[10:19:05.498] Init: frame zero: 0.000000, 0.000000 0.000000
[10:19:05.498] Init: Selected first frame. 
[10:19:05.498] frame process finished the id is: 0 the obs is:0 
[10:19:05.602] Init: px average disparity is:0.163584 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:05.602] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:05.602] frame process finished the id is: 1 the obs is:0 
[10:19:05.693] Init: px average disparity is:0.187139 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:05.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:05.693] frame process finished the id is: 2 the obs is:0 
[10:19:05.792] Init: px average disparity is:0.282148 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:05.792] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:05.792] frame process finished the id is: 3 the obs is:0 
[10:19:05.891] Init: px average disparity is:0.328856 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:05.891] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:05.891] frame process finished the id is: 4 the obs is:0 
[10:19:05.993] Init: px average disparity is:0.326512 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:05.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:05.993] frame process finished the id is: 5 the obs is:0 
[10:19:06.093] Init: px average disparity is:0.334130 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:06.093] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:06.093] frame process finished the id is: 6 the obs is:0 
[10:19:06.193] Init: px average disparity is:0.335619 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:06.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:06.193] frame process finished the id is: 7 the obs is:0 
[10:19:06.296] Init: px average disparity is:0.413324 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:06.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:06.296] frame process finished the id is: 8 the obs is:0 
[10:19:06.402] Init: px average disparity is:0.382292 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:06.402] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:06.402] frame process finished the id is: 9 the obs is:0 
[10:19:06.502] Init: px average disparity is:0.488821 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:06.502] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:06.502] frame process finished the id is: 10 the obs is:0 
[10:19:06.602] Init: px average disparity is:0.465515 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:06.602] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:06.602] frame process finished the id is: 11 the obs is:0 
[10:19:06.703] Init: px average disparity is:0.504160 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:06.703] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:06.703] frame process finished the id is: 12 the obs is:0 
[10:19:06.802] Init: px average disparity is:0.500823 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:06.802] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:06.802] frame process finished the id is: 13 the obs is:0 
[10:19:06.905] Init: px average disparity is:0.532459 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:06.906] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:06.906] frame process finished the id is: 14 the obs is:0 
[10:19:06.993] Init: px average disparity is:0.501916 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:06.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:06.993] frame process finished the id is: 15 the obs is:0 
[10:19:07.101] Init: px average disparity is:0.566353 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:07.101] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:07.101] frame process finished the id is: 16 the obs is:0 
[10:19:07.204] Init: px average disparity is:0.566689 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:07.204] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:07.204] frame process finished the id is: 17 the obs is:0 
[10:19:07.304] Init: px average disparity is:0.502581 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:07.304] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:07.304] frame process finished the id is: 18 the obs is:0 
[10:19:07.405] Init: px average disparity is:0.528639 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:07.405] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:07.405] frame process finished the id is: 19 the obs is:0 
[10:19:07.504] Init: px average disparity is:0.528657 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:07.504] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:07.504] frame process finished the id is: 20 the obs is:0 
[10:19:07.604] Init: px average disparity is:0.528529 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:07.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:07.604] frame process finished the id is: 21 the obs is:0 
[10:19:07.706] Init: px average disparity is:0.510053 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:07.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:07.706] frame process finished the id is: 22 the obs is:0 
[10:19:07.805] Init: px average disparity is:0.506097 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:07.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:07.805] frame process finished the id is: 23 the obs is:0 
[10:19:07.906] Init: px average disparity is:0.507686 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:07.906] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:07.906] frame process finished the id is: 24 the obs is:0 
[10:19:08.005] Init: px average disparity is:0.464140 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:08.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:08.005] frame process finished the id is: 25 the obs is:0 
[10:19:08.104] Init: px average disparity is:0.527238 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:08.104] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:08.104] frame process finished the id is: 26 the obs is:0 
[10:19:08.203] Init: px average disparity is:0.470787 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:08.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:08.203] frame process finished the id is: 27 the obs is:0 
[10:19:08.304] Init: px average disparity is:0.457099 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:08.304] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:08.304] frame process finished the id is: 28 the obs is:0 
[10:19:08.394] Init: px average disparity is:0.506628 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:08.394] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:08.394] frame process finished the id is: 29 the obs is:0 
[10:19:08.505] Init: px average disparity is:0.498561 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:08.505] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:08.505] frame process finished the id is: 30 the obs is:0 
[10:19:08.605] Init: px average disparity is:0.470076 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:08.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:08.605] frame process finished the id is: 31 the obs is:0 
[10:19:08.705] Init: px average disparity is:0.532696 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:08.705] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:08.705] frame process finished the id is: 32 the obs is:0 
[10:19:08.805] Init: px average disparity is:0.484881 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:08.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:08.805] frame process finished the id is: 33 the obs is:0 
[10:19:08.903] Init: px average disparity is:0.503268 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:08.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:08.904] frame process finished the id is: 34 the obs is:0 
[10:19:09.005] Init: px average disparity is:0.494785 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:09.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:09.006] frame process finished the id is: 35 the obs is:0 
[10:19:09.106] Init: px average disparity is:0.512405 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:09.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:09.106] frame process finished the id is: 36 the obs is:0 
[10:19:09.204] Init: px average disparity is:0.487378 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:09.204] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:09.204] frame process finished the id is: 37 the obs is:0 
[10:19:09.304] Init: px average disparity is:0.479614 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:09.304] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:09.304] frame process finished the id is: 38 the obs is:0 
[10:19:09.404] Init: px average disparity is:0.473677 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:09.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:09.404] frame process finished the id is: 39 the obs is:0 
[10:19:09.503] Init: px average disparity is:0.532299 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:09.503] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:09.503] frame process finished the id is: 40 the obs is:0 
[10:19:09.607] Init: px average disparity is:0.483573 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:09.607] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:09.607] frame process finished the id is: 41 the obs is:0 
[10:19:09.704] Init: px average disparity is:0.484172 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:09.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:09.704] frame process finished the id is: 42 the obs is:0 
[10:19:09.804] Init: px average disparity is:0.494746 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:09.804] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:09.804] frame process finished the id is: 43 the obs is:0 
[10:19:09.903] Init: px average disparity is:0.489029 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:09.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:09.903] frame process finished the id is: 44 the obs is:0 
[10:19:10.004] Init: px average disparity is:0.496784 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:10.004] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:10.004] frame process finished the id is: 45 the obs is:0 
[10:19:10.104] Init: px average disparity is:0.495274 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:10.104] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:10.104] frame process finished the id is: 46 the obs is:0 
[10:19:10.204] Init: px average disparity is:0.483225 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:10.204] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:10.204] frame process finished the id is: 47 the obs is:0 
[10:19:10.305] Init: px average disparity is:0.488735 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:10.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:10.305] frame process finished the id is: 48 the obs is:0 
[10:19:10.404] Init: px average disparity is:0.480770 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:10.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:10.404] frame process finished the id is: 49 the obs is:0 
[10:19:10.506] Init: px average disparity is:0.478573 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:10.506] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:10.506] frame process finished the id is: 50 the obs is:0 
[10:19:10.604] Init: px average disparity is:0.473983 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:10.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:10.604] frame process finished the id is: 51 the obs is:0 
[10:19:10.705] Init: px average disparity is:0.491635 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:10.705] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:10.705] frame process finished the id is: 52 the obs is:0 
[10:19:10.805] Init: px average disparity is:0.542750 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:10.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:10.805] frame process finished the id is: 53 the obs is:0 
[10:19:10.904] Init: px average disparity is:0.506654 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:10.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:10.904] frame process finished the id is: 54 the obs is:0 
[10:19:11.005] Init: px average disparity is:0.514503 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:11.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:11.005] frame process finished the id is: 55 the obs is:0 
[10:19:11.106] Init: px average disparity is:0.476707 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:11.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:11.106] frame process finished the id is: 56 the obs is:0 
[10:19:11.205] Init: px average disparity is:0.492650 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:11.205] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:11.205] frame process finished the id is: 57 the obs is:0 
[10:19:11.305] Init: px average disparity is:0.470434 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:11.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:11.305] frame process finished the id is: 58 the obs is:0 
[10:19:11.404] Init: px average disparity is:0.475161 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:11.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:11.404] frame process finished the id is: 59 the obs is:0 
[10:19:11.505] Init: px average disparity is:0.476662 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:11.505] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:11.505] frame process finished the id is: 60 the obs is:0 
[10:19:11.599] Init: px average disparity is:0.496295 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:11.599] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:11.599] frame process finished the id is: 61 the obs is:0 
[10:19:11.703] Init: px average disparity is:0.521249 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:11.703] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:11.703] frame process finished the id is: 62 the obs is:0 
[10:19:11.804] Init: px average disparity is:0.503380 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:11.804] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:11.804] frame process finished the id is: 63 the obs is:0 
