[19:49:17.657] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.668] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.678] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.688] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.698] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.708] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.718] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.728] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.739] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.749] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.759] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.769] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.779] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.789] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.799] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.809] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.819] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.830] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.840] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.850] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.860] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.870] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.880] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.890] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.900] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.910] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[19:49:17.921] Odometry x=0.000000, y=-0.000000, theta=0.000000
[19:49:17.931] Odometry x=0.000000, y=-0.000000, theta=0.000331
[19:49:17.941] Odometry x=0.000000, y=-0.000000, theta=0.000551
[19:49:17.951] Odometry x=0.000000, y=-0.000000, theta=0.000908
[19:49:17.961] Odometry x=0.000000, y=-0.000000, theta=0.001286
[19:49:17.971] Odometry x=0.000000, y=-0.000000, theta=0.001601
[19:49:17.981] Odometry x=0.000000, y=-0.000000, theta=0.001931
[19:49:17.991] Odometry x=0.000000, y=-0.000000, theta=0.002252
[19:49:18.002] Odometry x=0.000000, y=-0.000000, theta=0.002556
[19:49:18.012] Odometry x=0.000000, y=-0.000000, theta=0.002761
[19:49:18.022] Odometry x=0.000000, y=-0.000000, theta=0.003010
[19:49:18.032] Odometry x=0.000000, y=-0.000000, theta=0.003321
[19:49:18.042] Odometry x=0.000000, y=-0.000000, theta=0.003638
[19:49:18.052] Odometry x=0.000000, y=-0.000000, theta=0.003959
[19:49:18.062] Odometry x=0.000000, y=-0.000000, theta=0.004278
[19:49:18.072] Odometry x=0.000000, y=-0.000000, theta=0.004593
[19:49:18.083] Odometry x=0.000000, y=-0.000000, theta=0.004911
[19:49:18.093] Odometry x=0.000000, y=-0.000000, theta=0.005336
[19:49:18.103] Odometry x=0.000000, y=-0.000000, theta=0.005722
[19:49:18.113] Odometry x=0.000000, y=-0.000000, theta=0.006035
[19:49:18.123] Odometry x=0.000000, y=-0.000000, theta=0.006348
[19:49:18.133] Odometry x=0.000000, y=-0.000000, theta=0.006664
[19:49:18.143] Odometry x=0.000000, y=-0.000000, theta=0.006979
[19:49:18.153] Odometry x=0.000001, y=-0.000000, theta=0.007295
[19:49:18.164] Odometry x=0.000001, y=-0.000000, theta=0.007613
[19:49:18.174] Odometry x=0.000001, y=-0.000000, theta=0.007934
[19:49:18.184] Odometry x=0.000001, y=-0.000000, theta=0.008254
[19:49:18.194] Odometry x=0.000001, y=-0.000000, theta=0.008570
[19:49:18.204] Odometry x=0.000001, y=-0.000000, theta=0.008885
[19:49:18.214] Odometry x=0.000001, y=-0.000000, theta=0.009201
[19:49:18.224] Odometry x=0.000001, y=-0.000000, theta=0.009523
[19:49:18.234] Odometry x=0.000001, y=-0.000000, theta=0.009838
[19:49:18.244] Odometry x=0.000001, y=-0.000000, theta=0.010147
[19:49:18.254] Odometry x=0.000001, y=-0.000000, theta=0.010463
[19:49:18.265] Odometry x=0.000001, y=-0.000000, theta=0.010787
[19:49:18.275] Odometry x=0.000001, y=-0.000000, theta=0.011104
[19:49:18.285] Odometry x=0.000001, y=-0.000000, theta=0.011523
[19:49:18.295] Odometry x=0.000001, y=-0.000000, theta=0.011807
[19:49:18.305] Odometry x=0.000001, y=-0.000000, theta=0.012162
[19:49:18.306] Init: frame zero: 0.000000, 0.000000 0.000000
[19:49:18.307] Init: Selected first frame. 
[19:49:18.315] Odometry x=0.000001, y=-0.000000, theta=0.012540
[19:49:18.325] Odometry x=0.000001, y=-0.000000, theta=0.012866
[19:49:18.335] Odometry x=0.000001, y=-0.000000, theta=0.013187
[19:49:18.346] Odometry x=0.000001, y=-0.000000, theta=0.013501
[19:49:18.356] Odometry x=0.000001, y=-0.000000, theta=0.013717
[19:49:18.366] Odometry x=0.000001, y=-0.000000, theta=0.014069
[19:49:18.376] Odometry x=0.000001, y=-0.000000, theta=0.014445
[19:49:18.386] Odometry x=0.000001, y=-0.000000, theta=0.014759
[19:49:18.396] Odometry x=0.000001, y=-0.000000, theta=0.015070
[19:49:18.406] Odometry x=0.000001, y=-0.000000, theta=0.015386
[19:49:18.410] Init: px average disparity is:0.108204 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:18.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:18.417] Odometry x=0.000001, y=-0.000000, theta=0.015701
[19:49:18.427] Odometry x=0.000001, y=-0.000000, theta=0.016015
[19:49:18.437] Odometry x=0.000001, y=-0.000000, theta=0.016333
[19:49:18.447] Odometry x=0.000001, y=-0.000000, theta=0.016651
[19:49:18.457] Odometry x=0.000001, y=-0.000000, theta=0.016973
[19:49:18.467] Odometry x=0.000001, y=-0.000000, theta=0.017295
[19:49:18.477] Odometry x=0.000001, y=-0.000000, theta=0.017614
[19:49:18.487] Odometry x=0.000001, y=-0.000000, theta=0.017830
[19:49:18.498] Odometry x=0.000001, y=-0.000000, theta=0.018179
[19:49:18.508] Init: px average disparity is:0.153455 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:18.508] Odometry x=0.000001, y=-0.000000, theta=0.018559
[19:49:18.508] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:18.518] Odometry x=0.000001, y=-0.000000, theta=0.018879
[19:49:18.528] Odometry x=0.000001, y=-0.000000, theta=0.019200
[19:49:18.538] Odometry x=0.000001, y=-0.000000, theta=0.019524
[19:49:18.548] Odometry x=0.000001, y=-0.000000, theta=0.019846
[19:49:18.558] Odometry x=0.000001, y=-0.000000, theta=0.020162
[19:49:18.569] Odometry x=0.000001, y=-0.000000, theta=0.020482
[19:49:18.579] Odometry x=0.000001, y=-0.000000, theta=0.020804
[19:49:18.589] Odometry x=0.000001, y=-0.000000, theta=0.021122
[19:49:18.599] Odometry x=0.000001, y=-0.000000, theta=0.021438
[19:49:18.608] Init: px average disparity is:0.128833 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:18.608] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:18.609] Odometry x=0.000002, y=-0.000000, theta=0.021758
[19:49:18.619] Odometry x=0.000002, y=-0.000000, theta=0.022075
[19:49:18.629] Odometry x=0.000002, y=-0.000000, theta=0.022398
[19:49:18.639] Odometry x=0.000002, y=-0.000000, theta=0.022719
[19:49:18.650] Odometry x=0.000002, y=-0.000000, theta=0.023033
[19:49:18.660] Odometry x=0.000002, y=-0.000000, theta=0.023344
[19:49:18.670] Odometry x=0.000002, y=-0.000000, theta=0.023657
[19:49:18.680] Odometry x=0.000002, y=-0.000000, theta=0.023972
[19:49:18.690] Odometry x=0.000002, y=-0.000000, theta=0.024287
[19:49:18.700] Odometry x=0.000002, y=-0.000000, theta=0.024604
[19:49:18.707] Init: px average disparity is:0.179782 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:18.707] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:18.710] Odometry x=0.000002, y=-0.000000, theta=0.024818
[19:49:18.720] Odometry x=0.000002, y=-0.000000, theta=0.024974
[19:49:18.731] Odometry x=0.000002, y=-0.000000, theta=0.025524
[19:49:18.741] Odometry x=0.000002, y=-0.000000, theta=0.026028
[19:49:18.751] Odometry x=0.000002, y=-0.000000, theta=0.026343
[19:49:18.761] Odometry x=0.000002, y=-0.000000, theta=0.026654
[19:49:18.771] Odometry x=0.000002, y=-0.000000, theta=0.026973
[19:49:18.781] Odometry x=0.000002, y=-0.000000, theta=0.027288
[19:49:18.791] Odometry x=0.000002, y=-0.000000, theta=0.027504
[19:49:18.801] Odometry x=0.000002, y=-0.000000, theta=0.027860
[19:49:18.808] Init: px average disparity is:0.245411 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:18.808] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:18.812] Odometry x=0.000002, y=-0.000000, theta=0.028244
[19:49:18.822] Odometry x=0.000002, y=-0.000000, theta=0.028568
[19:49:18.832] Odometry x=0.000002, y=-0.000000, theta=0.028890
[19:49:18.842] Odometry x=0.000002, y=-0.000000, theta=0.029209
[19:49:18.852] Odometry x=0.000002, y=-0.000000, theta=0.029524
[19:49:18.862] Odometry x=0.000002, y=-0.000000, theta=0.029845
[19:49:18.872] Odometry x=0.000002, y=-0.000000, theta=0.030165
[19:49:18.882] Odometry x=0.000002, y=-0.000000, theta=0.030496
[19:49:18.893] Odometry x=0.000002, y=-0.000000, theta=0.030814
[19:49:18.903] Odometry x=0.000002, y=-0.000000, theta=0.031129
[19:49:18.910] Init: px average disparity is:0.201078 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:18.910] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:18.913] Odometry x=0.000002, y=-0.000000, theta=0.031444
[19:49:18.923] Odometry x=0.000002, y=-0.000000, theta=0.031756
[19:49:18.933] Odometry x=0.000002, y=-0.000000, theta=0.032071
[19:49:18.943] Odometry x=0.000002, y=-0.000000, theta=0.032396
[19:49:18.953] Odometry x=0.000002, y=-0.000000, theta=0.032724
[19:49:18.963] Odometry x=0.000002, y=-0.000000, theta=0.033041
[19:49:18.974] Odometry x=0.000002, y=-0.000000, theta=0.033355
[19:49:18.984] Odometry x=0.000002, y=-0.000000, theta=0.033673
[19:49:18.994] Odometry x=0.000002, y=-0.000000, theta=0.033992
[19:49:19.004] Odometry x=0.000002, y=-0.000000, theta=0.034311
[19:49:19.010] Init: px average disparity is:0.204896 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:19.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:19.014] Odometry x=0.000002, y=-0.000000, theta=0.034626
[19:49:19.024] Odometry x=0.000002, y=-0.000000, theta=0.034836
[19:49:19.034] Odometry x=0.000003, y=-0.000000, theta=0.035092
[19:49:19.045] Odometry x=0.000003, y=-0.000000, theta=0.035411
[19:49:19.055] Odometry x=0.000003, y=-0.000000, theta=0.035723
[19:49:19.065] Odometry x=0.000003, y=-0.000000, theta=0.036037
[19:49:19.075] Odometry x=0.000003, y=-0.000000, theta=0.036353
[19:49:19.085] Odometry x=0.000003, y=-0.000000, theta=0.036672
[19:49:19.095] Odometry x=0.000003, y=-0.000000, theta=0.036899
[19:49:19.105] Odometry x=0.000003, y=-0.000000, theta=0.037256
[19:49:19.111] Init: px average disparity is:0.182795 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:19.111] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:19.115] Odometry x=0.000003, y=-0.000000, theta=0.037736
[19:49:19.126] Odometry x=0.000003, y=-0.000000, theta=0.038012
[19:49:19.136] Odometry x=0.000003, y=-0.000000, theta=0.038375
[19:49:19.146] Odometry x=0.000003, y=-0.000000, theta=0.038759
[19:49:19.156] Odometry x=0.000003, y=-0.000000, theta=0.039074
[19:49:19.166] Odometry x=0.000003, y=-0.000000, theta=0.039411
[19:49:19.176] Odometry x=0.000003, y=-0.000000, theta=0.039749
[19:49:19.186] Odometry x=0.000003, y=-0.000000, theta=0.040077
[19:49:19.196] Odometry x=0.000003, y=-0.000000, theta=0.040490
[19:49:19.207] Odometry x=0.000003, y=-0.000000, theta=0.040778
[19:49:19.210] Init: px average disparity is:0.197887 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:19.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:19.217] Odometry x=0.000003, y=-0.000000, theta=0.041128
[19:49:19.227] Odometry x=0.000003, y=-0.000000, theta=0.041498
[19:49:19.237] Odometry x=0.000003, y=-0.000000, theta=0.041819
[19:49:19.247] Odometry x=0.000003, y=-0.000000, theta=0.042049
[19:49:19.257] Odometry x=0.000003, y=-0.000000, theta=0.042401
[19:49:19.267] Odometry x=0.000003, y=-0.000000, theta=0.042773
[19:49:19.277] Odometry x=0.000003, y=-0.000000, theta=0.043097
[19:49:19.288] Odometry x=0.000003, y=-0.000000, theta=0.043411
[19:49:19.298] Odometry x=0.000003, y=-0.000000, theta=0.043717
[19:49:19.308] Odometry x=0.000003, y=-0.000000, theta=0.043930
[19:49:19.308] Init: px average disparity is:0.165841 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:19.308] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:19.318] Odometry x=0.000003, y=-0.000000, theta=0.044089
[19:49:19.328] Odometry x=0.000003, y=-0.000000, theta=0.044247
[19:49:19.338] Odometry x=0.000003, y=-0.000000, theta=0.044402
[19:49:19.348] Odometry x=0.000003, y=-0.000000, theta=0.044559
[19:49:19.358] Odometry x=0.000003, y=-0.000000, theta=0.044721
[19:49:19.369] Odometry x=0.000003, y=-0.000000, theta=0.044895
[19:49:19.379] Odometry x=0.000003, y=-0.000000, theta=0.045075
[19:49:19.389] Odometry x=0.000003, y=-0.000000, theta=0.045241
[19:49:19.455] Odometry x=0.000003, y=-0.000000, theta=0.045398
[19:49:19.465] Odometry x=0.000005, y=-0.000001, theta=0.047649
[19:49:19.475] Init: px average disparity is:0.223653 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:19.475] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:19.476] Odometry x=0.000006, y=-0.000001, theta=0.049100
[19:49:19.486] Odometry x=0.000006, y=-0.000001, theta=0.049450
[19:49:19.496] Odometry x=0.000006, y=-0.000001, theta=0.049731
[19:49:19.506] Odometry x=0.000006, y=-0.000001, theta=0.050086
[19:49:19.516] Odometry x=0.000006, y=-0.000001, theta=0.050462
[19:49:19.520] Init: px average disparity is:0.169985 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:19.520] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:19.527] Odometry x=0.000006, y=-0.000001, theta=0.050777
[19:49:19.538] Odometry x=0.000006, y=-0.000001, theta=0.051181
[19:49:19.548] Odometry x=0.000007, y=-0.000001, theta=0.051554
[19:49:19.558] Odometry x=0.000007, y=-0.000001, theta=0.051773
[19:49:19.568] Odometry x=0.000007, y=-0.000001, theta=0.052128
[19:49:19.578] Odometry x=0.000007, y=-0.000001, theta=0.052510
[19:49:19.589] Odometry x=0.000007, y=-0.000001, theta=0.052736
[19:49:19.599] Odometry x=0.000007, y=-0.000001, theta=0.053089
[19:49:19.609] Init: px average disparity is:0.180118 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:19.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:19.609] Odometry x=0.000007, y=-0.000001, theta=0.053468
[19:49:19.619] Odometry x=0.000007, y=-0.000001, theta=0.053798
[19:49:19.629] Odometry x=0.000007, y=-0.000001, theta=0.054122
[19:49:19.639] Odometry x=0.000007, y=-0.000001, theta=0.054445
[19:49:19.649] Odometry x=0.000007, y=-0.000001, theta=0.054764
[19:49:19.659] Odometry x=0.000007, y=-0.000001, theta=0.055076
[19:49:19.669] Odometry x=0.000007, y=-0.000001, theta=0.055398
[19:49:19.680] Odometry x=0.000007, y=-0.000001, theta=0.055723
[19:49:19.690] Odometry x=0.000007, y=-0.000001, theta=0.055945
[19:49:19.700] Odometry x=0.000007, y=-0.000001, theta=0.056300
[19:49:19.709] Init: px average disparity is:0.212863 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:19.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:19.710] Odometry x=0.000007, y=-0.000001, theta=0.056579
[19:49:19.720] Odometry x=0.000007, y=-0.000001, theta=0.056736
[19:49:19.730] Odometry x=0.000007, y=-0.000001, theta=0.056997
[19:49:19.740] Odometry x=0.000007, y=-0.000001, theta=0.057527
[19:49:19.751] Odometry x=0.000007, y=-0.000001, theta=0.057971
[19:49:19.761] Odometry x=0.000007, y=-0.000001, theta=0.058281
[19:49:19.771] Odometry x=0.000007, y=-0.000001, theta=0.058596
[19:49:19.781] Odometry x=0.000007, y=-0.000001, theta=0.058912
[19:49:19.791] Odometry x=0.000007, y=-0.000001, theta=0.059231
[19:49:19.801] Odometry x=0.000007, y=-0.000001, theta=0.059554
[19:49:19.809] Init: px average disparity is:0.211963 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:19.809] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:19.811] Odometry x=0.000007, y=-0.000001, theta=0.059871
[19:49:19.822] Odometry x=0.000007, y=-0.000001, theta=0.060195
[19:49:19.832] Odometry x=0.000007, y=-0.000001, theta=0.060513
[19:49:19.842] Odometry x=0.000007, y=-0.000001, theta=0.060837
[19:49:19.852] Odometry x=0.000007, y=-0.000001, theta=0.061162
[19:49:19.862] Odometry x=0.000007, y=-0.000001, theta=0.061486
[19:49:19.872] Odometry x=0.000007, y=-0.000001, theta=0.061804
[19:49:19.882] Odometry x=0.000007, y=-0.000001, theta=0.062126
[19:49:19.893] Odometry x=0.000007, y=-0.000001, theta=0.062354
[19:49:19.903] Odometry x=0.000007, y=-0.000001, theta=0.062713
[19:49:19.914] Init: px average disparity is:0.198043 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:19.914] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:19.923] Odometry x=0.000007, y=-0.000001, theta=0.063199
[19:49:19.933] Odometry x=0.000007, y=-0.000001, theta=0.063682
[19:49:19.943] Odometry x=0.000007, y=-0.000001, theta=0.064069
[19:49:19.953] Odometry x=0.000007, y=-0.000001, theta=0.064387
[19:49:19.964] Odometry x=0.000007, y=-0.000001, theta=0.064704
[19:49:19.974] Odometry x=0.000007, y=-0.000001, theta=0.065020
[19:49:19.984] Odometry x=0.000008, y=-0.000001, theta=0.065274
[19:49:19.994] Odometry x=0.000008, y=-0.000001, theta=0.066369
[19:49:20.004] Odometry x=0.000008, y=-0.000000, theta=0.069222
[19:49:20.014] Odometry x=0.000008, y=0.000001, theta=0.073487
[19:49:20.017] Init: px average disparity is:5.901980 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:20.017] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:20.035] Odometry x=0.000532, y=-0.000004, theta=0.008903
[19:49:20.045] Odometry x=0.000536, y=-0.000005, theta=0.013298
[19:49:20.055] Odometry x=0.000537, y=-0.000005, theta=0.014010
[19:49:20.065] Odometry x=0.000541, y=-0.000004, theta=0.012347
[19:49:20.075] Odometry x=0.000543, y=-0.000002, theta=0.010425
[19:49:20.085] Odometry x=0.000544, y=-0.000001, theta=0.009202
[19:49:20.095] Odometry x=0.000544, y=-0.000000, theta=0.008126
[19:49:20.106] Odometry x=0.000544, y=0.000000, theta=0.007373
[19:49:20.114] Init: px average disparity is:4.365959 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:20.114] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:20.116] Odometry x=0.000544, y=0.000001, theta=0.006195
[19:49:20.136] Odometry x=0.000945, y=-0.000002, theta=0.005717
[19:49:20.146] Odometry x=0.000945, y=-0.000002, theta=0.005161
[19:49:20.156] Odometry x=0.000945, y=-0.000002, theta=0.004802
[19:49:20.166] Odometry x=0.000946, y=-0.000006, theta=0.004005
[19:49:20.177] Odometry x=0.000946, y=-0.000009, theta=0.003375
[19:49:20.187] Odometry x=0.000946, y=-0.000013, theta=0.002826
[19:49:20.197] Odometry x=0.000946, y=-0.000017, theta=0.002379
[19:49:20.207] Odometry x=0.000946, y=-0.000020, theta=0.002232
[19:49:20.215] Init: px average disparity is:8.301640 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:20.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:20.228] Odometry x=0.001255, y=-0.000021, theta=0.002310
[19:49:20.238] Odometry x=0.001255, y=-0.000022, theta=0.002461
[19:49:20.248] Odometry x=0.001255, y=-0.000022, theta=0.002685
[19:49:20.258] Odometry x=0.001255, y=-0.000023, theta=0.002975
[19:49:20.268] Odometry x=0.001255, y=-0.000023, theta=0.003275
[19:49:20.279] Odometry x=0.001255, y=-0.000024, theta=0.003488
[19:49:20.289] Odometry x=0.001255, y=-0.000024, theta=0.003589
[19:49:20.299] Odometry x=0.001255, y=-0.000025, theta=0.003600
[19:49:20.309] Odometry x=0.001255, y=-0.000025, theta=0.003519
[19:49:20.415] Odometry x=0.001255, y=-0.000025, theta=0.003397
[19:49:20.425] Odometry x=0.001272, y=-0.000299, theta=-0.001000
[19:49:20.436] Odometry x=0.001285, y=-0.000468, theta=-0.003478
[19:49:20.446] Odometry x=0.001286, y=-0.000468, theta=-0.002919
[19:49:20.452] Init: px average disparity is:7.211376 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:20.452] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:20.456] Odometry x=0.001287, y=-0.000469, theta=-0.002460
[19:49:20.470] Init: px average disparity is:10.519025 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:20.470] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:20.470] Odometry x=0.001289, y=-0.000469, theta=-0.001769
[19:49:20.481] Odometry x=0.001290, y=-0.000469, theta=-0.000954
[19:49:20.491] Odometry x=0.001290, y=-0.000469, theta=-0.000216
[19:49:20.501] Odometry x=0.001291, y=-0.000469, theta=0.000594
[19:49:20.511] Odometry x=0.001291, y=-0.000469, theta=0.001648
[19:49:20.518] Init: px average disparity is:10.486727 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:20.518] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:20.521] Odometry x=0.001291, y=-0.000469, theta=0.003242
[19:49:20.562] Odometry x=0.001291, y=-0.000470, theta=0.006013
[19:49:20.572] Odometry x=0.001291, y=-0.000471, theta=0.008404
[19:49:20.582] Odometry x=0.001291, y=-0.000471, theta=0.009643
[19:49:20.592] Odometry x=0.001291, y=-0.000471, theta=0.011075
[19:49:20.602] Odometry x=0.001291, y=-0.000471, theta=0.012759
[19:49:20.611] Init: px average disparity is:12.535745 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:20.611] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:20.612] Odometry x=0.001291, y=-0.000471, theta=0.015483
[19:49:20.623] Odometry x=0.001291, y=-0.000471, theta=0.017366
[19:49:20.633] Odometry x=0.001291, y=-0.000471, theta=0.018789
[19:49:20.653] Odometry x=0.001730, y=-0.000480, theta=0.019571
[19:49:20.663] Odometry x=0.001730, y=-0.000480, theta=0.020509
[19:49:20.673] Odometry x=0.001730, y=-0.000480, theta=0.021032
[19:49:20.683] Odometry x=0.001730, y=-0.000480, theta=0.021712
[19:49:20.694] Odometry x=0.001730, y=-0.000480, theta=0.022304
[19:49:20.704] Odometry x=0.001730, y=-0.000481, theta=0.022564
[19:49:20.716] Init: px average disparity is:12.079285 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:20.716] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:20.724] Odometry x=0.001998, y=-0.000487, theta=0.023237
[19:49:20.734] Odometry x=0.001998, y=-0.000488, theta=0.024103
[19:49:20.745] Odometry x=0.001998, y=-0.000488, theta=0.024996
[19:49:20.755] Odometry x=0.001998, y=-0.000488, theta=0.025752
[19:49:20.765] Odometry x=0.001999, y=-0.000488, theta=0.027159
[19:49:20.775] Odometry x=0.001999, y=-0.000488, theta=0.028611
[19:49:20.785] Odometry x=0.001999, y=-0.000488, theta=0.029399
[19:49:20.795] Odometry x=0.001999, y=-0.000488, theta=0.029719
[19:49:20.805] Odometry x=0.001999, y=-0.000489, theta=0.030089
[19:49:20.815] Init: px average disparity is:14.488354 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:20.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:20.826] Odometry x=0.002383, y=-0.000501, theta=0.031165
[19:49:20.836] Odometry x=0.002383, y=-0.000501, theta=0.032395
[19:49:20.846] Odometry x=0.002383, y=-0.000501, theta=0.033230
[19:49:20.856] Odometry x=0.002383, y=-0.000501, theta=0.033764
[19:49:20.866] Odometry x=0.002383, y=-0.000501, theta=0.033262
[19:49:20.877] Odometry x=0.002383, y=-0.000501, theta=0.032425
[19:49:20.887] Odometry x=0.002383, y=-0.000501, theta=0.032241
[19:49:20.897] Odometry x=0.002383, y=-0.000501, theta=0.032891
[19:49:20.907] Odometry x=0.002382, y=-0.000501, theta=0.033880
[19:49:20.914] Init: px average disparity is:14.323202 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:20.914] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:20.928] Odometry x=0.002764, y=-0.000514, theta=0.034728
[19:49:20.938] Odometry x=0.002763, y=-0.000514, theta=0.035537
[19:49:20.948] Odometry x=0.002763, y=-0.000514, theta=0.036083
[19:49:20.958] Odometry x=0.002763, y=-0.000514, theta=0.036626
[19:49:20.968] Odometry x=0.002764, y=-0.000514, theta=0.036941
[19:49:20.978] Odometry x=0.002764, y=-0.000514, theta=0.036804
[19:49:20.989] Odometry x=0.002764, y=-0.000514, theta=0.036568
[19:49:20.999] Odometry x=0.002764, y=-0.000514, theta=0.036307
[19:49:21.009] Odometry x=0.002764, y=-0.000514, theta=0.036269
[19:49:21.009] Init: px average disparity is:14.196931 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:21.009] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:21.029] Odometry x=0.003167, y=-0.000529, theta=0.036917
[19:49:21.039] Odometry x=0.003167, y=-0.000529, theta=0.037775
[19:49:21.049] Odometry x=0.003167, y=-0.000529, theta=0.038649
[19:49:21.060] Odometry x=0.003167, y=-0.000530, theta=0.039561
[19:49:21.070] Odometry x=0.003167, y=-0.000530, theta=0.040350
[19:49:21.080] Odometry x=0.003167, y=-0.000530, theta=0.040903
[19:49:21.090] Odometry x=0.003167, y=-0.000530, theta=0.041178
[19:49:21.100] Odometry x=0.003167, y=-0.000530, theta=0.041478
[19:49:21.110] Odometry x=0.003167, y=-0.000531, theta=0.041858
[19:49:21.115] Init: px average disparity is:15.322768 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:21.115] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:21.131] Odometry x=0.003549, y=-0.000547, theta=0.042397
[19:49:21.141] Odometry x=0.003549, y=-0.000547, theta=0.043016
[19:49:21.151] Odometry x=0.003549, y=-0.000547, theta=0.043362
[19:49:21.161] Odometry x=0.003549, y=-0.000547, theta=0.043304
[19:49:21.171] Odometry x=0.003549, y=-0.000547, theta=0.042807
[19:49:21.182] Odometry x=0.003548, y=-0.000547, theta=0.042129
[19:49:21.192] Odometry x=0.003548, y=-0.000547, theta=0.041492
[19:49:21.202] Odometry x=0.003548, y=-0.000547, theta=0.040969
[19:49:21.212] Odometry x=0.003548, y=-0.000547, theta=0.040870
[19:49:21.216] Init: px average disparity is:13.929755 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:21.216] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:21.232] Odometry x=0.003930, y=-0.000563, theta=0.041101
[19:49:21.243] Odometry x=0.003930, y=-0.000563, theta=0.040488
[19:49:21.253] Odometry x=0.003930, y=-0.000563, theta=0.039130
[19:49:21.263] Odometry x=0.003930, y=-0.000565, theta=0.038175
[19:49:21.273] Odometry x=0.003931, y=-0.000567, theta=0.037709
[19:49:21.284] Odometry x=0.003931, y=-0.000570, theta=0.037279
[19:49:21.294] Odometry x=0.003932, y=-0.000571, theta=0.036906
[19:49:21.304] Odometry x=0.003932, y=-0.000573, theta=0.036579
[19:49:21.314] Odometry x=0.003932, y=-0.000574, theta=0.036150
[19:49:21.318] Init: px average disparity is:10.792432 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:21.319] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:21.335] Odometry x=0.004333, y=-0.000588, theta=0.035250
[19:49:21.345] Odometry x=0.004333, y=-0.000588, theta=0.034415
[19:49:21.356] Odometry x=0.004333, y=-0.000588, theta=0.034101
[19:49:21.366] Odometry x=0.004333, y=-0.000588, theta=0.033552
[19:49:21.377] Odometry x=0.004333, y=-0.000588, theta=0.033104
[19:49:21.387] Odometry x=0.004333, y=-0.000587, theta=0.032836
[19:49:21.397] Odometry x=0.004333, y=-0.000587, theta=0.032480
[19:49:21.408] Odometry x=0.004333, y=-0.000587, theta=0.031962
[19:49:21.418] Odometry x=0.004333, y=-0.000588, theta=0.031215
[19:49:21.419] Init: px average disparity is:9.505890 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:21.419] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:21.438] Odometry x=0.004714, y=-0.000600, theta=0.030472
[19:49:21.448] Odometry x=0.004714, y=-0.000600, theta=0.029838
[19:49:21.459] Odometry x=0.004715, y=-0.000601, theta=0.029483
[19:49:21.469] Odometry x=0.004715, y=-0.000602, theta=0.028987
[19:49:21.479] Odometry x=0.004715, y=-0.000602, theta=0.028623
[19:49:21.489] Odometry x=0.004716, y=-0.000602, theta=0.028595
[19:49:21.499] Odometry x=0.004716, y=-0.000603, theta=0.028743
[19:49:21.510] Odometry x=0.004716, y=-0.000603, theta=0.028617
[19:49:21.516] Init: px average disparity is:10.846139 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:21.516] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:21.530] Odometry x=0.005063, y=-0.000612, theta=0.026591
[19:49:21.540] Odometry x=0.005063, y=-0.000612, theta=0.024179
[19:49:21.550] Odometry x=0.005063, y=-0.000612, theta=0.022364
[19:49:21.561] Odometry x=0.005063, y=-0.000613, theta=0.020682
[19:49:21.571] Odometry x=0.005063, y=-0.000614, theta=0.019242
[19:49:21.581] Odometry x=0.005063, y=-0.000615, theta=0.018354
[19:49:21.591] Odometry x=0.005063, y=-0.000616, theta=0.017881
[19:49:21.601] Odometry x=0.005064, y=-0.000618, theta=0.017488
[19:49:21.609] Init: px average disparity is:9.664427 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:21.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:21.611] Odometry x=0.005064, y=-0.000619, theta=0.017232
[19:49:21.632] Odometry x=0.005461, y=-0.000627, theta=0.018594
[19:49:21.642] Odometry x=0.005461, y=-0.000627, theta=0.020090
[19:49:21.652] Odometry x=0.005462, y=-0.000627, theta=0.021024
[19:49:21.662] Odometry x=0.005462, y=-0.000627, theta=0.021536
[19:49:21.672] Odometry x=0.005462, y=-0.000628, theta=0.021547
[19:49:21.682] Odometry x=0.005462, y=-0.000628, theta=0.021330
[19:49:21.692] Odometry x=0.005462, y=-0.000628, theta=0.021040
[19:49:21.703] Odometry x=0.005462, y=-0.000628, theta=0.020895
[19:49:21.713] Odometry x=0.005462, y=-0.000628, theta=0.020868
[19:49:21.717] Init: px average disparity is:11.288884 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:21.717] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:21.733] Odometry x=0.005831, y=-0.000635, theta=0.020124
[19:49:21.744] Odometry x=0.005831, y=-0.000636, theta=0.019270
[19:49:21.754] Odometry x=0.005831, y=-0.000636, theta=0.018647
[19:49:21.764] Odometry x=0.005831, y=-0.000636, theta=0.018112
[19:49:21.774] Odometry x=0.005831, y=-0.000636, theta=0.016971
[19:49:21.784] Odometry x=0.005831, y=-0.000637, theta=0.015890
[19:49:21.795] Odometry x=0.005831, y=-0.000638, theta=0.014714
[19:49:21.805] Odometry x=0.005831, y=-0.000639, theta=0.013957
[19:49:21.815] Odometry x=0.005831, y=-0.000640, theta=0.013489
