
[11:49:32.593] Odometry x=0.026450, y=-0.001660, theta=-0.290047
[11:49:32.604] Odometry x=0.026450, y=-0.001660, theta=-0.290897
[11:49:32.611] Image Alignment failed 0
[11:49:32.614] Odometry x=0.026450, y=-0.001660, theta=-0.291751
[11:49:32.624] Odometry x=0.026450, y=-0.001661, theta=-0.292097
[11:49:32.644] Odometry x=0.026532, y=-0.001688, theta=-0.292124
[11:49:32.654] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.003658
[11:49:32.655] Odometry x=0.026532, y=-0.001689, theta=-0.292623
[11:49:32.665] Odometry x=0.026532, y=-0.001689, theta=-0.293123
[11:49:32.676] Odometry x=0.026532, y=-0.001689, theta=-0.294117
[11:49:32.686] Odometry x=0.026533, y=-0.001689, theta=-0.295273
[11:49:32.697] Odometry x=0.026533, y=-0.001689, theta=-0.296499
[11:49:32.708] Odometry x=0.026533, y=-0.001689, theta=-0.298007
[11:49:32.714] Image Alignment failed 0
[11:49:32.718] Odometry x=0.026534, y=-0.001689, theta=-0.298994
[11:49:32.728] Odometry x=0.026534, y=-0.001689, theta=-0.299065
[11:49:32.748] Odometry x=0.026618, y=-0.001715, theta=-0.299020
[11:49:32.758] Odometry x=0.026618, y=-0.001715, theta=-0.298814
[11:49:32.769] Odometry x=0.026618, y=-0.001715, theta=-0.298220
[11:49:32.776] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.005883
[11:49:32.779] Odometry x=0.026618, y=-0.001715, theta=-0.297455
[11:49:32.789] Odometry x=0.026618, y=-0.001715, theta=-0.296987
[11:49:32.799] Odometry x=0.026618, y=-0.001715, theta=-0.296864
[11:49:32.809] Odometry x=0.026619, y=-0.001716, theta=-0.296970
[11:49:32.811] Image Alignment failed 0
[11:49:32.819] Odometry x=0.026620, y=-0.001717, theta=-0.297228
[11:49:32.839] Odometry x=0.026700, y=-0.001741, theta=-0.298264
[11:49:32.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.001250
[11:49:32.850] Odometry x=0.026700, y=-0.001741, theta=-0.299271
[11:49:32.860] Odometry x=0.026700, y=-0.001741, theta=-0.299978
[11:49:32.871] Odometry x=0.026700, y=-0.001741, theta=-0.300162
[11:49:32.881] Odometry x=0.026700, y=-0.001741, theta=-0.300110
[11:49:32.892] Odometry x=0.026700, y=-0.001741, theta=-0.300120
[11:49:32.902] Odometry x=0.026700, y=-0.001742, theta=-0.300659
[11:49:32.912] Odometry x=0.026700, y=-0.001742, theta=-0.301217
[11:49:32.921] Image Alignment failed 0
[11:49:32.922] Odometry x=0.026702, y=-0.001747, theta=-0.300827
[11:49:32.943] Odometry x=0.026791, y=-0.001780, theta=-0.302988
[11:49:32.953] Odometry x=0.026793, y=-0.001784, theta=-0.304910
[11:49:32.963] Odometry x=0.026794, y=-0.001784, theta=-0.306867
[11:49:32.973] Odometry x=0.026794, y=-0.001784, theta=-0.308877
[11:49:32.983] Odometry x=0.026794, y=-0.001784, theta=-0.310668
[11:49:32.984] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.002953
[11:49:32.994] Odometry x=0.026794, y=-0.001784, theta=-0.312109
[11:49:33.004] Odometry x=0.026794, y=-0.001784, theta=-0.313312
[11:49:33.011] Image Alignment failed 0
[11:49:33.014] Odometry x=0.026794, y=-0.001784, theta=-0.314656
[11:49:33.024] Odometry x=0.026794, y=-0.001784, theta=-0.315855
[11:49:33.045] Odometry x=0.026878, y=-0.001811, theta=-0.317261
[11:49:33.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.002643
[11:49:33.055] Odometry x=0.026878, y=-0.001811, theta=-0.318022
[11:49:33.066] Odometry x=0.026878, y=-0.001811, theta=-0.318442
[11:49:33.076] Odometry x=0.026878, y=-0.001811, theta=-0.318599
[11:49:33.086] Odometry x=0.026878, y=-0.001811, theta=-0.318738
[11:49:33.097] Odometry x=0.026878, y=-0.001811, theta=-0.319089
[11:49:33.108] Odometry x=0.026878, y=-0.001811, theta=-0.319543
[11:49:33.116] Image Alignment failed 0
[11:49:33.118] Odometry x=0.026878, y=-0.001811, theta=-0.320205
[11:49:33.138] Odometry x=0.026953, y=-0.001836, theta=-0.318002
[11:49:33.149] Odometry x=0.026953, y=-0.001837, theta=-0.316408
[11:49:33.159] Odometry x=0.026953, y=-0.001837, theta=-0.315376
[11:49:33.169] Odometry x=0.026954, y=-0.001837, theta=-0.314471
[11:49:33.179] Odometry x=0.026954, y=-0.001837, theta=-0.313941
[11:49:33.180] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.002282
[11:49:33.189] Odometry x=0.026954, y=-0.001837, theta=-0.313733
[11:49:33.199] Odometry x=0.026955, y=-0.001837, theta=-0.313603
[11:49:33.209] Odometry x=0.026955, y=-0.001837, theta=-0.313775
[11:49:33.210] Image Alignment failed 0
[11:49:33.220] Odometry x=0.026955, y=-0.001838, theta=-0.313857
[11:49:33.240] Odometry x=0.027038, y=-0.001866, theta=-0.313678
[11:49:33.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000166
[11:49:33.250] Odometry x=0.027039, y=-0.001867, theta=-0.314006
[11:49:33.261] Odometry x=0.027039, y=-0.001867, theta=-0.314952
[11:49:33.272] Odometry x=0.027039, y=-0.001867, theta=-0.316317
[11:49:33.282] Odometry x=0.027039, y=-0.001867, theta=-0.317821
[11:49:33.292] Odometry x=0.027039, y=-0.001867, theta=-0.318626
[11:49:33.302] Odometry x=0.027039, y=-0.001867, theta=-0.319032
[11:49:33.310] Image Alignment failed 0
[11:49:33.312] Odometry x=0.027039, y=-0.001867, theta=-0.319567
[11:49:33.333] Odometry x=0.027115, y=-0.001892, theta=-0.321050
[11:49:33.343] Odometry x=0.027115, y=-0.001892, theta=-0.322399
[11:49:33.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.005354
[11:49:33.353] Odometry x=0.027115, y=-0.001892, theta=-0.323017
[11:49:33.364] Odometry x=0.027115, y=-0.001892, theta=-0.322376
[11:49:33.374] Odometry x=0.027115, y=-0.001892, theta=-0.319496
[11:49:33.384] Odometry x=0.027115, y=-0.001892, theta=-0.316793
[11:49:33.395] Odometry x=0.027115, y=-0.001893, theta=-0.315374
[11:49:33.405] Odometry x=0.027115, y=-0.001894, theta=-0.314619
[11:49:33.415] Odometry x=0.027115, y=-0.001895, theta=-0.314112
[11:49:33.418] Image Alignment failed 0
[11:49:33.435] Odometry x=0.027185, y=-0.001951, theta=-0.312042
[11:49:33.446] Odometry x=0.027180, y=-0.001968, theta=-0.311000
[11:49:33.456] Odometry x=0.027179, y=-0.001971, theta=-0.310837
[11:49:33.466] Odometry x=0.027179, y=-0.001972, theta=-0.310848
[11:49:33.476] Odometry x=0.027180, y=-0.001973, theta=-0.311184
[11:49:33.483] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000003,angle between two frames:0.008287
[11:49:33.486] Odometry x=0.027182, y=-0.001974, theta=-0.311679
[11:49:33.497] Odometry x=0.027183, y=-0.001974, theta=-0.311983
[11:49:33.507] Odometry x=0.027185, y=-0.001975, theta=-0.311565
[11:49:33.510] Image Alignment failed 0
[11:49:33.518] Odometry x=0.027186, y=-0.001975, theta=-0.311157
[11:49:33.528] Odometry x=0.027187, y=-0.001975, theta=-0.310770
[11:49:33.548] Odometry x=0.027286, y=-0.002007, theta=-0.310855
[11:49:33.548] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000002,angle between two frames:0.000381
[11:49:33.558] Odometry x=0.027285, y=-0.002008, theta=-0.310949
[11:49:33.569] Odometry x=0.027285, y=-0.002008, theta=-0.309940
[11:49:33.580] Odometry x=0.027284, y=-0.002011, theta=-0.308117
[11:49:33.590] Odometry x=0.027283, y=-0.002016, theta=-0.306726
[11:49:33.601] Odometry x=0.027283, y=-0.002019, theta=-0.306180
[11:49:33.611] Odometry x=0.027283, y=-0.002020, theta=-0.306393
[11:49:33.617] Image Alignment failed 0
[11:49:33.621] Odometry x=0.027284, y=-0.002020, theta=-0.307066
[11:49:33.641] Odometry x=0.027360, y=-0.002044, theta=-0.307195
[11:49:33.651] Odometry x=0.027361, y=-0.002045, theta=-0.307360
[11:49:33.662] Odometry x=0.027361, y=-0.002045, theta=-0.307472
[11:49:33.672] Odometry x=0.027361, y=-0.002045, theta=-0.307526
[11:49:33.680] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000012,angle between two frames:0.004462
[11:49:33.682] Odometry x=0.027362, y=-0.002045, theta=-0.307758
[11:49:33.692] Odometry x=0.027362, y=-0.002045, theta=-0.308870
[11:49:33.703] Odometry x=0.027362, y=-0.002045, theta=-0.309491
[11:49:33.711] Image Alignment failed 0
[11:49:33.713] Odometry x=0.027363, y=-0.002045, theta=-0.309242
[11:49:33.733] Odometry x=0.027432, y=-0.002068, theta=-0.306455
