[17:17:39.100] Init: frame zero: 0.000000, 0.000000 0.000000
[17:17:39.101] Init: Selected first frame. 
[17:17:39.202] Init: px average disparity is:0.196685 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:39.202] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:39.295] Init: px average disparity is:0.223909 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:39.295] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:39.395] Init: px average disparity is:0.245330 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:39.395] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:39.498] Init: px average disparity is:0.255177 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:39.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:39.596] Init: px average disparity is:0.233530 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:39.596] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:39.695] Init: px average disparity is:0.232743 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:39.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:39.795] Init: px average disparity is:0.241185 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:39.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:39.892] Init: px average disparity is:0.237214 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:39.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:39.987] Init: px average disparity is:0.260073 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:39.987] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:40.095] Init: px average disparity is:0.218904 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:40.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:40.195] Init: px average disparity is:0.238698 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:40.195] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:40.295] Init: px average disparity is:0.249759 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:40.295] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:40.396] Init: px average disparity is:0.236376 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:40.396] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:40.495] Init: px average disparity is:0.253923 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:40.495] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:40.595] Init: px average disparity is:0.230079 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:40.595] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:40.695] Init: px average disparity is:0.247766 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:40.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:40.795] Init: px average disparity is:0.254572 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:40.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:40.894] Init: px average disparity is:0.249717 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:40.895] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:40.995] Init: px average disparity is:0.227341 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:40.995] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:41.095] Init: px average disparity is:0.237057 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:41.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:41.196] Init: px average disparity is:0.262046 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:41.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:41.294] Init: px average disparity is:0.263862 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:41.294] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:41.395] Init: px average disparity is:0.239501 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:41.395] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:41.495] Init: px average disparity is:0.222272 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:41.495] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:41.595] Init: px average disparity is:0.255470 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:41.595] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:41.697] Init: px average disparity is:0.247052 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:41.697] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:41.795] Init: px average disparity is:0.224351 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:41.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:41.898] Init: px average disparity is:0.256041 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:41.898] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:41.996] Init: px average disparity is:0.234843 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:41.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:42.031] Odometry x=0.001722, y=-0.001821, theta=0.046240
[17:17:42.096] Init: px average disparity is:0.224881 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:42.096] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:42.131] Odometry x=0.001831, y=-0.001884, theta=0.049072
[17:17:42.195] Init: px average disparity is:0.217010 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:42.195] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:42.232] Odometry x=0.001804, y=-0.005483, theta=0.052184
[17:17:42.295] Init: px average disparity is:1.716712 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:42.295] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:42.333] Odometry x=0.001701, y=-0.009848, theta=0.055452
[17:17:42.396] Init: px average disparity is:5.941468 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:42.396] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:42.434] Odometry x=0.001606, y=-0.013919, theta=0.064075
[17:17:42.497] Init: px average disparity is:7.658781 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:42.497] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:42.533] Odometry x=0.001456, y=-0.018057, theta=0.065841
[17:17:42.597] Init: px average disparity is:4.981047 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:42.597] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:42.633] Odometry x=0.001334, y=-0.021936, theta=0.066131
[17:17:42.696] Init: px average disparity is:5.340419 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:42.696] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:42.733] Odometry x=0.001260, y=-0.025994, theta=0.068448
[17:17:42.796] Init: px average disparity is:4.363427 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:42.796] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:42.833] Odometry x=0.000519, y=-0.029815, theta=0.029817
[17:17:42.897] Init: px average disparity is:5.771466 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:42.898] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:42.934] Odometry x=0.000530, y=-0.033875, theta=0.022704
[17:17:42.998] Init: px average disparity is:4.549173 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:42.998] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:43.034] Odometry x=0.000535, y=-0.037727, theta=0.040084
[17:17:43.097] Init: px average disparity is:6.406371 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:43.097] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:43.134] Odometry x=0.000564, y=-0.041764, theta=0.040336
[17:17:43.201] Init: px average disparity is:7.777613 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:43.201] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:43.232] Odometry x=0.000545, y=-0.045434, theta=0.057818
[17:17:43.288] Init: px average disparity is:9.364206 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:43.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:43.336] Odometry x=0.000387, y=-0.049427, theta=0.058362
[17:17:43.397] Init: px average disparity is:12.657027 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:43.397] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:43.436] Odometry x=0.000119, y=-0.053290, theta=0.036801
[17:17:43.498] Init: px average disparity is:15.402155 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:43.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:43.537] Odometry x=0.000258, y=-0.057299, theta=0.039391
[17:17:43.598] Init: px average disparity is:13.651384 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:43.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:43.631] Odometry x=-0.000029, y=-0.061289, theta=0.044466
[17:17:43.698] Init: px average disparity is:12.931772 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:43.698] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:43.732] Odometry x=0.000006, y=-0.065426, theta=0.041168
[17:17:43.799] Init: px average disparity is:11.407039 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:43.799] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:43.832] Odometry x=-0.000027, y=-0.069417, theta=0.038024
[17:17:43.898] Init: px average disparity is:12.903101 ,While minimum is: 40.000000  KLT tracked : 137
[17:17:43.898] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:43.936] Odometry x=-0.000040, y=-0.073545, theta=0.028113
[17:17:43.997] Init: px average disparity is:13.031821 ,While minimum is: 40.000000  KLT tracked : 136
[17:17:43.998] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:44.037] Odometry x=0.000088, y=-0.077757, theta=0.016731
[17:17:44.097] Init: px average disparity is:19.216090 ,While minimum is: 40.000000  KLT tracked : 136
[17:17:44.097] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:44.147] Odometry x=0.000240, y=-0.082183, theta=-0.000307
[17:17:44.197] Init: px average disparity is:13.893026 ,While minimum is: 40.000000  KLT tracked : 136
[17:17:44.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:44.236] Odometry x=0.000541, y=-0.086459, theta=-0.004308
[17:17:44.297] Init: px average disparity is:13.648541 ,While minimum is: 40.000000  KLT tracked : 136
[17:17:44.297] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:44.336] Odometry x=0.000677, y=-0.090294, theta=0.007571
[17:17:44.398] Init: px average disparity is:8.918755 ,While minimum is: 40.000000  KLT tracked : 136
[17:17:44.398] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:44.435] Odometry x=0.000840, y=-0.094150, theta=0.005066
[17:17:44.496] Init: px average disparity is:9.464642 ,While minimum is: 40.000000  KLT tracked : 136
[17:17:44.496] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:44.531] Odometry x=0.001092, y=-0.098138, theta=0.020566
[17:17:44.598] Init: px average disparity is:9.438382 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:44.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:44.636] Odometry x=0.001269, y=-0.101912, theta=0.023414
[17:17:44.695] Init: px average disparity is:10.423905 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:44.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:44.737] Odometry x=0.001319, y=-0.105803, theta=0.047560
[17:17:44.800] Init: px average disparity is:11.736609 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:44.800] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:44.840] Odometry x=0.001461, y=-0.109867, theta=0.051775
[17:17:44.897] Init: px average disparity is:9.994689 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:44.897] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:44.940] Odometry x=0.001356, y=-0.113774, theta=0.053489
[17:17:44.997] Init: px average disparity is:12.542393 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:44.998] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:45.041] Odometry x=0.001293, y=-0.117825, theta=0.058494
[17:17:45.097] Init: px average disparity is:15.038881 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:45.097] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:45.136] Odometry x=0.001043, y=-0.121901, theta=0.068122
[17:17:45.197] Init: px average disparity is:15.998931 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:45.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:45.237] Odometry x=0.000406, y=-0.125779, theta=0.031033
[17:17:45.299] Init: px average disparity is:17.033617 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:45.299] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:45.334] Odometry x=0.000305, y=-0.129821, theta=0.032628
[17:17:45.398] Init: px average disparity is:17.422677 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:45.398] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:45.434] Odometry x=0.000313, y=-0.133693, theta=0.038983
[17:17:45.499] Init: px average disparity is:17.956647 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:45.499] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:45.534] Odometry x=0.000161, y=-0.137710, theta=0.039886
[17:17:45.600] Init: px average disparity is:19.942942 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:45.600] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:45.635] Odometry x=0.000134, y=-0.141681, theta=0.047601
[17:17:45.699] Init: px average disparity is:22.203369 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:45.699] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:45.735] Odometry x=-0.000053, y=-0.145727, theta=0.048015
[17:17:45.798] Init: px average disparity is:20.100638 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:45.798] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:45.835] Odometry x=-0.000098, y=-0.149791, theta=0.031097
[17:17:45.900] Init: px average disparity is:19.139559 ,While minimum is: 40.000000  KLT tracked : 135
[17:17:45.900] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:45.935] Odometry x=-0.000183, y=-0.153716, theta=0.036095
[17:17:46.000] Init: px average disparity is:18.785504 ,While minimum is: 40.000000  KLT tracked : 134
[17:17:46.000] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:46.034] Odometry x=-0.000370, y=-0.157742, theta=0.021819
[17:17:46.090] Init: px average disparity is:19.085286 ,While minimum is: 40.000000  KLT tracked : 134
[17:17:46.090] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:46.137] Odometry x=-0.000248, y=-0.161728, theta=0.015663
[17:17:46.199] Init: px average disparity is:21.487522 ,While minimum is: 40.000000  KLT tracked : 134
[17:17:46.199] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:46.237] Odometry x=-0.000434, y=-0.165927, theta=0.012024
[17:17:46.301] Init: px average disparity is:20.972423 ,While minimum is: 40.000000  KLT tracked : 134