[19:49:21.816] Init: px average disparity is:11.630423 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:21.816] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:21.825] Odometry x=0.005831, y=-0.000640, theta=0.013085
[19:49:21.846] Odometry x=0.006257, y=-0.000646, theta=0.011939
[19:49:21.856] Odometry x=0.006257, y=-0.000647, theta=0.010961
[19:49:21.867] Odometry x=0.006257, y=-0.000647, theta=0.010803
[19:49:21.877] Odometry x=0.006257, y=-0.000647, theta=0.011117
[19:49:21.887] Odometry x=0.006257, y=-0.000647, theta=0.011685
[19:49:21.897] Odometry x=0.006258, y=-0.000647, theta=0.011808
[19:49:21.908] Odometry x=0.006258, y=-0.000647, theta=0.011646
[19:49:21.916] Init: px average disparity is:12.996521 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:21.916] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:21.918] Odometry x=0.006258, y=-0.000647, theta=0.011398
[19:49:21.938] Odometry x=0.006599, y=-0.000654, theta=0.011017
[19:49:21.948] Odometry x=0.006599, y=-0.000656, theta=0.010779
[19:49:21.959] Odometry x=0.006599, y=-0.000657, theta=0.010777
[19:49:21.969] Odometry x=0.006599, y=-0.000659, theta=0.010983
[19:49:21.979] Odometry x=0.006599, y=-0.000661, theta=0.011356
[19:49:21.990] Odometry x=0.006599, y=-0.000661, theta=0.011583
[19:49:22.000] Odometry x=0.006599, y=-0.000661, theta=0.012138
[19:49:22.011] Odometry x=0.006599, y=-0.000661, theta=0.012901
[19:49:22.018] Init: px average disparity is:12.083484 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:22.018] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:22.031] Odometry x=0.006987, y=-0.000666, theta=0.013293
[19:49:22.041] Odometry x=0.006987, y=-0.000666, theta=0.013768
[19:49:22.051] Odometry x=0.006987, y=-0.000666, theta=0.014077
[19:49:22.062] Odometry x=0.006987, y=-0.000667, theta=0.014397
[19:49:22.072] Odometry x=0.006987, y=-0.000668, theta=0.014655
[19:49:22.082] Odometry x=0.006987, y=-0.000668, theta=0.014774
[19:49:22.093] Odometry x=0.006987, y=-0.000668, theta=0.014812
[19:49:22.103] Odometry x=0.006988, y=-0.000672, theta=0.014668
[19:49:22.113] Odometry x=0.006988, y=-0.000676, theta=0.014619
[19:49:22.121] Init: px average disparity is:11.669145 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:22.121] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:22.133] Odometry x=0.007390, y=-0.000689, theta=0.014605
[19:49:22.144] Odometry x=0.007391, y=-0.000695, theta=0.014473
[19:49:22.154] Odometry x=0.007391, y=-0.000697, theta=0.014232
[19:49:22.164] Odometry x=0.007391, y=-0.000700, theta=0.014148
[19:49:22.174] Odometry x=0.007391, y=-0.000701, theta=0.014206
[19:49:22.184] Odometry x=0.007391, y=-0.000702, theta=0.014217
[19:49:22.194] Odometry x=0.007391, y=-0.000702, theta=0.014318
[19:49:22.204] Odometry x=0.007391, y=-0.000702, theta=0.014533
[19:49:22.209] Init: px average disparity is:9.431472 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:22.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:22.215] Odometry x=0.007391, y=-0.000702, theta=0.014672
[19:49:22.235] Odometry x=0.007775, y=-0.000708, theta=0.014581
[19:49:22.245] Odometry x=0.007775, y=-0.000708, theta=0.014495
[19:49:22.255] Odometry x=0.007774, y=-0.000708, theta=0.014443
[19:49:22.266] Odometry x=0.007774, y=-0.000708, theta=0.014144
[19:49:22.276] Odometry x=0.007774, y=-0.000708, theta=0.013565
[19:49:22.286] Odometry x=0.007774, y=-0.000708, theta=0.012725
[19:49:22.297] Odometry x=0.007774, y=-0.000708, theta=0.011506
[19:49:22.307] Odometry x=0.007774, y=-0.000708, theta=0.010202
[19:49:22.317] Odometry x=0.007775, y=-0.000709, theta=0.008467
[19:49:22.318] Init: px average disparity is:13.014678 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:22.318] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:22.338] Odometry x=0.008177, y=-0.000713, theta=0.007008
[19:49:22.348] Odometry x=0.008178, y=-0.000715, theta=0.005798
[19:49:22.358] Odometry x=0.008178, y=-0.000715, theta=0.005329
[19:49:22.368] Odometry x=0.008179, y=-0.000715, theta=0.004105
[19:49:22.379] Odometry x=0.008180, y=-0.000716, theta=0.002829
[19:49:22.389] Odometry x=0.008180, y=-0.000717, theta=0.001994
[19:49:22.399] Odometry x=0.008180, y=-0.000717, theta=0.001503
[19:49:22.409] Odometry x=0.008180, y=-0.000719, theta=0.001294
[19:49:22.419] Init: px average disparity is:14.049754 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:22.419] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:22.430] Odometry x=0.008525, y=-0.000724, theta=0.002279
[19:49:22.440] Odometry x=0.008525, y=-0.000728, theta=0.003693
[19:49:22.450] Odometry x=0.008526, y=-0.000730, theta=0.005635
[19:49:22.461] Odometry x=0.008526, y=-0.000731, theta=0.007318
[19:49:22.471] Odometry x=0.008526, y=-0.000732, theta=0.010645
[19:49:22.481] Odometry x=0.008527, y=-0.000733, theta=0.014562
[19:49:22.492] Odometry x=0.008527, y=-0.000733, theta=0.016925
[19:49:22.502] Odometry x=0.008527, y=-0.000733, theta=0.019928
[19:49:22.512] Odometry x=0.008527, y=-0.000733, theta=0.022993
[19:49:22.518] Init: px average disparity is:8.584977 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:22.518] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:22.533] Odometry x=0.008911, y=-0.000743, theta=0.026223
[19:49:22.543] Odometry x=0.008911, y=-0.000743, theta=0.029841
[19:49:22.553] Odometry x=0.008911, y=-0.000743, theta=0.032286
[19:49:22.563] Odometry x=0.008911, y=-0.000743, theta=0.035055
[19:49:22.573] Odometry x=0.008911, y=-0.000743, theta=0.037432
[19:49:22.584] Odometry x=0.008911, y=-0.000743, theta=0.039354
[19:49:22.594] Odometry x=0.008911, y=-0.000743, theta=0.040681
[19:49:22.604] Odometry x=0.008911, y=-0.000743, theta=0.043007
[19:49:22.614] Odometry x=0.008912, y=-0.000743, theta=0.044841
[19:49:22.618] Init: px average disparity is:10.791294 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:22.618] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:22.635] Odometry x=0.009294, y=-0.000766, theta=0.048602
[19:49:22.645] Odometry x=0.009294, y=-0.000770, theta=0.052658
[19:49:22.655] Odometry x=0.009295, y=-0.000771, theta=0.054699
[19:49:22.666] Odometry x=0.009295, y=-0.000772, theta=0.058457
[19:49:22.676] Odometry x=0.009295, y=-0.000772, theta=0.061398
[19:49:22.687] Odometry x=0.009295, y=-0.000772, theta=0.064212
[19:49:22.697] Odometry x=0.009295, y=-0.000772, theta=0.067004
[19:49:22.707] Odometry x=0.009295, y=-0.000772, theta=0.069384
[19:49:22.718] Init: px average disparity is:14.670193 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:22.718] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:22.728] Odometry x=0.009657, y=-0.000798, theta=0.071446
[19:49:22.738] Odometry x=0.009657, y=-0.000798, theta=0.073435
[19:49:22.748] Odometry x=0.009657, y=-0.000798, theta=0.074471
[19:49:22.759] Odometry x=0.009658, y=-0.000798, theta=0.075095
[19:49:22.769] Odometry x=0.009658, y=-0.000799, theta=0.076413
[19:49:22.780] Odometry x=0.009658, y=-0.000800, theta=0.077954
[19:49:22.791] Odometry x=0.009658, y=-0.000801, theta=0.078919
[19:49:22.801] Odometry x=0.009658, y=-0.000801, theta=0.080299
[19:49:22.811] Odometry x=0.009658, y=-0.000802, theta=0.081727
[19:49:22.819] Init: px average disparity is:18.066930 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:22.819] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:22.821] Odometry x=0.004036, y=-0.000803, theta=0.035674
[19:49:22.843] Odometry x=0.004475, y=-0.000820, theta=0.037739
[19:49:22.853] Odometry x=0.004475, y=-0.000821, theta=0.040160
[19:49:22.864] Odometry x=0.004475, y=-0.000822, theta=0.042029
[19:49:22.874] Odometry x=0.004475, y=-0.000823, theta=0.044170
[19:49:22.884] Odometry x=0.004475, y=-0.000824, theta=0.046011
[19:49:22.894] Odometry x=0.004475, y=-0.000824, theta=0.047484
[19:49:22.905] Odometry x=0.004475, y=-0.000824, theta=0.048578
[19:49:22.911] Init: px average disparity is:21.231467 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:22.911] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:22.915] Odometry x=0.004475, y=-0.000824, theta=0.049163
[19:49:22.935] Odometry x=0.004818, y=-0.000841, theta=0.051163
[19:49:22.945] Odometry x=0.004818, y=-0.000841, theta=0.053243
[19:49:22.955] Odometry x=0.004818, y=-0.000841, theta=0.054203
[19:49:22.965] Odometry x=0.004818, y=-0.000841, theta=0.055631
[19:49:22.976] Odometry x=0.004818, y=-0.000841, theta=0.057229
[19:49:22.986] Odometry x=0.004818, y=-0.000841, theta=0.059027
[19:49:22.996] Odometry x=0.004819, y=-0.000841, theta=0.061142
[19:49:23.006] Odometry x=0.004819, y=-0.000842, theta=0.063369
[19:49:23.010] Init: px average disparity is:24.978536 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:23.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:23.016] Odometry x=0.004819, y=-0.000842, theta=0.065409
[19:49:23.037] Odometry x=0.005219, y=-0.000869, theta=0.066026
[19:49:23.047] Odometry x=0.005220, y=-0.000869, theta=0.066576
[19:49:23.057] Odometry x=0.005220, y=-0.000869, theta=0.066761
[19:49:23.067] Odometry x=0.005220, y=-0.000869, theta=0.066753
[19:49:23.077] Odometry x=0.005220, y=-0.000869, theta=0.066499
[19:49:23.087] Odometry x=0.005220, y=-0.000869, theta=0.066068
[19:49:23.098] Odometry x=0.005220, y=-0.000869, theta=0.065361
[19:49:23.108] Odometry x=0.005221, y=-0.000869, theta=0.064422
[19:49:23.109] Init: px average disparity is:23.257608 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:23.109] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:23.118] Odometry x=0.005221, y=-0.000869, theta=0.063619
[19:49:23.138] Odometry x=0.005602, y=-0.000894, theta=0.062953
[19:49:23.148] Odometry x=0.005602, y=-0.000894, theta=0.062394
[19:49:23.159] Odometry x=0.005602, y=-0.000894, theta=0.062247
[19:49:23.169] Odometry x=0.005602, y=-0.000894, theta=0.062015
[19:49:23.179] Odometry x=0.005602, y=-0.000895, theta=0.061594
[19:49:23.189] Odometry x=0.005602, y=-0.000895, theta=0.061229
[19:49:23.200] Odometry x=0.005602, y=-0.000896, theta=0.060676
[19:49:23.210] Odometry x=0.005602, y=-0.000899, theta=0.059263
[19:49:23.213] Init: px average disparity is:21.120360 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:23.213] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:23.220] Odometry x=0.005602, y=-0.000902, theta=0.057757
[19:49:23.240] Odometry x=0.006002, y=-0.000927, theta=0.056784
[19:49:23.250] Odometry x=0.006002, y=-0.000929, theta=0.055868
[19:49:23.261] Odometry x=0.006002, y=-0.000930, theta=0.055390
[19:49:23.271] Odometry x=0.006002, y=-0.000931, theta=0.054927
[19:49:23.281] Odometry x=0.006001, y=-0.000933, theta=0.054449
[19:49:23.291] Odometry x=0.006001, y=-0.000933, theta=0.054095
[19:49:23.302] Odometry x=0.006001, y=-0.000934, theta=0.053402
[19:49:23.312] Odometry x=0.006001, y=-0.000934, theta=0.052706
[19:49:23.314] Init: px average disparity is:18.655327 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:23.314] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:23.333] Odometry x=0.006347, y=-0.000952, theta=0.052513
[19:49:23.343] Odometry x=0.006347, y=-0.000952, theta=0.052248
[19:49:23.354] Odometry x=0.006347, y=-0.000952, theta=0.051886
[19:49:23.364] Odometry x=0.006348, y=-0.000952, theta=0.051028
[19:49:23.374] Odometry x=0.006348, y=-0.000952, theta=0.050186
[19:49:23.384] Odometry x=0.006348, y=-0.000953, theta=0.049270
[19:49:23.395] Odometry x=0.006348, y=-0.000953, theta=0.048480
[19:49:23.405] Odometry x=0.006348, y=-0.000954, theta=0.046818
[19:49:23.416] Odometry x=0.006348, y=-0.000955, theta=0.044991
[19:49:23.420] Init: px average disparity is:14.648745 ,While minimum is: 40.000000  KLT tracked : 123
[19:49:23.420] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:23.436] Odometry x=0.006748, y=-0.000974, theta=0.043432
[19:49:23.447] Odometry x=0.006748, y=-0.000974, theta=0.041646
[19:49:23.458] Odometry x=0.006748, y=-0.000974, theta=0.040753
[19:49:23.468] Odometry x=0.006748, y=-0.000974, theta=0.039366
[19:49:23.478] Odometry x=0.006748, y=-0.000974, theta=0.037785
[19:49:23.489] Odometry x=0.006748, y=-0.000974, theta=0.036470
[19:49:23.499] Odometry x=0.006748, y=-0.000974, theta=0.035493
[19:49:23.510] Odometry x=0.006748, y=-0.000975, theta=0.034781
[19:49:23.520] Init: px average disparity is:11.661556 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:23.520] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:23.530] Odometry x=0.007111, y=-0.000988, theta=0.033642
[19:49:23.540] Odometry x=0.007111, y=-0.000989, theta=0.032341
[19:49:23.550] Odometry x=0.007111, y=-0.000990, theta=0.031330
[19:49:23.561] Odometry x=0.007111, y=-0.000991, theta=0.029940
[19:49:23.571] Odometry x=0.007111, y=-0.000992, theta=0.028780
[19:49:23.581] Odometry x=0.007111, y=-0.000994, theta=0.026853
[19:49:23.592] Odometry x=0.007111, y=-0.000995, theta=0.025415
[19:49:23.602] Odometry x=0.007111, y=-0.000995, theta=0.024945
[19:49:23.612] Odometry x=0.007111, y=-0.000995, theta=0.024851
[19:49:23.619] Init: px average disparity is:8.892359 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:23.619] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:23.633] Odometry x=0.007492, y=-0.001004, theta=0.023942
[19:49:23.644] Odometry x=0.007492, y=-0.001004, theta=0.022948
[19:49:23.654] Odometry x=0.007493, y=-0.001004, theta=0.022485
[19:49:23.664] Odometry x=0.007494, y=-0.001005, theta=0.022681
[19:49:23.674] Odometry x=0.007496, y=-0.001005, theta=0.023357
[19:49:23.684] Odometry x=0.007496, y=-0.001005, theta=0.024106
[19:49:23.695] Odometry x=0.007497, y=-0.001005, theta=0.024561
[19:49:23.705] Odometry x=0.007497, y=-0.001005, theta=0.024393
[19:49:23.715] Odometry x=0.007497, y=-0.001005, theta=0.023907
[19:49:23.719] Init: px average disparity is:7.320399 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:23.719] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:23.736] Odometry x=0.007897, y=-0.001015, theta=0.022997
[19:49:23.746] Odometry x=0.007897, y=-0.001016, theta=0.022209
[19:49:23.757] Odometry x=0.007897, y=-0.001016, theta=0.021988
[19:49:23.767] Odometry x=0.007896, y=-0.001018, theta=0.021381
[19:49:23.777] Odometry x=0.007895, y=-0.001019, theta=0.020503
[19:49:23.787] Odometry x=0.007895, y=-0.001019, theta=0.019426
[19:49:23.798] Odometry x=0.007895, y=-0.001020, theta=0.018258
[19:49:23.808] Odometry x=0.007894, y=-0.001020, theta=0.017204
[19:49:23.820] Init: px average disparity is:7.247621 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:23.820] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:23.828] Odometry x=0.008240, y=-0.001027, theta=0.016236
[19:49:23.839] Odometry x=0.008240, y=-0.001027, theta=0.014984
[19:49:23.849] Odometry x=0.008240, y=-0.001027, theta=0.014020
[19:49:23.859] Odometry x=0.008241, y=-0.001028, theta=0.013356
[19:49:23.870] Odometry x=0.008241, y=-0.001028, theta=0.013153
[19:49:23.880] Odometry x=0.008242, y=-0.001028, theta=0.013145
[19:49:23.890] Odometry x=0.008242, y=-0.001028, theta=0.013157
[19:49:23.900] Odometry x=0.008242, y=-0.001028, theta=0.012916
[19:49:23.910] Odometry x=0.008243, y=-0.001028, theta=0.012222
[19:49:23.920] Init: px average disparity is:6.660519 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:23.920] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:23.931] Odometry x=0.008645, y=-0.001032, theta=0.011456
[19:49:23.941] Odometry x=0.008645, y=-0.001032, theta=0.010793
[19:49:23.951] Odometry x=0.008645, y=-0.001032, theta=0.010481
[19:49:23.962] Odometry x=0.008645, y=-0.001032, theta=0.010031
[19:49:23.972] Odometry x=0.008645, y=-0.001032, theta=0.009240
[19:49:23.983] Odometry x=0.008645, y=-0.001032, theta=0.007879
[19:49:23.993] Odometry x=0.008645, y=-0.001032, theta=0.006184
[19:49:24.003] Odometry x=0.008645, y=-0.001032, theta=0.004692
[19:49:24.013] Odometry x=0.008645, y=-0.001033, theta=0.003783
[19:49:24.020] Init: px average disparity is:10.791706 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:24.020] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:24.034] Odometry x=0.009007, y=-0.001036, theta=0.002186
[19:49:24.045] Odometry x=0.009007, y=-0.001038, theta=0.000702
[19:49:24.055] Odometry x=0.009007, y=-0.001039, theta=-0.000137
[19:49:24.065] Odometry x=0.009007, y=-0.001039, theta=-0.000770
[19:49:24.076] Odometry x=0.009007, y=-0.001039, theta=-0.002292
[19:49:24.086] Odometry x=0.009007, y=-0.001039, theta=-0.004007
[19:49:24.096] Odometry x=0.009007, y=-0.001040, theta=-0.004961
[19:49:24.107] Odometry x=0.009007, y=-0.001040, theta=-0.005808
[19:49:24.117] Odometry x=0.009007, y=-0.001040, theta=-0.006598
[19:49:24.120] Init: px average disparity is:12.581096 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:24.120] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:24.137] Odometry x=0.009390, y=-0.001038, theta=-0.006215
[19:49:24.148] Odometry x=0.009390, y=-0.001038, theta=-0.005430
[19:49:24.158] Odometry x=0.009390, y=-0.001038, theta=-0.003980
[19:49:24.169] Odometry x=0.009391, y=-0.001038, theta=-0.002867
[19:49:24.179] Odometry x=0.009392, y=-0.001038, theta=-0.002144
[19:49:24.189] Odometry x=0.009392, y=-0.001038, theta=-0.001394
[19:49:24.199] Odometry x=0.009393, y=-0.001038, theta=-0.000180
[19:49:24.210] Odometry x=0.009393, y=-0.001038, theta=0.001288
[19:49:24.220] Odometry x=0.009393, y=-0.001038, theta=0.002371
[19:49:24.221] Init: px average disparity is:9.372538 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:24.221] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:24.240] Odometry x=0.009757, y=-0.001039, theta=0.004543
[19:49:24.250] Odometry x=0.009757, y=-0.001039, theta=0.006802
[19:49:24.261] Odometry x=0.009757, y=-0.001040, theta=0.008673
[19:49:24.271] Odometry x=0.009757, y=-0.001040, theta=0.010874
[19:49:24.281] Odometry x=0.009757, y=-0.001040, theta=0.012283
[19:49:24.291] Odometry x=0.009757, y=-0.001040, theta=0.013576
[19:49:24.301] Odometry x=0.009757, y=-0.001040, theta=0.015457
[19:49:24.312] Odometry x=0.009757, y=-0.001041, theta=0.016782
[19:49:24.314] Init: px average disparity is:9.380127 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:24.314] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:24.332] Odometry x=0.010140, y=-0.001048, theta=0.018533
[19:49:24.343] Odometry x=0.010140, y=-0.001049, theta=0.020451
[19:49:24.353] Odometry x=0.010140, y=-0.001049, theta=0.021751
[19:49:24.364] Odometry x=0.010140, y=-0.001049, theta=0.023035
[19:49:24.374] Odometry x=0.010140, y=-0.001050, theta=0.024421
[19:49:24.385] Odometry x=0.010140, y=-0.001051, theta=0.025673
[19:49:24.395] Odometry x=0.010140, y=-0.001052, theta=0.026703
[19:49:24.405] Odometry x=0.010140, y=-0.001052, theta=0.027883
[19:49:24.416] Odometry x=0.010140, y=-0.001052, theta=0.029346
[19:49:24.420] Init: px average disparity is:5.200411 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:24.420] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:24.436] Odometry x=0.010565, y=-0.001065, theta=0.030864
[19:49:24.446] Odometry x=0.010565, y=-0.001065, theta=0.032548
[19:49:24.457] Odometry x=0.010565, y=-0.001065, theta=0.033438
[19:49:24.467] Odometry x=0.010565, y=-0.001065, theta=0.035054
[19:49:24.477] Odometry x=0.010565, y=-0.001065, theta=0.037391
[19:49:24.488] Odometry x=0.010565, y=-0.001065, theta=0.039186
[19:49:24.498] Odometry x=0.010565, y=-0.001065, theta=0.041918
[19:49:24.508] Odometry x=0.010566, y=-0.001065, theta=0.044621
[19:49:24.519] Odometry x=0.010566, y=-0.001066, theta=0.047226
[19:49:24.520] Init: px average disparity is:10.980266 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:24.520] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:24.539] Odometry x=0.010947, y=-0.001085, theta=0.049212
[19:49:24.549] Odometry x=0.010947, y=-0.001086, theta=0.052187
[19:49:24.560] Odometry x=0.010947, y=-0.001086, theta=0.053869
[19:49:24.570] Odometry x=0.010947, y=-0.001086, theta=0.055428
[19:49:24.580] Odometry x=0.010947, y=-0.001086, theta=0.057276
[19:49:24.590] Odometry x=0.010947, y=-0.001086, theta=0.059106
[19:49:24.601] Odometry x=0.010947, y=-0.001086, theta=0.060426
[19:49:24.611] Odometry x=0.010947, y=-0.001086, theta=0.062142
[19:49:24.620] Init: px average disparity is:14.657422 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:24.620] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:24.631] Odometry x=0.011276, y=-0.001107, theta=0.063801
[19:49:24.642] Odometry x=0.011276, y=-0.001107, theta=0.065167
[19:49:24.652] Odometry x=0.011276, y=-0.001108, theta=0.065672
[19:49:24.662] Odometry x=0.011276, y=-0.001109, theta=0.066037
[19:49:24.673] Odometry x=0.011277, y=-0.001110, theta=0.066320
[19:49:24.683] Odometry x=0.011277, y=-0.001110, theta=0.066736
[19:49:24.693] Odometry x=0.011277, y=-0.001111, theta=0.067369
[19:49:24.703] Odometry x=0.011277, y=-0.001111, theta=0.067810
[19:49:24.714] Odometry x=0.011277, y=-0.001111, theta=0.068148
[19:49:24.720] Init: px average disparity is:14.304824 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:24.720] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:24.734] Odometry x=0.011700, y=-0.001140, theta=0.068380
[19:49:24.744] Odometry x=0.011700, y=-0.001140, theta=0.068453
[19:49:24.754] Odometry x=0.011700, y=-0.001140, theta=0.068322
[19:49:24.764] Odometry x=0.011700, y=-0.001140, theta=0.068263
[19:49:24.775] Odometry x=0.011699, y=-0.001140, theta=0.068363
[19:49:24.785] Odometry x=0.011699, y=-0.001140, theta=0.068583
[19:49:24.795] Odometry x=0.011699, y=-0.001140, theta=0.068637
[19:49:24.805] Odometry x=0.011699, y=-0.001140, theta=0.068435
[19:49:24.810] Init: px average disparity is:13.975221 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:24.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:24.816] Odometry x=0.011699, y=-0.001140, theta=0.068015
[19:49:24.836] Odometry x=0.012089, y=-0.001166, theta=0.067928
[19:49:24.846] Odometry x=0.012089, y=-0.001166, theta=0.067915
[19:49:24.857] Odometry x=0.012089, y=-0.001166, theta=0.068102
[19:49:24.867] Odometry x=0.012089, y=-0.001166, theta=0.068497
[19:49:24.877] Odometry x=0.012089, y=-0.001166, theta=0.068545
[19:49:24.888] Odometry x=0.012089, y=-0.001166, theta=0.068269
[19:49:24.898] Odometry x=0.012089, y=-0.001167, theta=0.066951
[19:49:24.909] Odometry x=0.012089, y=-0.001167, theta=0.065593
[19:49:24.919] Odometry x=0.012090, y=-0.001167, theta=0.064969
[19:49:24.921] Init: px average disparity is:12.305507 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:24.921] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:24.940] Odometry x=0.012491, y=-0.001193, theta=0.065552
[19:49:24.950] Odometry x=0.012493, y=-0.001194, theta=0.066215
[19:49:24.961] Odometry x=0.012493, y=-0.001194, theta=0.066664
[19:49:24.971] Odometry x=0.012493, y=-0.001194, theta=0.067042
[19:49:24.982] Odometry x=0.012493, y=-0.001195, theta=0.067266
[19:49:24.992] Odometry x=0.012493, y=-0.001195, theta=0.067508
[19:49:25.002] Odometry x=0.012493, y=-0.001195, theta=0.067743
[19:49:25.012] Odometry x=0.012493, y=-0.001195, theta=0.068760
[19:49:25.021] Init: px average disparity is:13.362083 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:25.021] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:25.033] Odometry x=0.012855, y=-0.001220, theta=0.069953
[19:49:25.043] Odometry x=0.012855, y=-0.001220, theta=0.071234
[19:49:25.053] Odometry x=0.012855, y=-0.001220, theta=0.071957
[19:49:25.063] Odometry x=0.012855, y=-0.001220, theta=0.072273
[19:49:25.074] Odometry x=0.012855, y=-0.001220, theta=0.072381
[19:49:25.084] Odometry x=0.012855, y=-0.001220, theta=0.072722
[19:49:25.095] Odometry x=0.012855, y=-0.001220, theta=0.073117
[19:49:25.105] Odometry x=0.012855, y=-0.001220, theta=0.073388
[19:49:25.115] Odometry x=0.012855, y=-0.001220, theta=0.073539
[19:49:25.120] Init: px average disparity is:13.078202 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:25.120] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:25.135] Odometry x=0.001226, y=-0.001223, theta=0.004181
[19:49:25.146] Odometry x=0.001226, y=-0.001223, theta=0.004051
[19:49:25.156] Odometry x=0.001226, y=-0.001223, theta=0.004027
[19:49:25.167] Odometry x=0.001226, y=-0.001223, theta=0.004390
[19:49:25.177] Odometry x=0.001226, y=-0.001223, theta=0.004813
[19:49:25.188] Odometry x=0.001226, y=-0.001223, theta=0.005230
[19:49:25.198] Odometry x=0.001226, y=-0.001223, theta=0.005816
[19:49:25.208] Odometry x=0.001226, y=-0.001223, theta=0.006236
[19:49:25.218] Odometry x=0.001226, y=-0.001224, theta=0.006740
[19:49:25.220] Init: px average disparity is:14.230499 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:25.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:25.239] Odometry x=0.001627, y=-0.001226, theta=0.007684
[19:49:25.249] Odometry x=0.001627, y=-0.001226, theta=0.008787
[19:49:25.259] Odometry x=0.001627, y=-0.001227, theta=0.009723
[19:49:25.270] Odometry x=0.001627, y=-0.001227, theta=0.011083
[19:49:25.280] Odometry x=0.001627, y=-0.001227, theta=0.012462
[19:49:25.290] Odometry x=0.001627, y=-0.001227, theta=0.013631
[19:49:25.301] Odometry x=0.001627, y=-0.001227, theta=0.014687
[19:49:25.311] Odometry x=0.001627, y=-0.001227, theta=0.015755
[19:49:25.320] Init: px average disparity is:17.348758 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:25.320] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:25.331] Odometry x=0.001971, y=-0.001232, theta=0.017350
[19:49:25.342] Odometry x=0.001971, y=-0.001232, theta=0.019138
[19:49:25.352] Odometry x=0.001971, y=-0.001232, theta=0.020188
[19:49:25.362] Odometry x=0.001971, y=-0.001232, theta=0.021222
[19:49:25.372] Odometry x=0.001971, y=-0.001232, theta=0.022314
[19:49:25.383] Odometry x=0.001971, y=-0.001232, theta=0.023054
[19:49:25.393] Odometry x=0.001971, y=-0.001233, theta=0.023726
[19:49:25.403] Odometry x=0.001971, y=-0.001233, theta=0.024378
[19:49:25.413] Odometry x=0.001971, y=-0.001234, theta=0.025044
[19:49:25.420] Init: px average disparity is:19.363829 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:25.420] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:25.434] Odometry x=0.002373, y=-0.001245, theta=0.025851
[19:49:25.444] Odometry x=0.002373, y=-0.001246, theta=0.026812
[19:49:25.454] Odometry x=0.002373, y=-0.001246, theta=0.027492
[19:49:25.465] Odometry x=0.002374, y=-0.001246, theta=0.028397
[19:49:25.475] Odometry x=0.002374, y=-0.001246, theta=0.029588
[19:49:25.486] Odometry x=0.002374, y=-0.001246, theta=0.030800
[19:49:25.496] Odometry x=0.002373, y=-0.001246, theta=0.031805
[19:49:25.507] Odometry x=0.002373, y=-0.001246, theta=0.032899
[19:49:25.517] Odometry x=0.002373, y=-0.001246, theta=0.033774
[19:49:25.520] Init: px average disparity is:21.729682 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:25.520] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:25.537] Odometry x=0.002774, y=-0.001260, theta=0.034828
[19:49:25.547] Odometry x=0.002774, y=-0.001260, theta=0.035741
[19:49:25.558] Odometry x=0.002774, y=-0.001260, theta=0.036152
[19:49:25.568] Odometry x=0.002774, y=-0.001260, theta=0.036546
[19:49:25.578] Odometry x=0.002774, y=-0.001260, theta=0.037116
[19:49:25.589] Odometry x=0.002774, y=-0.001260, theta=0.037664
[19:49:25.599] Odometry x=0.002774, y=-0.001260, theta=0.038642
[19:49:25.609] Odometry x=0.002774, y=-0.001260, theta=0.039763
[19:49:25.620] Init: px average disparity is:23.185113 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:25.620] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:25.630] Odometry x=0.003117, y=-0.001274, theta=0.040448
[19:49:25.640] Odometry x=0.003117, y=-0.001274, theta=0.041127
[19:49:25.651] Odometry x=0.003117, y=-0.001274, theta=0.041594
[19:49:25.661] Odometry x=0.003117, y=-0.001274, theta=0.042084
[19:49:25.672] Odometry x=0.003117, y=-0.001274, theta=0.042347
[19:49:25.682] Odometry x=0.003117, y=-0.001274, theta=0.042686
[19:49:25.692] Odometry x=0.003117, y=-0.001274, theta=0.042952
[19:49:25.702] Odometry x=0.003117, y=-0.001274, theta=0.043278
[19:49:25.713] Odometry x=0.003117, y=-0.001274, theta=0.043686
[19:49:25.720] Init: px average disparity is:23.586160 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:25.720] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:25.733] Odometry x=0.003518, y=-0.001293, theta=0.043671
[19:49:25.744] Odometry x=0.003519, y=-0.001294, theta=0.043559
[19:49:25.754] Odometry x=0.003519, y=-0.001294, theta=0.043690
[19:49:25.765] Odometry x=0.003519, y=-0.001294, theta=0.044161
[19:49:25.775] Odometry x=0.003519, y=-0.001294, theta=0.044736
[19:49:25.785] Odometry x=0.003519, y=-0.001294, theta=0.045284
[19:49:25.795] Odometry x=0.003519, y=-0.001294, theta=0.045781
[19:49:25.805] Odometry x=0.003519, y=-0.001294, theta=0.046382
[19:49:25.811] Init: px average disparity is:24.474420 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:25.811] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:25.815] Odometry x=0.003518, y=-0.001294, theta=0.046778
[19:49:25.836] Odometry x=0.003880, y=-0.001311, theta=0.046665
[19:49:25.846] Odometry x=0.003879, y=-0.001311, theta=0.046751
[19:49:25.856] Odometry x=0.003879, y=-0.001311, theta=0.047091
[19:49:25.866] Odometry x=0.003879, y=-0.001311, theta=0.047336
[19:49:25.877] Odometry x=0.003879, y=-0.001312, theta=0.047330
[19:49:25.887] Odometry x=0.003879, y=-0.001312, theta=0.047263
[19:49:25.897] Odometry x=0.003879, y=-0.001312, theta=0.047269
[19:49:25.908] Odometry x=0.003879, y=-0.001312, theta=0.047318
[19:49:25.918] Odometry x=0.003879, y=-0.001312, theta=0.046968