[10:19:11.904] Init: px average disparity is:0.471589 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:11.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:11.904] frame process finished the id is: 64 the obs is:0 
[10:19:12.003] Init: px average disparity is:0.482046 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:12.003] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:12.004] frame process finished the id is: 65 the obs is:0 
[10:19:12.103] Init: px average disparity is:0.504582 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:12.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:12.104] frame process finished the id is: 66 the obs is:0 
[10:19:12.204] Init: px average disparity is:0.507588 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:12.204] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:12.204] frame process finished the id is: 67 the obs is:0 
[10:19:12.308] Init: px average disparity is:0.497823 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:12.308] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:12.308] frame process finished the id is: 68 the obs is:0 
[10:19:12.404] Init: px average disparity is:0.499632 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:12.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:12.404] frame process finished the id is: 69 the obs is:0 
[10:19:12.504] Init: px average disparity is:0.468118 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:12.504] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:12.504] frame process finished the id is: 70 the obs is:0 
[10:19:12.604] Init: px average disparity is:0.467709 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:12.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:12.604] frame process finished the id is: 71 the obs is:0 
[10:19:12.704] Init: px average disparity is:0.519263 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:12.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:12.704] frame process finished the id is: 72 the obs is:0 
[10:19:12.804] Init: px average disparity is:0.429112 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:12.804] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:12.804] frame process finished the id is: 73 the obs is:0 
[10:19:12.905] Init: px average disparity is:0.489868 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:12.905] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:12.905] frame process finished the id is: 74 the obs is:0 
[10:19:13.005] Init: px average disparity is:0.502575 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:13.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:13.005] frame process finished the id is: 75 the obs is:0 
[10:19:13.105] Init: px average disparity is:0.531151 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:13.105] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:13.105] frame process finished the id is: 76 the obs is:0 
[10:19:13.207] Init: px average disparity is:0.510108 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:13.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:13.207] frame process finished the id is: 77 the obs is:0 
[10:19:13.305] Init: px average disparity is:0.508710 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:13.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:13.305] frame process finished the id is: 78 the obs is:0 
[10:19:13.353] Odometry x=0.000000, y=0.000000, theta=-0.000000
[10:19:13.404] Init: px average disparity is:0.478239 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:13.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:13.404] frame process finished the id is: 79 the obs is:0 
[10:19:13.452] Odometry x=0.000000, y=0.000000, theta=-0.000000
[10:19:13.509] Init: px average disparity is:0.499561 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:13.509] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:13.509] frame process finished the id is: 80 the obs is:0 
[10:19:13.548] Odometry x=0.000001, y=0.014004, theta=-0.001419
[10:19:13.607] Init: px average disparity is:6.568719 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:13.607] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:13.607] frame process finished the id is: 81 the obs is:0 
[10:19:13.651] Odometry x=-0.006237, y=0.041788, theta=0.017511
[10:19:13.705] Init: px average disparity is:3.457499 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:13.705] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:13.705] frame process finished the id is: 82 the obs is:0 
[10:19:13.753] Odometry x=-0.006312, y=0.052501, theta=-0.000831
[10:19:13.804] Init: px average disparity is:5.193704 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:13.804] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:13.805] frame process finished the id is: 83 the obs is:0 
[10:19:13.849] Odometry x=-0.006552, y=0.063943, theta=-0.004240
[10:19:13.906] Init: px average disparity is:5.420565 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:13.906] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:13.906] frame process finished the id is: 84 the obs is:0 
[10:19:13.942] Odometry x=-0.006516, y=0.073525, theta=-0.003866
[10:19:14.006] Init: px average disparity is:7.223757 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:14.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:14.006] frame process finished the id is: 85 the obs is:0 
[10:19:14.048] Odometry x=-0.006480, y=0.089331, theta=0.004642
[10:19:14.105] Init: px average disparity is:8.613627 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:14.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:14.106] frame process finished the id is: 86 the obs is:0 
[10:19:14.149] Odometry x=-0.006473, y=0.100074, theta=-0.001900
[10:19:14.207] Init: px average disparity is:12.431273 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:14.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:14.207] frame process finished the id is: 87 the obs is:0 
[10:19:14.249] Odometry x=-0.005971, y=0.109842, theta=0.001195
[10:19:14.311] Init: px average disparity is:10.445757 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:14.311] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:14.311] frame process finished the id is: 88 the obs is:0 
[10:19:14.351] Odometry x=-0.005976, y=0.121102, theta=0.006287
[10:19:14.406] Init: px average disparity is:11.218734 ,While minimum is: 40.000000  KLT tracked : 323
[10:19:14.406] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:14.406] frame process finished the id is: 89 the obs is:0 
[10:19:14.447] Odometry x=-0.005180, y=0.131712, theta=-0.000104
[10:19:14.506] Init: px average disparity is:15.473215 ,While minimum is: 40.000000  KLT tracked : 318
[10:19:14.506] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:14.506] frame process finished the id is: 90 the obs is:0 
[10:19:14.548] Odometry x=-0.005185, y=0.143390, theta=-0.000127
[10:19:14.609] Init: px average disparity is:20.744059 ,While minimum is: 40.000000  KLT tracked : 318
[10:19:14.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:14.609] frame process finished the id is: 91 the obs is:0 
[10:19:14.646] Odometry x=-0.005173, y=0.153833, theta=0.003645
[10:19:14.710] Init: px average disparity is:20.847972 ,While minimum is: 40.000000  KLT tracked : 318
[10:19:14.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:14.710] frame process finished the id is: 92 the obs is:0 
[10:19:14.747] Odometry x=-0.005057, y=0.164407, theta=-0.004158
[10:19:14.808] Init: px average disparity is:21.342311 ,While minimum is: 40.000000  KLT tracked : 318
[10:19:14.808] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:14.808] frame process finished the id is: 93 the obs is:0 
[10:19:14.845] Odometry x=-0.004845, y=0.175550, theta=0.002609
[10:19:14.909] Init: px average disparity is:23.826245 ,While minimum is: 40.000000  KLT tracked : 314
[10:19:14.909] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:14.910] frame process finished the id is: 94 the obs is:0 
[10:19:14.951] Odometry x=-0.004821, y=0.186185, theta=-0.008250
[10:19:15.009] Init: px average disparity is:25.367622 ,While minimum is: 40.000000  KLT tracked : 314
[10:19:15.009] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:15.009] frame process finished the id is: 95 the obs is:0 
[10:19:15.050] Odometry x=-0.004331, y=0.197969, theta=0.003995
[10:19:15.110] Init: px average disparity is:25.158223 ,While minimum is: 40.000000  KLT tracked : 311
[10:19:15.110] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:15.110] frame process finished the id is: 96 the obs is:0 
[10:19:15.150] Odometry x=-0.004370, y=0.208386, theta=0.010881
[10:19:15.210] Init: px average disparity is:24.959381 ,While minimum is: 40.000000  KLT tracked : 298
[10:19:15.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:15.210] frame process finished the id is: 97 the obs is:0 
[10:19:15.250] Odometry x=-0.004408, y=0.219983, theta=0.001839
[10:19:15.310] Init: px average disparity is:28.369698 ,While minimum is: 40.000000  KLT tracked : 298
[10:19:15.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:15.310] frame process finished the id is: 98 the obs is:0 
[10:19:15.345] Odometry x=-0.004408, y=0.230880, theta=0.002364
[10:19:15.408] Init: px average disparity is:30.896511 ,While minimum is: 40.000000  KLT tracked : 296
[10:19:15.408] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:15.408] frame process finished the id is: 99 the obs is:0 
[10:19:15.451] Odometry x=-0.004246, y=0.241495, theta=0.001692
[10:19:15.508] Init: px average disparity is:29.820161 ,While minimum is: 40.000000  KLT tracked : 293
[10:19:15.508] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:15.508] frame process finished the id is: 100 the obs is:0 
[10:19:15.561] Odometry x=-0.004233, y=0.253175, theta=0.004648
[10:19:15.609] Init: px average disparity is:28.708163 ,While minimum is: 40.000000  KLT tracked : 289
[10:19:15.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:15.609] frame process finished the id is: 101 the obs is:0 
[10:19:15.655] Odometry x=-0.004272, y=0.265475, theta=0.010673
[10:19:15.709] Init: px average disparity is:30.345589 ,While minimum is: 40.000000  KLT tracked : 289
[10:19:15.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:15.709] frame process finished the id is: 102 the obs is:0 
[10:19:15.751] Odometry x=-0.004334, y=0.275230, theta=0.008097
[10:19:15.809] Init: px average disparity is:30.993465 ,While minimum is: 40.000000  KLT tracked : 289
[10:19:15.809] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:15.809] frame process finished the id is: 103 the obs is:0 
[10:19:15.844] Odometry x=-0.002129, y=0.287200, theta=0.014203
[10:19:15.908] Init: px average disparity is:30.329734 ,While minimum is: 40.000000  KLT tracked : 288
[10:19:15.908] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:15.909] frame process finished the id is: 104 the obs is:0 
[10:19:15.950] Odometry x=-0.002135, y=0.297329, theta=0.012734
[10:19:16.009] Init: px average disparity is:29.240386 ,While minimum is: 40.000000  KLT tracked : 288
[10:19:16.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:16.010] frame process finished the id is: 105 the obs is:0 
[10:19:16.047] Odometry x=-0.002368, y=0.309322, theta=0.016111
[10:19:16.110] Init: px average disparity is:30.598703 ,While minimum is: 40.000000  KLT tracked : 288
[10:19:16.110] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:16.110] frame process finished the id is: 106 the obs is:0 
[10:19:16.146] Odometry x=-0.002427, y=0.319776, theta=0.006530
[10:19:16.210] Init: px average disparity is:33.674741 ,While minimum is: 40.000000  KLT tracked : 288
[10:19:16.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:16.210] frame process finished the id is: 107 the obs is:0 
[10:19:16.247] Odometry x=0.007852, y=0.326248, theta=0.026626
[10:19:16.310] Init: px average disparity is:33.708280 ,While minimum is: 40.000000  KLT tracked : 288
[10:19:16.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:16.310] frame process finished the id is: 108 the obs is:0 
[10:19:16.346] Odometry x=0.007919, y=0.337719, theta=0.024543
[10:19:16.410] Init: px average disparity is:34.283456 ,While minimum is: 40.000000  KLT tracked : 288
[10:19:16.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:16.410] frame process finished the id is: 109 the obs is:0 
[10:19:16.449] Odometry x=0.007791, y=0.348436, theta=-0.000331
[10:19:16.511] Init: px average disparity is:34.719018 ,While minimum is: 40.000000  KLT tracked : 288
[10:19:16.511] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:16.511] frame process finished the id is: 110 the obs is:0 
[10:19:16.546] Odometry x=0.007785, y=0.359233, theta=0.004289
[10:19:16.613] Init: px average disparity is:36.876180 ,While minimum is: 40.000000  KLT tracked : 288
[10:19:16.613] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:16.613] frame process finished the id is: 111 the obs is:0 
[10:19:16.654] Odometry x=0.007074, y=0.370540, theta=0.004832
[10:19:16.712] Init: px average disparity is:38.221640 ,While minimum is: 40.000000  KLT tracked : 288
[10:19:16.712] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:16.712] frame process finished the id is: 112 the obs is:0 
[10:19:16.750] Odometry x=0.006999, y=0.384625, theta=0.009004
[10:19:16.850] Odometry x=0.006964, y=0.395546, theta=0.007672
[10:19:16.892] Init: Homography RANSAC (inlier) is:0 ,While 20 inliers minimum required.  px average disparity is:41.777722 ,While minimum is: 40.000000  KLT tracked: 288
[10:19:16.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[10:19:16.892] frame process finished the id is: 113 the obs is:0 
[10:19:16.947] Odometry x=0.006889, y=0.405808, theta=0.019750
[10:19:16.971] Init finished: Homography RANSAC (inlier) is:35 ,While 20 inliers minimum required.  px average disparity is:45.205036 ,While minimum is: 40.000000  KLT tracked: 288
[10:19:16.971] Init: distance between the first and current frame is x:0.006889 ,z=0.405808,angle between two frames: 0.019750 
[10:19:16.975] Init: Selected Second frame. 	 The number of features: 35 depth mean:-1.123182 min:-1.836819
