[11:00:41.815] Init: frame zero: 0.000000, 0.000000 0.000000
[11:00:41.815] Init: Selected first frame. 
[11:00:41.917] Init: px average disparity is:0.189021 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:41.917] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:42.011] Init: px average disparity is:0.226319 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:42.011] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:42.112] Init: px average disparity is:0.239368 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:42.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:42.213] Init: px average disparity is:0.262005 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:42.213] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:42.313] Init: px average disparity is:0.234037 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:42.313] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:42.411] Init: px average disparity is:0.228880 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:42.411] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:42.517] Init: px average disparity is:0.239129 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:42.517] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:42.617] Init: px average disparity is:0.236235 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:42.617] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:42.710] Init: px average disparity is:0.262387 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:42.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:42.810] Init: px average disparity is:0.233398 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:42.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:42.911] Init: px average disparity is:0.237637 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:42.911] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:43.010] Init: px average disparity is:0.242423 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:43.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:43.112] Init: px average disparity is:0.231325 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:43.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:43.210] Init: px average disparity is:0.244046 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:43.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:43.310] Init: px average disparity is:0.223792 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:43.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:43.412] Init: px average disparity is:0.241348 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:43.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:43.512] Init: px average disparity is:0.261645 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:43.512] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:43.617] Init: px average disparity is:0.239367 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:43.617] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:43.717] Init: px average disparity is:0.227767 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:43.717] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:43.818] Init: px average disparity is:0.230022 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:43.818] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:43.917] Init: px average disparity is:0.256177 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:43.917] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:44.017] Init: px average disparity is:0.259031 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:44.017] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:44.118] Init: px average disparity is:0.234985 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:44.118] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:44.217] Init: px average disparity is:0.230246 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:44.217] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:44.317] Init: px average disparity is:0.257716 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:44.317] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:44.420] Init: px average disparity is:0.238368 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:44.420] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:44.518] Init: px average disparity is:0.218522 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:44.518] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:44.621] Init: px average disparity is:0.264158 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:44.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:44.719] Init: px average disparity is:0.221493 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:44.719] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:44.755] Odometry x=0.000110, y=0.000030, theta=0.054677
[11:00:44.819] Init: px average disparity is:0.233489 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:44.819] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:44.855] Odometry x=0.000114, y=0.000031, theta=0.057499
[11:00:44.920] Init: px average disparity is:0.209077 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:44.920] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:44.956] Odometry x=-0.000170, y=0.005086, theta=0.060844
[11:00:45.020] Init: px average disparity is:1.657877 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:45.020] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:45.057] Odometry x=-0.000516, y=0.011100, theta=0.063465
[11:00:45.121] Init: px average disparity is:5.894453 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:45.121] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:45.157] Odometry x=-0.000353, y=0.016653, theta=0.032491
[11:00:45.220] Init: px average disparity is:7.641684 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:45.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:45.257] Odometry x=-0.000522, y=0.022270, theta=0.033282
[11:00:45.320] Init: px average disparity is:4.938877 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:45.320] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:45.358] Odometry x=-0.000670, y=0.027824, theta=0.034200
[11:00:45.420] Init: px average disparity is:5.291002 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:45.420] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:45.458] Odometry x=-0.000826, y=0.033421, theta=0.037971
[11:00:45.520] Init: px average disparity is:4.261852 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:45.520] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:45.558] Odometry x=-0.001012, y=0.038917, theta=0.042409
[11:00:45.622] Init: px average disparity is:5.711665 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:45.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:45.659] Odometry x=-0.001243, y=0.044473, theta=0.033817
[11:00:45.721] Init: px average disparity is:4.534912 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:45.721] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:45.760] Odometry x=-0.001414, y=0.049995, theta=0.052358
[11:00:45.822] Init: px average disparity is:6.380539 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:45.822] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:45.860] Odometry x=-0.001686, y=0.055788, theta=0.055038
[11:00:45.922] Init: px average disparity is:7.852481 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:45.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:45.959] Odometry x=-0.001974, y=0.061247, theta=0.071089