[19:49:25.920] Init: px average disparity is:22.415303 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:25.920] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:25.928] Odometry x=0.003880, y=-0.001312, theta=0.046270
[19:49:25.949] Odometry x=0.004337, y=-0.001333, theta=0.044368
[19:49:25.959] Odometry x=0.004337, y=-0.001333, theta=0.042319
[19:49:25.969] Odometry x=0.004337, y=-0.001333, theta=0.040852
[19:49:25.979] Odometry x=0.004337, y=-0.001333, theta=0.039426
[19:49:25.990] Odometry x=0.004337, y=-0.001333, theta=0.038006
[19:49:26.000] Odometry x=0.004337, y=-0.001333, theta=0.036635
[19:49:26.010] Odometry x=0.004337, y=-0.001334, theta=0.035361
[19:49:26.020] Init: px average disparity is:17.420614 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:26.020] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:26.031] Odometry x=0.004643, y=-0.001345, theta=0.033369
[19:49:26.041] Odometry x=0.004643, y=-0.001346, theta=0.031295
[19:49:26.051] Odometry x=0.004643, y=-0.001346, theta=0.029948
[19:49:26.062] Odometry x=0.004643, y=-0.001346, theta=0.028499
[19:49:26.072] Odometry x=0.004643, y=-0.001346, theta=0.027626
[19:49:26.082] Odometry x=0.004643, y=-0.001347, theta=0.026707
[19:49:26.093] Odometry x=0.004643, y=-0.001347, theta=0.025657
[19:49:26.103] Odometry x=0.004643, y=-0.001347, theta=0.024641
[19:49:26.113] Odometry x=0.004643, y=-0.001347, theta=0.023697
[19:49:26.120] Init: px average disparity is:13.768144 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:26.120] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:26.133] Odometry x=0.005044, y=-0.001356, theta=0.022188
[19:49:26.144] Odometry x=0.005044, y=-0.001356, theta=0.020548
[19:49:26.154] Odometry x=0.005044, y=-0.001356, theta=0.019370
[19:49:26.165] Odometry x=0.005044, y=-0.001356, theta=0.018211
[19:49:26.175] Odometry x=0.005044, y=-0.001356, theta=0.017059
[19:49:26.185] Odometry x=0.005044, y=-0.001356, theta=0.016211
[19:49:26.196] Odometry x=0.005044, y=-0.001356, theta=0.014562
[19:49:26.206] Odometry x=0.005044, y=-0.001357, theta=0.012742
[19:49:26.216] Odometry x=0.005044, y=-0.001358, theta=0.011113
[19:49:26.220] Init: px average disparity is:10.274899 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:26.221] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:26.237] Odometry x=0.005426, y=-0.001364, theta=0.009007
[19:49:26.247] Odometry x=0.005426, y=-0.001366, theta=0.006981
[19:49:26.257] Odometry x=0.005426, y=-0.001367, theta=0.005993
[19:49:26.268] Odometry x=0.005426, y=-0.001367, theta=0.005027
[19:49:26.278] Odometry x=0.005426, y=-0.001367, theta=0.003833
[19:49:26.289] Odometry x=0.005426, y=-0.001367, theta=0.002892
[19:49:26.299] Odometry x=0.005426, y=-0.001367, theta=0.001248
[19:49:26.309] Odometry x=0.005426, y=-0.001367, theta=-0.000386
[19:49:26.320] Odometry x=0.005426, y=-0.001368, theta=-0.001608
[19:49:26.320] Init: px average disparity is:7.066202 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:26.320] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:26.330] Odometry x=0.005426, y=-0.001368, theta=-0.002410
[19:49:26.351] Odometry x=0.005866, y=-0.001367, theta=-0.001929
[19:49:26.361] Odometry x=0.005866, y=-0.001368, theta=-0.001230
[19:49:26.372] Odometry x=0.005866, y=-0.001368, theta=-0.000558
[19:49:26.382] Odometry x=0.005866, y=-0.001368, theta=0.000039
[19:49:26.393] Odometry x=0.005866, y=-0.001368, theta=0.000595
[19:49:26.403] Odometry x=0.005866, y=-0.001368, theta=0.001115
[19:49:26.413] Odometry x=0.005866, y=-0.001369, theta=0.001669
[19:49:26.421] Init: px average disparity is:8.029571 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:26.421] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:26.433] Odometry x=0.006201, y=-0.001369, theta=0.002583
[19:49:26.444] Odometry x=0.006201, y=-0.001369, theta=0.003493
[19:49:26.454] Odometry x=0.006201, y=-0.001369, theta=0.003574
[19:49:26.465] Odometry x=0.006201, y=-0.001369, theta=0.003497
[19:49:26.475] Odometry x=0.006201, y=-0.001369, theta=0.003592
[19:49:26.486] Odometry x=0.006201, y=-0.001369, theta=0.003847
[19:49:26.496] Odometry x=0.006202, y=-0.001370, theta=0.004027
[19:49:26.507] Odometry x=0.006202, y=-0.001370, theta=0.004107
[19:49:26.517] Odometry x=0.006202, y=-0.001371, theta=0.004413
[19:49:26.521] Init: px average disparity is:8.243265 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:26.521] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:26.538] Odometry x=0.006584, y=-0.001376, theta=0.005178
[19:49:26.548] Odometry x=0.006584, y=-0.001378, theta=0.005782
[19:49:26.558] Odometry x=0.006584, y=-0.001378, theta=0.006403
[19:49:26.568] Odometry x=0.006584, y=-0.001378, theta=0.007167
[19:49:26.579] Odometry x=0.006584, y=-0.001378, theta=0.007963
[19:49:26.589] Odometry x=0.006584, y=-0.001378, theta=0.008519
[19:49:26.599] Odometry x=0.006584, y=-0.001378, theta=0.008930
[19:49:26.610] Odometry x=0.006584, y=-0.001378, theta=0.009246
[19:49:26.620] Odometry x=0.006584, y=-0.001378, theta=0.009474
[19:49:26.620] Init: px average disparity is:7.505807 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:26.620] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:26.640] Odometry x=0.006985, y=-0.001382, theta=0.010124
[19:49:26.650] Odometry x=0.006985, y=-0.001382, theta=0.010872
[19:49:26.661] Odometry x=0.006985, y=-0.001382, theta=0.011417
[19:49:26.671] Odometry x=0.006985, y=-0.001382, theta=0.011997
[19:49:26.681] Odometry x=0.006985, y=-0.001382, theta=0.012531
[19:49:26.692] Odometry x=0.006985, y=-0.001382, theta=0.012972
[19:49:26.702] Odometry x=0.006985, y=-0.001383, theta=0.013355
[19:49:26.712] Odometry x=0.006985, y=-0.001383, theta=0.013867
[19:49:26.720] Init: px average disparity is:8.725233 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:26.720] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:26.733] Odometry x=0.007329, y=-0.001388, theta=0.015163
[19:49:26.743] Odometry x=0.007329, y=-0.001388, theta=0.016944
[19:49:26.753] Odometry x=0.007329, y=-0.001388, theta=0.018189
[19:49:26.764] Odometry x=0.007329, y=-0.001388, theta=0.019338
[19:49:26.774] Odometry x=0.007329, y=-0.001388, theta=0.020588
[19:49:26.784] Odometry x=0.007330, y=-0.001388, theta=0.021774
[19:49:26.794] Odometry x=0.007330, y=-0.001388, theta=0.022563
[19:49:26.805] Odometry x=0.007330, y=-0.001388, theta=0.023715
[19:49:26.815] Odometry x=0.007330, y=-0.001388, theta=0.024953
[19:49:26.819] Init: px average disparity is:12.034185 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:26.819] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:26.835] Odometry x=0.007730, y=-0.001398, theta=0.026254
[19:49:26.845] Odometry x=0.007730, y=-0.001398, theta=0.027878
[19:49:26.855] Odometry x=0.007730, y=-0.001398, theta=0.028736
[19:49:26.866] Odometry x=0.007731, y=-0.001399, theta=0.030040
[19:49:26.876] Odometry x=0.007731, y=-0.001400, theta=0.031370
[19:49:26.886] Odometry x=0.007731, y=-0.001400, theta=0.032571
[19:49:26.897] Odometry x=0.007731, y=-0.001400, theta=0.034193
[19:49:26.907] Odometry x=0.007731, y=-0.001400, theta=0.035914
[19:49:26.913] Init: px average disparity is:15.331267 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:26.913] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:26.917] Odometry x=0.007731, y=-0.001400, theta=0.037601
[19:49:26.938] Odometry x=0.008116, y=-0.001415, theta=0.039342
[19:49:26.948] Odometry x=0.008116, y=-0.001415, theta=0.041186
[19:49:26.959] Odometry x=0.008116, y=-0.001415, theta=0.042322
[19:49:26.969] Odometry x=0.008116, y=-0.001415, theta=0.043271
[19:49:26.979] Odometry x=0.008116, y=-0.001415, theta=0.044131
[19:49:26.989] Odometry x=0.008116, y=-0.001415, theta=0.045176
[19:49:27.000] Odometry x=0.008116, y=-0.001415, theta=0.046329
[19:49:27.010] Odometry x=0.008116, y=-0.001415, theta=0.047529
[19:49:27.020] Init: px average disparity is:19.498918 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:27.020] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:27.030] Odometry x=0.008469, y=-0.001433, theta=0.050054
[19:49:27.041] Odometry x=0.008469, y=-0.001433, theta=0.052367
[19:49:27.051] Odometry x=0.008469, y=-0.001433, theta=0.055331
[19:49:27.061] Odometry x=0.008469, y=-0.001433, theta=0.058389
[19:49:27.072] Odometry x=0.008469, y=-0.001433, theta=0.060626
[19:49:27.082] Odometry x=0.008469, y=-0.001433, theta=0.062529
[19:49:27.093] Odometry x=0.008469, y=-0.001433, theta=0.064541
[19:49:27.103] Odometry x=0.008469, y=-0.001433, theta=0.066411
[19:49:27.113] Odometry x=0.008469, y=-0.001433, theta=0.067621
[19:49:27.120] Init: px average disparity is:24.856590 ,While minimum is: 40.000000  KLT tracked : 122
[19:49:27.120] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:27.134] Odometry x=0.008850, y=-0.001460, theta=0.071363
[19:49:27.144] Odometry x=0.008850, y=-0.001461, theta=0.075157
[19:49:27.155] Odometry x=0.008850, y=-0.001461, theta=0.076832
[19:49:27.165] Odometry x=0.008850, y=-0.001461, theta=0.079781
[19:49:27.176] Odometry x=0.008850, y=-0.001462, theta=0.083163
[19:49:27.186] Odometry x=0.008850, y=-0.001462, theta=0.086206
[19:49:27.196] Odometry x=0.008850, y=-0.001462, theta=0.089540
[19:49:27.206] Odometry x=0.008850, y=-0.001462, theta=0.093381
[19:49:27.217] Odometry x=0.008850, y=-0.001462, theta=0.097747
[19:49:27.220] Init: px average disparity is:33.067627 ,While minimum is: 40.000000  KLT tracked : 119
[19:49:27.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:27.237] Odometry x=0.001024, y=-0.001465, theta=0.009512
[19:49:27.248] Odometry x=0.001024, y=-0.001465, theta=0.014572
[19:49:27.258] Odometry x=0.001024, y=-0.001465, theta=0.017166
[19:49:27.269] Odometry x=0.001024, y=-0.001465, theta=0.019675
[19:49:27.279] Odometry x=0.001024, y=-0.001465, theta=0.023391
[19:49:27.289] Odometry x=0.001024, y=-0.001465, theta=0.026246
[19:49:27.300] Odometry x=0.001025, y=-0.001465, theta=0.028294
[19:49:27.310] Odometry x=0.001025, y=-0.001465, theta=0.030204
[19:49:27.321] Init: px average disparity is:38.324344 ,While minimum is: 40.000000  KLT tracked : 119
[19:49:27.321] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:49:27.330] Odometry x=0.001365, y=-0.001476, theta=0.032413
[19:49:27.340] Odometry x=0.001365, y=-0.001476, theta=0.034884
[19:49:27.350] Odometry x=0.001365, y=-0.001476, theta=0.036506
[19:49:27.361] Odometry x=0.001364, y=-0.001476, theta=0.038208
[19:49:27.371] Odometry x=0.001364, y=-0.001476, theta=0.040221
[19:49:27.381] Odometry x=0.001364, y=-0.001476, theta=0.042986
[19:49:27.391] Odometry x=0.001364, y=-0.001476, theta=0.046291
[19:49:27.402] Odometry x=0.001365, y=-0.001476, theta=0.049711
[19:49:27.412] Odometry x=0.001365, y=-0.001476, theta=0.054030
[19:49:27.432] Odometry x=0.001790, y=-0.001499, theta=0.056081
[19:49:27.442] Odometry x=0.001790, y=-0.001499, theta=0.058359
[19:49:27.452] Odometry x=0.001790, y=-0.001499, theta=0.059988
[19:49:27.462] Odometry x=0.001790, y=-0.001499, theta=0.061123
[19:49:27.472] Odometry x=0.001790, y=-0.001499, theta=0.062572
[19:49:27.473] homography: x=-73.820790 y=0.364119 z=-0.061579 roll=0.000000 pitch=-0.000143 yaw=0.000000 	 ekf: x=0.001790 z=-0.001499 pitch=0.062572
[19:49:27.473] homography after fuse: x=0.001790 y=0.000000 z=-0.001499 pitch=0.062572	 number of outlier: 27
[19:49:27.474] Init finished: Homography RANSAC (inlier) is:90 ,While 30 inliers minimum required.  px average disparity is:45.926117 ,While minimum is: 40.000000  KLT tracked: 117
[19:49:27.474] Init: distance between the first and current frame is x:0.001790 ,z=-0.001499,angle between two frames: 0.062572 
[19:49:27.474] Init: Selected Second frame. 	 The number of features: 90
[19:49:27.482] Odometry x=0.001790, y=-0.001499, theta=0.064480
[19:49:27.492] Odometry x=0.001790, y=-0.001499, theta=0.066231
[19:49:27.503] Odometry x=0.001790, y=-0.001498, theta=0.067547
[19:49:27.513] Odometry x=0.001790, y=-0.001498, theta=0.068654
[19:49:27.533] Odometry x=0.002139, y=-0.001522, theta=0.069601
[19:49:27.543] Odometry x=0.002139, y=-0.001522, theta=0.070702
[19:49:27.553] Odometry x=0.002139, y=-0.001522, theta=0.071561
[19:49:27.563] Odometry x=0.002140, y=-0.001522, theta=0.072021
[19:49:27.574] Odometry x=0.002141, y=-0.001522, theta=0.071901
[19:49:27.584] Odometry x=0.002143, y=-0.001522, theta=0.071281
[19:49:27.594] Odometry x=0.002144, y=-0.001523, theta=0.070671
[19:49:27.604] Odometry x=0.002145, y=-0.001523, theta=0.069304
[19:49:27.614] Odometry x=0.002145, y=-0.001523, theta=0.066959
[19:49:27.634] Odometry x=0.002538, y=-0.001549, theta=0.065363
[19:49:27.645] Odometry x=0.002537, y=-0.001549, theta=0.063874
[19:49:27.652] After Reprojection Map nPoint:49 ,nCell:43 ,nMatches:9 ,distance between two frames x:0.000032 ,z=0.000012,angle between two frames:0.007062
[19:49:27.652] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.481332 	 error end=0.481332
[19:49:27.652] After pose optimization, distance between two frames x:0.000032 ,z=0.000012,angle between two frames:0.007062
[19:49:27.655] Odometry x=0.002537, y=-0.001549, theta=0.063306
[19:49:27.665] Odometry x=0.002537, y=-0.001549, theta=0.062999
[19:49:27.675] Odometry x=0.002537, y=-0.001548, theta=0.062556
[19:49:27.685] Odometry x=0.002538, y=-0.001548, theta=0.061670
[19:49:27.695] Odometry x=0.002538, y=-0.001547, theta=0.060388
[19:49:27.705] Odometry x=0.002539, y=-0.001547, theta=0.058440
[19:49:27.716] Odometry x=0.002540, y=-0.001547, theta=0.055905
[19:49:27.736] Odometry x=0.002941, y=-0.001570, theta=0.053185
[19:49:27.746] Odometry x=0.002941, y=-0.001570, theta=0.050040
[19:49:27.756] Odometry x=0.002941, y=-0.001570, theta=0.047722
[19:49:27.766] Odometry x=0.002941, y=-0.001570, theta=0.045680
[19:49:27.776] Odometry x=0.002941, y=-0.001570, theta=0.043740
[19:49:27.787] Odometry x=0.002941, y=-0.001569, theta=0.041762
[19:49:27.797] Odometry x=0.002941, y=-0.001569, theta=0.039705
[19:49:27.807] Odometry x=0.002941, y=-0.001569, theta=0.037339
[19:49:27.810] After Reprojection Map nPoint:55 ,nCell:38 ,nMatches:8 ,distance between two frames x:0.000296 ,z=0.000060,angle between two frames:0.018495
[19:49:27.811] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.299280 	 error end=0.189254
[19:49:27.811] After pose optimization, distance between two frames x:-0.004128 ,z=0.034908,angle between two frames:0.004371
[19:49:27.811] Update EKF and 3D points, distance between two frames x:-0.003864 ,z=0.032875,angle between two frames:0.002425
[19:49:27.811] Choose frame as a key frame Scene Depth mean:389751122.664186 ,depth min:0.979432
[19:49:27.827] Odometry x=-0.000883, y=0.031296, theta=0.063766
[19:49:27.837] Odometry x=-0.000883, y=0.031296, theta=0.059992
[19:49:27.847] Odometry x=-0.000883, y=0.031296, theta=0.057034
[19:49:27.858] Odometry x=-0.000883, y=0.031296, theta=0.054278
[19:49:27.868] Odometry x=-0.000883, y=0.031296, theta=0.051736
[19:49:27.878] Odometry x=-0.000883, y=0.031296, theta=0.049319
[19:49:27.888] Odometry x=-0.000883, y=0.031296, theta=0.047140
[19:49:27.898] Odometry x=-0.000883, y=0.031296, theta=0.045173
[19:49:27.908] Odometry x=-0.000883, y=0.031296, theta=0.043405
[19:49:27.929] Odometry x=-0.000508, y=0.031280, theta=0.041172
[19:49:27.939] Odometry x=-0.000507, y=0.031280, theta=0.038820
[19:49:27.949] Odometry x=-0.000507, y=0.031280, theta=0.037152
[19:49:27.958] After Reprojection Map nPoint:54 ,nCell:46 ,nMatches:14 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:27.959] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =13 	 error init =0.367278 	 error end=0.343711
[19:49:27.959] After pose optimization, distance between two frames x:0.004015 ,z=0.007356,angle between two frames:0.000000
[19:49:27.959] Update EKF and 3D points, distance between two frames x:0.003829 ,z=0.006925,angle between two frames:0.001797
[19:49:27.959] Choose frame as a key frame Scene Depth mean:480193312.758438 ,depth min:0.986541
[19:49:27.959] Odometry x=0.001353, y=0.035588, theta=0.052448
[19:49:27.969] Odometry x=0.001353, y=0.035588, theta=0.050899
[19:49:27.979] Odometry x=0.001353, y=0.035588, theta=0.049110
[19:49:27.989] Odometry x=0.001353, y=0.035588, theta=0.047636
[19:49:28.000] Odometry x=0.001353, y=0.035588, theta=0.045797
[19:49:28.010] Odometry x=0.001353, y=0.035588, theta=0.042496
[19:49:28.030] Odometry x=0.001749, y=0.035571, theta=0.040166
[19:49:28.040] Odometry x=0.001750, y=0.035571, theta=0.037931
[19:49:28.050] Odometry x=0.001750, y=0.035571, theta=0.036895
[19:49:28.061] Odometry x=0.001750, y=0.035571, theta=0.036328
[19:49:28.071] Odometry x=0.001750, y=0.035571, theta=0.035789
[19:49:28.081] Odometry x=0.001750, y=0.035571, theta=0.035182
[19:49:28.091] Odometry x=0.001750, y=0.035571, theta=0.034567
[19:49:28.101] Odometry x=0.001750, y=0.035571, theta=0.033960
[19:49:28.107] After Reprojection Map nPoint:55 ,nCell:52 ,nMatches:10 ,distance between two frames x:-0.001149 ,z=-0.002663,angle between two frames:0.012054
[19:49:28.107] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.477042 	 error end=0.477042
[19:49:28.107] After pose optimization, distance between two frames x:-0.001149 ,z=-0.002663,angle between two frames:0.012054
[19:49:28.111] Odometry x=0.001750, y=0.035571, theta=0.033323
[19:49:28.131] Odometry x=0.002126, y=0.035558, theta=0.033045
[19:49:28.142] Odometry x=0.002126, y=0.035558, theta=0.032791
[19:49:28.152] Odometry x=0.002126, y=0.035558, theta=0.032755
[19:49:28.162] Odometry x=0.002126, y=0.035558, theta=0.032673
[19:49:28.172] Odometry x=0.002126, y=0.035558, theta=0.032446
[19:49:28.182] Odometry x=0.002126, y=0.035558, theta=0.032040
[19:49:28.193] Odometry x=0.002126, y=0.035558, theta=0.031601
[19:49:28.203] Odometry x=0.002126, y=0.035558, theta=0.031190
[19:49:28.213] Odometry x=0.002127, y=0.035558, theta=0.030750
[19:49:28.233] Odometry x=0.002517, y=0.035546, theta=0.030107
[19:49:28.243] Odometry x=0.002517, y=0.035546, theta=0.029233
[19:49:28.253] Odometry x=0.002517, y=0.035546, theta=0.028484
[19:49:28.261] After Reprojection Map nPoint:62 ,nCell:43 ,nMatches:13 ,distance between two frames x:-0.000002 ,z=0.000090,angle between two frames:0.000708
[19:49:28.262] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.460210 	 error end=0.425307
[19:49:28.262] After pose optimization, distance between two frames x:0.005149 ,z=0.062743,angle between two frames:0.000708
[19:49:28.262] Update EKF and 3D points, distance between two frames x:0.004894 ,z=0.059090,angle between two frames:0.001028
[19:49:28.262] Choose frame as a key frame Scene Depth mean:353527605.926851 ,depth min:-3875487413091.125000
[19:49:28.264] Odometry x=0.005068, y=0.072081, theta=0.030478
[19:49:28.274] Odometry x=0.005068, y=0.072081, theta=0.029823
[19:49:28.284] Odometry x=0.005068, y=0.072081, theta=0.029349
[19:49:28.294] Odometry x=0.005068, y=0.072081, theta=0.028888
[19:49:28.304] Odometry x=0.005068, y=0.072081, theta=0.028389
[19:49:28.314] Odometry x=0.005068, y=0.072080, theta=0.027856
[19:49:28.335] Odometry x=0.005462, y=0.072070, theta=0.026506
[19:49:28.345] Odometry x=0.005462, y=0.072069, theta=0.025103
[19:49:28.355] Odometry x=0.005462, y=0.072069, theta=0.024300
[19:49:28.365] Odometry x=0.005462, y=0.072069, theta=0.023432
[19:49:28.375] Odometry x=0.005462, y=0.072069, theta=0.022229
[19:49:28.385] Odometry x=0.005462, y=0.072069, theta=0.020908
[19:49:28.395] Odometry x=0.005462, y=0.072069, theta=0.019971
[19:49:28.406] Odometry x=0.005462, y=0.072069, theta=0.019486
[19:49:28.412] After Reprojection Map nPoint:79 ,nCell:67 ,nMatches:17 ,distance between two frames x:-0.001576 ,z=-0.022580,angle between two frames:0.002454
[19:49:28.413] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =21 	 error init =0.273780 	 error end=0.273547
[19:49:28.413] After pose optimization, distance between two frames x:-0.001622 ,z=-0.016734,angle between two frames:0.006699
[19:49:28.413] Update EKF and 3D points, distance between two frames x:-0.001597 ,z=-0.017075,angle between two frames:0.007111
[19:49:28.413] Choose frame as a key frame Scene Depth mean:290903567.323499 ,depth min:0.693856
[19:49:28.416] Odometry x=0.005206, y=0.075478, theta=0.022988
[19:49:28.436] Odometry x=0.005595, y=0.075469, theta=0.022916
[19:49:28.446] Odometry x=0.005595, y=0.075469, theta=0.022740
[19:49:28.456] Odometry x=0.005595, y=0.075469, theta=0.022595
[19:49:28.466] Odometry x=0.005595, y=0.075469, theta=0.022574
[19:49:28.477] Odometry x=0.005595, y=0.075469, theta=0.022870
[19:49:28.487] Odometry x=0.005595, y=0.075469, theta=0.023143
[19:49:28.497] Odometry x=0.005596, y=0.075469, theta=0.022613
[19:49:28.507] Odometry x=0.005597, y=0.075469, theta=0.022022
[19:49:28.527] Odometry x=0.005939, y=0.075459, theta=0.020673
[19:49:28.537] Odometry x=0.005946, y=0.075457, theta=0.019531
[19:49:28.547] Odometry x=0.005947, y=0.075456, theta=0.019239
[19:49:28.558] Odometry x=0.005948, y=0.075456, theta=0.019137
[19:49:28.568] Odometry x=0.005948, y=0.075455, theta=0.018813
[19:49:28.571] After Reprojection Map nPoint:77 ,nCell:63 ,nMatches:10 ,distance between two frames x:0.000158 ,z=-0.002107,angle between two frames:0.002833
[19:49:28.571] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =13 	 error init =0.264670 	 error end=0.264670
[19:49:28.571] After pose optimization, distance between two frames x:0.000158 ,z=-0.002107,angle between two frames:0.002833
[19:49:28.571] Update EKF and 3D points, distance between two frames x:0.000202 ,z=-0.002108,angle between two frames:0.003104
[19:49:28.578] Odometry x=0.005516, y=0.075468, theta=0.020961
[19:49:28.588] Odometry x=0.005516, y=0.075468, theta=0.020920
[19:49:28.598] Odometry x=0.005516, y=0.075468, theta=0.021285
[19:49:28.608] Odometry x=0.005515, y=0.075468, theta=0.021950
[19:49:28.629] Odometry x=0.005909, y=0.075460, theta=0.023111
[19:49:28.639] Odometry x=0.005909, y=0.075460, theta=0.024408
[19:49:28.649] Odometry x=0.005909, y=0.075460, theta=0.025403
[19:49:28.659] Odometry x=0.005909, y=0.075460, theta=0.026360
[19:49:28.669] Odometry x=0.005909, y=0.075460, theta=0.026986
[19:49:28.679] Odometry x=0.005909, y=0.075460, theta=0.027168
[19:49:28.690] Odometry x=0.005909, y=0.075460, theta=0.027314
[19:49:28.700] Odometry x=0.005910, y=0.075460, theta=0.027746
[19:49:28.710] Odometry x=0.005912, y=0.075459, theta=0.028005
[19:49:28.730] Odometry x=0.006305, y=0.075448, theta=0.027553
[19:49:28.733] After Reprojection Map nPoint:82 ,nCell:66 ,nMatches:14 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:28.734] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =19 	 error init =0.278627 	 error end=0.278613
[19:49:28.734] After pose optimization, distance between two frames x:0.000011 ,z=0.000006,angle between two frames:0.000000
[19:49:28.734] Update EKF and 3D points, distance between two frames x:0.000072 ,z=0.000004,angle between two frames:0.000239
[19:49:28.740] Odometry x=0.005698, y=0.075468, theta=0.024183
[19:49:28.750] Odometry x=0.005699, y=0.075467, theta=0.023728
[19:49:28.760] Odometry x=0.005701, y=0.075466, theta=0.023357
[19:49:28.771] Odometry x=0.005705, y=0.075465, theta=0.023158
[19:49:28.781] Odometry x=0.005711, y=0.075464, theta=0.023148
[19:49:28.791] Odometry x=0.005715, y=0.075463, theta=0.023454
[19:49:28.801] Odometry x=0.005716, y=0.075463, theta=0.023717
[19:49:28.811] Odometry x=0.005716, y=0.075463, theta=0.023561
[19:49:28.831] Odometry x=0.006113, y=0.075454, theta=0.023677
[19:49:28.841] Odometry x=0.006114, y=0.075454, theta=0.024005
[19:49:28.852] Odometry x=0.006114, y=0.075454, theta=0.024412
[19:49:28.862] Odometry x=0.006114, y=0.075454, theta=0.024958
[19:49:28.872] Odometry x=0.006114, y=0.075454, theta=0.025551
[19:49:28.882] Odometry x=0.006114, y=0.075453, theta=0.026343
[19:49:28.886] After Reprojection Map nPoint:83 ,nCell:72 ,nMatches:14 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:28.886] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =15 	 error init =0.314485 	 error end=0.314485
[19:49:28.886] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:28.886] Update EKF and 3D points, distance between two frames x:0.000046 ,z=-0.000002,angle between two frames:0.000252
[19:49:28.892] Odometry x=0.005652, y=0.075470, theta=0.025427
[19:49:28.902] Odometry x=0.005652, y=0.075470, theta=0.026018
[19:49:28.912] Odometry x=0.005652, y=0.075470, theta=0.025744
[19:49:28.933] Odometry x=0.006027, y=0.075460, theta=0.025125
[19:49:28.943] Odometry x=0.006027, y=0.075460, theta=0.024613
[19:49:28.953] Odometry x=0.006028, y=0.075460, theta=0.024696
[19:49:28.963] Odometry x=0.006028, y=0.075460, theta=0.024862
[19:49:28.973] Odometry x=0.006028, y=0.075460, theta=0.025118
[19:49:28.983] Odometry x=0.006029, y=0.075460, theta=0.025321
[19:49:28.994] Odometry x=0.006029, y=0.075460, theta=0.025217
[19:49:29.004] Odometry x=0.006029, y=0.075460, theta=0.024946
[19:49:29.014] Odometry x=0.006030, y=0.075459, theta=0.024687
[19:49:29.034] Odometry x=0.006425, y=0.075445, theta=0.024185
[19:49:29.038] After Reprojection Map nPoint:83 ,nCell:67 ,nMatches:14 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:29.038] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =17 	 error init =0.316528 	 error end=0.316528
[19:49:29.038] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:29.038] Update EKF and 3D points, distance between two frames x:0.000062 ,z=-0.000002,angle between two frames:0.000010
[19:49:29.044] Odometry x=0.005811, y=0.075461, theta=0.023128
[19:49:29.054] Odometry x=0.005813, y=0.075460, theta=0.022989
[19:49:29.064] Odometry x=0.005814, y=0.075460, theta=0.022997
[19:49:29.075] Odometry x=0.005815, y=0.075460, theta=0.022981
[19:49:29.085] Odometry x=0.005815, y=0.075460, theta=0.022739
[19:49:29.095] Odometry x=0.005815, y=0.075460, theta=0.022260
[19:49:29.105] Odometry x=0.005815, y=0.075460, theta=0.021861
[19:49:29.115] Odometry x=0.005815, y=0.075460, theta=0.021616
[19:49:29.135] Odometry x=0.006204, y=0.075451, theta=0.022203
[19:49:29.146] Odometry x=0.006204, y=0.075451, theta=0.022944
[19:49:29.156] Odometry x=0.006204, y=0.075451, theta=0.023351
[19:49:29.166] Odometry x=0.006204, y=0.075451, theta=0.023518
[19:49:29.176] Odometry x=0.006204, y=0.075451, theta=0.023553
[19:49:29.186] Odometry x=0.006204, y=0.075451, theta=0.023725
[19:49:29.190] After Reprojection Map nPoint:82 ,nCell:69 ,nMatches:13 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:29.190] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =14 	 error init =0.477345 	 error end=0.477345
[19:49:29.190] After pose optimization, distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.000000
[19:49:29.190] Update EKF and 3D points, distance between two frames x:0.000046 ,z=0.000000,angle between two frames:0.000046
[19:49:29.196] Odometry x=0.005753, y=0.075468, theta=0.023573
[19:49:29.206] Odometry x=0.005753, y=0.075468, theta=0.023680
[19:49:29.227] Odometry x=0.006086, y=0.075461, theta=0.024235
[19:49:29.237] Odometry x=0.006086, y=0.075461, theta=0.024583
[19:49:29.247] Odometry x=0.006086, y=0.075461, theta=0.024336
[19:49:29.257] Odometry x=0.006086, y=0.075461, theta=0.023781
[19:49:29.267] Odometry x=0.006086, y=0.075461, theta=0.022852
[19:49:29.277] Odometry x=0.006086, y=0.075460, theta=0.021841
[19:49:29.288] Odometry x=0.006087, y=0.075459, theta=0.021019
[19:49:29.298] Odometry x=0.006088, y=0.075458, theta=0.020416
[19:49:29.308] Odometry x=0.006088, y=0.075458, theta=0.019923
[19:49:29.318] Odometry x=0.006089, y=0.075457, theta=0.019475
[19:49:29.338] Odometry x=0.006524, y=0.075449, theta=0.019000
[19:49:29.344] After Reprojection Map nPoint:78 ,nCell:57 ,nMatches:9 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:29.344] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =11 	 error init =0.257207 	 error end=0.257207
[19:49:29.344] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:29.344] Update EKF and 3D points, distance between two frames x:0.000061 ,z=-0.000002,angle between two frames:0.000293
[19:49:29.348] Odometry x=0.005914, y=0.075466, theta=0.020869
[19:49:29.358] Odometry x=0.005914, y=0.075466, theta=0.020305
[19:49:29.369] Odometry x=0.005915, y=0.075466, theta=0.019378
[19:49:29.379] Odometry x=0.005915, y=0.075466, theta=0.018062
[19:49:29.389] Odometry x=0.005915, y=0.075466, theta=0.016544
[19:49:29.399] Odometry x=0.005915, y=0.075466, theta=0.014759
[19:49:29.409] Odometry x=0.005915, y=0.075466, theta=0.012796
[19:49:29.429] Odometry x=0.006267, y=0.075461, theta=0.012355
[19:49:29.440] Odometry x=0.006267, y=0.075461, theta=0.011739
[19:49:29.450] Odometry x=0.006267, y=0.075461, theta=0.011021
[19:49:29.460] Odometry x=0.006267, y=0.075461, theta=0.010202
[19:49:29.470] Odometry x=0.006267, y=0.075461, theta=0.009669
[19:49:29.480] Odometry x=0.006267, y=0.075461, theta=0.009703
[19:49:29.490] Odometry x=0.006267, y=0.075461, theta=0.009954
[19:49:29.496] After Reprojection Map nPoint:85 ,nCell:73 ,nMatches:12 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:29.496] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =18 	 error init =0.200102 	 error end=0.200102
[19:49:29.496] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:29.496] Update EKF and 3D points, distance between two frames x:0.000043 ,z=-0.000001,angle between two frames:0.000744
[19:49:29.500] Odometry x=0.005841, y=0.075470, theta=0.017968
[19:49:29.511] Odometry x=0.005841, y=0.075470, theta=0.019086
[19:49:29.531] Odometry x=0.006231, y=0.075462, theta=0.020082
