[12:17:06.036] Init: frame zero: 0.000000, 0.000000 0.000000
[12:17:06.036] Init: Selected first frame. 
[12:17:06.146] Init: px average disparity is:0.042423 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:06.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:06.235] Init: px average disparity is:0.038327 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:06.235] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:06.335] Init: px average disparity is:0.029167 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:06.335] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:06.436] Init: px average disparity is:0.029905 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:06.436] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:06.535] Init: px average disparity is:0.028371 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:06.535] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:06.639] Init: px average disparity is:0.036386 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:06.640] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:06.739] Init: px average disparity is:0.029855 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:06.739] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:06.838] Init: px average disparity is:0.044444 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:06.838] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:06.937] Init: px average disparity is:0.027951 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:06.937] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:07.037] Init: px average disparity is:0.026700 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:07.037] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:07.140] Init: px average disparity is:0.027917 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:07.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:07.238] Init: px average disparity is:0.038103 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:07.238] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:07.339] Init: px average disparity is:0.028951 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:07.339] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:07.442] Init: px average disparity is:0.034207 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:07.442] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:07.539] Init: px average disparity is:0.040047 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:07.539] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:07.637] Init: px average disparity is:0.101032 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:07.637] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:07.739] Init: px average disparity is:1.572181 ,While minimum is: 40.000000  KLT tracked : 115
[12:17:07.739] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:07.837] Init: px average disparity is:6.502810 ,While minimum is: 40.000000  KLT tracked : 114
[12:17:07.838] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:07.938] Init: px average disparity is:4.655788 ,While minimum is: 40.000000  KLT tracked : 114
[12:17:07.938] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:08.043] Init: px average disparity is:8.920299 ,While minimum is: 40.000000  KLT tracked : 114
[12:17:08.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:08.135] Init: px average disparity is:13.031058 ,While minimum is: 40.000000  KLT tracked : 114
[12:17:08.136] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:08.239] Init: px average disparity is:19.008366 ,While minimum is: 40.000000  KLT tracked : 114
[12:17:08.239] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:08.439] Init: px average disparity is:14.679688 ,While minimum is: 40.000000  KLT tracked : 114
[12:17:08.439] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:08.740] Init: px average disparity is:16.607689 ,While minimum is: 40.000000  KLT tracked : 114
[12:17:08.740] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:08.841] Init: px average disparity is:16.479857 ,While minimum is: 40.000000  KLT tracked : 114
[12:17:08.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:08.940] Init: px average disparity is:20.551683 ,While minimum is: 40.000000  KLT tracked : 113
[12:17:08.940] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:09.040] Init: px average disparity is:24.921319 ,While minimum is: 40.000000  KLT tracked : 113
[12:17:09.040] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:09.140] Init: px average disparity is:25.987329 ,While minimum is: 40.000000  KLT tracked : 113
[12:17:09.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:09.239] Init: px average disparity is:26.998501 ,While minimum is: 40.000000  KLT tracked : 113
[12:17:09.239] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:09.341] Init: px average disparity is:28.605109 ,While minimum is: 40.000000  KLT tracked : 111
[12:17:09.341] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:09.441] Init: px average disparity is:33.463712 ,While minimum is: 40.000000  KLT tracked : 111
[12:17:09.441] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:09.543] Init: px average disparity is:31.661368 ,While minimum is: 40.000000  KLT tracked : 111
[12:17:09.543] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:09.643] Init: px average disparity is:33.719257 ,While minimum is: 40.000000  KLT tracked : 110
[12:17:09.643] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:09.749] Init: px average disparity is:33.560231 ,While minimum is: 40.000000  KLT tracked : 106
[12:17:09.749] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:09.839] Init: px average disparity is:31.792061 ,While minimum is: 40.000000  KLT tracked : 106
[12:17:09.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:09.938] Init: px average disparity is:30.525273 ,While minimum is: 40.000000  KLT tracked : 106
[12:17:09.939] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:10.040] Init: px average disparity is:27.885588 ,While minimum is: 40.000000  KLT tracked : 106
[12:17:10.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:10.147] Init: px average disparity is:32.588669 ,While minimum is: 40.000000  KLT tracked : 106
[12:17:10.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:10.239] Init: px average disparity is:27.167962 ,While minimum is: 40.000000  KLT tracked : 106
[12:17:10.239] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:10.340] Init: px average disparity is:32.878631 ,While minimum is: 40.000000  KLT tracked : 106
[12:17:10.340] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:17:10.500] homography: x=0.001317 y=0.088619 z=0.203378 roll=-0.000000 pitch=0.011262 yaw=0.000000 	 ekf: x=-0.005094 z=0.164337 pitch=-0.071406
[12:17:10.500] homography after fuse: x=0.000944 y=0.000000 z=0.201106 pitch=0.006403	 number of outlier: 59
[12:17:10.500] Init finished: Homography RANSAC (inlier) is:47 ,While 20 inliers minimum required.  px average disparity is:40.806370 ,While minimum is: 40.000000  KLT tracked: 106
[12:17:10.500] Init: distance between the first and current frame is x:0.000944 ,z=0.201106,angle between two frames: 0.006403 
[12:17:10.500] Init: Selected Second frame. 	 The number of features: 47
[12:17:10.736] After Reprojection Map nPoint:31 ,nCell:30 ,nMatches:5 ,distance between two frames x:0.000901 ,z=0.007725,angle between two frames:0.004558
[12:17:10.736] Init estimate scale:1.255262
[12:17:10.736] it:0 	 Success 	 new_chi2: 3.807561 	 dT = 0.002905, -0.008251, -0.002282
[12:17:10.736] it:1 	 Success 	 new_chi2: 3.799111 	 dT = 0.002960, -0.008283, -0.002338
[12:17:10.736] it:2 	 Success 	 new_chi2: 3.790882 	 dT = 0.003017, -0.008319, -0.002395
[12:17:10.736] it:3 	 Success 	 new_chi2: 3.782872 	 dT = 0.003074, -0.008357, -0.002454
[12:17:10.736] it:4 	 Success 	 new_chi2: 3.775078 	 dT = 0.003131, -0.008398, -0.002514
[12:17:10.736] it:5 	 Success 	 new_chi2: 3.767496 	 dT = -0.001143, -0.005861, -0.000124
[12:17:10.736] it:6 	 Success 	 new_chi2: 3.758356 	 dT = -0.001124, -0.005825, -0.000126
[12:17:10.736] it:7 	 Success 	 new_chi2: 3.749406 	 dT = -0.001106, -0.005790, -0.000128
[12:17:10.737] it:8 	 Success 	 new_chi2: 3.740639 	 dT = -0.001089, -0.005755, -0.000131
[12:17:10.737] it:9 	 Success 	 new_chi2: 3.732048 	 dT = -0.001073, -0.005721, -0.000132
[12:17:10.737] it:10 	 Success 	 new_chi2: 3.723628 	 dT = -0.001057, -0.005688, -0.000134
[12:17:10.737] it:11 	 Success 	 new_chi2: 3.715372 	 dT = -0.001042, -0.005655, -0.000135
[12:17:10.737] it:12 	 Success 	 new_chi2: 3.707274 	 dT = -0.001028, -0.005623, -0.000137
[12:17:10.737] it:13 	 Success 	 new_chi2: 3.699329 	 dT = -0.001015, -0.005591, -0.000138
[12:17:10.737] it:14 	 Success 	 new_chi2: 3.691532 	 dT = -0.001002, -0.005560, -0.000139
[12:17:10.737] it:15 	 Success 	 new_chi2: 3.683877 	 dT = -0.000989, -0.005530, -0.000140
[12:17:10.737] it:16 	 Success 	 new_chi2: 3.676361 	 dT = -0.000978, -0.005500, -0.000140
[12:17:10.737] it:17 	 Success 	 new_chi2: 3.668979 	 dT = -0.000966, -0.005470, -0.000141
[12:17:10.737] it:18 	 Success 	 new_chi2: 3.661726 	 dT = -0.000956, -0.005441, -0.000141
[12:17:10.737] it:19 	 Success 	 new_chi2: 3.654599 	 dT = -0.000946, -0.005413, -0.000142
[12:17:10.737] it:20 	 Success 	 new_chi2: 3.647593 	 dT = -0.000936, -0.005385, -0.000142
[12:17:10.737] it:21 	 Success 	 new_chi2: 3.640705 	 dT = -0.000927, -0.005357, -0.000142
[12:17:10.737] it:22 	 Success 	 new_chi2: 3.633932 	 dT = -0.000918, -0.005330, -0.000142
[12:17:10.737] it:23 	 Success 	 new_chi2: 3.627270 	 dT = -0.000910, -0.005303, -0.000142
[12:17:10.737] it:24 	 Success 	 new_chi2: 3.620715 	 dT = -0.000902, -0.005277, -0.000141
[12:17:10.737] it:25 	 Success 	 new_chi2: 3.614266 	 dT = -0.000894, -0.005251, -0.000141
[12:17:10.737] it:26 	 Success 	 new_chi2: 3.607918 	 dT = -0.000887, -0.005226, -0.000140
[12:17:10.737] it:27 	 Success 	 new_chi2: 3.601669 	 dT = -0.000880, -0.005200, -0.000140
[12:17:10.737] it:28 	 Success 	 new_chi2: 3.595517 	 dT = -0.000873, -0.005176, -0.000139
[12:17:10.737] it:29 	 Success 	 new_chi2: 3.589458 	 dT = -0.000867, -0.005151, -0.000138
[12:17:10.737] it:30 	 Success 	 new_chi2: 3.583490 	 dT = -0.000861, -0.005127, -0.000137
[12:17:10.737] it:31 	 Success 	 new_chi2: 3.577612 	 dT = -0.000856, -0.005103, -0.000136
[12:17:10.737] it:32 	 Success 	 new_chi2: 3.571820 	 dT = -0.000850, -0.005079, -0.000135
[12:17:10.737] it:33 	 Success 	 new_chi2: 3.566112 	 dT = -0.000845, -0.005056, -0.000134
[12:17:10.737] it:34 	 Success 	 new_chi2: 3.560486 	 dT = -0.000841, -0.005033, -0.000133
[12:17:10.737] it:35 	 Success 	 new_chi2: 3.554941 	 dT = -0.000836, -0.005011, -0.000131
[12:17:10.737] it:36 	 Success 	 new_chi2: 3.549474 	 dT = -0.000832, -0.004988, -0.000130
[12:17:10.737] it:37 	 Success 	 new_chi2: 3.544083 	 dT = -0.000828, -0.004966, -0.000128
[12:17:10.737] it:38 	 Success 	 new_chi2: 3.538766 	 dT = -0.000824, -0.004944, -0.000127
[12:17:10.737] it:39 	 Success 	 new_chi2: 3.533522 	 dT = -0.000821, -0.004922, -0.000125
[12:17:10.737] it:40 	 Success 	 new_chi2: 3.528350 	 dT = -0.000817, -0.004901, -0.000123
[12:17:10.737] it:41 	 Success 	 new_chi2: 3.523246 	 dT = -0.000814, -0.004880, -0.000122
[12:17:10.737] it:42 	 Success 	 new_chi2: 3.518211 	 dT = -0.000811, -0.004859, -0.000120
[12:17:10.737] it:43 	 Success 	 new_chi2: 3.513242 	 dT = -0.000809, -0.004838, -0.000118
[12:17:10.737] it:44 	 Success 	 new_chi2: 3.508338 	 dT = -0.000806, -0.004818, -0.000116
[12:17:10.737] it:45 	 Success 	 new_chi2: 3.503497 	 dT = -0.000804, -0.004798, -0.000114
[12:17:10.737] it:46 	 Success 	 new_chi2: 3.498718 	 dT = -0.000802, -0.004777, -0.000111
[12:17:10.737] it:47 	 Success 	 new_chi2: 3.494001 	 dT = -0.000800, -0.004758, -0.000109
[12:17:10.737] it:48 	 Success 	 new_chi2: 3.489342 	 dT = -0.000798, -0.004738, -0.000107
[12:17:10.737] it:49 	 Success 	 new_chi2: 3.484742 	 dT = -0.000796, -0.004718, -0.000104
[12:17:10.737] it:50 	 Success 	 new_chi2: 3.480199 	 dT = -0.000795, -0.004699, -0.000102
[12:17:10.737] it:51 	 Success 	 new_chi2: 3.475712 	 dT = -0.000793, -0.004680, -0.000099
[12:17:10.737] it:52 	 Success 	 new_chi2: 3.471280 	 dT = -0.000792, -0.004661, -0.000097
[12:17:10.737] it:53 	 Success 	 new_chi2: 3.466902 	 dT = -0.000791, -0.004642, -0.000094
[12:17:10.737] it:54 	 Success 	 new_chi2: 3.462576 	 dT = -0.000790, -0.004624, -0.000091
[12:17:10.737] it:55 	 Success 	 new_chi2: 3.458302 	 dT = -0.000789, -0.004605, -0.000089
[12:17:10.737] it:56 	 Success 	 new_chi2: 3.454079 	 dT = -0.000789, -0.004587, -0.000086
[12:17:10.737] it:57 	 Success 	 new_chi2: 3.449905 	 dT = -0.000788, -0.004569, -0.000083
[12:17:10.737] it:58 	 Success 	 new_chi2: 3.445781 	 dT = -0.000788, -0.004551, -0.000080
[12:17:10.737] it:59 	 Success 	 new_chi2: 3.441704 	 dT = -0.000788, -0.004533, -0.000077
[12:17:10.737] it:60 	 Success 	 new_chi2: 3.437675 	 dT = -0.000787, -0.004515, -0.000074
[12:17:10.737] it:61 	 Success 	 new_chi2: 3.433692 	 dT = -0.000787, -0.004498, -0.000070
[12:17:10.737] it:62 	 Success 	 new_chi2: 3.429754 	 dT = -0.000787, -0.004480, -0.000067
[12:17:10.737] it:63 	 Success 	 new_chi2: 3.425861 	 dT = -0.000788, -0.004463, -0.000064
[12:17:10.737] it:64 	 Success 	 new_chi2: 3.422012 	 dT = -0.000788, -0.004446, -0.000061
[12:17:10.737] it:65 	 Success 	 new_chi2: 3.418206 	 dT = -0.000788, -0.004429, -0.000057
[12:17:10.737] it:66 	 Success 	 new_chi2: 3.414443 	 dT = -0.000789, -0.004412, -0.000054
[12:17:10.737] it:67 	 Success 	 new_chi2: 3.410721 	 dT = -0.000789, -0.004395, -0.000050
[12:17:10.737] it:68 	 Success 	 new_chi2: 3.407041 	 dT = -0.000790, -0.004378, -0.000047
[12:17:10.737] it:69 	 Success 	 new_chi2: 3.403401 	 dT = -0.000791, -0.004362, -0.000043
[12:17:10.737] n deleted obs = 3 	 n obs felt =2 	 error init =0.761512 	 error end=0.679960
[12:17:10.737] After pose optimization, distance between two frames x:-0.040758 ,z=-0.359809,angle between two frames:0.023921
[12:17:10.737] Update EKF and 3D points, distance between two frames x:-0.038384 ,z=-0.337776,angle between two frames:0.023531
[12:17:10.886] After Reprojection Map nPoint:5 ,nCell:4 ,nMatches:4 ,distance between two frames x:0.014673 ,z=0.136172,angle between two frames:0.001677
[12:17:11.033] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:1 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000390
[12:17:11.179] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:11.260] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:11.338] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000009,angle between two frames:0.001907
[12:17:11.414] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:11.506] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000005,angle between two frames:0.002739
[12:17:11.604] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000546
[12:17:11.705] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000185 ,z=0.005496,angle between two frames:0.002262
[12:17:11.805] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000150 ,z=0.005497,angle between two frames:0.000816
[12:17:11.911] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000002,angle between two frames:0.003750
