[14:39:40.000] Init: frame zero: 0.000000, 0.000000 0.000000
[14:39:40.000] Init: Selected first frame. 
[14:39:40.102] Init: px average disparity is:0.185329 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:40.102] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:40.197] Init: px average disparity is:0.208402 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:40.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:40.295] Init: px average disparity is:0.224003 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:40.295] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:40.396] Init: px average disparity is:0.247565 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:40.396] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:40.495] Init: px average disparity is:0.210998 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:40.495] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:40.596] Init: px average disparity is:0.219199 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:40.596] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:40.699] Init: px average disparity is:0.232666 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:40.699] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:40.806] Init: px average disparity is:0.215697 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:40.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:40.901] Init: px average disparity is:0.234529 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:40.901] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:41.001] Init: px average disparity is:0.212527 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:41.001] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:41.103] Init: px average disparity is:0.224120 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:41.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:41.202] Init: px average disparity is:0.229779 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:41.202] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:41.304] Init: px average disparity is:0.218821 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:41.304] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:41.403] Init: px average disparity is:0.237569 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:41.403] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:41.502] Init: px average disparity is:0.220580 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:41.502] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:41.604] Init: px average disparity is:0.227654 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:41.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:41.703] Init: px average disparity is:0.243743 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:41.703] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:41.803] Init: px average disparity is:0.229160 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:41.803] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:41.903] Init: px average disparity is:0.212138 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:41.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:42.004] Init: px average disparity is:0.221515 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:42.004] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:42.103] Init: px average disparity is:0.240434 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:42.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:42.203] Init: px average disparity is:0.240619 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:42.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:42.304] Init: px average disparity is:0.220091 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:42.304] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:42.403] Init: px average disparity is:0.206555 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:42.403] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:42.502] Init: px average disparity is:0.237788 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:42.503] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:42.605] Init: px average disparity is:0.230328 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:42.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:42.704] Init: px average disparity is:0.213564 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:42.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:42.805] Init: px average disparity is:0.242551 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:42.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:42.905] Init: px average disparity is:0.213061 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:42.905] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:42.942] Odometry x=0.000073, y=-0.000047, theta=0.046301
[14:39:43.004] Init: px average disparity is:0.213175 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:43.004] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:43.039] Odometry x=0.000077, y=-0.000049, theta=0.049072
[14:39:43.104] Init: px average disparity is:0.198053 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:43.104] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:43.140] Odometry x=-0.000090, y=-0.007073, theta=0.052186
[14:39:43.204] Init: px average disparity is:1.706535 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:43.204] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:43.242] Odometry x=-0.000294, y=-0.015579, theta=0.055455
[14:39:43.305] Init: px average disparity is:5.913308 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:43.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:43.342] Odometry x=-0.000497, y=-0.023322, theta=0.063975
[14:39:43.404] Init: px average disparity is:7.600024 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:43.405] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:43.443] Odometry x=-0.000735, y=-0.031168, theta=0.065573
[14:39:43.504] Init: px average disparity is:4.836922 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:43.504] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:43.540] Odometry x=-0.000949, y=-0.038867, theta=0.066221
[14:39:43.604] Init: px average disparity is:5.126085 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:43.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:43.639] Odometry x=-0.001174, y=-0.046631, theta=0.068697
[14:39:43.704] Init: px average disparity is:4.011718 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:43.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:43.740] Odometry x=-0.000568, y=-0.054253, theta=0.029856
[14:39:43.805] Init: px average disparity is:5.430815 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:43.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:43.839] Odometry x=-0.000670, y=-0.062008, theta=0.022954
[14:39:43.903] Init: px average disparity is:4.012376 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:43.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:43.943] Odometry x=-0.000755, y=-0.069674, theta=0.040510
[14:39:44.005] Init: px average disparity is:5.852628 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:44.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:44.039] Odometry x=-0.000882, y=-0.077383, theta=0.040857
[14:39:44.106] Init: px average disparity is:7.048330 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:44.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:44.144] Odometry x=-0.001005, y=-0.084942, theta=0.058147
[14:39:44.202] Init: px average disparity is:8.609390 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:44.202] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:44.243] Odometry x=-0.001230, y=-0.092793, theta=0.058409
[14:39:44.306] Init: px average disparity is:12.060310 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:44.306] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:44.343] Odometry x=-0.000605, y=-0.100414, theta=0.036758
[14:39:44.406] Init: px average disparity is:14.992569 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:44.406] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:44.445] Odometry x=-0.000668, y=-0.108109, theta=0.039273
[14:39:44.506] Init: px average disparity is:13.134141 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:44.506] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:44.542] Odometry x=-0.000866, y=-0.115807, theta=0.044441
[14:39:44.606] Init: px average disparity is:12.380481 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:44.606] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:44.644] Odometry x=-0.001005, y=-0.123728, theta=0.040934
[14:39:44.706] Init: px average disparity is:10.697329 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:44.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:44.744] Odometry x=-0.001126, y=-0.131452, theta=0.037257
[14:39:44.805] Init: px average disparity is:12.349201 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:44.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:44.844] Odometry x=-0.001269, y=-0.139718, theta=0.028283
[14:39:44.905] Init: px average disparity is:12.975809 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:44.905] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:44.944] Odometry x=-0.001331, y=-0.147557, theta=0.016902
[14:39:45.006] Init: px average disparity is:19.088124 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:45.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:45.055] Odometry x=-0.001318, y=-0.156053, theta=-0.000061