[19:49:29.541] Odometry x=0.006232, y=0.075462, theta=0.021321
[19:49:29.551] Odometry x=0.006232, y=0.075462, theta=0.021948
[19:49:29.561] Odometry x=0.006232, y=0.075462, theta=0.021908
[19:49:29.571] Odometry x=0.006232, y=0.075462, theta=0.021543
[19:49:29.581] Odometry x=0.006233, y=0.075462, theta=0.021394
[19:49:29.591] Odometry x=0.006234, y=0.075462, theta=0.021734
[19:49:29.602] Odometry x=0.006234, y=0.075462, theta=0.022491
[19:49:29.612] Odometry x=0.006235, y=0.075462, theta=0.023559
[19:49:29.632] Odometry x=0.006616, y=0.075453, theta=0.024160
[19:49:29.642] Odometry x=0.006616, y=0.075453, theta=0.024767
[19:49:29.652] Odometry x=0.006616, y=0.075453, theta=0.025198
[19:49:29.654] After Reprojection Map nPoint:83 ,nCell:70 ,nMatches:10 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:29.654] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =12 	 error init =0.285727 	 error end=0.285727
[19:49:29.654] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:29.654] Update EKF and 3D points, distance between two frames x:0.000060 ,z=-0.000001,angle between two frames:0.000200
[19:49:29.662] Odometry x=0.006012, y=0.075466, theta=0.024059
[19:49:29.673] Odometry x=0.006012, y=0.075466, theta=0.025002
[19:49:29.683] Odometry x=0.006012, y=0.075466, theta=0.026465
[19:49:29.693] Odometry x=0.006012, y=0.075466, theta=0.027963
[19:49:29.703] Odometry x=0.006012, y=0.075467, theta=0.029241
[19:49:29.713] Odometry x=0.006012, y=0.075467, theta=0.030353
[19:49:29.733] Odometry x=0.006405, y=0.075456, theta=0.031731
[19:49:29.744] Odometry x=0.006405, y=0.075457, theta=0.033586
[19:49:29.754] Odometry x=0.006405, y=0.075457, theta=0.035068
[19:49:29.764] Odometry x=0.006405, y=0.075457, theta=0.036383
[19:49:29.774] Odometry x=0.006405, y=0.075457, theta=0.037585
[19:49:29.784] Odometry x=0.006406, y=0.075457, theta=0.038673
[19:49:29.794] Odometry x=0.006406, y=0.075457, theta=0.039670
[19:49:29.804] Odometry x=0.006407, y=0.075457, theta=0.040543
[19:49:29.814] After Reprojection Map nPoint:80 ,nCell:62 ,nMatches:10 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:29.814] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =15 	 error init =0.156840 	 error end=0.156840
[19:49:29.814] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:29.814] Update EKF and 3D points, distance between two frames x:0.000045 ,z=-0.000001,angle between two frames:0.001102
[19:49:29.815] Odometry x=0.005961, y=0.075467, theta=0.030931
[19:49:29.835] Odometry x=0.006349, y=0.075454, theta=0.032522
[19:49:29.845] Odometry x=0.006350, y=0.075454, theta=0.034244
[19:49:29.855] Odometry x=0.006350, y=0.075454, theta=0.035528
[19:49:29.865] Odometry x=0.006350, y=0.075454, theta=0.036750
[19:49:29.876] Odometry x=0.006351, y=0.075455, theta=0.037724
[19:49:29.886] Odometry x=0.006351, y=0.075455, theta=0.038558
[19:49:29.896] Odometry x=0.006351, y=0.075454, theta=0.039298
[19:49:29.906] Odometry x=0.006352, y=0.075454, theta=0.039613
[19:49:29.916] Odometry x=0.006352, y=0.075454, theta=0.039983
[19:49:29.936] Odometry x=0.006739, y=0.075439, theta=0.040773
[19:49:29.946] Odometry x=0.006739, y=0.075439, theta=0.041763
[19:49:29.957] Odometry x=0.006739, y=0.075439, theta=0.042600
[19:49:29.967] Odometry x=0.006739, y=0.075439, theta=0.043517
[19:49:29.969] After Reprojection Map nPoint:86 ,nCell:76 ,nMatches:9 ,distance between two frames x:0.000277 ,z=-0.000006,angle between two frames:0.007403
[19:49:29.970] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =11 	 error init =0.287316 	 error end=0.285527
[19:49:29.970] After pose optimization, distance between two frames x:-0.001709 ,z=-0.008117,angle between two frames:0.007403
[19:49:29.970] Update EKF and 3D points, distance between two frames x:-0.001548 ,z=-0.007647,angle between two frames:0.008191
[19:49:29.977] Odometry x=0.005130, y=0.070734, theta=0.037356
[19:49:29.987] Odometry x=0.005130, y=0.070734, theta=0.038636
[19:49:29.997] Odometry x=0.005130, y=0.070734, theta=0.040106
[19:49:30.007] Odometry x=0.005130, y=0.070734, theta=0.041243
[19:49:30.017] Odometry x=0.005130, y=0.070734, theta=0.042988
[19:49:30.038] Odometry x=0.005514, y=0.070717, theta=0.044277
[19:49:30.048] Odometry x=0.005514, y=0.070717, theta=0.046095
[19:49:30.058] Odometry x=0.005514, y=0.070717, theta=0.047253
[19:49:30.068] Odometry x=0.005514, y=0.070717, theta=0.049416
[19:49:30.078] Odometry x=0.005514, y=0.070717, theta=0.051818
[19:49:30.088] Odometry x=0.005516, y=0.070717, theta=0.055002
[19:49:30.099] Odometry x=0.005517, y=0.070718, theta=0.058034
[19:49:30.109] Odometry x=0.005517, y=0.070718, theta=0.060475
[19:49:30.119] Odometry x=0.005517, y=0.070718, theta=0.063246
[19:49:30.127] After Reprojection Map nPoint:86 ,nCell:69 ,nMatches:13 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:30.127] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =15 	 error init =0.236811 	 error end=0.236811
[19:49:30.127] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:30.127] Update EKF and 3D points, distance between two frames x:0.000080 ,z=0.000168,angle between two frames:0.002010
[19:49:30.139] Odometry x=0.004706, y=0.067978, theta=0.036003
[19:49:30.149] Odometry x=0.004706, y=0.067978, theta=0.038415
[19:49:30.159] Odometry x=0.004706, y=0.067978, theta=0.040594
[19:49:30.170] Odometry x=0.004706, y=0.067978, theta=0.042519
[19:49:30.180] Odometry x=0.004706, y=0.067978, theta=0.043736
[19:49:30.190] Odometry x=0.004706, y=0.067978, theta=0.044753
[19:49:30.200] Odometry x=0.004706, y=0.067978, theta=0.045700
[19:49:30.210] Odometry x=0.004706, y=0.067978, theta=0.046839
[19:49:30.220] Odometry x=0.004706, y=0.067978, theta=0.048179
[19:49:30.241] Odometry x=0.005101, y=0.067959, theta=0.050415
[19:49:30.251] Odometry x=0.005102, y=0.067959, theta=0.052827
[19:49:30.261] Odometry x=0.005103, y=0.067958, theta=0.054456
[19:49:30.271] Odometry x=0.005103, y=0.067958, theta=0.056229
[19:49:30.281] After Reprojection Map nPoint:86 ,nCell:65 ,nMatches:12 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:30.281] Odometry x=0.005103, y=0.067958, theta=0.058349
[19:49:30.282] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =18 	 error init =0.226830 	 error end=0.226830
[19:49:30.282] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:30.282] Update EKF and 3D points, distance between two frames x:0.000052 ,z=-0.000002,angle between two frames:0.001565
[19:49:30.291] Odometry x=0.004587, y=0.067979, theta=0.046415
[19:49:30.301] Odometry x=0.004587, y=0.067979, theta=0.048641
[19:49:30.312] Odometry x=0.004587, y=0.067979, theta=0.050083
[19:49:30.332] Odometry x=0.004915, y=0.067962, theta=0.053333
[19:49:30.342] Odometry x=0.004915, y=0.067962, theta=0.056655
[19:49:30.352] Odometry x=0.004915, y=0.067962, theta=0.058975
[19:49:30.362] Odometry x=0.004915, y=0.067962, theta=0.061408
[19:49:30.373] Odometry x=0.004915, y=0.067962, theta=0.063807
[19:49:30.383] Odometry x=0.004915, y=0.067962, theta=0.066140
[19:49:30.393] Odometry x=0.004915, y=0.067962, theta=0.068372
[19:49:30.403] Odometry x=0.004916, y=0.067962, theta=0.070654
[19:49:30.413] Odometry x=0.004918, y=0.067962, theta=0.072804
[19:49:30.423] Odometry x=0.004920, y=0.067962, theta=0.074488
[19:49:30.440] After Reprojection Map nPoint:86 ,nCell:67 ,nMatches:17 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:30.440] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =28 	 error init =0.140498 	 error end=0.140498
[19:49:30.440] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:30.440] Update EKF and 3D points, distance between two frames x:0.000105 ,z=-0.000006,angle between two frames:0.002281
[19:49:30.444] Odometry x=0.005023, y=0.067948, theta=0.052797
[19:49:30.454] Odometry x=0.005024, y=0.067948, theta=0.053808
[19:49:30.464] Odometry x=0.005024, y=0.067947, theta=0.054772
[19:49:30.474] Odometry x=0.005024, y=0.067947, theta=0.056392
[19:49:30.484] Odometry x=0.005024, y=0.067947, theta=0.058212
[19:49:30.494] Odometry x=0.005024, y=0.067947, theta=0.059664
[19:49:30.505] Odometry x=0.005024, y=0.067947, theta=0.060801
[19:49:30.515] Odometry x=0.005024, y=0.067948, theta=0.061604
[19:49:30.535] Odometry x=0.005367, y=0.067926, theta=0.061800
[19:49:30.545] Odometry x=0.005367, y=0.067926, theta=0.062562
[19:49:30.555] Odometry x=0.005368, y=0.067926, theta=0.063209
[19:49:30.565] Odometry x=0.005368, y=0.067926, theta=0.063917
[19:49:30.576] Odometry x=0.005368, y=0.067926, theta=0.064197
[19:49:30.586] Odometry x=0.005368, y=0.067926, theta=0.064707
[19:49:30.593] After Reprojection Map nPoint:95 ,nCell:62 ,nMatches:16 ,distance between two frames x:0.000650 ,z=-0.000039,angle between two frames:0.015222
[19:49:30.593] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =31 	 error init =0.123369 	 error end=0.123369
[19:49:30.593] After pose optimization, distance between two frames x:0.000650 ,z=-0.000039,angle between two frames:0.015222
[19:49:30.593] Update EKF and 3D points, distance between two frames x:0.000670 ,z=-0.000040,angle between two frames:0.015967
[19:49:30.596] Odometry x=0.005167, y=0.067939, theta=0.058878
[19:49:30.606] Odometry x=0.005167, y=0.067939, theta=0.059963
[19:49:30.626] Odometry x=0.005533, y=0.067917, theta=0.061286
[19:49:30.636] Odometry x=0.005533, y=0.067917, theta=0.062558
[19:49:30.646] Odometry x=0.005534, y=0.067917, theta=0.062901
[19:49:30.656] Odometry x=0.005534, y=0.067917, theta=0.062928
[19:49:30.667] Odometry x=0.005534, y=0.067917, theta=0.062437
[19:49:30.677] Odometry x=0.005534, y=0.067917, theta=0.062057
[19:49:30.687] Odometry x=0.005534, y=0.067917, theta=0.061618
[19:49:30.697] Odometry x=0.005534, y=0.067917, theta=0.061137
[19:49:30.707] Odometry x=0.005534, y=0.067917, theta=0.061009
[19:49:30.727] Odometry x=0.005896, y=0.067895, theta=0.060458
[19:49:30.738] Odometry x=0.005896, y=0.067895, theta=0.059677
[19:49:30.747] After Reprojection Map nPoint:97 ,nCell:74 ,nMatches:19 ,distance between two frames x:0.000124 ,z=-0.000008,angle between two frames:0.005336
[19:49:30.747] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =32 	 error init =0.179575 	 error end=0.179575
[19:49:30.747] After pose optimization, distance between two frames x:0.000124 ,z=-0.000008,angle between two frames:0.005336
[19:49:30.747] Update EKF and 3D points, distance between two frames x:0.000167 ,z=-0.000010,angle between two frames:0.005341
[19:49:30.748] Odometry x=0.005472, y=0.067920, theta=0.058274
[19:49:30.758] Odometry x=0.005472, y=0.067920, theta=0.057245
[19:49:30.768] Odometry x=0.005472, y=0.067920, theta=0.056381
[19:49:30.778] Odometry x=0.005472, y=0.067919, theta=0.055732
[19:49:30.788] Odometry x=0.005472, y=0.067917, theta=0.055247
[19:49:30.798] Odometry x=0.005472, y=0.067916, theta=0.055114
[19:49:30.809] Odometry x=0.005472, y=0.067916, theta=0.055260
[19:49:30.829] Odometry x=0.005854, y=0.067894, theta=0.058039
[19:49:30.839] Odometry x=0.005854, y=0.067894, theta=0.060536
[19:49:30.849] Odometry x=0.005854, y=0.067894, theta=0.061590
[19:49:30.859] Odometry x=0.005854, y=0.067894, theta=0.062305
[19:49:30.869] Odometry x=0.005854, y=0.067894, theta=0.062565
[19:49:30.880] Odometry x=0.005854, y=0.067894, theta=0.062520
[19:49:30.890] Odometry x=0.005855, y=0.067894, theta=0.062786
[19:49:30.900] Odometry x=0.005855, y=0.067894, theta=0.063762
[19:49:30.907] After Reprojection Map nPoint:101 ,nCell:69 ,nMatches:20 ,distance between two frames x:0.000262 ,z=-0.000016,angle between two frames:0.000610
[19:49:30.909] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =42 	 error init =0.092409 	 error end=0.092409
[19:49:30.909] After pose optimization, distance between two frames x:0.000262 ,z=-0.000016,angle between two frames:0.000610
[19:49:30.909] Update EKF and 3D points, distance between two frames x:0.000285 ,z=-0.000017,angle between two frames:0.000216
[19:49:30.910] Odometry x=0.005632, y=0.067909, theta=0.061819
[19:49:30.930] Odometry x=0.006032, y=0.067885, theta=0.061417
[19:49:30.941] Odometry x=0.006033, y=0.067885, theta=0.060656
[19:49:30.951] Odometry x=0.006033, y=0.067885, theta=0.059643
[19:49:30.961] Odometry x=0.006033, y=0.067885, theta=0.058293
[19:49:30.971] Odometry x=0.006034, y=0.067885, theta=0.056849
[19:49:30.981] Odometry x=0.006034, y=0.067884, theta=0.055281
[19:49:30.991] Odometry x=0.006034, y=0.067884, theta=0.053787
[19:49:31.001] Odometry x=0.006034, y=0.067884, theta=0.052323
[19:49:31.012] Odometry x=0.006034, y=0.067884, theta=0.050633
[19:49:31.032] Odometry x=0.006435, y=0.067862, theta=0.048402
[19:49:31.042] Odometry x=0.006435, y=0.067861, theta=0.045873
[19:49:31.052] Odometry x=0.006435, y=0.067861, theta=0.044151
[19:49:31.062] After Reprojection Map nPoint:107 ,nCell:71 ,nMatches:25 ,distance between two frames x:0.000138 ,z=-0.000009,angle between two frames:0.003152
[19:49:31.062] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =50 	 error init =0.204822 	 error end=0.204822
[19:49:31.062] After pose optimization, distance between two frames x:0.000138 ,z=-0.000009,angle between two frames:0.003152
[19:49:31.062] Update EKF and 3D points, distance between two frames x:0.000185 ,z=-0.000012,angle between two frames:0.002029
[19:49:31.062] Odometry x=0.005968, y=0.067889, theta=0.053186
[19:49:31.073] Odometry x=0.005968, y=0.067889, theta=0.052943
[19:49:31.083] Odometry x=0.005968, y=0.067889, theta=0.052999
[19:49:31.093] Odometry x=0.005968, y=0.067889, theta=0.052629
[19:49:31.103] Odometry x=0.005969, y=0.067889, theta=0.051765
[19:49:31.113] Odometry x=0.005969, y=0.067889, theta=0.051077
[19:49:31.133] Odometry x=0.006350, y=0.067869, theta=0.050641
[19:49:31.144] Odometry x=0.006350, y=0.067869, theta=0.050000
[19:49:31.154] Odometry x=0.006351, y=0.067869, theta=0.048757
[19:49:31.164] Odometry x=0.006351, y=0.067869, theta=0.047014
[19:49:31.174] Odometry x=0.006351, y=0.067869, theta=0.045172
[19:49:31.184] Odometry x=0.006351, y=0.067869, theta=0.043097
[19:49:31.194] Odometry x=0.006351, y=0.067869, theta=0.041061
[19:49:31.204] Odometry x=0.006352, y=0.067868, theta=0.039178
[19:49:31.215] Odometry x=0.006353, y=0.067867, theta=0.037338
[19:49:31.216] After Reprojection Map nPoint:117 ,nCell:79 ,nMatches:29 ,distance between two frames x:0.000289 ,z=-0.000018,angle between two frames:0.007509
[19:49:31.218] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =62 	 error init =0.131234 	 error end=0.131234
[19:49:31.218] After pose optimization, distance between two frames x:0.000289 ,z=-0.000018,angle between two frames:0.007509
[19:49:31.218] Update EKF and 3D points, distance between two frames x:0.000311 ,z=-0.000020,angle between two frames:0.008538
[19:49:31.235] Odometry x=0.006469, y=0.067862, theta=0.050260
[19:49:31.245] Odometry x=0.006470, y=0.067861, theta=0.047752
[19:49:31.255] Odometry x=0.006470, y=0.067861, theta=0.045962
[19:49:31.265] Odometry x=0.006470, y=0.067861, theta=0.043560
[19:49:31.275] Odometry x=0.006471, y=0.067861, theta=0.041031
[19:49:31.286] Odometry x=0.006471, y=0.067861, theta=0.038536
[19:49:31.296] Odometry x=0.006471, y=0.067861, theta=0.036107
[19:49:31.306] Odometry x=0.006471, y=0.067861, theta=0.034657
[19:49:31.316] Odometry x=0.006471, y=0.067861, theta=0.033943
[19:49:31.336] Odometry x=0.006834, y=0.067848, theta=0.032775
[19:49:31.346] Odometry x=0.006834, y=0.067847, theta=0.031693
[19:49:31.356] Odometry x=0.006834, y=0.067847, theta=0.031239
[19:49:31.367] Odometry x=0.006834, y=0.067846, theta=0.029560
[19:49:31.370] After Reprojection Map nPoint:117 ,nCell:72 ,nMatches:24 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:31.370] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =61 	 error init =0.159938 	 error end=0.159938
[19:49:31.370] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:31.370] Update EKF and 3D points, distance between two frames x:0.000049 ,z=-0.000003,angle between two frames:0.001460
[19:49:31.377] Odometry x=0.006343, y=0.067869, theta=0.040372
[19:49:31.387] Odometry x=0.006343, y=0.067869, theta=0.038102
[19:49:31.397] Odometry x=0.006343, y=0.067869, theta=0.035901
[19:49:31.407] Odometry x=0.006343, y=0.067869, theta=0.034503
[19:49:31.427] Odometry x=0.006709, y=0.067856, theta=0.031934
[19:49:31.438] Odometry x=0.006711, y=0.067856, theta=0.029755
[19:49:31.448] Odometry x=0.006712, y=0.067856, theta=0.029167
[19:49:31.458] Odometry x=0.006712, y=0.067856, theta=0.028753
[19:49:31.468] Odometry x=0.006713, y=0.067856, theta=0.028632
[19:49:31.478] Odometry x=0.006713, y=0.067856, theta=0.029098
[19:49:31.488] Odometry x=0.006713, y=0.067856, theta=0.029937
[19:49:31.498] Odometry x=0.006714, y=0.067856, theta=0.030527
[19:49:31.509] Odometry x=0.006714, y=0.067856, theta=0.030689
[19:49:31.529] Odometry x=0.007098, y=0.067843, theta=0.029373
[19:49:31.533] After Reprojection Map nPoint:122 ,nCell:73 ,nMatches:27 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:31.536] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =71 	 error init =0.088642 	 error end=0.088642
[19:49:31.536] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:31.536] Update EKF and 3D points, distance between two frames x:0.000062 ,z=-0.000003,angle between two frames:0.001365
[19:49:31.539] Odometry x=0.006483, y=0.067866, theta=0.040791
[19:49:31.549] Odometry x=0.006484, y=0.067865, theta=0.040765
[19:49:31.559] Odometry x=0.006485, y=0.067865, theta=0.040607
[19:49:31.569] Odometry x=0.006486, y=0.067865, theta=0.040316
[19:49:31.580] Odometry x=0.006486, y=0.067865, theta=0.039975
[19:49:31.590] Odometry x=0.006487, y=0.067865, theta=0.039791
[19:49:31.600] Odometry x=0.006487, y=0.067865, theta=0.039871
[19:49:31.610] Odometry x=0.006487, y=0.067865, theta=0.040221
[19:49:31.630] Odometry x=0.006888, y=0.067849, theta=0.039953
[19:49:31.640] Odometry x=0.006888, y=0.067849, theta=0.039357
[19:49:31.650] Odometry x=0.006889, y=0.067849, theta=0.038809
[19:49:31.661] Odometry x=0.006889, y=0.067848, theta=0.038092
[19:49:31.671] Odometry x=0.006890, y=0.067848, theta=0.037299
[19:49:31.681] Odometry x=0.006890, y=0.067847, theta=0.036863
[19:49:31.689] After Reprojection Map nPoint:123 ,nCell:73 ,nMatches:30 ,distance between two frames x:0.000382 ,z=-0.000016,angle between two frames:0.008541
[19:49:31.689] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =77 	 error init =0.100354 	 error end=0.100354
[19:49:31.689] After pose optimization, distance between two frames x:0.000382 ,z=-0.000016,angle between two frames:0.008541
[19:49:31.689] Update EKF and 3D points, distance between two frames x:0.000406 ,z=-0.000017,angle between two frames:0.008784
[19:49:31.691] Odometry x=0.006653, y=0.067857, theta=0.039171
[19:49:31.701] Odometry x=0.006653, y=0.067857, theta=0.039692
[19:49:31.711] Odometry x=0.006653, y=0.067857, theta=0.040482
[19:49:31.732] Odometry x=0.007036, y=0.067841, theta=0.041277
[19:49:31.742] Odometry x=0.007037, y=0.067841, theta=0.042730
[19:49:31.752] Odometry x=0.007037, y=0.067841, theta=0.044068
[19:49:31.762] Odometry x=0.007037, y=0.067841, theta=0.044948
[19:49:31.772] Odometry x=0.007037, y=0.067840, theta=0.045230
[19:49:31.782] Odometry x=0.007037, y=0.067839, theta=0.044848
[19:49:31.793] Odometry x=0.007039, y=0.067838, theta=0.044217
[19:49:31.803] Odometry x=0.007041, y=0.067837, theta=0.043821
[19:49:31.813] Odometry x=0.007043, y=0.067836, theta=0.044005
[19:49:31.833] Odometry x=0.007430, y=0.067819, theta=0.044965
[19:49:31.842] After Reprojection Map nPoint:130 ,nCell:73 ,nMatches:32 ,distance between two frames x:0.000146 ,z=-0.000007,angle between two frames:0.001377
[19:49:31.842] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =89 	 error init =0.063231 	 error end=0.063231
[19:49:31.842] After pose optimization, distance between two frames x:0.000146 ,z=-0.000007,angle between two frames:0.001377
[19:49:31.842] Update EKF and 3D points, distance between two frames x:0.000192 ,z=-0.000010,angle between two frames:0.000950
[19:49:31.843] Odometry x=0.006981, y=0.067841, theta=0.042456
[19:49:31.853] Odometry x=0.006982, y=0.067841, theta=0.042680
[19:49:31.864] Odometry x=0.006982, y=0.067841, theta=0.043130
[19:49:31.874] Odometry x=0.006983, y=0.067841, theta=0.043353
[19:49:31.884] Odometry x=0.006983, y=0.067841, theta=0.043322
[19:49:31.894] Odometry x=0.006983, y=0.067841, theta=0.043282
[19:49:31.904] Odometry x=0.006984, y=0.067841, theta=0.043399
[19:49:31.914] Odometry x=0.006984, y=0.067841, theta=0.043778
[19:49:31.935] Odometry x=0.007385, y=0.067823, theta=0.044680
[19:49:31.945] Odometry x=0.007385, y=0.067823, theta=0.045796
[19:49:31.955] Odometry x=0.007385, y=0.067823, theta=0.046392
[19:49:31.965] Odometry x=0.007385, y=0.067823, theta=0.047089
[19:49:31.975] Odometry x=0.007385, y=0.067823, theta=0.048038
[19:49:31.986] Odometry x=0.007385, y=0.067823, theta=0.048674
[19:49:31.996] Odometry x=0.007385, y=0.067822, theta=0.049144
[19:49:32.000] After Reprojection Map nPoint:125 ,nCell:78 ,nMatches:30 ,distance between two frames x:0.000282 ,z=-0.000014,angle between two frames:0.002858
[19:49:32.002] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =77 	 error init =0.138033 	 error end=0.138033
[19:49:32.002] After pose optimization, distance between two frames x:0.000282 ,z=-0.000014,angle between two frames:0.002858
[19:49:32.002] Update EKF and 3D points, distance between two frames x:0.000306 ,z=-0.000015,angle between two frames:0.003277
[19:49:32.006] Odometry x=0.007151, y=0.067832, theta=0.045826
[19:49:32.026] Odometry x=0.007499, y=0.067813, theta=0.047347
[19:49:32.036] Odometry x=0.007502, y=0.067811, theta=0.049183
[19:49:32.046] Odometry x=0.007503, y=0.067811, theta=0.050672
[19:49:32.057] Odometry x=0.007504, y=0.067811, theta=0.052262
[19:49:32.067] Odometry x=0.007505, y=0.067811, theta=0.053745
[19:49:32.077] Odometry x=0.007505, y=0.067811, theta=0.054893
[19:49:32.087] Odometry x=0.007505, y=0.067811, theta=0.055750
[19:49:32.097] Odometry x=0.007506, y=0.067811, theta=0.056381
[19:49:32.107] Odometry x=0.007506, y=0.067811, theta=0.056960
[19:49:32.128] Odometry x=0.007887, y=0.067789, theta=0.057914
[19:49:32.138] Odometry x=0.007888, y=0.067790, theta=0.059009
[19:49:32.148] Odometry x=0.007888, y=0.067790, theta=0.059517
[19:49:32.157] After Reprojection Map nPoint:129 ,nCell:63 ,nMatches:23 ,distance between two frames x:0.000147 ,z=-0.000008,angle between two frames:0.002951
[19:49:32.157] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =82 	 error init =0.078216 	 error end=0.078191
[19:49:32.157] After pose optimization, distance between two frames x:0.000096 ,z=-0.000038,angle between two frames:0.002951
[19:49:32.157] Update EKF and 3D points, distance between two frames x:0.000141 ,z=-0.000038,angle between two frames:0.003766
[19:49:32.158] Odometry x=0.007429, y=0.067797, theta=0.051945
[19:49:32.168] Odometry x=0.007429, y=0.067797, theta=0.052741
[19:49:32.178] Odometry x=0.007429, y=0.067797, theta=0.053865
[19:49:32.189] Odometry x=0.007429, y=0.067797, theta=0.054773
[19:49:32.199] Odometry x=0.007432, y=0.067797, theta=0.056481
[19:49:32.209] Odometry x=0.007433, y=0.067797, theta=0.057375
[19:49:32.229] Odometry x=0.007816, y=0.067774, theta=0.058955
[19:49:32.239] Odometry x=0.007817, y=0.067774, theta=0.060972
[19:49:32.249] Odometry x=0.007817, y=0.067774, theta=0.061864
[19:49:32.260] Odometry x=0.007817, y=0.067774, theta=0.062199
[19:49:32.270] Odometry x=0.007818, y=0.067773, theta=0.062417
[19:49:32.280] Odometry x=0.007818, y=0.067773, theta=0.062715
[19:49:32.290] Odometry x=0.007818, y=0.067772, theta=0.062986
[19:49:32.300] Odometry x=0.007819, y=0.067772, theta=0.063254
[19:49:32.310] Odometry x=0.007820, y=0.067772, theta=0.064000
[19:49:32.312] After Reprojection Map nPoint:135 ,nCell:81 ,nMatches:30 ,distance between two frames x:0.000283 ,z=-0.000004,angle between two frames:0.005304
[19:49:32.315] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =89 	 error init =0.105803 	 error end=0.087192
[19:49:32.315] After pose optimization, distance between two frames x:-0.038380 ,z=-0.033382,angle between two frames:0.005304
[19:49:32.316] Update EKF and 3D points, distance between two frames x:-0.036107 ,z=-0.031441,angle between two frames:0.006065
[19:49:32.331] Odometry x=-0.028507, y=0.036337, theta=0.053812
[19:49:32.341] Odometry x=-0.028507, y=0.036337, theta=0.055129
[19:49:32.351] Odometry x=-0.028507, y=0.036337, theta=0.055824
[19:49:32.361] Odometry x=-0.028506, y=0.036337, theta=0.056309
[19:49:32.371] Odometry x=-0.028506, y=0.036337, theta=0.056750
[19:49:32.381] Odometry x=-0.028506, y=0.036337, theta=0.056441
[19:49:32.392] Odometry x=-0.028506, y=0.036337, theta=0.055900
[19:49:32.402] Odometry x=-0.028505, y=0.036337, theta=0.055630
[19:49:32.412] Odometry x=-0.028504, y=0.036336, theta=0.055525
[19:49:32.432] Odometry x=-0.028076, y=0.036311, theta=0.054498
[19:49:32.442] Odometry x=-0.028068, y=0.036309, theta=0.053651
[19:49:32.453] Odometry x=-0.028068, y=0.036309, theta=0.053579
[19:49:32.463] Odometry x=-0.028067, y=0.036308, theta=0.053990
[19:49:32.467] After Reprojection Map nPoint:138 ,nCell:91 ,nMatches:31 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:32.470] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =86 	 error init =0.106808 	 error end=0.106808
[19:49:32.471] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:32.471] Update EKF and 3D points, distance between two frames x:0.000052 ,z=-0.000003,angle between two frames:0.000110
[19:49:32.473] Odometry x=-0.028587, y=0.036339, theta=0.053589
[19:49:32.483] Odometry x=-0.028587, y=0.036339, theta=0.053344
[19:49:32.493] Odometry x=-0.028586, y=0.036339, theta=0.053012
[19:49:32.503] Odometry x=-0.028586, y=0.036338, theta=0.052855
[19:49:32.524] Odometry x=-0.028240, y=0.036320, theta=0.053331
[19:49:32.534] Odometry x=-0.028239, y=0.036319, theta=0.054533
[19:49:32.544] Odometry x=-0.028238, y=0.036319, theta=0.055691
[19:49:32.554] Odometry x=-0.028237, y=0.036319, theta=0.056372
[19:49:32.564] Odometry x=-0.028237, y=0.036319, theta=0.056879
[19:49:32.574] Odometry x=-0.028236, y=0.036319, theta=0.056935
[19:49:32.584] Odometry x=-0.028236, y=0.036318, theta=0.056572
[19:49:32.595] Odometry x=-0.028236, y=0.036318, theta=0.056267
[19:49:32.605] Odometry x=-0.028235, y=0.036318, theta=0.056545
[19:49:32.615] Odometry x=-0.028235, y=0.036317, theta=0.057007
[19:49:32.635] Odometry x=-0.027810, y=0.036292, theta=0.059346
[19:49:32.645] Odometry x=-0.027807, y=0.036292, theta=0.061439
[19:49:32.655] After Reprojection Map nPoint:142 ,nCell:85 ,nMatches:32 ,distance between two frames x:0.000322 ,z=-0.000019,angle between two frames:0.000773
[19:49:32.655] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =91 	 error init =0.129012 	 error end=0.127358
[19:49:32.655] After pose optimization, distance between two frames x:-0.003648 ,z=-0.001671,angle between two frames:0.000773
[19:49:32.655] Update EKF and 3D points, distance between two frames x:-0.003372 ,z=-0.001578,angle between two frames:0.001291
[19:49:32.655] Odometry x=-0.030570, y=0.035358, theta=0.057403
[19:49:32.666] Odometry x=-0.030565, y=0.035357, theta=0.057044
[19:49:32.676] Odometry x=-0.030560, y=0.035357, theta=0.056572
[19:49:32.686] Odometry x=-0.030558, y=0.035357, theta=0.056317
[19:49:32.696] Odometry x=-0.030556, y=0.035357, theta=0.056255
[19:49:32.706] Odometry x=-0.030555, y=0.035357, theta=0.055715
[19:49:32.726] Odometry x=-0.030189, y=0.035335, theta=0.053810
[19:49:32.737] Odometry x=-0.030189, y=0.035327, theta=0.051918
[19:49:32.747] Odometry x=-0.030190, y=0.035318, theta=0.051347
[19:49:32.757] Odometry x=-0.030190, y=0.035312, theta=0.051676
[19:49:32.767] Odometry x=-0.030190, y=0.035307, theta=0.052304
[19:49:32.777] Odometry x=-0.030190, y=0.035302, theta=0.052599
[19:49:32.787] Odometry x=-0.030190, y=0.035299, theta=0.052808
[19:49:32.797] Odometry x=-0.030190, y=0.035297, theta=0.053389
[19:49:32.807] Odometry x=-0.030189, y=0.035295, theta=0.054246
[19:49:32.809] After Reprojection Map nPoint:137 ,nCell:81 ,nMatches:31 ,distance between two frames x:0.001710 ,z=0.000577,angle between two frames:0.003296
[19:49:32.809] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =95 	 error init =0.132332 	 error end=0.132332
[19:49:32.809] After pose optimization, distance between two frames x:0.001710 ,z=0.000577,angle between two frames:0.003296
[19:49:32.809] Update EKF and 3D points, distance between two frames x:0.001732 ,z=0.000573,angle between two frames:0.003165
[19:49:32.828] Odometry x=-0.030063, y=0.035326, theta=0.057577
[19:49:32.838] Odometry x=-0.030059, y=0.035325, theta=0.057791
[19:49:32.848] Odometry x=-0.030057, y=0.035325, theta=0.057997
[19:49:32.858] Odometry x=-0.030054, y=0.035325, theta=0.058200
[19:49:32.868] Odometry x=-0.030052, y=0.035325, theta=0.057896
[19:49:32.878] Odometry x=-0.030052, y=0.035324, theta=0.057453
[19:49:32.888] Odometry x=-0.030052, y=0.035322, theta=0.057377
[19:49:32.899] Odometry x=-0.030052, y=0.035320, theta=0.058107
[19:49:32.909] Odometry x=-0.030052, y=0.035318, theta=0.059675
[19:49:32.929] Odometry x=-0.029662, y=0.035291, theta=0.059793
[19:49:32.939] Odometry x=-0.029662, y=0.035287, theta=0.059731
[19:49:32.949] Odometry x=-0.029661, y=0.035285, theta=0.059429
[19:49:32.959] Odometry x=-0.029660, y=0.035283, theta=0.058825