[11:00:46.019] Init: px average disparity is:9.230810 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:46.019] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:46.060] Odometry x=-0.002358, y=0.066575, theta=0.069577
[11:00:46.122] Init: px average disparity is:12.547097 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:46.122] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:46.155] Odometry x=-0.001134, y=0.072068, theta=0.042243
[11:00:46.222] Init: px average disparity is:15.403352 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:46.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:46.261] Odometry x=-0.001287, y=0.077587, theta=0.049047
[11:00:46.322] Init: px average disparity is:13.661554 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:46.322] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:46.356] Odometry x=-0.001597, y=0.083108, theta=0.051623
[11:00:46.423] Init: px average disparity is:12.853010 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:46.423] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:46.456] Odometry x=-0.001846, y=0.088784, theta=0.049851
[11:00:46.523] Init: px average disparity is:11.247024 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:46.523] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:46.556] Odometry x=-0.002092, y=0.094334, theta=0.046088
[11:00:46.622] Init: px average disparity is:12.576255 ,While minimum is: 40.000000  KLT tracked : 138
[11:00:46.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:46.657] Odometry x=-0.002350, y=0.099985, theta=0.034640
[11:00:46.722] Init: px average disparity is:12.845121 ,While minimum is: 40.000000  KLT tracked : 137
[11:00:46.722] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:46.757] Odometry x=-0.002498, y=0.105667, theta=0.023831
[11:00:46.821] Init: px average disparity is:18.946960 ,While minimum is: 40.000000  KLT tracked : 137
[11:00:46.821] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:46.868] Odometry x=-0.002598, y=0.111659, theta=0.003609
[11:00:46.921] Init: px average disparity is:13.849020 ,While minimum is: 40.000000  KLT tracked : 137
[11:00:46.921] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:46.958] Odometry x=-0.002510, y=0.117746, theta=0.001457
[11:00:47.021] Init: px average disparity is:13.715514 ,While minimum is: 40.000000  KLT tracked : 137
[11:00:47.021] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:47.057] Odometry x=-0.002472, y=0.122959, theta=0.009787
[11:00:47.123] Init: px average disparity is:9.256243 ,While minimum is: 40.000000  KLT tracked : 137
[11:00:47.123] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:47.159] Odometry x=-0.002446, y=0.128488, theta=0.010786
[11:00:47.220] Init: px average disparity is:9.889799 ,While minimum is: 40.000000  KLT tracked : 137
[11:00:47.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:47.255] Odometry x=-0.002427, y=0.134005, theta=0.026390
[11:00:47.322] Init: px average disparity is:9.803692 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:47.322] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:47.359] Odometry x=-0.002488, y=0.139344, theta=0.032169
[11:00:47.420] Init: px average disparity is:10.761024 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:47.420] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:47.463] Odometry x=-0.002648, y=0.144902, theta=0.055121
[11:00:47.524] Init: px average disparity is:11.469574 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:47.524] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:47.564] Odometry x=-0.002798, y=0.150610, theta=0.063998
[11:00:47.621] Init: px average disparity is:9.532410 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:47.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:47.664] Odometry x=-0.003156, y=0.156163, theta=0.061140
[11:00:47.721] Init: px average disparity is:11.617722 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:47.721] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:47.762] Odometry x=-0.003474, y=0.161722, theta=0.067792
[11:00:47.821] Init: px average disparity is:13.975035 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:47.821] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:47.863] Odometry x=-0.001607, y=0.167281, theta=0.035804
[11:00:47.922] Init: px average disparity is:15.045519 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:47.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:47.963] Odometry x=-0.001744, y=0.172704, theta=0.044296
[11:00:48.023] Init: px average disparity is:16.040362 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:48.023] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:48.055] Odometry x=-0.001985, y=0.178239, theta=0.044426
[11:00:48.121] Init: px average disparity is:16.535108 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:48.122] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:48.154] Odometry x=-0.002203, y=0.183574, theta=0.053147
[11:00:48.223] Init: px average disparity is:16.941362 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:48.223] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:48.260] Odometry x=-0.002499, y=0.189094, theta=0.052482
[11:00:48.324] Init: px average disparity is:19.108076 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:48.324] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:48.360] Odometry x=-0.002768, y=0.194601, theta=0.062322
[11:00:48.423] Init: px average disparity is:21.657105 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:48.423] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:48.460] Odometry x=-0.003114, y=0.200255, theta=0.064568
[11:00:48.523] Init: px average disparity is:19.625751 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:48.523] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:48.560] Odometry x=-0.003442, y=0.205806, theta=0.046759
[11:00:48.624] Init: px average disparity is:18.851104 ,While minimum is: 40.000000  KLT tracked : 136
[11:00:48.624] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:48.659] Odometry x=-0.003708, y=0.211312, theta=0.055808
[11:00:48.723] Init: px average disparity is:18.613570 ,While minimum is: 40.000000  KLT tracked : 135
[11:00:48.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:48.758] Odometry x=-0.004090, y=0.216889, theta=0.038677
[11:00:48.815] Init: px average disparity is:19.034570 ,While minimum is: 40.000000  KLT tracked : 135
[11:00:48.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:48.856] Odometry x=-0.004246, y=0.222411, theta=0.035104
[11:00:48.924] Init: px average disparity is:21.781473 ,While minimum is: 40.000000  KLT tracked : 135
[11:00:48.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:48.961] Odometry x=-0.004547, y=0.228039, theta=0.025734
[11:00:49.025] Init: px average disparity is:21.318519 ,While minimum is: 40.000000  KLT tracked : 135
[11:00:49.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:49.062] Odometry x=-0.004661, y=0.233626, theta=0.018423
[11:00:49.125] Init: px average disparity is:22.124115 ,While minimum is: 40.000000  KLT tracked : 129
[11:00:49.125] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:49.161] Odometry x=-0.004778, y=0.239210, theta=0.025821
[11:00:49.213] Init: px average disparity is:22.537750 ,While minimum is: 40.000000  KLT tracked : 129
[11:00:49.213] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:49.259] Odometry x=-0.004875, y=0.244764, theta=0.031494