[12:17:12.008] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=0.000000,angle between two frames:0.001128
[12:17:12.106] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000051,angle between two frames:0.002884
[12:17:12.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.011629
[12:17:12.309] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.001874
[12:17:12.404] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000000,angle between two frames:0.004504
[12:17:12.507] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=-0.000005,angle between two frames:0.005683
[12:17:12.605] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.008345
[12:17:12.720] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000005,angle between two frames:0.004614
[12:17:12.804] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=0.000019,angle between two frames:0.000764
[12:17:12.905] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000010,angle between two frames:0.000238
[12:17:13.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.000179
[12:17:13.106] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.001599
[12:17:13.204] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000334
[12:17:13.305] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000004,angle between two frames:0.002558
[12:17:13.409] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000009,angle between two frames:0.001270
[12:17:13.506] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001318
[12:17:13.606] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000017,angle between two frames:0.007072
[12:17:13.705] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000007,angle between two frames:0.000440
[12:17:13.810] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000038,angle between two frames:0.011681
[12:17:13.904] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000032 ,z=0.000000,angle between two frames:0.002959
[12:17:14.005] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000003,angle between two frames:0.008966
[12:17:14.107] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=-0.000005,angle between two frames:0.003537
[12:17:14.209] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000009,angle between two frames:0.005557
[12:17:14.308] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000016,angle between two frames:0.006551
[12:17:14.408] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000025,angle between two frames:0.001513
[12:17:14.508] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.005922
[12:17:14.606] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000007,angle between two frames:0.008433
[12:17:14.707] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000004,angle between two frames:0.002155
[12:17:14.812] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000003,angle between two frames:0.009762
[12:17:14.905] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000017,angle between two frames:0.000114
[12:17:15.005] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=0.000002,angle between two frames:0.003089
[12:17:15.105] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000283 ,z=0.005492,angle between two frames:0.005751
[12:17:15.206] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=-0.000003,angle between two frames:0.000219
[12:17:15.311] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=-0.000015,angle between two frames:0.000128
[12:17:15.404] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000001,angle between two frames:0.004000
[12:17:15.505] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000027,angle between two frames:0.003412
[12:17:15.609] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.002447
[12:17:15.733] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000026,angle between two frames:0.008589
[12:17:15.813] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.000447
[12:17:15.906] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000004,angle between two frames:0.004567
[12:17:16.007] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000004,angle between two frames:0.003727
[12:17:16.112] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000774 ,z=0.005751,angle between two frames:0.003306
[12:17:16.206] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000586
[12:17:16.306] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000034 ,z=-0.000007,angle between two frames:0.001103
[12:17:16.405] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000011,angle between two frames:0.002351
[12:17:16.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000015,angle between two frames:0.000428
[12:17:16.604] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.002277
[12:17:16.712] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000008,angle between two frames:0.003023
[12:17:16.805] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000012 ,z=-0.000002,angle between two frames:0.009068
[12:17:16.913] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.007241
[12:17:17.004] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=-0.000034,angle between two frames:0.003374
[12:17:17.107] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000013 ,z=-0.000010,angle between two frames:0.007912
[12:17:17.206] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000027 ,z=-0.000004,angle between two frames:0.000765
[12:17:17.305] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000006,angle between two frames:0.008734
[12:17:17.407] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000018 ,z=-0.000007,angle between two frames:0.004538
[12:17:17.505] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000009,angle between two frames:0.000155
[12:17:17.606] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000853 ,z=0.005431,angle between two frames:0.009941
[12:17:17.707] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000980 ,z=0.005519,angle between two frames:0.002817
[12:17:17.813] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=-0.000002,angle between two frames:0.002429
[12:17:17.909] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000000,angle between two frames:0.001557
[12:17:18.008] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=-0.000011,angle between two frames:0.006346
[12:17:18.109] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000024 ,z=-0.000005,angle between two frames:0.004124
[12:17:18.207] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000028,angle between two frames:0.004025
[12:17:18.308] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.001629
[12:17:18.408] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000001,angle between two frames:0.003009
[12:17:18.532] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000015,angle between two frames:0.007291
[12:17:18.609] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:18.705] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000016 ,z=-0.000063,angle between two frames:0.000977
[12:17:18.806] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.007508
[12:17:18.905] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000013,angle between two frames:0.005135
[12:17:19.007] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=-0.000002,angle between two frames:0.011615
[12:17:19.111] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001024 ,z=0.005443,angle between two frames:0.001892
[12:17:19.209] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000027 ,z=-0.000044,angle between two frames:0.002526
[12:17:19.307] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000348
[12:17:19.406] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000002,angle between two frames:0.001443
[12:17:19.516] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000012,angle between two frames:0.002294
[12:17:19.605] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000003,angle between two frames:0.000465
[12:17:19.711] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000023,angle between two frames:0.004433
[12:17:19.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=0.000016,angle between two frames:0.004855
[12:17:19.907] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000081
[12:17:20.005] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000006,angle between two frames:0.007250
[12:17:20.110] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.003057
[12:17:20.208] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000007,angle between two frames:0.002493
[12:17:20.305] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.002030
[12:17:20.406] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000014,angle between two frames:0.002032
[12:17:20.511] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=0.000002,angle between two frames:0.003137
[12:17:20.605] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000019,angle between two frames:0.004536
[12:17:20.709] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000005,angle between two frames:0.002158
[12:17:20.818] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000025 ,z=-0.000030,angle between two frames:0.000192
[12:17:20.910] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.003713
[12:17:21.008] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000006,angle between two frames:0.000815
[12:17:21.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.009691
[12:17:21.208] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000007,angle between two frames:0.001817
[12:17:21.308] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.007552
[12:17:21.406] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000001,angle between two frames:0.001876
[12:17:21.507] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000011,angle between two frames:0.006767
[12:17:21.608] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000010,angle between two frames:0.006699
[12:17:21.705] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000016 ,z=-0.000005,angle between two frames:0.007269
[12:17:21.804] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000004,angle between two frames:0.003089
[12:17:21.909] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001232 ,z=0.005494,angle between two frames:0.006953
[12:17:22.006] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.006800
[12:17:22.108] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000014,angle between two frames:0.007224
[12:17:22.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.007513
[12:17:22.344] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:22.445] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:22.543] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.001985
[12:17:22.642] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000005,angle between two frames:0.000268
[12:17:22.745] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.007458
[12:17:22.825] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000114
[12:17:22.909] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000001,angle between two frames:0.000848
[12:17:23.011] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000014,angle between two frames:0.000349
[12:17:23.108] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000069 ,z=-0.000270,angle between two frames:0.015319
[12:17:23.208] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=0.000004,angle between two frames:0.004165
[12:17:23.304] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000019 ,z=0.000056,angle between two frames:0.000043
[12:17:23.407] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000060 ,z=0.000179,angle between two frames:0.004188
[12:17:23.506] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000021 ,z=0.000051,angle between two frames:0.006773
[12:17:23.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000047 ,z=0.000208,angle between two frames:0.006319
[12:17:23.710] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=0.000026,angle between two frames:0.001007
[12:17:23.807] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000008,angle between two frames:0.008532
[12:17:23.911] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000014 ,z=0.000082,angle between two frames:0.007969
[12:17:24.006] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000041 ,z=0.000098,angle between two frames:0.001209
[12:17:24.105] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=0.000015,angle between two frames:0.001200
[12:17:24.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001670 ,z=0.005527,angle between two frames:0.002012
[12:17:24.305] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.001688
[12:17:24.405] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000000,angle between two frames:0.001670
[12:17:24.515] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001051
[12:17:24.608] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.001132
[12:17:24.709] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001663 ,z=0.005606,angle between two frames:0.000648
[12:17:24.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.001667
[12:17:24.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000690
[12:17:25.019] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.003711
[12:17:25.108] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.000949
[12:17:25.208] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000484
[12:17:25.317] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.001186
[12:17:25.407] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000344
[12:17:25.506] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.002161
[12:17:25.606] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000571
[12:17:25.705] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000002,angle between two frames:0.005233
[12:17:25.808] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000264
[12:17:25.905] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000003,angle between two frames:0.000467
[12:17:26.005] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.001752
[12:17:26.107] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000365
[12:17:26.205] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.002498
[12:17:26.311] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.006304
[12:17:26.407] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000015,angle between two frames:0.005742
[12:17:26.509] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000004,angle between two frames:0.009097
[12:17:26.609] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.003982
[12:17:26.705] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000432
[12:17:26.809] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.007320
[12:17:26.909] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000000,angle between two frames:0.003774
[12:17:27.006] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000001,angle between two frames:0.000076
[12:17:27.106] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.000513
[12:17:27.207] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.001432
[12:17:27.307] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.002206
[12:17:27.408] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000463
[12:17:27.505] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.002010