[11:49:33.743] Odometry x=0.027433, y=-0.002069, theta=-0.305259
[11:49:33.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.001965
[11:49:33.754] Odometry x=0.027432, y=-0.002071, theta=-0.305213
[11:49:33.764] Odometry x=0.027432, y=-0.002072, theta=-0.305345
[11:49:33.774] Odometry x=0.027431, y=-0.002074, theta=-0.304524
[11:49:33.785] Odometry x=0.027430, y=-0.002079, theta=-0.302189
[11:49:33.795] Odometry x=0.027428, y=-0.002084, theta=-0.299329
[11:49:33.805] Odometry x=0.027428, y=-0.002086, theta=-0.296979
[11:49:33.816] Odometry x=0.027428, y=-0.002087, theta=-0.295517
[11:49:33.816] Image Alignment failed 0
[11:49:33.826] Odometry x=0.027429, y=-0.002088, theta=-0.294728
[11:49:33.846] Odometry x=0.027535, y=-0.002120, theta=-0.295755
[11:49:33.856] Odometry x=0.027537, y=-0.002120, theta=-0.296077
[11:49:33.866] Odometry x=0.027537, y=-0.002121, theta=-0.295491
[11:49:33.877] Odometry x=0.027537, y=-0.002121, theta=-0.294702
[11:49:33.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000018,angle between two frames:0.009742
[11:49:33.887] Odometry x=0.027537, y=-0.002122, theta=-0.294242
[11:49:33.898] Odometry x=0.027537, y=-0.002124, theta=-0.293979
[11:49:33.908] Odometry x=0.027537, y=-0.002124, theta=-0.293748
[11:49:33.911] Image Alignment failed 0
[11:49:33.918] Odometry x=0.027538, y=-0.002124, theta=-0.292907
[11:49:33.938] Odometry x=0.027617, y=-0.002148, theta=-0.291881
[11:49:33.948] Odometry x=0.027617, y=-0.002148, theta=-0.291386
[11:49:33.951] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.000954
[11:49:33.959] Odometry x=0.027617, y=-0.002148, theta=-0.291344
[11:49:33.969] Odometry x=0.027617, y=-0.002148, theta=-0.290771
[11:49:33.980] Odometry x=0.027617, y=-0.002148, theta=-0.289056
[11:49:33.990] Odometry x=0.027617, y=-0.002149, theta=-0.286710
[11:49:34.001] Odometry x=0.027617, y=-0.002149, theta=-0.284128
[11:49:34.011] Odometry x=0.027616, y=-0.002151, theta=-0.281873
[11:49:34.017] Image Alignment failed 0
[11:49:34.021] Odometry x=0.027615, y=-0.002156, theta=-0.280116
[11:49:34.042] Odometry x=0.027694, y=-0.002197, theta=-0.276922
[11:49:34.052] Odometry x=0.027692, y=-0.002207, theta=-0.274475
[11:49:34.062] Odometry x=0.027691, y=-0.002212, theta=-0.272964
[11:49:34.072] Odometry x=0.027690, y=-0.002215, theta=-0.271833
[11:49:34.080] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000003,angle between two frames:0.009512
[11:49:34.082] Odometry x=0.027690, y=-0.002216, theta=-0.270757
[11:49:34.093] Odometry x=0.027690, y=-0.002217, theta=-0.269210
[11:49:34.103] Odometry x=0.027691, y=-0.002217, theta=-0.267789
[11:49:34.113] Odometry x=0.027691, y=-0.002218, theta=-0.266715
[11:49:34.114] Image Alignment failed 0
[11:49:34.123] Odometry x=0.027690, y=-0.002218, theta=-0.265788
[11:49:34.144] Odometry x=0.027776, y=-0.002247, theta=-0.266790
[11:49:34.153] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.005118
[11:49:34.154] Odometry x=0.027775, y=-0.002250, theta=-0.267946
[11:49:34.164] Odometry x=0.027775, y=-0.002251, theta=-0.269384
[11:49:34.175] Odometry x=0.027774, y=-0.002252, theta=-0.270139
[11:49:34.185] Odometry x=0.027774, y=-0.002253, theta=-0.270058
[11:49:34.196] Odometry x=0.027775, y=-0.002253, theta=-0.268477
[11:49:34.207] Odometry x=0.027775, y=-0.002254, theta=-0.266082
[11:49:34.216] Image Alignment failed 0
[11:49:34.217] Odometry x=0.027776, y=-0.002255, theta=-0.264605
[11:49:34.227] Odometry x=0.027777, y=-0.002255, theta=-0.264380
[11:49:34.247] Odometry x=0.027863, y=-0.002279, theta=-0.267217
[11:49:34.257] Odometry x=0.027865, y=-0.002279, theta=-0.269082
[11:49:34.267] Odometry x=0.027865, y=-0.002279, theta=-0.270016
[11:49:34.276] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000007,angle between two frames:0.000708
[11:49:34.278] Odometry x=0.027866, y=-0.002279, theta=-0.270730
[11:49:34.288] Odometry x=0.027866, y=-0.002279, theta=-0.271112
[11:49:34.298] Odometry x=0.027866, y=-0.002279, theta=-0.270767
[11:49:34.309] Odometry x=0.027866, y=-0.002279, theta=-0.269990
[11:49:34.311] Image Alignment failed 0
[11:49:34.319] Odometry x=0.027865, y=-0.002279, theta=-0.269480
[11:49:34.339] Odometry x=0.027941, y=-0.002301, theta=-0.270493
[11:49:34.349] Odometry x=0.027940, y=-0.002301, theta=-0.271468
[11:49:34.353] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000025
[11:49:34.359] Odometry x=0.027939, y=-0.002302, theta=-0.272177
[11:49:34.369] Odometry x=0.027940, y=-0.002302, theta=-0.271849
[11:49:34.380] Odometry x=0.027940, y=-0.002302, theta=-0.271132
[11:49:34.390] Odometry x=0.027940, y=-0.002303, theta=-0.271297
[11:49:34.400] Odometry x=0.027940, y=-0.002303, theta=-0.272552
[11:49:34.410] Odometry x=0.027941, y=-0.002303, theta=-0.274452
[11:49:34.413] Image Alignment failed 0
[11:49:34.421] Odometry x=0.027941, y=-0.002303, theta=-0.276380
[11:49:34.441] Odometry x=0.028024, y=-0.002326, theta=-0.280603
[11:49:34.451] Odometry x=0.028024, y=-0.002325, theta=-0.283765
[11:49:34.461] Odometry x=0.028024, y=-0.002325, theta=-0.285829
[11:49:34.464] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.002984
[11:49:34.471] Odometry x=0.028024, y=-0.002325, theta=-0.287184
[11:49:34.482] Odometry x=0.028025, y=-0.002325, theta=-0.288250
[11:49:34.493] Odometry x=0.028027, y=-0.002325, theta=-0.289478
[11:49:34.503] Odometry x=0.028028, y=-0.002324, theta=-0.290727
[11:49:34.513] Image Alignment failed 0
[11:49:34.513] Odometry x=0.028029, y=-0.002322, theta=-0.291679
[11:49:34.524] Odometry x=0.028029, y=-0.002321, theta=-0.292175
[11:49:34.544] Odometry x=0.028112, y=-0.002346, theta=-0.292469
[11:49:34.554] Odometry x=0.028112, y=-0.002346, theta=-0.292827
[11:49:34.564] Odometry x=0.028112, y=-0.002346, theta=-0.293081
[11:49:34.569] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=0.000002,angle between two frames:0.004898
[11:49:34.574] Odometry x=0.028112, y=-0.002346, theta=-0.292835
[11:49:34.585] Odometry x=0.028112, y=-0.002346, theta=-0.292315
[11:49:34.596] Odometry x=0.028112, y=-0.002346, theta=-0.291939
[11:49:34.606] Odometry x=0.028112, y=-0.002346, theta=-0.292035
[11:49:34.613] Image Alignment failed 0
[11:49:34.616] Odometry x=0.028112, y=-0.002346, theta=-0.292527
[11:49:34.626] Odometry x=0.028112, y=-0.002346, theta=-0.293278
[11:49:34.647] Odometry x=0.028199, y=-0.002372, theta=-0.296063
[11:49:34.657] Odometry x=0.028198, y=-0.002372, theta=-0.297951
[11:49:34.666] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.001045
[11:49:34.667] Odometry x=0.028198, y=-0.002372, theta=-0.299063
[11:49:34.677] Odometry x=0.028198, y=-0.002372, theta=-0.300097
[11:49:34.688] Odometry x=0.028198, y=-0.002372, theta=-0.301463
[11:49:34.698] Odometry x=0.028199, y=-0.002371, theta=-0.303053
[11:49:34.709] Odometry x=0.028199, y=-0.002371, theta=-0.304415
[11:49:34.713] Image Alignment failed 0
[11:49:34.719] Odometry x=0.028199, y=-0.002371, theta=-0.305420
[11:49:34.739] Odometry x=0.028273, y=-0.002394, theta=-0.306409
[11:49:34.749] Odometry x=0.028273, y=-0.002395, theta=-0.307207
[11:49:34.759] Odometry x=0.028273, y=-0.002395, theta=-0.308077
[11:49:34.766] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.006464
[11:49:34.770] Odometry x=0.028273, y=-0.002395, theta=-0.309197
[11:49:34.781] Odometry x=0.028273, y=-0.002395, theta=-0.310203
[11:49:34.791] Odometry x=0.028272, y=-0.002394, theta=-0.311465
[11:49:34.801] Odometry x=0.028271, y=-0.002394, theta=-0.312351
[11:49:34.811] Odometry x=0.028271, y=-0.002393, theta=-0.313410
[11:49:34.813] Image Alignment failed 0
[11:49:34.822] Odometry x=0.028271, y=-0.002392, theta=-0.314248
[11:49:34.842] Odometry x=0.028358, y=-0.002421, theta=-0.314215
[11:49:34.852] Odometry x=0.028358, y=-0.002421, theta=-0.314393
[11:49:34.861] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.005333
[11:49:34.862] Odometry x=0.028358, y=-0.002421, theta=-0.314944