[19:49:32.968] After Reprojection Map nPoint:143 ,nCell:92 ,nMatches:36 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:32.968] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =94 	 error init =0.159258 	 error end=0.159258
[19:49:32.968] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:32.968] Update EKF and 3D points, distance between two frames x:0.000052 ,z=-0.000004,angle between two frames:0.000046
[19:49:32.970] Odometry x=-0.030176, y=0.035322, theta=0.057292
[19:49:32.980] Odometry x=-0.030175, y=0.035319, theta=0.057208
[19:49:32.990] Odometry x=-0.030174, y=0.035316, theta=0.057858
[19:49:33.000] Odometry x=-0.030173, y=0.035312, theta=0.059072
[19:49:33.010] Odometry x=-0.030171, y=0.035308, theta=0.060362
[19:49:33.031] Odometry x=-0.029787, y=0.035280, theta=0.062632
[19:49:33.041] Odometry x=-0.029786, y=0.035275, theta=0.065253
[19:49:33.051] Odometry x=-0.029784, y=0.035274, theta=0.067042
[19:49:33.061] Odometry x=-0.029783, y=0.035273, theta=0.068701
[19:49:33.071] Odometry x=-0.029782, y=0.035273, theta=0.070844
[19:49:33.081] Odometry x=-0.029782, y=0.035272, theta=0.073406
[19:49:33.092] Odometry x=-0.029782, y=0.035272, theta=0.075412
[19:49:33.102] Odometry x=-0.029782, y=0.035272, theta=0.076381
[19:49:33.112] Odometry x=-0.029781, y=0.035272, theta=0.076624
[19:49:33.124] After Reprojection Map nPoint:143 ,nCell:80 ,nMatches:32 ,distance between two frames x:0.000320 ,z=-0.000028,angle between two frames:0.000026
[19:49:33.130] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =102 	 error init =0.128388 	 error end=0.128388
[19:49:33.130] After pose optimization, distance between two frames x:0.000320 ,z=-0.000028,angle between two frames:0.000026
[19:49:33.130] Update EKF and 3D points, distance between two frames x:0.000401 ,z=-0.000035,angle between two frames:0.001099
[19:49:33.132] Odometry x=-0.029592, y=0.035268, theta=0.065900
[19:49:33.142] Odometry x=-0.029590, y=0.035265, theta=0.066715
[19:49:33.152] Odometry x=-0.029590, y=0.035262, theta=0.067328
[19:49:33.162] Odometry x=-0.029589, y=0.035260, theta=0.067677
[19:49:33.173] Odometry x=-0.029589, y=0.035259, theta=0.067822
[19:49:33.183] Odometry x=-0.029589, y=0.035258, theta=0.067795
[19:49:33.193] Odometry x=-0.029589, y=0.035256, theta=0.067475
[19:49:33.203] Odometry x=-0.029589, y=0.035253, theta=0.067192
[19:49:33.213] Odometry x=-0.029589, y=0.035251, theta=0.066799
[19:49:33.233] Odometry x=-0.029187, y=0.035220, theta=0.065471
[19:49:33.243] Odometry x=-0.029186, y=0.035217, theta=0.064078
[19:49:33.253] Odometry x=-0.029184, y=0.035214, theta=0.063432
[19:49:33.264] Odometry x=-0.029182, y=0.035212, theta=0.062857
[19:49:33.274] Odometry x=-0.029181, y=0.035208, theta=0.062256
[19:49:33.284] Odometry x=-0.029180, y=0.035204, theta=0.061806
[19:49:33.289] After Reprojection Map nPoint:142 ,nCell:84 ,nMatches:33 ,distance between two frames x:0.000503 ,z=-0.000047,angle between two frames:0.007482
[19:49:33.289] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =106 	 error init =0.073475 	 error end=0.073475
[19:49:33.289] After pose optimization, distance between two frames x:0.000503 ,z=-0.000047,angle between two frames:0.007482
[19:49:33.289] Update EKF and 3D points, distance between two frames x:0.000527 ,z=-0.000051,angle between two frames:0.007223
[19:49:33.294] Odometry x=-0.029419, y=0.035236, theta=0.064012
[19:49:33.304] Odometry x=-0.029418, y=0.035229, theta=0.064430
[19:49:33.314] Odometry x=-0.029418, y=0.035222, theta=0.065551
[19:49:33.334] Odometry x=-0.029036, y=0.035191, theta=0.068397
[19:49:33.344] Odometry x=-0.029036, y=0.035183, theta=0.070360
[19:49:33.355] Odometry x=-0.029035, y=0.035177, theta=0.070782
[19:49:33.365] Odometry x=-0.029035, y=0.035169, theta=0.071438
[19:49:33.375] Odometry x=-0.029034, y=0.035163, theta=0.072552
[19:49:33.385] Odometry x=-0.029033, y=0.035159, theta=0.073933
[19:49:33.395] Odometry x=-0.029032, y=0.035156, theta=0.075455
[19:49:33.405] Odometry x=-0.029031, y=0.035155, theta=0.077287
[19:49:33.415] Odometry x=-0.029031, y=0.035154, theta=0.079189
[19:49:33.436] Odometry x=-0.028650, y=0.035120, theta=0.081837
[19:49:33.442] After Reprojection Map nPoint:145 ,nCell:92 ,nMatches:33 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:33.444] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =108 	 error init =0.094590 	 error end=0.085352
[19:49:33.444] After pose optimization, distance between two frames x:-0.031494 ,z=-0.025508,angle between two frames:0.010173
[19:49:33.444] Update EKF and 3D points, distance between two frames x:-0.029607 ,z=-0.024032,angle between two frames:0.010781
[19:49:33.446] Odometry x=-0.047515, y=0.020355, theta=0.081756
[19:49:33.456] Odometry x=-0.047515, y=0.020354, theta=0.084244
[19:49:33.466] Odometry x=-0.047514, y=0.020354, theta=0.086640
[19:49:33.476] Odometry x=-0.047513, y=0.020354, theta=0.089052
[19:49:33.486] Odometry x=-0.047513, y=0.020354, theta=0.091889
[19:49:33.497] Odometry x=-0.047513, y=0.020354, theta=0.094358
[19:49:33.507] Odometry x=-0.047512, y=0.020354, theta=0.096262
[19:49:33.517] Odometry x=-0.047512, y=0.020354, theta=0.097278
[19:49:33.537] Odometry x=-0.047131, y=0.020316, theta=0.096788
[19:49:33.547] Odometry x=-0.047130, y=0.020314, theta=0.096822
[19:49:33.557] Odometry x=-0.047130, y=0.020313, theta=0.097186
[19:49:33.567] Odometry x=-0.047130, y=0.020311, theta=0.097795
[19:49:33.578] Odometry x=-0.047131, y=0.020309, theta=0.098313
[19:49:33.588] Odometry x=-0.047131, y=0.020307, theta=0.098763
[19:49:33.598] Odometry x=-0.047131, y=0.020301, theta=0.098681
[19:49:33.608] Odometry x=-0.047132, y=0.020295, theta=0.098193
[19:49:33.610] After Reprojection Map nPoint:142 ,nCell:74 ,nMatches:27 ,distance between two frames x:0.011644 ,z=0.009122,angle between two frames:0.005335
[19:49:33.610] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =96 	 error init =0.126117 	 error end=0.126117
[19:49:33.610] After pose optimization, distance between two frames x:0.011644 ,z=0.009122,angle between two frames:0.005335
[19:49:33.610] Update EKF and 3D points, distance between two frames x:0.011667 ,z=0.009118,angle between two frames:0.006262
[19:49:33.610] Choose frame as a key frame Scene Depth mean:0.981730 ,depth min:0.452060
[19:49:33.618] Odometry x=-0.047365, y=0.020324, theta=0.087905
[19:49:33.638] Odometry x=-0.046967, y=0.020267, theta=0.087513
[19:49:33.648] Odometry x=-0.046969, y=0.020248, theta=0.087411
[19:49:33.658] Odometry x=-0.046969, y=0.020241, theta=0.087253
[19:49:33.669] Odometry x=-0.046968, y=0.020235, theta=0.086521
[19:49:33.679] Odometry x=-0.046966, y=0.020230, theta=0.085780
[19:49:33.689] Odometry x=-0.046963, y=0.020225, theta=0.085332
[19:49:33.699] Odometry x=-0.046961, y=0.020222, theta=0.085114
[19:49:33.709] Odometry x=-0.046960, y=0.020220, theta=0.085174
[19:49:33.729] Odometry x=-0.046611, y=0.020186, theta=0.085133
[19:49:33.739] Odometry x=-0.046602, y=0.020182, theta=0.084323
[19:49:33.749] Odometry x=-0.046597, y=0.020180, theta=0.083335
[19:49:33.760] Odometry x=-0.046596, y=0.020179, theta=0.083640
[19:49:33.770] Odometry x=-0.046595, y=0.020179, theta=0.085242
[19:49:33.773] After Reprojection Map nPoint:152 ,nCell:77 ,nMatches:37 ,distance between two frames x:-0.000031 ,z=0.000044,angle between two frames:0.000004
[19:49:33.774] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =113 	 error init =0.134061 	 error end=0.134061
[19:49:33.774] After pose optimization, distance between two frames x:-0.000031 ,z=0.000044,angle between two frames:0.000004
[19:49:33.774] Update EKF and 3D points, distance between two frames x:0.000024 ,z=0.000032,angle between two frames:0.000260
[19:49:33.774] Choose frame as a key frame Scene Depth mean:0.978544 ,depth min:-14781745944234.931641
[19:49:33.780] Odometry x=-0.047144, y=0.020304, theta=0.085569
[19:49:33.790] Odometry x=-0.047144, y=0.020304, theta=0.086787
[19:49:33.800] Odometry x=-0.047144, y=0.020304, theta=0.087385
[19:49:33.810] Odometry x=-0.047144, y=0.020304, theta=0.087328
[19:49:33.830] Odometry x=-0.046763, y=0.020271, theta=0.086033
[19:49:33.841] Odometry x=-0.046763, y=0.020271, theta=0.084180
[19:49:33.851] Odometry x=-0.046763, y=0.020271, theta=0.082199
[19:49:33.861] Odometry x=-0.046762, y=0.020271, theta=0.079808
[19:49:33.871] Odometry x=-0.046762, y=0.020270, theta=0.077376
[19:49:33.881] Odometry x=-0.046761, y=0.020270, theta=0.075410
[19:49:33.891] Odometry x=-0.046761, y=0.020269, theta=0.074376
[19:49:33.901] Odometry x=-0.046761, y=0.020269, theta=0.073552
[19:49:33.911] Odometry x=-0.046761, y=0.020269, theta=0.072691
[19:49:33.932] Odometry x=-0.046380, y=0.020240, theta=0.071677
[19:49:33.942] Odometry x=-0.046380, y=0.020238, theta=0.070900
[19:49:33.949] After Reprojection Map nPoint:183 ,nCell:72 ,nMatches:29 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:33.950] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =108 	 error init =0.094514 	 error end=0.094514
[19:49:33.950] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:33.950] Update EKF and 3D points, distance between two frames x:0.000064 ,z=-0.000008,angle between two frames:0.000715
[19:49:33.950] Choose frame as a key frame Scene Depth mean:0.982934 ,depth min:0.452210
[19:49:33.952] Odometry x=-0.047023, y=0.020320, theta=0.077680
[19:49:33.962] Odometry x=-0.047023, y=0.020318, theta=0.076530
[19:49:33.972] Odometry x=-0.047022, y=0.020316, theta=0.073706
[19:49:33.982] Odometry x=-0.047021, y=0.020315, theta=0.071177
[19:49:33.993] Odometry x=-0.047020, y=0.020315, theta=0.069583
[19:49:34.003] Odometry x=-0.047020, y=0.020315, theta=0.068734
[19:49:34.013] Odometry x=-0.047019, y=0.020315, theta=0.068297
[19:49:34.033] Odometry x=-0.046617, y=0.020287, theta=0.069837
[19:49:34.043] Odometry x=-0.046615, y=0.020287, theta=0.071494
[19:49:34.053] Odometry x=-0.046615, y=0.020287, theta=0.072573
[19:49:34.064] Odometry x=-0.046614, y=0.020287, theta=0.073548
[19:49:34.074] Odometry x=-0.046614, y=0.020287, theta=0.074427
[19:49:34.084] Odometry x=-0.046614, y=0.020287, theta=0.075154
[19:49:34.094] Odometry x=-0.046613, y=0.020287, theta=0.075838
[19:49:34.104] Odometry x=-0.046613, y=0.020287, theta=0.076743
[19:49:34.114] Odometry x=-0.046613, y=0.020287, theta=0.077897
[19:49:34.122] After Reprojection Map nPoint:241 ,nCell:113 ,nMatches:33 ,distance between two frames x:0.000374 ,z=0.000008,angle between two frames:0.004558
[19:49:34.126] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =115 	 error init =0.103849 	 error end=0.089507
[19:49:34.126] After pose optimization, distance between two frames x:-0.028884 ,z=-0.002082,angle between two frames:0.004558
[19:49:34.126] Update EKF and 3D points, distance between two frames x:-0.027098 ,z=-0.001971,angle between two frames:0.004536
[19:49:34.135] Odometry x=-0.063479, y=0.019092, theta=0.079045
[19:49:34.145] Odometry x=-0.063479, y=0.019092, theta=0.080261
[19:49:34.155] Odometry x=-0.063479, y=0.019092, theta=0.080460
[19:49:34.165] Odometry x=-0.063479, y=0.019091, theta=0.079260
[19:49:34.175] Odometry x=-0.063479, y=0.019090, theta=0.077545
[19:49:34.185] Odometry x=-0.063479, y=0.019088, theta=0.076175
[19:49:34.195] Odometry x=-0.063479, y=0.019085, theta=0.075225
[19:49:34.205] Odometry x=-0.063479, y=0.019082, theta=0.074590
[19:49:34.216] Odometry x=-0.063479, y=0.019079, theta=0.074164
[19:49:34.236] Odometry x=-0.063099, y=0.019044, theta=0.074206
[19:49:34.246] Odometry x=-0.063099, y=0.019039, theta=0.074631
[19:49:34.256] Odometry x=-0.063099, y=0.019038, theta=0.075160
[19:49:34.266] Odometry x=-0.063099, y=0.019038, theta=0.075844
[19:49:34.276] Odometry x=-0.063099, y=0.019038, theta=0.076826
[19:49:34.286] Odometry x=-0.063099, y=0.019038, theta=0.077889
[19:49:34.297] Odometry x=-0.063099, y=0.019038, theta=0.079497
[19:49:34.298] After Reprojection Map nPoint:279 ,nCell:157 ,nMatches:31 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:34.298] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =114 	 error init =0.063856 	 error end=0.063856
[19:49:34.298] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:34.298] Update EKF and 3D points, distance between two frames x:0.000665 ,z=0.000037,angle between two frames:0.000219
[19:49:34.307] Odometry x=-0.069745, y=0.018668, theta=0.080686
[19:49:34.327] Odometry x=-0.069396, y=0.018640, theta=0.081672
[19:49:34.337] Odometry x=-0.069388, y=0.018639, theta=0.082197
[19:49:34.347] Odometry x=-0.069376, y=0.018639, theta=0.082953
[19:49:34.357] Odometry x=-0.069370, y=0.018638, theta=0.083978
[19:49:34.367] Odometry x=-0.069368, y=0.018641, theta=0.086365
[19:49:34.377] Odometry x=-0.069366, y=0.018645, theta=0.088763
[19:49:34.388] Odometry x=-0.069366, y=0.018646, theta=0.090007
[19:49:34.398] Odometry x=-0.069366, y=0.018647, theta=0.090372
[19:49:34.408] Odometry x=-0.069366, y=0.018647, theta=0.090394
[19:49:34.418] Odometry x=-0.069366, y=0.018647, theta=0.090210
[19:49:34.438] Odometry x=-0.068929, y=0.018606, theta=0.089179
[19:49:34.448] Odometry x=-0.068929, y=0.018605, theta=0.087645
[19:49:34.458] Odometry x=-0.068929, y=0.018603, theta=0.085898
[19:49:34.469] Odometry x=-0.068929, y=0.018600, theta=0.084086
[19:49:34.469] After Reprojection Map nPoint:280 ,nCell:172 ,nMatches:35 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:34.469] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =115 	 error init =0.071719 	 error end=0.071719
[19:49:34.469] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:34.469] Update EKF and 3D points, distance between two frames x:0.000287 ,z=0.000009,angle between two frames:0.000258
[19:49:34.479] Odometry x=-0.071795, y=0.018505, theta=0.079109
[19:49:34.489] Odometry x=-0.071795, y=0.018504, theta=0.078451
[19:49:34.499] Odometry x=-0.071795, y=0.018504, theta=0.078290
[19:49:34.509] Odometry x=-0.071795, y=0.018504, theta=0.078418
[19:49:34.529] Odometry x=-0.071451, y=0.018479, theta=0.079092
[19:49:34.539] Odometry x=-0.071450, y=0.018483, theta=0.079926
[19:49:34.549] Odometry x=-0.071449, y=0.018486, theta=0.080354
[19:49:34.560] Odometry x=-0.071448, y=0.018488, theta=0.080232
[19:49:34.570] Odometry x=-0.071447, y=0.018488, theta=0.080135
[19:49:34.580] Odometry x=-0.071446, y=0.018488, theta=0.080292
[19:49:34.590] Odometry x=-0.071446, y=0.018488, theta=0.080423
[19:49:34.600] Odometry x=-0.071446, y=0.018488, theta=0.080270
[19:49:34.610] Odometry x=-0.071445, y=0.018488, theta=0.080017
[19:49:34.631] Odometry x=-0.071065, y=0.018457, theta=0.080532
[19:49:34.641] Odometry x=-0.071065, y=0.018457, theta=0.081224
[19:49:34.645] After Reprojection Map nPoint:283 ,nCell:152 ,nMatches:35 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:34.645] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =116 	 error init =0.089825 	 error end=0.089687
[19:49:34.645] After pose optimization, distance between two frames x:-0.000406 ,z=0.003791,angle between two frames:0.000000
[19:49:34.645] Update EKF and 3D points, distance between two frames x:-0.000237 ,z=0.003571,angle between two frames:0.000213
[19:49:34.645] Choose frame as a key frame Scene Depth mean:0.984812 ,depth min:0.454929
[19:49:34.651] Odometry x=-0.072757, y=0.020659, theta=0.079676
[19:49:34.661] Odometry x=-0.072757, y=0.020659, theta=0.079350
[19:49:34.671] Odometry x=-0.072757, y=0.020659, theta=0.078440
[19:49:34.682] Odometry x=-0.072757, y=0.020659, theta=0.077173
[19:49:34.692] Odometry x=-0.072757, y=0.020658, theta=0.076192
[19:49:34.702] Odometry x=-0.072756, y=0.020658, theta=0.075733
[19:49:34.712] Odometry x=-0.072755, y=0.020658, theta=0.075346
[19:49:34.732] Odometry x=-0.072371, y=0.020629, theta=0.075312
[19:49:34.742] Odometry x=-0.072369, y=0.020629, theta=0.075392
[19:49:34.752] Odometry x=-0.072369, y=0.020629, theta=0.075057
[19:49:34.762] Odometry x=-0.072369, y=0.020629, theta=0.074381
[19:49:34.773] Odometry x=-0.072369, y=0.020629, theta=0.073789
[19:49:34.783] Odometry x=-0.072369, y=0.020629, theta=0.073188
[19:49:34.793] Odometry x=-0.072369, y=0.020629, theta=0.072742
[19:49:34.803] Odometry x=-0.072369, y=0.020629, theta=0.072348
[19:49:34.813] Odometry x=-0.072369, y=0.020629, theta=0.072234
[19:49:34.815] After Reprojection Map nPoint:294 ,nCell:142 ,nMatches:34 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:34.815] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =118 	 error init =0.091133 	 error end=0.091133
[19:49:34.815] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:34.815] Update EKF and 3D points, distance between two frames x:0.000084 ,z=-0.000081,angle between two frames:0.000353
[19:49:34.833] Odometry x=-0.073240, y=0.021902, theta=0.078321
[19:49:34.843] Odometry x=-0.073240, y=0.021902, theta=0.078638
[19:49:34.853] Odometry x=-0.073240, y=0.021902, theta=0.078820
[19:49:34.864] Odometry x=-0.073240, y=0.021902, theta=0.078958
[19:49:34.874] Odometry x=-0.073240, y=0.021902, theta=0.079211
[19:49:34.884] Odometry x=-0.073240, y=0.021902, theta=0.079722
[19:49:34.894] Odometry x=-0.073240, y=0.021902, theta=0.079624
[19:49:34.904] Odometry x=-0.073240, y=0.021902, theta=0.078591
[19:49:34.914] Odometry x=-0.073240, y=0.021902, theta=0.077644
[19:49:34.934] Odometry x=-0.072863, y=0.021873, theta=0.075879
[19:49:34.944] Odometry x=-0.072863, y=0.021872, theta=0.073896
[19:49:34.955] Odometry x=-0.072863, y=0.021870, theta=0.072945
[19:49:34.965] Odometry x=-0.072863, y=0.021870, theta=0.072541
[19:49:34.975] Odometry x=-0.072862, y=0.021869, theta=0.072681
[19:49:34.985] Odometry x=-0.072859, y=0.021868, theta=0.072704
[19:49:34.995] Odometry x=-0.072855, y=0.021868, theta=0.072156
[19:49:35.005] Odometry x=-0.072852, y=0.021867, theta=0.071763
[19:49:35.009] After Reprojection Map nPoint:350 ,nCell:147 ,nMatches:39 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:35.010] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =119 	 error init =0.101196 	 error end=0.101196
[19:49:35.010] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:35.010] Update EKF and 3D points, distance between two frames x:0.000051 ,z=-0.000004,angle between two frames:0.000374
[19:49:35.026] Odometry x=-0.073212, y=0.021899, theta=0.077550
[19:49:35.036] Odometry x=-0.073210, y=0.021899, theta=0.077280
[19:49:35.046] Odometry x=-0.073210, y=0.021899, theta=0.077249
[19:49:35.056] Odometry x=-0.073210, y=0.021899, theta=0.077439
[19:49:35.066] Odometry x=-0.073209, y=0.021899, theta=0.078018
[19:49:35.076] Odometry x=-0.073209, y=0.021899, theta=0.078480
[19:49:35.086] Odometry x=-0.073209, y=0.021899, theta=0.078874
[19:49:35.097] Odometry x=-0.073209, y=0.021899, theta=0.079413
[19:49:35.107] Odometry x=-0.073209, y=0.021899, theta=0.079780
[19:49:35.127] Odometry x=-0.072845, y=0.021871, theta=0.079683
[19:49:35.137] Odometry x=-0.072845, y=0.021871, theta=0.079289
[19:49:35.147] Odometry x=-0.072845, y=0.021871, theta=0.079022
[19:49:35.157] Odometry x=-0.072844, y=0.021871, theta=0.079091
[19:49:35.168] Odometry x=-0.072844, y=0.021870, theta=0.079058
[19:49:35.178] Odometry x=-0.072842, y=0.021870, theta=0.078841
[19:49:35.179] After Reprojection Map nPoint:359 ,nCell:182 ,nMatches:39 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:35.180] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =134 	 error init =0.061421 	 error end=0.061421
[19:49:35.180] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:35.180] Update EKF and 3D points, distance between two frames x:0.000048 ,z=-0.000004,angle between two frames:0.000054
[19:49:35.188] Odometry x=-0.073322, y=0.021908, theta=0.077962
[19:49:35.198] Odometry x=-0.073321, y=0.021908, theta=0.078007
[19:49:35.208] Odometry x=-0.073321, y=0.021907, theta=0.078185
[19:49:35.218] Odometry x=-0.073321, y=0.021907, theta=0.078458
[19:49:35.238] Odometry x=-0.072904, y=0.021875, theta=0.078245
[19:49:35.248] Odometry x=-0.072904, y=0.021875, theta=0.077909
[19:49:35.259] Odometry x=-0.072904, y=0.021875, theta=0.077604
[19:49:35.269] Odometry x=-0.072903, y=0.021875, theta=0.076960
[19:49:35.279] Odometry x=-0.072903, y=0.021875, theta=0.075904
[19:49:35.289] Odometry x=-0.072903, y=0.021875, theta=0.075263
[19:49:35.299] Odometry x=-0.072903, y=0.021875, theta=0.074979
[19:49:35.309] Odometry x=-0.072903, y=0.021875, theta=0.074651
[19:49:35.329] Odometry x=-0.072565, y=0.021849, theta=0.074940
[19:49:35.340] Odometry x=-0.072564, y=0.021849, theta=0.075201
[19:49:35.350] Odometry x=-0.072564, y=0.021849, theta=0.075730
[19:49:35.355] After Reprojection Map nPoint:366 ,nCell:209 ,nMatches:40 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:35.355] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =124 	 error init =0.087166 	 error end=0.087166
[19:49:35.355] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:35.355] Update EKF and 3D points, distance between two frames x:0.000062 ,z=-0.000005,angle between two frames:0.000070
[19:49:35.360] Odometry x=-0.073179, y=0.021897, theta=0.077568
[19:49:35.370] Odometry x=-0.073179, y=0.021897, theta=0.079089
[19:49:35.380] Odometry x=-0.073179, y=0.021897, theta=0.080955
[19:49:35.390] Odometry x=-0.073179, y=0.021897, theta=0.082170
[19:49:35.400] Odometry x=-0.073179, y=0.021897, theta=0.083081
[19:49:35.411] Odometry x=-0.073179, y=0.021897, theta=0.083851
[19:49:35.431] Odometry x=-0.072804, y=0.021866, theta=0.085245
[19:49:35.441] Odometry x=-0.072804, y=0.021866, theta=0.086680
[19:49:35.451] Odometry x=-0.072804, y=0.021866, theta=0.087959
[19:49:35.461] Odometry x=-0.072804, y=0.021866, theta=0.088928
[19:49:35.471] Odometry x=-0.072804, y=0.021866, theta=0.089849
[19:49:35.482] Odometry x=-0.072804, y=0.021866, theta=0.090890
[19:49:35.492] Odometry x=-0.072804, y=0.021866, theta=0.091457
[19:49:35.502] Odometry x=-0.072804, y=0.021866, theta=0.091375
[19:49:35.512] Odometry x=-0.072804, y=0.021866, theta=0.091524
[19:49:35.526] After Reprojection Map nPoint:361 ,nCell:178 ,nMatches:34 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:35.526] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =121 	 error init =0.066893 	 error end=0.066893
[19:49:35.526] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:35.526] Update EKF and 3D points, distance between two frames x:0.000103 ,z=-0.000009,angle between two frames:0.000808
[19:49:35.526] Choose frame as a key frame Scene Depth mean:0.983568 ,depth min:0.454808
[19:49:35.532] Odometry x=-0.072822, y=0.021864, theta=0.084014
[19:49:35.542] Odometry x=-0.072822, y=0.021864, theta=0.084477
[19:49:35.553] Odometry x=-0.072821, y=0.021864, theta=0.084870
[19:49:35.563] Odometry x=-0.072820, y=0.021864, theta=0.085251
[19:49:35.573] Odometry x=-0.072820, y=0.021863, theta=0.085904
[19:49:35.583] Odometry x=-0.072820, y=0.021863, theta=0.086495
[19:49:35.593] Odometry x=-0.072820, y=0.021863, theta=0.088327
[19:49:35.603] Odometry x=-0.072820, y=0.021863, theta=0.090047
[19:49:35.613] Odometry x=-0.072820, y=0.021863, theta=0.091726
[19:49:35.634] Odometry x=-0.072424, y=0.021827, theta=0.092836
[19:49:35.644] Odometry x=-0.072424, y=0.021827, theta=0.093822
[19:49:35.654] Odometry x=-0.072424, y=0.021827, theta=0.094070
[19:49:35.664] Odometry x=-0.072424, y=0.021827, theta=0.094168
[19:49:35.674] Odometry x=-0.072424, y=0.021827, theta=0.094532
[19:49:35.684] Odometry x=-0.072424, y=0.021827, theta=0.095005
[19:49:35.694] Odometry x=-0.072424, y=0.021827, theta=0.095615
[19:49:35.704] Odometry x=-0.072424, y=0.021827, theta=0.096104
[19:49:35.708] After Reprojection Map nPoint:357 ,nCell:162 ,nMatches:42 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:35.708] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =124 	 error init =0.104090 	 error end=0.104090
[19:49:35.708] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:35.708] Update EKF and 3D points, distance between two frames x:0.000060 ,z=-0.000005,angle between two frames:0.001048
[19:49:35.709] Choose frame as a key frame Scene Depth mean:0.980608 ,depth min:-290857539195764.250000
[19:49:35.715] Odometry x=-0.073025, y=0.021880, theta=0.086292
[19:49:35.735] Odometry x=-0.072625, y=0.021845, theta=0.086216
[19:49:35.745] Odometry x=-0.072625, y=0.021845, theta=0.086296
[19:49:35.755] Odometry x=-0.072625, y=0.021845, theta=0.086770
[19:49:35.765] Odometry x=-0.072624, y=0.021845, theta=0.087578
[19:49:35.775] Odometry x=-0.072624, y=0.021845, theta=0.088573
[19:49:35.786] Odometry x=-0.072624, y=0.021845, theta=0.089712
[19:49:35.796] Odometry x=-0.072624, y=0.021845, theta=0.090909
[19:49:35.806] Odometry x=-0.072624, y=0.021845, theta=0.091872
[19:49:35.826] Odometry x=-0.072278, y=0.021813, theta=0.093437
[19:49:35.836] Odometry x=-0.072278, y=0.021813, theta=0.094992
[19:49:35.846] Odometry x=-0.072278, y=0.021813, theta=0.096019
[19:49:35.857] Odometry x=-0.072278, y=0.021813, theta=0.096884
[19:49:35.867] Odometry x=-0.072278, y=0.021813, theta=0.097069
[19:49:35.877] Odometry x=-0.072278, y=0.021813, theta=0.096839
[19:49:35.887] Odometry x=-0.072278, y=0.021813, theta=0.096616
[19:49:35.889] After Reprojection Map nPoint:404 ,nCell:167 ,nMatches:38 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:35.889] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =128 	 error init =0.098373 	 error end=0.098373
[19:49:35.889] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:35.889] Update EKF and 3D points, distance between two frames x:0.000065 ,z=-0.000006,angle between two frames:0.000985
[19:49:35.890] Choose frame as a key frame Scene Depth mean:0.984574 ,depth min:0.454231
[19:49:35.897] Odometry x=-0.072929, y=0.021871, theta=0.086400
[19:49:35.907] Odometry x=-0.072929, y=0.021871, theta=0.086246
[19:49:35.927] Odometry x=-0.072527, y=0.021836, theta=0.086534
[19:49:35.938] Odometry x=-0.072527, y=0.021836, theta=0.086908
[19:49:35.948] Odometry x=-0.072527, y=0.021836, theta=0.087093
[19:49:35.958] Odometry x=-0.072527, y=0.021837, theta=0.087183
[19:49:35.968] Odometry x=-0.072527, y=0.021837, theta=0.087127
[19:49:35.978] Odometry x=-0.072527, y=0.021837, theta=0.087003
[19:49:35.988] Odometry x=-0.072526, y=0.021837, theta=0.086945
[19:49:35.998] Odometry x=-0.072527, y=0.021837, theta=0.087052
[19:49:36.008] Odometry x=-0.072526, y=0.021837, theta=0.087390
[19:49:36.029] Odometry x=-0.072145, y=0.021804, theta=0.087746
[19:49:36.039] Odometry x=-0.072144, y=0.021804, theta=0.087976
[19:49:36.049] Odometry x=-0.072144, y=0.021804, theta=0.087996
[19:49:36.059] Odometry x=-0.072144, y=0.021804, theta=0.088456
[19:49:36.069] Odometry x=-0.072143, y=0.021804, theta=0.089057
[19:49:36.079] Odometry x=-0.072143, y=0.021804, theta=0.089563
[19:49:36.089] Odometry x=-0.072143, y=0.021804, theta=0.089916
[19:49:36.093] After Reprojection Map nPoint:436 ,nCell:176 ,nMatches:39 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:36.094] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =122 	 error init =0.105212 	 error end=0.104455
[19:49:36.094] After pose optimization, distance between two frames x:-0.003735 ,z=0.000600,angle between two frames:0.000000
[19:49:36.094] Update EKF and 3D points, distance between two frames x:-0.003448 ,z=0.000559,angle between two frames:0.000565
[19:49:36.095] Choose frame as a key frame Scene Depth mean:0.980788 ,depth min:0.454633
[19:49:36.100] Odometry x=-0.075009, y=0.022213, theta=0.084779
[19:49:36.110] Odometry x=-0.075009, y=0.022213, theta=0.085007
[19:49:36.130] Odometry x=-0.074611, y=0.022179, theta=0.085188
[19:49:36.140] Odometry x=-0.074611, y=0.022179, theta=0.085495
[19:49:36.150] Odometry x=-0.074611, y=0.022179, theta=0.085779
[19:49:36.160] Odometry x=-0.074611, y=0.022179, theta=0.085973
[19:49:36.170] Odometry x=-0.074611, y=0.022179, theta=0.085968
[19:49:36.181] Odometry x=-0.074611, y=0.022179, theta=0.085992
[19:49:36.191] Odometry x=-0.074611, y=0.022179, theta=0.085903
[19:49:36.201] Odometry x=-0.074611, y=0.022179, theta=0.085622
[19:49:36.211] Odometry x=-0.074611, y=0.022179, theta=0.085280
[19:49:36.231] Odometry x=-0.074230, y=0.022146, theta=0.085367
[19:49:36.242] Odometry x=-0.074230, y=0.022146, theta=0.085638
[19:49:36.252] Odometry x=-0.074230, y=0.022146, theta=0.085538
[19:49:36.262] Odometry x=-0.074230, y=0.022146, theta=0.085290
[19:49:36.272] Odometry x=-0.074230, y=0.022146, theta=0.085001
[19:49:36.282] Odometry x=-0.074230, y=0.022146, theta=0.084774
[19:49:36.291] After Reprojection Map nPoint:498 ,nCell:192 ,nMatches:40 ,distance between two frames x:0.001771 ,z=-0.000253,angle between two frames:0.003733
[19:49:36.292] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =133 	 error init =0.063878 	 error end=0.063878
[19:49:36.292] After pose optimization, distance between two frames x:0.001771 ,z=-0.000253,angle between two frames:0.003733
[19:49:36.292] Update EKF and 3D points, distance between two frames x:0.001816 ,z=-0.000257,angle between two frames:0.003725
[19:49:36.292] Choose frame as a key frame Scene Depth mean:0.980728 ,depth min:-115703773317235.796875
[19:49:36.292] Odometry x=-0.074683, y=0.022185, theta=0.084790
[19:49:36.302] Odometry x=-0.074682, y=0.022185, theta=0.084916
[19:49:36.313] Odometry x=-0.074681, y=0.022185, theta=0.085125
[19:49:36.333] Odometry x=-0.074298, y=0.022152, theta=0.085746
[19:49:36.343] Odometry x=-0.074296, y=0.022152, theta=0.086242
[19:49:36.353] Odometry x=-0.074296, y=0.022152, theta=0.086347
[19:49:36.363] Odometry x=-0.074296, y=0.022152, theta=0.086542
[19:49:36.373] Odometry x=-0.074296, y=0.022152, theta=0.086892
[19:49:36.384] Odometry x=-0.074296, y=0.022152, theta=0.086938
[19:49:36.394] Odometry x=-0.074296, y=0.022152, theta=0.086989