[12:17:27.604] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000005,angle between two frames:0.000907
[12:17:27.705] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.003457
[12:17:27.808] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000939
[12:17:27.906] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.000289
[12:17:28.006] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.004508
[12:17:28.119] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.002102
[12:17:28.206] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000020,angle between two frames:0.003363
[12:17:28.305] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.003059
[12:17:28.405] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.010710
[12:17:28.509] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.000394
[12:17:28.605] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.000982
[12:17:28.706] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000008
[12:17:28.811] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.000417
[12:17:28.905] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000067
[12:17:29.005] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000678
[12:17:29.108] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000002,angle between two frames:0.000960
[12:17:29.207] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000086
[12:17:29.306] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000670
[12:17:29.408] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.001020
[12:17:29.505] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.002575
[12:17:29.606] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000248
[12:17:29.705] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002180 ,z=0.005105,angle between two frames:0.000946
[12:17:29.805] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000069
[12:17:29.909] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000496
[12:17:30.004] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.003410
[12:17:30.114] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002273 ,z=0.005160,angle between two frames:0.001003
[12:17:30.207] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.000709
[12:17:30.305] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000535
[12:17:30.407] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.001655
[12:17:30.507] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000460
[12:17:30.605] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.001742
[12:17:30.705] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000666
[12:17:30.807] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.001060
[12:17:30.905] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.002127
[12:17:31.005] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.001710
[12:17:31.109] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.001341
[12:17:31.205] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.000564
[12:17:31.305] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.004834
[12:17:31.420] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000876
[12:17:31.506] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=-0.000016,angle between two frames:0.001736
[12:17:31.610] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.002692
[12:17:31.707] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001632
[12:17:31.806] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000014 ,z=-0.000030,angle between two frames:0.008306
[12:17:31.909] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002520 ,z=0.004919,angle between two frames:0.003094
[12:17:32.072] After Reprojection Map nPoint:31 ,nCell:27 ,nMatches:10 ,distance between two frames x:0.000002 ,z=-0.000004,angle between two frames:0.001886
[12:17:32.072] Init estimate scale:1.357256
[12:17:32.072] it:0 	 Success 	 new_chi2: 14.750720 	 dT = -0.204458, 0.967477, 0.000000
[12:17:32.072] it:1 	 FAILURE 	 new_chi2: 19.498920
[12:17:32.072] n deleted obs = 9 	 n obs felt =1 	 error init =1.475072 	 error end=1.475072
[12:17:32.072] After pose optimization, distance between two frames x:0.000002 ,z=-0.000004,angle between two frames:0.001886
[12:17:32.072] Update EKF and 3D points, distance between two frames x:-0.000149 ,z=0.000280,angle between two frames:0.002370
[12:17:32.217] After Reprojection Map nPoint:43 ,nCell:27 ,nMatches:12 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:32.217] Init estimate scale:0.528112
[12:17:32.217] it:0 	 Success 	 new_chi2: 12.588147 	 dT = -0.043390, 0.030095, -0.014509
[12:17:32.217] it:1 	 FAILURE 	 new_chi2: 13.929487
[12:17:32.217] n deleted obs = 8 	 n obs felt =13 	 error init =0.599436 	 error end=0.599436
[12:17:32.217] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:32.217] Update EKF and 3D points, distance between two frames x:-0.000358 ,z=0.000669,angle between two frames:0.000500
[12:17:32.218] Choose frame as a key frame Scene Depth mean:2.059563 ,depth min:1.510727
[12:17:32.367] After Reprojection Map nPoint:45 ,nCell:31 ,nMatches:11 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000000
[12:17:32.367] Init estimate scale:0.650992
[12:17:32.367] it:0 	 Success 	 new_chi2: 10.578350 	 dT = -0.014583, -0.011708, 0.000000
[12:17:32.367] it:1 	 FAILURE 	 new_chi2: 10.605147
[12:17:32.367] n deleted obs = 8 	 n obs felt =11 	 error init =0.556755 	 error end=0.556755
[12:17:32.367] After pose optimization, distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000000
[12:17:32.367] Update EKF and 3D points, distance between two frames x:-0.000276 ,z=0.000520,angle between two frames:0.001024
[12:17:32.368] Choose frame as a key frame Scene Depth mean:2.291956 ,depth min:-185110631150.902283
[12:17:32.518] After Reprojection Map nPoint:57 ,nCell:32 ,nMatches:14 ,distance between two frames x:-0.001716 ,z=0.003218,angle between two frames:0.006603
[12:17:32.518] Init estimate scale:0.764435
[12:17:32.518] it:0 	 Success 	 new_chi2: 14.021977 	 dT = 0.000000, 0.000000, -0.000000
[12:17:32.518] n deleted obs = 15 	 n obs felt =13 	 error init =0.500785 	 error end=0.500785
[12:17:32.518] After pose optimization, distance between two frames x:-0.001716 ,z=0.003218,angle between two frames:0.006603
[12:17:32.518] Update EKF and 3D points, distance between two frames x:-0.002030 ,z=0.003803,angle between two frames:0.006433
[12:17:32.518] Choose frame as a key frame Scene Depth mean:2.083783 ,depth min:-2688588825727.456055
[12:17:32.676] After Reprojection Map nPoint:70 ,nCell:33 ,nMatches:16 ,distance between two frames x:-0.001927 ,z=0.003594,angle between two frames:0.001104
[12:17:32.676] Init estimate scale:0.530563
[12:17:32.676] it:0 	 Success 	 new_chi2: 13.688004 	 dT = -0.000000, -0.000000, 0.000000
[12:17:32.676] it:1 	 FAILURE 	 new_chi2: 13.688004
[12:17:32.676] n deleted obs = 12 	 n obs felt =27 	 error init =0.350974 	 error end=0.350974
[12:17:32.676] After pose optimization, distance between two frames x:-0.001927 ,z=0.003594,angle between two frames:0.001104
[12:17:32.676] Update EKF and 3D points, distance between two frames x:-0.002074 ,z=0.003869,angle between two frames:0.001442
[12:17:32.676] Choose frame as a key frame Scene Depth mean:2.063962 ,depth min:-2701053416467.464355
[12:17:32.830] After Reprojection Map nPoint:80 ,nCell:36 ,nMatches:19 ,distance between two frames x:-0.000907 ,z=0.001696,angle between two frames:0.002309
[12:17:32.830] Init estimate scale:0.525689
[12:17:32.830] it:0 	 Success 	 new_chi2: 18.983290 	 dT = -0.037430, 0.060832, 0.024638
[12:17:32.830] it:1 	 FAILURE 	 new_chi2: 20.720689
[12:17:32.830] n deleted obs = 17 	 n obs felt =29 	 error init =0.412680 	 error end=0.412680
[12:17:32.830] After pose optimization, distance between two frames x:-0.000907 ,z=0.001696,angle between two frames:0.002309
[12:17:32.830] Update EKF and 3D points, distance between two frames x:-0.001202 ,z=0.002252,angle between two frames:0.002740
[12:17:32.830] Choose frame as a key frame Scene Depth mean:2.065769 ,depth min:1.289061
[12:17:32.992] After Reprojection Map nPoint:99 ,nCell:45 ,nMatches:20 ,distance between two frames x:-0.001829 ,z=0.003438,angle between two frames:0.003014
[12:17:32.992] Init estimate scale:0.535644
[12:17:32.992] it:0 	 Success 	 new_chi2: 27.339874 	 dT = -0.302940, 0.714016, -0.277295
[12:17:32.992] it:1 	 Success 	 new_chi2: 24.216692 	 dT = -0.502844, 0.175108, 0.313424
[12:17:32.992] it:2 	 FAILURE 	 new_chi2: 26.642347
[12:17:32.992] n deleted obs = 23 	 n obs felt =29 	 error init =0.525767 	 error end=0.465706
[12:17:32.992] After pose optimization, distance between two frames x:-0.304768 ,z=0.717454,angle between two frames:0.274281
[12:17:33.169] After Reprojection Map nPoint:107 ,nCell:38 ,nMatches:23 ,distance between two frames x:-0.000049 ,z=0.000046,angle between two frames:0.000279
[12:17:33.169] Init estimate scale:0.558481
[12:17:33.169] it:0 	 Success 	 new_chi2: 24.808851 	 dT = -0.013328, 0.013062, -0.006775
[12:17:33.169] it:1 	 FAILURE 	 new_chi2: 25.578998
[12:17:33.169] n deleted obs = 23 	 n obs felt =37 	 error init =0.413481 	 error end=0.413481
[12:17:33.169] After pose optimization, distance between two frames x:-0.000049 ,z=0.000046,angle between two frames:0.000279
[12:17:33.169] Update EKF and 3D points, distance between two frames x:-0.000347 ,z=0.000633,angle between two frames:0.000931
[12:17:33.169] Choose frame as a key frame Scene Depth mean:2.309128 ,depth min:-5254980535031.761719
[12:17:33.337] After Reprojection Map nPoint:119 ,nCell:48 ,nMatches:21 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:33.337] Init estimate scale:0.584803
[12:17:33.337] it:0 	 Success 	 new_chi2: 25.025838 	 dT = -0.035623, 0.003465, 0.000000
[12:17:33.337] it:1 	 FAILURE 	 new_chi2: 25.775727
[12:17:33.337] n deleted obs = 23 	 n obs felt =38 	 error init =0.410260 	 error end=0.410260
[12:17:33.337] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:33.337] Update EKF and 3D points, distance between two frames x:-0.000393 ,z=0.000774,angle between two frames:0.000301
[12:17:33.338] Choose frame as a key frame Scene Depth mean:2.111688 ,depth min:-3689763554499.738281
[12:17:33.505] After Reprojection Map nPoint:142 ,nCell:56 ,nMatches:30 ,distance between two frames x:-0.002428 ,z=0.004785,angle between two frames:0.001805
[12:17:33.505] Init estimate scale:0.504842
[12:17:33.505] it:0 	 Success 	 new_chi2: 25.894840 	 dT = 0.000000, 0.000000, -0.000000
[12:17:33.505] it:1 	 Success 	 new_chi2: 25.894840 	 dT = -0.000000, -0.000000, 0.000000
[12:17:33.505] it:2 	 FAILURE 	 new_chi2: 25.894840
[12:17:33.505] n deleted obs = 23 	 n obs felt =49 	 error init =0.359651 	 error end=0.359651
[12:17:33.505] After pose optimization, distance between two frames x:-0.002428 ,z=0.004785,angle between two frames:0.001805
[12:17:33.505] Update EKF and 3D points, distance between two frames x:-0.003197 ,z=0.006277,angle between two frames:0.000548
[12:17:33.505] Choose frame as a key frame Scene Depth mean:2.118089 ,depth min:-34812981559882.765625
[12:17:33.673] After Reprojection Map nPoint:158 ,nCell:52 ,nMatches:28 ,distance between two frames x:-0.003482 ,z=0.006700,angle between two frames:0.006198
[12:17:33.673] Init estimate scale:0.564663
[12:17:33.673] it:0 	 Success 	 new_chi2: 35.768020 	 dT = 0.000014, 0.000013, 0.000000
[12:17:33.673] it:1 	 FAILURE 	 new_chi2: 35.768186
[12:17:33.673] n deleted obs = 29 	 n obs felt =50 	 error init =0.452760 	 error end=0.452760
[12:17:33.673] After pose optimization, distance between two frames x:-0.003482 ,z=0.006700,angle between two frames:0.006198
[12:17:33.673] Update EKF and 3D points, distance between two frames x:-0.003637 ,z=0.006991,angle between two frames:0.007107
[12:17:33.673] Choose frame as a key frame Scene Depth mean:2.170162 ,depth min:-7842345326008.190430
[12:17:33.847] After Reprojection Map nPoint:185 ,nCell:54 ,nMatches:31 ,distance between two frames x:-0.000958 ,z=0.001796,angle between two frames:0.005683
[12:17:33.847] Init estimate scale:0.591825
[12:17:33.848] it:0 	 Success 	 new_chi2: 35.044877 	 dT = -0.200978, 0.406006, -0.044966
[12:17:33.848] it:1 	 FAILURE 	 new_chi2: 38.229068
[12:17:33.848] n deleted obs = 35 	 n obs felt =57 	 error init =0.380923 	 error end=0.380923
[12:17:33.848] After pose optimization, distance between two frames x:-0.000958 ,z=0.001796,angle between two frames:0.005683
[12:17:33.848] Update EKF and 3D points, distance between two frames x:-0.001264 ,z=0.002363,angle between two frames:0.006802
[12:17:33.848] Choose frame as a key frame Scene Depth mean:2.090761 ,depth min:-161020490510545.343750
[12:17:34.024] After Reprojection Map nPoint:223 ,nCell:65 ,nMatches:30 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:34.024] Init estimate scale:0.462898
[12:17:34.024] it:0 	 Success 	 new_chi2: 34.068003 	 dT = -0.117811, 0.406396, -0.035682
[12:17:34.024] it:1 	 FAILURE 	 new_chi2: 35.044875
[12:17:34.024] n deleted obs = 30 	 n obs felt =74 	 error init =0.327577 	 error end=0.327577
[12:17:34.024] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:34.024] Update EKF and 3D points, distance between two frames x:-0.000411 ,z=0.000751,angle between two frames:0.000828
[12:17:34.024] Choose frame as a key frame Scene Depth mean:2.132019 ,depth min:-534124181669.091370
[12:17:34.205] After Reprojection Map nPoint:211 ,nCell:58 ,nMatches:28 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:34.205] Init estimate scale:0.531029
[12:17:34.205] it:0 	 Success 	 new_chi2: 32.204513 	 dT = -0.199521, 0.416712, -0.052109
[12:17:34.205] it:1 	 FAILURE 	 new_chi2: 34.770552
[12:17:34.205] n deleted obs = 28 	 n obs felt =63 	 error init =0.353896 	 error end=0.353896
[12:17:34.205] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:34.205] Update EKF and 3D points, distance between two frames x:-0.000504 ,z=0.000920,angle between two frames:0.000905
[12:17:34.205] Choose frame as a key frame Scene Depth mean:2.172785 ,depth min:1.315211
[12:17:34.386] After Reprojection Map nPoint:246 ,nCell:74 ,nMatches:29 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:34.386] Init estimate scale:0.540728
[12:17:34.386] it:0 	 Success 	 new_chi2: 37.721778 	 dT = -0.052788, 0.329333, -0.119559
[12:17:34.386] it:1 	 FAILURE 	 new_chi2: 40.613527
[12:17:34.386] n deleted obs = 33 	 n obs felt =70 	 error init =0.366231 	 error end=0.366231
[12:17:34.386] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:34.386] Update EKF and 3D points, distance between two frames x:-0.000325 ,z=0.000600,angle between two frames:0.000233
[12:17:34.386] Choose frame as a key frame Scene Depth mean:2.329641 ,depth min:1.316080
[12:17:34.574] After Reprojection Map nPoint:297 ,nCell:58 ,nMatches:31 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:34.574] Init estimate scale:0.637153
[12:17:34.574] it:0 	 Success 	 new_chi2: 47.810312 	 dT = -0.000000, 0.000000, -0.000000
[12:17:34.574] it:1 	 FAILURE 	 new_chi2: 47.810312
[12:17:34.574] n deleted obs = 39 	 n obs felt =84 	 error init =0.388702 	 error end=0.388702
[12:17:34.574] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:34.574] Update EKF and 3D points, distance between two frames x:-0.000417 ,z=0.000784,angle between two frames:0.000442