[11:00:49.325] Init: px average disparity is:20.996093 ,While minimum is: 40.000000  KLT tracked : 129
[11:00:49.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:49.358] Odometry x=-0.005044, y=0.250338, theta=0.053279
[11:00:49.425] Init: px average disparity is:21.907496 ,While minimum is: 40.000000  KLT tracked : 129
[11:00:49.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:49.457] Odometry x=-0.005279, y=0.255681, theta=0.065235
[11:00:49.525] Init: px average disparity is:21.622618 ,While minimum is: 40.000000  KLT tracked : 129
[11:00:49.525] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:49.557] Odometry x=-0.005682, y=0.261210, theta=0.068169
[11:00:49.625] Init: px average disparity is:23.295516 ,While minimum is: 40.000000  KLT tracked : 128
[11:00:49.625] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:49.657] Odometry x=-0.002523, y=0.266714, theta=0.031984
[11:00:49.725] Init: px average disparity is:21.658694 ,While minimum is: 40.000000  KLT tracked : 128
[11:00:49.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:49.761] Odometry x=-0.002716, y=0.272387, theta=0.032130
[11:00:49.825] Init: px average disparity is:22.852721 ,While minimum is: 40.000000  KLT tracked : 128
[11:00:49.825] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:49.862] Odometry x=-0.002873, y=0.278053, theta=0.039113
[11:00:49.924] Init: px average disparity is:21.617063 ,While minimum is: 40.000000  KLT tracked : 128
[11:00:49.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:49.960] Odometry x=-0.003110, y=0.283756, theta=0.036692
[11:00:50.027] Init: px average disparity is:23.650167 ,While minimum is: 40.000000  KLT tracked : 128
[11:00:50.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:50.057] Odometry x=-0.003273, y=0.289289, theta=0.053044
[11:00:50.114] Init: px average disparity is:21.942198 ,While minimum is: 40.000000  KLT tracked : 128
[11:00:50.114] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:50.155] Odometry x=-0.003664, y=0.294661, theta=0.034965
[11:00:50.216] Init: px average disparity is:23.336778 ,While minimum is: 40.000000  KLT tracked : 128
[11:00:50.216] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:50.257] Odometry x=-0.003759, y=0.300084, theta=0.052001
[11:00:50.325] Init: px average disparity is:21.919299 ,While minimum is: 40.000000  KLT tracked : 128
[11:00:50.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:50.359] Odometry x=-0.004176, y=0.305837, theta=0.032980
[11:00:50.424] Init: px average disparity is:23.677905 ,While minimum is: 40.000000  KLT tracked : 125
[11:00:50.425] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:50.460] Odometry x=-0.004449, y=0.311858, theta=0.018852
[11:00:50.524] Init: px average disparity is:24.118021 ,While minimum is: 40.000000  KLT tracked : 125
[11:00:50.524] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:50.561] Odometry x=-0.004500, y=0.317598, theta=0.021968
[11:00:50.624] Init: px average disparity is:26.440350 ,While minimum is: 40.000000  KLT tracked : 125
[11:00:50.624] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:50.658] Odometry x=-0.004879, y=0.323070, theta=0.006659
[11:00:50.727] Init: px average disparity is:28.132271 ,While minimum is: 40.000000  KLT tracked : 125
[11:00:50.728] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:50.764] Odometry x=-0.004849, y=0.328495, theta=0.000999
[11:00:50.825] Init: px average disparity is:27.921493 ,While minimum is: 40.000000  KLT tracked : 125
[11:00:50.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:50.860] Odometry x=-0.004934, y=0.334120, theta=0.017871
[11:00:50.924] Init: px average disparity is:27.307170 ,While minimum is: 40.000000  KLT tracked : 125
[11:00:50.925] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:50.960] Odometry x=-0.004951, y=0.339815, theta=0.018980
[11:00:51.028] Init: px average disparity is:26.441648 ,While minimum is: 40.000000  KLT tracked : 125
[11:00:51.028] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:51.059] Odometry x=-0.005065, y=0.345151, theta=0.047352
[11:00:51.126] Init: px average disparity is:25.863517 ,While minimum is: 40.000000  KLT tracked : 125
[11:00:51.126] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:51.159] Odometry x=-0.005317, y=0.350865, theta=0.052839
[11:00:51.228] Init: px average disparity is:25.405952 ,While minimum is: 40.000000  KLT tracked : 125
[11:00:51.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:51.264] Odometry x=-0.005615, y=0.356427, theta=0.074656
[11:00:51.329] Init: px average disparity is:26.042722 ,While minimum is: 40.000000  KLT tracked : 125
[11:00:51.329] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:51.360] Odometry x=-0.002511, y=0.361862, theta=0.034620
[11:00:51.425] Init: px average disparity is:25.949775 ,While minimum is: 40.000000  KLT tracked : 125
[11:00:51.425] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:51.460] Odometry x=-0.002734, y=0.367338, theta=0.030001
[11:00:51.528] Init: px average disparity is:26.922595 ,While minimum is: 40.000000  KLT tracked : 125
[11:00:51.528] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:51.562] Odometry x=-0.002887, y=0.372848, theta=0.033950
[11:00:51.626] Init: px average disparity is:26.363942 ,While minimum is: 40.000000  KLT tracked : 125
[11:00:51.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:51.663] Odometry x=-0.003123, y=0.378607, theta=0.030688
[11:00:51.727] Init: px average disparity is:26.350570 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:51.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:51.758] Odometry x=-0.003277, y=0.384131, theta=0.027416
[11:00:51.824] Init: px average disparity is:26.471329 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:51.825] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:51.863] Odometry x=-0.003547, y=0.389693, theta=0.023953
[11:00:51.925] Init: px average disparity is:26.929668 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:51.925] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:51.963] Odometry x=-0.003671, y=0.395428, theta=0.019666
[11:00:52.026] Init: px average disparity is:29.026461 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:52.026] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:52.064] Odometry x=-0.003910, y=0.400960, theta=0.021047
[11:00:52.125] Init: px average disparity is:28.143281 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:52.125] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:52.161] Odometry x=-0.004032, y=0.406538, theta=0.024595
[11:00:52.226] Init: px average disparity is:30.996289 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:52.226] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:52.263] Odometry x=-0.004157, y=0.412041, theta=0.007077
[11:00:52.325] Init: px average disparity is:30.208277 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:52.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:52.363] Odometry x=-0.004253, y=0.417729, theta=0.002520
[11:00:52.425] Init: px average disparity is:33.985446 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:52.425] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:52.458] Odometry x=-0.004208, y=0.423172, theta=0.001992
[11:00:52.526] Init: px average disparity is:30.965337 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:52.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:52.558] Odometry x=-0.004433, y=0.428618, theta=0.013661
