[17:11:54.774] Init: frame zero: 0.000000, 0.000000 0.000000
[17:11:54.774] Init: Selected first frame. 
[17:11:54.774] frame process finished the id is: 0 the obs is:0 
[17:11:54.787] Init: px average disparity is:0.172758 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:54.787] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:54.787] frame process finished the id is: 1 the obs is:0 
[17:11:54.884] Init: px average disparity is:0.201742 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:54.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:54.884] frame process finished the id is: 2 the obs is:0 
[17:11:54.983] Init: px average disparity is:0.313015 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:54.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:54.983] frame process finished the id is: 3 the obs is:0 
[17:11:55.085] Init: px average disparity is:0.361645 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:55.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:55.085] frame process finished the id is: 4 the obs is:0 
[17:11:55.182] Init: px average disparity is:0.364241 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:55.182] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:55.182] frame process finished the id is: 5 the obs is:0 
[17:11:55.281] Init: px average disparity is:0.385082 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:55.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:55.281] frame process finished the id is: 6 the obs is:0 
[17:11:55.382] Init: px average disparity is:0.390899 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:55.382] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:55.382] frame process finished the id is: 7 the obs is:0 
[17:11:55.484] Init: px average disparity is:0.477527 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:55.484] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:55.484] frame process finished the id is: 8 the obs is:0 
[17:11:55.581] Init: px average disparity is:0.448349 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:55.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:55.581] frame process finished the id is: 9 the obs is:0 
[17:11:55.690] Init: px average disparity is:0.566287 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:55.690] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:55.690] frame process finished the id is: 10 the obs is:0 
[17:11:55.792] Init: px average disparity is:0.543055 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:55.792] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:55.793] frame process finished the id is: 11 the obs is:0 
[17:11:55.892] Init: px average disparity is:0.590355 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:55.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:55.892] frame process finished the id is: 12 the obs is:0 
[17:11:55.993] Init: px average disparity is:0.586119 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:55.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:55.993] frame process finished the id is: 13 the obs is:0 
[17:11:56.093] Init: px average disparity is:0.628194 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:56.093] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:56.093] frame process finished the id is: 14 the obs is:0 
[17:11:56.192] Init: px average disparity is:0.593164 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:56.192] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:56.192] frame process finished the id is: 15 the obs is:0 
[17:11:56.293] Init: px average disparity is:0.662760 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:56.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:56.293] frame process finished the id is: 16 the obs is:0 
[17:11:56.394] Init: px average disparity is:0.667646 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:56.394] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:56.394] frame process finished the id is: 17 the obs is:0 
[17:11:56.493] Init: px average disparity is:0.599362 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:56.493] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:56.493] frame process finished the id is: 18 the obs is:0 
[17:11:56.592] Init: px average disparity is:0.626093 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:56.593] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:56.593] frame process finished the id is: 19 the obs is:0 
[17:11:56.692] Init: px average disparity is:0.619001 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:56.692] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:56.692] frame process finished the id is: 20 the obs is:0 
[17:11:56.792] Init: px average disparity is:0.619136 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:56.792] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:56.792] frame process finished the id is: 21 the obs is:0 
[17:11:56.892] Init: px average disparity is:0.601060 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:56.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:56.892] frame process finished the id is: 22 the obs is:0 
[17:11:56.993] Init: px average disparity is:0.594629 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:56.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:56.993] frame process finished the id is: 23 the obs is:0 
[17:11:57.092] Init: px average disparity is:0.599880 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:57.092] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:57.092] frame process finished the id is: 24 the obs is:0 
[17:11:57.193] Init: px average disparity is:0.545959 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:57.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:57.193] frame process finished the id is: 25 the obs is:0 
[17:11:57.292] Init: px average disparity is:0.612244 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:57.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:57.293] frame process finished the id is: 26 the obs is:0 
[17:11:57.393] Init: px average disparity is:0.552641 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:57.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:57.393] frame process finished the id is: 27 the obs is:0 
[17:11:57.493] Init: px average disparity is:0.535403 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:57.493] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:57.493] frame process finished the id is: 28 the obs is:0 
[17:11:57.593] Init: px average disparity is:0.588645 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:57.593] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:57.593] frame process finished the id is: 29 the obs is:0 
[17:11:57.693] Init: px average disparity is:0.583976 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:57.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:57.693] frame process finished the id is: 30 the obs is:0 
[17:11:57.792] Init: px average disparity is:0.549757 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:57.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:57.793] frame process finished the id is: 31 the obs is:0 
[17:11:57.893] Init: px average disparity is:0.616166 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:57.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:57.893] frame process finished the id is: 32 the obs is:0 
[17:11:57.993] Init: px average disparity is:0.563134 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:57.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:57.993] frame process finished the id is: 33 the obs is:0 
[17:11:58.093] Init: px average disparity is:0.584492 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:58.093] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:58.093] frame process finished the id is: 34 the obs is:0 
[17:11:58.194] Init: px average disparity is:0.579335 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:58.194] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:58.194] frame process finished the id is: 35 the obs is:0 
[17:11:58.294] Init: px average disparity is:0.598716 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:58.294] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:58.294] frame process finished the id is: 36 the obs is:0 
[17:11:58.393] Init: px average disparity is:0.565848 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:58.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:58.393] frame process finished the id is: 37 the obs is:0 
[17:11:58.493] Init: px average disparity is:0.565890 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:58.493] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:58.493] frame process finished the id is: 38 the obs is:0 
[17:11:58.593] Init: px average disparity is:0.553919 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:58.594] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:58.594] frame process finished the id is: 39 the obs is:0 
[17:11:58.692] Init: px average disparity is:0.616115 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:58.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:58.693] frame process finished the id is: 40 the obs is:0 
[17:11:58.796] Init: px average disparity is:0.566093 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:58.796] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:58.796] frame process finished the id is: 41 the obs is:0 
[17:11:58.892] Init: px average disparity is:0.567436 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:58.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:58.892] frame process finished the id is: 42 the obs is:0 
[17:11:58.993] Init: px average disparity is:0.577059 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:58.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:58.993] frame process finished the id is: 43 the obs is:0 
[17:11:59.093] Init: px average disparity is:0.573469 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:59.093] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:59.093] frame process finished the id is: 44 the obs is:0 
[17:11:59.193] Init: px average disparity is:0.578291 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:59.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:59.193] frame process finished the id is: 45 the obs is:0 
[17:11:59.293] Init: px average disparity is:0.589306 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:59.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:59.293] frame process finished the id is: 46 the obs is:0 
[17:11:59.393] Init: px average disparity is:0.564525 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:59.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:59.393] frame process finished the id is: 47 the obs is:0 
[17:11:59.493] Init: px average disparity is:0.576495 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:59.494] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:59.494] frame process finished the id is: 48 the obs is:0 
[17:11:59.593] Init: px average disparity is:0.564883 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:59.593] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:59.593] frame process finished the id is: 49 the obs is:0 
[17:11:59.694] Init: px average disparity is:0.561558 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:59.694] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:59.694] frame process finished the id is: 50 the obs is:0 
[17:11:59.793] Init: px average disparity is:0.556288 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:59.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:59.793] frame process finished the id is: 51 the obs is:0 
[17:11:59.893] Init: px average disparity is:0.576670 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:59.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:59.893] frame process finished the id is: 52 the obs is:0 
[17:11:59.993] Init: px average disparity is:0.631701 ,While minimum is: 10.000000  KLT tracked : 289
[17:11:59.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:11:59.994] frame process finished the id is: 53 the obs is:0 
[17:12:00.094] Init: px average disparity is:0.594549 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:00.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:00.094] frame process finished the id is: 54 the obs is:0 
[17:12:00.193] Init: px average disparity is:0.601162 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:00.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:00.193] frame process finished the id is: 55 the obs is:0 
[17:12:00.296] Init: px average disparity is:0.560766 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:00.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:00.296] frame process finished the id is: 56 the obs is:0 
[17:12:00.381] Init: px average disparity is:0.576117 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:00.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:00.382] frame process finished the id is: 57 the obs is:0 
[17:12:00.496] Init: px average disparity is:0.550259 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:00.496] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:00.496] frame process finished the id is: 58 the obs is:0 
[17:12:00.594] Init: px average disparity is:0.558625 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:00.594] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:00.594] frame process finished the id is: 59 the obs is:0 
[17:12:00.692] Init: px average disparity is:0.558588 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:00.692] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:00.692] frame process finished the id is: 60 the obs is:0 
[17:12:00.793] Init: px average disparity is:0.580301 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:00.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:00.793] frame process finished the id is: 61 the obs is:0 
[17:12:00.893] Init: px average disparity is:0.604858 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:00.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:00.893] frame process finished the id is: 62 the obs is:0 
[17:12:00.993] Init: px average disparity is:0.593513 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:00.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:00.993] frame process finished the id is: 63 the obs is:0 
[17:12:01.092] Init: px average disparity is:0.550602 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:01.092] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:01.092] frame process finished the id is: 64 the obs is:0 
[17:12:01.194] Init: px average disparity is:0.563679 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:01.194] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:01.194] frame process finished the id is: 65 the obs is:0 
[17:12:01.292] Init: px average disparity is:0.584935 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:01.292] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:01.292] frame process finished the id is: 66 the obs is:0 
[17:12:01.392] Init: px average disparity is:0.593140 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:01.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:01.392] frame process finished the id is: 67 the obs is:0 
[17:12:01.496] Init: px average disparity is:0.586973 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:01.497] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:01.497] frame process finished the id is: 68 the obs is:0 
[17:12:01.592] Init: px average disparity is:0.581842 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:01.592] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:01.593] frame process finished the id is: 69 the obs is:0 
[17:12:01.693] Init: px average disparity is:0.553551 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:01.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:01.693] frame process finished the id is: 70 the obs is:0 
[17:12:01.793] Init: px average disparity is:0.545325 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:01.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:01.793] frame process finished the id is: 71 the obs is:0 
[17:12:01.893] Init: px average disparity is:0.605028 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:01.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:01.893] frame process finished the id is: 72 the obs is:0 
[17:12:01.993] Init: px average disparity is:0.505007 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:01.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:01.993] frame process finished the id is: 73 the obs is:0 
[17:12:02.094] Init: px average disparity is:0.576057 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:02.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:02.094] frame process finished the id is: 74 the obs is:0 
[17:12:02.193] Init: px average disparity is:0.596579 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:02.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:02.193] frame process finished the id is: 75 the obs is:0 
[17:12:02.293] Init: px average disparity is:0.619819 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:02.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:02.293] frame process finished the id is: 76 the obs is:0 
[17:12:02.395] Init: px average disparity is:0.600371 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:02.395] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:02.395] frame process finished the id is: 77 the obs is:0 
[17:12:02.494] Init: px average disparity is:0.599256 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:02.494] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:02.494] frame process finished the id is: 78 the obs is:0 
[17:12:02.541] Odometry x=0.000000, y=0.000000, theta=-0.000000
[17:12:02.593] Init: px average disparity is:0.566610 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:02.593] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:02.594] frame process finished the id is: 79 the obs is:0 
[17:12:02.641] Odometry x=0.000000, y=0.000000, theta=-0.000000
[17:12:02.695] Init: px average disparity is:0.587722 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:02.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:02.695] frame process finished the id is: 80 the obs is:0 
[17:12:02.737] Odometry x=0.000001, y=0.013355, theta=-0.000979
[17:12:02.795] Init: px average disparity is:6.740154 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:02.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:02.795] frame process finished the id is: 81 the obs is:0 
[17:12:02.841] Odometry x=-0.003901, y=0.095117, theta=0.021456
[17:12:02.893] Init: px average disparity is:3.541135 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:02.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:02.893] frame process finished the id is: 82 the obs is:0 
[17:12:02.943] Odometry x=-0.004273, y=0.105861, theta=0.002213
[17:12:02.993] Init: px average disparity is:5.016869 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:02.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:02.993] frame process finished the id is: 83 the obs is:0 
[17:12:03.039] Odometry x=-0.004300, y=0.117098, theta=0.002495
[17:12:03.094] Init: px average disparity is:4.792613 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:03.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:03.094] frame process finished the id is: 84 the obs is:0 
[17:12:03.132] Odometry x=-0.004079, y=0.115686, theta=0.001524
[17:12:03.194] Init: px average disparity is:6.633594 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:03.194] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:03.194] frame process finished the id is: 85 the obs is:0 
[17:12:03.237] Odometry x=-0.004143, y=0.127195, theta=0.009457
[17:12:03.293] Init: px average disparity is:7.916255 ,While minimum is: 10.000000  KLT tracked : 289
[17:12:03.294] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:03.294] frame process finished the id is: 86 the obs is:0 
[17:12:03.338] Odometry x=-0.002634, y=0.138026, theta=-0.004483
[17:12:03.442] Odometry x=-0.002507, y=0.149310, theta=-0.005029
[17:12:03.465] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:11.843733 ,While minimum is: 10.000000  KLT tracked: 289
[17:12:03.465] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:03.465] frame process finished the id is: 87 the obs is:0 
[17:12:03.539] Odometry x=-0.002509, y=0.160659, theta=0.007860
[17:12:03.551] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:10.018337 ,While minimum is: 10.000000  KLT tracked: 289
[17:12:03.551] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:12:03.551] frame process finished the id is: 88 the obs is:0 
[17:12:03.632] Odometry x=-0.002449, y=0.171300, theta=0.003164
[17:12:03.647] Init finished: Homography RANSAC (inlier) is:30 ,While 30 inliers minimum required.  px average disparity is:10.711583 ,While minimum is: 10.000000  KLT tracked: 289
[17:12:03.647] Init: distance between the first and current frame is x:-0.002449 ,z=0.171300,angle between two frames: 0.003164 
[17:12:03.647] Init: Selected Second frame. 	 The number of features: 30 depth mean:-0.219337 min:-0.527999
[17:12:03.647] frame process finished the id is: 89 the obs is:30 
[17:12:03.737] Odometry x=-0.002448, y=0.181502, theta=-0.001828
[17:12:03.753] After Reprojection Map nPoint:30 ,nCell:18 ,nMatches:14 ,distance between ekf and vo x:0.000276 ,z=0.000055,angle between two frames:0.001571
[17:12:03.754] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 	 error init =0.000680 	 error end=0.000519
[17:12:03.754] After pose optimization, distance between ekf and vo x:0.000370 ,z=-0.004096,angle between two frames:0.011745
[17:12:03.754] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21
[17:12:03.754] frame process finished the id is: 90 the obs is:21 
[17:12:03.835] Odometry x=-0.002104, y=0.178213, theta=-0.012651
[17:12:03.869] After Reprojection Map nPoint:21 ,nCell:12 ,nMatches:9 ,distance between ekf and vo x:0.000330 ,z=-0.001747,angle between two frames:0.000584
[17:12:03.869] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 	 error init =0.001028 	 error end=0.001028
[17:12:03.869] After pose optimization, distance between ekf and vo x:0.000330 ,z=-0.001747,angle between two frames:0.000584
[17:12:03.869] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16
[17:12:03.869] frame process finished the id is: 91 the obs is:16 
[17:12:03.937] Odometry x=-0.001750, y=0.177304, theta=-0.012812
[17:12:03.966] After Reprojection Map nPoint:16 ,nCell:11 ,nMatches:9 ,distance between ekf and vo x:0.000094 ,z=0.000481,angle between two frames:0.003055
[17:12:03.966] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 	 error init =0.000507 	 error end=0.000428
[17:12:03.966] After pose optimization, distance between ekf and vo x:-0.003721 ,z=-0.000026,angle between two frames:0.021260
[17:12:03.966] frame process finished the id is: 91 the obs is:16 
[17:12:04.037] Odometry x=-0.001569, y=0.190705, theta=0.000436
[17:12:04.055] After Reprojection Map nPoint:16 ,nCell:13 ,nMatches:6 ,distance between ekf and vo x:0.000542 ,z=-0.000068,angle between two frames:0.000117
[17:12:04.056] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001869 	 error end=0.001747
[17:12:04.056] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.013402,angle between two frames:0.002733
[17:12:04.056] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:04.056] frame process finished the id is: 93 the obs is:10 
[17:12:04.137] Odometry x=-0.001491, y=0.193225, theta=-0.007475
[17:12:04.162] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:0.000179 ,z=-0.001168,angle between two frames:0.003220
[17:12:04.163] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001343 	 error end=0.000848
[17:12:04.163] After pose optimization, distance between ekf and vo x:-0.003050 ,z=-0.013480,angle between two frames:0.009208
[17:12:04.163] frame process finished the id is: 93 the obs is:10 
[17:12:04.237] Odometry x=-0.001291, y=0.204116, theta=-0.001460
[17:12:04.260] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:5 ,distance between ekf and vo x:0.000155 ,z=-0.000222,angle between two frames:0.004142
[17:12:04.260] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000266 	 error end=0.000255
[17:12:04.260] After pose optimization, distance between ekf and vo x:-0.001185 ,z=-0.000416,angle between two frames:0.001528
[17:12:04.260] frame process finished the id is: 93 the obs is:10 
[17:12:04.339] Odometry x=-0.000013, y=0.214817, theta=0.004115
[17:12:04.351] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000065 ,z=0.000326,angle between two frames:0.000891
[17:12:04.351] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000152 	 error end=0.000151
[17:12:04.351] After pose optimization, distance between ekf and vo x:-0.000473 ,z=0.002141,angle between two frames:0.004124
[17:12:04.351] frame process finished the id is: 93 the obs is:10 
[17:12:04.438] Odometry x=0.000061, y=0.226889, theta=-0.004988
[17:12:04.453] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=0.000245,angle between two frames:0.000914
[17:12:04.453] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000260 	 error end=0.000260
[17:12:04.453] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000245,angle between two frames:0.000914
[17:12:04.453] frame process finished the id is: 93 the obs is:10 
[17:12:04.537] Odometry x=0.000094, y=0.237356, theta=-0.002720
[17:12:04.556] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:-0.000113 ,z=0.000629,angle between two frames:0.000549
[17:12:04.557] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
[17:12:04.557] After pose optimization, distance between ekf and vo x:-0.000105 ,z=0.001092,angle between two frames:0.000505
[17:12:04.557] frame process finished the id is: 93 the obs is:10 
[17:12:04.636] Odometry x=0.000254, y=0.248163, theta=-0.003518
[17:12:04.662] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:-0.000173 ,z=0.000001,angle between two frames:0.001189
[17:12:04.662] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001218 	 error end=0.001218
[17:12:04.662] After pose optimization, distance between ekf and vo x:-0.000173 ,z=0.000001,angle between two frames:0.001189
[17:12:04.662] frame process finished the id is: 93 the obs is:10 
[17:12:04.749] Odometry x=0.000621, y=0.261838, theta=-0.001158
[17:12:04.751] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:0.000068 ,z=-0.000105,angle between two frames:0.000590
[17:12:04.751] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001112 	 error end=0.000619
[17:12:04.751] After pose optimization, distance between ekf and vo x:0.000204 ,z=-0.002597,angle between two frames:0.041942
[17:12:04.751] frame process finished the id is: 93 the obs is:10 
[17:12:04.843] Odometry x=0.000630, y=0.281372, theta=0.002408
[17:12:04.851] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:0.000060 ,z=-0.000098,angle between two frames:0.000563
[17:12:04.851] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000626 	 error end=0.000626
[17:12:04.851] After pose optimization, distance between ekf and vo x:0.000060 ,z=-0.000098,angle between two frames:0.000563
[17:12:04.851] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:04.851] frame process finished the id is: 101 the obs is:10 
[17:12:04.938] Odometry x=0.000646, y=0.278193, theta=-0.002559
[17:12:04.952] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000097 ,z=0.000351,angle between two frames:0.000245
[17:12:04.952] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000430 	 error end=0.000405
[17:12:04.952] After pose optimization, distance between ekf and vo x:-0.005781 ,z=0.000339,angle between two frames:0.022378
[17:12:04.952] frame process finished the id is: 101 the obs is:10 
[17:12:05.033] Odometry x=0.002915, y=0.290116, theta=0.003525
[17:12:05.051] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:3 ,distance between ekf and vo x:-0.000114 ,z=0.000343,angle between two frames:0.000406
[17:12:05.051] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000394 	 error end=0.000389
[17:12:05.051] After pose optimization, distance between ekf and vo x:-0.000995 ,z=0.002323,angle between two frames:0.003452
[17:12:05.051] frame process finished the id is: 101 the obs is:10 
[17:12:05.136] Odometry x=0.002963, y=0.300244, theta=0.002055
[17:12:05.151] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:2 ,distance between ekf and vo x:-0.000145 ,z=0.000563,angle between two frames:0.000578
[17:12:05.152] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000003 	 error end=0.000003
[17:12:05.152] After pose optimization, distance between ekf and vo x:-0.000155 ,z=0.000573,angle between two frames:0.000590
[17:12:05.152] frame process finished the id is: 101 the obs is:10 
[17:12:05.239] Odometry x=0.002918, y=0.311301, theta=0.004299
[17:12:05.251] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000178 ,z=0.000529,angle between two frames:0.000586
[17:12:05.251] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.001249 	 error end=0.001153
[17:12:05.251] After pose optimization, distance between ekf and vo x:-0.001395 ,z=-0.003621,angle between two frames:0.004022
[17:12:05.251] frame process finished the id is: 101 the obs is:10 
[17:12:05.337] Odometry x=0.002942, y=0.322756, theta=0.003519
[17:12:05.351] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000110 ,z=0.000407,angle between two frames:0.000358
[17:12:05.351] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000402 	 error end=0.000401
[17:12:05.351] After pose optimization, distance between ekf and vo x:-0.000503 ,z=0.001185,angle between two frames:0.002168
[17:12:05.351] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:05.351] frame process finished the id is: 106 the obs is:10 
[17:12:05.435] Odometry x=0.005206, y=0.335310, theta=0.014252
[17:12:05.452] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:-0.000121 ,z=0.000373,angle between two frames:0.000446
[17:12:05.452] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001218 	 error end=0.001193
[17:12:05.452] After pose optimization, distance between ekf and vo x:-0.002012 ,z=0.001561,angle between two frames:0.006230
[17:12:05.452] frame process finished the id is: 106 the obs is:10 
[17:12:05.537] Odometry x=0.004785, y=0.345739, theta=0.004165
[17:12:05.552] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:-0.000147 ,z=0.000416,angle between two frames:0.000690
[17:12:05.552] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000301 	 error end=0.000294
[17:12:05.552] After pose optimization, distance between ekf and vo x:-0.002552 ,z=0.001379,angle between two frames:0.007339
[17:12:05.552] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:05.552] frame process finished the id is: 108 the obs is:10 
[17:12:05.637] Odometry x=0.002988, y=0.358579, theta=-0.000567
[17:12:05.652] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:0.000031 ,z=0.000708,angle between two frames:0.002629
[17:12:05.652] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.001734 	 error end=0.001734
[17:12:05.652] After pose optimization, distance between ekf and vo x:0.000309 ,z=0.000578,angle between two frames:0.001812
[17:12:05.652] frame process finished the id is: 108 the obs is:10 
[17:12:05.735] Odometry x=0.003092, y=0.369299, theta=0.002874
[17:12:05.753] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:0.000135 ,z=0.000310,angle between two frames:0.000524
[17:12:05.753] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001845 	 error end=0.001815
[17:12:05.753] After pose optimization, distance between ekf and vo x:-0.001276 ,z=0.008284,angle between two frames:0.000683
[17:12:05.753] frame process finished the id is: 108 the obs is:10 
[17:12:05.842] Odometry x=0.002659, y=0.387057, theta=0.001681
[17:12:05.852] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:4 ,distance between ekf and vo x:0.000016 ,z=0.000202,angle between two frames:0.000821
[17:12:05.852] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000876 	 error end=0.000872
[17:12:05.852] After pose optimization, distance between ekf and vo x:-0.002447 ,z=-0.006948,angle between two frames:0.011032
[17:12:05.852] frame process finished the id is: 108 the obs is:10 
[17:12:05.943] Odometry x=0.002653, y=0.407321, theta=0.009171
[17:12:05.959] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:0.000271 ,z=0.001684,angle between two frames:0.000189
[17:12:05.959] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000012 	 error end=0.000012
[17:12:05.959] After pose optimization, distance between ekf and vo x:0.000269 ,z=0.001685,angle between two frames:0.000195
[17:12:05.959] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:05.959] frame process finished the id is: 112 the obs is:10 
[17:12:06.039] Odometry x=0.002904, y=0.409567, theta=0.009628
[17:12:06.060] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000343 ,z=0.000673,angle between two frames:0.000596
[17:12:06.061] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000243 	 error end=0.000243
[17:12:06.061] After pose optimization, distance between ekf and vo x:0.000286 ,z=0.000708,angle between two frames:0.000460
[17:12:06.061] frame process finished the id is: 112 the obs is:10 
[17:12:06.137] Odometry x=0.002836, y=0.421942, theta=0.019713
[17:12:06.152] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000010 ,z=0.000210,angle between two frames:0.000041
[17:12:06.152] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000636 	 error end=0.000635
[17:12:06.152] After pose optimization, distance between ekf and vo x:-0.000076 ,z=0.000240,angle between two frames:0.000219
[17:12:06.152] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:06.152] frame process finished the id is: 114 the obs is:10 
[17:12:06.236] Odometry x=0.003093, y=0.433779, theta=0.015918
[17:12:06.251] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:0.000011 ,z=0.000213,angle between two frames:0.000073
[17:12:06.251] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.002919 	 error end=0.002902
[17:12:06.251] After pose optimization, distance between ekf and vo x:-0.001080 ,z=0.000844,angle between two frames:0.004449
[17:12:06.251] frame process finished the id is: 114 the obs is:10 
[17:12:06.338] Odometry x=0.003053, y=0.444923, theta=0.019676
[17:12:06.353] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:0.000002 ,z=0.000257,angle between two frames:0.000096
[17:12:06.353] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001276 	 error end=0.001276
[17:12:06.353] After pose optimization, distance between ekf and vo x:-0.000035 ,z=0.000299,angle between two frames:0.000170
[17:12:06.353] frame process finished the id is: 114 the obs is:10 
[17:12:06.431] Odometry x=0.002982, y=0.455478, theta=0.017816
[17:12:06.458] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000217 ,z=0.002307,angle between two frames:0.000663
[17:12:06.459] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000026 	 error end=0.000026
[17:12:06.459] After pose optimization, distance between ekf and vo x:0.000217 ,z=0.002307,angle between two frames:0.000663
[17:12:06.459] frame process finished the id is: 114 the obs is:10 
[17:12:06.534] Odometry x=0.002821, y=0.472870, theta=0.017566
[17:12:06.551] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000012 ,z=0.000244,angle between two frames:0.000100
[17:12:06.552] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000006 	 error end=0.000006
[17:12:06.552] After pose optimization, distance between ekf and vo x:-0.000021 ,z=0.000246,angle between two frames:0.000120
[17:12:06.552] frame process finished the id is: 114 the obs is:10 
[17:12:06.634] Odometry x=0.001914, y=0.483558, theta=0.017433
[17:12:06.652] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000005 ,z=0.000218,angle between two frames:0.000064
[17:12:06.652] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000034 	 error end=0.000034
[17:12:06.652] After pose optimization, distance between ekf and vo x:0.000010 ,z=0.000232,angle between two frames:0.000052
[17:12:06.652] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:06.652] frame process finished the id is: 119 the obs is:10 
[17:12:06.734] Odometry x=0.001915, y=0.484362, theta=0.017607
[17:12:06.766] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000244 ,z=0.003495,angle between two frames:0.000954
[17:12:06.766] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001000 	 error end=0.001000
[17:12:06.766] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.004061,angle between two frames:0.001352
[17:12:06.766] frame process finished the id is: 119 the obs is:10 
[17:12:06.839] Odometry x=0.001813, y=0.497387, theta=0.019223
[17:12:06.852] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000012 ,z=0.000269,angle between two frames:0.000098
[17:12:06.852] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.001638 	 error end=0.001637
[17:12:06.852] After pose optimization, distance between ekf and vo x:0.000143 ,z=0.000569,angle between two frames:0.000235
[17:12:06.852] frame process finished the id is: 119 the obs is:10 
[17:12:06.935] Odometry x=0.001645, y=0.508829, theta=0.019378
[17:12:06.952] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:0.000008 ,z=0.000256,angle between two frames:0.000118
[17:12:06.952] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 	 error init =0.000002 	 error end=0.000002
[17:12:06.952] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000256,angle between two frames:0.000118
[17:12:06.952] frame process finished the id is: 119 the obs is:10 
[17:12:07.035] Odometry x=0.001555, y=0.519065, theta=0.015351
[17:12:07.051] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:0.000002 ,z=0.000257,angle between two frames:0.000156
[17:12:07.051] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000120 	 error end=0.000120
[17:12:07.051] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000257,angle between two frames:0.000156
[17:12:07.051] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:07.051] frame process finished the id is: 123 the obs is:10 
[17:12:07.136] Odometry x=0.001447, y=0.532557, theta=0.018607
[17:12:07.153] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000012 ,z=0.000265,angle between two frames:0.000129
[17:12:07.154] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001036 	 error end=0.001036
[17:12:07.154] After pose optimization, distance between ekf and vo x:0.000124 ,z=0.000418,angle between two frames:0.000110
[17:12:07.154] frame process finished the id is: 123 the obs is:10 
[17:12:07.238] Odometry x=0.001358, y=0.544451, theta=0.009563
[17:12:07.252] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000022 ,z=0.000180,angle between two frames:0.000198
[17:12:07.252] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000038 	 error end=0.000038
[17:12:07.252] After pose optimization, distance between ekf and vo x:0.000011 ,z=0.000177,angle between two frames:0.000218
[17:12:07.252] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:07.252] frame process finished the id is: 125 the obs is:10 
[17:12:07.333] Odometry x=0.001369, y=0.545331, theta=0.010089
[17:12:07.374] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.001136 ,z=0.004963,angle between two frames:0.001038
[17:12:07.374] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000767 	 error end=0.000767
[17:12:07.374] After pose optimization, distance between ekf and vo x:0.001183 ,z=0.005174,angle between two frames:0.000790
[17:12:07.374] frame process finished the id is: 125 the obs is:10 
[17:12:07.436] Odometry x=0.001346, y=0.558723, theta=0.014656
[17:12:07.454] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000041 ,z=0.000343,angle between two frames:0.000025
[17:12:07.454] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000183 	 error end=0.000183
[17:12:07.454] After pose optimization, distance between ekf and vo x:0.000046 ,z=0.000369,angle between two frames:0.000002