[19:49:36.404] Odometry x=-0.074296, y=0.022151, theta=0.087245
[19:49:36.414] Odometry x=-0.074296, y=0.022151, theta=0.087405
[19:49:36.434] Odometry x=-0.073903, y=0.022117, theta=0.086470
[19:49:36.444] Odometry x=-0.073902, y=0.022117, theta=0.085700
[19:49:36.454] Odometry x=-0.073902, y=0.022117, theta=0.085177
[19:49:36.465] Odometry x=-0.073901, y=0.022117, theta=0.084019
[19:49:36.475] Odometry x=-0.073901, y=0.022117, theta=0.083286
[19:49:36.485] Odometry x=-0.073901, y=0.022118, theta=0.083021
[19:49:36.495] Odometry x=-0.073901, y=0.022118, theta=0.082810
[19:49:36.505] After Reprojection Map nPoint:569 ,nCell:226 ,nMatches:45 ,distance between two frames x:0.000281 ,z=-0.000024,angle between two frames:0.000020
[19:49:36.505] Odometry x=-0.073901, y=0.022118, theta=0.081662
[19:49:36.505] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =142 	 error init =0.098132 	 error end=0.098132
[19:49:36.505] After pose optimization, distance between two frames x:0.000281 ,z=-0.000024,angle between two frames:0.000020
[19:49:36.505] Update EKF and 3D points, distance between two frames x:0.000326 ,z=-0.000028,angle between two frames:0.000264
[19:49:36.506] Choose frame as a key frame Scene Depth mean:0.980710 ,depth min:0.453380
[19:49:36.515] Odometry x=-0.074356, y=0.022157, theta=0.082146
[19:49:36.535] Odometry x=-0.073955, y=0.022124, theta=0.080915
[19:49:36.546] Odometry x=-0.073955, y=0.022124, theta=0.079894
[19:49:36.556] Odometry x=-0.073955, y=0.022124, theta=0.079718
[19:49:36.566] Odometry x=-0.073953, y=0.022124, theta=0.079692
[19:49:36.576] Odometry x=-0.073950, y=0.022123, theta=0.079640
[19:49:36.586] Odometry x=-0.073947, y=0.022123, theta=0.080020
[19:49:36.596] Odometry x=-0.073945, y=0.022123, theta=0.081025
[19:49:36.606] Odometry x=-0.073945, y=0.022123, theta=0.082471
[19:49:36.627] Odometry x=-0.073601, y=0.022094, theta=0.083013
[19:49:36.637] Odometry x=-0.073601, y=0.022095, theta=0.083724
[19:49:36.647] Odometry x=-0.073601, y=0.022096, theta=0.084143
[19:49:36.657] Odometry x=-0.073601, y=0.022097, theta=0.083535
[19:49:36.667] Odometry x=-0.073601, y=0.022098, theta=0.081960
[19:49:36.678] Odometry x=-0.073601, y=0.022098, theta=0.080002
[19:49:36.688] Odometry x=-0.073601, y=0.022098, theta=0.078154
[19:49:36.698] Odometry x=-0.073601, y=0.022098, theta=0.076810
[19:49:36.704] After Reprojection Map nPoint:632 ,nCell:189 ,nMatches:46 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:36.704] n deleted obs = 11 	 n obs with reprojection error less than 0.5 px =148 	 error init =0.101983 	 error end=0.101983
[19:49:36.704] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:36.704] Update EKF and 3D points, distance between two frames x:0.000060 ,z=-0.000005,angle between two frames:0.000512
[19:49:36.705] Choose frame as a key frame Scene Depth mean:0.970937 ,depth min:-306081305830682.687500
[19:49:36.708] Odometry x=-0.074204, y=0.022146, theta=0.080381
[19:49:36.728] Odometry x=-0.073823, y=0.022116, theta=0.079664
[19:49:36.738] Odometry x=-0.073823, y=0.022116, theta=0.079068
[19:49:36.748] Odometry x=-0.073823, y=0.022116, theta=0.078890
[19:49:36.759] Odometry x=-0.073823, y=0.022116, theta=0.078517
[19:49:36.769] Odometry x=-0.073823, y=0.022116, theta=0.077964
[19:49:36.779] Odometry x=-0.073823, y=0.022115, theta=0.077464
[19:49:36.789] Odometry x=-0.073823, y=0.022115, theta=0.077187
[19:49:36.799] Odometry x=-0.073822, y=0.022115, theta=0.076842
[19:49:36.809] Odometry x=-0.073820, y=0.022115, theta=0.076520
[19:49:36.829] Odometry x=-0.073424, y=0.022085, theta=0.076825
[19:49:36.839] Odometry x=-0.073422, y=0.022084, theta=0.077210
[19:49:36.850] Odometry x=-0.073422, y=0.022085, theta=0.077791
[19:49:36.860] Odometry x=-0.073422, y=0.022085, theta=0.078468
[19:49:36.870] Odometry x=-0.073422, y=0.022087, theta=0.078726
[19:49:36.880] Odometry x=-0.073422, y=0.022088, theta=0.078397
[19:49:36.890] Odometry x=-0.073421, y=0.022089, theta=0.077731
[19:49:36.900] Odometry x=-0.073421, y=0.022089, theta=0.077097
[19:49:36.910] After Reprojection Map nPoint:684 ,nCell:179 ,nMatches:47 ,distance between two frames x:0.000373 ,z=-0.000030,angle between two frames:0.003613
[19:49:36.910] Odometry x=-0.073421, y=0.022089, theta=0.075819
[19:49:36.916] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =151 	 error init =0.095723 	 error end=0.095682
[19:49:36.916] After pose optimization, distance between two frames x:0.000244 ,z=0.000019,angle between two frames:0.003613
[19:49:36.916] Update EKF and 3D points, distance between two frames x:0.000297 ,z=0.000013,angle between two frames:0.003978
[19:49:36.916] Choose frame as a key frame Scene Depth mean:0.983741 ,depth min:0.454643
[19:49:36.930] Odometry x=-0.073823, y=0.022152, theta=0.078309
[19:49:36.941] Odometry x=-0.073823, y=0.022152, theta=0.076442
[19:49:36.951] Odometry x=-0.073823, y=0.022151, theta=0.075884
[19:49:36.961] Odometry x=-0.073823, y=0.022151, theta=0.075935
[19:49:36.971] Odometry x=-0.073823, y=0.022150, theta=0.076513
[19:49:36.981] Odometry x=-0.073823, y=0.022150, theta=0.077438
[19:49:36.991] Odometry x=-0.073823, y=0.022150, theta=0.078358
[19:49:37.001] Odometry x=-0.073823, y=0.022150, theta=0.079138
[19:49:37.011] Odometry x=-0.073823, y=0.022150, theta=0.079656
[19:49:37.032] Odometry x=-0.073425, y=0.022118, theta=0.080565
[19:49:37.042] Odometry x=-0.073425, y=0.022118, theta=0.082218
[19:49:37.052] Odometry x=-0.073425, y=0.022118, theta=0.084246
[19:49:37.062] Odometry x=-0.073425, y=0.022119, theta=0.086046
[19:49:37.072] Odometry x=-0.073425, y=0.022120, theta=0.087587
[19:49:37.082] Odometry x=-0.073425, y=0.022120, theta=0.089133
[19:49:37.092] Odometry x=-0.073425, y=0.022120, theta=0.090620
[19:49:37.103] Odometry x=-0.073425, y=0.022120, theta=0.091861
[19:49:37.113] Odometry x=-0.073425, y=0.022120, theta=0.092714
[19:49:37.122] After Reprojection Map nPoint:726 ,nCell:191 ,nMatches:46 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:37.122] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =149 	 error init =0.098190 	 error end=0.098190
[19:49:37.122] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:37.122] Update EKF and 3D points, distance between two frames x:0.000050 ,z=-0.000004,angle between two frames:0.000779
[19:49:37.123] Choose frame as a key frame Scene Depth mean:0.980529 ,depth min:0.454422
[19:49:37.133] Odometry x=-0.073748, y=0.022144, theta=0.081161
[19:49:37.143] Odometry x=-0.073748, y=0.022142, theta=0.081607
[19:49:37.153] Odometry x=-0.073748, y=0.022142, theta=0.082144
[19:49:37.163] Odometry x=-0.073748, y=0.022141, theta=0.082984
[19:49:37.173] Odometry x=-0.073748, y=0.022141, theta=0.083729
[19:49:37.184] Odometry x=-0.073748, y=0.022141, theta=0.084309
[19:49:37.194] Odometry x=-0.073748, y=0.022141, theta=0.084949
[19:49:37.204] Odometry x=-0.073748, y=0.022141, theta=0.085432
[19:49:37.214] Odometry x=-0.073748, y=0.022141, theta=0.085573
[19:49:37.234] Odometry x=-0.073386, y=0.022110, theta=0.085675
[19:49:37.244] Odometry x=-0.073386, y=0.022110, theta=0.086182
[19:49:37.254] Odometry x=-0.073386, y=0.022110, theta=0.087102
[19:49:37.265] Odometry x=-0.073386, y=0.022110, theta=0.088218
[19:49:37.275] Odometry x=-0.073386, y=0.022110, theta=0.089187
[19:49:37.285] Odometry x=-0.073386, y=0.022109, theta=0.090688
[19:49:37.295] Odometry x=-0.073386, y=0.022109, theta=0.091795
[19:49:37.305] Odometry x=-0.073386, y=0.022109, theta=0.093557
[19:49:37.316] Odometry x=-0.073386, y=0.022108, theta=0.096434
[19:49:37.336] Odometry x=-0.072974, y=0.022067, theta=0.098821
[19:49:37.346] Odometry x=-0.072972, y=0.022067, theta=0.101163
[19:49:37.346] After Reprojection Map nPoint:787 ,nCell:191 ,nMatches:44 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:37.346] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =149 	 error init =0.078077 	 error end=0.078077
[19:49:37.346] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:37.346] Update EKF and 3D points, distance between two frames x:0.000073 ,z=-0.000007,angle between two frames:0.001267
[19:49:37.347] Choose frame as a key frame Scene Depth mean:0.980415 ,depth min:-385611732562357.250000
[19:49:37.356] Odometry x=-0.073704, y=0.022135, theta=0.090274
[19:49:37.366] Odometry x=-0.073703, y=0.022135, theta=0.092939
[19:49:37.376] Odometry x=-0.073702, y=0.022135, theta=0.096394
[19:49:37.387] Odometry x=-0.073702, y=0.022135, theta=0.099408
[19:49:37.397] Odometry x=-0.073702, y=0.022135, theta=0.101971
[19:49:37.407] Odometry x=-0.073702, y=0.022135, theta=0.104095
[19:49:37.417] Odometry x=-0.073702, y=0.022135, theta=0.105828
[19:49:37.437] Odometry x=-0.073322, y=0.022095, theta=0.107063
[19:49:37.447] Odometry x=-0.073322, y=0.022095, theta=0.108527
[19:49:37.457] Odometry x=-0.073322, y=0.022095, theta=0.109787
[19:49:37.468] Odometry x=-0.073322, y=0.022095, theta=0.111249
[19:49:37.478] Odometry x=-0.073322, y=0.022095, theta=0.112975
[19:49:37.488] Odometry x=-0.073322, y=0.022095, theta=0.114562
[19:49:37.498] Odometry x=-0.073322, y=0.022094, theta=0.115924
[19:49:37.508] Odometry x=-0.073322, y=0.022094, theta=0.117547
[19:49:37.528] Odometry x=-0.072978, y=0.022053, theta=0.120196
[19:49:37.539] Odometry x=-0.072977, y=0.022053, theta=0.123310
[19:49:37.549] Odometry x=-0.072976, y=0.022053, theta=0.125833
[19:49:37.559] Odometry x=-0.072976, y=0.022053, theta=0.128165
[19:49:37.563] After Reprojection Map nPoint:833 ,nCell:205 ,nMatches:39 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:37.569] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =144 	 error init =0.103831 	 error end=0.103828
[19:49:37.569] Odometry x=-0.072976, y=0.022053, theta=0.130032
[19:49:37.569] After pose optimization, distance between two frames x:-0.000011 ,z=-0.000015,angle between two frames:0.000000
[19:49:37.569] Update EKF and 3D points, distance between two frames x:0.000058 ,z=-0.000021,angle between two frames:0.002890
[19:49:37.570] Choose frame as a key frame Scene Depth mean:0.969832 ,depth min:-14765432968774.101562
[19:49:37.579] Odometry x=-0.073670, y=0.022117, theta=0.103769
[19:49:37.589] Odometry x=-0.073670, y=0.022117, theta=0.105195
[19:49:37.599] Odometry x=-0.073670, y=0.022118, theta=0.106297
[19:49:37.609] Odometry x=-0.073670, y=0.022118, theta=0.107353
[19:49:37.630] Odometry x=-0.073290, y=0.022077, theta=0.108130
[19:49:37.640] Odometry x=-0.073290, y=0.022077, theta=0.108600
[19:49:37.650] Odometry x=-0.073290, y=0.022077, theta=0.108372
[19:49:37.660] Odometry x=-0.073290, y=0.022077, theta=0.108201
[19:49:37.670] Odometry x=-0.073290, y=0.022077, theta=0.108214
[19:49:37.680] Odometry x=-0.073290, y=0.022076, theta=0.108415
[19:49:37.690] Odometry x=-0.073290, y=0.022076, theta=0.108917
[19:49:37.701] Odometry x=-0.073290, y=0.022076, theta=0.109643
[19:49:37.711] Odometry x=-0.073289, y=0.022076, theta=0.110470
[19:49:37.731] Odometry x=-0.072905, y=0.022033, theta=0.111574
[19:49:37.741] Odometry x=-0.072905, y=0.022033, theta=0.112952
[19:49:37.751] Odometry x=-0.072905, y=0.022032, theta=0.114146
[19:49:37.761] Odometry x=-0.072906, y=0.022031, theta=0.115343
[19:49:37.771] Odometry x=-0.072906, y=0.022031, theta=0.116617
[19:49:37.781] Odometry x=-0.072906, y=0.022030, theta=0.117992
[19:49:37.792] Odometry x=-0.072906, y=0.022030, theta=0.119895
[19:49:37.792] After Reprojection Map nPoint:878 ,nCell:159 ,nMatches:41 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:37.793] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =140 	 error init =0.105464 	 error end=0.104250
[19:49:37.793] After pose optimization, distance between two frames x:-0.002296 ,z=-0.000143,angle between two frames:0.000000
[19:49:37.793] Update EKF and 3D points, distance between two frames x:-0.002093 ,z=-0.000142,angle between two frames:0.002163
[19:49:37.793] Choose frame as a key frame Scene Depth mean:0.970710 ,depth min:0.452481
[19:49:37.802] Odometry x=-0.074937, y=0.022020, theta=0.102711
[19:49:37.812] Odometry x=-0.074937, y=0.022020, theta=0.106408
[19:49:37.832] Odometry x=-0.074556, y=0.021979, theta=0.110241
[19:49:37.842] Odometry x=-0.074556, y=0.021979, theta=0.114464
[19:49:37.852] Odometry x=-0.074555, y=0.021979, theta=0.117298
[19:49:37.862] Odometry x=-0.074553, y=0.021979, theta=0.119538
[19:49:37.873] Odometry x=-0.074552, y=0.021979, theta=0.121396
[19:49:37.883] Odometry x=-0.074552, y=0.021979, theta=0.123130
[19:49:37.893] Odometry x=-0.074552, y=0.021979, theta=0.124292
[19:49:37.903] Odometry x=-0.074552, y=0.021979, theta=0.125284
[19:49:37.913] Odometry x=-0.074552, y=0.021979, theta=0.126215
[19:49:37.933] Odometry x=-0.074182, y=0.021932, theta=0.127207
[19:49:37.944] Odometry x=-0.074182, y=0.021932, theta=0.128784
[19:49:37.954] Odometry x=-0.074182, y=0.021932, theta=0.130298
[19:49:37.964] Odometry x=-0.074182, y=0.021932, theta=0.131490
[19:49:37.974] Odometry x=-0.074182, y=0.021931, theta=0.131805
[19:49:37.984] Odometry x=-0.074181, y=0.021931, theta=0.131524
[19:49:37.994] Odometry x=-0.074180, y=0.021931, theta=0.131491
[19:49:38.004] Odometry x=-0.074178, y=0.021931, theta=0.132400
[19:49:38.014] Odometry x=-0.074177, y=0.021930, theta=0.133233
[19:49:38.021] After Reprojection Map nPoint:906 ,nCell:221 ,nMatches:48 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:38.026] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =127 	 error init =0.115023 	 error end=0.112996
[19:49:38.026] After pose optimization, distance between two frames x:-0.002303 ,z=0.008823,angle between two frames:0.000000
[19:49:38.027] Update EKF and 3D points, distance between two frames x:-0.001992 ,z=0.008298,angle between two frames:0.002666
[19:49:38.035] Odometry x=-0.076264, y=0.027063, theta=0.106829
[19:49:38.045] Odometry x=-0.076264, y=0.027063, theta=0.107262
[19:49:38.055] Odometry x=-0.076264, y=0.027063, theta=0.107629
[19:49:38.065] Odometry x=-0.076264, y=0.027063, theta=0.107993
[19:49:38.075] Odometry x=-0.076264, y=0.027063, theta=0.108675
[19:49:38.085] Odometry x=-0.076264, y=0.027063, theta=0.109787
[19:49:38.095] Odometry x=-0.076264, y=0.027063, theta=0.111231
[19:49:38.105] Odometry x=-0.076264, y=0.027063, theta=0.112086
[19:49:38.126] Odometry x=-0.075944, y=0.027026, theta=0.113134
[19:49:38.136] Odometry x=-0.075942, y=0.027025, theta=0.114519
[19:49:38.146] Odometry x=-0.075940, y=0.027025, theta=0.116119
[19:49:38.156] Odometry x=-0.075939, y=0.027025, theta=0.117578
[19:49:38.166] Odometry x=-0.075939, y=0.027025, theta=0.118297
[19:49:38.176] Odometry x=-0.075939, y=0.027025, theta=0.118540
[19:49:38.186] Odometry x=-0.075939, y=0.027025, theta=0.118056
[19:49:38.196] Odometry x=-0.075939, y=0.027025, theta=0.117560
[19:49:38.207] Odometry x=-0.075939, y=0.027025, theta=0.117103
[19:49:38.217] Odometry x=-0.075939, y=0.027025, theta=0.115958
[19:49:38.237] Odometry x=-0.075478, y=0.026971, theta=0.116221
[19:49:38.244] After Reprojection Map nPoint:973 ,nCell:222 ,nMatches:45 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:38.247] Odometry x=-0.075478, y=0.026971, theta=0.116390
[19:49:38.248] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =128 	 error init =0.115738 	 error end=0.113615
[19:49:38.248] After pose optimization, distance between two frames x:-0.008221 ,z=-0.004014,angle between two frames:0.000001
[19:49:38.248] Update EKF and 3D points, distance between two frames x:-0.007585 ,z=-0.003975,angle between two frames:0.001549
[19:49:38.257] Odometry x=-0.081839, y=0.026580, theta=0.101122
[19:49:38.267] Odometry x=-0.081838, y=0.026580, theta=0.101501
[19:49:38.277] Odometry x=-0.081838, y=0.026580, theta=0.101845
[19:49:38.287] Odometry x=-0.081839, y=0.026580, theta=0.102189
[19:49:38.298] Odometry x=-0.081839, y=0.026579, theta=0.101931
[19:49:38.308] Odometry x=-0.081839, y=0.026579, theta=0.101335
[19:49:38.328] Odometry x=-0.081499, y=0.026545, theta=0.101918
[19:49:38.338] Odometry x=-0.081498, y=0.026544, theta=0.102499
[19:49:38.348] Odometry x=-0.081498, y=0.026544, theta=0.102757
[19:49:38.358] Odometry x=-0.081498, y=0.026544, theta=0.102766
[19:49:38.368] Odometry x=-0.081498, y=0.026544, theta=0.102684
[19:49:38.379] Odometry x=-0.081498, y=0.026544, theta=0.102444
[19:49:38.389] Odometry x=-0.081498, y=0.026544, theta=0.102025
[19:49:38.399] Odometry x=-0.081498, y=0.026544, theta=0.101868
[19:49:38.409] Odometry x=-0.081498, y=0.026544, theta=0.102030
[19:49:38.419] Odometry x=-0.081498, y=0.026544, theta=0.102283
[19:49:38.439] Odometry x=-0.081051, y=0.026498, theta=0.102185
[19:49:38.449] Odometry x=-0.081051, y=0.026498, theta=0.102104
[19:49:38.460] Odometry x=-0.081050, y=0.026498, theta=0.102224
[19:49:38.465] After Reprojection Map nPoint:925 ,nCell:190 ,nMatches:43 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:38.465] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =127 	 error init =0.107378 	 error end=0.107378
[19:49:38.465] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:38.465] Update EKF and 3D points, distance between two frames x:0.000275 ,z=0.000009,angle between two frames:0.000647
[19:49:38.470] Odometry x=-0.083797, y=0.026404, theta=0.096061
[19:49:38.480] Odometry x=-0.083797, y=0.026404, theta=0.096089
[19:49:38.490] Odometry x=-0.083797, y=0.026404, theta=0.095592
[19:49:38.500] Odometry x=-0.083796, y=0.026404, theta=0.095013
[19:49:38.510] Odometry x=-0.083796, y=0.026404, theta=0.094544
[19:49:38.531] Odometry x=-0.083470, y=0.026373, theta=0.092181
[19:49:38.541] Odometry x=-0.083470, y=0.026373, theta=0.090186
[19:49:38.551] Odometry x=-0.083470, y=0.026372, theta=0.090177
[19:49:38.561] Odometry x=-0.083470, y=0.026372, theta=0.091188
[19:49:38.571] Odometry x=-0.083470, y=0.026371, theta=0.092470
[19:49:38.581] Odometry x=-0.083470, y=0.026371, theta=0.093468
[19:49:38.592] Odometry x=-0.083470, y=0.026370, theta=0.094287
[19:49:38.602] Odometry x=-0.083470, y=0.026370, theta=0.095412
[19:49:38.612] Odometry x=-0.083470, y=0.026370, theta=0.096402
[19:49:38.632] Odometry x=-0.083082, y=0.026332, theta=0.099518
[19:49:38.642] Odometry x=-0.083082, y=0.026333, theta=0.102214
[19:49:38.652] Odometry x=-0.083082, y=0.026333, theta=0.102932
[19:49:38.663] Odometry x=-0.083082, y=0.026333, theta=0.103427
[19:49:38.673] Odometry x=-0.083082, y=0.026333, theta=0.103887
[19:49:38.683] Odometry x=-0.083082, y=0.026333, theta=0.104037
[19:49:38.693] Odometry x=-0.083082, y=0.026333, theta=0.103397
[19:49:38.703] Odometry x=-0.083082, y=0.026333, theta=0.102577
[19:49:38.704] After Reprojection Map nPoint:933 ,nCell:214 ,nMatches:46 ,distance between two frames x:0.001698 ,z=0.000058,angle between two frames:0.004085
[19:49:38.704] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =127 	 error init =0.115169 	 error end=0.115169
[19:49:38.704] After pose optimization, distance between two frames x:0.001698 ,z=0.000058,angle between two frames:0.004085
[19:49:38.704] Update EKF and 3D points, distance between two frames x:0.001739 ,z=0.000054,angle between two frames:0.004424
[19:49:38.713] Odometry x=-0.083498, y=0.026375, theta=0.098415
[19:49:38.733] Odometry x=-0.083095, y=0.026335, theta=0.098025
[19:49:38.744] Odometry x=-0.083095, y=0.026335, theta=0.097546
[19:49:38.754] Odometry x=-0.083095, y=0.026334, theta=0.096912
[19:49:38.764] Odometry x=-0.083095, y=0.026334, theta=0.096045
[19:49:38.774] Odometry x=-0.083094, y=0.026334, theta=0.095348
[19:49:38.784] Odometry x=-0.083094, y=0.026334, theta=0.094821
[19:49:38.794] Odometry x=-0.083094, y=0.026334, theta=0.094091
[19:49:38.804] Odometry x=-0.083094, y=0.026334, theta=0.093384
[19:49:38.815] Odometry x=-0.083095, y=0.026333, theta=0.092705
[19:49:38.835] Odometry x=-0.082712, y=0.026298, theta=0.092574
[19:49:38.845] Odometry x=-0.082712, y=0.026298, theta=0.092481
[19:49:38.855] Odometry x=-0.082712, y=0.026298, theta=0.092296
[19:49:38.865] Odometry x=-0.082712, y=0.026298, theta=0.091507
[19:49:38.875] Odometry x=-0.082712, y=0.026298, theta=0.090388
[19:49:38.886] Odometry x=-0.082711, y=0.026298, theta=0.088813
[19:49:38.896] Odometry x=-0.082711, y=0.026298, theta=0.086485
[19:49:38.906] Odometry x=-0.082711, y=0.026298, theta=0.083973
[19:49:38.916] Odometry x=-0.082711, y=0.026298, theta=0.081944
[19:49:38.920] After Reprojection Map nPoint:917 ,nCell:195 ,nMatches:45 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:38.921] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =117 	 error init =0.132083 	 error end=0.132083
[19:49:38.921] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:38.921] Update EKF and 3D points, distance between two frames x:0.000061 ,z=-0.000006,angle between two frames:0.000945
[19:49:38.936] Odometry x=-0.083219, y=0.026349, theta=0.094157
[19:49:38.946] Odometry x=-0.083219, y=0.026348, theta=0.092375
[19:49:38.956] Odometry x=-0.083219, y=0.026348, theta=0.091060
[19:49:38.967] Odometry x=-0.083219, y=0.026348, theta=0.090085
[19:49:38.977] Odometry x=-0.083219, y=0.026348, theta=0.089334
[19:49:38.987] Odometry x=-0.083219, y=0.026348, theta=0.088384
[19:49:38.997] Odometry x=-0.083219, y=0.026348, theta=0.087157
[19:49:39.007] Odometry x=-0.083219, y=0.026348, theta=0.085548
[19:49:39.027] Odometry x=-0.082875, y=0.026319, theta=0.084709
[19:49:39.037] Odometry x=-0.082875, y=0.026318, theta=0.083660
[19:49:39.048] Odometry x=-0.082875, y=0.026318, theta=0.082649
[19:49:39.058] Odometry x=-0.082875, y=0.026318, theta=0.081433
[19:49:39.068] Odometry x=-0.082875, y=0.026318, theta=0.080465
[19:49:39.078] Odometry x=-0.082875, y=0.026318, theta=0.080189
[19:49:39.088] Odometry x=-0.082875, y=0.026318, theta=0.080075
[19:49:39.098] Odometry x=-0.082875, y=0.026318, theta=0.078911
[19:49:39.108] Odometry x=-0.082875, y=0.026317, theta=0.077288
[19:49:39.129] Odometry x=-0.082493, y=0.026288, theta=0.075705
[19:49:39.139] Odometry x=-0.082492, y=0.026288, theta=0.074023
[19:49:39.145] After Reprojection Map nPoint:948 ,nCell:220 ,nMatches:46 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:39.145] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =134 	 error init =0.120002 	 error end=0.120002
[19:49:39.145] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:39.145] Update EKF and 3D points, distance between two frames x:0.000070 ,z=-0.000006,angle between two frames:0.001314
[19:49:39.149] Odometry x=-0.083191, y=0.026350, theta=0.085559
[19:49:39.159] Odometry x=-0.083191, y=0.026350, theta=0.084602
[19:49:39.169] Odometry x=-0.083191, y=0.026350, theta=0.083482
[19:49:39.179] Odometry x=-0.083191, y=0.026350, theta=0.082297
[19:49:39.189] Odometry x=-0.083191, y=0.026350, theta=0.081483
[19:49:39.199] Odometry x=-0.083191, y=0.026350, theta=0.079926
[19:49:39.210] Odometry x=-0.083191, y=0.026350, theta=0.078268
[19:49:39.230] Odometry x=-0.082791, y=0.026318, theta=0.077843
[19:49:39.240] Odometry x=-0.082791, y=0.026318, theta=0.077621
[19:49:39.250] Odometry x=-0.082791, y=0.026318, theta=0.077852
[19:49:39.260] Odometry x=-0.082791, y=0.026318, theta=0.078356
[19:49:39.270] Odometry x=-0.082791, y=0.026318, theta=0.078828
[19:49:39.280] Odometry x=-0.082792, y=0.026318, theta=0.079120
[19:49:39.291] Odometry x=-0.082792, y=0.026318, theta=0.078657
[19:49:39.301] Odometry x=-0.082792, y=0.026316, theta=0.077264
[19:49:39.311] Odometry x=-0.082793, y=0.026310, theta=0.075975
[19:49:39.331] Odometry x=-0.082410, y=0.026269, theta=0.074797
[19:49:39.341] Odometry x=-0.082409, y=0.026261, theta=0.073601
[19:49:39.351] Odometry x=-0.082409, y=0.026260, theta=0.072944
[19:49:39.362] Odometry x=-0.082408, y=0.026260, theta=0.072688
[19:49:39.369] After Reprojection Map nPoint:974 ,nCell:234 ,nMatches:49 ,distance between two frames x:0.000433 ,z=-0.000038,angle between two frames:0.008583
[19:49:39.370] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =135 	 error init =0.124101 	 error end=0.124101
[19:49:39.370] After pose optimization, distance between two frames x:0.000433 ,z=-0.000038,angle between two frames:0.008583
[19:49:39.370] Update EKF and 3D points, distance between two frames x:0.000479 ,z=-0.000044,angle between two frames:0.009335
[19:49:39.372] Odometry x=-0.082864, y=0.026312, theta=0.080149
[19:49:39.382] Odometry x=-0.082864, y=0.026312, theta=0.080080
[19:49:39.392] Odometry x=-0.082863, y=0.026313, theta=0.079897
[19:49:39.402] Odometry x=-0.082863, y=0.026313, theta=0.079322
[19:49:39.412] Odometry x=-0.082863, y=0.026313, theta=0.078665
[19:49:39.432] Odometry x=-0.082483, y=0.026283, theta=0.077630
[19:49:39.443] Odometry x=-0.082483, y=0.026283, theta=0.076466
[19:49:39.453] Odometry x=-0.082483, y=0.026283, theta=0.075828
[19:49:39.463] Odometry x=-0.082483, y=0.026283, theta=0.075545
[19:49:39.473] Odometry x=-0.082483, y=0.026283, theta=0.075512
[19:49:39.483] Odometry x=-0.082482, y=0.026283, theta=0.075613
[19:49:39.493] Odometry x=-0.082482, y=0.026283, theta=0.075510
[19:49:39.503] Odometry x=-0.082482, y=0.026283, theta=0.074995
[19:49:39.514] Odometry x=-0.082482, y=0.026283, theta=0.074541
[19:49:39.534] Odometry x=-0.082101, y=0.026254, theta=0.071465
[19:49:39.544] Odometry x=-0.082101, y=0.026252, theta=0.067972
[19:49:39.554] Odometry x=-0.082101, y=0.026249, theta=0.065529
[19:49:39.564] Odometry x=-0.082101, y=0.026245, theta=0.063464
[19:49:39.574] Odometry x=-0.082101, y=0.026239, theta=0.061858
[19:49:39.585] Odometry x=-0.082100, y=0.026234, theta=0.060755
[19:49:39.595] Odometry x=-0.082098, y=0.026230, theta=0.059963
[19:49:39.595] After Reprojection Map nPoint:939 ,nCell:294 ,nMatches:58 ,distance between two frames x:0.000282 ,z=-0.000032,angle between two frames:0.004658
[19:49:39.595] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =136 	 error init =0.123958 	 error end=0.123958
[19:49:39.595] After pose optimization, distance between two frames x:0.000282 ,z=-0.000032,angle between two frames:0.004658
[19:49:39.595] Update EKF and 3D points, distance between two frames x:0.000327 ,z=-0.000037,angle between two frames:0.005875
[19:49:39.605] Odometry x=-0.082543, y=0.026275, theta=0.071075
[19:49:39.625] Odometry x=-0.082178, y=0.026248, theta=0.071644
[19:49:39.635] Odometry x=-0.082177, y=0.026247, theta=0.072598
[19:49:39.645] Odometry x=-0.082176, y=0.026247, theta=0.073655
[19:49:39.655] Odometry x=-0.082176, y=0.026247, theta=0.075087
[19:49:39.665] Odometry x=-0.082176, y=0.026247, theta=0.076607
[19:49:39.676] Odometry x=-0.082175, y=0.026247, theta=0.077818
[19:49:39.686] Odometry x=-0.082175, y=0.026247, theta=0.078879
[19:49:39.696] Odometry x=-0.082175, y=0.026247, theta=0.079982
[19:49:39.706] Odometry x=-0.082175, y=0.026247, theta=0.081265
[19:49:39.726] Odometry x=-0.081794, y=0.026215, theta=0.083945
[19:49:39.736] Odometry x=-0.081793, y=0.026215, theta=0.087104
[19:49:39.747] Odometry x=-0.081793, y=0.026215, theta=0.089771
[19:49:39.757] Odometry x=-0.081793, y=0.026215, theta=0.091833
[19:49:39.767] Odometry x=-0.081793, y=0.026214, theta=0.093112
[19:49:39.777] Odometry x=-0.081792, y=0.026214, theta=0.094044
[19:49:39.787] Odometry x=-0.081792, y=0.026214, theta=0.094775
[19:49:39.797] Odometry x=-0.081790, y=0.026214, theta=0.095534
[19:49:39.807] Odometry x=-0.081788, y=0.026213, theta=0.096701
[19:49:39.818] After Reprojection Map nPoint:902 ,nCell:191 ,nMatches:41 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:39.818] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =117 	 error init =0.115779 	 error end=0.115779
[19:49:39.818] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:39.818] Update EKF and 3D points, distance between two frames x:0.000118 ,z=-0.000011,angle between two frames:0.001034
[19:49:39.828] Odometry x=-0.081970, y=0.026228, theta=0.088184
[19:49:39.838] Odometry x=-0.081968, y=0.026227, theta=0.089990
[19:49:39.848] Odometry x=-0.081968, y=0.026226, theta=0.090876
[19:49:39.858] Odometry x=-0.081968, y=0.026225, theta=0.091803
[19:49:39.868] Odometry x=-0.081968, y=0.026224, theta=0.093104
[19:49:39.878] Odometry x=-0.081967, y=0.026223, theta=0.095106
[19:49:39.888] Odometry x=-0.081967, y=0.026222, theta=0.096536
[19:49:39.899] Odometry x=-0.081965, y=0.026222, theta=0.098188
[19:49:39.909] Odometry x=-0.081964, y=0.026222, theta=0.099751
[19:49:39.929] Odometry x=-0.081565, y=0.026182, theta=0.101541
[19:49:39.939] Odometry x=-0.081565, y=0.026182, theta=0.103496
[19:49:39.949] Odometry x=-0.081565, y=0.026182, theta=0.104937
[19:49:39.960] Odometry x=-0.081565, y=0.026182, theta=0.106432
[19:49:39.970] Odometry x=-0.081565, y=0.026182, theta=0.107769
[19:49:39.980] Odometry x=-0.081565, y=0.026181, theta=0.109050
[19:49:39.990] Odometry x=-0.081565, y=0.026180, theta=0.110172
[19:49:40.000] Odometry x=-0.081565, y=0.026179, theta=0.111369
[19:49:40.010] Odometry x=-0.081564, y=0.026178, theta=0.112729
[19:49:40.030] Odometry x=-0.081183, y=0.026135, theta=0.115386
[19:49:40.041] Odometry x=-0.081181, y=0.026135, theta=0.118185
[19:49:40.044] After Reprojection Map nPoint:901 ,nCell:260 ,nMatches:44 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:40.048] n deleted obs = 13 	 n obs with reprojection error less than 0.5 px =117 	 error init =0.129040 	 error end=0.129040
[19:49:40.049] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:40.049] Update EKF and 3D points, distance between two frames x:0.000089 ,z=-0.000009,angle between two frames:0.002333
[19:49:40.051] Odometry x=-0.082065, y=0.026229, theta=0.097701
[19:49:40.061] Odometry x=-0.082065, y=0.026229, theta=0.099371
[19:49:40.071] Odometry x=-0.082064, y=0.026229, theta=0.100896