[14:39:45.105] Init: px average disparity is:13.869548 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:45.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:45.145] Odometry x=-0.001219, y=-0.164912, theta=-0.004366
[14:39:45.205] Init: px average disparity is:13.689438 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:45.205] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:45.244] Odometry x=-0.001170, y=-0.172057, theta=0.007706
[14:39:45.306] Init: px average disparity is:9.083336 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:45.306] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:45.342] Odometry x=-0.001122, y=-0.179753, theta=0.005201
[14:39:45.405] Init: px average disparity is:9.617094 ,While minimum is: 40.000000  KLT tracked : 133
[14:39:45.405] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:45.439] Odometry x=-0.001070, y=-0.187426, theta=0.020883
[14:39:45.505] Init: px average disparity is:9.404863 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:45.505] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:45.544] Odometry x=-0.001075, y=-0.194857, theta=0.023732
[14:39:45.605] Init: px average disparity is:10.354295 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:45.606] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:45.645] Odometry x=-0.001157, y=-0.202590, theta=0.047878
[14:39:45.708] Init: px average disparity is:11.159064 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:45.708] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:45.748] Odometry x=-0.001162, y=-0.210553, theta=0.052073
[14:39:45.805] Init: px average disparity is:9.219696 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:45.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:45.849] Odometry x=-0.001354, y=-0.218274, theta=0.054194
[14:39:45.905] Init: px average disparity is:11.565565 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:45.906] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:45.950] Odometry x=-0.001547, y=-0.226020, theta=0.059200
[14:39:46.005] Init: px average disparity is:13.601034 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:46.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:46.046] Odometry x=-0.001778, y=-0.233790, theta=0.069025
[14:39:46.106] Init: px average disparity is:14.587497 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:46.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:46.146] Odometry x=-0.000828, y=-0.241318, theta=0.031566
[14:39:46.207] Init: px average disparity is:15.643374 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:46.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:46.242] Odometry x=-0.000949, y=-0.249031, theta=0.033319
[14:39:46.306] Init: px average disparity is:16.070990 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:46.306] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:46.342] Odometry x=-0.001058, y=-0.256472, theta=0.039659
[14:39:46.407] Init: px average disparity is:16.611615 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:46.407] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:46.443] Odometry x=-0.001210, y=-0.264163, theta=0.040611
[14:39:46.507] Init: px average disparity is:18.746639 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:46.507] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:46.545] Odometry x=-0.001355, y=-0.271821, theta=0.048354
[14:39:46.607] Init: px average disparity is:21.603493 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:46.607] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:46.645] Odometry x=-0.001532, y=-0.279696, theta=0.048825
[14:39:46.707] Init: px average disparity is:19.606999 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:46.707] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:46.745] Odometry x=-0.001653, y=-0.287487, theta=0.032113
[14:39:46.808] Init: px average disparity is:18.898368 ,While minimum is: 40.000000  KLT tracked : 132
[14:39:46.808] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:46.845] Odometry x=-0.001907, y=-0.295152, theta=0.037774
[14:39:46.908] Init: px average disparity is:18.607698 ,While minimum is: 40.000000  KLT tracked : 131
[14:39:46.908] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:46.945] Odometry x=-0.002101, y=-0.302878, theta=0.023607
[14:39:47.010] Init: px average disparity is:19.098517 ,While minimum is: 40.000000  KLT tracked : 131
[14:39:47.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:47.044] Odometry x=-0.002143, y=-0.310596, theta=0.017476
[14:39:47.108] Init: px average disparity is:21.892323 ,While minimum is: 40.000000  KLT tracked : 131
[14:39:47.108] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:47.143] Odometry x=-0.002284, y=-0.318600, theta=0.015074
[14:39:47.209] Init: px average disparity is:21.380715 ,While minimum is: 40.000000  KLT tracked : 131
[14:39:47.209] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:47.244] Odometry x=-0.002306, y=-0.326423, theta=0.005564
[14:39:47.308] Init: px average disparity is:22.068395 ,While minimum is: 40.000000  KLT tracked : 126
[14:39:47.308] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:47.343] Odometry x=-0.002344, y=-0.334164, theta=0.014148
[14:39:47.408] Init: px average disparity is:22.435534 ,While minimum is: 40.000000  KLT tracked : 126
[14:39:47.408] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:47.444] Odometry x=-0.002363, y=-0.341910, theta=0.016999
[14:39:47.508] Init: px average disparity is:20.733564 ,While minimum is: 40.000000  KLT tracked : 126
[14:39:47.508] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:47.544] Odometry x=-0.002437, y=-0.349761, theta=0.042115
[14:39:47.608] Init: px average disparity is:21.433349 ,While minimum is: 40.000000  KLT tracked : 126
[14:39:47.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:47.639] Odometry x=-0.002561, y=-0.357214, theta=0.046280
[14:39:47.709] Init: px average disparity is:21.261774 ,While minimum is: 40.000000  KLT tracked : 126
[14:39:47.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:47.739] Odometry x=-0.002736, y=-0.364920, theta=0.055562
[14:39:47.809] Init: px average disparity is:23.129382 ,While minimum is: 40.000000  KLT tracked : 126
[14:39:47.809] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:47.844] Odometry x=-0.002944, y=-0.372576, theta=0.061870
[14:39:47.909] Init: px average disparity is:21.978819 ,While minimum is: 40.000000  KLT tracked : 126
[14:39:47.909] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:47.945] Odometry x=-0.003201, y=-0.380548, theta=0.064353
[14:39:48.009] Init: px average disparity is:22.976098 ,While minimum is: 40.000000  KLT tracked : 126
[14:39:48.009] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:48.045] Odometry x=-0.003442, y=-0.388404, theta=0.067137
[14:39:48.108] Init: px average disparity is:21.981422 ,While minimum is: 40.000000  KLT tracked : 126
[14:39:48.109] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:48.143] Odometry x=-0.003736, y=-0.396396, theta=0.069847
[14:39:48.208] Init: px average disparity is:24.028336 ,While minimum is: 40.000000  KLT tracked : 126
[14:39:48.208] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:48.242] Odometry x=-0.001661, y=-0.404062, theta=0.032535
[14:39:48.312] Init: px average disparity is:22.395056 ,While minimum is: 40.000000  KLT tracked : 126
[14:39:48.312] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:48.339] Odometry x=-0.001899, y=-0.412004, theta=0.017576
[14:39:48.398] Init: px average disparity is:23.758734 ,While minimum is: 40.000000  KLT tracked : 126
[14:39:48.398] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:48.441] Odometry x=-0.001892, y=-0.419530, theta=0.029551
[14:39:48.498] Init: px average disparity is:22.400473 ,While minimum is: 40.000000  KLT tracked : 126
[14:39:48.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:48.544] Odometry x=-0.002110, y=-0.427735, theta=0.016740
[14:39:48.608] Init: px average disparity is:24.167842 ,While minimum is: 40.000000  KLT tracked : 123
[14:39:48.608] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:48.647] Odometry x=-0.002176, y=-0.436086, theta=0.001680
[14:39:48.708] Init: px average disparity is:24.717937 ,While minimum is: 40.000000  KLT tracked : 123
[14:39:48.708] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:48.743] Odometry x=-0.002122, y=-0.444176, theta=0.002585
[14:39:48.808] Init: px average disparity is:27.104673 ,While minimum is: 40.000000  KLT tracked : 123
[14:39:48.808] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:48.844] Odometry x=-0.002298, y=-0.451787, theta=-0.009837
[14:39:48.910] Init: px average disparity is:28.645882 ,While minimum is: 40.000000  KLT tracked : 123
[14:39:48.910] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:48.947] Odometry x=-0.002165, y=-0.459485, theta=-0.017389
[14:39:49.010] Init: px average disparity is:28.502679 ,While minimum is: 40.000000  KLT tracked : 123
[14:39:49.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:49.042] Odometry x=-0.002172, y=-0.467326, theta=0.000111
[14:39:49.109] Init: px average disparity is:27.975025 ,While minimum is: 40.000000  KLT tracked : 123
[14:39:49.109] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:49.142] Odometry x=-0.002104, y=-0.475276, theta=-0.003562
[14:39:49.211] Init: px average disparity is:27.458201 ,While minimum is: 40.000000  KLT tracked : 123
[14:39:49.211] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:49.243] Odometry x=-0.002144, y=-0.482659, theta=0.022676