[11:49:34.872] Odometry x=0.028358, y=-0.002421, theta=-0.315837
[11:49:34.883] Odometry x=0.028358, y=-0.002421, theta=-0.316799
[11:49:34.893] Odometry x=0.028358, y=-0.002422, theta=-0.317728
[11:49:34.903] Odometry x=0.028358, y=-0.002422, theta=-0.318656
[11:49:34.913] Odometry x=0.028358, y=-0.002422, theta=-0.319312
[11:49:34.914] Image Alignment failed 0
[11:49:34.934] Odometry x=0.028428, y=-0.002445, theta=-0.322216
[11:49:34.944] Odometry x=0.028428, y=-0.002445, theta=-0.324141
[11:49:34.954] Odometry x=0.028428, y=-0.002445, theta=-0.325401
[11:49:34.964] Odometry x=0.028428, y=-0.002445, theta=-0.326643
[11:49:34.969] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.004919
[11:49:34.974] Odometry x=0.028428, y=-0.002445, theta=-0.327832
[11:49:34.985] Odometry x=0.028428, y=-0.002445, theta=-0.328837
[11:49:34.995] Odometry x=0.028428, y=-0.002445, theta=-0.329698
[11:49:35.006] Odometry x=0.028428, y=-0.002445, theta=-0.330481
[11:49:35.012] Image Alignment failed 0
[11:49:35.016] Odometry x=0.028428, y=-0.002445, theta=-0.331177
[11:49:35.026] Odometry x=0.028428, y=-0.002445, theta=-0.332090
[11:49:35.046] Odometry x=0.028523, y=-0.002477, theta=-0.333880
[11:49:35.056] Odometry x=0.028523, y=-0.002477, theta=-0.335354
[11:49:35.059] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.003839
[11:49:35.067] Odometry x=0.028523, y=-0.002477, theta=-0.336520
[11:49:35.077] Odometry x=0.028523, y=-0.002477, theta=-0.337604
[11:49:35.087] Odometry x=0.028523, y=-0.002477, theta=-0.338944
[11:49:35.097] Odometry x=0.028523, y=-0.002477, theta=-0.339870
[11:49:35.107] Odometry x=0.028523, y=-0.002477, theta=-0.341316
[11:49:35.113] Image Alignment failed 0
[11:49:35.118] Odometry x=0.028523, y=-0.002477, theta=-0.342463
[11:49:35.138] Odometry x=0.028596, y=-0.002503, theta=-0.346537
[11:49:35.148] Odometry x=0.028596, y=-0.002503, theta=-0.349601
[11:49:35.158] Odometry x=0.028596, y=-0.002503, theta=-0.352038
[11:49:35.168] Odometry x=0.028596, y=-0.002503, theta=-0.354562
[11:49:35.171] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.005962
[11:49:35.179] Odometry x=0.028596, y=-0.002503, theta=-0.357227
[11:49:35.189] Odometry x=0.028596, y=-0.002503, theta=-0.359910
[11:49:35.200] Odometry x=0.028596, y=-0.002503, theta=-0.362716
[11:49:35.210] Odometry x=0.028596, y=-0.002503, theta=-0.365535
[11:49:35.212] Image Alignment failed 0
[11:49:35.220] Odometry x=0.028596, y=-0.002503, theta=-0.368182
[11:49:35.240] Odometry x=0.028681, y=-0.002536, theta=-0.370073
[11:49:35.250] Odometry x=0.028681, y=-0.002536, theta=-0.370926
[11:49:35.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.010973
[11:49:35.261] Odometry x=0.028681, y=-0.002536, theta=-0.371017
[11:49:35.272] Odometry x=0.028681, y=-0.002536, theta=-0.370974
[11:49:35.282] Odometry x=0.028681, y=-0.002536, theta=-0.370748
[11:49:35.293] Odometry x=0.028681, y=-0.002536, theta=-0.370436
[11:49:35.303] Odometry x=0.028681, y=-0.002536, theta=-0.370271
[11:49:35.313] Odometry x=0.028681, y=-0.002536, theta=-0.370323
[11:49:35.316] Image Alignment failed 0
[11:49:35.323] Odometry x=0.028681, y=-0.002536, theta=-0.370518
[11:49:35.344] Odometry x=0.028762, y=-0.002567, theta=-0.371217
[11:49:35.353] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000603
[11:49:35.354] Odometry x=0.028762, y=-0.002567, theta=-0.371590
[11:49:35.364] Odometry x=0.028762, y=-0.002567, theta=-0.371740
[11:49:35.374] Odometry x=0.028762, y=-0.002567, theta=-0.371700
[11:49:35.385] Odometry x=0.028762, y=-0.002567, theta=-0.371658
[11:49:35.395] Odometry x=0.028762, y=-0.002567, theta=-0.372138
[11:49:35.405] Odometry x=0.028762, y=-0.002567, theta=-0.372834
[11:49:35.413] Image Alignment failed 0
[11:49:35.415] Odometry x=0.028762, y=-0.002567, theta=-0.373281
[11:49:35.425] Odometry x=0.028762, y=-0.002567, theta=-0.373668
[11:49:35.446] Odometry x=0.028847, y=-0.002600, theta=-0.374056
[11:49:35.456] Odometry x=0.028847, y=-0.002600, theta=-0.374149
[11:49:35.457] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.001617
[11:49:35.466] Odometry x=0.028847, y=-0.002600, theta=-0.374096
[11:49:35.476] Odometry x=0.028847, y=-0.002600, theta=-0.374243
[11:49:35.487] Odometry x=0.028847, y=-0.002600, theta=-0.374750
[11:49:35.497] Odometry x=0.028847, y=-0.002600, theta=-0.375270
[11:49:35.508] Odometry x=0.028847, y=-0.002600, theta=-0.376057
[11:49:35.513] Image Alignment failed 0
[11:49:35.518] Odometry x=0.028847, y=-0.002600, theta=-0.376668
[11:49:35.528] Odometry x=0.028847, y=-0.002600, theta=-0.376688
[11:49:35.548] Odometry x=0.028928, y=-0.002632, theta=-0.375573
[11:49:35.558] Odometry x=0.028928, y=-0.002632, theta=-0.374992
[11:49:35.569] Odometry x=0.028928, y=-0.002632, theta=-0.374986
[11:49:35.570] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.001908
[11:49:35.579] Odometry x=0.028928, y=-0.002632, theta=-0.374980
[11:49:35.589] Odometry x=0.028928, y=-0.002632, theta=-0.374955
[11:49:35.600] Odometry x=0.028928, y=-0.002632, theta=-0.375202
[11:49:35.610] Odometry x=0.028928, y=-0.002632, theta=-0.375805
[11:49:35.613] Image Alignment failed 0
[11:49:35.621] Odometry x=0.028928, y=-0.002632, theta=-0.376533
[11:49:35.641] Odometry x=0.029001, y=-0.002661, theta=-0.378169
[11:49:35.651] Odometry x=0.029001, y=-0.002661, theta=-0.379444
[11:49:35.660] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000819
[11:49:35.661] Odometry x=0.029001, y=-0.002661, theta=-0.380223
[11:49:35.671] Odometry x=0.029001, y=-0.002661, theta=-0.380841
[11:49:35.682] Odometry x=0.029001, y=-0.002661, theta=-0.381456
[11:49:35.692] Odometry x=0.029001, y=-0.002661, theta=-0.382152
[11:49:35.702] Odometry x=0.029001, y=-0.002661, theta=-0.382591
[11:49:35.712] Image Alignment failed 0
[11:49:35.712] Odometry x=0.029001, y=-0.002661, theta=-0.383091
[11:49:35.722] Odometry x=0.029001, y=-0.002661, theta=-0.383720
[11:49:35.743] Odometry x=0.029082, y=-0.002694, theta=-0.386120
[11:49:35.753] Odometry x=0.029082, y=-0.002694, theta=-0.387738
[11:49:35.753] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.003147
[11:49:35.763] Odometry x=0.029082, y=-0.002694, theta=-0.388504
[11:49:35.774] Odometry x=0.029082, y=-0.002694, theta=-0.389677
[11:49:35.784] Odometry x=0.029082, y=-0.002694, theta=-0.390741
[11:49:35.794] Odometry x=0.029082, y=-0.002694, theta=-0.391365
[11:49:35.804] Odometry x=0.029082, y=-0.002694, theta=-0.391766
[11:49:35.814] Odometry x=0.029082, y=-0.002694, theta=-0.391978
[11:49:35.815] Image Alignment failed 0
[11:49:35.824] Odometry x=0.029082, y=-0.002694, theta=-0.391956
[11:49:35.845] Odometry x=0.029166, y=-0.002729, theta=-0.391709
[11:49:35.855] Odometry x=0.029166, y=-0.002729, theta=-0.391668
[11:49:35.865] Odometry x=0.029166, y=-0.002729, theta=-0.391637
[11:49:35.875] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.004240
[11:49:35.875] Odometry x=0.029166, y=-0.002729, theta=-0.391448
[11:49:35.885] Odometry x=0.029167, y=-0.002729, theta=-0.391287
[11:49:35.896] Odometry x=0.029167, y=-0.002729, theta=-0.391194
[11:49:35.906] Odometry x=0.029167, y=-0.002729, theta=-0.391359
[11:49:35.912] Image Alignment failed 0
[11:49:35.916] Odometry x=0.029167, y=-0.002729, theta=-0.391632
[11:49:35.927] Odometry x=0.029167, y=-0.002729, theta=-0.392608
[11:49:35.947] Odometry x=0.029247, y=-0.002763, theta=-0.393843
[11:49:35.952] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000277
[11:49:35.957] Odometry x=0.029247, y=-0.002763, theta=-0.395044
[11:49:35.967] Odometry x=0.029247, y=-0.002763, theta=-0.396161
[11:49:35.977] Odometry x=0.029247, y=-0.002762, theta=-0.397289
[11:49:35.988] Odometry x=0.029247, y=-0.002762, theta=-0.398261
[11:49:35.998] Odometry x=0.029247, y=-0.002762, theta=-0.398907
[11:49:36.009] Odometry x=0.029247, y=-0.002762, theta=-0.399709
[11:49:36.013] Image Alignment failed 0