[12:17:34.574] Choose frame as a key frame Scene Depth mean:2.309133 ,depth min:1.317376
[12:17:34.762] After Reprojection Map nPoint:331 ,nCell:76 ,nMatches:37 ,distance between two frames x:-0.002579 ,z=0.004847,angle between two frames:0.002920
[12:17:34.762] Init estimate scale:0.574088
[12:17:34.762] it:0 	 Success 	 new_chi2: 46.909702 	 dT = -0.207492, 0.334558, -0.037243
[12:17:34.762] it:1 	 FAILURE 	 new_chi2: 52.149528
[12:17:34.762] n deleted obs = 38 	 n obs felt =97 	 error init =0.347479 	 error end=0.347479
[12:17:34.762] After pose optimization, distance between two frames x:-0.002579 ,z=0.004847,angle between two frames:0.002920
[12:17:34.762] Update EKF and 3D points, distance between two frames x:-0.002868 ,z=0.005401,angle between two frames:0.003734
[12:17:34.762] Choose frame as a key frame Scene Depth mean:2.254579 ,depth min:-3411750895342.421387
[12:17:34.963] After Reprojection Map nPoint:325 ,nCell:68 ,nMatches:28 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:34.963] Init estimate scale:0.503808
[12:17:34.963] it:0 	 Success 	 new_chi2: 40.422040 	 dT = 0.000000, 0.003280, 0.000000
[12:17:34.963] it:1 	 Success 	 new_chi2: 40.386015 	 dT = -0.029126, 0.004006, 0.000000
[12:17:34.963] it:2 	 FAILURE 	 new_chi2: 41.415140
[12:17:34.963] n deleted obs = 32 	 n obs felt =90 	 error init =0.331328 	 error end=0.331033
[12:17:34.963] After pose optimization, distance between two frames x:0.000000 ,z=0.003280,angle between two frames:0.000000
[12:17:34.963] Update EKF and 3D points, distance between two frames x:-0.000403 ,z=0.003872,angle between two frames:0.000638
[12:17:34.963] Choose frame as a key frame Scene Depth mean:2.319918 ,depth min:-533009226457.146118
[12:17:35.155] After Reprojection Map nPoint:397 ,nCell:65 ,nMatches:28 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:35.155] Init estimate scale:0.525018
[12:17:35.155] it:0 	 Success 	 new_chi2: 49.771731 	 dT = -0.194816, 0.057093, -0.009073
[12:17:35.155] it:1 	 FAILURE 	 new_chi2: 58.126236
[12:17:35.155] n deleted obs = 38 	 n obs felt =104 	 error init =0.350505 	 error end=0.350505
[12:17:35.155] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:35.155] Update EKF and 3D points, distance between two frames x:-0.000433 ,z=0.000754,angle between two frames:0.000619
[12:17:35.155] Choose frame as a key frame Scene Depth mean:2.342871 ,depth min:-44471902531.330490
[12:17:35.358] After Reprojection Map nPoint:436 ,nCell:60 ,nMatches:35 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:35.358] Init estimate scale:0.411415
[12:17:35.358] it:0 	 Success 	 new_chi2: 50.969934 	 dT = -0.184067, 0.051654, 0.000000
[12:17:35.359] it:1 	 FAILURE 	 new_chi2: 58.525766
[12:17:35.359] n deleted obs = 35 	 n obs felt =132 	 error init =0.305209 	 error end=0.305209
[12:17:35.359] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:35.359] Update EKF and 3D points, distance between two frames x:-0.000471 ,z=0.000846,angle between two frames:0.001673
[12:17:35.359] Choose frame as a key frame Scene Depth mean:2.418953 ,depth min:-2011848088124.640869
[12:17:35.564] After Reprojection Map nPoint:497 ,nCell:78 ,nMatches:38 ,distance between two frames x:-0.002912 ,z=0.005226,angle between two frames:0.010584
[12:17:35.564] Init estimate scale:0.470647
[12:17:35.564] it:0 	 Success 	 new_chi2: 61.797509 	 dT = -0.075970, 0.399632, -0.209249
[12:17:35.564] it:1 	 FAILURE 	 new_chi2: 69.791287
[12:17:35.564] n deleted obs = 40 	 n obs felt =135 	 error init =0.353129 	 error end=0.353129
[12:17:35.564] After pose optimization, distance between two frames x:-0.002912 ,z=0.005226,angle between two frames:0.010584
[12:17:35.564] Update EKF and 3D points, distance between two frames x:-0.003214 ,z=0.005767,angle between two frames:0.011988
[12:17:35.565] Choose frame as a key frame Scene Depth mean:2.262553 ,depth min:-99542773647.991730
[12:17:35.769] After Reprojection Map nPoint:451 ,nCell:85 ,nMatches:35 ,distance between two frames x:-0.001864 ,z=0.003343,angle between two frames:0.008856
[12:17:35.770] Init estimate scale:0.521999
[12:17:35.770] it:0 	 Success 	 new_chi2: 58.701038 	 dT = -0.047027, 0.443739, -0.210036
[12:17:35.770] it:1 	 FAILURE 	 new_chi2: 63.586927
[12:17:35.770] n deleted obs = 46 	 n obs felt =114 	 error init =0.366881 	 error end=0.366881
[12:17:35.770] After pose optimization, distance between two frames x:-0.001864 ,z=0.003343,angle between two frames:0.008856
[12:17:35.770] Update EKF and 3D points, distance between two frames x:-0.002186 ,z=0.003924,angle between two frames:0.008859
[12:17:35.974] After Reprojection Map nPoint:524 ,nCell:89 ,nMatches:35 ,distance between two frames x:-0.001989 ,z=0.003591,angle between two frames:0.000132
[12:17:35.974] Init estimate scale:0.503557
[12:17:35.974] it:0 	 Success 	 new_chi2: 63.287913 	 dT = -0.108844, 0.749924, -0.245775
[12:17:35.974] it:1 	 FAILURE 	 new_chi2: 68.078378
[12:17:35.974] n deleted obs = 36 	 n obs felt =144 	 error init =0.351600 	 error end=0.351600
[12:17:35.974] After pose optimization, distance between two frames x:-0.001989 ,z=0.003591,angle between two frames:0.000132
[12:17:35.974] Update EKF and 3D points, distance between two frames x:-0.002299 ,z=0.004146,angle between two frames:0.000098
[12:17:36.179] After Reprojection Map nPoint:504 ,nCell:113 ,nMatches:36 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:36.179] Init estimate scale:0.512719
[12:17:36.179] it:0 	 Success 	 new_chi2: 53.106690 	 dT = -0.052422, 0.323837, -0.155443
[12:17:36.179] it:1 	 FAILURE 	 new_chi2: 57.442913
[12:17:36.179] n deleted obs = 34 	 n obs felt =121 	 error init =0.342624 	 error end=0.342624
[12:17:36.179] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:36.179] Update EKF and 3D points, distance between two frames x:-0.000424 ,z=0.000762,angle between two frames:0.000383
[12:17:36.384] After Reprojection Map nPoint:549 ,nCell:92 ,nMatches:38 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:36.384] Init estimate scale:0.512389
[12:17:36.384] it:0 	 Success 	 new_chi2: 70.761502 	 dT = -0.154579, 0.614818, -0.316503
[12:17:36.384] it:1 	 FAILURE 	 new_chi2: 85.037886
[12:17:36.384] n deleted obs = 49 	 n obs felt =147 	 error init =0.361028 	 error end=0.361028
[12:17:36.384] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:36.384] Update EKF and 3D points, distance between two frames x:-0.000461 ,z=0.000841,angle between two frames:0.000811
[12:17:36.585] After Reprojection Map nPoint:533 ,nCell:102 ,nMatches:35 ,distance between two frames x:-0.002850 ,z=0.005195,angle between two frames:0.005234
[12:17:36.586] Init estimate scale:0.552444
[12:17:36.586] it:0 	 Success 	 new_chi2: 65.404343 	 dT = -0.073984, 0.395173, -0.160096
[12:17:36.586] it:1 	 FAILURE 	 new_chi2: 71.058913
[12:17:36.586] n deleted obs = 46 	 n obs felt =131 	 error init =0.369516 	 error end=0.369516
[12:17:36.586] After pose optimization, distance between two frames x:-0.002850 ,z=0.005195,angle between two frames:0.005234
[12:17:36.586] Update EKF and 3D points, distance between two frames x:-0.003146 ,z=0.005743,angle between two frames:0.006407
[12:17:36.785] After Reprojection Map nPoint:482 ,nCell:102 ,nMatches:31 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:36.786] Init estimate scale:0.568022
[12:17:36.786] it:0 	 Success 	 new_chi2: 59.394715 	 dT = -0.193098, -0.101174, 0.000000
[12:17:36.786] it:1 	 FAILURE 	 new_chi2: 71.690151
[12:17:36.786] n deleted obs = 47 	 n obs felt =111 	 error init =0.375916 	 error end=0.375916
[12:17:36.786] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:36.786] Update EKF and 3D points, distance between two frames x:-0.000416 ,z=0.000767,angle between two frames:0.000158
[12:17:36.990] After Reprojection Map nPoint:504 ,nCell:96 ,nMatches:34 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:36.990] Init estimate scale:0.557968
[12:17:36.990] it:0 	 Success 	 new_chi2: 69.660949 	 dT = -0.218497, 0.478711, -0.000002
[12:17:36.990] it:1 	 FAILURE 	 new_chi2: 73.550019
[12:17:36.991] n deleted obs = 58 	 n obs felt =125 	 error init =0.380661 	 error end=0.380661
[12:17:36.991] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:36.991] Update EKF and 3D points, distance between two frames x:-0.000471 ,z=0.000846,angle between two frames:0.001427
[12:17:37.220] After Reprojection Map nPoint:506 ,nCell:97 ,nMatches:38 ,distance between two frames x:0.000021 ,z=0.000039,angle between two frames:0.000000
[12:17:37.220] Init estimate scale:0.486759
[12:17:37.220] it:0 	 Success 	 new_chi2: 67.590210 	 dT = -0.126049, 0.968440, -0.432129
[12:17:37.220] it:1 	 FAILURE 	 new_chi2: 78.123271
[12:17:37.220] n deleted obs = 49 	 n obs felt =141 	 error init =0.355738 	 error end=0.355738
[12:17:37.220] After pose optimization, distance between two frames x:0.000021 ,z=0.000039,angle between two frames:0.000000
[12:17:37.220] Update EKF and 3D points, distance between two frames x:-0.000628 ,z=0.001160,angle between two frames:0.002466
[12:17:37.422] After Reprojection Map nPoint:507 ,nCell:107 ,nMatches:41 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:37.422] Init estimate scale:0.460866
[12:17:37.423] it:0 	 Success 	 new_chi2: 63.919609 	 dT = 0.000000, 0.000001, -0.000000
[12:17:37.423] it:1 	 Success 	 new_chi2: 63.919592 	 dT = 0.000000, 0.000001, -0.000000
[12:17:37.423] it:2 	 Success 	 new_chi2: 63.919575 	 dT = 0.000000, 0.000001, -0.000000
[12:17:37.423] it:3 	 Success 	 new_chi2: 63.919558 	 dT = 0.000000, 0.000001, -0.000000
[12:17:37.423] it:4 	 Success 	 new_chi2: 63.919541 	 dT = 0.000000, 0.000001, -0.000000
[12:17:37.423] it:5 	 Success 	 new_chi2: 63.919524 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.423] it:6 	 Success 	 new_chi2: 63.919517 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.423] it:7 	 Success 	 new_chi2: 63.919509 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.423] it:8 	 Success 	 new_chi2: 63.919502 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.424] it:9 	 Success 	 new_chi2: 63.919494 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.424] it:10 	 Success 	 new_chi2: 63.919487 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.424] it:11 	 Success 	 new_chi2: 63.919480 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.424] it:12 	 Success 	 new_chi2: 63.919472 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.424] it:13 	 Success 	 new_chi2: 63.919465 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.424] it:14 	 Success 	 new_chi2: 63.919457 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.424] it:15 	 Success 	 new_chi2: 63.919450 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.424] it:16 	 Success 	 new_chi2: 63.919442 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.424] it:17 	 Success 	 new_chi2: 63.919435 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.425] it:18 	 Success 	 new_chi2: 63.919428 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.425] it:19 	 Success 	 new_chi2: 63.919420 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.425] it:20 	 Success 	 new_chi2: 63.919413 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.425] it:21 	 Success 	 new_chi2: 63.919405 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.425] it:22 	 Success 	 new_chi2: 63.919398 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.425] it:23 	 Success 	 new_chi2: 63.919390 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.425] it:24 	 Success 	 new_chi2: 63.919383 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.425] it:25 	 Success 	 new_chi2: 63.919376 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.425] it:26 	 Success 	 new_chi2: 63.919368 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.426] it:27 	 Success 	 new_chi2: 63.919361 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.426] it:28 	 Success 	 new_chi2: 63.919353 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.426] it:29 	 Success 	 new_chi2: 63.919346 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.426] it:30 	 Success 	 new_chi2: 63.919338 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.426] it:31 	 Success 	 new_chi2: 63.919331 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.426] it:32 	 Success 	 new_chi2: 63.919324 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.426] it:33 	 Success 	 new_chi2: 63.919316 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.426] it:34 	 Success 	 new_chi2: 63.919309 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.426] it:35 	 Success 	 new_chi2: 63.919301 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.426] it:36 	 Success 	 new_chi2: 63.919294 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.427] it:37 	 Success 	 new_chi2: 63.919286 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.427] it:38 	 Success 	 new_chi2: 63.919279 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.427] it:39 	 Success 	 new_chi2: 63.919272 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.427] it:40 	 Success 	 new_chi2: 63.919264 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.427] it:41 	 Success 	 new_chi2: 63.919257 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.427] it:42 	 Success 	 new_chi2: 63.919249 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.427] it:43 	 Success 	 new_chi2: 63.919242 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.427] it:44 	 Success 	 new_chi2: 63.919234 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.427] it:45 	 Success 	 new_chi2: 63.919227 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.428] it:46 	 Success 	 new_chi2: 63.919220 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.428] it:47 	 Success 	 new_chi2: 63.919212 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.428] it:48 	 Success 	 new_chi2: 63.919205 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.428] it:49 	 Success 	 new_chi2: 63.919197 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.428] it:50 	 Success 	 new_chi2: 63.919190 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.428] it:51 	 Success 	 new_chi2: 63.919182 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.428] it:52 	 Success 	 new_chi2: 63.919175 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.428] it:53 	 Success 	 new_chi2: 63.919168 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.428] it:54 	 Success 	 new_chi2: 63.919160 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.428] it:55 	 Success 	 new_chi2: 63.919153 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.429] it:56 	 Success 	 new_chi2: 63.919145 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.429] it:57 	 Success 	 new_chi2: 63.919138 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.429] it:58 	 Success 	 new_chi2: 63.919130 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.429] it:59 	 Success 	 new_chi2: 63.919123 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.429] it:60 	 Success 	 new_chi2: 63.919116 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.429] it:61 	 Success 	 new_chi2: 63.919108 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.429] it:62 	 Success 	 new_chi2: 63.919101 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.429] it:63 	 Success 	 new_chi2: 63.919093 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.429] it:64 	 Success 	 new_chi2: 63.919086 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.430] it:65 	 Success 	 new_chi2: 63.919078 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.430] it:66 	 Success 	 new_chi2: 63.919071 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.430] it:67 	 Success 	 new_chi2: 63.919064 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.430] it:68 	 Success 	 new_chi2: 63.919056 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.430] it:69 	 Success 	 new_chi2: 63.919049 	 dT = 0.000000, 0.000000, -0.000000
