[15:14:22.054] Init: frame zero: 0.000000, 0.000000 0.000000
[15:14:22.054] Init: Selected first frame. 
[15:14:22.155] Init: px average disparity is:0.188532 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:22.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:22.252] Init: px average disparity is:0.218004 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:22.252] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:22.352] Init: px average disparity is:0.232503 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:22.352] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:22.450] Init: px average disparity is:0.242984 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:22.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:22.550] Init: px average disparity is:0.229738 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:22.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:22.652] Init: px average disparity is:0.231690 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:22.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:22.752] Init: px average disparity is:0.235444 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:22.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:22.851] Init: px average disparity is:0.223142 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:22.851] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:22.952] Init: px average disparity is:0.246008 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:22.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:23.050] Init: px average disparity is:0.233669 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:23.051] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:23.150] Init: px average disparity is:0.241253 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:23.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:23.254] Init: px average disparity is:0.255628 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:23.254] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:23.357] Init: px average disparity is:0.241200 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:23.357] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:23.459] Init: px average disparity is:0.256364 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:23.459] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:23.516] Odometry x=0.000438, y=-0.000915, theta=0.038784
[15:14:23.560] Init: px average disparity is:0.282112 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:23.560] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:23.622] Odometry x=0.000467, y=-0.000981, theta=0.041533
[15:14:23.658] Init: px average disparity is:0.242466 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:23.658] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:23.718] Odometry x=0.000660, y=0.002870, theta=0.044039
[15:14:23.761] Init: px average disparity is:0.390262 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:23.761] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:23.818] Odometry x=0.000802, y=0.006866, theta=0.053379
[15:14:23.861] Init: px average disparity is:1.939033 ,While minimum is: 40.000000  KLT tracked : 226
[15:14:23.861] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:23.921] Odometry x=0.001192, y=0.010822, theta=0.031129
[15:14:23.962] Init: px average disparity is:6.602763 ,While minimum is: 40.000000  KLT tracked : 220
[15:14:23.962] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:24.017] Odometry x=0.001325, y=0.014815, theta=0.044233
[15:14:24.060] Init: px average disparity is:7.091064 ,While minimum is: 40.000000  KLT tracked : 220
[15:14:24.060] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:24.116] Odometry x=0.001590, y=0.018356, theta=0.030272
[15:14:24.162] Init: px average disparity is:10.015624 ,While minimum is: 40.000000  KLT tracked : 220
[15:14:24.163] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:24.223] Odometry x=0.001708, y=0.022009, theta=0.023681
[15:14:24.261] Init: px average disparity is:14.572901 ,While minimum is: 40.000000  KLT tracked : 219
[15:14:24.261] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:24.319] Odometry x=0.001842, y=0.025800, theta=0.011715
[15:14:24.362] Init: px average disparity is:22.513897 ,While minimum is: 40.000000  KLT tracked : 216
[15:14:24.362] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:24.419] Odometry x=0.001973, y=0.029689, theta=0.002419
[15:14:24.463] Init: px average disparity is:18.814818 ,While minimum is: 40.000000  KLT tracked : 216
[15:14:24.463] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:24.523] Odometry x=0.002005, y=0.033386, theta=0.028416
[15:14:24.553] Init: px average disparity is:19.455563 ,While minimum is: 40.000000  KLT tracked : 216
[15:14:24.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:24.618] Odometry x=0.002050, y=0.037266, theta=0.026380
[15:14:24.664] Init: px average disparity is:18.187910 ,While minimum is: 40.000000  KLT tracked : 216
[15:14:24.664] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:24.718] Odometry x=0.002143, y=0.040907, theta=0.062634
[15:14:24.764] Init: px average disparity is:18.531252 ,While minimum is: 40.000000  KLT tracked : 216
[15:14:24.764] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:24.820] Odometry x=0.000992, y=0.044658, theta=0.026451
[15:14:24.864] Init: px average disparity is:21.012981 ,While minimum is: 40.000000  KLT tracked : 216
[15:14:24.864] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:24.925] Odometry x=0.001096, y=0.048303, theta=0.031782
[15:14:24.964] Init: px average disparity is:22.989389 ,While minimum is: 40.000000  KLT tracked : 216
[15:14:24.965] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:25.021] Odometry x=0.001323, y=0.052271, theta=0.031310
[15:14:25.065] Init: px average disparity is:24.519536 ,While minimum is: 40.000000  KLT tracked : 216
[15:14:25.065] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:25.121] Odometry x=0.001408, y=0.055920, theta=0.039093
[15:14:25.165] Init: px average disparity is:28.097115 ,While minimum is: 40.000000  KLT tracked : 215
[15:14:25.165] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:25.220] Odometry x=0.001588, y=0.059687, theta=0.045509
[15:14:25.266] Init: px average disparity is:29.461846 ,While minimum is: 40.000000  KLT tracked : 214
[15:14:25.266] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:25.321] Odometry x=0.001724, y=0.063376, theta=0.058983
[15:14:25.365] Init: px average disparity is:34.449236 ,While minimum is: 40.000000  KLT tracked : 211
[15:14:25.365] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:25.421] Odometry x=0.001979, y=0.067148, theta=0.066351
[15:14:25.465] Init: px average disparity is:36.719162 ,While minimum is: 40.000000  KLT tracked : 208
[15:14:25.465] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:25.521] Odometry x=0.002177, y=0.070860, theta=0.054083
[15:14:25.565] Init: px average disparity is:38.926995 ,While minimum is: 40.000000  KLT tracked : 205
[15:14:25.566] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:25.621] Odometry x=0.002405, y=0.074559, theta=0.051753
[15:14:25.666] Init: px average disparity is:38.707696 ,While minimum is: 40.000000  KLT tracked : 204
[15:14:25.666] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[15:14:25.720] Odometry x=0.002515, y=0.078403, theta=0.068531
[15:14:25.818] Odometry x=0.003004, y=0.082047, theta=0.053683
[15:14:25.838] homography: x=-841.459594 y=2303.518596 z=-5.133606 roll=-0.000000 pitch=0.000555 yaw=0.000000 	 ekf: x=0.000327 z=0.008582 pitch=0.055347
[15:14:25.838] homography after fuse: x=0.000327 y=0.000000 z=0.008582 pitch=0.055347	 number of outlier: 152
[15:14:25.838] Init finished: Homography RANSAC (inlier) is:50 ,While 30 inliers minimum required.  px average disparity is:40.153503 ,While minimum is: 40.000000  KLT tracked: 202
[15:14:25.838] Init: distance between the first and current frame is x:0.000327 ,z=0.008582,angle between two frames: 0.055347 
[15:14:25.838] Init: Selected Second frame. 	 The number of features: 50
[15:14:25.919] Odometry x=0.003178, y=0.085748, theta=0.046739
[15:14:25.991] After Reprojection Map nPoint:42 ,nCell:40 ,nMatches:20 ,distance between two frames x:-0.000014 ,z=0.000026,angle between two frames:0.001877
[15:14:25.991] n deleted obs = 18 	 n obs with reprojection error less than 0.5 px =21 	 error init =0.734683 	 error end=0.685663
[15:14:25.991] After pose optimization, distance between two frames x:-0.084599 ,z=0.095838,angle between two frames:0.064652
[15:14:26.021] Odometry x=0.003405, y=0.089372, theta=0.047886
[15:14:26.123] Odometry x=0.003617, y=0.093320, theta=0.023293
[15:14:26.137] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between two frames x:0.000197 ,z=0.000003,angle between two frames:0.000173
[15:14:26.137] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.392559 	 error end=0.373738
[15:14:26.137] After pose optimization, distance between two frames x:-0.018204 ,z=-0.002315,angle between two frames:0.010578
[15:14:26.221] Odometry x=0.003822, y=0.096954, theta=0.041798
[15:14:26.281] After Reprojection Map nPoint:1 ,nCell:1 ,nMatches:0 ,distance between two frames x:0.000986 ,z=0.000530,angle between two frames:0.000768
[15:14:26.286] Image Alignment failed 0
[15:14:26.318] Odometry x=0.004014, y=0.100704, theta=0.015799
[15:14:26.358] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000000,angle between two frames:0.001610
[15:14:26.362] Image Alignment failed 0
[15:14:26.421] Odometry x=0.004104, y=0.104410, theta=0.039737
[15:14:26.434] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.002254
[15:14:26.446] Image Alignment failed 0
[15:14:26.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000001,angle between two frames:0.001348
[15:14:26.519] Odometry x=0.004082, y=0.108325, theta=0.048253