[11:49:36.019] Odometry x=0.029248, y=-0.002762, theta=-0.400849
[11:49:36.039] Odometry x=0.029317, y=-0.002792, theta=-0.403586
[11:49:36.050] Odometry x=0.029317, y=-0.002792, theta=-0.405688
[11:49:36.060] Odometry x=0.029317, y=-0.002792, theta=-0.407267
[11:49:36.065] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.005866
[11:49:36.070] Odometry x=0.029317, y=-0.002792, theta=-0.408819
[11:49:36.081] Odometry x=0.029317, y=-0.002792, theta=-0.410393
[11:49:36.091] Odometry x=0.029317, y=-0.002791, theta=-0.412281
[11:49:36.101] Odometry x=0.029318, y=-0.002790, theta=-0.413525
[11:49:36.111] Odometry x=0.029318, y=-0.002790, theta=-0.414322
[11:49:36.114] Image Alignment failed 0
[11:49:36.122] Odometry x=0.029318, y=-0.002789, theta=-0.414685
[11:49:36.132] Odometry x=0.029319, y=-0.002789, theta=-0.414737
[11:49:36.142] Odometry x=0.029319, y=-0.002789, theta=-0.414708
[11:49:36.152] Odometry x=0.029319, y=-0.002789, theta=-0.414393
[11:49:36.162] Odometry x=0.029319, y=-0.002789, theta=-0.413977
[11:49:36.171] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.007054
[11:49:36.173] Odometry x=0.029319, y=-0.002789, theta=-0.413773
[11:49:36.183] Odometry x=0.029319, y=-0.002789, theta=-0.413909
[11:49:36.193] Odometry x=0.029319, y=-0.002789, theta=-0.414246
[11:49:36.204] Odometry x=0.029319, y=-0.002790, theta=-0.414524
[11:49:36.214] Odometry x=0.029319, y=-0.002790, theta=-0.414891
[11:49:36.217] Image Alignment failed 0
[11:49:36.224] Odometry x=0.029319, y=-0.002790, theta=-0.415161
[11:49:36.234] Odometry x=0.029319, y=-0.002790, theta=-0.415376
[11:49:36.244] Odometry x=0.029320, y=-0.002789, theta=-0.415578
[11:49:36.255] Odometry x=0.029320, y=-0.002789, theta=-0.415730
[11:49:36.265] Odometry x=0.029320, y=-0.002789, theta=-0.415840
[11:49:36.275] Odometry x=0.029320, y=-0.002789, theta=-0.416139
[11:49:36.276] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.000914
[11:49:36.285] Odometry x=0.029320, y=-0.002789, theta=-0.416644
[11:49:36.296] Odometry x=0.029320, y=-0.002789, theta=-0.417230
[11:49:36.306] Odometry x=0.029320, y=-0.002789, theta=-0.417645
[11:49:36.312] Image Alignment failed 0
[11:49:36.316] Odometry x=0.029320, y=-0.002789, theta=-0.418315
[11:49:36.326] Odometry x=0.029320, y=-0.002789, theta=-0.419394
[11:49:36.336] Odometry x=0.029320, y=-0.002789, theta=-0.420353
[11:49:36.347] Odometry x=0.029320, y=-0.002789, theta=-0.420903
[11:49:36.352] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.001505
[11:49:36.357] Odometry x=0.029320, y=-0.002789, theta=-0.421147
[11:49:36.367] Odometry x=0.029321, y=-0.002789, theta=-0.420959
[11:49:36.378] Odometry x=0.029321, y=-0.002789, theta=-0.420433
[11:49:36.388] Odometry x=0.029321, y=-0.002788, theta=-0.419632
[11:49:36.398] Odometry x=0.029322, y=-0.002788, theta=-0.418011
[11:49:36.409] Odometry x=0.029322, y=-0.002788, theta=-0.416573
[11:49:36.419] Odometry x=0.029322, y=-0.002787, theta=-0.415915
[11:49:36.423] Image Alignment failed 0
[11:49:36.429] Odometry x=0.029322, y=-0.002787, theta=-0.414508
[11:49:36.440] Odometry x=0.029322, y=-0.002787, theta=-0.412861
[11:49:36.450] Odometry x=0.029322, y=-0.002787, theta=-0.411830
[11:49:36.460] Odometry x=0.029322, y=-0.002787, theta=-0.411269
[11:49:36.470] Odometry x=0.029322, y=-0.002787, theta=-0.411145
[11:49:36.475] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000002,angle between two frames:0.004988
[11:49:36.480] Odometry x=0.029322, y=-0.002787, theta=-0.411008
[11:49:36.491] Odometry x=0.029323, y=-0.002787, theta=-0.410408
[11:49:36.501] Odometry x=0.029323, y=-0.002786, theta=-0.409528
[11:49:36.511] Odometry x=0.029323, y=-0.002786, theta=-0.408465
[11:49:36.512] Image Alignment failed 0
[11:49:36.521] Odometry x=0.029323, y=-0.002786, theta=-0.407478
[11:49:36.532] Odometry x=0.029323, y=-0.002786, theta=-0.406932
[11:49:36.542] Odometry x=0.029323, y=-0.002786, theta=-0.406470
[11:49:36.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000001,angle between two frames:0.002680
[11:49:36.552] Odometry x=0.029323, y=-0.002786, theta=-0.405791
[11:49:36.562] Odometry x=0.029323, y=-0.002786, theta=-0.404828
[11:49:36.573] Odometry x=0.029324, y=-0.002786, theta=-0.403863
[11:49:36.583] Odometry x=0.029324, y=-0.002787, theta=-0.402895
[11:49:36.594] Odometry x=0.029324, y=-0.002787, theta=-0.402021
[11:49:36.604] Odometry x=0.029324, y=-0.002787, theta=-0.401408
[11:49:36.614] Odometry x=0.029325, y=-0.002787, theta=-0.400439
[11:49:36.617] Image Alignment failed 0
[11:49:36.625] Odometry x=0.029325, y=-0.002787, theta=-0.399224
[11:49:36.635] Odometry x=0.029326, y=-0.002787, theta=-0.397440
[11:49:36.645] Odometry x=0.029326, y=-0.002787, theta=-0.396178
[11:49:36.655] Odometry x=0.029327, y=-0.002788, theta=-0.394906
[11:49:36.665] Odometry x=0.029327, y=-0.002788, theta=-0.393308
[11:49:36.675] Odometry x=0.029327, y=-0.002788, theta=-0.391369
[11:49:36.680] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.006030
[11:49:36.686] Odometry x=0.029327, y=-0.002788, theta=-0.389501
[11:49:36.696] Odometry x=0.029327, y=-0.002788, theta=-0.388434
[11:49:36.706] Odometry x=0.029327, y=-0.002788, theta=-0.386687
[11:49:36.712] Image Alignment failed 0
[11:49:36.716] Odometry x=0.029327, y=-0.002788, theta=-0.384637
[11:49:36.726] Odometry x=0.029327, y=-0.002788, theta=-0.382753
[11:49:36.737] Odometry x=0.029327, y=-0.002788, theta=-0.381049
[11:49:36.747] Odometry x=0.029327, y=-0.002788, theta=-0.379475
[11:49:36.757] Odometry x=0.029327, y=-0.002788, theta=-0.377990
[11:49:36.764] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.004682
[11:49:36.767] Odometry x=0.029328, y=-0.002788, theta=-0.376730
[11:49:36.777] Odometry x=0.029328, y=-0.002788, theta=-0.375578
[11:49:36.788] Odometry x=0.029328, y=-0.002788, theta=-0.374448
[11:49:36.798] Odometry x=0.029328, y=-0.002788, theta=-0.373411
[11:49:36.808] Odometry x=0.029328, y=-0.002788, theta=-0.372569
[11:49:36.812] Image Alignment failed 0
[11:49:36.819] Odometry x=0.029328, y=-0.002788, theta=-0.372096
[11:49:36.829] Odometry x=0.029328, y=-0.002788, theta=-0.371520
[11:49:36.839] Odometry x=0.029329, y=-0.002788, theta=-0.370533
[11:49:36.849] Odometry x=0.029329, y=-0.002788, theta=-0.369785
[11:49:36.859] Odometry x=0.029330, y=-0.002789, theta=-0.368894
[11:49:36.864] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.005421
[11:49:36.869] Odometry x=0.029332, y=-0.002790, theta=-0.368244
[11:49:36.879] Odometry x=0.029333, y=-0.002791, theta=-0.368140
[11:49:36.890] Odometry x=0.029334, y=-0.002791, theta=-0.368400
[11:49:36.900] Odometry x=0.029335, y=-0.002791, theta=-0.368657
[11:49:36.910] Odometry x=0.029336, y=-0.002790, theta=-0.368654
[11:49:36.912] Image Alignment failed 0
[11:49:36.921] Odometry x=0.029336, y=-0.002788, theta=-0.368409
[11:49:36.931] Odometry x=0.029337, y=-0.002787, theta=-0.367770
[11:49:36.941] Odometry x=0.029337, y=-0.002786, theta=-0.366697
[11:49:36.951] Odometry x=0.029338, y=-0.002786, theta=-0.365316
[11:49:36.961] Odometry x=0.029338, y=-0.002785, theta=-0.363659
[11:49:36.967] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000001,angle between two frames:0.000240
[11:49:36.972] Odometry x=0.029338, y=-0.002785, theta=-0.361890
[11:49:36.982] Odometry x=0.029331, y=-0.002783, theta=-0.358888
[11:49:36.992] Odometry x=0.029320, y=-0.002779, theta=-0.356347
[11:49:37.002] Odometry x=0.029311, y=-0.002778, theta=-0.355657
[11:49:37.011] Image Alignment failed 0
[11:49:37.012] Odometry x=0.029309, y=-0.002778, theta=-0.355863
[11:49:37.022] Odometry x=0.029308, y=-0.002780, theta=-0.357734
[11:49:37.032] Odometry x=0.029308, y=-0.002780, theta=-0.359641
[11:49:37.042] Odometry x=0.029309, y=-0.002780, theta=-0.360389
[11:49:37.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000027 ,z=0.000008,angle between two frames:0.008002
[11:49:37.053] Odometry x=0.029311, y=-0.002779, theta=-0.360659