[17:12:07.454] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:07.455] frame process finished the id is: 127 the obs is:10 
[17:12:07.532] Odometry x=0.001386, y=0.559669, theta=0.014567
[17:12:07.556] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000135 ,z=0.000990,angle between two frames:0.000132
[17:12:07.556] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000000 	 error end=0.000000
[17:12:07.556] After pose optimization, distance between ekf and vo x:0.000135 ,z=0.000990,angle between two frames:0.000132
[17:12:07.556] frame process finished the id is: 127 the obs is:10 
[17:12:07.637] Odometry x=0.001647, y=0.574028, theta=0.014675
[17:12:07.659] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000301 ,z=0.002606,angle between two frames:0.000239
[17:12:07.659] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000337 	 error end=0.000337
[17:12:07.659] After pose optimization, distance between ekf and vo x:0.000397 ,z=0.002672,angle between two frames:0.000063
[17:12:07.659] frame process finished the id is: 127 the obs is:10 
[17:12:07.734] Odometry x=0.001558, y=0.585967, theta=0.012711
[17:12:07.754] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000124 ,z=0.000849,angle between two frames:0.000006
[17:12:07.754] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001139 	 error end=0.001138
[17:12:07.754] After pose optimization, distance between ekf and vo x:0.000338 ,z=0.000985,angle between two frames:0.000403
[17:12:07.754] frame process finished the id is: 127 the obs is:10 
[17:12:07.834] Odometry x=0.001570, y=0.598443, theta=0.016830
[17:12:07.860] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000450 ,z=0.003793,angle between two frames:0.000656
[17:12:07.860] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.001157 	 error end=0.001156
[17:12:07.860] After pose optimization, distance between ekf and vo x:0.000313 ,z=0.003434,angle between two frames:0.000414
[17:12:07.860] frame process finished the id is: 127 the obs is:10 
[17:12:07.933] Odometry x=0.001479, y=0.610044, theta=0.015988
[17:12:07.959] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000221 ,z=0.001605,angle between two frames:0.000042
[17:12:07.959] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000366 	 error end=0.000366
[17:12:07.959] After pose optimization, distance between ekf and vo x:0.000218 ,z=0.001624,angle between two frames:0.000041
[17:12:07.959] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:07.959] frame process finished the id is: 132 the obs is:10 
[17:12:08.042] Odometry x=0.001598, y=0.618906, theta=0.006168
[17:12:08.059] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000094 ,z=0.001176,angle between two frames:0.000182
[17:12:08.059] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000169 	 error end=0.000169
[17:12:08.059] After pose optimization, distance between ekf and vo x:-0.000223 ,z=-0.001232,angle between two frames:0.000452
[17:12:08.059] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:08.059] frame process finished the id is: 133 the obs is:10 
[17:12:08.135] Odometry x=0.001386, y=0.618322, theta=0.007052
[17:12:08.170] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000666 ,z=0.003568,angle between two frames:0.000179
[17:12:08.170] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000001 	 error end=0.000001
[17:12:08.170] After pose optimization, distance between ekf and vo x:0.000666 ,z=0.003568,angle between two frames:0.000179
[17:12:08.170] frame process finished the id is: 133 the obs is:10 
[17:12:08.238] Odometry x=0.001341, y=0.630923, theta=0.009137
[17:12:08.259] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000064 ,z=0.001088,angle between two frames:0.000276
[17:12:08.259] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000544 	 error end=0.000544
[17:12:08.259] After pose optimization, distance between ekf and vo x:0.000064 ,z=0.001088,angle between two frames:0.000276
[17:12:08.259] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:08.259] frame process finished the id is: 135 the obs is:10 
[17:12:08.336] Odometry x=0.001325, y=0.643959, theta=0.005868
[17:12:08.367] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000308 ,z=0.002638,angle between two frames:0.000552
[17:12:08.367] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000057 	 error end=0.000057
[17:12:08.367] After pose optimization, distance between ekf and vo x:0.000152 ,z=0.002612,angle between two frames:0.000282
[17:12:08.367] frame process finished the id is: 135 the obs is:10 
[17:12:08.437] Odometry x=0.001396, y=0.655242, theta=0.009155
[17:12:08.469] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000337 ,z=0.003188,angle between two frames:0.000667
[17:12:08.470] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000000 	 error end=0.000000
[17:12:08.470] After pose optimization, distance between ekf and vo x:0.000337 ,z=0.003188,angle between two frames:0.000667
[17:12:08.470] frame process finished the id is: 135 the obs is:10 
[17:12:08.534] Odometry x=0.000983, y=0.665733, theta=0.006301
[17:12:08.562] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000161 ,z=0.001621,angle between two frames:0.000186
[17:12:08.562] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000001 	 error end=0.000001
[17:12:08.562] After pose optimization, distance between ekf and vo x:0.000161 ,z=0.001621,angle between two frames:0.000187
[17:12:08.562] frame process finished the id is: 135 the obs is:10 
[17:12:08.637] Odometry x=0.000980, y=0.676146, theta=0.002689
[17:12:08.666] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000619 ,z=0.004796,angle between two frames:0.002373
[17:12:08.666] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000004 	 error end=0.000004
[17:12:08.666] After pose optimization, distance between ekf and vo x:0.000612 ,z=0.004796,angle between two frames:0.002365
[17:12:08.666] frame process finished the id is: 135 the obs is:10 
[17:12:08.737] Odometry x=0.000987, y=0.688927, theta=-0.002798
[17:12:08.766] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000620 ,z=0.004815,angle between two frames:0.002400
[17:12:08.766] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000008 	 error end=0.000008
[17:12:08.766] After pose optimization, distance between ekf and vo x:0.000590 ,z=0.004816,angle between two frames:0.002356
[17:12:08.766] frame process finished the id is: 135 the obs is:10 
[17:12:08.835] Odometry x=0.001035, y=0.700681, theta=-0.006300
[17:12:08.858] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000291 ,z=0.001271,angle between two frames:0.000143
[17:12:08.858] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.002370 	 error end=0.002356
[17:12:08.858] After pose optimization, distance between ekf and vo x:0.003496 ,z=0.000807,angle between two frames:0.002292
[17:12:08.858] frame process finished the id is: 135 the obs is:10 
[17:12:08.944] Odometry x=0.000751, y=0.712564, theta=-0.001255
[17:12:08.963] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000501 ,z=0.002819,angle between two frames:0.000230
[17:12:08.963] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000232 	 error end=0.000232
[17:12:08.963] After pose optimization, distance between ekf and vo x:0.000871 ,z=0.002845,angle between two frames:0.000595
[17:12:08.963] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:08.963] frame process finished the id is: 142 the obs is:10 
[17:12:09.037] Odometry x=0.001596, y=0.715900, theta=-0.001097
[17:12:09.074] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000742 ,z=0.006499,angle between two frames:0.003239
[17:12:09.075] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001384 	 error end=0.001384
[17:12:09.075] After pose optimization, distance between ekf and vo x:0.001164 ,z=0.006644,angle between two frames:0.003530
[17:12:09.075] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:09.075] frame process finished the id is: 143 the obs is:10 
[17:12:09.136] Odometry x=0.002700, y=0.722841, theta=-0.003789
[17:12:09.162] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000042 ,z=0.000930,angle between two frames:0.000728
[17:12:09.162] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000001 	 error end=0.000001
[17:12:09.162] After pose optimization, distance between ekf and vo x:-0.000042 ,z=0.000930,angle between two frames:0.000728
[17:12:09.162] frame process finished the id is: 143 the obs is:10 
[17:12:09.239] Odometry x=0.000353, y=0.742128, theta=0.013523
[17:12:09.267] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000170 ,z=0.001465,angle between two frames:0.001136
[17:12:09.267] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000113 	 error end=0.000113
[17:12:09.267] After pose optimization, distance between ekf and vo x:-0.000123 ,z=0.001504,angle between two frames:0.001211
[17:12:09.267] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:09.267] frame process finished the id is: 145 the obs is:10 
[17:12:09.337] Odometry x=0.000213, y=0.744147, theta=0.012139
[17:12:09.364] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000204 ,z=0.001189,angle between two frames:0.000825
[17:12:09.364] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000202 	 error end=0.000202
[17:12:09.364] After pose optimization, distance between ekf and vo x:-0.000113 ,z=0.001204,angle between two frames:0.000947
[17:12:09.364] frame process finished the id is: 145 the obs is:10 
[17:12:09.434] Odometry x=-0.000935, y=0.758704, theta=0.015255
[17:12:09.465] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000202 ,z=0.001868,angle between two frames:0.001655
[17:12:09.465] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000322 	 error end=0.000322
[17:12:09.465] After pose optimization, distance between ekf and vo x:-0.000202 ,z=0.001868,angle between two frames:0.001655
[17:12:09.465] frame process finished the id is: 145 the obs is:10 
[17:12:09.537] Odometry x=-0.001046, y=0.769281, theta=0.012310
[17:12:09.566] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000262 ,z=0.001817,angle between two frames:0.001673
[17:12:09.567] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000246 	 error end=0.000246
[17:12:09.567] After pose optimization, distance between ekf and vo x:-0.000343 ,z=0.001832,angle between two frames:0.001558
[17:12:09.567] frame process finished the id is: 145 the obs is:10 
[17:12:09.635] Odometry x=-0.000225, y=0.781975, theta=0.015400
[17:12:09.666] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000428 ,z=0.001942,angle between two frames:0.001158
[17:12:09.667] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000077 	 error end=0.000077
[17:12:09.667] After pose optimization, distance between ekf and vo x:-0.000418 ,z=0.001954,angle between two frames:0.001173
[17:12:09.667] frame process finished the id is: 145 the obs is:10 
[17:12:09.738] Odometry x=-0.000186, y=0.792266, theta=0.016994
[17:12:09.758] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000094 ,z=0.000527,angle between two frames:0.000521
[17:12:09.758] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000226 	 error end=0.000226
[17:12:09.758] After pose optimization, distance between ekf and vo x:-0.000016 ,z=0.000539,angle between two frames:0.000618
[17:12:09.758] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:09.758] frame process finished the id is: 150 the obs is:10 
[17:12:09.837] Odometry x=-0.000567, y=0.803789, theta=0.019881
[17:12:09.871] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000258 ,z=0.002345,angle between two frames:0.002188
[17:12:09.871] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000038 	 error end=0.000038
[17:12:09.871] After pose optimization, distance between ekf and vo x:-0.000262 ,z=0.002346,angle between two frames:0.002182
[17:12:09.871] frame process finished the id is: 150 the obs is:10 
[17:12:09.939] Odometry x=-0.000670, y=0.814651, theta=0.018655
[17:12:09.966] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000185 ,z=0.001180,angle between two frames:0.001108
[17:12:09.966] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000063 	 error end=0.000063
[17:12:09.966] After pose optimization, distance between ekf and vo x:-0.000185 ,z=0.001180,angle between two frames:0.001108
[17:12:09.966] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:09.966] frame process finished the id is: 152 the obs is:10 
[17:12:10.032] Odometry x=-0.000913, y=0.816493, theta=0.017488
[17:12:10.061] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000199 ,z=0.001998,angle between two frames:0.001419
[17:12:10.061] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.000008 	 error end=0.000008
[17:12:10.061] After pose optimization, distance between ekf and vo x:-0.000197 ,z=0.001999,angle between two frames:0.001421
[17:12:10.061] frame process finished the id is: 152 the obs is:10 
[17:12:10.135] Odometry x=-0.002460, y=0.836827, theta=0.013155
[17:12:10.165] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000200 ,z=0.001422,angle between two frames:0.001247
[17:12:10.165] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000765 	 error end=0.000762
[17:12:10.165] After pose optimization, distance between ekf and vo x:-0.001383 ,z=0.001412,angle between two frames:0.000004
[17:12:10.165] frame process finished the id is: 152 the obs is:10 
[17:12:10.238] Odometry x=-0.002587, y=0.847844, theta=0.014683
[17:12:10.266] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000199 ,z=0.001309,angle between two frames:0.001109
[17:12:10.266] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001567 	 error end=0.001559
[17:12:10.266] After pose optimization, distance between ekf and vo x:0.000937 ,z=0.001806,angle between two frames:0.002500
[17:12:10.266] frame process finished the id is: 152 the obs is:10 
[17:12:10.337] Odometry x=-0.000091, y=0.858611, theta=0.027333
[17:12:10.357] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000168 ,z=0.000615,angle between two frames:0.000447
[17:12:10.358] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000852 	 error end=0.000849
[17:12:10.358] After pose optimization, distance between ekf and vo x:-0.001499 ,z=0.000659,angle between two frames:0.001106
[17:12:10.358] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:10.358] frame process finished the id is: 156 the obs is:10 
[17:12:10.440] Odometry x=-0.001513, y=0.859799, theta=0.028210
[17:12:10.451] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000027 ,z=0.000153,angle between two frames:0.000120
[17:12:10.452] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000553 	 error end=0.000552
[17:12:10.452] After pose optimization, distance between ekf and vo x:0.000433 ,z=0.000481,angle between two frames:0.000379
[17:12:10.452] frame process finished the id is: 156 the obs is:10 
[17:12:10.541] Odometry x=-0.001698, y=0.872864, theta=0.031155
[17:12:10.552] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000020 ,z=0.000101,angle between two frames:0.000101
[17:12:10.552] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000377 	 error end=0.000377
[17:12:10.552] After pose optimization, distance between ekf and vo x:-0.000020 ,z=0.000101,angle between two frames:0.000101
[17:12:10.552] frame process finished the id is: 156 the obs is:10 
[17:12:10.634] Odometry x=-0.001834, y=0.883772, theta=0.034222
[17:12:10.651] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000022 ,z=0.000130,angle between two frames:0.000159
[17:12:10.652] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:10.652] After pose optimization, distance between ekf and vo x:-0.000022 ,z=0.000130,angle between two frames:0.000159
[17:12:10.652] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:10.652] frame process finished the id is: 159 the obs is:10 
[17:12:10.737] Odometry x=-0.002241, y=0.904213, theta=0.043714
[17:12:10.750] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000016 ,z=0.000138,angle between two frames:0.000058
[17:12:10.751] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000670 	 error end=0.000667
[17:12:10.751] After pose optimization, distance between ekf and vo x:-0.001065 ,z=0.000299,angle between two frames:0.001224
[17:12:10.751] frame process finished the id is: 159 the obs is:10 
[17:12:10.838] Odometry x=-0.002440, y=0.915041, theta=0.035770
[17:12:10.850] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000017 ,z=0.000141,angle between two frames:0.000052
[17:12:10.851] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000157 	 error end=0.000157
[17:12:10.851] After pose optimization, distance between ekf and vo x:0.000030 ,z=0.000162,angle between two frames:0.000003
[17:12:10.851] frame process finished the id is: 159 the obs is:10 
[17:12:10.940] Odometry x=-0.002666, y=0.928842, theta=0.028455
[17:12:10.950] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000011 ,z=0.000144,angle between two frames:0.000055
[17:12:10.950] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000501 	 error end=0.000500
[17:12:10.950] After pose optimization, distance between ekf and vo x:-0.000156 ,z=0.000151,angle between two frames:0.000210
[17:12:10.950] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:10.950] frame process finished the id is: 162 the obs is:10 
[17:12:11.040] Odometry x=-0.002960, y=0.941333, theta=0.031282
[17:12:11.063] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000003 ,z=0.000086,angle between two frames:0.000143
[17:12:11.063] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000413 	 error end=0.000412
[17:12:11.063] After pose optimization, distance between ekf and vo x:-0.000355 ,z=0.000126,angle between two frames:0.000465
[17:12:11.063] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:11.063] frame process finished the id is: 163 the obs is:10 
[17:12:11.138] Odometry x=-0.003589, y=0.959881, theta=0.020883
[17:12:11.155] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000031 ,z=0.000039,angle between two frames:0.000000
[17:12:11.155] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000273 	 error end=0.000273
[17:12:11.155] After pose optimization, distance between ekf and vo x:-0.000202 ,z=0.000058,angle between two frames:0.000192
[17:12:11.155] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:11.155] frame process finished the id is: 164 the obs is:10 
[17:12:11.235] Odometry x=-0.003896, y=0.976130, theta=0.014848
[17:12:11.250] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000015 ,z=0.000064,angle between two frames:0.000067
[17:12:11.250] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000002 	 error end=0.000002
[17:12:11.250] After pose optimization, distance between ekf and vo x:-0.000015 ,z=0.000064,angle between two frames:0.000067
[17:12:11.250] frame process finished the id is: 164 the obs is:10 
[17:12:11.330] Odometry x=-0.004027, y=0.988582, theta=0.019543
[17:12:11.351] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000031 ,z=0.000093,angle between two frames:0.000051
[17:12:11.352] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001562 	 error end=0.001562
[17:12:11.352] After pose optimization, distance between ekf and vo x:-0.002266 ,z=0.000697,angle between two frames:0.002053
[17:12:11.352] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:11.352] frame process finished the id is: 166 the obs is:10 
[17:12:11.437] Odometry x=-0.006175, y=0.989890, theta=0.021647
[17:12:11.452] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000007 ,z=0.000071,angle between two frames:0.000069
[17:12:11.452] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000621 	 error end=0.000617
[17:12:11.452] After pose optimization, distance between ekf and vo x:-0.001461 ,z=0.000076,angle between two frames:0.001528
[17:12:11.452] frame process finished the id is: 166 the obs is:10 
[17:12:11.536] Odometry x=-0.006316, y=1.002952, theta=0.021309
[17:12:11.551] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000014 ,z=0.000073,angle between two frames:0.000046
[17:12:11.551] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000067 	 error end=0.000067
[17:12:11.551] After pose optimization, distance between ekf and vo x:0.000049 ,z=0.000069,angle between two frames:0.000017
[17:12:11.551] frame process finished the id is: 166 the obs is:10 
[17:12:11.639] Odometry x=-0.006481, y=1.015084, theta=0.037593
[17:12:11.650] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000012 ,z=0.000070,angle between two frames:0.000088
[17:12:11.651] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.001440 	 error end=0.001437
[17:12:11.651] After pose optimization, distance between ekf and vo x:0.001072 ,z=0.000263,angle between two frames:0.000962
[17:12:11.651] frame process finished the id is: 166 the obs is:10 
[17:12:11.737] Odometry x=-0.006563, y=1.025977, theta=0.028259
[17:12:11.754] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000005 ,z=0.000071,angle between two frames:0.000100
[17:12:11.754] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000610 	 error end=0.000607
[17:12:11.754] After pose optimization, distance between ekf and vo x:-0.002134 ,z=-0.002725,angle between two frames:0.002333
[17:12:11.754] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:11.754] frame process finished the id is: 170 the obs is:10 
[17:12:11.840] Odometry x=-0.008598, y=1.024647, theta=0.030634
[17:12:11.857] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000016 ,z=0.000069,angle between two frames:0.000046
[17:12:11.857] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.002034 	 error end=0.002029
[17:12:11.857] After pose optimization, distance between ekf and vo x:0.001313 ,z=0.000047,angle between two frames:0.001250
[17:12:11.857] frame process finished the id is: 170 the obs is:10 
[17:12:11.937] Odometry x=-0.008825, y=1.039048, theta=0.018895
[17:12:11.953] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000016 ,z=0.000057,angle between two frames:0.000054
[17:12:11.954] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.001125 	 error end=0.001121
[17:12:11.954] After pose optimization, distance between ekf and vo x:0.000982 ,z=0.000456,angle between two frames:0.000947
[17:12:11.954] frame process finished the id is: 170 the obs is:10 
[17:12:12.040] Odometry x=-0.008799, y=1.049898, theta=0.027495
[17:12:12.051] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000017 ,z=0.000042,angle between two frames:0.000002
[17:12:12.052] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.000001 	 error end=0.000001
[17:12:12.052] After pose optimization, distance between ekf and vo x:-0.000020 ,z=0.000041,angle between two frames:0.000000
[17:12:12.052] frame process finished the id is: 170 the obs is:10 
[17:12:12.140] Odometry x=-0.009063, y=1.060520, theta=0.013550
[17:12:12.151] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000029 ,z=0.000050,angle between two frames:0.000010
[17:12:12.151] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000686 	 error end=0.000682
[17:12:12.151] After pose optimization, distance between ekf and vo x:-0.001718 ,z=-0.000044,angle between two frames:0.001591
[17:12:12.151] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:12.151] frame process finished the id is: 174 the obs is:10 
[17:12:12.238] Odometry x=-0.010215, y=1.066829, theta=0.026871
[17:12:12.250] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000014 ,z=0.000017,angle between two frames:0.000069
[17:12:12.251] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000012 	 error end=0.000012
[17:12:12.251] After pose optimization, distance between ekf and vo x:-0.000025 ,z=0.000017,angle between two frames:0.000079
[17:12:12.251] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:12.251] frame process finished the id is: 175 the obs is:10 
[17:12:12.336] Odometry x=-0.010159, y=1.066522, theta=0.026707
[17:12:12.351] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000014 ,z=0.000075,angle between two frames:0.000084
[17:12:12.351] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000140 	 error end=0.000140
[17:12:12.351] After pose optimization, distance between ekf and vo x:0.000071 ,z=0.000082,angle between two frames:0.000004
[17:12:12.351] frame process finished the id is: 175 the obs is:10 
[17:12:12.439] Odometry x=-0.011119, y=1.079398, theta=0.023302
[17:12:12.460] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000103 ,z=0.000238,angle between two frames:0.000258
[17:12:12.460] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001734 	 error end=0.001714
[17:12:12.460] After pose optimization, distance between ekf and vo x:-0.004185 ,z=-0.000096,angle between two frames:0.004054
[17:12:12.460] frame process finished the id is: 175 the obs is:10 
[17:12:12.539] Odometry x=-0.011256, y=1.091354, theta=0.021210
[17:12:12.553] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000011 ,z=0.000100,angle between two frames:0.000137
[17:12:12.553] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000114 	 error end=0.000114
[17:12:12.553] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000100,angle between two frames:0.000137
[17:12:12.553] frame process finished the id is: 175 the obs is:10 
[17:12:12.637] Odometry x=-0.010754, y=1.102161, theta=0.026203
[17:12:12.651] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000010 ,z=0.000049,angle between two frames:0.000050
[17:12:12.652] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000526 	 error end=0.000525
[17:12:12.652] After pose optimization, distance between ekf and vo x:0.001089 ,z=-0.002264,angle between two frames:0.000879
[17:12:12.652] frame process finished the id is: 175 the obs is:10 
[17:12:12.739] Odometry x=-0.010658, y=1.116248, theta=0.005253
[17:12:12.752] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:-0.000024 ,z=0.000104,angle between two frames:0.000077
[17:12:12.752] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000000 	 error end=0.000000
[17:12:12.752] After pose optimization, distance between ekf and vo x:-0.000024 ,z=0.000104,angle between two frames:0.000078
[17:12:12.752] frame process finished the id is: 175 the obs is:10 
[17:12:12.839] Odometry x=-0.010854, y=1.149467, theta=-0.010768
[17:12:12.851] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000033 ,z=0.000104,angle between two frames:0.000082
[17:12:12.851] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.001380 	 error end=0.001380
[17:12:12.851] After pose optimization, distance between ekf and vo x:-0.000033 ,z=0.000104,angle between two frames:0.000082
[17:12:12.851] frame process finished the id is: 175 the obs is:10 
[17:12:12.937] Odometry x=-0.016484, y=1.138656, theta=0.001429
[17:12:12.951] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000007 ,z=0.000073,angle between two frames:0.000121
[17:12:12.951] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000094 	 error end=0.000094
[17:12:12.951] After pose optimization, distance between ekf and vo x:0.000294 ,z=0.000192,angle between two frames:0.000194
[17:12:12.951] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:12.951] frame process finished the id is: 182 the obs is:10 
[17:12:13.041] Odometry x=-0.016558, y=1.137333, theta=0.001616
[17:12:13.050] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000011 ,z=0.000055,angle between two frames:0.000029
[17:12:13.051] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001978 	 error end=0.001955
[17:12:13.051] After pose optimization, distance between ekf and vo x:0.002338 ,z=0.000421,angle between two frames:0.001912
[17:12:13.051] frame process finished the id is: 182 the obs is:10 
[17:12:13.139] Odometry x=0.008068, y=1.164883, theta=0.012378
[17:12:13.150] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000023 ,z=0.000087,angle between two frames:0.000009
[17:12:13.150] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000532 	 error end=0.000531
[17:12:13.150] After pose optimization, distance between ekf and vo x:0.001232 ,z=0.000482,angle between two frames:0.001081
[17:12:13.150] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:13.150] frame process finished the id is: 184 the obs is:10 
[17:12:13.237] Odometry x=0.009469, y=1.168081, theta=0.010183
[17:12:13.253] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000057 ,z=0.000201,angle between two frames:0.000127
[17:12:13.253] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.000006 	 error end=0.000006
[17:12:13.253] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000201,angle between two frames:0.000127
[17:12:13.253] frame process finished the id is: 184 the obs is:10 
[17:12:13.339] Odometry x=0.008690, y=1.177010, theta=0.015971
[17:12:13.351] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000017 ,z=0.000043,angle between two frames:0.000005
[17:12:13.351] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000050 	 error end=0.000050
[17:12:13.351] After pose optimization, distance between ekf and vo x:0.000115 ,z=0.000077,angle between two frames:0.000115
[17:12:13.351] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:13.351] frame process finished the id is: 186 the obs is:10 
[17:12:13.437] Odometry x=0.009149, y=1.189448, theta=0.027303
[17:12:13.451] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000011 ,z=0.000050,angle between two frames:0.000027
[17:12:13.452] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001959 	 error end=0.001950
[17:12:13.452] After pose optimization, distance between ekf and vo x:0.002169 ,z=0.000926,angle between two frames:0.001887
[17:12:13.452] frame process finished the id is: 186 the obs is:10 
[17:12:13.537] Odometry x=0.011374, y=1.218074, theta=0.018902
[17:12:13.553] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000021 ,z=0.000064,angle between two frames:0.000037
[17:12:13.553] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000009 	 error end=0.000009
[17:12:13.553] After pose optimization, distance between ekf and vo x:-0.000034 ,z=0.000068,angle between two frames:0.000048
[17:12:13.553] frame process finished the id is: 186 the obs is:10 
[17:12:13.640] Odometry x=0.011851, y=1.228739, theta=0.000211
[17:12:13.651] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000007 ,z=0.000063,angle between two frames:0.000009
[17:12:13.652] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.000000 	 error end=0.000000
[17:12:13.652] After pose optimization, distance between ekf and vo x:-0.000007 ,z=0.000063,angle between two frames:0.000009
[17:12:13.652] frame process finished the id is: 186 the obs is:10 
[17:12:13.739] Odometry x=0.011829, y=1.239126, theta=-0.002980
[17:12:13.753] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000014 ,z=0.000045,angle between two frames:0.000021
[17:12:13.753] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002016 	 error end=0.002016
[17:12:13.753] After pose optimization, distance between ekf and vo x:-0.000014 ,z=0.000045,angle between two frames:0.000021
[17:12:13.753] frame process finished the id is: 186 the obs is:10 
[17:12:13.831] Odometry x=0.012053, y=1.270136, theta=0.021214
[17:12:13.851] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000014 ,z=0.000045,angle between two frames:0.000022
[17:12:13.851] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000135 	 error end=0.000135
[17:12:13.851] After pose optimization, distance between ekf and vo x:-0.000014 ,z=0.000045,angle between two frames:0.000022
[17:12:13.851] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:13.851] frame process finished the id is: 191 the obs is:10 
[17:12:13.932] Odometry x=0.011710, y=1.240678, theta=-0.001623
[17:12:13.950] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000011 ,z=0.000009,angle between two frames:0.000042
[17:12:13.950] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000277 	 error end=0.000277
[17:12:13.950] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000009,angle between two frames:0.000042
[17:12:13.950] frame process finished the id is: 191 the obs is:10 
[17:12:14.037] Odometry x=0.010150, y=1.272566, theta=0.007804
[17:12:14.051] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000022 ,z=0.000081,angle between two frames:0.000048
[17:12:14.051] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000059 	 error end=0.000059
[17:12:14.051] After pose optimization, distance between ekf and vo x:-0.000762 ,z=-0.000337,angle between two frames:0.000639
[17:12:14.051] frame process finished the id is: 191 the obs is:10 
[17:12:14.131] Odometry x=0.023556, y=1.320756, theta=-0.032259
[17:12:14.154] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000024 ,z=0.000014,angle between two frames:0.000092
[17:12:14.154] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000354 	 error end=0.000354
[17:12:14.154] After pose optimization, distance between ekf and vo x:-0.000024 ,z=0.000014,angle between two frames:0.000092
[17:12:14.154] frame process finished the id is: 191 the obs is:10 
[17:12:14.231] Odometry x=0.023550, y=1.330826, theta=-0.005833
[17:12:14.251] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000028 ,z=0.000034,angle between two frames:0.000040
[17:12:14.251] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000111 	 error end=0.000111
[17:12:14.251] After pose optimization, distance between ekf and vo x:-0.000028 ,z=0.000034,angle between two frames:0.000040
[17:12:14.251] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:14.251] frame process finished the id is: 195 the obs is:10 
[17:12:14.335] Odometry x=0.023555, y=1.345165, theta=-0.010847
[17:12:14.351] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000012 ,z=0.000023,angle between two frames:0.000055
[17:12:14.351] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000346 	 error end=0.000346
[17:12:14.351] After pose optimization, distance between ekf and vo x:-0.000012 ,z=0.000023,angle between two frames:0.000055
[17:12:14.351] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:14.351] frame process finished the id is: 196 the obs is:10 
[17:12:14.436] Odometry x=0.023433, y=1.345611, theta=-0.010572
[17:12:14.454] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000006 ,z=0.000036,angle between two frames:0.000082
[17:12:14.454] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000001 	 error end=0.000001
[17:12:14.454] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000036,angle between two frames:0.000082
[17:12:14.454] frame process finished the id is: 196 the obs is:10 
[17:12:14.540] Odometry x=0.037466, y=1.323441, theta=-0.019776
[17:12:14.550] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000000 ,z=0.000012,angle between two frames:0.000126
[17:12:14.550] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000009 	 error end=0.000009
[17:12:14.550] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000012,angle between two frames:0.000126
[17:12:14.550] frame process finished the id is: 196 the obs is:10 
[17:12:14.638] Odometry x=0.038236, y=1.361767, theta=-0.011731
[17:12:14.653] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000006 ,z=0.000027,angle between two frames:0.000037
[17:12:14.653] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000027,angle between two frames:0.000037
[17:12:14.653] frame process finished the id is: 196 the obs is:10 
[17:12:14.737] Odometry x=0.038246, y=1.373163, theta=-0.013300
[17:12:14.754] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000015 ,z=-0.000025,angle between two frames:0.000114
[17:12:14.754] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000961 	 error end=0.000953
[17:12:14.754] After pose optimization, distance between ekf and vo x:0.005408 ,z=0.000099,angle between two frames:0.003102
[17:12:14.754] frame process finished the id is: 196 the obs is:10 
[17:12:14.837] Odometry x=0.038387, y=1.386804, theta=-0.006282
[17:12:14.853] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000027 ,z=0.000052,angle between two frames:0.000046
[17:12:14.853] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000133 	 error end=0.000132
[17:12:14.853] After pose optimization, distance between ekf and vo x:-0.001835 ,z=-0.000105,angle between two frames:0.001306
[17:12:14.853] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:14.853] frame process finished the id is: 201 the obs is:10 
[17:12:14.945] Odometry x=0.036644, y=1.388410, theta=-0.005226
[17:12:14.952] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000012 ,z=0.000064,angle between two frames:0.000006
[17:12:14.952] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001738 	 error end=0.001738
[17:12:14.952] After pose optimization, distance between ekf and vo x:-0.000012 ,z=0.000064,angle between two frames:0.000006
[17:12:14.952] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:14.952] frame process finished the id is: 202 the obs is:10 
[17:12:15.043] Odometry x=0.036626, y=1.362906, theta=-0.007850
[17:12:15.054] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000019 ,z=0.000048,angle between two frames:0.000031
[17:12:15.054] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000003 	 error end=0.000003
[17:12:15.054] After pose optimization, distance between ekf and vo x:-0.000019 ,z=0.000048,angle between two frames:0.000031
[17:12:15.054] frame process finished the id is: 202 the obs is:10 
[17:12:15.136] Odometry x=0.037336, y=1.388636, theta=-0.020548
[17:12:15.153] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000026 ,z=0.000061,angle between two frames:0.000014
[17:12:15.153] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000060 	 error end=0.000060
[17:12:15.153] After pose optimization, distance between ekf and vo x:-0.000026 ,z=0.000061,angle between two frames:0.000014
[17:12:15.153] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:15.153] frame process finished the id is: 204 the obs is:10 
[17:12:15.245] Odometry x=0.037635, y=1.390307, theta=-0.019549
[17:12:15.253] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000002 ,z=0.000014,angle between two frames:0.000064
[17:12:15.253] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.000001 	 error end=0.000001
[17:12:15.253] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000014,angle between two frames:0.000062
[17:12:15.253] frame process finished the id is: 204 the obs is:10 
[17:12:15.339] Odometry x=0.037681, y=1.405109, theta=-0.018772
[17:12:15.354] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000006 ,z=0.000020,angle between two frames:0.000053
[17:12:15.354] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001525 	 error end=0.001525
[17:12:15.354] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000020,angle between two frames:0.000053
[17:12:15.354] frame process finished the id is: 204 the obs is:10 
[17:12:15.437] Odometry x=0.039025, y=1.414983, theta=-0.011293
[17:12:15.453] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000016 ,z=-0.000021,angle between two frames:0.000117
[17:12:15.453] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000975 	 error end=0.000975
[17:12:15.453] After pose optimization, distance between ekf and vo x:-0.000016 ,z=-0.000021,angle between two frames:0.000117
[17:12:15.453] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:15.453] frame process finished the id is: 207 the obs is:10 
[17:12:15.537] Odometry x=0.039039, y=1.426816, theta=0.002635
[17:12:15.561] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000020 ,z=0.000326,angle between two frames:0.000010
[17:12:15.561] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000953 	 error end=0.000953
[17:12:15.561] After pose optimization, distance between ekf and vo x:-0.000020 ,z=0.000326,angle between two frames:0.000010
[17:12:15.561] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:15.561] frame process finished the id is: 208 the obs is:10 
[17:12:15.637] Odometry x=0.039057, y=1.431657, theta=0.001885
[17:12:15.668] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000020 ,z=0.000816,angle between two frames:0.000057
[17:12:15.669] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000474 	 error end=0.000474
[17:12:15.669] After pose optimization, distance between ekf and vo x:0.000672 ,z=0.001230,angle between two frames:0.000509
