[22:35:52.414] Init: frame zero: 0.000000, 0.000000 0.000000
[22:35:52.414] Init: Selected first frame. 
[22:35:52.514] Init: px average disparity is:0.046673 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:52.514] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:52.610] Init: px average disparity is:0.050823 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:52.610] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:52.709] Init: px average disparity is:0.059432 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:52.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:52.810] Init: px average disparity is:0.070213 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:52.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:52.910] Init: px average disparity is:0.045420 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:52.910] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:53.010] Init: px average disparity is:0.048637 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:53.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:53.113] Init: px average disparity is:0.062225 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:53.113] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:53.212] Init: px average disparity is:0.052158 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:53.212] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:53.310] Init: px average disparity is:0.056654 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:53.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:53.410] Init: px average disparity is:0.053568 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:53.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:53.509] Init: px average disparity is:0.053122 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:53.509] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:53.611] Init: px average disparity is:0.053570 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:53.611] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:53.711] Init: px average disparity is:0.055543 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:53.711] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:53.811] Init: px average disparity is:0.059645 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:53.811] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:53.911] Init: px average disparity is:0.063839 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:53.911] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:54.011] Init: px average disparity is:0.053236 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:54.011] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:54.113] Init: px average disparity is:0.117569 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:54.113] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:54.214] Init: px average disparity is:1.501136 ,While minimum is: 40.000000  KLT tracked : 102
[22:35:54.214] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:54.314] Init: px average disparity is:6.234379 ,While minimum is: 40.000000  KLT tracked : 100
[22:35:54.314] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:54.411] Init: px average disparity is:4.487548 ,While minimum is: 40.000000  KLT tracked : 100
[22:35:54.411] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:54.515] Init: px average disparity is:8.273376 ,While minimum is: 40.000000  KLT tracked : 100
[22:35:54.515] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:54.614] Init: px average disparity is:12.089830 ,While minimum is: 40.000000  KLT tracked : 100
[22:35:54.614] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:54.712] Init: px average disparity is:17.970211 ,While minimum is: 40.000000  KLT tracked : 100
[22:35:54.712] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:54.912] Init: px average disparity is:13.673712 ,While minimum is: 40.000000  KLT tracked : 100
[22:35:54.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:55.213] Init: px average disparity is:10.529150 ,While minimum is: 40.000000  KLT tracked : 100
[22:35:55.213] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:55.313] Init: px average disparity is:16.149334 ,While minimum is: 40.000000  KLT tracked : 100
[22:35:55.313] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:55.414] Init: px average disparity is:13.080227 ,While minimum is: 40.000000  KLT tracked : 99
[22:35:55.414] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:55.514] Init: px average disparity is:18.815228 ,While minimum is: 40.000000  KLT tracked : 99
[22:35:55.514] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:55.615] Init: px average disparity is:21.501833 ,While minimum is: 40.000000  KLT tracked : 99
[22:35:55.615] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:55.716] Init: px average disparity is:24.921740 ,While minimum is: 40.000000  KLT tracked : 99
[22:35:55.716] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:55.816] Init: px average disparity is:28.698848 ,While minimum is: 40.000000  KLT tracked : 98
[22:35:55.816] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:55.916] Init: px average disparity is:35.447556 ,While minimum is: 40.000000  KLT tracked : 96
[22:35:55.916] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:56.015] Init: px average disparity is:29.749463 ,While minimum is: 40.000000  KLT tracked : 95
[22:35:56.015] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:56.115] Init: px average disparity is:29.761796 ,While minimum is: 40.000000  KLT tracked : 94
[22:35:56.115] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:56.217] Init: px average disparity is:31.809666 ,While minimum is: 40.000000  KLT tracked : 94
[22:35:56.217] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:56.315] Init: px average disparity is:34.092659 ,While minimum is: 40.000000  KLT tracked : 94
[22:35:56.315] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:56.416] Init: px average disparity is:34.804754 ,While minimum is: 40.000000  KLT tracked : 94
[22:35:56.416] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:56.515] Init: px average disparity is:22.075145 ,While minimum is: 40.000000  KLT tracked : 93
[22:35:56.515] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:56.616] Init: px average disparity is:18.383698 ,While minimum is: 40.000000  KLT tracked : 93
[22:35:56.616] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:56.717] Init: px average disparity is:25.537018 ,While minimum is: 40.000000  KLT tracked : 92
[22:35:56.717] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:56.815] Init: px average disparity is:26.025874 ,While minimum is: 40.000000  KLT tracked : 91
[22:35:56.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[22:35:56.942] homography: x=-0.155205 y=-0.393943 z=0.036121 roll=-0.000000 pitch=0.129863 yaw=0.000000 	 ekf: x=-0.005099 z=0.164629 pitch=-0.067164
[22:35:56.942] homography after fuse: x=-0.146469 y=0.000000 z=0.043601 pitch=0.118343	 number of outlier: 52
[22:35:56.942] Init finished: Homography RANSAC (inlier) is:39 ,While 20 inliers minimum required.  px average disparity is:40.185216 ,While minimum is: 40.000000  KLT tracked: 91
[22:35:56.942] Init: distance between the first and current frame is x:-0.146469 ,z=0.043601,angle between two frames: 0.118343 
[22:35:56.942] Init: Selected Second frame. 	 The number of features: 39
[22:35:57.117] After Reprojection Map nPoint:20 ,nCell:18 ,nMatches:3 ,distance between two frames x:0.053944 ,z=0.051700,angle between two frames:0.080857
[22:35:57.117] Init estimate scale:1.117475
[22:35:57.117] it:0 	 Success 	 new_chi2: 2.021059 	 dT = 0.002670, 0.000000, 0.000346
[22:35:57.117] it:1 	 Success 	 new_chi2: 2.015490 	 dT = 0.002630, 0.000000, 0.000371
[22:35:57.117] it:2 	 Success 	 new_chi2: 2.010056 	 dT = 0.002591, 0.000000, 0.000396
[22:35:57.117] it:3 	 Success 	 new_chi2: 2.004756 	 dT = 0.002552, 0.000000, 0.000422
[22:35:57.117] it:4 	 Success 	 new_chi2: 1.999588 	 dT = 0.002513, 0.000000, 0.000448
[22:35:57.117] it:5 	 Success 	 new_chi2: 1.994551 	 dT = 0.002591, 0.000000, 0.000146
[22:35:57.117] it:6 	 Success 	 new_chi2: 1.989301 	 dT = 0.002564, 0.000000, 0.000164
[22:35:57.117] it:7 	 Success 	 new_chi2: 1.984153 	 dT = 0.002537, 0.000000, 0.000182
[22:35:57.117] it:8 	 Success 	 new_chi2: 1.979104 	 dT = 0.002510, 0.000000, 0.000200
[22:35:57.117] it:9 	 Success 	 new_chi2: 1.974154 	 dT = 0.002483, 0.000000, 0.000219
[22:35:57.117] it:10 	 Success 	 new_chi2: 1.969300 	 dT = 0.002457, 0.000000, 0.000238
[22:35:57.117] it:11 	 Success 	 new_chi2: 1.964544 	 dT = 0.002430, 0.000000, 0.000257
[22:35:57.117] it:12 	 Success 	 new_chi2: 1.959882 	 dT = 0.002404, 0.000000, 0.000276
[22:35:57.117] it:13 	 Success 	 new_chi2: 1.955314 	 dT = 0.002377, 0.000000, 0.000296
[22:35:57.117] it:14 	 Success 	 new_chi2: 1.950839 	 dT = 0.002351, 0.000000, 0.000316
[22:35:57.117] it:15 	 Success 	 new_chi2: 1.946457 	 dT = 0.002325, 0.000000, 0.000337
[22:35:57.117] it:16 	 Success 	 new_chi2: 1.942165 	 dT = 0.002299, 0.000000, 0.000358
[22:35:57.117] it:17 	 Success 	 new_chi2: 1.937964 	 dT = 0.002274, 0.000000, 0.000379
[22:35:57.117] it:18 	 Success 	 new_chi2: 1.933853 	 dT = 0.002248, 0.000000, 0.000400
[22:35:57.117] it:19 	 Success 	 new_chi2: 1.929830 	 dT = 0.002222, 0.000000, 0.000422
[22:35:57.117] it:20 	 Success 	 new_chi2: 1.925895 	 dT = 0.002197, 0.000000, 0.000444
[22:35:57.117] it:21 	 Success 	 new_chi2: 1.922047 	 dT = 0.002172, 0.000000, 0.000467
[22:35:57.117] it:22 	 Success 	 new_chi2: 1.918285 	 dT = 0.002147, 0.000000, 0.000490
[22:35:57.117] it:23 	 Success 	 new_chi2: 1.914609 	 dT = 0.002122, 0.000000, 0.000513
[22:35:57.117] it:24 	 Success 	 new_chi2: 1.911018 	 dT = 0.002097, 0.000000, 0.000536
[22:35:57.117] it:25 	 Success 	 new_chi2: 1.907511 	 dT = 0.002072, 0.000000, 0.000560
[22:35:57.117] it:26 	 Success 	 new_chi2: 1.904088 	 dT = 0.002047, 0.000000, 0.000584
[22:35:57.117] it:27 	 Success 	 new_chi2: 1.900748 	 dT = 0.002023, 0.000000, 0.000608
[22:35:57.117] it:28 	 Success 	 new_chi2: 1.897491 	 dT = 0.001999, 0.000000, 0.000633
[22:35:57.117] it:29 	 Success 	 new_chi2: 1.894316 	 dT = 0.001975, 0.000000, 0.000658
[22:35:57.117] it:30 	 Success 	 new_chi2: 1.891223 	 dT = 0.001951, 0.000000, 0.000683
[22:35:57.117] it:31 	 Success 	 new_chi2: 1.888211 	 dT = 0.001927, 0.000000, 0.000708
[22:35:57.117] it:32 	 Success 	 new_chi2: 1.885279 	 dT = 0.001903, 0.000000, 0.000734
[22:35:57.117] it:33 	 Success 	 new_chi2: 1.882427 	 dT = 0.001880, 0.000000, 0.000759
[22:35:57.117] it:34 	 Success 	 new_chi2: 1.879655 	 dT = 0.001857, 0.000000, 0.000785
[22:35:57.117] it:35 	 Success 	 new_chi2: 1.876963 	 dT = 0.001834, 0.000000, 0.000811
[22:35:57.117] it:36 	 Success 	 new_chi2: 1.874349 	 dT = 0.001812, 0.000000, 0.000837
[22:35:57.117] it:37 	 Success 	 new_chi2: 1.871814 	 dT = 0.001789, 0.000000, 0.000864
[22:35:57.117] it:38 	 Success 	 new_chi2: 1.869357 	 dT = 0.001767, 0.000000, 0.000890
[22:35:57.117] it:39 	 Success 	 new_chi2: 1.866978 	 dT = 0.001745, 0.000000, 0.000917
[22:35:57.117] it:40 	 Success 	 new_chi2: 1.864676 	 dT = 0.001724, 0.000000, 0.000943
[22:35:57.117] it:41 	 Success 	 new_chi2: 1.862450 	 dT = 0.001703, 0.000000, 0.000970
[22:35:57.117] it:42 	 Success 	 new_chi2: 1.860302 	 dT = 0.001682, 0.000000, 0.000996
[22:35:57.117] it:43 	 Success 	 new_chi2: 1.858230 	 dT = 0.001661, 0.000000, 0.001023
[22:35:57.117] it:44 	 Success 	 new_chi2: 1.856233 	 dT = 0.001641, 0.000000, 0.001049
[22:35:57.117] it:45 	 Success 	 new_chi2: 1.854313 	 dT = 0.001621, 0.000000, 0.001076
[22:35:57.117] it:46 	 Success 	 new_chi2: 1.852467 	 dT = 0.001602, 0.000000, 0.001102
[22:35:57.117] it:47 	 Success 	 new_chi2: 1.850696 	 dT = 0.001582, 0.000000, 0.001128
[22:35:57.117] it:48 	 Success 	 new_chi2: 1.848999 	 dT = 0.001564, 0.000000, 0.001154
[22:35:57.117] it:49 	 Success 	 new_chi2: 1.847376 	 dT = 0.001545, 0.000000, 0.001179
[22:35:57.117] it:50 	 Success 	 new_chi2: 1.845827 	 dT = 0.001528, 0.000000, 0.001205
[22:35:57.117] it:51 	 Success 	 new_chi2: 1.844352 	 dT = 0.001510, 0.000000, 0.001230
[22:35:57.117] it:52 	 Success 	 new_chi2: 1.842948 	 dT = 0.001493, 0.000000, 0.001254
[22:35:57.117] it:53 	 Success 	 new_chi2: 1.841618 	 dT = 0.001476, 0.000000, 0.001279
[22:35:57.117] it:54 	 Success 	 new_chi2: 1.840359 	 dT = 0.001460, 0.000000, 0.001303
[22:35:57.117] it:55 	 Success 	 new_chi2: 1.839171 	 dT = 0.001445, 0.000000, 0.001327
[22:35:57.117] it:56 	 Success 	 new_chi2: 1.838054 	 dT = 0.001429, 0.000000, 0.001350
[22:35:57.117] it:57 	 Success 	 new_chi2: 1.837008 	 dT = 0.001415, 0.000000, 0.001373
[22:35:57.117] it:58 	 Success 	 new_chi2: 1.836032 	 dT = 0.001400, 0.000000, 0.001395
[22:35:57.117] it:59 	 Success 	 new_chi2: 1.835125 	 dT = 0.001386, 0.000000, 0.001417
[22:35:57.117] it:60 	 Success 	 new_chi2: 1.834288 	 dT = 0.001373, 0.000000, 0.001439
[22:35:57.117] it:61 	 Success 	 new_chi2: 1.833518 	 dT = 0.001360, 0.000000, 0.001459
[22:35:57.117] it:62 	 Success 	 new_chi2: 1.832817 	 dT = 0.001348, 0.000000, 0.001480
[22:35:57.117] it:63 	 Success 	 new_chi2: 1.832182 	 dT = 0.001336, 0.000000, 0.001500
[22:35:57.117] it:64 	 Success 	 new_chi2: 1.831615 	 dT = 0.001324, 0.000000, 0.001519
[22:35:57.117] it:65 	 Success 	 new_chi2: 1.831113 	 dT = 0.001313, 0.000000, 0.001538
[22:35:57.117] it:66 	 Success 	 new_chi2: 1.830678 	 dT = 0.001303, 0.000000, 0.001556
[22:35:57.117] it:67 	 Success 	 new_chi2: 1.830306 	 dT = 0.001292, 0.000000, 0.001573
[22:35:57.117] it:68 	 Success 	 new_chi2: 1.830000 	 dT = 0.001283, 0.000000, 0.001590
[22:35:57.117] it:69 	 Success 	 new_chi2: 1.829757 	 dT = 0.001273, 0.000000, 0.001607
[22:35:57.117] n deleted obs = 3 	 scale =1.117475 	 error init =0.673686 	 error end=0.609859
[22:35:57.117] After pose optimization, distance between two frames x:0.186360 ,z=0.051700,angle between two frames:0.022193 and reprojected points are: 0
[22:35:57.117] Update EKF and 3D points, distance between two frames x:0.178679 ,z=0.052030,angle between two frames:0.026016
[22:35:57.193] After Reprojection Map nPoint:28 ,nCell:19 ,nMatches:5 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[22:35:57.193] Init estimate scale:0.385360
[22:35:57.193] it:0 	 Success 	 new_chi2: 1.545585 	 dT = -0.000432, 0.000000, 0.000287
[22:35:57.193] it:1 	 FAILURE 	 new_chi2: 1.546947
[22:35:57.193] n deleted obs = 8 	 scale =0.385360 	 error init =0.193198 	 error end=0.193198
[22:35:57.193] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 and reprojected points are: 0
[22:35:57.193] Update EKF and 3D points, distance between two frames x:-0.002740 ,z=0.000428,angle between two frames:0.001524
[22:35:57.275] After Reprojection Map nPoint:25 ,nCell:16 ,nMatches:4 ,distance between two frames x:-0.016927 ,z=0.002643,angle between two frames:0.009863
[22:35:57.275] Init estimate scale:0.144264
[22:35:57.275] it:0 	 Success 	 new_chi2: 0.409691 	 dT = -0.000141, 0.000000, 0.000100
[22:35:57.275] it:1 	 Success 	 new_chi2: 0.409664 	 dT = -0.000141, 0.000000, 0.000100
[22:35:57.275] it:2 	 Success 	 new_chi2: 0.409637 	 dT = -0.000140, 0.000000, 0.000100
[22:35:57.275] it:3 	 Success 	 new_chi2: 0.409611 	 dT = -0.000140, 0.000000, 0.000100
[22:35:57.275] it:4 	 Success 	 new_chi2: 0.409585 	 dT = -0.000140, 0.000000, 0.000100
[22:35:57.275] it:5 	 Success 	 new_chi2: 0.409559 	 dT = -0.000123, 0.000000, 0.000105
[22:35:57.275] it:6 	 FAILURE 	 new_chi2: 0.409583
[22:35:57.275] n deleted obs = 9 	 scale =0.144264 	 error init =0.045521 	 error end=0.045507
[22:35:57.275] After pose optimization, distance between two frames x:-0.017629 ,z=0.002643,angle between two frames:0.009364 and reprojected points are: 0
[22:35:57.275] Update EKF and 3D points, distance between two frames x:-0.017559 ,z=0.002990,angle between two frames:0.010078
[22:35:57.375] After Reprojection Map nPoint:30 ,nCell:14 ,nMatches:5 ,distance between two frames x:0.000399 ,z=0.002054,angle between two frames:0.002979
[22:35:57.375] Init estimate scale:0.150774
[22:35:57.375] it:0 	 Success 	 new_chi2: 0.289022 	 dT = -0.000028, 0.000000, 0.000020
[22:35:57.375] it:1 	 Success 	 new_chi2: 0.289010 	 dT = -0.000028, 0.000000, 0.000020
[22:35:57.375] it:2 	 Success 	 new_chi2: 0.288999 	 dT = -0.000028, 0.000000, 0.000020
[22:35:57.375] it:3 	 Success 	 new_chi2: 0.288987 	 dT = -0.000028, 0.000000, 0.000020
[22:35:57.375] it:4 	 Success 	 new_chi2: 0.288976 	 dT = -0.000028, 0.000000, 0.000020
[22:35:57.375] it:5 	 Success 	 new_chi2: 0.288965 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.375] it:6 	 Success 	 new_chi2: 0.288950 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.375] it:7 	 Success 	 new_chi2: 0.288935 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.375] it:8 	 Success 	 new_chi2: 0.288921 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.375] it:9 	 Success 	 new_chi2: 0.288906 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:10 	 Success 	 new_chi2: 0.288892 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:11 	 Success 	 new_chi2: 0.288877 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:12 	 Success 	 new_chi2: 0.288862 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:13 	 Success 	 new_chi2: 0.288848 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:14 	 Success 	 new_chi2: 0.288833 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:15 	 Success 	 new_chi2: 0.288819 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:16 	 Success 	 new_chi2: 0.288804 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:17 	 Success 	 new_chi2: 0.288790 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:18 	 Success 	 new_chi2: 0.288775 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:19 	 Success 	 new_chi2: 0.288761 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:20 	 Success 	 new_chi2: 0.288746 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:21 	 Success 	 new_chi2: 0.288732 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:22 	 Success 	 new_chi2: 0.288717 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:23 	 Success 	 new_chi2: 0.288703 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:24 	 Success 	 new_chi2: 0.288688 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:25 	 Success 	 new_chi2: 0.288674 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:26 	 Success 	 new_chi2: 0.288659 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:27 	 Success 	 new_chi2: 0.288645 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:28 	 Success 	 new_chi2: 0.288630 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:29 	 Success 	 new_chi2: 0.288616 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:30 	 Success 	 new_chi2: 0.288602 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:31 	 Success 	 new_chi2: 0.288587 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:32 	 Success 	 new_chi2: 0.288573 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:33 	 Success 	 new_chi2: 0.288559 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:34 	 Success 	 new_chi2: 0.288544 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:35 	 Success 	 new_chi2: 0.288530 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:36 	 Success 	 new_chi2: 0.288516 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:37 	 Success 	 new_chi2: 0.288501 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:38 	 Success 	 new_chi2: 0.288487 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:39 	 Success 	 new_chi2: 0.288473 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:40 	 Success 	 new_chi2: 0.288458 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:41 	 Success 	 new_chi2: 0.288444 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:42 	 Success 	 new_chi2: 0.288430 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:43 	 Success 	 new_chi2: 0.288416 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:44 	 Success 	 new_chi2: 0.288402 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:45 	 Success 	 new_chi2: 0.288387 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:46 	 Success 	 new_chi2: 0.288373 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:47 	 Success 	 new_chi2: 0.288359 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:48 	 Success 	 new_chi2: 0.288345 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:49 	 Success 	 new_chi2: 0.288331 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:50 	 Success 	 new_chi2: 0.288316 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:51 	 Success 	 new_chi2: 0.288302 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:52 	 Success 	 new_chi2: 0.288288 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:53 	 Success 	 new_chi2: 0.288274 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:54 	 Success 	 new_chi2: 0.288260 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:55 	 Success 	 new_chi2: 0.288246 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:56 	 Success 	 new_chi2: 0.288232 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:57 	 Success 	 new_chi2: 0.288218 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:58 	 Success 	 new_chi2: 0.288204 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:59 	 Success 	 new_chi2: 0.288190 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:60 	 Success 	 new_chi2: 0.288175 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:61 	 Success 	 new_chi2: 0.288161 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:62 	 Success 	 new_chi2: 0.288147 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:63 	 Success 	 new_chi2: 0.288133 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:64 	 Success 	 new_chi2: 0.288119 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:65 	 Success 	 new_chi2: 0.288105 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:66 	 Success 	 new_chi2: 0.288091 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:67 	 Success 	 new_chi2: 0.288077 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:68 	 Success 	 new_chi2: 0.288064 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] it:69 	 Success 	 new_chi2: 0.288050 	 dT = -0.000028, 0.000000, 0.000019