[11:49:37.063] Odometry x=0.029312, y=-0.002778, theta=-0.360842
[11:49:37.073] Odometry x=0.029312, y=-0.002778, theta=-0.361088
[11:49:37.084] Odometry x=0.029312, y=-0.002778, theta=-0.361432
[11:49:37.094] Odometry x=0.029313, y=-0.002778, theta=-0.361802
[11:49:37.104] Odometry x=0.029313, y=-0.002778, theta=-0.362155
[11:49:37.115] Odometry x=0.029313, y=-0.002778, theta=-0.362468
[11:49:37.118] Image Alignment failed 0
[11:49:37.125] Odometry x=0.029313, y=-0.002778, theta=-0.362759
[11:49:37.135] Odometry x=0.029313, y=-0.002778, theta=-0.363070
[11:49:37.145] Odometry x=0.029313, y=-0.002779, theta=-0.363397
[11:49:37.155] Odometry x=0.029314, y=-0.002779, theta=-0.363729
[11:49:37.166] Odometry x=0.029314, y=-0.002779, theta=-0.364045
[11:49:37.176] Odometry x=0.029314, y=-0.002779, theta=-0.364350
[11:49:37.184] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=0.000002,angle between two frames:0.002079
[11:49:37.186] Odometry x=0.029314, y=-0.002779, theta=-0.364679
[11:49:37.196] Odometry x=0.029314, y=-0.002779, theta=-0.365014
[11:49:37.207] Odometry x=0.029314, y=-0.002779, theta=-0.365345
[11:49:37.211] Image Alignment failed 0
[11:49:37.217] Odometry x=0.029315, y=-0.002779, theta=-0.365657
[11:49:37.227] Odometry x=0.029315, y=-0.002779, theta=-0.365967
[11:49:37.237] Odometry x=0.029315, y=-0.002779, theta=-0.366292
[11:49:37.248] Odometry x=0.029315, y=-0.002779, theta=-0.366612
[11:49:37.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000995
[11:49:37.258] Odometry x=0.029315, y=-0.002779, theta=-0.366931
[11:49:37.268] Odometry x=0.029315, y=-0.002779, theta=-0.367264
[11:49:37.278] Odometry x=0.029316, y=-0.002779, theta=-0.367596
[11:49:37.289] Odometry x=0.029316, y=-0.002779, theta=-0.367920
[11:49:37.299] Odometry x=0.029316, y=-0.002779, theta=-0.368242
[11:49:37.310] Odometry x=0.029316, y=-0.002779, theta=-0.368558
[11:49:37.318] Image Alignment failed 0
[11:49:37.320] Odometry x=0.029316, y=-0.002779, theta=-0.368868
[11:49:37.330] Odometry x=0.029316, y=-0.002779, theta=-0.369183
[11:49:37.340] Odometry x=0.029317, y=-0.002779, theta=-0.369491
[11:49:37.350] Odometry x=0.029317, y=-0.002779, theta=-0.369817
[11:49:37.360] Odometry x=0.029317, y=-0.002779, theta=-0.370256
[11:49:37.371] Odometry x=0.029317, y=-0.002780, theta=-0.370652
[11:49:37.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001946
[11:49:37.381] Odometry x=0.029317, y=-0.002780, theta=-0.370980
[11:49:37.391] Odometry x=0.029318, y=-0.002780, theta=-0.371302
[11:49:37.402] Odometry x=0.029318, y=-0.002780, theta=-0.371623
[11:49:37.412] Odometry x=0.029318, y=-0.002780, theta=-0.371948
[11:49:37.412] Image Alignment failed 0
[11:49:37.422] Odometry x=0.029318, y=-0.002780, theta=-0.372264
[11:49:37.432] Odometry x=0.029318, y=-0.002780, theta=-0.372579
[11:49:37.442] Odometry x=0.029318, y=-0.002780, theta=-0.372894
[11:49:37.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001296
[11:49:37.453] Odometry x=0.029319, y=-0.002780, theta=-0.373215
[11:49:37.463] Odometry x=0.029319, y=-0.002780, theta=-0.373530
[11:49:37.473] Odometry x=0.029319, y=-0.002780, theta=-0.373841
[11:49:37.483] Odometry x=0.029319, y=-0.002780, theta=-0.374055
[11:49:37.493] Odometry x=0.029319, y=-0.002780, theta=-0.374410
[11:49:37.504] Odometry x=0.029319, y=-0.002780, theta=-0.374783
[11:49:37.512] Image Alignment failed 0
[11:49:37.514] Odometry x=0.029320, y=-0.002780, theta=-0.375097
[11:49:37.524] Odometry x=0.029320, y=-0.002780, theta=-0.375405
[11:49:37.534] Odometry x=0.029320, y=-0.002780, theta=-0.375721
[11:49:37.544] Odometry x=0.029320, y=-0.002780, theta=-0.376036
[11:49:37.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001889
[11:49:37.555] Odometry x=0.029320, y=-0.002780, theta=-0.376341
[11:49:37.565] Odometry x=0.029320, y=-0.002780, theta=-0.376650
[11:49:37.576] Odometry x=0.029321, y=-0.002780, theta=-0.376969
[11:49:37.586] Odometry x=0.029321, y=-0.002781, theta=-0.377384
[11:49:37.596] Odometry x=0.029321, y=-0.002781, theta=-0.377664
[11:49:37.606] Odometry x=0.029321, y=-0.002781, theta=-0.378016
[11:49:37.616] Odometry x=0.029321, y=-0.002781, theta=-0.378391
[11:49:37.618] Image Alignment failed 0
[11:49:37.627] Odometry x=0.029322, y=-0.002781, theta=-0.378708
[11:49:37.637] Odometry x=0.029322, y=-0.002781, theta=-0.379024
[11:49:37.647] Odometry x=0.029322, y=-0.002781, theta=-0.379337
[11:49:37.657] Odometry x=0.029322, y=-0.002781, theta=-0.379657
[11:49:37.667] Odometry x=0.029322, y=-0.002781, theta=-0.379980
[11:49:37.677] Odometry x=0.029322, y=-0.002781, theta=-0.380315
[11:49:37.680] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.002356
[11:49:37.688] Odometry x=0.029323, y=-0.002781, theta=-0.380642
[11:49:37.698] Odometry x=0.029323, y=-0.002781, theta=-0.380958
[11:49:37.709] Odometry x=0.029323, y=-0.002781, theta=-0.381172
[11:49:37.711] Image Alignment failed 0
[11:49:37.719] Odometry x=0.029323, y=-0.002781, theta=-0.381439
[11:49:37.729] Odometry x=0.029323, y=-0.002781, theta=-0.381842
[11:49:37.739] Odometry x=0.029323, y=-0.002781, theta=-0.382199
[11:49:37.749] Odometry x=0.029324, y=-0.002781, theta=-0.382520
[11:49:37.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000857
[11:49:37.760] Odometry x=0.029324, y=-0.002781, theta=-0.382853
[11:49:37.770] Odometry x=0.029324, y=-0.002781, theta=-0.383177
[11:49:37.781] Odometry x=0.029324, y=-0.002781, theta=-0.383504
[11:49:37.791] Odometry x=0.029324, y=-0.002781, theta=-0.383831
[11:49:37.801] Odometry x=0.029324, y=-0.002781, theta=-0.384150
[11:49:37.812] Odometry x=0.029325, y=-0.002782, theta=-0.384473
[11:49:37.816] Image Alignment failed 0
[11:49:37.822] Odometry x=0.029325, y=-0.002782, theta=-0.384795
[11:49:37.832] Odometry x=0.029325, y=-0.002782, theta=-0.385118
[11:49:37.842] Odometry x=0.029325, y=-0.002782, theta=-0.385444
[11:49:37.852] Odometry x=0.029325, y=-0.002782, theta=-0.385766
[11:49:37.854] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001953
[11:49:37.863] Odometry x=0.029325, y=-0.002782, theta=-0.386085
[11:49:37.873] Odometry x=0.029326, y=-0.002782, theta=-0.386503
[11:49:37.883] Odometry x=0.029326, y=-0.002782, theta=-0.386876
[11:49:37.894] Odometry x=0.029326, y=-0.002782, theta=-0.387188
[11:49:37.904] Odometry x=0.029326, y=-0.002782, theta=-0.387503
[11:49:37.914] Odometry x=0.029326, y=-0.002782, theta=-0.387724
[11:49:37.918] Image Alignment failed 0
[11:49:37.924] Odometry x=0.029326, y=-0.002782, theta=-0.388087
[11:49:37.935] Odometry x=0.029327, y=-0.002782, theta=-0.388472
[11:49:37.945] Odometry x=0.029327, y=-0.002782, theta=-0.388791
[11:49:37.955] Odometry x=0.029327, y=-0.002782, theta=-0.389108
[11:49:37.965] Odometry x=0.029327, y=-0.002782, theta=-0.389421
[11:49:37.975] Odometry x=0.029327, y=-0.002782, theta=-0.389736
[11:49:37.981] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001958
[11:49:37.985] Odometry x=0.029327, y=-0.002782, theta=-0.390054
[11:49:37.995] Odometry x=0.029328, y=-0.002782, theta=-0.390370
[11:49:38.006] Odometry x=0.029328, y=-0.002782, theta=-0.390693
[11:49:38.011] Image Alignment failed 0
[11:49:38.016] Odometry x=0.029328, y=-0.002782, theta=-0.391012
[11:49:38.026] Odometry x=0.029328, y=-0.002783, theta=-0.391327
[11:49:38.036] Odometry x=0.029328, y=-0.002783, theta=-0.391641
[11:49:38.046] Odometry x=0.029328, y=-0.002783, theta=-0.391959
[11:49:38.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000956
[11:49:38.057] Odometry x=0.029329, y=-0.002783, theta=-0.392280
[11:49:38.068] Odometry x=0.029329, y=-0.002783, theta=-0.392602
[11:49:38.078] Odometry x=0.029329, y=-0.002783, theta=-0.393008
[11:49:38.088] Odometry x=0.029329, y=-0.002783, theta=-0.393380
[11:49:38.099] Odometry x=0.029329, y=-0.002783, theta=-0.393598
[11:49:38.109] Odometry x=0.029330, y=-0.002783, theta=-0.393943
[11:49:38.119] Image Alignment failed 0