[17:12:15.669] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:15.669] frame process finished the id is: 209 the obs is:10 
[17:12:15.740] Odometry x=0.039435, y=1.433546, theta=0.001348
[17:12:15.776] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000263 ,z=0.001914,angle between two frames:0.000322
[17:12:15.776] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002559 	 error end=0.002528
[17:12:15.776] After pose optimization, distance between ekf and vo x:0.004180 ,z=0.002575,angle between two frames:0.003499
[17:12:15.776] frame process finished the id is: 209 the obs is:10 
[17:12:15.838] Odometry x=0.040993, y=1.446531, theta=0.001816
[17:12:15.876] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000286 ,z=0.001758,angle between two frames:0.000473
[17:12:15.877] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000940 	 error end=0.000934
[17:12:15.877] After pose optimization, distance between ekf and vo x:0.002260 ,z=0.002149,angle between two frames:0.002281
[17:12:15.877] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:15.877] frame process finished the id is: 211 the obs is:10 
[17:12:15.940] Odometry x=0.042778, y=1.449009, theta=0.000706
[17:12:15.970] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000177 ,z=0.001458,angle between two frames:0.000717
[17:12:15.971] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000001 	 error end=0.000001
[17:12:15.971] After pose optimization, distance between ekf and vo x:-0.000177 ,z=0.001458,angle between two frames:0.000717
[17:12:15.971] frame process finished the id is: 211 the obs is:10 
[17:12:16.037] Odometry x=0.042628, y=1.461998, theta=0.011785
[17:12:16.069] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000232 ,z=0.001535,angle between two frames:0.000726
[17:12:16.070] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000010 	 error end=0.000010
[17:12:16.070] After pose optimization, distance between ekf and vo x:-0.000226 ,z=0.001537,angle between two frames:0.000731
[17:12:16.070] frame process finished the id is: 211 the obs is:10 
[17:12:16.140] Odometry x=0.053262, y=1.472530, theta=0.017269
[17:12:16.167] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000125 ,z=0.000942,angle between two frames:0.000309
[17:12:16.167] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000035 	 error end=0.000035
[17:12:16.167] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000953,angle between two frames:0.000368
[17:12:16.167] frame process finished the id is: 211 the obs is:10 
[17:12:16.237] Odometry x=0.053050, y=1.507499, theta=-0.015104
[17:12:16.277] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000189 ,z=0.001437,angle between two frames:0.000430
[17:12:16.277] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
[17:12:16.277] After pose optimization, distance between ekf and vo x:-0.000189 ,z=0.001437,angle between two frames:0.000430
[17:12:16.277] frame process finished the id is: 211 the obs is:10 
[17:12:16.340] Odometry x=0.053135, y=1.518045, theta=-0.010638
[17:12:16.378] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000129 ,z=0.001812,angle between two frames:0.000880
[17:12:16.378] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000128 	 error end=0.000128
[17:12:16.378] After pose optimization, distance between ekf and vo x:-0.000129 ,z=0.001812,angle between two frames:0.000880
[17:12:16.378] frame process finished the id is: 211 the obs is:10 
[17:12:16.437] Odometry x=0.037528, y=1.528668, theta=-0.018718
[17:12:16.479] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000104 ,z=0.001897,angle between two frames:0.000796
[17:12:16.479] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000019 	 error end=0.000019
[17:12:16.479] After pose optimization, distance between ekf and vo x:-0.000104 ,z=0.001897,angle between two frames:0.000796
[17:12:16.479] frame process finished the id is: 211 the obs is:10 
[17:12:16.536] Odometry x=0.043630, y=1.540130, theta=-0.015996
[17:12:16.583] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000147 ,z=0.001748,angle between two frames:0.000751
[17:12:16.583] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000002 	 error end=0.000002
[17:12:16.583] After pose optimization, distance between ekf and vo x:-0.000147 ,z=0.001748,angle between two frames:0.000751
[17:12:16.583] frame process finished the id is: 211 the obs is:10 
[17:12:16.638] Odometry x=0.043919, y=1.556389, theta=-0.017486
[17:12:16.706] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000168 ,z=0.001474,angle between two frames:0.000665
[17:12:16.706] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000053 	 error end=0.000053
[17:12:16.706] After pose optimization, distance between ekf and vo x:-0.000178 ,z=0.001499,angle between two frames:0.000659
[17:12:16.706] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:16.706] frame process finished the id is: 219 the obs is:10 
[17:12:16.743] Odometry x=0.044586, y=1.558383, theta=-0.017041
[17:12:16.800] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000065 ,z=0.000769,angle between two frames:0.000225
[17:12:16.800] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000003 	 error end=0.000003
[17:12:16.800] After pose optimization, distance between ekf and vo x:-0.000065 ,z=0.000769,angle between two frames:0.000225
[17:12:16.800] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:16.800] frame process finished the id is: 220 the obs is:10 
[17:12:16.839] Odometry x=0.044200, y=1.559866, theta=-0.016629
[17:12:16.902] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000084 ,z=0.000722,angle between two frames:0.000173
[17:12:16.902] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000231 	 error end=0.000231
[17:12:16.902] After pose optimization, distance between ekf and vo x:-0.000832 ,z=0.000636,angle between two frames:0.000287
[17:12:16.902] frame process finished the id is: 220 the obs is:10 
[17:12:16.931] Odometry x=0.044186, y=1.560133, theta=-0.014353
[17:12:16.999] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000099 ,z=0.000732,angle between two frames:0.000203
[17:12:16.999] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000903 	 error end=0.000903
[17:12:16.999] After pose optimization, distance between ekf and vo x:-0.000099 ,z=0.000732,angle between two frames:0.000203
[17:12:16.999] frame process finished the id is: 220 the obs is:10 
[17:12:17.034] Odometry x=0.044413, y=1.564264, theta=-0.025099
[17:12:17.094] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000215 ,z=0.001052,angle between two frames:0.000291
[17:12:17.094] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001053 	 error end=0.001053
[17:12:17.094] After pose optimization, distance between ekf and vo x:-0.000215 ,z=0.001052,angle between two frames:0.000291
[17:12:17.094] frame process finished the id is: 220 the obs is:10 
[17:12:17.136] Odometry x=0.059241, y=1.566503, theta=-0.016733
[17:12:17.185] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000016 ,z=0.000088,angle between two frames:0.000004
[17:12:17.185] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000002 	 error end=0.000002
[17:12:17.185] After pose optimization, distance between ekf and vo x:-0.000016 ,z=0.000088,angle between two frames:0.000004
[17:12:17.185] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:17.185] frame process finished the id is: 224 the obs is:10 
[17:12:17.233] Odometry x=0.059170, y=1.567268, theta=-0.017133
[17:12:17.293] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000013 ,z=0.000339,angle between two frames:0.000047
[17:12:17.293] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 	 error init =0.000001 	 error end=0.000001
[17:12:17.293] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000339,angle between two frames:0.000047
[17:12:17.293] frame process finished the id is: 224 the obs is:10 
[17:12:17.336] Odometry x=0.059282, y=1.585910, theta=-0.033477
[17:12:17.400] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000145 ,z=0.000992,angle between two frames:0.000482
[17:12:17.400] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000033 	 error end=0.000033
[17:12:17.400] After pose optimization, distance between ekf and vo x:-0.000145 ,z=0.000992,angle between two frames:0.000482
[17:12:17.400] frame process finished the id is: 224 the obs is:10 
[17:12:17.433] Odometry x=0.059509, y=1.597535, theta=-0.043943
[17:12:17.508] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000144 ,z=0.001474,angle between two frames:0.000664
[17:12:17.508] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000792 	 error end=0.000792
[17:12:17.508] After pose optimization, distance between ekf and vo x:-0.000144 ,z=0.001474,angle between two frames:0.000664
[17:12:17.508] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:17.508] frame process finished the id is: 227 the obs is:10 
[17:12:17.534] Odometry x=0.059060, y=1.597984, theta=-0.043678
[17:12:17.610] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000228 ,z=0.001582,angle between two frames:0.000675
[17:12:17.610] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.000363 	 error end=0.000363
[17:12:17.610] After pose optimization, distance between ekf and vo x:-0.000451 ,z=0.001549,angle between two frames:0.000544
[17:12:17.610] frame process finished the id is: 227 the obs is:10 
[17:12:17.636] Odometry x=0.060002, y=1.644613, theta=-0.047554
[17:12:17.704] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000035 ,z=0.000663,angle between two frames:0.000270
[17:12:17.704] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000220 	 error end=0.000220
[17:12:17.704] After pose optimization, distance between ekf and vo x:-0.000035 ,z=0.000663,angle between two frames:0.000270
[17:12:17.704] frame process finished the id is: 227 the obs is:10 
[17:12:17.734] Odometry x=0.070738, y=1.654283, theta=-0.056312
[17:12:17.799] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000059 ,z=0.000899,angle between two frames:0.000097
[17:12:17.799] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000052 	 error end=0.000052
[17:12:17.799] After pose optimization, distance between ekf and vo x:0.000059 ,z=0.000899,angle between two frames:0.000097
[17:12:17.799] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:17.799] frame process finished the id is: 230 the obs is:10 
[17:12:17.837] Odometry x=0.070739, y=1.654408, theta=-0.055998
[17:12:17.907] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000070 ,z=0.001479,angle between two frames:0.000449
[17:12:17.907] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001446 	 error end=0.001446
[17:12:17.907] After pose optimization, distance between ekf and vo x:-0.000070 ,z=0.001479,angle between two frames:0.000449
[17:12:17.907] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:17.907] frame process finished the id is: 231 the obs is:10 
[17:12:17.935] Odometry x=0.070793, y=1.656532, theta=-0.056444
[17:12:18.000] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000005 ,z=0.001041,angle between two frames:0.000111
[17:12:18.000] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000044 	 error end=0.000044
[17:12:18.000] After pose optimization, distance between ekf and vo x:-0.000005 ,z=0.001041,angle between two frames:0.000111
[17:12:18.000] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:18.001] frame process finished the id is: 232 the obs is:10 
[17:12:18.033] Odometry x=0.070814, y=1.658244, theta=-0.056911
[17:12:18.107] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000169 ,z=0.001381,angle between two frames:0.000484
[17:12:18.108] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000037 	 error end=0.000037
[17:12:18.108] After pose optimization, distance between ekf and vo x:-0.000169 ,z=0.001381,angle between two frames:0.000484
[17:12:18.108] frame process finished the id is: 232 the obs is:10 
[17:12:18.135] Odometry x=0.070688, y=1.703431, theta=-0.070715
[17:12:18.202] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000067 ,z=0.001055,angle between two frames:0.000489
[17:12:18.202] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000034 	 error end=0.000034
[17:12:18.203] After pose optimization, distance between ekf and vo x:0.000048 ,z=0.001025,angle between two frames:0.000548
[17:12:18.203] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:18.203] frame process finished the id is: 234 the obs is:10 
[17:12:18.233] Odometry x=0.070558, y=1.705018, theta=-0.070703
[17:12:18.300] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000065 ,z=0.000891,angle between two frames:0.000425
[17:12:18.300] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000188 	 error end=0.000188
[17:12:18.300] After pose optimization, distance between ekf and vo x:-0.000065 ,z=0.000891,angle between two frames:0.000425
[17:12:18.300] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:18.300] frame process finished the id is: 235 the obs is:10 
[17:12:18.336] Odometry x=0.070511, y=1.706218, theta=-0.071100
[17:12:18.399] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000048 ,z=0.000984,angle between two frames:0.000178
[17:12:18.399] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000335 	 error end=0.000335
[17:12:18.399] After pose optimization, distance between ekf and vo x:0.000048 ,z=0.000984,angle between two frames:0.000178
[17:12:18.399] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:18.399] frame process finished the id is: 236 the obs is:10 
[17:12:18.436] Odometry x=0.070518, y=1.706100, theta=-0.071293
[17:12:18.500] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000002 ,z=0.000802,angle between two frames:0.000136
[17:12:18.501] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000001 	 error end=0.000001
[17:12:18.501] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000802,angle between two frames:0.000136
[17:12:18.501] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:18.501] frame process finished the id is: 237 the obs is:10 
[17:12:18.533] Odometry x=0.070490, y=1.710686, theta=-0.071232
[17:12:18.600] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000078 ,z=0.001161,angle between two frames:0.000299
[17:12:18.600] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000000 	 error end=0.000000
[17:12:18.600] After pose optimization, distance between ekf and vo x:0.000078 ,z=0.001161,angle between two frames:0.000299
[17:12:18.600] frame process finished the id is: 237 the obs is:10 
[17:12:18.632] Odometry x=0.071040, y=1.725681, theta=-0.064587
[17:12:18.700] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000057 ,z=0.001081,angle between two frames:0.000350
[17:12:18.700] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000005 	 error end=0.000005
[17:12:18.700] After pose optimization, distance between ekf and vo x:0.000057 ,z=0.001081,angle between two frames:0.000350
[17:12:18.700] frame process finished the id is: 237 the obs is:10 
[17:12:18.740] Odometry x=0.063726, y=1.736767, theta=-0.078508
[17:12:18.800] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000042 ,z=0.000550,angle between two frames:0.000112
[17:12:18.800] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000002 	 error end=0.000002
[17:12:18.800] After pose optimization, distance between ekf and vo x:0.000043 ,z=0.000550,angle between two frames:0.000112
[17:12:18.800] frame process finished the id is: 237 the obs is:10 
[17:12:18.833] Odometry x=0.076388, y=1.766427, theta=-0.099220
[17:12:18.901] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000085 ,z=0.000572,angle between two frames:0.000150
[17:12:18.901] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000214 	 error end=0.000214
[17:12:18.901] After pose optimization, distance between ekf and vo x:0.000085 ,z=0.000572,angle between two frames:0.000150
[17:12:18.901] frame process finished the id is: 237 the obs is:10 
[17:12:18.931] Odometry x=0.083605, y=1.794615, theta=-0.105853
[17:12:19.008] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000273 ,z=0.001344,angle between two frames:0.000353
[17:12:19.008] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001503 	 error end=0.001503
[17:12:19.008] After pose optimization, distance between ekf and vo x:0.000273 ,z=0.001344,angle between two frames:0.000353
[17:12:19.008] frame process finished the id is: 237 the obs is:10 
[17:12:19.039] Odometry x=0.080947, y=1.759899, theta=-0.084086
[17:12:19.102] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000050 ,z=0.000625,angle between two frames:0.000152
[17:12:19.103] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000077 	 error end=0.000077
[17:12:19.103] After pose optimization, distance between ekf and vo x:-0.000010 ,z=0.000614,angle between two frames:0.000121
[17:12:19.103] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:19.103] frame process finished the id is: 243 the obs is:10 
[17:12:19.137] Odometry x=0.080967, y=1.761068, theta=-0.083666
[17:12:19.204] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000004 ,z=0.000929,angle between two frames:0.000421
[17:12:19.204] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000184 	 error end=0.000184
[17:12:19.204] After pose optimization, distance between ekf and vo x:-0.000184 ,z=0.000905,angle between two frames:0.000325
[17:12:19.204] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:19.204] frame process finished the id is: 244 the obs is:10 
[17:12:19.234] Odometry x=0.079260, y=1.766490, theta=-0.083028
[17:12:19.301] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000028 ,z=0.000567,angle between two frames:0.000148
[17:12:19.301] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002453 	 error end=0.002453
[17:12:19.301] After pose optimization, distance between ekf and vo x:0.000028 ,z=0.000567,angle between two frames:0.000148
[17:12:19.301] frame process finished the id is: 244 the obs is:10 
[17:12:19.336] Odometry x=0.070389, y=1.803452, theta=-0.076697
[17:12:19.410] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000169 ,z=0.001674,angle between two frames:0.000744
[17:12:19.410] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000012 	 error end=0.000012
[17:12:19.410] After pose optimization, distance between ekf and vo x:0.000169 ,z=0.001674,angle between two frames:0.000744
[17:12:19.410] frame process finished the id is: 244 the obs is:10 
[17:12:19.441] Odometry x=0.069694, y=1.816504, theta=-0.089132
[17:12:19.505] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000078 ,z=0.000591,angle between two frames:0.000092
[17:12:19.505] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000011 	 error end=0.000011
[17:12:19.505] After pose optimization, distance between ekf and vo x:0.000078 ,z=0.000591,angle between two frames:0.000092
[17:12:19.505] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:19.505] frame process finished the id is: 247 the obs is:10 
[17:12:19.540] Odometry x=0.069776, y=1.817562, theta=-0.088601
[17:12:19.599] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000077 ,z=0.000766,angle between two frames:0.000035
[17:12:19.599] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:19.599] After pose optimization, distance between ekf and vo x:0.000077 ,z=0.000766,angle between two frames:0.000035
[17:12:19.599] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:19.599] frame process finished the id is: 248 the obs is:10 
[17:12:19.709] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000221 ,z=0.001334,angle between two frames:0.000076
[17:12:19.709] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000010 	 error end=0.000010
[17:12:19.709] After pose optimization, distance between ekf and vo x:0.000221 ,z=0.001334,angle between two frames:0.000076
[17:12:19.709] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:19.709] frame process finished the id is: 249 the obs is:10 
[17:12:19.805] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000022 ,z=0.000884,angle between two frames:0.000342
[17:12:19.805] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000882 	 error end=0.000882
[17:12:19.805] After pose optimization, distance between ekf and vo x:0.000022 ,z=0.000884,angle between two frames:0.000342
[17:12:19.805] frame process finished the id is: 249 the obs is:10 
[17:12:19.900] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000040 ,z=0.000872,angle between two frames:0.000302
[17:12:19.900] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000615 	 error end=0.000615
[17:12:19.900] After pose optimization, distance between ekf and vo x:0.000040 ,z=0.000872,angle between two frames:0.000302
[17:12:19.900] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:19.901] frame process finished the id is: 251 the obs is:10 
[17:12:20.001] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:0.000188 ,z=0.001135,angle between two frames:0.000194
[17:12:20.001] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.002573 	 error end=0.002573
[17:12:20.001] After pose optimization, distance between ekf and vo x:0.000188 ,z=0.001135,angle between two frames:0.000194
[17:12:20.001] frame process finished the id is: 251 the obs is:10 
[17:12:20.100] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:0.000187 ,z=0.001131,angle between two frames:0.000197
[17:12:20.100] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 	 error init =0.004620 	 error end=0.004620
[17:12:20.100] After pose optimization, distance between ekf and vo x:0.000187 ,z=0.001131,angle between two frames:0.000197
[17:12:20.100] frame process finished the id is: 251 the obs is:10 
[17:12:20.202] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:0.000178 ,z=0.001110,angle between two frames:0.000198
[17:12:20.202] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000000 	 error end=0.000000
[17:12:20.202] After pose optimization, distance between ekf and vo x:0.000178 ,z=0.001110,angle between two frames:0.000198
[17:12:20.202] frame process finished the id is: 251 the obs is:10 
[17:12:20.300] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000160 ,z=0.001079,angle between two frames:0.000205
[17:12:20.300] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000475 	 error end=0.000475
[17:12:20.300] After pose optimization, distance between ekf and vo x:0.000160 ,z=0.001079,angle between two frames:0.000205
[17:12:20.300] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:20.300] frame process finished the id is: 255 the obs is:10 
[17:12:20.409] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000366 ,z=0.001586,angle between two frames:0.000068
[17:12:20.409] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000298 	 error end=0.000298
[17:12:20.409] After pose optimization, distance between ekf and vo x:0.000366 ,z=0.001586,angle between two frames:0.000068
[17:12:20.409] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:20.409] frame process finished the id is: 256 the obs is:10 
[17:12:20.495] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000248,angle between two frames:0.000110
[17:12:20.496] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.000003 	 error end=0.000003
[17:12:20.496] After pose optimization, distance between ekf and vo x:0.000021 ,z=0.000248,angle between two frames:0.000110
[17:12:20.496] frame process finished the id is: 256 the obs is:10 
[17:12:20.598] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000248,angle between two frames:0.000106
[17:12:20.598] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
[17:12:20.598] After pose optimization, distance between ekf and vo x:0.000021 ,z=0.000248,angle between two frames:0.000106
[17:12:20.598] frame process finished the id is: 256 the obs is:10 
[17:12:20.694] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000018 ,z=0.000248,angle between two frames:0.000125
[17:12:20.694] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.004159 	 error end=0.004159
[17:12:20.694] After pose optimization, distance between ekf and vo x:0.000018 ,z=0.000248,angle between two frames:0.000125
[17:12:20.694] frame process finished the id is: 256 the obs is:10 
[17:12:20.794] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000023 ,z=0.000245,angle between two frames:0.000098
[17:12:20.794] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.004765 	 error end=0.004765
[17:12:20.794] After pose optimization, distance between ekf and vo x:0.000023 ,z=0.000245,angle between two frames:0.000098
[17:12:20.794] frame process finished the id is: 256 the obs is:10 
[17:12:20.894] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000244,angle between two frames:0.000104
[17:12:20.894] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000119 	 error end=0.000119
[17:12:20.894] After pose optimization, distance between ekf and vo x:0.000021 ,z=0.000244,angle between two frames:0.000104
[17:12:20.894] frame process finished the id is: 256 the obs is:10 
[17:12:20.993] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000022 ,z=0.000244,angle between two frames:0.000104
[17:12:20.993] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000315 	 error end=0.000315
[17:12:20.993] After pose optimization, distance between ekf and vo x:0.000022 ,z=0.000244,angle between two frames:0.000104
[17:12:20.993] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:20.993] frame process finished the id is: 262 the obs is:10 
[17:12:21.102] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000111 ,z=0.000840,angle between two frames:0.000321
[17:12:21.102] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:21.102] After pose optimization, distance between ekf and vo x:0.000111 ,z=0.000840,angle between two frames:0.000321
[17:12:21.102] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:21.103] frame process finished the id is: 263 the obs is:10 
[17:12:21.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000051 ,z=0.000266,angle between two frames:0.000071
[17:12:21.195] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000811 	 error end=0.000811
[17:12:21.195] After pose optimization, distance between ekf and vo x:0.000051 ,z=0.000266,angle between two frames:0.000071
[17:12:21.195] frame process finished the id is: 263 the obs is:10 
[17:12:21.294] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000051 ,z=0.000266,angle between two frames:0.000071
[17:12:21.294] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000122 	 error end=0.000122
[17:12:21.294] After pose optimization, distance between ekf and vo x:0.000051 ,z=0.000266,angle between two frames:0.000071
[17:12:21.294] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:21.294] frame process finished the id is: 265 the obs is:10 
[17:12:21.401] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000016 ,z=0.000790,angle between two frames:0.000421
[17:12:21.401] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001477 	 error end=0.001477
[17:12:21.401] After pose optimization, distance between ekf and vo x:0.000016 ,z=0.000790,angle between two frames:0.000421
[17:12:21.401] frame process finished the id is: 265 the obs is:10 
[17:12:21.505] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000016 ,z=0.000790,angle between two frames:0.000421
[17:12:21.505] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002865 	 error end=0.002865
[17:12:21.505] After pose optimization, distance between ekf and vo x:0.000016 ,z=0.000790,angle between two frames:0.000421
[17:12:21.505] frame process finished the id is: 265 the obs is:10 
[17:12:21.602] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000016 ,z=0.000788,angle between two frames:0.000419
[17:12:21.602] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:21.602] After pose optimization, distance between ekf and vo x:0.000016 ,z=0.000788,angle between two frames:0.000419
[17:12:21.602] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:21.602] frame process finished the id is: 268 the obs is:10 
[17:12:21.702] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000024 ,z=0.000787,angle between two frames:0.000387
[17:12:21.702] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
[17:12:21.702] After pose optimization, distance between ekf and vo x:0.000024 ,z=0.000787,angle between two frames:0.000387
[17:12:21.702] frame process finished the id is: 268 the obs is:10 
[17:12:21.801] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000024 ,z=0.000787,angle between two frames:0.000386
[17:12:21.801] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000722 	 error end=0.000722
[17:12:21.801] After pose optimization, distance between ekf and vo x:0.000024 ,z=0.000787,angle between two frames:0.000386
[17:12:21.801] frame process finished the id is: 268 the obs is:10 
[17:12:21.902] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000023 ,z=0.000787,angle between two frames:0.000388
[17:12:21.902] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.000055 	 error end=0.000055
[17:12:21.902] After pose optimization, distance between ekf and vo x:0.000023 ,z=0.000787,angle between two frames:0.000388
[17:12:21.902] frame process finished the id is: 268 the obs is:10 
[17:12:22.003] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000025 ,z=0.000787,angle between two frames:0.000384
[17:12:22.003] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:22.003] After pose optimization, distance between ekf and vo x:0.000025 ,z=0.000787,angle between two frames:0.000384
[17:12:22.003] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:22.003] frame process finished the id is: 272 the obs is:10 
[17:12:22.101] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000032 ,z=0.000833,angle between two frames:0.000266
[17:12:22.101] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000203 	 error end=0.000203
[17:12:22.101] After pose optimization, distance between ekf and vo x:0.000032 ,z=0.000833,angle between two frames:0.000266
[17:12:22.101] frame process finished the id is: 272 the obs is:10 
[17:12:22.201] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000032 ,z=0.000831,angle between two frames:0.000266
[17:12:22.202] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001368 	 error end=0.001368
[17:12:22.202] After pose optimization, distance between ekf and vo x:0.000032 ,z=0.000831,angle between two frames:0.000266
[17:12:22.202] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:22.202] frame process finished the id is: 274 the obs is:10 
[17:12:22.309] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000176 ,z=0.001163,angle between two frames:0.000029
[17:12:22.309] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000006 	 error end=0.000006
[17:12:22.309] After pose optimization, distance between ekf and vo x:0.000176 ,z=0.001163,angle between two frames:0.000029
[17:12:22.309] frame process finished the id is: 274 the obs is:10 
[17:12:22.411] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000176 ,z=0.001164,angle between two frames:0.000028
[17:12:22.412] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000460 	 error end=0.000460
[17:12:22.412] After pose optimization, distance between ekf and vo x:0.000176 ,z=0.001164,angle between two frames:0.000028
[17:12:22.412] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:22.412] frame process finished the id is: 276 the obs is:10 
[17:12:22.514] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000174 ,z=0.001339,angle between two frames:0.000095
[17:12:22.514] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002709 	 error end=0.002709
[17:12:22.514] After pose optimization, distance between ekf and vo x:0.000174 ,z=0.001339,angle between two frames:0.000095
[17:12:22.514] frame process finished the id is: 276 the obs is:10 
[17:12:22.616] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000173 ,z=0.001339,angle between two frames:0.000096
[17:12:22.616] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000095 	 error end=0.000095
[17:12:22.616] After pose optimization, distance between ekf and vo x:0.000179 ,z=0.001311,angle between two frames:0.000098
[17:12:22.616] frame process finished the id is: 276 the obs is:10 
[17:12:22.718] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000173 ,z=0.001340,angle between two frames:0.000095
[17:12:22.718] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000016 	 error end=0.000016
[17:12:22.718] After pose optimization, distance between ekf and vo x:0.000218 ,z=0.001330,angle between two frames:0.000117
[17:12:22.718] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:22.718] frame process finished the id is: 279 the obs is:10 
[17:12:22.817] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000185 ,z=0.001101,angle between two frames:0.000006
[17:12:22.817] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000139 	 error end=0.000139
[17:12:22.817] After pose optimization, distance between ekf and vo x:0.000185 ,z=0.001101,angle between two frames:0.000006
[17:12:22.817] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:22.817] frame process finished the id is: 280 the obs is:10 
[17:12:22.920] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.001333,angle between two frames:0.000031
[17:12:22.920] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001463 	 error end=0.001463
[17:12:22.920] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.001333,angle between two frames:0.000031
[17:12:22.920] frame process finished the id is: 280 the obs is:10 
[17:12:23.021] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.001336,angle between two frames:0.000032
[17:12:23.021] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000027 	 error end=0.000027
[17:12:23.021] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.001336,angle between two frames:0.000032
[17:12:23.021] frame process finished the id is: 280 the obs is:10 
[17:12:23.124] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000210 ,z=0.001336,angle between two frames:0.000030
[17:12:23.124] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001305 	 error end=0.001305
[17:12:23.124] After pose optimization, distance between ekf and vo x:0.000210 ,z=0.001336,angle between two frames:0.000030
[17:12:23.124] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:23.124] frame process finished the id is: 283 the obs is:10 
[17:12:23.226] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000226 ,z=0.001396,angle between two frames:0.000045
[17:12:23.227] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000130 	 error end=0.000130
[17:12:23.227] After pose optimization, distance between ekf and vo x:0.000432 ,z=0.001325,angle between two frames:0.000052
[17:12:23.227] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:23.227] frame process finished the id is: 284 the obs is:10 
[17:12:23.329] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000229 ,z=0.001417,angle between two frames:0.000038
[17:12:23.330] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000015 	 error end=0.000015
[17:12:23.330] After pose optimization, distance between ekf and vo x:0.000269 ,z=0.001409,angle between two frames:0.000019
[17:12:23.330] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:23.330] frame process finished the id is: 285 the obs is:10 
[17:12:23.432] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000214 ,z=0.001418,angle between two frames:0.000048
[17:12:23.432] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000121 	 error end=0.000121
[17:12:23.432] After pose optimization, distance between ekf and vo x:0.000214 ,z=0.001418,angle between two frames:0.000048
[17:12:23.432] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:23.432] frame process finished the id is: 286 the obs is:10 
[17:12:23.534] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000212 ,z=0.001441,angle between two frames:0.000079
[17:12:23.534] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000229 	 error end=0.000229
[17:12:23.534] After pose optimization, distance between ekf and vo x:0.000212 ,z=0.001441,angle between two frames:0.000079
[17:12:23.534] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:23.534] frame process finished the id is: 287 the obs is:10 
[17:12:23.630] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000129 ,z=0.000642,angle between two frames:0.000039
[17:12:23.630] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001802 	 error end=0.001802
[17:12:23.630] After pose optimization, distance between ekf and vo x:0.000129 ,z=0.000642,angle between two frames:0.000039
[17:12:23.630] frame process finished the id is: 287 the obs is:10 
[17:12:23.726] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000129 ,z=0.000642,angle between two frames:0.000039
[17:12:23.727] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000410 	 error end=0.000410
[17:12:23.727] After pose optimization, distance between ekf and vo x:0.000129 ,z=0.000642,angle between two frames:0.000039
[17:12:23.727] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:23.727] frame process finished the id is: 289 the obs is:10 
[17:12:23.818] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000027 ,z=0.000273,angle between two frames:0.000121
[17:12:23.818] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000453 	 error end=0.000453
[17:12:23.818] After pose optimization, distance between ekf and vo x:0.000027 ,z=0.000273,angle between two frames:0.000121
[17:12:23.818] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:23.818] frame process finished the id is: 290 the obs is:10 
[17:12:23.914] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000115 ,z=0.000638,angle between two frames:0.000076
[17:12:23.914] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001499 	 error end=0.001499
[17:12:23.914] After pose optimization, distance between ekf and vo x:0.000115 ,z=0.000638,angle between two frames:0.000076
[17:12:23.914] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:23.914] frame process finished the id is: 291 the obs is:10 
[17:12:24.008] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000118 ,z=0.000655,angle between two frames:0.000056
[17:12:24.009] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.003242 	 error end=0.003242
[17:12:24.009] After pose optimization, distance between ekf and vo x:0.000118 ,z=0.000655,angle between two frames:0.000056
[17:12:24.009] frame process finished the id is: 291 the obs is:10 
[17:12:24.103] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000117 ,z=0.000655,angle between two frames:0.000057
[17:12:24.103] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000374 	 error end=0.000374
[17:12:24.103] After pose optimization, distance between ekf and vo x:0.000117 ,z=0.000655,angle between two frames:0.000057
[17:12:24.103] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:24.103] frame process finished the id is: 293 the obs is:10 
[17:12:24.201] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000119 ,z=0.000661,angle between two frames:0.000063
[17:12:24.202] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:24.202] After pose optimization, distance between ekf and vo x:0.000119 ,z=0.000661,angle between two frames:0.000063
[17:12:24.202] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:24.202] frame process finished the id is: 294 the obs is:10 
[17:12:24.302] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000104 ,z=0.000669,angle between two frames:0.000076
[17:12:24.302] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000262 	 error end=0.000262
[17:12:24.302] After pose optimization, distance between ekf and vo x:0.000104 ,z=0.000669,angle between two frames:0.000076
[17:12:24.302] frame process finished the id is: 294 the obs is:10 
[17:12:24.402] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000669,angle between two frames:0.000076
[17:12:24.402] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.000041 	 error end=0.000041
[17:12:24.402] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000669,angle between two frames:0.000076
[17:12:24.402] frame process finished the id is: 294 the obs is:10 
[17:12:24.502] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000671,angle between two frames:0.000075
[17:12:24.502] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000059 	 error end=0.000059