[10:19:16.975] frame process finished the id is: 114 the obs is:35 
[10:19:17.047] Odometry x=0.007230, y=0.416307, theta=0.005349
[10:19:17.131] After Reprojection Map nPoint:33 ,nCell:33 ,nMatches:1 ,distance between ekf and vo x:-0.000361 ,z=0.000040,angle between two frames:0.000213
[10:19:17.131] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.259288 	 error end=0.151046
[10:19:17.132] After pose optimization, distance between ekf and vo x:0.068409 ,z=0.094400,angle between two frames:0.031242
[10:19:17.132] frame process finished the id is: 114 the obs is:35 
[10:19:17.148] Odometry x=0.007196, y=0.427230, theta=0.009931
[10:19:17.241] Odometry x=0.007189, y=0.437799, theta=0.006063
[10:19:17.280] After Reprojection Map nPoint:33 ,nCell:33 ,nMatches:3 ,distance between ekf and vo x:-0.000441 ,z=0.000051,angle between two frames:0.000262
[10:19:17.280] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.436758 	 error end=0.436758
[10:19:17.280] After pose optimization, distance between ekf and vo x:-0.000441 ,z=0.000051,angle between two frames:0.000262
[10:19:17.280] frame process finished the id is: 114 the obs is:35 
[10:19:17.344] Odometry x=0.007131, y=0.455194, theta=0.005782
[10:19:17.435] After Reprojection Map nPoint:32 ,nCell:32 ,nMatches:1 ,distance between ekf and vo x:-0.001812 ,z=0.000335,angle between two frames:0.001159
[10:19:17.435] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.301326 	 error end=0.247982
[10:19:17.435] After pose optimization, distance between ekf and vo x:0.043380 ,z=-0.188550,angle between two frames:0.044518
[10:19:17.435] frame process finished the id is: 114 the obs is:35 
[10:19:17.448] Odometry x=0.007062, y=0.465920, theta=0.003115
[10:19:17.545] Odometry x=0.006999, y=0.477187, theta=0.009209
[10:19:17.581] After Reprojection Map nPoint:32 ,nCell:32 ,nMatches:2 ,distance between ekf and vo x:-0.000187 ,z=0.000020,angle between two frames:0.000110
[10:19:17.581] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.260373 	 error end=0.219880
[10:19:17.581] After pose optimization, distance between ekf and vo x:0.037284 ,z=-0.030259,angle between two frames:0.018391
[10:19:17.581] frame process finished the id is: 114 the obs is:35 
[10:19:17.649] Odometry x=0.006948, y=0.487430, theta=0.010336
[10:19:17.744] After Reprojection Map nPoint:31 ,nCell:31 ,nMatches:2 ,distance between ekf and vo x:-0.001676 ,z=0.000197,angle between two frames:0.001036
[10:19:17.744] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =1.670707 	 error end=0.546809
[10:19:17.744] After pose optimization, distance between ekf and vo x:-0.075781 ,z=-2.677579,angle between two frames:0.318105
[10:19:17.744] frame process finished the id is: 114 the obs is:35 
[10:19:17.746] Odometry x=0.006835, y=0.498704, theta=0.011216
[10:19:17.845] Odometry x=0.006777, y=0.509163, theta=0.008267
[10:19:17.892] After Reprojection Map nPoint:30 ,nCell:28 ,nMatches:5 ,distance between ekf and vo x:-0.000344 ,z=0.000071,angle between two frames:0.000214
[10:19:17.892] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.326917 	 error end=0.326917
[10:19:17.892] After pose optimization, distance between ekf and vo x:-0.000344 ,z=0.000071,angle between two frames:0.000214
[10:19:17.892] frame process finished the id is: 114 the obs is:35 
[10:19:17.945] Odometry x=0.006707, y=0.520113, theta=0.015210
[10:19:18.047] Odometry x=0.006513, y=0.541398, theta=0.008048
[10:19:18.054] After Reprojection Map nPoint:31 ,nCell:30 ,nMatches:3 ,distance between ekf and vo x:-0.003831 ,z=0.000761,angle between two frames:0.002520
[10:19:18.054] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.399595 	 error end=0.399005
[10:19:18.054] After pose optimization, distance between ekf and vo x:-0.002624 ,z=0.000541,angle between two frames:0.005436
[10:19:18.054] frame process finished the id is: 114 the obs is:35 
[10:19:18.144] Odometry x=0.006454, y=0.557463, theta=0.009051
[10:19:18.210] After Reprojection Map nPoint:32 ,nCell:32 ,nMatches:1 ,distance between ekf and vo x:-0.001473 ,z=0.000322,angle between two frames:0.000973
[10:19:18.210] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.540800 	 error end=0.772675
[10:19:18.210] After pose optimization, distance between ekf and vo x:0.786503 ,z=0.952603,angle between two frames:0.197000
[10:19:18.210] frame process finished the id is: 114 the obs is:35 
[10:19:18.244] Odometry x=0.006422, y=0.569857, theta=0.013414
[10:19:18.342] Odometry x=0.006102, y=0.580592, theta=0.017451
[10:19:18.377] After Reprojection Map nPoint:33 ,nCell:33 ,nMatches:1 ,distance between ekf and vo x:-0.003686 ,z=0.000955,angle between two frames:0.002636
[10:19:18.377] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.266368 	 error end=0.239038
[10:19:18.377] After pose optimization, distance between ekf and vo x:0.029311 ,z=0.193060,angle between two frames:0.010592
[10:19:18.377] frame process finished the id is: 114 the obs is:35 
[10:19:18.447] Odometry x=0.005828, y=0.591393, theta=0.015535
[10:19:18.533] After Reprojection Map nPoint:30 ,nCell:29 ,nMatches:2 ,distance between ekf and vo x:-0.002312 ,z=0.000295,angle between two frames:0.001487
[10:19:18.533] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.329336 	 error end=0.329336
[10:19:18.533] After pose optimization, distance between ekf and vo x:-0.002312 ,z=0.000295,angle between two frames:0.001487
[10:19:18.533] frame process finished the id is: 114 the obs is:35 
[10:19:18.544] Odometry x=0.005724, y=0.603890, theta=0.012890
[10:19:18.644] Odometry x=0.005665, y=0.615417, theta=0.016839
[10:19:18.683] After Reprojection Map nPoint:30 ,nCell:30 ,nMatches:1 ,distance between ekf and vo x:-0.000433 ,z=0.000050,angle between two frames:0.000279
[10:19:18.683] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.195581 	 error end=0.195581
[10:19:18.683] After pose optimization, distance between ekf and vo x:-0.000433 ,z=0.000050,angle between two frames:0.000279
[10:19:18.683] frame process finished the id is: 114 the obs is:35 
[10:19:18.744] Odometry x=0.005809, y=0.627462, theta=0.015474
[10:19:18.844] After Reprojection Map nPoint:32 ,nCell:31 ,nMatches:3 ,distance between ekf and vo x:-0.002129 ,z=0.000524,angle between two frames:0.001535
[10:19:18.844] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.336234 	 error end=0.336234
[10:19:18.844] After pose optimization, distance between ekf and vo x:-0.002129 ,z=0.000524,angle between two frames:0.001535
[10:19:18.844] frame process finished the id is: 114 the obs is:35 
[10:19:18.851] Odometry x=0.005717, y=0.639528, theta=0.010344
[10:19:18.945] Odometry x=0.005657, y=0.650440, theta=0.013387
[10:19:19.008] After Reprojection Map nPoint:30 ,nCell:29 ,nMatches:2 ,distance between ekf and vo x:-0.002169 ,z=0.000289,angle between two frames:0.001486
[10:19:19.008] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.468328 	 error end=0.468328
[10:19:19.008] After pose optimization, distance between ekf and vo x:-0.002169 ,z=0.000289,angle between two frames:0.001486
[10:19:19.008] frame process finished the id is: 114 the obs is:35 
[10:19:19.049] Odometry x=0.005547, y=0.666959, theta=0.019114
[10:19:19.147] Odometry x=0.004932, y=0.677743, theta=0.011908
[10:19:19.169] After Reprojection Map nPoint:33 ,nCell:33 ,nMatches:0 ,distance between ekf and vo x:-0.002302 ,z=0.000517,angle between two frames:0.001629
[10:19:19.169] After pose optimization, distance between ekf and vo x:-0.002302 ,z=0.000517,angle between two frames:0.001629
[10:19:19.169] frame process finished the id is: 114 the obs is:35 
[10:19:19.247] Odometry x=0.004845, y=0.688184, theta=0.022715
[10:19:19.330] After Reprojection Map nPoint:32 ,nCell:30 ,nMatches:2 ,distance between ekf and vo x:-0.003854 ,z=0.000958,angle between two frames:0.002954
[10:19:19.330] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.534756 	 error end=0.534756
[10:19:19.330] After pose optimization, distance between ekf and vo x:-0.003854 ,z=0.000958,angle between two frames:0.002954
[10:19:19.330] frame process finished the id is: 114 the obs is:35 
[10:19:19.345] Odometry x=0.004722, y=0.699104, theta=0.018926
[10:19:19.448] Odometry x=0.004551, y=0.709510, theta=0.003896
[10:19:19.485] After Reprojection Map nPoint:32 ,nCell:30 ,nMatches:4 ,distance between ekf and vo x:-0.002277 ,z=0.000162,angle between two frames:0.001528
[10:19:19.485] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.393270 	 error end=0.393270
[10:19:19.485] After pose optimization, distance between ekf and vo x:-0.002277 ,z=0.000162,angle between two frames:0.001528
[10:19:19.485] frame process finished the id is: 114 the obs is:35 
[10:19:19.547] Odometry x=0.004538, y=0.720490, theta=0.005402
[10:19:19.640] After Reprojection Map nPoint:39 ,nCell:25 ,nMatches:11 ,distance between ekf and vo x:-0.000725 ,z=0.000029,angle between two frames:0.000470
[10:19:19.640] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =26 	 error init =0.188537 	 error end=0.188537
[10:19:19.640] After pose optimization, distance between ekf and vo x:-0.000725 ,z=0.000029,angle between two frames:0.000470
[10:19:19.640] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29
[10:19:19.640] key frame check new frame:0.003852 0.721235 0.005910, key close:0.006889 0.405808 0.019750
[10:19:19.640] Choose frame as a key frame Scene Depth mean:-20891082.926923 ,depth min:-510610023.148457
[10:19:19.640] frame process finished the id is: 131 the obs is:29 
[10:19:19.645] Odometry x=0.003852, y=0.721235, theta=0.005910
[10:19:19.647] Image Alignment failed 0
[10:19:19.647] frame process finished the id is: 131 the obs is:29 
[10:19:19.690] Image Alignment failed 0
[10:19:19.690] frame process finished the id is: 131 the obs is:29 
[10:19:19.755] Odometry x=0.003705, y=0.734158, theta=0.010397
[10:19:19.797] Image Alignment failed 0
[10:19:19.797] frame process finished the id is: 131 the obs is:29 
[10:19:19.849] Odometry x=0.004200, y=0.747102, theta=0.017929
[10:19:19.895] Image Alignment failed 0
[10:19:19.895] frame process finished the id is: 131 the obs is:29 
[10:19:19.948] Odometry x=0.004298, y=0.756770, theta=0.016263
[10:19:19.997] Image Alignment failed 0
[10:19:19.997] frame process finished the id is: 131 the obs is:29 
[10:19:20.048] Odometry x=0.004175, y=0.767475, theta=0.035514
[10:19:20.097] Image Alignment failed 0
[10:19:20.098] frame process finished the id is: 131 the obs is:29 
[10:19:20.148] Odometry x=0.002891, y=0.778102, theta=0.009776
[10:19:20.196] Image Alignment failed 0
[10:19:20.196] frame process finished the id is: 131 the obs is:29 
[10:19:20.243] Odometry x=0.000899, y=0.789664, theta=0.007059
[10:19:20.295] Image Alignment failed 0
[10:19:20.296] frame process finished the id is: 131 the obs is:29 
[10:19:20.348] Odometry x=0.000802, y=0.800867, theta=0.010830
[10:19:20.398] Image Alignment failed 0
[10:19:20.398] frame process finished the id is: 131 the obs is:29 
[10:19:20.448] Odometry x=0.001733, y=0.816771, theta=0.015596
[10:19:20.496] Image Alignment failed 0
[10:19:20.496] frame process finished the id is: 131 the obs is:29 
[10:19:20.548] Odometry x=0.001636, y=0.827815, theta=0.019343
[10:19:20.593] Image Alignment failed 0
[10:19:20.593] frame process finished the id is: 131 the obs is:29 
[10:19:20.647] Odometry x=0.001401, y=0.838257, theta=0.018649
[10:19:20.696] Image Alignment failed 0
[10:19:20.696] frame process finished the id is: 131 the obs is:29 
[10:19:20.748] Odometry x=0.001306, y=0.849119, theta=0.017379
[10:19:20.796] Image Alignment failed 0
[10:19:20.796] frame process finished the id is: 131 the obs is:29 
[10:19:20.843] Odometry x=0.000404, y=0.863688, theta=0.019185
[10:19:20.896] Image Alignment failed 0
[10:19:20.896] frame process finished the id is: 131 the obs is:29 
[10:19:20.948] Odometry x=0.000304, y=0.875311, theta=0.015747
[10:19:20.997] Image Alignment failed 0
[10:19:20.997] frame process finished the id is: 131 the obs is:29 
[10:19:21.049] Odometry x=0.000251, y=0.886710, theta=0.012273
[10:19:21.090] Image Alignment failed 0
[10:19:21.091] frame process finished the id is: 131 the obs is:29 
[10:19:21.148] Odometry x=0.002111, y=0.897546, theta=0.021969
[10:19:21.191] Image Alignment failed 0
[10:19:21.191] frame process finished the id is: 131 the obs is:29 
[10:19:21.252] Odometry x=0.002034, y=0.907680, theta=0.011185
[10:19:21.291] Image Alignment failed 0
[10:19:21.291] frame process finished the id is: 131 the obs is:29 
[10:19:21.348] Odometry x=0.001969, y=0.919042, theta=0.015000
[10:19:21.397] Image Alignment failed 0
[10:19:21.397] frame process finished the id is: 131 the obs is:29 
[10:19:21.448] Odometry x=0.001927, y=0.929282, theta=0.017922
[10:19:21.496] Image Alignment failed 0
[10:19:21.496] frame process finished the id is: 131 the obs is:29 
[10:19:21.548] Odometry x=0.001804, y=0.943545, theta=0.026231
[10:19:21.596] Image Alignment failed 0
[10:19:21.596] frame process finished the id is: 131 the obs is:29 
[10:19:21.648] Odometry x=0.002229, y=0.954198, theta=0.017568
[10:19:21.696] Image Alignment failed 0
[10:19:21.696] frame process finished the id is: 131 the obs is:29 
[10:19:21.748] Odometry x=0.002728, y=0.965056, theta=0.011717
[10:19:21.809] Image Alignment failed 0
[10:19:21.809] frame process finished the id is: 131 the obs is:29 
[10:19:21.849] Odometry x=0.002299, y=0.976638, theta=0.023812
[10:19:21.901] Image Alignment failed 0
[10:19:21.901] frame process finished the id is: 131 the obs is:29 
[10:19:21.949] Odometry x=0.002739, y=0.988210, theta=0.022159
[10:19:21.996] Image Alignment failed 0
[10:19:21.996] frame process finished the id is: 131 the obs is:29 
[10:19:22.045] Odometry x=0.001662, y=1.001288, theta=0.014701
[10:19:22.096] Image Alignment failed 0
[10:19:22.097] frame process finished the id is: 131 the obs is:29 
[10:19:22.141] Odometry x=0.001587, y=1.012116, theta=0.014444
[10:19:22.197] Image Alignment failed 0
[10:19:22.197] frame process finished the id is: 131 the obs is:29 
[10:19:22.248] Odometry x=0.001195, y=1.023074, theta=0.014327
[10:19:22.296] Image Alignment failed 0
[10:19:22.296] frame process finished the id is: 131 the obs is:29 
[10:19:22.349] Odometry x=0.001918, y=1.034090, theta=0.024859