[14:39:49.309] Init: px average disparity is:26.793379 ,While minimum is: 40.000000  KLT tracked : 123
[14:39:49.309] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:49.342] Odometry x=-0.002228, y=-0.490629, theta=0.024794
[14:39:49.412] Init: px average disparity is:26.337731 ,While minimum is: 40.000000  KLT tracked : 123
[14:39:49.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:49.443] Odometry x=-0.002336, y=-0.498369, theta=0.047119
[14:39:49.511] Init: px average disparity is:27.061674 ,While minimum is: 40.000000  KLT tracked : 123
[14:39:49.511] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:49.543] Odometry x=-0.002511, y=-0.505931, theta=0.052548
[14:39:49.610] Init: px average disparity is:26.891156 ,While minimum is: 40.000000  KLT tracked : 123
[14:39:49.610] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:49.642] Odometry x=-0.002731, y=-0.513615, theta=0.051786
[14:39:49.711] Init: px average disparity is:27.984972 ,While minimum is: 40.000000  KLT tracked : 123
[14:39:49.711] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:49.746] Odometry x=-0.002925, y=-0.521278, theta=0.052916
[14:39:49.812] Init: px average disparity is:27.743960 ,While minimum is: 40.000000  KLT tracked : 123
[14:39:49.812] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:49.847] Odometry x=-0.003165, y=-0.529327, theta=0.053668
[14:39:49.912] Init: px average disparity is:28.299451 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:49.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:49.941] Odometry x=-0.003360, y=-0.536995, theta=0.046743
[14:39:50.014] Init: px average disparity is:28.330781 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:50.014] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:50.045] Odometry x=-0.003642, y=-0.544852, theta=0.047884
[14:39:50.113] Init: px average disparity is:29.220252 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:50.113] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:50.144] Odometry x=-0.003823, y=-0.552844, theta=0.040344
[14:39:50.214] Init: px average disparity is:31.058063 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:50.214] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:50.247] Odometry x=-0.004078, y=-0.560624, theta=0.044602
[14:39:50.313] Init: px average disparity is:30.359679 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:50.314] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:50.345] Odometry x=-0.004260, y=-0.568394, theta=0.044918
[14:39:50.412] Init: px average disparity is:33.197778 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:50.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:50.446] Odometry x=-0.004392, y=-0.576059, theta=0.032722
[14:39:50.511] Init: px average disparity is:32.195577 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:50.511] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:50.545] Odometry x=-0.004575, y=-0.584052, theta=0.029491
[14:39:50.615] Init: px average disparity is:36.176916 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:50.615] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:50.643] Odometry x=-0.004634, y=-0.591597, theta=0.029644
[14:39:50.712] Init: px average disparity is:33.244501 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:50.712] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:50.742] Odometry x=-0.004995, y=-0.599196, theta=0.039542
[14:39:50.811] Init: px average disparity is:35.770948 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:50.811] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:50.846] Odometry x=-0.005120, y=-0.606761, theta=0.033273
[14:39:50.912] Init: px average disparity is:34.884663 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:50.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:50.941] Odometry x=-0.005466, y=-0.614965, theta=0.050894
[14:39:51.010] Init: px average disparity is:34.481505 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:51.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:51.045] Odometry x=-0.005633, y=-0.622455, theta=0.045692
[14:39:51.112] Init: px average disparity is:33.242450 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:51.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:51.142] Odometry x=-0.005847, y=-0.630161, theta=0.064733
[14:39:51.209] Init: px average disparity is:33.404843 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:51.209] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:51.242] Odometry x=-0.002526, y=-0.637612, theta=0.031194
[14:39:51.310] Init: px average disparity is:33.056189 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:51.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:51.343] Odometry x=-0.002706, y=-0.645082, theta=0.047263
[14:39:51.412] Init: px average disparity is:33.647945 ,While minimum is: 40.000000  KLT tracked : 121
[14:39:51.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:51.442] Odometry x=-0.002849, y=-0.653071, theta=0.055925
[14:39:51.501] Init: px average disparity is:34.426186 ,While minimum is: 40.000000  KLT tracked : 115
[14:39:51.501] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:51.545] Odometry x=-0.003124, y=-0.660942, theta=0.055588
[14:39:51.620] Init: px average disparity is:33.922031 ,While minimum is: 40.000000  KLT tracked : 115
[14:39:51.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:51.645] Odometry x=-0.003299, y=-0.668752, theta=0.065799
[14:39:51.705] Init: px average disparity is:34.535187 ,While minimum is: 40.000000  KLT tracked : 111
[14:39:51.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:51.743] Odometry x=-0.003683, y=-0.676683, theta=0.061668
[14:39:51.801] Init: px average disparity is:34.303472 ,While minimum is: 40.000000  KLT tracked : 111
[14:39:51.801] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:51.841] Odometry x=-0.003872, y=-0.684038, theta=0.067237
[14:39:51.906] Init: px average disparity is:35.561634 ,While minimum is: 40.000000  KLT tracked : 111
[14:39:51.906] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:51.944] Odometry x=-0.004194, y=-0.691693, theta=0.062805
[14:39:52.002] Init: px average disparity is:37.932930 ,While minimum is: 40.000000  KLT tracked : 110
[14:39:52.002] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:52.043] Odometry x=-0.004361, y=-0.699357, theta=0.052629
[14:39:52.101] Init: px average disparity is:38.585193 ,While minimum is: 40.000000  KLT tracked : 110
[14:39:52.101] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:52.141] Odometry x=-0.004616, y=-0.707201, theta=0.056573
[14:39:52.243] Odometry x=-0.004762, y=-0.714931, theta=0.032101
[14:39:52.269] Init: Homography RANSAC (inlier) is:18 ,While 20 inliers minimum required.  px average disparity is:41.401150 ,While minimum is: 40.000000  KLT tracked: 109
[14:39:52.269] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:52.340] Odometry x=-0.004909, y=-0.722483, theta=0.043858
[14:39:52.366] Init: Homography RANSAC (inlier) is:17 ,While 20 inliers minimum required.  px average disparity is:41.470735 ,While minimum is: 40.000000  KLT tracked: 109
[14:39:52.367] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:52.442] Odometry x=-0.005054, y=-0.730144, theta=0.041831
[14:39:52.466] Init: Homography RANSAC (inlier) is:18 ,While 20 inliers minimum required.  px average disparity is:42.869076 ,While minimum is: 40.000000  KLT tracked: 109
[14:39:52.466] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[14:39:52.540] Odometry x=-0.005299, y=-0.737801, theta=0.060951
[14:39:52.575] Init finished: Homography RANSAC (inlier) is:20 ,While 20 inliers minimum required.  px average disparity is:40.352081 ,While minimum is: 40.000000  KLT tracked: 109
[14:39:52.575] Init: distance between the first and current frame is x:-0.005529 ,z=-0.745440,angle between two frames: 0.061551 
[14:39:52.575] Init: Selected Second frame. 	 The number of features: 20 depth mean:2.663866 min:-0.064075
[14:39:52.642] Odometry x=-0.005481, y=-0.745452, theta=0.056770
[14:39:52.745] Odometry x=-0.005739, y=-0.753147, theta=0.079563
[14:39:52.758] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between two frames x:0.000665 ,z=0.000275,angle between two frames:0.000403
[14:39:52.758] After pose optimization, distance between two frames x:0.000665 ,z=0.000275,angle between two frames:0.000403
[14:39:52.763] Image Alignment failed 0
[14:39:52.842] Odometry x=-0.006027, y=-0.760736, theta=0.095415
[14:39:52.904] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:2 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000826
[14:39:52.904] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.369440 	 error end=0.369440
[14:39:52.904] After pose optimization, distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000826
[14:39:52.945] Odometry x=-0.006502, y=-0.768569, theta=0.090263
[14:39:53.043] Odometry x=-0.006810, y=-0.776321, theta=0.104710
[14:39:53.077] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:2 ,distance between two frames x:-0.012290 ,z=-0.001171,angle between two frames:0.001293
[14:39:53.077] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.546946 	 error end=0.546946
[14:39:53.077] After pose optimization, distance between two frames x:-0.012290 ,z=-0.001171,angle between two frames:0.001293
[14:39:53.139] Odometry x=-0.007207, y=-0.784120, theta=0.090475
[14:39:53.225] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between two frames x:-0.012411 ,z=-0.001198,angle between two frames:0.007721