[17:12:24.502] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000671,angle between two frames:0.000075
[17:12:24.502] frame process finished the id is: 294 the obs is:10 
[17:12:24.602] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000669,angle between two frames:0.000076
[17:12:24.602] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000240 	 error end=0.000240
[17:12:24.602] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000669,angle between two frames:0.000076
[17:12:24.602] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:24.602] frame process finished the id is: 298 the obs is:10 
[17:12:24.705] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078
[17:12:24.705] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002073 	 error end=0.002073
[17:12:24.705] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078
[17:12:24.705] frame process finished the id is: 298 the obs is:10 
[17:12:24.803] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078
[17:12:24.803] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000351 	 error end=0.000351
[17:12:24.803] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078
[17:12:24.803] frame process finished the id is: 298 the obs is:10 
[17:12:24.907] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078
[17:12:24.907] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000210 	 error end=0.000210
[17:12:24.907] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078
[17:12:24.907] frame process finished the id is: 298 the obs is:10 
[17:12:25.001] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000077
[17:12:25.001] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000820 	 error end=0.000820
[17:12:25.001] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000077
[17:12:25.001] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:25.001] frame process finished the id is: 302 the obs is:10 
[17:12:25.100] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000153 ,z=0.000665,angle between two frames:0.000080
[17:12:25.100] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:25.100] After pose optimization, distance between ekf and vo x:0.000153 ,z=0.000665,angle between two frames:0.000080
[17:12:25.100] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:25.100] frame process finished the id is: 303 the obs is:10 
[17:12:25.202] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000088 ,z=0.000699,angle between two frames:0.000180
[17:12:25.202] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.002352 	 error end=0.002352
[17:12:25.202] After pose optimization, distance between ekf and vo x:0.000088 ,z=0.000699,angle between two frames:0.000180
[17:12:25.202] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:25.202] frame process finished the id is: 304 the obs is:10 
[17:12:25.301] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000133 ,z=0.000676,angle between two frames:0.000049
[17:12:25.301] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:25.301] After pose optimization, distance between ekf and vo x:0.000133 ,z=0.000676,angle between two frames:0.000049
[17:12:25.301] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:25.301] frame process finished the id is: 305 the obs is:10 
[17:12:25.400] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000082 ,z=0.000714,angle between two frames:0.000167
[17:12:25.401] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000001 	 error end=0.000001
[17:12:25.401] After pose optimization, distance between ekf and vo x:0.000082 ,z=0.000714,angle between two frames:0.000167
[17:12:25.401] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:25.401] frame process finished the id is: 306 the obs is:10 
[17:12:25.502] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000140 ,z=0.000711,angle between two frames:0.000049
[17:12:25.502] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000352 	 error end=0.000352
[17:12:25.502] After pose optimization, distance between ekf and vo x:0.000140 ,z=0.000711,angle between two frames:0.000049
[17:12:25.502] frame process finished the id is: 306 the obs is:10 
[17:12:25.601] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000140 ,z=0.000705,angle between two frames:0.000050
[17:12:25.602] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000016 	 error end=0.000016
[17:12:25.602] After pose optimization, distance between ekf and vo x:0.000140 ,z=0.000705,angle between two frames:0.000050
[17:12:25.602] frame process finished the id is: 306 the obs is:10 
[17:12:25.702] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000140 ,z=0.000707,angle between two frames:0.000050
[17:12:25.702] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000003 	 error end=0.000003
[17:12:25.702] After pose optimization, distance between ekf and vo x:0.000140 ,z=0.000707,angle between two frames:0.000050
[17:12:25.702] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:25.702] frame process finished the id is: 309 the obs is:10 
[17:12:25.802] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000128 ,z=0.000688,angle between two frames:0.000014
[17:12:25.802] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000021 	 error end=0.000021
[17:12:25.802] After pose optimization, distance between ekf and vo x:0.000128 ,z=0.000688,angle between two frames:0.000014
[17:12:25.802] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:25.802] frame process finished the id is: 310 the obs is:10 
[17:12:25.905] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000161 ,z=0.000741,angle between two frames:0.000120
[17:12:25.905] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:25.905] After pose optimization, distance between ekf and vo x:0.000161 ,z=0.000741,angle between two frames:0.000120
[17:12:25.905] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:25.905] frame process finished the id is: 311 the obs is:10 
[17:12:26.001] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000152 ,z=0.000758,angle between two frames:0.000077
[17:12:26.001] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000434 	 error end=0.000434
[17:12:26.001] After pose optimization, distance between ekf and vo x:0.000152 ,z=0.000758,angle between two frames:0.000077
[17:12:26.001] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:26.001] frame process finished the id is: 312 the obs is:10 
[17:12:26.102] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000178 ,z=0.000743,angle between two frames:0.000174
[17:12:26.102] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000023 	 error end=0.000023
[17:12:26.102] After pose optimization, distance between ekf and vo x:0.000178 ,z=0.000743,angle between two frames:0.000174
[17:12:26.102] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:26.102] frame process finished the id is: 313 the obs is:10 
[17:12:26.202] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000166 ,z=0.000758,angle between two frames:0.000122
[17:12:26.202] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000002 	 error end=0.000002
[17:12:26.202] After pose optimization, distance between ekf and vo x:0.000166 ,z=0.000758,angle between two frames:0.000122
[17:12:26.202] frame process finished the id is: 313 the obs is:10 
[17:12:26.302] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000166 ,z=0.000759,angle between two frames:0.000121
[17:12:26.302] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000434 	 error end=0.000434
[17:12:26.302] After pose optimization, distance between ekf and vo x:0.000166 ,z=0.000759,angle between two frames:0.000121
[17:12:26.302] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:26.302] frame process finished the id is: 315 the obs is:10 
[17:12:26.406] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000178 ,z=0.000749,angle between two frames:0.000167
[17:12:26.406] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:26.406] After pose optimization, distance between ekf and vo x:0.000178 ,z=0.000749,angle between two frames:0.000167
[17:12:26.406] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:26.406] frame process finished the id is: 316 the obs is:10 
[17:12:26.487] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000017 ,z=0.000073,angle between two frames:0.000034
[17:12:26.487] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000307 	 error end=0.000307
[17:12:26.487] After pose optimization, distance between ekf and vo x:0.000017 ,z=0.000073,angle between two frames:0.000034
[17:12:26.487] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:26.487] frame process finished the id is: 317 the obs is:10 
[17:12:26.587] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
[17:12:26.587] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000001 	 error end=0.000001
[17:12:26.587] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
[17:12:26.587] frame process finished the id is: 317 the obs is:10 
[17:12:26.687] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
[17:12:26.687] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.000000 	 error end=0.000000
[17:12:26.687] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
[17:12:26.687] frame process finished the id is: 317 the obs is:10 
[17:12:26.786] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
[17:12:26.786] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000569 	 error end=0.000569
[17:12:26.786] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
[17:12:26.786] frame process finished the id is: 317 the obs is:10 
[17:12:26.887] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
[17:12:26.887] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000046 	 error end=0.000046
[17:12:26.887] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
[17:12:26.887] frame process finished the id is: 317 the obs is:10 
[17:12:27.000] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
[17:12:27.001] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000003 	 error end=0.000003
[17:12:27.001] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
[17:12:27.001] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:27.001] frame process finished the id is: 322 the obs is:10 
[17:12:27.087] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000020 ,z=0.000073,angle between two frames:0.000041
[17:12:27.087] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000001 	 error end=0.000001
[17:12:27.087] After pose optimization, distance between ekf and vo x:0.000020 ,z=0.000073,angle between two frames:0.000041
[17:12:27.087] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:27.087] frame process finished the id is: 323 the obs is:10 
[17:12:27.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000100 ,z=0.000352,angle between two frames:0.000107
[17:12:27.195] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000073 	 error end=0.000073
[17:12:27.195] After pose optimization, distance between ekf and vo x:0.000100 ,z=0.000352,angle between two frames:0.000107
[17:12:27.195] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:27.195] frame process finished the id is: 324 the obs is:10 
[17:12:27.301] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000168 ,z=0.000776,angle between two frames:0.000116
[17:12:27.301] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000370 	 error end=0.000370
[17:12:27.301] After pose optimization, distance between ekf and vo x:0.000168 ,z=0.000776,angle between two frames:0.000116
[17:12:27.301] frame process finished the id is: 324 the obs is:10 
[17:12:27.401] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000167 ,z=0.000776,angle between two frames:0.000115
[17:12:27.401] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000005 	 error end=0.000005
[17:12:27.401] After pose optimization, distance between ekf and vo x:0.000167 ,z=0.000776,angle between two frames:0.000115
[17:12:27.401] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:27.401] frame process finished the id is: 326 the obs is:10 
[17:12:27.502] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000169 ,z=0.000779,angle between two frames:0.000116
[17:12:27.502] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.002371 	 error end=0.002371
[17:12:27.502] After pose optimization, distance between ekf and vo x:0.000169 ,z=0.000779,angle between two frames:0.000116
[17:12:27.502] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:27.502] frame process finished the id is: 327 the obs is:10 
[17:12:27.601] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000168 ,z=0.000792,angle between two frames:0.000101
[17:12:27.602] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000809 	 error end=0.000809
[17:12:27.602] After pose optimization, distance between ekf and vo x:0.000168 ,z=0.000792,angle between two frames:0.000101
[17:12:27.602] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:27.602] frame process finished the id is: 328 the obs is:10 
[17:12:27.701] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000184 ,z=0.000781,angle between two frames:0.000165
[17:12:27.701] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001255 	 error end=0.001255
[17:12:27.701] After pose optimization, distance between ekf and vo x:0.000184 ,z=0.000781,angle between two frames:0.000165
[17:12:27.701] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:27.701] frame process finished the id is: 329 the obs is:10 
[17:12:27.800] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000172 ,z=0.000791,angle between two frames:0.000117
[17:12:27.801] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000009 	 error end=0.000009
[17:12:27.801] After pose optimization, distance between ekf and vo x:0.000172 ,z=0.000790,angle between two frames:0.000117
[17:12:27.801] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:27.801] frame process finished the id is: 330 the obs is:10 
[17:12:27.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000095 ,z=0.000334,angle between two frames:0.000096
[17:12:27.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000101 	 error end=0.000101
[17:12:27.895] After pose optimization, distance between ekf and vo x:0.000095 ,z=0.000334,angle between two frames:0.000096
[17:12:27.895] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:27.895] frame process finished the id is: 331 the obs is:10 
[17:12:28.001] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000177 ,z=0.000806,angle between two frames:0.000117
[17:12:28.001] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000054 	 error end=0.000054
[17:12:28.001] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000806,angle between two frames:0.000117
[17:12:28.001] frame process finished the id is: 331 the obs is:10 
[17:12:28.101] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000177 ,z=0.000807,angle between two frames:0.000116
[17:12:28.101] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 	 error init =0.004330 	 error end=0.004330
[17:12:28.101] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000807,angle between two frames:0.000116
[17:12:28.101] frame process finished the id is: 331 the obs is:10 
[17:12:28.202] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000177 ,z=0.000806,angle between two frames:0.000116
[17:12:28.202] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.002880 	 error end=0.002880
[17:12:28.202] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000806,angle between two frames:0.000116
[17:12:28.202] frame process finished the id is: 331 the obs is:10 
[17:12:28.303] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000177 ,z=0.000810,angle between two frames:0.000117
[17:12:28.303] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000018 	 error end=0.000018
[17:12:28.303] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000810,angle between two frames:0.000117
[17:12:28.303] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:28.303] frame process finished the id is: 335 the obs is:10 
[17:12:28.401] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000175 ,z=0.000804,angle between two frames:0.000115
[17:12:28.401] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000671 	 error end=0.000671
[17:12:28.401] After pose optimization, distance between ekf and vo x:0.000175 ,z=0.000804,angle between two frames:0.000115
[17:12:28.401] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:28.401] frame process finished the id is: 336 the obs is:10 
[17:12:28.496] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102
[17:12:28.496] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000766 	 error end=0.000766
[17:12:28.496] After pose optimization, distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102
[17:12:28.496] frame process finished the id is: 336 the obs is:10 
[17:12:28.596] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102
[17:12:28.596] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000009 	 error end=0.000009
[17:12:28.596] After pose optimization, distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102
[17:12:28.596] frame process finished the id is: 336 the obs is:10 
[17:12:28.697] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102
[17:12:28.697] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:28.697] After pose optimization, distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102
[17:12:28.697] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:28.697] frame process finished the id is: 339 the obs is:10 
[17:12:28.803] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000195 ,z=0.000822,angle between two frames:0.000200
[17:12:28.803] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000011 	 error end=0.000011
[17:12:28.803] After pose optimization, distance between ekf and vo x:0.000195 ,z=0.000822,angle between two frames:0.000200
[17:12:28.803] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:28.803] frame process finished the id is: 340 the obs is:10 
[17:12:28.903] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000195 ,z=0.000823,angle between two frames:0.000199
[17:12:28.903] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001306 	 error end=0.001306
[17:12:28.903] After pose optimization, distance between ekf and vo x:0.000195 ,z=0.000823,angle between two frames:0.000199
[17:12:28.903] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:28.903] frame process finished the id is: 341 the obs is:10 
[17:12:29.003] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000197 ,z=0.000831,angle between two frames:0.000200
[17:12:29.003] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000077 	 error end=0.000077
[17:12:29.003] After pose optimization, distance between ekf and vo x:0.000197 ,z=0.000831,angle between two frames:0.000200
[17:12:29.003] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:29.003] frame process finished the id is: 342 the obs is:10 
[17:12:29.095] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000377,angle between two frames:0.000072
[17:12:29.095] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000328 	 error end=0.000328
[17:12:29.095] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000377,angle between two frames:0.000072
[17:12:29.095] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:29.095] frame process finished the id is: 343 the obs is:10 
[17:12:29.196] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000094 ,z=0.000376,angle between two frames:0.000072
[17:12:29.196] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000014 	 error end=0.000014
[17:12:29.196] After pose optimization, distance between ekf and vo x:0.000094 ,z=0.000376,angle between two frames:0.000072
[17:12:29.196] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:29.196] frame process finished the id is: 344 the obs is:10 
[17:12:29.303] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000202 ,z=0.000842,angle between two frames:0.000206
[17:12:29.303] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000324 	 error end=0.000324
[17:12:29.303] After pose optimization, distance between ekf and vo x:0.000202 ,z=0.000842,angle between two frames:0.000206
[17:12:29.303] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:29.303] frame process finished the id is: 345 the obs is:10 
[17:12:29.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000101 ,z=0.000381,angle between two frames:0.000095
[17:12:29.395] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000311 	 error end=0.000311
[17:12:29.395] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000346,angle between two frames:0.000100
[17:12:29.395] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:29.395] frame process finished the id is: 346 the obs is:10 
[17:12:29.497] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000466,angle between two frames:0.000144
[17:12:29.497] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000004 	 error end=0.000004
[17:12:29.497] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000466,angle between two frames:0.000144
[17:12:29.497] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:29.497] frame process finished the id is: 347 the obs is:10 
[17:12:29.595] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
[17:12:29.595] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001685 	 error end=0.001685
[17:12:29.595] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
[17:12:29.595] frame process finished the id is: 347 the obs is:10 
[17:12:29.696] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
[17:12:29.696] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000023 	 error end=0.000023
[17:12:29.696] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
[17:12:29.696] frame process finished the id is: 347 the obs is:10 
[17:12:29.799] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
[17:12:29.799] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002604 	 error end=0.002604
[17:12:29.799] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
[17:12:29.799] frame process finished the id is: 347 the obs is:10 
[17:12:29.894] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
[17:12:29.894] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000002 	 error end=0.000002
[17:12:29.894] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
[17:12:29.894] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:29.894] frame process finished the id is: 351 the obs is:10 
[17:12:29.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000382,angle between two frames:0.000058
[17:12:29.994] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000024 	 error end=0.000024
[17:12:29.994] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000382,angle between two frames:0.000058
[17:12:29.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:29.994] frame process finished the id is: 352 the obs is:10 
[17:12:30.094] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057
[17:12:30.094] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.002791 	 error end=0.002791
[17:12:30.094] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057
[17:12:30.094] frame process finished the id is: 352 the obs is:10 
[17:12:30.197] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057
[17:12:30.197] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000761 	 error end=0.000761
[17:12:30.197] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057
[17:12:30.197] frame process finished the id is: 352 the obs is:10 
[17:12:30.297] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057
[17:12:30.297] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000002 	 error end=0.000002
[17:12:30.297] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057
[17:12:30.297] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:30.297] frame process finished the id is: 355 the obs is:10 
[17:12:30.396] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000381,angle between two frames:0.000057
[17:12:30.396] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000011 	 error end=0.000011
[17:12:30.396] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000381,angle between two frames:0.000057
[17:12:30.396] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:30.396] frame process finished the id is: 356 the obs is:10 
[17:12:30.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000115 ,z=0.000381,angle between two frames:0.000148
[17:12:30.494] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000887 	 error end=0.000887
[17:12:30.494] After pose optimization, distance between ekf and vo x:0.000115 ,z=0.000381,angle between two frames:0.000148
[17:12:30.494] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:30.494] frame process finished the id is: 357 the obs is:10 
[17:12:30.596] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147
[17:12:30.596] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000038 	 error end=0.000038
[17:12:30.596] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147
[17:12:30.596] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:30.596] frame process finished the id is: 358 the obs is:10 
[17:12:30.696] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000097 ,z=0.000374,angle between two frames:0.000090
[17:12:30.697] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:30.697] After pose optimization, distance between ekf and vo x:0.000097 ,z=0.000374,angle between two frames:0.000090
[17:12:30.697] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:30.697] frame process finished the id is: 359 the obs is:10 
[17:12:30.795] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000099 ,z=0.000376,angle between two frames:0.000090
[17:12:30.795] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:30.795] After pose optimization, distance between ekf and vo x:0.000099 ,z=0.000376,angle between two frames:0.000090
[17:12:30.795] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:30.795] frame process finished the id is: 360 the obs is:10 
[17:12:30.892] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000313,angle between two frames:0.000124
[17:12:30.893] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000003 	 error end=0.000003
[17:12:30.893] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000313,angle between two frames:0.000124
[17:12:30.893] frame process finished the id is: 360 the obs is:10 
[17:12:30.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000146
[17:12:30.995] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000000 	 error end=0.000000
[17:12:30.995] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000146
[17:12:30.995] frame process finished the id is: 360 the obs is:10 
[17:12:31.096] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000111 ,z=0.000371,angle between two frames:0.000144
[17:12:31.096] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000018 	 error end=0.000018
[17:12:31.096] After pose optimization, distance between ekf and vo x:0.000111 ,z=0.000371,angle between two frames:0.000144
[17:12:31.096] frame process finished the id is: 360 the obs is:10 
[17:12:31.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147
[17:12:31.195] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.001162 	 error end=0.001162
[17:12:31.195] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147
[17:12:31.195] frame process finished the id is: 360 the obs is:10 
[17:12:31.295] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147
[17:12:31.295] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000046 	 error end=0.000046
[17:12:31.295] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147
[17:12:31.295] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:31.295] frame process finished the id is: 365 the obs is:10 
[17:12:31.395] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
[17:12:31.395] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000005 	 error end=0.000005
[17:12:31.395] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
[17:12:31.395] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:31.395] frame process finished the id is: 366 the obs is:10 
[17:12:31.500] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000089 ,z=0.000374,angle between two frames:0.000057
[17:12:31.500] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000082 	 error end=0.000082
[17:12:31.500] After pose optimization, distance between ekf and vo x:0.000089 ,z=0.000374,angle between two frames:0.000057
[17:12:31.500] frame process finished the id is: 366 the obs is:10 
[17:12:31.595] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000089 ,z=0.000374,angle between two frames:0.000057
[17:12:31.595] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:31.595] After pose optimization, distance between ekf and vo x:0.000089 ,z=0.000374,angle between two frames:0.000057
[17:12:31.595] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:31.595] frame process finished the id is: 368 the obs is:10 
[17:12:31.696] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000057
[17:12:31.696] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000018 	 error end=0.000018
[17:12:31.696] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000057
[17:12:31.696] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:31.696] frame process finished the id is: 369 the obs is:10 
[17:12:31.793] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057
[17:12:31.793] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001738 	 error end=0.001738
[17:12:31.793] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057
[17:12:31.793] frame process finished the id is: 369 the obs is:10 
[17:12:31.897] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057
[17:12:31.897] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
[17:12:31.897] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057
[17:12:31.897] frame process finished the id is: 369 the obs is:10 
[17:12:31.997] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057
[17:12:31.997] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000064 	 error end=0.000064
[17:12:31.997] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057
[17:12:31.997] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:31.997] frame process finished the id is: 372 the obs is:10 
[17:12:32.096] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000058
[17:12:32.096] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000587 	 error end=0.000587
[17:12:32.096] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000058
[17:12:32.096] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:32.096] frame process finished the id is: 373 the obs is:10 
[17:12:32.200] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000381,angle between two frames:0.000058
[17:12:32.200] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.001211 	 error end=0.001211
[17:12:32.200] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000381,angle between two frames:0.000058
[17:12:32.200] frame process finished the id is: 373 the obs is:10 
[17:12:32.297] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000381,angle between two frames:0.000057
[17:12:32.297] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
[17:12:32.297] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000381,angle between two frames:0.000057
[17:12:32.297] frame process finished the id is: 373 the obs is:10 
[17:12:32.393] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000382,angle between two frames:0.000058
[17:12:32.393] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000045 	 error end=0.000045
[17:12:32.394] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000382,angle between two frames:0.000058
[17:12:32.394] frame process finished the id is: 373 the obs is:10 
[17:12:32.495] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000381,angle between two frames:0.000058
[17:12:32.495] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001533 	 error end=0.001533
[17:12:32.495] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000381,angle between two frames:0.000058
[17:12:32.495] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:32.495] frame process finished the id is: 377 the obs is:10 
[17:12:32.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000386,angle between two frames:0.000112
[17:12:32.594] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000659 	 error end=0.000659
[17:12:32.594] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000386,angle between two frames:0.000112
[17:12:32.594] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:32.594] frame process finished the id is: 378 the obs is:10 
[17:12:32.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000098 ,z=0.000374,angle between two frames:0.000090
[17:12:32.695] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000129 	 error end=0.000129
[17:12:32.695] After pose optimization, distance between ekf and vo x:0.000098 ,z=0.000374,angle between two frames:0.000090
[17:12:32.695] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:32.695] frame process finished the id is: 379 the obs is:10 
[17:12:32.794] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000058
[17:12:32.794] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.002353 	 error end=0.002353
[17:12:32.794] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000058
[17:12:32.794] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:32.794] frame process finished the id is: 380 the obs is:10 
[17:12:32.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
[17:12:32.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.003354 	 error end=0.003354
[17:12:32.895] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
[17:12:32.895] frame process finished the id is: 380 the obs is:10 
[17:12:32.996] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
[17:12:32.996] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000146 	 error end=0.000146
[17:12:32.996] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
[17:12:32.996] frame process finished the id is: 380 the obs is:10 
[17:12:33.097] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
[17:12:33.097] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000075 	 error end=0.000075
[17:12:33.097] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
[17:12:33.097] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:33.097] frame process finished the id is: 383 the obs is:10 
[17:12:33.194] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000085 ,z=0.000352,angle between two frames:0.000045
[17:12:33.194] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000028 	 error end=0.000028
[17:12:33.194] After pose optimization, distance between ekf and vo x:0.000085 ,z=0.000352,angle between two frames:0.000045
[17:12:33.194] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:33.195] frame process finished the id is: 384 the obs is:10 
[17:12:33.297] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000385,angle between two frames:0.000112
[17:12:33.297] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:33.297] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000385,angle between two frames:0.000112
[17:12:33.297] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:33.297] frame process finished the id is: 385 the obs is:10 
[17:12:33.396] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000384,angle between two frames:0.000058
[17:12:33.396] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000198 	 error end=0.000198
[17:12:33.396] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000384,angle between two frames:0.000058
[17:12:33.396] frame process finished the id is: 385 the obs is:10 
[17:12:33.493] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000383,angle between two frames:0.000058
[17:12:33.493] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 	 error init =0.004361 	 error end=0.004361
[17:12:33.493] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000383,angle between two frames:0.000058
[17:12:33.493] frame process finished the id is: 385 the obs is:10 
[17:12:33.595] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000386,angle between two frames:0.000058
[17:12:33.595] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000444 	 error end=0.000444
[17:12:33.595] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000386,angle between two frames:0.000058
[17:12:33.595] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:33.595] frame process finished the id is: 388 the obs is:10 
[17:12:33.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000058
[17:12:33.695] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.003443 	 error end=0.003443
[17:12:33.695] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000058
[17:12:33.695] frame process finished the id is: 388 the obs is:10 
[17:12:33.795] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000058
[17:12:33.795] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000037 	 error end=0.000037
[17:12:33.795] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000058
[17:12:33.795] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:33.795] frame process finished the id is: 390 the obs is:10 
[17:12:33.892] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000071 ,z=0.000244,angle between two frames:0.000101
[17:12:33.892] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000002 	 error end=0.000002
[17:12:33.892] After pose optimization, distance between ekf and vo x:0.000071 ,z=0.000244,angle between two frames:0.000101
[17:12:33.892] frame process finished the id is: 390 the obs is:10 
[17:12:33.993] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000113 ,z=0.000381,angle between two frames:0.000146
[17:12:33.994] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:33.994] After pose optimization, distance between ekf and vo x:0.000113 ,z=0.000381,angle between two frames:0.000146
[17:12:33.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:33.994] frame process finished the id is: 392 the obs is:10 
[17:12:34.094] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066
[17:12:34.094] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000003 	 error end=0.000003
[17:12:34.094] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066
[17:12:34.094] frame process finished the id is: 392 the obs is:10 
[17:12:34.197] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066
[17:12:34.197] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001740 	 error end=0.001740
[17:12:34.197] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066
[17:12:34.197] frame process finished the id is: 392 the obs is:10 
[17:12:34.296] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066
[17:12:34.296] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000018 	 error end=0.000018
[17:12:34.296] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066
[17:12:34.296] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:34.296] frame process finished the id is: 395 the obs is:10 
[17:12:34.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000374,angle between two frames:0.000065
[17:12:34.394] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000003 	 error end=0.000003
[17:12:34.394] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000374,angle between two frames:0.000065
[17:12:34.394] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:34.394] frame process finished the id is: 396 the obs is:10 
[17:12:34.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
[17:12:34.495] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000000 	 error end=0.000000
[17:12:34.495] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
[17:12:34.495] frame process finished the id is: 396 the obs is:10 
[17:12:34.600] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
[17:12:34.600] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001525 	 error end=0.001525
[17:12:34.600] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
[17:12:34.600] frame process finished the id is: 396 the obs is:10 
[17:12:34.697] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
[17:12:34.697] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001194 	 error end=0.001194
[17:12:34.697] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