[11:00:52.625] Init: px average disparity is:33.544270 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:52.625] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:52.659] Odometry x=-0.004444, y=0.434099, theta=0.005963
[11:00:52.727] Init: px average disparity is:32.559544 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:52.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:52.760] Odometry x=-0.004666, y=0.439994, theta=0.028291
[11:00:52.825] Init: px average disparity is:32.134094 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:52.825] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:52.861] Odometry x=-0.004749, y=0.445372, theta=0.024991
[11:00:52.927] Init: px average disparity is:30.703967 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:52.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:52.958] Odometry x=-0.004920, y=0.450919, theta=0.048461
[11:00:53.025] Init: px average disparity is:30.734284 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:53.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:53.058] Odometry x=-0.005143, y=0.456276, theta=0.059979
[11:00:53.125] Init: px average disparity is:30.257921 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:53.125] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:53.158] Odometry x=-0.005527, y=0.461642, theta=0.073438
[11:00:53.225] Init: px average disparity is:30.793904 ,While minimum is: 40.000000  KLT tracked : 123
[11:00:53.225] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:53.259] Odometry x=-0.002452, y=0.467324, theta=0.035926
[11:00:53.327] Init: px average disparity is:30.882009 ,While minimum is: 40.000000  KLT tracked : 117
[11:00:53.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:53.359] Odometry x=-0.002720, y=0.473017, theta=0.032938
[11:00:53.427] Init: px average disparity is:30.155297 ,While minimum is: 40.000000  KLT tracked : 117
[11:00:53.427] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:53.460] Odometry x=-0.002853, y=0.478585, theta=0.046627
[11:00:53.528] Init: px average disparity is:31.306083 ,While minimum is: 40.000000  KLT tracked : 115
[11:00:53.528] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:53.559] Odometry x=-0.003235, y=0.484041, theta=0.041520
[11:00:53.627] Init: px average disparity is:30.944595 ,While minimum is: 40.000000  KLT tracked : 115
[11:00:53.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:53.659] Odometry x=-0.003431, y=0.489598, theta=0.047550
[11:00:53.727] Init: px average disparity is:32.033161 ,While minimum is: 40.000000  KLT tracked : 115
[11:00:53.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:53.761] Odometry x=-0.003778, y=0.495104, theta=0.040291
[11:00:53.827] Init: px average disparity is:34.538447 ,While minimum is: 40.000000  KLT tracked : 114
[11:00:53.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:53.861] Odometry x=-0.003918, y=0.500612, theta=0.032183
[11:00:53.927] Init: px average disparity is:35.050096 ,While minimum is: 40.000000  KLT tracked : 114
[11:00:53.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:53.961] Odometry x=-0.004079, y=0.506271, theta=0.033897
[11:00:54.027] Init: px average disparity is:37.943538 ,While minimum is: 40.000000  KLT tracked : 113
[11:00:54.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:54.061] Odometry x=-0.004253, y=0.512096, theta=0.008836
[11:00:54.126] Init: px average disparity is:37.897043 ,While minimum is: 40.000000  KLT tracked : 113
[11:00:54.126] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:54.161] Odometry x=-0.004505, y=0.517313, theta=0.022908
[11:00:54.227] Init: px average disparity is:39.432213 ,While minimum is: 40.000000  KLT tracked : 113
[11:00:54.227] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:54.261] Odometry x=-0.004606, y=0.522826, theta=0.018852
[11:00:54.326] Init: px average disparity is:36.895047 ,While minimum is: 40.000000  KLT tracked : 113
[11:00:54.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:54.361] Odometry x=-0.004797, y=0.528346, theta=0.041740
[11:00:54.427] Init: px average disparity is:38.778878 ,While minimum is: 40.000000  KLT tracked : 113
[11:00:54.427] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:54.460] Odometry x=-0.004976, y=0.533856, theta=0.038337
[11:00:54.527] Init: px average disparity is:34.839421 ,While minimum is: 40.000000  KLT tracked : 112
[11:00:54.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:54.560] Odometry x=-0.005249, y=0.539387, theta=0.060367
[11:00:54.627] Init: px average disparity is:35.739706 ,While minimum is: 40.000000  KLT tracked : 112
[11:00:54.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:54.659] Odometry x=-0.002316, y=0.544867, theta=0.035001
[11:00:54.727] Init: px average disparity is:34.684776 ,While minimum is: 40.000000  KLT tracked : 112
[11:00:54.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:54.763] Odometry x=-0.002631, y=0.550506, theta=0.026744
[11:00:54.827] Init: px average disparity is:37.345118 ,While minimum is: 40.000000  KLT tracked : 111
[11:00:54.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:54.863] Odometry x=-0.002732, y=0.556108, theta=0.044144
[11:00:54.927] Init: px average disparity is:36.516405 ,While minimum is: 40.000000  KLT tracked : 111
[11:00:54.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:54.956] Odometry x=-0.002985, y=0.561702, theta=0.027220
[11:00:55.028] Init: px average disparity is:38.348014 ,While minimum is: 40.000000  KLT tracked : 111
[11:00:55.028] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:55.055] Odometry x=-0.003106, y=0.566924, theta=0.038720
[11:00:55.128] Init: px average disparity is:37.618456 ,While minimum is: 40.000000  KLT tracked : 111
[11:00:55.128] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:55.155] Odometry x=-0.003276, y=0.572474, theta=0.033065
[11:00:55.228] Init: px average disparity is:39.542794 ,While minimum is: 40.000000  KLT tracked : 111
[11:00:55.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:55.260] Odometry x=-0.003453, y=0.577968, theta=0.039785
[11:00:55.328] Init: px average disparity is:38.392091 ,While minimum is: 40.000000  KLT tracked : 111
[11:00:55.328] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:55.361] Odometry x=-0.003638, y=0.583857, theta=0.044704
[11:00:55.427] Init: px average disparity is:37.143448 ,While minimum is: 40.000000  KLT tracked : 111
[11:00:55.427] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:55.462] Odometry x=-0.003888, y=0.589076, theta=0.039959
[11:00:55.526] Init: px average disparity is:38.525293 ,While minimum is: 40.000000  KLT tracked : 111
[11:00:55.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:55.560] Odometry x=-0.004046, y=0.594413, theta=0.032571
[11:00:55.626] Init: px average disparity is:38.052283 ,While minimum is: 40.000000  KLT tracked : 111
[11:00:55.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:55.658] Odometry x=-0.004469, y=0.600200, theta=0.029317
[11:00:55.757] Odometry x=-0.004620, y=0.605655, theta=0.010777
[11:00:55.791] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required.  px average disparity is:41.422063 ,While minimum is: 40.000000  KLT tracked: 111
[11:00:55.791] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:55.855] Odometry x=-0.004747, y=0.611102, theta=0.017284
[11:00:55.879] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required.  px average disparity is:41.463055 ,While minimum is: 40.000000  KLT tracked: 111