[10:19:22.397] Image Alignment failed 0
[10:19:22.397] frame process finished the id is: 131 the obs is:29 
[10:19:22.449] Odometry x=0.001773, y=1.043171, theta=0.029605
[10:19:22.498] Image Alignment failed 0
[10:19:22.499] frame process finished the id is: 131 the obs is:29 
[10:19:22.550] Odometry x=0.002315, y=1.054363, theta=0.019067
[10:19:22.597] Image Alignment failed 0
[10:19:22.597] frame process finished the id is: 131 the obs is:29 
[10:19:22.650] Odometry x=0.002180, y=1.066718, theta=0.022494
[10:19:22.699] Image Alignment failed 0
[10:19:22.699] frame process finished the id is: 131 the obs is:29 
[10:19:22.749] Odometry x=0.001854, y=1.082804, theta=0.013635
[10:19:22.798] Image Alignment failed 0
[10:19:22.798] frame process finished the id is: 131 the obs is:29 
[10:19:22.849] Odometry x=0.002335, y=1.093423, theta=0.017516
[10:19:22.891] Image Alignment failed 0
[10:19:22.891] frame process finished the id is: 131 the obs is:29 
[10:19:22.947] Odometry x=0.002258, y=1.103885, theta=0.008369
[10:19:22.997] Image Alignment failed 0
[10:19:22.997] frame process finished the id is: 131 the obs is:29 
[10:19:23.051] Odometry x=0.002195, y=1.118389, theta=0.017433
[10:19:23.098] Image Alignment failed 0
[10:19:23.098] frame process finished the id is: 131 the obs is:29 
[10:19:23.151] Odometry x=0.002218, y=1.124679, theta=0.020795
[10:19:23.200] Image Alignment failed 0
[10:19:23.200] frame process finished the id is: 131 the obs is:29 
[10:19:23.252] Odometry x=0.002132, y=1.135303, theta=0.009519
[10:19:23.299] Image Alignment failed 0
[10:19:23.299] frame process finished the id is: 131 the obs is:29 
[10:19:23.350] Odometry x=0.002014, y=1.146192, theta=0.013223
[10:19:23.391] Image Alignment failed 0
[10:19:23.391] frame process finished the id is: 131 the obs is:29 
[10:19:23.448] Odometry x=0.001920, y=1.156424, theta=0.019990
[10:19:23.502] Image Alignment failed 0
[10:19:23.502] frame process finished the id is: 131 the obs is:29 
[10:19:23.548] Odometry x=0.001660, y=1.177706, theta=0.004411
[10:19:23.596] Image Alignment failed 0
[10:19:23.597] frame process finished the id is: 131 the obs is:29 
[10:19:23.648] Odometry x=0.001941, y=1.212842, theta=-0.002200
[10:19:23.697] Image Alignment failed 0
[10:19:23.697] frame process finished the id is: 131 the obs is:29 
[10:19:23.750] Odometry x=0.015797, y=1.210076, theta=0.004743
[10:19:23.798] Image Alignment failed 0
[10:19:23.798] frame process finished the id is: 131 the obs is:29 
[10:19:23.850] Odometry x=0.015441, y=1.193680, theta=0.018754
[10:19:23.897] Image Alignment failed 0
[10:19:23.897] frame process finished the id is: 131 the obs is:29 
[10:19:23.949] Odometry x=0.014957, y=1.177353, theta=0.041038
[10:19:23.991] Image Alignment failed 0
[10:19:23.991] frame process finished the id is: 131 the obs is:29 
[10:19:24.046] Odometry x=0.016970, y=1.214489, theta=0.014233
[10:19:24.093] Image Alignment failed 0
[10:19:24.093] frame process finished the id is: 131 the obs is:29 
[10:19:24.150] Odometry x=0.014117, y=1.252273, theta=0.015688
[10:19:24.197] Image Alignment failed 0
[10:19:24.197] frame process finished the id is: 131 the obs is:29 
[10:19:24.249] Odometry x=0.013861, y=1.250276, theta=0.020811
[10:19:24.297] Image Alignment failed 0
[10:19:24.297] frame process finished the id is: 131 the obs is:29 
[10:19:24.348] Odometry x=0.013754, y=1.262911, theta=0.002348
[10:19:24.398] Image Alignment failed 0
[10:19:24.398] frame process finished the id is: 131 the obs is:29 
[10:19:24.446] Odometry x=0.014859, y=1.287563, theta=-0.010813
[10:19:24.491] Image Alignment failed 0
[10:19:24.491] frame process finished the id is: 131 the obs is:29 
[10:19:24.550] Odometry x=0.014887, y=1.297164, theta=0.000546
[10:19:24.597] Image Alignment failed 0
[10:19:24.597] frame process finished the id is: 131 the obs is:29 
[10:19:24.642] Odometry x=0.015706, y=1.307853, theta=0.010207
[10:19:24.697] Image Alignment failed 0
[10:19:24.697] frame process finished the id is: 131 the obs is:29 
[10:19:24.743] Odometry x=0.015720, y=1.324642, theta=0.015389
[10:19:24.798] Image Alignment failed 0
[10:19:24.798] frame process finished the id is: 131 the obs is:29 
[10:19:24.848] Odometry x=0.015679, y=1.335500, theta=0.015704
[10:19:24.891] Image Alignment failed 0
[10:19:24.891] frame process finished the id is: 131 the obs is:29 
[10:19:24.941] Odometry x=0.015435, y=1.358881, theta=-0.003779
[10:19:24.990] Image Alignment failed 0
[10:19:24.990] frame process finished the id is: 131 the obs is:29 
[10:19:25.042] Odometry x=0.020969, y=1.380680, theta=0.004983
[10:19:25.096] Image Alignment failed 0
[10:19:25.096] frame process finished the id is: 131 the obs is:29 
[10:19:25.148] Odometry x=0.023965, y=1.398566, theta=0.006546
[10:19:25.200] Image Alignment failed 0
[10:19:25.200] frame process finished the id is: 131 the obs is:29 
[10:19:25.248] Odometry x=0.021621, y=1.410620, theta=0.005929
[10:19:25.297] Image Alignment failed 0
[10:19:25.297] frame process finished the id is: 131 the obs is:29 
[10:19:25.354] Odometry x=0.036842, y=1.452155, theta=-0.004257
[10:19:25.398] Image Alignment failed 0
[10:19:25.398] frame process finished the id is: 131 the obs is:29 
[10:19:25.447] Odometry x=0.034935, y=1.438414, theta=-0.008617
[10:19:25.501] Image Alignment failed 0
[10:19:25.501] frame process finished the id is: 131 the obs is:29 
[10:19:25.547] Odometry x=0.035348, y=1.448555, theta=-0.009625
[10:19:25.598] Image Alignment failed 0
[10:19:25.598] frame process finished the id is: 131 the obs is:29 
[10:19:25.647] Odometry x=0.035380, y=1.459264, theta=0.000648
[10:19:25.694] Image Alignment failed 0
[10:19:25.694] frame process finished the id is: 131 the obs is:29 
[10:19:25.751] Odometry x=0.035352, y=1.469983, theta=0.008872
[10:19:25.800] Image Alignment failed 0
[10:19:25.800] frame process finished the id is: 131 the obs is:29 
[10:19:25.853] Odometry x=0.044370, y=1.481603, theta=0.003546
[10:19:25.901] Image Alignment failed 0
[10:19:25.901] frame process finished the id is: 131 the obs is:29 
[10:19:25.947] Odometry x=0.044202, y=1.494135, theta=-0.041770
[10:19:25.992] Image Alignment failed 0
[10:19:25.992] frame process finished the id is: 131 the obs is:29 
[10:19:26.056] Odometry x=0.036275, y=1.503985, theta=-0.010755
[10:19:26.100] Image Alignment failed 0
[10:19:26.100] frame process finished the id is: 131 the obs is:29 
[10:19:26.150] Odometry x=0.036514, y=1.516307, theta=-0.018607
[10:19:26.199] Image Alignment failed 0
[10:19:26.199] frame process finished the id is: 131 the obs is:29 
[10:19:26.249] Odometry x=0.025556, y=1.525652, theta=0.004200
[10:19:26.293] Image Alignment failed 0
[10:19:26.293] frame process finished the id is: 131 the obs is:29 
[10:19:26.348] Odometry x=0.027275, y=1.523867, theta=0.010607
[10:19:26.398] Image Alignment failed 0
[10:19:26.399] frame process finished the id is: 131 the obs is:29 
[10:19:26.448] Odometry x=0.026680, y=1.585285, theta=-0.000037
[10:19:26.499] Image Alignment failed 0
[10:19:26.499] frame process finished the id is: 131 the obs is:29 
[10:19:26.548] Odometry x=0.034978, y=1.615025, theta=-0.009059
[10:19:26.599] Image Alignment failed 0
[10:19:26.599] frame process finished the id is: 131 the obs is:29 
[10:19:26.647] Odometry x=0.026715, y=1.627272, theta=-0.026875
[10:19:26.693] Image Alignment failed 0
[10:19:26.693] frame process finished the id is: 131 the obs is:29 
[10:19:26.752] Odometry x=0.026802, y=1.638151, theta=-0.017938
[10:19:26.799] Image Alignment failed 0
[10:19:26.799] frame process finished the id is: 131 the obs is:29 
[10:19:26.848] Odometry x=0.026753, y=1.648279, theta=-0.010822
[10:19:26.902] Image Alignment failed 0
[10:19:26.902] frame process finished the id is: 131 the obs is:29 
[10:19:26.952] Odometry x=0.027650, y=1.669770, theta=0.009068
[10:19:26.994] Image Alignment failed 0
[10:19:26.994] frame process finished the id is: 131 the obs is:29 
[10:19:27.046] Odometry x=0.027436, y=1.681005, theta=-0.027849
[10:19:27.098] Image Alignment failed 0
[10:19:27.099] frame process finished the id is: 131 the obs is:29 
[10:19:27.151] Odometry x=0.027590, y=1.691507, theta=-0.023318
[10:19:27.198] Image Alignment failed 0
[10:19:27.198] frame process finished the id is: 131 the obs is:29 
[10:19:27.245] Odometry x=0.027385, y=1.702789, theta=-0.033129
[10:19:27.308] Image Alignment failed 0
[10:19:27.308] frame process finished the id is: 131 the obs is:29 
[10:19:27.347] Odometry x=0.027326, y=1.735063, theta=-0.013515
[10:19:27.427] Image Alignment failed 0
[10:19:27.427] frame process finished the id is: 131 the obs is:29 
[10:19:27.449] Odometry x=0.027499, y=1.765425, theta=-0.032436
[10:19:27.529] Image Alignment failed 0
[10:19:27.529] frame process finished the id is: 131 the obs is:29 
[10:19:27.554] Odometry x=0.027535, y=1.771316, theta=-0.019725
[10:19:27.631] Image Alignment failed 0
[10:19:27.631] frame process finished the id is: 131 the obs is:29 
[10:19:27.650] Odometry x=0.036442, y=1.782696, theta=-0.016998
[10:19:27.725] Image Alignment failed 0
[10:19:27.725] frame process finished the id is: 131 the obs is:29 
[10:19:27.742] Odometry x=0.037355, y=1.822777, theta=0.005640
[10:19:27.831] Image Alignment failed 0
[10:19:27.831] frame process finished the id is: 131 the obs is:29 
[10:19:27.848] Odometry x=0.035660, y=1.842366, theta=-0.006636
[10:19:27.930] Image Alignment failed 0
[10:19:27.930] frame process finished the id is: 131 the obs is:29 
[10:19:27.948] Odometry x=0.031504, y=1.872277, theta=0.009768
[10:19:28.031] Image Alignment failed 0
[10:19:28.031] frame process finished the id is: 131 the obs is:29 
[10:19:28.044] Odometry x=0.031614, y=1.884909, theta=-0.006166
[10:19:28.132] Image Alignment failed 0
[10:19:28.132] frame process finished the id is: 131 the obs is:29 
[10:19:28.148] Odometry x=0.035492, y=1.895783, theta=-0.017915
[10:19:28.231] Image Alignment failed 0
[10:19:28.231] frame process finished the id is: 131 the obs is:29 
[10:19:28.247] Odometry x=0.040044, y=1.907133, theta=-0.028553
[10:19:28.332] Image Alignment failed 0
[10:19:28.332] frame process finished the id is: 131 the obs is:29 
[10:19:28.346] Odometry x=0.050381, y=1.954773, theta=-0.006402
[10:19:28.430] Image Alignment failed 0
[10:19:28.430] frame process finished the id is: 131 the obs is:29 
[10:19:28.447] Odometry x=0.049204, y=1.979387, theta=-0.005672
[10:19:28.532] Image Alignment failed 0
[10:19:28.532] frame process finished the id is: 131 the obs is:29 
[10:19:28.546] Odometry x=0.049209, y=1.990789, theta=-0.008090
[10:19:28.631] Image Alignment failed 0
[10:19:28.631] frame process finished the id is: 131 the obs is:29 
[10:19:28.647] Odometry x=0.049396, y=2.011296, theta=-0.003893
[10:19:28.730] Image Alignment failed 0
[10:19:28.730] frame process finished the id is: 131 the obs is:29 
[10:19:28.746] Odometry x=0.049234, y=2.022016, theta=0.000322
[10:19:28.830] Image Alignment failed 0
[10:19:28.830] frame process finished the id is: 131 the obs is:29 
[10:19:28.846] Odometry x=0.049238, y=2.032881, theta=-0.002959
[10:19:28.931] Image Alignment failed 0
[10:19:28.931] frame process finished the id is: 131 the obs is:29 
[10:19:28.948] Odometry x=0.049236, y=2.043604, theta=-0.008960
[10:19:29.031] Image Alignment failed 0
[10:19:29.031] frame process finished the id is: 131 the obs is:29 
[10:19:29.048] Odometry x=0.049478, y=2.064940, theta=-0.008799
[10:19:29.132] Image Alignment failed 0
[10:19:29.132] frame process finished the id is: 131 the obs is:29 
[10:19:29.143] Odometry x=0.049304, y=2.075846, theta=0.001304
[10:19:29.232] Image Alignment failed 0
[10:19:29.232] frame process finished the id is: 131 the obs is:29 
[10:19:29.244] Odometry x=0.049265, y=2.086602, theta=0.004828
[10:19:29.331] Image Alignment failed 0
[10:19:29.331] frame process finished the id is: 131 the obs is:29 
[10:19:29.344] Odometry x=0.052293, y=2.097456, theta=-0.012895
[10:19:29.431] Image Alignment failed 0
[10:19:29.431] frame process finished the id is: 131 the obs is:29 
[10:19:29.444] Odometry x=0.052413, y=2.108958, theta=0.000806
[10:19:29.531] Image Alignment failed 0
[10:19:29.531] frame process finished the id is: 131 the obs is:29 
[10:19:29.550] Odometry x=0.053582, y=2.159752, theta=-0.002528
[10:19:29.631] Image Alignment failed 0
[10:19:29.631] frame process finished the id is: 131 the obs is:29 
[10:19:29.645] Odometry x=0.053862, y=2.176185, theta=-0.008665
[10:19:29.732] Image Alignment failed 0
[10:19:29.732] frame process finished the id is: 131 the obs is:29 
[10:19:29.746] Odometry x=0.067773, y=2.202819, theta=-0.018791
[10:19:29.831] Image Alignment failed 0
[10:19:29.831] frame process finished the id is: 131 the obs is:29 
[10:19:29.849] Odometry x=0.045067, y=2.222364, theta=-0.016906
[10:19:29.931] Image Alignment failed 0
[10:19:29.931] frame process finished the id is: 131 the obs is:29 
[10:19:29.950] Odometry x=0.045190, y=2.233354, theta=-0.020058
[10:19:30.034] Image Alignment failed 0
[10:19:30.034] frame process finished the id is: 131 the obs is:29 
[10:19:30.047] Odometry x=0.059268, y=2.232997, theta=-0.009949
[10:19:30.131] Image Alignment failed 0
[10:19:30.131] frame process finished the id is: 131 the obs is:29 
[10:19:30.147] Odometry x=0.068403, y=2.249518, theta=-0.002333
[10:19:30.231] Image Alignment failed 0
[10:19:30.231] frame process finished the id is: 131 the obs is:29 
[10:19:30.253] Odometry x=0.068451, y=2.259885, theta=-0.021404
[10:19:30.331] Image Alignment failed 0
[10:19:30.331] frame process finished the id is: 131 the obs is:29 
[10:19:30.353] Odometry x=0.068584, y=2.270674, theta=-0.020065
[10:19:30.432] Image Alignment failed 0
[10:19:30.432] frame process finished the id is: 131 the obs is:29 
[10:19:30.530] Image Alignment failed 0
[10:19:30.530] frame process finished the id is: 131 the obs is:29 
[10:19:30.632] Image Alignment failed 0
[10:19:30.632] frame process finished the id is: 131 the obs is:29 
[10:19:30.731] Image Alignment failed 0
[10:19:30.731] frame process finished the id is: 131 the obs is:29 
[10:19:30.830] Image Alignment failed 0
[10:19:30.830] frame process finished the id is: 131 the obs is:29 
[10:19:30.931] Image Alignment failed 0