[22:35:57.376] n deleted obs = 11 	 scale =0.150774 	 error init =0.026275 	 error end=0.026185
[22:35:57.376] After pose optimization, distance between two frames x:-0.001551 ,z=0.002054,angle between two frames:0.001667 and reprojected points are: 0
[22:35:57.376] Update EKF and 3D points, distance between two frames x:-0.001398 ,z=0.002408,angle between two frames:0.001636
[22:35:57.474] After Reprojection Map nPoint:27 ,nCell:17 ,nMatches:7 ,distance between two frames x:0.000912 ,z=0.002090,angle between two frames:0.005691
[22:35:57.474] Init estimate scale:0.148868
[22:35:57.474] it:0 	 Success 	 new_chi2: 0.673207 	 dT = -0.000013, 0.000000, 0.000009
[22:35:57.474] it:1 	 Success 	 new_chi2: 0.673187 	 dT = -0.000013, 0.000000, 0.000009
[22:35:57.474] it:2 	 Success 	 new_chi2: 0.673168 	 dT = -0.000013, 0.000000, 0.000009
[22:35:57.474] it:3 	 Success 	 new_chi2: 0.673149 	 dT = -0.000013, 0.000000, 0.000009
[22:35:57.474] it:4 	 Success 	 new_chi2: 0.673130 	 dT = -0.000013, 0.000000, 0.000009
[22:35:57.474] it:5 	 Success 	 new_chi2: 0.673111 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:6 	 Success 	 new_chi2: 0.673096 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:7 	 Success 	 new_chi2: 0.673080 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:8 	 Success 	 new_chi2: 0.673065 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:9 	 Success 	 new_chi2: 0.673050 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:10 	 Success 	 new_chi2: 0.673035 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:11 	 Success 	 new_chi2: 0.673019 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:12 	 Success 	 new_chi2: 0.673004 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:13 	 Success 	 new_chi2: 0.672989 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:14 	 Success 	 new_chi2: 0.672974 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:15 	 Success 	 new_chi2: 0.672958 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:16 	 Success 	 new_chi2: 0.672943 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:17 	 Success 	 new_chi2: 0.672928 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:18 	 Success 	 new_chi2: 0.672913 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:19 	 Success 	 new_chi2: 0.672897 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:20 	 Success 	 new_chi2: 0.672882 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:21 	 Success 	 new_chi2: 0.672867 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:22 	 Success 	 new_chi2: 0.672852 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:23 	 Success 	 new_chi2: 0.672836 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:24 	 Success 	 new_chi2: 0.672821 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:25 	 Success 	 new_chi2: 0.672806 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:26 	 Success 	 new_chi2: 0.672791 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:27 	 Success 	 new_chi2: 0.672775 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:28 	 Success 	 new_chi2: 0.672760 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:29 	 Success 	 new_chi2: 0.672745 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:30 	 Success 	 new_chi2: 0.672730 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:31 	 Success 	 new_chi2: 0.672714 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.474] it:32 	 Success 	 new_chi2: 0.672699 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:33 	 Success 	 new_chi2: 0.672684 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:34 	 Success 	 new_chi2: 0.672669 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:35 	 Success 	 new_chi2: 0.672653 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:36 	 Success 	 new_chi2: 0.672638 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:37 	 Success 	 new_chi2: 0.672623 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:38 	 Success 	 new_chi2: 0.672608 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:39 	 Success 	 new_chi2: 0.672592 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:40 	 Success 	 new_chi2: 0.672577 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:41 	 Success 	 new_chi2: 0.672562 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:42 	 Success 	 new_chi2: 0.672547 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:43 	 Success 	 new_chi2: 0.672532 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:44 	 Success 	 new_chi2: 0.672516 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:45 	 Success 	 new_chi2: 0.672501 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:46 	 Success 	 new_chi2: 0.672486 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:47 	 Success 	 new_chi2: 0.672471 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:48 	 Success 	 new_chi2: 0.672455 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:49 	 Success 	 new_chi2: 0.672440 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:50 	 Success 	 new_chi2: 0.672425 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:51 	 Success 	 new_chi2: 0.672410 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:52 	 Success 	 new_chi2: 0.672395 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:53 	 Success 	 new_chi2: 0.672379 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:54 	 Success 	 new_chi2: 0.672364 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:55 	 Success 	 new_chi2: 0.672349 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:56 	 Success 	 new_chi2: 0.672334 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:57 	 Success 	 new_chi2: 0.672319 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:58 	 Success 	 new_chi2: 0.672303 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:59 	 Success 	 new_chi2: 0.672288 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:60 	 Success 	 new_chi2: 0.672273 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:61 	 Success 	 new_chi2: 0.672258 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:62 	 Success 	 new_chi2: 0.672243 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:63 	 Success 	 new_chi2: 0.672227 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:64 	 Success 	 new_chi2: 0.672212 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:65 	 Success 	 new_chi2: 0.672197 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:66 	 Success 	 new_chi2: 0.672182 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:67 	 Success 	 new_chi2: 0.672167 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:68 	 Success 	 new_chi2: 0.672151 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] it:69 	 Success 	 new_chi2: 0.672136 	 dT = -0.000011, 0.000000, 0.000009
[22:35:57.475] n deleted obs = 14 	 scale =0.148868 	 error init =0.048086 	 error end=0.048009
[22:35:57.475] After pose optimization, distance between two frames x:0.000144 ,z=0.002090,angle between two frames:0.006318 and reprojected points are: 0
[22:35:57.475] Update EKF and 3D points, distance between two frames x:0.000224 ,z=0.002439,angle between two frames:0.006426
[22:35:57.574] After Reprojection Map nPoint:27 ,nCell:14 ,nMatches:8 ,distance between two frames x:0.000463 ,z=0.002067,angle between two frames:0.004195
[22:35:57.574] Init estimate scale:0.144232
[22:35:57.574] it:0 	 Success 	 new_chi2: 1.392254 	 dT = -0.000074, 0.000000, 0.000101
[22:35:57.574] it:1 	 FAILURE 	 new_chi2: 1.392801
[22:35:57.574] n deleted obs = 15 	 scale =0.144232 	 error init =0.092817 	 error end=0.092817
[22:35:57.574] After pose optimization, distance between two frames x:0.000463 ,z=0.002067,angle between two frames:0.004195 and reprojected points are: 0
[22:35:57.574] Update EKF and 3D points, distance between two frames x:0.000499 ,z=0.002423,angle between two frames:0.005491
[22:35:57.674] After Reprojection Map nPoint:30 ,nCell:16 ,nMatches:8 ,distance between two frames x:0.000220 ,z=0.002105,angle between two frames:0.010778
[22:35:57.674] Init estimate scale:0.171182
[22:35:57.674] it:0 	 Success 	 new_chi2: 1.388608 	 dT = -0.000222, 0.000000, 0.000147
[22:35:57.674] it:1 	 Success 	 new_chi2: 1.388248 	 dT = -0.000222, 0.000000, 0.000147
[22:35:57.674] it:2 	 Success 	 new_chi2: 1.387889 	 dT = -0.000222, 0.000000, 0.000147
[22:35:57.674] it:3 	 Success 	 new_chi2: 1.387531 	 dT = -0.000221, 0.000000, 0.000147
[22:35:57.674] it:4 	 Success 	 new_chi2: 1.387174 	 dT = -0.000221, 0.000000, 0.000147
[22:35:57.674] it:5 	 Success 	 new_chi2: 1.386819 	 dT = -0.000128, 0.000000, 0.000097
[22:35:57.674] it:6 	 Success 	 new_chi2: 1.386683 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:7 	 Success 	 new_chi2: 1.386548 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:8 	 Success 	 new_chi2: 1.386413 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:9 	 Success 	 new_chi2: 1.386278 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:10 	 Success 	 new_chi2: 1.386144 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:11 	 Success 	 new_chi2: 1.386010 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:12 	 Success 	 new_chi2: 1.385876 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:13 	 Success 	 new_chi2: 1.385743 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:14 	 Success 	 new_chi2: 1.385610 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:15 	 Success 	 new_chi2: 1.385477 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:16 	 Success 	 new_chi2: 1.385344 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:17 	 Success 	 new_chi2: 1.385212 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:18 	 Success 	 new_chi2: 1.385080 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:19 	 Success 	 new_chi2: 1.384948 	 dT = -0.000127, 0.000000, 0.000097
[22:35:57.674] it:20 	 Success 	 new_chi2: 1.384816 	 dT = -0.000126, 0.000000, 0.000097
[22:35:57.674] it:21 	 Success 	 new_chi2: 1.384685 	 dT = -0.000126, 0.000000, 0.000097
[22:35:57.674] it:22 	 Success 	 new_chi2: 1.384554 	 dT = -0.000126, 0.000000, 0.000097
[22:35:57.674] it:23 	 Success 	 new_chi2: 1.384423 	 dT = -0.000126, 0.000000, 0.000097
[22:35:57.674] it:24 	 Success 	 new_chi2: 1.384293 	 dT = -0.000126, 0.000000, 0.000096
[22:35:57.674] it:25 	 Success 	 new_chi2: 1.384163 	 dT = -0.000126, 0.000000, 0.000096
[22:35:57.674] it:26 	 Success 	 new_chi2: 1.384033 	 dT = -0.000126, 0.000000, 0.000096
[22:35:57.674] it:27 	 Success 	 new_chi2: 1.383903 	 dT = -0.000126, 0.000000, 0.000096
[22:35:57.674] it:28 	 Success 	 new_chi2: 1.383774 	 dT = -0.000126, 0.000000, 0.000096
[22:35:57.674] it:29 	 Success 	 new_chi2: 1.383645 	 dT = -0.000126, 0.000000, 0.000096
[22:35:57.674] it:30 	 Success 	 new_chi2: 1.383516 	 dT = -0.000126, 0.000000, 0.000096
[22:35:57.674] it:31 	 Success 	 new_chi2: 1.383388 	 dT = -0.000126, 0.000000, 0.000096
[22:35:57.674] it:32 	 Success 	 new_chi2: 1.383260 	 dT = -0.000126, 0.000000, 0.000096
[22:35:57.674] it:33 	 Success 	 new_chi2: 1.383132 	 dT = -0.000126, 0.000000, 0.000096
[22:35:57.674] it:34 	 Success 	 new_chi2: 1.383004 	 dT = -0.000126, 0.000000, 0.000096
[22:35:57.674] it:35 	 Success 	 new_chi2: 1.382877 	 dT = -0.000125, 0.000000, 0.000096
[22:35:57.674] it:36 	 Success 	 new_chi2: 1.382750 	 dT = -0.000125, 0.000000, 0.000096
[22:35:57.674] it:37 	 Success 	 new_chi2: 1.382623 	 dT = -0.000125, 0.000000, 0.000096
[22:35:57.674] it:38 	 Success 	 new_chi2: 1.382496 	 dT = -0.000125, 0.000000, 0.000096
[22:35:57.674] it:39 	 Success 	 new_chi2: 1.382370 	 dT = -0.000125, 0.000000, 0.000096
[22:35:57.674] it:40 	 Success 	 new_chi2: 1.382244 	 dT = -0.000125, 0.000000, 0.000096
[22:35:57.675] it:41 	 Success 	 new_chi2: 1.382119 	 dT = -0.000125, 0.000000, 0.000096
[22:35:57.675] it:42 	 Success 	 new_chi2: 1.381993 	 dT = -0.000125, 0.000000, 0.000096
[22:35:57.675] it:43 	 Success 	 new_chi2: 1.381868 	 dT = -0.000125, 0.000000, 0.000096
[22:35:57.675] it:44 	 Success 	 new_chi2: 1.381743 	 dT = -0.000125, 0.000000, 0.000096
[22:35:57.675] it:45 	 Success 	 new_chi2: 1.381619 	 dT = -0.000125, 0.000000, 0.000095
[22:35:57.675] it:46 	 Success 	 new_chi2: 1.381494 	 dT = -0.000125, 0.000000, 0.000095
[22:35:57.675] it:47 	 Success 	 new_chi2: 1.381370 	 dT = -0.000125, 0.000000, 0.000095
[22:35:57.675] it:48 	 Success 	 new_chi2: 1.381247 	 dT = -0.000125, 0.000000, 0.000095
[22:35:57.675] it:49 	 Success 	 new_chi2: 1.381123 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:50 	 Success 	 new_chi2: 1.381000 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:51 	 Success 	 new_chi2: 1.380877 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:52 	 Success 	 new_chi2: 1.380754 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:53 	 Success 	 new_chi2: 1.380632 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:54 	 Success 	 new_chi2: 1.380510 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:55 	 Success 	 new_chi2: 1.380388 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:56 	 Success 	 new_chi2: 1.380266 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:57 	 Success 	 new_chi2: 1.380145 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:58 	 Success 	 new_chi2: 1.380024 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:59 	 Success 	 new_chi2: 1.379903 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:60 	 Success 	 new_chi2: 1.379783 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:61 	 Success 	 new_chi2: 1.379663 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:62 	 Success 	 new_chi2: 1.379543 	 dT = -0.000124, 0.000000, 0.000095
[22:35:57.675] it:63 	 Success 	 new_chi2: 1.379423 	 dT = -0.000123, 0.000000, 0.000095
[22:35:57.675] it:64 	 Success 	 new_chi2: 1.379304 	 dT = -0.000123, 0.000000, 0.000095
[22:35:57.675] it:65 	 Success 	 new_chi2: 1.379184 	 dT = -0.000123, 0.000000, 0.000095
[22:35:57.675] it:66 	 Success 	 new_chi2: 1.379066 	 dT = -0.000123, 0.000000, 0.000095
[22:35:57.675] it:67 	 Success 	 new_chi2: 1.378947 	 dT = -0.000123, 0.000000, 0.000094
[22:35:57.675] it:68 	 Success 	 new_chi2: 1.378829 	 dT = -0.000123, 0.000000, 0.000094
[22:35:57.675] it:69 	 Success 	 new_chi2: 1.378711 	 dT = -0.000123, 0.000000, 0.000094
[22:35:57.675] n deleted obs = 17 	 scale =0.171182 	 error init =0.081683 	 error end=0.081094
[22:35:57.675] After pose optimization, distance between two frames x:-0.009032 ,z=0.002105,angle between two frames:0.017745 and reprojected points are: 0
[22:35:57.675] Update EKF and 3D points, distance between two frames x:-0.008402 ,z=0.002461,angle between two frames:0.016453
[22:35:57.773] After Reprojection Map nPoint:28 ,nCell:18 ,nMatches:6 ,distance between two frames x:0.003719 ,z=0.002103,angle between two frames:0.010747
[22:35:57.773] Init estimate scale:0.158300
[22:35:57.773] it:0 	 Success 	 new_chi2: 1.028317 	 dT = -0.000031, 0.000000, 0.000030
[22:35:57.773] it:1 	 FAILURE 	 new_chi2: 1.028353
[22:35:57.773] n deleted obs = 15 	 scale =0.158300 	 error init =0.068554 	 error end=0.068554
[22:35:57.773] After pose optimization, distance between two frames x:0.003719 ,z=0.002103,angle between two frames:0.010747 and reprojected points are: 0
[22:35:57.773] Update EKF and 3D points, distance between two frames x:0.003758 ,z=0.002440,angle between two frames:0.009411
[22:35:57.876] After Reprojection Map nPoint:31 ,nCell:18 ,nMatches:8 ,distance between two frames x:0.000259 ,z=0.001988,angle between two frames:0.013961
[22:35:57.876] Init estimate scale:0.175979
[22:35:57.876] it:0 	 Success 	 new_chi2: 2.448961 	 dT = -0.002230, 0.000000, 0.001900
[22:35:57.876] it:1 	 Success 	 new_chi2: 2.447159 	 dT = -0.002208, 0.000000, 0.001887
[22:35:57.876] it:2 	 Success 	 new_chi2: 2.445399 	 dT = -0.002186, 0.000000, 0.001874
[22:35:57.876] it:3 	 Success 	 new_chi2: 2.443680 	 dT = -0.002165, 0.000000, 0.001861
[22:35:57.876] it:4 	 Success 	 new_chi2: 2.442001 	 dT = -0.002144, 0.000000, 0.001848
[22:35:57.876] it:5 	 Success 	 new_chi2: 2.440362 	 dT = -0.001829, 0.000000, 0.001595
[22:35:57.876] it:6 	 Success 	 new_chi2: 2.439025 	 dT = -0.001810, 0.000000, 0.001581
[22:35:57.876] it:7 	 Success 	 new_chi2: 2.437716 	 dT = -0.001791, 0.000000, 0.001567
[22:35:57.876] it:8 	 Success 	 new_chi2: 2.436432 	 dT = -0.001773, 0.000000, 0.001554
[22:35:57.876] it:9 	 Success 	 new_chi2: 2.435175 	 dT = -0.001754, 0.000000, 0.001541
[22:35:57.876] it:10 	 Success 	 new_chi2: 2.433944 	 dT = -0.001737, 0.000000, 0.001528
[22:35:57.876] it:11 	 Success 	 new_chi2: 2.432737 	 dT = -0.001719, 0.000000, 0.001515
[22:35:57.876] it:12 	 Success 	 new_chi2: 2.431554 	 dT = -0.001702, 0.000000, 0.001503
[22:35:57.876] it:13 	 Success 	 new_chi2: 2.430396 	 dT = -0.001685, 0.000000, 0.001490
[22:35:57.876] it:14 	 Success 	 new_chi2: 2.429260 	 dT = -0.001668, 0.000000, 0.001478
[22:35:57.876] it:15 	 Success 	 new_chi2: 2.428147 	 dT = -0.001652, 0.000000, 0.001467
[22:35:57.876] it:16 	 Success 	 new_chi2: 2.427056 	 dT = -0.001636, 0.000000, 0.001455
[22:35:57.876] it:17 	 Success 	 new_chi2: 2.425987 	 dT = -0.001621, 0.000000, 0.001444
[22:35:57.876] it:18 	 Success 	 new_chi2: 2.424938 	 dT = -0.001605, 0.000000, 0.001432
[22:35:57.876] it:19 	 Success 	 new_chi2: 2.423910 	 dT = -0.001590, 0.000000, 0.001421
[22:35:57.876] it:20 	 Success 	 new_chi2: 2.422903 	 dT = -0.001575, 0.000000, 0.001411
[22:35:57.876] it:21 	 Success 	 new_chi2: 2.421915 	 dT = -0.001561, 0.000000, 0.001400
[22:35:57.876] it:22 	 Success 	 new_chi2: 2.420946 	 dT = -0.001547, 0.000000, 0.001390
[22:35:57.876] it:23 	 Success 	 new_chi2: 2.419995 	 dT = -0.001533, 0.000000, 0.001379
[22:35:57.876] it:24 	 Success 	 new_chi2: 2.419064 	 dT = -0.001519, 0.000000, 0.001369
[22:35:57.876] it:25 	 Success 	 new_chi2: 2.418150 	 dT = -0.001505, 0.000000, 0.001360
[22:35:57.876] it:26 	 Success 	 new_chi2: 2.417253 	 dT = -0.001492, 0.000000, 0.001350
[22:35:57.876] it:27 	 Success 	 new_chi2: 2.416373 	 dT = -0.001479, 0.000000, 0.001340
[22:35:57.876] it:28 	 Success 	 new_chi2: 2.415510 	 dT = -0.001466, 0.000000, 0.001331
[22:35:57.876] it:29 	 Success 	 new_chi2: 2.414664 	 dT = -0.001454, 0.000000, 0.001322
[22:35:57.876] it:30 	 Success 	 new_chi2: 2.413833 	 dT = -0.001441, 0.000000, 0.001313
[22:35:57.876] it:31 	 Success 	 new_chi2: 2.413018 	 dT = -0.001429, 0.000000, 0.001304
[22:35:57.876] it:32 	 Success 	 new_chi2: 2.412218 	 dT = -0.001418, 0.000000, 0.001295
[22:35:57.876] it:33 	 Success 	 new_chi2: 2.411433 	 dT = -0.001406, 0.000000, 0.001286
[22:35:57.876] it:34 	 Success 	 new_chi2: 2.410662 	 dT = -0.001394, 0.000000, 0.001278
[22:35:57.876] it:35 	 Success 	 new_chi2: 2.409906 	 dT = -0.001383, 0.000000, 0.001270
[22:35:57.876] it:36 	 Success 	 new_chi2: 2.409163 	 dT = -0.001372, 0.000000, 0.001261
[22:35:57.876] it:37 	 Success 	 new_chi2: 2.408434 	 dT = -0.001361, 0.000000, 0.001253
[22:35:57.876] it:38 	 Success 	 new_chi2: 2.407719 	 dT = -0.001351, 0.000000, 0.001245
[22:35:57.876] it:39 	 Success 	 new_chi2: 2.407016 	 dT = -0.001340, 0.000000, 0.001237
[22:35:57.876] it:40 	 Success 	 new_chi2: 2.406326 	 dT = -0.001330, 0.000000, 0.001230
[22:35:57.876] it:41 	 Success 	 new_chi2: 2.405649 	 dT = -0.001320, 0.000000, 0.001222
[22:35:57.876] it:42 	 Success 	 new_chi2: 2.404983 	 dT = -0.001310, 0.000000, 0.001215
[22:35:57.877] it:43 	 Success 	 new_chi2: 2.404330 	 dT = -0.001300, 0.000000, 0.001207
[22:35:57.877] it:44 	 Success 	 new_chi2: 2.403688 	 dT = -0.001290, 0.000000, 0.001200
[22:35:57.877] it:45 	 Success 	 new_chi2: 2.403058 	 dT = -0.001281, 0.000000, 0.001193
[22:35:57.877] it:46 	 Success 	 new_chi2: 2.402439 	 dT = -0.001271, 0.000000, 0.001186
[22:35:57.877] it:47 	 Success 	 new_chi2: 2.401830 	 dT = -0.001262, 0.000000, 0.001179
[22:35:57.877] it:48 	 Success 	 new_chi2: 2.401233 	 dT = -0.001253, 0.000000, 0.001172
[22:35:57.877] it:49 	 Success 	 new_chi2: 2.400646 	 dT = -0.001244, 0.000000, 0.001166
[22:35:57.877] it:50 	 Success 	 new_chi2: 2.400069 	 dT = -0.001236, 0.000000, 0.001159
[22:35:57.877] it:51 	 Success 	 new_chi2: 2.399502 	 dT = -0.001227, 0.000000, 0.001152
[22:35:57.877] it:52 	 Success 	 new_chi2: 2.398945 	 dT = -0.001219, 0.000000, 0.001146