[17:12:34.697] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:34.697] frame process finished the id is: 399 the obs is:10 
[17:12:34.795] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000108 ,z=0.000393,angle between two frames:0.000112
[17:12:34.795] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000004 	 error end=0.000004
[17:12:34.795] After pose optimization, distance between ekf and vo x:0.000108 ,z=0.000393,angle between two frames:0.000112
[17:12:34.795] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:34.795] frame process finished the id is: 400 the obs is:10 
[17:12:34.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
[17:12:34.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.002471 	 error end=0.002471
[17:12:34.895] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
[17:12:34.895] frame process finished the id is: 400 the obs is:10 
[17:12:34.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000390,angle between two frames:0.000112
[17:12:34.994] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001313 	 error end=0.001313
[17:12:34.994] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000390,angle between two frames:0.000112
[17:12:34.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:34.995] frame process finished the id is: 402 the obs is:10 
[17:12:35.095] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
[17:12:35.095] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000416 	 error end=0.000416
[17:12:35.095] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
[17:12:35.095] frame process finished the id is: 402 the obs is:10 
[17:12:35.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
[17:12:35.195] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
[17:12:35.195] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
[17:12:35.195] frame process finished the id is: 402 the obs is:10 
[17:12:35.295] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
[17:12:35.295] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000802 	 error end=0.000802
[17:12:35.295] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
[17:12:35.295] frame process finished the id is: 402 the obs is:10 
[17:12:35.395] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
[17:12:35.395] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000021 	 error end=0.000021
[17:12:35.395] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
[17:12:35.395] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:35.395] frame process finished the id is: 406 the obs is:10 
[17:12:35.496] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000108
[17:12:35.496] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:35.496] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000108
[17:12:35.496] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:35.496] frame process finished the id is: 407 the obs is:10 
[17:12:35.598] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000056
[17:12:35.598] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000032 	 error end=0.000032
[17:12:35.598] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000056
[17:12:35.598] frame process finished the id is: 407 the obs is:10 
[17:12:35.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000382,angle between two frames:0.000056
[17:12:35.695] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000654 	 error end=0.000654
[17:12:35.695] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000382,angle between two frames:0.000056
[17:12:35.695] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:35.695] frame process finished the id is: 409 the obs is:10 
[17:12:35.794] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000380,angle between two frames:0.000058
[17:12:35.794] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000229 	 error end=0.000229
[17:12:35.794] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000380,angle between two frames:0.000058
[17:12:35.794] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:35.794] frame process finished the id is: 410 the obs is:10 
[17:12:35.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000056
[17:12:35.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000106 	 error end=0.000106
[17:12:35.895] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000056
[17:12:35.895] frame process finished the id is: 410 the obs is:10 
[17:12:35.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000056
[17:12:35.994] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001254 	 error end=0.001254
[17:12:35.994] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000056
[17:12:35.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:35.994] frame process finished the id is: 412 the obs is:10 
[17:12:36.104] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000232 ,z=0.000962,angle between two frames:0.000158
[17:12:36.104] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:36.104] After pose optimization, distance between ekf and vo x:0.000232 ,z=0.000962,angle between two frames:0.000158
[17:12:36.104] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:36.104] frame process finished the id is: 413 the obs is:10 
[17:12:36.208] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000370 ,z=0.001502,angle between two frames:0.000365
[17:12:36.208] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.003270 	 error end=0.003270
[17:12:36.208] After pose optimization, distance between ekf and vo x:0.000370 ,z=0.001502,angle between two frames:0.000365
[17:12:36.209] frame process finished the id is: 413 the obs is:10 
[17:12:36.311] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000371 ,z=0.001506,angle between two frames:0.000368
[17:12:36.311] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000000 	 error end=0.000000
[17:12:36.311] After pose optimization, distance between ekf and vo x:0.000371 ,z=0.001506,angle between two frames:0.000368
[17:12:36.311] frame process finished the id is: 413 the obs is:10 
[17:12:36.412] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000370 ,z=0.001506,angle between two frames:0.000365
[17:12:36.412] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000041 	 error end=0.000041
[17:12:36.412] After pose optimization, distance between ekf and vo x:0.000370 ,z=0.001506,angle between two frames:0.000365
[17:12:36.412] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:36.412] frame process finished the id is: 416 the obs is:10 
[17:12:36.506] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000232 ,z=0.001067,angle between two frames:0.000139
[17:12:36.506] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000062 	 error end=0.000062
[17:12:36.506] After pose optimization, distance between ekf and vo x:0.000232 ,z=0.001067,angle between two frames:0.000139
[17:12:36.506] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:36.506] frame process finished the id is: 417 the obs is:10 
[17:12:36.597] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000103 ,z=0.000385,angle between two frames:0.000078
[17:12:36.597] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000006 	 error end=0.000006
[17:12:36.597] After pose optimization, distance between ekf and vo x:0.000103 ,z=0.000385,angle between two frames:0.000078
[17:12:36.597] frame process finished the id is: 417 the obs is:10 
[17:12:36.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000102 ,z=0.000385,angle between two frames:0.000078
[17:12:36.695] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000627 	 error end=0.000627
[17:12:36.695] After pose optimization, distance between ekf and vo x:0.000102 ,z=0.000385,angle between two frames:0.000078
[17:12:36.695] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:36.695] frame process finished the id is: 419 the obs is:10 
[17:12:36.802] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000255 ,z=0.001108,angle between two frames:0.000240
[17:12:36.802] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000111 	 error end=0.000111
[17:12:36.802] After pose optimization, distance between ekf and vo x:0.000255 ,z=0.001108,angle between two frames:0.000240
[17:12:36.802] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:36.802] frame process finished the id is: 420 the obs is:10 
[17:12:36.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
[17:12:36.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.002950 	 error end=0.002950
[17:12:36.895] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
[17:12:36.895] frame process finished the id is: 420 the obs is:10 
[17:12:36.999] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
[17:12:36.999] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.000000 	 error end=0.000000
[17:12:36.999] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
[17:12:36.999] frame process finished the id is: 420 the obs is:10 
[17:12:37.093] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
[17:12:37.093] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000885 	 error end=0.000885
[17:12:37.093] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
[17:12:37.093] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:37.093] frame process finished the id is: 423 the obs is:10 
[17:12:37.200] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000134 ,z=0.000533,angle between two frames:0.000085
[17:12:37.200] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:37.200] After pose optimization, distance between ekf and vo x:0.000134 ,z=0.000533,angle between two frames:0.000085
[17:12:37.200] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:37.200] frame process finished the id is: 424 the obs is:10 
[17:12:37.303] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000212 ,z=0.000818,angle between two frames:0.000162
[17:12:37.303] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:37.303] After pose optimization, distance between ekf and vo x:0.000212 ,z=0.000818,angle between two frames:0.000162
[17:12:37.303] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:37.303] frame process finished the id is: 425 the obs is:10 
[17:12:37.393] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
[17:12:37.393] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000762 	 error end=0.000762
[17:12:37.393] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
[17:12:37.393] frame process finished the id is: 425 the obs is:10 
[17:12:37.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
[17:12:37.494] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000918 	 error end=0.000918
[17:12:37.494] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
[17:12:37.494] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:37.494] frame process finished the id is: 427 the obs is:10 
[17:12:37.601] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000093
[17:12:37.601] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000023 	 error end=0.000023
[17:12:37.601] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000093
[17:12:37.601] frame process finished the id is: 427 the obs is:10 
[17:12:37.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000093
[17:12:37.695] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:37.695] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000093
[17:12:37.695] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:37.695] frame process finished the id is: 429 the obs is:10 
[17:12:37.802] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000160
[17:12:37.802] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001877 	 error end=0.001877
[17:12:37.802] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000160
[17:12:37.802] frame process finished the id is: 429 the obs is:10 
[17:12:37.902] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000812,angle between two frames:0.000161
[17:12:37.902] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 	 error init =0.001134 	 error end=0.001134
[17:12:37.902] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000812,angle between two frames:0.000161
[17:12:37.902] frame process finished the id is: 429 the obs is:10 
[17:12:38.005] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000161
[17:12:38.005] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000008 	 error end=0.000008
[17:12:38.005] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000161
[17:12:38.005] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:38.006] frame process finished the id is: 432 the obs is:10 
[17:12:38.103] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000159
[17:12:38.103] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.006431 	 error end=0.006431
[17:12:38.103] After pose optimization, distance between ekf and vo x:0.000176 ,z=0.000773,angle between two frames:0.000176
[17:12:38.103] frame process finished the id is: 432 the obs is:10 
[17:12:38.201] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000159
[17:12:38.201] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001501 	 error end=0.001501
[17:12:38.201] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000159
[17:12:38.201] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:38.201] frame process finished the id is: 434 the obs is:10 
[17:12:38.294] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000317,angle between two frames:0.000030
[17:12:38.294] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000028 	 error end=0.000028
[17:12:38.294] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000317,angle between two frames:0.000030
[17:12:38.294] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:38.294] frame process finished the id is: 435 the obs is:10 
[17:12:38.396] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000428,angle between two frames:0.000055
[17:12:38.396] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000040 	 error end=0.000040
[17:12:38.396] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000428,angle between two frames:0.000055
[17:12:38.396] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:38.396] frame process finished the id is: 436 the obs is:10 
[17:12:38.496] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000440,angle between two frames:0.000059
[17:12:38.496] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000007 	 error end=0.000007
[17:12:38.496] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000440,angle between two frames:0.000059
[17:12:38.496] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:38.496] frame process finished the id is: 437 the obs is:10 
[17:12:38.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000387,angle between two frames:0.000094
[17:12:38.594] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:38.594] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000387,angle between two frames:0.000094
[17:12:38.594] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:38.594] frame process finished the id is: 438 the obs is:10 
[17:12:38.705] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000208 ,z=0.000810,angle between two frames:0.000160
[17:12:38.705] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000010 	 error end=0.000010
[17:12:38.705] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000810,angle between two frames:0.000160
[17:12:38.705] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:38.705] frame process finished the id is: 439 the obs is:10 
[17:12:38.798] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000148 ,z=0.000592,angle between two frames:0.000102
[17:12:38.798] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000044 	 error end=0.000044
[17:12:38.798] After pose optimization, distance between ekf and vo x:0.000148 ,z=0.000592,angle between two frames:0.000102
[17:12:38.798] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:38.798] frame process finished the id is: 440 the obs is:10 
[17:12:38.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000108 ,z=0.000392,angle between two frames:0.000094
[17:12:38.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000013 	 error end=0.000013
[17:12:38.895] After pose optimization, distance between ekf and vo x:0.000108 ,z=0.000392,angle between two frames:0.000094
[17:12:38.895] frame process finished the id is: 440 the obs is:10 
[17:12:38.995] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000108 ,z=0.000391,angle between two frames:0.000093
[17:12:38.995] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000308 	 error end=0.000308
[17:12:38.995] After pose optimization, distance between ekf and vo x:0.000108 ,z=0.000391,angle between two frames:0.000093
[17:12:38.995] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:38.995] frame process finished the id is: 442 the obs is:10 
[17:12:39.109] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000341 ,z=0.001529,angle between two frames:0.000237
[17:12:39.109] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000106 	 error end=0.000106
[17:12:39.109] After pose optimization, distance between ekf and vo x:0.000341 ,z=0.001529,angle between two frames:0.000237
[17:12:39.109] frame process finished the id is: 442 the obs is:10 
[17:12:39.211] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000342 ,z=0.001533,angle between two frames:0.000238
[17:12:39.211] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000058 	 error end=0.000058
[17:12:39.211] After pose optimization, distance between ekf and vo x:0.000342 ,z=0.001533,angle between two frames:0.000238
[17:12:39.211] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:39.211] frame process finished the id is: 444 the obs is:10 
[17:12:39.297] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000315,angle between two frames:0.000016
[17:12:39.297] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000059 	 error end=0.000059
[17:12:39.297] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000315,angle between two frames:0.000016
[17:12:39.297] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:39.297] frame process finished the id is: 445 the obs is:10 
[17:12:39.414] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000348 ,z=0.001561,angle between two frames:0.000274
[17:12:39.414] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000378 	 error end=0.000378
[17:12:39.414] After pose optimization, distance between ekf and vo x:0.000348 ,z=0.001561,angle between two frames:0.000274
[17:12:39.414] frame process finished the id is: 445 the obs is:10 
[17:12:39.515] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000273
[17:12:39.515] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001712 	 error end=0.001712
[17:12:39.515] After pose optimization, distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000273
[17:12:39.515] frame process finished the id is: 445 the obs is:10 
[17:12:39.616] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000275
[17:12:39.616] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000026 	 error end=0.000026
[17:12:39.616] After pose optimization, distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000275
[17:12:39.616] frame process finished the id is: 445 the obs is:10 
[17:12:39.717] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000273
[17:12:39.717] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.003545 	 error end=0.003545
[17:12:39.717] After pose optimization, distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000273
[17:12:39.717] frame process finished the id is: 445 the obs is:10 
[17:12:39.819] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000346 ,z=0.001559,angle between two frames:0.000274
[17:12:39.819] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000335 	 error end=0.000335
[17:12:39.819] After pose optimization, distance between ekf and vo x:0.000346 ,z=0.001559,angle between two frames:0.000274
[17:12:39.819] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:39.819] frame process finished the id is: 450 the obs is:10 
[17:12:39.905] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
[17:12:39.905] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.000007 	 error end=0.000007
[17:12:39.905] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
[17:12:39.905] frame process finished the id is: 450 the obs is:10 
[17:12:39.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
[17:12:39.994] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002615 	 error end=0.002615
[17:12:39.994] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
[17:12:39.994] frame process finished the id is: 450 the obs is:10 
[17:12:40.095] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000013
[17:12:40.095] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000000 	 error end=0.000000
[17:12:40.095] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000013
[17:12:40.095] frame process finished the id is: 450 the obs is:10 
[17:12:40.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
[17:12:40.195] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000097 	 error end=0.000097
[17:12:40.195] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
[17:12:40.195] frame process finished the id is: 450 the obs is:10 
[17:12:40.295] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
[17:12:40.295] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000048 	 error end=0.000048
[17:12:40.295] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
[17:12:40.295] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:40.295] frame process finished the id is: 455 the obs is:10 
[17:12:40.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000314,angle between two frames:0.000016
[17:12:40.394] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.003644 	 error end=0.003644
[17:12:40.394] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000314,angle between two frames:0.000016
[17:12:40.394] frame process finished the id is: 455 the obs is:10 
[17:12:40.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000315,angle between two frames:0.000016
[17:12:40.494] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000233 	 error end=0.000233
[17:12:40.494] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000315,angle between two frames:0.000016
[17:12:40.494] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:40.494] frame process finished the id is: 457 the obs is:10 
[17:12:40.609] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000351 ,z=0.001567,angle between two frames:0.000274
[17:12:40.609] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001635 	 error end=0.001635
[17:12:40.609] After pose optimization, distance between ekf and vo x:0.000351 ,z=0.001567,angle between two frames:0.000274
[17:12:40.609] frame process finished the id is: 457 the obs is:10 
[17:12:40.710] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000353 ,z=0.001570,angle between two frames:0.000275
[17:12:40.710] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.002356 	 error end=0.002356
[17:12:40.710] After pose optimization, distance between ekf and vo x:0.000353 ,z=0.001570,angle between two frames:0.000275
[17:12:40.710] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:40.710] frame process finished the id is: 459 the obs is:10 
[17:12:40.796] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000315,angle between two frames:0.000016
[17:12:40.796] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
[17:12:40.796] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000315,angle between two frames:0.000016
[17:12:40.796] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:40.796] frame process finished the id is: 460 the obs is:10 
[17:12:40.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000328,angle between two frames:0.000079
[17:12:40.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000211 	 error end=0.000211
[17:12:40.895] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000328,angle between two frames:0.000079
[17:12:40.895] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:40.895] frame process finished the id is: 461 the obs is:10 
[17:12:41.002] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000208 ,z=0.000810,angle between two frames:0.000161
[17:12:41.002] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000019 	 error end=0.000019
[17:12:41.002] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000810,angle between two frames:0.000161
[17:12:41.002] frame process finished the id is: 461 the obs is:10 
[17:12:41.103] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000208 ,z=0.000814,angle between two frames:0.000161
[17:12:41.103] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000000 	 error end=0.000000
[17:12:41.103] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000814,angle between two frames:0.000161
[17:12:41.103] frame process finished the id is: 461 the obs is:10 
[17:12:41.206] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000208 ,z=0.000811,angle between two frames:0.000161
[17:12:41.206] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.002618 	 error end=0.002618
[17:12:41.206] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000811,angle between two frames:0.000161
[17:12:41.206] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:41.206] frame process finished the id is: 464 the obs is:10 
[17:12:41.294] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000084 ,z=0.000324,angle between two frames:0.000052
[17:12:41.294] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000023 	 error end=0.000023
[17:12:41.294] After pose optimization, distance between ekf and vo x:0.000084 ,z=0.000324,angle between two frames:0.000052
[17:12:41.294] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:41.294] frame process finished the id is: 465 the obs is:10 
[17:12:41.393] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000086 ,z=0.000324,angle between two frames:0.000065
[17:12:41.393] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000001 	 error end=0.000001
[17:12:41.393] After pose optimization, distance between ekf and vo x:0.000086 ,z=0.000324,angle between two frames:0.000065
[17:12:41.393] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:41.393] frame process finished the id is: 466 the obs is:10 
[17:12:41.495] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000104 ,z=0.000385,angle between two frames:0.000078
[17:12:41.495] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000117 	 error end=0.000117
[17:12:41.495] After pose optimization, distance between ekf and vo x:0.000104 ,z=0.000385,angle between two frames:0.000078
[17:12:41.495] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:41.495] frame process finished the id is: 467 the obs is:10 
[17:12:41.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000385,angle between two frames:0.000094
[17:12:41.594] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000014 	 error end=0.000014
[17:12:41.594] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000385,angle between two frames:0.000094
[17:12:41.594] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:41.594] frame process finished the id is: 468 the obs is:10 
[17:12:41.707] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000819,angle between two frames:0.000162
[17:12:41.707] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000227 	 error end=0.000227
[17:12:41.707] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000819,angle between two frames:0.000162
[17:12:41.707] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:41.707] frame process finished the id is: 469 the obs is:10 
[17:12:41.811] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000163
[17:12:41.811] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000756 	 error end=0.000756
[17:12:41.811] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000163
[17:12:41.811] frame process finished the id is: 469 the obs is:10 
[17:12:41.905] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000163
[17:12:41.905] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000587 	 error end=0.000587
[17:12:41.905] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000163
[17:12:41.905] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:41.905] frame process finished the id is: 471 the obs is:10 
[17:12:41.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000028
[17:12:41.994] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001174 	 error end=0.001174
[17:12:41.994] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000028
[17:12:41.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:41.994] frame process finished the id is: 472 the obs is:10 
[17:12:42.111] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000343 ,z=0.001566,angle between two frames:0.000333
[17:12:42.111] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000733 	 error end=0.000733
[17:12:42.111] After pose optimization, distance between ekf and vo x:0.000343 ,z=0.001566,angle between two frames:0.000333
[17:12:42.111] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:42.111] frame process finished the id is: 473 the obs is:10 
[17:12:42.198] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000026
[17:12:42.198] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000709 	 error end=0.000709
[17:12:42.198] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000026
[17:12:42.198] frame process finished the id is: 473 the obs is:10 
[17:12:42.296] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000026
[17:12:42.296] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000654 	 error end=0.000654
[17:12:42.296] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000026
[17:12:42.296] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:42.296] frame process finished the id is: 475 the obs is:10 
[17:12:42.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000027
[17:12:42.394] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000545 	 error end=0.000545
[17:12:42.394] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000027
[17:12:42.394] frame process finished the id is: 475 the obs is:10 
[17:12:42.493] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000027
[17:12:42.493] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000166 	 error end=0.000166
[17:12:42.493] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000027
[17:12:42.493] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:42.493] frame process finished the id is: 477 the obs is:10 
[17:12:42.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000028
[17:12:42.594] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000007 	 error end=0.000007
[17:12:42.594] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000028
[17:12:42.594] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:42.594] frame process finished the id is: 478 the obs is:10 
[17:12:42.702] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000221 ,z=0.000869,angle between two frames:0.000168
[17:12:42.702] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000160 	 error end=0.000160
[17:12:42.702] After pose optimization, distance between ekf and vo x:0.000221 ,z=0.000869,angle between two frames:0.000168
[17:12:42.702] frame process finished the id is: 478 the obs is:10 
[17:12:42.802] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000216 ,z=0.000841,angle between two frames:0.000161
[17:12:42.802] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001256 	 error end=0.001256
[17:12:42.802] After pose optimization, distance between ekf and vo x:0.000216 ,z=0.000841,angle between two frames:0.000161
[17:12:42.802] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:42.802] frame process finished the id is: 480 the obs is:10 
[17:12:42.902] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000154
[17:12:42.902] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000000 	 error end=0.000000
[17:12:42.902] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000154
[17:12:42.902] frame process finished the id is: 480 the obs is:10 
[17:12:43.001] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000212 ,z=0.000821,angle between two frames:0.000154
[17:12:43.001] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 	 error init =0.000095 	 error end=0.000095
[17:12:43.001] After pose optimization, distance between ekf and vo x:0.000212 ,z=0.000821,angle between two frames:0.000154
[17:12:43.001] frame process finished the id is: 480 the obs is:10 
[17:12:43.102] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000154
[17:12:43.102] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000097 	 error end=0.000097
[17:12:43.102] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000154
[17:12:43.102] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:43.102] frame process finished the id is: 483 the obs is:10 
[17:12:43.193] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000077 ,z=0.000326,angle between two frames:0.000042
[17:12:43.193] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000363 	 error end=0.000363
[17:12:43.193] After pose optimization, distance between ekf and vo x:0.000077 ,z=0.000326,angle between two frames:0.000042
[17:12:43.193] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:43.193] frame process finished the id is: 484 the obs is:10 
[17:12:43.294] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000385,angle between two frames:0.000057
[17:12:43.294] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000009 	 error end=0.000009
[17:12:43.294] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000385,angle between two frames:0.000057
[17:12:43.294] frame process finished the id is: 484 the obs is:10 
[17:12:43.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000385,angle between two frames:0.000057
[17:12:43.395] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000291 	 error end=0.000291
[17:12:43.395] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000385,angle between two frames:0.000057
[17:12:43.395] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:43.395] frame process finished the id is: 486 the obs is:10 
[17:12:43.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000380,angle between two frames:0.000057
[17:12:43.494] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000869 	 error end=0.000869
[17:12:43.494] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000380,angle between two frames:0.000057
[17:12:43.494] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:43.494] frame process finished the id is: 487 the obs is:10 
[17:12:43.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000382,angle between two frames:0.000057
[17:12:43.594] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000057 	 error end=0.000057
[17:12:43.594] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000382,angle between two frames:0.000057
[17:12:43.594] frame process finished the id is: 487 the obs is:10 
[17:12:43.696] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000383,angle between two frames:0.000056
[17:12:43.696] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000025 	 error end=0.000025
[17:12:43.696] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000383,angle between two frames:0.000056
[17:12:43.696] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:43.696] frame process finished the id is: 489 the obs is:10 
[17:12:43.795] Odometry x=0.072651, y=1.839967, theta=-0.078171
[17:12:43.797] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000108 ,z=0.000395,angle between two frames:0.000110
[17:12:43.797] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000001 	 error end=0.000001
[17:12:43.797] After pose optimization, distance between ekf and vo x:0.000108 ,z=0.000395,angle between two frames:0.000110
[17:12:43.797] frame process finished the id is: 489 the obs is:10 
[17:12:43.896] Odometry x=3.052921, y=-0.606922, theta=-2.965814
[17:12:43.903] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000111,angle between two frames:0.000022
[17:12:43.904] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.002633 	 error end=0.001757
[17:12:43.904] After pose optimization, distance between ekf and vo x:-0.039285 ,z=-0.188058,angle between two frames:0.061787
[17:12:43.904] frame process finished the id is: 489 the obs is:10 
[17:12:43.999] Odometry x=3.050513, y=-0.595961, theta=-2.985628
[17:12:44.004] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000109,angle between two frames:0.000022
[17:12:44.004] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000002 	 error end=0.000002
[17:12:44.004] After pose optimization, distance between ekf and vo x:-0.000003 ,z=-0.000013,angle between two frames:0.000061
[17:12:44.004] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
[17:12:44.004] Choose frame as a key frame Scene Depth mean:0.675551 ,depth min:0.359185
[17:12:44.004] frame process finished the id is: 492 the obs is:10 
[17:12:44.089] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000008 ,z=-0.000013,angle between two frames:0.000003
[17:12:44.089] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.002877 	 error end=0.002057
[17:12:44.089] After pose optimization, distance between ekf and vo x:-0.044666 ,z=-0.194542,angle between two frames:0.063980
[17:12:44.089] frame process finished the id is: 492 the obs is:10 
[17:12:44.098] Odometry x=3.015019, y=-0.575672, theta=-1.146782
[17:12:44.192] After Reprojection Map nPoint:50 ,nCell:16 ,nMatches:13 ,distance between ekf and vo x:0.000009 ,z=-0.000007,angle between two frames:0.000001
[17:12:44.192] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 	 error init =0.001038 	 error end=0.001038
[17:12:44.192] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000007,angle between two frames:0.000001
[17:12:44.192] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35
[17:12:44.192] Choose frame as a key frame Scene Depth mean:2.964710 ,depth min:2.851252
[17:12:44.192] frame process finished the id is: 494 the obs is:35 
[17:12:44.197] Odometry x=3.012330, y=-0.576098, theta=-1.146765
[17:12:44.297] Odometry x=2.994013, y=-0.581159, theta=-1.128802
[17:12:44.303] After Reprojection Map nPoint:110 ,nCell:25 ,nMatches:17 ,distance between ekf and vo x:-0.000023 ,z=-0.000002,angle between two frames:0.000014
[17:12:44.303] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =102 	 error init =0.000843 	 error end=0.000843
[17:12:44.303] After pose optimization, distance between ekf and vo x:-0.000023 ,z=-0.000002,angle between two frames:0.000014
[17:12:44.303] Update EKF and 3D points the number of feature in the new frame: 102 and number of obs: 102
[17:12:44.304] frame process finished the id is: 495 the obs is:102 
[17:12:44.397] Odometry x=2.988684, y=-0.586157, theta=-1.139986
[17:12:44.407] After Reprojection Map nPoint:177 ,nCell:34 ,nMatches:25 ,distance between ekf and vo x:-0.000131 ,z=0.000012,angle between two frames:0.000059
[17:12:44.407] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =145 	 error init =0.000405 	 error end=0.000405
[17:12:44.407] After pose optimization, distance between ekf and vo x:-0.000131 ,z=0.000012,angle between two frames:0.000059
[17:12:44.407] Update EKF and 3D points the number of feature in the new frame: 145 and number of obs: 145
[17:12:44.408] frame process finished the id is: 496 the obs is:145 
[17:12:44.495] Odometry x=2.984662, y=-0.585259, theta=-1.129825
[17:12:44.513] After Reprojection Map nPoint:220 ,nCell:43 ,nMatches:24 ,distance between ekf and vo x:-0.000179 ,z=0.000009,angle between two frames:0.000097
[17:12:44.514] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 	 error init =0.000113 	 error end=0.000113
[17:12:44.514] After pose optimization, distance between ekf and vo x:-0.000179 ,z=0.000009,angle between two frames:0.000097
[17:12:44.514] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173
[17:12:44.515] frame process finished the id is: 497 the obs is:173 
[17:12:44.598] Odometry x=2.984634, y=-0.585117, theta=-1.130041
[17:12:44.613] After Reprojection Map nPoint:248 ,nCell:45 ,nMatches:29 ,distance between ekf and vo x:-0.000094 ,z=0.000007,angle between two frames:0.000054
[17:12:44.614] n deleted obs = 20 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =199 	 error init =0.001097 	 error end=0.001097