[17:17:46.301] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:46.337] Odometry x=-0.000359, y=-0.170005, theta=0.003067
[17:17:46.401] Init: px average disparity is:21.513741 ,While minimum is: 40.000000  KLT tracked : 129
[17:17:46.401] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:46.436] Odometry x=-0.000406, y=-0.173962, theta=0.011956
[17:17:46.500] Init: px average disparity is:21.859112 ,While minimum is: 40.000000  KLT tracked : 129
[17:17:46.500] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:46.534] Odometry x=-0.000337, y=-0.177946, theta=0.014819
[17:17:46.600] Init: px average disparity is:20.289605 ,While minimum is: 40.000000  KLT tracked : 129
[17:17:46.600] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:46.634] Odometry x=-0.000358, y=-0.181916, theta=0.039879
[17:17:46.700] Init: px average disparity is:20.977124 ,While minimum is: 40.000000  KLT tracked : 129
[17:17:46.701] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:46.734] Odometry x=-0.000381, y=-0.185726, theta=0.044448
[17:17:46.800] Init: px average disparity is:20.808357 ,While minimum is: 40.000000  KLT tracked : 129
[17:17:46.800] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:46.834] Odometry x=-0.000663, y=-0.189700, theta=0.054026
[17:17:46.900] Init: px average disparity is:22.598925 ,While minimum is: 40.000000  KLT tracked : 129
[17:17:46.900] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:46.934] Odometry x=-0.000815, y=-0.193596, theta=0.060413
[17:17:47.002] Init: px average disparity is:21.593621 ,While minimum is: 40.000000  KLT tracked : 129
[17:17:47.002] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:47.039] Odometry x=-0.001101, y=-0.197691, theta=0.062858
[17:17:47.101] Init: px average disparity is:22.430122 ,While minimum is: 40.000000  KLT tracked : 129
[17:17:47.101] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:47.140] Odometry x=-0.001192, y=-0.201607, theta=0.065514
[17:17:47.200] Init: px average disparity is:21.656163 ,While minimum is: 40.000000  KLT tracked : 129
[17:17:47.201] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:47.236] Odometry x=-0.001557, y=-0.205857, theta=0.068247
[17:17:47.300] Init: px average disparity is:23.457173 ,While minimum is: 40.000000  KLT tracked : 129
[17:17:47.300] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:47.334] Odometry x=-0.000649, y=-0.209738, theta=0.031803
[17:17:47.402] Init: px average disparity is:22.171397 ,While minimum is: 40.000000  KLT tracked : 129
[17:17:47.402] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:47.436] Odometry x=-0.000829, y=-0.213725, theta=0.018224
[17:17:47.490] Init: px average disparity is:23.009359 ,While minimum is: 40.000000  KLT tracked : 129
[17:17:47.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:47.534] Odometry x=-0.000651, y=-0.217589, theta=0.029039
[17:17:47.601] Init: px average disparity is:21.991311 ,While minimum is: 40.000000  KLT tracked : 129
[17:17:47.601] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:47.636] Odometry x=-0.000844, y=-0.221685, theta=0.016668
[17:17:47.700] Init: px average disparity is:23.537254 ,While minimum is: 40.000000  KLT tracked : 126
[17:17:47.700] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:47.739] Odometry x=-0.000785, y=-0.225780, theta=0.001608
[17:17:47.800] Init: px average disparity is:23.921751 ,While minimum is: 40.000000  KLT tracked : 126
[17:17:47.801] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:47.840] Odometry x=-0.000675, y=-0.229983, theta=0.002656
[17:17:47.900] Init: px average disparity is:26.281147 ,While minimum is: 40.000000  KLT tracked : 126
[17:17:47.900] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:47.936] Odometry x=-0.000745, y=-0.233714, theta=-0.009963
[17:17:48.003] Init: px average disparity is:27.720513 ,While minimum is: 40.000000  KLT tracked : 126
[17:17:48.003] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:48.040] Odometry x=-0.000414, y=-0.237735, theta=-0.017514
[17:17:48.101] Init: px average disparity is:27.498211 ,While minimum is: 40.000000  KLT tracked : 126
[17:17:48.102] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:48.135] Odometry x=-0.000441, y=-0.241686, theta=-0.000036
[17:17:48.201] Init: px average disparity is:26.816060 ,While minimum is: 40.000000  KLT tracked : 126
[17:17:48.201] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:48.234] Odometry x=-0.000231, y=-0.245830, theta=-0.003527
[17:17:48.302] Init: px average disparity is:25.865992 ,While minimum is: 40.000000  KLT tracked : 126
[17:17:48.302] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:48.341] Odometry x=-0.000385, y=-0.249568, theta=0.022757
[17:17:48.401] Init: px average disparity is:25.014556 ,While minimum is: 40.000000  KLT tracked : 126
[17:17:48.402] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:48.436] Odometry x=-0.000353, y=-0.253790, theta=0.024459
[17:17:48.504] Init: px average disparity is:24.455770 ,While minimum is: 40.000000  KLT tracked : 126
[17:17:48.504] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:48.540] Odometry x=-0.000466, y=-0.257690, theta=0.047430
[17:17:48.603] Init: px average disparity is:25.075697 ,While minimum is: 40.000000  KLT tracked : 126
[17:17:48.603] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:48.635] Odometry x=-0.000609, y=-0.261571, theta=0.052849
[17:17:48.702] Init: px average disparity is:25.001640 ,While minimum is: 40.000000  KLT tracked : 126
[17:17:48.702] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:48.734] Odometry x=-0.000868, y=-0.265448, theta=0.052085
[17:17:48.804] Init: px average disparity is:25.931583 ,While minimum is: 40.000000  KLT tracked : 126
[17:17:48.804] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:48.834] Odometry x=-0.000981, y=-0.269415, theta=0.053750
[17:17:48.894] Init: px average disparity is:25.711960 ,While minimum is: 40.000000  KLT tracked : 126
[17:17:48.894] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:48.938] Odometry x=-0.001217, y=-0.273289, theta=0.054029
[17:17:49.006] Init: px average disparity is:26.614629 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:49.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:49.036] Odometry x=-0.001333, y=-0.277384, theta=0.047184
[17:17:49.103] Init: px average disparity is:26.753321 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:49.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:49.137] Odometry x=-0.001623, y=-0.281331, theta=0.048407
[17:17:49.203] Init: px average disparity is:27.576425 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:49.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:49.236] Odometry x=-0.001705, y=-0.285410, theta=0.040866
[17:17:49.301] Init: px average disparity is:29.359864 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:49.301] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:49.339] Odometry x=-0.001886, y=-0.289279, theta=0.045066
[17:17:49.402] Init: px average disparity is:28.745292 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:49.402] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:49.438] Odometry x=-0.002091, y=-0.293197, theta=0.045381
[17:17:49.502] Init: px average disparity is:31.461867 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:49.503] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:49.539] Odometry x=-0.002125, y=-0.297084, theta=0.033184
[17:17:49.605] Init: px average disparity is:30.625386 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:49.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:49.633] Odometry x=-0.002386, y=-0.301194, theta=0.030062
[17:17:49.691] Init: px average disparity is:34.305585 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:49.691] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:49.732] Odometry x=-0.002299, y=-0.304880, theta=0.030346
[17:17:49.792] Init: px average disparity is:31.489826 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:49.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:49.833] Odometry x=-0.002599, y=-0.308874, theta=0.040243
[17:17:49.891] Init: px average disparity is:33.859077 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:49.891] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:49.937] Odometry x=-0.002617, y=-0.312795, theta=0.033972
[17:17:49.995] Init: px average disparity is:32.797211 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:49.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:50.035] Odometry x=-0.002904, y=-0.316960, theta=0.051481
[17:17:50.091] Init: px average disparity is:32.379798 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:50.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:50.132] Odometry x=-0.003034, y=-0.320760, theta=0.046345
[17:17:50.210] Init: px average disparity is:31.081589 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:50.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:50.232] Odometry x=-0.003296, y=-0.324752, theta=0.064727
[17:17:50.290] Init: px average disparity is:31.100415 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:50.290] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:50.333] Odometry x=-0.001325, y=-0.328682, theta=0.031857
[17:17:50.390] Init: px average disparity is:30.670426 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:50.391] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:50.433] Odometry x=-0.001516, y=-0.332479, theta=0.047926
[17:17:50.491] Init: px average disparity is:30.973592 ,While minimum is: 40.000000  KLT tracked : 125
[17:17:50.491] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:50.532] Odometry x=-0.001477, y=-0.336690, theta=0.056534
[17:17:50.593] Init: px average disparity is:31.460261 ,While minimum is: 40.000000  KLT tracked : 120
[17:17:50.593] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:50.635] Odometry x=-0.001762, y=-0.340695, theta=0.056195
[17:17:50.692] Init: px average disparity is:30.669328 ,While minimum is: 40.000000  KLT tracked : 120
[17:17:50.692] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:50.737] Odometry x=-0.001782, y=-0.344783, theta=0.066284
[17:17:50.793] Init: px average disparity is:32.171225 ,While minimum is: 40.000000  KLT tracked : 119
[17:17:50.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:50.832] Odometry x=-0.002113, y=-0.348754, theta=0.062109
[17:17:50.892] Init: px average disparity is:31.812897 ,While minimum is: 40.000000  KLT tracked : 119
[17:17:50.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:50.934] Odometry x=-0.002186, y=-0.352615, theta=0.067772
[17:17:50.992] Init: px average disparity is:33.008130 ,While minimum is: 40.000000  KLT tracked : 119
[17:17:50.992] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:51.036] Odometry x=-0.002467, y=-0.356469, theta=0.063338
[17:17:51.092] Init: px average disparity is:35.133742 ,While minimum is: 40.000000  KLT tracked : 118
[17:17:51.092] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:51.134] Odometry x=-0.002462, y=-0.360402, theta=0.053332
[17:17:51.195] Init: px average disparity is:35.782307 ,While minimum is: 40.000000  KLT tracked : 118
[17:17:51.195] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:51.234] Odometry x=-0.002826, y=-0.364292, theta=0.057849
[17:17:51.292] Init: px average disparity is:38.527068 ,While minimum is: 40.000000  KLT tracked : 117
[17:17:51.292] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:51.337] Odometry x=-0.002862, y=-0.368226, theta=0.033377
[17:17:51.401] Init: px average disparity is:38.580426 ,While minimum is: 40.000000  KLT tracked : 117
[17:17:51.401] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:51.436] Odometry x=-0.003221, y=-0.372054, theta=0.046256
[17:17:51.502] Init: px average disparity is:39.977084 ,While minimum is: 40.000000  KLT tracked : 117
[17:17:51.502] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:51.534] Odometry x=-0.003300, y=-0.375902, theta=0.044197
[17:17:51.592] Init: px average disparity is:37.489908 ,While minimum is: 40.000000  KLT tracked : 117
[17:17:51.592] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:51.632] Odometry x=-0.003443, y=-0.379849, theta=0.063352
[17:17:51.704] Init: px average disparity is:39.177179 ,While minimum is: 40.000000  KLT tracked : 117
[17:17:51.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:51.737] Odometry x=-0.003528, y=-0.383743, theta=0.059033
[17:17:51.803] Init: px average disparity is:35.510333 ,While minimum is: 40.000000  KLT tracked : 116
[17:17:51.803] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:51.836] Odometry x=-0.001573, y=-0.387776, theta=0.039963
[17:17:51.903] Init: px average disparity is:36.016723 ,While minimum is: 40.000000  KLT tracked : 116
[17:17:51.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:51.936] Odometry x=-0.001548, y=-0.391638, theta=0.055705
[17:17:52.003] Init: px average disparity is:35.116092 ,While minimum is: 40.000000  KLT tracked : 116
[17:17:52.003] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:52.039] Odometry x=-0.001926, y=-0.395701, theta=0.050668
[17:17:52.103] Init: px average disparity is:36.824867 ,While minimum is: 40.000000  KLT tracked : 113
[17:17:52.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:52.139] Odometry x=-0.001889, y=-0.399594, theta=0.065688
[17:17:52.203] Init: px average disparity is:36.049979 ,While minimum is: 40.000000  KLT tracked : 113
[17:17:52.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:52.233] Odometry x=-0.002060, y=-0.403549, theta=0.051588
[17:17:52.303] Init: px average disparity is:37.697342 ,While minimum is: 40.000000  KLT tracked : 113
[17:17:52.303] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:52.332] Odometry x=-0.002142, y=-0.407193, theta=0.060956
[17:17:52.403] Init: px average disparity is:37.029291 ,While minimum is: 40.000000  KLT tracked : 113
[17:17:52.403] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:52.432] Odometry x=-0.002233, y=-0.411195, theta=0.053744
[17:17:52.504] Init: px average disparity is:38.870651 ,While minimum is: 40.000000  KLT tracked : 113
[17:17:52.504] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:52.541] Odometry x=-0.002416, y=-0.415041, theta=0.061978
[17:17:52.603] Init: px average disparity is:37.727987 ,While minimum is: 40.000000  KLT tracked : 113
[17:17:52.603] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:52.637] Odometry x=-0.002501, y=-0.419278, theta=0.063578