[22:35:57.877] it:53 	 Success 	 new_chi2: 2.398398 	 dT = -0.001210, 0.000000, 0.001140
[22:35:57.877] it:54 	 Success 	 new_chi2: 2.397860 	 dT = -0.001202, 0.000000, 0.001133
[22:35:57.877] it:55 	 Success 	 new_chi2: 2.397331 	 dT = -0.001194, 0.000000, 0.001127
[22:35:57.877] it:56 	 Success 	 new_chi2: 2.396812 	 dT = -0.001186, 0.000000, 0.001121
[22:35:57.877] it:57 	 Success 	 new_chi2: 2.396301 	 dT = -0.001178, 0.000000, 0.001115
[22:35:57.877] it:58 	 Success 	 new_chi2: 2.395799 	 dT = -0.001171, 0.000000, 0.001109
[22:35:57.877] it:59 	 Success 	 new_chi2: 2.395306 	 dT = -0.001163, 0.000000, 0.001104
[22:35:57.877] it:60 	 Success 	 new_chi2: 2.394821 	 dT = -0.001156, 0.000000, 0.001098
[22:35:57.877] it:61 	 Success 	 new_chi2: 2.394344 	 dT = -0.001148, 0.000000, 0.001092
[22:35:57.877] it:62 	 Success 	 new_chi2: 2.393875 	 dT = -0.001141, 0.000000, 0.001087
[22:35:57.877] it:63 	 Success 	 new_chi2: 2.393414 	 dT = -0.001134, 0.000000, 0.001081
[22:35:57.877] it:64 	 Success 	 new_chi2: 2.392961 	 dT = -0.001127, 0.000000, 0.001076
[22:35:57.877] it:65 	 Success 	 new_chi2: 2.392515 	 dT = -0.001120, 0.000000, 0.001070
[22:35:57.877] it:66 	 Success 	 new_chi2: 2.392077 	 dT = -0.001113, 0.000000, 0.001065
[22:35:57.877] it:67 	 Success 	 new_chi2: 2.391646 	 dT = -0.001106, 0.000000, 0.001060
[22:35:57.877] it:68 	 Success 	 new_chi2: 2.391223 	 dT = -0.001100, 0.000000, 0.001055
[22:35:57.877] it:69 	 Success 	 new_chi2: 2.390806 	 dT = -0.001093, 0.000000, 0.001049
[22:35:57.877] n deleted obs = 18 	 scale =0.175979 	 error init =0.136053 	 error end=0.132800
[22:35:57.877] After pose optimization, distance between two frames x:-0.101355 ,z=0.001988,angle between two frames:0.106306 and reprojected points are: 0
[22:35:57.877] Update EKF and 3D points, distance between two frames x:-0.095318 ,z=0.002314,angle between two frames:0.100586
[22:35:57.975] After Reprojection Map nPoint:28 ,nCell:18 ,nMatches:8 ,distance between two frames x:0.037078 ,z=0.001994,angle between two frames:0.031964
[22:35:57.975] Init estimate scale:0.163966
[22:35:57.975] it:0 	 Success 	 new_chi2: 1.791048 	 dT = -0.001898, 0.000000, 0.001163
[22:35:57.975] it:1 	 Success 	 new_chi2: 1.787363 	 dT = -0.001876, 0.000000, 0.001153
[22:35:57.975] it:2 	 Success 	 new_chi2: 1.783765 	 dT = -0.001854, 0.000000, 0.001142
[22:35:57.975] it:3 	 Success 	 new_chi2: 1.780250 	 dT = -0.001832, 0.000000, 0.001132
[22:35:57.975] it:4 	 Success 	 new_chi2: 1.776815 	 dT = -0.001811, 0.000000, 0.001122
[22:35:57.975] it:5 	 Success 	 new_chi2: 1.773458 	 dT = -0.001307, 0.000000, 0.001034
[22:35:57.975] it:6 	 Success 	 new_chi2: 1.772475 	 dT = -0.001295, 0.000000, 0.001027
[22:35:57.975] it:7 	 Success 	 new_chi2: 1.771513 	 dT = -0.001284, 0.000000, 0.001019
[22:35:57.975] it:8 	 Success 	 new_chi2: 1.770573 	 dT = -0.001273, 0.000000, 0.001012
[22:35:57.975] it:9 	 Success 	 new_chi2: 1.769654 	 dT = -0.001263, 0.000000, 0.001005
[22:35:57.975] it:10 	 Success 	 new_chi2: 1.768755 	 dT = -0.001252, 0.000000, 0.000998
[22:35:57.975] it:11 	 Success 	 new_chi2: 1.767876 	 dT = -0.001242, 0.000000, 0.000991
[22:35:57.975] it:12 	 Success 	 new_chi2: 1.767017 	 dT = -0.001231, 0.000000, 0.000984
[22:35:57.975] it:13 	 Success 	 new_chi2: 1.766176 	 dT = -0.001221, 0.000000, 0.000978
[22:35:57.975] it:14 	 Success 	 new_chi2: 1.765354 	 dT = -0.001211, 0.000000, 0.000971
[22:35:57.975] it:15 	 Success 	 new_chi2: 1.764550 	 dT = -0.001202, 0.000000, 0.000964
[22:35:57.975] it:16 	 Success 	 new_chi2: 1.763764 	 dT = -0.001192, 0.000000, 0.000958
[22:35:57.975] it:17 	 Success 	 new_chi2: 1.762994 	 dT = -0.001183, 0.000000, 0.000952
[22:35:57.975] it:18 	 Success 	 new_chi2: 1.762242 	 dT = -0.001173, 0.000000, 0.000945
[22:35:57.975] it:19 	 Success 	 new_chi2: 1.761505 	 dT = -0.001164, 0.000000, 0.000939
[22:35:57.975] it:20 	 Success 	 new_chi2: 1.760785 	 dT = -0.001155, 0.000000, 0.000933
[22:35:57.975] it:21 	 Success 	 new_chi2: 1.760080 	 dT = -0.001147, 0.000000, 0.000927
[22:35:57.975] it:22 	 Success 	 new_chi2: 1.759390 	 dT = -0.001138, 0.000000, 0.000921
[22:35:57.975] it:23 	 Success 	 new_chi2: 1.758715 	 dT = -0.001129, 0.000000, 0.000915
[22:35:57.976] it:24 	 Success 	 new_chi2: 1.758054 	 dT = -0.001121, 0.000000, 0.000910
[22:35:57.976] it:25 	 Success 	 new_chi2: 1.757407 	 dT = -0.001113, 0.000000, 0.000904
[22:35:57.976] it:26 	 Success 	 new_chi2: 1.756775 	 dT = -0.001105, 0.000000, 0.000898
[22:35:57.976] it:27 	 Success 	 new_chi2: 1.756155 	 dT = -0.001097, 0.000000, 0.000893
[22:35:57.976] it:28 	 Success 	 new_chi2: 1.755549 	 dT = -0.001089, 0.000000, 0.000887
[22:35:57.976] it:29 	 Success 	 new_chi2: 1.754956 	 dT = -0.001081, 0.000000, 0.000882
[22:35:57.976] it:30 	 Success 	 new_chi2: 1.754375 	 dT = -0.001073, 0.000000, 0.000877
[22:35:57.976] it:31 	 Success 	 new_chi2: 1.753807 	 dT = -0.001066, 0.000000, 0.000871
[22:35:57.976] it:32 	 Success 	 new_chi2: 1.753250 	 dT = -0.001058, 0.000000, 0.000866
[22:35:57.976] it:33 	 Success 	 new_chi2: 1.752705 	 dT = -0.001051, 0.000000, 0.000861
[22:35:57.976] it:34 	 Success 	 new_chi2: 1.752172 	 dT = -0.001044, 0.000000, 0.000856
[22:35:57.976] it:35 	 Success 	 new_chi2: 1.751650 	 dT = -0.001037, 0.000000, 0.000851
[22:35:57.976] it:36 	 Success 	 new_chi2: 1.751139 	 dT = -0.001030, 0.000000, 0.000846
[22:35:57.976] it:37 	 Success 	 new_chi2: 1.750639 	 dT = -0.001023, 0.000000, 0.000841
[22:35:57.976] it:38 	 Success 	 new_chi2: 1.750149 	 dT = -0.001016, 0.000000, 0.000837
[22:35:57.976] it:39 	 Success 	 new_chi2: 1.749669 	 dT = -0.001009, 0.000000, 0.000832
[22:35:57.976] it:40 	 Success 	 new_chi2: 1.749200 	 dT = -0.001002, 0.000000, 0.000827
[22:35:57.976] it:41 	 Success 	 new_chi2: 1.748740 	 dT = -0.000996, 0.000000, 0.000822
[22:35:57.976] it:42 	 Success 	 new_chi2: 1.748290 	 dT = -0.000989, 0.000000, 0.000818
[22:35:57.976] it:43 	 Success 	 new_chi2: 1.747849 	 dT = -0.000983, 0.000000, 0.000813
[22:35:57.976] it:44 	 Success 	 new_chi2: 1.747418 	 dT = -0.000977, 0.000000, 0.000809
[22:35:57.976] it:45 	 Success 	 new_chi2: 1.746995 	 dT = -0.000971, 0.000000, 0.000804
[22:35:57.976] it:46 	 Success 	 new_chi2: 1.746582 	 dT = -0.000964, 0.000000, 0.000800
[22:35:57.976] it:47 	 Success 	 new_chi2: 1.746177 	 dT = -0.000958, 0.000000, 0.000796
[22:35:57.976] it:48 	 Success 	 new_chi2: 1.745780 	 dT = -0.000952, 0.000000, 0.000791
[22:35:57.976] it:49 	 Success 	 new_chi2: 1.745392 	 dT = -0.000947, 0.000000, 0.000787
[22:35:57.976] it:50 	 Success 	 new_chi2: 1.745012 	 dT = -0.000941, 0.000000, 0.000783
[22:35:57.976] it:51 	 Success 	 new_chi2: 1.744640 	 dT = -0.000935, 0.000000, 0.000779
[22:35:57.976] it:52 	 Success 	 new_chi2: 1.744276 	 dT = -0.000929, 0.000000, 0.000775
[22:35:57.976] it:53 	 Success 	 new_chi2: 1.743919 	 dT = -0.000924, 0.000000, 0.000771
[22:35:57.976] it:54 	 Success 	 new_chi2: 1.743570 	 dT = -0.000918, 0.000000, 0.000767
[22:35:57.976] it:55 	 Success 	 new_chi2: 1.743228 	 dT = -0.000913, 0.000000, 0.000763
[22:35:57.976] it:56 	 Success 	 new_chi2: 1.742893 	 dT = -0.000907, 0.000000, 0.000759
[22:35:57.976] it:57 	 Success 	 new_chi2: 1.742566 	 dT = -0.000902, 0.000000, 0.000755
[22:35:57.976] it:58 	 Success 	 new_chi2: 1.742245 	 dT = -0.000897, 0.000000, 0.000751
[22:35:57.976] it:59 	 Success 	 new_chi2: 1.741931 	 dT = -0.000892, 0.000000, 0.000747
[22:35:57.976] it:60 	 Success 	 new_chi2: 1.741624 	 dT = -0.000886, 0.000000, 0.000744
[22:35:57.976] it:61 	 Success 	 new_chi2: 1.741323 	 dT = -0.000881, 0.000000, 0.000740
[22:35:57.976] it:62 	 Success 	 new_chi2: 1.741028 	 dT = -0.000876, 0.000000, 0.000736
[22:35:57.976] it:63 	 Success 	 new_chi2: 1.740740 	 dT = -0.000871, 0.000000, 0.000733
[22:35:57.976] it:64 	 Success 	 new_chi2: 1.740458 	 dT = -0.000866, 0.000000, 0.000729
[22:35:57.976] it:65 	 Success 	 new_chi2: 1.740182 	 dT = -0.000862, 0.000000, 0.000725
[22:35:57.976] it:66 	 Success 	 new_chi2: 1.739911 	 dT = -0.000857, 0.000000, 0.000722
[22:35:57.976] it:67 	 Success 	 new_chi2: 1.739647 	 dT = -0.000852, 0.000000, 0.000718
[22:35:57.976] it:68 	 Success 	 new_chi2: 1.739388 	 dT = -0.000847, 0.000000, 0.000715
[22:35:57.976] it:69 	 Success 	 new_chi2: 1.739135 	 dT = -0.000843, 0.000000, 0.000711
[22:35:57.976] n deleted obs = 19 	 scale =0.163966 	 error init =0.094266 	 error end=0.091520
[22:35:57.976] After pose optimization, distance between two frames x:-0.039807 ,z=0.001994,angle between two frames:0.029128 and reprojected points are: 0
[22:35:57.976] Update EKF and 3D points, distance between two frames x:-0.034775 ,z=0.002357,angle between two frames:0.026348
[22:35:58.075] After Reprojection Map nPoint:34 ,nCell:23 ,nMatches:10 ,distance between two frames x:0.029775 ,z=0.002149,angle between two frames:0.016875
[22:35:58.075] Init estimate scale:0.163099
[22:35:58.075] it:0 	 Success 	 new_chi2: 0.952797 	 dT = -0.000414, 0.000000, 0.000227
[22:35:58.075] it:1 	 FAILURE 	 new_chi2: 0.953024
[22:35:58.075] n deleted obs = 20 	 scale =0.163099 	 error init =0.047640 	 error end=0.047640
[22:35:58.075] After pose optimization, distance between two frames x:0.029775 ,z=0.002149,angle between two frames:0.016875 and reprojected points are: 0
[22:35:58.075] Update EKF and 3D points, distance between two frames x:0.029847 ,z=0.002496,angle between two frames:0.017198
[22:35:58.182] After Reprojection Map nPoint:36 ,nCell:19 ,nMatches:9 ,distance between two frames x:0.000423 ,z=0.002052,angle between two frames:0.004156
[22:35:58.182] Init estimate scale:0.154980
[22:35:58.182] it:0 	 Success 	 new_chi2: 1.407403 	 dT = -0.000533, 0.000000, 0.000328
[22:35:58.182] it:1 	 Success 	 new_chi2: 1.407231 	 dT = -0.000531, 0.000000, 0.000328
[22:35:58.182] it:2 	 Success 	 new_chi2: 1.407063 	 dT = -0.000530, 0.000000, 0.000327
[22:35:58.182] it:3 	 Success 	 new_chi2: 1.406901 	 dT = -0.000528, 0.000000, 0.000327
[22:35:58.182] it:4 	 Success 	 new_chi2: 1.406743 	 dT = -0.000527, 0.000000, 0.000326
[22:35:58.182] it:5 	 Success 	 new_chi2: 1.406590 	 dT = -0.000421, 0.000000, 0.000224
[22:35:58.182] it:6 	 Success 	 new_chi2: 1.406344 	 dT = -0.000419, 0.000000, 0.000223
[22:35:58.182] it:7 	 Success 	 new_chi2: 1.406101 	 dT = -0.000418, 0.000000, 0.000223
[22:35:58.183] it:8 	 Success 	 new_chi2: 1.405862 	 dT = -0.000416, 0.000000, 0.000222
[22:35:58.183] it:9 	 Success 	 new_chi2: 1.405626 	 dT = -0.000415, 0.000000, 0.000222
[22:35:58.183] it:10 	 Success 	 new_chi2: 1.405394 	 dT = -0.000413, 0.000000, 0.000221
[22:35:58.183] it:11 	 Success 	 new_chi2: 1.405165 	 dT = -0.000411, 0.000000, 0.000220
[22:35:58.183] it:12 	 Success 	 new_chi2: 1.404939 	 dT = -0.000410, 0.000000, 0.000220
[22:35:58.183] it:13 	 Success 	 new_chi2: 1.404717 	 dT = -0.000409, 0.000000, 0.000219
[22:35:58.183] it:14 	 Success 	 new_chi2: 1.404499 	 dT = -0.000407, 0.000000, 0.000218
[22:35:58.183] it:15 	 Success 	 new_chi2: 1.404283 	 dT = -0.000406, 0.000000, 0.000218
[22:35:58.183] it:16 	 Success 	 new_chi2: 1.404071 	 dT = -0.000404, 0.000000, 0.000217
[22:35:58.183] it:17 	 Success 	 new_chi2: 1.403862 	 dT = -0.000403, 0.000000, 0.000216
[22:35:58.183] it:18 	 Success 	 new_chi2: 1.403657 	 dT = -0.000401, 0.000000, 0.000216
[22:35:58.183] it:19 	 Success 	 new_chi2: 1.403454 	 dT = -0.000400, 0.000000, 0.000215
[22:35:58.183] it:20 	 Success 	 new_chi2: 1.403255 	 dT = -0.000398, 0.000000, 0.000215
[22:35:58.183] it:21 	 Success 	 new_chi2: 1.403059 	 dT = -0.000397, 0.000000, 0.000214
[22:35:58.183] it:22 	 Success 	 new_chi2: 1.402866 	 dT = -0.000396, 0.000000, 0.000213
[22:35:58.183] it:23 	 Success 	 new_chi2: 1.402676 	 dT = -0.000394, 0.000000, 0.000213
[22:35:58.183] it:24 	 Success 	 new_chi2: 1.402488 	 dT = -0.000393, 0.000000, 0.000212
[22:35:58.183] it:25 	 Success 	 new_chi2: 1.402304 	 dT = -0.000391, 0.000000, 0.000212
[22:35:58.183] it:26 	 Success 	 new_chi2: 1.402123 	 dT = -0.000390, 0.000000, 0.000211
[22:35:58.183] it:27 	 Success 	 new_chi2: 1.401945 	 dT = -0.000389, 0.000000, 0.000210
[22:35:58.183] it:28 	 Success 	 new_chi2: 1.401770 	 dT = -0.000387, 0.000000, 0.000210
[22:35:58.183] it:29 	 Success 	 new_chi2: 1.401598 	 dT = -0.000386, 0.000000, 0.000209
[22:35:58.183] it:30 	 Success 	 new_chi2: 1.401428 	 dT = -0.000385, 0.000000, 0.000209
[22:35:58.183] it:31 	 Success 	 new_chi2: 1.401261 	 dT = -0.000383, 0.000000, 0.000208
[22:35:58.183] it:32 	 Success 	 new_chi2: 1.401098 	 dT = -0.000382, 0.000000, 0.000207
[22:35:58.183] it:33 	 Success 	 new_chi2: 1.400936 	 dT = -0.000381, 0.000000, 0.000207
[22:35:58.183] it:34 	 Success 	 new_chi2: 1.400778 	 dT = -0.000379, 0.000000, 0.000206
[22:35:58.183] it:35 	 Success 	 new_chi2: 1.400622 	 dT = -0.000378, 0.000000, 0.000206
[22:35:58.183] it:36 	 Success 	 new_chi2: 1.400470 	 dT = -0.000377, 0.000000, 0.000205
[22:35:58.183] it:37 	 Success 	 new_chi2: 1.400319 	 dT = -0.000375, 0.000000, 0.000205
[22:35:58.183] it:38 	 Success 	 new_chi2: 1.400172 	 dT = -0.000374, 0.000000, 0.000204
[22:35:58.183] it:39 	 Success 	 new_chi2: 1.400027 	 dT = -0.000373, 0.000000, 0.000203
[22:35:58.183] it:40 	 Success 	 new_chi2: 1.399884 	 dT = -0.000371, 0.000000, 0.000203
[22:35:58.183] it:41 	 Success 	 new_chi2: 1.399744 	 dT = -0.000370, 0.000000, 0.000202
[22:35:58.183] it:42 	 Success 	 new_chi2: 1.399607 	 dT = -0.000369, 0.000000, 0.000202
[22:35:58.183] it:43 	 Success 	 new_chi2: 1.399472 	 dT = -0.000368, 0.000000, 0.000201
[22:35:58.183] it:44 	 Success 	 new_chi2: 1.399340 	 dT = -0.000366, 0.000000, 0.000201
[22:35:58.183] it:45 	 Success 	 new_chi2: 1.399210 	 dT = -0.000365, 0.000000, 0.000200
[22:35:58.183] it:46 	 Success 	 new_chi2: 1.399083 	 dT = -0.000364, 0.000000, 0.000200
[22:35:58.183] it:47 	 Success 	 new_chi2: 1.398958 	 dT = -0.000363, 0.000000, 0.000199
[22:35:58.183] it:48 	 Success 	 new_chi2: 1.398835 	 dT = -0.000361, 0.000000, 0.000199
[22:35:58.183] it:49 	 Success 	 new_chi2: 1.398715 	 dT = -0.000360, 0.000000, 0.000198
[22:35:58.183] it:50 	 Success 	 new_chi2: 1.398597 	 dT = -0.000359, 0.000000, 0.000198
[22:35:58.183] it:51 	 Success 	 new_chi2: 1.398482 	 dT = -0.000358, 0.000000, 0.000197
[22:35:58.183] it:52 	 Success 	 new_chi2: 1.398369 	 dT = -0.000357, 0.000000, 0.000196
[22:35:58.183] it:53 	 Success 	 new_chi2: 1.398258 	 dT = -0.000355, 0.000000, 0.000196
[22:35:58.183] it:54 	 Success 	 new_chi2: 1.398149 	 dT = -0.000354, 0.000000, 0.000195
[22:35:58.183] it:55 	 Success 	 new_chi2: 1.398043 	 dT = -0.000353, 0.000000, 0.000195
[22:35:58.183] it:56 	 Success 	 new_chi2: 1.397939 	 dT = -0.000352, 0.000000, 0.000194
[22:35:58.183] it:57 	 Success 	 new_chi2: 1.397837 	 dT = -0.000351, 0.000000, 0.000194
[22:35:58.183] it:58 	 Success 	 new_chi2: 1.397737 	 dT = -0.000350, 0.000000, 0.000193
[22:35:58.183] it:59 	 Success 	 new_chi2: 1.397640 	 dT = -0.000348, 0.000000, 0.000193
[22:35:58.183] it:60 	 Success 	 new_chi2: 1.397544 	 dT = -0.000347, 0.000000, 0.000192
[22:35:58.183] it:61 	 Success 	 new_chi2: 1.397451 	 dT = -0.000346, 0.000000, 0.000192
[22:35:58.183] it:62 	 Success 	 new_chi2: 1.397360 	 dT = -0.000345, 0.000000, 0.000191
[22:35:58.183] it:63 	 Success 	 new_chi2: 1.397271 	 dT = -0.000344, 0.000000, 0.000191
[22:35:58.183] it:64 	 Success 	 new_chi2: 1.397184 	 dT = -0.000343, 0.000000, 0.000190
[22:35:58.183] it:65 	 Success 	 new_chi2: 1.397099 	 dT = -0.000342, 0.000000, 0.000190
[22:35:58.183] it:66 	 Success 	 new_chi2: 1.397016 	 dT = -0.000340, 0.000000, 0.000189
[22:35:58.183] it:67 	 Success 	 new_chi2: 1.396935 	 dT = -0.000339, 0.000000, 0.000189
[22:35:58.183] it:68 	 Success 	 new_chi2: 1.396856 	 dT = -0.000338, 0.000000, 0.000188
[22:35:58.183] it:69 	 Success 	 new_chi2: 1.396779 	 dT = -0.000337, 0.000000, 0.000188
[22:35:58.183] n deleted obs = 21 	 scale =0.154980 	 error init =0.067019 	 error end=0.066510
[22:35:58.184] After pose optimization, distance between two frames x:-0.026701 ,z=0.002052,angle between two frames:0.010812 and reprojected points are: 0
[22:35:58.184] Update EKF and 3D points, distance between two frames x:-0.025033 ,z=0.002369,angle between two frames:0.009699
[22:35:58.275] After Reprojection Map nPoint:31 ,nCell:17 ,nMatches:13 ,distance between two frames x:0.010241 ,z=0.001946,angle between two frames:0.006002
[22:35:58.275] Init estimate scale:0.181727
[22:35:58.275] it:0 	 Success 	 new_chi2: 6.311631 	 dT = -0.003114, 0.000000, 0.000005
[22:35:58.275] it:1 	 FAILURE 	 new_chi2: 6.314025
[22:35:58.275] n deleted obs = 25 	 scale =0.181727 	 error init =0.252465 	 error end=0.252465
[22:35:58.275] After pose optimization, distance between two frames x:0.010241 ,z=0.001946,angle between two frames:0.006002 and reprojected points are: 0
[22:35:58.275] Update EKF and 3D points, distance between two frames x:0.010471 ,z=0.003012,angle between two frames:0.004226
[22:35:58.374] After Reprojection Map nPoint:26 ,nCell:15 ,nMatches:11 ,distance between two frames x:0.001068 ,z=0.004789,angle between two frames:0.002059
[22:35:58.374] Init estimate scale:0.152477
[22:35:58.374] it:0 	 Success 	 new_chi2: 1.622736 	 dT = -0.001333, 0.000000, 0.000022
[22:35:58.374] it:1 	 Success 	 new_chi2: 1.614249 	 dT = -0.001309, 0.000000, 0.000019
[22:35:58.374] it:2 	 Success 	 new_chi2: 1.605973 	 dT = -0.001286, 0.000000, 0.000015
[22:35:58.374] it:3 	 Success 	 new_chi2: 1.597903 	 dT = -0.001264, 0.000000, 0.000012
[22:35:58.374] it:4 	 Success 	 new_chi2: 1.590032 	 dT = -0.001241, 0.000000, 0.000008
[22:35:58.374] it:5 	 Success 	 new_chi2: 1.582354 	 dT = -0.000865, 0.000000, 0.000139
[22:35:58.374] it:6 	 Success 	 new_chi2: 1.577889 	 dT = -0.000851, 0.000000, 0.000137
[22:35:58.374] it:7 	 Success 	 new_chi2: 1.573524 	 dT = -0.000838, 0.000000, 0.000135
[22:35:58.374] it:8 	 Success 	 new_chi2: 1.569255 	 dT = -0.000824, 0.000000, 0.000133
[22:35:58.374] it:9 	 Success 	 new_chi2: 1.565080 	 dT = -0.000811, 0.000000, 0.000132
[22:35:58.374] it:10 	 Success 	 new_chi2: 1.560996 	 dT = -0.000798, 0.000000, 0.000130
[22:35:58.374] it:11 	 Success 	 new_chi2: 1.557000 	 dT = -0.000786, 0.000000, 0.000128
[22:35:58.374] it:12 	 Success 	 new_chi2: 1.553090 	 dT = -0.000774, 0.000000, 0.000127
[22:35:58.374] it:13 	 Success 	 new_chi2: 1.549264 	 dT = -0.000762, 0.000000, 0.000125
[22:35:58.374] it:14 	 Success 	 new_chi2: 1.545519 	 dT = -0.000750, 0.000000, 0.000124
[22:35:58.374] it:15 	 Success 	 new_chi2: 1.541854 	 dT = -0.000738, 0.000000, 0.000122
[22:35:58.374] it:16 	 Success 	 new_chi2: 1.538265 	 dT = -0.000727, 0.000000, 0.000121
[22:35:58.374] it:17 	 Success 	 new_chi2: 1.534751 	 dT = -0.000716, 0.000000, 0.000119
[22:35:58.375] it:18 	 Success 	 new_chi2: 1.531311 	 dT = -0.000705, 0.000000, 0.000118
[22:35:58.375] it:19 	 Success 	 new_chi2: 1.527941 	 dT = -0.000695, 0.000000, 0.000117
[22:35:58.375] it:20 	 Success 	 new_chi2: 1.524641 	 dT = -0.000684, 0.000000, 0.000115
[22:35:58.375] it:21 	 Success 	 new_chi2: 1.521408 	 dT = -0.000674, 0.000000, 0.000114
[22:35:58.375] it:22 	 Success 	 new_chi2: 1.518240 	 dT = -0.000664, 0.000000, 0.000113
[22:35:58.375] it:23 	 Success 	 new_chi2: 1.515136 	 dT = -0.000654, 0.000000, 0.000111
[22:35:58.375] it:24 	 Success 	 new_chi2: 1.512095 	 dT = -0.000645, 0.000000, 0.000110
[22:35:58.375] it:25 	 Success 	 new_chi2: 1.509114 	 dT = -0.000635, 0.000000, 0.000109
[22:35:58.375] it:26 	 Success 	 new_chi2: 1.506193 	 dT = -0.000626, 0.000000, 0.000108
[22:35:58.375] it:27 	 Success 	 new_chi2: 1.503329 	 dT = -0.000617, 0.000000, 0.000107
[22:35:58.375] it:28 	 Success 	 new_chi2: 1.500521 	 dT = -0.000608, 0.000000, 0.000105
[22:35:58.375] it:29 	 Success 	 new_chi2: 1.497768 	 dT = -0.000600, 0.000000, 0.000104
[22:35:58.375] it:30 	 Success 	 new_chi2: 1.495069 	 dT = -0.000591, 0.000000, 0.000103
[22:35:58.375] it:31 	 Success 	 new_chi2: 1.492422 	 dT = -0.000583, 0.000000, 0.000102
[22:35:58.375] it:32 	 Success 	 new_chi2: 1.489825 	 dT = -0.000575, 0.000000, 0.000101
[22:35:58.375] it:33 	 Success 	 new_chi2: 1.487278 	 dT = -0.000567, 0.000000, 0.000100
[22:35:58.375] it:34 	 Success 	 new_chi2: 1.484780 	 dT = -0.000559, 0.000000, 0.000099
[22:35:58.375] it:35 	 Success 	 new_chi2: 1.482329 	 dT = -0.000551, 0.000000, 0.000098
[22:35:58.375] it:36 	 Success 	 new_chi2: 1.479923 	 dT = -0.000543, 0.000000, 0.000097
[22:35:58.375] it:37 	 Success 	 new_chi2: 1.477563 	 dT = -0.000536, 0.000000, 0.000096
[22:35:58.375] it:38 	 Success 	 new_chi2: 1.475247 	 dT = -0.000528, 0.000000, 0.000095
[22:35:58.375] it:39 	 Success 	 new_chi2: 1.472974 	 dT = -0.000521, 0.000000, 0.000094
[22:35:58.375] it:40 	 Success 	 new_chi2: 1.470742 	 dT = -0.000514, 0.000000, 0.000093
[22:35:58.375] it:41 	 Success 	 new_chi2: 1.468552 	 dT = -0.000507, 0.000000, 0.000092
[22:35:58.375] it:42 	 Success 	 new_chi2: 1.466401 	 dT = -0.000500, 0.000000, 0.000092
[22:35:58.375] it:43 	 Success 	 new_chi2: 1.464290 	 dT = -0.000494, 0.000000, 0.000091
[22:35:58.375] it:44 	 Success 	 new_chi2: 1.462216 	 dT = -0.000487, 0.000000, 0.000090
[22:35:58.375] it:45 	 Success 	 new_chi2: 1.460180 	 dT = -0.000481, 0.000000, 0.000089
[22:35:58.375] it:46 	 Success 	 new_chi2: 1.458180 	 dT = -0.000474, 0.000000, 0.000088