[11:00:55.879] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:55.959] Odometry x=-0.004861, y=0.616655, theta=0.016642
[11:00:55.979] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required.  px average disparity is:43.441515 ,While minimum is: 40.000000  KLT tracked: 111
[11:00:55.979] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:56.057] Odometry x=-0.004928, y=0.622305, theta=0.033105
[11:00:56.080] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:44.974138 ,While minimum is: 40.000000  KLT tracked: 111
[11:00:56.080] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:56.160] Odometry x=-0.005096, y=0.627878, theta=0.029168
[11:00:56.182] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:45.359074 ,While minimum is: 40.000000  KLT tracked: 111
[11:00:56.182] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:56.259] Odometry x=-0.005253, y=0.633404, theta=0.034477
[11:00:56.279] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required.  px average disparity is:44.494661 ,While minimum is: 40.000000  KLT tracked: 111
[11:00:56.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:56.362] Odometry x=-0.005419, y=0.638979, theta=0.047807
[11:00:56.379] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:43.209866 ,While minimum is: 40.000000  KLT tracked: 111
[11:00:56.379] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:56.455] Odometry x=-0.005753, y=0.644498, theta=0.056749
[11:00:56.479] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:42.733702 ,While minimum is: 40.000000  KLT tracked: 111
[11:00:56.479] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:56.559] Odometry x=-0.006029, y=0.649772, theta=0.079803
[11:00:56.579] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required.  px average disparity is:41.631212 ,While minimum is: 40.000000  KLT tracked: 111
[11:00:56.579] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:56.656] Odometry x=-0.006498, y=0.655526, theta=0.076187
[11:00:56.689] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required.  px average disparity is:41.603089 ,While minimum is: 40.000000  KLT tracked: 111
[11:00:56.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[11:00:56.760] Odometry x=-0.006864, y=0.660779, theta=0.099394
[11:00:56.779] Init finished: Homography RANSAC (inlier) is:20 ,While 20 inliers minimum required.  px average disparity is:41.250735 ,While minimum is: 40.000000  KLT tracked: 111
[11:00:56.780] Init: distance between the first and current frame is x:-0.007417 ,z=0.666284,angle between two frames: 0.099110 
[11:00:56.782] Init: Selected Second frame. 	 The number of features: 20 depth mean:-2.407255 min:-4.082716
[11:00:56.857] Odometry x=-0.007410, y=0.666288, theta=0.090300
[11:00:56.954] After Reprojection Map nPoint:13 ,nCell:13 ,nMatches:0 ,distance between two frames x:-0.000075 ,z=0.000061,angle between two frames:0.002322
[11:00:56.954] After pose optimization, distance between two frames x:-0.000075 ,z=0.000061,angle between two frames:0.002322
[11:00:56.960] Odometry x=-0.007920, y=0.671879, theta=0.093477
[11:00:56.961] Image Alignment failed 0
[11:00:57.036] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.000520
[11:00:57.041] Image Alignment failed 0
[11:00:57.057] Odometry x=-0.008425, y=0.677386, theta=0.097830
[11:00:57.113] 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
[11:00:57.117] Image Alignment failed 0
[11:00:57.159] Odometry x=-0.008990, y=0.682909, theta=0.091914
[11:00:57.189] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=0.000005,angle between two frames:0.000180
[11:00:57.210] Image Alignment failed 0
[11:00:57.257] Odometry x=-0.009490, y=0.688389, theta=0.095874
[11:00:57.281] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000551
[11:00:57.308] Image Alignment failed 0
[11:00:57.358] Odometry x=-0.010030, y=0.693901, theta=0.084027
[11:00:57.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=0.000003,angle between two frames:0.002901
[11:00:57.408] Image Alignment failed 0
[11:00:57.456] Odometry x=-0.010490, y=0.699436, theta=0.087508
[11:00:57.480] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.000829
[11:00:57.508] Image Alignment failed 0
[11:00:57.556] Odometry x=-0.010995, y=0.704816, theta=0.079536
[11:00:57.580] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000036 ,z=0.000091,angle between two frames:0.001949
[11:00:57.608] Image Alignment failed 0
[11:00:57.664] Odometry x=-0.011424, y=0.710224, theta=0.075500
[11:00:57.679] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.001299
[11:00:57.708] Image Alignment failed 0
[11:00:57.754] Odometry x=-0.011880, y=0.716035, theta=0.072006
[11:00:57.780] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=0.000016,angle between two frames:0.002808
[11:00:57.808] Image Alignment failed 0
[11:00:57.862] Odometry x=-0.012253, y=0.721260, theta=0.070732
[11:00:57.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.000131
[11:00:57.908] Image Alignment failed 0
[11:00:57.971] Odometry x=-0.012668, y=0.727075, theta=0.066269
[11:00:57.980] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000008,angle between two frames:0.002395
[11:00:58.009] Image Alignment failed 0
[11:00:58.056] Odometry x=-0.013060, y=0.733118, theta=0.071748
[11:00:58.080] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000001,angle between two frames:0.001258
[11:00:58.108] Image Alignment failed 0
[11:00:58.169] Odometry x=-0.013399, y=0.737848, theta=0.078321
[11:00:58.180] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000007,angle between two frames:0.001121
[11:00:58.209] Image Alignment failed 0
[11:00:58.263] Odometry x=-0.013856, y=0.743752, theta=0.086046
[11:00:58.297] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.001806
[11:00:58.308] Image Alignment failed 0
[11:00:58.361] Odometry x=-0.014328, y=0.749168, theta=0.085910
[11:00:58.392] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000106
[11:00:58.408] Image Alignment failed 0
[11:00:58.459] Odometry x=-0.014767, y=0.754327, theta=0.096835
[11:00:58.482] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000717
[11:00:58.512] Image Alignment failed 0
[11:00:58.558] Odometry x=-0.015290, y=0.759877, theta=0.117922
[11:00:58.586] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.004026
[11:00:58.608] Image Alignment failed 0
[11:00:58.655] Odometry x=-0.015946, y=0.765515, theta=0.128761
[11:00:58.682] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000003,angle between two frames:0.002054
[11:00:58.707] Image Alignment failed 0
[11:00:58.759] Odometry x=-0.016595, y=0.770604, theta=0.142125
[11:00:58.779] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.003241
[11:00:58.808] Image Alignment failed 0
[11:00:58.859] Odometry x=-0.017440, y=0.776524, theta=0.141034
[11:00:58.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000020,angle between two frames:0.000511
[11:00:58.908] Image Alignment failed 0
[11:00:58.960] Odometry x=-0.018193, y=0.781862, theta=0.150429
[11:00:58.980] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.002543
[11:00:59.008] Image Alignment failed 0
[11:00:59.060] Odometry x=-0.018955, y=0.786987, theta=0.154904
[11:00:59.079] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.000517
[11:00:59.108] Image Alignment failed 0
[11:00:59.158] Odometry x=-0.019881, y=0.792848, theta=0.144479
[11:00:59.180] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.002926
[11:00:59.208] Image Alignment failed 0