[19:49:40.081] Odometry x=-0.082064, y=0.026229, theta=0.102309
[19:49:40.091] Odometry x=-0.082064, y=0.026229, theta=0.103585
[19:49:40.101] Odometry x=-0.082064, y=0.026229, theta=0.104663
[19:49:40.112] Odometry x=-0.082064, y=0.026228, theta=0.105227
[19:49:40.132] Odometry x=-0.081684, y=0.026185, theta=0.104901
[19:49:40.142] Odometry x=-0.081684, y=0.026183, theta=0.105051
[19:49:40.152] Odometry x=-0.081684, y=0.026183, theta=0.105483
[19:49:40.163] Odometry x=-0.081684, y=0.026183, theta=0.106476
[19:49:40.173] Odometry x=-0.081684, y=0.026183, theta=0.107290
[19:49:40.183] Odometry x=-0.081683, y=0.026183, theta=0.108599
[19:49:40.193] Odometry x=-0.081683, y=0.026182, theta=0.109722
[19:49:40.203] Odometry x=-0.081683, y=0.026182, theta=0.111288
[19:49:40.213] Odometry x=-0.081683, y=0.026182, theta=0.111983
[19:49:40.234] Odometry x=-0.081298, y=0.026139, theta=0.112059
[19:49:40.244] Odometry x=-0.081297, y=0.026139, theta=0.112158
[19:49:40.254] Odometry x=-0.081297, y=0.026139, theta=0.112074
[19:49:40.264] Odometry x=-0.081297, y=0.026139, theta=0.111520
[19:49:40.273] After Reprojection Map nPoint:936 ,nCell:186 ,nMatches:40 ,distance between two frames x:0.000547 ,z=-0.000058,angle between two frames:0.015402
[19:49:40.274] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =129 	 error init =0.102666 	 error end=0.097840
[19:49:40.274] After pose optimization, distance between two frames x:-0.011153 ,z=0.004934,angle between two frames:0.015402
[19:49:40.274] Update EKF and 3D points, distance between two frames x:-0.010427 ,z=0.004638,angle between two frames:0.016161
[19:49:40.274] Odometry x=-0.088554, y=0.029097, theta=0.102684
[19:49:40.284] Odometry x=-0.088554, y=0.029097, theta=0.102215
[19:49:40.294] Odometry x=-0.088554, y=0.029097, theta=0.102097
[19:49:40.304] Odometry x=-0.088554, y=0.029097, theta=0.102160
[19:49:40.325] Odometry x=-0.088219, y=0.029062, theta=0.103036
[19:49:40.335] Odometry x=-0.088219, y=0.029062, theta=0.104071
[19:49:40.345] Odometry x=-0.088219, y=0.029062, theta=0.104934
[19:49:40.355] Odometry x=-0.088219, y=0.029062, theta=0.105409
[19:49:40.365] Odometry x=-0.088219, y=0.029062, theta=0.105468
[19:49:40.375] Odometry x=-0.088219, y=0.029062, theta=0.105423
[19:49:40.386] Odometry x=-0.088219, y=0.029062, theta=0.105433
[19:49:40.396] Odometry x=-0.088219, y=0.029061, theta=0.105972
[19:49:40.406] Odometry x=-0.088219, y=0.029061, theta=0.106530
[19:49:40.416] Odometry x=-0.088216, y=0.029057, theta=0.106140
[19:49:40.436] Odometry x=-0.087773, y=0.029005, theta=0.107602
[19:49:40.446] Odometry x=-0.087769, y=0.029002, theta=0.109549
[19:49:40.457] Odometry x=-0.087769, y=0.029002, theta=0.111505
[19:49:40.467] Odometry x=-0.087768, y=0.029002, theta=0.113515
[19:49:40.477] Odometry x=-0.087768, y=0.029002, theta=0.115306
[19:49:40.487] Odometry x=-0.087768, y=0.029002, theta=0.116747
[19:49:40.491] After Reprojection Map nPoint:946 ,nCell:273 ,nMatches:52 ,distance between two frames x:0.004485 ,z=-0.001828,angle between two frames:0.004223
[19:49:40.492] n deleted obs = 16 	 n obs with reprojection error less than 0.5 px =130 	 error init =0.157526 	 error end=0.157526
[19:49:40.492] After pose optimization, distance between two frames x:0.004485 ,z=-0.001828,angle between two frames:0.004223
[19:49:40.492] Update EKF and 3D points, distance between two frames x:0.004531 ,z=-0.001834,angle between two frames:0.005117
[19:49:40.497] Odometry x=-0.088226, y=0.029057, theta=0.109810
[19:49:40.507] Odometry x=-0.088226, y=0.029058, theta=0.111154
[19:49:40.517] Odometry x=-0.088226, y=0.029058, theta=0.112353
[19:49:40.538] Odometry x=-0.087836, y=0.029014, theta=0.113304
[19:49:40.548] Odometry x=-0.087836, y=0.029014, theta=0.114110
[19:49:40.558] Odometry x=-0.087836, y=0.029014, theta=0.114530
[19:49:40.568] Odometry x=-0.087836, y=0.029014, theta=0.114687
[19:49:40.578] Odometry x=-0.087836, y=0.029014, theta=0.114827
[19:49:40.588] Odometry x=-0.087836, y=0.029014, theta=0.115178
[19:49:40.598] Odometry x=-0.087836, y=0.029014, theta=0.115631
[19:49:40.609] Odometry x=-0.087836, y=0.029014, theta=0.116294
[19:49:40.629] Odometry x=-0.087489, y=0.028973, theta=0.114804
[19:49:40.639] Odometry x=-0.087489, y=0.028973, theta=0.113162
[19:49:40.649] Odometry x=-0.087489, y=0.028973, theta=0.112128
[19:49:40.659] Odometry x=-0.087489, y=0.028973, theta=0.111368
[19:49:40.670] Odometry x=-0.087488, y=0.028973, theta=0.110857
[19:49:40.680] Odometry x=-0.087488, y=0.028973, theta=0.110515
[19:49:40.690] Odometry x=-0.087488, y=0.028973, theta=0.110331
[19:49:40.700] Odometry x=-0.087488, y=0.028973, theta=0.110474
[19:49:40.710] After Reprojection Map nPoint:878 ,nCell:189 ,nMatches:37 ,distance between two frames x:0.000283 ,z=-0.000034,angle between two frames:0.006233
[19:49:40.710] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =122 	 error init =0.091823 	 error end=0.091823
[19:49:40.710] After pose optimization, distance between two frames x:0.000283 ,z=-0.000034,angle between two frames:0.006233
[19:49:40.710] Update EKF and 3D points, distance between two frames x:0.000326 ,z=-0.000039,angle between two frames:0.006289
[19:49:40.710] Odometry x=-0.087917, y=0.029022, theta=0.110289
[19:49:40.730] Odometry x=-0.087549, y=0.028980, theta=0.110138
[19:49:40.740] Odometry x=-0.087548, y=0.028980, theta=0.110417
[19:49:40.751] Odometry x=-0.087548, y=0.028979, theta=0.111359
[19:49:40.761] Odometry x=-0.087548, y=0.028979, theta=0.112724
[19:49:40.771] Odometry x=-0.087548, y=0.028979, theta=0.114228
[19:49:40.781] Odometry x=-0.087548, y=0.028980, theta=0.115034
[19:49:40.791] Odometry x=-0.087548, y=0.028980, theta=0.115273
[19:49:40.801] Odometry x=-0.087548, y=0.028980, theta=0.115718
[19:49:40.811] Odometry x=-0.087547, y=0.028980, theta=0.116280
[19:49:40.832] Odometry x=-0.087161, y=0.028934, theta=0.118360
[19:49:40.842] Odometry x=-0.087161, y=0.028935, theta=0.119930
[19:49:40.852] Odometry x=-0.087161, y=0.028935, theta=0.119003
[19:49:40.862] Odometry x=-0.087161, y=0.028935, theta=0.116823
[19:49:40.872] Odometry x=-0.087161, y=0.028935, theta=0.114337
[19:49:40.882] Odometry x=-0.087161, y=0.028934, theta=0.112584
[19:49:40.892] Odometry x=-0.087161, y=0.028932, theta=0.111437
[19:49:40.903] Odometry x=-0.087161, y=0.028930, theta=0.110731
[19:49:40.913] Odometry x=-0.087162, y=0.028922, theta=0.109759
[19:49:40.927] After Reprojection Map nPoint:878 ,nCell:186 ,nMatches:43 ,distance between two frames x:0.000266 ,z=-0.000031,angle between two frames:0.000423
[19:49:40.927] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =122 	 error init =0.118492 	 error end=0.118492
[19:49:40.927] After pose optimization, distance between two frames x:0.000266 ,z=-0.000031,angle between two frames:0.000423
[19:49:40.927] Update EKF and 3D points, distance between two frames x:0.000372 ,z=-0.000043,angle between two frames:0.000392
[19:49:40.933] Odometry x=-0.087153, y=0.028921, theta=0.109341
[19:49:40.943] Odometry x=-0.087154, y=0.028915, theta=0.108808
[19:49:40.953] Odometry x=-0.087154, y=0.028913, theta=0.108784
[19:49:40.963] Odometry x=-0.087154, y=0.028911, theta=0.108888
[19:49:40.973] Odometry x=-0.087153, y=0.028911, theta=0.109051
[19:49:40.984] Odometry x=-0.087149, y=0.028911, theta=0.109445
[19:49:40.994] Odometry x=-0.087146, y=0.028910, theta=0.109359
[19:49:41.004] Odometry x=-0.087145, y=0.028910, theta=0.109016
[19:49:41.014] Odometry x=-0.087144, y=0.028910, theta=0.108656
[19:49:41.034] Odometry x=-0.086761, y=0.028868, theta=0.108456
[19:49:41.044] Odometry x=-0.086761, y=0.028867, theta=0.108377
[19:49:41.055] Odometry x=-0.086761, y=0.028867, theta=0.108114
[19:49:41.065] Odometry x=-0.086761, y=0.028866, theta=0.106634
[19:49:41.075] Odometry x=-0.086762, y=0.028862, theta=0.105017
[19:49:41.085] Odometry x=-0.086762, y=0.028858, theta=0.104071
[19:49:41.095] Odometry x=-0.086761, y=0.028857, theta=0.103658
[19:49:41.105] Odometry x=-0.086761, y=0.028856, theta=0.103871
[19:49:41.115] Odometry x=-0.086761, y=0.028856, theta=0.104544
[19:49:41.136] Odometry x=-0.086399, y=0.028818, theta=0.104562
[19:49:41.144] After Reprojection Map nPoint:965 ,nCell:227 ,nMatches:44 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:41.146] Odometry x=-0.086398, y=0.028818, theta=0.104649
[19:49:41.149] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =130 	 error init =0.126185 	 error end=0.122312
[19:49:41.149] After pose optimization, distance between two frames x:-0.018475 ,z=-0.025504,angle between two frames:0.000000
[19:49:41.149] Update EKF and 3D points, distance between two frames x:-0.017317 ,z=-0.024031,angle between two frames:0.000318
[19:49:41.156] Odometry x=-0.097974, y=0.014084, theta=0.108015
[19:49:41.166] Odometry x=-0.097974, y=0.014084, theta=0.108209
[19:49:41.176] Odometry x=-0.097974, y=0.014084, theta=0.108417
[19:49:41.186] Odometry x=-0.097974, y=0.014084, theta=0.109564
[19:49:41.197] Odometry x=-0.097973, y=0.014085, theta=0.109726
[19:49:41.207] Odometry x=-0.097973, y=0.014085, theta=0.109056
[19:49:41.227] Odometry x=-0.097640, y=0.014047, theta=0.107488
[19:49:41.237] Odometry x=-0.097640, y=0.014046, theta=0.106378
[19:49:41.247] Odometry x=-0.097640, y=0.014044, theta=0.106331
[19:49:41.257] Odometry x=-0.097640, y=0.014042, theta=0.106463
[19:49:41.268] Odometry x=-0.097640, y=0.014040, theta=0.105642
[19:49:41.278] Odometry x=-0.097641, y=0.014034, theta=0.103307
[19:49:41.288] Odometry x=-0.097641, y=0.014029, theta=0.100447
[19:49:41.298] Odometry x=-0.097641, y=0.014027, theta=0.098097
[19:49:41.308] Odometry x=-0.097640, y=0.014026, theta=0.096635
[19:49:41.328] Odometry x=-0.097222, y=0.013985, theta=0.096805
[19:49:41.339] Odometry x=-0.097220, y=0.013985, theta=0.097259
[19:49:41.349] Odometry x=-0.097219, y=0.013985, theta=0.097414
[19:49:41.359] Odometry x=-0.097219, y=0.013985, theta=0.096833
[19:49:41.369] Odometry x=-0.097219, y=0.013984, theta=0.096044
[19:49:41.370] After Reprojection Map nPoint:943 ,nCell:232 ,nMatches:51 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:41.374] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =139 	 error init =0.144881 	 error end=0.138892
[19:49:41.374] After pose optimization, distance between two frames x:-0.002527 ,z=0.035104,angle between two frames:0.000001
[19:49:41.374] Update EKF and 3D points, distance between two frames x:-0.001920 ,z=0.033585,angle between two frames:0.000853
[19:49:41.379] Odometry x=-0.103294, y=0.029173, theta=0.103645
[19:49:41.389] Odometry x=-0.103294, y=0.029172, theta=0.103483
[19:49:41.399] Odometry x=-0.103294, y=0.029172, theta=0.103174
[19:49:41.410] Odometry x=-0.103293, y=0.029172, theta=0.102248
[19:49:41.430] Odometry x=-0.102893, y=0.029131, theta=0.101554
[19:49:41.440] Odometry x=-0.102893, y=0.029131, theta=0.101022
[19:49:41.450] Odometry x=-0.102893, y=0.029131, theta=0.100979
[19:49:41.460] Odometry x=-0.102893, y=0.029131, theta=0.100407
[19:49:41.470] Odometry x=-0.102893, y=0.029131, theta=0.098692
[19:49:41.481] Odometry x=-0.102893, y=0.029130, theta=0.096346
[19:49:41.491] Odometry x=-0.102893, y=0.029130, theta=0.093764
[19:49:41.501] Odometry x=-0.102893, y=0.029128, theta=0.091509
[19:49:41.511] Odometry x=-0.102893, y=0.029123, theta=0.089752
[19:49:41.531] Odometry x=-0.102513, y=0.029077, theta=0.087593
[19:49:41.541] Odometry x=-0.102513, y=0.029067, theta=0.085084
[19:49:41.552] Odometry x=-0.102513, y=0.029062, theta=0.083569
[19:49:41.562] Odometry x=-0.102513, y=0.029058, theta=0.082438
[19:49:41.572] Odometry x=-0.102513, y=0.029057, theta=0.081362
[19:49:41.582] Odometry x=-0.102513, y=0.029057, theta=0.080141
[19:49:41.592] Odometry x=-0.102513, y=0.029057, theta=0.078926
[19:49:41.594] After Reprojection Map nPoint:975 ,nCell:219 ,nMatches:52 ,distance between two frames x:0.003754 ,z=-0.009390,angle between two frames:0.005442
[19:49:41.595] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =141 	 error init =0.119460 	 error end=0.119460
[19:49:41.595] After pose optimization, distance between two frames x:0.003754 ,z=-0.009390,angle between two frames:0.005442
[19:49:41.595] Update EKF and 3D points, distance between two frames x:0.003800 ,z=-0.009397,angle between two frames:0.006949
[19:49:41.603] Odometry x=-0.102967, y=0.029124, theta=0.092205
[19:49:41.613] Odometry x=-0.102967, y=0.029123, theta=0.091206
[19:49:41.633] Odometry x=-0.102588, y=0.029086, theta=0.091490
[19:49:41.643] Odometry x=-0.102588, y=0.029083, theta=0.092245
[19:49:41.653] Odometry x=-0.102589, y=0.029081, theta=0.093572
[19:49:41.663] Odometry x=-0.102589, y=0.029081, theta=0.094756
[19:49:41.673] Odometry x=-0.102589, y=0.029080, theta=0.095199
[19:49:41.684] Odometry x=-0.102589, y=0.029080, theta=0.094423
[19:49:41.694] Odometry x=-0.102588, y=0.029079, theta=0.092165
[19:49:41.704] Odometry x=-0.102587, y=0.029079, theta=0.090115
[19:49:41.714] Odometry x=-0.102586, y=0.029078, theta=0.089290
[19:49:41.734] Odometry x=-0.102200, y=0.029043, theta=0.091218
[19:49:41.745] Odometry x=-0.102197, y=0.029043, theta=0.093337
[19:49:41.755] Odometry x=-0.102196, y=0.029043, theta=0.094488
[19:49:41.765] Odometry x=-0.102196, y=0.029043, theta=0.095306
[19:49:41.775] Odometry x=-0.102195, y=0.029043, theta=0.095903
[19:49:41.785] Odometry x=-0.102195, y=0.029043, theta=0.095951
[19:49:41.795] Odometry x=-0.102195, y=0.029043, theta=0.095283
[19:49:41.805] Odometry x=-0.102196, y=0.029043, theta=0.094547
[19:49:41.816] Odometry x=-0.102196, y=0.029043, theta=0.094189
[19:49:41.816] After Reprojection Map nPoint:914 ,nCell:176 ,nMatches:39 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:41.817] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =134 	 error init =0.072792 	 error end=0.072792
[19:49:41.817] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:41.817] Update EKF and 3D points, distance between two frames x:0.000061 ,z=-0.000007,angle between two frames:0.000474
[19:49:41.836] Odometry x=-0.102710, y=0.029110, theta=0.102243
[19:49:41.846] Odometry x=-0.102712, y=0.029109, theta=0.103229
[19:49:41.856] Odometry x=-0.102712, y=0.029109, theta=0.103941
[19:49:41.866] Odometry x=-0.102712, y=0.029109, theta=0.103212
[19:49:41.876] Odometry x=-0.102712, y=0.029108, theta=0.102436
[19:49:41.886] Odometry x=-0.102711, y=0.029108, theta=0.103392
[19:49:41.897] Odometry x=-0.102711, y=0.029108, theta=0.104569
[19:49:41.907] Odometry x=-0.102710, y=0.029108, theta=0.106739
[19:49:41.917] Odometry x=-0.102709, y=0.029108, theta=0.108994
[19:49:41.937] Odometry x=-0.102311, y=0.029065, theta=0.111147
[19:49:41.947] Odometry x=-0.102311, y=0.029065, theta=0.113961
[19:49:41.957] Odometry x=-0.102311, y=0.029065, theta=0.116029
[19:49:41.967] Odometry x=-0.102310, y=0.029065, theta=0.117660
[19:49:41.977] Odometry x=-0.102309, y=0.029066, theta=0.118960
[19:49:41.988] Odometry x=-0.102309, y=0.029066, theta=0.119826
[19:49:41.998] Odometry x=-0.102308, y=0.029067, theta=0.120829
[19:49:42.008] Odometry x=-0.102307, y=0.029070, theta=0.121768
[19:49:42.028] Odometry x=-0.101964, y=0.029028, theta=0.122050
[19:49:42.038] Odometry x=-0.101964, y=0.029028, theta=0.122346
[19:49:42.044] After Reprojection Map nPoint:946 ,nCell:243 ,nMatches:49 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:42.048] Odometry x=-0.101964, y=0.029028, theta=0.122689
[19:49:42.049] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =138 	 error init =0.092147 	 error end=0.092147
[19:49:42.049] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:42.049] Update EKF and 3D points, distance between two frames x:0.000071 ,z=-0.000008,angle between two frames:0.001249
[19:49:42.059] Odometry x=-0.102676, y=0.029105, theta=0.110482
[19:49:42.069] Odometry x=-0.102676, y=0.029105, theta=0.110007
[19:49:42.079] Odometry x=-0.102676, y=0.029104, theta=0.109537
[19:49:42.089] Odometry x=-0.102676, y=0.029104, theta=0.109306
[19:49:42.099] Odometry x=-0.102676, y=0.029104, theta=0.109457
[19:49:42.109] Odometry x=-0.102676, y=0.029104, theta=0.109948
[19:49:42.129] Odometry x=-0.102296, y=0.029062, theta=0.111512
[19:49:42.140] Odometry x=-0.102296, y=0.029062, theta=0.113419
[19:49:42.150] Odometry x=-0.102296, y=0.029062, theta=0.114794
[19:49:42.160] Odometry x=-0.102296, y=0.029062, theta=0.115907
[19:49:42.170] Odometry x=-0.102296, y=0.029062, theta=0.116942
[19:49:42.180] Odometry x=-0.102296, y=0.029062, theta=0.118308
[19:49:42.190] Odometry x=-0.102296, y=0.029063, theta=0.119897
[19:49:42.201] Odometry x=-0.102296, y=0.029063, theta=0.121259
[19:49:42.211] Odometry x=-0.102296, y=0.029063, theta=0.122264
[19:49:42.231] Odometry x=-0.101917, y=0.029016, theta=0.122933
[19:49:42.241] Odometry x=-0.101917, y=0.029016, theta=0.123748
[19:49:42.251] Odometry x=-0.101917, y=0.029016, theta=0.124616
[19:49:42.261] Odometry x=-0.101917, y=0.029016, theta=0.125736
[19:49:42.271] Odometry x=-0.101917, y=0.029016, theta=0.126742
[19:49:42.282] After Reprojection Map nPoint:969 ,nCell:216 ,nMatches:46 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:42.282] Odometry x=-0.101917, y=0.029016, theta=0.127697
[19:49:42.282] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =140 	 error init =0.095473 	 error end=0.095473
[19:49:42.282] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:42.282] Update EKF and 3D points, distance between two frames x:0.000070 ,z=-0.000008,angle between two frames:0.001501
[19:49:42.292] Odometry x=-0.102616, y=0.029095, theta=0.114321
[19:49:42.302] Odometry x=-0.102616, y=0.029096, theta=0.115351
[19:49:42.312] Odometry x=-0.102616, y=0.029096, theta=0.116254
[19:49:42.332] Odometry x=-0.102235, y=0.029052, theta=0.116201
[19:49:42.342] Odometry x=-0.102235, y=0.029052, theta=0.116223
[19:49:42.352] Odometry x=-0.102234, y=0.029051, theta=0.116573
[19:49:42.363] Odometry x=-0.102234, y=0.029051, theta=0.117323
[19:49:42.373] Odometry x=-0.102234, y=0.029051, theta=0.118373
[19:49:42.383] Odometry x=-0.102234, y=0.029050, theta=0.119406
[19:49:42.393] Odometry x=-0.102234, y=0.029050, theta=0.120353
[19:49:42.403] Odometry x=-0.102234, y=0.029050, theta=0.121310
[19:49:42.413] Odometry x=-0.102234, y=0.029050, theta=0.122340
[19:49:42.434] Odometry x=-0.101853, y=0.029003, theta=0.123942
[19:49:42.444] Odometry x=-0.101853, y=0.029003, theta=0.125770
[19:49:42.454] Odometry x=-0.101853, y=0.029003, theta=0.127060
[19:49:42.464] Odometry x=-0.101853, y=0.029003, theta=0.128291
[19:49:42.474] Odometry x=-0.101853, y=0.029004, theta=0.129383
[19:49:42.484] Odometry x=-0.101853, y=0.029004, theta=0.130532
[19:49:42.494] Odometry x=-0.101853, y=0.029004, theta=0.131468
[19:49:42.501] After Reprojection Map nPoint:938 ,nCell:192 ,nMatches:49 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:42.501] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =153 	 error init =0.088607 	 error end=0.088607
[19:49:42.501] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:42.501] Update EKF and 3D points, distance between two frames x:0.000069 ,z=-0.000008,angle between two frames:0.001619
[19:49:42.505] Odometry x=-0.102547, y=0.029085, theta=0.116443
[19:49:42.515] Odometry x=-0.102547, y=0.029085, theta=0.117357
[19:49:42.535] Odometry x=-0.102144, y=0.029037, theta=0.118567
[19:49:42.545] Odometry x=-0.102144, y=0.029037, theta=0.120070
[19:49:42.555] Odometry x=-0.102144, y=0.029037, theta=0.121236
[19:49:42.565] Odometry x=-0.102144, y=0.029037, theta=0.122320
[19:49:42.575] Odometry x=-0.102144, y=0.029037, theta=0.123306
[19:49:42.585] Odometry x=-0.102144, y=0.029037, theta=0.124380
[19:49:42.596] Odometry x=-0.102144, y=0.029037, theta=0.125691
[19:49:42.606] Odometry x=-0.102144, y=0.029037, theta=0.126995
[19:49:42.626] Odometry x=-0.101803, y=0.028994, theta=0.128785
[19:49:42.636] Odometry x=-0.101803, y=0.028994, theta=0.131188
[19:49:42.646] Odometry x=-0.101803, y=0.028994, theta=0.133467
[19:49:42.656] Odometry x=-0.101803, y=0.028994, theta=0.135918
[19:49:42.667] Odometry x=-0.101803, y=0.028994, theta=0.138488
[19:49:42.677] Odometry x=-0.101803, y=0.028993, theta=0.141154
[19:49:42.687] Odometry x=-0.101803, y=0.028993, theta=0.143937
[19:49:42.697] Odometry x=-0.101803, y=0.028993, theta=0.146796
[19:49:42.707] Odometry x=-0.101803, y=0.028994, theta=0.149584
[19:49:42.727] Odometry x=-0.101423, y=0.028936, theta=0.151524
[19:49:42.727] After Reprojection Map nPoint:941 ,nCell:179 ,nMatches:49 ,distance between two frames x:0.000429 ,z=-0.000050,angle between two frames:0.010411
[19:49:42.728] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =153 	 error init =0.109227 	 error end=0.109227
[19:49:42.728] After pose optimization, distance between two frames x:0.000429 ,z=-0.000050,angle between two frames:0.010411
[19:49:42.728] Update EKF and 3D points, distance between two frames x:0.000495 ,z=-0.000059,angle between two frames:0.012636
[19:49:42.728] Choose frame as a key frame Scene Depth mean:0.968736 ,depth min:0.570432
[19:49:42.737] Odometry x=-0.102077, y=0.029024, theta=0.132739
[19:49:42.748] Odometry x=-0.102077, y=0.029024, theta=0.132990
[19:49:42.758] Odometry x=-0.102077, y=0.029024, theta=0.133014
[19:49:42.768] Odometry x=-0.102077, y=0.029024, theta=0.132908
[19:49:42.778] Odometry x=-0.102077, y=0.029024, theta=0.132634
[19:49:42.788] Odometry x=-0.102077, y=0.029024, theta=0.132352
[19:49:42.798] Odometry x=-0.102077, y=0.029024, theta=0.132699
[19:49:42.808] Odometry x=-0.102077, y=0.029024, theta=0.133129
[19:49:42.828] Odometry x=-0.101696, y=0.028973, theta=0.133288
[19:49:42.839] Odometry x=-0.101696, y=0.028973, theta=0.133575
[19:49:42.849] Odometry x=-0.101696, y=0.028973, theta=0.133796
[19:49:42.859] Odometry x=-0.101696, y=0.028973, theta=0.133946
[19:49:42.869] Odometry x=-0.101696, y=0.028973, theta=0.133906
[19:49:42.879] Odometry x=-0.101696, y=0.028973, theta=0.133864
[19:49:42.889] Odometry x=-0.101696, y=0.028973, theta=0.134344
[19:49:42.899] Odometry x=-0.101696, y=0.028973, theta=0.135040
[19:49:42.910] Odometry x=-0.101696, y=0.028973, theta=0.135589
[19:49:42.930] Odometry x=-0.101312, y=0.028921, theta=0.135989
[19:49:42.940] Odometry x=-0.101312, y=0.028921, theta=0.136367
[19:49:42.950] Odometry x=-0.101312, y=0.028921, theta=0.136399
[19:49:42.953] After Reprojection Map nPoint:915 ,nCell:134 ,nMatches:47 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:42.953] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =115 	 error init =0.117583 	 error end=0.116806
[19:49:42.953] After pose optimization, distance between two frames x:-0.002057 ,z=-0.001246,angle between two frames:0.000000
[19:49:42.953] Update EKF and 3D points, distance between two frames x:-0.001869 ,z=-0.001182,angle between two frames:0.001027
[19:49:42.954] Choose frame as a key frame Scene Depth mean:0.958742 ,depth min:-1442166561728454.000000
[19:49:42.960] Odometry x=-0.103191, y=0.028286, theta=0.126023
[19:49:42.970] Odometry x=-0.103191, y=0.028286, theta=0.126169
[19:49:42.981] Odometry x=-0.103191, y=0.028286, theta=0.126676
[19:49:42.991] Odometry x=-0.103191, y=0.028286, theta=0.127446
[19:49:43.001] Odometry x=-0.103190, y=0.028287, theta=0.128187
[19:49:43.011] Odometry x=-0.103190, y=0.028287, theta=0.128673
[19:49:43.032] Odometry x=-0.102808, y=0.028238, theta=0.128003
[19:49:43.042] Odometry x=-0.102808, y=0.028238, theta=0.127211
[19:49:43.052] Odometry x=-0.102808, y=0.028238, theta=0.126824
[19:49:43.062] Odometry x=-0.102808, y=0.028238, theta=0.126816
[19:49:43.072] Odometry x=-0.102808, y=0.028237, theta=0.126810
[19:49:43.082] Odometry x=-0.102808, y=0.028237, theta=0.126785
[19:49:43.093] Odometry x=-0.102808, y=0.028237, theta=0.127032
[19:49:43.103] Odometry x=-0.102808, y=0.028237, theta=0.127635
[19:49:43.113] Odometry x=-0.102808, y=0.028237, theta=0.128363
[19:49:43.133] Odometry x=-0.102426, y=0.028187, theta=0.129470
[19:49:43.143] Odometry x=-0.102426, y=0.028187, theta=0.130775
[19:49:43.154] Odometry x=-0.102426, y=0.028187, theta=0.131556
[19:49:43.164] Odometry x=-0.102426, y=0.028187, theta=0.132174
[19:49:43.174] Odometry x=-0.102426, y=0.028187, theta=0.132789
[19:49:43.175] After Reprojection Map nPoint:981 ,nCell:173 ,nMatches:45 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:43.177] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =114 	 error init =0.122612 	 error end=0.118181
[19:49:43.177] After pose optimization, distance between two frames x:-0.015712 ,z=0.006958,angle between two frames:0.000000
[19:49:43.177] Update EKF and 3D points, distance between two frames x:-0.014685 ,z=0.006570,angle between two frames:0.000798
[19:49:43.178] Choose frame as a key frame Scene Depth mean:0.966338 ,depth min:0.574297
[19:49:43.184] Odometry x=-0.112692, y=0.032067, theta=0.125753
[19:49:43.194] Odometry x=-0.112692, y=0.032067, theta=0.126256
[19:49:43.204] Odometry x=-0.112692, y=0.032067, theta=0.126847
[19:49:43.214] Odometry x=-0.112692, y=0.032067, theta=0.127476
[19:49:43.235] Odometry x=-0.112308, y=0.032017, theta=0.128579
[19:49:43.245] Odometry x=-0.112308, y=0.032017, theta=0.129877
[19:49:43.255] Odometry x=-0.112308, y=0.032017, theta=0.130958
[19:49:43.265] Odometry x=-0.112308, y=0.032017, theta=0.132344
[19:49:43.276] Odometry x=-0.112308, y=0.032017, theta=0.133235
[19:49:43.286] Odometry x=-0.112308, y=0.032017, theta=0.133926
[19:49:43.296] Odometry x=-0.112308, y=0.032018, theta=0.134435
[19:49:43.306] Odometry x=-0.112308, y=0.032018, theta=0.134647
[19:49:43.316] Odometry x=-0.112308, y=0.032018, theta=0.134625
[19:49:43.336] Odometry x=-0.111907, y=0.031963, theta=0.134458
[19:49:43.346] Odometry x=-0.111907, y=0.031963, theta=0.134403
[19:49:43.357] Odometry x=-0.111907, y=0.031963, theta=0.134465
[19:49:43.367] Odometry x=-0.111907, y=0.031963, theta=0.134253
[19:49:43.377] Odometry x=-0.111906, y=0.031963, theta=0.134042
[19:49:43.387] Odometry x=-0.111906, y=0.031963, theta=0.133949
[19:49:43.397] Odometry x=-0.111906, y=0.031963, theta=0.134115
[19:49:43.401] After Reprojection Map nPoint:1000 ,nCell:123 ,nMatches:49 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:43.401] n deleted obs = 13 	 n obs with reprojection error less than 0.5 px =107 	 error init =0.158256 	 error end=0.158256
[19:49:43.401] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:43.401] Update EKF and 3D points, distance between two frames x:0.000415 ,z=-0.000146,angle between two frames:0.000811
[19:49:43.401] Choose frame as a key frame Scene Depth mean:0.979548 ,depth min:0.570780
[19:49:43.407] Odometry x=-0.116057, y=0.033419, theta=0.126435
[19:49:43.417] Odometry x=-0.116057, y=0.033419, theta=0.126757
[19:49:43.438] Odometry x=-0.115692, y=0.033372, theta=0.127871
[19:49:43.448] Odometry x=-0.115692, y=0.033372, theta=0.129254
[19:49:43.458] Odometry x=-0.115692, y=0.033372, theta=0.130370
[19:49:43.468] Odometry x=-0.115692, y=0.033372, theta=0.131499
[19:49:43.478] Odometry x=-0.115692, y=0.033372, theta=0.132471
[19:49:43.489] Odometry x=-0.115692, y=0.033372, theta=0.133117
[19:49:43.499] Odometry x=-0.115692, y=0.033372, theta=0.133919
[19:49:43.509] Odometry x=-0.115692, y=0.033372, theta=0.135059
[19:49:43.519] Odometry x=-0.115692, y=0.033372, theta=0.136422
[19:49:43.539] Odometry x=-0.115301, y=0.033318, theta=0.138514
[19:49:43.549] Odometry x=-0.115301, y=0.033318, theta=0.140762
[19:49:43.560] Odometry x=-0.115301, y=0.033318, theta=0.142314
[19:49:43.570] Odometry x=-0.115301, y=0.033319, theta=0.143887
[19:49:43.580] Odometry x=-0.115300, y=0.033319, theta=0.145506
[19:49:43.590] Odometry x=-0.115300, y=0.033319, theta=0.146549
[19:49:43.600] Odometry x=-0.115300, y=0.033320, theta=0.147641
[19:49:43.610] Odometry x=-0.115300, y=0.033321, theta=0.148218
[19:49:43.620] Odometry x=-0.115300, y=0.033321, theta=0.148308
[19:49:43.623] After Reprojection Map nPoint:1041 ,nCell:169 ,nMatches:46 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:43.623] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =110 	 error init =0.100998 	 error end=0.100998
[19:49:43.623] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:43.623] Update EKF and 3D points, distance between two frames x:0.000193 ,z=-0.000058,angle between two frames:0.001577
[19:49:43.631] Odometry x=-0.117233, y=0.033902, theta=0.132674
[19:49:43.641] Odometry x=-0.117233, y=0.033902, theta=0.132530
[19:49:43.651] Odometry x=-0.117233, y=0.033902, theta=0.132147
[19:49:43.661] Odometry x=-0.117233, y=0.033902, theta=0.131849
[19:49:43.671] Odometry x=-0.117233, y=0.033902, theta=0.131781
[19:49:43.681] Odometry x=-0.117233, y=0.033902, theta=0.132002
[19:49:43.691] Odometry x=-0.117233, y=0.033902, theta=0.132204
[19:49:43.702] Odometry x=-0.117232, y=0.033902, theta=0.132510
[19:49:43.712] Odometry x=-0.117232, y=0.033902, theta=0.132812
[19:49:43.722] Odometry x=-0.117232, y=0.033902, theta=0.133033
[19:49:43.732] Odometry x=-0.117232, y=0.033902, theta=0.133184
[19:49:43.742] Odometry x=-0.117232, y=0.033902, theta=0.133309
[19:49:43.753] Odometry x=-0.117232, y=0.033902, theta=0.133471
[19:49:43.763] Odometry x=-0.117232, y=0.033902, theta=0.133613
[19:49:43.773] Odometry x=-0.117232, y=0.033902, theta=0.133912
[19:49:43.783] Odometry x=-0.117232, y=0.033902, theta=0.134422
[19:49:43.793] Odometry x=-0.117232, y=0.033902, theta=0.134842
[19:49:43.803] Odometry x=-0.117232, y=0.033902, theta=0.135373
[19:49:43.813] Odometry x=-0.117232, y=0.033902, theta=0.136380
[19:49:43.824] Odometry x=-0.117231, y=0.033902, theta=0.137534
[19:49:43.834] Odometry x=-0.117231, y=0.033902, theta=0.138277