[14:39:53.225] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =8.664162 	 error end=0.808703
[14:39:53.225] After pose optimization, distance between two frames x:0.226604 ,z=-0.548714,angle between two frames:0.190523
[14:39:53.230] Image Alignment failed 0
[14:39:53.237] Odometry x=-0.007527, y=-0.791344, theta=0.099909
[14:39:53.340] Odometry x=-0.007870, y=-0.799047, theta=0.092941
[14:39:53.366] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:2 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000148
[14:39:53.366] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =1 	 error init =2.482774 	 error end=1.107721
[14:39:53.366] After pose optimization, distance between two frames x:-0.107962 ,z=0.223237,angle between two frames:0.012658
[14:39:53.447] Odometry x=-0.008221, y=-0.806649, theta=0.101202
[14:39:53.510] After Reprojection Map nPoint:19 ,nCell:18 ,nMatches:2 ,distance between two frames x:-0.001056 ,z=0.001067,angle between two frames:0.000405
[14:39:53.510] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =0 	 error init =76.813859 	 error end=1.696668
[14:39:53.510] After pose optimization, distance between two frames x:-125.366061 ,z=59.801038,angle between two frames:3.026605
[14:39:53.514] Image Alignment failed 0
[14:39:53.544] Odometry x=-0.008598, y=-0.814791, theta=0.102766
[14:39:53.645] Odometry x=-0.008981, y=-0.822064, theta=0.101051
[14:39:53.648] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:2 ,distance between two frames x:0.000002 ,z=-0.000006,angle between two frames:0.000403
[14:39:53.648] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =1 	 error init =2.738380 	 error end=1.133015
[14:39:53.648] After pose optimization, distance between two frames x:-0.185071 ,z=0.176212,angle between two frames:0.045443
[14:39:53.742] Odometry x=-0.009297, y=-0.829492, theta=0.091564
[14:39:53.792] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:3 ,distance between two frames x:0.000714 ,z=-0.007173,angle between two frames:0.000074
[14:39:53.792] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =1 	 error init =2.467093 	 error end=2.467093
[14:39:53.792] After pose optimization, distance between two frames x:0.000714 ,z=-0.007173,angle between two frames:0.000074
[14:39:53.841] Odometry x=-0.009818, y=-0.837508, theta=0.091771
[14:39:53.941] Odometry x=-0.010149, y=-0.845091, theta=0.073133
[14:39:53.985] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:4 ,distance between two frames x:0.000424 ,z=0.000095,angle between two frames:0.000216
[14:39:53.985] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =1 	 error init =4.431863 	 error end=4.431863
[14:39:53.985] After pose optimization, distance between two frames x:0.000424 ,z=0.000095,angle between two frames:0.000216
[14:39:54.041] Odometry x=-0.010519, y=-0.852649, theta=0.078428
[14:39:54.132] After Reprojection Map nPoint:20 ,nCell:17 ,nMatches:4 ,distance between two frames x:-0.001131 ,z=0.000185,angle between two frames:0.000000
[14:39:54.132] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =1 	 error init =10.919392 	 error end=1.253776
[14:39:54.132] After pose optimization, distance between two frames x:-0.820729 ,z=-0.813845,angle between two frames:0.467293
[14:39:54.143] Odometry x=-0.010840, y=-0.860338, theta=0.079325
[14:39:54.240] Odometry x=-0.011136, y=-0.868175, theta=0.093272
[14:39:54.298] After Reprojection Map nPoint:20 ,nCell:17 ,nMatches:3 ,distance between two frames x:0.001945 ,z=0.001828,angle between two frames:0.000545
[14:39:54.298] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =0 	 error init =5.889976 	 error end=5.889976
[14:39:54.298] After pose optimization, distance between two frames x:0.001945 ,z=0.001828,angle between two frames:0.000545
[14:39:54.302] Image Alignment failed 0
[14:39:54.343] Odometry x=-0.011483, y=-0.875899, theta=0.088561
[14:39:54.436] After Reprojection Map nPoint:18 ,nCell:13 ,nMatches:3 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000784
[14:39:54.436] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =0 	 error init =5.500385 	 error end=5.500385
[14:39:54.436] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000784
[14:39:54.441] Image Alignment failed 0
[14:39:54.445] Odometry x=-0.011820, y=-0.883549, theta=0.095503
[14:39:54.543] Odometry x=-0.012181, y=-0.891278, theta=0.104285
[14:39:54.577] After Reprojection Map nPoint:19 ,nCell:14 ,nMatches:3 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000908
[14:39:54.577] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =1 	 error init =4.596979 	 error end=4.596979
[14:39:54.577] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000908
[14:39:54.641] Odometry x=-0.012641, y=-0.898903, theta=0.118057
[14:39:54.726] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:2 ,distance between two frames x:0.006209 ,z=-0.011249,angle between two frames:0.001108
[14:39:54.726] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =0 	 error init =13.974532 	 error end=13.974532
[14:39:54.726] After pose optimization, distance between two frames x:0.006209 ,z=-0.011249,angle between two frames:0.001108
[14:39:54.730] Image Alignment failed 0
[14:39:54.738] Odometry x=-0.013069, y=-0.906203, theta=0.136096
[14:39:54.840] Odometry x=-0.013595, y=-0.913769, theta=0.135471
[14:39:54.867] After Reprojection Map nPoint:17 ,nCell:15 ,nMatches:3 ,distance between two frames x:-0.000000 ,z=-0.000003,angle between two frames:0.000426
[14:39:54.867] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =4 	 error init =3.756207 	 error end=0.362455
[14:39:54.867] After pose optimization, distance between two frames x:-0.057239 ,z=0.386516,angle between two frames:0.045041
[14:39:54.943] Odometry x=-0.014104, y=-0.921419, theta=0.153713
[14:39:55.015] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between two frames x:0.001162 ,z=0.000331,angle between two frames:0.001386
[14:39:55.015] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.480586 	 error end=0.480586
[14:39:55.015] After pose optimization, distance between two frames x:0.001162 ,z=0.000331,angle between two frames:0.001386
[14:39:55.041] Odometry x=-0.014686, y=-0.929023, theta=0.143992
[14:39:55.144] Odometry x=-0.015250, y=-0.936760, theta=0.148829
[14:39:55.160] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:3 ,distance between two frames x:-0.000371 ,z=0.000063,angle between two frames:0.000006
[14:39:55.160] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =3 	 error init =4.294341 	 error end=0.516281
[14:39:55.160] After pose optimization, distance between two frames x:-0.940055 ,z=1.336447,angle between two frames:0.241051
[14:39:55.241] Odometry x=-0.015815, y=-0.944362, theta=0.150908
[14:39:55.309] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:5 ,distance between two frames x:-0.000647 ,z=-0.000770,angle between two frames:0.000336
[14:39:55.309] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =0 	 error init =16.234327 	 error end=6.493717
[14:39:55.309] After pose optimization, distance between two frames x:-12.297448 ,z=4.668541,angle between two frames:2.932574
[14:39:55.314] Image Alignment failed 0
[14:39:55.343] Odometry x=-0.016410, y=-0.952013, theta=0.147834
[14:39:55.441] Odometry x=-0.016970, y=-0.959577, theta=0.150538
[14:39:55.450] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:8 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000002
[14:39:55.450] n deleted obs = 14 	 n obs with reprojection error less than 0.5 px =4 	 error init =31.365845 	 error end=1.258134
[14:39:55.450] After pose optimization, distance between two frames x:2.912012 ,z=-1.473783,angle between two frames:0.627716
[14:39:55.547] Odometry x=-0.017551, y=-0.967199, theta=0.140694
[14:39:55.608] After Reprojection Map nPoint:26 ,nCell:18 ,nMatches:12 ,distance between two frames x:0.008984 ,z=0.000234,angle between two frames:0.002050
[14:39:55.610] n deleted obs = 19 	 n obs with reprojection error less than 0.5 px =7 	 error init =24.001543 	 error end=1.052547
[14:39:55.610] After pose optimization, distance between two frames x:-1.768182 ,z=-1.574898,angle between two frames:1.593651
[14:39:55.639] Odometry x=-0.018089, y=-0.974839, theta=0.142694
[14:39:55.739] Odometry x=-0.018650, y=-0.982335, theta=0.136916
[14:39:55.752] After Reprojection Map nPoint:26 ,nCell:18 ,nMatches:9 ,distance between two frames x:-0.001623 ,z=-0.000382,angle between two frames:0.000447
[14:39:55.752] n deleted obs = 24 	 n obs with reprojection error less than 0.5 px =0 	 error init =16.322909 	 error end=3.746595
[14:39:55.752] After pose optimization, distance between two frames x:0.660175 ,z=-0.130204,angle between two frames:0.302623
[14:39:55.756] Image Alignment failed 0
[14:39:55.847] Odometry x=-0.019165, y=-0.989824, theta=0.132060
[14:39:55.891] After Reprojection Map nPoint:29 ,nCell:21 ,nMatches:15 ,distance between two frames x:-0.000000 ,z=-0.000005,angle between two frames:0.000004
[14:39:55.892] n deleted obs = 27 	 n obs with reprojection error less than 0.5 px =9 	 error init =8.121672 	 error end=0.962419
[14:39:55.892] After pose optimization, distance between two frames x:-0.979870 ,z=-1.347535,angle between two frames:0.499638
[14:39:55.940] Odometry x=-0.019706, y=-0.997882, theta=0.131217
[14:39:56.042] After Reprojection Map nPoint:36 ,nCell:23 ,nMatches:13 ,distance between two frames x:0.000323 ,z=0.000046,angle between two frames:0.000502