[17:12:44.614] After pose optimization, distance between ekf and vo x:-0.000094 ,z=0.000007,angle between two frames:0.000054
[17:12:44.614] Update EKF and 3D points the number of feature in the new frame: 199 and number of obs: 199
[17:12:44.615] frame process finished the id is: 498 the obs is:199 
[17:12:44.696] Odometry x=2.968193, y=-0.603001, theta=-1.111760
[17:12:44.706] After Reprojection Map nPoint:274 ,nCell:53 ,nMatches:32 ,distance between ekf and vo x:-0.000052 ,z=0.000001,angle between two frames:0.000027
[17:12:44.706] n deleted obs = 11 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 	 error init =0.001339 	 error end=0.001339
[17:12:44.706] After pose optimization, distance between ekf and vo x:-0.000052 ,z=0.000001,angle between two frames:0.000027
[17:12:44.706] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189
[17:12:44.708] frame process finished the id is: 499 the obs is:189 
[17:12:44.795] Odometry x=2.983276, y=-0.586028, theta=-1.129961
[17:12:44.803] After Reprojection Map nPoint:264 ,nCell:46 ,nMatches:30 ,distance between ekf and vo x:-0.000041 ,z=-0.000007,angle between two frames:0.000027
[17:12:44.804] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =211 	 error init =0.000320 	 error end=0.000320
[17:12:44.804] After pose optimization, distance between ekf and vo x:-0.000041 ,z=-0.000007,angle between two frames:0.000027
[17:12:44.804] Update EKF and 3D points the number of feature in the new frame: 211 and number of obs: 211
[17:12:44.805] frame process finished the id is: 500 the obs is:211 
[17:12:44.894] After Reprojection Map nPoint:286 ,nCell:51 ,nMatches:33 ,distance between ekf and vo x:0.000003 ,z=-0.000003,angle between two frames:0.000000
[17:12:44.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =194 	 error init =0.000190 	 error end=0.000190
[17:12:44.895] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000003,angle between two frames:0.000000
[17:12:44.895] Update EKF and 3D points the number of feature in the new frame: 194 and number of obs: 194
[17:12:44.896] frame process finished the id is: 501 the obs is:194 
[17:12:44.897] Odometry x=2.981687, y=-0.587531, theta=-1.129789
[17:12:44.994] Odometry x=2.966791, y=-0.601323, theta=-1.136188
[17:12:45.003] After Reprojection Map nPoint:269 ,nCell:42 ,nMatches:32 ,distance between ekf and vo x:0.000008 ,z=-0.000028,angle between two frames:0.000015
[17:12:45.004] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =196 	 error init =0.000215 	 error end=0.000215
[17:12:45.004] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000028,angle between two frames:0.000015
[17:12:45.004] Update EKF and 3D points the number of feature in the new frame: 196 and number of obs: 196
[17:12:45.005] frame process finished the id is: 502 the obs is:196 
[17:12:45.098] Odometry x=2.938165, y=-0.618954, theta=-1.153939
[17:12:45.108] After Reprojection Map nPoint:271 ,nCell:39 ,nMatches:26 ,distance between ekf and vo x:-0.000131 ,z=0.000013,angle between two frames:0.000051
[17:12:45.108] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =168 	 error init =0.000275 	 error end=0.000275
[17:12:45.108] After pose optimization, distance between ekf and vo x:-0.000131 ,z=0.000013,angle between two frames:0.000051
[17:12:45.108] Update EKF and 3D points the number of feature in the new frame: 168 and number of obs: 168
[17:12:45.109] frame process finished the id is: 503 the obs is:168 
[17:12:45.198] Odometry x=2.949450, y=-0.616248, theta=-1.127796
[17:12:45.209] After Reprojection Map nPoint:243 ,nCell:48 ,nMatches:29 ,distance between ekf and vo x:-0.000114 ,z=0.000013,angle between two frames:0.000055
[17:12:45.209] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =149 	 error init =0.000677 	 error end=0.000677
[17:12:45.209] After pose optimization, distance between ekf and vo x:-0.000114 ,z=0.000013,angle between two frames:0.000055
[17:12:45.209] Update EKF and 3D points the number of feature in the new frame: 149 and number of obs: 149
[17:12:45.210] frame process finished the id is: 504 the obs is:149 
[17:12:45.297] Odometry x=2.949490, y=-0.582721, theta=-1.130078
[17:12:45.308] After Reprojection Map nPoint:224 ,nCell:48 ,nMatches:27 ,distance between ekf and vo x:-0.000151 ,z=0.000021,angle between two frames:0.000079
[17:12:45.308] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 	 error init =0.000311 	 error end=0.000311
[17:12:45.308] After pose optimization, distance between ekf and vo x:-0.000151 ,z=0.000021,angle between two frames:0.000079
[17:12:45.308] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189
[17:12:45.309] frame process finished the id is: 505 the obs is:189 
[17:12:45.393] After Reprojection Map nPoint:264 ,nCell:46 ,nMatches:31 ,distance between ekf and vo x:0.000003 ,z=-0.000005,angle between two frames:0.000002
[17:12:45.394] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =221 	 error init =0.000596 	 error end=0.000596
[17:12:45.394] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000005,angle between two frames:0.000002
[17:12:45.394] Update EKF and 3D points the number of feature in the new frame: 221 and number of obs: 221
[17:12:45.395] frame process finished the id is: 506 the obs is:221 
[17:12:45.397] Odometry x=2.947677, y=-0.616014, theta=-1.128204
[17:12:45.493] Odometry x=2.943011, y=-0.620416, theta=-1.135165
[17:12:45.494] After Reprojection Map nPoint:296 ,nCell:54 ,nMatches:35 ,distance between ekf and vo x:0.000010 ,z=-0.000006,angle between two frames:0.000000
[17:12:45.494] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =232 	 error init =0.000227 	 error end=0.000227
[17:12:45.494] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000006,angle between two frames:0.000000
[17:12:45.494] Update EKF and 3D points the number of feature in the new frame: 232 and number of obs: 232
[17:12:45.496] frame process finished the id is: 507 the obs is:232 
[17:12:45.594] After Reprojection Map nPoint:307 ,nCell:51 ,nMatches:30 ,distance between ekf and vo x:-0.000002 ,z=-0.000003,angle between two frames:0.000002
[17:12:45.594] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =202 	 error init =0.001037 	 error end=0.001037
[17:12:45.594] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000003,angle between two frames:0.000002
[17:12:45.594] Update EKF and 3D points the number of feature in the new frame: 202 and number of obs: 202
[17:12:45.596] Odometry x=2.942751, y=-0.624162, theta=-1.135796
[17:12:45.596] frame process finished the id is: 508 the obs is:202 
[17:12:45.700] Odometry x=2.936631, y=-0.631381, theta=-1.156706
[17:12:45.702] After Reprojection Map nPoint:277 ,nCell:55 ,nMatches:28 ,distance between ekf and vo x:-0.000009 ,z=-0.000005,angle between two frames:0.000007
[17:12:45.702] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =142 	 error init =0.000334 	 error end=0.000334
[17:12:45.702] After pose optimization, distance between ekf and vo x:-0.000009 ,z=-0.000005,angle between two frames:0.000007
[17:12:45.702] Update EKF and 3D points the number of feature in the new frame: 142 and number of obs: 142
[17:12:45.703] frame process finished the id is: 509 the obs is:142 
[17:12:45.800] Odometry x=2.939252, y=-0.630436, theta=-1.157827
[17:12:45.808] After Reprojection Map nPoint:217 ,nCell:42 ,nMatches:33 ,distance between ekf and vo x:-0.000096 ,z=-0.000006,angle between two frames:0.000052
[17:12:45.808] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =124 	 error init =0.000119 	 error end=0.000119
[17:12:45.808] After pose optimization, distance between ekf and vo x:-0.000096 ,z=-0.000006,angle between two frames:0.000052
[17:12:45.808] Update EKF and 3D points the number of feature in the new frame: 124 and number of obs: 124
[17:12:45.809] frame process finished the id is: 510 the obs is:124 
[17:12:45.894] After Reprojection Map nPoint:199 ,nCell:37 ,nMatches:26 ,distance between ekf and vo x:0.000003 ,z=-0.000004,angle between two frames:0.000000
[17:12:45.894] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =144 	 error init =0.000792 	 error end=0.000792
[17:12:45.894] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000004,angle between two frames:0.000000
[17:12:45.894] Update EKF and 3D points the number of feature in the new frame: 144 and number of obs: 144
[17:12:45.895] frame process finished the id is: 511 the obs is:144 
[17:12:45.897] Odometry x=2.933375, y=-0.631670, theta=-1.156578
[17:12:45.994] After Reprojection Map nPoint:219 ,nCell:49 ,nMatches:31 ,distance between ekf and vo x:0.000012 ,z=-0.000007,angle between two frames:0.000002
[17:12:45.995] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 	 error init =0.001177 	 error end=0.001177
[17:12:45.995] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000007,angle between two frames:0.000002
[17:12:45.995] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173
[17:12:45.996] Odometry x=2.939905, y=-0.639840, theta=-1.157393
[17:12:45.996] frame process finished the id is: 512 the obs is:173 
[17:12:46.099] Odometry x=2.938376, y=-0.641623, theta=-1.124527
[17:12:46.106] After Reprojection Map nPoint:248 ,nCell:56 ,nMatches:32 ,distance between ekf and vo x:-0.000017 ,z=-0.000009,angle between two frames:0.000013
[17:12:46.106] n deleted obs = 37 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =164 	 error init =0.002118 	 error end=0.002118
[17:12:46.106] After pose optimization, distance between ekf and vo x:-0.000017 ,z=-0.000009,angle between two frames:0.000013
[17:12:46.106] Update EKF and 3D points the number of feature in the new frame: 164 and number of obs: 164
[17:12:46.107] frame process finished the id is: 513 the obs is:164 
[17:12:46.195] After Reprojection Map nPoint:239 ,nCell:63 ,nMatches:33 ,distance between ekf and vo x:0.000005 ,z=-0.000004,angle between two frames:0.000001
[17:12:46.195] n deleted obs = 17 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =187 	 error init =0.000906 	 error end=0.000906
[17:12:46.195] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000004,angle between two frames:0.000001
[17:12:46.195] Update EKF and 3D points the number of feature in the new frame: 187 and number of obs: 187
[17:12:46.196] frame process finished the id is: 514 the obs is:187 
[17:12:46.199] Odometry x=2.940568, y=-0.639454, theta=-1.156067
[17:12:46.293] After Reprojection Map nPoint:262 ,nCell:32 ,nMatches:30 ,distance between ekf and vo x:0.000011 ,z=-0.000007,angle between two frames:0.000002
[17:12:46.293] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =183 	 error init =0.000178 	 error end=0.000178
[17:12:46.293] After pose optimization, distance between ekf and vo x:0.000011 ,z=-0.000007,angle between two frames:0.000002
[17:12:46.293] Update EKF and 3D points the number of feature in the new frame: 183 and number of obs: 183
[17:12:46.295] frame process finished the id is: 515 the obs is:183 
[17:12:46.297] Odometry x=2.940152, y=-0.639445, theta=-1.156172
[17:12:46.394] After Reprojection Map nPoint:258 ,nCell:31 ,nMatches:27 ,distance between ekf and vo x:0.000002 ,z=-0.000003,angle between two frames:0.000001
[17:12:46.395] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =175 	 error init =0.000382 	 error end=0.000382
[17:12:46.395] After pose optimization, distance between ekf and vo x:0.000002 ,z=-0.000003,angle between two frames:0.000001
[17:12:46.395] Update EKF and 3D points the number of feature in the new frame: 175 and number of obs: 175
[17:12:46.396] Odometry x=2.932899, y=-0.645808, theta=-1.144846
[17:12:46.396] frame process finished the id is: 516 the obs is:175 
[17:12:46.492] After Reprojection Map nPoint:250 ,nCell:32 ,nMatches:25 ,distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000001
[17:12:46.493] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =161 	 error init =0.000140 	 error end=0.000140
[17:12:46.493] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000001
[17:12:46.493] Update EKF and 3D points the number of feature in the new frame: 161 and number of obs: 161
[17:12:46.494] frame process finished the id is: 517 the obs is:161 
[17:12:46.496] Odometry x=2.932397, y=-0.646297, theta=-1.144064
[17:12:46.594] Odometry x=2.935213, y=-0.644104, theta=-1.127272
[17:12:46.608] After Reprojection Map nPoint:236 ,nCell:40 ,nMatches:30 ,distance between ekf and vo x:0.000000 ,z=-0.000036,angle between two frames:0.000032
[17:12:46.609] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =121 	 error init =0.000380 	 error end=0.000380
[17:12:46.609] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000036,angle between two frames:0.000032
[17:12:46.609] Update EKF and 3D points the number of feature in the new frame: 121 and number of obs: 121
[17:12:46.609] frame process finished the id is: 518 the obs is:121 
[17:12:46.703] Odometry x=2.932817, y=-0.647425, theta=-1.143675
[17:12:46.707] After Reprojection Map nPoint:196 ,nCell:30 ,nMatches:27 ,distance between ekf and vo x:-0.000193 ,z=0.000031,angle between two frames:0.000068
[17:12:46.707] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =130 	 error init =0.001240 	 error end=0.001240
[17:12:46.707] After pose optimization, distance between ekf and vo x:-0.000193 ,z=0.000031,angle between two frames:0.000068
[17:12:46.707] Update EKF and 3D points the number of feature in the new frame: 130 and number of obs: 130
[17:12:46.708] frame process finished the id is: 519 the obs is:130 
[17:12:46.798] After Reprojection Map nPoint:205 ,nCell:37 ,nMatches:29 ,distance between ekf and vo x:-0.000170 ,z=0.000036,angle between two frames:0.000065
[17:12:46.798] Odometry x=2.919886, y=-0.659135, theta=-1.149287
[17:12:46.799] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =153 	 error init =0.000294 	 error end=0.000294
[17:12:46.799] After pose optimization, distance between ekf and vo x:-0.000170 ,z=0.000036,angle between two frames:0.000065
[17:12:46.799] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153
[17:12:46.800] frame process finished the id is: 520 the obs is:153 
[17:12:46.901] Odometry x=2.913863, y=-0.647064, theta=-1.153326
[17:12:46.907] After Reprojection Map nPoint:228 ,nCell:35 ,nMatches:32 ,distance between ekf and vo x:-0.000172 ,z=0.000030,angle between two frames:0.000072
[17:12:46.907] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =161 	 error init =0.000474 	 error end=0.000474
[17:12:46.907] After pose optimization, distance between ekf and vo x:-0.000172 ,z=0.000030,angle between two frames:0.000072
[17:12:46.907] Update EKF and 3D points the number of feature in the new frame: 161 and number of obs: 161
[17:12:46.908] frame process finished the id is: 521 the obs is:161 
[17:12:46.997] After Reprojection Map nPoint:236 ,nCell:32 ,nMatches:29 ,distance between ekf and vo x:0.000007 ,z=-0.000009,angle between two frames:0.000003
[17:12:46.997] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =188 	 error init =0.000993 	 error end=0.000993
[17:12:46.997] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000009,angle between two frames:0.000003
[17:12:46.997] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188
[17:12:46.998] frame process finished the id is: 522 the obs is:188 
[17:12:47.001] Odometry x=2.913474, y=-0.646611, theta=-1.153622
[17:12:47.094] After Reprojection Map nPoint:263 ,nCell:37 ,nMatches:31 ,distance between ekf and vo x:0.000006 ,z=-0.000006,angle between two frames:0.000001
[17:12:47.094] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =155 	 error init =0.000624 	 error end=0.000624
[17:12:47.094] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000006,angle between two frames:0.000001
[17:12:47.094] Update EKF and 3D points the number of feature in the new frame: 155 and number of obs: 155
[17:12:47.095] frame process finished the id is: 523 the obs is:155 
[17:12:47.099] Odometry x=2.910074, y=-0.652405, theta=-1.163468
[17:12:47.201] Odometry x=2.904485, y=-0.659131, theta=-1.162046
[17:12:47.209] After Reprojection Map nPoint:230 ,nCell:38 ,nMatches:35 ,distance between ekf and vo x:0.000001 ,z=-0.000029,angle between two frames:0.000029
[17:12:47.210] n deleted obs = 18 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =132 	 error init =0.001648 	 error end=0.001648
[17:12:47.210] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000029,angle between two frames:0.000029
[17:12:47.210] Update EKF and 3D points the number of feature in the new frame: 132 and number of obs: 132
[17:12:47.211] frame process finished the id is: 524 the obs is:132 
[17:12:47.298] Odometry x=2.903642, y=-0.673838, theta=-1.174520
[17:12:47.301] After Reprojection Map nPoint:207 ,nCell:35 ,nMatches:31 ,distance between ekf and vo x:0.000008 ,z=-0.000019,angle between two frames:0.000018
[17:12:47.301] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =163 	 error init =0.000521 	 error end=0.000521
[17:12:47.301] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000019,angle between two frames:0.000018
[17:12:47.301] Update EKF and 3D points the number of feature in the new frame: 163 and number of obs: 163
[17:12:47.302] frame process finished the id is: 525 the obs is:163 
[17:12:47.401] Odometry x=2.915059, y=-0.667866, theta=-1.159834
[17:12:47.407] After Reprojection Map nPoint:238 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:0.000016 ,z=-0.000040,angle between two frames:0.000025
[17:12:47.408] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =194 	 error init =0.000544 	 error end=0.000544
[17:12:47.408] After pose optimization, distance between ekf and vo x:0.000016 ,z=-0.000040,angle between two frames:0.000025
[17:12:47.408] Update EKF and 3D points the number of feature in the new frame: 194 and number of obs: 194
[17:12:47.409] frame process finished the id is: 526 the obs is:194 
[17:12:47.498] Odometry x=2.910036, y=-0.693178, theta=-1.168247
[17:12:47.508] After Reprojection Map nPoint:269 ,nCell:37 ,nMatches:31 ,distance between ekf and vo x:-0.000045 ,z=0.000013,angle between two frames:0.000023
[17:12:47.509] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =190 	 error init =0.000243 	 error end=0.000243
[17:12:47.509] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000013,angle between two frames:0.000023
[17:12:47.509] Update EKF and 3D points the number of feature in the new frame: 190 and number of obs: 190
[17:12:47.510] frame process finished the id is: 527 the obs is:190 
[17:12:47.600] Odometry x=2.911197, y=-0.664152, theta=-1.170476
[17:12:47.611] After Reprojection Map nPoint:265 ,nCell:40 ,nMatches:31 ,distance between ekf and vo x:-0.000115 ,z=0.000029,angle between two frames:0.000065
[17:12:47.611] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =216 	 error init =0.000397 	 error end=0.000397
[17:12:47.611] After pose optimization, distance between ekf and vo x:-0.000115 ,z=0.000029,angle between two frames:0.000065
[17:12:47.611] Update EKF and 3D points the number of feature in the new frame: 216 and number of obs: 216
[17:12:47.612] frame process finished the id is: 528 the obs is:216 
[17:12:47.697] Odometry x=2.906389, y=-0.658985, theta=-1.164113
[17:12:47.719] After Reprojection Map nPoint:291 ,nCell:49 ,nMatches:36 ,distance between ekf and vo x:-0.000193 ,z=0.000063,angle between two frames:0.000089
[17:12:47.720] n deleted obs = 11 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =217 	 error init =0.000487 	 error end=0.000487
[17:12:47.720] After pose optimization, distance between ekf and vo x:-0.000193 ,z=0.000063,angle between two frames:0.000089
[17:12:47.720] Update EKF and 3D points the number of feature in the new frame: 217 and number of obs: 217
[17:12:47.721] frame process finished the id is: 529 the obs is:217 
[17:12:47.800] Odometry x=2.900788, y=-0.665884, theta=-1.158332
[17:12:47.819] After Reprojection Map nPoint:292 ,nCell:33 ,nMatches:29 ,distance between ekf and vo x:-0.000078 ,z=0.000012,angle between two frames:0.000046
[17:12:47.820] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =192 	 error init =0.000190 	 error end=0.000190
[17:12:47.820] After pose optimization, distance between ekf and vo x:-0.000078 ,z=0.000012,angle between two frames:0.000046
[17:12:47.820] Update EKF and 3D points the number of feature in the new frame: 192 and number of obs: 192
[17:12:47.821] frame process finished the id is: 530 the obs is:192 
[17:12:47.898] Odometry x=2.905266, y=-0.659717, theta=-1.163954
[17:12:47.904] After Reprojection Map nPoint:267 ,nCell:37 ,nMatches:28 ,distance between ekf and vo x:0.000013 ,z=-0.000009,angle between two frames:0.000002
[17:12:47.905] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =216 	 error init =0.000257 	 error end=0.000257
[17:12:47.905] After pose optimization, distance between ekf and vo x:0.000013 ,z=-0.000009,angle between two frames:0.000002
[17:12:47.905] Update EKF and 3D points the number of feature in the new frame: 216 and number of obs: 216
[17:12:47.906] frame process finished the id is: 531 the obs is:216 
[17:12:47.993] After Reprojection Map nPoint:291 ,nCell:42 ,nMatches:28 ,distance between ekf and vo x:0.000012 ,z=-0.000008,angle between two frames:0.000002
[17:12:47.994] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 	 error init =0.000522 	 error end=0.000522
[17:12:47.994] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000008,angle between two frames:0.000002
[17:12:47.994] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189
[17:12:47.995] frame process finished the id is: 532 the obs is:189 
[17:12:47.995] Odometry x=2.901522, y=-0.662906, theta=-1.163898
[17:12:48.093] Odometry x=2.895868, y=-0.667515, theta=-1.160378
[17:12:48.093] After Reprojection Map nPoint:264 ,nCell:41 ,nMatches:27 ,distance between ekf and vo x:0.000007 ,z=-0.000005,angle between two frames:0.000001
[17:12:48.099] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =146 	 error init =0.000547 	 error end=0.000546
[17:12:48.099] After pose optimization, distance between ekf and vo x:-0.000153 ,z=-0.001236,angle between two frames:0.000368
[17:12:48.099] Update EKF and 3D points the number of feature in the new frame: 146 and number of obs: 146
[17:12:48.100] frame process finished the id is: 533 the obs is:146 
[17:12:48.195] Odometry x=2.895407, y=-0.668952, theta=-1.161247
[17:12:48.207] After Reprojection Map nPoint:221 ,nCell:34 ,nMatches:28 ,distance between ekf and vo x:-0.000005 ,z=-0.000015,angle between two frames:0.000019
[17:12:48.207] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =136 	 error init =0.000457 	 error end=0.000457
[17:12:48.207] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000015,angle between two frames:0.000019
[17:12:48.207] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136
[17:12:48.208] frame process finished the id is: 534 the obs is:136 
[17:12:48.298] Odometry x=2.899517, y=-0.668395, theta=-1.169935
[17:12:48.299] After Reprojection Map nPoint:211 ,nCell:36 ,nMatches:27 ,distance between ekf and vo x:-0.000007 ,z=-0.000026,angle between two frames:0.000022
[17:12:48.299] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =109 	 error init =0.000567 	 error end=0.000567
[17:12:48.299] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000026,angle between two frames:0.000022
[17:12:48.299] Update EKF and 3D points the number of feature in the new frame: 109 and number of obs: 109
[17:12:48.300] frame process finished the id is: 535 the obs is:109 
[17:12:48.391] After Reprojection Map nPoint:184 ,nCell:42 ,nMatches:30 ,distance between ekf and vo x:0.000014 ,z=-0.000010,angle between two frames:0.000002
[17:12:48.392] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =116 	 error init =0.000837 	 error end=0.000837
[17:12:48.392] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000010,angle between two frames:0.000002
[17:12:48.392] Update EKF and 3D points the number of feature in the new frame: 116 and number of obs: 116
[17:12:48.392] frame process finished the id is: 536 the obs is:116 
[17:12:48.401] Odometry x=2.895032, y=-0.674228, theta=-1.162340
[17:12:48.492] After Reprojection Map nPoint:191 ,nCell:43 ,nMatches:28 ,distance between ekf and vo x:0.000010 ,z=-0.000008,angle between two frames:0.000001
[17:12:48.492] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 	 error init =0.000087 	 error end=0.000087
[17:12:48.492] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000008,angle between two frames:0.000001
[17:12:48.492] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173
[17:12:48.493] Odometry x=2.898066, y=-0.684473, theta=-1.171165
[17:12:48.494] frame process finished the id is: 537 the obs is:173 
[17:12:48.593] After Reprojection Map nPoint:248 ,nCell:50 ,nMatches:30 ,distance between ekf and vo x:0.000010 ,z=-0.000007,angle between two frames:0.000001
[17:12:48.593] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =210 	 error init =0.000340 	 error end=0.000340
[17:12:48.593] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000007,angle between two frames:0.000001
[17:12:48.593] Update EKF and 3D points the number of feature in the new frame: 210 and number of obs: 210
[17:12:48.594] frame process finished the id is: 538 the obs is:210 
[17:12:48.601] Odometry x=2.898548, y=-0.684088, theta=-1.171940
[17:12:48.694] Odometry x=2.896967, y=-0.684357, theta=-1.174773
[17:12:48.703] After Reprojection Map nPoint:285 ,nCell:60 ,nMatches:34 ,distance between ekf and vo x:-0.000001 ,z=-0.000017,angle between two frames:0.000010
[17:12:48.703] n deleted obs = 32 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =197 	 error init =0.001123 	 error end=0.001123
[17:12:48.703] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000017,angle between two frames:0.000010
[17:12:48.703] Update EKF and 3D points the number of feature in the new frame: 197 and number of obs: 197
[17:12:48.705] frame process finished the id is: 539 the obs is:197 
[17:12:48.796] Odometry x=2.891255, y=-0.689340, theta=-1.183272
[17:12:48.801] After Reprojection Map nPoint:272 ,nCell:48 ,nMatches:27 ,distance between ekf and vo x:0.000005 ,z=-0.000012,angle between two frames:0.000018
[17:12:48.801] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =129 	 error init =0.000806 	 error end=0.000806
[17:12:48.801] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000012,angle between two frames:0.000018
[17:12:48.801] Update EKF and 3D points the number of feature in the new frame: 129 and number of obs: 129
[17:12:48.802] frame process finished the id is: 540 the obs is:129 
[17:12:48.899] Odometry x=2.877387, y=-0.717080, theta=-1.188175
[17:12:48.912] After Reprojection Map nPoint:204 ,nCell:52 ,nMatches:28 ,distance between ekf and vo x:-0.000050 ,z=-0.000023,angle between two frames:0.000039
[17:12:48.918] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =155 	 error init =0.000344 	 error end=0.000340
[17:12:48.918] After pose optimization, distance between ekf and vo x:-0.000476 ,z=-0.008991,angle between two frames:0.002447
[17:12:48.918] Update EKF and 3D points the number of feature in the new frame: 155 and number of obs: 155
[17:12:48.919] frame process finished the id is: 541 the obs is:155 
[17:12:48.996] Odometry x=2.891863, y=-0.698143, theta=-1.167373
[17:12:49.017] After Reprojection Map nPoint:230 ,nCell:63 ,nMatches:31 ,distance between ekf and vo x:-0.000044 ,z=0.000013,angle between two frames:0.000026
[17:12:49.018] n deleted obs = 32 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =164 	 error init =0.001516 	 error end=0.001516
[17:12:49.018] After pose optimization, distance between ekf and vo x:-0.000044 ,z=0.000013,angle between two frames:0.000026
[17:12:49.018] Update EKF and 3D points the number of feature in the new frame: 164 and number of obs: 164
[17:12:49.019] frame process finished the id is: 542 the obs is:164 
[17:12:49.096] Odometry x=2.894407, y=-0.693685, theta=-1.178124
[17:12:49.117] After Reprojection Map nPoint:239 ,nCell:57 ,nMatches:26 ,distance between ekf and vo x:-0.000112 ,z=0.000038,angle between two frames:0.000047
[17:12:49.117] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =159 	 error init =0.000598 	 error end=0.000598
[17:12:49.117] After pose optimization, distance between ekf and vo x:-0.000112 ,z=0.000038,angle between two frames:0.000047
[17:12:49.117] Update EKF and 3D points the number of feature in the new frame: 159 and number of obs: 159
[17:12:49.118] frame process finished the id is: 543 the obs is:159 
[17:12:49.198] Odometry x=2.888694, y=-0.680913, theta=-1.191827
[17:12:49.224] After Reprojection Map nPoint:234 ,nCell:40 ,nMatches:28 ,distance between ekf and vo x:-0.000243 ,z=0.000093,angle between two frames:0.000097
[17:12:49.224] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =170 	 error init =0.000086 	 error end=0.000086
[17:12:49.224] After pose optimization, distance between ekf and vo x:-0.000243 ,z=0.000093,angle between two frames:0.000097
[17:12:49.224] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170
[17:12:49.225] frame process finished the id is: 544 the obs is:170 
[17:12:49.297] Odometry x=2.892790, y=-0.693745, theta=-1.178136
[17:12:49.330] After Reprojection Map nPoint:245 ,nCell:46 ,nMatches:30 ,distance between ekf and vo x:-0.000129 ,z=0.000041,angle between two frames:0.000068
[17:12:49.330] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =167 	 error init =0.000664 	 error end=0.000664
[17:12:49.330] After pose optimization, distance between ekf and vo x:-0.000129 ,z=0.000041,angle between two frames:0.000068
[17:12:49.330] Update EKF and 3D points the number of feature in the new frame: 167 and number of obs: 167
[17:12:49.331] frame process finished the id is: 545 the obs is:167 
[17:12:49.399] Odometry x=2.893604, y=-0.694179, theta=-1.177816
[17:12:49.432] After Reprojection Map nPoint:242 ,nCell:41 ,nMatches:31 ,distance between ekf and vo x:-0.000199 ,z=0.000065,angle between two frames:0.000056
[17:12:49.433] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =136 	 error init =0.000292 	 error end=0.000292
[17:12:49.433] After pose optimization, distance between ekf and vo x:-0.000199 ,z=0.000065,angle between two frames:0.000056
[17:12:49.433] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136
[17:12:49.434] frame process finished the id is: 546 the obs is:136 
[17:12:49.491] Odometry x=2.893196, y=-0.694611, theta=-1.177508
[17:12:49.537] After Reprojection Map nPoint:211 ,nCell:46 ,nMatches:32 ,distance between ekf and vo x:-0.000105 ,z=0.000019,angle between two frames:0.000040
[17:12:49.542] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =157 	 error init =0.000420 	 error end=0.000419
[17:12:49.542] After pose optimization, distance between ekf and vo x:-0.000309 ,z=-0.002980,angle between two frames:0.000961
[17:12:49.542] Update EKF and 3D points the number of feature in the new frame: 157 and number of obs: 157
[17:12:49.543] frame process finished the id is: 547 the obs is:157 
[17:12:49.593] Odometry x=2.893884, y=-0.696603, theta=-1.178053
[17:12:49.643] After Reprojection Map nPoint:232 ,nCell:36 ,nMatches:27 ,distance between ekf and vo x:-0.000060 ,z=-0.000020,angle between two frames:0.000023
[17:12:49.650] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =178 	 error init =0.000376 	 error end=0.000376
[17:12:49.650] After pose optimization, distance between ekf and vo x:-0.000536 ,z=-0.000772,angle between two frames:0.000389
[17:12:49.650] Update EKF and 3D points the number of feature in the new frame: 178 and number of obs: 178
[17:12:49.651] frame process finished the id is: 548 the obs is:178 
[17:12:49.694] Odometry x=2.896337, y=-0.695231, theta=-1.177760
[17:12:49.733] After Reprojection Map nPoint:253 ,nCell:34 ,nMatches:29 ,distance between ekf and vo x:0.000004 ,z=-0.000004,angle between two frames:0.000001
[17:12:49.734] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =131 	 error init =0.000219 	 error end=0.000219
[17:12:49.734] After pose optimization, distance between ekf and vo x:0.000017 ,z=-0.000021,angle between two frames:0.000004
[17:12:49.734] Update EKF and 3D points the number of feature in the new frame: 131 and number of obs: 131
[17:12:49.734] frame process finished the id is: 549 the obs is:131 
[17:12:49.796] Odometry x=2.895975, y=-0.695471, theta=-1.177023
[17:12:49.832] After Reprojection Map nPoint:206 ,nCell:41 ,nMatches:31 ,distance between ekf and vo x:-0.000298 ,z=0.000118,angle between two frames:0.000098
[17:12:49.833] n deleted obs = 13 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =142 	 error init =0.000851 	 error end=0.000851
[17:12:49.833] After pose optimization, distance between ekf and vo x:-0.000298 ,z=0.000118,angle between two frames:0.000098
[17:12:49.833] Update EKF and 3D points the number of feature in the new frame: 142 and number of obs: 142
[17:12:49.834] frame process finished the id is: 550 the obs is:142 
[17:12:49.900] Odometry x=2.895388, y=-0.695613, theta=-1.176479
[17:12:49.929] After Reprojection Map nPoint:217 ,nCell:39 ,nMatches:32 ,distance between ekf and vo x:-0.000088 ,z=0.000034,angle between two frames:0.000033
[17:12:49.929] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =179 	 error init =0.000206 	 error end=0.000206
[17:12:49.929] After pose optimization, distance between ekf and vo x:-0.000088 ,z=0.000034,angle between two frames:0.000033
[17:12:49.929] Update EKF and 3D points the number of feature in the new frame: 179 and number of obs: 179
[17:12:49.931] frame process finished the id is: 551 the obs is:179 
[17:12:49.997] Odometry x=2.888968, y=-0.700867, theta=-1.179017
[17:12:50.027] After Reprojection Map nPoint:254 ,nCell:35 ,nMatches:30 ,distance between ekf and vo x:-0.000121 ,z=0.000025,angle between two frames:0.000050
[17:12:50.034] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =175 	 error init =0.000490 	 error end=0.000486
[17:12:50.034] After pose optimization, distance between ekf and vo x:0.000957 ,z=-0.008510,angle between two frames:0.002365
[17:12:50.034] Update EKF and 3D points the number of feature in the new frame: 175 and number of obs: 175
[17:12:50.035] frame process finished the id is: 552 the obs is:175 
[17:12:50.099] Odometry x=2.890472, y=-0.708420, theta=-1.180993
[17:12:50.124] After Reprojection Map nPoint:250 ,nCell:30 ,nMatches:27 ,distance between ekf and vo x:-0.000034 ,z=-0.000005,angle between two frames:0.000018
[17:12:50.124] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =199 	 error init =0.000298 	 error end=0.000298
[17:12:50.124] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000005,angle between two frames:0.000018
[17:12:50.124] Update EKF and 3D points the number of feature in the new frame: 199 and number of obs: 199
[17:12:50.126] frame process finished the id is: 553 the obs is:199 
[17:12:50.197] Odometry x=2.879753, y=-0.715603, theta=-1.185434
[17:12:50.216] After Reprojection Map nPoint:274 ,nCell:31 ,nMatches:27 ,distance between ekf and vo x:-0.000008 ,z=-0.000006,angle between two frames:0.000015
[17:12:50.216] n deleted obs = 13 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =183 	 error init =0.000906 	 error end=0.000906
[17:12:50.216] After pose optimization, distance between ekf and vo x:-0.000008 ,z=-0.000006,angle between two frames:0.000015
[17:12:50.216] Update EKF and 3D points the number of feature in the new frame: 183 and number of obs: 183
[17:12:50.217] frame process finished the id is: 554 the obs is:183 
[17:12:50.295] Odometry x=2.888774, y=-0.708140, theta=-1.180882
[17:12:50.299] After Reprojection Map nPoint:258 ,nCell:35 ,nMatches:26 ,distance between ekf and vo x:0.000012 ,z=-0.000003,angle between two frames:0.000003
[17:12:50.300] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =196 	 error init =0.000623 	 error end=0.000623
[17:12:50.300] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000003,angle between two frames:0.000003
[17:12:50.300] Update EKF and 3D points the number of feature in the new frame: 196 and number of obs: 196
[17:12:50.301] frame process finished the id is: 555 the obs is:196 
[17:12:50.393] After Reprojection Map nPoint:271 ,nCell:43 ,nMatches:30 ,distance between ekf and vo x:0.000007 ,z=-0.000003,angle between two frames:0.000001
[17:12:50.398] Odometry x=2.882133, y=-0.713018, theta=-1.194398
[17:12:50.399] n deleted obs = 9 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =172 	 error init =0.000838 	 error end=0.000832
[17:12:50.399] After pose optimization, distance between ekf and vo x:-0.000318 ,z=-0.005573,angle between two frames:0.001732
[17:12:50.399] Update EKF and 3D points the number of feature in the new frame: 172 and number of obs: 172
[17:12:50.401] frame process finished the id is: 556 the obs is:172 
[17:12:50.493] After Reprojection Map nPoint:247 ,nCell:43 ,nMatches:28 ,distance between ekf and vo x:0.000003 ,z=-0.000002,angle between two frames:0.000000
[17:12:50.493] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =156 	 error init =0.000581 	 error end=0.000581
[17:12:50.493] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000002,angle between two frames:0.000000
[17:12:50.493] Update EKF and 3D points the number of feature in the new frame: 156 and number of obs: 156
[17:12:50.494] frame process finished the id is: 557 the obs is:156 
[17:12:50.495] Odometry x=2.880919, y=-0.718869, theta=-1.196308
[17:12:50.591] After Reprojection Map nPoint:231 ,nCell:37 ,nMatches:24 ,distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000000
[17:12:50.592] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =153 	 error init =0.000570 	 error end=0.000570
[17:12:50.592] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000000
[17:12:50.592] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153
[17:12:50.593] frame process finished the id is: 558 the obs is:153 
[17:12:50.599] Odometry x=2.873304, y=-0.710742, theta=-1.196969
[17:12:50.698] Odometry x=2.868502, y=-0.710022, theta=-1.217090
[17:12:50.706] After Reprojection Map nPoint:228 ,nCell:35 ,nMatches:28 ,distance between ekf and vo x:0.000022 ,z=-0.000025,angle between two frames:0.000029
[17:12:50.706] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =171 	 error init =0.000528 	 error end=0.000528
[17:12:50.706] After pose optimization, distance between ekf and vo x:0.000022 ,z=-0.000025,angle between two frames:0.000029
[17:12:50.706] Update EKF and 3D points the number of feature in the new frame: 171 and number of obs: 171
[17:12:50.707] frame process finished the id is: 559 the obs is:171 
[17:12:50.795] Odometry x=2.866310, y=-0.714608, theta=-1.205696
[17:12:50.800] After Reprojection Map nPoint:246 ,nCell:36 ,nMatches:29 ,distance between ekf and vo x:0.000009 ,z=-0.000025,angle between two frames:0.000015
[17:12:50.800] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 	 error init =0.000551 	 error end=0.000551
[17:12:50.800] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000025,angle between two frames:0.000015
[17:12:50.800] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189
[17:12:50.801] frame process finished the id is: 560 the obs is:189 
[17:12:50.898] Odometry x=2.883274, y=-0.731667, theta=-1.210658
[17:12:50.917] After Reprojection Map nPoint:264 ,nCell:39 ,nMatches:29 ,distance between ekf and vo x:-0.000084 ,z=0.000029,angle between two frames:0.000050
[17:12:50.925] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =215 	 error init =0.000440 	 error end=0.000440
[17:12:50.925] After pose optimization, distance between ekf and vo x:0.000820 ,z=-0.001302,angle between two frames:0.000420
[17:12:50.925] Update EKF and 3D points the number of feature in the new frame: 215 and number of obs: 215
[17:12:50.926] frame process finished the id is: 561 the obs is:215 
[17:12:50.996] Odometry x=2.866015, y=-0.725617, theta=-1.206381
[17:12:51.013] After Reprojection Map nPoint:290 ,nCell:40 ,nMatches:29 ,distance between ekf and vo x:0.000007 ,z=-0.000007,angle between two frames:0.000003
[17:12:51.013] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =233 	 error init =0.000396 	 error end=0.000396