[22:35:58.375] it:47 	 Success 	 new_chi2: 1.456216 	 dT = -0.000468, 0.000000, 0.000087
[22:35:58.375] it:48 	 Success 	 new_chi2: 1.454287 	 dT = -0.000462, 0.000000, 0.000087
[22:35:58.375] it:49 	 Success 	 new_chi2: 1.452391 	 dT = -0.000456, 0.000000, 0.000086
[22:35:58.375] it:50 	 Success 	 new_chi2: 1.450529 	 dT = -0.000450, 0.000000, 0.000085
[22:35:58.375] it:51 	 Success 	 new_chi2: 1.448699 	 dT = -0.000444, 0.000000, 0.000084
[22:35:58.375] it:52 	 Success 	 new_chi2: 1.446902 	 dT = -0.000438, 0.000000, 0.000084
[22:35:58.375] it:53 	 Success 	 new_chi2: 1.445135 	 dT = -0.000433, 0.000000, 0.000083
[22:35:58.375] it:54 	 Success 	 new_chi2: 1.443398 	 dT = -0.000427, 0.000000, 0.000082
[22:35:58.375] it:55 	 Success 	 new_chi2: 1.441692 	 dT = -0.000422, 0.000000, 0.000081
[22:35:58.375] it:56 	 Success 	 new_chi2: 1.440014 	 dT = -0.000416, 0.000000, 0.000081
[22:35:58.375] it:57 	 Success 	 new_chi2: 1.438365 	 dT = -0.000411, 0.000000, 0.000080
[22:35:58.375] it:58 	 Success 	 new_chi2: 1.436744 	 dT = -0.000406, 0.000000, 0.000079
[22:35:58.375] it:59 	 Success 	 new_chi2: 1.435149 	 dT = -0.000401, 0.000000, 0.000079
[22:35:58.375] it:60 	 Success 	 new_chi2: 1.433582 	 dT = -0.000396, 0.000000, 0.000078
[22:35:58.375] it:61 	 Success 	 new_chi2: 1.432041 	 dT = -0.000391, 0.000000, 0.000077
[22:35:58.375] it:62 	 Success 	 new_chi2: 1.430525 	 dT = -0.000386, 0.000000, 0.000077
[22:35:58.375] it:63 	 Success 	 new_chi2: 1.429034 	 dT = -0.000381, 0.000000, 0.000076
[22:35:58.375] it:64 	 Success 	 new_chi2: 1.427568 	 dT = -0.000376, 0.000000, 0.000075
[22:35:58.375] it:65 	 Success 	 new_chi2: 1.426126 	 dT = -0.000372, 0.000000, 0.000075
[22:35:58.375] it:66 	 Success 	 new_chi2: 1.424707 	 dT = -0.000367, 0.000000, 0.000074
[22:35:58.375] it:67 	 Success 	 new_chi2: 1.423311 	 dT = -0.000363, 0.000000, 0.000074
[22:35:58.375] it:68 	 Success 	 new_chi2: 1.421938 	 dT = -0.000358, 0.000000, 0.000073
[22:35:58.375] it:69 	 Success 	 new_chi2: 1.420586 	 dT = -0.000354, 0.000000, 0.000072
[22:35:58.375] n deleted obs = 23 	 scale =0.152477 	 error init =0.070554 	 error end=0.061707
[22:35:58.375] After pose optimization, distance between two frames x:-0.041801 ,z=0.004789,angle between two frames:0.008591 and reprojected points are: 0
[22:35:58.375] Update EKF and 3D points, distance between two frames x:-0.038966 ,z=0.005135,angle between two frames:0.006339
[22:35:58.475] After Reprojection Map nPoint:32 ,nCell:21 ,nMatches:15 ,distance between two frames x:0.016768 ,z=0.002051,angle between two frames:0.014878
[22:35:58.476] Init estimate scale:0.143275
[22:35:58.476] it:0 	 Success 	 new_chi2: 2.588093 	 dT = -0.000072, 0.000000, 0.000102
[22:35:58.476] it:1 	 FAILURE 	 new_chi2: 2.588760
[22:35:58.476] n deleted obs = 27 	 scale =0.143275 	 error init =0.095855 	 error end=0.095855
[22:35:58.476] After pose optimization, distance between two frames x:0.016768 ,z=0.002051,angle between two frames:0.014878 and reprojected points are: 0
[22:35:58.476] Update EKF and 3D points, distance between two frames x:0.016842 ,z=0.002400,angle between two frames:0.014720
[22:35:58.574] After Reprojection Map nPoint:31 ,nCell:19 ,nMatches:14 ,distance between two frames x:0.000428 ,z=0.002016,angle between two frames:0.001707
[22:35:58.574] Init estimate scale:0.095015
[22:35:58.574] it:0 	 Success 	 new_chi2: 0.559366 	 dT = -0.000017, 0.000000, 0.000012
[22:35:58.575] it:1 	 Success 	 new_chi2: 0.559346 	 dT = -0.000017, 0.000000, 0.000012
[22:35:58.575] it:2 	 Success 	 new_chi2: 0.559325 	 dT = -0.000017, 0.000000, 0.000012
[22:35:58.575] it:3 	 Success 	 new_chi2: 0.559305 	 dT = -0.000017, 0.000000, 0.000012
[22:35:58.575] it:4 	 Success 	 new_chi2: 0.559284 	 dT = -0.000017, 0.000000, 0.000012
[22:35:58.575] it:5 	 Success 	 new_chi2: 0.559264 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:6 	 Success 	 new_chi2: 0.559230 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:7 	 Success 	 new_chi2: 0.559197 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:8 	 Success 	 new_chi2: 0.559164 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:9 	 Success 	 new_chi2: 0.559131 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:10 	 Success 	 new_chi2: 0.559097 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:11 	 Success 	 new_chi2: 0.559064 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:12 	 Success 	 new_chi2: 0.559031 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:13 	 Success 	 new_chi2: 0.558998 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:14 	 Success 	 new_chi2: 0.558964 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:15 	 Success 	 new_chi2: 0.558931 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:16 	 Success 	 new_chi2: 0.558898 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:17 	 Success 	 new_chi2: 0.558865 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:18 	 Success 	 new_chi2: 0.558832 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:19 	 Success 	 new_chi2: 0.558799 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:20 	 Success 	 new_chi2: 0.558765 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:21 	 Success 	 new_chi2: 0.558732 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:22 	 Success 	 new_chi2: 0.558699 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:23 	 Success 	 new_chi2: 0.558666 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:24 	 Success 	 new_chi2: 0.558633 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:25 	 Success 	 new_chi2: 0.558600 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:26 	 Success 	 new_chi2: 0.558567 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:27 	 Success 	 new_chi2: 0.558534 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:28 	 Success 	 new_chi2: 0.558501 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:29 	 Success 	 new_chi2: 0.558468 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:30 	 Success 	 new_chi2: 0.558435 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:31 	 Success 	 new_chi2: 0.558402 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:32 	 Success 	 new_chi2: 0.558369 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:33 	 Success 	 new_chi2: 0.558336 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:34 	 Success 	 new_chi2: 0.558303 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:35 	 Success 	 new_chi2: 0.558270 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:36 	 Success 	 new_chi2: 0.558237 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:37 	 Success 	 new_chi2: 0.558204 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:38 	 Success 	 new_chi2: 0.558172 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:39 	 Success 	 new_chi2: 0.558139 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.575] it:40 	 Success 	 new_chi2: 0.558106 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:41 	 Success 	 new_chi2: 0.558073 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:42 	 Success 	 new_chi2: 0.558040 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:43 	 Success 	 new_chi2: 0.558007 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:44 	 Success 	 new_chi2: 0.557975 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:45 	 Success 	 new_chi2: 0.557942 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:46 	 Success 	 new_chi2: 0.557909 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:47 	 Success 	 new_chi2: 0.557876 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:48 	 Success 	 new_chi2: 0.557843 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:49 	 Success 	 new_chi2: 0.557811 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:50 	 Success 	 new_chi2: 0.557778 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:51 	 Success 	 new_chi2: 0.557745 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:52 	 Success 	 new_chi2: 0.557713 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:53 	 Success 	 new_chi2: 0.557680 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:54 	 Success 	 new_chi2: 0.557647 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:55 	 Success 	 new_chi2: 0.557614 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:56 	 Success 	 new_chi2: 0.557582 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:57 	 Success 	 new_chi2: 0.557549 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:58 	 Success 	 new_chi2: 0.557517 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:59 	 Success 	 new_chi2: 0.557484 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:60 	 Success 	 new_chi2: 0.557451 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:61 	 Success 	 new_chi2: 0.557419 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:62 	 Success 	 new_chi2: 0.557386 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:63 	 Success 	 new_chi2: 0.557354 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:64 	 Success 	 new_chi2: 0.557321 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:65 	 Success 	 new_chi2: 0.557289 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:66 	 Success 	 new_chi2: 0.557256 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:67 	 Success 	 new_chi2: 0.557224 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:68 	 Success 	 new_chi2: 0.557191 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] it:69 	 Success 	 new_chi2: 0.557159 	 dT = -0.000008, 0.000000, 0.000001
[22:35:58.576] n deleted obs = 27 	 scale =0.095015 	 error init =0.020717 	 error end=0.020634
[22:35:58.576] After pose optimization, distance between two frames x:-0.000165 ,z=0.002016,angle between two frames:0.001570 and reprojected points are: 0
[22:35:58.576] Update EKF and 3D points, distance between two frames x:-0.000077 ,z=0.002314,angle between two frames:0.003467
[22:35:58.674] After Reprojection Map nPoint:25 ,nCell:11 ,nMatches:11 ,distance between two frames x:0.000538 ,z=0.001827,angle between two frames:0.022303
[22:35:58.674] Init estimate scale:0.084940
[22:35:58.674] it:0 	 Success 	 new_chi2: 1.384514 	 dT = -0.000194, 0.000000, 0.000124
[22:35:58.674] it:1 	 FAILURE 	 new_chi2: 1.384866
[22:35:58.674] n deleted obs = 21 	 scale =0.084940 	 error init =0.062932 	 error end=0.062932
[22:35:58.674] After pose optimization, distance between two frames x:0.000538 ,z=0.001827,angle between two frames:0.022303 and reprojected points are: 1
[22:35:58.674] Update EKF and 3D points, distance between two frames x:0.000732 ,z=0.002958,angle between two frames:0.025228
[22:35:58.774] After Reprojection Map nPoint:29 ,nCell:17 ,nMatches:10 ,distance between two frames x:0.000819 ,z=0.005102,angle between two frames:0.010170
[22:35:58.774] Init estimate scale:0.076950
[22:35:58.774] it:0 	 Success 	 new_chi2: 3.277613 	 dT = -0.000326, 0.000000, 0.000405
[22:35:58.774] it:1 	 FAILURE 	 new_chi2: 3.281473
[22:35:58.774] n deleted obs = 19 	 scale =0.076950 	 error init =0.172506 	 error end=0.172506
[22:35:58.775] After pose optimization, distance between two frames x:0.000819 ,z=0.005102,angle between two frames:0.010170 and reprojected points are: 0
[22:35:58.775] Update EKF and 3D points, distance between two frames x:0.000877 ,z=0.005442,angle between two frames:0.009935
[22:35:58.875] After Reprojection Map nPoint:33 ,nCell:23 ,nMatches:13 ,distance between two frames x:0.000344 ,z=0.002013,angle between two frames:0.003726
[22:35:58.875] Init estimate scale:0.082308
[22:35:58.875] it:0 	 Success 	 new_chi2: 3.584397 	 dT = -0.000250, 0.000000, 0.000668
[22:35:58.875] it:1 	 FAILURE 	 new_chi2: 3.593541
[22:35:58.875] n deleted obs = 23 	 scale =0.082308 	 error init =0.155843 	 error end=0.155843
[22:35:58.875] After pose optimization, distance between two frames x:0.000344 ,z=0.002013,angle between two frames:0.003726 and reprojected points are: 0
[22:35:58.875] Update EKF and 3D points, distance between two frames x:0.000405 ,z=0.002365,angle between two frames:0.002828
[22:35:58.975] After Reprojection Map nPoint:28 ,nCell:16 ,nMatches:11 ,distance between two frames x:0.000355 ,z=0.002076,angle between two frames:0.011496
[22:35:58.975] Init estimate scale:0.091105
[22:35:58.975] it:0 	 Success 	 new_chi2: 2.484338 	 dT = -0.000262, 0.000000, 0.000333
[22:35:58.975] it:1 	 FAILURE 	 new_chi2: 2.485310
[22:35:58.975] n deleted obs = 23 	 scale =0.091105 	 error init =0.108015 	 error end=0.108015
[22:35:58.975] After pose optimization, distance between two frames x:0.000355 ,z=0.002076,angle between two frames:0.011496 and reprojected points are: 0
[22:35:58.975] Update EKF and 3D points, distance between two frames x:0.000416 ,z=0.002413,angle between two frames:0.011197
[22:35:59.074] After Reprojection Map nPoint:32 ,nCell:17 ,nMatches:10 ,distance between two frames x:0.000365 ,z=0.001997,angle between two frames:0.011176
[22:35:59.074] Init estimate scale:0.075387
[22:35:59.074] it:0 	 Success 	 new_chi2: 0.736506 	 dT = -0.000021, 0.000000, 0.000043
[22:35:59.074] it:1 	 FAILURE 	 new_chi2: 0.736696
[22:35:59.074] n deleted obs = 24 	 scale =0.075387 	 error init =0.030688 	 error end=0.030688
[22:35:59.074] After pose optimization, distance between two frames x:0.000365 ,z=0.001997,angle between two frames:0.011176 and reprojected points are: 0
[22:35:59.074] Update EKF and 3D points, distance between two frames x:0.000552 ,z=0.003122,angle between two frames:0.009713
[22:35:59.174] After Reprojection Map nPoint:39 ,nCell:22 ,nMatches:13 ,distance between two frames x:0.000865 ,z=0.005050,angle between two frames:0.011802
[22:35:59.174] Init estimate scale:0.080129
[22:35:59.174] it:0 	 Success 	 new_chi2: 1.375971 	 dT = -0.000175, 0.000000, 0.000289
[22:35:59.174] it:1 	 FAILURE 	 new_chi2: 1.377580
[22:35:59.174] n deleted obs = 28 	 scale =0.080129 	 error init =0.049142 	 error end=0.049142
[22:35:59.174] After pose optimization, distance between two frames x:0.000865 ,z=0.005050,angle between two frames:0.011802 and reprojected points are: 0
[22:35:59.174] Update EKF and 3D points, distance between two frames x:0.001055 ,z=0.006112,angle between two frames:0.011842
[22:35:59.273] After Reprojection Map nPoint:34 ,nCell:17 ,nMatches:13 ,distance between two frames x:0.000847 ,z=0.004806,angle between two frames:0.000243
[22:35:59.273] Init estimate scale:0.081311
[22:35:59.273] it:0 	 Success 	 new_chi2: 2.380021 	 dT = -0.000189, 0.000000, 0.000560
[22:35:59.273] it:1 	 FAILURE 	 new_chi2: 2.381657
[22:35:59.273] n deleted obs = 29 	 scale =0.081311 	 error init =0.082070 	 error end=0.082070
[22:35:59.273] After pose optimization, distance between two frames x:0.000847 ,z=0.004806,angle between two frames:0.000243 and reprojected points are: 0
[22:35:59.273] Update EKF and 3D points, distance between two frames x:0.000913 ,z=0.005147,angle between two frames:0.001500
[22:35:59.374] After Reprojection Map nPoint:36 ,nCell:21 ,nMatches:13 ,distance between two frames x:0.000390 ,z=0.002012,angle between two frames:0.007002
[22:35:59.374] Init estimate scale:0.080657
[22:35:59.374] it:0 	 Success 	 new_chi2: 0.714252 	 dT = 0.000005, 0.000000, 0.000023
[22:35:59.374] it:1 	 FAILURE 	 new_chi2: 0.714375
[22:35:59.374] n deleted obs = 28 	 scale =0.080657 	 error init =0.025509 	 error end=0.025509
[22:35:59.374] After pose optimization, distance between two frames x:0.000390 ,z=0.002012,angle between two frames:0.007002 and reprojected points are: 0
[22:35:59.374] Update EKF and 3D points, distance between two frames x:0.000453 ,z=0.002358,angle between two frames:0.006598
[22:35:59.476] After Reprojection Map nPoint:38 ,nCell:24 ,nMatches:16 ,distance between two frames x:0.000372 ,z=0.002045,angle between two frames:0.002663
[22:35:59.476] Init estimate scale:0.083525
[22:35:59.476] it:0 	 Success 	 new_chi2: 4.560978 	 dT = -0.000131, 0.000000, 0.000364
[22:35:59.476] it:1 	 FAILURE 	 new_chi2: 4.564515
[22:35:59.476] n deleted obs = 31 	 scale =0.083525 	 error init =0.147128 	 error end=0.147128
[22:35:59.476] After pose optimization, distance between two frames x:0.000372 ,z=0.002045,angle between two frames:0.002663 and reprojected points are: 0
[22:35:59.476] Update EKF and 3D points, distance between two frames x:0.000435 ,z=0.002408,angle between two frames:0.002939
[22:35:59.575] After Reprojection Map nPoint:39 ,nCell:25 ,nMatches:16 ,distance between two frames x:0.000376 ,z=0.002152,angle between two frames:0.000042
[22:35:59.575] Init estimate scale:0.096019
[22:35:59.575] it:0 	 Success 	 new_chi2: 1.869234 	 dT = -0.000361, 0.000000, 0.000281
[22:35:59.576] it:1 	 Success 	 new_chi2: 1.869058 	 dT = -0.000359, 0.000000, 0.000280
[22:35:59.576] it:2 	 Success 	 new_chi2: 1.868884 	 dT = -0.000358, 0.000000, 0.000279
[22:35:59.576] it:3 	 Success 	 new_chi2: 1.868711 	 dT = -0.000357, 0.000000, 0.000278
[22:35:59.576] it:4 	 Success 	 new_chi2: 1.868539 	 dT = -0.000355, 0.000000, 0.000278
[22:35:59.576] it:5 	 Success 	 new_chi2: 1.868369 	 dT = 0.000001, 0.000000, 0.000051
[22:35:59.576] it:6 	 FAILURE 	 new_chi2: 1.868557
[22:35:59.576] n deleted obs = 33 	 scale =0.096019 	 error init =0.056643 	 error end=0.056617
[22:35:59.576] After pose optimization, distance between two frames x:-0.001414 ,z=0.002152,angle between two frames:0.001439 and reprojected points are: 0
[22:35:59.576] Update EKF and 3D points, distance between two frames x:-0.001231 ,z=0.002499,angle between two frames:0.002070
[22:35:59.676] After Reprojection Map nPoint:40 ,nCell:20 ,nMatches:16 ,distance between two frames x:0.001089 ,z=0.002052,angle between two frames:0.003441
[22:35:59.676] Init estimate scale:0.094134
[22:35:59.676] it:0 	 Success 	 new_chi2: 1.461087 	 dT = -0.000203, 0.000000, 0.000258
[22:35:59.676] it:1 	 FAILURE 	 new_chi2: 1.461681
[22:35:59.676] n deleted obs = 32 	 scale =0.094134 	 error init =0.044275 	 error end=0.044275
[22:35:59.676] After pose optimization, distance between two frames x:0.001089 ,z=0.002052,angle between two frames:0.003441 and reprojected points are: 1
[22:35:59.676] Update EKF and 3D points, distance between two frames x:0.001150 ,z=0.002384,angle between two frames:0.003196
[22:35:59.774] After Reprojection Map nPoint:32 ,nCell:22 ,nMatches:14 ,distance between two frames x:0.000360 ,z=0.001959,angle between two frames:0.000905
[22:35:59.774] Init estimate scale:0.110208
[22:35:59.774] it:0 	 Success 	 new_chi2: 2.040539 	 dT = -0.000633, 0.000000, 0.000103
[22:35:59.774] it:1 	 Success 	 new_chi2: 2.039464 	 dT = -0.000627, 0.000000, 0.000101
[22:35:59.774] it:2 	 Success 	 new_chi2: 2.038414 	 dT = -0.000621, 0.000000, 0.000100
[22:35:59.775] it:3 	 Success 	 new_chi2: 2.037388 	 dT = -0.000615, 0.000000, 0.000099
[22:35:59.775] it:4 	 Success 	 new_chi2: 2.036385 	 dT = -0.000610, 0.000000, 0.000098
[22:35:59.775] it:5 	 Success 	 new_chi2: 2.035405 	 dT = -0.000078, 0.000000, -0.000025
[22:35:59.775] it:6 	 Success 	 new_chi2: 2.035156 	 dT = -0.000078, 0.000000, -0.000025
[22:35:59.775] it:7 	 Success 	 new_chi2: 2.034907 	 dT = -0.000078, 0.000000, -0.000025
[22:35:59.775] it:8 	 Success 	 new_chi2: 2.034657 	 dT = -0.000078, 0.000000, -0.000026
[22:35:59.775] it:9 	 Success 	 new_chi2: 2.034408 	 dT = -0.000077, 0.000000, -0.000026
[22:35:59.775] it:10 	 Success 	 new_chi2: 2.034159 	 dT = -0.000077, 0.000000, -0.000026
[22:35:59.775] it:11 	 Success 	 new_chi2: 2.033909 	 dT = -0.000077, 0.000000, -0.000027
[22:35:59.775] it:12 	 Success 	 new_chi2: 2.033660 	 dT = -0.000077, 0.000000, -0.000027
[22:35:59.775] it:13 	 Success 	 new_chi2: 2.033410 	 dT = -0.000077, 0.000000, -0.000027
[22:35:59.775] it:14 	 Success 	 new_chi2: 2.033161 	 dT = -0.000076, 0.000000, -0.000028
[22:35:59.775] it:15 	 Success 	 new_chi2: 2.032911 	 dT = -0.000076, 0.000000, -0.000028
[22:35:59.775] it:16 	 Success 	 new_chi2: 2.032661 	 dT = -0.000076, 0.000000, -0.000028
[22:35:59.775] it:17 	 Success 	 new_chi2: 2.032412 	 dT = -0.000076, 0.000000, -0.000028
[22:35:59.775] it:18 	 Success 	 new_chi2: 2.032162 	 dT = -0.000075, 0.000000, -0.000029
[22:35:59.775] it:19 	 Success 	 new_chi2: 2.031913 	 dT = -0.000075, 0.000000, -0.000029
[22:35:59.775] it:20 	 Success 	 new_chi2: 2.031663 	 dT = -0.000075, 0.000000, -0.000029
[22:35:59.775] it:21 	 Success 	 new_chi2: 2.031414 	 dT = -0.000075, 0.000000, -0.000030
[22:35:59.775] it:22 	 Success 	 new_chi2: 2.031165 	 dT = -0.000074, 0.000000, -0.000030
[22:35:59.775] it:23 	 Success 	 new_chi2: 2.030916 	 dT = -0.000074, 0.000000, -0.000030
[22:35:59.775] it:24 	 Success 	 new_chi2: 2.030667 	 dT = -0.000074, 0.000000, -0.000031
[22:35:59.775] it:25 	 Success 	 new_chi2: 2.030418 	 dT = -0.000074, 0.000000, -0.000031
[22:35:59.775] it:26 	 Success 	 new_chi2: 2.030169 	 dT = -0.000073, 0.000000, -0.000031
[22:35:59.775] it:27 	 Success 	 new_chi2: 2.029921 	 dT = -0.000073, 0.000000, -0.000031
[22:35:59.775] it:28 	 Success 	 new_chi2: 2.029672 	 dT = -0.000073, 0.000000, -0.000032
[22:35:59.775] it:29 	 Success 	 new_chi2: 2.029424 	 dT = -0.000073, 0.000000, -0.000032
[22:35:59.775] it:30 	 Success 	 new_chi2: 2.029176 	 dT = -0.000072, 0.000000, -0.000032
[22:35:59.775] it:31 	 Success 	 new_chi2: 2.028928 	 dT = -0.000072, 0.000000, -0.000033