[12:17:37.430] n deleted obs = 45 	 n obs felt =143 	 error init =0.339998 	 error end=0.339995
[12:17:37.430] After pose optimization, distance between two frames x:-0.000000 ,z=0.000034,angle between two frames:0.000000
[12:17:37.430] Update EKF and 3D points, distance between two frames x:-0.000557 ,z=0.000990,angle between two frames:0.001346
[12:17:37.634] After Reprojection Map nPoint:497 ,nCell:109 ,nMatches:35 ,distance between two frames x:-0.003444 ,z=0.005909,angle between two frames:0.008372
[12:17:37.634] Init estimate scale:0.553862
[12:17:37.634] it:0 	 Success 	 new_chi2: 63.604476 	 dT = -0.455320, 0.993968, -0.000004
[12:17:37.634] it:1 	 FAILURE 	 new_chi2: 68.825324
[12:17:37.635] n deleted obs = 53 	 n obs felt =113 	 error init =0.383159 	 error end=0.383159
[12:17:37.635] After pose optimization, distance between two frames x:-0.003444 ,z=0.005909,angle between two frames:0.008372
[12:17:37.635] Update EKF and 3D points, distance between two frames x:-0.003750 ,z=0.006448,angle between two frames:0.008917
[12:17:37.844] After Reprojection Map nPoint:513 ,nCell:92 ,nMatches:34 ,distance between two frames x:0.000008 ,z=0.000003,angle between two frames:0.000000
[12:17:37.844] Init estimate scale:0.518354
[12:17:37.845] it:0 	 Success 	 new_chi2: 64.235147 	 dT = -0.189023, 0.473316, -0.000002
[12:17:37.845] it:1 	 FAILURE 	 new_chi2: 65.911151
[12:17:37.845] n deleted obs = 41 	 n obs felt =140 	 error init =0.354890 	 error end=0.354890
[12:17:37.845] After pose optimization, distance between two frames x:0.000008 ,z=0.000003,angle between two frames:0.000000
[12:17:37.845] Update EKF and 3D points, distance between two frames x:-0.000435 ,z=0.000768,angle between two frames:0.000646
[12:17:38.062] After Reprojection Map nPoint:493 ,nCell:91 ,nMatches:36 ,distance between two frames x:-0.002743 ,z=0.004733,angle between two frames:0.004043
[12:17:38.063] Init estimate scale:0.483959
[12:17:38.063] it:0 	 Success 	 new_chi2: 60.074547 	 dT = -4.516474, 3.709297, -0.000019
[12:17:38.063] it:1 	 FAILURE 	 new_chi2: 129.019444
[12:17:38.063] n deleted obs = 39 	 n obs felt =133 	 error init =0.349271 	 error end=0.349271
[12:17:38.063] After pose optimization, distance between two frames x:-0.002743 ,z=0.004733,angle between two frames:0.004043
[12:17:38.063] Update EKF and 3D points, distance between two frames x:-0.003046 ,z=0.005262,angle between two frames:0.003814
[12:17:38.266] After Reprojection Map nPoint:517 ,nCell:97 ,nMatches:34 ,distance between two frames x:-0.001873 ,z=0.003272,angle between two frames:0.001587
[12:17:38.267] Init estimate scale:0.462523
[12:17:38.267] it:0 	 Success 	 new_chi2: 58.282877 	 dT = -0.089587, 0.617194, -0.259871
[12:17:38.267] it:1 	 FAILURE 	 new_chi2: 64.458690
[12:17:38.267] n deleted obs = 38 	 n obs felt =133 	 error init =0.340836 	 error end=0.340836
[12:17:38.267] After pose optimization, distance between two frames x:-0.001873 ,z=0.003272,angle between two frames:0.001587
[12:17:38.267] Update EKF and 3D points, distance between two frames x:-0.002201 ,z=0.003854,angle between two frames:0.001923
[12:17:38.490] After Reprojection Map nPoint:472 ,nCell:106 ,nMatches:33 ,distance between two frames x:-0.002026 ,z=0.003606,angle between two frames:0.002116
[12:17:38.490] Init estimate scale:0.430079
[12:17:38.490] it:0 	 Success 	 new_chi2: 54.076505 	 dT = -1.482047, 1.292846, -0.000006
[12:17:38.490] it:1 	 FAILURE 	 new_chi2: 86.987203
[12:17:38.490] n deleted obs = 39 	 n obs felt =126 	 error init =0.327736 	 error end=0.327736
[12:17:38.490] After pose optimization, distance between two frames x:-0.002026 ,z=0.003606,angle between two frames:0.002116
[12:17:38.490] Update EKF and 3D points, distance between two frames x:-0.002342 ,z=0.004167,angle between two frames:0.002798
[12:17:38.720] After Reprojection Map nPoint:444 ,nCell:82 ,nMatches:30 ,distance between two frames x:-0.001859 ,z=0.003536,angle between two frames:0.004474
[12:17:38.721] Init estimate scale:0.483769
[12:17:38.721] it:0 	 Success 	 new_chi2: 47.104883 	 dT = -0.257806, 0.388291, -0.000002
[12:17:38.721] it:1 	 FAILURE 	 new_chi2: 51.546911
[12:17:38.721] n deleted obs = 35 	 n obs felt =103 	 error init =0.341340 	 error end=0.341340
[12:17:38.721] After pose optimization, distance between two frames x:-0.001859 ,z=0.003536,angle between two frames:0.004474
[12:17:38.721] Update EKF and 3D points, distance between two frames x:-0.002327 ,z=0.004367,angle between two frames:0.004716
[12:17:38.925] After Reprojection Map nPoint:448 ,nCell:68 ,nMatches:28 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:38.925] Init estimate scale:0.570584
[12:17:38.925] it:0 	 Success 	 new_chi2: 58.437540 	 dT = -0.609904, 1.390318, -0.675101
[12:17:38.925] it:1 	 FAILURE 	 new_chi2: 88.023578
[12:17:38.925] n deleted obs = 46 	 n obs felt =110 	 error init =0.374600 	 error end=0.374600
[12:17:38.925] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:38.925] Update EKF and 3D points, distance between two frames x:-0.000475 ,z=0.000852,angle between two frames:0.000053
[12:17:39.130] After Reprojection Map nPoint:499 ,nCell:79 ,nMatches:31 ,distance between two frames x:-0.002933 ,z=0.005268,angle between two frames:0.000055
[12:17:39.130] Init estimate scale:0.553385
[12:17:39.130] it:0 	 Success 	 new_chi2: 64.802525 	 dT = -0.532270, 13.470551, -7.269443
[12:17:39.130] it:1 	 Success 	 new_chi2: 50.716872 	 dT = 18.738165, 2.041917, -1.151173
[12:17:39.130] it:2 	 FAILURE 	 new_chi2: 140.711588
[12:17:39.130] n deleted obs = 32 	 n obs felt =145 	 error init =0.366116 	 error end=0.286536
[12:17:39.130] After pose optimization, distance between two frames x:-0.535202 ,z=13.475819,angle between two frames:0.986313
[12:17:39.346] After Reprojection Map nPoint:468 ,nCell:89 ,nMatches:31 ,distance between two frames x:0.000034 ,z=0.000029,angle between two frames:0.000004
[12:17:39.346] Init estimate scale:0.545721
[12:17:39.346] it:0 	 Success 	 new_chi2: 60.225223 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.346] it:1 	 Success 	 new_chi2: 60.225222 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.346] it:2 	 Success 	 new_chi2: 60.225220 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.346] it:3 	 Success 	 new_chi2: 60.225219 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.346] it:4 	 Success 	 new_chi2: 60.225218 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.346] it:5 	 Success 	 new_chi2: 60.225217 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.346] it:6 	 Success 	 new_chi2: 60.225216 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.346] it:7 	 Success 	 new_chi2: 60.225215 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.347] it:8 	 Success 	 new_chi2: 60.225215 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.347] it:9 	 Success 	 new_chi2: 60.225214 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.347] it:10 	 Success 	 new_chi2: 60.225213 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.347] it:11 	 Success 	 new_chi2: 60.225213 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.347] it:12 	 Success 	 new_chi2: 60.225212 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.347] it:13 	 Success 	 new_chi2: 60.225211 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.347] it:14 	 Success 	 new_chi2: 60.225211 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.347] it:15 	 Success 	 new_chi2: 60.225210 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.347] it:16 	 Success 	 new_chi2: 60.225209 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.347] it:17 	 Success 	 new_chi2: 60.225209 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.347] it:18 	 Success 	 new_chi2: 60.225208 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.348] it:19 	 Success 	 new_chi2: 60.225207 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.348] it:20 	 Success 	 new_chi2: 60.225206 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.348] it:21 	 Success 	 new_chi2: 60.225206 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.348] it:22 	 Success 	 new_chi2: 60.225205 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.348] it:23 	 Success 	 new_chi2: 60.225204 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.348] it:24 	 Success 	 new_chi2: 60.225204 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.348] it:25 	 Success 	 new_chi2: 60.225203 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.348] it:26 	 Success 	 new_chi2: 60.225202 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.348] it:27 	 Success 	 new_chi2: 60.225202 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.348] it:28 	 Success 	 new_chi2: 60.225201 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.349] it:29 	 Success 	 new_chi2: 60.225200 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.349] it:30 	 Success 	 new_chi2: 60.225200 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.349] it:31 	 Success 	 new_chi2: 60.225199 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.349] it:32 	 Success 	 new_chi2: 60.225198 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.349] it:33 	 Success 	 new_chi2: 60.225198 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.349] it:34 	 Success 	 new_chi2: 60.225197 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.349] it:35 	 Success 	 new_chi2: 60.225196 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.349] it:36 	 Success 	 new_chi2: 60.225196 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.349] it:37 	 Success 	 new_chi2: 60.225195 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.349] it:38 	 Success 	 new_chi2: 60.225194 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.350] it:39 	 Success 	 new_chi2: 60.225194 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.350] it:40 	 Success 	 new_chi2: 60.225193 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.350] it:41 	 Success 	 new_chi2: 60.225192 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.350] it:42 	 Success 	 new_chi2: 60.225191 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.350] it:43 	 Success 	 new_chi2: 60.225191 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.350] it:44 	 Success 	 new_chi2: 60.225190 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.350] it:45 	 Success 	 new_chi2: 60.225189 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.350] it:46 	 Success 	 new_chi2: 60.225189 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.350] it:47 	 Success 	 new_chi2: 60.225188 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.350] it:48 	 Success 	 new_chi2: 60.225187 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.350] it:49 	 Success 	 new_chi2: 60.225187 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.351] it:50 	 Success 	 new_chi2: 60.225186 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.351] it:51 	 Success 	 new_chi2: 60.225185 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.351] it:52 	 Success 	 new_chi2: 60.225185 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.351] it:53 	 Success 	 new_chi2: 60.225184 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.351] it:54 	 Success 	 new_chi2: 60.225183 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.351] it:55 	 Success 	 new_chi2: 60.225183 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.351] it:56 	 Success 	 new_chi2: 60.225182 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.351] it:57 	 Success 	 new_chi2: 60.225181 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.351] it:58 	 Success 	 new_chi2: 60.225181 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.351] it:59 	 Success 	 new_chi2: 60.225180 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.351] it:60 	 Success 	 new_chi2: 60.225179 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.352] it:61 	 Success 	 new_chi2: 60.225178 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.352] it:62 	 Success 	 new_chi2: 60.225178 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.352] it:63 	 Success 	 new_chi2: 60.225177 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.352] it:64 	 Success 	 new_chi2: 60.225176 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.352] it:65 	 Success 	 new_chi2: 60.225176 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.352] it:66 	 Success 	 new_chi2: 60.225175 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.352] it:67 	 Success 	 new_chi2: 60.225174 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.352] it:68 	 Success 	 new_chi2: 60.225174 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.352] it:69 	 Success 	 new_chi2: 60.225173 	 dT = 0.000000, 0.000000, -0.000000
[12:17:39.352] n deleted obs = 52 	 n obs felt =113 	 error init =0.365001 	 error end=0.365001
[12:17:39.352] After pose optimization, distance between two frames x:0.000034 ,z=0.000032,angle between two frames:0.000004
[12:17:39.352] Update EKF and 3D points, distance between two frames x:-0.000308 ,z=0.000577,angle between two frames:0.001849
[12:17:39.353] Choose frame as a key frame Scene Depth mean:2.377357 ,depth min:-7145483452325.484375
[12:17:39.556] After Reprojection Map nPoint:470 ,nCell:66 ,nMatches:29 ,distance between two frames x:-0.002116 ,z=0.003368,angle between two frames:0.011650
[12:17:39.556] Init estimate scale:0.580306
[12:17:39.556] it:0 	 Success 	 new_chi2: 70.225131 	 dT = -0.301816, 0.163436, -0.000001
[12:17:39.556] it:1 	 FAILURE 	 new_chi2: 84.080264
[12:17:39.556] n deleted obs = 63 	 n obs felt =118 	 error init =0.387984 	 error end=0.387984
[12:17:39.556] After pose optimization, distance between two frames x:-0.002116 ,z=0.003368,angle between two frames:0.011650
[12:17:39.556] Update EKF and 3D points, distance between two frames x:-0.002452 ,z=0.003910,angle between two frames:0.012020
[12:17:39.556] Choose frame as a key frame Scene Depth mean:2.503952 ,depth min:1.279170
[12:17:39.763] After Reprojection Map nPoint:510 ,nCell:61 ,nMatches:30 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:39.763] Init estimate scale:0.534128
[12:17:39.763] it:0 	 Success 	 new_chi2: 64.734648 	 dT = -0.353213, 5.785401, -2.476446
[12:17:39.764] it:1 	 Success 	 new_chi2: 48.596830 	 dT = -2.364591, -1.063811, 0.434624
[12:17:39.764] it:2 	 FAILURE 	 new_chi2: 109.664854
[12:17:39.764] n deleted obs = 23 	 n obs felt =155 	 error init =0.363678 	 error end=0.273016
[12:17:39.764] After pose optimization, distance between two frames x:-0.353213 ,z=5.785401,angle between two frames:2.476446
