[16:55:37.887] frame process finished the id is: 0 the obs is:0 
[16:55:37.970] frame process finished the id is: 1 the obs is:0 
[16:55:38.070] frame process finished the id is: 2 the obs is:0 
[16:55:38.176] frame process finished the id is: 3 the obs is:0 
[16:55:38.273] frame process finished the id is: 4 the obs is:0 
[16:55:38.373] frame process finished the id is: 5 the obs is:0 
[16:55:38.471] frame process finished the id is: 6 the obs is:0 
[16:55:38.572] frame process finished the id is: 7 the obs is:0 
[16:55:38.674] frame process finished the id is: 8 the obs is:0 
[16:55:38.774] frame process finished the id is: 9 the obs is:0 
[16:55:38.801] Odometry x=0.000000, y=0.000000, theta=-0.000000
[16:55:38.877] frame process finished the id is: 10 the obs is:0 
[16:55:38.894] Odometry x=0.000000, y=0.000001, theta=-0.016692
[16:55:38.972] frame process finished the id is: 11 the obs is:0 
[16:55:38.993] Odometry x=0.000000, y=0.000002, theta=-0.029624
[16:55:39.069] frame process finished the id is: 12 the obs is:0 
[16:55:39.095] Odometry x=0.000003, y=0.000003, theta=-0.041902
[16:55:39.169] frame process finished the id is: 13 the obs is:0 
[16:55:39.193] Odometry x=0.000002, y=0.000007, theta=-0.054684
[16:55:39.271] frame process finished the id is: 14 the obs is:0 
[16:55:39.295] Odometry x=0.000004, y=0.000009, theta=-0.067464
[16:55:39.371] frame process finished the id is: 15 the obs is:0 
[16:55:39.394] Odometry x=0.000005, y=0.000012, theta=-0.085202
[16:55:39.474] frame process finished the id is: 16 the obs is:0 
[16:55:39.492] Odometry x=0.000008, y=0.000012, theta=-0.101424
[16:55:39.571] Init: frame zero: 0.000000, 0.000000 0.000000
[16:55:39.571] Init: Selected first frame. 
[16:55:39.571] frame process finished the id is: 17 the obs is:0 
[16:55:39.598] Odometry x=0.000009, y=0.000014, theta=-0.120277
[16:55:39.694] Odometry x=0.000013, y=0.000014, theta=-0.132865
[16:55:39.696] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:12.042246 ,While minimum is: 10.000000  KLT tracked: 138
[16:55:39.696] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:39.696] frame process finished the id is: 18 the obs is:0 
[16:55:39.767] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:20.367628 ,While minimum is: 10.000000  KLT tracked: 138
[16:55:39.767] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:39.767] frame process finished the id is: 19 the obs is:0 
[16:55:39.794] Odometry x=0.000015, y=0.000015, theta=-0.147741
[16:55:39.868] Init: Homography RANSAC (inlier) is:1 ,While 30 inliers minimum required.  px average disparity is:31.280340 ,While minimum is: 10.000000  KLT tracked: 138
[16:55:39.868] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:39.868] frame process finished the id is: 20 the obs is:0 
[16:55:39.895] Odometry x=0.000019, y=0.000017, theta=-0.163803
[16:55:39.968] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:42.420543 ,While minimum is: 10.000000  KLT tracked: 138
[16:55:39.968] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:39.968] frame process finished the id is: 21 the obs is:0 
[16:55:39.992] Odometry x=0.000021, y=0.000021, theta=-0.183352
[16:55:40.072] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:53.315898 ,While minimum is: 10.000000  KLT tracked: 138
[16:55:40.072] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:40.072] frame process finished the id is: 22 the obs is:0 
[16:55:40.092] Odometry x=0.000022, y=0.000021, theta=-0.198868
[16:55:40.173] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:61.301365 ,While minimum is: 10.000000  KLT tracked: 138
[16:55:40.173] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:40.173] frame process finished the id is: 23 the obs is:0 
[16:55:40.196] Odometry x=0.000023, y=0.000024, theta=-0.214805
[16:55:40.271] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:72.550034 ,While minimum is: 10.000000  KLT tracked: 138
[16:55:40.271] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:40.271] frame process finished the id is: 24 the obs is:0 
[16:55:40.292] Odometry x=0.000024, y=0.000028, theta=-0.230656
[16:55:40.369] Init: Homography RANSAC (inlier) is:10 ,While 30 inliers minimum required.  px average disparity is:79.853727 ,While minimum is: 10.000000  KLT tracked: 137
[16:55:40.369] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:40.369] frame process finished the id is: 25 the obs is:0 
[16:55:40.392] Odometry x=0.000027, y=0.000029, theta=-0.245516
[16:55:40.471] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:88.832735 ,While minimum is: 10.000000  KLT tracked: 137
[16:55:40.471] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:40.471] frame process finished the id is: 26 the obs is:0 
[16:55:40.494] Odometry x=0.000030, y=0.000032, theta=-0.260413
[16:55:40.572] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:96.126849 ,While minimum is: 10.000000  KLT tracked: 137
[16:55:40.572] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:40.572] frame process finished the id is: 27 the obs is:0 
[16:55:40.592] Odometry x=0.000030, y=0.000031, theta=-0.273378
[16:55:40.671] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:104.884985 ,While minimum is: 10.000000  KLT tracked: 137
[16:55:40.671] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:40.671] frame process finished the id is: 28 the obs is:0 
[16:55:40.694] Odometry x=0.000030, y=0.000033, theta=-0.287993
[16:55:40.771] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:114.438048 ,While minimum is: 10.000000  KLT tracked: 137
[16:55:40.771] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:40.771] frame process finished the id is: 29 the obs is:0 
[16:55:40.792] Odometry x=0.000031, y=0.000036, theta=-0.303427
[16:55:40.871] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required.  px average disparity is:124.795832 ,While minimum is: 10.000000  KLT tracked: 136
[16:55:40.871] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:40.871] frame process finished the id is: 30 the obs is:0 
[16:55:40.894] Odometry x=0.000036, y=0.000034, theta=-0.316234
[16:55:40.972] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:133.346868 ,While minimum is: 10.000000  KLT tracked: 136
[16:55:40.972] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:40.972] frame process finished the id is: 31 the obs is:0 
[16:55:40.992] Odometry x=0.000040, y=0.000036, theta=-0.330751