[17:17:52.702] Init: px average disparity is:36.908188 ,While minimum is: 40.000000  KLT tracked : 113
[17:17:52.702] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:52.739] Odometry x=-0.002776, y=-0.423032, theta=0.061922
[17:17:52.802] Init: px average disparity is:38.236488 ,While minimum is: 40.000000  KLT tracked : 113
[17:17:52.802] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:52.835] Odometry x=-0.002735, y=-0.426887, theta=0.052433
[17:17:52.904] Init: px average disparity is:37.874683 ,While minimum is: 40.000000  KLT tracked : 113
[17:17:52.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:52.933] Odometry x=-0.003036, y=-0.431052, theta=0.052637
[17:17:53.033] Odometry x=-0.003103, y=-0.434943, theta=0.033997
[17:17:53.055] homography: x=-0.010943 y=-0.005172 z=0.957770 roll=-0.000000 pitch=0.000405 yaw=0.000000 	 ekf: x=-0.000337 z=-0.043865 pitch=0.037907
[17:17:53.055] homography after fuse: x=-0.000337 y=0.000000 z=-0.043865 pitch=0.037907	 number of outlier: 100
[17:17:53.055] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:41.015558 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:53.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:53.131] Odometry x=-0.003263, y=-0.438838, theta=0.039306
[17:17:53.155] homography: x=-0.010286 y=-0.005117 z=0.951465 roll=-0.000000 pitch=0.000373 yaw=0.000000 	 ekf: x=-0.000338 z=-0.044272 pitch=0.039280
[17:17:53.155] homography after fuse: x=-0.000338 y=0.000000 z=-0.044272 pitch=0.039280	 number of outlier: 100
[17:17:53.155] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:41.056674 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:53.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:53.235] Odometry x=-0.003349, y=-0.442720, theta=0.040201
[17:17:53.255] homography: x=-0.010263 y=-0.005003 z=0.950267 roll=-0.000000 pitch=0.000412 yaw=0.000000 	 ekf: x=-0.000360 z=-0.044670 pitch=0.042752
[17:17:53.255] homography after fuse: x=-0.000360 y=0.000000 z=-0.044670 pitch=0.042752	 number of outlier: 100
[17:17:53.255] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:43.233158 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:53.255] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:53.332] Odometry x=-0.003444, y=-0.446714, theta=0.054261
[17:17:53.356] homography: x=-0.010358 y=-0.005054 z=0.945904 roll=-0.000000 pitch=0.000360 yaw=0.000000 	 ekf: x=-0.000357 z=-0.045058 pitch=0.054719
[17:17:53.356] homography after fuse: x=-0.000357 y=0.000000 z=-0.045058 pitch=0.054719	 number of outlier: 96
[17:17:53.356] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:44.471450 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:53.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:53.435] Odometry x=-0.003566, y=-0.450662, theta=0.049571
[17:17:53.458] homography: x=-0.008668 y=-0.004378 z=0.904999 roll=-0.000000 pitch=0.000358 yaw=0.000000 	 ekf: x=-0.000378 z=-0.045453 pitch=0.049824
[17:17:53.458] homography after fuse: x=-0.000378 y=0.000000 z=-0.045453 pitch=0.049824	 number of outlier: 97
[17:17:53.458] Init: Homography RANSAC (inlier) is:16 ,While 30 inliers minimum required.  px average disparity is:44.853258 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:53.458] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:53.538] Odometry x=-0.003700, y=-0.454552, theta=0.056511
[17:17:53.556] homography: x=-0.008178 y=-0.004303 z=0.907222 roll=-0.000000 pitch=0.000357 yaw=0.000000 	 ekf: x=-0.000384 z=-0.045844 pitch=0.061877
[17:17:53.556] homography after fuse: x=-0.000384 y=0.000000 z=-0.045844 pitch=0.061877	 number of outlier: 96
[17:17:53.556] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:44.035939 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:53.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:53.636] Odometry x=-0.003756, y=-0.458590, theta=0.065541
[17:17:53.655] homography: x=-0.007903 y=-0.004247 z=0.889741 roll=-0.000000 pitch=0.059508 yaw=0.000000 	 ekf: x=-0.000404 z=-0.046246 pitch=0.063320
[17:17:53.655] homography after fuse: x=-0.000404 y=0.000000 z=-0.046246 pitch=0.063320	 number of outlier: 94
[17:17:53.655] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required.  px average disparity is:42.580660 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:53.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:53.734] Odometry x=-0.004115, y=-0.462418, theta=0.079311
[17:17:53.755] homography: x=-0.006958 y=-0.003725 z=0.856132 roll=-0.000000 pitch=0.044449 yaw=0.000000 	 ekf: x=-0.000438 z=-0.046607 pitch=0.085841
[17:17:53.755] homography after fuse: x=-0.000438 y=0.000000 z=-0.046607 pitch=0.085841	 number of outlier: 105
[17:17:53.755] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:42.121707 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:53.755] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:53.831] Odometry x=-0.004289, y=-0.466249, theta=0.097459
[17:17:53.856] homography: x=-0.006901 y=-0.003699 z=0.838647 roll=-0.000000 pitch=0.000301 yaw=0.000000 	 ekf: x=-0.000464 z=-0.047004 pitch=0.097296
[17:17:53.856] homography after fuse: x=-0.000464 y=0.000000 z=-0.047004 pitch=0.097296	 number of outlier: 106
[17:17:53.856] Init: Homography RANSAC (inlier) is:7 ,While 30 inliers minimum required.  px average disparity is:40.963428 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:53.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:53.935] Odometry x=-0.004683, y=-0.470026, theta=0.096890
[17:17:53.955] homography: x=-0.006979 y=-0.003649 z=0.831809 roll=-0.000000 pitch=0.000291 yaw=0.000000 	 ekf: x=-0.000506 z=-0.047376 pitch=0.105059
[17:17:53.955] homography after fuse: x=-0.000506 y=0.000000 z=-0.047376 pitch=0.105059	 number of outlier: 100
[17:17:53.955] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:40.911851 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:53.955] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:54.033] Odometry x=-0.004964, y=-0.473907, theta=0.114903
[17:17:54.055] homography: x=-0.006808 y=-0.003738 z=0.832668 roll=-0.000000 pitch=0.000260 yaw=0.000000 	 ekf: x=-0.000539 z=-0.047776 pitch=0.113803
[17:17:54.055] homography after fuse: x=-0.000539 y=0.000000 z=-0.047776 pitch=0.113803	 number of outlier: 100
[17:17:54.055] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:40.470109 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:54.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:54.135] Odometry x=-0.005343, y=-0.477826, theta=0.105016
[17:17:54.155] homography: x=-0.006673 y=-0.003570 z=0.821443 roll=-0.000000 pitch=0.000258 yaw=0.000000 	 ekf: x=-0.000580 z=-0.048174 pitch=0.104618
[17:17:54.155] homography after fuse: x=-0.000580 y=0.000000 z=-0.048174 pitch=0.104618	 number of outlier: 101
[17:17:54.155] Init: Homography RANSAC (inlier) is:12 ,While 30 inliers minimum required.  px average disparity is:41.450311 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:54.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:54.233] Odometry x=-0.005790, y=-0.481887, theta=0.109829
[17:17:54.256] homography: x=-0.008728 y=-0.005020 z=0.905702 roll=-0.000000 pitch=0.057000 yaw=0.000000 	 ekf: x=-0.000620 z=-0.048573 pitch=0.111795
[17:17:54.256] homography after fuse: x=-0.000620 y=0.000000 z=-0.048573 pitch=0.111795	 number of outlier: 100
[17:17:54.256] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:41.018320 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:54.256] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:54.336] Odometry x=-0.006148, y=-0.485778, theta=0.111904
[17:17:54.356] homography: x=-0.009121 y=-0.005242 z=0.905629 roll=-0.000000 pitch=0.061277 yaw=0.000000 	 ekf: x=-0.000654 z=-0.048960 pitch=0.109782
[17:17:54.356] homography after fuse: x=-0.000654 y=0.000000 z=-0.048960 pitch=0.109782	 number of outlier: 101
[17:17:54.356] Init: Homography RANSAC (inlier) is:12 ,While 30 inliers minimum required.  px average disparity is:42.261178 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:54.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:54.434] Odometry x=-0.006637, y=-0.489775, theta=0.108826
[17:17:54.456] homography: x=-0.008778 y=-0.005254 z=0.906044 roll=-0.000000 pitch=0.000288 yaw=0.000000 	 ekf: x=-0.000702 z=-0.049362 pitch=0.109779
[17:17:54.456] homography after fuse: x=-0.000702 y=0.000000 z=-0.049362 pitch=0.109779	 number of outlier: 101
[17:17:54.456] Init: Homography RANSAC (inlier) is:12 ,While 30 inliers minimum required.  px average disparity is:42.071174 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:54.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:54.532] Odometry x=-0.006997, y=-0.493642, theta=0.111438
[17:17:54.557] homography: x=-0.008556 y=-0.005058 z=0.907602 roll=-0.000000 pitch=0.055906 yaw=0.000000 	 ekf: x=-0.000741 z=-0.049745 pitch=0.108961
[17:17:54.557] homography after fuse: x=-0.000741 y=0.000000 z=-0.049745 pitch=0.108961	 number of outlier: 101
[17:17:54.557] Init: Homography RANSAC (inlier) is:12 ,While 30 inliers minimum required.  px average disparity is:45.052351 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:54.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:54.637] Odometry x=-0.007460, y=-0.497676, theta=0.101651
[17:17:54.656] homography: x=-0.008216 y=-0.004906 z=0.893819 roll=-0.000000 pitch=0.000283 yaw=0.000000 	 ekf: x=-0.000784 z=-0.050155 pitch=0.102564
[17:17:54.656] homography after fuse: x=-0.000784 y=0.000000 z=-0.050155 pitch=0.102564	 number of outlier: 100
[17:17:54.656] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:42.463717 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:54.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:54.734] Odometry x=-0.007798, y=-0.501548, theta=0.103618
[17:17:54.756] homography: x=-0.008049 y=-0.004898 z=0.906258 roll=-0.000000 pitch=0.000299 yaw=0.000000 	 ekf: x=-0.000818 z=-0.050524 pitch=0.099946
[17:17:54.756] homography after fuse: x=-0.000818 y=0.000000 z=-0.050524 pitch=0.099946	 number of outlier: 100
[17:17:54.756] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:43.648465 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:54.756] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:54.832] Odometry x=-0.008182, y=-0.505411, theta=0.097837
[17:17:54.856] homography: x=-0.007594 y=-0.004733 z=0.896492 roll=-0.000000 pitch=0.000289 yaw=0.000000 	 ekf: x=-0.000856 z=-0.050921 pitch=0.097889
[17:17:54.856] homography after fuse: x=-0.000856 y=0.000000 z=-0.050921 pitch=0.097889	 number of outlier: 98
[17:17:54.856] Init: Homography RANSAC (inlier) is:15 ,While 30 inliers minimum required.  px average disparity is:42.818646 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:54.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:54.935] Odometry x=-0.008532, y=-0.509373, theta=0.092965
[17:17:54.955] homography: x=-0.007322 y=-0.004623 z=0.901169 roll=-0.000000 pitch=0.000284 yaw=0.000000 	 ekf: x=-0.000893 z=-0.051344 pitch=0.090581
[17:17:54.955] homography after fuse: x=-0.000893 y=0.000000 z=-0.051344 pitch=0.090581	 number of outlier: 103
[17:17:54.955] Init: Homography RANSAC (inlier) is:10 ,While 30 inliers minimum required.  px average disparity is:44.179591 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:54.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:55.030] Odometry x=-0.008973, y=-0.513570, theta=0.091675
[17:17:55.055] homography: x=-0.007105 y=-0.004549 z=0.900066 roll=-0.000000 pitch=0.000289 yaw=0.000000 	 ekf: x=-0.000929 z=-0.051724 pitch=0.092121
[17:17:55.055] homography after fuse: x=-0.000929 y=0.000000 z=-0.051724 pitch=0.092121	 number of outlier: 95
[17:17:55.055] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:44.517075 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:55.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:55.137] Odometry x=-0.009280, y=-0.517340, theta=0.089086
[17:17:55.156] homography: x=-0.007000 y=-0.004437 z=0.898951 roll=-0.000000 pitch=0.000304 yaw=0.000000 	 ekf: x=-0.000962 z=-0.052140 pitch=0.088004
[17:17:55.156] homography after fuse: x=-0.000962 y=0.000000 z=-0.052140 pitch=0.088004	 number of outlier: 89
[17:17:55.156] Init: Homography RANSAC (inlier) is:24 ,While 30 inliers minimum required.  px average disparity is:45.491756 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:55.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:55.246] Odometry x=-0.009605, y=-0.521574, theta=0.086493
[17:17:55.256] homography: x=-0.006873 y=-0.004292 z=0.896146 roll=-0.000000 pitch=0.000331 yaw=0.000000 	 ekf: x=-0.000997 z=-0.052577 pitch=0.086915
[17:17:55.256] homography after fuse: x=-0.000997 y=0.000000 z=-0.052577 pitch=0.086915	 number of outlier: 89
[17:17:55.256] Init: Homography RANSAC (inlier) is:24 ,While 30 inliers minimum required.  px average disparity is:47.279970 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:55.256] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:55.332] Odometry x=-0.009899, y=-0.525813, theta=0.091393
[17:17:55.356] homography: x=-0.006905 y=-0.004432 z=0.905544 roll=-0.000000 pitch=0.045874 yaw=0.000000 	 ekf: x=-0.001019 z=-0.052912 pitch=0.092263
[17:17:55.356] homography after fuse: x=-0.001019 y=0.000000 z=-0.052912 pitch=0.092263	 number of outlier: 89
[17:17:55.356] Init: Homography RANSAC (inlier) is:24 ,While 30 inliers minimum required.  px average disparity is:49.170818 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:55.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:55.445] Odometry x=-0.010208, y=-0.529233, theta=0.098260
[17:17:55.456] homography: x=-0.006898 y=-0.004437 z=0.905109 roll=-0.000000 pitch=0.000308 yaw=0.000000 	 ekf: x=-0.001062 z=-0.053339 pitch=0.100000
[17:17:55.456] homography after fuse: x=-0.001062 y=0.000000 z=-0.053339 pitch=0.100000	 number of outlier: 94
[17:17:55.456] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required.  px average disparity is:49.336213 ,While minimum is: 40.000000  KLT tracked: 113
[17:17:55.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:55.539] Odometry x=-0.010609, y=-0.533440, theta=0.104486
[17:17:55.555] homography: x=-0.010192 y=-0.030349 z=3.317135 roll=0.000000 pitch=-0.000551 yaw=0.000000 	 ekf: x=-0.001097 z=-0.053719 pitch=0.103607
[17:17:55.555] homography after fuse: x=-0.001097 y=0.000000 z=-0.053719 pitch=0.103607	 number of outlier: 98
[17:17:55.555] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:48.078820 ,While minimum is: 40.000000  KLT tracked: 111