[15:14:26.552] Image Alignment failed 0
[15:14:26.622] Odometry x=0.004501, y=0.111974, theta=0.074694
[15:14:26.629] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000030 ,z=0.000373,angle between two frames:0.011307
[15:14:26.646] Image Alignment failed 0
[15:14:26.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=0.000001,angle between two frames:0.003316
[15:14:26.725] Odometry x=0.004659, y=0.115738, theta=0.089445
[15:14:26.748] Image Alignment failed 0
[15:14:26.820] Odometry x=0.005114, y=0.119468, theta=0.087911
[15:14:26.820] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000042 ,z=0.000377,angle between two frames:0.001772
[15:14:26.846] Image Alignment failed 0
[15:14:26.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000019 ,z=0.000371,angle between two frames:0.002852
[15:14:26.918] Odometry x=0.005333, y=0.123100, theta=0.102687
[15:14:26.946] Image Alignment failed 0
[15:14:27.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000046 ,z=0.000371,angle between two frames:0.002169
[15:14:27.021] Odometry x=0.005815, y=0.126779, theta=0.100344
[15:14:27.046] Image Alignment failed 0
[15:14:27.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000032 ,z=0.000369,angle between two frames:0.007231
[15:14:27.119] Odometry x=0.006185, y=0.130404, theta=0.091015
[15:14:27.145] Image Alignment failed 0
[15:14:27.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000041 ,z=0.000378,angle between two frames:0.003962
[15:14:27.217] Odometry x=0.006606, y=0.134121, theta=0.070199
[15:14:27.245] Image Alignment failed 0
[15:14:27.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000027 ,z=0.000382,angle between two frames:0.004836
[15:14:27.320] Odometry x=0.006906, y=0.137909, theta=0.076578
[15:14:27.346] Image Alignment failed 0
[15:14:27.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000034 ,z=0.000378,angle between two frames:0.004536
[15:14:27.418] Odometry x=0.007259, y=0.141560, theta=0.061216
[15:14:27.446] Image Alignment failed 0
[15:14:27.518] Odometry x=0.007547, y=0.145336, theta=0.060238
[15:14:27.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000013 ,z=0.000371,angle between two frames:0.006033
[15:14:27.546] Image Alignment failed 0
[15:14:27.617] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000027 ,z=0.000379,angle between two frames:0.004511
[15:14:27.621] Odometry x=0.007738, y=0.148982, theta=0.037242
[15:14:27.646] Image Alignment failed 0
[15:14:27.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000015 ,z=0.000400,angle between two frames:0.000804
[15:14:27.721] Odometry x=0.007927, y=0.152970, theta=0.042371
[15:14:27.746] Image Alignment failed 0
[15:14:27.818] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000016 ,z=0.000380,angle between two frames:0.002395
[15:14:27.821] Odometry x=0.008112, y=0.156683, theta=0.049020
[15:14:27.850] Image Alignment failed 0
[15:14:27.921] Odometry x=0.008417, y=0.160460, theta=0.031800
[15:14:27.927] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000019 ,z=0.000385,angle between two frames:0.001763
[15:14:27.946] Image Alignment failed 0
[15:14:28.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000003,angle between two frames:0.005137
[15:14:28.021] Odometry x=0.008475, y=0.164100, theta=0.065232
[15:14:28.046] Image Alignment failed 0
[15:14:28.119] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000031 ,z=0.000383,angle between two frames:0.002204
[15:14:28.121] Odometry x=0.008721, y=0.168043, theta=0.064129
[15:14:28.146] Image Alignment failed 0
[15:14:28.215] Odometry x=0.009000, y=0.171546, theta=0.092895
[15:14:28.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000025 ,z=0.000372,angle between two frames:0.003169
[15:14:28.246] Image Alignment failed 0
[15:14:28.319] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000033 ,z=0.000350,angle between two frames:0.016248
[15:14:28.321] Odometry x=0.009376, y=0.175073, theta=0.135998
[15:14:28.346] Image Alignment failed 0
[15:14:28.419] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000056 ,z=0.000396,angle between two frames:0.003360
[15:14:28.419] Odometry x=0.009881, y=0.178935, theta=0.127815
[15:14:28.445] Image Alignment failed 0
[15:14:28.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000058 ,z=0.000372,angle between two frames:0.004967
[15:14:28.518] Odometry x=0.010530, y=0.182653, theta=0.121824
[15:14:28.546] Image Alignment failed 0
[15:14:28.616] Odometry x=0.010924, y=0.186278, theta=0.116341
[15:14:28.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000053 ,z=0.000374,angle between two frames:0.007630
[15:14:28.646] Image Alignment failed 0
[15:14:28.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000043 ,z=0.000364,angle between two frames:0.011323
[15:14:28.721] Odometry x=0.011490, y=0.189915, theta=0.114230
[15:14:28.746] Image Alignment failed 0
[15:14:28.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000046 ,z=0.000397,angle between two frames:0.005207
[15:14:28.821] Odometry x=0.011875, y=0.193725, theta=0.108663
[15:14:28.846] Image Alignment failed 0
[15:14:28.919] Odometry x=0.012417, y=0.197518, theta=0.089821
[15:14:28.919] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000049 ,z=0.000389,angle between two frames:0.000072
[15:14:28.946] Image Alignment failed 0
[15:14:29.017] Odometry x=0.012777, y=0.201125, theta=0.096504
[15:14:29.019] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000038 ,z=0.000365,angle between two frames:0.000089
[15:14:29.046] Image Alignment failed 0
[15:14:29.119] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000036 ,z=0.000368,angle between two frames:0.000000
[15:14:29.121] Odometry x=0.013234, y=0.204638, theta=0.100372
[15:14:29.146] Image Alignment failed 0
[15:14:29.219] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000039 ,z=0.000395,angle between two frames:0.001802
[15:14:29.220] Odometry x=0.013559, y=0.208555, theta=0.087247
[15:14:29.249] Image Alignment failed 0
[15:14:29.316] Odometry x=0.013973, y=0.212264, theta=0.092197
[15:14:29.322] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000034 ,z=0.000380,angle between two frames:0.000709
[15:14:29.346] Image Alignment failed 0
[15:14:29.417] Odometry x=0.014324, y=0.215710, theta=0.064213
[15:14:29.419] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000004,angle between two frames:0.002259
[15:14:29.446] Image Alignment failed 0
[15:14:29.519] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=0.000364,angle between two frames:0.001579
[15:14:29.522] Odometry x=0.014572, y=0.219358, theta=0.083992
[15:14:29.546] Image Alignment failed 0
[15:14:29.619] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000028 ,z=0.000396,angle between two frames:0.001660
[15:14:29.623] Odometry x=0.014972, y=0.223156, theta=0.062733
[15:14:29.645] Image Alignment failed 0
[15:14:29.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000024 ,z=0.000374,angle between two frames:0.008283
[15:14:29.720] Odometry x=0.015145, y=0.226922, theta=0.106087
[15:14:29.747] Image Alignment failed 0
[15:14:29.817] Odometry x=0.015529, y=0.230479, theta=0.099724
[15:14:29.820] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000044 ,z=0.000364,angle between two frames:0.000466
[15:14:29.846] Image Alignment failed 0
[15:14:29.917] Odometry x=0.015830, y=0.234050, theta=0.156374
[15:14:29.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000038 ,z=0.000367,angle between two frames:0.010039
[15:14:29.946] Image Alignment failed 0
[15:14:30.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000078 ,z=0.000381,angle between two frames:0.007192
[15:14:30.018] Odometry x=0.016627, y=0.237869, theta=0.171123
[15:14:30.047] Image Alignment failed 0
[15:14:30.118] Odometry x=0.017269, y=0.241403, theta=0.156353
[15:14:30.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000064 ,z=0.000370,angle between two frames:0.010225
[15:14:30.146] Image Alignment failed 0
[15:14:30.219] Odometry x=0.017824, y=0.244951, theta=0.157457
[15:14:30.219] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000063 ,z=0.000369,angle between two frames:0.003974
[15:14:30.246] Image Alignment failed 0
[15:14:30.318] Odometry x=0.018487, y=0.248637, theta=0.173066
[15:14:30.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000066 ,z=0.000369,angle between two frames:0.008258
[15:14:30.347] Image Alignment failed 0
[15:14:30.420] Odometry x=0.019117, y=0.252204, theta=0.183416
[15:14:30.420] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000061 ,z=0.000385,angle between two frames:0.010718
[15:14:30.447] Image Alignment failed 0
[15:14:30.519] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000070 ,z=0.000367,angle between two frames:0.002678
[15:14:30.521] Odometry x=0.019725, y=0.255666, theta=0.184732
[15:14:30.546] Image Alignment failed 0
[15:14:30.618] Odometry x=0.020599, y=0.259293, theta=0.181147
[15:14:30.619] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000073 ,z=0.000374,angle between two frames:0.006492
[15:14:30.647] Image Alignment failed 0
[15:14:30.717] Odometry x=0.021203, y=0.262981, theta=0.163381
[15:14:30.719] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000066 ,z=0.000373,angle between two frames:0.008706
[15:14:30.746] Image Alignment failed 0
[15:14:30.818] Odometry x=0.021899, y=0.266455, theta=0.164764
[15:14:30.818] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000062 ,z=0.000373,angle between two frames:0.001478
[15:14:30.846] Image Alignment failed 0
[15:14:30.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000066 ,z=0.000372,angle between two frames:0.008755
[15:14:30.918] Odometry x=0.022620, y=0.269772, theta=0.152046
[15:14:30.946] Image Alignment failed 0
[15:14:31.018] Odometry x=0.023150, y=0.273649, theta=0.158199
[15:14:31.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000057 ,z=0.000372,angle between two frames:0.000394