[16:55:41.074] Init: Homography RANSAC (inlier) is:23 ,While 30 inliers minimum required.  px average disparity is:142.333118 ,While minimum is: 10.000000  KLT tracked: 136
[16:55:41.074] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:41.074] frame process finished the id is: 32 the obs is:0 
[16:55:41.095] Odometry x=0.000042, y=0.000038, theta=-0.346449
[16:55:41.171] Init: Homography RANSAC (inlier) is:28 ,While 30 inliers minimum required.  px average disparity is:153.694782 ,While minimum is: 10.000000  KLT tracked: 136
[16:55:41.171] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[16:55:41.171] frame process finished the id is: 33 the obs is:0 
[16:55:41.193] Odometry x=0.000041, y=0.000043, theta=-0.362070
[16:55:41.271] Init finished: Homography RANSAC (inlier) is:44 ,While 30 inliers minimum required.  px average disparity is:163.639865 ,While minimum is: 10.000000  KLT tracked: 136
[16:55:41.271] Init: distance between the first and current frame is x:0.000045 ,z=0.000044,angle between two frames: -0.376743 
[16:55:41.271] Init: Selected Second frame. 	 The number of features: 44 depth mean:-0.000055 min:-0.000800
[16:55:41.272] frame process finished the id is: 34 the obs is:44 
[16:55:41.293] Odometry x=0.000045, y=0.000044, theta=-0.376743
[16:55:41.393] Odometry x=0.000046, y=0.000046, theta=-0.390755
[16:55:41.404] After Reprojection Map nPoint:44 ,nCell:15 ,nMatches:8 ,distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000568
[16:55:41.404] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 	 error init =0.000427 	 error end=0.000427
[16:55:41.404] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000568
[16:55:41.404] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35
[16:55:41.405] need key frame pitch dis: 0.385991 translation dif:0.000063
[16:55:41.405] Choose frame as a key frame Scene Depth mean:-0.020245 ,depth min:-0.272245
[16:55:41.405] frame process finished the id is: 35 the obs is:35 
[16:55:41.495] Odometry x=0.000047, y=0.000046, theta=-0.403314
[16:55:41.507] After Reprojection Map nPoint:35 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000001 ,z=0.000002,angle between two frames:0.000792
[16:55:41.507] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =29 	 error init =0.000144 	 error end=0.000144
[16:55:41.507] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000002,angle between two frames:0.000792
[16:55:41.507] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29
[16:55:41.507] need key frame pitch dis: 0.390538 translation dif:0.000064
[16:55:41.507] Choose frame as a key frame Scene Depth mean:0.006342 ,depth min:-0.000773
[16:55:41.507] frame process finished the id is: 36 the obs is:29 
[16:55:41.596] Odometry x=0.000045, y=0.000046, theta=-0.390538
[16:55:41.611] After Reprojection Map nPoint:58 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000295
[16:55:41.611] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =48 	 error init =0.000030 	 error end=0.000030
[16:55:41.611] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000295
[16:55:41.611] Update EKF and 3D points the number of feature in the new frame: 48 and number of obs: 48
[16:55:41.611] need key frame pitch dis: 0.397529 translation dif:0.000064
[16:55:41.611] Choose frame as a key frame Scene Depth mean:0.042627 ,depth min:-0.001467
[16:55:41.611] frame process finished the id is: 37 the obs is:48 
[16:55:41.693] Odometry x=0.000046, y=0.000047, theta=-0.405617
[16:55:41.718] After Reprojection Map nPoint:93 ,nCell:22 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000626
[16:55:41.718] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =92 	 error init =0.000002 	 error end=0.000002
[16:55:41.718] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000626
[16:55:41.718] Update EKF and 3D points the number of feature in the new frame: 92 and number of obs: 92
[16:55:41.718] need key frame pitch dis: 0.011416 translation dif:0.000482
[16:55:41.718] frame process finished the id is: 38 the obs is:92 
[16:55:41.793] Odometry x=0.000046, y=0.000046, theta=-0.401002
[16:55:41.821] After Reprojection Map nPoint:153 ,nCell:27 ,nMatches:9 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000001
[16:55:41.821] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =93 	 error init =0.000682 	 error end=0.000682
[16:55:41.821] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000001
[16:55:41.821] Update EKF and 3D points the number of feature in the new frame: 93 and number of obs: 93
[16:55:41.821] need key frame pitch dis: 0.040040 translation dif:0.000339
[16:55:41.821] frame process finished the id is: 39 the obs is:93 
[16:55:41.894] Odometry x=0.000048, y=0.000047, theta=-0.416952
[16:55:41.927] After Reprojection Map nPoint:148 ,nCell:23 ,nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000004
[16:55:41.927] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =112 	 error init =0.000187 	 error end=0.000187
[16:55:41.927] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000004
[16:55:41.927] Update EKF and 3D points the number of feature in the new frame: 112 and number of obs: 112
[16:55:41.928] need key frame pitch dis: 0.029272 translation dif:0.000482
[16:55:41.928] frame process finished the id is: 40 the obs is:112 
[16:55:41.993] Odometry x=0.000048, y=0.000047, theta=-0.418859
[16:55:42.035] After Reprojection Map nPoint:170 ,nCell:18 ,nMatches:11 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000006
[16:55:42.035] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =162 	 error init =0.000012 	 error end=0.000012
[16:55:42.035] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000006
[16:55:42.035] Update EKF and 3D points the number of feature in the new frame: 162 and number of obs: 162
[16:55:42.036] need key frame pitch dis: 0.053902 translation dif:0.000336
[16:55:42.036] frame process finished the id is: 41 the obs is:162 
[16:55:42.093] Odometry x=0.000051, y=0.000048, theta=-0.421652
[16:55:42.143] After Reprojection Map nPoint:216 ,nCell:30 ,nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000007
[16:55:42.143] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =202 	 error init =0.000206 	 error end=0.000206
[16:55:42.143] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000007
[16:55:42.143] Update EKF and 3D points the number of feature in the new frame: 202 and number of obs: 202