[17:17:55.555] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:55.637] Odometry x=-0.011000, y=-0.537278, theta=0.105754
[17:17:55.655] homography: x=-0.010300 y=-0.028432 z=3.290804 roll=0.000000 pitch=-0.000618 yaw=0.000000 	 ekf: x=-0.001138 z=-0.054088 pitch=0.106943
[17:17:55.655] homography after fuse: x=-0.001138 y=0.000000 z=-0.054088 pitch=0.106943	 number of outlier: 100
[17:17:55.655] Init: Homography RANSAC (inlier) is:11 ,While 30 inliers minimum required.  px average disparity is:49.125342 ,While minimum is: 40.000000  KLT tracked: 111
[17:17:55.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:55.735] Odometry x=-0.011331, y=-0.540906, theta=0.118414
[17:17:55.754] homography: x=-0.010301 y=-0.028778 z=3.290320 roll=0.000000 pitch=-0.000611 yaw=0.000000 	 ekf: x=-0.001179 z=-0.054472 pitch=0.121466
[17:17:55.754] homography after fuse: x=-0.001179 y=0.000000 z=-0.054472 pitch=0.121466	 number of outlier: 99
[17:17:55.754] Init: Homography RANSAC (inlier) is:12 ,While 30 inliers minimum required.  px average disparity is:49.490709 ,While minimum is: 40.000000  KLT tracked: 111
[17:17:55.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:55.834] Odometry x=-0.011746, y=-0.544920, theta=0.136552
[17:17:55.855] homography: x=-0.008822 y=0.002281 z=0.855868 roll=-0.000000 pitch=3.121760 yaw=0.000000 	 ekf: x=-0.001227 z=-0.054886 pitch=0.138655
[17:17:55.855] homography after fuse: x=-0.001227 y=0.000000 z=-0.054886 pitch=0.138655	 number of outlier: 97
[17:17:55.855] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:47.141220 ,While minimum is: 40.000000  KLT tracked: 110
[17:17:55.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:55.930] Odometry x=-0.012230, y=-0.548966, theta=0.145650
[17:17:55.955] homography: x=-0.009490 y=0.002683 z=0.843119 roll=-0.000000 pitch=3.118409 yaw=0.000000 	 ekf: x=-0.001274 z=-0.055251 pitch=0.148330
[17:17:55.955] homography after fuse: x=-0.001274 y=0.000000 z=-0.055251 pitch=0.148330	 number of outlier: 85
[17:17:55.955] Init: Homography RANSAC (inlier) is:25 ,While 30 inliers minimum required.  px average disparity is:45.860755 ,While minimum is: 40.000000  KLT tracked: 110
[17:17:55.955] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:56.035] Odometry x=-0.012716, y=-0.552607, theta=0.156896
[17:17:56.055] homography: x=-0.009346 y=0.002421 z=0.837569 roll=-0.000000 pitch=3.119444 yaw=0.000000 	 ekf: x=-0.001336 z=-0.055674 pitch=0.156765
[17:17:56.055] homography after fuse: x=-0.001336 y=0.000000 z=-0.055674 pitch=0.156765	 number of outlier: 85
[17:17:56.055] Init: Homography RANSAC (inlier) is:25 ,While 30 inliers minimum required.  px average disparity is:45.721341 ,While minimum is: 40.000000  KLT tracked: 110
[17:17:56.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:56.134] Odometry x=-0.013331, y=-0.556902, theta=0.155407
[17:17:56.155] homography: x=-0.009665 y=0.002726 z=0.816365 roll=-0.000000 pitch=3.116877 yaw=0.000000 	 ekf: x=-0.001391 z=-0.056063 pitch=0.156056
[17:17:56.155] homography after fuse: x=-0.001391 y=0.000000 z=-0.056063 pitch=0.156056	 number of outlier: 86
[17:17:56.155] Init: Homography RANSAC (inlier) is:24 ,While 30 inliers minimum required.  px average disparity is:46.033572 ,While minimum is: 40.000000  KLT tracked: 110
[17:17:56.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:56.236] Odometry x=-0.013896, y=-0.560732, theta=0.165981
[17:17:56.255] homography: x=-0.002502 y=-0.001459 z=0.558845 roll=-0.000000 pitch=0.000252 yaw=0.000000 	 ekf: x=-0.001443 z=-0.056437 pitch=0.168331
[17:17:56.255] homography after fuse: x=-0.001443 y=0.000000 z=-0.056437 pitch=0.168331	 number of outlier: 88
[17:17:56.255] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required.  px average disparity is:45.315195 ,While minimum is: 40.000000  KLT tracked: 109
[17:17:56.255] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:56.336] Odometry x=-0.014357, y=-0.564429, theta=0.168222
[17:17:56.355] homography: x=-0.005807 y=-0.006891 z=0.851151 roll=-0.000000 pitch=0.001689 yaw=-0.000000 	 ekf: x=-0.001502 z=-0.056849 pitch=0.166302
[17:17:56.355] homography after fuse: x=-0.001502 y=0.000000 z=-0.056849 pitch=0.166302	 number of outlier: 90
[17:17:56.355] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required.  px average disparity is:47.331522 ,While minimum is: 40.000000  KLT tracked: 109
[17:17:56.355] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:56.434] Odometry x=-0.015081, y=-0.568597, theta=0.159185
[17:17:56.457] homography: x=-0.007548 y=-0.012171 z=1.840770 roll=0.000000 pitch=-0.000830 yaw=0.000000 	 ekf: x=-0.001566 z=-0.057233 pitch=0.158315
[17:17:56.457] homography after fuse: x=-0.001566 y=0.000000 z=-0.057233 pitch=0.158315	 number of outlier: 85
[17:17:56.457] Init: Homography RANSAC (inlier) is:23 ,While 30 inliers minimum required.  px average disparity is:44.399552 ,While minimum is: 40.000000  KLT tracked: 108
[17:17:56.457] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:56.537] Odometry x=-0.015637, y=-0.572412, theta=0.152643
[17:17:56.560] homography: x=-0.007531 y=-0.012282 z=1.856438 roll=0.000000 pitch=-0.000853 yaw=0.000000 	 ekf: x=-0.001625 z=-0.057637 pitch=0.153423
[17:17:56.560] homography after fuse: x=-0.001625 y=0.000000 z=-0.057637 pitch=0.153423	 number of outlier: 84
[17:17:56.560] Init: Homography RANSAC (inlier) is:24 ,While 30 inliers minimum required.  px average disparity is:44.433837 ,While minimum is: 40.000000  KLT tracked: 108
[17:17:56.560] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:56.634] Odometry x=-0.016249, y=-0.576459, theta=0.152581
[17:17:56.658] homography: x=-0.007588 y=-0.012726 z=1.896220 roll=0.000000 pitch=-0.000922 yaw=0.000000 	 ekf: x=-0.001682 z=-0.058024 pitch=0.150773
[17:17:56.658] homography after fuse: x=-0.001682 y=0.000000 z=-0.058024 pitch=0.150773	 number of outlier: 86
[17:17:56.658] Init: Homography RANSAC (inlier) is:22 ,While 30 inliers minimum required.  px average disparity is:44.487812 ,While minimum is: 40.000000  KLT tracked: 108
[17:17:56.658] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:56.734] Odometry x=-0.016781, y=-0.580359, theta=0.147187
[17:17:56.760] homography: x=-0.007443 y=-0.012690 z=1.881358 roll=0.000000 pitch=-0.000977 yaw=0.000000 	 ekf: x=-0.001729 z=-0.058417 pitch=0.144236
[17:17:56.760] homography after fuse: x=-0.001729 y=0.000000 z=-0.058417 pitch=0.144236	 number of outlier: 93
[17:17:56.760] Init: Homography RANSAC (inlier) is:15 ,While 30 inliers minimum required.  px average disparity is:45.145688 ,While minimum is: 40.000000  KLT tracked: 108
[17:17:56.760] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:56.834] Odometry x=-0.017285, y=-0.584261, theta=0.138728
[17:17:56.856] homography: x=-0.007439 y=-0.012377 z=1.891729 roll=0.000000 pitch=-0.000972 yaw=0.000000 	 ekf: x=-0.001783 z=-0.058811 pitch=0.137474
[17:17:56.856] homography after fuse: x=-0.001783 y=0.000000 z=-0.058811 pitch=0.137474	 number of outlier: 95
[17:17:56.856] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:46.121723 ,While minimum is: 40.000000  KLT tracked: 108
[17:17:56.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:56.933] Odometry x=-0.017800, y=-0.588193, theta=0.132012
[17:17:56.956] homography: x=-0.007464 y=-0.012640 z=1.949535 roll=0.000000 pitch=-0.001054 yaw=0.000000 	 ekf: x=-0.001828 z=-0.059192 pitch=0.132704
[17:17:56.956] homography after fuse: x=-0.001828 y=0.000000 z=-0.059192 pitch=0.132704	 number of outlier: 93
[17:17:56.956] Init: Homography RANSAC (inlier) is:15 ,While 30 inliers minimum required.  px average disparity is:46.874838 ,While minimum is: 40.000000  KLT tracked: 108
[17:17:56.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:57.033] Odometry x=-0.018202, y=-0.592130, theta=0.130708
[17:17:57.056] homography: x=-0.007476 y=-0.012852 z=1.956813 roll=0.000000 pitch=-0.001070 yaw=0.000000 	 ekf: x=-0.001871 z=-0.059609 pitch=0.131510
[17:17:57.056] homography after fuse: x=-0.001871 y=0.000000 z=-0.059609 pitch=0.131510	 number of outlier: 93
[17:17:57.056] Init: Homography RANSAC (inlier) is:15 ,While 30 inliers minimum required.  px average disparity is:48.617920 ,While minimum is: 40.000000  KLT tracked: 108
[17:17:57.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:57.134] Odometry x=-0.018700, y=-0.596080, theta=0.134299
[17:17:57.156] homography: x=-0.007752 y=-0.013629 z=2.027136 roll=0.000000 pitch=-0.001042 yaw=0.000000 	 ekf: x=-0.001922 z=-0.059986 pitch=0.137832
[17:17:57.156] homography after fuse: x=-0.001922 y=0.000000 z=-0.059986 pitch=0.137832	 number of outlier: 92
[17:17:57.156] Init: Homography RANSAC (inlier) is:16 ,While 30 inliers minimum required.  px average disparity is:50.445635 ,While minimum is: 40.000000  KLT tracked: 108
[17:17:57.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:57.234] Odometry x=-0.019200, y=-0.599964, theta=0.148202
[17:17:57.256] homography: x=-0.007603 y=-0.012721 z=1.934697 roll=0.000000 pitch=-0.000916 yaw=0.000000 	 ekf: x=-0.001974 z=-0.060375 pitch=0.150650
[17:17:57.256] homography after fuse: x=-0.001974 y=0.000000 z=-0.060375 pitch=0.150650	 number of outlier: 91
[17:17:57.256] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:53.196329 ,While minimum is: 40.000000  KLT tracked: 108
[17:17:57.256] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:57.334] Odometry x=-0.019730, y=-0.603843, theta=0.158520
[17:17:57.357] homography: x=0.003262 y=-0.001201 z=-0.867875 roll=-0.000000 pitch=0.000385 yaw=0.000000 	 ekf: x=-0.002032 z=-0.060760 pitch=0.162638
[17:17:57.357] homography after fuse: x=-0.002032 y=0.000000 z=-0.060760 pitch=0.162638	 number of outlier: 83
[17:17:57.357] Init: Homography RANSAC (inlier) is:24 ,While 30 inliers minimum required.  px average disparity is:49.865015 ,While minimum is: 40.000000  KLT tracked: 107
[17:17:57.357] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:57.436] Odometry x=-0.020346, y=-0.607666, theta=0.178887
[17:17:57.455] homography: x=0.003987 y=-0.001515 z=-1.042610 roll=-0.000000 pitch=0.000334 yaw=0.000000 	 ekf: x=-0.002104 z=-0.061166 pitch=0.181834
[17:17:57.455] homography after fuse: x=-0.002104 y=0.000000 z=-0.061166 pitch=0.181834	 number of outlier: 91
[17:17:57.455] Init: Homography RANSAC (inlier) is:16 ,While 30 inliers minimum required.  px average disparity is:50.189120 ,While minimum is: 40.000000  KLT tracked: 107
[17:17:57.455] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:57.535] Odometry x=-0.021012, y=-0.611693, theta=0.190107
[17:17:57.555] homography: x=0.003912 y=-0.001444 z=-1.012893 roll=-0.000000 pitch=0.000285 yaw=0.000000 	 ekf: x=-0.002172 z=-0.061537 pitch=0.191379
[17:17:57.555] homography after fuse: x=-0.002172 y=0.000000 z=-0.061537 pitch=0.191379	 number of outlier: 89
[17:17:57.555] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:51.715059 ,While minimum is: 40.000000  KLT tracked: 107
[17:17:57.555] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:57.632] Odometry x=-0.021677, y=-0.615458, theta=0.201079
[17:17:57.655] homography: x=0.003267 y=-0.001130 z=-0.844069 roll=-0.000000 pitch=0.000273 yaw=0.000000 	 ekf: x=-0.002243 z=-0.061915 pitch=0.201605
[17:17:57.656] homography after fuse: x=-0.002243 y=0.000000 z=-0.061915 pitch=0.201605	 number of outlier: 96
[17:17:57.656] Init: Homography RANSAC (inlier) is:11 ,While 30 inliers minimum required.  px average disparity is:51.476403 ,While minimum is: 40.000000  KLT tracked: 107
[17:17:57.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:57.736] Odometry x=-0.022372, y=-0.619238, theta=0.201951
[17:17:57.755] homography: x=0.003519 y=-0.001242 z=-0.903530 roll=-0.000000 pitch=0.000253 yaw=0.000000 	 ekf: x=-0.002312 z=-0.062309 pitch=0.200405
[17:17:57.755] homography after fuse: x=-0.002312 y=0.000000 z=-0.062309 pitch=0.200405	 number of outlier: 95
[17:17:57.755] Init: Homography RANSAC (inlier) is:12 ,While 30 inliers minimum required.  px average disparity is:52.427599 ,While minimum is: 40.000000  KLT tracked: 107
[17:17:57.755] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:57.834] Odometry x=-0.023126, y=-0.623176, theta=0.199831
[17:17:57.856] homography: x=0.003289 y=-0.001155 z=-0.849060 roll=-0.000000 pitch=0.000277 yaw=0.000000 	 ekf: x=-0.002390 z=-0.062705 pitch=0.201368
[17:17:57.857] homography after fuse: x=-0.002390 y=0.000000 z=-0.062705 pitch=0.201368	 number of outlier: 96
[17:17:57.857] Init: Homography RANSAC (inlier) is:11 ,While 30 inliers minimum required.  px average disparity is:51.434125 ,While minimum is: 40.000000  KLT tracked: 107
[17:17:57.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:57.933] Odometry x=-0.023836, y=-0.627122, theta=0.203368
[17:17:57.956] homography: x=0.003168 y=-0.001097 z=-0.815283 roll=-0.000000 pitch=0.000272 yaw=0.000000 	 ekf: x=-0.002456 z=-0.063077 pitch=0.203211
[17:17:57.956] homography after fuse: x=-0.002456 y=0.000000 z=-0.063077 pitch=0.203211	 number of outlier: 98
[17:17:57.956] Init: Homography RANSAC (inlier) is:9 ,While 30 inliers minimum required.  px average disparity is:52.397386 ,While minimum is: 40.000000  KLT tracked: 107
[17:17:57.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:58.035] Odometry x=-0.024564, y=-0.630857, theta=0.199943
[17:17:58.056] homography: x=-0.059874 y=0.044643 z=2.008182 roll=-0.000000 pitch=3.026184 yaw=0.000000 	 ekf: x=-0.002530 z=-0.063439 pitch=0.199335
[17:17:58.056] homography after fuse: x=-0.002530 y=0.000000 z=-0.063439 pitch=0.199335	 number of outlier: 95
[17:17:58.056] Init: Homography RANSAC (inlier) is:10 ,While 30 inliers minimum required.  px average disparity is:48.500811 ,While minimum is: 40.000000  KLT tracked: 105
[17:17:58.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:58.133] Odometry x=-0.025307, y=-0.634489, theta=0.198661
[17:17:58.158] homography: x=-0.049210 y=0.039276 z=1.094643 roll=-0.000000 pitch=0.167868 yaw=0.000000 	 ekf: x=-0.002612 z=-0.063850 pitch=0.197714
[17:17:58.158] homography after fuse: x=-0.002612 y=0.000000 z=-0.063850 pitch=0.197714	 number of outlier: 92
[17:17:58.158] Init: Homography RANSAC (inlier) is:13 ,While 30 inliers minimum required.  px average disparity is:47.514588 ,While minimum is: 40.000000  KLT tracked: 105
[17:17:58.158] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:58.230] Odometry x=-0.026132, y=-0.638646, theta=0.195346