[14:39:56.043] n deleted obs = 35 	 n obs with reprojection error less than 0.5 px =0 	 error init =6.347624 	 error end=2.203948
[14:39:56.043] After pose optimization, distance between two frames x:-1.000854 ,z=-0.376933,angle between two frames:0.455387
[14:39:56.047] Image Alignment failed 0
[14:39:56.048] Odometry x=-0.020180, y=-1.005102, theta=0.128575
[14:39:56.155] Odometry x=-0.020699, y=-1.013173, theta=0.125693
[14:39:56.182] After Reprojection Map nPoint:36 ,nCell:21 ,nMatches:19 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000259
[14:39:56.183] n deleted obs = 47 	 n obs with reprojection error less than 0.5 px =0 	 error init =4.607488 	 error end=4.607488
[14:39:56.183] After pose optimization, distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000259
[14:39:56.187] Image Alignment failed 0
[14:39:56.240] Odometry x=-0.021224, y=-1.021518, theta=0.130597
[14:39:56.323] After Reprojection Map nPoint:35 ,nCell:14 ,nMatches:14 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:39:56.323] n deleted obs = 36 	 n obs with reprojection error less than 0.5 px =7 	 error init =3.015374 	 error end=1.459080
[14:39:56.323] After pose optimization, distance between two frames x:-6.727743 ,z=-1.787747,angle between two frames:3.264942
[14:39:56.353] Odometry x=-0.021654, y=-1.028060, theta=0.137466
[14:39:56.447] Odometry x=-0.022219, y=-1.036211, theta=0.143696
[14:39:56.466] After Reprojection Map nPoint:41 ,nCell:19 ,nMatches:16 ,distance between two frames x:-0.001775 ,z=-0.000234,angle between two frames:0.000553
[14:39:56.466] n deleted obs = 45 	 n obs with reprojection error less than 0.5 px =0 	 error init =2.869611 	 error end=2.679592
[14:39:56.466] After pose optimization, distance between two frames x:-0.179054 ,z=-0.042700,angle between two frames:0.085092
[14:39:56.471] Image Alignment failed 0
[14:39:56.550] Odometry x=-0.022760, y=-1.043691, theta=0.145266
[14:39:56.606] After Reprojection Map nPoint:41 ,nCell:21 ,nMatches:19 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000071
[14:39:56.606] n deleted obs = 52 	 n obs with reprojection error less than 0.5 px =2 	 error init =2.358094 	 error end=2.358094
[14:39:56.606] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000071
[14:39:56.643] Odometry x=-0.023308, y=-1.051191, theta=0.157626
[14:39:56.742] Odometry x=-0.023885, y=-1.058459, theta=0.175768
[14:39:56.749] After Reprojection Map nPoint:44 ,nCell:19 ,nMatches:18 ,distance between two frames x:-0.053179 ,z=-0.005545,angle between two frames:0.016666
[14:39:56.749] n deleted obs = 56 	 n obs with reprojection error less than 0.5 px =0 	 error init =2.014217 	 error end=1.718103
[14:39:56.749] After pose optimization, distance between two frames x:-4.335391 ,z=-1.007053,angle between two frames:2.068187
[14:39:56.753] Image Alignment failed 0
[14:39:56.839] Odometry x=-0.024574, y=-1.066231, theta=0.184773
[14:39:56.889] After Reprojection Map nPoint:45 ,nCell:24 ,nMatches:23 ,distance between two frames x:-0.000000 ,z=-0.000006,angle between two frames:0.000619
[14:39:56.889] n deleted obs = 57 	 n obs with reprojection error less than 0.5 px =6 	 error init =1.812314 	 error end=1.812314
[14:39:56.889] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000006,angle between two frames:0.000619
[14:39:56.943] Odometry x=-0.025226, y=-1.073242, theta=0.196024
[14:39:57.034] After Reprojection Map nPoint:46 ,nCell:26 ,nMatches:23 ,distance between two frames x:-0.001342 ,z=-0.000275,angle between two frames:0.000509
[14:39:57.034] n deleted obs = 58 	 n obs with reprojection error less than 0.5 px =3 	 error init =1.955919 	 error end=1.880284
[14:39:57.034] After pose optimization, distance between two frames x:-0.242041 ,z=-0.071472,angle between two frames:0.119320
[14:39:57.042] Odometry x=-0.026035, y=-1.081412, theta=0.194607
[14:39:57.144] Odometry x=-0.026758, y=-1.088759, theta=0.205084
[14:39:57.181] After Reprojection Map nPoint:46 ,nCell:25 ,nMatches:21 ,distance between two frames x:0.012526 ,z=0.001235,angle between two frames:0.003952
[14:39:57.181] n deleted obs = 56 	 n obs with reprojection error less than 0.5 px =2 	 error init =1.920665 	 error end=1.920665
[14:39:57.181] After pose optimization, distance between two frames x:0.012526 ,z=0.001235,angle between two frames:0.003952
[14:39:57.244] Odometry x=-0.027482, y=-1.095814, theta=0.207329
[14:39:57.333] After Reprojection Map nPoint:44 ,nCell:22 ,nMatches:20 ,distance between two frames x:0.068005 ,z=0.024488,angle between two frames:0.022972
[14:39:57.333] n deleted obs = 53 	 n obs with reprojection error less than 0.5 px =5 	 error init =1.944393 	 error end=1.568995
[14:39:57.333] After pose optimization, distance between two frames x:-0.155457 ,z=-0.057111,angle between two frames:0.092029
[14:39:57.343] Odometry x=-0.028332, y=-1.103893, theta=0.198299
[14:39:57.445] Odometry x=-0.029065, y=-1.111204, theta=0.191761
[14:39:57.488] After Reprojection Map nPoint:43 ,nCell:25 ,nMatches:21 ,distance between two frames x:0.030628 ,z=0.006958,angle between two frames:0.009617
[14:39:57.489] n deleted obs = 53 	 n obs with reprojection error less than 0.5 px =5 	 error init =1.647059 	 error end=1.505320
[14:39:57.489] After pose optimization, distance between two frames x:-0.099183 ,z=-0.047392,angle between two frames:0.059906
[14:39:57.542] Odometry x=-0.029821, y=-1.118996, theta=0.191705
[14:39:57.642] Odometry x=-0.030537, y=-1.126401, theta=0.186315
[14:39:57.654] After Reprojection Map nPoint:46 ,nCell:25 ,nMatches:21 ,distance between two frames x:0.027568 ,z=0.005117,angle between two frames:0.008235
[14:39:57.657] n deleted obs = 43 	 n obs with reprojection error less than 0.5 px =18 	 error init =1.584328 	 error end=0.758819
[14:39:57.657] After pose optimization, distance between two frames x:-4.144342 ,z=-6.581484,angle between two frames:1.397233
[14:39:57.742] Odometry x=-0.031238, y=-1.133918, theta=0.177862
[14:39:57.801] After Reprojection Map nPoint:48 ,nCell:34 ,nMatches:21 ,distance between two frames x:0.000089 ,z=0.000050,angle between two frames:0.000560
[14:39:57.802] n deleted obs = 47 	 n obs with reprojection error less than 0.5 px =4 	 error init =1.522893 	 error end=1.500595
[14:39:57.802] After pose optimization, distance between two frames x:-0.099332 ,z=-0.029300,angle between two frames:0.047244
[14:39:57.841] Odometry x=-0.031917, y=-1.141489, theta=0.171150
[14:39:57.942] Odometry x=-0.032555, y=-1.148915, theta=0.169851
[14:39:57.953] After Reprojection Map nPoint:38 ,nCell:24 ,nMatches:21 ,distance between two frames x:0.051707 ,z=0.008850,angle between two frames:0.015611
[14:39:57.953] n deleted obs = 46 	 n obs with reprojection error less than 0.5 px =7 	 error init =1.463765 	 error end=1.441660
[14:39:57.953] After pose optimization, distance between two frames x:-0.046673 ,z=-0.019315,angle between two frames:0.028911
[14:39:58.044] Odometry x=-0.033223, y=-1.156714, theta=0.173402
[14:39:58.105] After Reprojection Map nPoint:40 ,nCell:23 ,nMatches:20 ,distance between two frames x:0.001077 ,z=0.000247,angle between two frames:0.000540
[14:39:58.105] n deleted obs = 49 	 n obs with reprojection error less than 0.5 px =4 	 error init =1.424384 	 error end=1.424384
[14:39:58.105] After pose optimization, distance between two frames x:0.001077 ,z=0.000247,angle between two frames:0.000540
[14:39:58.142] Odometry x=-0.033878, y=-1.164183, theta=0.187309
[14:39:58.242] Odometry x=-0.034587, y=-1.171654, theta=0.197632
[14:39:58.249] After Reprojection Map nPoint:38 ,nCell:15 ,nMatches:14 ,distance between two frames x:-0.004042 ,z=-0.000837,angle between two frames:0.000472
[14:39:58.249] n deleted obs = 45 	 n obs with reprojection error less than 0.5 px =3 	 error init =1.536511 	 error end=1.536511
[14:39:58.249] After pose optimization, distance between two frames x:-0.004042 ,z=-0.000837,angle between two frames:0.000472
[14:39:58.345] Odometry x=-0.035329, y=-1.179054, theta=0.218004
[14:39:58.405] After Reprojection Map nPoint:37 ,nCell:22 ,nMatches:21 ,distance between two frames x:0.016644 ,z=0.001806,angle between two frames:0.006182
[14:39:58.405] n deleted obs = 48 	 n obs with reprojection error less than 0.5 px =6 	 error init =1.319769 	 error end=1.319769
[14:39:58.405] After pose optimization, distance between two frames x:0.016644 ,z=0.001806,angle between two frames:0.006182
[14:39:58.443] Odometry x=-0.036196, y=-1.186880, theta=0.229230
[14:39:58.540] Odometry x=-0.037041, y=-1.194136, theta=0.240208
[14:39:58.548] After Reprojection Map nPoint:37 ,nCell:25 ,nMatches:21 ,distance between two frames x:-0.002298 ,z=-0.000624,angle between two frames:0.000086
[14:39:58.548] n deleted obs = 27 	 n obs with reprojection error less than 0.5 px =26 	 error init =1.039049 	 error end=0.631725
[14:39:58.548] After pose optimization, distance between two frames x:-0.035419 ,z=-0.389782,angle between two frames:0.082284
[14:39:58.642] Odometry x=-0.037926, y=-1.201388, theta=0.241086
[14:39:58.692] After Reprojection Map nPoint:41 ,nCell:30 ,nMatches:16 ,distance between two frames x:-0.000750 ,z=-0.000172,angle between two frames:0.000044
[14:39:58.693] n deleted obs = 32 	 n obs with reprojection error less than 0.5 px =7 	 error init =1.078935 	 error end=1.000526
[14:39:58.693] After pose optimization, distance between two frames x:-0.039575 ,z=-0.033961,angle between two frames:0.026321
[14:39:58.745] Odometry x=-0.038860, y=-1.209004, theta=0.238945