[11:00:59.262] Odometry x=-0.020653, y=0.798150, theta=0.137832
[11:00:59.280] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.001476
[11:00:59.308] Image Alignment failed 0
[11:00:59.361] Odometry x=-0.021434, y=0.803804, theta=0.137928
[11:00:59.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.001404
[11:00:59.408] Image Alignment failed 0
[11:00:59.459] Odometry x=-0.022182, y=0.809169, theta=0.132759
[11:00:59.481] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000009,angle between two frames:0.001808
[11:00:59.508] Image Alignment failed 0
[11:00:59.557] Odometry x=-0.022913, y=0.814620, theta=0.123098
[11:00:59.579] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.002179
[11:00:59.608] Image Alignment failed 0
[11:00:59.657] Odometry x=-0.023595, y=0.820102, theta=0.115040
[11:00:59.679] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.001573
[11:00:59.709] Image Alignment failed 0
[11:00:59.757] Odometry x=-0.024208, y=0.825478, theta=0.113542
[11:00:59.780] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.000055
[11:00:59.808] Image Alignment failed 0
[11:00:59.858] Odometry x=-0.024849, y=0.831134, theta=0.116856
[11:00:59.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.001120
[11:00:59.913] Image Alignment failed 0
[11:00:59.957] Odometry x=-0.025475, y=0.836553, theta=0.132109
[11:00:59.990] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.004343
[11:01:00.008] Image Alignment failed 0
[11:01:00.058] Odometry x=-0.026188, y=0.841977, theta=0.143327
[11:01:00.081] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.001830
[11:01:00.108] Image Alignment failed 0
[11:01:00.161] Odometry x=-0.026953, y=0.847352, theta=0.164545
[11:01:00.180] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.005411
[11:01:00.208] Image Alignment failed 0
[11:01:00.259] Odometry x=-0.027885, y=0.853040, theta=0.178530
[11:01:00.280] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.003347
[11:01:00.308] Image Alignment failed 0
[11:01:00.356] Odometry x=-0.028831, y=0.858318, theta=0.189713
[11:01:00.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.003439
[11:01:00.408] Image Alignment failed 0
[11:01:00.459] Odometry x=-0.029841, y=0.863594, theta=0.191731
[11:01:00.481] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000003,angle between two frames:0.000504
[11:01:00.509] Image Alignment failed 0
[11:01:00.563] Odometry x=-0.030921, y=0.869133, theta=0.187556
[11:01:00.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.002598
[11:01:00.608] Image Alignment failed 0
[11:01:00.657] Odometry x=-0.031965, y=0.874681, theta=0.192830
[11:01:00.680] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000003,angle between two frames:0.002171
[11:01:00.709] Image Alignment failed 0
[11:01:00.759] Odometry x=-0.032994, y=0.879956, theta=0.189629
[11:01:00.782] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.001208
[11:01:00.811] Image Alignment failed 0
[11:01:00.858] Odometry x=-0.033958, y=0.884977, theta=0.188288
[11:01:00.884] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000004,angle between two frames:0.000303
[11:01:00.909] Image Alignment failed 0
[11:01:00.953] Odometry x=-0.035071, y=0.890810, theta=0.184616
[11:01:00.979] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.001561
[11:01:01.010] Image Alignment failed 0
[11:01:01.058] Odometry x=-0.036065, y=0.896122, theta=0.181273
[11:01:01.081] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.000383
[11:01:01.108] Image Alignment failed 0
[11:01:01.162] Odometry x=-0.037096, y=0.901728, theta=0.180648
[11:01:01.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000006,angle between two frames:0.000467
[11:01:01.210] Image Alignment failed 0
[11:01:01.257] Odometry x=-0.038110, y=0.907265, theta=0.177589
[11:01:01.285] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000006,angle between two frames:0.000980
[11:01:01.308] Image Alignment failed 0
[11:01:01.353] Odometry x=-0.039043, y=0.912460, theta=0.176048
[11:01:01.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000421
[11:01:01.412] Image Alignment failed 0
[11:01:01.459] Odometry x=-0.039942, y=0.917499, theta=0.171797
[11:01:01.489] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000005,angle between two frames:0.002797
[11:01:01.508] Image Alignment failed 0
[11:01:01.557] Odometry x=-0.040974, y=0.923436, theta=0.168249
[11:01:01.580] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000355
[11:01:01.608] Image Alignment failed 0
[11:01:01.654] Odometry x=-0.041865, y=0.928663, theta=0.164644
[11:01:01.680] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.001029
[11:01:01.709] Image Alignment failed 0
[11:01:01.757] Odometry x=-0.042770, y=0.934154, theta=0.170257
[11:01:01.780] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.000597
[11:01:01.809] Image Alignment failed 0
[11:01:01.860] Odometry x=-0.043720, y=0.939705, theta=0.173597
[11:01:01.881] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.001299
[11:01:01.909] Image Alignment failed 0
[11:01:01.958] Odometry x=-0.044673, y=0.945123, theta=0.176398
[11:01:01.981] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.001820
[11:01:02.009] Image Alignment failed 0
[11:01:02.061] Odometry x=-0.045630, y=0.950564, theta=0.194775
[11:01:02.081] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.004852
[11:01:02.109] Image Alignment failed 0
[11:01:02.159] Odometry x=-0.046684, y=0.955968, theta=0.211156
[11:01:02.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.003797
[11:01:02.213] Image Alignment failed 0
[11:01:02.257] Odometry x=-0.047832, y=0.961352, theta=0.224539
[11:01:02.289] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.004372
[11:01:02.309] Image Alignment failed 0
[11:01:02.357] Odometry x=-0.049046, y=0.966729, theta=0.237514
[11:01:02.381] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.001498
[11:01:02.408] Image Alignment failed 0
[11:01:02.455] Odometry x=-0.050341, y=0.972088, theta=0.237846
[11:01:02.480] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=0.000003,angle between two frames:0.000434
[11:01:02.509] Image Alignment failed 0
[11:01:02.558] Odometry x=-0.051583, y=0.977241, theta=0.239405
[11:01:02.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000006,angle between two frames:0.000450
[11:01:02.609] Image Alignment failed 0
[11:01:02.656] Odometry x=-0.052909, y=0.982657, theta=0.238123
[11:01:02.680] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.000948
[11:01:02.709] Image Alignment failed 0
[11:01:02.756] Odometry x=-0.054213, y=0.988040, theta=0.235902
[11:01:02.781] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=0.000015,angle between two frames:0.000635
[11:01:02.809] Image Alignment failed 0
[11:01:02.859] Odometry x=-0.055515, y=0.993431, theta=0.229040
[11:01:02.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000004,angle between two frames:0.001546
[11:01:02.909] Image Alignment failed 0
[11:01:02.957] Odometry x=-0.056771, y=0.998829, theta=0.227841
[11:01:02.982] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000011,angle between two frames:0.000518
[11:01:03.009] Image Alignment failed 0
[11:01:03.054] Odometry x=-0.058022, y=1.004219, theta=0.226930
[11:01:03.080] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.000400
[11:01:03.109] Image Alignment failed 0
[11:01:03.157] Odometry x=-0.059229, y=1.009481, theta=0.224143
[11:01:03.180] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000035,angle between two frames:0.000410