[17:17:58.256] homography: x=-0.047999 y=0.038633 z=1.036629 roll=0.000000 pitch=-0.000707 yaw=0.000000 	 ekf: x=-0.002687 z=-0.064238 pitch=0.195377
[17:17:58.256] homography after fuse: x=-0.002687 y=0.000000 z=-0.064238 pitch=0.195377	 number of outlier: 86
[17:17:58.256] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required.  px average disparity is:46.813118 ,While minimum is: 40.000000  KLT tracked: 105
[17:17:58.256] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:58.334] Odometry x=-0.026863, y=-0.642436, theta=0.192307
[17:17:58.357] homography: x=-0.038621 y=0.032832 z=0.546549 roll=0.000000 pitch=-0.014603 yaw=0.000000 	 ekf: x=-0.002763 z=-0.064637 pitch=0.191020
[17:17:58.357] homography after fuse: x=-0.002763 y=0.000000 z=-0.064637 pitch=0.191020	 number of outlier: 85
[17:17:58.357] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:46.840439 ,While minimum is: 40.000000  KLT tracked: 105
[17:17:58.357] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:58.438] Odometry x=-0.027639, y=-0.646498, theta=0.192183
[17:17:58.455] homography: x=-0.036690 y=0.030966 z=0.642437 roll=0.000000 pitch=-0.009962 yaw=0.000000 	 ekf: x=-0.002837 z=-0.065034 pitch=0.191427
[17:17:58.455] homography after fuse: x=-0.002837 y=0.000000 z=-0.065034 pitch=0.191427	 number of outlier: 86
[17:17:58.455] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required.  px average disparity is:46.381647 ,While minimum is: 40.000000  KLT tracked: 105
[17:17:58.455] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:58.533] Odometry x=-0.028373, y=-0.650449, theta=0.190117
[17:17:58.555] homography: x=-0.062982 y=0.047900 z=2.324094 roll=-0.000000 pitch=3.041399 yaw=0.000000 	 ekf: x=-0.002908 z=-0.065409 pitch=0.189583
[17:17:58.556] homography after fuse: x=-0.002908 y=0.000000 z=-0.065409 pitch=0.189583	 number of outlier: 87
[17:17:58.556] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:47.489850 ,While minimum is: 40.000000  KLT tracked: 105
[17:17:58.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:58.629] Odometry x=-0.029075, y=-0.654185, theta=0.188629
[17:17:58.656] homography: x=-0.031377 y=0.027986 z=0.405584 roll=0.000000 pitch=-0.021168 yaw=0.000000 	 ekf: x=-0.002974 z=-0.065770 pitch=0.187952
[17:17:58.656] homography after fuse: x=-0.002974 y=0.000000 z=-0.065770 pitch=0.187952	 number of outlier: 88
[17:17:58.656] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:47.904888 ,While minimum is: 40.000000  KLT tracked: 105
[17:17:58.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:58.735] Odometry x=-0.029761, y=-0.657750, theta=0.185110
[17:17:58.755] homography: x=-0.059704 y=0.046431 z=2.289786 roll=-0.000000 pitch=3.047778 yaw=0.000000 	 ekf: x=-0.003052 z=-0.066186 pitch=0.184694
[17:17:58.755] homography after fuse: x=-0.003052 y=0.000000 z=-0.066186 pitch=0.184694	 number of outlier: 86
[17:17:58.755] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required.  px average disparity is:48.911772 ,While minimum is: 40.000000  KLT tracked: 105
[17:17:58.755] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:58.832] Odometry x=-0.030533, y=-0.661973, theta=0.181668
[17:17:58.860] homography: x=-0.041974 y=0.036080 z=0.927566 roll=0.000000 pitch=-0.003116 yaw=0.000000 	 ekf: x=-0.003120 z=-0.066567 pitch=0.180211
[17:17:58.860] homography after fuse: x=-0.003120 y=0.000000 z=-0.066567 pitch=0.180211	 number of outlier: 86
[17:17:58.860] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required.  px average disparity is:49.419077 ,While minimum is: 40.000000  KLT tracked: 105
[17:17:58.860] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:58.931] Odometry x=-0.031172, y=-0.665747, theta=0.179731
[17:17:58.955] homography: x=-0.037860 y=0.032744 z=1.032577 roll=0.000000 pitch=-0.001330 yaw=0.000000 	 ekf: x=-0.003186 z=-0.066956 pitch=0.180773
[17:17:58.955] homography after fuse: x=-0.003186 y=0.000000 z=-0.066956 pitch=0.180773	 number of outlier: 85
[17:17:58.955] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:51.694854 ,While minimum is: 40.000000  KLT tracked: 105
[17:17:58.955] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:59.034] Odometry x=-0.031831, y=-0.669617, theta=0.184210
[17:17:59.056] homography: x=0.066708 y=-0.026372 z=-15.092777 roll=-0.000000 pitch=0.002723 yaw=0.000000 	 ekf: x=-0.003252 z=-0.067345 pitch=0.185388
[17:17:59.056] homography after fuse: x=-0.003252 y=0.000000 z=-0.067345 pitch=0.185388	 number of outlier: 85
[17:17:59.056] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required.  px average disparity is:49.003479 ,While minimum is: 40.000000  KLT tracked: 103
[17:17:59.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:59.133] Odometry x=-0.032484, y=-0.673437, theta=0.186985
[17:17:59.156] homography: x=0.019438 y=-0.015283 z=-5.449182 roll=0.000000 pitch=-0.009019 yaw=0.000000 	 ekf: x=-0.003320 z=-0.067721 pitch=0.186108
[17:17:59.156] homography after fuse: x=-0.003320 y=0.000000 z=-0.067721 pitch=0.186108	 number of outlier: 82
[17:17:59.156] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required.  px average disparity is:49.602050 ,While minimum is: 40.000000  KLT tracked: 102
[17:17:59.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:59.237] Odometry x=-0.033206, y=-0.677210, theta=0.190809
[17:17:59.264] homography: x=0.020133 y=-0.016044 z=-5.627981 roll=0.000000 pitch=-0.009131 yaw=0.000000 	 ekf: x=-0.003391 z=-0.068094 pitch=0.197026
[17:17:59.265] homography after fuse: x=-0.003391 y=0.000000 z=-0.068094 pitch=0.197026	 number of outlier: 85
[17:17:59.265] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:48.588265 ,While minimum is: 40.000000  KLT tracked: 102
[17:17:59.265] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:59.334] Odometry x=-0.033917, y=-0.680949, theta=0.208036
[17:17:59.364] homography: x=0.023029 y=-0.018742 z=-6.400486 roll=0.000000 pitch=-0.009355 yaw=0.000000 	 ekf: x=-0.003471 z=-0.068470 pitch=0.212405
[17:17:59.364] homography after fuse: x=-0.003471 y=0.000000 z=-0.068470 pitch=0.212405	 number of outlier: 90
[17:17:59.364] Init: Homography RANSAC (inlier) is:12 ,While 30 inliers minimum required.  px average disparity is:47.947924 ,While minimum is: 40.000000  KLT tracked: 102
[17:17:59.364] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:59.436] Odometry x=-0.034685, y=-0.684776, theta=0.223134
[17:17:59.459] homography: x=0.020534 y=-0.016057 z=-5.598785 roll=0.000000 pitch=-0.008905 yaw=0.000000 	 ekf: x=-0.003553 z=-0.068854 pitch=0.225602
[17:17:59.459] homography after fuse: x=-0.003553 y=0.000000 z=-0.068854 pitch=0.225602	 number of outlier: 102
[17:17:59.459] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:47.601534 ,While minimum is: 40.000000  KLT tracked: 102
[17:17:59.459] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:59.534] Odometry x=-0.035516, y=-0.688598, theta=0.235507
[17:17:59.557] homography: x=0.021193 y=-0.016449 z=-5.727018 roll=0.000000 pitch=-0.008791 yaw=0.000000 	 ekf: x=-0.003640 z=-0.069235 pitch=0.238785
[17:17:59.557] homography after fuse: x=-0.003640 y=0.000000 z=-0.069235 pitch=0.238785	 number of outlier: 102
[17:17:59.557] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:48.682253 ,While minimum is: 40.000000  KLT tracked: 102
[17:17:59.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:59.633] Odometry x=-0.036367, y=-0.692454, theta=0.245863
[17:17:59.657] homography: x=0.022489 y=-0.017546 z=-6.040619 roll=-0.000000 pitch=0.000324 yaw=0.000000 	 ekf: x=-0.003727 z=-0.069619 pitch=0.245265
[17:17:59.657] homography after fuse: x=-0.003727 y=0.000000 z=-0.069619 pitch=0.245265	 number of outlier: 102
[17:17:59.657] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:49.150492 ,While minimum is: 40.000000  KLT tracked: 102
[17:17:59.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:59.731] Odometry x=-0.037239, y=-0.696297, theta=0.246746
[17:17:59.756] homography: x=0.018642 y=-0.013805 z=-4.952184 roll=-0.000000 pitch=0.000330 yaw=0.000000 	 ekf: x=-0.003811 z=-0.069990 pitch=0.247647
[17:17:59.756] homography after fuse: x=-0.003811 y=0.000000 z=-0.069990 pitch=0.247647	 number of outlier: 102
[17:17:59.756] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:49.320841 ,While minimum is: 40.000000  KLT tracked: 102
[17:17:59.756] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:59.833] Odometry x=-0.038076, y=-0.700048, theta=0.247292
[17:17:59.857] homography: x=0.020959 y=-0.016131 z=-5.572862 roll=-0.000000 pitch=0.000331 yaw=0.000000 	 ekf: x=-0.003902 z=-0.070382 pitch=0.246111
[17:17:59.857] homography after fuse: x=-0.003902 y=0.000000 z=-0.070382 pitch=0.246111	 number of outlier: 102
[17:17:59.857] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:50.216914 ,While minimum is: 40.000000  KLT tracked: 102
[17:17:59.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:17:59.932] Odometry x=-0.039037, y=-0.703932, theta=0.247649
[17:17:59.957] homography: x=0.018205 y=-0.013592 z=-4.796847 roll=-0.000000 pitch=0.000320 yaw=0.000000 	 ekf: x=-0.003995 z=-0.070770 pitch=0.247699
[17:17:59.957] homography after fuse: x=-0.003995 y=0.000000 z=-0.070770 pitch=0.247699	 number of outlier: 102
[17:17:59.957] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:50.346878 ,While minimum is: 40.000000  KLT tracked: 102
[17:17:59.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:00.036] Odometry x=-0.039974, y=-0.707871, theta=0.244394
[17:18:00.057] homography: x=0.017131 y=-0.012761 z=-4.492774 roll=-0.000000 pitch=0.000315 yaw=0.000000 	 ekf: x=-0.004093 z=-0.071185 pitch=0.242260
[17:18:00.057] homography after fuse: x=-0.004093 y=0.000000 z=-0.071185 pitch=0.242260	 number of outlier: 102
[17:18:00.057] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:51.045867 ,While minimum is: 40.000000  KLT tracked: 102
[17:18:00.057] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:00.133] Odometry x=-0.040946, y=-0.711939, theta=0.239313
[17:18:00.157] homography: x=0.019614 y=-0.015158 z=-5.221531 roll=0.000000 pitch=-0.008642 yaw=0.000000 	 ekf: x=-0.004180 z=-0.071551 pitch=0.239438
[17:18:00.157] homography after fuse: x=-0.004180 y=0.000000 z=-0.071551 pitch=0.239438	 number of outlier: 102
[17:18:00.157] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:51.601748 ,While minimum is: 40.000000  KLT tracked: 102
[17:18:00.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:00.232] Odometry x=-0.041795, y=-0.715683, theta=0.237952
[17:18:00.256] homography: x=0.023052 y=-0.018147 z=-6.188407 roll=-0.000000 pitch=0.000393 yaw=0.000000 	 ekf: x=-0.004269 z=-0.071947 pitch=0.237668
[17:18:00.257] homography after fuse: x=-0.004269 y=0.000000 z=-0.071947 pitch=0.237668	 number of outlier: 102
[17:18:00.257] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:51.839581 ,While minimum is: 40.000000  KLT tracked: 102
[17:18:00.257] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:00.329] Odometry x=-0.042700, y=-0.719534, theta=0.237222
[17:18:00.357] homography: x=0.023148 y=-0.018161 z=-6.233233 roll=0.000000 pitch=-0.008702 yaw=0.000000 	 ekf: x=-0.004356 z=-0.072318 pitch=0.236458
[17:18:00.357] homography after fuse: x=-0.004356 y=0.000000 z=-0.072318 pitch=0.236458	 number of outlier: 102
[17:18:00.357] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:53.099346 ,While minimum is: 40.000000  KLT tracked: 102
[17:18:00.357] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:00.433] Odometry x=-0.043582, y=-0.723337, theta=0.234301
[17:18:00.456] homography: x=0.000653 y=0.000904 z=-0.286028 roll=-0.000000 pitch=0.000935 yaw=0.000000 	 ekf: x=-0.004449 z=-0.072722 pitch=0.233591
[17:18:00.456] homography after fuse: x=-0.004449 y=0.000000 z=-0.072722 pitch=0.233591	 number of outlier: 99
[17:18:00.456] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:52.776638 ,While minimum is: 40.000000  KLT tracked: 99
[17:18:00.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:00.532] Odometry x=-0.044487, y=-0.727385, theta=0.229329
[17:18:00.557] homography: x=0.013866 y=-0.041798 z=-4.091146 roll=-0.000000 pitch=0.002993 yaw=0.000000 	 ekf: x=-0.004532 z=-0.073112 pitch=0.227501
[17:18:00.557] homography after fuse: x=-0.004532 y=0.000000 z=-0.073112 pitch=0.227501	 number of outlier: 98
[17:18:00.557] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:53.557057 ,While minimum is: 40.000000  KLT tracked: 98
[17:18:00.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:00.634] Odometry x=-0.045332, y=-0.731194, theta=0.224661
[17:18:00.657] homography: x=0.013789 y=-0.042258 z=-4.094846 roll=0.000000 pitch=-0.050523 yaw=0.000000 	 ekf: x=-0.004620 z=-0.073495 pitch=0.224958
[17:18:00.657] homography after fuse: x=-0.004620 y=0.000000 z=-0.073495 pitch=0.224958	 number of outlier: 92
[17:18:00.657] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:55.794558 ,While minimum is: 40.000000  KLT tracked: 98
[17:18:00.658] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:00.732] Odometry x=-0.046197, y=-0.735082, theta=0.222892
[17:18:00.757] homography: x=0.014174 y=-0.042361 z=-4.197519 roll=0.000000 pitch=-0.050887 yaw=0.000000 	 ekf: x=-0.004699 z=-0.073876 pitch=0.225120
[17:18:00.757] homography after fuse: x=-0.004699 y=0.000000 z=-0.073876 pitch=0.225120	 number of outlier: 90
[17:18:00.757] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:55.693095 ,While minimum is: 40.000000  KLT tracked: 98
[17:18:00.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:00.829] Odometry x=-0.046966, y=-0.738926, theta=0.233359
[17:18:00.856] homography: x=0.014475 y=-0.043238 z=-4.231936 roll=0.000000 pitch=-0.050305 yaw=0.000000 	 ekf: x=-0.004789 z=-0.074275 pitch=0.235690
[17:18:00.856] homography after fuse: x=-0.004789 y=0.000000 z=-0.074275 pitch=0.235690	 number of outlier: 97
[17:18:00.856] Init: Homography RANSAC (inlier) is:1 ,While 30 inliers minimum required.  px average disparity is:55.214840 ,While minimum is: 40.000000  KLT tracked: 98
[17:18:00.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:00.932] Odometry x=-0.047875, y=-0.742862, theta=0.242588
[17:18:00.957] homography: x=0.015398 y=-0.053147 z=-3.867947 roll=0.000000 pitch=-0.001179 yaw=0.000000 	 ekf: x=-0.004877 z=-0.074665 pitch=0.243832
[17:18:00.957] homography after fuse: x=-0.004877 y=0.000000 z=-0.074665 pitch=0.243832	 number of outlier: 98
[17:18:00.957] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:55.863601 ,While minimum is: 40.000000  KLT tracked: 98