[22:35:59.775] it:32 	 Success 	 new_chi2: 2.028680 	 dT = -0.000072, 0.000000, -0.000033
[22:35:59.775] it:33 	 Success 	 new_chi2: 2.028433 	 dT = -0.000071, 0.000000, -0.000033
[22:35:59.775] it:34 	 Success 	 new_chi2: 2.028186 	 dT = -0.000071, 0.000000, -0.000033
[22:35:59.775] it:35 	 Success 	 new_chi2: 2.027939 	 dT = -0.000071, 0.000000, -0.000034
[22:35:59.775] it:36 	 Success 	 new_chi2: 2.027692 	 dT = -0.000070, 0.000000, -0.000034
[22:35:59.775] it:37 	 Success 	 new_chi2: 2.027446 	 dT = -0.000070, 0.000000, -0.000034
[22:35:59.775] it:38 	 Success 	 new_chi2: 2.027200 	 dT = -0.000070, 0.000000, -0.000034
[22:35:59.775] it:39 	 Success 	 new_chi2: 2.026954 	 dT = -0.000070, 0.000000, -0.000035
[22:35:59.775] it:40 	 Success 	 new_chi2: 2.026708 	 dT = -0.000069, 0.000000, -0.000035
[22:35:59.775] it:41 	 Success 	 new_chi2: 2.026463 	 dT = -0.000069, 0.000000, -0.000035
[22:35:59.775] it:42 	 Success 	 new_chi2: 2.026218 	 dT = -0.000069, 0.000000, -0.000036
[22:35:59.775] it:43 	 Success 	 new_chi2: 2.025974 	 dT = -0.000068, 0.000000, -0.000036
[22:35:59.775] it:44 	 Success 	 new_chi2: 2.025729 	 dT = -0.000068, 0.000000, -0.000036
[22:35:59.775] it:45 	 Success 	 new_chi2: 2.025485 	 dT = -0.000068, 0.000000, -0.000036
[22:35:59.775] it:46 	 Success 	 new_chi2: 2.025242 	 dT = -0.000067, 0.000000, -0.000037
[22:35:59.775] it:47 	 Success 	 new_chi2: 2.024999 	 dT = -0.000067, 0.000000, -0.000037
[22:35:59.775] it:48 	 Success 	 new_chi2: 2.024756 	 dT = -0.000067, 0.000000, -0.000037
[22:35:59.775] it:49 	 Success 	 new_chi2: 2.024513 	 dT = -0.000066, 0.000000, -0.000037
[22:35:59.776] it:50 	 Success 	 new_chi2: 2.024271 	 dT = -0.000066, 0.000000, -0.000038
[22:35:59.776] it:51 	 Success 	 new_chi2: 2.024030 	 dT = -0.000066, 0.000000, -0.000038
[22:35:59.776] it:52 	 Success 	 new_chi2: 2.023788 	 dT = -0.000065, 0.000000, -0.000038
[22:35:59.776] it:53 	 Success 	 new_chi2: 2.023548 	 dT = -0.000065, 0.000000, -0.000038
[22:35:59.776] it:54 	 Success 	 new_chi2: 2.023307 	 dT = -0.000065, 0.000000, -0.000039
[22:35:59.776] it:55 	 Success 	 new_chi2: 2.023067 	 dT = -0.000064, 0.000000, -0.000039
[22:35:59.776] it:56 	 Success 	 new_chi2: 2.022828 	 dT = -0.000064, 0.000000, -0.000039
[22:35:59.776] it:57 	 Success 	 new_chi2: 2.022589 	 dT = -0.000064, 0.000000, -0.000039
[22:35:59.776] it:58 	 Success 	 new_chi2: 2.022350 	 dT = -0.000063, 0.000000, -0.000040
[22:35:59.776] it:59 	 Success 	 new_chi2: 2.022112 	 dT = -0.000063, 0.000000, -0.000040
[22:35:59.776] it:60 	 Success 	 new_chi2: 2.021874 	 dT = -0.000062, 0.000000, -0.000040
[22:35:59.776] it:61 	 Success 	 new_chi2: 2.021637 	 dT = -0.000062, 0.000000, -0.000040
[22:35:59.776] it:62 	 Success 	 new_chi2: 2.021400 	 dT = -0.000062, 0.000000, -0.000041
[22:35:59.776] it:63 	 Success 	 new_chi2: 2.021164 	 dT = -0.000061, 0.000000, -0.000041
[22:35:59.776] it:64 	 Success 	 new_chi2: 2.020928 	 dT = -0.000061, 0.000000, -0.000041
[22:35:59.776] it:65 	 Success 	 new_chi2: 2.020693 	 dT = -0.000061, 0.000000, -0.000041
[22:35:59.776] it:66 	 Success 	 new_chi2: 2.020458 	 dT = -0.000060, 0.000000, -0.000041
[22:35:59.776] it:67 	 Success 	 new_chi2: 2.020223 	 dT = -0.000060, 0.000000, -0.000042
[22:35:59.776] it:68 	 Success 	 new_chi2: 2.019990 	 dT = -0.000060, 0.000000, -0.000042
[22:35:59.776] it:69 	 Success 	 new_chi2: 2.019756 	 dT = -0.000059, 0.000000, -0.000042
[22:35:59.776] n deleted obs = 28 	 scale =0.110208 	 error init =0.072876 	 error end=0.072126
[22:35:59.776] After pose optimization, distance between two frames x:-0.007275 ,z=0.001959,angle between two frames:0.000799 and reprojected points are: 0
[22:35:59.776] Update EKF and 3D points, distance between two frames x:-0.006711 ,z=0.002297,angle between two frames:0.000902
[22:35:59.875] After Reprojection Map nPoint:38 ,nCell:22 ,nMatches:14 ,distance between two frames x:0.003339 ,z=0.001989,angle between two frames:0.008934
[22:35:59.875] Init estimate scale:0.103443
[22:35:59.875] it:0 	 Success 	 new_chi2: 3.269049 	 dT = -0.001035, 0.000000, -0.000288
[22:35:59.875] it:1 	 Success 	 new_chi2: 3.268199 	 dT = -0.000993, 0.000000, -0.000291
[22:35:59.875] it:2 	 Success 	 new_chi2: 3.267364 	 dT = -0.000953, 0.000000, -0.000295
[22:35:59.875] it:3 	 Success 	 new_chi2: 3.266538 	 dT = -0.000914, 0.000000, -0.000298
[22:35:59.875] it:4 	 Success 	 new_chi2: 3.265715 	 dT = -0.000874, 0.000000, -0.000300
[22:35:59.875] it:5 	 Success 	 new_chi2: 3.264892 	 dT = -0.000169, 0.000000, -0.000505
[22:35:59.875] it:6 	 Success 	 new_chi2: 3.261428 	 dT = -0.000157, 0.000000, -0.000507
[22:35:59.875] it:7 	 Success 	 new_chi2: 3.257959 	 dT = -0.000145, 0.000000, -0.000508
[22:35:59.875] it:8 	 Success 	 new_chi2: 3.254489 	 dT = -0.000132, 0.000000, -0.000509
[22:35:59.876] it:9 	 Success 	 new_chi2: 3.251018 	 dT = -0.000120, 0.000000, -0.000509
[22:35:59.876] it:10 	 Success 	 new_chi2: 3.247546 	 dT = -0.000107, 0.000000, -0.000510
[22:35:59.876] it:11 	 Success 	 new_chi2: 3.244073 	 dT = -0.000093, 0.000000, -0.000510
[22:35:59.876] it:12 	 Success 	 new_chi2: 3.240597 	 dT = -0.000080, 0.000000, -0.000511
[22:35:59.876] it:13 	 Success 	 new_chi2: 3.237116 	 dT = -0.000067, 0.000000, -0.000512
[22:35:59.876] it:14 	 Success 	 new_chi2: 3.233627 	 dT = -0.000055, 0.000000, -0.000513
[22:35:59.876] it:15 	 Success 	 new_chi2: 3.230126 	 dT = -0.000042, 0.000000, -0.000515
[22:35:59.876] it:16 	 Success 	 new_chi2: 3.226610 	 dT = -0.000030, 0.000000, -0.000518
[22:35:59.876] it:17 	 Success 	 new_chi2: 3.223073 	 dT = -0.000018, 0.000000, -0.000521
[22:35:59.876] it:18 	 Success 	 new_chi2: 3.219513 	 dT = -0.000006, 0.000000, -0.000524
[22:35:59.876] it:19 	 Success 	 new_chi2: 3.215925 	 dT = 0.000005, 0.000000, -0.000529
[22:35:59.876] it:20 	 Success 	 new_chi2: 3.212306 	 dT = 0.000015, 0.000000, -0.000533
[22:35:59.876] it:21 	 Success 	 new_chi2: 3.208652 	 dT = 0.000026, 0.000000, -0.000538
[22:35:59.876] it:22 	 Success 	 new_chi2: 3.204962 	 dT = 0.000036, 0.000000, -0.000544
[22:35:59.876] it:23 	 Success 	 new_chi2: 3.201232 	 dT = 0.000046, 0.000000, -0.000550
[22:35:59.876] it:24 	 Success 	 new_chi2: 3.197462 	 dT = 0.000055, 0.000000, -0.000556
[22:35:59.876] it:25 	 Success 	 new_chi2: 3.193651 	 dT = 0.000065, 0.000000, -0.000562
[22:35:59.876] it:26 	 Success 	 new_chi2: 3.189798 	 dT = 0.000074, 0.000000, -0.000568
[22:35:59.876] it:27 	 Success 	 new_chi2: 3.185903 	 dT = 0.000083, 0.000000, -0.000575
[22:35:59.876] it:28 	 Success 	 new_chi2: 3.181967 	 dT = 0.000092, 0.000000, -0.000581
[22:35:59.876] it:29 	 Success 	 new_chi2: 3.177989 	 dT = 0.000101, 0.000000, -0.000587
[22:35:59.876] it:30 	 Success 	 new_chi2: 3.173970 	 dT = 0.000110, 0.000000, -0.000593
[22:35:59.876] it:31 	 Success 	 new_chi2: 3.169911 	 dT = 0.000119, 0.000000, -0.000599
[22:35:59.876] it:32 	 Success 	 new_chi2: 3.165812 	 dT = 0.000128, 0.000000, -0.000605
[22:35:59.876] it:33 	 Success 	 new_chi2: 3.161675 	 dT = 0.000137, 0.000000, -0.000611
[22:35:59.876] it:34 	 Success 	 new_chi2: 3.157500 	 dT = 0.000145, 0.000000, -0.000617
[22:35:59.876] it:35 	 Success 	 new_chi2: 3.153289 	 dT = 0.000154, 0.000000, -0.000622
[22:35:59.876] it:36 	 Success 	 new_chi2: 3.149042 	 dT = 0.000163, 0.000000, -0.000628
[22:35:59.876] it:37 	 Success 	 new_chi2: 3.144759 	 dT = 0.000172, 0.000000, -0.000633
[22:35:59.876] it:38 	 Success 	 new_chi2: 3.140443 	 dT = 0.000181, 0.000000, -0.000638
[22:35:59.876] it:39 	 Success 	 new_chi2: 3.136093 	 dT = 0.000189, 0.000000, -0.000643
[22:35:59.876] it:40 	 Success 	 new_chi2: 3.131711 	 dT = 0.000198, 0.000000, -0.000648
[22:35:59.876] it:41 	 Success 	 new_chi2: 3.127298 	 dT = 0.000207, 0.000000, -0.000653
[22:35:59.876] it:42 	 Success 	 new_chi2: 3.122853 	 dT = 0.000216, 0.000000, -0.000657
[22:35:59.876] it:43 	 Success 	 new_chi2: 3.118378 	 dT = 0.000225, 0.000000, -0.000662
[22:35:59.876] it:44 	 Success 	 new_chi2: 3.113874 	 dT = 0.000234, 0.000000, -0.000666
[22:35:59.876] it:45 	 Success 	 new_chi2: 3.109341 	 dT = 0.000243, 0.000000, -0.000670
[22:35:59.876] it:46 	 Success 	 new_chi2: 3.104780 	 dT = 0.000252, 0.000000, -0.000674
[22:35:59.876] it:47 	 Success 	 new_chi2: 3.100192 	 dT = 0.000260, 0.000000, -0.000678
[22:35:59.876] it:48 	 Success 	 new_chi2: 3.095576 	 dT = 0.000269, 0.000000, -0.000682
[22:35:59.876] it:49 	 Success 	 new_chi2: 3.090934 	 dT = 0.000278, 0.000000, -0.000686
[22:35:59.876] it:50 	 Success 	 new_chi2: 3.086267 	 dT = 0.000287, 0.000000, -0.000690
[22:35:59.876] it:51 	 Success 	 new_chi2: 3.081574 	 dT = 0.000296, 0.000000, -0.000693
[22:35:59.876] it:52 	 Success 	 new_chi2: 3.076856 	 dT = 0.000305, 0.000000, -0.000697
[22:35:59.876] it:53 	 Success 	 new_chi2: 3.072113 	 dT = 0.000313, 0.000000, -0.000700
[22:35:59.876] it:54 	 Success 	 new_chi2: 3.067347 	 dT = 0.000322, 0.000000, -0.000704
[22:35:59.876] it:55 	 Success 	 new_chi2: 3.062558 	 dT = 0.000331, 0.000000, -0.000707
[22:35:59.876] it:56 	 Success 	 new_chi2: 3.057745 	 dT = 0.000339, 0.000000, -0.000710
[22:35:59.877] it:57 	 Success 	 new_chi2: 3.052910 	 dT = 0.000348, 0.000000, -0.000713
[22:35:59.877] it:58 	 Success 	 new_chi2: 3.048053 	 dT = 0.000356, 0.000000, -0.000716
[22:35:59.877] it:59 	 Success 	 new_chi2: 3.043174 	 dT = 0.000365, 0.000000, -0.000719
[22:35:59.877] it:60 	 Success 	 new_chi2: 3.038274 	 dT = 0.000373, 0.000000, -0.000722
[22:35:59.877] it:61 	 Success 	 new_chi2: 3.033353 	 dT = 0.000382, 0.000000, -0.000725
[22:35:59.877] it:62 	 Success 	 new_chi2: 3.028411 	 dT = 0.000390, 0.000000, -0.000728
[22:35:59.877] it:63 	 Success 	 new_chi2: 3.023449 	 dT = 0.000399, 0.000000, -0.000730
[22:35:59.877] it:64 	 Success 	 new_chi2: 3.018467 	 dT = 0.000407, 0.000000, -0.000733
[22:35:59.877] it:65 	 Success 	 new_chi2: 3.013466 	 dT = 0.000415, 0.000000, -0.000736
[22:35:59.877] it:66 	 Success 	 new_chi2: 3.008446 	 dT = 0.000423, 0.000000, -0.000738
[22:35:59.877] it:67 	 Success 	 new_chi2: 3.003407 	 dT = 0.000431, 0.000000, -0.000741
[22:35:59.877] it:68 	 Success 	 new_chi2: 2.998349 	 dT = 0.000439, 0.000000, -0.000743
[22:35:59.877] it:69 	 Success 	 new_chi2: 2.993274 	 dT = 0.000447, 0.000000, -0.000746
[22:35:59.877] n deleted obs = 30 	 scale =0.103443 	 error init =0.108968 	 error end=0.099606
[22:35:59.877] After pose optimization, distance between two frames x:0.009195 ,z=0.001989,angle between two frames:0.033089 and reprojected points are: 0
[22:35:59.877] Update EKF and 3D points, distance between two frames x:0.008880 ,z=0.002355,angle between two frames:0.031605
[22:35:59.975] After Reprojection Map nPoint:44 ,nCell:30 ,nMatches:15 ,distance between two frames x:-0.001858 ,z=0.002161,angle between two frames:0.007697
[22:35:59.975] Init estimate scale:0.090327
[22:35:59.975] it:0 	 Success 	 new_chi2: 2.814212 	 dT = -0.000135, 0.000000, -0.000361
[22:35:59.976] it:1 	 Success 	 new_chi2: 2.812042 	 dT = -0.000120, 0.000000, -0.000363
[22:35:59.976] it:2 	 Success 	 new_chi2: 2.809847 	 dT = -0.000105, 0.000000, -0.000364
[22:35:59.976] it:3 	 Success 	 new_chi2: 2.807627 	 dT = -0.000090, 0.000000, -0.000366
[22:35:59.976] it:4 	 Success 	 new_chi2: 2.805382 	 dT = -0.000076, 0.000000, -0.000368
[22:35:59.976] it:5 	 Success 	 new_chi2: 2.803111 	 dT = 0.000323, 0.000000, -0.000460
[22:35:59.976] it:6 	 Success 	 new_chi2: 2.799430 	 dT = 0.000326, 0.000000, -0.000461
[22:35:59.976] it:7 	 Success 	 new_chi2: 2.795739 	 dT = 0.000330, 0.000000, -0.000462
[22:35:59.976] it:8 	 Success 	 new_chi2: 2.792038 	 dT = 0.000333, 0.000000, -0.000464
[22:35:59.976] it:9 	 Success 	 new_chi2: 2.788328 	 dT = 0.000337, 0.000000, -0.000465
[22:35:59.976] it:10 	 Success 	 new_chi2: 2.784608 	 dT = 0.000340, 0.000000, -0.000467
[22:35:59.976] it:11 	 Success 	 new_chi2: 2.780879 	 dT = 0.000344, 0.000000, -0.000468
[22:35:59.976] it:12 	 Success 	 new_chi2: 2.777141 	 dT = 0.000347, 0.000000, -0.000469
[22:35:59.976] it:13 	 Success 	 new_chi2: 2.773395 	 dT = 0.000350, 0.000000, -0.000471
[22:35:59.976] it:14 	 Success 	 new_chi2: 2.769639 	 dT = 0.000354, 0.000000, -0.000472
[22:35:59.976] it:15 	 Success 	 new_chi2: 2.765876 	 dT = 0.000357, 0.000000, -0.000473
[22:35:59.976] it:16 	 Success 	 new_chi2: 2.762104 	 dT = 0.000360, 0.000000, -0.000474
[22:35:59.976] it:17 	 Success 	 new_chi2: 2.758324 	 dT = 0.000364, 0.000000, -0.000476
[22:35:59.976] it:18 	 Success 	 new_chi2: 2.754536 	 dT = 0.000367, 0.000000, -0.000477
[22:35:59.976] it:19 	 Success 	 new_chi2: 2.750741 	 dT = 0.000370, 0.000000, -0.000478
[22:35:59.976] it:20 	 Success 	 new_chi2: 2.746938 	 dT = 0.000373, 0.000000, -0.000479
[22:35:59.976] it:21 	 Success 	 new_chi2: 2.743128 	 dT = 0.000376, 0.000000, -0.000480
[22:35:59.976] it:22 	 Success 	 new_chi2: 2.739311 	 dT = 0.000379, 0.000000, -0.000482
[22:35:59.976] it:23 	 Success 	 new_chi2: 2.735486 	 dT = 0.000383, 0.000000, -0.000483
[22:35:59.976] it:24 	 Success 	 new_chi2: 2.731656 	 dT = 0.000386, 0.000000, -0.000484
[22:35:59.976] it:25 	 Success 	 new_chi2: 2.727818 	 dT = 0.000389, 0.000000, -0.000485
[22:35:59.976] it:26 	 Success 	 new_chi2: 2.723974 	 dT = 0.000392, 0.000000, -0.000486
[22:35:59.976] it:27 	 Success 	 new_chi2: 2.720124 	 dT = 0.000395, 0.000000, -0.000487
[22:35:59.976] it:28 	 Success 	 new_chi2: 2.716268 	 dT = 0.000398, 0.000000, -0.000488
[22:35:59.976] it:29 	 Success 	 new_chi2: 2.712407 	 dT = 0.000401, 0.000000, -0.000489
[22:35:59.976] it:30 	 Success 	 new_chi2: 2.708539 	 dT = 0.000404, 0.000000, -0.000490
[22:35:59.976] it:31 	 Success 	 new_chi2: 2.704666 	 dT = 0.000407, 0.000000, -0.000491
[22:35:59.976] it:32 	 Success 	 new_chi2: 2.700788 	 dT = 0.000410, 0.000000, -0.000492
[22:35:59.976] it:33 	 Success 	 new_chi2: 2.696904 	 dT = 0.000412, 0.000000, -0.000493
[22:35:59.976] it:34 	 Success 	 new_chi2: 2.693016 	 dT = 0.000415, 0.000000, -0.000494
[22:35:59.976] it:35 	 Success 	 new_chi2: 2.689122 	 dT = 0.000418, 0.000000, -0.000495
[22:35:59.976] it:36 	 Success 	 new_chi2: 2.685224 	 dT = 0.000421, 0.000000, -0.000496
[22:35:59.976] it:37 	 Success 	 new_chi2: 2.681321 	 dT = 0.000424, 0.000000, -0.000497
[22:35:59.976] it:38 	 Success 	 new_chi2: 2.677414 	 dT = 0.000426, 0.000000, -0.000498
[22:35:59.976] it:39 	 Success 	 new_chi2: 2.673503 	 dT = 0.000429, 0.000000, -0.000499
[22:35:59.976] it:40 	 Success 	 new_chi2: 2.669588 	 dT = 0.000432, 0.000000, -0.000500
[22:35:59.976] it:41 	 Success 	 new_chi2: 2.665669 	 dT = 0.000434, 0.000000, -0.000501
[22:35:59.976] it:42 	 Success 	 new_chi2: 2.661746 	 dT = 0.000437, 0.000000, -0.000502
[22:35:59.976] it:43 	 Success 	 new_chi2: 2.657819 	 dT = 0.000440, 0.000000, -0.000503
[22:35:59.976] it:44 	 Success 	 new_chi2: 2.653889 	 dT = 0.000442, 0.000000, -0.000503
[22:35:59.976] it:45 	 Success 	 new_chi2: 2.649956 	 dT = 0.000445, 0.000000, -0.000504
[22:35:59.976] it:46 	 Success 	 new_chi2: 2.646019 	 dT = 0.000447, 0.000000, -0.000505
[22:35:59.977] it:47 	 Success 	 new_chi2: 2.642080 	 dT = 0.000450, 0.000000, -0.000506
[22:35:59.977] it:48 	 Success 	 new_chi2: 2.638137 	 dT = 0.000453, 0.000000, -0.000507
[22:35:59.977] it:49 	 Success 	 new_chi2: 2.634192 	 dT = 0.000455, 0.000000, -0.000507
[22:35:59.977] it:50 	 Success 	 new_chi2: 2.630245 	 dT = 0.000458, 0.000000, -0.000508
[22:35:59.977] it:51 	 Success 	 new_chi2: 2.626295 	 dT = 0.000460, 0.000000, -0.000509
[22:35:59.977] it:52 	 Success 	 new_chi2: 2.622342 	 dT = 0.000462, 0.000000, -0.000510
[22:35:59.977] it:53 	 Success 	 new_chi2: 2.618388 	 dT = 0.000465, 0.000000, -0.000511
[22:35:59.977] it:54 	 Success 	 new_chi2: 2.614431 	 dT = 0.000467, 0.000000, -0.000511
[22:35:59.977] it:55 	 Success 	 new_chi2: 2.610473 	 dT = 0.000470, 0.000000, -0.000512
[22:35:59.977] it:56 	 Success 	 new_chi2: 2.606513 	 dT = 0.000472, 0.000000, -0.000513
[22:35:59.977] it:57 	 Success 	 new_chi2: 2.602551 	 dT = 0.000474, 0.000000, -0.000513
[22:35:59.977] it:58 	 Success 	 new_chi2: 2.598588 	 dT = 0.000477, 0.000000, -0.000514
[22:35:59.977] it:59 	 Success 	 new_chi2: 2.594624 	 dT = 0.000479, 0.000000, -0.000515
[22:35:59.977] it:60 	 Success 	 new_chi2: 2.590658 	 dT = 0.000481, 0.000000, -0.000515
[22:35:59.977] it:61 	 Success 	 new_chi2: 2.586691 	 dT = 0.000483, 0.000000, -0.000516
[22:35:59.977] it:62 	 Success 	 new_chi2: 2.582723 	 dT = 0.000486, 0.000000, -0.000517
[22:35:59.977] it:63 	 Success 	 new_chi2: 2.578755 	 dT = 0.000488, 0.000000, -0.000517
[22:35:59.977] it:64 	 Success 	 new_chi2: 2.574785 	 dT = 0.000490, 0.000000, -0.000518
[22:35:59.977] it:65 	 Success 	 new_chi2: 2.570816 	 dT = 0.000492, 0.000000, -0.000519
[22:35:59.977] it:66 	 Success 	 new_chi2: 2.566845 	 dT = 0.000494, 0.000000, -0.000519
[22:35:59.977] it:67 	 Success 	 new_chi2: 2.562875 	 dT = 0.000496, 0.000000, -0.000520
[22:35:59.977] it:68 	 Success 	 new_chi2: 2.558904 	 dT = 0.000499, 0.000000, -0.000520
[22:35:59.977] it:69 	 Success 	 new_chi2: 2.554933 	 dT = 0.000501, 0.000000, -0.000521
[22:35:59.977] n deleted obs = 33 	 scale =0.090327 	 error init =0.085279 	 error end=0.077302
[22:35:59.977] After pose optimization, distance between two frames x:0.024880 ,z=0.002161,angle between two frames:0.026288 and reprojected points are: 0
[22:35:59.977] Update EKF and 3D points, distance between two frames x:0.023211 ,z=0.002505,angle between two frames:0.022681
[22:36:00.073] After Reprojection Map nPoint:32 ,nCell:21 ,nMatches:14 ,distance between two frames x:-0.009867 ,z=0.002022,angle between two frames:0.014560
[22:36:00.073] Init estimate scale:0.185186
[22:36:00.073] it:0 	 Success 	 new_chi2: 4.631617 	 dT = -0.000188, 0.000000, 0.000024
[22:36:00.073] it:1 	 FAILURE 	 new_chi2: 4.631960
[22:36:00.073] n deleted obs = 30 	 scale =0.185186 	 error init =0.154387 	 error end=0.154387
[22:36:00.073] After pose optimization, distance between two frames x:-0.009867 ,z=0.002022,angle between two frames:0.014560 and reprojected points are: 0
[22:36:00.073] Update EKF and 3D points, distance between two frames x:-0.009720 ,z=0.003081,angle between two frames:0.010705
[22:36:00.174] After Reprojection Map nPoint:40 ,nCell:29 ,nMatches:18 ,distance between two frames x:0.000591 ,z=0.004792,angle between two frames:0.018085
[22:36:00.174] Init estimate scale:0.187995
[22:36:00.174] it:0 	 Success 	 new_chi2: 2.078529 	 dT = -0.000004, 0.000000, 0.000048
[22:36:00.174] it:1 	 FAILURE 	 new_chi2: 2.078684
[22:36:00.174] n deleted obs = 37 	 scale =0.187995 	 error init =0.056176 	 error end=0.056176
[22:36:00.174] After pose optimization, distance between two frames x:0.000591 ,z=0.004792,angle between two frames:0.018085 and reprojected points are: 0
[22:36:00.174] Update EKF and 3D points, distance between two frames x:0.000637 ,z=0.005135,angle between two frames:0.017713
[22:36:00.272] After Reprojection Map nPoint:33 ,nCell:19 ,nMatches:13 ,distance between two frames x:0.000268 ,z=0.002012,angle between two frames:0.006430
[22:36:00.272] Init estimate scale:0.177249
[22:36:00.272] it:0 	 Success 	 new_chi2: 0.535779 	 dT = -0.000011, 0.000000, 0.000072
[22:36:00.273] it:1 	 FAILURE 	 new_chi2: 0.535972
[22:36:00.273] n deleted obs = 32 	 scale =0.177249 	 error init =0.016743 	 error end=0.016743
[22:36:00.273] After pose optimization, distance between two frames x:0.000268 ,z=0.002012,angle between two frames:0.006430 and reprojected points are: 0
[22:36:00.273] Update EKF and 3D points, distance between two frames x:0.000382 ,z=0.003090,angle between two frames:0.011499
[22:36:00.373] After Reprojection Map nPoint:41 ,nCell:24 ,nMatches:14 ,distance between two frames x:0.000383 ,z=0.004864,angle between two frames:0.028783
[22:36:00.373] Init estimate scale:0.147896
[22:36:00.373] it:0 	 Success 	 new_chi2: 0.494031 	 dT = 0.000071, 0.000000, 0.000107
[22:36:00.373] it:1 	 FAILURE 	 new_chi2: 0.494351
[22:36:00.373] n deleted obs = 34 	 scale =0.147896 	 error init =0.014115 	 error end=0.014115
[22:36:00.373] After pose optimization, distance between two frames x:0.000383 ,z=0.004864,angle between two frames:0.028783 and reprojected points are: 1
[22:36:00.373] Update EKF and 3D points, distance between two frames x:0.000409 ,z=0.005215,angle between two frames:0.029204
[22:36:00.474] After Reprojection Map nPoint:35 ,nCell:19 ,nMatches:13 ,distance between two frames x:0.000157 ,z=0.002076,angle between two frames:0.007178
[22:36:00.474] Init estimate scale:0.167124
[22:36:00.474] it:0 	 Success 	 new_chi2: 1.569977 	 dT = 0.000100, 0.000000, 0.000311
[22:36:00.474] it:1 	 FAILURE 	 new_chi2: 1.570513
[22:36:00.474] n deleted obs = 31 	 scale =0.167124 	 error init =0.050644 	 error end=0.050644
[22:36:00.474] After pose optimization, distance between two frames x:0.000157 ,z=0.002076,angle between two frames:0.007178 and reprojected points are: 0
[22:36:00.474] Update EKF and 3D points, distance between two frames x:0.000190 ,z=0.002427,angle between two frames:0.007515
[22:36:00.574] After Reprojection Map nPoint:40 ,nCell:20 ,nMatches:14 ,distance between two frames x:0.000194 ,z=0.002072,angle between two frames:0.005477
[22:36:00.574] Init estimate scale:0.164642