[14:39:58.836] After Reprojection Map nPoint:31 ,nCell:19 ,nMatches:16 ,distance between two frames x:-0.000141 ,z=-0.000151,angle between two frames:0.000144
[14:39:58.837] n deleted obs = 16 	 n obs with reprojection error less than 0.5 px =23 	 error init =1.122569 	 error end=0.505423
[14:39:58.837] After pose optimization, distance between two frames x:0.090126 ,z=-0.671843,angle between two frames:0.113215
[14:39:58.843] Odometry x=-0.039787, y=-1.216630, theta=0.242564
[14:39:58.943] Odometry x=-0.040683, y=-1.223881, theta=0.239145
[14:39:58.981] After Reprojection Map nPoint:32 ,nCell:25 ,nMatches:12 ,distance between two frames x:-0.000591 ,z=-0.000185,angle between two frames:0.000213
[14:39:58.981] n deleted obs = 23 	 n obs with reprojection error less than 0.5 px =7 	 error init =1.173093 	 error end=1.060061
[14:39:58.981] After pose optimization, distance between two frames x:-0.049936 ,z=-0.049456,angle between two frames:0.027762
[14:39:59.041] Odometry x=-0.041522, y=-1.230793, theta=0.237868
[14:39:59.125] After Reprojection Map nPoint:34 ,nCell:22 ,nMatches:16 ,distance between two frames x:-0.000812 ,z=-0.000346,angle between two frames:0.000282
[14:39:59.125] n deleted obs = 29 	 n obs with reprojection error less than 0.5 px =14 	 error init =1.024383 	 error end=1.019476
[14:39:59.125] After pose optimization, distance between two frames x:0.196968 ,z=-0.020528,angle between two frames:0.081144
[14:39:59.138] Odometry x=-0.042494, y=-1.238810, theta=0.234561
[14:39:59.242] Odometry x=-0.043367, y=-1.246122, theta=0.231528
[14:39:59.269] After Reprojection Map nPoint:40 ,nCell:23 ,nMatches:12 ,distance between two frames x:-0.000497 ,z=-0.000159,angle between two frames:0.000291
[14:39:59.269] n deleted obs = 29 	 n obs with reprojection error less than 0.5 px =11 	 error init =1.041168 	 error end=0.787406
[14:39:59.269] After pose optimization, distance between two frames x:-0.374122 ,z=-0.527941,angle between two frames:0.274728
[14:39:59.346] Odometry x=-0.044276, y=-1.253844, theta=0.231410
[14:39:59.420] After Reprojection Map nPoint:32 ,nCell:20 ,nMatches:13 ,distance between two frames x:0.001865 ,z=0.000407,angle between two frames:0.000536
[14:39:59.420] n deleted obs = 28 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.948924 	 error end=0.847500
[14:39:59.420] After pose optimization, distance between two frames x:0.099221 ,z=-0.076424,angle between two frames:0.013619
[14:39:59.441] Odometry x=-0.045173, y=-1.261460, theta=0.229350
[14:39:59.537] Odometry x=-0.046007, y=-1.268607, theta=0.227867
[14:39:59.572] After Reprojection Map nPoint:33 ,nCell:21 ,nMatches:17 ,distance between two frames x:0.001828 ,z=0.000181,angle between two frames:0.000399
[14:39:59.573] n deleted obs = 34 	 n obs with reprojection error less than 0.5 px =11 	 error init =0.911571 	 error end=0.911571
[14:39:59.573] After pose optimization, distance between two frames x:0.001828 ,z=0.000181,angle between two frames:0.000399
[14:39:59.573] Update EKF and 3D points, distance between two frames x:0.001626 ,z=-0.000649,angle between two frames:0.000210
[14:39:59.573] Choose frame as a key frame Scene Depth mean:-0.023769 ,depth min:-0.335643
[14:39:59.643] Odometry x=-0.044793, y=-1.267240, theta=0.226031
[14:39:59.722] After Reprojection Map nPoint:54 ,nCell:21 ,nMatches:13 ,distance between two frames x:-0.002443 ,z=-0.005452,angle between two frames:0.001779
[14:39:59.723] n deleted obs = 36 	 n obs with reprojection error less than 0.5 px =22 	 error init =0.839685 	 error end=0.839685
[14:39:59.723] After pose optimization, distance between two frames x:-0.002443 ,z=-0.005452,angle between two frames:0.001779
[14:39:59.723] Update EKF and 3D points, distance between two frames x:-0.002428 ,z=-0.005909,angle between two frames:0.002050
[14:39:59.723] Choose frame as a key frame Scene Depth mean:-0.224802 ,depth min:-1.584045
[14:39:59.740] Odometry x=-0.045882, y=-1.270841, theta=0.225146
[14:39:59.842] Odometry x=-0.046704, y=-1.278033, theta=0.223210
[14:39:59.877] After Reprojection Map nPoint:65 ,nCell:27 ,nMatches:20 ,distance between two frames x:0.000124 ,z=-0.002722,angle between two frames:0.001753
[14:39:59.877] n deleted obs = 35 	 n obs with reprojection error less than 0.5 px =35 	 error init =0.966024 	 error end=0.598162
[14:39:59.877] After pose optimization, distance between two frames x:0.629716 ,z=-0.934388,angle between two frames:0.112607
[14:39:59.941] Odometry x=-0.047559, y=-1.285572, theta=0.227592
[14:40:00.030] After Reprojection Map nPoint:69 ,nCell:43 ,nMatches:25 ,distance between two frames x:-0.000547 ,z=-0.000101,angle between two frames:0.000023
[14:40:00.031] n deleted obs = 45 	 n obs with reprojection error less than 0.5 px =24 	 error init =0.814339 	 error end=0.814339
[14:40:00.031] After pose optimization, distance between two frames x:-0.000547 ,z=-0.000101,angle between two frames:0.000023
[14:40:00.031] Update EKF and 3D points, distance between two frames x:-0.000566 ,z=-0.000539,angle between two frames:0.000367
[14:40:00.031] Choose frame as a key frame Scene Depth mean:-0.148844 ,depth min:-1.710749
[14:40:00.044] Odometry x=-0.048246, y=-1.288813, theta=0.227072
[14:40:00.141] Odometry x=-0.049106, y=-1.296257, theta=0.230887
[14:40:00.187] After Reprojection Map nPoint:62 ,nCell:22 ,nMatches:20 ,distance between two frames x:-0.000149 ,z=-0.002704,angle between two frames:0.002218
[14:40:00.187] n deleted obs = 45 	 n obs with reprojection error less than 0.5 px =24 	 error init =0.882249 	 error end=0.882249
[14:40:00.187] After pose optimization, distance between two frames x:-0.000149 ,z=-0.002704,angle between two frames:0.002218
[14:40:00.187] Update EKF and 3D points, distance between two frames x:-0.000248 ,z=-0.003572,angle between two frames:0.003019
[14:40:00.187] Choose frame as a key frame Scene Depth mean:-0.307665 ,depth min:-1.605983
[14:40:00.243] Odometry x=-0.048990, y=-1.295044, theta=0.240543
[14:40:00.340] Odometry x=-0.049900, y=-1.302473, theta=0.255678
[14:40:00.351] After Reprojection Map nPoint:68 ,nCell:32 ,nMatches:24 ,distance between two frames x:-0.000239 ,z=-0.000031,angle between two frames:0.000062
[14:40:00.351] n deleted obs = 60 	 n obs with reprojection error less than 0.5 px =15 	 error init =0.962689 	 error end=0.933272
[14:40:00.351] After pose optimization, distance between two frames x:0.172750 ,z=-0.079507,angle between two frames:0.062827
[14:40:00.443] Odometry x=-0.050868, y=-1.309874, theta=0.268073
[14:40:00.529] After Reprojection Map nPoint:65 ,nCell:26 ,nMatches:21 ,distance between two frames x:0.003458 ,z=0.001380,angle between two frames:0.001029
[14:40:00.529] n deleted obs = 36 	 n obs with reprojection error less than 0.5 px =38 	 error init =0.678374 	 error end=0.670352
[14:40:00.529] After pose optimization, distance between two frames x:-0.130182 ,z=-0.062499,angle between two frames:0.069981
[14:40:00.541] Odometry x=-0.051882, y=-1.317264, theta=0.278435
[14:40:00.638] Odometry x=-0.052930, y=-1.324634, theta=0.279325
[14:40:00.692] After Reprojection Map nPoint:70 ,nCell:35 ,nMatches:26 ,distance between two frames x:-0.000211 ,z=-0.000029,angle between two frames:0.000365
[14:40:00.692] n deleted obs = 38 	 n obs with reprojection error less than 0.5 px =41 	 error init =0.663205 	 error end=0.663205
[14:40:00.692] After pose optimization, distance between two frames x:-0.000211 ,z=-0.000029,angle between two frames:0.000365
[14:40:00.692] Update EKF and 3D points, distance between two frames x:-0.000319 ,z=-0.000868,angle between two frames:0.000488
[14:40:00.692] Choose frame as a key frame Scene Depth mean:-0.268350 ,depth min:-1.563452
[14:40:00.741] Odometry x=-0.052868, y=-1.323344, theta=0.278635
[14:40:00.838] Odometry x=-0.053932, y=-1.330795, theta=0.279039
[14:40:00.859] After Reprojection Map nPoint:72 ,nCell:39 ,nMatches:29 ,distance between two frames x:-0.000697 ,z=-0.005189,angle between two frames:0.000722
[14:40:00.859] n deleted obs = 46 	 n obs with reprojection error less than 0.5 px =38 	 error init =0.694262 	 error end=0.694262
[14:40:00.859] After pose optimization, distance between two frames x:-0.000697 ,z=-0.005189,angle between two frames:0.000722
[14:40:00.859] Update EKF and 3D points, distance between two frames x:-0.000818 ,z=-0.006053,angle between two frames:0.000723
[14:40:00.860] Choose frame as a key frame Scene Depth mean:-0.350715 ,depth min:-10.007900
[14:40:00.941] Odometry x=-0.053778, y=-1.329576, theta=0.276042
[14:40:01.033] After Reprojection Map nPoint:95 ,nCell:44 ,nMatches:32 ,distance between two frames x:-0.000021 ,z=0.000031,angle between two frames:0.000000
[14:40:01.033] n deleted obs = 85 	 n obs with reprojection error less than 0.5 px =21 	 error init =0.927546 	 error end=0.927546
[14:40:01.033] After pose optimization, distance between two frames x:-0.000021 ,z=0.000031,angle between two frames:0.000000
[14:40:01.033] Update EKF and 3D points, distance between two frames x:-0.000125 ,z=-0.000717,angle between two frames:0.000495
[14:40:01.033] Choose frame as a key frame Scene Depth mean:-0.266712 ,depth min:-0.980981
[14:40:01.043] Odometry x=-0.053787, y=-1.329523, theta=0.275341
[14:40:01.141] Odometry x=-0.054835, y=-1.336956, theta=0.274121
[14:40:01.211] After Reprojection Map nPoint:110 ,nCell:34 ,nMatches:26 ,distance between two frames x:-0.000677 ,z=-0.004620,angle between two frames:0.003178
[14:40:01.211] n deleted obs = 78 	 n obs with reprojection error less than 0.5 px =28 	 error init =0.989883 	 error end=0.989883