[17:12:51.013] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000007,angle between two frames:0.000003
[17:12:51.013] Update EKF and 3D points the number of feature in the new frame: 233 and number of obs: 233
[17:12:51.015] frame process finished the id is: 562 the obs is:233 
[17:12:51.094] Odometry x=2.866785, y=-0.724844, theta=-1.206379
[17:12:51.097] After Reprojection Map nPoint:308 ,nCell:34 ,nMatches:26 ,distance between ekf and vo x:0.000006 ,z=-0.000003,angle between two frames:0.000001
[17:12:51.098] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =218 	 error init =0.001217 	 error end=0.001217
[17:12:51.098] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000003,angle between two frames:0.000001
[17:12:51.098] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218
[17:12:51.099] frame process finished the id is: 563 the obs is:218 
[17:12:51.192] After Reprojection Map nPoint:293 ,nCell:37 ,nMatches:28 ,distance between ekf and vo x:0.000012 ,z=-0.000005,angle between two frames:0.000002
[17:12:51.192] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =133 	 error init =0.000625 	 error end=0.000625
[17:12:51.192] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000005,angle between two frames:0.000002
[17:12:51.192] Update EKF and 3D points the number of feature in the new frame: 133 and number of obs: 133
[17:12:51.193] frame process finished the id is: 564 the obs is:133 
[17:12:51.198] Odometry x=2.863507, y=-0.727404, theta=-1.205888
[17:12:51.290] After Reprojection Map nPoint:208 ,nCell:38 ,nMatches:26 ,distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000001
[17:12:51.290] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =144 	 error init =0.000172 	 error end=0.000172
[17:12:51.290] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000001
[17:12:51.290] Update EKF and 3D points the number of feature in the new frame: 144 and number of obs: 144
[17:12:51.291] frame process finished the id is: 565 the obs is:144 
[17:12:51.298] Odometry x=2.862923, y=-0.727760, theta=-1.195778
[17:12:51.392] After Reprojection Map nPoint:219 ,nCell:38 ,nMatches:29 ,distance between ekf and vo x:0.000005 ,z=-0.000003,angle between two frames:0.000000
[17:12:51.396] Odometry x=2.861480, y=-0.751810, theta=-1.205987
[17:12:51.397] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =147 	 error init =0.000146 	 error end=0.000146
[17:12:51.397] After pose optimization, distance between ekf and vo x:0.000011 ,z=-0.000041,angle between two frames:0.000011
[17:12:51.397] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147
[17:12:51.398] frame process finished the id is: 566 the obs is:147 
[17:12:51.491] After Reprojection Map nPoint:222 ,nCell:42 ,nMatches:26 ,distance between ekf and vo x:0.000008 ,z=-0.000006,angle between two frames:0.000000
[17:12:51.491] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =159 	 error init =0.000372 	 error end=0.000372
[17:12:51.491] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000006,angle between two frames:0.000000
[17:12:51.491] Update EKF and 3D points the number of feature in the new frame: 159 and number of obs: 159
[17:12:51.492] frame process finished the id is: 567 the obs is:159 
[17:12:51.499] Odometry x=2.865089, y=-0.732871, theta=-1.197314
[17:12:51.592] After Reprojection Map nPoint:234 ,nCell:47 ,nMatches:29 ,distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000001
[17:12:51.593] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =179 	 error init =0.000399 	 error end=0.000399
[17:12:51.593] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000001
[17:12:51.593] Update EKF and 3D points the number of feature in the new frame: 179 and number of obs: 179
[17:12:51.594] frame process finished the id is: 568 the obs is:179 
[17:12:51.598] Odometry x=2.864651, y=-0.733219, theta=-1.197731
[17:12:51.693] After Reprojection Map nPoint:254 ,nCell:40 ,nMatches:27 ,distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000001
[17:12:51.693] n deleted obs = 15 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =187 	 error init =0.000692 	 error end=0.000692
[17:12:51.693] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000001
[17:12:51.693] Update EKF and 3D points the number of feature in the new frame: 187 and number of obs: 187
[17:12:51.694] frame process finished the id is: 569 the obs is:187 
[17:12:51.699] Odometry x=2.864025, y=-0.733721, theta=-1.198128
[17:12:51.790] After Reprojection Map nPoint:262 ,nCell:30 ,nMatches:24 ,distance between ekf and vo x:0.000014 ,z=-0.000008,angle between two frames:0.000004
[17:12:51.790] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =188 	 error init =0.000327 	 error end=0.000327
[17:12:51.790] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000008,angle between two frames:0.000004
[17:12:51.790] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188
[17:12:51.792] frame process finished the id is: 570 the obs is:188 
[17:12:51.798] Odometry x=2.842882, y=-0.737414, theta=-1.197976
[17:12:51.891] After Reprojection Map nPoint:263 ,nCell:21 ,nMatches:20 ,distance between ekf and vo x:0.000007 ,z=-0.000005,angle between two frames:0.000001
[17:12:51.891] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =157 	 error init =0.000548 	 error end=0.000548
[17:12:51.891] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000005,angle between two frames:0.000001
[17:12:51.891] Update EKF and 3D points the number of feature in the new frame: 157 and number of obs: 157
[17:12:51.892] frame process finished the id is: 571 the obs is:157 
[17:12:51.896] Odometry x=2.844373, y=-0.736402, theta=-1.197699
[17:12:51.991] After Reprojection Map nPoint:232 ,nCell:22 ,nMatches:21 ,distance between ekf and vo x:0.000017 ,z=-0.000009,angle between two frames:0.000005
[17:12:51.991] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =165 	 error init =0.000280 	 error end=0.000280
[17:12:51.991] After pose optimization, distance between ekf and vo x:0.000017 ,z=-0.000009,angle between two frames:0.000005
[17:12:51.991] Update EKF and 3D points the number of feature in the new frame: 165 and number of obs: 165
[17:12:51.992] frame process finished the id is: 572 the obs is:165 
[17:12:51.996] Odometry x=2.835681, y=-0.729526, theta=-1.186960
[17:12:52.094] Odometry x=2.819385, y=-0.743188, theta=-1.207477
[17:12:52.097] After Reprojection Map nPoint:240 ,nCell:32 ,nMatches:25 ,distance between ekf and vo x:-0.000002 ,z=0.000004,angle between two frames:0.000001
[17:12:52.097] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =151 	 error init =0.000215 	 error end=0.000215
[17:12:52.097] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000004,angle between two frames:0.000001
[17:12:52.097] Update EKF and 3D points the number of feature in the new frame: 151 and number of obs: 151
[17:12:52.098] frame process finished the id is: 573 the obs is:151 
[17:12:52.197] Odometry x=2.824449, y=-0.744733, theta=-1.182902
[17:12:52.204] After Reprojection Map nPoint:226 ,nCell:22 ,nMatches:21 ,distance between ekf and vo x:-0.000001 ,z=0.000005,angle between two frames:0.000029
[17:12:52.204] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =208 	 error init =0.000481 	 error end=0.000481
[17:12:52.204] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000005,angle between two frames:0.000029
[17:12:52.204] Update EKF and 3D points the number of feature in the new frame: 208 and number of obs: 208
[17:12:52.206] frame process finished the id is: 574 the obs is:208 
[17:12:52.299] Odometry x=2.822536, y=-0.746059, theta=-1.168542
[17:12:52.307] After Reprojection Map nPoint:283 ,nCell:25 ,nMatches:24 ,distance between ekf and vo x:-0.000058 ,z=0.000011,angle between two frames:0.000043
[17:12:52.307] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =206 	 error init =0.000163 	 error end=0.000163
[17:12:52.307] After pose optimization, distance between ekf and vo x:-0.000058 ,z=0.000011,angle between two frames:0.000043
[17:12:52.307] Update EKF and 3D points the number of feature in the new frame: 206 and number of obs: 206
[17:12:52.308] frame process finished the id is: 575 the obs is:206 
[17:12:52.398] Odometry x=2.823474, y=-0.745461, theta=-1.182850
[17:12:52.400] After Reprojection Map nPoint:281 ,nCell:33 ,nMatches:28 ,distance between ekf and vo x:-0.000022 ,z=0.000007,angle between two frames:0.000012
[17:12:52.400] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =172 	 error init =0.000259 	 error end=0.000259
[17:12:52.400] After pose optimization, distance between ekf and vo x:-0.000022 ,z=0.000007,angle between two frames:0.000012
[17:12:52.400] Update EKF and 3D points the number of feature in the new frame: 172 and number of obs: 172
[17:12:52.401] frame process finished the id is: 576 the obs is:172 
[17:12:52.495] After Reprojection Map nPoint:247 ,nCell:34 ,nMatches:26 ,distance between ekf and vo x:0.000004 ,z=-0.000003,angle between two frames:0.000000
[17:12:52.495] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =211 	 error init =0.000485 	 error end=0.000485
[17:12:52.495] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000003,angle between two frames:0.000000
[17:12:52.495] Update EKF and 3D points the number of feature in the new frame: 211 and number of obs: 211
[17:12:52.496] frame process finished the id is: 577 the obs is:211 
[17:12:52.511] Odometry x=2.822320, y=-0.746387, theta=-1.182782
[17:12:52.592] After Reprojection Map nPoint:286 ,nCell:31 ,nMatches:28 ,distance between ekf and vo x:0.000012 ,z=-0.000007,angle between two frames:0.000002
[17:12:52.592] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =207 	 error init =0.000313 	 error end=0.000313
[17:12:52.592] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000007,angle between two frames:0.000002
[17:12:52.592] Update EKF and 3D points the number of feature in the new frame: 207 and number of obs: 207
[17:12:52.593] frame process finished the id is: 578 the obs is:207 
[17:12:52.597] Odometry x=2.821577, y=-0.747018, theta=-1.182613
[17:12:52.691] After Reprojection Map nPoint:282 ,nCell:28 ,nMatches:28 ,distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000000
[17:12:52.692] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =211 	 error init =0.000266 	 error end=0.000266
[17:12:52.692] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000000
[17:12:52.692] Update EKF and 3D points the number of feature in the new frame: 211 and number of obs: 211
[17:12:52.693] frame process finished the id is: 579 the obs is:211 
[17:12:52.703] Odometry x=2.814344, y=-0.752953, theta=-1.183118
[17:12:52.791] After Reprojection Map nPoint:286 ,nCell:29 ,nMatches:29 ,distance between ekf and vo x:-0.000000 ,z=-0.000003,angle between two frames:0.000001
[17:12:52.792] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =229 	 error init =0.000132 	 error end=0.000132
[17:12:52.792] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000003,angle between two frames:0.000001
[17:12:52.792] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229
[17:12:52.793] frame process finished the id is: 580 the obs is:229 
[17:12:52.798] Odometry x=2.813985, y=-0.753195, theta=-1.183145
[17:12:52.893] After Reprojection Map nPoint:304 ,nCell:29 ,nMatches:28 ,distance between ekf and vo x:0.000003 ,z=-0.000004,angle between two frames:0.000000
[17:12:52.894] n deleted obs = 16 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =196 	 error init =0.000727 	 error end=0.000727
[17:12:52.894] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000004,angle between two frames:0.000000
[17:12:52.894] Update EKF and 3D points the number of feature in the new frame: 196 and number of obs: 196
[17:12:52.895] frame process finished the id is: 581 the obs is:196 
[17:12:52.897] Odometry x=2.813737, y=-0.753417, theta=-1.183465
[17:12:52.994] Odometry x=2.808332, y=-0.757182, theta=-1.179231
[17:12:52.999] After Reprojection Map nPoint:271 ,nCell:37 ,nMatches:28 ,distance between ekf and vo x:0.000015 ,z=-0.000028,angle between two frames:0.000018
[17:12:53.000] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =222 	 error init =0.001207 	 error end=0.001207
[17:12:53.000] After pose optimization, distance between ekf and vo x:0.000015 ,z=-0.000028,angle between two frames:0.000018
[17:12:53.000] Update EKF and 3D points the number of feature in the new frame: 222 and number of obs: 222
[17:12:53.001] frame process finished the id is: 582 the obs is:222 
[17:12:53.097] Odometry x=2.803892, y=-0.766007, theta=-1.166652
[17:12:53.101] After Reprojection Map nPoint:297 ,nCell:26 ,nMatches:22 ,distance between ekf and vo x:0.000004 ,z=-0.000016,angle between two frames:0.000013
[17:12:53.101] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =227 	 error init =0.000515 	 error end=0.000515
[17:12:53.101] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000016,angle between two frames:0.000013
[17:12:53.101] Update EKF and 3D points the number of feature in the new frame: 227 and number of obs: 227
[17:12:53.103] frame process finished the id is: 583 the obs is:227 
[17:12:53.198] Odometry x=2.801171, y=-0.765030, theta=-1.172276
[17:12:53.300] Odometry x=2.800941, y=-0.766045, theta=-1.175488
[17:12:53.302] After Reprojection Map nPoint:302 ,nCell:32 ,nMatches:26 ,distance between ekf and vo x:-0.000037 ,z=-0.000001,angle between two frames:0.000007
[17:12:53.302] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =130 	 error init =0.000663 	 error end=0.000663
[17:12:53.302] After pose optimization, distance between ekf and vo x:-0.000037 ,z=-0.000001,angle between two frames:0.000007
[17:12:53.302] Update EKF and 3D points the number of feature in the new frame: 130 and number of obs: 130
[17:12:53.303] frame process finished the id is: 584 the obs is:130 
[17:12:53.397] Odometry x=2.790368, y=-0.776644, theta=-1.182283
[17:12:53.407] After Reprojection Map nPoint:205 ,nCell:36 ,nMatches:28 ,distance between ekf and vo x:-0.000072 ,z=0.000038,angle between two frames:0.000039
[17:12:53.407] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =146 	 error init =0.000328 	 error end=0.000328
[17:12:53.408] After pose optimization, distance between ekf and vo x:-0.000072 ,z=0.000038,angle between two frames:0.000039
[17:12:53.408] Update EKF and 3D points the number of feature in the new frame: 146 and number of obs: 146
[17:12:53.408] frame process finished the id is: 585 the obs is:146 
[17:12:53.499] Odometry x=2.791882, y=-0.773841, theta=-1.183464
[17:12:53.505] After Reprojection Map nPoint:221 ,nCell:39 ,nMatches:29 ,distance between ekf and vo x:-0.000045 ,z=0.000048,angle between two frames:0.000026
[17:12:53.505] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =106 	 error init =0.001485 	 error end=0.001485
[17:12:53.505] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000048,angle between two frames:0.000026
[17:12:53.505] Update EKF and 3D points the number of feature in the new frame: 106 and number of obs: 106
[17:12:53.506] frame process finished the id is: 586 the obs is:106 
[17:12:53.596] After Reprojection Map nPoint:181 ,nCell:45 ,nMatches:31 ,distance between ekf and vo x:-0.000041 ,z=0.000020,angle between two frames:0.000008
[17:12:53.596] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =160 	 error init =0.000422 	 error end=0.000422
[17:12:53.596] After pose optimization, distance between ekf and vo x:-0.000041 ,z=0.000020,angle between two frames:0.000008
[17:12:53.596] Update EKF and 3D points the number of feature in the new frame: 160 and number of obs: 160
[17:12:53.596] Odometry x=2.797320, y=-0.768871, theta=-1.176201
[17:12:53.597] frame process finished the id is: 587 the obs is:160 
[17:12:53.696] After Reprojection Map nPoint:235 ,nCell:45 ,nMatches:34 ,distance between ekf and vo x:-0.000101 ,z=0.000026,angle between two frames:0.000033
[17:12:53.696] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =152 	 error init =0.000804 	 error end=0.000804
[17:12:53.696] After pose optimization, distance between ekf and vo x:-0.000101 ,z=0.000026,angle between two frames:0.000033
[17:12:53.696] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152
[17:12:53.697] frame process finished the id is: 588 the obs is:152 
[17:12:53.699] Odometry x=2.796963, y=-0.769151, theta=-1.176477
[17:12:53.779] After Reprojection Map nPoint:227 ,nCell:30 ,nMatches:29 ,distance between ekf and vo x:0.000006 ,z=-0.000001,angle between two frames:0.000001
[17:12:53.780] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =131 	 error init =0.000286 	 error end=0.000286
[17:12:53.780] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000001,angle between two frames:0.000001
[17:12:53.780] Update EKF and 3D points the number of feature in the new frame: 131 and number of obs: 131
[17:12:53.780] frame process finished the id is: 589 the obs is:131 
[17:12:53.796] Odometry x=2.796629, y=-0.769435, theta=-1.177005
[17:12:53.863] After Reprojection Map nPoint:206 ,nCell:36 ,nMatches:32 ,distance between ekf and vo x:0.000004 ,z=0.000001,angle between two frames:0.000001
[17:12:53.863] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =150 	 error init =0.000755 	 error end=0.000755
[17:12:53.863] After pose optimization, distance between ekf and vo x:0.000004 ,z=0.000001,angle between two frames:0.000001
[17:12:53.863] Update EKF and 3D points the number of feature in the new frame: 150 and number of obs: 150
[17:12:53.864] frame process finished the id is: 590 the obs is:150 
[17:12:53.898] Odometry x=2.796298, y=-0.769711, theta=-1.176830
[17:12:53.949] After Reprojection Map nPoint:225 ,nCell:38 ,nMatches:35 ,distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000002
[17:12:53.949] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =152 	 error init =0.000273 	 error end=0.000273
[17:12:53.949] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000002
[17:12:53.949] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152
[17:12:53.950] frame process finished the id is: 591 the obs is:152 
[17:12:53.995] Odometry x=2.795981, y=-0.769860, theta=-1.176354
[17:12:54.034] After Reprojection Map nPoint:227 ,nCell:32 ,nMatches:32 ,distance between ekf and vo x:0.000006 ,z=-0.000004,angle between two frames:0.000000
[17:12:54.034] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =162 	 error init =0.000150 	 error end=0.000150
[17:12:54.034] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000004,angle between two frames:0.000000
[17:12:54.034] Update EKF and 3D points the number of feature in the new frame: 162 and number of obs: 162
[17:12:54.035] frame process finished the id is: 592 the obs is:162 
[17:12:54.098] Odometry x=2.795672, y=-0.770127, theta=-1.176301
[17:12:54.118] After Reprojection Map nPoint:237 ,nCell:34 ,nMatches:31 ,distance between ekf and vo x:0.000004 ,z=-0.000005,angle between two frames:0.000000
[17:12:54.118] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =107 	 error init =0.000504 	 error end=0.000504
[17:12:54.118] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000005,angle between two frames:0.000000
[17:12:54.118] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107
[17:12:54.119] frame process finished the id is: 593 the obs is:107 
[17:12:54.195] Odometry x=2.795379, y=-0.770367, theta=-1.176265
[17:12:54.203] After Reprojection Map nPoint:182 ,nCell:35 ,nMatches:35 ,distance between ekf and vo x:0.000020 ,z=-0.000007,angle between two frames:0.000006
[17:12:54.203] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =121 	 error init =0.001310 	 error end=0.001310
[17:12:54.203] After pose optimization, distance between ekf and vo x:0.000020 ,z=-0.000007,angle between two frames:0.000006
[17:12:54.203] Update EKF and 3D points the number of feature in the new frame: 121 and number of obs: 121
[17:12:54.204] frame process finished the id is: 594 the obs is:121 
[17:12:54.292] After Reprojection Map nPoint:196 ,nCell:28 ,nMatches:28 ,distance between ekf and vo x:0.000023 ,z=-0.000011,angle between two frames:0.000006
[17:12:54.293] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =162 	 error init =0.000155 	 error end=0.000155
[17:12:54.293] After pose optimization, distance between ekf and vo x:0.000023 ,z=-0.000011,angle between two frames:0.000006
[17:12:54.293] Update EKF and 3D points the number of feature in the new frame: 162 and number of obs: 162
[17:12:54.294] frame process finished the id is: 595 the obs is:162 
[17:12:54.297] Odometry x=2.794206, y=-0.771725, theta=-1.176146
[17:12:54.394] After Reprojection Map nPoint:237 ,nCell:28 ,nMatches:28 ,distance between ekf and vo x:0.000006 ,z=-0.000004,angle between two frames:0.000000
[17:12:54.395] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =182 	 error init =0.000388 	 error end=0.000388
[17:12:54.395] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000004,angle between two frames:0.000000
[17:12:54.395] Update EKF and 3D points the number of feature in the new frame: 182 and number of obs: 182
[17:12:54.396] frame process finished the id is: 596 the obs is:182 
[17:12:54.400] Odometry x=2.788238, y=-0.776763, theta=-1.173640
[17:12:54.493] After Reprojection Map nPoint:257 ,nCell:32 ,nMatches:29 ,distance between ekf and vo x:0.000007 ,z=-0.000006,angle between two frames:0.000001
[17:12:54.493] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =147 	 error init =0.001068 	 error end=0.001068
[17:12:54.493] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000006,angle between two frames:0.000001
[17:12:54.493] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147
[17:12:54.494] frame process finished the id is: 597 the obs is:147 
[17:12:54.498] Odometry x=2.787826, y=-0.776248, theta=-1.173821
[17:12:54.599] Odometry x=2.781877, y=-0.781220, theta=-1.176673
[17:12:54.601] After Reprojection Map nPoint:222 ,nCell:32 ,nMatches:31 ,distance between ekf and vo x:-0.000114 ,z=0.000057,angle between two frames:0.000028
[17:12:54.601] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =178 	 error init =0.000484 	 error end=0.000484
[17:12:54.601] After pose optimization, distance between ekf and vo x:-0.000114 ,z=0.000057,angle between two frames:0.000028
[17:12:54.601] Update EKF and 3D points the number of feature in the new frame: 178 and number of obs: 178
[17:12:54.602] frame process finished the id is: 598 the obs is:178 
[17:12:54.701] Odometry x=2.776125, y=-0.784691, theta=-1.175027
[17:12:54.705] After Reprojection Map nPoint:253 ,nCell:31 ,nMatches:31 ,distance between ekf and vo x:-0.000058 ,z=0.000023,angle between two frames:0.000020
[17:12:54.705] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =170 	 error init =0.000081 	 error end=0.000081
[17:12:54.705] After pose optimization, distance between ekf and vo x:-0.000058 ,z=0.000023,angle between two frames:0.000020
[17:12:54.705] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170
[17:12:54.706] frame process finished the id is: 599 the obs is:170 
[17:12:54.794] Odometry x=2.770740, y=-0.789099, theta=-1.175244
[17:12:54.809] After Reprojection Map nPoint:245 ,nCell:32 ,nMatches:30 ,distance between ekf and vo x:-0.000173 ,z=0.000093,angle between two frames:0.000062
[17:12:54.809] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =149 	 error init =0.000197 	 error end=0.000197
[17:12:54.809] After pose optimization, distance between ekf and vo x:-0.000173 ,z=0.000093,angle between two frames:0.000062
[17:12:54.809] Update EKF and 3D points the number of feature in the new frame: 149 and number of obs: 149
[17:12:54.810] frame process finished the id is: 600 the obs is:149 
[17:12:54.892] Odometry x=2.769524, y=-0.790005, theta=-1.175523
[17:12:54.901] After Reprojection Map nPoint:224 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:-0.000038 ,z=0.000008,angle between two frames:0.000012
[17:12:54.901] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =128 	 error init =0.000246 	 error end=0.000246
[17:12:54.901] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000008,angle between two frames:0.000012
[17:12:54.901] Update EKF and 3D points the number of feature in the new frame: 128 and number of obs: 128
[17:12:54.902] frame process finished the id is: 601 the obs is:128 
[17:12:54.993] After Reprojection Map nPoint:203 ,nCell:36 ,nMatches:36 ,distance between ekf and vo x:0.000014 ,z=-0.000009,angle between two frames:0.000004
[17:12:54.993] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =108 	 error init =0.000837 	 error end=0.000837
[17:12:54.993] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000009,angle between two frames:0.000004
[17:12:54.993] Update EKF and 3D points the number of feature in the new frame: 108 and number of obs: 108
[17:12:54.994] frame process finished the id is: 602 the obs is:108 
[17:12:55.000] Odometry x=2.773333, y=-0.786729, theta=-1.175035
[17:12:55.097] Odometry x=2.767759, y=-0.794491, theta=-1.173795
[17:12:55.100] After Reprojection Map nPoint:183 ,nCell:39 ,nMatches:32 ,distance between ekf and vo x:-0.000011 ,z=-0.000001,angle between two frames:0.000007
[17:12:55.100] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =150 	 error init =0.000234 	 error end=0.000234
[17:12:55.100] After pose optimization, distance between ekf and vo x:-0.000011 ,z=-0.000001,angle between two frames:0.000007
[17:12:55.100] Update EKF and 3D points the number of feature in the new frame: 150 and number of obs: 150
[17:12:55.101] frame process finished the id is: 603 the obs is:150 
[17:12:55.193] After Reprojection Map nPoint:225 ,nCell:35 ,nMatches:34 ,distance between ekf and vo x:0.000015 ,z=-0.000008,angle between two frames:0.000003
[17:12:55.193] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =140 	 error init =0.000319 	 error end=0.000319
[17:12:55.193] After pose optimization, distance between ekf and vo x:0.000015 ,z=-0.000008,angle between two frames:0.000003
[17:12:55.193] Update EKF and 3D points the number of feature in the new frame: 140 and number of obs: 140
[17:12:55.194] frame process finished the id is: 604 the obs is:140 
[17:12:55.199] Odometry x=2.766847, y=-0.795215, theta=-1.173869
[17:12:55.296] After Reprojection Map nPoint:215 ,nCell:31 ,nMatches:29 ,distance between ekf and vo x:0.000014 ,z=-0.000007,angle between two frames:0.000004
[17:12:55.296] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =126 	 error init =0.000615 	 error end=0.000615
[17:12:55.296] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000007,angle between two frames:0.000004
[17:12:55.296] Update EKF and 3D points the number of feature in the new frame: 126 and number of obs: 126
[17:12:55.297] frame process finished the id is: 605 the obs is:126 
[17:12:55.299] Odometry x=2.763518, y=-0.798018, theta=-1.174789
[17:12:55.394] After Reprojection Map nPoint:201 ,nCell:39 ,nMatches:35 ,distance between ekf and vo x:0.000028 ,z=-0.000014,angle between two frames:0.000008
[17:12:55.394] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =120 	 error init =0.001109 	 error end=0.001109
[17:12:55.394] After pose optimization, distance between ekf and vo x:0.000028 ,z=-0.000014,angle between two frames:0.000008
[17:12:55.394] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120
[17:12:55.395] frame process finished the id is: 606 the obs is:120 
[17:12:55.397] Odometry x=2.763546, y=-0.799469, theta=-1.174455
[17:12:55.494] After Reprojection Map nPoint:195 ,nCell:40 ,nMatches:34 ,distance between ekf and vo x:0.000025 ,z=-0.000013,angle between two frames:0.000007
[17:12:55.494] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =120 	 error init =0.000340 	 error end=0.000340
[17:12:55.494] After pose optimization, distance between ekf and vo x:0.000025 ,z=-0.000013,angle between two frames:0.000007
[17:12:55.494] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120
[17:12:55.495] frame process finished the id is: 607 the obs is:120 
[17:12:55.499] Odometry x=2.763255, y=-0.799710, theta=-1.174081
[17:12:55.598] Odometry x=2.757308, y=-0.804913, theta=-1.179276
[17:12:55.604] After Reprojection Map nPoint:195 ,nCell:37 ,nMatches:35 ,distance between ekf and vo x:-0.000023 ,z=0.000015,angle between two frames:0.000000
[17:12:55.604] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =123 	 error init =0.001077 	 error end=0.001077
[17:12:55.604] After pose optimization, distance between ekf and vo x:-0.000023 ,z=0.000015,angle between two frames:0.000000
[17:12:55.604] Update EKF and 3D points the number of feature in the new frame: 123 and number of obs: 123
[17:12:55.605] frame process finished the id is: 608 the obs is:123 
[17:12:55.695] Odometry x=2.762635, y=-0.800218, theta=-1.174102
[17:12:55.720] After Reprojection Map nPoint:198 ,nCell:35 ,nMatches:27 ,distance between ekf and vo x:-0.000202 ,z=0.000066,angle between two frames:0.000068
[17:12:55.720] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =136 	 error init =0.000681 	 error end=0.000681
[17:12:55.720] After pose optimization, distance between ekf and vo x:-0.000202 ,z=0.000066,angle between two frames:0.000068
[17:12:55.720] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136
[17:12:55.721] frame process finished the id is: 609 the obs is:136 
[17:12:55.793] Odometry x=2.754582, y=-0.801871, theta=-1.182115
[17:12:55.831] After Reprojection Map nPoint:211 ,nCell:40 ,nMatches:31 ,distance between ekf and vo x:-0.000236 ,z=0.000077,angle between two frames:0.000093
[17:12:55.831] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =174 	 error init =0.000660 	 error end=0.000660
[17:12:55.831] After pose optimization, distance between ekf and vo x:-0.000236 ,z=0.000077,angle between two frames:0.000093
[17:12:55.831] Update EKF and 3D points the number of feature in the new frame: 174 and number of obs: 174
[17:12:55.832] frame process finished the id is: 610 the obs is:174 
[17:12:55.897] Odometry x=2.754056, y=-0.801896, theta=-1.181751
[17:12:55.931] After Reprojection Map nPoint:249 ,nCell:32 ,nMatches:32 ,distance between ekf and vo x:-0.000144 ,z=0.000067,angle between two frames:0.000057
[17:12:55.932] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 	 error init =0.000390 	 error end=0.000390
[17:12:55.932] After pose optimization, distance between ekf and vo x:-0.000144 ,z=0.000067,angle between two frames:0.000057
[17:12:55.932] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189
[17:12:55.933] frame process finished the id is: 611 the obs is:189 
[17:12:55.999] Odometry x=2.753611, y=-0.802170, theta=-1.182065
[17:12:56.041] After Reprojection Map nPoint:264 ,nCell:21 ,nMatches:21 ,distance between ekf and vo x:-0.000200 ,z=0.000118,angle between two frames:0.000075
[17:12:56.041] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =209 	 error init =0.000449 	 error end=0.000449
[17:12:56.041] After pose optimization, distance between ekf and vo x:-0.000200 ,z=0.000118,angle between two frames:0.000075
[17:12:56.041] Update EKF and 3D points the number of feature in the new frame: 209 and number of obs: 209
[17:12:56.042] frame process finished the id is: 612 the obs is:209 
[17:12:56.096] Odometry x=2.753192, y=-0.802248, theta=-1.182854
[17:12:56.127] After Reprojection Map nPoint:284 ,nCell:26 ,nMatches:24 ,distance between ekf and vo x:0.000008 ,z=-0.000006,angle between two frames:0.000001
[17:12:56.136] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =229 	 error init =0.001062 	 error end=0.001061
[17:12:56.136] After pose optimization, distance between ekf and vo x:-0.000098 ,z=-0.000800,angle between two frames:0.000241
[17:12:56.136] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229
[17:12:56.137] frame process finished the id is: 613 the obs is:229 
[17:12:56.193] Odometry x=2.752831, y=-0.803491, theta=-1.183325
[17:12:56.230] After Reprojection Map nPoint:304 ,nCell:29 ,nMatches:27 ,distance between ekf and vo x:-0.000056 ,z=0.000003,angle between two frames:0.000014
[17:12:56.231] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =240 	 error init =0.000220 	 error end=0.000220
[17:12:56.231] After pose optimization, distance between ekf and vo x:-0.000056 ,z=0.000003,angle between two frames:0.000014
[17:12:56.231] Update EKF and 3D points the number of feature in the new frame: 240 and number of obs: 240
[17:12:56.232] frame process finished the id is: 614 the obs is:240 
[17:12:56.295] Odometry x=2.752412, y=-0.803663, theta=-1.182740
[17:12:56.322] After Reprojection Map nPoint:315 ,nCell:35 ,nMatches:30 ,distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000005
[17:12:56.323] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =259 	 error init =0.000673 	 error end=0.000673
[17:12:56.323] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000005
[17:12:56.323] Update EKF and 3D points the number of feature in the new frame: 259 and number of obs: 259
[17:12:56.324] frame process finished the id is: 615 the obs is:259 
[17:12:56.396] Odometry x=2.752079, y=-0.803942, theta=-1.182319
[17:12:56.412] After Reprojection Map nPoint:334 ,nCell:40 ,nMatches:36 ,distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.000000
[17:12:56.412] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =227 	 error init =0.000420 	 error end=0.000420
[17:12:56.412] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.000000
[17:12:56.412] Update EKF and 3D points the number of feature in the new frame: 227 and number of obs: 227
[17:12:56.413] frame process finished the id is: 616 the obs is:227 
[17:12:56.496] Odometry x=2.745575, y=-0.808985, theta=-1.176455
[17:12:56.500] After Reprojection Map nPoint:302 ,nCell:42 ,nMatches:38 ,distance between ekf and vo x:0.000007 ,z=-0.000003,angle between two frames:0.000003
[17:12:56.501] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =203 	 error init =0.001146 	 error end=0.001146
[17:12:56.501] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000003,angle between two frames:0.000003
[17:12:56.501] Update EKF and 3D points the number of feature in the new frame: 203 and number of obs: 203
[17:12:56.502] frame process finished the id is: 617 the obs is:203 
[17:12:56.595] Odometry x=2.743942, y=-0.810407, theta=-1.180923
[17:12:56.597] After Reprojection Map nPoint:278 ,nCell:43 ,nMatches:39 ,distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000003
[17:12:56.598] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =200 	 error init =0.000694 	 error end=0.000694
[17:12:56.598] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000003
[17:12:56.598] Update EKF and 3D points the number of feature in the new frame: 200 and number of obs: 200
[17:12:56.599] frame process finished the id is: 618 the obs is:200 
[17:12:56.696] After Reprojection Map nPoint:275 ,nCell:41 ,nMatches:39 ,distance between ekf and vo x:0.000005 ,z=-0.000002,angle between two frames:0.000001
[17:12:56.699] Odometry x=2.738867, y=-0.814728, theta=-1.193363
[17:12:56.703] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =191 	 error init =0.001234 	 error end=0.001232
[17:12:56.703] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000848,angle between two frames:0.000247
[17:12:56.703] Update EKF and 3D points the number of feature in the new frame: 191 and number of obs: 191
[17:12:56.704] frame process finished the id is: 619 the obs is:191 
[17:12:56.797] After Reprojection Map nPoint:266 ,nCell:33 ,nMatches:33 ,distance between ekf and vo x:0.000007 ,z=-0.000002,angle between two frames:0.000002
[17:12:56.798] n deleted obs = 10 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 	 error init =0.000951 	 error end=0.000951
[17:12:56.798] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000002,angle between two frames:0.000002
[17:12:56.798] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226
[17:12:56.799] frame process finished the id is: 620 the obs is:226 
[17:12:56.800] Odometry x=2.736329, y=-0.817839, theta=-1.189996
[17:12:56.893] Odometry x=2.730724, y=-0.822189, theta=-1.182730
[17:12:56.897] After Reprojection Map nPoint:301 ,nCell:42 ,nMatches:32 ,distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000001
[17:12:56.897] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =237 	 error init =0.000212 	 error end=0.000212
[17:12:56.897] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000001
[17:12:56.897] Update EKF and 3D points the number of feature in the new frame: 237 and number of obs: 237
[17:12:56.899] frame process finished the id is: 621 the obs is:237 
[17:12:56.996] Odometry x=2.729094, y=-0.822565, theta=-1.185290
[17:12:56.999] After Reprojection Map nPoint:312 ,nCell:41 ,nMatches:31 ,distance between ekf and vo x:0.000010 ,z=-0.000004,angle between two frames:0.000003
[17:12:56.999] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =277 	 error init =0.000383 	 error end=0.000383
[17:12:56.999] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000004,angle between two frames:0.000003
[17:12:56.999] Update EKF and 3D points the number of feature in the new frame: 277 and number of obs: 277
[17:12:57.001] frame process finished the id is: 622 the obs is:277 
[17:12:57.098] Odometry x=2.728586, y=-0.826421, theta=-1.185199
[17:12:57.100] After Reprojection Map nPoint:352 ,nCell:44 ,nMatches:35 ,distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000001
[17:12:57.100] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =274 	 error init =0.000860 	 error end=0.000860
[17:12:57.100] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000001
[17:12:57.100] Update EKF and 3D points the number of feature in the new frame: 274 and number of obs: 274
[17:12:57.102] frame process finished the id is: 623 the obs is:274 
[17:12:57.198] After Reprojection Map nPoint:349 ,nCell:41 ,nMatches:35 ,distance between ekf and vo x:0.000005 ,z=-0.000000,angle between two frames:0.000001
[17:12:57.199] n deleted obs = 22 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =240 	 error init =0.001656 	 error end=0.001656
[17:12:57.199] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000000,angle between two frames:0.000001
[17:12:57.199] Update EKF and 3D points the number of feature in the new frame: 240 and number of obs: 240
[17:12:57.200] frame process finished the id is: 624 the obs is:240 
[17:12:57.201] Odometry x=2.727339, y=-0.825783, theta=-1.188852
[17:12:57.294] Odometry x=2.721454, y=-0.830503, theta=-1.197302
[17:12:57.299] After Reprojection Map nPoint:315 ,nCell:42 ,nMatches:36 ,distance between ekf and vo x:0.000009 ,z=-0.000003,angle between two frames:0.000003
[17:12:57.300] n deleted obs = 44 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =237 	 error init =0.001345 	 error end=0.001345
[17:12:57.300] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000003,angle between two frames:0.000003
[17:12:57.300] Update EKF and 3D points the number of feature in the new frame: 237 and number of obs: 237
[17:12:57.301] frame process finished the id is: 625 the obs is:237 
[17:12:57.397] After Reprojection Map nPoint:312 ,nCell:49 ,nMatches:43 ,distance between ekf and vo x:0.000004 ,z=-0.000001,angle between two frames:0.000001
[17:12:57.397] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =250 	 error init =0.000241 	 error end=0.000241
[17:12:57.397] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000001,angle between two frames:0.000001
[17:12:57.397] Update EKF and 3D points the number of feature in the new frame: 250 and number of obs: 250
[17:12:57.399] frame process finished the id is: 626 the obs is:250 
[17:12:57.401] Odometry x=2.720638, y=-0.833412, theta=-1.193500
[17:12:57.495] Odometry x=2.714315, y=-0.837039, theta=-1.179288
[17:12:57.500] After Reprojection Map nPoint:325 ,nCell:36 ,nMatches:36 ,distance between ekf and vo x:0.000006 ,z=0.000000,angle between two frames:0.000001
[17:12:57.500] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =248 	 error init =0.000675 	 error end=0.000675
[17:12:57.500] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000000,angle between two frames:0.000001
[17:12:57.500] Update EKF and 3D points the number of feature in the new frame: 248 and number of obs: 248