[16:55:42.144] need key frame pitch dis: 0.033925 translation dif:0.000481
[16:55:42.144] frame process finished the id is: 42 the obs is:202 
[16:55:42.193] Odometry x=0.000052, y=0.000047, theta=-0.423512
[16:55:42.255] After Reprojection Map nPoint:253 ,nCell:47 ,nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000008
[16:55:42.256] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =133 	 error init =0.000098 	 error end=0.000098
[16:55:42.256] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000008
[16:55:42.256] Update EKF and 3D points the number of feature in the new frame: 133 and number of obs: 133
[16:55:42.256] need key frame pitch dis: 0.036148 translation dif:0.000481
[16:55:42.256] frame process finished the id is: 43 the obs is:133 
[16:55:42.295] Odometry x=0.000052, y=0.000048, theta=-0.425735
[16:55:42.369] After Reprojection Map nPoint:187 ,nCell:28 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000381
[16:55:42.369] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =67 	 error init =0.000599 	 error end=0.000599
[16:55:42.369] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000381
[16:55:42.369] Update EKF and 3D points the number of feature in the new frame: 67 and number of obs: 67
[16:55:42.369] need key frame pitch dis: 0.038797 translation dif:0.000482
[16:55:42.369] frame process finished the id is: 44 the obs is:67 
[16:55:42.388] Odometry x=0.000053, y=0.000049, theta=-0.428383
[16:55:42.481] After Reprojection Map nPoint:121 ,nCell:33 ,nMatches:8 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000994
[16:55:42.482] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =77 	 error init =0.000397 	 error end=0.000397
[16:55:42.482] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000994
[16:55:42.482] Update EKF and 3D points the number of feature in the new frame: 77 and number of obs: 77
[16:55:42.482] need key frame pitch dis: 0.042453 translation dif:0.000483
[16:55:42.482] frame process finished the id is: 45 the obs is:77 
[16:55:42.485] Odometry x=0.000053, y=0.000050, theta=-0.432040
[16:55:42.586] After Reprojection Map nPoint:128 ,nCell:32 ,nMatches:8 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000772
[16:55:42.586] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =60 	 error init =0.000374 	 error end=0.000374
[16:55:42.586] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000772
[16:55:42.586] Update EKF and 3D points the number of feature in the new frame: 60 and number of obs: 60
[16:55:42.586] need key frame pitch dis: 0.045628 translation dif:0.000484
[16:55:42.586] frame process finished the id is: 46 the obs is:60 
[16:55:42.587] Odometry x=0.000054, y=0.000052, theta=-0.435215
[16:55:42.686] Odometry x=0.000055, y=0.000053, theta=-0.448856
[16:55:42.691] After Reprojection Map nPoint:111 ,nCell:25 ,nMatches:6 ,distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.001138
[16:55:42.692] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =101 	 error init =0.000088 	 error end=0.000088
[16:55:42.692] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.001138
[16:55:42.692] Update EKF and 3D points the number of feature in the new frame: 101 and number of obs: 101
[16:55:42.692] need key frame pitch dis: 0.056182 translation dif:0.000485
[16:55:42.692] frame process finished the id is: 47 the obs is:101 
[16:55:42.794] Odometry x=0.000055, y=0.000056, theta=-0.467529
[16:55:42.800] After Reprojection Map nPoint:155 ,nCell:23 ,nMatches:5 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000081
[16:55:42.800] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =154 	 error init =0.000011 	 error end=0.000011
[16:55:42.800] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000081
[16:55:42.800] Update EKF and 3D points the number of feature in the new frame: 154 and number of obs: 154
[16:55:42.801] need key frame pitch dis: 0.067553 translation dif:0.000486
[16:55:42.801] frame process finished the id is: 48 the obs is:154 
[16:55:42.887] Odometry x=0.000059, y=0.000056, theta=-0.482540
[16:55:42.915] After Reprojection Map nPoint:205 ,nCell:36 ,nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000073
[16:55:42.916] n deleted obs = 10 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =118 	 error init =0.000990 	 error end=0.000990
[16:55:42.916] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000073
[16:55:42.916] Update EKF and 3D points the number of feature in the new frame: 118 and number of obs: 118
[16:55:42.916] need key frame pitch dis: 0.094805 translation dif:0.000486
[16:55:42.916] frame process finished the id is: 49 the obs is:118 
[16:55:42.985] Odometry x=0.000061, y=0.000056, theta=-0.484391
[16:55:43.028] After Reprojection Map nPoint:169 ,nCell:34 ,nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000181
[16:55:43.028] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =139 	 error init =0.000800 	 error end=0.000800
[16:55:43.028] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000181
[16:55:43.028] Update EKF and 3D points the number of feature in the new frame: 139 and number of obs: 139
[16:55:43.029] need key frame pitch dis: 0.097780 translation dif:0.000486
[16:55:43.029] frame process finished the id is: 50 the obs is:139 
[16:55:43.088] Odometry x=0.000062, y=0.000056, theta=-0.487367
[16:55:43.133] After Reprojection Map nPoint:190 ,nCell:53 ,nMatches:6 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000072
[16:55:43.133] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =162 	 error init =0.000769 	 error end=0.000769
[16:55:43.133] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000072
[16:55:43.133] Update EKF and 3D points the number of feature in the new frame: 162 and number of obs: 162
[16:55:43.134] need key frame pitch dis: 0.101227 translation dif:0.000486
[16:55:43.134] frame process finished the id is: 51 the obs is:162 
[16:55:43.195] Odometry x=0.000063, y=0.000057, theta=-0.490813
[16:55:43.244] After Reprojection Map nPoint:213 ,nCell:31 ,nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000305
[16:55:43.245] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =123 	 error init =0.000739 	 error end=0.000727
[16:55:43.245] After pose optimization, distance between ekf and vo x:-0.000003 ,z=-0.000007,angle between two frames:0.007530
[16:55:43.245] Update EKF and 3D points the number of feature in the new frame: 123 and number of obs: 123