[17:18:00.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:01.036] Odometry x=-0.048744, y=-0.746794, theta=0.251387
[17:18:01.060] homography: x=0.015531 y=-0.051941 z=-3.901985 roll=0.000000 pitch=-0.001214 yaw=0.000000 	 ekf: x=-0.004975 z=-0.075067 pitch=0.255027
[17:18:01.060] homography after fuse: x=-0.004975 y=0.000000 z=-0.075067 pitch=0.255027	 number of outlier: 97
[17:18:01.060] Init: Homography RANSAC (inlier) is:1 ,While 30 inliers minimum required.  px average disparity is:56.608032 ,While minimum is: 40.000000  KLT tracked: 98
[17:18:01.060] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:01.133] Odometry x=-0.049711, y=-0.750711, theta=0.263248
[17:18:01.155] homography: x=0.014883 y=-0.050600 z=-3.505498 roll=0.000000 pitch=-0.013016 yaw=0.000000 	 ekf: x=-0.005062 z=-0.075435 pitch=0.263337
[17:18:01.155] homography after fuse: x=-0.005062 y=0.000000 z=-0.075435 pitch=0.263337	 number of outlier: 98
[17:18:01.155] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:59.827719 ,While minimum is: 40.000000  KLT tracked: 98
[17:18:01.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:01.232] Odometry x=-0.050557, y=-0.754440, theta=0.263599
[17:18:01.256] homography: x=0.014184 y=-0.047092 z=-3.945732 roll=0.000000 pitch=-0.000516 yaw=0.000000 	 ekf: x=-0.005157 z=-0.075807 pitch=0.265836
[17:18:01.256] homography after fuse: x=-0.005157 y=0.000000 z=-0.075807 pitch=0.265836	 number of outlier: 98
[17:18:01.256] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:60.259674 ,While minimum is: 40.000000  KLT tracked: 98
[17:18:01.256] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:01.338] Odometry x=-0.051562, y=-0.758180, theta=0.277810
[17:18:01.356] homography: x=0.011043 y=-0.037828 z=-2.234680 roll=-0.000000 pitch=0.012300 yaw=0.000000 	 ekf: x=-0.005263 z=-0.076199 pitch=0.279777
[17:18:01.356] homography after fuse: x=-0.005263 y=0.000000 z=-0.076199 pitch=0.279777	 number of outlier: 98
[17:18:01.356] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:61.028328 ,While minimum is: 40.000000  KLT tracked: 98
[17:18:01.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:01.433] Odometry x=-0.052633, y=-0.762094, theta=0.286922
[17:18:01.455] homography: x=0.015881 y=-0.053223 z=-3.584906 roll=0.000000 pitch=-0.010069 yaw=0.000000 	 ekf: x=-0.005371 z=-0.076573 pitch=0.291139
[17:18:01.455] homography after fuse: x=-0.005371 y=0.000000 z=-0.076573 pitch=0.291139	 number of outlier: 96
[17:18:01.455] Init: Homography RANSAC (inlier) is:2 ,While 30 inliers minimum required.  px average disparity is:60.564596 ,While minimum is: 40.000000  KLT tracked: 98
[17:18:01.455] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:01.537] Odometry x=-0.053692, y=-0.765877, theta=0.305679
[17:18:01.555] homography: x=0.010374 y=-0.034239 z=-1.987608 roll=-0.000000 pitch=0.014419 yaw=0.000000 	 ekf: x=-0.005483 z=-0.076962 pitch=0.307750
[17:18:01.555] homography after fuse: x=-0.005483 y=0.000000 z=-0.076962 pitch=0.307750	 number of outlier: 95
[17:18:01.555] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:62.845305 ,While minimum is: 40.000000  KLT tracked: 98
[17:18:01.555] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:01.632] Odometry x=-0.054803, y=-0.769766, theta=0.311725
[17:18:01.656] homography: x=0.015301 y=-0.050850 z=-3.237618 roll=0.000000 pitch=-0.013432 yaw=0.000000 	 ekf: x=-0.005601 z=-0.077351 pitch=0.313049
[17:18:01.656] homography after fuse: x=-0.005601 y=0.000000 z=-0.077351 pitch=0.313049	 number of outlier: 94
[17:18:01.656] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:63.690832 ,While minimum is: 40.000000  KLT tracked: 98
[17:18:01.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:01.735] Odometry x=-0.056014, y=-0.773568, theta=0.323383
[17:18:01.754] homography: x=-0.001986 y=-0.001404 z=0.465701 roll=0.000000 pitch=-0.000134 yaw=0.000000 	 ekf: x=-0.005722 z=-0.077726 pitch=0.325892
[17:18:01.754] homography after fuse: x=-0.005722 y=0.000000 z=-0.077726 pitch=0.325892	 number of outlier: 91
[17:18:01.754] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:65.215649 ,While minimum is: 40.000000  KLT tracked: 96
[17:18:01.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:01.829] Odometry x=-0.057153, y=-0.777483, theta=0.330599
[17:18:01.855] homography: x=-0.000440 y=0.000003 z=0.097984 roll=-0.000000 pitch=0.001472 yaw=0.000000 	 ekf: x=-0.005834 z=-0.078096 pitch=0.331445
[17:18:01.855] homography after fuse: x=-0.005834 y=0.000000 z=-0.078096 pitch=0.331445	 number of outlier: 87
[17:18:01.855] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:65.020348 ,While minimum is: 40.000000  KLT tracked: 92
[17:18:01.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:01.931] Odometry x=-0.058366, y=-0.781064, theta=0.329901
[17:18:01.957] homography: x=-0.000447 y=0.000005 z=0.098493 roll=-0.000000 pitch=0.001499 yaw=0.000000 	 ekf: x=-0.005962 z=-0.078481 pitch=0.328680
[17:18:01.957] homography after fuse: x=-0.005962 y=0.000000 z=-0.078481 pitch=0.328680	 number of outlier: 89
[17:18:01.957] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:66.097974 ,While minimum is: 40.000000  KLT tracked: 92
[17:18:01.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:02.033] Odometry x=-0.059629, y=-0.784952, theta=0.324838
[17:18:02.055] homography: x=-0.004669 y=-0.004392 z=0.669302 roll=-0.000000 pitch=0.000069 yaw=0.000000 	 ekf: x=-0.006087 z=-0.078865 pitch=0.324638
[17:18:02.055] homography after fuse: x=-0.006087 y=0.000000 z=-0.078865 pitch=0.324638	 number of outlier: 88
[17:18:02.055] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:65.228197 ,While minimum is: 40.000000  KLT tracked: 91
[17:18:02.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:02.137] Odometry x=-0.060895, y=-0.788745, theta=0.322599
[17:18:02.158] homography: x=-0.004691 y=-0.004392 z=0.669986 roll=-0.000000 pitch=0.000084 yaw=0.000000 	 ekf: x=-0.006213 z=-0.079250 pitch=0.321612
[17:18:02.158] homography after fuse: x=-0.006213 y=0.000000 z=-0.079250 pitch=0.321612	 number of outlier: 88
[17:18:02.158] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:65.959181 ,While minimum is: 40.000000  KLT tracked: 91
[17:18:02.158] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:02.235] Odometry x=-0.062103, y=-0.792609, theta=0.307554
[17:18:02.255] homography: x=-0.004769 y=-0.004950 z=0.671345 roll=-0.000000 pitch=0.050428 yaw=0.000000 	 ekf: x=-0.006331 z=-0.079634 pitch=0.304177
[17:18:02.255] homography after fuse: x=-0.006331 y=0.000000 z=-0.079634 pitch=0.304177	 number of outlier: 90
[17:18:02.255] Init: Homography RANSAC (inlier) is:1 ,While 30 inliers minimum required.  px average disparity is:66.160082 ,While minimum is: 40.000000  KLT tracked: 91
[17:18:02.255] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:02.339] Odometry x=-0.063349, y=-0.796488, theta=0.293787
[17:18:02.355] homography: x=-0.004706 y=-0.005786 z=0.591214 roll=-0.000000 pitch=3.111558 yaw=0.000000 	 ekf: x=-0.006444 z=-0.080021 pitch=0.292065
[17:18:02.355] homography after fuse: x=-0.006444 y=0.000000 z=-0.080021 pitch=0.292065	 number of outlier: 91
[17:18:02.355] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:65.166489 ,While minimum is: 40.000000  KLT tracked: 91
[17:18:02.355] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:02.433] Odometry x=-0.064453, y=-0.800420, theta=0.284849
[17:18:02.463] homography: x=-0.004535 y=-0.005660 z=0.562917 roll=-0.000000 pitch=3.111492 yaw=0.000000 	 ekf: x=-0.006548 z=-0.080401 pitch=0.284101
[17:18:02.463] homography after fuse: x=-0.006548 y=0.000000 z=-0.080401 pitch=0.284101	 number of outlier: 91
[17:18:02.463] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:65.378500 ,While minimum is: 40.000000  KLT tracked: 91
[17:18:02.463] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:02.531] Odometry x=-0.065461, y=-0.804066, theta=0.282012
[17:18:02.556] homography: x=-0.004577 y=-0.005161 z=0.639637 roll=-0.000000 pitch=3.115156 yaw=0.000000 	 ekf: x=-0.006652 z=-0.080777 pitch=0.280448
[17:18:02.556] homography after fuse: x=-0.006652 y=0.000000 z=-0.080777 pitch=0.280448	 number of outlier: 91
[17:18:02.556] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:66.619892 ,While minimum is: 40.000000  KLT tracked: 91
[17:18:02.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:02.633] Odometry x=-0.066535, y=-0.807842, theta=0.281923
[17:18:02.656] homography: x=-0.004764 y=-0.005782 z=0.473083 roll=-0.000000 pitch=3.104529 yaw=0.000000 	 ekf: x=-0.006758 z=-0.081155 pitch=0.282678
[17:18:02.656] homography after fuse: x=-0.006758 y=0.000000 z=-0.081155 pitch=0.282678	 number of outlier: 91
[17:18:02.656] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:69.425183 ,While minimum is: 40.000000  KLT tracked: 91
[17:18:02.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:02.731] Odometry x=-0.067508, y=-0.811593, theta=0.277779
[17:18:02.755] homography: x=-0.004791 y=-0.005626 z=0.453687 roll=-0.000000 pitch=3.102918 yaw=0.000000 	 ekf: x=-0.006852 z=-0.081527 pitch=0.274751
[17:18:02.755] homography after fuse: x=-0.006852 y=0.000000 z=-0.081527 pitch=0.274751	 number of outlier: 91
[17:18:02.755] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:70.980991 ,While minimum is: 40.000000  KLT tracked: 91
[17:18:02.755] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:02.833] Odometry x=-0.068515, y=-0.815335, theta=0.271601
[17:18:02.855] homography: x=0.001891 y=-0.002003 z=-0.348359 roll=-0.000000 pitch=0.002647 yaw=0.000000 	 ekf: x=-0.006953 z=-0.081905 pitch=0.273469
[17:18:02.855] homography after fuse: x=-0.006953 y=0.000000 z=-0.081905 pitch=0.273469	 number of outlier: 91
[17:18:02.855] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:73.224930 ,While minimum is: 40.000000  KLT tracked: 91
[17:18:02.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:02.931] Odometry x=-0.069494, y=-0.819085, theta=0.276079
[17:18:02.956] homography: x=0.001916 y=-0.001735 z=-0.334882 roll=-0.000000 pitch=0.002590 yaw=0.000000 	 ekf: x=-0.007053 z=-0.082275 pitch=0.276806
[17:18:02.956] homography after fuse: x=-0.007053 y=0.000000 z=-0.082275 pitch=0.276806	 number of outlier: 91
[17:18:02.956] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:72.776338 ,While minimum is: 40.000000  KLT tracked: 91
[17:18:02.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:03.033] Odometry x=-0.070501, y=-0.822832, theta=0.281092
[17:18:03.057] homography: x=-0.001032 y=0.000007 z=0.251973 roll=-0.000000 pitch=0.000500 yaw=0.000000 	 ekf: x=-0.007154 z=-0.082658 pitch=0.282445
[17:18:03.057] homography after fuse: x=-0.007154 y=0.000000 z=-0.082658 pitch=0.282445	 number of outlier: 90
[17:18:03.057] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:72.323521 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:03.057] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:03.136] Odometry x=-0.071505, y=-0.826699, theta=0.279572
[17:18:03.161] homography: x=-0.001062 y=-0.000000 z=0.259210 roll=-0.000000 pitch=0.000498 yaw=0.000000 	 ekf: x=-0.007259 z=-0.083055 pitch=0.277958
[17:18:03.161] homography after fuse: x=-0.007259 y=0.000000 z=-0.083055 pitch=0.277958	 number of outlier: 90
[17:18:03.161] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:71.555207 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:03.161] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:03.238] Odometry x=-0.072620, y=-0.830639, theta=0.279420
[17:18:03.257] homography: x=-0.001127 y=-0.000006 z=0.275085 roll=-0.000000 pitch=0.000500 yaw=0.000000 	 ekf: x=-0.007369 z=-0.083438 pitch=0.281464
[17:18:03.257] homography after fuse: x=-0.007369 y=0.000000 z=-0.083438 pitch=0.281464	 number of outlier: 90
[17:18:03.257] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:74.144071 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:03.257] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:03.335] Odometry x=-0.073671, y=-0.834565, theta=0.289972
[17:18:03.356] homography: x=-0.001094 y=-0.000004 z=0.266969 roll=-0.000000 pitch=0.000488 yaw=0.000000 	 ekf: x=-0.007471 z=-0.083811 pitch=0.293996
[17:18:03.356] homography after fuse: x=-0.007471 y=0.000000 z=-0.083811 pitch=0.293996	 number of outlier: 90
[17:18:03.357] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:73.775565 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:03.357] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:03.430] Odometry x=-0.074687, y=-0.838285, theta=0.298054
[17:18:03.456] homography: x=-0.001080 y=-0.000007 z=0.261787 roll=-0.000000 pitch=0.000467 yaw=0.000000 	 ekf: x=-0.007575 z=-0.084183 pitch=0.297427
[17:18:03.456] homography after fuse: x=-0.007575 y=0.000000 z=-0.084183 pitch=0.297427	 number of outlier: 90
[17:18:03.456] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:74.851557 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:03.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:03.533] Odometry x=-0.075776, y=-0.841917, theta=0.303760
[17:18:03.556] homography: x=-0.001388 y=-0.000074 z=0.331228 roll=-0.000000 pitch=0.000456 yaw=0.000000 	 ekf: x=-0.007688 z=-0.084558 pitch=0.306558
[17:18:03.556] homography after fuse: x=-0.007688 y=0.000000 z=-0.084558 pitch=0.306558	 number of outlier: 87
[17:18:03.556] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:78.098765 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:03.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:03.634] Odometry x=-0.076897, y=-0.845767, theta=0.314591
[17:18:03.657] homography: x=-0.001802 y=-0.000234 z=0.414622 roll=-0.000000 pitch=0.000413 yaw=0.000000 	 ekf: x=-0.007813 z=-0.084956 pitch=0.318176
[17:18:03.657] homography after fuse: x=-0.007813 y=0.000000 z=-0.084956 pitch=0.318176	 number of outlier: 87
[17:18:03.657] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:79.505602 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:03.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:03.737] Odometry x=-0.078133, y=-0.849710, theta=0.326426
[17:18:03.762] homography: x=-0.001677 y=-0.000180 z=0.384636 roll=-0.000000 pitch=0.000373 yaw=0.000000 	 ekf: x=-0.007938 z=-0.085352 pitch=0.327342
[17:18:03.762] homography after fuse: x=-0.007938 y=0.000000 z=-0.085352 pitch=0.327342	 number of outlier: 87
[17:18:03.762] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:79.940558 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:03.762] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:03.836] Odometry x=-0.079364, y=-0.853595, theta=0.329317