[19:49:43.844] Odometry x=-0.117231, y=0.033902, theta=0.138584
[19:49:43.846] After Reprojection Map nPoint:1042 ,nCell:172 ,nMatches:46 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:43.847] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =106 	 error init =0.115014 	 error end=0.114870
[19:49:43.847] After pose optimization, distance between two frames x:-0.002611 ,z=-0.000570,angle between two frames:0.000000
[19:49:43.847] Update EKF and 3D points, distance between two frames x:-0.002389 ,z=-0.000557,angle between two frames:0.000924
[19:49:43.854] Odometry x=-0.119447, y=0.033779, theta=0.129613
[19:49:43.864] Odometry x=-0.119447, y=0.033780, theta=0.129373
[19:49:43.874] Odometry x=-0.119447, y=0.033781, theta=0.128679
[19:49:43.884] Odometry x=-0.119447, y=0.033781, theta=0.128063
[19:49:43.895] Odometry x=-0.119447, y=0.033781, theta=0.126459
[19:49:43.905] Odometry x=-0.119447, y=0.033782, theta=0.125041
[19:49:43.915] Odometry x=-0.119447, y=0.033782, theta=0.124112
[19:49:43.925] Odometry x=-0.119446, y=0.033782, theta=0.122952
[19:49:43.935] Odometry x=-0.119446, y=0.033782, theta=0.121692
[19:49:43.945] Odometry x=-0.119446, y=0.033782, theta=0.120886
[19:49:43.955] Odometry x=-0.119446, y=0.033782, theta=0.120556
[19:49:43.966] Odometry x=-0.119446, y=0.033782, theta=0.120579
[19:49:43.976] Odometry x=-0.119446, y=0.033783, theta=0.120199
[19:49:43.986] Odometry x=-0.119446, y=0.033783, theta=0.119653
[19:49:43.996] Odometry x=-0.119445, y=0.033783, theta=0.118540
[19:49:44.006] Odometry x=-0.119445, y=0.033783, theta=0.117373
[19:49:44.016] Odometry x=-0.119445, y=0.033783, theta=0.116637
[19:49:44.026] Odometry x=-0.119445, y=0.033783, theta=0.116197
[19:49:44.037] Odometry x=-0.119445, y=0.033783, theta=0.115591
[19:49:44.047] Odometry x=-0.119445, y=0.033783, theta=0.114694
[19:49:44.057] Odometry x=-0.119445, y=0.033783, theta=0.113664
[19:49:44.067] Odometry x=-0.119445, y=0.033783, theta=0.112704
[19:49:44.070] After Reprojection Map nPoint:1036 ,nCell:171 ,nMatches:46 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:44.070] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =103 	 error init =0.133404 	 error end=0.133404
[19:49:44.070] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:44.070] Update EKF and 3D points, distance between two frames x:0.000080 ,z=0.000005,angle between two frames:0.000698
[19:49:44.077] Odometry x=-0.120243, y=0.033737, theta=0.118372
[19:49:44.087] Odometry x=-0.120243, y=0.033737, theta=0.117626
[19:49:44.097] Odometry x=-0.120243, y=0.033737, theta=0.117013
[19:49:44.108] Odometry x=-0.120242, y=0.033737, theta=0.115615
[19:49:44.118] Odometry x=-0.120241, y=0.033736, theta=0.114046
[19:49:44.128] Odometry x=-0.120241, y=0.033736, theta=0.112682
[19:49:44.138] Odometry x=-0.120240, y=0.033736, theta=0.111713
[19:49:44.148] Odometry x=-0.120240, y=0.033736, theta=0.110441
[19:49:44.158] Odometry x=-0.120240, y=0.033736, theta=0.108844
[19:49:44.168] Odometry x=-0.120239, y=0.033736, theta=0.106904
[19:49:44.179] Odometry x=-0.120239, y=0.033736, theta=0.105036
[19:49:44.189] Odometry x=-0.120239, y=0.033736, theta=0.103969
[19:49:44.199] Odometry x=-0.120239, y=0.033736, theta=0.102222
[19:49:44.209] Odometry x=-0.120239, y=0.033736, theta=0.100172
[19:49:44.219] Odometry x=-0.120239, y=0.033736, theta=0.098288
[19:49:44.229] Odometry x=-0.120239, y=0.033736, theta=0.096584
[19:49:44.240] Odometry x=-0.120239, y=0.033736, theta=0.095010
[19:49:44.250] Odometry x=-0.120239, y=0.033736, theta=0.093526
[19:49:44.260] Odometry x=-0.120239, y=0.033736, theta=0.092265
[19:49:44.270] Odometry x=-0.120239, y=0.033736, theta=0.091113
[19:49:44.280] Odometry x=-0.120239, y=0.033736, theta=0.089983
[19:49:44.290] Odometry x=-0.120239, y=0.033736, theta=0.088947
[19:49:44.299] After Reprojection Map nPoint:1065 ,nCell:194 ,nMatches:47 ,distance between two frames x:0.000003 ,z=0.000014,angle between two frames:0.000000
[19:49:44.299] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =104 	 error init =0.125240 	 error end=0.125240
[19:49:44.299] After pose optimization, distance between two frames x:0.000003 ,z=0.000014,angle between two frames:0.000000
[19:49:44.299] Update EKF and 3D points, distance between two frames x:0.000032 ,z=0.000015,angle between two frames:0.002046
[19:49:44.300] Odometry x=-0.120527, y=0.033728, theta=0.107953
[19:49:44.311] Odometry x=-0.120527, y=0.033728, theta=0.107480
[19:49:44.321] Odometry x=-0.120527, y=0.033728, theta=0.106903
[19:49:44.331] Odometry x=-0.120527, y=0.033728, theta=0.105917
[19:49:44.341] Odometry x=-0.120526, y=0.033728, theta=0.105169
[19:49:44.351] Odometry x=-0.120526, y=0.033727, theta=0.104254
[19:49:44.361] Odometry x=-0.120524, y=0.033727, theta=0.103477
[19:49:44.371] Odometry x=-0.120522, y=0.033727, theta=0.103305
[19:49:44.382] Odometry x=-0.120521, y=0.033727, theta=0.103565
[19:49:44.392] Odometry x=-0.120521, y=0.033727, theta=0.103822
[19:49:44.402] Odometry x=-0.120520, y=0.033728, theta=0.103819
[19:49:44.412] Odometry x=-0.120520, y=0.033730, theta=0.103574
[19:49:44.422] Odometry x=-0.120519, y=0.033731, theta=0.102935
[19:49:44.432] Odometry x=-0.120519, y=0.033732, theta=0.101862
[19:49:44.442] Odometry x=-0.120519, y=0.033733, theta=0.100481
[19:49:44.453] Odometry x=-0.120519, y=0.033733, theta=0.098824
[19:49:44.463] Odometry x=-0.120519, y=0.033733, theta=0.097055
[19:49:44.473] Odometry x=-0.120521, y=0.033733, theta=0.095021
[19:49:44.483] Odometry x=-0.120528, y=0.033734, theta=0.092694
[19:49:44.493] Odometry x=-0.120538, y=0.033733, theta=0.091256
[19:49:44.503] Odometry x=-0.120544, y=0.033731, theta=0.091354
[19:49:44.513] Odometry x=-0.120545, y=0.033729, theta=0.092727
[19:49:44.519] After Reprojection Map nPoint:1002 ,nCell:147 ,nMatches:46 ,distance between two frames x:0.000178 ,z=0.000006,angle between two frames:0.013110
[19:49:44.524] Odometry x=-0.120545, y=0.033728, theta=0.094443
[19:49:44.526] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =108 	 error init =0.116614 	 error end=0.116614
[19:49:44.526] After pose optimization, distance between two frames x:0.000179 ,z=0.000005,angle between two frames:0.013110
[19:49:44.526] Update EKF and 3D points, distance between two frames x:0.000178 ,z=0.000005,angle between two frames:0.013799
[19:49:44.534] Odometry x=-0.120534, y=0.033728, theta=0.103555
[19:49:44.544] Odometry x=-0.120532, y=0.033729, theta=0.103975
[19:49:44.554] Odometry x=-0.120531, y=0.033730, theta=0.104231
[19:49:44.564] Odometry x=-0.120530, y=0.033731, theta=0.104445
[19:49:44.574] Odometry x=-0.120530, y=0.033731, theta=0.104846
[19:49:44.584] Odometry x=-0.120530, y=0.033731, theta=0.105288
[19:49:44.594] Odometry x=-0.120530, y=0.033731, theta=0.105542
[19:49:44.605] Odometry x=-0.120530, y=0.033731, theta=0.105798
[19:49:44.615] Odometry x=-0.120530, y=0.033731, theta=0.106096
[19:49:44.625] Odometry x=-0.120529, y=0.033731, theta=0.106388
[19:49:44.635] Odometry x=-0.120529, y=0.033731, theta=0.106699
[19:49:44.645] Odometry x=-0.120529, y=0.033731, theta=0.107134
[19:49:44.655] Odometry x=-0.120529, y=0.033731, theta=0.107420
[19:49:44.666] Odometry x=-0.120529, y=0.033731, theta=0.107763
[19:49:44.676] Odometry x=-0.120528, y=0.033731, theta=0.108039
[19:49:44.686] Odometry x=-0.120528, y=0.033731, theta=0.108312
[19:49:44.696] Odometry x=-0.120528, y=0.033731, theta=0.108640
[19:49:44.706] Odometry x=-0.120528, y=0.033731, theta=0.108955
[19:49:44.716] Odometry x=-0.120528, y=0.033731, theta=0.109263
[19:49:44.726] Odometry x=-0.120528, y=0.033731, theta=0.109685
[19:49:44.737] Odometry x=-0.120527, y=0.033731, theta=0.110066
[19:49:44.747] Odometry x=-0.120527, y=0.033731, theta=0.110386
[19:49:44.751] After Reprojection Map nPoint:1052 ,nCell:140 ,nMatches:44 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:44.751] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =112 	 error init =0.114060 	 error end=0.114060
[19:49:44.751] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:44.751] Update EKF and 3D points, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000201
[19:49:44.757] Odometry x=-0.120528, y=0.033729, theta=0.108812
[19:49:44.767] Odometry x=-0.120527, y=0.033729, theta=0.109078
[19:49:44.777] Odometry x=-0.120527, y=0.033729, theta=0.109392
[19:49:44.787] Odometry x=-0.120527, y=0.033729, theta=0.109707
[19:49:44.798] Odometry x=-0.120527, y=0.033729, theta=0.110119
[19:49:44.808] Odometry x=-0.120527, y=0.033729, theta=0.110490
[19:49:44.818] Odometry x=-0.120526, y=0.033729, theta=0.110804
[19:49:44.828] Odometry x=-0.120526, y=0.033729, theta=0.111022
[19:49:44.838] Odometry x=-0.120526, y=0.033729, theta=0.111276
[19:49:44.848] Odometry x=-0.120526, y=0.033729, theta=0.111605
[19:49:44.858] Odometry x=-0.120526, y=0.033729, theta=0.112027
[19:49:44.869] Odometry x=-0.120525, y=0.033729, theta=0.112412
[19:49:44.879] Odometry x=-0.120525, y=0.033729, theta=0.112734
[19:49:44.889] Odometry x=-0.120525, y=0.033729, theta=0.112963
[19:49:44.899] Odometry x=-0.120525, y=0.033729, theta=0.113311
[19:49:44.909] Odometry x=-0.120525, y=0.033729, theta=0.113691
[19:49:44.919] Odometry x=-0.120525, y=0.033729, theta=0.114006
[19:49:44.929] Odometry x=-0.120524, y=0.033729, theta=0.114321
[19:49:44.940] Odometry x=-0.120524, y=0.033729, theta=0.114634
[19:49:44.950] Odometry x=-0.120524, y=0.033729, theta=0.114953
[19:49:44.960] Odometry x=-0.120524, y=0.033729, theta=0.115268
[19:49:44.970] Odometry x=-0.120524, y=0.033729, theta=0.115574
[19:49:44.974] After Reprojection Map nPoint:1051 ,nCell:142 ,nMatches:44 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:44.975] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =122 	 error init =0.099153 	 error end=0.099153
[19:49:44.975] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:44.975] Update EKF and 3D points, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000490
[19:49:44.980] Odometry x=-0.120526, y=0.033728, theta=0.111172
[19:49:44.990] Odometry x=-0.120526, y=0.033728, theta=0.111391
[19:49:45.000] Odometry x=-0.120526, y=0.033728, theta=0.111742
[19:49:45.011] Odometry x=-0.120525, y=0.033728, theta=0.112121
[19:49:45.021] Odometry x=-0.120525, y=0.033728, theta=0.112441
[19:49:45.031] Odometry x=-0.120525, y=0.033728, theta=0.112758
[19:49:45.041] Odometry x=-0.120525, y=0.033728, theta=0.113079
[19:49:45.051] Odometry x=-0.120525, y=0.033728, theta=0.113400
[19:49:45.061] Odometry x=-0.120525, y=0.033728, theta=0.113715
[19:49:45.071] Odometry x=-0.120524, y=0.033728, theta=0.114028
[19:49:45.082] Odometry x=-0.120524, y=0.033728, theta=0.114342
[19:49:45.092] Odometry x=-0.120524, y=0.033728, theta=0.114660
[19:49:45.102] Odometry x=-0.120524, y=0.033728, theta=0.114974
[19:49:45.112] Odometry x=-0.120524, y=0.033728, theta=0.115289
[19:49:45.122] Odometry x=-0.120524, y=0.033728, theta=0.115605
[19:49:45.132] Odometry x=-0.120523, y=0.033728, theta=0.115921
[19:49:45.142] Odometry x=-0.120523, y=0.033728, theta=0.116234
[19:49:45.153] Odometry x=-0.120523, y=0.033728, theta=0.116554
[19:49:45.163] Odometry x=-0.120523, y=0.033728, theta=0.116877
[19:49:45.173] Odometry x=-0.120523, y=0.033728, theta=0.117212
[19:49:45.183] Odometry x=-0.120523, y=0.033728, theta=0.117539
[19:49:45.193] Odometry x=-0.120522, y=0.033728, theta=0.117855
[19:49:45.196] After Reprojection Map nPoint:991 ,nCell:213 ,nMatches:42 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:45.196] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =101 	 error init =0.117111 	 error end=0.117111
[19:49:45.196] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000004,angle between two frames:0.000000
[19:49:45.196] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000004,angle between two frames:0.000595
[19:49:45.203] Odometry x=-0.120526, y=0.033725, theta=0.112428
[19:49:45.213] Odometry x=-0.120525, y=0.033725, theta=0.112753
[19:49:45.223] Odometry x=-0.120525, y=0.033725, theta=0.113058
[19:49:45.234] Odometry x=-0.120525, y=0.033725, theta=0.113361
[19:49:45.244] Odometry x=-0.120525, y=0.033725, theta=0.113682
[19:49:45.254] Odometry x=-0.120525, y=0.033725, theta=0.114015
[19:49:45.264] Odometry x=-0.120525, y=0.033725, theta=0.114339
[19:49:45.274] Odometry x=-0.120524, y=0.033725, theta=0.114666
[19:49:45.284] Odometry x=-0.120524, y=0.033725, theta=0.114992
[19:49:45.295] Odometry x=-0.120524, y=0.033725, theta=0.115311
[19:49:45.305] Odometry x=-0.120524, y=0.033725, theta=0.115635
[19:49:45.315] Odometry x=-0.120524, y=0.033725, theta=0.115957
[19:49:45.325] Odometry x=-0.120524, y=0.033725, theta=0.116279
[19:49:45.335] Odometry x=-0.120524, y=0.033725, theta=0.116606
[19:49:45.345] Odometry x=-0.120523, y=0.033725, theta=0.117023
[19:49:45.356] Odometry x=-0.120523, y=0.033725, theta=0.117302
[19:49:45.366] Odometry x=-0.120523, y=0.033725, theta=0.117660
[19:49:45.376] Odometry x=-0.120523, y=0.033725, theta=0.118033
[19:49:45.386] Odometry x=-0.120522, y=0.033725, theta=0.118345
[19:49:45.396] Odometry x=-0.120522, y=0.033725, theta=0.118660
[19:49:45.406] Odometry x=-0.120522, y=0.033725, theta=0.118977
[19:49:45.416] Odometry x=-0.120522, y=0.033725, theta=0.119299
[19:49:45.417] After Reprojection Map nPoint:1032 ,nCell:191 ,nMatches:46 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:45.417] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =114 	 error init =0.116115 	 error end=0.116115
[19:49:45.417] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:45.417] Update EKF and 3D points, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000645
[19:49:45.426] Odometry x=-0.120525, y=0.033724, theta=0.113377
[19:49:45.437] Odometry x=-0.120525, y=0.033724, theta=0.113696
[19:49:45.447] Odometry x=-0.120525, y=0.033724, theta=0.114013
[19:49:45.457] Odometry x=-0.120525, y=0.033724, theta=0.114231
[19:49:45.467] Odometry x=-0.120525, y=0.033724, theta=0.114584
[19:49:45.477] Odometry x=-0.120524, y=0.033724, theta=0.114962
[19:49:45.487] Odometry x=-0.120524, y=0.033724, theta=0.115277
[19:49:45.498] Odometry x=-0.120524, y=0.033724, theta=0.115601
[19:49:45.508] Odometry x=-0.120524, y=0.033724, theta=0.115920
[19:49:45.518] Odometry x=-0.120524, y=0.033724, theta=0.116235
[19:49:45.528] Odometry x=-0.120523, y=0.033724, theta=0.116549
[19:49:45.538] Odometry x=-0.120523, y=0.033724, theta=0.116867
[19:49:45.548] Odometry x=-0.120523, y=0.033724, theta=0.117188
[19:49:45.559] Odometry x=-0.120523, y=0.033724, theta=0.117509
[19:49:45.569] Odometry x=-0.120523, y=0.033724, theta=0.117832
[19:49:45.579] Odometry x=-0.120523, y=0.033724, theta=0.118155
[19:49:45.589] Odometry x=-0.120523, y=0.033724, theta=0.118474
[19:49:45.599] Odometry x=-0.120522, y=0.033724, theta=0.118793
[19:49:45.609] Odometry x=-0.120522, y=0.033724, theta=0.119106
[19:49:45.619] Odometry x=-0.120522, y=0.033724, theta=0.119418
[19:49:45.630] Odometry x=-0.120522, y=0.033724, theta=0.119735
[19:49:45.639] After Reprojection Map nPoint:1062 ,nCell:155 ,nMatches:48 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:45.639] n deleted obs = 10 	 n obs with reprojection error less than 0.5 px =120 	 error init =0.125518 	 error end=0.125518
[19:49:45.639] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[19:49:45.639] Update EKF and 3D points, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000632
[19:49:45.640] Odometry x=-0.120525, y=0.033724, theta=0.113923
[19:49:45.650] Odometry x=-0.120525, y=0.033724, theta=0.114237
[19:49:45.660] Odometry x=-0.120525, y=0.033724, theta=0.114548
[19:49:45.670] Odometry x=-0.120524, y=0.033724, theta=0.114966
[19:49:45.680] Odometry x=-0.120524, y=0.033724, theta=0.115344
[19:49:45.690] Odometry x=-0.120524, y=0.033724, theta=0.115658
[19:49:45.701] Odometry x=-0.120524, y=0.033724, theta=0.115872
[19:49:45.711] Odometry x=-0.120524, y=0.033724, theta=0.116218
[19:49:45.721] Odometry x=-0.120523, y=0.033724, theta=0.116591
[19:49:45.731] Odometry x=-0.120523, y=0.033724, theta=0.116911
[19:49:45.741] Odometry x=-0.120523, y=0.033724, theta=0.117225
[19:49:45.751] Odometry x=-0.120523, y=0.033724, theta=0.117541
[19:49:45.761] Odometry x=-0.120523, y=0.033724, theta=0.117863
[19:49:45.771] Odometry x=-0.120523, y=0.033724, theta=0.118181
[19:49:45.782] Odometry x=-0.120522, y=0.033724, theta=0.118500
[19:49:45.792] Odometry x=-0.120522, y=0.033724, theta=0.118817
[19:49:45.802] Odometry x=-0.120522, y=0.033724, theta=0.119133
[19:49:45.812] Odometry x=-0.120522, y=0.033724, theta=0.119444
[19:49:45.822] Odometry x=-0.120522, y=0.033724, theta=0.119754
[19:49:45.832] Odometry x=-0.120522, y=0.033724, theta=0.120069
[19:49:45.842] Odometry x=-0.120521, y=0.033724, theta=0.120387
[19:49:45.853] Odometry x=-0.120521, y=0.033724, theta=0.120707
[19:49:45.861] After Reprojection Map nPoint:1043 ,nCell:169 ,nMatches:42 ,distance between two frames x:0.000002 ,z=0.000000,angle between two frames:0.004098
[19:49:45.862] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =123 	 error init =0.098110 	 error end=0.098105
[19:49:45.862] After pose optimization, distance between two frames x:0.000015 ,z=0.000000,angle between two frames:0.004098
[19:49:45.862] Update EKF and 3D points, distance between two frames x:0.000015 ,z=0.000000,angle between two frames:0.004512
[19:49:45.863] Odometry x=-0.120516, y=0.033724, theta=0.117086
[19:49:45.873] Odometry x=-0.120516, y=0.033724, theta=0.117398
[19:49:45.883] Odometry x=-0.120515, y=0.033724, theta=0.117711
[19:49:45.893] Odometry x=-0.120515, y=0.033724, theta=0.118026
[19:49:45.903] Odometry x=-0.120515, y=0.033724, theta=0.118338
[19:49:45.913] Odometry x=-0.120515, y=0.033724, theta=0.118650
[19:49:45.924] Odometry x=-0.120515, y=0.033724, theta=0.118962
[19:49:45.934] Odometry x=-0.120515, y=0.033724, theta=0.119275
[19:49:45.944] Odometry x=-0.120514, y=0.033724, theta=0.119591
[19:49:45.954] Odometry x=-0.120514, y=0.033724, theta=0.119909
[19:49:45.964] Odometry x=-0.120514, y=0.033724, theta=0.120230
[19:49:45.974] Odometry x=-0.120514, y=0.033724, theta=0.120547
[19:49:45.985] Odometry x=-0.120514, y=0.033724, theta=0.120869
[19:49:45.995] Odometry x=-0.120514, y=0.033724, theta=0.121193
[19:49:46.005] Odometry x=-0.120513, y=0.033724, theta=0.121510
[19:49:46.015] Odometry x=-0.120513, y=0.033724, theta=0.121921
[19:49:46.025] Odometry x=-0.120513, y=0.033724, theta=0.122197
[19:49:46.035] Odometry x=-0.120513, y=0.033724, theta=0.122452
[19:49:46.045] Odometry x=-0.120513, y=0.033724, theta=0.122859
[19:49:46.056] Odometry x=-0.120512, y=0.033724, theta=0.123134
[19:49:46.066] Odometry x=-0.120512, y=0.033724, theta=0.123488
[19:49:46.076] Odometry x=-0.120512, y=0.033724, theta=0.123863
[19:49:46.082] After Reprojection Map nPoint:1037 ,nCell:169 ,nMatches:46 ,distance between two frames x:-0.000003 ,z=-0.000000,angle between two frames:0.002749
[19:49:46.083] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =121 	 error init =0.110095 	 error end=0.110095
[19:49:46.083] After pose optimization, distance between two frames x:-0.000003 ,z=-0.000000,angle between two frames:0.002749
[19:49:46.083] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=-0.000000,angle between two frames:0.003162
[19:49:46.086] Odometry x=-0.120514, y=0.033724, theta=0.120244
[19:49:46.096] Odometry x=-0.120514, y=0.033724, theta=0.120556
[19:49:46.106] Odometry x=-0.120514, y=0.033724, theta=0.120874
[19:49:46.117] Odometry x=-0.120513, y=0.033724, theta=0.121191
[19:49:46.127] Odometry x=-0.120513, y=0.033724, theta=0.121502
[19:49:46.137] Odometry x=-0.120513, y=0.033724, theta=0.121809
[19:49:46.147] Odometry x=-0.120513, y=0.033724, theta=0.122117
[19:49:46.157] Odometry x=-0.120513, y=0.033724, theta=0.122336
[19:49:46.167] Odometry x=-0.120513, y=0.033724, theta=0.122699
[19:49:46.177] Odometry x=-0.120512, y=0.033724, theta=0.123075
[19:49:46.188] Odometry x=-0.120512, y=0.033724, theta=0.123389
[19:49:46.198] Odometry x=-0.120512, y=0.033724, theta=0.123700
[19:49:46.208] Odometry x=-0.120512, y=0.033724, theta=0.123920
[19:49:46.218] Odometry x=-0.120512, y=0.033724, theta=0.124279
[19:49:46.228] Odometry x=-0.120512, y=0.033724, theta=0.124652
[19:49:46.238] Odometry x=-0.120511, y=0.033724, theta=0.124971
[19:49:46.249] Odometry x=-0.120511, y=0.033724, theta=0.125284
[19:49:46.259] Odometry x=-0.120511, y=0.033724, theta=0.125596
[19:49:46.269] Odometry x=-0.120511, y=0.033724, theta=0.125932
[19:49:46.279] Odometry x=-0.120511, y=0.033724, theta=0.126267
[19:49:46.289] Odometry x=-0.120510, y=0.033724, theta=0.126596
[19:49:46.299] Odometry x=-0.120510, y=0.033724, theta=0.126956
[19:49:46.313] Odometry x=-0.120510, y=0.033724, theta=0.127303
[19:49:46.318] After Reprojection Map nPoint:1042 ,nCell:177 ,nMatches:46 ,distance between two frames x:0.000005 ,z=0.000015,angle between two frames:0.002747
[19:49:46.318] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =134 	 error init =0.085797 	 error end=0.085797
[19:49:46.318] After pose optimization, distance between two frames x:0.000005 ,z=0.000015,angle between two frames:0.002747
[19:49:46.318] Update EKF and 3D points, distance between two frames x:0.000005 ,z=0.000014,angle between two frames:0.003177
[19:49:46.324] Odometry x=-0.120510, y=0.033733, theta=0.123525
[19:49:46.334] Odometry x=-0.120510, y=0.033733, theta=0.123840
[19:49:46.344] Odometry x=-0.120510, y=0.033733, theta=0.124155
[19:49:46.354] Odometry x=-0.120510, y=0.033733, theta=0.124471
[19:49:46.364] Odometry x=-0.120509, y=0.033733, theta=0.124695
[19:49:46.374] Odometry x=-0.120509, y=0.033733, theta=0.124947
[19:49:46.385] Odometry x=-0.120509, y=0.033733, theta=0.125258
[19:49:46.395] Odometry x=-0.120509, y=0.033733, theta=0.125570
[19:49:46.405] Odometry x=-0.120509, y=0.033732, theta=0.125884
[19:49:46.415] Odometry x=-0.120509, y=0.033732, theta=0.126254
[19:49:46.425] Odometry x=-0.120508, y=0.033732, theta=0.126616
[19:49:46.436] Odometry x=-0.120508, y=0.033732, theta=0.126936
[19:49:46.446] Odometry x=-0.120508, y=0.033732, theta=0.127400
[19:49:46.456] Odometry x=-0.120508, y=0.033732, theta=0.127707
[19:49:46.466] Odometry x=-0.120507, y=0.033732, theta=0.128067
[19:49:46.476] Odometry x=-0.120507, y=0.033732, theta=0.128449
[19:49:46.486] Odometry x=-0.120507, y=0.033732, theta=0.128766
[19:49:46.496] Odometry x=-0.120507, y=0.033732, theta=0.128984
[19:49:46.507] Odometry x=-0.120507, y=0.033732, theta=0.129246
[19:49:46.517] Odometry x=-0.120507, y=0.033732, theta=0.129473
[19:49:46.527] Odometry x=-0.120507, y=0.033732, theta=0.129735
[19:49:46.537] Odometry x=-0.120506, y=0.033732, theta=0.130071
[19:49:46.541] After Reprojection Map nPoint:1049 ,nCell:172 ,nMatches:46 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:46.541] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =137 	 error init =0.082915 	 error end=0.082915
[19:49:46.541] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:46.541] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000567
[19:49:46.547] Odometry x=-0.120509, y=0.033736, theta=0.124952
[19:49:46.557] Odometry x=-0.120508, y=0.033736, theta=0.125198
[19:49:46.567] Odometry x=-0.120508, y=0.033736, theta=0.125470
[19:49:46.578] Odometry x=-0.120508, y=0.033736, theta=0.125791
[19:49:46.588] Odometry x=-0.120508, y=0.033736, theta=0.126199
[19:49:46.598] Odometry x=-0.120508, y=0.033736, theta=0.126624
[19:49:46.608] Odometry x=-0.120507, y=0.033736, theta=0.126999
[19:49:46.618] Odometry x=-0.120507, y=0.033736, theta=0.127293
[19:49:46.628] Odometry x=-0.120507, y=0.033736, theta=0.127588
[19:49:46.638] Odometry x=-0.120507, y=0.033736, theta=0.127908
[19:49:46.649] Odometry x=-0.120507, y=0.033736, theta=0.128326
[19:49:46.659] Odometry x=-0.120506, y=0.033736, theta=0.128710
[19:49:46.669] Odometry x=-0.120506, y=0.033736, theta=0.129038
[19:49:46.679] Odometry x=-0.120506, y=0.033736, theta=0.129455
[19:49:46.689] Odometry x=-0.120506, y=0.033736, theta=0.129733
[19:49:46.699] Odometry x=-0.120506, y=0.033736, theta=0.129995
[19:49:46.710] Odometry x=-0.120505, y=0.033736, theta=0.130380
[19:49:46.720] Odometry x=-0.120505, y=0.033736, theta=0.130733
[19:49:46.730] Odometry x=-0.120505, y=0.033736, theta=0.131051
[19:49:46.740] Odometry x=-0.120505, y=0.033736, theta=0.131369
[19:49:46.750] Odometry x=-0.120505, y=0.033736, theta=0.131688
[19:49:46.760] Odometry x=-0.120505, y=0.033736, theta=0.132006
[19:49:46.770] Odometry x=-0.120504, y=0.033736, theta=0.132323
[19:49:46.781] Odometry x=-0.120504, y=0.033736, theta=0.132676
[19:49:46.785] After Reprojection Map nPoint:1065 ,nCell:159 ,nMatches:43 ,distance between two frames x:0.000033 ,z=-0.000030,angle between two frames:0.000001
[19:49:46.785] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =135 	 error init =0.104208 	 error end=0.104208
[19:49:46.785] After pose optimization, distance between two frames x:0.000033 ,z=-0.000030,angle between two frames:0.000001
[19:49:46.785] Update EKF and 3D points, distance between two frames x:0.000032 ,z=-0.000029,angle between two frames:0.000688
[19:49:46.791] Odometry x=-0.120488, y=0.033719, theta=0.126375
[19:49:46.801] Odometry x=-0.120488, y=0.033719, theta=0.126598
[19:49:46.811] Odometry x=-0.120488, y=0.033719, theta=0.126856
[19:49:46.821] Odometry x=-0.120488, y=0.033719, theta=0.127166
[19:49:46.831] Odometry x=-0.120488, y=0.033719, theta=0.127476
[19:49:46.842] Odometry x=-0.120487, y=0.033719, theta=0.127691
[19:49:46.852] Odometry x=-0.120487, y=0.033719, theta=0.128088
[19:49:46.862] Odometry x=-0.120487, y=0.033719, theta=0.128394
[19:49:46.872] Odometry x=-0.120487, y=0.033719, theta=0.128653
[19:49:46.882] Odometry x=-0.120487, y=0.033719, theta=0.128971
[19:49:46.892] Odometry x=-0.120486, y=0.033719, theta=0.129346
[19:49:46.902] Odometry x=-0.120486, y=0.033719, theta=0.129791
[19:49:46.913] Odometry x=-0.120486, y=0.033719, theta=0.130188
[19:49:46.923] Odometry x=-0.120486, y=0.033719, theta=0.130436
[19:49:46.933] Odometry x=-0.120486, y=0.033719, theta=0.130707
[19:49:46.943] Odometry x=-0.120485, y=0.033719, theta=0.131046
[19:49:46.953] Odometry x=-0.120485, y=0.033719, theta=0.131394
[19:49:46.963] Odometry x=-0.120485, y=0.033719, theta=0.131736
[19:49:46.974] Odometry x=-0.120485, y=0.033719, theta=0.132152
[19:49:46.984] Odometry x=-0.120485, y=0.033719, theta=0.132434
[19:49:46.994] Odometry x=-0.120484, y=0.033719, theta=0.132694
[19:49:47.004] Odometry x=-0.120484, y=0.033719, theta=0.133111
[19:49:47.012] After Reprojection Map nPoint:1043 ,nCell:191 ,nMatches:44 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:47.012] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =134 	 error init =0.095850 	 error end=0.095850
[19:49:47.012] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[19:49:47.012] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.000679
[19:49:47.014] Odometry x=-0.120480, y=0.033713, theta=0.127018
[19:49:47.024] Odometry x=-0.120480, y=0.033713, theta=0.127347
[19:49:47.034] Odometry x=-0.120480, y=0.033713, theta=0.127669
[19:49:47.045] Odometry x=-0.120480, y=0.033713, theta=0.127991
[19:49:47.055] Odometry x=-0.120480, y=0.033713, theta=0.128309
[19:49:47.065] Odometry x=-0.120480, y=0.033713, theta=0.128629
[19:49:47.075] Odometry x=-0.120479, y=0.033713, theta=0.128951
[19:49:47.085] Odometry x=-0.120479, y=0.033713, theta=0.129264
[19:49:47.095] Odometry x=-0.120479, y=0.033713, theta=0.129576
[19:49:47.106] Odometry x=-0.120479, y=0.033713, theta=0.129891
[19:49:47.116] Odometry x=-0.120479, y=0.033713, theta=0.130210
[19:49:47.126] Odometry x=-0.120479, y=0.033713, theta=0.130523
[19:49:47.136] Odometry x=-0.120479, y=0.033713, theta=0.130842
[19:49:47.146] Odometry x=-0.120478, y=0.033713, theta=0.131165
[19:49:47.156] Odometry x=-0.120478, y=0.033713, theta=0.131486
[19:49:47.167] Odometry x=-0.120478, y=0.033713, theta=0.131805
[19:49:47.177] Odometry x=-0.120478, y=0.033713, theta=0.132130
[19:49:47.187] Odometry x=-0.120478, y=0.033713, theta=0.132451
[19:49:47.197] Odometry x=-0.120478, y=0.033713, theta=0.132769
[19:49:47.207] Odometry x=-0.120477, y=0.033713, theta=0.133089
[19:49:47.217] Odometry x=-0.120477, y=0.033713, theta=0.133401
[19:49:47.228] Odometry x=-0.120477, y=0.033713, theta=0.133717
[19:49:47.238] Odometry x=-0.120477, y=0.033713, theta=0.134032
[19:49:47.248] Odometry x=-0.120477, y=0.033713, theta=0.134357
[19:49:47.250] After Reprojection Map nPoint:1049 ,nCell:207 ,nMatches:46 ,distance between two frames x:0.000036 ,z=-0.000067,angle between two frames:0.004409
[19:49:47.251] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =136 	 error init =0.097809 	 error end=0.097642
[19:49:47.251] After pose optimization, distance between two frames x:-0.002888 ,z=-0.001726,angle between two frames:0.004409
[19:49:47.251] Update EKF and 3D points, distance between two frames x:-0.002719 ,z=-0.001626,angle between two frames:0.004855
[19:49:47.258] Odometry x=-0.122158, y=0.032706, theta=0.130440
[19:49:47.268] Odometry x=-0.122158, y=0.032706, theta=0.130774
[19:49:47.278] Odometry x=-0.122158, y=0.032706, theta=0.131091
[19:49:47.288] Odometry x=-0.122158, y=0.032706, theta=0.131409
[19:49:47.299] Odometry x=-0.122158, y=0.032706, theta=0.131726
[19:49:47.309] Odometry x=-0.122158, y=0.032706, theta=0.132037
[19:49:47.319] Odometry x=-0.122157, y=0.032706, theta=0.132352
[19:49:47.329] Odometry x=-0.122157, y=0.032706, theta=0.132670
[19:49:47.339] Odometry x=-0.122157, y=0.032706, theta=0.132984
[19:49:47.349] Odometry x=-0.122