[16:55:43.246] need key frame pitch dis: 0.110745 translation dif:0.000481
[16:55:43.246] frame process finished the id is: 52 the obs is:123 
[16:55:43.287] Odometry x=0.000061, y=0.000051, theta=-0.500331
[16:55:43.348] After Reprojection Map nPoint:174 ,nCell:44 ,nMatches:8 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000058
[16:55:43.348] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =147 	 error init =0.000234 	 error end=0.000234
[16:55:43.348] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000211
[16:55:43.348] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147
[16:55:43.349] need key frame pitch dis: 0.113330 translation dif:0.000482
[16:55:43.349] frame process finished the id is: 53 the obs is:147 
[16:55:43.385] Odometry x=0.000061, y=0.000052, theta=-0.502917
[16:55:43.447] After Reprojection Map nPoint:198 ,nCell:22 ,nMatches:7 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000012
[16:55:43.448] n deleted obs = 11 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =147 	 error init =0.000399 	 error end=0.000397
[16:55:43.448] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000001,angle between two frames:0.000129
[16:55:43.448] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147
[16:55:43.449] need key frame pitch dis: 0.115796 translation dif:0.000479
[16:55:43.449] frame process finished the id is: 54 the obs is:147 
[16:55:43.487] Odometry x=0.000065, y=0.000051, theta=-0.505383
[16:55:43.548] After Reprojection Map nPoint:198 ,nCell:35 ,nMatches:6 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000019
[16:55:43.555] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =186 	 error init =0.000329 	 error end=0.000328
[16:55:43.555] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000000,angle between two frames:0.000074
[16:55:43.555] Update EKF and 3D points the number of feature in the new frame: 186 and number of obs: 186
[16:55:43.556] need key frame pitch dis: 0.118198 translation dif:0.000480
[16:55:43.556] frame process finished the id is: 55 the obs is:186 
[16:55:43.590] Odometry x=0.000068, y=0.000052, theta=-0.507784
[16:55:43.653] After Reprojection Map nPoint:237 ,nCell:16 ,nMatches:7 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000003
[16:55:43.658] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =184 	 error init =0.000109 	 error end=0.000106
[16:55:43.658] After pose optimization, distance between ekf and vo x:0.000039 ,z=0.000002,angle between two frames:0.012853
[16:55:43.658] Update EKF and 3D points the number of feature in the new frame: 184 and number of obs: 184
[16:55:43.659] need key frame pitch dis: 0.109763 translation dif:0.000472
[16:55:43.659] frame process finished the id is: 56 the obs is:184 
[16:55:43.686] Odometry x=0.000103, y=0.000054, theta=-0.499349
[16:55:43.773] After Reprojection Map nPoint:235 ,nCell:21 ,nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000057
[16:55:43.774] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =200 	 error init =0.000066 	 error end=0.000066
[16:55:43.774] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000057
[16:55:43.774] Update EKF and 3D points the number of feature in the new frame: 200 and number of obs: 200
[16:55:43.774] need key frame pitch dis: 0.112107 translation dif:0.000472
[16:55:43.775] frame process finished the id is: 57 the obs is:200 
[16:55:43.788] Odometry x=0.000106, y=0.000055, theta=-0.501694
[16:55:43.874] After Reprojection Map nPoint:252 ,nCell:13 ,nMatches:10 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000014
[16:55:43.876] n deleted obs = 15 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =213 	 error init =0.001268 	 error end=0.001251
[16:55:43.876] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000003,angle between two frames:0.003420
[16:55:43.876] Update EKF and 3D points the number of feature in the new frame: 213 and number of obs: 213
[16:55:43.877] need key frame pitch dis: 0.116573 translation dif:0.000469
[16:55:43.877] frame process finished the id is: 58 the obs is:213 
[16:55:43.889] Odometry x=0.000110, y=0.000053, theta=-0.506159
[16:55:43.986] Odometry x=0.000111, y=0.000055, theta=-0.519646
[16:55:43.988] After Reprojection Map nPoint:264 ,nCell:50 ,nMatches:7 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000027
[16:55:43.988] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 	 error init =0.000182 	 error end=0.000182
[16:55:43.988] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000027
[16:55:43.988] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189
[16:55:43.989] need key frame pitch dis: 0.126293 translation dif:0.000469
[16:55:43.989] frame process finished the id is: 59 the obs is:189 
[16:55:44.090] Odometry x=0.000110, y=0.000052, theta=-0.531247
[16:55:44.098] After Reprojection Map nPoint:242 ,nCell:24 ,nMatches:9 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000053
[16:55:44.098] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =220 	 error init =0.000086 	 error end=0.000086
[16:55:44.098] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000053
[16:55:44.098] Update EKF and 3D points the number of feature in the new frame: 220 and number of obs: 220
[16:55:44.099] need key frame pitch dis: 0.135912 translation dif:0.000469
[16:55:44.099] frame process finished the id is: 60 the obs is:220 
[16:55:44.186] Odometry x=0.000112, y=0.000052, theta=-0.543471
[16:55:44.212] After Reprojection Map nPoint:274 ,nCell:24 ,nMatches:11 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000078
[16:55:44.213] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =236 	 error init =0.000031 	 error end=0.000031
[16:55:44.213] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000078
[16:55:44.213] Update EKF and 3D points the number of feature in the new frame: 236 and number of obs: 236
[16:55:44.214] need key frame pitch dis: 0.159216 translation dif:0.000467
[16:55:44.214] frame process finished the id is: 61 the obs is:236 
[16:55:44.288] Odometry x=0.000112, y=0.000052, theta=-0.563214
[16:55:44.326] After Reprojection Map nPoint:290 ,nCell:35 ,nMatches:11 ,distance between ekf and vo x:0.000001 ,z=-0.000000,angle between two frames:0.000193
[16:55:44.331] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =137 	 error init =0.000164 	 error end=0.000164
[16:55:44.331] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000000,angle between two frames:0.000140