[14:40:01.211] After pose optimization, distance between two frames x:-0.000677 ,z=-0.004620,angle between two frames:0.003178
[14:40:01.211] Update EKF and 3D points, distance between two frames x:-0.000797 ,z=-0.005485,angle between two frames:0.003271
[14:40:01.211] Choose frame as a key frame Scene Depth mean:-0.239743 ,depth min:-1.156850
[14:40:01.238] Odometry x=-0.054680, y=-1.335728, theta=0.274313
[14:40:01.341] Odometry x=-0.055691, y=-1.342979, theta=0.271542
[14:40:01.399] After Reprojection Map nPoint:149 ,nCell:45 ,nMatches:32 ,distance between two frames x:-0.000095 ,z=-0.004996,angle between two frames:0.000480
[14:40:01.399] n deleted obs = 105 	 n obs with reprojection error less than 0.5 px =47 	 error init =0.862812 	 error end=0.862812
[14:40:01.399] After pose optimization, distance between two frames x:-0.000095 ,z=-0.004996,angle between two frames:0.000480
[14:40:01.399] Update EKF and 3D points, distance between two frames x:-0.000253 ,z=-0.005881,angle between two frames:0.000911
[14:40:01.399] Choose frame as a key frame Scene Depth mean:-0.675315 ,depth min:-8.957657
[14:40:01.443] Odometry x=-0.055171, y=-1.341748, theta=0.270500
[14:40:01.541] Odometry x=-0.056191, y=-1.349125, theta=0.265888
[14:40:01.587] After Reprojection Map nPoint:158 ,nCell:40 ,nMatches:31 ,distance between two frames x:-0.001000 ,z=-0.005460,angle between two frames:0.002833
[14:40:01.587] n deleted obs = 116 	 n obs with reprojection error less than 0.5 px =36 	 error init =0.900479 	 error end=0.900479
[14:40:01.587] After pose optimization, distance between two frames x:-0.001000 ,z=-0.005460,angle between two frames:0.002833
[14:40:01.587] Update EKF and 3D points, distance between two frames x:-0.001117 ,z=-0.006320,angle between two frames:0.003224
[14:40:01.588] Choose frame as a key frame Scene Depth mean:-0.532341 ,depth min:-3.040338
[14:40:01.639] Odometry x=-0.056034, y=-1.347927, theta=0.267873
[14:40:01.737] Odometry x=-0.057014, y=-1.355082, theta=0.278346
[14:40:01.794] After Reprojection Map nPoint:155 ,nCell:43 ,nMatches:34 ,distance between two frames x:0.001149 ,z=0.000337,angle between two frames:0.000321
[14:40:01.794] n deleted obs = 123 	 n obs with reprojection error less than 0.5 px =32 	 error init =0.979704 	 error end=0.979704
[14:40:01.794] After pose optimization, distance between two frames x:0.001149 ,z=0.000337,angle between two frames:0.000321
[14:40:01.794] Update EKF and 3D points, distance between two frames x:0.000921 ,z=-0.000846,angle between two frames:0.001037
[14:40:01.794] Choose frame as a key frame Scene Depth mean:-0.647178 ,depth min:-6.123546
[14:40:01.840] Odometry x=-0.055803, y=-1.350755, theta=0.280807
[14:40:01.944] Odometry x=-0.056864, y=-1.358140, theta=0.289612
[14:40:02.008] After Reprojection Map nPoint:153 ,nCell:38 ,nMatches:32 ,distance between two frames x:-0.001149 ,z=-0.007298,angle between two frames:0.004857
[14:40:02.008] n deleted obs = 89 	 n obs with reprojection error less than 0.5 px =60 	 error init =0.801845 	 error end=0.801845
[14:40:02.009] After pose optimization, distance between two frames x:-0.001149 ,z=-0.007298,angle between two frames:0.004857
[14:40:02.009] Update EKF and 3D points, distance between two frames x:-0.001292 ,z=-0.008175,angle between two frames:0.006210
[14:40:02.009] Choose frame as a key frame Scene Depth mean:-41039.450996 ,depth min:-2462326.176942
[14:40:02.017] Image Alignment failed 0
[14:40:02.041] Odometry x=-0.056568, y=-1.357025, theta=0.288540
[14:40:02.141] Odometry x=-0.057619, y=-1.364284, theta=0.288898
[14:40:02.226] After Reprojection Map nPoint:136 ,nCell:37 ,nMatches:24 ,distance between two frames x:-0.000887 ,z=-0.005417,angle between two frames:0.008637
[14:40:02.226] n deleted obs = 92 	 n obs with reprojection error less than 0.5 px =30 	 error init =0.882999 	 error end=0.882999
[14:40:02.226] After pose optimization, distance between two frames x:-0.000887 ,z=-0.005417,angle between two frames:0.008637
[14:40:02.226] Update EKF and 3D points, distance between two frames x:-0.001010 ,z=-0.006256,angle between two frames:0.009536
[14:40:02.226] Choose frame as a key frame Scene Depth mean:-0.487926 ,depth min:-1.184660
[14:40:02.235] Image Alignment failed 0
[14:40:02.246] Odometry x=-0.057454, y=-1.363067, theta=0.294499
[14:40:02.341] Odometry x=-0.058590, y=-1.370555, theta=0.303619
[14:40:02.445] Odometry x=-0.059712, y=-1.377715, theta=0.322392
[14:40:02.448] After Reprojection Map nPoint:137 ,nCell:39 ,nMatches:26 ,distance between two frames x:-0.000760 ,z=-0.005189,angle between two frames:0.005858
[14:40:02.449] n deleted obs = 87 	 n obs with reprojection error less than 0.5 px =42 	 error init =0.789799 	 error end=0.789799
[14:40:02.449] After pose optimization, distance between two frames x:-0.000760 ,z=-0.005189,angle between two frames:0.005858
[14:40:02.449] Update EKF and 3D points, distance between two frames x:-0.001072 ,z=-0.007162,angle between two frames:0.007529
[14:40:02.449] Choose frame as a key frame Scene Depth mean:-0.611580 ,depth min:-2.811884
[14:40:02.457] Image Alignment failed 0
[14:40:02.545] Odometry x=-0.059711, y=-1.377252, theta=0.311889
[14:40:02.644] Odometry x=-0.060964, y=-1.385023, theta=0.323532
[14:40:02.679] After Reprojection Map nPoint:137 ,nCell:45 ,nMatches:33 ,distance between two frames x:-0.001944 ,z=-0.012182,angle between two frames:0.010954
[14:40:02.679] n deleted obs = 103 	 n obs with reprojection error less than 0.5 px =36 	 error init =0.854694 	 error end=0.854694
[14:40:02.679] After pose optimization, distance between two frames x:-0.001944 ,z=-0.012182,angle between two frames:0.010954
[14:40:02.679] Update EKF and 3D points, distance between two frames x:-0.002084 ,z=-0.013041,angle between two frames:0.012236
[14:40:02.679] Choose frame as a key frame Scene Depth mean:-0.407666 ,depth min:-2.759307
[14:40:02.687] Image Alignment failed 0
[14:40:02.737] Odometry x=-0.060718, y=-1.383445, theta=0.318285
[14:40:02.840] Odometry x=-0.061868, y=-1.390426, theta=0.317489
[14:40:02.914] After Reprojection Map nPoint:152 ,nCell:50 ,nMatches:38 ,distance between two frames x:-0.000868 ,z=-0.005312,angle between two frames:0.008297
[14:40:02.914] n deleted obs = 109 	 n obs with reprojection error less than 0.5 px =47 	 error init =0.831854 	 error end=0.831854
[14:40:02.914] After pose optimization, distance between two frames x:-0.000868 ,z=-0.005312,angle between two frames:0.008297
[14:40:02.914] Update EKF and 3D points, distance between two frames x:-0.001006 ,z=-0.006152,angle between two frames:0.008144
[14:40:02.915] Choose frame as a key frame Scene Depth mean:-0.811778 ,depth min:-4.133976
[14:40:02.922] Image Alignment failed 0
[14:40:02.941] Odometry x=-0.061707, y=-1.389427, theta=0.313594
[14:40:03.045] Odometry x=-0.062918, y=-1.396897, theta=0.311363
[14:40:03.143] Odometry x=-0.064109, y=-1.404318, theta=0.296326
[14:40:03.153] After Reprojection Map nPoint:149 ,nCell:38 ,nMatches:32 ,distance between two frames x:-0.000850 ,z=-0.005199,angle between two frames:0.001205
[14:40:03.153] n deleted obs = 112 	 n obs with reprojection error less than 0.5 px =38 	 error init =0.924158 	 error end=0.880123
[14:40:03.153] After pose optimization, distance between two frames x:-0.091551 ,z=-0.073285,angle between two frames:0.037630
[14:40:03.161] Image Alignment failed 0
[14:40:03.246] Odometry x=-0.065246, y=-1.411773, theta=0.282566
[14:40:03.344] Odometry x=-0.066322, y=-1.419219, theta=0.273453
[14:40:03.390] After Reprojection Map nPoint:134 ,nCell:36 ,nMatches:27 ,distance between two frames x:-0.000002 ,z=-0.000010,angle between two frames:0.001281
[14:40:03.390] n deleted obs = 97 	 n obs with reprojection error less than 0.5 px =36 	 error init =0.848964 	 error end=0.848964
[14:40:03.390] After pose optimization, distance between two frames x:-0.000002 ,z=-0.000010,angle between two frames:0.001281
[14:40:03.390] Update EKF and 3D points, distance between two frames x:-0.000126 ,z=-0.000881,angle between two frames:0.002572
[14:40:03.390] Choose frame as a key frame Scene Depth mean:-0.720915 ,depth min:-4.937716
[14:40:03.398] Image Alignment failed 0
[14:40:03.441] Odometry x=-0.066129, y=-1.417983, theta=0.283707
[14:40:03.544] Odometry x=-0.067145, y=-1.424967, theta=0.283803
[14:40:03.632] After Reprojection Map nPoint:144 ,nCell:39 ,nMatches:27 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:40:03.633] n deleted obs = 99 	 n obs with reprojection error less than 0.5 px =37 	 error init =0.851597 	 error end=0.841506
[14:40:03.633] After pose optimization, distance between two frames x:-0.135049 ,z=-0.064131,angle between two frames:0.056510
[14:40:03.642] Odometry x=-0.068264, y=-1.432668, theta=0.279118
[14:40:03.648] Image Alignment failed 0
[14:40:03.739] Odometry x=-0.069262, y=-1.439664, theta=0.272923
[14:40:03.840] Odometry x=-0.070293, y=-1.447029, theta=0.277433
[14:40:03.882] After Reprojection Map nPoint:129 ,nCell:36 ,nMatches:30 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.000672
[14:40:03.883] n deleted obs = 97 	 n obs with reprojection error less than 0.5 px =38 	 error init =0.876247 	 error end=0.811748
[14:40:03.883] After pose optimization, distance between two frames x:-0.115925 ,z=-0.118655,angle between two frames:0.034864
[14:40:03.942] Odometry x=-0.071338, y=-1.454382, theta=0.282453
[14:40:04.039] Odometry x=-0.072406, y=-1.461765, theta=0.281098