[15:14:31.046] Image Alignment failed 0
[15:14:31.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000065 ,z=0.000381,angle between two frames:0.003239
[15:14:31.118] Odometry x=0.023868, y=0.277350, theta=0.130907
[15:14:31.146] Image Alignment failed 0
[15:14:31.218] Odometry x=0.024398, y=0.280924, theta=0.115134
[15:14:31.219] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000048 ,z=0.000377,angle between two frames:0.005562
[15:14:31.245] Image Alignment failed 0
[15:14:31.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000033 ,z=0.000378,angle between two frames:0.000069
[15:14:31.322] Odometry x=0.024897, y=0.284520, theta=0.120344
[15:14:31.346] Image Alignment failed 0
[15:14:31.415] Odometry x=0.025432, y=0.288122, theta=0.119277
[15:14:31.419] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000054 ,z=0.000371,angle between two frames:0.000218
[15:14:31.446] Image Alignment failed 0
[15:14:31.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000037 ,z=0.000373,angle between two frames:0.007033
[15:14:31.523] Odometry x=0.025920, y=0.291707, theta=0.143386
[15:14:31.547] Image Alignment failed 0
[15:14:31.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000064 ,z=0.000380,angle between two frames:0.003268
[15:14:31.619] Odometry x=0.026591, y=0.295494, theta=0.158114
[15:14:31.646] Image Alignment failed 0
[15:14:31.718] Odometry x=0.027155, y=0.299129, theta=0.166550
[15:14:31.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000059 ,z=0.000375,angle between two frames:0.002434
[15:14:31.746] Image Alignment failed 0
[15:14:31.815] Odometry x=0.027856, y=0.302812, theta=0.186834
[15:14:31.818] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000068 ,z=0.000384,angle between two frames:0.009758
[15:14:31.846] Image Alignment failed 0
[15:14:31.916] Odometry x=0.028464, y=0.306297, theta=0.203748
[15:14:31.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000072 ,z=0.000351,angle between two frames:0.002893
[15:14:31.946] Image Alignment failed 0
[15:14:32.016] Odometry x=0.029382, y=0.309864, theta=0.206639
[15:14:32.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000082 ,z=0.000364,angle between two frames:0.008816
[15:14:32.046] Image Alignment failed 0
[15:14:32.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000074 ,z=0.000370,angle between two frames:0.003956
[15:14:32.125] Odometry x=0.030074, y=0.313519, theta=0.213817
[15:14:32.146] Image Alignment failed 0
[15:14:32.218] Odometry x=0.031045, y=0.317317, theta=0.213593
[15:14:32.219] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000089 ,z=0.000391,angle between two frames:0.004554
[15:14:32.247] Image Alignment failed 0
[15:14:32.317] Odometry x=0.031799, y=0.320780, theta=0.224923
[15:14:32.319] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000074 ,z=0.000351,angle between two frames:0.001281
[15:14:32.346] Image Alignment failed 0
[15:14:32.416] Odometry x=0.032692, y=0.324361, theta=0.214076
[15:14:32.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000096 ,z=0.000361,angle between two frames:0.001471
[15:14:32.446] Image Alignment failed 0
[15:14:32.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000078 ,z=0.000374,angle between two frames:0.002951
[15:14:32.518] Odometry x=0.033627, y=0.327889, theta=0.212062
[15:14:32.553] Image Alignment failed 0
[15:14:32.620] Odometry x=0.034426, y=0.331519, theta=0.196148
[15:14:32.624] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000086 ,z=0.000365,angle between two frames:0.000408
[15:14:32.646] Image Alignment failed 0
[15:14:32.718] Odometry x=0.035079, y=0.334651, theta=0.192515
[15:14:32.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000060 ,z=0.000319,angle between two frames:0.006903
[15:14:32.747] Image Alignment failed 0
[15:14:32.818] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000082 ,z=0.000413,angle between two frames:0.003204
[15:14:32.820] Odometry x=0.035996, y=0.338673, theta=0.171846
[15:14:32.846] Image Alignment failed 0
[15:14:32.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000073 ,z=0.000375,angle between two frames:0.011767
[15:14:32.919] Odometry x=0.036576, y=0.342317, theta=0.159357
[15:14:32.947] Image Alignment failed 0
[15:14:33.018] Odometry x=0.037346, y=0.345924, theta=0.151694
[15:14:33.020] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000059 ,z=0.000384,angle between two frames:0.008418
[15:14:33.047] Image Alignment failed 0
[15:14:33.118] Odometry x=0.037922, y=0.349562, theta=0.152499
[15:14:33.119] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000064 ,z=0.000364,angle between two frames:0.005405
[15:14:33.147] Image Alignment failed 0
[15:14:33.216] Odometry x=0.038579, y=0.353255, theta=0.182193
[15:14:33.219] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000050 ,z=0.000374,angle between two frames:0.008768
[15:14:33.246] Image Alignment failed 0
[15:14:33.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000066 ,z=0.000379,angle between two frames:0.000784
[15:14:33.321] Odometry x=0.039195, y=0.356931, theta=0.188346
[15:14:33.346] Image Alignment failed 0
[15:14:33.419] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000072 ,z=0.000381,angle between two frames:0.007977
[15:14:33.420] Odometry x=0.040032, y=0.360679, theta=0.215901
[15:14:33.447] Image Alignment failed 0
[15:14:33.519] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000087 ,z=0.000361,angle between two frames:0.004907
[15:14:33.521] Odometry x=0.040873, y=0.364130, theta=0.222125
[15:14:33.547] Image Alignment failed 0
[15:14:33.619] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000088 ,z=0.000365,angle between two frames:0.000620
[15:14:33.622] Odometry x=0.041706, y=0.367752, theta=0.235143
[15:14:33.646] Image Alignment failed 0
[15:14:33.719] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000092 ,z=0.000364,angle between two frames:0.010309
[15:14:33.721] Odometry x=0.042638, y=0.371296, theta=0.257409
[15:14:33.747] Image Alignment failed 0
[15:14:33.819] Odometry x=0.043667, y=0.374932, theta=0.268558
[15:14:33.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000096 ,z=0.000374,angle between two frames:0.002698
[15:14:33.846] Image Alignment failed 0
[15:14:33.919] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000101 ,z=0.000345,angle between two frames:0.003996
[15:14:33.923] Odometry x=0.044583, y=0.378253, theta=0.271392
[15:14:33.948] Image Alignment failed 0
[15:14:34.016] Odometry x=0.045726, y=0.382096, theta=0.274095
[15:14:34.021] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000109 ,z=0.000392,angle between two frames:0.002167
[15:14:34.046] Image Alignment failed 0
[15:14:34.119] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000104 ,z=0.000339,angle between two frames:0.007360
[15:14:34.124] Odometry x=0.046727, y=0.385407, theta=0.254664
[15:14:34.147] Image Alignment failed 0
[15:14:34.217] Odometry x=0.047904, y=0.389160, theta=0.266480
[15:14:34.219] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000109 ,z=0.000380,angle between two frames:0.003430
[15:14:34.246] Image Alignment failed 0
[15:14:34.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000098 ,z=0.000336,angle between two frames:0.005292
[15:14:34.325] Odometry x=0.048893, y=0.392432, theta=0.242345
[15:14:34.346] Image Alignment failed 0
[15:14:34.418] Odometry x=0.049899, y=0.396270, theta=0.244775
[15:14:34.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000098 ,z=0.000393,angle between two frames:0.002078
[15:14:34.447] Image Alignment failed 0
[15:14:34.517] Odometry x=0.051024, y=0.399694, theta=0.218353
[15:14:34.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000093 ,z=0.000348,angle between two frames:0.002863
[15:14:34.547] Image Alignment failed 0
[15:14:34.619] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000084 ,z=0.000372,angle between two frames:0.011314
[15:14:34.625] Odometry x=0.051709, y=0.403279, theta=0.221229
[15:14:34.647] Image Alignment failed 0
[15:14:34.719] Odometry x=0.052883, y=0.407060, theta=0.207935
[15:14:34.719] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000093 ,z=0.000397,angle between two frames:0.002708
[15:14:34.747] Image Alignment failed 0
[15:14:34.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000068 ,z=0.000332,angle between two frames:0.003359
[15:14:34.819] Odometry x=0.053425, y=0.410388, theta=0.224982
[15:14:34.847] Image Alignment failed 0
[15:14:34.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000089 ,z=0.000378,angle between two frames:0.008678
[15:14:34.923] Odometry x=0.054560, y=0.414082, theta=0.222648
[15:14:34.947] Image Alignment failed 0
[15:14:35.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000081 ,z=0.000380,angle between two frames:0.004501
[15:14:35.021] Odometry x=0.055225, y=0.417680, theta=0.228935
[15:14:35.046] Image Alignment failed 0
[15:14:35.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000090 ,z=0.000359,angle between two frames:0.013500
[15:14:35.121] Odometry x=0.056259, y=0.421171, theta=0.265836
[15:14:35.146] Image Alignment failed 0
[15:14:35.216] Odometry x=0.057340, y=0.424681, theta=0.284452
[15:14:35.219] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000102 ,z=0.000375,angle between two frames:0.002104
[15:14:35.247] Image Alignment failed 0
[15:14:35.318] Odometry x=0.058256, y=0.428295, theta=0.267523
[15:14:35.320] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000092 ,z=0.000356,angle between two frames:0.005035
[15:14:35.346] Image Alignment failed 0
[15:14:35.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000103 ,z=0.000370,angle between two frames:0.001354
[15:14:35.418] Odometry x=0.059378, y=0.431836, theta=0.290051
[15:14:35.445] Image Alignment failed 0