[16:55:44.331] Update EKF and 3D points the number of feature in the new frame: 137 and number of obs: 137
[16:55:44.331] need key frame pitch dis: 0.175738 translation dif:0.000467
[16:55:44.331] frame process finished the id is: 62 the obs is:137 
[16:55:44.389] Odometry x=0.000113, y=0.000051, theta=-0.565324
[16:55:44.440] After Reprojection Map nPoint:191 ,nCell:26 ,nMatches:9 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000132
[16:55:44.441] n deleted obs = 13 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =155 	 error init =0.000650 	 error end=0.000650
[16:55:44.441] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000132
[16:55:44.441] Update EKF and 3D points the number of feature in the new frame: 155 and number of obs: 155
[16:55:44.441] need key frame pitch dis: 0.178349 translation dif:0.000466
[16:55:44.441] frame process finished the id is: 63 the obs is:155 
[16:55:44.488] Odometry x=0.000114, y=0.000051, theta=-0.567936
[16:55:44.543] After Reprojection Map nPoint:209 ,nCell:69 ,nMatches:10 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000051
[16:55:44.544] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =151 	 error init =0.000529 	 error end=0.000529
[16:55:44.544] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000051
[16:55:44.544] Update EKF and 3D points the number of feature in the new frame: 151 and number of obs: 151
[16:55:44.544] need key frame pitch dis: 0.181154 translation dif:0.000466
[16:55:44.544] frame process finished the id is: 64 the obs is:151 
[16:55:44.585] Odometry x=0.000114, y=0.000050, theta=-0.570740
[16:55:44.654] After Reprojection Map nPoint:206 ,nCell:31 ,nMatches:12 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000069
[16:55:44.661] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =195 	 error init =0.000151 	 error end=0.000145
[16:55:44.661] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000002,angle between two frames:0.003458
[16:55:44.661] Update EKF and 3D points the number of feature in the new frame: 195 and number of obs: 195
[16:55:44.662] need key frame pitch dis: 0.181130 translation dif:0.000466
[16:55:44.662] frame process finished the id is: 65 the obs is:195 
[16:55:44.688] Odometry x=0.000113, y=0.000051, theta=-0.570716
[16:55:44.771] After Reprojection Map nPoint:249 ,nCell:28 ,nMatches:12 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000035
[16:55:44.779] n deleted obs = 43 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =163 	 error init =0.001093 	 error end=0.001089
[16:55:44.779] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.002918
[16:55:44.779] Update EKF and 3D points the number of feature in the new frame: 163 and number of obs: 163
[16:55:44.779] need key frame pitch dis: 0.180883 translation dif:0.000466
[16:55:44.779] frame process finished the id is: 66 the obs is:163 
[16:55:44.790] Odometry x=0.000116, y=0.000051, theta=-0.570470
[16:55:44.883] After Reprojection Map nPoint:217 ,nCell:17 ,nMatches:13 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000057
[16:55:44.887] Odometry x=0.000117, y=0.000052, theta=-0.586364
[16:55:44.890] n deleted obs = 36 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =145 	 error init =0.002335 	 error end=0.002328
[16:55:44.890] After pose optimization, distance between ekf and vo x:0.000002 ,z=-0.000001,angle between two frames:0.000207
[16:55:44.890] Update EKF and 3D points the number of feature in the new frame: 145 and number of obs: 145
[16:55:44.890] need key frame pitch dis: 0.191428 translation dif:0.000465
[16:55:44.890] frame process finished the id is: 67 the obs is:145 
[16:55:44.989] Odometry x=0.000119, y=0.000051, theta=-0.600715
[16:55:44.992] After Reprojection Map nPoint:199 ,nCell:21 ,nMatches:11 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000097
[16:55:44.997] n deleted obs = 31 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =113 	 error init =0.001302 	 error end=0.001297
[16:55:44.997] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000000,angle between two frames:0.001943
[16:55:44.997] Update EKF and 3D points the number of feature in the new frame: 113 and number of obs: 113
[16:55:44.998] need key frame pitch dis: 0.200765 translation dif:0.000465
[16:55:44.998] Choose frame as a key frame Scene Depth mean:0.046026 ,depth min:-0.000298
[16:55:44.998] frame process finished the id is: 68 the obs is:113 
[16:55:45.093] Odometry x=0.000120, y=0.000052, theta=-0.615310
[16:55:45.104] After Reprojection Map nPoint:284 ,nCell:14 ,nMatches:13 ,distance between ekf and vo x:0.000012 ,z=0.000025,angle between two frames:0.000508
[16:55:45.114] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =273 	 error init =0.000591 	 error end=0.000573
[16:55:45.114] After pose optimization, distance between ekf and vo x:0.000010 ,z=0.000006,angle between two frames:0.005552
[16:55:45.114] Update EKF and 3D points the number of feature in the new frame: 273 and number of obs: 273
[16:55:45.116] need key frame pitch dis: 0.230280 translation dif:0.003171
[16:55:45.116] Choose frame as a key frame Scene Depth mean:-0.587807 ,depth min:-1.438362
[16:55:45.116] frame process finished the id is: 69 the obs is:273 
[16:55:45.187] Odometry x=0.000128, y=0.000057, theta=-0.600739
[16:55:45.239] After Reprojection Map nPoint:686 ,nCell:77 ,nMatches:15 ,distance between ekf and vo x:0.000001 ,z=-0.000001,angle between two frames:0.000067
[16:55:45.256] n deleted obs = 11 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =452 	 error init =0.000285 	 error end=0.000285
[16:55:45.256] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000002,angle between two frames:0.000544
[16:55:45.256] Update EKF and 3D points the number of feature in the new frame: 452 and number of obs: 452
[16:55:45.267] need key frame pitch dis: 3.043893 translation dif:0.170329
[16:55:45.267] Choose frame as a key frame Scene Depth mean:-0.554315 ,depth min:-2.148506
[16:55:45.268] frame process finished the id is: 70 the obs is:452 
[16:55:45.292] Odometry x=0.000137, y=0.000055, theta=-0.602091
[16:55:45.395] Odometry x=0.000141, y=0.000056, theta=-0.611977
[16:55:45.406] After Reprojection Map nPoint:874 ,nCell:23 ,nMatches:14 ,distance between ekf and vo x:0.000001 ,z=-0.000001,angle between two frames:0.000051
[16:55:45.434] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =740 	 error init =0.000215 	 error end=0.000214