[12:17:39.986] After Reprojection Map nPoint:543 ,nCell:93 ,nMatches:34 ,distance between two frames x:0.000074 ,z=0.000039,angle between two frames:0.000201
[12:17:39.986] Init estimate scale:0.625510
[12:17:39.987] it:0 	 Success 	 new_chi2: 73.155082 	 dT = -0.285807, 0.469117, -0.087687
[12:17:39.987] it:1 	 FAILURE 	 new_chi2: 83.633300
[12:17:39.987] n deleted obs = 68 	 n obs felt =114 	 error init =0.401951 	 error end=0.401951
[12:17:39.987] After pose optimization, distance between two frames x:0.000074 ,z=0.000039,angle between two frames:0.000201
[12:17:39.987] Update EKF and 3D points, distance between two frames x:-0.000278 ,z=0.000597,angle between two frames:0.000163
[12:17:39.987] Choose frame as a key frame Scene Depth mean:2.281543 ,depth min:-298808020113834.812500
[12:17:40.221] After Reprojection Map nPoint:566 ,nCell:79 ,nMatches:32 ,distance between two frames x:-0.002173 ,z=0.003450,angle between two frames:0.000032
[12:17:40.221] Init estimate scale:0.631103
[12:17:40.221] it:0 	 Success 	 new_chi2: 78.516080 	 dT = -0.061367, 1.102541, -0.389656
[12:17:40.221] it:1 	 FAILURE 	 new_chi2: 81.579296
[12:17:40.222] n deleted obs = 76 	 n obs felt =120 	 error init =0.400592 	 error end=0.400592
[12:17:40.222] After pose optimization, distance between two frames x:-0.002173 ,z=0.003450,angle between two frames:0.000032
[12:17:40.222] Update EKF and 3D points, distance between two frames x:-0.002671 ,z=0.004273,angle between two frames:0.001244
[12:17:40.222] Choose frame as a key frame Scene Depth mean:2.508371 ,depth min:-71776400557174.031250
[12:17:40.434] After Reprojection Map nPoint:580 ,nCell:57 ,nMatches:29 ,distance between two frames x:-0.003073 ,z=0.005086,angle between two frames:0.008152
[12:17:40.434] Init estimate scale:0.598271
[12:17:40.434] it:0 	 Success 	 new_chi2: 80.607828 	 dT = -0.057271, 1.121908, -0.436478
[12:17:40.434] it:1 	 FAILURE 	 new_chi2: 85.722947
[12:17:40.434] n deleted obs = 70 	 n obs felt =135 	 error init =0.393209 	 error end=0.393209
[12:17:40.434] After pose optimization, distance between two frames x:-0.003073 ,z=0.005086,angle between two frames:0.008152
[12:17:40.434] Update EKF and 3D points, distance between two frames x:-0.003392 ,z=0.005621,angle between two frames:0.008515
[12:17:40.435] Choose frame as a key frame Scene Depth mean:2.440228 ,depth min:-12272440214601.560547
[12:17:40.649] After Reprojection Map nPoint:617 ,nCell:76 ,nMatches:34 ,distance between two frames x:-0.001969 ,z=0.003306,angle between two frames:0.002004
[12:17:40.649] Init estimate scale:0.598286
[12:17:40.650] it:0 	 Success 	 new_chi2: 79.466290 	 dT = -0.073732, 0.636336, -0.226281
[12:17:40.650] it:1 	 FAILURE 	 new_chi2: 83.414865
[12:17:40.650] n deleted obs = 67 	 n obs felt =137 	 error init =0.389541 	 error end=0.389541
[12:17:40.650] After pose optimization, distance between two frames x:-0.001969 ,z=0.003306,angle between two frames:0.002004
[12:17:40.650] Update EKF and 3D points, distance between two frames x:-0.002300 ,z=0.003849,angle between two frames:0.001039
[12:17:40.650] Choose frame as a key frame Scene Depth mean:2.422252 ,depth min:1.299158
[12:17:40.868] After Reprojection Map nPoint:661 ,nCell:83 ,nMatches:28 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:40.868] Init estimate scale:0.703350
[12:17:40.868] it:0 	 Success 	 new_chi2: 90.747436 	 dT = 0.503305, 7.551800, -3.865013
[12:17:40.868] it:1 	 Success 	 new_chi2: 55.342261 	 dT = 6.489619, 0.151903, -0.721997
[12:17:40.868] it:2 	 FAILURE 	 new_chi2: 142.292642
[12:17:40.868] n deleted obs = 15 	 n obs felt =202 	 error init =0.418191 	 error end=0.255033
[12:17:40.868] After pose optimization, distance between two frames x:0.503305 ,z=7.551800,angle between two frames:2.418172
[12:17:41.091] After Reprojection Map nPoint:713 ,nCell:105 ,nMatches:29 ,distance between two frames x:-0.000014 ,z=0.000001,angle between two frames:0.000014
[12:17:41.091] Init estimate scale:0.635411
[12:17:41.091] it:0 	 Success 	 new_chi2: 86.755308 	 dT = 0.000000, 0.000000, 0.000000
[12:17:41.091] it:1 	 Success 	 new_chi2: 86.755304 	 dT = 0.000000, 0.000000, 0.000000
[12:17:41.091] it:2 	 Success 	 new_chi2: 86.755300 	 dT = 0.000000, 0.000000, 0.000000
[12:17:41.092] it:3 	 Success 	 new_chi2: 86.755297 	 dT = 0.000000, 0.000000, 0.000000
[12:17:41.092] it:4 	 Success 	 new_chi2: 86.755293 	 dT = 0.000000, 0.000000, 0.000000
[12:17:41.092] it:5 	 Success 	 new_chi2: 86.755290 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.092] it:6 	 Success 	 new_chi2: 86.755289 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.092] it:7 	 Success 	 new_chi2: 86.755289 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.092] it:8 	 Success 	 new_chi2: 86.755289 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.092] it:9 	 Success 	 new_chi2: 86.755289 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.092] it:10 	 Success 	 new_chi2: 86.755289 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.092] it:11 	 Success 	 new_chi2: 86.755289 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.093] it:12 	 Success 	 new_chi2: 86.755289 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.093] it:13 	 Success 	 new_chi2: 86.755289 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.093] it:14 	 Success 	 new_chi2: 86.755289 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.093] it:15 	 Success 	 new_chi2: 86.755288 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.093] it:16 	 Success 	 new_chi2: 86.755288 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.093] it:17 	 Success 	 new_chi2: 86.755288 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.093] it:18 	 Success 	 new_chi2: 86.755288 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.094] it:19 	 Success 	 new_chi2: 86.755288 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.094] it:20 	 Success 	 new_chi2: 86.755288 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.094] it:21 	 Success 	 new_chi2: 86.755288 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.094] it:22 	 Success 	 new_chi2: 86.755288 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.094] it:23 	 Success 	 new_chi2: 86.755288 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.094] it:24 	 Success 	 new_chi2: 86.755288 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.094] it:25 	 Success 	 new_chi2: 86.755287 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.094] it:26 	 Success 	 new_chi2: 86.755287 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.095] it:27 	 Success 	 new_chi2: 86.755287 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.095] it:28 	 Success 	 new_chi2: 86.755287 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.095] it:29 	 Success 	 new_chi2: 86.755287 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.095] it:30 	 Success 	 new_chi2: 86.755287 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.095] it:31 	 Success 	 new_chi2: 86.755287 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.095] it:32 	 Success 	 new_chi2: 86.755287 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.095] it:33 	 Success 	 new_chi2: 86.755287 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.095] it:34 	 Success 	 new_chi2: 86.755286 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.095] it:35 	 Success 	 new_chi2: 86.755286 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.096] it:36 	 Success 	 new_chi2: 86.755286 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.096] it:37 	 Success 	 new_chi2: 86.755286 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.096] it:38 	 Success 	 new_chi2: 86.755286 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.096] it:39 	 Success 	 new_chi2: 86.755286 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.096] it:40 	 Success 	 new_chi2: 86.755286 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.096] it:41 	 Success 	 new_chi2: 86.755286 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.096] it:42 	 Success 	 new_chi2: 86.755286 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.096] it:43 	 Success 	 new_chi2: 86.755286 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.097] it:44 	 Success 	 new_chi2: 86.755285 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.097] it:45 	 Success 	 new_chi2: 86.755285 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.097] it:46 	 Success 	 new_chi2: 86.755285 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.097] it:47 	 Success 	 new_chi2: 86.755285 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.097] it:48 	 Success 	 new_chi2: 86.755285 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.097] it:49 	 Success 	 new_chi2: 86.755285 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.097] it:50 	 Success 	 new_chi2: 86.755285 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.097] it:51 	 Success 	 new_chi2: 86.755285 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.097] it:52 	 Success 	 new_chi2: 86.755285 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.098] it:53 	 Success 	 new_chi2: 86.755284 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.098] it:54 	 Success 	 new_chi2: 86.755284 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.098] it:55 	 Success 	 new_chi2: 86.755284 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.098] it:56 	 Success 	 new_chi2: 86.755284 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.098] it:57 	 Success 	 new_chi2: 86.755284 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.098] it:58 	 Success 	 new_chi2: 86.755284 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.098] it:59 	 Success 	 new_chi2: 86.755284 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.098] it:60 	 Success 	 new_chi2: 86.755284 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.099] it:61 	 Success 	 new_chi2: 86.755284 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.099] it:62 	 Success 	 new_chi2: 86.755284 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.099] it:63 	 Success 	 new_chi2: 86.755283 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.099] it:64 	 Success 	 new_chi2: 86.755283 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.099] it:65 	 Success 	 new_chi2: 86.755283 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.099] it:66 	 Success 	 new_chi2: 86.755283 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.099] it:67 	 Success 	 new_chi2: 86.755283 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.099] it:68 	 Success 	 new_chi2: 86.755283 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.100] it:69 	 Success 	 new_chi2: 86.755283 	 dT = 0.000000, 0.000000, -0.000000
[12:17:41.100] n deleted obs = 91 	 n obs felt =118 	 error init =0.415097 	 error end=0.415097
[12:17:41.100] After pose optimization, distance between two frames x:-0.000014 ,z=0.000002,angle between two frames:0.000014
[12:17:41.100] Update EKF and 3D points, distance between two frames x:-0.000366 ,z=0.000543,angle between two frames:0.001606
[12:17:41.100] Choose frame as a key frame Scene Depth mean:2.436747 ,depth min:1.327727
[12:17:41.331] After Reprojection Map nPoint:622 ,nCell:51 ,nMatches:25 ,distance between two frames x:-0.002176 ,z=0.003349,angle between two frames:0.010344
[12:17:41.332] Init estimate scale:0.629719
[12:17:41.332] it:0 	 Success 	 new_chi2: 80.532979 	 dT = -1.629792, -1.397125, 1.175139
[12:17:41.332] it:1 	 FAILURE 	 new_chi2: 394.870896
[12:17:41.332] n deleted obs = 86 	 n obs felt =119 	 error init =0.392844 	 error end=0.392844
[12:17:41.332] After pose optimization, distance between two frames x:-0.002176 ,z=0.003349,angle between two frames:0.010344
[12:17:41.332] Update EKF and 3D points, distance between two frames x:-0.002707 ,z=0.004155,angle between two frames:0.010631
[12:17:41.332] Choose frame as a key frame Scene Depth mean:2.436005 ,depth min:1.338160
[12:17:41.554] After Reprojection Map nPoint:666 ,nCell:76 ,nMatches:30 ,distance between two frames x:-0.003286 ,z=0.004980,angle between two frames:0.001664
[12:17:41.554] Init estimate scale:0.744932
[12:17:41.554] it:0 	 Success 	 new_chi2: 98.207556 	 dT = -0.000000, -0.000000, -0.000000
[12:17:41.554] it:1 	 FAILURE 	 new_chi2: 98.207556
[12:17:41.554] n deleted obs = 117 	 n obs felt =110 	 error init =0.432632 	 error end=0.432632
[12:17:41.554] After pose optimization, distance between two frames x:-0.003286 ,z=0.004980,angle between two frames:0.001664
[12:17:41.554] Update EKF and 3D points, distance between two frames x:-0.003633 ,z=0.005507,angle between two frames:0.001668
[12:17:41.555] Choose frame as a key frame Scene Depth mean:2.442786 ,depth min:-136989620279873.375000
[12:17:41.771] After Reprojection Map nPoint:647 ,nCell:52 ,nMatches:23 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:41.771] Init estimate scale:0.682427
[12:17:41.771] it:0 	 Success 	 new_chi2: 83.365741 	 dT = -0.779000, -0.652070, 0.552067
[12:17:41.771] it:1 	 FAILURE 	 new_chi2: 129.791898
[12:17:41.771] n deleted obs = 98 	 n obs felt =110 	 error init =0.400797 	 error end=0.400797
[12:17:41.771] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:41.771] Update EKF and 3D points, distance between two frames x:-0.000474 ,z=0.000731,angle between two frames:0.000881
[12:17:41.772] Choose frame as a key frame Scene Depth mean:2.564261 ,depth min:1.513395
[12:17:42.013] After Reprojection Map nPoint:673 ,nCell:41 ,nMatches:28 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:42.013] Init estimate scale:0.747772
[12:17:42.013] it:0 	 Success 	 new_chi2: 102.632136 	 dT = -0.012163, 1.057317, -0.383396
[12:17:42.013] it:1 	 FAILURE 	 new_chi2: 102.779274
[12:17:42.013] n deleted obs = 126 	 n obs felt =107 	 error init =0.440481 	 error end=0.440481
[12:17:42.013] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:42.013] Update EKF and 3D points, distance between two frames x:-0.000679 ,z=0.001068,angle between two frames:0.001464
[12:17:42.014] Choose frame as a key frame Scene Depth mean:2.747394 ,depth min:-3527713992436438.500000
[12:17:42.233] After Reprojection Map nPoint:661 ,nCell:44 ,nMatches:29 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:42.233] Init estimate scale:0.649553
[12:17:42.233] it:0 	 Success 	 new_chi2: 101.856846 	 dT = -0.115428, 0.422672, -0.170998
[12:17:42.233] it:1 	 FAILURE 	 new_chi2: 112.202220
[12:17:42.234] n deleted obs = 115 	 n obs felt =139 	 error init =0.401011 	 error end=0.401011
[12:17:42.234] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:42.234] Update EKF and 3D points, distance between two frames x:-0.000598 ,z=0.000924,angle between two frames:0.000269
[12:17:42.234] Choose frame as a key frame Scene Depth mean:2.322845 ,depth min:-1191268940986661.250000
[12:17:42.478] After Reprojection Map nPoint:695 ,nCell:62 ,nMatches:29 ,distance between two frames x:-0.003694 ,z=0.005708,angle between two frames:0.001868
[12:17:42.478] Init estimate scale:0.756657
[12:17:42.478] it:0 	 Success 	 new_chi2: 117.762567 	 dT = 0.000006, 0.000003, 0.000000
[12:17:42.478] it:1 	 Success 	 new_chi2: 117.761883 	 dT = 0.000006, 0.000003, 0.000000
[12:17:42.479] it:2 	 Success 	 new_chi2: 117.761198 	 dT = 0.000006, 0.000003, 0.000000