[15:14:35.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000108 ,z=0.000369,angle between two frames:0.001899
[15:14:35.519] Odometry x=0.060539, y=0.435491, theta=0.276392
[15:14:35.547] Image Alignment failed 0
[15:14:35.619] Odometry x=0.061577, y=0.439020, theta=0.288581
[15:14:35.619] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000107 ,z=0.000365,angle between two frames:0.002604
[15:14:35.647] Image Alignment failed 0
[15:14:35.719] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000118 ,z=0.000363,angle between two frames:0.001196
[15:14:35.719] Odometry x=0.062778, y=0.442650, theta=0.276552
[15:14:35.747] Image Alignment failed 0
[15:14:35.819] Odometry x=0.063868, y=0.446067, theta=0.287117
[15:14:35.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000105 ,z=0.000360,angle between two frames:0.005149
[15:14:35.847] Image Alignment failed 0
[15:14:35.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000117 ,z=0.000367,angle between two frames:0.001919
[15:14:35.919] Odometry x=0.065106, y=0.449830, theta=0.264794
[15:14:35.947] Image Alignment failed 0
[15:14:36.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000095 ,z=0.000373,angle between two frames:0.000073
[15:14:36.019] Odometry x=0.066133, y=0.453525, theta=0.269712
[15:14:36.047] Image Alignment failed 0
[15:14:36.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000108 ,z=0.000362,angle between two frames:0.008145
[15:14:36.119] Odometry x=0.067066, y=0.456977, theta=0.248212
[15:14:36.147] Image Alignment failed 0
[15:14:36.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000101 ,z=0.000378,angle between two frames:0.003559
[15:14:36.219] Odometry x=0.068209, y=0.460728, theta=0.244389
[15:14:36.247] Image Alignment failed 0
[15:14:36.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000094 ,z=0.000364,angle between two frames:0.003521
[15:14:36.319] Odometry x=0.069163, y=0.464322, theta=0.238608
[15:14:36.347] Image Alignment failed 0
[15:14:36.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000090 ,z=0.000366,angle between two frames:0.002984
[15:14:36.419] Odometry x=0.070067, y=0.467833, theta=0.241991
[15:14:36.447] Image Alignment failed 0
[15:14:36.516] Odometry x=0.071009, y=0.471443, theta=0.251812
[15:14:36.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000095 ,z=0.000360,angle between two frames:0.001980
[15:14:36.547] Image Alignment failed 0
[15:14:36.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000099 ,z=0.000375,angle between two frames:0.003198
[15:14:36.620] Odometry x=0.072072, y=0.475113, theta=0.242100
[15:14:36.647] Image Alignment failed 0
[15:14:36.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000093 ,z=0.000360,angle between two frames:0.005945
[15:14:36.719] Odometry x=0.073005, y=0.478623, theta=0.256108
[15:14:36.747] Image Alignment failed 0
[15:14:36.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000096 ,z=0.000372,angle between two frames:0.002575
[15:14:36.819] Odometry x=0.073973, y=0.482296, theta=0.263147
[15:14:36.847] Image Alignment failed 0
[15:14:36.919] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000108 ,z=0.000352,angle between two frames:0.000634
[15:14:36.919] Odometry x=0.074963, y=0.485713, theta=0.273782
[15:14:36.947] Image Alignment failed 0
[15:14:37.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000105 ,z=0.000366,angle between two frames:0.007214
[15:14:37.020] Odometry x=0.076097, y=0.489350, theta=0.288141
[15:14:37.047] Image Alignment failed 0
[15:14:37.119] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000106 ,z=0.000360,angle between two frames:0.001136
[15:14:37.119] Odometry x=0.077169, y=0.492867, theta=0.315384
[15:14:37.147] Image Alignment failed 0
[15:14:37.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000119 ,z=0.000360,angle between two frames:0.011072
[15:14:37.220] Odometry x=0.078439, y=0.496356, theta=0.319358
[15:14:37.247] Image Alignment failed 0
[15:14:37.320] Odometry x=0.079581, y=0.500068, theta=0.320499
[15:14:37.320] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000124 ,z=0.000364,angle between two frames:0.006704
[15:14:37.347] Image Alignment failed 0
[15:14:37.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000119 ,z=0.000357,angle between two frames:0.012078
[15:14:37.420] Odometry x=0.080861, y=0.503523, theta=0.328956
[15:14:37.447] Image Alignment failed 0
[15:14:37.516] Odometry x=0.082044, y=0.507045, theta=0.328504
[15:14:37.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000124 ,z=0.000353,angle between two frames:0.001759
[15:14:37.546] Image Alignment failed 0
[15:14:37.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000115 ,z=0.000325,angle between two frames:0.007575
[15:14:37.620] Odometry x=0.083240, y=0.510126, theta=0.306812
[15:14:37.646] Image Alignment failed 0
[15:14:37.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000123 ,z=0.000388,angle between two frames:0.006062
[15:14:37.719] Odometry x=0.084456, y=0.514033, theta=0.328413
[15:14:37.747] Image Alignment failed 0
[15:14:37.819] Odometry x=0.085689, y=0.517377, theta=0.309508
[15:14:37.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000126 ,z=0.000341,angle between two frames:0.008079
[15:14:37.846] Image Alignment failed 0
[15:14:37.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000129 ,z=0.000372,angle between two frames:0.003939
[15:14:37.922] Odometry x=0.087025, y=0.521067, theta=0.301142
[15:14:37.946] Image Alignment failed 0
[15:14:38.016] Odometry x=0.088201, y=0.524732, theta=0.285551
[15:14:38.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000116 ,z=0.000382,angle between two frames:0.007245
[15:14:38.046] Image Alignment failed 0
[15:14:38.116] Odometry x=0.089240, y=0.528129, theta=0.256731
[15:14:38.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000108 ,z=0.000353,angle between two frames:0.007890
[15:14:38.148] Image Alignment failed 0
[15:14:38.219] Odometry x=0.090185, y=0.531545, theta=0.286447
[15:14:38.219] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000083 ,z=0.000344,angle between two frames:0.012369
[15:14:38.247] Image Alignment failed 0
[15:14:38.319] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000115 ,z=0.000404,angle between two frames:0.006658
[15:14:38.320] Odometry x=0.091394, y=0.535387, theta=0.250519
[15:14:38.347] Image Alignment failed 0
[15:14:38.420] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000085 ,z=0.000364,angle between two frames:0.011470
[15:14:38.420] Odometry x=0.092347, y=0.538917, theta=0.299986
[15:14:38.447] Image Alignment failed 0
[15:14:38.519] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000115 ,z=0.000365,angle between two frames:0.003406
[15:14:38.520] Odometry x=0.093484, y=0.542568, theta=0.306608
[15:14:38.547] Image Alignment failed 0
[15:14:38.619] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000115 ,z=0.000355,angle between two frames:0.008355
[15:14:38.620] Odometry x=0.094770, y=0.546008, theta=0.336045
[15:14:38.647] Image Alignment failed 0
[15:14:38.719] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000122 ,z=0.000349,angle between two frames:0.003706
[15:14:38.722] Odometry x=0.095984, y=0.549401, theta=0.343403
[15:14:38.756] Image Alignment failed 0
[15:14:38.825] Odometry x=0.097134, y=0.552863, theta=0.367015
[15:14:38.827] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000121 ,z=0.000353,angle between two frames:0.013003
[15:14:38.846] Image Alignment failed 0
[15:14:38.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000148 ,z=0.000377,angle between two frames:0.000959
[15:14:38.919] Odometry x=0.098613, y=0.556529, theta=0.369428
[15:14:38.947] Image Alignment failed 0
[15:14:39.018] Odometry x=0.099853, y=0.559692, theta=0.371982
[15:14:39.019] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000124 ,z=0.000318,angle between two frames:0.000221
[15:14:39.047] Image Alignment failed 0
[15:14:39.116] Odometry x=0.101204, y=0.563033, theta=0.367472
[15:14:39.119] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000135 ,z=0.000347,angle between two frames:0.000379
[15:14:39.147] Image Alignment failed 0
[15:14:39.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000124 ,z=0.000298,angle between two frames:0.012606
[15:14:39.220] Odometry x=0.102530, y=0.565981, theta=0.401198
[15:14:39.247] Image Alignment failed 0
[15:14:39.317] Odometry x=0.103981, y=0.569731, theta=0.408809
[15:14:39.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000138 ,z=0.000357,angle between two frames:0.005426
[15:14:39.347] Image Alignment failed 0
[15:14:39.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000162 ,z=0.000365,angle between two frames:0.000027
[15:14:39.420] Odometry x=0.105767, y=0.573732, theta=0.400714
[15:14:39.447] Image Alignment failed 0
[15:14:39.518] Odometry x=0.107621, y=0.577969, theta=0.384457
[15:14:39.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000166 ,z=0.000381,angle between two frames:0.004626
[15:14:39.549] Image Alignment failed 0
[15:14:39.616] Odometry x=0.109328, y=0.581799, theta=0.358820
[15:14:39.619] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000154 ,z=0.000359,angle between two frames:0.006919
[15:14:39.656] Image Alignment failed 0
[15:14:39.719] Odometry x=0.110901, y=0.586007, theta=0.341946
[15:14:39.727] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000143 ,z=0.000405,angle between two frames:0.007270
[15:14:39.749] Image Alignment failed 0
[15:14:39.820] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000007,angle between two frames:0.001126
[15:14:39.821] Odometry x=0.112348, y=0.590027, theta=0.339054
[15:14:39.847] Image Alignment failed 0
[15:14:39.919] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000133 ,z=0.000354,angle between two frames:0.009025
[15:14:39.919] Odometry x=0.113696, y=0.593886, theta=0.371723
[15:14:39.947] Image Alignment failed 0