[22:36:00.574] it:0 	 Success 	 new_chi2: 2.255846 	 dT = 0.000770, 0.000000, 0.000314
[22:36:00.574] it:1 	 Success 	 new_chi2: 2.255240 	 dT = 0.000743, 0.000000, 0.000318
[22:36:00.574] it:2 	 Success 	 new_chi2: 2.254796 	 dT = 0.000716, 0.000000, 0.000322
[22:36:00.574] it:3 	 Success 	 new_chi2: 2.254506 	 dT = 0.000690, 0.000000, 0.000326
[22:36:00.574] it:4 	 Success 	 new_chi2: 2.254366 	 dT = 0.000665, 0.000000, 0.000330
[22:36:00.574] it:5 	 FAILURE 	 new_chi2: 2.254369
[22:36:00.574] n deleted obs = 32 	 scale =0.164642 	 error init =0.070495 	 error end=0.070449
[22:36:00.574] After pose optimization, distance between two frames x:0.003114 ,z=0.002072,angle between two frames:0.006758 and reprojected points are: 0
[22:36:00.574] Update EKF and 3D points, distance between two frames x:0.002960 ,z=0.002424,angle between two frames:0.006194
[22:36:00.673] After Reprojection Map nPoint:38 ,nCell:21 ,nMatches:17 ,distance between two frames x:-0.000918 ,z=0.002078,angle between two frames:0.009684
[22:36:00.673] Init estimate scale:0.165806
[22:36:00.673] it:0 	 Success 	 new_chi2: 2.784049 	 dT = 0.000453, 0.000000, 0.000087
[22:36:00.673] it:1 	 Success 	 new_chi2: 2.782949 	 dT = 0.000447, 0.000000, 0.000088
[22:36:00.673] it:2 	 Success 	 new_chi2: 2.781888 	 dT = 0.000441, 0.000000, 0.000089
[22:36:00.674] it:3 	 Success 	 new_chi2: 2.780867 	 dT = 0.000435, 0.000000, 0.000089
[22:36:00.674] it:4 	 Success 	 new_chi2: 2.779885 	 dT = 0.000430, 0.000000, 0.000090
[22:36:00.674] it:5 	 Success 	 new_chi2: 2.778940 	 dT = 0.000549, 0.000000, 0.000066
[22:36:00.674] it:6 	 Success 	 new_chi2: 2.777512 	 dT = 0.000547, 0.000000, 0.000067
[22:36:00.674] it:7 	 Success 	 new_chi2: 2.776120 	 dT = 0.000544, 0.000000, 0.000068
[22:36:00.674] it:8 	 Success 	 new_chi2: 2.774764 	 dT = 0.000542, 0.000000, 0.000069
[22:36:00.674] it:9 	 Success 	 new_chi2: 2.773443 	 dT = 0.000539, 0.000000, 0.000070
[22:36:00.674] it:10 	 Success 	 new_chi2: 2.772157 	 dT = 0.000536, 0.000000, 0.000071
[22:36:00.674] it:11 	 Success 	 new_chi2: 2.770907 	 dT = 0.000534, 0.000000, 0.000072
[22:36:00.674] it:12 	 Success 	 new_chi2: 2.769691 	 dT = 0.000531, 0.000000, 0.000073
[22:36:00.674] it:13 	 Success 	 new_chi2: 2.768509 	 dT = 0.000528, 0.000000, 0.000074
[22:36:00.674] it:14 	 Success 	 new_chi2: 2.767362 	 dT = 0.000526, 0.000000, 0.000075
[22:36:00.674] it:15 	 Success 	 new_chi2: 2.766249 	 dT = 0.000523, 0.000000, 0.000076
[22:36:00.674] it:16 	 Success 	 new_chi2: 2.765170 	 dT = 0.000520, 0.000000, 0.000077
[22:36:00.674] it:17 	 Success 	 new_chi2: 2.764125 	 dT = 0.000518, 0.000000, 0.000078
[22:36:00.674] it:18 	 Success 	 new_chi2: 2.763113 	 dT = 0.000515, 0.000000, 0.000079
[22:36:00.674] it:19 	 Success 	 new_chi2: 2.762134 	 dT = 0.000512, 0.000000, 0.000079
[22:36:00.674] it:20 	 Success 	 new_chi2: 2.761188 	 dT = 0.000510, 0.000000, 0.000080
[22:36:00.674] it:21 	 Success 	 new_chi2: 2.760275 	 dT = 0.000507, 0.000000, 0.000081
[22:36:00.674] it:22 	 Success 	 new_chi2: 2.759395 	 dT = 0.000504, 0.000000, 0.000082
[22:36:00.674] it:23 	 Success 	 new_chi2: 2.758547 	 dT = 0.000502, 0.000000, 0.000083
[22:36:00.674] it:24 	 Success 	 new_chi2: 2.757731 	 dT = 0.000499, 0.000000, 0.000084
[22:36:00.674] it:25 	 Success 	 new_chi2: 2.756946 	 dT = 0.000496, 0.000000, 0.000085
[22:36:00.674] it:26 	 Success 	 new_chi2: 2.756194 	 dT = 0.000493, 0.000000, 0.000086
[22:36:00.674] it:27 	 Success 	 new_chi2: 2.755472 	 dT = 0.000491, 0.000000, 0.000087
[22:36:00.674] it:28 	 Success 	 new_chi2: 2.754782 	 dT = 0.000488, 0.000000, 0.000087
[22:36:00.674] it:29 	 Success 	 new_chi2: 2.754123 	 dT = 0.000485, 0.000000, 0.000088
[22:36:00.674] it:30 	 Success 	 new_chi2: 2.753494 	 dT = 0.000482, 0.000000, 0.000089
[22:36:00.674] it:31 	 Success 	 new_chi2: 2.752895 	 dT = 0.000480, 0.000000, 0.000090
[22:36:00.674] it:32 	 Success 	 new_chi2: 2.752327 	 dT = 0.000477, 0.000000, 0.000091
[22:36:00.674] it:33 	 Success 	 new_chi2: 2.751788 	 dT = 0.000474, 0.000000, 0.000092
[22:36:00.674] it:34 	 Success 	 new_chi2: 2.751279 	 dT = 0.000471, 0.000000, 0.000092
[22:36:00.674] it:35 	 Success 	 new_chi2: 2.750799 	 dT = 0.000469, 0.000000, 0.000093
[22:36:00.674] it:36 	 Success 	 new_chi2: 2.750349 	 dT = 0.000466, 0.000000, 0.000094
[22:36:00.674] it:37 	 Success 	 new_chi2: 2.749927 	 dT = 0.000463, 0.000000, 0.000095
[22:36:00.674] it:38 	 Success 	 new_chi2: 2.749533 	 dT = 0.000460, 0.000000, 0.000095
[22:36:00.674] it:39 	 Success 	 new_chi2: 2.749167 	 dT = 0.000457, 0.000000, 0.000096
[22:36:00.674] it:40 	 Success 	 new_chi2: 2.748830 	 dT = 0.000454, 0.000000, 0.000097
[22:36:00.674] it:41 	 Success 	 new_chi2: 2.748520 	 dT = 0.000452, 0.000000, 0.000098
[22:36:00.674] it:42 	 Success 	 new_chi2: 2.748237 	 dT = 0.000449, 0.000000, 0.000098
[22:36:00.674] it:43 	 Success 	 new_chi2: 2.747982 	 dT = 0.000446, 0.000000, 0.000099
[22:36:00.674] it:44 	 Success 	 new_chi2: 2.747752 	 dT = 0.000443, 0.000000, 0.000100
[22:36:00.674] it:45 	 Success 	 new_chi2: 2.747550 	 dT = 0.000440, 0.000000, 0.000100
[22:36:00.674] it:46 	 Success 	 new_chi2: 2.747373 	 dT = 0.000437, 0.000000, 0.000101
[22:36:00.674] it:47 	 Success 	 new_chi2: 2.747222 	 dT = 0.000434, 0.000000, 0.000102
[22:36:00.675] it:48 	 Success 	 new_chi2: 2.747097 	 dT = 0.000431, 0.000000, 0.000102
[22:36:00.675] it:49 	 Success 	 new_chi2: 2.746997 	 dT = 0.000429, 0.000000, 0.000103
[22:36:00.675] it:50 	 Success 	 new_chi2: 2.746921 	 dT = 0.000426, 0.000000, 0.000103
[22:36:00.675] it:51 	 Success 	 new_chi2: 2.746870 	 dT = 0.000423, 0.000000, 0.000104
[22:36:00.675] it:52 	 Success 	 new_chi2: 2.746843 	 dT = 0.000420, 0.000000, 0.000104
[22:36:00.675] it:53 	 Success 	 new_chi2: 2.746840 	 dT = 0.000417, 0.000000, 0.000105
[22:36:00.675] it:54 	 FAILURE 	 new_chi2: 2.746861
[22:36:00.675] n deleted obs = 35 	 scale =0.165806 	 error init =0.079544 	 error end=0.078481
[22:36:00.675] After pose optimization, distance between two frames x:0.024611 ,z=0.002078,angle between two frames:0.005066 and reprojected points are: 0
[22:36:00.675] Update EKF and 3D points, distance between two frames x:0.022992 ,z=0.002432,angle between two frames:0.005985
[22:36:00.774] After Reprojection Map nPoint:40 ,nCell:18 ,nMatches:17 ,distance between two frames x:-0.009571 ,z=0.002099,angle between two frames:0.014608
[22:36:00.774] Init estimate scale:0.164099
[22:36:00.774] it:0 	 Success 	 new_chi2: 4.797254 	 dT = 0.001658, 0.000000, 0.002136
[22:36:00.774] it:1 	 Success 	 new_chi2: 4.796731 	 dT = 0.001524, 0.000000, 0.002122
[22:36:00.774] it:2 	 FAILURE 	 new_chi2: 4.797640
[22:36:00.774] n deleted obs = 38 	 scale =0.164099 	 error init =0.126244 	 error end=0.126230
[22:36:00.774] After pose optimization, distance between two frames x:-0.007913 ,z=0.002099,angle between two frames:0.012472 and reprojected points are: 0
[22:36:00.774] Update EKF and 3D points, distance between two frames x:-0.007992 ,z=0.002444,angle between two frames:0.012499
[22:36:00.875] After Reprojection Map nPoint:43 ,nCell:22 ,nMatches:16 ,distance between two frames x:-0.000475 ,z=0.002008,angle between two frames:0.001779
[22:36:00.875] Init estimate scale:0.174913
[22:36:00.875] it:0 	 Success 	 new_chi2: 1.996098 	 dT = 0.000042, 0.000000, 0.000616
[22:36:00.875] it:1 	 FAILURE 	 new_chi2: 1.998969
[22:36:00.875] n deleted obs = 36 	 scale =0.174913 	 error init =0.055447 	 error end=0.055447
[22:36:00.875] After pose optimization, distance between two frames x:-0.000475 ,z=0.002008,angle between two frames:0.001779 and reprojected points are: 0
[22:36:00.875] Update EKF and 3D points, distance between two frames x:-0.000447 ,z=0.002358,angle between two frames:0.001371
[22:36:00.975] After Reprojection Map nPoint:46 ,nCell:22 ,nMatches:19 ,distance between two frames x:0.000165 ,z=0.002073,angle between two frames:0.007710
[22:36:00.975] Init estimate scale:0.159908
[22:36:00.975] it:0 	 Success 	 new_chi2: 2.178918 	 dT = 0.000542, 0.000000, 0.001851
[22:36:00.975] it:1 	 FAILURE 	 new_chi2: 2.180990
[22:36:00.975] n deleted obs = 45 	 scale =0.159908 	 error init =0.048420 	 error end=0.048420
[22:36:00.975] After pose optimization, distance between two frames x:0.000165 ,z=0.002073,angle between two frames:0.007710 and reprojected points are: 0
[22:36:00.975] Update EKF and 3D points, distance between two frames x:0.000193 ,z=0.002427,angle between two frames:0.006882
[22:36:01.076] After Reprojection Map nPoint:35 ,nCell:19 ,nMatches:16 ,distance between two frames x:0.000165 ,z=0.002085,angle between two frames:0.012494
[22:36:01.076] Init estimate scale:0.149064
[22:36:01.076] it:0 	 Success 	 new_chi2: 1.179300 	 dT = 0.000171, 0.000000, 0.000393
[22:36:01.076] it:1 	 FAILURE 	 new_chi2: 1.179308
[22:36:01.076] n deleted obs = 38 	 scale =0.149064 	 error init =0.031034 	 error end=0.031034
[22:36:01.076] After pose optimization, distance between two frames x:0.000165 ,z=0.002085,angle between two frames:0.012494 and reprojected points are: 0
[22:36:01.076] Update EKF and 3D points, distance between two frames x:0.000199 ,z=0.002438,angle between two frames:0.013054
[22:36:01.174] After Reprojection Map nPoint:41 ,nCell:23 ,nMatches:20 ,distance between two frames x:0.000203 ,z=0.002086,angle between two frames:0.001161
[22:36:01.174] Init estimate scale:0.158057
[22:36:01.175] it:0 	 Success 	 new_chi2: 5.105882 	 dT = 0.000183, 0.000000, 0.001105
[22:36:01.175] it:1 	 FAILURE 	 new_chi2: 5.112231
[22:36:01.175] n deleted obs = 46 	 scale =0.158057 	 error init =0.110997 	 error end=0.110997
[22:36:01.175] After pose optimization, distance between two frames x:0.000203 ,z=0.002086,angle between two frames:0.001161 and reprojected points are: 0
[22:36:01.175] Update EKF and 3D points, distance between two frames x:0.000234 ,z=0.002437,angle between two frames:0.001310
[22:36:01.275] After Reprojection Map nPoint:37 ,nCell:19 ,nMatches:16 ,distance between two frames x:0.000180 ,z=0.002075,angle between two frames:0.010078
[22:36:01.275] Init estimate scale:0.151700
[22:36:01.275] it:0 	 Success 	 new_chi2: 2.839559 	 dT = -0.000158, 0.000000, -0.000306
[22:36:01.275] it:1 	 Success 	 new_chi2: 2.838157 	 dT = -0.000151, 0.000000, -0.000311
[22:36:01.275] it:2 	 Success 	 new_chi2: 2.836781 	 dT = -0.000145, 0.000000, -0.000315
[22:36:01.275] it:3 	 Success 	 new_chi2: 2.835428 	 dT = -0.000138, 0.000000, -0.000319
[22:36:01.275] it:4 	 Success 	 new_chi2: 2.834101 	 dT = -0.000132, 0.000000, -0.000324
[22:36:01.275] it:5 	 Success 	 new_chi2: 2.832797 	 dT = 0.000550, 0.000000, -0.000445
[22:36:01.275] it:6 	 FAILURE 	 new_chi2: 2.833498
[22:36:01.275] n deleted obs = 38 	 scale =0.151700 	 error init =0.074725 	 error end=0.074547
[22:36:01.275] After pose optimization, distance between two frames x:-0.000545 ,z=0.002075,angle between two frames:0.008503 and reprojected points are: 0
[22:36:01.275] Update EKF and 3D points, distance between two frames x:-0.000467 ,z=0.002418,angle between two frames:0.008805
[22:36:01.375] After Reprojection Map nPoint:43 ,nCell:22 ,nMatches:16 ,distance between two frames x:0.000458 ,z=0.002009,angle between two frames:0.001840
[22:36:01.375] Init estimate scale:0.143917
[22:36:01.375] it:0 	 Success 	 new_chi2: 2.891830 	 dT = 0.000387, 0.000000, 0.000749
[22:36:01.376] it:1 	 FAILURE 	 new_chi2: 2.893539
[22:36:01.376] n deleted obs = 41 	 scale =0.143917 	 error init =0.070532 	 error end=0.070532
[22:36:01.376] After pose optimization, distance between two frames x:0.000458 ,z=0.002009,angle between two frames:0.001840 and reprojected points are: 0
[22:36:01.376] Update EKF and 3D points, distance between two frames x:0.000493 ,z=0.002364,angle between two frames:0.001503
[22:36:01.475] After Reprojection Map nPoint:39 ,nCell:19 ,nMatches:16 ,distance between two frames x:0.000198 ,z=0.002108,angle between two frames:0.001011
[22:36:01.475] Init estimate scale:0.144869
[22:36:01.475] it:0 	 Success 	 new_chi2: 2.223108 	 dT = 0.000704, 0.000000, 0.001117
[22:36:01.475] it:1 	 FAILURE 	 new_chi2: 2.229622
[22:36:01.475] n deleted obs = 40 	 scale =0.144869 	 error init =0.055578 	 error end=0.055578
[22:36:01.475] After pose optimization, distance between two frames x:0.000198 ,z=0.002108,angle between two frames:0.001011 and reprojected points are: 0
[22:36:01.475] Update EKF and 3D points, distance between two frames x:0.000239 ,z=0.002460,angle between two frames:0.002680
[22:36:01.576] After Reprojection Map nPoint:43 ,nCell:24 ,nMatches:21 ,distance between two frames x:0.000249 ,z=0.002077,angle between two frames:0.014395
[22:36:01.576] Init estimate scale:0.158381
[22:36:01.576] it:0 	 Success 	 new_chi2: 5.180631 	 dT = 0.000228, 0.000000, 0.000524
[22:36:01.576] it:1 	 FAILURE 	 new_chi2: 5.186212
[22:36:01.576] n deleted obs = 47 	 scale =0.158381 	 error init =0.110226 	 error end=0.110226
[22:36:01.576] After pose optimization, distance between two frames x:0.000249 ,z=0.002077,angle between two frames:0.014395 and reprojected points are: 0
[22:36:01.576] Update EKF and 3D points, distance between two frames x:0.000293 ,z=0.002428,angle between two frames:0.015078
[22:36:01.673] After Reprojection Map nPoint:53 ,nCell:25 ,nMatches:22 ,distance between two frames x:0.000283 ,z=0.002068,angle between two frames:0.003957
[22:36:01.673] Init estimate scale:0.146357
[22:36:01.673] it:0 	 Success 	 new_chi2: 2.766712 	 dT = 0.000350, 0.000000, 0.000847
[22:36:01.673] it:1 	 FAILURE 	 new_chi2: 2.770664
[22:36:01.673] n deleted obs = 55 	 scale =0.146357 	 error init =0.050304 	 error end=0.050304
[22:36:01.673] After pose optimization, distance between two frames x:0.000283 ,z=0.002068,angle between two frames:0.003957 and reprojected points are: 0
[22:36:01.673] Update EKF and 3D points, distance between two frames x:0.000411 ,z=0.003153,angle between two frames:0.003434
[22:36:01.775] After Reprojection Map nPoint:50 ,nCell:26 ,nMatches:22 ,distance between two frames x:0.000558 ,z=0.004868,angle between two frames:0.002334
[22:36:01.775] Init estimate scale:0.139953
[22:36:01.775] it:0 	 Success 	 new_chi2: 3.801314 	 dT = 0.001278, 0.000000, 0.002614
[22:36:01.775] it:1 	 FAILURE 	 new_chi2: 3.821822
[22:36:01.775] n deleted obs = 56 	 scale =0.139953 	 error init =0.067881 	 error end=0.067881
[22:36:01.775] After pose optimization, distance between two frames x:0.000558 ,z=0.004868,angle between two frames:0.002334 and reprojected points are: 0
[22:36:01.775] Update EKF and 3D points, distance between two frames x:0.000600 ,z=0.005213,angle between two frames:0.002375
[22:36:01.873] After Reprojection Map nPoint:50 ,nCell:20 ,nMatches:18 ,distance between two frames x:0.000251 ,z=0.002039,angle between two frames:0.006130
[22:36:01.873] Init estimate scale:0.145218
[22:36:01.873] it:0 	 Success 	 new_chi2: 2.649882 	 dT = 0.000114, 0.000000, 0.000214
[22:36:01.874] it:1 	 FAILURE 	 new_chi2: 2.650692
[22:36:01.874] n deleted obs = 53 	 scale =0.145218 	 error init =0.049998 	 error end=0.049998
[22:36:01.874] After pose optimization, distance between two frames x:0.000251 ,z=0.002039,angle between two frames:0.006130 and reprojected points are: 0
[22:36:01.874] Update EKF and 3D points, distance between two frames x:0.000370 ,z=0.003151,angle between two frames:0.007926
[22:36:01.973] After Reprojection Map nPoint:53 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.000487 ,z=0.004979,angle between two frames:0.011952
[22:36:01.973] Init estimate scale:0.161995
[22:36:01.973] it:0 	 Success 	 new_chi2: 3.474548 	 dT = 0.000084, 0.000000, 0.000287
[22:36:01.973] it:1 	 FAILURE 	 new_chi2: 3.475793
[22:36:01.973] n deleted obs = 60 	 scale =0.161995 	 error init =0.057909 	 error end=0.057909
[22:36:01.973] After pose optimization, distance between two frames x:0.000487 ,z=0.004979,angle between two frames:0.011952 and reprojected points are: 0
[22:36:01.973] Update EKF and 3D points, distance between two frames x:0.000590 ,z=0.006062,angle between two frames:0.013222
[22:36:02.072] After Reprojection Map nPoint:53 ,nCell:23 ,nMatches:22 ,distance between two frames x:0.000441 ,z=0.004876,angle between two frames:0.008472
[22:36:02.072] Init estimate scale:0.161080
[22:36:02.073] it:0 	 Success 	 new_chi2: 1.653661 	 dT = 0.000512, 0.000000, 0.000843
[22:36:02.073] it:1 	 FAILURE 	 new_chi2: 1.655868
[22:36:02.073] n deleted obs = 64 	 scale =0.161080 	 error init =0.025838 	 error end=0.025838
[22:36:02.073] After pose optimization, distance between two frames x:0.000441 ,z=0.004876,angle between two frames:0.008472 and reprojected points are: 0
[22:36:02.073] Update EKF and 3D points, distance between two frames x:0.000536 ,z=0.005959,angle between two frames:0.009054
[22:36:02.173] After Reprojection Map nPoint:48 ,nCell:21 ,nMatches:17 ,distance between two frames x:0.000412 ,z=0.004846,angle between two frames:0.011869
[22:36:02.173] Init estimate scale:0.173307
[22:36:02.173] it:0 	 Success 	 new_chi2: 1.849551 	 dT = 0.000955, 0.000000, 0.001413
[22:36:02.173] it:1 	 FAILURE 	 new_chi2: 1.851109
[22:36:02.173] n deleted obs = 52 	 scale =0.173307 	 error init =0.035568 	 error end=0.035568
[22:36:02.173] After pose optimization, distance between two frames x:0.000412 ,z=0.004846,angle between two frames:0.011869 and reprojected points are: 0
[22:36:02.174] Update EKF and 3D points, distance between two frames x:0.000488 ,z=0.005877,angle between two frames:0.013045
[22:36:02.272] After Reprojection Map nPoint:49 ,nCell:27 ,nMatches:23 ,distance between two frames x:0.000313 ,z=0.004628,angle between two frames:0.008464
[22:36:02.272] Init estimate scale:0.170765
[22:36:02.272] it:0 	 Success 	 new_chi2: 2.859294 	 dT = 0.002996, 0.000000, 0.002637
[22:36:02.272] it:1 	 Success 	 new_chi2: 2.849231 	 dT = 0.002706, 0.000000, 0.002558
[22:36:02.272] it:2 	 Success 	 new_chi2: 2.842732 	 dT = 0.002443, 0.000000, 0.002490
[22:36:02.273] it:3 	 Success 	 new_chi2: 2.839221 	 dT = 0.002204, 0.000000, 0.002431
[22:36:02.273] it:4 	 Success 	 new_chi2: 2.838230 	 dT = 0.001986, 0.000000, 0.002378
[22:36:02.273] it:5 	 FAILURE 	 new_chi2: 2.839370
[22:36:02.273] n deleted obs = 60 	 scale =0.170765 	 error init =0.046874 	 error end=0.046528
[22:36:02.273] After pose optimization, distance between two frames x:0.010662 ,z=0.004628,angle between two frames:0.001651 and reprojected points are: 1
[22:36:02.273] Update EKF and 3D points, distance between two frames x:0.010015 ,z=0.004982,angle between two frames:0.000065
[22:36:02.374] After Reprojection Map nPoint:49 ,nCell:24 ,nMatches:21 ,distance between two frames x:-0.003832 ,z=0.002088,angle between two frames:0.017768
[22:36:02.374] Init estimate scale:0.167473
[22:36:02.374] it:0 	 Success 	 new_chi2: 1.028930 	 dT = 0.001092, 0.000000, 0.001112
[22:36:02.374] it:1 	 Success 	 new_chi2: 1.027403 	 dT = 0.001051, 0.000000, 0.001097
[22:36:02.374] it:2 	 Success 	 new_chi2: 1.026329 	 dT = 0.001013, 0.000000, 0.001083
[22:36:02.374] it:3 	 Success 	 new_chi2: 1.025677 	 dT = 0.000976, 0.000000, 0.001069
[22:36:02.374] it:4 	 Success 	 new_chi2: 1.025417 	 dT = 0.000941, 0.000000, 0.001057
[22:36:02.374] it:5 	 FAILURE 	 new_chi2: 1.025523
[22:36:02.374] n deleted obs = 59 	 scale =0.167473 	 error init =0.017439 	 error end=0.017380
[22:36:02.374] After pose optimization, distance between two frames x:0.000300 ,z=0.002088,angle between two frames:0.013407 and reprojected points are: 0
[22:36:02.374] Update EKF and 3D points, distance between two frames x:0.000054 ,z=0.002444,angle between two frames:0.013212
[22:36:02.474] After Reprojection Map nPoint:51 ,nCell:20 ,nMatches:19 ,distance between two frames x:-0.001456 ,z=0.002099,angle between two frames:0.005231
[22:36:02.474] Init estimate scale:0.165721
[22:36:02.474] it:0 	 Success 	 new_chi2: 3.470056 	 dT = 0.000212, 0.000000, 0.000173
[22:36:02.474] it:1 	 Success 	 new_chi2: 3.468758 	 dT = 0.000211, 0.000000, 0.000173
[22:36:02.474] it:2 	 Success 	 new_chi2: 3.467477 	 dT = 0.000210, 0.000000, 0.000173
[22:36:02.474] it:3 	 Success 	 new_chi2: 3.466212 	 dT = 0.000209, 0.000000, 0.000172
[22:36:02.474] it:4 	 Success 	 new_chi2: 3.464964 	 dT = 0.000208, 0.000000, 0.000172
[22:36:02.474] it:5 	 Success 	 new_chi2: 3.463732 	 dT = 0.000237, 0.000000, 0.000149
[22:36:02.474] it:6 	 Success 	 new_chi2: 3.462507 	 dT = 0.000237, 0.000000, 0.000149
[22:36:02.474] it:7 	 Success 	 new_chi2: 3.461297 	 dT = 0.000236, 0.000000, 0.000149
[22:36:02.474] it:8 	 Success 	 new_chi2: 3.460101 	 dT = 0.000236, 0.000000, 0.000149
[22:36:02.474] it:9 	 Success 	 new_chi2: 3.458921 	 dT = 0.000235, 0.000000, 0.000149
[22:36:02.474] it:10 	 Success 	 new_chi2: 3.457755 	 dT = 0.000235, 0.000000, 0.000148
[22:36:02.474] it:11 	 Success 	 new_chi2: 3.456603 	 dT = 0.000234, 0.000000, 0.000148
[22:36:02.474] it:12 	 Success 	 new_chi2: 3.455467 	 dT = 0.000234, 0.000000, 0.000148
[22:36:02.474] it:13 	 Success 	 new_chi2: 3.454345 	 dT = 0.000234, 0.000000, 0.000148
[22:36:02.474] it:14 	 Success 	 new_chi2: 3.453237 	 dT = 0.000233, 0.000000, 0.000148
[22:36:02.474] it:15 	 Success 	 new_chi2: 3.452144 	 dT = 0.000233, 0.000000, 0.000148
[22:36:02.474] it:16 	 Success 	 new_chi2: 3.451066 	 dT = 0.000232, 0.000000, 0.000147