[16:55:45.434] After pose optimization, distance between ekf and vo x:0.000110 ,z=-0.000091,angle between two frames:0.000019
[16:55:45.434] Update EKF and 3D points the number of feature in the new frame: 740 and number of obs: 740
[16:55:45.468] need key frame pitch dis: 0.047271 translation dif:0.662814
[16:55:45.468] Choose frame as a key frame Scene Depth mean:-0.272693 ,depth min:-2.713587
[16:55:45.468] frame process finished the id is: 71 the obs is:740 
[16:55:45.486] Odometry x=0.000233, y=-0.000024, theta=-0.606274
[16:55:45.592] Odometry x=0.000236, y=-0.000024, theta=-0.624740
[16:55:45.653] After Reprojection Map nPoint:2399 ,nCell:19 ,nMatches:12 ,distance between ekf and vo x:0.000005 ,z=-0.000003,angle between two frames:0.000037
[16:55:45.657] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1990 	 error init =0.000012 	 error end=0.000012
[16:55:45.657] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000003,angle between two frames:0.000037
[16:55:45.657] Update EKF and 3D points the number of feature in the new frame: 1990 and number of obs: 1990
[16:55:45.690] Odometry x=0.000239, y=-0.000025, theta=-0.610072
[16:55:45.747] need key frame pitch dis: 1.482740 translation dif:1.287434
[16:55:45.748] Choose frame as a key frame Scene Depth mean:1.676695 ,depth min:-2.528245
[16:55:45.749] frame process finished the id is: 72 the obs is:1990 
[16:55:45.789] Odometry x=0.000244, y=-0.000025, theta=-0.624620
[16:55:45.886] Odometry x=0.000246, y=-0.000026, theta=-0.643258
[16:55:45.986] Odometry x=0.000252, y=-0.000025, theta=-0.661127
[16:55:46.024] After Reprojection Map nPoint:5476 ,nCell:24 ,nMatches:16 ,distance between ekf and vo x:-0.000030 ,z=-0.000006,angle between two frames:0.000003
[16:55:46.033] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5410 	 error init =0.000014 	 error end=0.000014
[16:55:46.033] After pose optimization, distance between ekf and vo x:-0.000030 ,z=-0.000006,angle between two frames:0.000003
[16:55:46.033] Update EKF and 3D points the number of feature in the new frame: 5410 and number of obs: 5410
[16:55:46.086] Odometry x=0.000220, y=-0.000030, theta=-0.631328
[16:55:46.181] need key frame pitch dis: 0.139811 translation dif:5.916744
[16:55:46.185] Choose frame as a key frame Scene Depth mean:1.396429 ,depth min:-4.514228
[16:55:46.186] frame process finished the id is: 73 the obs is:5410 
[16:55:46.192] Odometry x=0.000221, y=-0.000030, theta=-0.648036
[16:55:46.286] Odometry x=0.000222, y=-0.000028, theta=-0.662706
[16:55:46.385] Odometry x=0.000225, y=-0.000029, theta=-0.670302
[16:55:46.492] Odometry x=0.000224, y=-0.000029, theta=-0.687659
[16:55:46.585] After Reprojection Map nPoint:8924 ,nCell:73 ,nMatches:19 ,distance between ekf and vo x:0.000227 ,z=-0.000221,angle between two frames:0.000013
[16:55:46.586] Odometry x=0.000228, y=-0.000029, theta=-0.702703
[16:55:46.599] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8856 	 error init =0.000084 	 error end=0.000084
[16:55:46.599] After pose optimization, distance between ekf and vo x:0.000227 ,z=-0.000221,angle between two frames:0.000013
[16:55:46.599] Update EKF and 3D points the number of feature in the new frame: 8856 and number of obs: 8856
[16:55:46.686] Odometry x=0.000288, y=-0.000087, theta=-0.705542
[16:55:46.792] Odometry x=0.000294, y=-0.000087, theta=-0.718877
[16:55:46.886] Odometry x=0.000296, y=-0.000085, theta=-0.732890
[16:55:46.992] Odometry x=0.000301, y=-0.000084, theta=-0.747237
[16:55:47.085] Odometry x=0.000306, y=-0.000085, theta=-0.755336
[16:55:47.192] Odometry x=0.000309, y=-0.000085, theta=-0.764779
[16:55:47.286] Odometry x=0.000308, y=-0.000084, theta=-0.781195
[16:55:47.386] Odometry x=0.000306, y=-0.000081, theta=-0.797692
[16:55:47.492] Odometry x=0.000309, y=-0.000079, theta=-0.814358
[16:55:47.587] Odometry x=0.000309, y=-0.000076, theta=-0.831700
[16:55:47.687] Odometry x=0.000311, y=-0.000076, theta=-0.845763
[16:55:47.796] Odometry x=0.000314, y=-0.000079, theta=-0.860176
[16:55:47.889] Odometry x=0.000316, y=-0.000078, theta=-0.873648
[16:55:47.989] Odometry x=0.000316, y=-0.000079, theta=-0.887851
[16:55:48.065] need key frame pitch dis: 1.446223 translation dif:5.097205
[16:55:48.071] Choose frame as a key frame Scene Depth mean:0.914334 ,depth min:-4.351765
[16:55:48.072] frame process finished the id is: 74 the obs is:8856 
[16:55:48.092] Odometry x=0.000318, y=-0.000079, theta=-0.904363
[16:55:48.195] Odometry x=0.000322, y=-0.000079, theta=-0.916767
[16:55:48.287] Odometry x=0.000320, y=-0.000079, theta=-0.932939
[16:55:48.391] Odometry x=0.000321, y=-0.000079, theta=-0.946078
[16:55:48.423] After Reprojection Map nPoint:26608 ,nCell:16 ,nMatches:14 ,distance between ekf and vo x:0.000021 ,z=-0.000056,angle between two frames:0.000001
[16:55:48.445] n deleted obs = 28 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8523 	 error init =0.000030 	 error end=0.000030
[16:55:48.445] After pose optimization, distance between ekf and vo x:0.000021 ,z=-0.000056,angle between two frames:0.000001
[16:55:48.445] Update EKF and 3D points the number of feature in the new frame: 8523 and number of obs: 8523
[16:55:48.488] Odometry x=0.000338, y=-0.000129, theta=-0.911696
[16:55:48.590] Odometry x=0.000338, y=-0.000129, theta=-0.918475
[16:55:48.688] Odometry x=0.000342, y=-0.000130, theta=-0.938474
[16:55:48.788] Odometry x=0.000346, y=-0.000129, theta=-0.957995
[16:55:48.890] Odometry x=0.000347, y=-0.000132, theta=-0.974795
[16:55:48.937] need key frame pitch dis: 1.755360 translation dif:2.541028
[16:55:48.944] Choose frame as a key frame Scene Depth mean:0.737434 ,depth min:-3.309082
[16:55:48.945] frame process finished the id is: 75 the obs is:8523 
[16:55:48.987] Odometry x=0.000349, y=-0.000134, theta=-0.991838
[16:55:49.090] Odometry x=0.000352, y=-0.000133, theta=-1.005504
[16:55:49.187] Odometry x=0.000354, y=-0.000132, theta=-1.018390
[16:55:49.275] After Reprojection Map nPoint:34737 ,nCell:15 ,nMatches:11 ,distance between ekf and vo x:-0.000153 ,z=0.000654,angle between two frames:0.000246
[16:55:49.290] Odometry x=0.000354, y=-0.000133, theta=-1.033412
[16:55:49.315] n deleted obs = 214 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =20604 	 error init =0.000123 	 error end=0.000123
[16:55:49.315] After pose optimization, distance between ekf and vo x:-0.000153 ,z=0.000654,angle between two frames:0.000246