[15:14:40.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000147 ,z=0.000394,angle between two frames:0.010949
[15:14:40.023] Odometry x=0.115223, y=0.598218, theta=0.393362
[15:14:40.047] Image Alignment failed 0
[15:14:40.117] Odometry x=0.116899, y=0.602141, theta=0.384293
[15:14:40.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000168 ,z=0.000386,angle between two frames:0.002282
[15:14:40.147] Image Alignment failed 0
[15:14:40.219] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000132 ,z=0.000352,angle between two frames:0.001686
[15:14:40.221] Odometry x=0.118220, y=0.605579, theta=0.375004
[15:14:40.250] Image Alignment failed 0
[15:14:40.322] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000146 ,z=0.000369,angle between two frames:0.002832
[15:14:40.324] Odometry x=0.119712, y=0.609162, theta=0.368528
[15:14:40.346] Image Alignment failed 0
[15:14:40.416] Odometry x=0.121183, y=0.612620, theta=0.363740
[15:14:40.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000138 ,z=0.000353,angle between two frames:0.001392
[15:14:40.447] Image Alignment failed 0
[15:14:40.516] Odometry x=0.122540, y=0.615973, theta=0.368331
[15:14:40.519] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000133 ,z=0.000338,angle between two frames:0.001490
[15:14:40.547] Image Alignment failed 0
[15:14:40.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000132 ,z=0.000355,angle between two frames:0.001395
[15:14:40.618] Odometry x=0.123834, y=0.619379, theta=0.368440
[15:14:40.647] Image Alignment failed 0
[15:14:40.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000137 ,z=0.000353,angle between two frames:0.002661
[15:14:40.728] Odometry x=0.125185, y=0.622896, theta=0.369889
[15:14:40.748] Image Alignment failed 0
[15:14:40.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000146 ,z=0.000381,angle between two frames:0.000916
[15:14:40.820] Odometry x=0.126687, y=0.626630, theta=0.373708
[15:14:40.848] Image Alignment failed 0
[15:14:40.918] Odometry x=0.128048, y=0.629909, theta=0.379299
[15:14:40.919] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000135 ,z=0.000330,angle between two frames:0.001564
[15:14:40.947] Image Alignment failed 0
[15:14:41.017] Odometry x=0.129457, y=0.633212, theta=0.387929
[15:14:41.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000137 ,z=0.000344,angle between two frames:0.001112
[15:14:41.047] Image Alignment failed 0
[15:14:41.119] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000149 ,z=0.000357,angle between two frames:0.005905
[15:14:41.120] Odometry x=0.130846, y=0.636698, theta=0.395317
[15:14:41.147] Image Alignment failed 0
[15:14:41.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000146 ,z=0.000348,angle between two frames:0.003124
[15:14:41.218] Odometry x=0.132365, y=0.640163, theta=0.393969
[15:14:41.248] Image Alignment failed 0
[15:14:41.319] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000148 ,z=0.000352,angle between two frames:0.000530
[15:14:41.322] Odometry x=0.133826, y=0.643672, theta=0.391659
[15:14:41.347] Image Alignment failed 0
[15:14:41.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000146 ,z=0.000350,angle between two frames:0.001111
[15:14:41.419] Odometry x=0.135301, y=0.647101, theta=0.391214
[15:14:41.447] Image Alignment failed 0
[15:14:41.518] Odometry x=0.136753, y=0.650543, theta=0.390530
[15:14:41.519] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000146 ,z=0.000347,angle between two frames:0.001153
[15:14:41.548] Image Alignment failed 0
[15:14:41.620] Odometry x=0.138227, y=0.653965, theta=0.387236
[15:14:41.620] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000142 ,z=0.000346,angle between two frames:0.001955
[15:14:41.648] Image Alignment failed 0
[15:14:41.718] Odometry x=0.139646, y=0.657408, theta=0.382745
[15:14:41.723] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000144 ,z=0.000350,angle between two frames:0.000577
[15:14:41.747] Image Alignment failed 0
[15:14:41.818] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000004,angle between two frames:0.004651
[15:14:41.821] Odometry x=0.141100, y=0.660715, theta=0.373198
[15:14:41.847] Image Alignment failed 0
[15:14:41.918] Odometry x=0.142466, y=0.664175, theta=0.373160
[15:14:41.919] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000137 ,z=0.000353,angle between two frames:0.000228
[15:14:41.948] Image Alignment failed 0
[15:14:42.017] Odometry x=0.143890, y=0.667598, theta=0.375372
[15:14:42.019] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000140 ,z=0.000350,angle between two frames:0.000641
[15:14:42.048] Image Alignment failed 0
[15:14:42.119] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000139 ,z=0.000351,angle between two frames:0.001957
[15:14:42.120] Odometry x=0.145272, y=0.671059, theta=0.381300
[15:14:42.147] Image Alignment failed 0
[15:14:42.219] Odometry x=0.146695, y=0.674560, theta=0.381423
[15:14:42.219] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000144 ,z=0.000354,angle between two frames:0.000460
[15:14:42.248] Image Alignment failed 0
[15:14:42.317] Odometry x=0.148116, y=0.678128, theta=0.389791
[15:14:42.320] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000144 ,z=0.000355,angle between two frames:0.002761
[15:14:42.348] Image Alignment failed 0
[15:14:42.418] Odometry x=0.149542, y=0.681402, theta=0.379256
[15:14:42.419] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000144 ,z=0.000350,angle between two frames:0.005399
[15:14:42.448] Image Alignment failed 0
[15:14:42.520] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000141 ,z=0.000344,angle between two frames:0.007974
[15:14:42.522] Odometry x=0.150926, y=0.684744, theta=0.407846
[15:14:42.548] Image Alignment failed 0
[15:14:42.615] Odometry x=0.152609, y=0.688287, theta=0.432722
[15:14:42.620] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000154 ,z=0.000349,angle between two frames:0.008080
[15:14:42.648] Image Alignment failed 0
[15:14:42.719] Odometry x=0.154143, y=0.691662, theta=0.441966
[15:14:42.721] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000157 ,z=0.000337,angle between two frames:0.005151
[15:14:42.747] Image Alignment failed 0
[15:14:42.817] Odometry x=0.155902, y=0.695204, theta=0.452568
[15:14:42.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000173 ,z=0.000358,angle between two frames:0.000455
[15:14:42.850] Image Alignment failed 0
[15:14:42.921] Odometry x=0.157356, y=0.698475, theta=0.459354
[15:14:42.921] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000155 ,z=0.000329,angle between two frames:0.008068
[15:14:42.948] Image Alignment failed 0
[15:14:43.019] Odometry x=0.159077, y=0.701872, theta=0.457155
[15:14:43.019] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000174 ,z=0.000343,angle between two frames:0.004406
[15:14:43.048] Image Alignment failed 0
[15:14:43.120] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000170 ,z=0.000337,angle between two frames:0.000438
[15:14:43.120] Odometry x=0.160802, y=0.705241, theta=0.456461
[15:14:43.147] Image Alignment failed 0
[15:14:43.220] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000168 ,z=0.000333,angle between two frames:0.000514
[15:14:43.220] Odometry x=0.162485, y=0.708474, theta=0.462318
[15:14:43.246] Image Alignment failed 0
[15:14:43.319] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000181 ,z=0.000366,angle between two frames:0.001400
[15:14:43.320] Odometry x=0.164253, y=0.712123, theta=0.456923
[15:14:43.346] Image Alignment failed 0
[15:14:43.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000158 ,z=0.000320,angle between two frames:0.002038
[15:14:43.419] Odometry x=0.165847, y=0.715272, theta=0.450502
[15:14:43.446] Image Alignment failed 0
[15:14:43.517] Odometry x=0.167444, y=0.718685, theta=0.447817
[15:14:43.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000169 ,z=0.000348,angle between two frames:0.000550
[15:14:43.547] Image Alignment failed 0
[15:14:43.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000160 ,z=0.000334,angle between two frames:0.002852
[15:14:43.618] Odometry x=0.169047, y=0.721924, theta=0.437313
[15:14:43.646] Image Alignment failed 0
[15:14:43.717] Odometry x=0.170663, y=0.725357, theta=0.433463
[15:14:43.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000164 ,z=0.000346,angle between two frames:0.001096
[15:14:43.747] Image Alignment failed 0
[15:14:43.819] Odometry x=0.172301, y=0.728743, theta=0.424290
[15:14:43.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000164 ,z=0.000351,angle between two frames:0.003166
[15:14:43.848] Image Alignment failed 0
[15:14:43.917] Odometry x=0.173781, y=0.732081, theta=0.427465
[15:14:43.919] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000153 ,z=0.000337,angle between two frames:0.000774
[15:14:43.947] Image Alignment failed 0
[15:14:44.019] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000156 ,z=0.000344,angle between two frames:0.000234
[15:14:44.020] Odometry x=0.175343, y=0.735443, theta=0.430388
[15:14:44.047] Image Alignment failed 0
[15:14:44.118] Odometry x=0.176873, y=0.738866, theta=0.442091
[15:14:44.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000159 ,z=0.000344,angle between two frames:0.004872
[15:14:44.147] Image Alignment failed 0
[15:14:44.216] Odometry x=0.178490, y=0.742158, theta=0.437297
[15:14:44.219] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000161 ,z=0.000345,angle between two frames:0.001727
[15:14:44.247] Image Alignment failed 0
[15:14:44.319] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000158 ,z=0.000332,angle between two frames:0.005635
[15:14:44.320] Odometry x=0.180021, y=0.745408, theta=0.454674
[15:14:44.347] Image Alignment failed 0
[15:14:44.418] Odometry x=0.181707, y=0.748600, theta=0.475245
[15:14:44.419] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000171 ,z=0.000336,angle between two frames:0.003190