[22:36:02.474] it:17 	 Success 	 new_chi2: 3.450001 	 dT = 0.000232, 0.000000, 0.000147
[22:36:02.475] it:18 	 Success 	 new_chi2: 3.448951 	 dT = 0.000231, 0.000000, 0.000147
[22:36:02.475] it:19 	 Success 	 new_chi2: 3.447915 	 dT = 0.000231, 0.000000, 0.000147
[22:36:02.475] it:20 	 Success 	 new_chi2: 3.446893 	 dT = 0.000230, 0.000000, 0.000147
[22:36:02.475] it:21 	 Success 	 new_chi2: 3.445885 	 dT = 0.000230, 0.000000, 0.000147
[22:36:02.475] it:22 	 Success 	 new_chi2: 3.444892 	 dT = 0.000229, 0.000000, 0.000146
[22:36:02.475] it:23 	 Success 	 new_chi2: 3.443912 	 dT = 0.000229, 0.000000, 0.000146
[22:36:02.475] it:24 	 Success 	 new_chi2: 3.442946 	 dT = 0.000228, 0.000000, 0.000146
[22:36:02.475] it:25 	 Success 	 new_chi2: 3.441993 	 dT = 0.000228, 0.000000, 0.000146
[22:36:02.475] it:26 	 Success 	 new_chi2: 3.441055 	 dT = 0.000227, 0.000000, 0.000146
[22:36:02.475] it:27 	 Success 	 new_chi2: 3.440130 	 dT = 0.000227, 0.000000, 0.000146
[22:36:02.475] it:28 	 Success 	 new_chi2: 3.439219 	 dT = 0.000226, 0.000000, 0.000145
[22:36:02.475] it:29 	 Success 	 new_chi2: 3.438321 	 dT = 0.000226, 0.000000, 0.000145
[22:36:02.475] it:30 	 Success 	 new_chi2: 3.437437 	 dT = 0.000226, 0.000000, 0.000145
[22:36:02.475] it:31 	 Success 	 new_chi2: 3.436566 	 dT = 0.000225, 0.000000, 0.000145
[22:36:02.475] it:32 	 Success 	 new_chi2: 3.435709 	 dT = 0.000225, 0.000000, 0.000145
[22:36:02.475] it:33 	 Success 	 new_chi2: 3.434865 	 dT = 0.000224, 0.000000, 0.000145
[22:36:02.475] it:34 	 Success 	 new_chi2: 3.434034 	 dT = 0.000224, 0.000000, 0.000144
[22:36:02.475] it:35 	 Success 	 new_chi2: 3.433217 	 dT = 0.000223, 0.000000, 0.000144
[22:36:02.475] it:36 	 Success 	 new_chi2: 3.432412 	 dT = 0.000223, 0.000000, 0.000144
[22:36:02.475] it:37 	 Success 	 new_chi2: 3.431620 	 dT = 0.000222, 0.000000, 0.000144
[22:36:02.475] it:38 	 Success 	 new_chi2: 3.430842 	 dT = 0.000222, 0.000000, 0.000144
[22:36:02.475] it:39 	 Success 	 new_chi2: 3.430076 	 dT = 0.000221, 0.000000, 0.000144
[22:36:02.475] it:40 	 Success 	 new_chi2: 3.429324 	 dT = 0.000221, 0.000000, 0.000144
[22:36:02.475] it:41 	 Success 	 new_chi2: 3.428584 	 dT = 0.000220, 0.000000, 0.000143
[22:36:02.475] it:42 	 Success 	 new_chi2: 3.427857 	 dT = 0.000220, 0.000000, 0.000143
[22:36:02.475] it:43 	 Success 	 new_chi2: 3.427142 	 dT = 0.000219, 0.000000, 0.000143
[22:36:02.475] it:44 	 Success 	 new_chi2: 3.426441 	 dT = 0.000219, 0.000000, 0.000143
[22:36:02.475] it:45 	 Success 	 new_chi2: 3.425751 	 dT = 0.000218, 0.000000, 0.000143
[22:36:02.476] it:46 	 Success 	 new_chi2: 3.425075 	 dT = 0.000218, 0.000000, 0.000143
[22:36:02.476] it:47 	 Success 	 new_chi2: 3.424411 	 dT = 0.000217, 0.000000, 0.000143
[22:36:02.476] it:48 	 Success 	 new_chi2: 3.423759 	 dT = 0.000217, 0.000000, 0.000142
[22:36:02.476] it:49 	 Success 	 new_chi2: 3.423119 	 dT = 0.000216, 0.000000, 0.000142
[22:36:02.476] it:50 	 Success 	 new_chi2: 3.422492 	 dT = 0.000216, 0.000000, 0.000142
[22:36:02.476] it:51 	 Success 	 new_chi2: 3.421877 	 dT = 0.000215, 0.000000, 0.000142
[22:36:02.476] it:52 	 Success 	 new_chi2: 3.421274 	 dT = 0.000215, 0.000000, 0.000142
[22:36:02.476] it:53 	 Success 	 new_chi2: 3.420683 	 dT = 0.000214, 0.000000, 0.000142
[22:36:02.476] it:54 	 Success 	 new_chi2: 3.420105 	 dT = 0.000214, 0.000000, 0.000142
[22:36:02.476] it:55 	 Success 	 new_chi2: 3.419538 	 dT = 0.000213, 0.000000, 0.000141
[22:36:02.476] it:56 	 Success 	 new_chi2: 3.418983 	 dT = 0.000213, 0.000000, 0.000141
[22:36:02.476] it:57 	 Success 	 new_chi2: 3.418440 	 dT = 0.000212, 0.000000, 0.000141
[22:36:02.476] it:58 	 Success 	 new_chi2: 3.417909 	 dT = 0.000212, 0.000000, 0.000141
[22:36:02.476] it:59 	 Success 	 new_chi2: 3.417389 	 dT = 0.000211, 0.000000, 0.000141
[22:36:02.476] it:60 	 Success 	 new_chi2: 3.416882 	 dT = 0.000211, 0.000000, 0.000141
[22:36:02.476] it:61 	 Success 	 new_chi2: 3.416386 	 dT = 0.000210, 0.000000, 0.000141
[22:36:02.476] it:62 	 Success 	 new_chi2: 3.415901 	 dT = 0.000210, 0.000000, 0.000141
[22:36:02.476] it:63 	 Success 	 new_chi2: 3.415428 	 dT = 0.000209, 0.000000, 0.000140
[22:36:02.476] it:64 	 Success 	 new_chi2: 3.414966 	 dT = 0.000209, 0.000000, 0.000140
[22:36:02.476] it:65 	 Success 	 new_chi2: 3.414516 	 dT = 0.000208, 0.000000, 0.000140
[22:36:02.476] it:66 	 Success 	 new_chi2: 3.414077 	 dT = 0.000208, 0.000000, 0.000140
[22:36:02.476] it:67 	 Success 	 new_chi2: 3.413650 	 dT = 0.000207, 0.000000, 0.000140
[22:36:02.476] it:68 	 Success 	 new_chi2: 3.413234 	 dT = 0.000207, 0.000000, 0.000140
[22:36:02.476] it:69 	 Success 	 new_chi2: 3.412828 	 dT = 0.000206, 0.000000, 0.000140
[22:36:02.476] n deleted obs = 58 	 scale =0.165721 	 error init =0.059829 	 error end=0.058835
[22:36:02.476] After pose optimization, distance between two frames x:0.014025 ,z=0.002099,angle between two frames:0.015465 and reprojected points are: 0
[22:36:02.476] Update EKF and 3D points, distance between two frames x:0.012421 ,z=0.003244,angle between two frames:0.013068
[22:36:02.574] After Reprojection Map nPoint:56 ,nCell:28 ,nMatches:24 ,distance between two frames x:-0.007266 ,z=0.005154,angle between two frames:0.013970
[22:36:02.574] Init estimate scale:0.176120
[22:36:02.574] it:0 	 Success 	 new_chi2: 3.667659 	 dT = 0.003312, 0.000000, 0.002695
[22:36:02.574] it:1 	 FAILURE 	 new_chi2: 3.678945
[22:36:02.574] n deleted obs = 68 	 scale =0.176120 	 error init =0.053936 	 error end=0.053936
[22:36:02.574] After pose optimization, distance between two frames x:-0.007266 ,z=0.005154,angle between two frames:0.013970 and reprojected points are: 0
[22:36:02.574] Update EKF and 3D points, distance between two frames x:-0.007245 ,z=0.005491,angle between two frames:0.013676
[22:36:02.677] After Reprojection Map nPoint:58 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.000121 ,z=0.001995,angle between two frames:0.002490
[22:36:02.677] Init estimate scale:0.168548
[22:36:02.677] it:0 	 Success 	 new_chi2: 1.737843 	 dT = 0.001495, 0.000000, 0.001522
[22:36:02.677] it:1 	 Success 	 new_chi2: 1.732504 	 dT = 0.001405, 0.000000, 0.001500
[22:36:02.677] it:2 	 Success 	 new_chi2: 1.728213 	 dT = 0.001323, 0.000000, 0.001479
[22:36:02.677] it:3 	 Success 	 new_chi2: 1.724867 	 dT = 0.001245, 0.000000, 0.001460
[22:36:02.677] it:4 	 Success 	 new_chi2: 1.722373 	 dT = 0.001171, 0.000000, 0.001442
[22:36:02.677] it:5 	 Success 	 new_chi2: 1.720652 	 dT = 0.001631, 0.000000, 0.000805
[22:36:02.677] it:6 	 Success 	 new_chi2: 1.719568 	 dT = 0.001580, 0.000000, 0.000807
[22:36:02.677] it:7 	 Success 	 new_chi2: 1.719083 	 dT = 0.001531, 0.000000, 0.000809
[22:36:02.677] it:8 	 FAILURE 	 new_chi2: 1.719162
[22:36:02.677] n deleted obs = 70 	 scale =0.168548 	 error init =0.024826 	 error end=0.024558
[22:36:02.677] After pose optimization, distance between two frames x:0.009971 ,z=0.001995,angle between two frames:0.011504 and reprojected points are: 0
[22:36:02.677] Update EKF and 3D points, distance between two frames x:0.009405 ,z=0.002317,angle between two frames:0.010133
[22:36:02.773] After Reprojection Map nPoint:54 ,nCell:23 ,nMatches:19 ,distance between two frames x:-0.003504 ,z=0.001976,angle between two frames:0.008535
[22:36:02.773] Init estimate scale:0.161309
[22:36:02.773] it:0 	 Success 	 new_chi2: 0.958678 	 dT = 0.000996, 0.000000, 0.000389
[22:36:02.773] it:1 	 Success 	 new_chi2: 0.956317 	 dT = 0.000972, 0.000000, 0.000392
[22:36:02.773] it:2 	 Success 	 new_chi2: 0.954156 	 dT = 0.000949, 0.000000, 0.000394
[22:36:02.773] it:3 	 Success 	 new_chi2: 0.952185 	 dT = 0.000926, 0.000000, 0.000397
[22:36:02.773] it:4 	 Success 	 new_chi2: 0.950397 	 dT = 0.000904, 0.000000, 0.000399
[22:36:02.773] it:5 	 Success 	 new_chi2: 0.948784 	 dT = 0.001063, 0.000000, 0.000232
[22:36:02.773] it:6 	 Success 	 new_chi2: 0.947347 	 dT = 0.001047, 0.000000, 0.000235
[22:36:02.773] it:7 	 Success 	 new_chi2: 0.946069 	 dT = 0.001031, 0.000000, 0.000238
[22:36:02.773] it:8 	 Success 	 new_chi2: 0.944945 	 dT = 0.001015, 0.000000, 0.000241
[22:36:02.773] it:9 	 Success 	 new_chi2: 0.943972 	 dT = 0.000999, 0.000000, 0.000244
[22:36:02.773] it:10 	 Success 	 new_chi2: 0.943144 	 dT = 0.000984, 0.000000, 0.000247
[22:36:02.773] it:11 	 Success 	 new_chi2: 0.942457 	 dT = 0.000969, 0.000000, 0.000250
[22:36:02.773] it:12 	 Success 	 new_chi2: 0.941908 	 dT = 0.000954, 0.000000, 0.000253
[22:36:02.773] it:13 	 Success 	 new_chi2: 0.941493 	 dT = 0.000940, 0.000000, 0.000256
[22:36:02.773] it:14 	 Success 	 new_chi2: 0.941207 	 dT = 0.000926, 0.000000, 0.000259
[22:36:02.774] it:15 	 Success 	 new_chi2: 0.941047 	 dT = 0.000912, 0.000000, 0.000261
[22:36:02.774] it:16 	 Success 	 new_chi2: 0.941009 	 dT = 0.000898, 0.000000, 0.000264
[22:36:02.774] it:17 	 FAILURE 	 new_chi2: 0.941089
[22:36:02.774] n deleted obs = 61 	 scale =0.161309 	 error init =0.015716 	 error end=0.015426
[22:36:02.774] After pose optimization, distance between two frames x:0.012082 ,z=0.001976,angle between two frames:0.003848 and reprojected points are: 0
[22:36:02.774] Update EKF and 3D points, distance between two frames x:0.010461 ,z=0.003081,angle between two frames:0.003010
[22:36:02.875] After Reprojection Map nPoint:54 ,nCell:24 ,nMatches:20 ,distance between two frames x:-0.007274 ,z=0.004956,angle between two frames:0.006511
[22:36:02.875] Init estimate scale:0.165901
[22:36:02.875] it:0 	 Success 	 new_chi2: 1.479087 	 dT = 0.000915, 0.000000, 0.000962
[22:36:02.875] it:1 	 Success 	 new_chi2: 1.478892 	 dT = 0.000873, 0.000000, 0.000963
[22:36:02.875] it:2 	 FAILURE 	 new_chi2: 1.479000
[22:36:02.875] n deleted obs = 62 	 scale =0.165901 	 error init =0.023856 	 error end=0.023853
[22:36:02.875] After pose optimization, distance between two frames x:-0.006359 ,z=0.004956,angle between two frames:0.007473 and reprojected points are: 0
[22:36:02.875] Update EKF and 3D points, distance between two frames x:-0.006394 ,z=0.005313,angle between two frames:0.007320
[22:36:03.007] After Reprojection Map nPoint:56 ,nCell:23 ,nMatches:19 ,distance between two frames x:-0.000211 ,z=0.002095,angle between two frames:0.001205
[22:36:03.007] Init estimate scale:0.154207
[22:36:03.007] it:0 	 Success 	 new_chi2: 1.860822 	 dT = 0.000015, 0.000000, 0.000017
[22:36:03.007] it:1 	 Success 	 new_chi2: 1.860736 	 dT = 0.000015, 0.000000, 0.000017
[22:36:03.007] it:2 	 Success 	 new_chi2: 1.860651 	 dT = 0.000015, 0.000000, 0.000017
[22:36:03.007] it:3 	 Success 	 new_chi2: 1.860565 	 dT = 0.000015, 0.000000, 0.000017
[22:36:03.007] it:4 	 Success 	 new_chi2: 1.860480 	 dT = 0.000015, 0.000000, 0.000017
[22:36:03.007] it:5 	 Success 	 new_chi2: 1.860395 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.007] it:6 	 Success 	 new_chi2: 1.860309 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.007] it:7 	 Success 	 new_chi2: 1.860222 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.007] it:8 	 Success 	 new_chi2: 1.860135 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.007] it:9 	 Success 	 new_chi2: 1.860049 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.007] it:10 	 Success 	 new_chi2: 1.859963 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.007] it:11 	 Success 	 new_chi2: 1.859877 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.007] it:12 	 Success 	 new_chi2: 1.859791 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:13 	 Success 	 new_chi2: 1.859705 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:14 	 Success 	 new_chi2: 1.859619 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:15 	 Success 	 new_chi2: 1.859533 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:16 	 Success 	 new_chi2: 1.859448 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:17 	 Success 	 new_chi2: 1.859362 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:18 	 Success 	 new_chi2: 1.859277 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:19 	 Success 	 new_chi2: 1.859191 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:20 	 Success 	 new_chi2: 1.859106 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:21 	 Success 	 new_chi2: 1.859021 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:22 	 Success 	 new_chi2: 1.858936 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:23 	 Success 	 new_chi2: 1.858852 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:24 	 Success 	 new_chi2: 1.858767 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:25 	 Success 	 new_chi2: 1.858682 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:26 	 Success 	 new_chi2: 1.858598 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:27 	 Success 	 new_chi2: 1.858513 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:28 	 Success 	 new_chi2: 1.858429 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.008] it:29 	 Success 	 new_chi2: 1.858345 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:30 	 Success 	 new_chi2: 1.858261 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:31 	 Success 	 new_chi2: 1.858177 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:32 	 Success 	 new_chi2: 1.858093 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:33 	 Success 	 new_chi2: 1.858009 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:34 	 Success 	 new_chi2: 1.857926 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:35 	 Success 	 new_chi2: 1.857842 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:36 	 Success 	 new_chi2: 1.857759 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:37 	 Success 	 new_chi2: 1.857676 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:38 	 Success 	 new_chi2: 1.857592 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:39 	 Success 	 new_chi2: 1.857509 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:40 	 Success 	 new_chi2: 1.857426 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:41 	 Success 	 new_chi2: 1.857343 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:42 	 Success 	 new_chi2: 1.857261 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:43 	 Success 	 new_chi2: 1.857178 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:44 	 Success 	 new_chi2: 1.857096 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:45 	 Success 	 new_chi2: 1.857013 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:46 	 Success 	 new_chi2: 1.856931 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:47 	 Success 	 new_chi2: 1.856849 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:48 	 Success 	 new_chi2: 1.856767 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:49 	 Success 	 new_chi2: 1.856685 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:50 	 Success 	 new_chi2: 1.856603 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:51 	 Success 	 new_chi2: 1.856521 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:52 	 Success 	 new_chi2: 1.856439 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:53 	 Success 	 new_chi2: 1.856358 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:54 	 Success 	 new_chi2: 1.856276 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:55 	 Success 	 new_chi2: 1.856195 	 dT = 0.000023, 0.000000, 0.000010
[22:36:03.009] it:56 	 Success 	 new_chi2: 1.856114 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] it:57 	 Success 	 new_chi2: 1.856033 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] it:58 	 Success 	 new_chi2: 1.855952 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] it:59 	 Success 	 new_chi2: 1.855871 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] it:60 	 Success 	 new_chi2: 1.855790 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] it:61 	 Success 	 new_chi2: 1.855709 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] it:62 	 Success 	 new_chi2: 1.855629 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] it:63 	 Success 	 new_chi2: 1.855548 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] it:64 	 Success 	 new_chi2: 1.855468 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] it:65 	 Success 	 new_chi2: 1.855388 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] it:66 	 Success 	 new_chi2: 1.855308 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] it:67 	 Success 	 new_chi2: 1.855228 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] it:68 	 Success 	 new_chi2: 1.855148 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] it:69 	 Success 	 new_chi2: 1.855068 	 dT = 0.000022, 0.000000, 0.000010
[22:36:03.010] n deleted obs = 64 	 scale =0.154207 	 error init =0.029075 	 error end=0.028984
[22:36:03.010] After pose optimization, distance between two frames x:0.001333 ,z=0.002095,angle between two frames:0.000463 and reprojected points are: 0
[22:36:03.010] Update EKF and 3D points, distance between two frames x:0.001268 ,z=0.002363,angle between two frames:0.000845
[22:36:03.085] After Reprojection Map nPoint:58 ,nCell:25 ,nMatches:22 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[22:36:03.085] Init estimate scale:0.162379
[22:36:03.085] it:0 	 Success 	 new_chi2: 1.401248 	 dT = 0.000419, 0.000000, 0.000136
[22:36:03.085] it:1 	 Success 	 new_chi2: 1.400273 	 dT = 0.000415, 0.000000, 0.000136
[22:36:03.085] it:2 	 Success 	 new_chi2: 1.399333 	 dT = 0.000412, 0.000000, 0.000137
[22:36:03.085] it:3 	 Success 	 new_chi2: 1.398428 	 dT = 0.000409, 0.000000, 0.000137
[22:36:03.085] it:4 	 Success 	 new_chi2: 1.397556 	 dT = 0.000405, 0.000000, 0.000138
[22:36:03.085] it:5 	 Success 	 new_chi2: 1.396718 	 dT = 0.000469, 0.000000, 0.000059
[22:36:03.085] it:6 	 Success 	 new_chi2: 1.395948 	 dT = 0.000466, 0.000000, 0.000060
[22:36:03.085] it:7 	 Success 	 new_chi2: 1.395208 	 dT = 0.000464, 0.000000, 0.000061
[22:36:03.085] it:8 	 Success 	 new_chi2: 1.394499 	 dT = 0.000462, 0.000000, 0.000061
[22:36:03.085] it:9 	 Success 	 new_chi2: 1.393818 	 dT = 0.000459, 0.000000, 0.000062
[22:36:03.085] it:10 	 Success 	 new_chi2: 1.393167 	 dT = 0.000457, 0.000000, 0.000062
[22:36:03.086] it:11 	 Success 	 new_chi2: 1.392545 	 dT = 0.000455, 0.000000, 0.000063
[22:36:03.086] it:12 	 Success 	 new_chi2: 1.391952 	 dT = 0.000452, 0.000000, 0.000064
[22:36:03.086] it:13 	 Success 	 new_chi2: 1.391387 	 dT = 0.000450, 0.000000, 0.000064
[22:36:03.086] it:14 	 Success 	 new_chi2: 1.390851 	 dT = 0.000448, 0.000000, 0.000065
[22:36:03.086] it:15 	 Success 	 new_chi2: 1.390342 	 dT = 0.000445, 0.000000, 0.000065
[22:36:03.086] it:16 	 Success 	 new_chi2: 1.389861 	 dT = 0.000443, 0.000000, 0.000066
[22:36:03.086] it:17 	 Success 	 new_chi2: 1.389407 	 dT = 0.000441, 0.000000, 0.000067
[22:36:03.086] it:18 	 Success 	 new_chi2: 1.388981 	 dT = 0.000439, 0.000000, 0.000067
[22:36:03.086] it:19 	 Success 	 new_chi2: 1.388581 	 dT = 0.000436, 0.000000, 0.000068
[22:36:03.086] it:20 	 Success 	 new_chi2: 1.388208 	 dT = 0.000434, 0.000000, 0.000068
[22:36:03.086] it:21 	 Success 	 new_chi2: 1.387862 	 dT = 0.000432, 0.000000, 0.000069
[22:36:03.086] it:22 	 Success 	 new_chi2: 1.387541 	 dT = 0.000430, 0.000000, 0.000070
[22:36:03.086] it:23 	 Success 	 new_chi2: 1.387246 	 dT = 0.000427, 0.000000, 0.000070
[22:36:03.086] it:24 	 Success 	 new_chi2: 1.386977 	 dT = 0.000425, 0.000000, 0.000071
[22:36:03.086] it:25 	 Success 	 new_chi2: 1.386734 	 dT = 0.000423, 0.000000, 0.000071
[22:36:03.086] it:26 	 Success 	 new_chi2: 1.386515 	 dT = 0.000421, 0.000000, 0.000072
[22:36:03.086] it:27 	 Success 	 new_chi2: 1.386321 	 dT = 0.000419, 0.000000, 0.000072
[22:36:03.086] it:28 	 Success 	 new_chi2: 1.386152 	 dT = 0.000416, 0.000000, 0.000073
[22:36:03.086] it:29 	 Success 	 new_chi2: 1.386007 	 dT = 0.000414, 0.000000, 0.000073
[22:36:03.086] it:30 	 Success 	 new_chi2: 1.385887 	 dT = 0.000412, 0.000000, 0.000074
[22:36:03.086] it:31 	 Success 	 new_chi2: 1.385790 	 dT = 0.000410, 0.000000, 0.000075
[22:36:03.086] it:32 	 Success 	 new_chi2: 1.385716 	 dT = 0.000408, 0.000000, 0.000075
[22:36:03.086] it:33 	 Success 	 new_chi2: 1.385667 	 dT = 0.000405, 0.000000, 0.000076
[22:36:03.086] it:34 	 Success 	 new_chi2: 1.385640 	 dT = 0.000403, 0.000000, 0.000076
[22:36:03.086] it:35 	 Success 	 new_chi2: 1.385636 	 dT = 0.000401, 0.000000, 0.000077
[22:36:03.087] it:36 	 FAILURE 	 new_chi2: 1.385655
[22:36:03.087] n deleted obs = 70 	 scale =0.162379 	 error init =0.020018 	 error end=0.019795
[22:36:03.087] After pose optimization, distance between two frames x:0.015125 ,z=0.000000,angle between two frames:0.002723 and reprojected points are: 0
[22:36:03.087] Update EKF and 3D points, distance between two frames x:0.014249 ,z=0.000457,angle between two frames:0.002857
[22:36:03.174] After Reprojection Map nPoint:48 ,nCell:22 ,nMatches:21 ,distance between two frames x:-0.005412 ,z=0.002819,angle between two frames:0.003362
[22:36:03.174] Init estimate scale:0.162225
[22:36:03.174] it:0 	 Success 	 new_chi2: 1.419840 	 dT = 0.000059, 0.000000, 0.000038
[22:36:03.174] it:1 	 Success 	 new_chi2: 1.419815 	 dT = 0.000059, 0.000000, 0.000038
[22:36:03.174] it:2 	 Success 	 new_chi2: 1.419792 	 dT = 0.000059, 0.000000, 0.000038
[22:36:03.174] it:3 	 Success 	 new_chi2: 1.419769 	 dT = 0.000059, 0.000000, 0.000038
[22:36:03.174] it:4 	 Success 	 new_chi2: 1.419747 	 dT = 0.000059, 0.000000, 0.000038