[10:19:30.931] frame process finished the id is: 131 the obs is:29 
[10:19:31.030] Image Alignment failed 0
[10:19:31.030] frame process finished the id is: 131 the obs is:29 
[10:19:31.131] Image Alignment failed 0
[10:19:31.131] frame process finished the id is: 131 the obs is:29 
[10:19:31.230] Image Alignment failed 0
[10:19:31.230] frame process finished the id is: 131 the obs is:29 
[10:19:31.335] Image Alignment failed 0
[10:19:31.335] frame process finished the id is: 131 the obs is:29 
[10:19:31.432] Image Alignment failed 0
[10:19:31.432] frame process finished the id is: 131 the obs is:29 
[10:19:31.532] Image Alignment failed 0
[10:19:31.532] frame process finished the id is: 131 the obs is:29 
[10:19:31.631] Image Alignment failed 0
[10:19:31.631] frame process finished the id is: 131 the obs is:29 
[10:19:31.730] Image Alignment failed 0
[10:19:31.730] frame process finished the id is: 131 the obs is:29 
[10:19:31.831] Image Alignment failed 0
[10:19:31.831] frame process finished the id is: 131 the obs is:29 
[10:19:31.932] Image Alignment failed 0
[10:19:31.932] frame process finished the id is: 131 the obs is:29 
[10:19:32.031] Image Alignment failed 0
[10:19:32.031] frame process finished the id is: 131 the obs is:29 
[10:19:32.131] Image Alignment failed 0
[10:19:32.131] frame process finished the id is: 131 the obs is:29 
[10:19:32.231] Image Alignment failed 0
[10:19:32.231] frame process finished the id is: 131 the obs is:29 
[10:19:32.331] Image Alignment failed 0
[10:19:32.331] frame process finished the id is: 131 the obs is:29 
[10:19:32.431] Image Alignment failed 0
[10:19:32.431] frame process finished the id is: 131 the obs is:29 
[10:19:32.531] Image Alignment failed 0
[10:19:32.531] frame process finished the id is: 131 the obs is:29 
[10:19:32.632] Image Alignment failed 0
[10:19:32.632] frame process finished the id is: 131 the obs is:29 
[10:19:32.731] Image Alignment failed 0
[10:19:32.731] frame process finished the id is: 131 the obs is:29 
[10:19:32.832] Image Alignment failed 0
[10:19:32.832] frame process finished the id is: 131 the obs is:29 
[10:19:32.931] Image Alignment failed 0
[10:19:32.931] frame process finished the id is: 131 the obs is:29 
[10:19:33.032] Image Alignment failed 0
[10:19:33.032] frame process finished the id is: 131 the obs is:29 
[10:19:33.132] Image Alignment failed 0
[10:19:33.132] frame process finished the id is: 131 the obs is:29 
[10:19:33.234] Image Alignment failed 0
[10:19:33.234] frame process finished the id is: 131 the obs is:29 
[10:19:33.331] Image Alignment failed 0
[10:19:33.331] frame process finished the id is: 131 the obs is:29 
[10:19:33.430] Image Alignment failed 0
[10:19:33.430] frame process finished the id is: 131 the obs is:29 
[10:19:33.530] Image Alignment failed 0
[10:19:33.530] frame process finished the id is: 131 the obs is:29 
[10:19:33.631] Image Alignment failed 0
[10:19:33.631] frame process finished the id is: 131 the obs is:29 
[10:19:33.730] Image Alignment failed 0
[10:19:33.730] frame process finished the id is: 131 the obs is:29 
[10:19:33.831] Image Alignment failed 0
[10:19:33.831] frame process finished the id is: 131 the obs is:29 
[10:19:33.934] Image Alignment failed 0
[10:19:33.934] frame process finished the id is: 131 the obs is:29 
[10:19:34.031] Image Alignment failed 0
[10:19:34.031] frame process finished the id is: 131 the obs is:29 
[10:19:34.131] Image Alignment failed 0
[10:19:34.131] frame process finished the id is: 131 the obs is:29 
[10:19:34.231] Image Alignment failed 0
[10:19:34.231] frame process finished the id is: 131 the obs is:29 
[10:19:34.331] Image Alignment failed 0
[10:19:34.331] frame process finished the id is: 131 the obs is:29 
[10:19:34.431] Image Alignment failed 0
[10:19:34.431] frame process finished the id is: 131 the obs is:29 
[10:19:34.531] Image Alignment failed 0
[10:19:34.531] frame process finished the id is: 131 the obs is:29 
[10:19:34.631] Image Alignment failed 0
[10:19:34.631] frame process finished the id is: 131 the obs is:29 
[10:19:34.731] Image Alignment failed 0
[10:19:34.731] frame process finished the id is: 131 the obs is:29 
[10:19:34.831] Image Alignment failed 0
[10:19:34.831] frame process finished the id is: 131 the obs is:29 
[10:19:34.931] Image Alignment failed 0
[10:19:34.931] frame process finished the id is: 131 the obs is:29 
[10:19:35.032] Image Alignment failed 0
[10:19:35.032] frame process finished the id is: 131 the obs is:29 
[10:19:35.131] Image Alignment failed 0
[10:19:35.131] frame process finished the id is: 131 the obs is:29 
[10:19:35.231] Image Alignment failed 0
[10:19:35.231] frame process finished the id is: 131 the obs is:29 
[10:19:35.332] Image Alignment failed 0
[10:19:35.332] frame process finished the id is: 131 the obs is:29 
[10:19:35.435] Image Alignment failed 0
[10:19:35.435] frame process finished the id is: 131 the obs is:29 
[10:19:35.533] Image Alignment failed 0
[10:19:35.533] frame process finished the id is: 131 the obs is:29 
[10:19:35.636] Image Alignment failed 0
[10:19:35.636] frame process finished the id is: 131 the obs is:29 
[10:19:35.731] Image Alignment failed 0
[10:19:35.731] frame process finished the id is: 131 the obs is:29 
[10:19:35.831] Image Alignment failed 0
[10:19:35.831] frame process finished the id is: 131 the obs is:29 
[10:19:35.931] Image Alignment failed 0
[10:19:35.931] frame process finished the id is: 131 the obs is:29 
[10:19:36.031] Image Alignment failed 0
[10:19:36.031] frame process finished the id is: 131 the obs is:29 
[10:19:36.131] Image Alignment failed 0
[10:19:36.131] frame process finished the id is: 131 the obs is:29 
[10:19:36.230] Image Alignment failed 0
[10:19:36.230] frame process finished the id is: 131 the obs is:29 
[10:19:36.331] Image Alignment failed 0
[10:19:36.331] frame process finished the id is: 131 the obs is:29 
[10:19:36.431] Image Alignment failed 0
[10:19:36.431] frame process finished the id is: 131 the obs is:29 
[10:19:36.531] Image Alignment failed 0
[10:19:36.531] frame process finished the id is: 131 the obs is:29 
[10:19:36.632] Image Alignment failed 0
[10:19:36.632] frame process finished the id is: 131 the obs is:29 
[10:19:36.731] Image Alignment failed 0
[10:19:36.731] frame process finished the id is: 131 the obs is:29 
[10:19:36.832] Image Alignment failed 0
[10:19:36.832] frame process finished the id is: 131 the obs is:29 
[10:19:36.931] Image Alignment failed 0
[10:19:36.931] frame process finished the id is: 131 the obs is:29 
[10:19:37.031] Image Alignment failed 0
[10:19:37.031] frame process finished the id is: 131 the obs is:29 
[10:19:37.131] Image Alignment failed 0
[10:19:37.131] frame process finished the id is: 131 the obs is:29 
[10:19:37.232] Image Alignment failed 0
[10:19:37.232] frame process finished the id is: 131 the obs is:29 
[10:19:37.332] Image Alignment failed 0
[10:19:37.332] frame process finished the id is: 131 the obs is:29 
[10:19:37.431] Image Alignment failed 0
[10:19:37.431] frame process finished the id is: 131 the obs is:29 
[10:19:37.532] Image Alignment failed 0
[10:19:37.532] frame process finished the id is: 131 the obs is:29 
[10:19:37.631] Image Alignment failed 0
[10:19:37.631] frame process finished the id is: 131 the obs is:29 
[10:19:37.731] Image Alignment failed 0
[10:19:37.731] frame process finished the id is: 131 the obs is:29 
[10:19:37.831] Image Alignment failed 0
[10:19:37.832] frame process finished the id is: 131 the obs is:29 
[10:19:37.932] Image Alignment failed 0
[10:19:37.932] frame process finished the id is: 131 the obs is:29 
[10:19:38.031] Image Alignment failed 0
[10:19:38.031] frame process finished the id is: 131 the obs is:29 
[10:19:38.131] Image Alignment failed 0
[10:19:38.131] frame process finished the id is: 131 the obs is:29 
[10:19:38.232] Image Alignment failed 0
[10:19:38.232] frame process finished the id is: 131 the obs is:29 
[10:19:38.332] Image Alignment failed 0
[10:19:38.332] frame process finished the id is: 131 the obs is:29 
[10:19:38.431] Image Alignment failed 0
[10:19:38.431] frame process finished the id is: 131 the obs is:29 
[10:19:38.531] Image Alignment failed 0
[10:19:38.531] frame process finished the id is: 131 the obs is:29 
[10:19:38.633] Image Alignment failed 0
[10:19:38.633] frame process finished the id is: 131 the obs is:29 
[10:19:38.732] Image Alignment failed 0
[10:19:38.732] frame process finished the id is: 131 the obs is:29 
[10:19:38.831] Image Alignment failed 0
[10:19:38.831] frame process finished the id is: 131 the obs is:29 
[10:19:38.932] Image Alignment failed 0
[10:19:38.932] frame process finished the id is: 131 the obs is:29 
[10:19:39.034] Image Alignment failed 0
[10:19:39.034] frame process finished the id is: 131 the obs is:29 
[10:19:39.131] Image Alignment failed 0
[10:19:39.131] frame process finished the id is: 131 the obs is:29 
[10:19:39.231] Image Alignment failed 0
[10:19:39.231] frame process finished the id is: 131 the obs is:29 
[10:19:39.333] Image Alignment failed 0
[10:19:39.333] frame process finished the id is: 131 the obs is:29 
[10:19:39.432] Image Alignment failed 0
[10:19:39.432] frame process finished the id is: 131 the obs is:29 
[10:19:39.532] Image Alignment failed 0
[10:19:39.532] frame process finished the id is: 131 the obs is:29 
[10:19:39.635] Image Alignment failed 0
[10:19:39.635] frame process finished the id is: 131 the obs is:29 
[10:19:39.731] Image Alignment failed 0
[10:19:39.731] frame process finished the id is: 131 the obs is:29 
[10:19:39.831] Image Alignment failed 0
[10:19:39.831] frame process finished the id is: 131 the obs is:29 
[10:19:39.931] Image Alignment failed 0
[10:19:39.931] frame process finished the id is: 131 the obs is:29 
[10:19:40.031] Image Alignment failed 0
[10:19:40.031] frame process finished the id is: 131 the obs is:29 
[10:19:40.131] Image Alignment failed 0
[10:19:40.131] frame process finished the id is: 131 the obs is:29 
[10:19:40.232] Image Alignment failed 0
[10:19:40.232] frame process finished the id is: 131 the obs is:29 
[10:19:40.331] Image Alignment failed 0
[10:19:40.331] frame process finished the id is: 131 the obs is:29 
[10:19:40.431] Image Alignment failed 0
[10:19:40.431] frame process finished the id is: 131 the obs is:29 
[10:19:40.532] Image Alignment failed 0
[10:19:40.532] frame process finished the id is: 131 the obs is:29 
[10:19:40.631] Image Alignment failed 0
[10:19:40.631] frame process finished the id is: 131 the obs is:29 
[10:19:40.732] Image Alignment failed 0
[10:19:40.732] frame process finished the id is: 131 the obs is:29 
[10:19:40.831] Image Alignment failed 0
[10:19:40.831] frame process finished the id is: 131 the obs is:29 
[10:19:40.934] Image Alignment failed 0
[10:19:40.934] frame process finished the id is: 131 the obs is:29 
[10:19:41.034] Image Alignment failed 0
[10:19:41.034] frame process finished the id is: 131 the obs is:29 
[10:19:41.136] Image Alignment failed 0
[10:19:41.136] frame process finished the id is: 131 the obs is:29 
[10:19:41.231] Image Alignment failed 0
[10:19:41.231] frame process finished the id is: 131 the obs is:29 
[10:19:41.332] Image Alignment failed 0
[10:19:41.332] frame process finished the id is: 131 the obs is:29 
[10:19:41.432] Image Alignment failed 0
[10:19:41.432] frame process finished the id is: 131 the obs is:29 
[10:19:41.532] Image Alignment failed 0
[10:19:41.532] frame process finished the id is: 131 the obs is:29 
[10:19:41.631] Image Alignment failed 0
[10:19:41.631] frame process finished the id is: 131 the obs is:29 
[10:19:41.731] Image Alignment failed 0
[10:19:41.731] frame process finished the id is: 131 the obs is:29 
[10:19:41.832] Image Alignment failed 0
[10:19:41.832] frame process finished the id is: 131 the obs is:29 
[10:19:41.932] Image Alignment failed 0
[10:19:41.932] frame process finished the id is: 131 the obs is:29 
[10:19:42.032] Image Alignment failed 0
[10:19:42.032] frame process finished the id is: 131 the obs is:29 
[10:19:42.132] Image Alignment failed 0
[10:19:42.132] frame process finished the id is: 131 the obs is:29 
[10:19:42.233] Image Alignment failed 0
[10:19:42.233] frame process finished the id is: 131 the obs is:29 
[10:19:42.333] Image Alignment failed 0
[10:19:42.333] frame process finished the id is: 131 the obs is:29 
[10:19:42.433] Image Alignment failed 0
[10:19:42.433] frame process finished the id is: 131 the obs is:29 
[10:19:42.530] Image Alignment failed 0
[10:19:42.530] frame process finished the id is: 131 the obs is:29 
[10:19:42.632] Image Alignment failed 0
[10:19:42.632] frame process finished the id is: 131 the obs is:29 
[10:19:42.735] Image Alignment failed 0
[10:19:42.735] frame process finished the id is: 131 the obs is:29 
[10:19:42.833] Image Alignment failed 0
[10:19:42.833] frame process finished the id is: 131 the obs is:29 
[10:19:42.934] Image Alignment failed 0
[10:19:42.934] frame process finished the id is: 131 the obs is:29 
[10:19:43.035] Image Alignment failed 0
[10:19:43.035] frame process finished the id is: 131 the obs is:29 
[10:19:43.131] Image Alignment failed 0
[10:19:43.131] frame process finished the id is: 131 the obs is:29 
[10:19:43.232] Image Alignment failed 0
[10:19:43.232] frame process finished the id is: 131 the obs is:29 
[10:19:43.331] Image Alignment failed 0
[10:19:43.331] frame process finished the id is: 131 the obs is:29 
[10:19:43.432] Image Alignment failed 0
[10:19:43.432] frame process finished the id is: 131 the obs is:29 
[10:19:43.531] Image Alignment failed 0
[10:19:43.531] frame process finished the id is: 131 the obs is:29 
[10:19:43.631] Image Alignment failed 0
[10:19:43.631] frame process finished the id is: 131 the obs is:29 
[10:19:43.733] Image Alignment failed 0
[10:19:43.733] frame process finished the id is: 131 the obs is:29 
[10:19:43.834] Image Alignment failed 0
[10:19:43.834] frame process finished the id is: 131 the obs is:29 
[10:19:43.932] Image Alignment failed 0
[10:19:43.932] frame process finished the id is: 131 the obs is:29 
[10:19:44.034] Image Alignment failed 0
[10:19:44.034] frame process finished the id is: 131 the obs is:29 
[10:19:44.133] Image Alignment failed 0
[10:19:44.133] frame process finished the id is: 131 the obs is:29 