[11:49:38.119] Odometry x=0.029330, y=-0.002783, theta=-0.394310
[11:49:38.129] Odometry x=0.029330, y=-0.002783, theta=-0.394621
[11:49:38.140] Odometry x=0.029330, y=-0.002783, theta=-0.394936
[11:49:38.150] Odometry x=0.029330, y=-0.002783, theta=-0.395247
[11:49:38.160] Odometry x=0.029330, y=-0.002783, theta=-0.395555
[11:49:38.170] Odometry x=0.029331, y=-0.002783, theta=-0.395871
[11:49:38.180] Odometry x=0.029331, y=-0.002783, theta=-0.396193
[11:49:38.184] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001984
[11:49:38.190] Odometry x=0.029331, y=-0.002783, theta=-0.396510
[11:49:38.201] Odometry x=0.029331, y=-0.002783, theta=-0.396825
[11:49:38.211] Odometry x=0.029331, y=-0.002783, theta=-0.397038
[11:49:38.215] Image Alignment failed 0
[11:49:38.222] Odometry x=0.029331, y=-0.002783, theta=-0.397385
[11:49:38.232] Odometry x=0.029332, y=-0.002784, theta=-0.397758
[11:49:38.242] Odometry x=0.029332, y=-0.002784, theta=-0.398077
[11:49:38.252] Odometry x=0.029332, y=-0.002784, theta=-0.398392
[11:49:38.253] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000845
[11:49:38.263] Odometry x=0.029332, y=-0.002784, theta=-0.398708
[11:49:38.273] Odometry x=0.029332, y=-0.002784, theta=-0.399029
[11:49:38.283] Odometry x=0.029332, y=-0.002784, theta=-0.399447
[11:49:38.293] Odometry x=0.029333, y=-0.002784, theta=-0.399827
[11:49:38.304] Odometry x=0.029333, y=-0.002784, theta=-0.400148
[11:49:38.314] Odometry x=0.029333, y=-0.002784, theta=-0.400464
[11:49:38.316] Image Alignment failed 0
[11:49:38.324] Odometry x=0.029333, y=-0.002784, theta=-0.400780
[11:49:38.334] Odometry x=0.029333, y=-0.002784, theta=-0.401104
[11:49:38.344] Odometry x=0.029333, y=-0.002784, theta=-0.401420
[11:49:38.355] Odometry x=0.029334, y=-0.002784, theta=-0.401736
[11:49:38.365] Odometry x=0.029334, y=-0.002784, theta=-0.402056
[11:49:38.375] Odometry x=0.029334, y=-0.002784, theta=-0.402370
[11:49:38.378] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.002073
[11:49:38.385] Odometry x=0.029334, y=-0.002784, theta=-0.402683
[11:49:38.396] Odometry x=0.029334, y=-0.002784, theta=-0.403002
[11:49:38.406] Odometry x=0.029334, y=-0.002784, theta=-0.403314
[11:49:38.411] Image Alignment failed 0
[11:49:38.416] Odometry x=0.029335, y=-0.002784, theta=-0.403625
[11:49:38.426] Odometry x=0.029335, y=-0.002784, theta=-0.403940
[11:49:38.436] Odometry x=0.029335, y=-0.002784, theta=-0.404249
[11:49:38.446] Odometry x=0.029335, y=-0.002785, theta=-0.404564
[11:49:38.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000944
[11:49:38.457] Odometry x=0.029335, y=-0.002785, theta=-0.404878
[11:49:38.467] Odometry x=0.029335, y=-0.002785, theta=-0.405189
[11:49:38.477] Odometry x=0.029335, y=-0.002785, theta=-0.405507
[11:49:38.488] Odometry x=0.029336, y=-0.002785, theta=-0.405817
[11:49:38.498] Odometry x=0.029336, y=-0.002785, theta=-0.406234
[11:49:38.508] Odometry x=0.029336, y=-0.002785, theta=-0.406519
[11:49:38.518] Image Alignment failed 0
[11:49:38.519] Odometry x=0.029336, y=-0.002785, theta=-0.406865
[11:49:38.529] Odometry x=0.029337, y=-0.002785, theta=-0.407235
[11:49:38.539] Odometry x=0.029337, y=-0.002785, theta=-0.407551
[11:49:38.549] Odometry x=0.029337, y=-0.002785, theta=-0.407867
[11:49:38.559] Odometry x=0.029337, y=-0.002785, theta=-0.408182
[11:49:38.569] Odometry x=0.029337, y=-0.002785, theta=-0.408496
[11:49:38.576] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001955
[11:49:38.580] Odometry x=0.029337, y=-0.002785, theta=-0.408820
[11:49:38.590] Odometry x=0.029338, y=-0.002785, theta=-0.409144
[11:49:38.601] Odometry x=0.029338, y=-0.002785, theta=-0.409457
[11:49:38.611] Odometry x=0.029338, y=-0.002785, theta=-0.409773
[11:49:38.612] Image Alignment failed 0
[11:49:38.621] Odometry x=0.029338, y=-0.002785, theta=-0.410089
[11:49:38.631] Odometry x=0.029338, y=-0.002785, theta=-0.410405
[11:49:38.641] Odometry x=0.029338, y=-0.002786, theta=-0.410725
[11:49:38.652] Odometry x=0.029338, y=-0.002786, theta=-0.411040
[11:49:38.653] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001277
[11:49:38.662] Odometry x=0.029339, y=-0.002786, theta=-0.411360
[11:49:38.672] Odometry x=0.029339, y=-0.002786, theta=-0.411670
[11:49:38.683] Odometry x=0.029339, y=-0.002786, theta=-0.411987
[11:49:38.693] Odometry x=0.029339, y=-0.002786, theta=-0.412307
[11:49:38.703] Odometry x=0.029339, y=-0.002786, theta=-0.412621
[11:49:38.713] Odometry x=0.029339, y=-0.002786, theta=-0.412943
[11:49:38.724] Odometry x=0.029340, y=-0.002786, theta=-0.413364
[11:49:38.728] Image Alignment failed 0
[11:49:38.734] Odometry x=0.029340, y=-0.002786, theta=-0.413644
[11:49:38.744] Odometry x=0.029340, y=-0.002786, theta=-0.414007
[11:49:38.754] Odometry x=0.029340, y=-0.002786, theta=-0.414384
[11:49:38.764] Odometry x=0.029340, y=-0.002786, theta=-0.414597
[11:49:38.775] Odometry x=0.029341, y=-0.002786, theta=-0.414968
[11:49:38.785] Odometry x=0.029341, y=-0.002786, theta=-0.415363
[11:49:38.790] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.002325
[11:49:38.795] Odometry x=0.029341, y=-0.002786, theta=-0.415692
[11:49:38.805] Odometry x=0.029341, y=-0.002786, theta=-0.416052
[11:49:38.815] Odometry x=0.029342, y=-0.002786, theta=-0.416399
[11:49:38.816] Image Alignment failed 0
[11:49:38.826] Odometry x=0.029342, y=-0.002787, theta=-0.416619
[11:49:38.836] Odometry x=0.029342, y=-0.002787, theta=-0.416877
[11:49:38.846] Odometry x=0.029342, y=-0.002787, theta=-0.417193
[11:49:38.854] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001036
[11:49:38.856] Odometry x=0.029342, y=-0.002787, theta=-0.417510
[11:49:38.866] Odometry x=0.029342, y=-0.002787, theta=-0.417731
[11:49:38.877] Odometry x=0.029342, y=-0.002787, theta=-0.417988
[11:49:38.888] Odometry x=0.029342, y=-0.002787, theta=-0.418307
[11:49:38.898] Odometry x=0.029343, y=-0.002787, theta=-0.418622
[11:49:38.909] Odometry x=0.029343, y=-0.002787, theta=-0.418937
[11:49:38.916] Image Alignment failed 0
[11:49:38.919] Odometry x=0.029343, y=-0.002787, theta=-0.419307
[11:49:38.929] Odometry x=0.029343, y=-0.002787, theta=-0.419673
[11:49:38.939] Odometry x=0.029343, y=-0.002787, theta=-0.419993
[11:49:38.949] Odometry x=0.029343, y=-0.002787, theta=-0.420304
[11:49:38.959] Odometry x=0.029344, y=-0.002787, theta=-0.420757
[11:49:38.970] Odometry x=0.029344, y=-0.002787, theta=-0.421162
[11:49:38.976] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001744
[11:49:38.980] Odometry x=0.029344, y=-0.002787, theta=-0.421473
[11:49:38.990] Odometry x=0.029344, y=-0.002787, theta=-0.421782
[11:49:39.000] Odometry x=0.029344, y=-0.002787, theta=-0.422000
[11:49:39.010] Odometry x=0.029345, y=-0.002787, theta=-0.422259
[11:49:39.011] Image Alignment failed 0
[11:49:39.021] Odometry x=0.029345, y=-0.002787, theta=-0.422580
[11:49:39.031] Odometry x=0.029345, y=-0.002788, theta=-0.422800
[11:49:39.041] Odometry x=0.029345, y=-0.002788, theta=-0.423056
[11:49:39.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001097
[11:49:39.051] Odometry x=0.029345, y=-0.002788, theta=-0.423398
[11:49:39.061] Odometry x=0.029345, y=-0.002788, theta=-0.423752
[11:49:39.072] Odometry x=0.029345, y=-0.002788, theta=-0.423985
[11:49:39.082] Odometry x=0.029346, y=-0.002788, theta=-0.424236
[11:49:39.093] Odometry x=0.029346, y=-0.002788, theta=-0.424549
[11:49:39.103] Odometry x=0.029346, y=-0.002788, theta=-0.425104
[11:49:39.113] Odometry x=0.029347, y=-0.002788, theta=-0.425593
[11:49:39.122] Image Alignment failed 0
[11:49:39.124] Odometry x=0.029347, y=-0.002788, theta=-0.425887
[11:49:39.134] Odometry x=0.029347, y=-0.002788, theta=-0.426182
[11:49:39.144] Odometry x=0.029347, y=-0.002788, theta=-0.426503
[11:49:39.154] Odometry x=0.029347, y=-0.002788, theta=-0.426920
[11:49:39.164] Odometry x=0.029348, y=-0.002788, theta=-0.427304
[11:49:39.174] Odometry x=0.029348, y=-0.002788, theta=-0.427632