[15:14:44.447] Image Alignment failed 0
[15:14:44.517] Odometry x=0.183487, y=0.752006, theta=0.493470
[15:14:44.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000173 ,z=0.000339,angle between two frames:0.012142
[15:14:44.548] Image Alignment failed 0
[15:14:44.616] Odometry x=0.185272, y=0.755197, theta=0.500902
[15:14:44.619] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000180 ,z=0.000331,angle between two frames:0.000334
[15:14:44.646] Image Alignment failed 0
[15:14:44.719] Odometry x=0.187029, y=0.758443, theta=0.500669
[15:14:44.720] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000180 ,z=0.000331,angle between two frames:0.001946
[15:14:44.746] Image Alignment failed 0
[15:14:44.818] Odometry x=0.188824, y=0.761593, theta=0.504551
[15:14:44.821] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000184 ,z=0.000331,angle between two frames:0.000042
[15:14:44.849] Image Alignment failed 0
[15:14:44.918] Odometry x=0.190642, y=0.764877, theta=0.506079
[15:14:44.921] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000182 ,z=0.000331,angle between two frames:0.000584
[15:14:44.947] Image Alignment failed 0
[15:14:45.017] Odometry x=0.192490, y=0.768058, theta=0.506609
[15:14:45.019] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000187 ,z=0.000329,angle between two frames:0.000008
[15:14:45.048] Image Alignment failed 0
[15:14:45.119] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000187 ,z=0.000330,angle between two frames:0.000738
[15:14:45.120] Odometry x=0.194349, y=0.771299, theta=0.501157
[15:14:45.149] Image Alignment failed 0
[15:14:45.221] Odometry x=0.196241, y=0.774508, theta=0.501922
[15:14:45.221] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000186 ,z=0.000329,angle between two frames:0.000947
[15:14:45.250] Image Alignment failed 0
[15:14:45.319] Odometry x=0.198040, y=0.777729, theta=0.500961
[15:14:45.322] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000183 ,z=0.000330,angle between two frames:0.000031
[15:14:45.348] Image Alignment failed 0
[15:14:45.417] Odometry x=0.199887, y=0.780904, theta=0.499429
[15:14:45.420] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000184 ,z=0.000331,angle between two frames:0.000849
[15:14:45.448] Image Alignment failed 0
[15:14:45.516] Odometry x=0.201668, y=0.784185, theta=0.492605
[15:14:45.520] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000181 ,z=0.000334,angle between two frames:0.000773
[15:14:45.547] Image Alignment failed 0
[15:14:45.619] Odometry x=0.203566, y=0.787549, theta=0.487648
[15:14:45.619] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000185 ,z=0.000340,angle between two frames:0.002762
[15:14:45.648] Image Alignment failed 0
[15:14:45.721] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000178 ,z=0.000335,angle between two frames:0.000221
[15:14:45.722] Odometry x=0.205332, y=0.790829, theta=0.485141
[15:14:45.748] Image Alignment failed 0
[15:14:45.820] Odometry x=0.207129, y=0.794141, theta=0.484788
[15:14:45.820] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000178 ,z=0.000336,angle between two frames:0.000877
[15:14:45.847] Image Alignment failed 0
[15:14:45.914] Odometry x=0.208927, y=0.797516, theta=0.482343
[15:14:45.919] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000177 ,z=0.000338,angle between two frames:0.000128
[15:14:45.951] Image Alignment failed 0
[15:14:46.020] Odometry x=0.210621, y=0.800550, theta=0.489243
[15:14:46.023] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000164 ,z=0.000314,angle between two frames:0.000402
[15:14:46.046] Image Alignment failed 0
[15:14:46.119] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000188 ,z=0.000356,angle between two frames:0.004823
[15:14:46.123] Odometry x=0.212468, y=0.804053, theta=0.496175
[15:14:46.147] Image Alignment failed 0
[15:14:46.216] Odometry x=0.214380, y=0.807376, theta=0.502460
[15:14:46.219] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000188 ,z=0.000341,angle between two frames:0.001048
[15:14:46.248] Image Alignment failed 0
[15:14:46.316] Odometry x=0.216111, y=0.810623, theta=0.505064
[15:14:46.320] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000174 ,z=0.000325,angle between two frames:0.001264
[15:14:46.347] Image Alignment failed 0
[15:14:46.419] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000182 ,z=0.000327,angle between two frames:0.000634
[15:14:46.419] Odometry x=0.217935, y=0.813882, theta=0.508914
[15:14:46.449] Image Alignment failed 0
[15:14:46.517] Odometry x=0.219844, y=0.817269, theta=0.511146
[15:14:46.521] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000193 ,z=0.000342,angle between two frames:0.001813
[15:14:46.548] Image Alignment failed 0
[15:14:46.615] Odometry x=0.221674, y=0.820468, theta=0.515994
[15:14:46.620] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000181 ,z=0.000324,angle between two frames:0.000540
[15:14:46.648] Image Alignment failed 0
[15:14:46.718] Odometry x=0.223625, y=0.823817, theta=0.518083
[15:14:46.720] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000000,angle between two frames:0.002227
[15:14:46.748] Image Alignment failed 0
[15:14:46.815] Odometry x=0.225519, y=0.827124, theta=0.519580
[15:14:46.820] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000189 ,z=0.000332,angle between two frames:0.000616
[15:14:46.848] Image Alignment failed 0
[15:14:46.919] Odometry x=0.227371, y=0.830355, theta=0.517650
[15:14:46.921] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000188 ,z=0.000330,angle between two frames:0.001111
[15:14:46.948] Image Alignment failed 0
[15:14:47.017] Odometry x=0.229250, y=0.833545, theta=0.515157
[15:14:47.020] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000189 ,z=0.000328,angle between two frames:0.002286
[15:14:47.048] Image Alignment failed 0
[15:14:47.120] Odometry x=0.231089, y=0.836809, theta=0.517003
[15:14:47.120] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000187 ,z=0.000331,angle between two frames:0.001591
[15:14:47.148] Image Alignment failed 0
[15:14:47.217] Odometry x=0.232906, y=0.839946, theta=0.513043
[15:14:47.220] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000186 ,z=0.000325,angle between two frames:0.001756
[15:14:47.248] Image Alignment failed 0
[15:14:47.320] Odometry x=0.234735, y=0.843137, theta=0.506522
[15:14:47.320] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000185 ,z=0.000328,angle between two frames:0.000653
[15:14:47.348] Image Alignment failed 0
[15:14:47.417] Odometry x=0.236681, y=0.846512, theta=0.494270
[15:14:47.420] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000196 ,z=0.000349,angle between two frames:0.004221
[15:14:47.448] Image Alignment failed 0
[15:14:47.520] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000170 ,z=0.000319,angle between two frames:0.000453
[15:14:47.521] Odometry x=0.238412, y=0.849649, theta=0.500376
[15:14:47.548] Image Alignment failed 0
[15:14:47.619] Odometry x=0.240209, y=0.852718, theta=0.511054
[15:14:47.620] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000187 ,z=0.000321,angle between two frames:0.003890
[15:14:47.648] Image Alignment failed 0
[15:14:47.719] Odometry x=0.242053, y=0.856018, theta=0.519275
[15:14:47.720] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000185 ,z=0.000330,angle between two frames:0.002548
[15:14:47.748] Image Alignment failed 0
[15:14:47.817] Odometry x=0.243977, y=0.859234, theta=0.528041
[15:14:47.820] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000190 ,z=0.000334,angle between two frames:0.002176
[15:14:47.847] Image Alignment failed 0
[15:14:47.915] Odometry x=0.245731, y=0.862151, theta=0.555161
[15:14:47.920] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000178 ,z=0.000305,angle between two frames:0.009361
[15:14:47.948] Image Alignment failed 0
[15:14:48.018] Odometry x=0.247672, y=0.865296, theta=0.564538
[15:14:48.020] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000201 ,z=0.000323,angle between two frames:0.003119
[15:14:48.048] Image Alignment failed 0
[15:14:48.116] Odometry x=0.249702, y=0.868433, theta=0.573059
[15:14:48.120] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000199 ,z=0.000319,angle between two frames:0.002502
[15:14:48.148] Image Alignment failed 0
[15:14:48.219] Odometry x=0.251743, y=0.871559, theta=0.576811
[15:14:48.220] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000209 ,z=0.000321,angle between two frames:0.001027
[15:14:48.247] Image Alignment failed 0
[15:14:48.318] Odometry x=0.253825, y=0.874704, theta=0.581304
[15:14:48.319] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000209 ,z=0.000318,angle between two frames:0.000819
[15:14:48.348] Image Alignment failed 0
[15:14:48.419] Odometry x=0.255934, y=0.877791, theta=0.579016
[15:14:48.420] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000210 ,z=0.000319,angle between two frames:0.000784
[15:14:48.448] Image Alignment failed 0
[15:14:48.520] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000201 ,z=0.000312,angle between two frames:0.008326
[15:14:48.523] Odometry x=0.257903, y=0.880817, theta=0.595218
[15:14:48.549] Image Alignment failed 0
[15:14:48.621] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000219 ,z=0.000327,angle between two frames:0.001800
[15:14:48.623] Odometry x=0.260074, y=0.884098, theta=0.593196
[15:14:48.647] Image Alignment failed 0
[15:14:48.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000216 ,z=0.000318,angle between two frames:0.000540
[15:14:48.719] Odometry x=0.262165, y=0.887191, theta=0.591856
[15:14:48.747] Image Alignment failed 0
[15:14:48.814] Odometry x=0.264136, y=0.890118, theta=0.586753
[15:14:48.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000207 ,z=0.000307,angle between two frames:0.000847
[15:14:48.847] Image Alignment failed 0