[12:17:42.479] it:3 	 Success 	 new_chi2: 117.760514 	 dT = 0.000006, 0.000003, 0.000000
[12:17:42.479] it:4 	 Success 	 new_chi2: 117.759830 	 dT = 0.000006, 0.000003, 0.000000
[12:17:42.479] it:5 	 Success 	 new_chi2: 117.759146 	 dT = -0.000000, -0.000000, -0.000000
[12:17:42.479] it:6 	 FAILURE 	 new_chi2: 117.759174
[12:17:42.479] n deleted obs = 148 	 n obs felt =122 	 error init =0.436158 	 error end=0.436145
[12:17:42.479] After pose optimization, distance between two frames x:-0.003665 ,z=0.005724,angle between two frames:0.001868
[12:17:42.479] Update EKF and 3D points, distance between two frames x:-0.004016 ,z=0.006246,angle between two frames:0.003220
[12:17:42.480] Choose frame as a key frame Scene Depth mean:2.828164 ,depth min:-2662260216332.229980
[12:17:42.740] After Reprojection Map nPoint:708 ,nCell:52 ,nMatches:26 ,distance between two frames x:-0.002172 ,z=0.003225,angle between two frames:0.008624
[12:17:42.741] Init estimate scale:0.693104
[12:17:42.741] it:0 	 Success 	 new_chi2: 111.091665 	 dT = 0.000040, -0.000071, -0.000000
[12:17:42.741] it:1 	 Success 	 new_chi2: 111.090288 	 dT = 0.000040, -0.000071, -0.000000
[12:17:42.741] it:2 	 Success 	 new_chi2: 111.088911 	 dT = 0.000040, -0.000071, -0.000000
[12:17:42.741] it:3 	 Success 	 new_chi2: 111.087535 	 dT = 0.000040, -0.000071, -0.000000
[12:17:42.741] it:4 	 Success 	 new_chi2: 111.086159 	 dT = -0.002669, 0.001730, 0.000000
[12:17:42.741] it:5 	 FAILURE 	 new_chi2: 111.277225
[12:17:42.742] n deleted obs = 126 	 n obs felt =137 	 error init =0.422402 	 error end=0.422381
[12:17:42.742] After pose optimization, distance between two frames x:-0.002011 ,z=0.002940,angle between two frames:0.008624
[12:17:42.742] Update EKF and 3D points, distance between two frames x:-0.002566 ,z=0.003753,angle between two frames:0.010186
[12:17:42.742] Choose frame as a key frame Scene Depth mean:2.790498 ,depth min:-1634643290244.936035
[12:17:42.968] After Reprojection Map nPoint:703 ,nCell:55 ,nMatches:30 ,distance between two frames x:-0.003430 ,z=0.005021,angle between two frames:0.010043
[12:17:42.969] Init estimate scale:0.600826
[12:17:42.969] it:0 	 Success 	 new_chi2: 103.858930 	 dT = 0.000001, 0.000000, -0.000000
[12:17:42.969] it:1 	 Success 	 new_chi2: 103.858867 	 dT = 0.000001, 0.000000, -0.000000
[12:17:42.969] it:2 	 Success 	 new_chi2: 103.858804 	 dT = 0.000001, 0.000000, -0.000000
[12:17:42.969] it:3 	 Success 	 new_chi2: 103.858740 	 dT = 0.000001, 0.000000, -0.000000
[12:17:42.969] it:4 	 Success 	 new_chi2: 103.858677 	 dT = 0.000001, 0.000000, -0.000000
[12:17:42.969] it:5 	 Success 	 new_chi2: 103.858613 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.970] it:6 	 Success 	 new_chi2: 103.858612 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.970] it:7 	 Success 	 new_chi2: 103.858611 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.970] it:8 	 Success 	 new_chi2: 103.858609 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.970] it:9 	 Success 	 new_chi2: 103.858608 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.970] it:10 	 Success 	 new_chi2: 103.858607 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.970] it:11 	 Success 	 new_chi2: 103.858606 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.971] it:12 	 Success 	 new_chi2: 103.858604 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.971] it:13 	 Success 	 new_chi2: 103.858603 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.971] it:14 	 Success 	 new_chi2: 103.858602 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.971] it:15 	 Success 	 new_chi2: 103.858601 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.971] it:16 	 Success 	 new_chi2: 103.858599 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.971] it:17 	 Success 	 new_chi2: 103.858598 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.971] it:18 	 Success 	 new_chi2: 103.858597 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.971] it:19 	 Success 	 new_chi2: 103.858596 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.972] it:20 	 Success 	 new_chi2: 103.858594 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.972] it:21 	 Success 	 new_chi2: 103.858593 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.972] it:22 	 Success 	 new_chi2: 103.858592 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.972] it:23 	 Success 	 new_chi2: 103.858591 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.972] it:24 	 Success 	 new_chi2: 103.858589 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.972] it:25 	 Success 	 new_chi2: 103.858588 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.972] it:26 	 Success 	 new_chi2: 103.858587 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.973] it:27 	 Success 	 new_chi2: 103.858586 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.973] it:28 	 Success 	 new_chi2: 103.858584 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.973] it:29 	 Success 	 new_chi2: 103.858583 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.973] it:30 	 Success 	 new_chi2: 103.858582 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.973] it:31 	 Success 	 new_chi2: 103.858581 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.973] it:32 	 Success 	 new_chi2: 103.858579 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.973] it:33 	 Success 	 new_chi2: 103.858578 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.974] it:34 	 Success 	 new_chi2: 103.858577 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.974] it:35 	 Success 	 new_chi2: 103.858576 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.974] it:36 	 Success 	 new_chi2: 103.858574 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.974] it:37 	 Success 	 new_chi2: 103.858573 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.974] it:38 	 Success 	 new_chi2: 103.858572 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.974] it:39 	 Success 	 new_chi2: 103.858571 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.974] it:40 	 Success 	 new_chi2: 103.858569 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.975] it:41 	 Success 	 new_chi2: 103.858568 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.975] it:42 	 Success 	 new_chi2: 103.858567 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.975] it:43 	 Success 	 new_chi2: 103.858566 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.975] it:44 	 Success 	 new_chi2: 103.858564 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.975] it:45 	 Success 	 new_chi2: 103.858563 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.975] it:46 	 Success 	 new_chi2: 103.858562 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.975] it:47 	 Success 	 new_chi2: 103.858561 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.976] it:48 	 Success 	 new_chi2: 103.858559 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.976] it:49 	 Success 	 new_chi2: 103.858558 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.976] it:50 	 Success 	 new_chi2: 103.858557 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.976] it:51 	 Success 	 new_chi2: 103.858555 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.976] it:52 	 Success 	 new_chi2: 103.858554 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.976] it:53 	 Success 	 new_chi2: 103.858553 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.976] it:54 	 Success 	 new_chi2: 103.858552 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.977] it:55 	 Success 	 new_chi2: 103.858550 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.977] it:56 	 Success 	 new_chi2: 103.858549 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.977] it:57 	 Success 	 new_chi2: 103.858548 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.977] it:58 	 Success 	 new_chi2: 103.858547 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.977] it:59 	 Success 	 new_chi2: 103.858545 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.977] it:60 	 Success 	 new_chi2: 103.858544 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.977] it:61 	 Success 	 new_chi2: 103.858543 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.978] it:62 	 Success 	 new_chi2: 103.858542 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.978] it:63 	 Success 	 new_chi2: 103.858540 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.978] it:64 	 Success 	 new_chi2: 103.858539 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.978] it:65 	 Success 	 new_chi2: 103.858538 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.978] it:66 	 Success 	 new_chi2: 103.858537 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.978] it:67 	 Success 	 new_chi2: 103.858535 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.978] it:68 	 Success 	 new_chi2: 103.858534 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.979] it:69 	 Success 	 new_chi2: 103.858533 	 dT = 0.000000, 0.000000, -0.000000
[12:17:42.979] n deleted obs = 110 	 n obs felt =154 	 error init =0.393405 	 error end=0.393404
[12:17:42.979] After pose optimization, distance between two frames x:-0.003427 ,z=0.005025,angle between two frames:0.010043
[12:17:42.979] Update EKF and 3D points, distance between two frames x:-0.003787 ,z=0.005540,angle between two frames:0.010838
[12:17:42.979] Choose frame as a key frame Scene Depth mean:2.412431 ,depth min:-3479218459406399.000000
[12:17:43.221] After Reprojection Map nPoint:765 ,nCell:63 ,nMatches:34 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:43.221] Init estimate scale:0.771302
[12:17:43.221] it:0 	 Success 	 new_chi2: 127.565885 	 dT = -6.392876, -3.353139, 3.565814
[12:17:43.221] it:1 	 FAILURE 	 new_chi2: 527.801573
[12:17:43.221] n deleted obs = 160 	 n obs felt =132 	 error init =0.436869 	 error end=0.436869
[12:17:43.221] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:43.221] Update EKF and 3D points, distance between two frames x:-0.000676 ,z=0.000967,angle between two frames:0.000282
[12:17:43.222] Choose frame as a key frame Scene Depth mean:2.460345 ,depth min:-3478647732953544.000000
[12:17:43.465] After Reprojection Map nPoint:749 ,nCell:70 ,nMatches:28 ,distance between two frames x:-0.004179 ,z=0.005977,angle between two frames:0.001535
[12:17:43.465] Init estimate scale:0.766765
[12:17:43.465] it:0 	 Success 	 new_chi2: 119.922961 	 dT = -0.033788, 2.024199, -0.944460
[12:17:43.465] it:1 	 FAILURE 	 new_chi2: 121.718881
[12:17:43.465] n deleted obs = 145 	 n obs felt =141 	 error init =0.419311 	 error end=0.419311
[12:17:43.465] After pose optimization, distance between two frames x:-0.004179 ,z=0.005977,angle between two frames:0.001535
[12:17:43.465] Update EKF and 3D points, distance between two frames x:-0.004546 ,z=0.006521,angle between two frames:0.000404
[12:17:43.466] Choose frame as a key frame Scene Depth mean:2.763289 ,depth min:-376065412696248.750000
[12:17:43.702] After Reprojection Map nPoint:689 ,nCell:53 ,nMatches:31 ,distance between two frames x:-0.002267 ,z=0.003362,angle between two frames:0.007125
[12:17:43.702] Init estimate scale:0.663844
[12:17:43.702] it:0 	 Success 	 new_chi2: 104.598961 	 dT = 80263.501709, 44125326707615712.000000, 51.781270
[12:17:43.702] it:1 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, 0.000000
[12:17:43.702] it:2 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, 0.000000
[12:17:43.703] it:3 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, 0.000000
[12:17:43.703] it:4 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, 0.000000
[12:17:43.703] it:5 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.703] it:6 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.703] it:7 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.703] it:8 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.703] it:9 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.704] it:10 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.704] it:11 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.704] it:12 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.704] it:13 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.704] it:14 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.704] it:15 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.704] it:16 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.705] it:17 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.705] it:18 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.705] it:19 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.705] it:20 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.705] it:21 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.705] it:22 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.705] it:23 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.706] it:24 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.706] it:25 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.706] it:26 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.706] it:27 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.706] it:28 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.706] it:29 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.706] it:30 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.707] it:31 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.707] it:32 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.707] it:33 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.707] it:34 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.707] it:35 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.707] it:36 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.707] it:37 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.708] it:38 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.708] it:39 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.708] it:40 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.708] it:41 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.708] it:42 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.708] it:43 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.708] it:44 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.709] it:45 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.709] it:46 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.709] it:47 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.709] it:48 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.709] it:49 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.709] it:50 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.709] it:51 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.710] it:52 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.710] it:53 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.710] it:54 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.710] it:55 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.710] it:56 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.710] it:57 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.710] it:58 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.711] it:59 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.711] it:60 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.711] it:61 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.711] it:62 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.711] it:63 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.711] it:64 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.711] it:65 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.712] it:66 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.712] it:67 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.712] it:68 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.712] it:69 	 Success 	 new_chi2: 58.847547 	 dT = -0.000000, 0.000000, -0.000000