[17:18:03.857] homography: x=-0.002085 y=-0.000397 z=0.463725 roll=-0.000000 pitch=0.000357 yaw=0.000000 	 ekf: x=-0.008063 z=-0.085736 pitch=0.327673
[17:18:03.857] homography after fuse: x=-0.008063 y=0.000000 z=-0.085736 pitch=0.327673	 number of outlier: 87
[17:18:03.857] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:81.561407 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:03.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:03.933] Odometry x=-0.080638, y=-0.857448, theta=0.321182
[17:18:03.956] homography: x=-0.002163 y=-0.000424 z=0.478326 roll=-0.000000 pitch=0.000356 yaw=0.000000 	 ekf: x=-0.008181 z=-0.086097 pitch=0.318796
[17:18:03.956] homography after fuse: x=-0.008181 y=0.000000 z=-0.086097 pitch=0.318796	 number of outlier: 87
[17:18:03.956] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:83.094627 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:03.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:04.038] Odometry x=-0.081821, y=-0.861038, theta=0.315366
[17:18:04.055] homography: x=-0.002102 y=-0.000365 z=0.472867 roll=-0.000000 pitch=0.003772 yaw=-0.000000 	 ekf: x=-0.008309 z=-0.086492 pitch=0.315827
[17:18:04.055] homography after fuse: x=-0.008309 y=0.000000 z=-0.086492 pitch=0.315827	 number of outlier: 87
[17:18:04.056] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:85.480726 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:04.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:04.131] Odometry x=-0.083082, y=-0.864978, theta=0.313759
[17:18:04.155] homography: x=-0.002153 y=-0.000406 z=0.485250 roll=-0.000000 pitch=0.004025 yaw=-0.000000 	 ekf: x=-0.008414 z=-0.086835 pitch=0.311557
[17:18:04.155] homography after fuse: x=-0.008414 y=0.000000 z=-0.086835 pitch=0.311557	 number of outlier: 87
[17:18:04.155] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:85.292052 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:04.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:04.235] Odometry x=-0.084124, y=-0.868430, theta=0.306148
[17:18:04.256] homography: x=-0.002002 y=-0.000303 z=0.459424 roll=-0.000000 pitch=0.003521 yaw=-0.000000 	 ekf: x=-0.008531 z=-0.087222 pitch=0.305878
[17:18:04.256] homography after fuse: x=-0.008531 y=0.000000 z=-0.087222 pitch=0.305878	 number of outlier: 90
[17:18:04.256] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:86.298912 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:04.256] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:04.334] Odometry x=-0.085351, y=-0.872307, theta=0.299521
[17:18:04.356] homography: x=-0.001114 y=-0.000105 z=0.274356 roll=-0.000000 pitch=0.000554 yaw=0.000000 	 ekf: x=-0.008647 z=-0.087599 pitch=0.298921
[17:18:04.356] homography after fuse: x=-0.008647 y=0.000000 z=-0.087599 pitch=0.298921	 number of outlier: 90
[17:18:04.356] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:86.007087 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:04.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:04.433] Odometry x=-0.086470, y=-0.876115, theta=0.299590
[17:18:04.456] homography: x=-0.001621 y=-0.000192 z=0.394402 roll=-0.000000 pitch=0.002303 yaw=-0.000000 	 ekf: x=-0.008763 z=-0.087984 pitch=0.302913
[17:18:04.456] homography after fuse: x=-0.008763 y=0.000000 z=-0.087984 pitch=0.302913	 number of outlier: 90
[17:18:04.456] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:87.514219 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:04.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:04.536] Odometry x=-0.087643, y=-0.879919, theta=0.318860
[17:18:04.556] homography: x=-0.001722 y=-0.000280 z=0.414357 roll=-0.000000 pitch=0.002651 yaw=-0.000000 	 ekf: x=-0.008883 z=-0.088355 pitch=0.321374
[17:18:04.556] homography after fuse: x=-0.008883 y=0.000000 z=-0.088355 pitch=0.321374	 number of outlier: 87
[17:18:04.556] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:90.189577 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:04.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:04.635] Odometry x=-0.088802, y=-0.883495, theta=0.325552
[17:18:04.655] homography: x=-0.002020 y=-0.000706 z=0.467003 roll=-0.000000 pitch=0.009350 yaw=0.000000 	 ekf: x=-0.009003 z=-0.088722 pitch=0.326276
[17:18:04.655] homography after fuse: x=-0.009003 y=0.000000 z=-0.088722 pitch=0.326276	 number of outlier: 87
[17:18:04.655] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:94.360544 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:04.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:04.732] Odometry x=-0.089970, y=-0.887264, theta=0.330994
[17:18:04.756] homography: x=0.000742 y=-0.000126 z=-0.137603 roll=-0.000000 pitch=0.004097 yaw=0.000000 	 ekf: x=-0.009122 z=-0.089085 pitch=0.333498
[17:18:04.756] homography after fuse: x=-0.009122 y=0.000000 z=-0.089085 pitch=0.333498	 number of outlier: 87
[17:18:04.756] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:95.224643 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:04.756] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:04.834] Odometry x=-0.091218, y=-0.890916, theta=0.342316
[17:18:04.856] homography: x=-0.002405 y=-0.000599 z=0.527685 roll=-0.000000 pitch=0.005202 yaw=-0.000000 	 ekf: x=-0.009252 z=-0.089458 pitch=0.345055
[17:18:04.856] homography after fuse: x=-0.009252 y=0.000000 z=-0.089458 pitch=0.345055	 number of outlier: 84
[17:18:04.856] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:97.202271 ,While minimum is: 40.000000  KLT tracked: 90
[17:18:04.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:04.956] homography: x=-0.004336 y=0.006008 z=-1.387625 roll=0.000000 pitch=-0.033383 yaw=0.000000 	 ekf: x=-0.009251 z=-0.089472 pitch=0.356808
[17:18:04.956] homography after fuse: x=-0.009251 y=0.000000 z=-0.089472 pitch=0.356808	 number of outlier: 82
[17:18:04.956] Init: Homography RANSAC (inlier) is:7 ,While 30 inliers minimum required.  px average disparity is:98.450024 ,While minimum is: 40.000000  KLT tracked: 89
[17:18:04.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:05.055] homography: x=-0.000906 y=-0.000243 z=0.128128 roll=-0.000000 pitch=0.014219 yaw=0.000000 	 ekf: x=-0.009249 z=-0.089473 pitch=0.369583
[17:18:05.055] homography after fuse: x=-0.009249 y=0.000000 z=-0.089473 pitch=0.369583	 number of outlier: 78
[17:18:05.055] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:99.684097 ,While minimum is: 40.000000  KLT tracked: 84
[17:18:05.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:05.156] homography: x=0.000673 y=-0.001536 z=0.006192 roll=-0.000000 pitch=0.501570 yaw=0.000000 	 ekf: x=-0.009251 z=-0.089482 pitch=0.381625
[17:18:05.156] homography after fuse: x=-0.009251 y=0.000000 z=-0.089482 pitch=0.381625	 number of outlier: 77
[17:18:05.156] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:103.171993 ,While minimum is: 40.000000  KLT tracked: 83
[17:18:05.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:05.256] homography: x=0.002221 y=-0.002035 z=-0.182098 roll=-0.000000 pitch=0.000356 yaw=0.000000 	 ekf: x=-0.009252 z=-0.089499 pitch=0.398296
[17:18:05.256] homography after fuse: x=-0.009252 y=0.000000 z=-0.089499 pitch=0.398296	 number of outlier: 81
[17:18:05.256] Init: Homography RANSAC (inlier) is:2 ,While 30 inliers minimum required.  px average disparity is:100.093999 ,While minimum is: 40.000000  KLT tracked: 83
[17:18:05.256] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:05.356] homography: x=0.000875 y=-0.001360 z=-0.469896 roll=-0.000000 pitch=-3.132924 yaw=-0.000000 	 ekf: x=-0.009256 z=-0.089522 pitch=0.406432
[17:18:05.356] homography after fuse: x=-0.009256 y=0.000000 z=-0.089522 pitch=0.406432	 number of outlier: 77
[17:18:05.356] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:97.692460 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:05.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:05.456] homography: x=-0.000034 y=0.000044 z=0.005978 roll=0.000000 pitch=-0.005584 yaw=0.000000 	 ekf: x=-0.009260 z=-0.089535 pitch=0.408351
[17:18:05.456] homography after fuse: x=-0.009260 y=0.000000 z=-0.089535 pitch=0.408351	 number of outlier: 80
[17:18:05.456] Init: Homography RANSAC (inlier) is:1 ,While 30 inliers minimum required.  px average disparity is:98.427244 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:05.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:05.556] homography: x=0.000212 y=-0.000234 z=-0.023967 roll=-0.000000 pitch=0.001700 yaw=0.000000 	 ekf: x=-0.009274 z=-0.089545 pitch=0.418037
[17:18:05.556] homography after fuse: x=-0.009274 y=0.000000 z=-0.089545 pitch=0.418037	 number of outlier: 80
[17:18:05.556] Init: Homography RANSAC (inlier) is:1 ,While 30 inliers minimum required.  px average disparity is:101.142152 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:05.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:05.656] homography: x=-0.000022 y=0.000040 z=0.003443 roll=0.000000 pitch=-0.014271 yaw=0.000000 	 ekf: x=-0.009241 z=-0.089525 pitch=0.432083
[17:18:05.656] homography after fuse: x=-0.009241 y=0.000000 z=-0.089525 pitch=0.432083	 number of outlier: 81
[17:18:05.656] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:103.237301 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:05.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:05.755] homography: x=0.000062 y=-0.000038 z=-0.009905 roll=0.000000 pitch=-0.000672 yaw=0.000000 	 ekf: x=-0.009247 z=-0.089548 pitch=0.435029
[17:18:05.755] homography after fuse: x=-0.009247 y=0.000000 z=-0.089548 pitch=0.435029	 number of outlier: 80
[17:18:05.755] Init: Homography RANSAC (inlier) is:1 ,While 30 inliers minimum required.  px average disparity is:105.046990 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:05.755] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:05.854] homography: x=-0.000018 y=0.000033 z=0.002870 roll=0.000000 pitch=-0.017248 yaw=0.000000 	 ekf: x=-0.009247 z=-0.089563 pitch=0.438030
[17:18:05.854] homography after fuse: x=-0.009247 y=0.000000 z=-0.089563 pitch=0.438030	 number of outlier: 81
[17:18:05.854] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:106.415054 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:05.854] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:05.956] homography: x=0.000057 y=-0.000026 z=-0.010029 roll=0.000000 pitch=-0.000997 yaw=0.000000 	 ekf: x=-0.009248 z=-0.089581 pitch=0.441207
[17:18:05.956] homography after fuse: x=-0.009248 y=0.000000 z=-0.089581 pitch=0.441207	 number of outlier: 80
[17:18:05.956] Init: Homography RANSAC (inlier) is:1 ,While 30 inliers minimum required.  px average disparity is:106.981622 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:05.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:06.056] homography: x=0.000074 y=-0.000049 z=-0.011402 roll=0.000000 pitch=-0.000525 yaw=0.000000 	 ekf: x=-0.009249 z=-0.089597 pitch=0.444174
[17:18:06.056] homography after fuse: x=-0.009249 y=0.000000 z=-0.089597 pitch=0.444174	 number of outlier: 81
[17:18:06.056] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:106.460054 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:06.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:06.156] homography: x=0.000072 y=-0.000050 z=-0.010910 roll=0.000000 pitch=-0.000442 yaw=0.000000 	 ekf: x=-0.009250 z=-0.089616 pitch=0.447320
[17:18:06.156] homography after fuse: x=-0.009250 y=0.000000 z=-0.089616 pitch=0.447320	 number of outlier: 80
[17:18:06.156] Init: Homography RANSAC (inlier) is:1 ,While 30 inliers minimum required.  px average disparity is:106.784761 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:06.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:06.256] homography: x=-0.000015 y=0.000025 z=0.002456 roll=0.000000 pitch=-0.021322 yaw=0.000000 	 ekf: x=-0.009251 z=-0.089633 pitch=0.450348
[17:18:06.256] homography after fuse: x=-0.009251 y=0.000000 z=-0.089633 pitch=0.450348	 number of outlier: 81
[17:18:06.256] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:106.139212 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:06.256] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:06.355] homography: x=0.000064 y=-0.000037 z=-0.010589 roll=0.000000 pitch=-0.000771 yaw=0.000000 	 ekf: x=-0.009253 z=-0.089650 pitch=0.453283
[17:18:06.355] homography after fuse: x=-0.009253 y=0.000000 z=-0.089650 pitch=0.453283	 number of outlier: 76
[17:18:06.355] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:106.386502 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:06.355] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:06.456] homography: x=-0.000016 y=0.000030 z=0.002645 roll=0.000000 pitch=-0.019717 yaw=0.000000 	 ekf: x=-0.009254 z=-0.089668 pitch=0.456436
[17:18:06.456] homography after fuse: x=-0.009254 y=0.000000 z=-0.089668 pitch=0.456436	 number of outlier: 77
[17:18:06.456] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:106.334613 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:06.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:06.555] homography: x=0.000057 y=-0.000029 z=-0.009767 roll=0.000000 pitch=-0.000908 yaw=0.000000 	 ekf: x=-0.009255 z=-0.089686 pitch=0.459497
[17:18:06.556] homography after fuse: x=-0.009255 y=0.000000 z=-0.089686 pitch=0.459497	 number of outlier: 76
[17:18:06.556] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:106.377812 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:06.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:06.657] homography: x=-0.000018 y=0.000033 z=0.002786 roll=0.000000 pitch=-0.018346 yaw=0.000000 	 ekf: x=-0.009257 z=-0.089705 pitch=0.462606
[17:18:06.657] homography after fuse: x=-0.009257 y=0.000000 z=-0.089705 pitch=0.462606	 number of outlier: 77
[17:18:06.657] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:106.231715 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:06.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:06.756] homography: x=0.000806 y=0.000255 z=-0.532467 roll=0.000000 pitch=-0.002346 yaw=0.000000 	 ekf: x=-0.009258 z=-0.089721 pitch=0.465584
[17:18:06.756] homography after fuse: x=-0.009258 y=0.000000 z=-0.089721 pitch=0.465584	 number of outlier: 76
[17:18:06.756] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:107.089851 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:06.756] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:06.855] homography: x=-0.000018 y=0.000034 z=0.002822 roll=0.000000 pitch=-0.016803 yaw=0.000000 	 ekf: x=-0.009259 z=-0.089740 pitch=0.468695