[11:01:03.209] Image Alignment failed 0
[11:01:03.256] Odometry x=-0.060490, y=1.015010, theta=0.218557
[11:01:03.280] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000009,angle between two frames:0.001371
[11:01:03.309] Image Alignment failed 0
[11:01:03.359] Odometry x=-0.061687, y=1.020387, theta=0.212466
[11:01:03.381] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.002512
[11:01:03.409] Image Alignment failed 0
[11:01:03.455] Odometry x=-0.062848, y=1.025780, theta=0.211094
[11:01:03.481] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000006,angle between two frames:0.000978
[11:01:03.508] Image Alignment failed 0
[11:01:03.553] Odometry x=-0.063957, y=1.030991, theta=0.220318
[11:01:03.580] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.002375
[11:01:03.610] Image Alignment failed 0
[11:01:03.656] Odometry x=-0.065172, y=1.036470, theta=0.232561
[11:01:03.682] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000004,angle between two frames:0.001864
[11:01:03.713] Image Alignment failed 0
[11:01:03.759] Odometry x=-0.066438, y=1.041842, theta=0.240923
[11:01:03.786] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000007,angle between two frames:0.001681
[11:01:03.811] Image Alignment failed 0
[11:01:03.857] Odometry x=-0.067794, y=1.047427, theta=0.255651
[11:01:03.884] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.003573
[11:01:03.908] Image Alignment failed 0
[11:01:03.956] Odometry x=-0.069147, y=1.052696, theta=0.255676
[11:01:03.980] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=0.000002,angle between two frames:0.000050
[11:01:04.009] Image Alignment failed 0
[11:01:04.062] Odometry x=-0.070501, y=1.057907, theta=0.270582
[11:01:04.080] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000001,angle between two frames:0.003730
[11:01:04.108] Image Alignment failed 0
[11:01:04.157] Odometry x=-0.071995, y=1.063326, theta=0.280688
[11:01:04.179] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.003453
[11:01:04.208] Image Alignment failed 0
[11:01:04.261] Odometry x=-0.073478, y=1.068512, theta=0.300564
[11:01:04.280] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000006,angle between two frames:0.005384
[11:01:04.308] Image Alignment failed 0
[11:01:04.356] Odometry x=-0.075121, y=1.073838, theta=0.308606
[11:01:04.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000006,angle between two frames:0.001876
[11:01:04.408] Image Alignment failed 0
[11:01:04.460] Odometry x=-0.076811, y=1.079152, theta=0.319088
[11:01:04.480] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.002584
[11:01:04.508] Image Alignment failed 0
[11:01:04.553] Odometry x=-0.078542, y=1.084467, theta=0.329285
[11:01:04.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=0.000011,angle between two frames:0.003600
[11:01:04.610] Image Alignment failed 0
[11:01:04.655] Odometry x=-0.080251, y=1.089472, theta=0.328627
[11:01:04.681] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.000730
[11:01:04.708] Image Alignment failed 0
[11:01:04.756] Odometry x=-0.082058, y=1.094768, theta=0.322646
[11:01:04.780] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000005,angle between two frames:0.001301
[11:01:04.811] Image Alignment failed 0
[11:01:04.861] Odometry x=-0.083849, y=1.100126, theta=0.320914
[11:01:04.883] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.001323
[11:01:04.909] Image Alignment failed 0
[11:01:04.959] Odometry x=-0.085616, y=1.105440, theta=0.307023
[11:01:04.980] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000003,angle between two frames:0.002103
[11:01:05.008] Image Alignment failed 0
[11:01:05.063] Odometry x=-0.087319, y=1.110770, theta=0.290707
[11:01:05.080] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000006,angle between two frames:0.003777
[11:01:05.109] Image Alignment failed 0
[11:01:05.157] Odometry x=-0.088915, y=1.116091, theta=0.280225
[11:01:05.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000007,angle between two frames:0.003049
[11:01:05.209] Image Alignment failed 0
[11:01:05.255] Odometry x=-0.090384, y=1.121194, theta=0.277274
[11:01:05.280] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000004,angle between two frames:0.000726
[11:01:05.309] Image Alignment failed 0
[11:01:05.358] Odometry x=-0.091897, y=1.126492, theta=0.275459
[11:01:05.381] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000133
[11:01:05.409] Image Alignment failed 0
[11:01:05.457] Odometry x=-0.093386, y=1.131784, theta=0.273119
[11:01:05.481] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.000374
[11:01:05.509] Image Alignment failed 0
[11:01:05.557] Odometry x=-0.094878, y=1.137091, theta=0.263990
[11:01:05.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.003077
[11:01:05.609] Image Alignment failed 0
[11:01:05.655] Odometry x=-0.096308, y=1.142407, theta=0.270237
[11:01:05.681] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.001565
[11:01:05.709] Image Alignment failed 0
[11:01:05.758] Odometry x=-0.097774, y=1.147709, theta=0.274432
[11:01:05.780] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.002155
[11:01:05.809] Image Alignment failed 0
[11:01:05.857] Odometry x=-0.099263, y=1.153026, theta=0.274816
[11:01:05.881] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.000113
[11:01:05.908] Image Alignment failed 0
[11:01:05.960] Odometry x=-0.100762, y=1.158329, theta=0.272532
[11:01:05.979] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.001142
[11:01:06.008] Image Alignment failed 0
[11:01:06.060] Odometry x=-0.102320, y=1.163949, theta=0.283196
[11:01:06.079] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=0.000010,angle between two frames:0.002571
[11:01:06.108] Image Alignment failed 0
[11:01:06.154] Odometry x=-0.103783, y=1.169025, theta=0.294214
[11:01:06.180] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000006,angle between two frames:0.003258
[11:01:06.208] Image Alignment failed 0
[11:01:06.257] Odometry x=-0.105315, y=1.174081, theta=0.297707
[11:01:06.280] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=0.000018,angle between two frames:0.000561
[11:01:06.310] Image Alignment failed 0
[11:01:06.358] Odometry x=-0.106911, y=1.179336, theta=0.310383
[11:01:06.382] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000008,angle between two frames:0.002699
[11:01:06.414] Image Alignment failed 0
[11:01:06.461] Odometry x=-0.108643, y=1.184776, theta=0.324593
[11:01:06.487] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000006,angle between two frames:0.005503
[11:01:06.509] Image Alignment failed 0
[11:01:06.560] Odometry x=-0.110431, y=1.190096, theta=0.328552
[11:01:06.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.001053
[11:01:06.608] Image Alignment failed 0
[11:01:06.657] Odometry x=-0.112251, y=1.195432, theta=0.319851
[11:01:06.680] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.002511
[11:01:06.713] Image Alignment failed 0
[11:01:06.762] Odometry x=-0.113928, y=1.200478, theta=0.312724
[11:01:06.790] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.002612
[11:01:06.808] Image Alignment failed 0
[11:01:06.855] Odometry x=-0.115720, y=1.206029, theta=0.312092
[11:01:06.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.000215
[11:01:06.908] Image Alignment failed 0
[11:01:06.959] Odometry x=-0.117275, y=1.210833, theta=0.303187
[11:01:06.980] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.001621
[11:01:07.009] Image Alignment failed 0