[17:12:57.501] frame process finished the id is: 627 the obs is:248 
[17:12:57.597] After Reprojection Map nPoint:323 ,nCell:35 ,nMatches:33 ,distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000002
[17:12:57.597] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =250 	 error init =0.000477 	 error end=0.000477
[17:12:57.597] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000002
[17:12:57.597] Update EKF and 3D points the number of feature in the new frame: 250 and number of obs: 250
[17:12:57.598] Odometry x=2.719408, y=-0.834300, theta=-1.192877
[17:12:57.599] frame process finished the id is: 628 the obs is:250 
[17:12:57.698] Odometry x=2.713403, y=-0.839150, theta=-1.198301
[17:12:57.707] After Reprojection Map nPoint:325 ,nCell:50 ,nMatches:36 ,distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000001
[17:12:57.708] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 	 error init =0.000403 	 error end=0.000403
[17:12:57.708] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000001
[17:12:57.708] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226
[17:12:57.709] frame process finished the id is: 629 the obs is:226 
[17:12:57.796] Odometry x=2.713129, y=-0.839376, theta=-1.198273
[17:12:57.804] After Reprojection Map nPoint:301 ,nCell:40 ,nMatches:36 ,distance between ekf and vo x:-0.000027 ,z=0.000034,angle between two frames:0.000021
[17:12:57.804] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =206 	 error init =0.000972 	 error end=0.000972
[17:12:57.804] After pose optimization, distance between ekf and vo x:-0.000027 ,z=0.000034,angle between two frames:0.000021
[17:12:57.804] Update EKF and 3D points the number of feature in the new frame: 206 and number of obs: 206
[17:12:57.805] frame process finished the id is: 630 the obs is:206 
[17:12:57.893] Odometry x=2.710345, y=-0.862357, theta=-1.204670
[17:12:57.904] After Reprojection Map nPoint:281 ,nCell:39 ,nMatches:37 ,distance between ekf and vo x:0.000009 ,z=0.000020,angle between two frames:0.000011
[17:12:57.905] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =251 	 error init =0.000421 	 error end=0.000421
[17:12:57.905] After pose optimization, distance between ekf and vo x:0.000009 ,z=0.000020,angle between two frames:0.000011
[17:12:57.905] Update EKF and 3D points the number of feature in the new frame: 251 and number of obs: 251
[17:12:57.906] frame process finished the id is: 631 the obs is:251 
[17:12:58.000] Odometry x=2.711873, y=-0.841434, theta=-1.198334
[17:12:58.012] After Reprojection Map nPoint:326 ,nCell:37 ,nMatches:36 ,distance between ekf and vo x:-0.000045 ,z=0.000058,angle between two frames:0.000033
[17:12:58.013] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 	 error init =0.000345 	 error end=0.000345
[17:12:58.013] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000058,angle between two frames:0.000033
[17:12:58.013] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270
[17:12:58.015] frame process finished the id is: 632 the obs is:270 
[17:12:58.096] Odometry x=2.704190, y=-0.844800, theta=-1.199923
[17:12:58.112] After Reprojection Map nPoint:345 ,nCell:38 ,nMatches:36 ,distance between ekf and vo x:-0.000006 ,z=0.000014,angle between two frames:0.000015
[17:12:58.112] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =294 	 error init =0.000473 	 error end=0.000473
[17:12:58.112] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000014,angle between two frames:0.000015
[17:12:58.112] Update EKF and 3D points the number of feature in the new frame: 294 and number of obs: 294
[17:12:58.114] frame process finished the id is: 633 the obs is:294 
[17:12:58.193] Odometry x=2.710271, y=-0.842428, theta=-1.198343
[17:12:58.203] After Reprojection Map nPoint:369 ,nCell:43 ,nMatches:42 ,distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000000
[17:12:58.204] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =316 	 error init =0.000228 	 error end=0.000228
[17:12:58.204] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000000
[17:12:58.204] Update EKF and 3D points the number of feature in the new frame: 316 and number of obs: 316
[17:12:58.206] frame process finished the id is: 634 the obs is:316 
[17:12:58.295] Odometry x=2.704697, y=-0.847307, theta=-1.191688
[17:12:58.305] After Reprojection Map nPoint:391 ,nCell:43 ,nMatches:40 ,distance between ekf and vo x:0.000008 ,z=0.000004,angle between two frames:0.000003
[17:12:58.306] n deleted obs = 26 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =232 	 error init =0.001338 	 error end=0.001338
[17:12:58.306] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000004,angle between two frames:0.000003
[17:12:58.306] Update EKF and 3D points the number of feature in the new frame: 232 and number of obs: 232
[17:12:58.307] frame process finished the id is: 635 the obs is:232 
[17:12:58.397] After Reprojection Map nPoint:307 ,nCell:39 ,nMatches:36 ,distance between ekf and vo x:0.000003 ,z=0.000001,angle between two frames:0.000000
[17:12:58.397] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =212 	 error init =0.000577 	 error end=0.000577
[17:12:58.397] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000001,angle between two frames:0.000000
[17:12:58.397] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212
[17:12:58.398] Odometry x=2.708315, y=-0.844084, theta=-1.198197
[17:12:58.399] frame process finished the id is: 636 the obs is:212 
[17:12:58.495] Odometry x=2.701727, y=-0.846339, theta=-1.210795
[17:12:58.497] After Reprojection Map nPoint:287 ,nCell:36 ,nMatches:33 ,distance between ekf and vo x:0.000005 ,z=-0.000001,angle between two frames:0.000002
[17:12:58.497] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =220 	 error init =0.000573 	 error end=0.000573
[17:12:58.497] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000001,angle between two frames:0.000002
[17:12:58.497] Update EKF and 3D points the number of feature in the new frame: 220 and number of obs: 220
[17:12:58.498] frame process finished the id is: 637 the obs is:220 
[17:12:58.596] After Reprojection Map nPoint:295 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000001
[17:12:58.596] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =213 	 error init =0.000275 	 error end=0.000275
[17:12:58.596] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000001
[17:12:58.596] Update EKF and 3D points the number of feature in the new frame: 213 and number of obs: 213
[17:12:58.598] frame process finished the id is: 638 the obs is:213 
[17:12:58.598] Odometry x=2.707167, y=-0.844746, theta=-1.198805
[17:12:58.695] Odometry x=2.701230, y=-0.849216, theta=-1.196121
[17:12:58.714] After Reprojection Map nPoint:288 ,nCell:42 ,nMatches:32 ,distance between ekf and vo x:-0.000080 ,z=0.000054,angle between two frames:0.000018
[17:12:58.723] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =237 	 error init =0.000355 	 error end=0.000354
[17:12:58.723] After pose optimization, distance between ekf and vo x:-0.000433 ,z=-0.002358,angle between two frames:0.000782
[17:12:58.723] Update EKF and 3D points the number of feature in the new frame: 237 and number of obs: 237
[17:12:58.724] frame process finished the id is: 639 the obs is:237 
[17:12:58.798] Odometry x=2.706092, y=-0.846956, theta=-1.199498
[17:12:58.822] After Reprojection Map nPoint:312 ,nCell:49 ,nMatches:34 ,distance between ekf and vo x:-0.000069 ,z=0.000059,angle between two frames:0.000027
[17:12:58.822] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =225 	 error init =0.000313 	 error end=0.000313
[17:12:58.822] After pose optimization, distance between ekf and vo x:-0.000069 ,z=0.000059,angle between two frames:0.000027
[17:12:58.822] Update EKF and 3D points the number of feature in the new frame: 225 and number of obs: 225
[17:12:58.824] frame process finished the id is: 640 the obs is:225 
[17:12:58.897] Odometry x=2.699830, y=-0.855782, theta=-1.193418
[17:12:58.917] After Reprojection Map nPoint:300 ,nCell:36 ,nMatches:33 ,distance between ekf and vo x:-0.000086 ,z=0.000062,angle between two frames:0.000033
[17:12:58.917] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =207 	 error init =0.000359 	 error end=0.000359
[17:12:58.917] After pose optimization, distance between ekf and vo x:-0.000086 ,z=0.000062,angle between two frames:0.000033
[17:12:58.917] Update EKF and 3D points the number of feature in the new frame: 207 and number of obs: 207
[17:12:58.919] frame process finished the id is: 641 the obs is:207 
[17:12:58.999] Odometry x=2.699512, y=-0.856082, theta=-1.193779
[17:12:59.012] After Reprojection Map nPoint:282 ,nCell:39 ,nMatches:34 ,distance between ekf and vo x:-0.000049 ,z=0.000033,angle between two frames:0.000014
[17:12:59.020] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =220 	 error init =0.000425 	 error end=0.000425
[17:12:59.020] After pose optimization, distance between ekf and vo x:-0.000048 ,z=-0.000773,angle between two frames:0.000276
[17:12:59.020] Update EKF and 3D points the number of feature in the new frame: 220 and number of obs: 220
[17:12:59.022] frame process finished the id is: 642 the obs is:220 
[17:12:59.097] Odometry x=2.693125, y=-0.862484, theta=-1.203393
[17:12:59.112] After Reprojection Map nPoint:295 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:-0.000034 ,z=0.000030,angle between two frames:0.000011
[17:12:59.112] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 	 error init =0.000409 	 error end=0.000409
[17:12:59.112] After pose optimization, distance between ekf and vo x:-0.000034 ,z=0.000030,angle between two frames:0.000011
[17:12:59.112] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226
[17:12:59.114] frame process finished the id is: 643 the obs is:226 
[17:12:59.195] Odometry x=2.691534, y=-0.862980, theta=-1.205438
[17:12:59.211] After Reprojection Map nPoint:301 ,nCell:36 ,nMatches:36 ,distance between ekf and vo x:-0.000023 ,z=0.000047,angle between two frames:0.000003
[17:12:59.211] n deleted obs = 11 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =183 	 error init =0.000614 	 error end=0.000614
[17:12:59.211] After pose optimization, distance between ekf and vo x:-0.000023 ,z=0.000047,angle between two frames:0.000003
[17:12:59.211] Update EKF and 3D points the number of feature in the new frame: 183 and number of obs: 183
[17:12:59.212] frame process finished the id is: 644 the obs is:183 
[17:12:59.292] Odometry x=2.686124, y=-0.867031, theta=-1.208180
[17:12:59.321] After Reprojection Map nPoint:258 ,nCell:37 ,nMatches:37 ,distance between ekf and vo x:-0.000143 ,z=0.000097,angle between two frames:0.000064
[17:12:59.322] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =204 	 error init =0.000444 	 error end=0.000444
[17:12:59.322] After pose optimization, distance between ekf and vo x:-0.000125 ,z=0.000064,angle between two frames:0.000075
[17:12:59.322] Update EKF and 3D points the number of feature in the new frame: 204 and number of obs: 204
[17:12:59.323] frame process finished the id is: 645 the obs is:204 
[17:12:59.396] Odometry x=2.685755, y=-0.867117, theta=-1.207977
[17:12:59.427] After Reprojection Map nPoint:279 ,nCell:33 ,nMatches:30 ,distance between ekf and vo x:-0.000164 ,z=0.000152,angle between two frames:0.000073
[17:12:59.427] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =255 	 error init =0.000322 	 error end=0.000322
[17:12:59.427] After pose optimization, distance between ekf and vo x:-0.000164 ,z=0.000152,angle between two frames:0.000073
[17:12:59.427] Update EKF and 3D points the number of feature in the new frame: 255 and number of obs: 255
[17:12:59.429] frame process finished the id is: 646 the obs is:255 
[17:12:59.499] Odometry x=2.685256, y=-0.867234, theta=-1.207575
[17:12:59.539] After Reprojection Map nPoint:330 ,nCell:34 ,nMatches:34 ,distance between ekf and vo x:-0.000164 ,z=0.000182,angle between two frames:0.000075
[17:12:59.540] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =182 	 error init =0.000471 	 error end=0.000471
[17:12:59.540] After pose optimization, distance between ekf and vo x:-0.000164 ,z=0.000182,angle between two frames:0.000075
[17:12:59.540] Update EKF and 3D points the number of feature in the new frame: 182 and number of obs: 182
[17:12:59.541] frame process finished the id is: 647 the obs is:182 
[17:12:59.598] Odometry x=2.685481, y=-0.866391, theta=-1.207497
[17:12:59.649] After Reprojection Map nPoint:257 ,nCell:33 ,nMatches:33 ,distance between ekf and vo x:-0.000157 ,z=0.000147,angle between two frames:0.000061
[17:12:59.650] n deleted obs = 9 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 	 error init =0.000873 	 error end=0.000873
[17:12:59.650] After pose optimization, distance between ekf and vo x:-0.000157 ,z=0.000147,angle between two frames:0.000061
[17:12:59.650] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226
[17:12:59.651] frame process finished the id is: 648 the obs is:226 
[17:12:59.698] Odometry x=2.684992, y=-0.866542, theta=-1.207153
[17:12:59.754] After Reprojection Map nPoint:301 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:-0.000115 ,z=0.000100,angle between two frames:0.000054
[17:12:59.755] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =259 	 error init =0.000136 	 error end=0.000136
[17:12:59.755] After pose optimization, distance between ekf and vo x:-0.000115 ,z=0.000100,angle between two frames:0.000054
[17:12:59.755] Update EKF and 3D points the number of feature in the new frame: 259 and number of obs: 259
[17:12:59.756] frame process finished the id is: 649 the obs is:259 
[17:12:59.796] Odometry x=2.684570, y=-0.866801, theta=-1.206869
[17:12:59.853] After Reprojection Map nPoint:334 ,nCell:38 ,nMatches:36 ,distance between ekf and vo x:-0.000100 ,z=0.000062,angle between two frames:0.000037
[17:12:59.854] n deleted obs = 36 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =191 	 error init =0.001241 	 error end=0.001241
[17:12:59.854] After pose optimization, distance between ekf and vo x:-0.000100 ,z=0.000062,angle between two frames:0.000037
[17:12:59.854] Update EKF and 3D points the number of feature in the new frame: 191 and number of obs: 191
[17:12:59.855] frame process finished the id is: 650 the obs is:191 
[17:12:59.898] Odometry x=2.684103, y=-0.866862, theta=-1.206624
[17:12:59.939] After Reprojection Map nPoint:266 ,nCell:38 ,nMatches:29 ,distance between ekf and vo x:-0.000003 ,z=0.000000,angle between two frames:0.000001
[17:12:59.939] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =194 	 error init =0.000397 	 error end=0.000397
[17:12:59.939] After pose optimization, distance between ekf and vo x:-0.000003 ,z=0.000000,angle between two frames:0.000001
[17:12:59.939] Update EKF and 3D points the number of feature in the new frame: 194 and number of obs: 194
[17:12:59.940] frame process finished the id is: 651 the obs is:194 
[17:12:59.995] Odometry x=2.683759, y=-0.867121, theta=-1.206442
[17:13:00.040] After Reprojection Map nPoint:269 ,nCell:31 ,nMatches:31 ,distance between ekf and vo x:-0.000096 ,z=0.000048,angle between two frames:0.000033
[17:13:00.041] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =212 	 error init =0.000483 	 error end=0.000483
[17:13:00.041] After pose optimization, distance between ekf and vo x:-0.000096 ,z=0.000048,angle between two frames:0.000033
[17:13:00.041] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212
[17:13:00.042] frame process finished the id is: 652 the obs is:212 
[17:13:00.094] Odometry x=2.683589, y=-0.867136, theta=-1.206352
[17:13:00.142] After Reprojection Map nPoint:287 ,nCell:38 ,nMatches:27 ,distance between ekf and vo x:-0.000167 ,z=0.000154,angle between two frames:0.000055
[17:13:00.142] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =249 	 error init =0.000358 	 error end=0.000358
[17:13:00.142] After pose optimization, distance between ekf and vo x:-0.000167 ,z=0.000154,angle between two frames:0.000055
[17:13:00.142] Update EKF and 3D points the number of feature in the new frame: 249 and number of obs: 249
[17:13:00.144] frame process finished the id is: 653 the obs is:249 
[17:13:00.201] Odometry x=2.683115, y=-0.867282, theta=-1.206491
[17:13:00.249] After Reprojection Map nPoint:324 ,nCell:44 ,nMatches:34 ,distance between ekf and vo x:-0.000177 ,z=0.000177,angle between two frames:0.000059
[17:13:00.249] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =260 	 error init =0.000791 	 error end=0.000791
[17:13:00.249] After pose optimization, distance between ekf and vo x:-0.000177 ,z=0.000177,angle between two frames:0.000059
[17:13:00.249] Update EKF and 3D points the number of feature in the new frame: 260 and number of obs: 260
[17:13:00.251] frame process finished the id is: 654 the obs is:260 
[17:13:00.293] Odometry x=2.682572, y=-0.867316, theta=-1.206991
[17:13:00.345] After Reprojection Map nPoint:335 ,nCell:48 ,nMatches:32 ,distance between ekf and vo x:-0.000038 ,z=0.000038,angle between two frames:0.000011
[17:13:00.346] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =287 	 error init =0.000745 	 error end=0.000745
[17:13:00.346] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000038,angle between two frames:0.000011
[17:13:00.346] Update EKF and 3D points the number of feature in the new frame: 287 and number of obs: 287
[17:13:00.347] frame process finished the id is: 655 the obs is:287 
[17:13:00.396] Odometry x=2.682197, y=-0.867372, theta=-1.207031
[17:13:00.454] After Reprojection Map nPoint:362 ,nCell:35 ,nMatches:28 ,distance between ekf and vo x:-0.000172 ,z=0.000123,angle between two frames:0.000050
[17:13:00.454] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =306 	 error init =0.000271 	 error end=0.000271
[17:13:00.454] After pose optimization, distance between ekf and vo x:-0.000172 ,z=0.000123,angle between two frames:0.000050
[17:13:00.454] Update EKF and 3D points the number of feature in the new frame: 306 and number of obs: 306
[17:13:00.456] frame process finished the id is: 656 the obs is:306 
[17:13:00.499] Odometry x=2.681807, y=-0.867439, theta=-1.207298
[17:13:00.559] After Reprojection Map nPoint:381 ,nCell:41 ,nMatches:32 ,distance between ekf and vo x:-0.000133 ,z=0.000105,angle between two frames:0.000043
[17:13:00.560] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =200 	 error init =0.000509 	 error end=0.000509
[17:13:00.560] After pose optimization, distance between ekf and vo x:-0.000133 ,z=0.000105,angle between two frames:0.000043
[17:13:00.560] Update EKF and 3D points the number of feature in the new frame: 200 and number of obs: 200
[17:13:00.561] frame process finished the id is: 657 the obs is:200 
[17:13:00.593] Odometry x=2.681326, y=-0.867611, theta=-1.208241
[17:13:00.648] After Reprojection Map nPoint:275 ,nCell:43 ,nMatches:27 ,distance between ekf and vo x:-0.000009 ,z=-0.000001,angle between two frames:0.000004
[17:13:00.655] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =198 	 error init =0.001053 	 error end=0.001050
[17:13:00.655] After pose optimization, distance between ekf and vo x:-0.000507 ,z=-0.003034,angle between two frames:0.000947
[17:13:00.655] Update EKF and 3D points the number of feature in the new frame: 198 and number of obs: 198
[17:13:00.656] frame process finished the id is: 658 the obs is:198 
[17:13:00.696] Odometry x=2.680548, y=-0.870719, theta=-1.209691
[17:13:00.756] After Reprojection Map nPoint:273 ,nCell:36 ,nMatches:30 ,distance between ekf and vo x:-0.000057 ,z=0.000020,angle between two frames:0.000019
[17:13:00.757] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =195 	 error init =0.000424 	 error end=0.000424
[17:13:00.757] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000020,angle between two frames:0.000019
[17:13:00.757] Update EKF and 3D points the number of feature in the new frame: 195 and number of obs: 195
[17:13:00.758] frame process finished the id is: 659 the obs is:195 
[17:13:00.796] Odometry x=2.680150, y=-0.871001, theta=-1.210008
[17:13:00.856] After Reprojection Map nPoint:270 ,nCell:38 ,nMatches:30 ,distance between ekf and vo x:-0.000171 ,z=0.000112,angle between two frames:0.000057
[17:13:00.856] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =227 	 error init =0.000686 	 error end=0.000686
[17:13:00.856] After pose optimization, distance between ekf and vo x:-0.000171 ,z=0.000112,angle between two frames:0.000057
[17:13:00.856] Update EKF and 3D points the number of feature in the new frame: 227 and number of obs: 227
[17:13:00.858] frame process finished the id is: 660 the obs is:227 
[17:13:00.957] After Reprojection Map nPoint:302 ,nCell:38 ,nMatches:29 ,distance between ekf and vo x:-0.000103 ,z=0.000090,angle between two frames:0.000048
[17:13:00.958] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =217 	 error init =0.000423 	 error end=0.000423
[17:13:00.958] After pose optimization, distance between ekf and vo x:-0.000103 ,z=0.000090,angle between two frames:0.000048
[17:13:00.958] Update EKF and 3D points the number of feature in the new frame: 217 and number of obs: 217
[17:13:00.959] frame process finished the id is: 661 the obs is:217 
[17:13:01.057] After Reprojection Map nPoint:292 ,nCell:37 ,nMatches:28 ,distance between ekf and vo x:-0.000125 ,z=0.000101,angle between two frames:0.000053
[17:13:01.057] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 	 error init =0.000487 	 error end=0.000487
[17:13:01.057] After pose optimization, distance between ekf and vo x:-0.000125 ,z=0.000101,angle between two frames:0.000053
[17:13:01.057] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270
[17:13:01.059] frame process finished the id is: 662 the obs is:270 
[17:13:01.167] After Reprojection Map nPoint:345 ,nCell:45 ,nMatches:37 ,distance between ekf and vo x:-0.000179 ,z=0.000173,angle between two frames:0.000073
[17:13:01.167] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =281 	 error init =0.000284 	 error end=0.000284
[17:13:01.167] After pose optimization, distance between ekf and vo x:-0.000179 ,z=0.000173,angle between two frames:0.000073
[17:13:01.167] Update EKF and 3D points the number of feature in the new frame: 281 and number of obs: 281
[17:13:01.169] frame process finished the id is: 663 the obs is:281 
[17:13:01.271] After Reprojection Map nPoint:356 ,nCell:42 ,nMatches:33 ,distance between ekf and vo x:-0.000061 ,z=0.000056,angle between two frames:0.000023
[17:13:01.272] n deleted obs = 16 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 	 error init =0.000948 	 error end=0.000948
[17:13:01.272] After pose optimization, distance between ekf and vo x:0.000035 ,z=0.000018,angle between two frames:0.000019
[17:13:01.272] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270
[17:13:01.274] frame process finished the id is: 664 the obs is:270 
[17:13:01.367] After Reprojection Map nPoint:345 ,nCell:41 ,nMatches:32 ,distance between ekf and vo x:-0.000080 ,z=0.000062,angle between two frames:0.000031
[17:13:01.368] n deleted obs = 43 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =214 	 error init =0.001372 	 error end=0.001372
[17:13:01.368] After pose optimization, distance between ekf and vo x:-0.000080 ,z=0.000062,angle between two frames:0.000031
[17:13:01.368] Update EKF and 3D points the number of feature in the new frame: 214 and number of obs: 214
[17:13:01.369] frame process finished the id is: 665 the obs is:214 
[17:13:01.471] After Reprojection Map nPoint:289 ,nCell:34 ,nMatches:28 ,distance between ekf and vo x:-0.000083 ,z=0.000088,angle between two frames:0.000032
[17:13:01.472] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =214 	 error init =0.000146 	 error end=0.000146
[17:13:01.472] After pose optimization, distance between ekf and vo x:-0.000083 ,z=0.000088,angle between two frames:0.000032
[17:13:01.472] Update EKF and 3D points the number of feature in the new frame: 214 and number of obs: 214
[17:13:01.473] frame process finished the id is: 666 the obs is:214 
[17:13:01.565] After Reprojection Map nPoint:289 ,nCell:32 ,nMatches:27 ,distance between ekf and vo x:-0.000006 ,z=0.000009,angle between two frames:0.000007
[17:13:01.566] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =218 	 error init =0.000741 	 error end=0.000741
[17:13:01.566] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000009,angle between two frames:0.000007
[17:13:01.566] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218
[17:13:01.567] frame process finished the id is: 667 the obs is:218 
[17:13:01.653] After Reprojection Map nPoint:293 ,nCell:31 ,nMatches:29 ,distance between ekf and vo x:0.000005 ,z=-0.000002,angle between two frames:0.000001
[17:13:01.654] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =233 	 error init =0.000177 	 error end=0.000177
[17:13:01.654] After pose optimization, distance between ekf and vo x:0.000011 ,z=-0.000033,angle between two frames:0.000010
[17:13:01.654] Update EKF and 3D points the number of feature in the new frame: 233 and number of obs: 233
[17:13:01.655] frame process finished the id is: 668 the obs is:233 
[17:13:01.762] After Reprojection Map nPoint:308 ,nCell:33 ,nMatches:27 ,distance between ekf and vo x:-0.000086 ,z=0.000082,angle between two frames:0.000046
[17:13:01.762] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =248 	 error init =0.000771 	 error end=0.000771
[17:13:01.762] After pose optimization, distance between ekf and vo x:-0.000086 ,z=0.000082,angle between two frames:0.000046
[17:13:01.762] Update EKF and 3D points the number of feature in the new frame: 248 and number of obs: 248
[17:13:01.764] frame process finished the id is: 669 the obs is:248 
[17:13:01.855] After Reprojection Map nPoint:323 ,nCell:36 ,nMatches:30 ,distance between ekf and vo x:-0.000013 ,z=0.000019,angle between two frames:0.000018
[17:13:01.855] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =247 	 error init =0.000200 	 error end=0.000200
[17:13:01.855] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000019,angle between two frames:0.000018
[17:13:01.855] Update EKF and 3D points the number of feature in the new frame: 247 and number of obs: 247
[17:13:01.857] frame process finished the id is: 670 the obs is:247 
[17:13:01.950] After Reprojection Map nPoint:322 ,nCell:14 ,nMatches:14 ,distance between ekf and vo x:-0.000057 ,z=0.000048,angle between two frames:0.000036
[17:13:01.951] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =130 	 error init =0.000087 	 error end=0.000087
[17:13:01.951] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000048,angle between two frames:0.000036
[17:13:01.951] Update EKF and 3D points the number of feature in the new frame: 130 and number of obs: 130
[17:13:01.952] frame process finished the id is: 671 the obs is:130 
[17:13:02.055] After Reprojection Map nPoint:205 ,nCell:26 ,nMatches:24 ,distance between ekf and vo x:-0.000093 ,z=-0.000059,angle between two frames:0.000025
[17:13:02.060] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =120 	 error init =0.001158 	 error end=0.001156
[17:13:02.060] After pose optimization, distance between ekf and vo x:-0.000501 ,z=-0.002827,angle between two frames:0.001077
[17:13:02.060] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120
[17:13:02.060] frame process finished the id is: 672 the obs is:120 
[17:13:02.143] After Reprojection Map nPoint:195 ,nCell:30 ,nMatches:26 ,distance between ekf and vo x:0.000006 ,z=0.000002,angle between two frames:0.000001
[17:13:02.143] n deleted obs = 13 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =107 	 error init =0.001358 	 error end=0.001358
[17:13:02.143] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000002,angle between two frames:0.000001
[17:13:02.143] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107
[17:13:02.144] frame process finished the id is: 673 the obs is:107 
[17:13:02.228] After Reprojection Map nPoint:182 ,nCell:32 ,nMatches:28 ,distance between ekf and vo x:0.000018 ,z=-0.000008,angle between two frames:0.000003
[17:13:02.228] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =137 	 error init =0.000290 	 error end=0.000290
[17:13:02.228] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000008,angle between two frames:0.000003
[17:13:02.228] Update EKF and 3D points the number of feature in the new frame: 137 and number of obs: 137
[17:13:02.229] frame process finished the id is: 674 the obs is:137 
[17:13:02.336] After Reprojection Map nPoint:212 ,nCell:36 ,nMatches:29 ,distance between ekf and vo x:-0.000057 ,z=0.000072,angle between two frames:0.000039
[17:13:02.337] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =146 	 error init =0.000269 	 error end=0.000269
[17:13:02.337] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000072,angle between two frames:0.000039
[17:13:02.337] Update EKF and 3D points the number of feature in the new frame: 146 and number of obs: 146
[17:13:02.338] frame process finished the id is: 675 the obs is:146 
[17:13:02.443] After Reprojection Map nPoint:221 ,nCell:32 ,nMatches:29 ,distance between ekf and vo x:-0.000043 ,z=0.000075,angle between two frames:0.000043
[17:13:02.444] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =137 	 error init =0.000347 	 error end=0.000347
[17:13:02.444] After pose optimization, distance between ekf and vo x:-0.000043 ,z=0.000075,angle between two frames:0.000043
[17:13:02.444] Update EKF and 3D points the number of feature in the new frame: 137 and number of obs: 137
[17:13:02.445] frame process finished the id is: 676 the obs is:137 
[17:13:02.543] After Reprojection Map nPoint:212 ,nCell:33 ,nMatches:33 ,distance between ekf and vo x:0.000001 ,z=0.000032,angle between two frames:0.000025
[17:13:02.544] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =159 	 error init =0.000241 	 error end=0.000241
[17:13:02.544] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000032,angle between two frames:0.000025
[17:13:02.544] Update EKF and 3D points the number of feature in the new frame: 159 and number of obs: 159
[17:13:02.544] frame process finished the id is: 677 the obs is:159 
[17:13:02.644] After Reprojection Map nPoint:234 ,nCell:36 ,nMatches:36 ,distance between ekf and vo x:-0.000007 ,z=0.000055,angle between two frames:0.000033
[17:13:02.645] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =158 	 error init =0.000157 	 error end=0.000157
[17:13:02.645] After pose optimization, distance between ekf and vo x:-0.000007 ,z=0.000055,angle between two frames:0.000033
[17:13:02.645] Update EKF and 3D points the number of feature in the new frame: 158 and number of obs: 158
[17:13:02.646] frame process finished the id is: 678 the obs is:158 
[17:13:02.747] After Reprojection Map nPoint:233 ,nCell:33 ,nMatches:33 ,distance between ekf and vo x:-0.000050 ,z=0.000077,angle between two frames:0.000055
[17:13:02.748] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =186 	 error init =0.000213 	 error end=0.000213
[17:13:02.748] After pose optimization, distance between ekf and vo x:-0.000050 ,z=0.000077,angle between two frames:0.000055
[17:13:02.748] Update EKF and 3D points the number of feature in the new frame: 186 and number of obs: 186
[17:13:02.749] frame process finished the id is: 679 the obs is:186 
[17:13:02.839] After Reprojection Map nPoint:261 ,nCell:32 ,nMatches:32 ,distance between ekf and vo x:-0.000013 ,z=0.000021,angle between two frames:0.000015
[17:13:02.839] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =212 	 error init =0.000396 	 error end=0.000396
[17:13:02.839] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000021,angle between two frames:0.000015
[17:13:02.839] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212
[17:13:02.841] frame process finished the id is: 680 the obs is:212 
[17:13:02.935] After Reprojection Map nPoint:287 ,nCell:32 ,nMatches:32 ,distance between ekf and vo x:-0.000029 ,z=0.000058,angle between two frames:0.000037
[17:13:02.935] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =170 	 error init =0.000795 	 error end=0.000795
[17:13:02.935] After pose optimization, distance between ekf and vo x:-0.000029 ,z=0.000058,angle between two frames:0.000037
[17:13:02.935] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170
[17:13:02.936] frame process finished the id is: 681 the obs is:170 
[17:13:03.021] After Reprojection Map nPoint:245 ,nCell:31 ,nMatches:31 ,distance between ekf and vo x:0.000005 ,z=-0.000003,angle between two frames:0.000000
[17:13:03.027] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =160 	 error init =0.000200 	 error end=0.000200
[17:13:03.027] After pose optimization, distance between ekf and vo x:-0.000162 ,z=-0.000605,angle between two frames:0.000202
[17:13:03.027] Update EKF and 3D points the number of feature in the new frame: 160 and number of obs: 160
[17:13:03.028] frame process finished the id is: 682 the obs is:160 
[17:13:03.128] After Reprojection Map nPoint:235 ,nCell:37 ,nMatches:35 ,distance between ekf and vo x:-0.000029 ,z=0.000045,angle between two frames:0.000033
[17:13:03.136] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =193 	 error init =0.000424 	 error end=0.000424
[17:13:03.136] After pose optimization, distance between ekf and vo x:-0.000318 ,z=-0.001156,angle between two frames:0.000435
[17:13:03.136] Update EKF and 3D points the number of feature in the new frame: 193 and number of obs: 193
[17:13:03.137] frame process finished the id is: 683 the obs is:193 
[17:13:03.234] After Reprojection Map nPoint:268 ,nCell:30 ,nMatches:30 ,distance between ekf and vo x:-0.000029 ,z=0.000050,angle between two frames:0.000031
[17:13:03.235] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =217 	 error init =0.000450 	 error end=0.000450
[17:13:03.235] After pose optimization, distance between ekf and vo x:-0.000029 ,z=0.000050,angle between two frames:0.000031
[17:13:03.235] Update EKF and 3D points the number of feature in the new frame: 217 and number of obs: 217
[17:13:03.236] frame process finished the id is: 684 the obs is:217 
[17:13:03.339] After Reprojection Map nPoint:292 ,nCell:30 ,nMatches:30 ,distance between ekf and vo x:-0.000045 ,z=0.000074,angle between two frames:0.000044
[17:13:03.339] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =256 	 error init =0.000079 	 error end=0.000079
[17:13:03.339] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000074,angle between two frames:0.000044
[17:13:03.339] Update EKF and 3D points the number of feature in the new frame: 256 and number of obs: 256
[17:13:03.341] frame process finished the id is: 685 the obs is:256 
[17:13:03.450] After Reprojection Map nPoint:331 ,nCell:28 ,nMatches:28 ,distance between ekf and vo x:-0.000072 ,z=0.000100,angle between two frames:0.000054
[17:13:03.451] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =236 	 error init =0.001134 	 error end=0.001134
[17:13:03.451] After pose optimization, distance between ekf and vo x:-0.000072 ,z=0.000100,angle between two frames:0.000054
[17:13:03.451] Update EKF and 3D points the number of feature in the new frame: 236 and number of obs: 236
[17:13:03.452] frame process finished the id is: 686 the obs is:236 
[17:13:03.541] After Reprojection Map nPoint:311 ,nCell:38 ,nMatches:35 ,distance between ekf and vo x:-0.000027 ,z=0.000028,angle between two frames:0.000015
[17:13:03.542] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =222 	 error init =0.000062 	 error end=0.000062
[17:13:03.542] After pose optimization, distance between ekf and vo x:-0.000027 ,z=0.000028,angle between two frames:0.000015
[17:13:03.542] Update EKF and 3D points the number of feature in the new frame: 222 and number of obs: 222
[17:13:03.543] frame process finished the id is: 687 the obs is:222 
[17:13:03.629] After Reprojection Map nPoint:297 ,nCell:35 ,nMatches:32 ,distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000000
[17:13:03.629] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =212 	 error init =0.000419 	 error end=0.000419
[17:13:03.629] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000000
[17:13:03.629] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212
[17:13:03.630] frame process finished the id is: 688 the obs is:212 
[17:13:03.715] After Reprojection Map nPoint:287 ,nCell:34 ,nMatches:31 ,distance between ekf and vo x:0.000003 ,z=-0.000002,angle between two frames:0.000000
[17:13:03.715] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =243 	 error init =0.000245 	 error end=0.000245
[17:13:03.715] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000002,angle between two frames:0.000000
[17:13:03.715] Update EKF and 3D points the number of feature in the new frame: 243 and number of obs: 243
[17:13:03.717] frame process finished the id is: 689 the obs is:243 
[17:13:03.808] After Reprojection Map nPoint:318 ,nCell:31 ,nMatches:29 ,distance between ekf and vo x:-0.000065 ,z=0.000058,angle between two frames:0.000031
[17:13:03.818] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 	 error init =0.000707 	 error end=0.000707
[17:13:03.818] After pose optimization, distance between ekf and vo x:-0.000035 ,z=-0.000064,angle between two frames:0.000071
[17:13:03.818] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270
[17:13:03.820] frame process finished the id is: 690 the obs is:270 
[17:13:03.913] After Reprojection Map nPoint:345 ,nCell:30 ,nMatches:28 ,distance between ekf and vo x:-0.000014 ,z=0.000039,angle between two frames:0.000030
[17:13:03.914] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =294 	 error init =0.000248 	 error end=0.000248
[17:13:03.914] After pose optimization, distance between ekf and vo x:-0.000014 ,z=0.000039,angle between two frames:0.000030
[17:13:03.914] Update EKF and 3D points the number of feature in the new frame: 294 and number of obs: 294
[17:13:03.916] frame process finished the id is: 691 the obs is:294 
[17:13:04.010] After Reprojection Map nPoint:369 ,nCell:29 ,nMatches:29 ,distance between ekf and vo x:-0.000029 ,z=0.000054,angle between two frames:0.000033
[17:13:04.021] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =308 	 error init =0.000596 	 error end=0.000596
[17:13:04.021] After pose optimization, distance between ekf and vo x:0.000050 ,z=-0.000257,angle between two frames:0.000169
[17:13:04.021] Update EKF and 3D points the number of feature in the new frame: 308 and number of obs: 308
[17:13:04.023] frame process finished the id is: 692 the obs is:308 
[17:13:04.116] After Reprojection Map nPoint:383 ,nCell:35 ,nMatches:32 ,distance between ekf and vo x:-0.000004 ,z=0.000017,angle between two frames:0.000009
[17:13:04.125] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =242 	 error init =0.000119 	 error end=0.000119
[17:13:04.125] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000302,angle between two frames:0.000110
[17:13:04.125] Update EKF and 3D points the number of feature in the new frame: 242 and number of obs: 242
[17:13:04.126] frame process finished the id is: 693 the obs is:242 
[17:13:04.218] After Reprojection Map nPoint:317 ,nCell:35 ,nMatches:35 ,distance between ekf and vo x:-0.000028 ,z=0.000049,angle between two frames:0.000033
[17:13:04.219] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =265 	 error init =0.000432 	 error end=0.000432
[17:13:04.219] After pose optimization, distance between ekf and vo x:-0.000028 ,z=0.000049,angle between two frames:0.000033
[17:13:04.219] Update EKF and 3D points the number of feature in the new frame: 265 and number of obs: 265
[17:13:04.220] frame process finished the id is: 694 the obs is:265 
[17:13:04.306] After Reprojection Map nPoint:340 ,nCell:36 ,nMatches:34 ,distance between ekf and vo x:0.000008 ,z=-0.000007,angle between two frames:0.000001
[17:13:04.307] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =272 	 error init =0.000142 	 error end=0.000142
[17:13:04.307] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000007,angle between two frames:0.000001
[17:13:04.307] Update EKF and 3D points the number of feature in the new frame: 272 and number of obs: 272
[17:13:04.308] frame process finished the id is: 695 the obs is:272 