[11:49:39.184] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000001,angle between two frames:0.002537
[11:49:39.185] Odometry x=0.029348, y=-0.002788, theta=-0.427951
[11:49:39.195] Odometry x=0.029348, y=-0.002788, theta=-0.428265
[11:49:39.205] Odometry x=0.029348, y=-0.002789, theta=-0.428586
[11:49:39.211] Image Alignment failed 0
[11:49:39.215] Odometry x=0.029348, y=-0.002789, theta=-0.428972
[11:49:39.225] Odometry x=0.029349, y=-0.002789, theta=-0.429324
[11:49:39.235] Odometry x=0.029349, y=-0.002789, theta=-0.429642
[11:49:39.246] Odometry x=0.029349, y=-0.002789, theta=-0.429960
[11:49:39.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000954
[11:49:39.256] Odometry x=0.029349, y=-0.002789, theta=-0.430279
[11:49:39.267] Odometry x=0.029349, y=-0.002789, theta=-0.430597
[11:49:39.277] Odometry x=0.029349, y=-0.002789, theta=-0.430915
[11:49:39.287] Odometry x=0.029350, y=-0.002789, theta=-0.431267
[11:49:39.297] Odometry x=0.029350, y=-0.002789, theta=-0.431608
[11:49:39.308] Odometry x=0.029350, y=-0.002789, theta=-0.431830
[11:49:39.316] Image Alignment failed 0
[11:49:39.318] Odometry x=0.029350, y=-0.002789, theta=-0.432089
[11:49:39.329] Odometry x=0.029350, y=-0.002789, theta=-0.432398
[11:49:39.339] Odometry x=0.029350, y=-0.002789, theta=-0.432708
[11:49:39.349] Odometry x=0.029350, y=-0.002789, theta=-0.432923
[11:49:39.359] Odometry x=0.029351, y=-0.002789, theta=-0.433320
[11:49:39.369] Odometry x=0.029351, y=-0.002789, theta=-0.433626
[11:49:39.379] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001870
[11:49:39.379] Odometry x=0.029351, y=-0.002789, theta=-0.433885
[11:49:39.389] Odometry x=0.029351, y=-0.002789, theta=-0.434203
[11:49:39.400] Odometry x=0.029351, y=-0.002790, theta=-0.434578
[11:49:39.410] Odometry x=0.029351, y=-0.002790, theta=-0.434929
[11:49:39.411] Image Alignment failed 0
[11:49:39.420] Odometry x=0.029352, y=-0.002790, theta=-0.435365
[11:49:39.430] Odometry x=0.029352, y=-0.002790, theta=-0.435673
[11:49:39.440] Odometry x=0.029352, y=-0.002790, theta=-0.435944
[11:49:39.450] Odometry x=0.029352, y=-0.002790, theta=-0.436282
[11:49:39.452] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001303
[11:49:39.461] Odometry x=0.029352, y=-0.002790, theta=-0.436631
[11:49:39.471] Odometry x=0.029353, y=-0.002790, theta=-0.436973
[11:49:39.481] Odometry x=0.029353, y=-0.002790, theta=-0.437293
[11:49:39.491] Odometry x=0.029353, y=-0.002790, theta=-0.437705
[11:49:39.502] Odometry x=0.029353, y=-0.002790, theta=-0.437990
[11:49:39.512] Odometry x=0.029353, y=-0.002790, theta=-0.438351
[11:49:39.513] Image Alignment failed 0
[11:49:39.522] Odometry x=0.029354, y=-0.002790, theta=-0.438748
[11:49:39.532] Odometry x=0.029354, y=-0.002790, theta=-0.439077
[11:49:39.542] Odometry x=0.029354, y=-0.002790, theta=-0.439400
[11:49:39.552] Odometry x=0.029354, y=-0.002791, theta=-0.439722
[11:49:39.562] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.002068
[11:49:39.563] Odometry x=0.029354, y=-0.002791, theta=-0.440039
[11:49:39.573] Odometry x=0.029355, y=-0.002791, theta=-0.440360
[11:49:39.584] Odometry x=0.029355, y=-0.002791, theta=-0.440681
[11:49:39.594] Odometry x=0.029355, y=-0.002791, theta=-0.440994
[11:49:39.604] Odometry x=0.029355, y=-0.002791, theta=-0.441306
[11:49:39.614] Image Alignment failed 0
[11:49:39.614] Odometry x=0.029355, y=-0.002791, theta=-0.441621
[11:49:39.624] Odometry x=0.029355, y=-0.002791, theta=-0.441941
[11:49:39.634] Odometry x=0.029355, y=-0.002791, theta=-0.442253
[11:49:39.645] Odometry x=0.029356, y=-0.002791, theta=-0.442572
[11:49:39.655] Odometry x=0.029356, y=-0.002791, theta=-0.442896
[11:49:39.665] Odometry x=0.029356, y=-0.002791, theta=-0.443217
[11:49:39.667] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001585
[11:49:39.676] Odometry x=0.029356, y=-0.002791, theta=-0.443536
[11:49:39.686] Odometry x=0.029356, y=-0.002791, theta=-0.443860
[11:49:39.697] Odometry x=0.029356, y=-0.002791, theta=-0.444181
[11:49:39.707] Odometry x=0.029357, y=-0.002791, theta=-0.444598
[11:49:39.713] Image Alignment failed 0
[11:49:39.717] Odometry x=0.029357, y=-0.002791, theta=-0.444980
[11:49:39.727] Odometry x=0.029357, y=-0.002791, theta=-0.445292
[11:49:39.737] Odometry x=0.029357, y=-0.002792, theta=-0.445602
[11:49:39.747] Odometry x=0.029357, y=-0.002792, theta=-0.445918
[11:49:39.757] Odometry x=0.029357, y=-0.002792, theta=-0.446250
[11:49:39.764] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001381
[11:49:39.768] Odometry x=0.029358, y=-0.002792, theta=-0.446579
[11:49:39.778] Odometry x=0.029358, y=-0.002792, theta=-0.446913
[11:49:39.789] Odometry x=0.029358, y=-0.002792, theta=-0.447235
[11:49:39.799] Odometry x=0.029358, y=-0.002792, theta=-0.447546
[11:49:39.809] Odometry x=0.029358, y=-0.002792, theta=-0.447858
[11:49:39.813] Image Alignment failed 0
[11:49:39.820] Odometry x=0.029358, y=-0.002792, theta=-0.448163
[11:49:39.830] Odometry x=0.029359, y=-0.002792, theta=-0.448479
[11:49:39.840] Odometry x=0.029359, y=-0.002792, theta=-0.448795
[11:49:39.850] Odometry x=0.029359, y=-0.002792, theta=-0.449107
[11:49:39.860] Odometry x=0.029359, y=-0.002792, theta=-0.449422
[11:49:39.867] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001608
[11:49:39.870] Odometry x=0.029359, y=-0.002792, theta=-0.449740
[11:49:39.881] Odometry x=0.029359, y=-0.002792, theta=-0.450062
[11:49:39.892] Odometry x=0.029360, y=-0.002792, theta=-0.450394
[11:49:39.902] Odometry x=0.029360, y=-0.002792, theta=-0.450714
[11:49:39.912] Odometry x=0.029360, y=-0.002792, theta=-0.451115
[11:49:39.912] Image Alignment failed 0
[11:49:39.922] Odometry x=0.029360, y=-0.002793, theta=-0.451485
[11:49:39.932] Odometry x=0.029360, y=-0.002793, theta=-0.451702
[11:49:39.942] Odometry x=0.029360, y=-0.002793, theta=-0.452053
[11:49:39.952] Odometry x=0.029361, y=-0.002793, theta=-0.452424
[11:49:39.963] Odometry x=0.029361, y=-0.002793, theta=-0.452738
[11:49:39.963] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001693
[11:49:39.973] Odometry x=0.029361, y=-0.002793, theta=-0.453052
[11:49:39.984] Odometry x=0.029361, y=-0.002793, theta=-0.453371
[11:49:39.994] Odometry x=0.029361, y=-0.002793, theta=-0.453689
[11:49:40.005] Odometry x=0.029361, y=-0.002793, theta=-0.454010
[11:49:40.014] Image Alignment failed 0
[11:49:40.015] Odometry x=0.029362, y=-0.002793, theta=-0.454234
[11:49:40.025] Odometry x=0.029362, y=-0.002793, theta=-0.454584
[11:49:40.035] Odometry x=0.029362, y=-0.002793, theta=-0.454958
[11:49:40.045] Odometry x=0.029362, y=-0.002793, theta=-0.455269
[11:49:40.055] Odometry x=0.029362, y=-0.002793, theta=-0.455585
[11:49:40.065] Odometry x=0.029362, y=-0.002793, theta=-0.455897
[11:49:40.070] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001273
[11:49:40.076] Odometry x=0.029363, y=-0.002793, theta=-0.456216
[11:49:40.086] Odometry x=0.029363, y=-0.002793, theta=-0.456533
[11:49:40.097] Odometry x=0.029363, y=-0.002794, theta=-0.456850
[11:49:40.107] Odometry x=0.029363, y=-0.002794, theta=-0.457276
[11:49:40.112] Image Alignment failed 0
[11:49:40.118] Odometry x=0.029363, y=-0.002794, theta=-0.457657
[11:49:40.128] Odometry x=0.029364, y=-0.002794, theta=-0.457972
[11:49:40.138] Odometry x=0.029364, y=-0.002794, theta=-0.458284
[11:49:40.148] Odometry x=0.029364, y=-0.002794, theta=-0.458603
[11:49:40.158] Odometry x=0.029364, y=-0.002794, theta=-0.458921
[11:49:40.161] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001379
[11:49:40.169] Odometry x=0.029364, y=-0.002794, theta=-0.459242
[11:49:40.180] Odometry x=0.029364, y=-0.002794, theta=-0.459568
[11:49:40.190] Odometry x=0.029364, y=-0.002794, theta=-0.459881
[11:49:40.201] Odometry x=0.029365, y=-0.002794, theta=-0.460201
[11:49:40.211] Odometry x=0.029365, y=-0.002794, theta=-0.460521
[11:49:40.213] Image Alignment failed 0