[17:18:06.855] homography after fuse: x=-0.009259 y=0.000000 z=-0.089740 pitch=0.468695	 number of outlier: 77
[17:18:06.855] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:106.275350 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:06.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:06.955] homography: x=0.000670 y=0.000317 z=-0.502903 roll=0.000000 pitch=-0.002358 yaw=0.000000 	 ekf: x=-0.009261 z=-0.089757 pitch=0.471729
[17:18:06.955] homography after fuse: x=-0.009261 y=0.000000 z=-0.089757 pitch=0.471729	 number of outlier: 76
[17:18:06.955] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:106.358460 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:06.955] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:07.064] homography: x=-0.000016 y=0.000029 z=0.002621 roll=0.000000 pitch=-0.019585 yaw=0.000000 	 ekf: x=-0.009263 z=-0.089776 pitch=0.474953
[17:18:07.064] homography after fuse: x=-0.009263 y=0.000000 z=-0.089776 pitch=0.474953	 number of outlier: 77
[17:18:07.064] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:106.700914 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:07.064] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:07.156] homography: x=0.000811 y=0.000269 z=-0.568746 roll=0.000000 pitch=-0.002387 yaw=0.000000 	 ekf: x=-0.009264 z=-0.089793 pitch=0.477841
[17:18:07.156] homography after fuse: x=-0.009264 y=0.000000 z=-0.089793 pitch=0.477841	 number of outlier: 76
[17:18:07.156] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:107.220855 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:07.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:07.256] homography: x=-0.000016 y=0.000028 z=0.002599 roll=0.000000 pitch=-0.019902 yaw=0.000000 	 ekf: x=-0.009266 z=-0.089808 pitch=0.480738
[17:18:07.256] homography after fuse: x=-0.009266 y=0.000000 z=-0.089808 pitch=0.480738	 number of outlier: 77
[17:18:07.256] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:106.600577 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:07.256] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:07.356] homography: x=0.000801 y=0.000292 z=-0.597947 roll=0.000000 pitch=-0.002421 yaw=0.000000 	 ekf: x=-0.009268 z=-0.089827 pitch=0.483893
[17:18:07.356] homography after fuse: x=-0.009268 y=0.000000 z=-0.089827 pitch=0.483893	 number of outlier: 76
[17:18:07.356] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:106.811465 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:07.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:07.456] homography: x=-0.000018 y=0.000033 z=0.002806 roll=0.000000 pitch=-0.017942 yaw=0.000000 	 ekf: x=-0.009270 z=-0.089843 pitch=0.486792
[17:18:07.456] homography after fuse: x=-0.009270 y=0.000000 z=-0.089843 pitch=0.486792	 number of outlier: 77
[17:18:07.456] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:106.285458 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:07.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:07.556] homography: x=0.000066 y=-0.000040 z=-0.010700 roll=0.000000 pitch=-0.000694 yaw=0.000000 	 ekf: x=-0.009272 z=-0.089861 pitch=0.489979
[17:18:07.556] homography after fuse: x=-0.009272 y=0.000000 z=-0.089861 pitch=0.489979	 number of outlier: 76
[17:18:07.556] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:106.465287 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:07.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:07.656] homography: x=-0.000018 y=0.000035 z=0.002901 roll=0.000000 pitch=-0.016361 yaw=0.000000 	 ekf: x=-0.009274 z=-0.089878 pitch=0.492944
[17:18:07.656] homography after fuse: x=-0.009274 y=0.000000 z=-0.089878 pitch=0.492944	 number of outlier: 77
[17:18:07.656] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:106.229592 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:07.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:07.757] homography: x=0.000754 y=0.000268 z=-0.503806 roll=0.000000 pitch=-0.002324 yaw=0.000000 	 ekf: x=-0.009276 z=-0.089896 pitch=0.496017
[17:18:07.757] homography after fuse: x=-0.009276 y=0.000000 z=-0.089896 pitch=0.496017	 number of outlier: 76
[17:18:07.757] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:106.711139 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:07.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:07.856] homography: x=-0.000015 y=0.000027 z=0.002550 roll=0.000000 pitch=-0.020906 yaw=0.000000 	 ekf: x=-0.009278 z=-0.089913 pitch=0.499047
[17:18:07.856] homography after fuse: x=-0.009278 y=0.000000 z=-0.089913 pitch=0.499047	 number of outlier: 77
[17:18:07.856] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:106.409883 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:07.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:07.956] homography: x=0.000794 y=0.000250 z=-0.515997 roll=0.000000 pitch=-0.002322 yaw=0.000000 	 ekf: x=-0.009280 z=-0.089929 pitch=0.502054
[17:18:07.956] homography after fuse: x=-0.009280 y=0.000000 z=-0.089929 pitch=0.502054	 number of outlier: 76
[17:18:07.956] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:106.568160 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:07.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:08.056] homography: x=-0.000018 y=0.000033 z=0.002827 roll=0.000000 pitch=-0.017519 yaw=0.000000 	 ekf: x=-0.009282 z=-0.089947 pitch=0.505102
[17:18:08.056] homography after fuse: x=-0.009282 y=0.000000 z=-0.089947 pitch=0.505102	 number of outlier: 77
[17:18:08.056] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:106.113595 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:08.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:08.157] homography: x=0.000067 y=-0.000047 z=-0.010019 roll=0.000000 pitch=-0.000415 yaw=0.000000 	 ekf: x=-0.009284 z=-0.089965 pitch=0.508152
[17:18:08.157] homography after fuse: x=-0.009284 y=0.000000 z=-0.089965 pitch=0.508152	 number of outlier: 76
[17:18:08.157] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:106.631958 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:08.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:08.256] homography: x=-0.000015 y=0.000026 z=0.002525 roll=0.000000 pitch=-0.020419 yaw=0.000000 	 ekf: x=-0.009286 z=-0.089981 pitch=0.511202
[17:18:08.256] homography after fuse: x=-0.009286 y=0.000000 z=-0.089981 pitch=0.511202	 number of outlier: 77
[17:18:08.256] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:106.317211 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:08.256] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:08.356] homography: x=0.000061 y=-0.000032 z=-0.010299 roll=0.000000 pitch=-0.000857 yaw=0.000000 	 ekf: x=-0.009288 z=-0.089999 pitch=0.514235
[17:18:08.356] homography after fuse: x=-0.009288 y=0.000000 z=-0.089999 pitch=0.514235	 number of outlier: 76
[17:18:08.356] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:107.030633 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:08.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:08.457] homography: x=0.000073 y=-0.000048 z=-0.011372 roll=0.000000 pitch=-0.000557 yaw=0.000000 	 ekf: x=-0.009291 z=-0.090015 pitch=0.517278
[17:18:08.457] homography after fuse: x=-0.009291 y=0.000000 z=-0.090015 pitch=0.517278	 number of outlier: 77
[17:18:08.457] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:106.091448 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:08.457] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:08.556] homography: x=0.000063 y=-0.000031 z=-0.010894 roll=0.000000 pitch=-0.000942 yaw=0.000000 	 ekf: x=-0.009293 z=-0.090033 pitch=0.520312
[17:18:08.556] homography after fuse: x=-0.009293 y=0.000000 z=-0.090033 pitch=0.520312	 number of outlier: 75
[17:18:08.556] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:106.931624 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:08.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:08.657] homography: x=-0.000016 y=0.000028 z=0.002656 roll=0.000000 pitch=-0.020043 yaw=0.000000 	 ekf: x=-0.009295 z=-0.090051 pitch=0.523330
[17:18:08.657] homography after fuse: x=-0.009295 y=0.000000 z=-0.090051 pitch=0.523330	 number of outlier: 76
[17:18:08.657] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:106.070238 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:08.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:08.762] homography: x=0.000945 y=0.000228 z=-0.638506 roll=0.000000 pitch=-0.000418 yaw=0.000000 	 ekf: x=-0.009298 z=-0.090068 pitch=0.526568
[17:18:08.762] homography after fuse: x=-0.009298 y=0.000000 z=-0.090068 pitch=0.526568	 number of outlier: 74
[17:18:08.762] Init: Homography RANSAC (inlier) is:7 ,While 30 inliers minimum required.  px average disparity is:106.843033 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:08.762] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:08.861] homography: x=-0.000016 y=0.000026 z=0.002575 roll=0.000000 pitch=-0.020507 yaw=0.000000 	 ekf: x=-0.009300 z=-0.090086 pitch=0.529584
[17:18:08.861] homography after fuse: x=-0.009300 y=0.000000 z=-0.090086 pitch=0.529584	 number of outlier: 75
[17:18:08.861] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:106.117966 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:08.861] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:08.957] homography: x=0.000851 y=0.000256 z=-0.588050 roll=0.000000 pitch=-0.002395 yaw=0.000000 	 ekf: x=-0.009303 z=-0.090104 pitch=0.532426
[17:18:08.957] homography after fuse: x=-0.009303 y=0.000000 z=-0.090104 pitch=0.532426	 number of outlier: 76
[17:18:08.957] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:106.487134 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:08.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:09.056] homography: x=-0.000017 y=0.000031 z=0.002685 roll=0.000000 pitch=-0.018819 yaw=0.000000 	 ekf: x=-0.009306 z=-0.090121 pitch=0.535413
[17:18:09.056] homography after fuse: x=-0.009306 y=0.000000 z=-0.090121 pitch=0.535413	 number of outlier: 75
[17:18:09.056] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:106.071950 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:09.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:09.157] homography: x=0.000066 y=-0.000040 z=-0.010661 roll=0.000000 pitch=-0.000695 yaw=0.000000 	 ekf: x=-0.009309 z=-0.090139 pitch=0.538342
[17:18:09.157] homography after fuse: x=-0.009309 y=0.000000 z=-0.090139 pitch=0.538342	 number of outlier: 75
[17:18:09.157] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:106.158022 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:09.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:09.256] homography: x=-0.000018 y=0.000032 z=0.002785 roll=0.000000 pitch=-0.018015 yaw=0.000000 	 ekf: x=-0.009312 z=-0.090158 pitch=0.541473
[17:18:09.256] homography after fuse: x=-0.009312 y=0.000000 z=-0.090158 pitch=0.541473	 number of outlier: 76
[17:18:09.256] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:106.148910 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:09.256] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:09.355] homography: x=0.000075 y=-0.000048 z=-0.011679 roll=0.000000 pitch=-0.000580 yaw=0.000000 	 ekf: x=-0.009315 z=-0.090177 pitch=0.544546
[17:18:09.355] homography after fuse: x=-0.009315 y=0.000000 z=-0.090177 pitch=0.544546	 number of outlier: 76
[17:18:09.355] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:106.596808 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:09.355] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:09.456] homography: x=-0.000016 y=0.000028 z=0.002558 roll=0.000000 pitch=-0.020474 yaw=0.000000 	 ekf: x=-0.009318 z=-0.090195 pitch=0.547525
[17:18:09.456] homography after fuse: x=-0.009318 y=0.000000 z=-0.090195 pitch=0.547525	 number of outlier: 76
[17:18:09.456] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:106.171241 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:09.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:09.558] homography: x=0.000068 y=-0.000040 z=-0.011168 roll=0.000000 pitch=-0.000732 yaw=0.000000 	 ekf: x=-0.009321 z=-0.090215 pitch=0.550761
[17:18:09.558] homography after fuse: x=-0.009321 y=0.000000 z=-0.090215 pitch=0.550761	 number of outlier: 78
[17:18:09.558] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:106.726065 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:09.558] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:09.660] homography: x=-0.000016 y=0.000029 z=0.002607 roll=0.000000 pitch=-0.019433 yaw=0.000000 	 ekf: x=-0.009324 z=-0.090233 pitch=0.553762
[17:18:09.660] homography after fuse: x=-0.009324 y=0.000000 z=-0.090233 pitch=0.553762	 number of outlier: 79
[17:18:09.660] Init: Homography RANSAC (inlier) is:2 ,While 30 inliers minimum required.  px average disparity is:106.782687 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:09.660] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:09.758] homography: x=0.000675 y=0.000297 z=-0.475926 roll=0.000000 pitch=-0.002322 yaw=0.000000 	 ekf: x=-0.009327 z=-0.090249 pitch=0.556679
[17:18:09.758] homography after fuse: x=-0.009327 y=0.000000 z=-0.090249 pitch=0.556679	 number of outlier: 79
[17:18:09.758] Init: Homography RANSAC (inlier) is:2 ,While 30 inliers minimum required.  px average disparity is:106.359005 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:09.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:09.857] homography: x=0.000074 y=-0.000046 z=-0.011904 roll=0.000000 pitch=-0.000661 yaw=0.000000 	 ekf: x=-0.009330 z=-0.090267 pitch=0.559728
[17:18:09.857] homography after fuse: x=-0.009330 y=0.000000 z=-0.090267 pitch=0.559728	 number of outlier: 79
[17:18:09.857] Init: Homography RANSAC (inlier) is:2 ,While 30 inliers minimum required.  px average disparity is:106.637305 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:09.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[17:18:09.957] homography: x=0.000052 y=-0.000020 z=-0.009601 roll=0.000000 pitch=-0.001132 yaw=0.000000 	 ekf: x=-0.009332 z=-0.090280 pitch=0.561844
[17:18:09.957] homography after fuse: x=-0.009332 y=0.000000 z=-0.090280 pitch=0.561844	 number of outlier: 79
[17:18:09.957] Init: Homography RANSAC (inlier) is:2 ,While 30 inliers minimum required.  px average disparity is:106.244822 ,While minimum is: 40.000000  KLT tracked: 81
[17:18:09.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