[10:19:44.230] Image Alignment failed 0
[10:19:44.230] frame process finished the id is: 131 the obs is:29 
[10:19:44.332] Image Alignment failed 0
[10:19:44.332] frame process finished the id is: 131 the obs is:29 
[10:19:44.432] Image Alignment failed 0
[10:19:44.432] frame process finished the id is: 131 the obs is:29 
[10:19:44.532] Image Alignment failed 0
[10:19:44.532] frame process finished the id is: 131 the obs is:29 
[10:19:44.632] Image Alignment failed 0
[10:19:44.632] frame process finished the id is: 131 the obs is:29 
[10:19:44.734] Image Alignment failed 0
[10:19:44.734] frame process finished the id is: 131 the obs is:29 
[10:19:44.830] Image Alignment failed 0
[10:19:44.830] frame process finished the id is: 131 the obs is:29 
[10:19:44.933] Image Alignment failed 0
[10:19:44.933] frame process finished the id is: 131 the obs is:29 
[10:19:45.032] Image Alignment failed 0
[10:19:45.032] frame process finished the id is: 131 the obs is:29 
[10:19:45.131] Image Alignment failed 0
[10:19:45.131] frame process finished the id is: 131 the obs is:29 
[10:19:45.231] Image Alignment failed 0
[10:19:45.231] frame process finished the id is: 131 the obs is:29 
[10:19:45.332] Image Alignment failed 0
[10:19:45.332] frame process finished the id is: 131 the obs is:29 
[10:19:45.433] Image Alignment failed 0
[10:19:45.433] frame process finished the id is: 131 the obs is:29 
[10:19:45.532] Image Alignment failed 0
[10:19:45.533] frame process finished the id is: 131 the obs is:29 
[10:19:45.632] Image Alignment failed 0
[10:19:45.632] frame process finished the id is: 131 the obs is:29 
[10:19:45.732] Image Alignment failed 0
[10:19:45.732] frame process finished the id is: 131 the obs is:29 
[10:19:45.832] Image Alignment failed 0
[10:19:45.832] frame process finished the id is: 131 the obs is:29 
[10:19:45.933] Image Alignment failed 0
[10:19:45.933] frame process finished the id is: 131 the obs is:29 
[10:19:46.032] Image Alignment failed 0
[10:19:46.032] frame process finished the id is: 131 the obs is:29 
[10:19:46.131] Image Alignment failed 0
[10:19:46.132] frame process finished the id is: 131 the obs is:29 
[10:19:46.234] Image Alignment failed 0
[10:19:46.234] frame process finished the id is: 131 the obs is:29 
[10:19:46.334] Image Alignment failed 0
[10:19:46.334] frame process finished the id is: 131 the obs is:29 
[10:19:46.431] Image Alignment failed 0
[10:19:46.431] frame process finished the id is: 131 the obs is:29 
[10:19:46.533] Image Alignment failed 0
[10:19:46.533] frame process finished the id is: 131 the obs is:29 
[10:19:46.626] Image Alignment failed 0
[10:19:46.626] frame process finished the id is: 131 the obs is:29 
[10:19:46.732] Image Alignment failed 0
[10:19:46.732] frame process finished the id is: 131 the obs is:29 
[10:19:46.835] Image Alignment failed 0
[10:19:46.835] frame process finished the id is: 131 the obs is:29 
[10:19:46.933] Image Alignment failed 0
[10:19:46.933] frame process finished the id is: 131 the obs is:29 
[10:19:47.033] Image Alignment failed 0
[10:19:47.033] frame process finished the id is: 131 the obs is:29 
[10:19:47.131] Image Alignment failed 0
[10:19:47.131] frame process finished the id is: 131 the obs is:29 
[10:19:47.233] Image Alignment failed 0
[10:19:47.233] frame process finished the id is: 131 the obs is:29 
[10:19:47.332] Image Alignment failed 0
[10:19:47.332] frame process finished the id is: 131 the obs is:29 
[10:19:47.435] Image Alignment failed 0
[10:19:47.435] frame process finished the id is: 131 the obs is:29 
[10:19:47.532] Image Alignment failed 0
[10:19:47.532] frame process finished the id is: 131 the obs is:29 
[10:19:47.633] Image Alignment failed 0
[10:19:47.633] frame process finished the id is: 131 the obs is:29 
[10:19:47.733] Image Alignment failed 0
[10:19:47.733] frame process finished the id is: 131 the obs is:29 
[10:19:47.832] Image Alignment failed 0
[10:19:47.832] frame process finished the id is: 131 the obs is:29 
[10:19:47.933] Image Alignment failed 0
[10:19:47.933] frame process finished the id is: 131 the obs is:29 
[10:19:48.033] Image Alignment failed 0
[10:19:48.033] frame process finished the id is: 131 the obs is:29 
[10:19:48.132] Image Alignment failed 0
[10:19:48.132] frame process finished the id is: 131 the obs is:29 
[10:19:48.233] Image Alignment failed 0
[10:19:48.233] frame process finished the id is: 131 the obs is:29 
[10:19:48.336] Image Alignment failed 0
[10:19:48.336] frame process finished the id is: 131 the obs is:29 
[10:19:48.432] Image Alignment failed 0
[10:19:48.432] frame process finished the id is: 131 the obs is:29 
[10:19:48.534] Image Alignment failed 0
[10:19:48.534] frame process finished the id is: 131 the obs is:29 
[10:19:48.632] Image Alignment failed 0
[10:19:48.632] frame process finished the id is: 131 the obs is:29 
[10:19:48.733] Image Alignment failed 0
[10:19:48.733] frame process finished the id is: 131 the obs is:29 
[10:19:48.833] Image Alignment failed 0
[10:19:48.834] frame process finished the id is: 131 the obs is:29 
[10:19:48.931] Image Alignment failed 0
[10:19:48.932] frame process finished the id is: 131 the obs is:29 
[10:19:49.032] Image Alignment failed 0
[10:19:49.032] frame process finished the id is: 131 the obs is:29 
[10:19:49.132] Image Alignment failed 0
[10:19:49.132] frame process finished the id is: 131 the obs is:29 
[10:19:49.232] Image Alignment failed 0
[10:19:49.232] frame process finished the id is: 131 the obs is:29 
[10:19:49.332] Image Alignment failed 0
[10:19:49.332] frame process finished the id is: 131 the obs is:29 
[10:19:49.434] Image Alignment failed 0
[10:19:49.434] frame process finished the id is: 131 the obs is:29 
[10:19:49.531] Image Alignment failed 0
[10:19:49.531] frame process finished the id is: 131 the obs is:29 
[10:19:49.633] Image Alignment failed 0
[10:19:49.633] frame process finished the id is: 131 the obs is:29 
[10:19:49.733] Image Alignment failed 0
[10:19:49.733] frame process finished the id is: 131 the obs is:29 
[10:19:49.832] Image Alignment failed 0
[10:19:49.832] frame process finished the id is: 131 the obs is:29 
[10:19:49.932] Image Alignment failed 0
[10:19:49.933] frame process finished the id is: 131 the obs is:29 
[10:19:50.033] Image Alignment failed 0
[10:19:50.033] frame process finished the id is: 131 the obs is:29 
[10:19:50.134] Image Alignment failed 0
[10:19:50.134] frame process finished the id is: 131 the obs is:29 
[10:19:50.233] Image Alignment failed 0
[10:19:50.233] frame process finished the id is: 131 the obs is:29 
[10:19:50.332] Image Alignment failed 0
[10:19:50.332] frame process finished the id is: 131 the obs is:29 
[10:19:50.433] Image Alignment failed 0
[10:19:50.433] frame process finished the id is: 131 the obs is:29 
[10:19:50.534] Image Alignment failed 0
[10:19:50.534] frame process finished the id is: 131 the obs is:29 
[10:19:50.632] Image Alignment failed 0
[10:19:50.632] frame process finished the id is: 131 the obs is:29 
[10:19:50.732] Image Alignment failed 0
[10:19:50.732] frame process finished the id is: 131 the obs is:29 
[10:19:50.832] Image Alignment failed 0
[10:19:50.832] frame process finished the id is: 131 the obs is:29 
[10:19:50.934] Image Alignment failed 0
[10:19:50.934] frame process finished the id is: 131 the obs is:29 
[10:19:51.032] Image Alignment failed 0
[10:19:51.032] frame process finished the id is: 131 the obs is:29 
[10:19:51.132] Image Alignment failed 0
[10:19:51.132] frame process finished the id is: 131 the obs is:29 
[10:19:51.233] Image Alignment failed 0
[10:19:51.233] frame process finished the id is: 131 the obs is:29 
[10:19:51.332] Image Alignment failed 0
[10:19:51.333] frame process finished the id is: 131 the obs is:29 
[10:19:51.434] Image Alignment failed 0
[10:19:51.434] frame process finished the id is: 131 the obs is:29 
[10:19:51.532] Image Alignment failed 0
[10:19:51.532] frame process finished the id is: 131 the obs is:29 
[10:19:51.634] Image Alignment failed 0
[10:19:51.634] frame process finished the id is: 131 the obs is:29 
[10:19:51.732] Image Alignment failed 0
[10:19:51.732] frame process finished the id is: 131 the obs is:29 
[10:19:51.833] Image Alignment failed 0
[10:19:51.833] frame process finished the id is: 131 the obs is:29 
[10:19:51.935] Image Alignment failed 0
[10:19:51.935] frame process finished the id is: 131 the obs is:29 
[10:19:52.033] Image Alignment failed 0
[10:19:52.033] frame process finished the id is: 131 the obs is:29 
[10:19:52.132] Image Alignment failed 0
[10:19:52.132] frame process finished the id is: 131 the obs is:29 
[10:19:52.233] Image Alignment failed 0
[10:19:52.233] frame process finished the id is: 131 the obs is:29 
[10:19:52.332] Image Alignment failed 0
[10:19:52.332] frame process finished the id is: 131 the obs is:29 
[10:19:52.433] Image Alignment failed 0
[10:19:52.433] frame process finished the id is: 131 the obs is:29 
[10:19:52.542] Image Alignment failed 0
[10:19:52.542] frame process finished the id is: 131 the obs is:29 
[10:19:52.632] Image Alignment failed 0
[10:19:52.632] frame process finished the id is: 131 the obs is:29 
[10:19:52.733] Image Alignment failed 0
[10:19:52.733] frame process finished the id is: 131 the obs is:29 
[10:19:52.833] Image Alignment failed 0
[10:19:52.833] frame process finished the id is: 131 the obs is:29 
[10:19:52.933] Image Alignment failed 0
[10:19:52.933] frame process finished the id is: 131 the obs is:29 
[10:19:53.033] Image Alignment failed 0
[10:19:53.033] frame process finished the id is: 131 the obs is:29 
[10:19:53.132] Image Alignment failed 0
[10:19:53.132] frame process finished the id is: 131 the obs is:29 
[10:19:53.232] Image Alignment failed 0
[10:19:53.232] frame process finished the id is: 131 the obs is:29 
[10:19:53.331] Image Alignment failed 0
[10:19:53.331] frame process finished the id is: 131 the obs is:29 
[10:19:53.433] Image Alignment failed 0
[10:19:53.433] frame process finished the id is: 131 the obs is:29 
[10:19:53.531] Image Alignment failed 0
[10:19:53.531] frame process finished the id is: 131 the obs is:29 
[10:19:53.632] Image Alignment failed 0
[10:19:53.632] frame process finished the id is: 131 the obs is:29 
[10:19:53.731] Image Alignment failed 0
[10:19:53.731] frame process finished the id is: 131 the obs is:29 
[10:19:53.832] Image Alignment failed 0
[10:19:53.832] frame process finished the id is: 131 the obs is:29 
[10:19:53.931] Image Alignment failed 0
[10:19:53.931] frame process finished the id is: 131 the obs is:29 
[10:19:54.032] Image Alignment failed 0
[10:19:54.032] frame process finished the id is: 131 the obs is:29 
[10:19:54.131] Image Alignment failed 0
[10:19:54.131] frame process finished the id is: 131 the obs is:29 
[10:19:54.232] Image Alignment failed 0
[10:19:54.232] frame process finished the id is: 131 the obs is:29 
[10:19:54.331] Image Alignment failed 0
[10:19:54.331] frame process finished the id is: 131 the obs is:29 
[10:19:54.432] Image Alignment failed 0
[10:19:54.433] frame process finished the id is: 131 the obs is:29 
[10:19:54.535] Image Alignment failed 0
[10:19:54.535] frame process finished the id is: 131 the obs is:29 
[10:19:54.608] Odometry x=0.064903, y=2.281790, theta=-0.010131
[10:19:54.633] Image Alignment failed 0
[10:19:54.633] frame process finished the id is: 131 the obs is:29 
[10:19:54.708] Odometry x=6.324816, y=0.407575, theta=0.385592
[10:19:54.732] Image Alignment failed 0
[10:19:54.732] frame process finished the id is: 131 the obs is:29 
[10:19:54.809] Odometry x=6.322744, y=0.398221, theta=0.365937
[10:19:54.832] Image Alignment failed 0
[10:19:54.832] frame process finished the id is: 131 the obs is:29 
[10:19:54.910] Odometry x=6.324648, y=0.387756, theta=0.365796
[10:19:54.932] Image Alignment failed 0
[10:19:54.932] frame process finished the id is: 131 the obs is:29 
[10:19:55.009] Odometry x=6.332830, y=0.337200, theta=0.347810
[10:19:55.032] Image Alignment failed 0
[10:19:55.032] frame process finished the id is: 131 the obs is:29 
[10:19:55.109] Odometry x=6.335483, y=0.322087, theta=0.358284
[10:19:55.134] Image Alignment failed 0
[10:19:55.134] frame process finished the id is: 131 the obs is:29 
[10:19:55.208] Odometry x=6.342208, y=0.316603, theta=0.366725
[10:19:55.233] Image Alignment failed 0
[10:19:55.233] frame process finished the id is: 131 the obs is:29 
[10:19:55.304] Odometry x=6.345847, y=0.296590, theta=0.373789
[10:19:55.333] Image Alignment failed 0
[10:19:55.334] frame process finished the id is: 131 the obs is:29 
[10:19:55.412] Odometry x=6.348476, y=0.287832, theta=0.366886
[10:19:55.434] Image Alignment failed 0
[10:19:55.434] frame process finished the id is: 131 the obs is:29 
[10:19:55.507] Odometry x=6.345642, y=0.308304, theta=0.404326
[10:19:55.538] Image Alignment failed 0
[10:19:55.538] frame process finished the id is: 131 the obs is:29 
[10:19:55.608] Odometry x=6.342562, y=0.293667, theta=0.364150
[10:19:55.635] Image Alignment failed 0
[10:19:55.635] frame process finished the id is: 131 the obs is:29 
[10:19:55.710] Odometry x=6.345212, y=0.279990, theta=0.368754
[10:19:55.735] Image Alignment failed 0
[10:19:55.735] frame process finished the id is: 131 the obs is:29 
[10:19:55.807] Odometry x=6.350894, y=0.249838, theta=0.359173
[10:19:55.835] Image Alignment failed 0
[10:19:55.835] frame process finished the id is: 131 the obs is:29 
[10:19:55.908] Odometry x=6.365751, y=0.256441, theta=0.364209
[10:19:55.935] Image Alignment failed 0
[10:19:55.935] frame process finished the id is: 131 the obs is:29 
[10:19:56.009] Odometry x=6.356780, y=0.260477, theta=0.380898
[10:19:56.034] Image Alignment failed 0
[10:19:56.034] frame process finished the id is: 131 the obs is:29 
[10:19:56.109] Odometry x=6.358351, y=0.252481, theta=0.373332
[10:19:56.135] Image Alignment failed 0
[10:19:56.135] frame process finished the id is: 131 the obs is:29 
[10:19:56.208] Odometry x=6.360216, y=0.242163, theta=0.378193
[10:19:56.235] Image Alignment failed 0
[10:19:56.235] frame process finished the id is: 131 the obs is:29 
[10:19:56.303] Odometry x=6.360326, y=0.244161, theta=0.381123
[10:19:56.334] Image Alignment failed 0
[10:19:56.334] frame process finished the id is: 131 the obs is:29 