[11:01:07.058] Odometry x=-0.118966, y=1.216239, theta=0.296693
[11:01:07.080] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.002602
[11:01:07.108] Image Alignment failed 0
[11:01:07.157] Odometry x=-0.120587, y=1.221536, theta=0.295463
[11:01:07.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.000235
[11:01:07.213] Image Alignment failed 0
[11:01:07.260] Odometry x=-0.122189, y=1.226833, theta=0.315115
[11:01:07.284] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=0.000012,angle between two frames:0.005886
[11:01:07.308] Image Alignment failed 0
[11:01:07.359] Odometry x=-0.123883, y=1.232061, theta=0.324574
[11:01:07.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.002312
[11:01:07.408] Image Alignment failed 0
[11:01:07.457] Odometry x=-0.125660, y=1.237358, theta=0.330096
[11:01:07.483] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.001356
[11:01:07.508] Image Alignment failed 0
[11:01:07.558] Odometry x=-0.127438, y=1.242569, theta=0.341886
[11:01:07.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.003737
[11:01:07.609] Image Alignment failed 0
[11:01:07.680] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000005,angle between two frames:0.002641
[11:01:07.708] Image Alignment failed 0
[11:01:07.780] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.003958
[11:01:07.808] Image Alignment failed 0
[11:01:07.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000001,angle between two frames:0.003476
[11:01:07.908] Image Alignment failed 0
[11:01:07.981] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000006,angle between two frames:0.005136
[11:01:08.008] Image Alignment failed 0
[11:01:08.081] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000005,angle between two frames:0.002886
[11:01:08.109] Image Alignment failed 0
[11:01:08.187] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.000903
[11:01:08.210] Image Alignment failed 0
[11:01:08.282] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.001157
[11:01:08.309] Image Alignment failed 0
[11:01:08.382] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000014 ,z=0.000005,angle between two frames:0.004040
[11:01:08.408] Image Alignment failed 0
[11:01:08.480] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=0.000004,angle between two frames:0.000473
[11:01:08.507] Image Alignment failed 0
[11:01:08.579] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000921
[11:01:08.609] Image Alignment failed 0
[11:01:08.682] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000820
[11:01:08.709] Image Alignment failed 0
[11:01:08.782] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000931
[11:01:08.809] Image Alignment failed 0
[11:01:08.882] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000770
[11:01:08.909] Image Alignment failed 0
[11:01:08.982] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000781
[11:01:09.008] Image Alignment failed 0
[11:01:09.079] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000756
[11:01:09.109] Image Alignment failed 0
[11:01:09.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000855
[11:01:09.209] Image Alignment failed 0
[11:01:09.281] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000005,angle between two frames:0.000935
[11:01:09.309] Image Alignment failed 0
[11:01:09.383] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000757
[11:01:09.409] Image Alignment failed 0
[11:01:09.486] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000755
[11:01:09.508] Image Alignment failed 0
[11:01:09.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000620
[11:01:09.608] Image Alignment failed 0
[11:01:09.681] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000005,angle between two frames:0.000914
[11:01:09.717] Image Alignment failed 0
[11:01:09.790] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000919
[11:01:09.808] Image Alignment failed 0
[11:01:09.881] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.000454
[11:01:09.909] Image Alignment failed 0
[11:01:09.981] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000758
[11:01:10.009] Image Alignment failed 0
[11:01:10.081] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000003,angle between two frames:0.000745
[11:01:10.108] Image Alignment failed 0
[11:01:10.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000758
[11:01:10.209] Image Alignment failed 0
[11:01:10.281] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000766
[11:01:10.309] Image Alignment failed 0
[11:01:10.381] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000768
[11:01:10.409] Image Alignment failed 0
[11:01:10.480] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000911
[11:01:10.509] Image Alignment failed 0
[11:01:10.582] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000005,angle between two frames:0.000903
[11:01:10.609] Image Alignment failed 0
[11:01:10.681] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000756
[11:01:10.711] Image Alignment failed 0
[11:01:10.792] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000765
[11:01:10.809] Image Alignment failed 0
[11:01:10.898] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000611
[11:01:10.908] Image Alignment failed 0
[11:01:10.987] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000001,angle between two frames:0.000307
[11:01:11.010] Image Alignment failed 0
[11:01:11.083] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.000602
[11:01:11.108] Image Alignment failed 0
[11:01:11.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000003,angle between two frames:0.000753
[11:01:11.208] Image Alignment failed 0
[11:01:11.281] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000003,angle between two frames:0.000766
[11:01:11.308] Image Alignment failed 0
[11:01:11.398] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000748
[11:01:11.410] Image Alignment failed 0
[11:01:11.483] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000001,angle between two frames:0.000307
[11:01:11.510] Image Alignment failed 0
[11:01:11.599] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000003,angle between two frames:0.000759
[11:01:11.609] Image Alignment failed 0
[11:01:11.690] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000001,angle between two frames:0.000305
[11:01:11.709] Image Alignment failed 0
[11:01:11.781] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000610
[11:01:11.809] Image Alignment failed 0
[11:01:11.901] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000758
[11:01:11.908] Image Alignment failed 0
[11:01:11.981] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.000246
[11:01:12.010] Image Alignment failed 0
[11:01:12.095] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000003,angle between two frames:0.000809
[11:01:12.110] Image Alignment failed 0
[11:01:12.189] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000546
[11:01:12.210] Image Alignment failed 0
[11:01:12.289] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000710
[11:01:12.310] Image Alignment failed 0
[11:01:12.390] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000607
[11:01:12.409] Image Alignment failed 0
[11:01:12.482] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000711
[11:01:12.509] Image Alignment failed 0
[11:01:12.582] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=0.000005,angle between two frames:0.000924
[11:01:12.609] Image Alignment failed 0
[11:01:12.681] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000003,angle between two frames:0.000751