[16:55:49.315] Update EKF and 3D points the number of feature in the new frame: 20604 and number of obs: 20604
[16:55:49.387] Odometry x=0.000219, y=0.000435, theta=-0.999727
[16:55:49.492] Odometry x=0.000219, y=0.000435, theta=-1.017193
[16:55:49.593] Odometry x=0.000221, y=0.000435, theta=-1.032763
[16:55:49.690] Odometry x=0.000222, y=0.000433, theta=-1.047788
[16:55:49.787] Odometry x=0.000223, y=0.000436, theta=-1.064296
[16:55:49.890] Odometry x=0.000223, y=0.000436, theta=-1.081655
[16:55:49.987] Odometry x=0.000224, y=0.000435, theta=-1.095887
[16:55:50.092] Odometry x=0.000225, y=0.000434, theta=-1.109906
[16:55:50.190] Odometry x=0.000227, y=0.000434, theta=-1.123459
[16:55:50.287] Odometry x=0.000227, y=0.000436, theta=-1.137988
[16:55:50.391] Odometry x=0.000228, y=0.000437, theta=-1.152585
[16:55:50.493] Odometry x=0.000230, y=0.000434, theta=-1.166423
[16:55:50.595] Odometry x=0.000233, y=0.000432, theta=-1.178947
[16:55:50.693] Odometry x=0.000233, y=0.000431, theta=-1.195897
[16:55:50.793] Odometry x=0.000235, y=0.000427, theta=-1.208819
[16:55:50.896] Odometry x=0.000235, y=0.000427, theta=-1.225128
[16:55:50.993] Odometry x=0.000235, y=0.000429, theta=-1.238891
[16:55:51.086] Odometry x=0.000237, y=0.000429, theta=-1.255879
[16:55:51.194] Odometry x=0.000238, y=0.000430, theta=-1.270591
[16:55:51.286] Odometry x=0.000241, y=0.000430, theta=-1.285238
[16:55:51.392] Odometry x=0.000239, y=0.000428, theta=-1.301978
[16:55:51.489] Odometry x=0.000241, y=0.000427, theta=-1.316494
[16:55:51.592] Odometry x=0.000242, y=0.000425, theta=-1.331310
[16:55:51.690] Odometry x=0.000245, y=0.000425, theta=-1.347195
[16:55:51.788] Odometry x=0.000245, y=0.000424, theta=-1.360758
[16:55:51.891] Odometry x=0.000247, y=0.000424, theta=-1.373346
[16:55:51.988] Odometry x=0.000249, y=0.000424, theta=-1.385174
[16:55:52.091] Odometry x=0.000249, y=0.000423, theta=-1.395704
[16:55:52.190] Odometry x=0.000249, y=0.000422, theta=-1.408263
[16:55:52.294] Odometry x=0.000252, y=0.000422, theta=-1.419406
[16:55:52.396] Odometry x=0.000253, y=0.000425, theta=-1.435929
[16:55:52.495] Odometry x=0.000257, y=0.000423, theta=-1.446711
[16:55:52.594] Odometry x=0.000256, y=0.000422, theta=-1.460688
[16:55:52.694] Odometry x=0.000257, y=0.000423, theta=-1.476951
[16:55:52.791] Odometry x=0.000256, y=0.000423, theta=-1.491462
[16:55:52.889] Odometry x=0.000257, y=0.000422, theta=-1.505780
[16:55:52.992] Odometry x=0.000259, y=0.000421, theta=-1.519898
[16:55:53.089] Odometry x=0.000258, y=0.000420, theta=-1.535115
[16:55:53.189] Odometry x=0.000259, y=0.000420, theta=-1.551987
[16:55:53.290] Odometry x=0.000258, y=0.000419, theta=-1.568101
[16:55:53.388] Odometry x=0.000258, y=0.000416, theta=-1.582376
[16:55:53.489] Odometry x=0.000258, y=0.000417, theta=-1.596463
[16:55:53.586] Odometry x=0.000258, y=0.000417, theta=-1.612488
[16:55:53.689] Odometry x=0.000257, y=0.000418, theta=-1.627195
[16:55:53.795] Odometry x=0.000258, y=0.000416, theta=-1.640572
[16:55:53.892] Odometry x=0.000257, y=0.000419, theta=-1.655473
[16:55:53.993] Odometry x=0.000257, y=0.000417, theta=-1.670893
[16:55:54.092] Odometry x=0.000256, y=0.000417, theta=-1.684016
[16:55:54.190] Odometry x=0.000259, y=0.000419, theta=-1.699336
[16:55:54.293] Odometry x=0.000260, y=0.000419, theta=-1.713497
[16:55:54.390] Odometry x=0.000259, y=0.000422, theta=-1.728989
[16:55:54.492] Odometry x=0.000262, y=0.000418, theta=-1.744598
[16:55:54.590] Odometry x=0.000259, y=0.000418, theta=-1.758657
[16:55:54.693] Odometry x=0.000261, y=0.000417, theta=-1.771967
[16:55:54.790] Odometry x=0.000261, y=0.000418, theta=-1.788028
[16:55:54.887] Odometry x=0.000259, y=0.000419, theta=-1.802722
[16:55:54.990] Odometry x=0.000259, y=0.000420, theta=-1.818776
[16:55:55.088] Odometry x=0.000259, y=0.000420, theta=-1.832863
[16:55:55.186] Odometry x=0.000260, y=0.000418, theta=-1.847017
[16:55:55.287] Odometry x=0.000260, y=0.000418, theta=-1.861103
[16:55:55.387] Odometry x=0.000261, y=0.000417, theta=-1.876659
[16:55:55.490] Odometry x=0.000262, y=0.000413, theta=-1.891223
[16:55:55.589] Odometry x=0.000262, y=0.000411, theta=-1.904474
[16:55:55.687] Odometry x=0.000264, y=0.000411, theta=-1.916146
[16:55:55.789] Odometry x=0.000267, y=0.000407, theta=-1.931326
[16:55:55.888] Odometry x=0.000266, y=0.000407, theta=-1.945780
[16:55:55.988] Odometry x=0.000269, y=0.000407, theta=-1.960530
[16:55:56.086] Odometry x=0.000268, y=0.000407, theta=-1.975339
[16:55:56.186] Odometry x=0.000269, y=0.000406, theta=-1.989276
[16:55:56.291] Odometry x=0.000267, y=0.000405, theta=-2.004603
[16:55:56.388] Odometry x=0.000269, y=0.000405, theta=-2.020424
[16:55:56.488] Odometry x=0.000271, y=0.000407, theta=-2.034850
[16:55:56.589] Odometry x=0.000270, y=0.000405, theta=-2.048465
[16:55:56.689] Odometry x=0.000270, y=0.000406, theta=-2.060825
[16:55:56.792] Odometry x=0.000271, y=0.000406, theta=-2.072639
[16:55:56.895] Odometry x=0.000273, y=0.000405, theta=-2.087420
[16:55:56.992] Odometry x=0.000274, y=0.000405, theta=-2.102340
[16:55:57.092] Odometry x=0.000275, y=0.000406, theta=-2.117059
[16:55:57.192] Odometry x=0.000275, y=0.000406, theta=-2.132235
[16:55:57.290] Odometry x=0.000278, y=0.000406, theta=-2.147950
[16:55:57.392] Odometry x=0.000279, y=0.000405, theta=-2.159999
[16:55:57.497] Odometry x=0.000280, y=0.000408, theta=-2.173578
[16:55:57.592] Odometry x=0.000279, y=0.000410, theta=-2.190738
[16:55:57.692] Odometry x=0.000280, y=0.000409, theta=-2.206414
[16:55:57.797] Odometry x=0.000280, y=0.000411, theta=-2.224126
[16:55:57.893] Odometry x=0.000274, y=0.000410, theta=-2.238488
[16:55:57.993] Odometry x=0.000274, y=0.000410, theta=-2.252699
[16:55:58.092] Odometry x=0.000274, y=0.000410, theta=-2.266122
[16:55:58.192] Odometry x=0.000274, y=0.000409, theta=-2.283644
[16:55:58.289] Odometry x=0.000275, y=0.000408, theta=-2.297620
[16:55:58.396] Odometry x=0.000273, y=0.000411, theta=-2.312131
[16:55:58.490] Odometry x=0.000268, y=0.000414, theta=-2.327208
[16:55:58.592] Odometry x=0.000265, y=0.000413, theta=-2.343238
[16:55:58.702] Odometry x=0.000266, y=0.000409, theta=-2.357483
[16:55:58.790] Odometry x=0.000269, y=0.000409, theta=-2.370111
[16:55:58.892] Odometry x=0.000269, y=0.000410, theta=-2.384292
[16:55:58.998] Odometry x=0.000266, y=0.000407, theta=-2.399346
[16:55:59.090] Odometry x=0.000268, y=0.000406, theta=-2.414979