[11:49:40.221] Odometry x=0.029365, y=-0.002794, theta=-0.460835
[11:49:40.231] Odometry x=0.029365, y=-0.002794, theta=-0.461144
[11:49:40.241] Odometry x=0.029365, y=-0.002794, theta=-0.461454
[11:49:40.251] Odometry x=0.029365, y=-0.002794, theta=-0.461768
[11:49:40.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001600
[11:49:40.262] Odometry x=0.029366, y=-0.002795, theta=-0.462180
[11:49:40.272] Odometry x=0.029366, y=-0.002795, theta=-0.462457
[11:49:40.282] Odometry x=0.029366, y=-0.002795, theta=-0.462805
[11:49:40.293] Odometry x=0.029366, y=-0.002795, theta=-0.463174
[11:49:40.303] Odometry x=0.029366, y=-0.002795, theta=-0.463392
[11:49:40.313] Odometry x=0.029366, y=-0.002795, theta=-0.463551
[11:49:40.317] Image Alignment failed 0
[11:49:40.323] Odometry x=0.029367, y=-0.002795, theta=-0.463909
[11:49:40.334] Odometry x=0.029367, y=-0.002795, theta=-0.464293
[11:49:40.344] Odometry x=0.029367, y=-0.002795, theta=-0.464712
[11:49:40.354] Odometry x=0.029367, y=-0.002795, theta=-0.465084
[11:49:40.364] Odometry x=0.029367, y=-0.002795, theta=-0.465298
[11:49:40.374] Odometry x=0.029368, y=-0.002795, theta=-0.465551
[11:49:40.379] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001783
[11:49:40.385] Odometry x=0.029368, y=-0.002795, theta=-0.465880
[11:49:40.395] Odometry x=0.029368, y=-0.002795, theta=-0.466214
[11:49:40.405] Odometry x=0.029368, y=-0.002795, theta=-0.466641
[11:49:40.411] Image Alignment failed 0
[11:49:40.415] Odometry x=0.029368, y=-0.002795, theta=-0.467031
[11:49:40.425] Odometry x=0.029369, y=-0.002796, theta=-0.467362
[11:49:40.435] Odometry x=0.029369, y=-0.002796, theta=-0.467586
[11:49:40.446] Odometry x=0.029369, y=-0.002796, theta=-0.467846
[11:49:40.456] Odometry x=0.029369, y=-0.002796, theta=-0.468173
[11:49:40.456] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001090
[11:49:40.466] Odometry x=0.029369, y=-0.002796, theta=-0.468495
[11:49:40.476] Odometry x=0.029369, y=-0.002796, theta=-0.468807
[11:49:40.486] Odometry x=0.029369, y=-0.002796, theta=-0.469138
[11:49:40.497] Odometry x=0.029370, y=-0.002796, theta=-0.469476
[11:49:40.508] Odometry x=0.029370, y=-0.002796, theta=-0.469798
[11:49:40.512] Image Alignment failed 0
[11:49:40.518] Odometry x=0.029370, y=-0.002796, theta=-0.470128
[11:49:40.528] Odometry x=0.029370, y=-0.002796, theta=-0.470448
[11:49:40.538] Odometry x=0.029370, y=-0.002796, theta=-0.470859
[11:49:40.549] Odometry x=0.029371, y=-0.002796, theta=-0.471137
[11:49:40.559] Odometry x=0.029371, y=-0.002796, theta=-0.471394
[11:49:40.569] Odometry x=0.029371, y=-0.002796, theta=-0.471708
[11:49:40.571] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001625
[11:49:40.580] Odometry x=0.029371, y=-0.002796, theta=-0.472021
[11:49:40.590] Odometry x=0.029371, y=-0.002796, theta=-0.472450
[11:49:40.600] Odometry x=0.029371, y=-0.002797, theta=-0.472745
[11:49:40.610] Odometry x=0.029371, y=-0.002797, theta=-0.473001
[11:49:40.612] Image Alignment failed 0
[11:49:40.620] Odometry x=0.029372, y=-0.002797, theta=-0.473436
[11:49:40.631] Odometry x=0.029372, y=-0.002797, theta=-0.473738
[11:49:40.641] Odometry x=0.029372, y=-0.002797, theta=-0.474003
[11:49:40.651] Odometry x=0.029372, y=-0.002797, theta=-0.474317
[11:49:40.654] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001293
[11:49:40.662] Odometry x=0.029372, y=-0.002797, theta=-0.474629
[11:49:40.672] Odometry x=0.029373, y=-0.002797, theta=-0.474941
[11:49:40.682] Odometry x=0.029373, y=-0.002797, theta=-0.475355
[11:49:40.692] Odometry x=0.029373, y=-0.002797, theta=-0.475726
[11:49:40.702] Odometry x=0.029373, y=-0.002797, theta=-0.475933
[11:49:40.713] Odometry x=0.029373, y=-0.002797, theta=-0.476299
[11:49:40.716] Image Alignment failed 0
[11:49:40.723] Odometry x=0.029374, y=-0.002797, theta=-0.476691
[11:49:40.733] Odometry x=0.029374, y=-0.002797, theta=-0.477008
[11:49:40.743] Odometry x=0.029374, y=-0.002797, theta=-0.477318
[11:49:40.753] Odometry x=0.029374, y=-0.002798, theta=-0.477640
[11:49:40.763] Odometry x=0.029374, y=-0.002798, theta=-0.477958
[11:49:40.774] Odometry x=0.029374, y=-0.002798, theta=-0.478272
[11:49:40.778] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001982
[11:49:40.784] Odometry x=0.029374, y=-0.002798, theta=-0.478588
[11:49:40.795] Odometry x=0.029375, y=-0.002798, theta=-0.478902
[11:49:40.805] Odometry x=0.029375, y=-0.002798, theta=-0.479216
[11:49:40.812] Image Alignment failed 0
[11:49:40.815] Odometry x=0.029375, y=-0.002798, theta=-0.479530
[11:49:40.825] Odometry x=0.029375, y=-0.002798, theta=-0.479842
[11:49:40.836] Odometry x=0.029375, y=-0.002798, theta=-0.480165
[11:49:40.846] Odometry x=0.029375, y=-0.002798, theta=-0.480482
[11:49:40.854] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000944
[11:49:40.856] Odometry x=0.029375, y=-0.002798, theta=-0.480801
[11:49:40.866] Odometry x=0.029376, y=-0.002798, theta=-0.481115
[11:49:40.877] Odometry x=0.029376, y=-0.002798, theta=-0.481428
[11:49:40.887] Odometry x=0.029376, y=-0.002798, theta=-0.481844
[11:49:40.897] Odometry x=0.029376, y=-0.002798, theta=-0.482121
[11:49:40.907] Odometry x=0.029376, y=-0.002798, theta=-0.482478
[11:49:40.914] Image Alignment failed 0
[11:49:40.918] Odometry x=0.029377, y=-0.002798, theta=-0.482857
[11:49:40.928] Odometry x=0.029377, y=-0.002799, theta=-0.483171
[11:49:40.938] Odometry x=0.029377, y=-0.002799, theta=-0.483488
[11:49:40.948] Odometry x=0.029377, y=-0.002799, theta=-0.483813
[11:49:40.956] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001997
[11:49:40.958] Odometry x=0.029377, y=-0.002799, theta=-0.484139
[11:49:40.968] Odometry x=0.029377, y=-0.002799, theta=-0.484457
[11:49:40.979] Odometry x=0.029378, y=-0.002799, theta=-0.484780
[11:49:40.989] Odometry x=0.029378, y=-0.002799, theta=-0.485105
[11:49:41.000] Odometry x=0.029378, y=-0.002799, theta=-0.485418
[11:49:41.010] Odometry x=0.029378, y=-0.002799, theta=-0.485726
[11:49:41.012] Image Alignment failed 0
[11:49:41.020] Odometry x=0.029378, y=-0.002799, theta=-0.486034
[11:49:41.030] Odometry x=0.029378, y=-0.002799, theta=-0.486339
[11:49:41.040] Odometry x=0.029378, y=-0.002799, theta=-0.486650
[11:49:41.050] Odometry x=0.029379, y=-0.002799, theta=-0.486966
[11:49:41.054] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001913
[11:49:41.061] Odometry x=0.029379, y=-0.002799, theta=-0.487281
[11:49:41.072] Odometry x=0.029379, y=-0.002799, theta=-0.487594
[11:49:41.082] Odometry x=0.029379, y=-0.002799, theta=-0.488011
[11:49:41.092] Odometry x=0.029379, y=-0.002800, theta=-0.488381
[11:49:41.102] Odometry x=0.029379, y=-0.002800, theta=-0.488688
[11:49:41.112] Odometry x=0.029380, y=-0.002800, theta=-0.488997
[11:49:41.114] Image Alignment failed 0
[11:49:41.122] Odometry x=0.029380, y=-0.002800, theta=-0.489311
[11:49:41.132] Odometry x=0.029380, y=-0.002800, theta=-0.489632
[11:49:41.143] Odometry x=0.029380, y=-0.002800, theta=-0.489947
[11:49:41.153] Odometry x=0.029380, y=-0.002800, theta=-0.490158
[11:49:41.153] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.002031
[11:49:41.163] Odometry x=0.029380, y=-0.002800, theta=-0.490407
[11:49:41.173] Odometry x=0.029381, y=-0.002800, theta=-0.490811
[11:49:41.184] Odometry x=0.029381, y=-0.002800, theta=-0.491187
[11:49:41.194] Odometry x=0.029381, y=-0.002800, theta=-0.491504
[11:49:41.204] Odometry x=0.029381, y=-0.002800, theta=-0.491719
[11:49:41.214] Odometry x=0.029381, y=-0.002800, theta=-0.491874
[11:49:41.225] Odometry x=0.029381, y=-0.002800, theta=-0.492033
[11:49:41.235] Odometry x=0.029381, y=-0.002800, theta=-0.492189
[11:49:41.245] Odometry x=0.029381, y=-0.002800, theta=-0.492346
[11:49:41.256] Odometry x=0.029381, y=-0.002800, theta=-0.492504
[11:49:41.267] Odometry x=0.029381, y=-0.002800, theta=-0.492661
[11:49:41.277] Odometry x=0.029381, y=-0.002800, theta=-0.492819
[11:49:41.288] Odometry x=0.029381, y=-0.002800, theta=-0.492975