[15:14:48.919] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000005,angle between two frames:0.001518
[15:14:48.921] Odometry x=0.266023, y=0.892970, theta=0.582647
[15:14:48.947] Image Alignment failed 0
[15:14:49.017] Odometry x=0.268074, y=0.896036, theta=0.574112
[15:14:49.019] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000211 ,z=0.000318,angle between two frames:0.002993
[15:14:49.051] Image Alignment failed 0
[15:14:49.119] Odometry x=0.270041, y=0.899052, theta=0.569011
[15:14:49.128] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000199 ,z=0.000308,angle between two frames:0.001302
[15:14:49.149] Image Alignment failed 0
[15:14:49.220] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.001814
[15:14:49.222] Odometry x=0.272187, y=0.902303, theta=0.560159
[15:14:49.249] Image Alignment failed 0
[15:14:49.320] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000206 ,z=0.000325,angle between two frames:0.001715
[15:14:49.324] Odometry x=0.274219, y=0.905484, theta=0.557051
[15:14:49.348] Image Alignment failed 0
[15:14:49.420] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000207 ,z=0.000331,angle between two frames:0.001006
[15:14:49.421] Odometry x=0.276234, y=0.908642, theta=0.555381
[15:14:49.449] Image Alignment failed 0
[15:14:49.521] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000193 ,z=0.000305,angle between two frames:0.000916
[15:14:49.522] Odometry x=0.278170, y=0.911661, theta=0.556857
[15:14:49.548] Image Alignment failed 0
[15:14:49.619] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000203 ,z=0.000320,angle between two frames:0.001227
[15:14:49.620] Odometry x=0.280186, y=0.914670, theta=0.568090
[15:14:49.648] Image Alignment failed 0
[15:14:49.720] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000199 ,z=0.000319,angle between two frames:0.004130
[15:14:49.721] Odometry x=0.282185, y=0.917802, theta=0.577912
[15:14:49.749] Image Alignment failed 0
[15:14:49.820] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000218 ,z=0.000325,angle between two frames:0.002800
[15:14:49.824] Odometry x=0.284258, y=0.920929, theta=0.586141
[15:14:49.849] Image Alignment failed 0
[15:14:49.920] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000211 ,z=0.000317,angle between two frames:0.002941
[15:14:49.922] Odometry x=0.286402, y=0.924057, theta=0.599500
[15:14:49.948] Image Alignment failed 0
[15:14:50.025] Odometry x=0.288538, y=0.927121, theta=0.609466
[15:14:50.085] After Reprojection Map nPoint:38 ,nCell:33 ,nMatches:18 ,distance between two frames x:0.000215 ,z=0.000315,angle between two frames:0.002384
[15:14:50.085] n deleted obs = 28 	 n obs with reprojection error less than 0.5 px =8 	 error init =1.632533 	 error end=1.632533
[15:14:50.085] After pose optimization, distance between two frames x:0.000215 ,z=0.000315,angle between two frames:0.002384
[15:14:50.117] Odometry x=0.290778, y=0.930152, theta=0.613985
[15:14:50.219] Odometry x=0.292780, y=0.932894, theta=0.619014
[15:14:50.238] After Reprojection Map nPoint:57 ,nCell:41 ,nMatches:25 ,distance between two frames x:0.000108 ,z=0.000005,angle between two frames:0.000062
[15:14:50.238] n deleted obs = 42 	 n obs with reprojection error less than 0.5 px =14 	 error init =1.316903 	 error end=1.275707
[15:14:50.238] After pose optimization, distance between two frames x:-0.068473 ,z=0.029251,angle between two frames:0.040343
[15:14:50.322] Odometry x=0.295120, y=0.936043, theta=0.620017
[15:14:50.392] After Reprojection Map nPoint:67 ,nCell:45 ,nMatches:29 ,distance between two frames x:0.000014 ,z=0.000001,angle between two frames:0.000292
[15:14:50.392] n deleted obs = 53 	 n obs with reprojection error less than 0.5 px =15 	 error init =1.382390 	 error end=1.382390
[15:14:50.392] After pose optimization, distance between two frames x:0.000014 ,z=0.000001,angle between two frames:0.000292
[15:14:50.392] Update EKF and 3D points, distance between two frames x:0.000026 ,z=0.000018,angle between two frames:0.000037
[15:14:50.392] Choose frame as a key frame Scene Depth mean:1.048663 ,depth min:0.284870
[15:14:50.420] Odometry x=0.296053, y=0.937291, theta=0.618595
[15:14:50.521] Odometry x=0.298229, y=0.940291, theta=0.612885
[15:14:50.542] After Reprojection Map nPoint:102 ,nCell:51 ,nMatches:34 ,distance between two frames x:0.000053 ,z=0.000095,angle between two frames:0.002096
[15:14:50.543] n deleted obs = 82 	 n obs with reprojection error less than 0.5 px =27 	 error init =0.897162 	 error end=0.897162
[15:14:50.543] After pose optimization, distance between two frames x:0.000053 ,z=0.000095,angle between two frames:0.002096
[15:14:50.543] Update EKF and 3D points, distance between two frames x:0.000079 ,z=0.000131,angle between two frames:0.002596
[15:14:50.543] Choose frame as a key frame Scene Depth mean:1.460268 ,depth min:0.300762
[15:14:50.624] Odometry x=0.297699, y=0.939652, theta=0.614971
[15:14:50.697] After Reprojection Map nPoint:140 ,nCell:57 ,nMatches:41 ,distance between two frames x:0.000156 ,z=0.000210,angle between two frames:0.003248
[15:14:50.697] n deleted obs = 27 	 n obs with reprojection error less than 0.5 px =119 	 error init =0.866509 	 error end=0.442766
[15:14:50.697] After pose optimization, distance between two frames x:-0.375829 ,z=-0.036927,angle between two frames:0.039666
[15:14:50.721] Odometry x=0.299900, y=0.942641, theta=0.610629
[15:14:50.818] Odometry x=0.302017, y=0.945625, theta=0.603359
[15:14:50.856] After Reprojection Map nPoint:172 ,nCell:112 ,nMatches:45 ,distance between two frames x:-0.000095 ,z=-0.000039,angle between two frames:0.000426
[15:14:50.856] n deleted obs = 22 	 n obs with reprojection error less than 0.5 px =105 	 error init =0.815905 	 error end=0.327942
[15:14:50.856] After pose optimization, distance between two frames x:-0.968321 ,z=0.324161,angle between two frames:0.452133
[15:14:50.922] Odometry x=0.304078, y=0.948509, theta=0.594512
[15:14:51.009] After Reprojection Map nPoint:169 ,nCell:105 ,nMatches:44 ,distance between two frames x:-0.000005 ,z=0.000011,angle between two frames:0.000277
[15:14:51.010] n deleted obs = 26 	 n obs with reprojection error less than 0.5 px =101 	 error init =0.832662 	 error end=0.304610
[15:14:51.010] After pose optimization, distance between two frames x:-0.454974 ,z=-0.014727,angle between two frames:0.113009
[15:14:51.025] Odometry x=0.306241, y=0.951689, theta=0.588092
[15:14:51.125] Odometry x=0.308507, y=0.954927, theta=0.595238
[15:14:51.164] After Reprojection Map nPoint:179 ,nCell:118 ,nMatches:46 ,distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.000234
[15:14:51.165] n deleted obs = 80 	 n obs with reprojection error less than 0.5 px =50 	 error init =0.680180 	 error end=0.610257
[15:14:51.165] After pose optimization, distance between two frames x:-0.181247 ,z=0.053379,angle between two frames:0.097683
[15:14:51.216] Odometry x=0.310525, y=0.957842, theta=0.603822
[15:14:51.319] After Reprojection Map nPoint:176 ,nCell:76 ,nMatches:56 ,distance between two frames x:-0.000015 ,z=0.000002,angle between two frames:0.000004
[15:14:51.320] n deleted obs = 84 	 n obs with reprojection error less than 0.5 px =93 	 error init =0.871488 	 error end=0.748015
[15:14:51.320] After pose optimization, distance between two frames x:-1.226218 ,z=0.537173,angle between two frames:0.990209
[15:14:51.320] Odometry x=0.312508, y=0.960576, theta=0.611959
[15:14:51.420] Odometry x=0.314815, y=0.963881, theta=0.625922
[15:14:51.474] After Reprojection Map nPoint:192 ,nCell:102 ,nMatches:56 ,distance between two frames x:-0.000020 ,z=0.000011,angle between two frames:0.000010
[15:14:51.476] n deleted obs = 30 	 n obs with reprojection error less than 0.5 px =137 	 error init =0.823104 	 error end=0.291038
[15:14:51.476] After pose optimization, distance between two frames x:-0.403961 ,z=-0.057117,angle between two frames:0.174594
[15:14:51.515] Odometry x=0.317115, y=0.966924, theta=0.635008
[15:14:51.615] Odometry x=0.319251, y=0.969896, theta=0.649648
[15:14:51.632] After Reprojection Map nPoint:180 ,nCell:121 ,nMatches:45 ,distance between two frames x:-0.000025 ,z=-0.000008,angle between two frames:0.000356
[15:14:51.637] n deleted obs = 41 	 n obs with reprojection error less than 0.5 px =87 	 error init =0.912640 	 error end=0.598252
[15:14:51.637] After pose optimization, distance between two frames x:-0.268039 ,z=-0.015964,angle between two frames:0.018840
[15:14:51.718] Odometry x=0.321448, y=0.972778, theta=0.654069
[15:14:51.791] After Reprojection Map nPoint:181 ,nCell:111 ,nMatches:51 ,distance between two frames x:-0.000010 ,z=0.000015,angle between two frames:0.000541
[15:14:51.796] n deleted obs = 37 	 n obs with reprojection error less than 0.5 px =106 	 error init =0.968640 	 error end=0.426713
[15:14:51.796] After pose optimization, distance between two frames x:-0.294657 ,z=-0.072174,angle between two frames:0.169974
[15:14:51.819] Odometry x=0.323820, y=0.975831, theta=0.652252
[15:14:51.922] Odometry x=0.326252, y=0.978999, theta=0.656382
[15:14:51.958] After Reprojection Map nPoint:175 ,nCell:116 ,nMatches:45 ,distance between two frames x:-0.000029 ,z=-0.000019,angle between two frames:0.000104
[15:14:51.958] n deleted obs = 95 	 n obs with reprojection error less than 0.5 px =32 	 error init =0.933022 	 error end=0.933022
[15:14:51.958] After pose optimization, distance between two frames x:-0.000029 ,z=-0.000019,angle between two frames:0.000104
[15:14:51.958] Update EKF and 3D points, distance between two frames x:0.000000 ,z=0.000018,angle between two frames:0.000447
[15:14:51.958] Choose frame as a key frame Scene Depth mean:0.918535 ,depth min:0.264036
[15:14:52.020] Odometry x=0.325615, y=0.978272, theta=0.655085
[15:14:52.116] After Reprojection Map nPoint:219 ,nCell:72 ,nMatches:57 ,distance between two frames x:0.000183 ,z=0.000228,angle between two frames:0.002359