[16:55:59.187] Odometry x=0.000271, y=0.000403, theta=-2.427611
[16:55:59.289] Odometry x=0.000272, y=0.000405, theta=-2.446517
[16:55:59.392] Odometry x=0.000272, y=0.000403, theta=-2.459861
[16:55:59.494] Odometry x=0.000272, y=0.000402, theta=-2.475039
[16:55:59.591] Odometry x=0.000273, y=0.000401, theta=-2.491607
[16:55:59.688] Odometry x=0.000275, y=0.000402, theta=-2.505830
[16:55:59.785] Odometry x=0.000277, y=0.000401, theta=-2.519634
[16:55:59.893] Odometry x=0.000277, y=0.000402, theta=-2.534518
[16:55:59.990] Odometry x=0.000279, y=0.000401, theta=-2.549331
[16:56:00.092] Odometry x=0.000277, y=0.000400, theta=-2.564336
[16:56:00.189] Odometry x=0.000276, y=0.000395, theta=-2.578386
[16:56:00.287] Odometry x=0.000276, y=0.000391, theta=-2.592576
[16:56:00.386] Odometry x=0.000276, y=0.000390, theta=-2.605407
[16:56:00.489] Odometry x=0.000276, y=0.000389, theta=-2.618590
[16:56:00.592] Odometry x=0.000276, y=0.000388, theta=-2.634325
[16:56:00.695] Odometry x=0.000274, y=0.000384, theta=-2.651535
[16:56:00.788] Odometry x=0.000272, y=0.000382, theta=-2.665530
[16:56:00.896] Odometry x=0.000270, y=0.000380, theta=-2.680403
[16:56:00.988] Odometry x=0.000268, y=0.000381, theta=-2.698124
[16:56:01.091] Odometry x=0.000266, y=0.000378, theta=-2.712508
[16:56:01.195] Odometry x=0.000268, y=0.000377, theta=-2.726215
[16:56:01.294] Odometry x=0.000269, y=0.000373, theta=-2.739595
[16:56:01.391] Odometry x=0.000269, y=0.000374, theta=-2.752714
[16:56:01.486] Odometry x=0.000269, y=0.000372, theta=-2.765220
[16:56:01.592] Odometry x=0.000269, y=0.000370, theta=-2.777869
[16:56:01.693] Odometry x=0.000270, y=0.000368, theta=-2.788378
[16:56:01.791] Odometry x=0.000270, y=0.000368, theta=-2.800770
[16:56:01.886] Odometry x=0.000270, y=0.000366, theta=-2.817256
[16:56:01.985] Odometry x=0.000271, y=0.000365, theta=-2.831320
[16:56:02.093] Odometry x=0.000272, y=0.000363, theta=-2.849205
[16:56:02.190] Odometry x=0.000273, y=0.000364, theta=-2.864641
[16:56:02.287] Odometry x=0.000276, y=0.000364, theta=-2.880231
[16:56:02.390] Odometry x=0.000277, y=0.000362, theta=-2.895271
[16:56:02.492] Odometry x=0.000276, y=0.000359, theta=-2.910902
[16:56:02.591] Odometry x=0.000280, y=0.000356, theta=-2.924176
[16:56:02.693] Odometry x=0.000278, y=0.000355, theta=-2.937882
[16:56:02.787] Odometry x=0.000280, y=0.000354, theta=-2.953226
[16:56:02.889] Odometry x=0.000277, y=0.000349, theta=-2.967799
[16:56:02.992] Odometry x=0.000277, y=0.000346, theta=-2.982379
[16:56:03.091] Odometry x=0.000276, y=0.000344, theta=-2.995213
[16:56:03.194] Odometry x=0.000275, y=0.000343, theta=-3.009291
[16:56:03.286] Odometry x=0.000274, y=0.000343, theta=-3.024566
[16:56:03.389] Odometry x=0.000275, y=0.000341, theta=-3.038711
[16:56:03.491] Odometry x=0.000272, y=0.000339, theta=-3.052319
[16:56:03.593] Odometry x=0.000271, y=0.000338, theta=-3.065466
[16:56:03.695] Odometry x=0.000270, y=0.000337, theta=-3.078874
[16:56:03.788] Odometry x=0.000272, y=0.000334, theta=-3.092363
[16:56:03.891] Odometry x=0.000269, y=0.000335, theta=-3.106243
[16:56:03.988] Odometry x=0.000269, y=0.000334, theta=-3.120336
[16:56:04.094] Odometry x=0.000270, y=0.000332, theta=-3.134867
[16:56:04.199] Odometry x=0.000270, y=0.000332, theta=3.132880
[16:56:04.288] Odometry x=0.000269, y=0.000331, theta=3.117569
[16:56:04.399] Odometry x=0.000269, y=0.000329, theta=3.103612
[16:56:04.491] Odometry x=0.000270, y=0.000326, theta=3.091106
[16:56:04.589] Odometry x=0.000271, y=0.000327, theta=3.073651
[16:56:04.687] Odometry x=0.000268, y=0.000323, theta=3.058868
[16:56:04.789] Odometry x=0.000265, y=0.000324, theta=3.042610
[16:56:04.892] Odometry x=0.000265, y=0.000323, theta=3.028995
[16:56:04.989] Odometry x=0.000261, y=0.000321, theta=3.014594
[16:56:05.092] Odometry x=0.000260, y=0.000320, theta=3.000010
[16:56:05.189] Odometry x=0.000259, y=0.000319, theta=2.983048
[16:56:05.292] Odometry x=0.000256, y=0.000321, theta=2.968136
[16:56:05.389] Odometry x=0.000253, y=0.000318, theta=2.954905
[16:56:05.491] Odometry x=0.000250, y=0.000319, theta=2.941394
[16:56:05.588] Odometry x=0.000248, y=0.000320, theta=2.922966
[16:56:05.691] Odometry x=0.000247, y=0.000320, theta=2.908258
[16:56:05.788] Odometry x=0.000245, y=0.000320, theta=2.894536
[16:56:05.891] Odometry x=0.000246, y=0.000318, theta=2.880925
[16:56:05.988] Odometry x=0.000246, y=0.000317, theta=2.866190
[16:56:06.091] Odometry x=0.000245, y=0.000315, theta=2.849562
[16:56:06.189] Odometry x=0.000243, y=0.000314, theta=2.835554
[16:56:06.292] Odometry x=0.000242, y=0.000312, theta=2.821857
[16:56:06.390] Odometry x=0.000240, y=0.000311, theta=2.806810
[16:56:07.018] need key frame pitch dis: 1.972542 translation dif:0.630753
[16:56:07.032] Choose frame as a key frame Scene Depth mean:-0.047723 ,depth min:-4.803723
[16:56:07.244] frame process finished the id is: 76 the obs is:20604 
[16:56:10.003] After Reprojection Map nPoint:45798 ,nCell:3046 ,nMatches:14 ,distance between ekf and vo x:-0.000235 ,z=-0.000137,angle between two frames:0.000014
[16:56:10.085] n deleted obs = 4858 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38966 	 error init =0.000848 	 error end=0.000848
[16:56:10.085] After pose optimization, distance between ekf and vo x:-0.000235 ,z=-0.000137,angle between two frames:0.000014
[16:56:10.085] Update EKF and 3D points the number of feature in the new frame: 38966 and number of obs: 38966
[16:56:29.349] need key frame pitch dis: 0.829004 translation dif:4.101427
[16:56:29.380] Choose frame as a key frame Scene Depth mean:0.134766 ,depth min:-20.659755
[16:56:29.389] frame process finished the id is: 77 the obs is:38966 
[16:56:33.798] After Reprojection Map nPoint:59137 ,nCell:24803 ,nMatches:7 ,distance between ekf and vo x:0.000008 ,z=-0.000016,angle between two frames:0.000000
[16:56:34.061] n deleted obs = 40 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =57689 	 error init =0.000006 	 error end=0.000006
[16:56:34.061] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000108,angle between two frames:0.000022
[16:56:34.061] Update EKF and 3D points the number of feature in the new frame: 57689 and number of obs: 57689
[16:56:52.526] need key frame pitch dis: 3.269412 translation dif:0.218190
[16:56:52.571] Choose frame as a key frame Scene Depth mean:0.659520 ,depth min:-17.692447
[16:56:52.584] frame process finished the id is: 78 the obs is:57689 