[10:19:56.409] Odometry x=6.363020, y=0.254750, theta=0.390741
[10:19:56.435] Image Alignment failed 0
[10:19:56.435] frame process finished the id is: 131 the obs is:29 
[10:19:56.513] Odometry x=6.365007, y=0.244874, theta=0.375156
[10:19:56.535] Image Alignment failed 0
[10:19:56.535] frame process finished the id is: 131 the obs is:29 
[10:19:56.612] Odometry x=6.346338, y=0.228870, theta=0.380694
[10:19:56.636] Image Alignment failed 0
[10:19:56.636] frame process finished the id is: 131 the obs is:29 
[10:19:56.707] Odometry x=6.357655, y=0.233277, theta=0.373294
[10:19:56.735] Image Alignment failed 0
[10:19:56.735] frame process finished the id is: 131 the obs is:29 
[10:19:56.807] Odometry x=6.364726, y=0.231953, theta=0.365794
[10:19:56.835] Image Alignment failed 0
[10:19:56.835] frame process finished the id is: 131 the obs is:29 
[10:19:56.908] Odometry x=6.369761, y=0.226774, theta=0.394507
[10:19:56.935] Image Alignment failed 0
[10:19:56.935] frame process finished the id is: 131 the obs is:29 
[10:19:57.010] Odometry x=6.372067, y=0.217424, theta=0.399614
[10:19:57.034] Image Alignment failed 0
[10:19:57.034] frame process finished the id is: 131 the obs is:29 
[10:19:57.108] Odometry x=6.382239, y=0.215840, theta=0.365692
[10:19:57.135] Image Alignment failed 0
[10:19:57.135] frame process finished the id is: 131 the obs is:29 
[10:19:57.208] Odometry x=6.376581, y=0.200478, theta=0.374583
[10:19:57.233] Image Alignment failed 0
[10:19:57.233] frame process finished the id is: 131 the obs is:29 
[10:19:57.308] Odometry x=6.378963, y=0.190831, theta=0.375065
[10:19:57.333] Image Alignment failed 0
[10:19:57.333] frame process finished the id is: 131 the obs is:29 
[10:19:57.410] Odometry x=6.377857, y=0.196582, theta=0.374684
[10:19:57.433] Image Alignment failed 0
[10:19:57.433] frame process finished the id is: 131 the obs is:29 
[10:19:57.511] Odometry x=6.396421, y=0.171592, theta=0.382201
[10:19:57.533] Image Alignment failed 0
[10:19:57.533] frame process finished the id is: 131 the obs is:29 
[10:19:57.611] Odometry x=6.401806, y=0.149106, theta=0.377025
[10:19:57.633] Image Alignment failed 0
[10:19:57.633] frame process finished the id is: 131 the obs is:29 
[10:19:57.711] Odometry x=6.413254, y=0.172762, theta=0.402864
[10:19:57.734] Image Alignment failed 0
[10:19:57.734] frame process finished the id is: 131 the obs is:29 
[10:19:57.812] Odometry x=6.412901, y=0.168537, theta=0.397401
[10:19:57.833] Image Alignment failed 0
[10:19:57.833] frame process finished the id is: 131 the obs is:29 
[10:19:57.912] Odometry x=6.411743, y=0.173294, theta=0.383931
[10:19:57.934] Image Alignment failed 0
[10:19:57.934] frame process finished the id is: 131 the obs is:29 
[10:19:58.008] Odometry x=6.418555, y=0.140143, theta=0.382519
[10:19:58.034] Image Alignment failed 0
[10:19:58.034] frame process finished the id is: 131 the obs is:29 
[10:19:58.108] Odometry x=6.420312, y=0.130468, theta=0.378453
[10:19:58.134] Image Alignment failed 0
[10:19:58.134] frame process finished the id is: 131 the obs is:29 
[10:19:58.208] Odometry x=6.426931, y=0.100569, theta=0.396799
[10:19:58.233] Image Alignment failed 0
[10:19:58.233] frame process finished the id is: 131 the obs is:29 
[10:19:58.308] Odometry x=6.429000, y=0.090688, theta=0.396870
[10:19:58.333] Image Alignment failed 0
[10:19:58.333] frame process finished the id is: 131 the obs is:29 
[10:19:58.408] Odometry x=6.424862, y=0.108340, theta=0.392360
[10:19:58.433] Image Alignment failed 0
[10:19:58.433] frame process finished the id is: 131 the obs is:29 
[10:19:58.508] Odometry x=6.449628, y=0.074164, theta=0.385015
[10:19:58.533] Image Alignment failed 0
[10:19:58.533] frame process finished the id is: 131 the obs is:29 
[10:19:58.609] Odometry x=6.450107, y=0.072906, theta=0.394924
[10:19:58.634] Image Alignment failed 0
[10:19:58.634] frame process finished the id is: 131 the obs is:29 
[10:19:58.708] Odometry x=6.450014, y=0.060771, theta=0.388896
[10:19:58.733] Image Alignment failed 0
[10:19:58.733] frame process finished the id is: 131 the obs is:29 
[10:19:58.808] Odometry x=6.450306, y=0.065035, theta=0.394279
[10:19:58.833] Image Alignment failed 0
[10:19:58.833] frame process finished the id is: 131 the obs is:29 
[10:19:58.910] Odometry x=6.449386, y=0.004301, theta=0.382927
[10:19:58.933] Image Alignment failed 0
[10:19:58.933] frame process finished the id is: 131 the obs is:29 
[10:19:59.012] Odometry x=6.449585, y=0.010190, theta=0.398215
[10:19:59.033] Image Alignment failed 0
[10:19:59.033] frame process finished the id is: 131 the obs is:29 
[10:19:59.111] Odometry x=6.458626, y=0.014758, theta=0.379721
[10:19:59.133] Image Alignment failed 0
[10:19:59.133] frame process finished the id is: 131 the obs is:29 
[10:19:59.211] Odometry x=6.474479, y=0.019848, theta=0.415578
[10:19:59.233] Image Alignment failed 0
[10:19:59.233] frame process finished the id is: 131 the obs is:29 
[10:19:59.311] Odometry x=6.475246, y=0.014321, theta=0.409925
[10:19:59.333] Image Alignment failed 0
[10:19:59.333] frame process finished the id is: 131 the obs is:29 
[10:19:59.412] Odometry x=6.466117, y=-0.000472, theta=0.396751
[10:19:59.434] Image Alignment failed 0
[10:19:59.434] frame process finished the id is: 131 the obs is:29 
[10:19:59.512] Odometry x=6.468153, y=-0.010650, theta=0.378525
[10:19:59.533] Image Alignment failed 0
[10:19:59.533] frame process finished the id is: 131 the obs is:29 
[10:19:59.611] Odometry x=6.471094, y=-0.024852, theta=0.395607
[10:19:59.633] Image Alignment failed 0
[10:19:59.633] frame process finished the id is: 131 the obs is:29 
[10:19:59.711] Odometry x=6.470469, y=-0.021760, theta=0.390607
[10:19:59.734] Image Alignment failed 0
[10:19:59.734] frame process finished the id is: 131 the obs is:29 
[10:19:59.807] Odometry x=6.472440, y=-0.031299, theta=0.405097
[10:19:59.836] Image Alignment failed 0
[10:19:59.836] frame process finished the id is: 131 the obs is:29 
[10:19:59.907] Odometry x=6.459616, y=-0.023120, theta=0.412266
[10:19:59.936] Image Alignment failed 0
[10:19:59.936] frame process finished the id is: 131 the obs is:29 
[10:20:00.008] Odometry x=6.448819, y=-0.031634, theta=0.372488
[10:20:00.034] Image Alignment failed 0
[10:20:00.034] frame process finished the id is: 131 the obs is:29 
[10:20:00.108] Odometry x=6.452121, y=-0.045073, theta=0.387056
[10:20:00.133] Image Alignment failed 0
[10:20:00.133] frame process finished the id is: 131 the obs is:29 
[10:20:00.206] Odometry x=6.456008, y=-0.053500, theta=0.379549
[10:20:00.232] Image Alignment failed 0
[10:20:00.232] frame process finished the id is: 131 the obs is:29 
[10:20:00.302] Odometry x=6.458757, y=-0.061897, theta=0.379829
[10:20:00.333] Image Alignment failed 0
[10:20:00.333] frame process finished the id is: 131 the obs is:29 
[10:20:00.411] Odometry x=6.469481, y=-0.064245, theta=0.377302
[10:20:00.433] Image Alignment failed 0
[10:20:00.433] frame process finished the id is: 131 the obs is:29 
[10:20:00.510] Odometry x=6.479608, y=-0.119308, theta=0.379105
[10:20:00.533] Image Alignment failed 0
[10:20:00.533] frame process finished the id is: 131 the obs is:29 
[10:20:00.608] Odometry x=6.481569, y=-0.129141, theta=0.372985
[10:20:00.634] Image Alignment failed 0
[10:20:00.634] frame process finished the id is: 131 the obs is:29 
[10:20:00.711] Odometry x=6.462926, y=-0.209141, theta=0.394043
[10:20:00.733] Image Alignment failed 0
[10:20:00.733] frame process finished the id is: 131 the obs is:29 
[10:20:00.810] Odometry x=6.466722, y=-0.217617, theta=0.389998
[10:20:00.834] Image Alignment failed 0
[10:20:00.834] frame process finished the id is: 131 the obs is:29 
[10:20:00.910] Odometry x=6.474315, y=-0.221566, theta=0.381721
[10:20:00.933] Image Alignment failed 0
[10:20:00.933] frame process finished the id is: 131 the obs is:29 
[10:20:01.006] Odometry x=6.468682, y=-0.233672, theta=0.389864
[10:20:01.033] Image Alignment failed 0
[10:20:01.033] frame process finished the id is: 131 the obs is:29 
[10:20:01.108] Odometry x=6.463352, y=-0.249240, theta=0.385807
[10:20:01.134] Image Alignment failed 0
[10:20:01.134] frame process finished the id is: 131 the obs is:29 
[10:20:01.207] Odometry x=6.465411, y=-0.259638, theta=0.378531
[10:20:01.237] Image Alignment failed 0
[10:20:01.237] frame process finished the id is: 131 the obs is:29 
[10:20:01.307] Odometry x=6.466672, y=-0.269105, theta=0.410755
[10:20:01.333] Image Alignment failed 0
[10:20:01.334] frame process finished the id is: 131 the obs is:29 
[10:20:01.406] Odometry x=6.471517, y=-0.283779, theta=0.422180
[10:20:01.439] Image Alignment failed 0
[10:20:01.439] frame process finished the id is: 131 the obs is:29 
[10:20:01.509] Odometry x=6.470592, y=-0.295510, theta=0.388302
[10:20:01.528] Image Alignment failed 0
[10:20:01.528] frame process finished the id is: 131 the obs is:29 
[10:20:01.606] Odometry x=6.471162, y=-0.306649, theta=0.390853
[10:20:01.644] Image Alignment failed 0
[10:20:01.644] frame process finished the id is: 131 the obs is:29 
[10:20:01.708] Odometry x=6.473406, y=-0.317690, theta=0.378073
[10:20:01.734] Image Alignment failed 0
[10:20:01.734] frame process finished the id is: 131 the obs is:29 
[10:20:01.808] Odometry x=6.475458, y=-0.327593, theta=0.388421
[10:20:01.838] Image Alignment failed 0
[10:20:01.838] frame process finished the id is: 131 the obs is:29 
[10:20:01.908] Odometry x=6.477213, y=-0.337708, theta=0.388234
[10:20:01.933] Image Alignment failed 0
[10:20:01.933] frame process finished the id is: 131 the obs is:29 
[10:20:02.006] Odometry x=6.469350, y=-0.304122, theta=0.379584
[10:20:02.033] Image Alignment failed 0
[10:20:02.033] frame process finished the id is: 131 the obs is:29 
[10:20:02.105] Odometry x=6.468866, y=-0.301539, theta=0.390572
[10:20:02.133] Image Alignment failed 0
[10:20:02.134] frame process finished the id is: 131 the obs is:29 
[10:20:02.209] Odometry x=6.480237, y=-0.294926, theta=0.376204
[10:20:02.227] Image Alignment failed 0
[10:20:02.227] frame process finished the id is: 131 the obs is:29 
[10:20:02.310] Odometry x=6.479528, y=-0.291359, theta=0.380783
[10:20:02.334] Image Alignment failed 0
[10:20:02.334] frame process finished the id is: 131 the obs is:29 
[10:20:02.406] Odometry x=6.479175, y=-0.311307, theta=0.391284
[10:20:02.438] Image Alignment failed 0
[10:20:02.438] frame process finished the id is: 131 the obs is:29 
[10:20:02.510] Odometry x=6.474428, y=-0.242248, theta=0.330715
[10:20:02.527] Image Alignment failed 0
[10:20:02.527] frame process finished the id is: 131 the obs is:29 
[10:20:02.611] Odometry x=6.475918, y=-0.272046, theta=0.375182
[10:20:02.634] Image Alignment failed 0
[10:20:02.634] frame process finished the id is: 131 the obs is:29 
[10:20:02.707] Odometry x=6.483703, y=-0.317604, theta=0.358826
[10:20:02.733] Image Alignment failed 0
[10:20:02.733] frame process finished the id is: 131 the obs is:29 
[10:20:02.808] Odometry x=6.491432, y=-0.337196, theta=0.372696
[10:20:02.834] Image Alignment failed 0
[10:20:02.834] frame process finished the id is: 131 the obs is:29 
[10:20:02.905] Odometry x=6.496607, y=-0.364078, theta=0.360621
[10:20:02.933] Image Alignment failed 0
[10:20:02.933] frame process finished the id is: 131 the obs is:29 
[10:20:03.007] Odometry x=6.495948, y=-0.348366, theta=0.366388
[10:20:03.034] Image Alignment failed 0
[10:20:03.034] frame process finished the id is: 131 the obs is:29 
[10:20:03.113] Odometry x=6.497753, y=-0.358012, theta=0.377929
[10:20:03.133] Image Alignment failed 0
[10:20:03.133] frame process finished the id is: 131 the obs is:29 
[10:20:03.209] Odometry x=6.501036, y=-0.367043, theta=0.354270
[10:20:03.239] Image Alignment failed 0
[10:20:03.239] frame process finished the id is: 131 the obs is:29 
[10:20:03.327] Odometry x=6.502799, y=-0.376432, theta=0.355838
[10:20:03.338] Image Alignment failed 0
[10:20:03.338] frame process finished the id is: 131 the obs is:29 
[10:20:03.408] Odometry x=6.506385, y=-0.391443, theta=0.354512
[10:20:03.435] Image Alignment failed 0
[10:20:03.436] frame process finished the id is: 131 the obs is:29 
[10:20:03.511] Odometry x=6.507983, y=-0.400072, theta=0.353976
[10:20:03.535] Image Alignment failed 0
[10:20:03.535] frame process finished the id is: 131 the obs is:29 
[10:20:03.608] Odometry x=6.509782, y=-0.410670, theta=0.367351
[10:20:03.635] Image Alignment failed 0
[10:20:03.635] frame process finished the id is: 131 the obs is:29 
[10:20:03.709] Odometry x=6.511363, y=-0.417611, theta=0.362219
[10:20:03.734] Image Alignment failed 0
[10:20:03.734] frame process finished the id is: 131 the obs is:29 
[10:20:03.809] Odometry x=6.512077, y=-0.421409, theta=0.368804
[10:20:03.833] Image Alignment failed 0
[10:20:03.833] frame process finished the id is: 131 the obs is:29 
[10:20:03.909] Odometry x=6.517741, y=-0.426391, theta=0.355289
[10:20:04.009] Odometry x=6.517741, y=-0.426391, theta=0.355289
[10:20:04.022] Image Alignment failed 0
[10:20:04.022] frame process finished the id is: 131 the obs is:29 
[10:20:04.035] Image Alignment failed 0
[10:20:04.035] frame process finished the id is: 131 the obs is:29 
[10:20:04.107] Odometry x=6.519347, y=-0.425160, theta=0.359911
[10:20:04.132] Image Alignment failed 0
[10:20:04.132] frame process finished the id is: 131 the obs is:29 
[10:20:04.206] Odometry x=6.523843, y=-0.446862, theta=0.355096
[10:20:04.234] Image Alignment failed 0
[10:20:04.234] frame process finished the id is: 131 the obs is:29 
[10:20:04.311] Odometry x=6.525463, y=-0.455558, theta=0.359773
[10:20:04.335] Image Alignment failed 0
[10:20:04.335] frame process finished the id is: 131 the obs is:29 
[10:20:04.411] Odometry x=6.527105, y=-0.464283, theta=0.360447
[10:20:04.434] Image Alignment failed 0
[10:20:04.434] frame process finished the id is: 131 the obs is:29 
[10:20:04.511] Odometry x=6.528869, y=-0.473316, theta=0.361494
[10:20:04.534] Image Alignment failed 0
[10:20:04.534] frame process finished the id is: 131 the obs is:29 
[10:20:04.609] Odometry x=6.530965, y=-0.484083, theta=0.360700
[10:20:04.634] Image Alignment failed 0
[10:20:04.634] frame process finished the id is: 131 the obs is:29 
[10:20:04.708] Odometry x=6.533069, y=-0.493007, theta=0.356303