[15:14:52.116] n deleted obs = 31 	 n obs with reprojection error less than 0.5 px =202 	 error init =0.772137 	 error end=0.473733
[15:14:52.116] After pose optimization, distance between two frames x:-0.771872 ,z=-0.070551,angle between two frames:0.064669
[15:14:52.121] Odometry x=0.327815, y=0.981156, theta=0.652078
[15:14:52.220] Odometry x=0.330169, y=0.984243, theta=0.649047
[15:14:52.277] After Reprojection Map nPoint:248 ,nCell:142 ,nMatches:53 ,distance between two frames x:-0.000005 ,z=0.000011,angle between two frames:0.000019
[15:14:52.277] n deleted obs = 26 	 n obs with reprojection error less than 0.5 px =151 	 error init =0.886066 	 error end=0.302005
[15:14:52.277] After pose optimization, distance between two frames x:-0.822328 ,z=0.034287,angle between two frames:0.060391
[15:14:52.319] Odometry x=0.332453, y=0.987214, theta=0.643837
[15:14:52.421] Odometry x=0.334631, y=0.990203, theta=0.635620
[15:14:52.435] After Reprojection Map nPoint:247 ,nCell:140 ,nMatches:51 ,distance between two frames x:-0.000006 ,z=0.000004,angle between two frames:0.000001
[15:14:52.435] n deleted obs = 116 	 n obs with reprojection error less than 0.5 px =61 	 error init =0.790754 	 error end=0.790754
[15:14:52.436] After pose optimization, distance between two frames x:-0.000006 ,z=0.000004,angle between two frames:0.000001
[15:14:52.436] Update EKF and 3D points, distance between two frames x:0.000020 ,z=0.000039,angle between two frames:0.000690
[15:14:52.436] Choose frame as a key frame Scene Depth mean:1.253177 ,depth min:0.121944
[15:14:52.520] Odometry x=0.334237, y=0.989756, theta=0.639948
[15:14:52.598] After Reprojection Map nPoint:287 ,nCell:79 ,nMatches:55 ,distance between two frames x:0.000151 ,z=0.000216,angle between two frames:0.004444
[15:14:52.598] n deleted obs = 191 	 n obs with reprojection error less than 0.5 px =79 	 error init =0.712612 	 error end=0.712612
[15:14:52.598] After pose optimization, distance between two frames x:0.000151 ,z=0.000216,angle between two frames:0.004444
[15:14:52.598] Update EKF and 3D points, distance between two frames x:0.000163 ,z=0.000233,angle between two frames:0.005103
[15:14:52.599] Choose frame as a key frame Scene Depth mean:1.524250 ,depth min:0.253741
[15:14:52.617] Odometry x=0.335065, y=0.990982, theta=0.635054
[15:14:52.720] Odometry x=0.337254, y=0.993895, theta=0.627462
[15:14:52.770] After Reprojection Map nPoint:403 ,nCell:93 ,nMatches:66 ,distance between two frames x:0.000054 ,z=0.000100,angle between two frames:0.004475
[15:14:52.770] n deleted obs = 271 	 n obs with reprojection error less than 0.5 px =109 	 error init =0.680723 	 error end=0.680723
[15:14:52.770] After pose optimization, distance between two frames x:0.000054 ,z=0.000100,angle between two frames:0.004475
[15:14:52.770] Update EKF and 3D points, distance between two frames x:0.000082 ,z=0.000136,angle between two frames:0.004724
[15:14:52.771] Choose frame as a key frame Scene Depth mean:1.367874 ,depth min:0.282967
[15:14:52.819] Odometry x=0.336786, y=0.993503, theta=0.636488
[15:14:52.922] Odometry x=0.339010, y=0.996467, theta=0.641330
[15:14:52.953] After Reprojection Map nPoint:507 ,nCell:99 ,nMatches:71 ,distance between two frames x:0.000158 ,z=0.000228,angle between two frames:0.001262
[15:14:52.954] n deleted obs = 315 	 n obs with reprojection error less than 0.5 px =138 	 error init =0.704353 	 error end=0.704353
[15:14:52.954] After pose optimization, distance between two frames x:0.000158 ,z=0.000228,angle between two frames:0.001262
[15:14:52.954] Update EKF and 3D points, distance between two frames x:0.000185 ,z=0.000262,angle between two frames:0.000337
[15:14:52.954] Choose frame as a key frame Scene Depth mean:1.295081 ,depth min:0.260463
[15:14:53.024] Odometry x=0.338589, y=0.996022, theta=0.650206
[15:14:53.121] Odometry x=0.340949, y=0.999076, theta=0.654746
[15:14:53.145] After Reprojection Map nPoint:606 ,nCell:107 ,nMatches:72 ,distance between two frames x:0.000155 ,z=0.000230,angle between two frames:0.006407
[15:14:53.146] n deleted obs = 354 	 n obs with reprojection error less than 0.5 px =167 	 error init =0.687211 	 error end=0.687211
[15:14:53.146] After pose optimization, distance between two frames x:0.000155 ,z=0.000230,angle between two frames:0.006407
[15:14:53.146] Update EKF and 3D points, distance between two frames x:0.000182 ,z=0.000264,angle between two frames:0.007546
[15:14:53.147] Choose frame as a key frame Scene Depth mean:1.513084 ,depth min:0.267263
[15:14:53.221] Odometry x=0.340455, y=0.998670, theta=0.663534
[15:14:53.320] Odometry x=0.342732, y=1.001602, theta=0.674255
[15:14:53.352] After Reprojection Map nPoint:701 ,nCell:102 ,nMatches:69 ,distance between two frames x:0.000164 ,z=0.000211,angle between two frames:0.007870
[15:14:53.353] n deleted obs = 422 	 n obs with reprojection error less than 0.5 px =165 	 error init =0.703064 	 error end=0.703064
[15:14:53.353] After pose optimization, distance between two frames x:0.000164 ,z=0.000211,angle between two frames:0.007870
[15:14:53.353] Update EKF and 3D points, distance between two frames x:0.000191 ,z=0.000245,angle between two frames:0.009563
[15:14:53.354] Choose frame as a key frame Scene Depth mean:1.454775 ,depth min:0.256047
[15:14:53.419] Odometry x=0.342290, y=1.001024, theta=0.669693
[15:14:53.520] Odometry x=0.344629, y=1.003930, theta=0.667484
[15:14:53.567] After Reprojection Map nPoint:845 ,nCell:93 ,nMatches:76 ,distance between two frames x:0.000164 ,z=0.000215,angle between two frames:0.010868
[15:14:53.569] n deleted obs = 524 	 n obs with reprojection error less than 0.5 px =187 	 error init =0.712011 	 error end=0.712011
[15:14:53.569] After pose optimization, distance between two frames x:0.000164 ,z=0.000215,angle between two frames:0.010868
[15:14:53.569] Update EKF and 3D points, distance between two frames x:0.000191 ,z=0.000249,angle between two frames:0.011103
[15:14:53.570] Choose frame as a key frame Scene Depth mean:1.609432 ,depth min:0.250169
[15:14:53.620] Odometry x=0.344261, y=1.003549, theta=0.667830
[15:14:53.715] Odometry x=0.346679, y=1.006475, theta=0.667000
[15:14:53.804] After Reprojection Map nPoint:974 ,nCell:92 ,nMatches:72 ,distance between two frames x:0.000165 ,z=0.000212,angle between two frames:0.001587
[15:14:53.806] n deleted obs = 566 	 n obs with reprojection error less than 0.5 px =232 	 error init =0.699221 	 error end=0.699221
[15:14:53.806] After pose optimization, distance between two frames x:0.000165 ,z=0.000212,angle between two frames:0.001587
[15:14:53.806] Update EKF and 3D points, distance between two frames x:0.000192 ,z=0.000244,angle between two frames:0.002568
[15:14:53.807] Choose frame as a key frame Scene Depth mean:1.422773 ,depth min:0.248460
[15:14:53.819] Odometry x=0.346145, y=1.005931, theta=0.673723
[15:14:53.921] Odometry x=0.348576, y=1.009006, theta=0.674054
[15:14:54.019] Odometry x=0.350903, y=1.011953, theta=0.672602
[15:14:54.053] After Reprojection Map nPoint:1041 ,nCell:107 ,nMatches:74 ,distance between two frames x:0.000157 ,z=0.000204,angle between two frames:0.006522
[15:14:54.055] n deleted obs = 617 	 n obs with reprojection error less than 0.5 px =215 	 error init =0.719797 	 error end=0.719797
[15:14:54.055] After pose optimization, distance between two frames x:0.000157 ,z=0.000204,angle between two frames:0.006522
[15:14:54.055] Update EKF and 3D points, distance between two frames x:0.000200 ,z=0.000256,angle between two frames:0.006546
[15:14:54.056] Choose frame as a key frame Scene Depth mean:1.536171 ,depth min:0.238886
[15:14:54.116] Odometry x=0.349079, y=1.009711, theta=0.672512
[15:14:54.223] Odometry x=0.351092, y=1.012299, theta=0.665347
[15:14:54.321] Odometry x=0.353606, y=1.015478, theta=0.663190
[15:14:54.323] After Reprojection Map nPoint:1233 ,nCell:115 ,nMatches:83 ,distance between two frames x:0.000254 ,z=0.000323,angle between two frames:0.000092
[15:14:54.324] n deleted obs = 716 	 n obs with reprojection error less than 0.5 px =279 	 error init =0.701466 	 error end=0.701466
[15:14:54.324] After pose optimization, distance between two frames x:0.000254 ,z=0.000323,angle between two frames:0.000092
[15:14:54.324] Update EKF and 3D points, distance between two frames x:0.000317 ,z=0.000403,angle between two frames:0.000493
[15:14:54.326] Choose frame as a key frame Scene Depth mean:1.463348 ,depth min:0.240029
[15:14:54.414] Odometry x=0.353513, y=1.015433, theta=0.667884
[15:14:54.522] Odometry x=0.355743, y=1.018240, theta=0.661686
[15:14:54.611] After Reprojection Map nPoint:1276 ,nCell:109 ,nMatches:71 ,distance between two frames x:0.000384 ,z=0.000496,angle between two frames:0.003442
[15:14:54.612] n deleted obs = 730 	 n obs with reprojection error less than 0.5 px =273 	 error init =0.703329 	 error end=0.703329
[15:14:54.612] After pose optimization, distance between two frames x:0.000384 ,z=0.000496,angle between two frames:0.003442
[15:14:54.612] Update EKF and 3D points, distance between two frames x:0.000411 ,z=0.000531,angle between two frames:0.004253
[15:14:54.613] Choose frame as a key frame Scene Depth mean:1.406349 ,depth min:0.221881
[15:14:54.615] Odometry x=0.353784, y=1.015835, theta=0.668405
[15:14:54.719] Odometry x=0.356632, y=1.019455, theta=0.662371
[15:14:54.821] Odometry x=0.358989, y=1.022477, theta=0.665105
[15:14:54.918] Odometry x=0.361351, y=1.025470, theta=0.660430
[15:14:54.921] After Reprojection Map nPoint:1450 ,nCell:105 ,nMatches:75 ,distance between two frames x:0.000279 ,z=0.000370,angle between two frames:0.000482
[15:14:54.923] n deleted obs = 803 	 n obs with reprojection error less than 0.5 px =341 	 error init =0.690148 	 error end=0.690148
[15:14:54.923] After pose optimization, distance between two fram