[12:17:43.712] n deleted obs = 6 	 n obs felt =256 	 error init =0.399233 	 error end=0.224609
[12:17:43.712] After pose optimization, distance between two frames x:80263.499442 ,z=44125326707615712.000000,angle between two frames:1.522913
[12:17:43.957] After Reprojection Map nPoint:805 ,nCell:98 ,nMatches:33 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:43.957] Init estimate scale:0.763779
[12:17:43.957] it:0 	 Success 	 new_chi2: 128.782505 	 dT = -0.091068, 0.100758, -0.000000
[12:17:43.957] it:1 	 FAILURE 	 new_chi2: 134.223298
[12:17:43.957] n deleted obs = 162 	 n obs felt =132 	 error init =0.438036 	 error end=0.438036
[12:17:43.957] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:43.957] Update EKF and 3D points, distance between two frames x:-0.000349 ,z=0.000528,angle between two frames:0.000260
[12:17:43.958] Choose frame as a key frame Scene Depth mean:2.682232 ,depth min:-5183078329135.850586
[12:17:44.201] After Reprojection Map nPoint:755 ,nCell:64 ,nMatches:37 ,distance between two frames x:-0.002157 ,z=0.003260,angle between two frames:0.001898
[12:17:44.201] Init estimate scale:0.709469
[12:17:44.201] it:0 	 Success 	 new_chi2: 124.614917 	 dT = -0.756889, 0.673057, -0.051145
[12:17:44.201] it:1 	 FAILURE 	 new_chi2: 169.053180
[12:17:44.201] n deleted obs = 147 	 n obs felt =149 	 error init =0.420996 	 error end=0.420996
[12:17:44.201] After pose optimization, distance between two frames x:-0.002157 ,z=0.003260,angle between two frames:0.001898
[12:17:44.201] Update EKF and 3D points, distance between two frames x:-0.003429 ,z=0.005144,angle between two frames:0.003410
[12:17:44.202] Choose frame as a key frame Scene Depth mean:2.549442 ,depth min:-27030662786074.550781
[12:17:44.444] After Reprojection Map nPoint:788 ,nCell:76 ,nMatches:38 ,distance between two frames x:-0.005748 ,z=0.008460,angle between two frames:0.007146
[12:17:44.444] Init estimate scale:0.661227
[12:17:44.444] it:0 	 Success 	 new_chi2: 122.766047 	 dT = -0.000000, -0.000000, 0.000000
[12:17:44.444] it:1 	 FAILURE 	 new_chi2: 122.766050
[12:17:44.444] n deleted obs = 145 	 n obs felt =160 	 error init =0.402512 	 error end=0.402512
[12:17:44.444] After pose optimization, distance between two frames x:-0.005748 ,z=0.008460,angle between two frames:0.007146
[12:17:44.444] Update EKF and 3D points, distance between two frames x:-0.006112 ,z=0.008983,angle between two frames:0.008266
[12:17:44.445] Choose frame as a key frame Scene Depth mean:2.920417 ,depth min:-3490375847219551.000000
[12:17:44.693] After Reprojection Map nPoint:783 ,nCell:85 ,nMatches:40 ,distance between two frames x:-0.002246 ,z=0.003230,angle between two frames:0.007184
[12:17:44.693] Init estimate scale:0.774017
[12:17:44.693] it:0 	 Success 	 new_chi2: 130.777256 	 dT = -0.000140, 0.000073, 0.000000
[12:17:44.694] it:1 	 FAILURE 	 new_chi2: 130.788959
[12:17:44.694] n deleted obs = 162 	 n obs felt =152 	 error init =0.416488 	 error end=0.416488
[12:17:44.694] After pose optimization, distance between two frames x:-0.002246 ,z=0.003230,angle between two frames:0.007184
[12:17:44.694] Update EKF and 3D points, distance between two frames x:-0.002623 ,z=0.003758,angle between two frames:0.008849
[12:17:44.694] Choose frame as a key frame Scene Depth mean:2.714993 ,depth min:-237384317369572.812500
[12:17:44.946] After Reprojection Map nPoint:862 ,nCell:107 ,nMatches:40 ,distance between two frames x:-0.002326 ,z=0.003265,angle between two frames:0.010385
[12:17:44.947] Init estimate scale:0.711880
[12:17:44.947] it:0 	 Success 	 new_chi2: 145.157997 	 dT = 0.000000, -0.000000, -0.000000
[12:17:44.947] it:1 	 FAILURE 	 new_chi2: 145.157997
[12:17:44.947] n deleted obs = 174 	 n obs felt =181 	 error init =0.408896 	 error end=0.408896
[12:17:44.947] After pose optimization, distance between two frames x:-0.002326 ,z=0.003265,angle between two frames:0.010385
[12:17:44.947] Update EKF and 3D points, distance between two frames x:-0.002880 ,z=0.004047,angle between two frames:0.010145
[12:17:44.948] Choose frame as a key frame Scene Depth mean:2.956335 ,depth min:-68094890435758.609375
[12:17:45.199] After Reprojection Map nPoint:866 ,nCell:73 ,nMatches:41 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:45.199] Init estimate scale:0.688665
[12:17:45.199] it:0 	 Success 	 new_chi2: 140.263445 	 dT = -0.113722, 0.080158, -0.000000
[12:17:45.199] it:1 	 FAILURE 	 new_chi2: 149.164821
[12:17:45.200] n deleted obs = 166 	 n obs felt =181 	 error init =0.404217 	 error end=0.404217
[12:17:45.200] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:17:45.200] Update EKF and 3D points, distance between two frames x:-0.000564 ,z=0.000805,angle between two frames:0.000974
[12:17:45.200] Choose frame as a key frame Scene Depth mean:2.587983 ,depth min:-16623461663.567369
[12:17:45.452] After Reprojection Map nPoint:815 ,nCell:71 ,nMatches:35 ,distance between two frames x:-0.004458 ,z=0.006305,angle between two frames:0.000057
[12:17:45.452] Init estimate scale:0.778627
[12:17:45.452] it:0 	 Success 	 new_chi2: 138.644488 	 dT = -0.117529, 0.082521, -0.000000
[12:17:45.452] it:1 	 FAILURE 	 new_chi2: 147.571907
[12:17:45.453] n deleted obs = 170 	 n obs felt =160 	 error init =0.420135 	 error end=0.420135
[12:17:45.453] After pose optimization, distance between two frames x:-0.004458 ,z=0.006305,angle between two frames:0.000057
[12:17:45.453] Update EKF and 3D points, distance between two frames x:-0.004823 ,z=0.006831,angle between two frames:0.001141
[12:17:45.453] Choose frame as a key frame Scene Depth mean:2.818612 ,depth min:-236659663786087.156250
[12:17:45.705] After Reprojection Map nPoint:870 ,nCell:76 ,nMatches:42 ,distance between two frames x:-0.002255 ,z=0.003253,angle between two frames:0.007144
[12:17:45.705] Init estimate scale:0.579845
[12:17:45.706] it:0 	 Success 	 new_chi2: 128.575112 	 dT = 0.000002, -0.000000, 0.000000
[12:17:45.706] it:1 	 Success 	 new_chi2: 128.574884 	 dT = 0.000002, -0.000000, 0.000000
[12:17:45.706] it:2 	 Success 	 new_chi2: 128.574655 	 dT = 0.000002, -0.000000, 0.000000
[12:17:45.706] it:3 	 Success 	 new_chi2: 128.574427 	 dT = 0.000002, -0.000000, 0.000000
[12:17:45.706] it:4 	 Success 	 new_chi2: 128.574198 	 dT = 0.000002, -0.000000, 0.000000
[12:17:45.707] it:5 	 Success 	 new_chi2: 128.573970 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.707] it:6 	 Success 	 new_chi2: 128.573700 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.707] it:7 	 Success 	 new_chi2: 128.573431 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.707] it:8 	 Success 	 new_chi2: 128.573161 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.707] it:9 	 Success 	 new_chi2: 128.572892 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.708] it:10 	 Success 	 new_chi2: 128.572622 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.708] it:11 	 Success 	 new_chi2: 128.572353 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.708] it:12 	 Success 	 new_chi2: 128.572083 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.708] it:13 	 Success 	 new_chi2: 128.571814 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.708] it:14 	 Success 	 new_chi2: 128.571545 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.708] it:15 	 Success 	 new_chi2: 128.571275 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.709] it:16 	 Success 	 new_chi2: 128.571006 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.709] it:17 	 Success 	 new_chi2: 128.570736 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.709] it:18 	 Success 	 new_chi2: 128.570467 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.709] it:19 	 Success 	 new_chi2: 128.570197 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.709] it:20 	 Success 	 new_chi2: 128.569928 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.710] it:21 	 Success 	 new_chi2: 128.569658 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.710] it:22 	 Success 	 new_chi2: 128.569389 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.710] it:23 	 Success 	 new_chi2: 128.569119 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.710] it:24 	 Success 	 new_chi2: 128.568850 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.710] it:25 	 Success 	 new_chi2: 128.568580 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.710] it:26 	 Success 	 new_chi2: 128.568311 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.711] it:27 	 Success 	 new_chi2: 128.568041 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.711] it:28 	 Success 	 new_chi2: 128.567772 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.711] it:29 	 Success 	 new_chi2: 128.567502 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.711] it:30 	 Success 	 new_chi2: 128.567233 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.711] it:31 	 Success 	 new_chi2: 128.566964 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.712] it:32 	 Success 	 new_chi2: 128.566694 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.712] it:33 	 Success 	 new_chi2: 128.566425 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.712] it:34 	 Success 	 new_chi2: 128.566155 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.712] it:35 	 Success 	 new_chi2: 128.565886 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.712] it:36 	 Success 	 new_chi2: 128.565616 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.712] it:37 	 Success 	 new_chi2: 128.565347 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.713] it:38 	 Success 	 new_chi2: 128.565077 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.713] it:39 	 Success 	 new_chi2: 128.564808 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.713] it:40 	 Success 	 new_chi2: 128.564538 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.713] it:41 	 Success 	 new_chi2: 128.564269 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.713] it:42 	 Success 	 new_chi2: 128.564000 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.714] it:43 	 Success 	 new_chi2: 128.563730 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.714] it:44 	 Success 	 new_chi2: 128.563461 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.714] it:45 	 Success 	 new_chi2: 128.563191 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.714] it:46 	 Success 	 new_chi2: 128.562922 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.714] it:47 	 Success 	 new_chi2: 128.562652 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.714] it:48 	 Success 	 new_chi2: 128.562383 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.715] it:49 	 Success 	 new_chi2: 128.562113 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.715] it:50 	 Success 	 new_chi2: 128.561844 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.715] it:51 	 Success 	 new_chi2: 128.561575 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.715] it:52 	 Success 	 new_chi2: 128.561305 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.715] it:53 	 Success 	 new_chi2: 128.561036 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.716] it:54 	 Success 	 new_chi2: 128.560766 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.716] it:55 	 Success 	 new_chi2: 128.560497 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.716] it:56 	 Success 	 new_chi2: 128.560227 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.716] it:57 	 Success 	 new_chi2: 128.559958 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.716] it:58 	 Success 	 new_chi2: 128.559688 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.717] it:59 	 Success 	 new_chi2: 128.559419 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.717] it:60 	 Success 	 new_chi2: 128.559150 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.717] it:61 	 Success 	 new_chi2: 128.558880 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.717] it:62 	 Success 	 new_chi2: 128.558611 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.717] it:63 	 Success 	 new_chi2: 128.558341 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.718] it:64 	 Success 	 new_chi2: 128.558072 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.718] it:65 	 Success 	 new_chi2: 128.557802 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.718] it:66 	 Success 	 new_chi2: 128.557533 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.718] it:67 	 Success 	 new_chi2: 128.557264 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.718] it:68 	 Success 	 new_chi2: 128.556994 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.718] it:69 	 Success 	 new_chi2: 128.556725 	 dT = 0.000003, -0.000000, 0.000000
[12:17:45.719] n deleted obs = 144 	 n obs felt =202 	 error init =0.371604 	 error end=0.371550
[12:17:45.719] After pose optimization, distance between two frames x:-0.002075 ,z=0.003251,angle between two frames:0.007144
[12:17:45.719] Update EKF and 3D points, distance between two frames x:-0.002638 ,z=0.004039,angle between two frames:0.006607
[12:17:45.719] Choose frame as a key frame Scene Depth mean:2.867133 ,depth min:-237257032808902.968750
[12:17:45.980] After Reprojection Map nPoint:954 ,nCell:73 ,nMatches:39 ,distance between two frames x:-0.003478 ,z=0.004864,angle between two frames:0.003445
[12:17:45.980] Init estimate scale:0.792317
[12:17:45.981] it:0 	 Success 	 new_chi2: 174.817452 	 dT = -10.400915, 7.217416, -0.000000
[12:17:45.981] it:1 	 FAILURE 	 new_chi2: 427.216017
[12:17:45.981] n deleted obs = 232 	 n obs felt =167 	 error init =0.438139 	 error end=0.438139
[12:17:45.981] After pose optimization, distance between two frames x:-0.003478 ,z=0.004864,angle between two frames:0.003445
[12:17:45.981] Update EKF and 3D points, distance between two frames x:-0.003851 ,z=0.005383,angle between two frames:0.004515
[12:17:45.982] Choose frame as a key frame Scene Depth mean:2.927764 ,depth min:-49352040082423408.000000
[12:17:46.248] After Reprojection Map nPoint:815 ,nCell:66 ,nMatches:36 ,distance between two frames x:-0.002304 ,z=0.003209,angle between two frames:0.006759
[12:17:46.248] Init estimate scale:0.806200
[12:17:46.249] it:0 	 Success 	 new_chi2: 170.154000 	 dT = -0.044600, 0.179835, -0.056996
[12:17:46.249] it:1 	 FAILURE 	 new_chi2: 174.174161
[12:17:46.249] n deleted obs = 228 	 n obs felt =143 	 error init =0.458636 	 error end=0.458636
[12:17:46.249] After pose optimization, distance between two frames x:-0.002304 ,z=0.003209,angle between two frames:0.006759
[12:17:46.249] Update EKF and 3D points, distance between two frames x:-0.002879 ,z=0.003997,angle between two frames:0.008141
[12:17:46.507] After Reprojection Map nPoint:888 ,nCell:72 ,nMatches:36 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:17:46