[14:40:04.134] After Reprojection Map nPoint:132 ,nCell:43 ,nMatches:29 ,distance between two frames x:0.000460 ,z=0.000259,angle between two frames:0.000495
[14:40:04.134] n deleted obs = 74 	 n obs with reprojection error less than 0.5 px =52 	 error init =0.725685 	 error end=0.662887
[14:40:04.134] After pose optimization, distance between two frames x:0.065674 ,z=-0.100691,angle between two frames:0.017313
[14:40:04.147] Odometry x=-0.073467, y=-1.469123, theta=0.280620
[14:40:04.156] Image Alignment failed 0
[14:40:04.240] Odometry x=-0.074597, y=-1.476976, theta=0.291307
[14:40:04.338] Odometry x=-0.075651, y=-1.484021, theta=0.299511
[14:40:04.392] After Reprojection Map nPoint:130 ,nCell:44 ,nMatches:30 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000288
[14:40:04.392] n deleted obs = 81 	 n obs with reprojection error less than 0.5 px =47 	 error init =0.731011 	 error end=0.731011
[14:40:04.392] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000288
[14:40:04.392] Update EKF and 3D points, distance between two frames x:-0.000190 ,z=-0.001278,angle between two frames:0.001475
[14:40:04.392] Choose frame as a key frame Scene Depth mean:-0.698217 ,depth min:-2.950252
[14:40:04.441] Odometry x=-0.074832, y=-1.478286, theta=0.293689
[14:40:04.542] Odometry x=-0.075933, y=-1.485605, theta=0.304527
[14:40:04.642] After Reprojection Map nPoint:130 ,nCell:44 ,nMatches:34 ,distance between two frames x:-0.001436 ,z=-0.007963,angle between two frames:0.007572
[14:40:04.643] n deleted obs = 69 	 n obs with reprojection error less than 0.5 px =64 	 error init =0.782450 	 error end=0.627675
[14:40:04.643] After pose optimization, distance between two frames x:-0.234300 ,z=-0.491710,angle between two frames:0.042496
[14:40:04.645] Odometry x=-0.077122, y=-1.493169, theta=0.316373
[14:40:04.651] Image Alignment failed 0
[14:40:04.743] Odometry x=-0.078334, y=-1.500577, theta=0.319593
[14:40:04.842] Odometry x=-0.079565, y=-1.508037, theta=0.311466
[14:40:04.894] After Reprojection Map nPoint:137 ,nCell:42 ,nMatches:29 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:40:04.894] n deleted obs = 100 	 n obs with reprojection error less than 0.5 px =26 	 error init =0.912627 	 error end=0.912627
[14:40:04.894] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[14:40:04.894] Update EKF and 3D points, distance between two frames x:-0.000208 ,z=-0.001274,angle between two frames:0.000534
[14:40:04.902] Image Alignment failed 0
[14:40:04.949] Odometry x=-0.078616, y=-1.502324, theta=0.310996
[14:40:05.040] Odometry x=-0.079857, y=-1.510048, theta=0.309273
[14:40:05.143] After Reprojection Map nPoint:104 ,nCell:41 ,nMatches:29 ,distance between two frames x:-0.001285 ,z=-0.007877,angle between two frames:0.003287
[14:40:05.143] Odometry x=-0.080923, y=-1.516731, theta=0.301604
[14:40:05.144] n deleted obs = 77 	 n obs with reprojection error less than 0.5 px =31 	 error init =0.812999 	 error end=0.810011
[14:40:05.144] After pose optimization, distance between two frames x:-0.056436 ,z=-0.029095,angle between two frames:0.022110
[14:40:05.153] Image Alignment failed 0
[14:40:05.242] Odometry x=-0.082093, y=-1.524254, theta=0.294961
[14:40:05.340] Odometry x=-0.083212, y=-1.531627, theta=0.295163
[14:40:05.403] After Reprojection Map nPoint:104 ,nCell:35 ,nMatches:24 ,distance between two frames x:-0.001167 ,z=-0.007500,angle between two frames:0.000021
[14:40:05.403] n deleted obs = 53 	 n obs with reprojection error less than 0.5 px =49 	 error init =0.599454 	 error end=0.599454
[14:40:05.403] After pose optimization, distance between two frames x:-0.001167 ,z=-0.007500,angle between two frames:0.000021
[14:40:05.403] Update EKF and 3D points, distance between two frames x:-0.001297 ,z=-0.008360,angle between two frames:0.000407
[14:40:05.404] Choose frame as a key frame Scene Depth mean:-1.119567 ,depth min:-9.272885
[14:40:05.411] Image Alignment failed 0
[14:40:05.443] Odometry x=-0.083028, y=-1.530405, theta=0.311270
[14:40:05.544] Odometry x=-0.084197, y=-1.537669, theta=0.318060
[14:40:05.640] Odometry x=-0.085410, y=-1.545047, theta=0.323489
[14:40:05.662] After Reprojection Map nPoint:78 ,nCell:37 ,nMatches:20 ,distance between two frames x:-0.000808 ,z=-0.005314,angle between two frames:0.003058
[14:40:05.662] n deleted obs = 40 	 n obs with reprojection error less than 0.5 px =29 	 error init =0.686001 	 error end=0.686001
[14:40:05.662] After pose optimization, distance between two frames x:-0.000808 ,z=-0.005314,angle between two frames:0.003058
[14:40:05.662] Update EKF and 3D points, distance between two frames x:-0.001017 ,z=-0.006588,angle between two frames:0.004314
[14:40:05.662] Choose frame as a key frame Scene Depth mean:-0.682707 ,depth min:-3.444722
[14:40:05.741] Odometry x=-0.084532, y=-1.539560, theta=0.322658
[14:40:05.932] After Reprojection Map nPoint:83 ,nCell:41 ,nMatches:27 ,distance between two frames x:-0.002364 ,z=-0.008719,angle between two frames:0.007925
[14:40:05.932] n deleted obs = 54 	 n obs with reprojection error less than 0.5 px =24 	 error init =0.764059 	 error end=0.764059
[14:40:05.932] After pose optimization, distance between two frames x:-0.002364 ,z=-0.008719,angle between two frames:0.007925
[14:40:05.932] Update EKF and 3D points, distance between two frames x:-0.002373 ,z=-0.009096,angle between two frames:0.009834
[14:40:05.932] Choose frame as a key frame Scene Depth mean:-1.193535 ,depth min:-9.235445
[14:40:06.225] After Reprojection Map nPoint:64 ,nCell:39 ,nMatches:26 ,distance between two frames x:0.000448 ,z=-0.002459,angle between two frames:0.012330
[14:40:06.226] n deleted obs = 54 	 n obs with reprojection error less than 0.5 px =16 	 error init =0.829118 	 error end=0.829118
[14:40:06.226] After pose optimization, distance between two frames x:0.000448 ,z=-0.002459,angle between two frames:0.012330
[14:40:06.226] Update EKF and 3D points, distance between two frames x:0.000418 ,z=-0.002459,angle between two frames:0.014490
[14:40:06.510] After Reprojection Map nPoint:63 ,nCell:35 ,nMatches:26 ,distance between two frames x:-0.000559 ,z=-0.000313,angle between two frames:0.013410
[14:40:06.511] n deleted obs = 40 	 n obs with reprojection error less than 0.5 px =32 	 error init =0.727074 	 error end=0.701580
[14:40:06.511] After pose optimization, distance between two frames x:-0.064228 ,z=-0.068465,angle between two frames:0.013626
[14:40:06.519] Image Alignment failed 0
[14:40:06.769] After Reprojection Map nPoint:47 ,nCell:24 ,nMatches:12 ,distance between two frames x:0.000005 ,z=0.000004,angle between two frames:0.001551
[14:40:06.770] n deleted obs = 25 	 n obs with reprojection error less than 0.5 px =12 	 error init =0.782176 	 error end=0.755124
[14:40:06.770] After pose optimization, distance between two frames x:-0.088277 ,z=-0.069742,angle between two frames:0.036866
[14:40:07.039] After Reprojection Map nPoint:49 ,nCell:30 ,nMatches:20 ,distance between two frames x:0.000045 ,z=-0.000150,angle between two frames:0.000143
[14:40:07.039] n deleted obs = 31 	 n obs with reprojection error less than 0.5 px =24 	 error init =0.710368 	 error end=0.710368
[14:40:07.039] After pose optimization, distance between two frames x:0.000045 ,z=-0.000150,angle between two frames:0.000143
[14:40:07.039] Update EKF and 3D points, distance between two frames x:0.000042 ,z=-0.000146,angle between two frames:0.000620
[14:40:07.039] Choose frame as a key frame Scene Depth mean:-1.177766 ,depth min:-8.986634
[14:40:07.047] Image Alignment failed 0
[14:40:07.300] After Reprojection Map nPoint:54 ,nCell:30 ,nMatches:18 ,distance between two frames x:-0.000021 ,z=0.000027,angle between two frames:0.003045
[14:40:07.301] n deleted obs = 33 	 n obs with reprojection error less than 0.5 px =21 	 error init =0.731101 	 error end=0.717928
[14:40:07.301] After pose optimization, distance between two frames x:-0.055643 ,z=-0.040445,angle between two frames:0.018183
[14:40:07.310] Image Alignment failed 0
[14:40:07.575] After Reprojection Map nPoint:59 ,nCell:29 ,nMatches:16 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000157
[14:40:07.576] n deleted obs = 34 	 n obs with reprojection error less than 0.5 px =19 	 error init =0.685237 	 error end=0.680899
[14:40:07.576] After pose optimization, distance between two frames x:-0.055357 ,z=-0.023770,angle between two frames:0.020767
[14:40:07.583] Image Alignment failed 0
[14:40:07.839] After Reprojection Map nPoint:56 ,nCell:28 ,nMatches:21 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000151
[14:40:07.839] n deleted obs = 35 	 n obs with reprojection error less than 0.5 px =29 	 error init =0.662670 	 error end=0.636777
[14:40:07.839] After pose optimization, distance between two frames x:0.075565 ,z=-0.064457,angle between two frames:0.017241
[14:40:07.847] Image Alignment failed 0
[14:40:08.097] After Reprojection Map nPoint:63 ,nCell:34 ,nMatches:25 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000148
[14:40:08.097] n deleted obs = 37 	 n obs with reprojection error less than 0.5 px =33 	 error init =0.757998 	 error end=0.716845
[14:40:08.097] After pose optimization, distance between two frames x:-0.177160 ,z=-0.124812,angle between two frames:0.064448
[14:40:08.105] Image Alignment failed 0
[14:40:08.355] After Reprojection Map nPoint:63 ,nCell:29 ,nMatches:18 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000151
[14:40:08.355] n deleted obs = 36 	 n obs with reprojection error less than 0.5 px =23 	 error init =0.672690 	 error end=0.667118
[14:40:08.355] After p