[10:20:04.734] Image Alignment failed 0
[10:20:04.734] frame process finished the id is: 131 the obs is:29 
[10:20:04.807] Odometry x=6.534754, y=-0.502856, theta=0.361728
[10:20:04.835] Image Alignment failed 0
[10:20:04.835] frame process finished the id is: 131 the obs is:29 
[10:20:04.908] Odometry x=6.536595, y=-0.512498, theta=0.364638
[10:20:04.935] Image Alignment failed 0
[10:20:04.935] frame process finished the id is: 131 the obs is:29 
[10:20:05.006] Odometry x=6.538330, y=-0.521907, theta=0.361307
[10:20:05.035] Image Alignment failed 0
[10:20:05.035] frame process finished the id is: 131 the obs is:29 
[10:20:05.110] Odometry x=6.541658, y=-0.532819, theta=0.362004
[10:20:05.134] Image Alignment failed 0
[10:20:05.134] frame process finished the id is: 131 the obs is:29 
[10:20:05.208] Odometry x=6.543594, y=-0.542853, theta=0.364964
[10:20:05.228] Image Alignment failed 0
[10:20:05.228] frame process finished the id is: 131 the obs is:29 
[10:20:05.310] Odometry x=6.542380, y=-0.553965, theta=0.365119
[10:20:05.334] Image Alignment failed 0
[10:20:05.334] frame process finished the id is: 131 the obs is:29 
[10:20:05.410] Odometry x=6.544272, y=-0.563961, theta=0.361670
[10:20:05.436] Image Alignment failed 0
[10:20:05.436] frame process finished the id is: 131 the obs is:29 
[10:20:05.512] Odometry x=6.545630, y=-0.574268, theta=0.366246
[10:20:05.537] Image Alignment failed 0
[10:20:05.537] frame process finished the id is: 131 the obs is:29 
[10:20:05.605] Odometry x=6.547533, y=-0.583900, theta=0.364019
[10:20:05.628] Image Alignment failed 0
[10:20:05.628] frame process finished the id is: 131 the obs is:29 
[10:20:05.702] Odometry x=6.549120, y=-0.592254, theta=0.362213
[10:20:05.733] Image Alignment failed 0
[10:20:05.733] frame process finished the id is: 131 the obs is:29 
[10:20:05.810] Odometry x=6.551021, y=-0.601151, theta=0.369732
[10:20:05.833] Image Alignment failed 0
[10:20:05.833] frame process finished the id is: 131 the obs is:29 
[10:20:05.904] Odometry x=6.554841, y=-0.610171, theta=0.350017
[10:20:05.934] Image Alignment failed 0
[10:20:05.934] frame process finished the id is: 131 the obs is:29 
[10:20:06.007] Odometry x=6.556628, y=-0.619990, theta=0.352470
[10:20:06.041] Image Alignment failed 0
[10:20:06.042] frame process finished the id is: 131 the obs is:29 
[10:20:06.106] Odometry x=6.558227, y=-0.628301, theta=0.359919
[10:20:06.135] Image Alignment failed 0
[10:20:06.135] frame process finished the id is: 131 the obs is:29 
[10:20:06.210] Odometry x=6.560727, y=-0.630155, theta=0.352349
[10:20:06.235] Image Alignment failed 0
[10:20:06.235] frame process finished the id is: 131 the obs is:29 
[10:20:06.307] Odometry x=6.561568, y=-0.636190, theta=0.362285
[10:20:06.335] Image Alignment failed 0
[10:20:06.335] frame process finished the id is: 131 the obs is:29 
[10:20:06.409] Odometry x=6.563609, y=-0.646354, theta=0.346456
[10:20:06.436] Image Alignment failed 0
[10:20:06.436] frame process finished the id is: 131 the obs is:29 
[10:20:06.504] Odometry x=6.565445, y=-0.656416, theta=0.344627
[10:20:06.535] Image Alignment failed 0
[10:20:06.535] frame process finished the id is: 131 the obs is:29 
[10:20:06.607] Odometry x=6.565795, y=-0.668797, theta=0.349002
[10:20:06.630] Image Alignment failed 0
[10:20:06.630] frame process finished the id is: 131 the obs is:29 
[10:20:06.705] Odometry x=6.567193, y=-0.679269, theta=0.352147
[10:20:06.728] Image Alignment failed 0
[10:20:06.728] frame process finished the id is: 131 the obs is:29 
[10:20:06.807] Odometry x=6.570202, y=-0.688203, theta=0.362202
[10:20:06.828] Image Alignment failed 0
[10:20:06.828] frame process finished the id is: 131 the obs is:29 
[10:20:06.904] Odometry x=6.571468, y=-0.693376, theta=0.362127
[10:20:06.928] Image Alignment failed 0
[10:20:06.928] frame process finished the id is: 131 the obs is:29 
[10:20:07.008] Odometry x=6.573892, y=-0.702462, theta=0.350946
[10:20:07.029] Image Alignment failed 0
[10:20:07.029] frame process finished the id is: 131 the obs is:29 
[10:20:07.105] Odometry x=6.575358, y=-0.713036, theta=0.357683
[10:20:07.132] Image Alignment failed 0
[10:20:07.132] frame process finished the id is: 131 the obs is:29 
[10:20:07.206] Odometry x=6.577164, y=-0.723165, theta=0.361395
[10:20:07.228] Image Alignment failed 0
[10:20:07.228] frame process finished the id is: 131 the obs is:29 
[10:20:07.308] Odometry x=6.578504, y=-0.733732, theta=0.364789
[10:20:07.328] Image Alignment failed 0
[10:20:07.328] frame process finished the id is: 131 the obs is:29 
[10:20:07.405] Odometry x=6.581750, y=-0.742808, theta=0.361179
[10:20:07.429] Image Alignment failed 0
[10:20:07.429] frame process finished the id is: 131 the obs is:29 
[10:20:07.512] Odometry x=6.583474, y=-0.751748, theta=0.351568
[10:20:07.528] Image Alignment failed 0
[10:20:07.528] frame process finished the id is: 131 the obs is:29 
[10:20:07.610] Odometry x=6.585371, y=-0.762290, theta=0.356712
[10:20:07.628] Image Alignment failed 0
[10:20:07.628] frame process finished the id is: 131 the obs is:29 
[10:20:07.706] Odometry x=6.587123, y=-0.772385, theta=0.356246
[10:20:07.728] Image Alignment failed 0
[10:20:07.728] frame process finished the id is: 131 the obs is:29 
[10:20:07.808] Odometry x=6.588647, y=-0.782369, theta=0.367858
[10:20:07.830] Image Alignment failed 0
[10:20:07.830] frame process finished the id is: 131 the obs is:29 
[10:20:07.910] Odometry x=6.590570, y=-0.792425, theta=0.362488
[10:20:07.929] Image Alignment failed 0
[10:20:07.929] frame process finished the id is: 131 the obs is:29 
[10:20:08.007] Odometry x=6.596849, y=-0.797282, theta=0.360451
[10:20:08.029] Image Alignment failed 0
[10:20:08.029] frame process finished the id is: 131 the obs is:29 
[10:20:08.104] Odometry x=6.599271, y=-0.806992, theta=0.359534
[10:20:08.127] Image Alignment failed 0
[10:20:08.127] frame process finished the id is: 131 the obs is:29 
[10:20:08.208] Odometry x=6.601133, y=-0.816645, theta=0.365654
[10:20:08.228] Image Alignment failed 0
[10:20:08.228] frame process finished the id is: 131 the obs is:29 
[10:20:08.305] Odometry x=6.601764, y=-0.827607, theta=0.364751
[10:20:08.326] Image Alignment failed 0
[10:20:08.326] frame process finished the id is: 131 the obs is:29 
[10:20:08.408] Odometry x=6.603575, y=-0.837448, theta=0.363753
[10:20:08.437] Image Alignment failed 0
[10:20:08.437] frame process finished the id is: 131 the obs is:29 
[10:20:08.506] Odometry x=6.605532, y=-0.847387, theta=0.350394
[10:20:08.527] Image Alignment failed 0
[10:20:08.527] frame process finished the id is: 131 the obs is:29 
[10:20:08.606] Odometry x=6.607504, y=-0.856248, theta=0.358014
[10:20:08.627] Image Alignment failed 0
[10:20:08.627] frame process finished the id is: 131 the obs is:29 
[10:20:08.703] Odometry x=6.610292, y=-0.865407, theta=0.360765
[10:20:08.727] Image Alignment failed 0
[10:20:08.727] frame process finished the id is: 131 the obs is:29 
[10:20:08.809] Odometry x=6.608858, y=-0.865308, theta=0.355367
[10:20:08.828] Image Alignment failed 0
[10:20:08.828] frame process finished the id is: 131 the obs is:29 
[10:20:08.906] Odometry x=6.610303, y=-0.876731, theta=0.354734
[10:20:08.927] Image Alignment failed 0
[10:20:08.927] frame process finished the id is: 131 the obs is:29 
[10:20:09.003] Odometry x=6.611977, y=-0.885825, theta=0.354129
[10:20:09.029] Image Alignment failed 0
[10:20:09.029] frame process finished the id is: 131 the obs is:29 
[10:20:09.105] Odometry x=6.614265, y=-0.893915, theta=0.368737
[10:20:09.128] Image Alignment failed 0
[10:20:09.128] frame process finished the id is: 131 the obs is:29 
[10:20:09.207] Odometry x=6.616439, y=-0.903697, theta=0.370431
[10:20:09.227] Image Alignment failed 0
[10:20:09.227] frame process finished the id is: 131 the obs is:29 
[10:20:09.309] Odometry x=6.617398, y=-0.914327, theta=0.349817
[10:20:09.328] Image Alignment failed 0
[10:20:09.328] frame process finished the id is: 131 the obs is:29 
[10:20:09.410] Odometry x=6.618456, y=-0.919992, theta=0.355635
[10:20:09.427] Image Alignment failed 0
[10:20:09.427] frame process finished the id is: 131 the obs is:29 
[10:20:09.502] Odometry x=6.620034, y=-0.929923, theta=0.353088
[10:20:09.527] Image Alignment failed 0
[10:20:09.527] frame process finished the id is: 131 the obs is:29 
[10:20:09.609] Odometry x=6.620276, y=-0.939947, theta=0.355634
[10:20:09.628] Image Alignment failed 0
[10:20:09.628] frame process finished the id is: 131 the obs is:29 
[10:20:09.706] Odometry x=6.624474, y=-0.949002, theta=0.363651
[10:20:09.727] Image Alignment failed 0
[10:20:09.727] frame process finished the id is: 131 the obs is:29 
[10:20:09.809] Odometry x=6.627716, y=-0.957504, theta=0.361079
[10:20:09.827] Image Alignment failed 0
[10:20:09.827] frame process finished the id is: 131 the obs is:29 
[10:20:09.908] Odometry x=6.629769, y=-0.966840, theta=0.347418
[10:20:09.929] Image Alignment failed 0
[10:20:09.929] frame process finished the id is: 131 the obs is:29 
[10:20:10.005] Odometry x=6.631516, y=-0.976574, theta=0.349552
[10:20:10.030] Image Alignment failed 0
[10:20:10.030] frame process finished the id is: 131 the obs is:29 
[10:20:10.107] Odometry x=6.633233, y=-0.986554, theta=0.351052
[10:20:10.127] Image Alignment failed 0
[10:20:10.127] frame process finished the id is: 131 the obs is:29 
[10:20:10.204] Odometry x=6.635076, y=-0.996675, theta=0.351385
[10:20:10.231] Image Alignment failed 0
[10:20:10.231] frame process finished the id is: 131 the obs is:29 
[10:20:10.309] Odometry x=6.636950, y=-1.006828, theta=0.356820
[10:20:10.328] Image Alignment failed 0
[10:20:10.328] frame process finished the id is: 131 the obs is:29 
[10:20:10.411] Odometry x=6.636718, y=-1.009731, theta=0.350095
[10:20:10.434] Image Alignment failed 0
[10:20:10.434] frame process finished the id is: 131 the obs is:29 
[10:20:10.509] Odometry x=6.639162, y=-1.019563, theta=0.351057
[10:20:10.529] Image Alignment failed 0
[10:20:10.529] frame process finished the id is: 131 the obs is:29 
[10:20:10.606] Odometry x=6.638214, y=-1.031451, theta=0.347898
[10:20:10.630] Image Alignment failed 0
[10:20:10.630] frame process finished the id is: 131 the obs is:29 
[10:20:10.710] Odometry x=6.639870, y=-1.041646, theta=0.357271
[10:20:10.729] Image Alignment failed 0
[10:20:10.729] frame process finished the id is: 131 the obs is:29 
[10:20:10.808] Odometry x=6.641702, y=-1.051726, theta=0.353267
[10:20:10.828] Image Alignment failed 0
[10:20:10.828] frame process finished the id is: 131 the obs is:29 
[10:20:10.903] Odometry x=6.643869, y=-1.063541, theta=0.351392
[10:20:10.928] Image Alignment failed 0
[10:20:10.928] frame process finished the id is: 131 the obs is:29 
[10:20:11.011] Odometry x=6.645650, y=-1.073140, theta=0.358213
[10:20:11.027] Image Alignment failed 0
[10:20:11.027] frame process finished the id is: 131 the obs is:29 
[10:20:11.104] Odometry x=6.647327, y=-1.084029, theta=0.354247
[10:20:11.129] Image Alignment failed 0
[10:20:11.129] frame process finished the id is: 131 the obs is:29 
[10:20:11.204] Odometry x=6.647608, y=-1.091505, theta=0.351423
[10:20:11.227] Image Alignment failed 0
[10:20:11.227] frame process finished the id is: 131 the obs is:29 
[10:20:11.309] Odometry x=6.648998, y=-1.098526, theta=0.359677
[10:20:11.331] Image Alignment failed 0
[10:20:11.332] frame process finished the id is: 131 the obs is:29 
[10:20:11.404] Odometry x=6.651005, y=-1.109066, theta=0.357042
[10:20:11.429] Image Alignment failed 0
[10:20:11.429] frame process finished the id is: 131 the obs is:29 
[10:20:11.506] Odometry x=6.653050, y=-1.118280, theta=0.356871
[10:20:11.533] Image Alignment failed 0
[10:20:11.533] frame process finished the id is: 131 the obs is:29 
[10:20:11.606] Odometry x=6.655158, y=-1.128867, theta=0.347838
[10:20:11.627] Image Alignment failed 0
[10:20:11.627] frame process finished the id is: 131 the obs is:29 
[10:20:11.739] Image Alignment failed 0
[10:20:11.739] frame process finished the id is: 131 the obs is:29 
[10:20:11.829] Image Alignment failed 0
[10:20:11.829] frame process finished the id is: 131 the obs is:29 
[10:20:11.927] Image Alignment failed 0
[10:20:11.927] frame process finished the id is: 131 the obs is:29 
[10:20:12.028] Image Alignment failed 0
[10:20:12.028] frame process finished the id is: 131 the obs is:29 
[10:20:12.128] Image Alignment failed 0
[10:20:12.128] frame process finished the id is: 131 the obs is:29 
[10:20:12.229] Image Alignment failed 0
[10:20:12.229] frame process finished the id is: 131 the obs is:29 
[10:20:12.330] Image Alignment failed 0
[10:20:12.330] frame process finished the id is: 131 the obs is:29 
[10:20:12.427] Image Alignment failed 0
[10:20:12.427] frame process finished the id is: 131 the obs is:29 
[10:20:12.526] Image Alignment failed 0
[10:20:12.526] frame process finished the id is: 131 the obs is:29 
[10:20:12.630] Image Alignment failed 0
[10:20:12.630] frame process finished the id is: 131 the obs is:29 
[10:20:12.729] Image Alignment failed 0
[10:20:12.729] frame process finished the id is: 131 the obs is:29 
[10:20:12.828] Image Alignment failed 0
[10:20:12.828] frame process finished the id is: 131 the obs is:29 
[10:20:12.928] Image Alignment failed 0
[10:20:12.928] frame process finished the id is: 131 the obs is:29 
[10:20:13.028] Image Alignment failed 0
[10:20:13.028] frame process finished the id is: 131 the obs is:29 
[10:20:13.128] Image Alignment failed 0
[10:20:13.128] frame process finished the id is: 131 the obs is:29 
[10:20:13.230] Image Alignment failed 0
[10:20:13.230] frame process finished the id is: 131 the obs is:29 
[10:20:13.328] Image Alignment failed 0
[10:20:13.328] frame process finished the id is: 131 the obs is:29 
[10:20:13.428] Image Alignment failed 0
[10:20:13.428] frame process finished the id is: 131 the obs is:29 
[10:20:13.527] Image Alignment failed 0
[10:20:13.527] frame process finished the id is: 131 the obs is:29 
[10:20:13.630] Image Alignment failed 0
[10:20:13.630] frame process finished the id is: 131 the obs is:29 
[10:20:13.728] Image Alignment failed 0
[10:20:13.728] frame process finished the id is: 131 the obs is:29 
[10:20:13.829] Image Alignment failed 0
[10