[22:36:03.174] it:5 	 Success 	 new_chi2: 1.419726 	 dT = 0.000070, 0.000000, 0.000024
[22:36:03.174] it:6 	 Success 	 new_chi2: 1.419709 	 dT = 0.000070, 0.000000, 0.000024
[22:36:03.174] it:7 	 Success 	 new_chi2: 1.419692 	 dT = 0.000070, 0.000000, 0.000024
[22:36:03.174] it:8 	 Success 	 new_chi2: 1.419677 	 dT = 0.000070, 0.000000, 0.000024
[22:36:03.174] it:9 	 Success 	 new_chi2: 1.419662 	 dT = 0.000070, 0.000000, 0.000024
[22:36:03.174] it:10 	 Success 	 new_chi2: 1.419648 	 dT = 0.000070, 0.000000, 0.000024
[22:36:03.174] it:11 	 Success 	 new_chi2: 1.419634 	 dT = 0.000070, 0.000000, 0.000024
[22:36:03.174] it:12 	 Success 	 new_chi2: 1.419622 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:13 	 Success 	 new_chi2: 1.419610 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:14 	 Success 	 new_chi2: 1.419599 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:15 	 Success 	 new_chi2: 1.419589 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:16 	 Success 	 new_chi2: 1.419580 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:17 	 Success 	 new_chi2: 1.419571 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:18 	 Success 	 new_chi2: 1.419563 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:19 	 Success 	 new_chi2: 1.419556 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:20 	 Success 	 new_chi2: 1.419550 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:21 	 Success 	 new_chi2: 1.419544 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:22 	 Success 	 new_chi2: 1.419540 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:23 	 Success 	 new_chi2: 1.419536 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:24 	 Success 	 new_chi2: 1.419532 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:25 	 Success 	 new_chi2: 1.419530 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:26 	 Success 	 new_chi2: 1.419528 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:27 	 Success 	 new_chi2: 1.419527 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:28 	 Success 	 new_chi2: 1.419527 	 dT = 0.000069, 0.000000, 0.000024
[22:36:03.175] it:29 	 FAILURE 	 new_chi2: 1.419528
[22:36:03.175] n deleted obs = 62 	 scale =0.162225 	 error init =0.022901 	 error end=0.022896
[22:36:03.175] After pose optimization, distance between two frames x:-0.003522 ,z=0.002819,angle between two frames:0.004100 and reprojected points are: 0
[22:36:03.175] Update EKF and 3D points, distance between two frames x:-0.003611 ,z=0.003172,angle between two frames:0.005417
[22:36:03.274] After Reprojection Map nPoint:55 ,nCell:23 ,nMatches:21 ,distance between two frames x:-0.000540 ,z=0.002093,angle between two frames:0.018463
[22:36:03.274] Init estimate scale:0.165848
[22:36:03.274] it:0 	 Success 	 new_chi2: 2.061269 	 dT = 0.000337, 0.000000, 0.000531
[22:36:03.274] it:1 	 FAILURE 	 new_chi2: 2.062338
[22:36:03.274] n deleted obs = 65 	 scale =0.165848 	 error init =0.031712 	 error end=0.031712
[22:36:03.274] After pose optimization, distance between two frames x:-0.000540 ,z=0.002093,angle between two frames:0.018463 and reprojected points are: 0
[22:36:03.274] Update EKF and 3D points, distance between two frames x:-0.000502 ,z=0.002446,angle between two frames:0.018257
[22:36:03.373] After Reprojection Map nPoint:53 ,nCell:25 ,nMatches:22 ,distance between two frames x:0.000222 ,z=0.002093,angle between two frames:0.007707
[22:36:03.373] Init estimate scale:0.149384
[22:36:03.373] it:0 	 Success 	 new_chi2: 3.300407 	 dT = 0.001298, 0.000000, 0.001059
[22:36:03.373] it:1 	 FAILURE 	 new_chi2: 3.306261
[22:36:03.373] n deleted obs = 67 	 scale =0.149384 	 error init =0.048535 	 error end=0.048535
[22:36:03.373] After pose optimization, distance between two frames x:0.000222 ,z=0.002093,angle between two frames:0.007707 and reprojected points are: 1
[22:36:03.373] Update EKF and 3D points, distance between two frames x:0.000256 ,z=0.002442,angle between two frames:0.006528
[22:36:03.476] After Reprojection Map nPoint:59 ,nCell:22 ,nMatches:20 ,distance between two frames x:0.000191 ,z=0.002035,angle between two frames:0.011341
[22:36:03.476] Init estimate scale:0.151434
[22:36:03.476] it:0 	 Success 	 new_chi2: 1.244956 	 dT = 0.000046, 0.000000, 0.000073
[22:36:03.476] it:1 	 FAILURE 	 new_chi2: 1.245294
[22:36:03.476] n deleted obs = 68 	 scale =0.151434 	 error init =0.018308 	 error end=0.018308
[22:36:03.476] After pose optimization, distance between two frames x:0.000191 ,z=0.002035,angle between two frames:0.011341 and reprojected points are: 0
[22:36:03.476] Update EKF and 3D points, distance between two frames x:0.000229 ,z=0.002388,angle between two frames:0.010834
[22:36:03.572] After Reprojection Map nPoint:42 ,nCell:20 ,nMatches:19 ,distance between two frames x:0.000231 ,z=0.002078,angle between two frames:0.010472
[22:36:03.572] Init estimate scale:0.157554
[22:36:03.572] it:0 	 Success 	 new_chi2: 2.349757 	 dT = 0.000074, 0.000000, 0.001610
[22:36:03.572] it:1 	 FAILURE 	 new_chi2: 2.359828
[22:36:03.572] n deleted obs = 57 	 scale =0.157554 	 error init =0.041224 	 error end=0.041224
[22:36:03.572] After pose optimization, distance between two frames x:0.000231 ,z=0.002078,angle between two frames:0.010472 and reprojected points are: 0
[22:36:03.572] Update EKF and 3D points, distance between two frames x:0.000328 ,z=0.003162,angle between two frames:0.012775
[22:36:03.673] After Reprojection Map nPoint:54 ,nCell:26 ,nMatches:25 ,distance between two frames x:0.000358 ,z=0.004883,angle between two frames:0.011094
[22:36:03.673] Init estimate scale:0.161941
[22:36:03.673] it:0 	 Success 	 new_chi2: 3.724459 	 dT = 0.000093, 0.000000, 0.000349
[22:36:03.673] it:1 	 FAILURE 	 new_chi2: 3.725908
[22:36:03.673] n deleted obs = 65 	 scale =0.161941 	 error init =0.057299 	 error end=0.057299
[22:36:03.673] After pose optimization, distance between two frames x:0.000358 ,z=0.004883,angle between two frames:0.011094 and reprojected points are: 0
[22:36:03.673] Update EKF and 3D points, distance between two frames x:0.000451 ,z=0.005997,angle between two frames:0.011679
[22:36:03.771] After Reprojection Map nPoint:50 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.000401 ,z=0.005007,angle between two frames:0.011994
[22:36:03.771] Init estimate scale:0.165826
[22:36:03.771] it:0 	 Success 	 new_chi2: 2.165138 	 dT = 0.000865, 0.000000, 0.002523
[22:36:03.772] it:1 	 FAILURE 	 new_chi2: 2.179228
[22:36:03.772] n deleted obs = 69 	 scale =0.165826 	 error init =0.031379 	 error end=0.031379
[22:36:03.772] After pose optimization, distance between two frames x:0.000401 ,z=0.005007,angle between two frames:0.011994 and reprojected points are: 0
[22:36:03.772] Update EKF and 3D points, distance between two frames x:0.000399 ,z=0.005007,angle between two frames:0.013125
[22:36:03.872] After Reprojection Map nPoint:55 ,nCell:25 ,nMatches:23 ,distance between two frames x:0.000507 ,z=0.007494,angle between two frames:0.004954
[22:36:03.872] Init estimate scale:0.174054
[22:36:03.872] it:0 	 Success 	 new_chi2: 1.912365 	 dT = 0.000063, 0.000000, 0.000149
[22:36:03.872] it:1 	 Success 	 new_chi2: 1.912190 	 dT = 0.000063, 0.000000, 0.000149
[22:36:03.872] it:2 	 Success 	 new_chi2: 1.912019 	 dT = 0.000063, 0.000000, 0.000149
[22:36:03.872] it:3 	 Success 	 new_chi2: 1.911852 	 dT = 0.000063, 0.000000, 0.000149
[22:36:03.872] it:4 	 Success 	 new_chi2: 1.911690 	 dT = 0.000062, 0.000000, 0.000149
[22:36:03.872] it:5 	 Success 	 new_chi2: 1.911532 	 dT = 0.000097, 0.000000, 0.000100
[22:36:03.872] it:6 	 Success 	 new_chi2: 1.911390 	 dT = 0.000097, 0.000000, 0.000100
[22:36:03.872] it:7 	 Success 	 new_chi2: 1.911253 	 dT = 0.000097, 0.000000, 0.000100
[22:36:03.872] it:8 	 Success 	 new_chi2: 1.911119 	 dT = 0.000097, 0.000000, 0.000100
[22:36:03.873] it:9 	 Success 	 new_chi2: 1.910989 	 dT = 0.000097, 0.000000, 0.000100
[22:36:03.873] it:10 	 Success 	 new_chi2: 1.910862 	 dT = 0.000097, 0.000000, 0.000100
[22:36:03.873] it:11 	 Success 	 new_chi2: 1.910739 	 dT = 0.000097, 0.000000, 0.000100
[22:36:03.873] it:12 	 Success 	 new_chi2: 1.910620 	 dT = 0.000096, 0.000000, 0.000100
[22:36:03.873] it:13 	 Success 	 new_chi2: 1.910504 	 dT = 0.000096, 0.000000, 0.000100
[22:36:03.873] it:14 	 Success 	 new_chi2: 1.910392 	 dT = 0.000096, 0.000000, 0.000100
[22:36:03.873] it:15 	 Success 	 new_chi2: 1.910284 	 dT = 0.000096, 0.000000, 0.000100
[22:36:03.873] it:16 	 Success 	 new_chi2: 1.910179 	 dT = 0.000096, 0.000000, 0.000100
[22:36:03.873] it:17 	 Success 	 new_chi2: 1.910078 	 dT = 0.000096, 0.000000, 0.000100
[22:36:03.873] it:18 	 Success 	 new_chi2: 1.909980 	 dT = 0.000096, 0.000000, 0.000100
[22:36:03.873] it:19 	 Success 	 new_chi2: 1.909886 	 dT = 0.000096, 0.000000, 0.000100
[22:36:03.873] it:20 	 Success 	 new_chi2: 1.909795 	 dT = 0.000095, 0.000000, 0.000100
[22:36:03.873] it:21 	 Success 	 new_chi2: 1.909708 	 dT = 0.000095, 0.000000, 0.000100
[22:36:03.873] it:22 	 Success 	 new_chi2: 1.909625 	 dT = 0.000095, 0.000000, 0.000100
[22:36:03.873] it:23 	 Success 	 new_chi2: 1.909545 	 dT = 0.000095, 0.000000, 0.000100
[22:36:03.873] it:24 	 Success 	 new_chi2: 1.909468 	 dT = 0.000095, 0.000000, 0.000100
[22:36:03.873] it:25 	 Success 	 new_chi2: 1.909396 	 dT = 0.000095, 0.000000, 0.000100
[22:36:03.873] it:26 	 Success 	 new_chi2: 1.909326 	 dT = 0.000095, 0.000000, 0.000100
[22:36:03.873] it:27 	 Success 	 new_chi2: 1.909260 	 dT = 0.000094, 0.000000, 0.000100
[22:36:03.873] it:28 	 Success 	 new_chi2: 1.909198 	 dT = 0.000094, 0.000000, 0.000100
[22:36:03.873] it:29 	 Success 	 new_chi2: 1.909139 	 dT = 0.000094, 0.000000, 0.000100
[22:36:03.873] it:30 	 Success 	 new_chi2: 1.909084 	 dT = 0.000094, 0.000000, 0.000100
[22:36:03.873] it:31 	 Success 	 new_chi2: 1.909032 	 dT = 0.000094, 0.000000, 0.000100
[22:36:03.873] it:32 	 Success 	 new_chi2: 1.908983 	 dT = 0.000094, 0.000000, 0.000100
[22:36:03.874] it:33 	 Success 	 new_chi2: 1.908938 	 dT = 0.000094, 0.000000, 0.000100
[22:36:03.874] it:34 	 Success 	 new_chi2: 1.908897 	 dT = 0.000093, 0.000000, 0.000100
[22:36:03.874] it:35 	 Success 	 new_chi2: 1.908858 	 dT = 0.000093, 0.000000, 0.000100
[22:36:03.874] it:36 	 Success 	 new_chi2: 1.908824 	 dT = 0.000093, 0.000000, 0.000100
[22:36:03.874] it:37 	 Success 	 new_chi2: 1.908792 	 dT = 0.000093, 0.000000, 0.000100
[22:36:03.874] it:38 	 Success 	 new_chi2: 1.908765 	 dT = 0.000093, 0.000000, 0.000100
[22:36:03.874] it:39 	 Success 	 new_chi2: 1.908740 	 dT = 0.000093, 0.000000, 0.000100
[22:36:03.874] it:40 	 Success 	 new_chi2: 1.908719 	 dT = 0.000093, 0.000000, 0.000100
[22:36:03.874] it:41 	 Success 	 new_chi2: 1.908701 	 dT = 0.000093, 0.000000, 0.000100
[22:36:03.874] it:42 	 Success 	 new_chi2: 1.908687 	 dT = 0.000092, 0.000000, 0.000099
[22:36:03.874] it:43 	 Success 	 new_chi2: 1.908676 	 dT = 0.000092, 0.000000, 0.000099
[22:36:03.874] it:44 	 Success 	 new_chi2: 1.908669 	 dT = 0.000092, 0.000000, 0.000099
[22:36:03.874] it:45 	 Success 	 new_chi2: 1.908665 	 dT = 0.000092, 0.000000, 0.000099
[22:36:03.874] it:46 	 Success 	 new_chi2: 1.908664 	 dT = 0.000092, 0.000000, 0.000099
[22:36:03.874] it:47 	 FAILURE 	 new_chi2: 1.908666
[22:36:03.874] n deleted obs = 70 	 scale =0.174054 	 error init =0.027319 	 error end=0.027267
[22:36:03.874] After pose optimization, distance between two frames x:0.004705 ,z=0.007494,angle between two frames:0.000123 and reprojected points are: 0
[22:36:03.874] Update EKF and 3D points, distance between two frames x:0.004457 ,z=0.007845,angle between two frames:0.000432
[22:36:03.974] After Reprojection Map nPoint:61 ,nCell:28 ,nMatches:27 ,distance between two frames x:-0.001470 ,z=0.002075,angle between two frames:0.002038
[22:36:03.974] Init estimate scale:0.171047
[22:36:03.974] it:0 	 Success 	 new_chi2: 3.589823 	 dT = 0.000041, 0.000000, 0.000063
[22:36:03.974] it:1 	 FAILURE 	 new_chi2: 3.590011
[22:36:03.974] n deleted obs = 78 	 scale =0.171047 	 error init =0.046023 	 error end=0.046023
[22:36:03.974] After pose optimization, distance between two frames x:-0.001470 ,z=0.002075,angle between two frames:0.002038 and reprojected points are: 0
[22:36:03.974] Update EKF and 3D points, distance between two frames x:-0.001470 ,z=0.002075,angle between two frames:0.002959
[22:36:04.071] After Reprojection Map nPoint:48 ,nCell:22 ,nMatches:22 ,distance between two frames x:0.000517 ,z=0.007706,angle between two frames:0.009484
[22:36:04.071] Init estimate scale:0.169685
[22:36:04.072] it:0 	 Success 	 new_chi2: 2.884685 	 dT = 0.000611, 0.000000, 0.001744
[22:36:04.072] it:1 	 FAILURE 	 new_chi2: 2.892403
[22:36:04.072] n deleted obs = 65 	 scale =0.169685 	 error init =0.044380 	 error end=0.044380
[22:36:04.072] After pose optimization, distance between two frames x:0.000517 ,z=0.007706,angle between two frames:0.009484 and reprojected points are: 0
[22:36:04.072] Update EKF and 3D points, distance between two frames x:0.000516 ,z=0.007705,angle between two frames:0.010177
[22:36:04.173] After Reprojection Map nPoint:56 ,nCell:29 ,nMatches:25 ,distance between two frames x:0.000299 ,z=0.005593,angle between two frames:0.001044
[22:36:04.173] Init estimate scale:0.175214
[22:36:04.173] it:0 	 Success 	 new_chi2: 3.252990 	 dT = 0.001263, 0.000000, 0.005261
[22:36:04.173] it:1 	 FAILURE 	 new_chi2: 3.259833
[22:36:04.173] n deleted obs = 70 	 scale =0.175214 	 error init =0.046471 	 error end=0.046471
[22:36:04.173] After pose optimization, distance between two frames x:0.000299 ,z=0.005593,angle between two frames:0.001044 and reprojected points are: 0
[22:36:04.173] Update EKF and 3D points, distance between two frames x:0.000309 ,z=0.005929,angle between two frames:0.002068
[22:36:04.273] After Reprojection Map nPoint:60 ,nCell:27 ,nMatches:26 ,distance between two frames x:0.000047 ,z=0.001987,angle between two frames:0.009126
[22:36:04.273] Init estimate scale:0.171886
[22:36:04.273] it:0 	 Success 	 new_chi2: 1.879326 	 dT = 0.001159, 0.000000, 0.003130
[22:36:04.273] it:1 	 FAILURE 	 new_chi2: 1.888584
[22:36:04.273] n deleted obs = 76 	 scale =0.171886 	 error init =0.024728 	 error end=0.024728
[22:36:04.273] After pose optimization, distance between two frames x:0.000047 ,z=0.001987,angle between two frames:0.009126 and reprojected points are: 0
[22:36:04.273] Update EKF and 3D points, distance between two frames x:0.000047 ,z=0.001984,angle between two frames:0.009098
[22:36:04.374] After Reprojection Map nPoint:58 ,nCell:28 ,nMatches:26 ,distance between two frames x:0.000372 ,z=0.008106,angle between two frames:0.002962
[22:36:04.374] Init estimate scale:0.178036
[22:36:04.374] it:0 	 Success 	 new_chi2: 1.920571 	 dT = 0.001371, 0.000000, 0.003904
[22:36:04.374] it:1 	 FAILURE 	 new_chi2: 1.932011
[22:36:04.374] n deleted obs = 76 	 scale =0.178036 	 error init =0.025271 	 error end=0.025271
[22:36:04.374] After pose optimization, distance between two frames x:0.000372 ,z=0.008106,angle between two frames:0.002962 and reprojected points are: 0
[22:36:04.374] Update EKF and 3D points, distance between two frames x:0.000386 ,z=0.008442,angle between two frames:0.002846
[22:36:04.472] After Reprojection Map nPoint:49 ,nCell:24 ,nMatches:24 ,distance between two frames x:0.000071 ,z=0.001979,angle between two frames:0.007804
[22:36:04.472] Init estimate scale:0.174672
[22:36:04.472] it:0 	 Success 	 new_chi2: 1.865875 	 dT = 0.000430, 0.000000, 0.001362
[22:36:04.472] it:1 	 FAILURE 	 new_chi2: 1.869907
[22:36:04.472] n deleted obs = 68 	 scale =0.174672 	 error init =0.027439 	 error end=0.027439
[22:36:04.472] After pose optimization, distance between two frames x:0.000071 ,z=0.001979,angle between two frames:0.007804 and reprojected points are: 0
[22:36:04.472] Update EKF and 3D points, distance between two frames x:0.000071 ,z=0.001978,angle between two frames:0.008446
[22:36:04.573] After Reprojection Map nPoint:57 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.000296 ,z=0.005754,angle between two frames:0.000120
[22:36:04.573] Init estimate scale:0.179678
[22:36:04.573] it:0 	 Success 	 new_chi2: 2.501647 	 dT = 0.000066, 0.000000, 0.000278
[22:36:04.573] it:1 	 FAILURE 	 new_chi2: 2.502525
[22:36:04.573] n deleted obs = 72 	 scale =0.179678 	 error init =0.034745 	 error end=0.034745
[22:36:04.573] After pose optimization, distance between two frames x:0.000296 ,z=0.005754,angle between two frames:0.000120 and reprojected points are: 0
[22:36:04.573] Update EKF and 3D points, distance between two frames x:0.000345 ,z=0.006785,angle between two frames:0.000928
[22:36:04.672] After Reprojection Map nPoint:48 ,nCell:26 ,nMatches:26 ,distance between two frames x:0.000205 ,z=0.004608,angle between two frames:0.001288
[22:36:04.672] Init estimate scale:0.188278
[22:36:04.672] it:0 	 Success 	 new_chi2: 3.528379 	 dT = -0.000957, 0.000000, 0.000910
[22:36:04.672] it:1 	 Success 	 new_chi2: 3.527504 	 dT = -0.000946, 0.000000, 0.000906
[22:36:04.672] it:2 	 Success 	 new_chi2: 3.526656 	 dT = -0.000935, 0.000000, 0.000902
[22:36:04.672] it:3 	 Success 	 new_chi2: 3.525833 	 dT = -0.000924, 0.000000, 0.000898
[22:36:04.672] it:4 	 Success 	 new_chi2: 3.525034 	 dT = -0.000913, 0.000000, 0.000894
[22:36:04.672] it:5 	 Success 	 new_chi2: 3.524259 	 dT = 0.000586, 0.000000, 0.000363
[22:36:04.672] it:6 	 FAILURE 	 new_chi2: 3.526760
[22:36:04.672] n deleted obs = 68 	 scale =0.188278 	 error init =0.051888 	 error end=0.051827
[22:36:04.672] After pose optimization, distance between two frames x:-0.004469 ,z=0.004608,angle between two frames:0.005798 and reprojected points are: 0
[22:36:04.672] Update EKF and 3D points, distance between two frames x:-0.004197 ,z=0.004607,angle between two frames:0.006633
[22:36:04.772] After Reprojection Map nPoint:55 ,nCell:22 ,nMatches:21 ,distance between two frames x:0.002044 ,z=0.005757,angle between two frames:0.007313
[22:36:04.772] Init estimate scale:0.181080
[22:36:04.772] it:0 	 Success 	 new_chi2: 2.026538 	 dT = 0.000016, 0.000000, 0.000071
[22:36:04.772] it:1 	 FAILURE 	 new_chi2: 2.026774
[22:36:04.772] n deleted obs = 69 	 scale =0.181080 	 error init =0.029370 	 error end=0.029370
[22:36:04.772] After pose optimization, distance between two frames x:0.002044 ,z=0.005757,angle between two frames:0.007313 and reprojected points are: 0
[22:36:04.772] Update EKF and 3D points, distance between two frames x:0.002043 ,z=0.005756,angle between two frames:0.007064
[22:36:04.872] After Reprojection Map nPoint:60 ,nCell:24 ,nMatches:22 ,distance between two frames x:0.000338 ,z=0.005477,angle between two frames:0.001672
[22:36:04.872] Init estimate scale:0.187979
[22:36:04.872] it:0 	 Success 	 new_chi2: 2.960810 	 dT = 0.000021, 0.000000, 0.000095
[22:36:04.872] it:1 	 FAILURE 	 new_chi2: 2.961076
[22:36:04.872] n deleted obs = 74 	 scale =0.187979 	 error init =0.040011 	 error end=0.040011
[22:36:04.872] After pose optimization, distance between two frames x:0.000338 ,z=0.005477,angle between two frames:0.001672 and reprojected points are: 0
[22:36:04.872] Update EKF and 3D points, distance between two frames x:0.000334 ,z=0.005477,angle between two frames:0.003164
[22:36:04.972] After Reprojection Map nPoint:56 ,nCell:26 ,nMatches:25 ,distance between two frames x:0.000507 ,z=0.007503,angle between two frames:0.010571
[22:36:04.972] Init estimate scale:0.183560
[22:36:04.972] it:0 	 Success 	 new_chi2: 3.920456 	 dT = 0.000049, 0.000000, 0.000128
[22:36:04.972] it:1 	 FAILURE 	 new_chi2: 3.920893
[22:36:04.972] n deleted obs = 73 	 scale =0.183560 	 error init =0.053705 	 error end=0.053705
[22:36:04.972] After pose optimization, distance between two frames x:0.000507 ,z=0.007503,angle between two frames:0.010571 and reprojected points are: 0
[22:36:04.972] Update EKF and 3D points, distance between two frames x:0.000508 ,z=0.007497,angle between two frames:0.009740
[22:36:05.081] After Reprojection Map nPoint:56 ,nCell:30 ,nMatches:26 ,distance between two frames x:0.000415 ,z=0.005740,angle between two frames:0.007524
[22:36:05.081] Init estimate scale:0.201945
[22:36:05.081] it:0 	 Success 	 new_chi2: 3.665048 	 dT = 0.001461, 0.000000, 0.003300
[22:36:05.081] it:1 	 FAILURE 	 new_chi2: 3.681878
[22:36:05.081] n deleted obs = 71 	 scale =0.201945 	 error init =0.051620 	 error end=0.051620
[22:36:05.081] After pose optimization, distance between two frames x:0.000415 ,z=0.005740,angle between two frames:0.007524 and reprojected points are: 0
[22:36:05.081] Update EKF and 3D points, distance between two frames x:0.000430 ,z=0.006045,angle between two frames:0.006400
[22:36:05.172] After Reprojection Map nPoint:58 ,nCell:30 ,nMatches:26 ,distance between two frames x:0.000099 ,z=0.001815,angle between two frames:0.007232
[22:36:05.173] Init estimate scale:0.200601
[22:36:05.173] it:0 	 Success 	 new_chi2: 3.850561 	 dT = 0.004529, 0.000000, 0.004862
[22:36:05.173] it:1 	 FAILURE 	 new_chi2: 3.857640
[22:36:05.173] n deleted obs = 74 	 scale =0.200601 	 error init =0.052035 	 error end=0.052035
[22:36:05.173] After pose optimization, distance between two frames x:0.000099 ,z=0.001815,angle between two frames:0.007232 and reprojected points are: 0
[22:36:05.173] Update EKF and 3D points, distance between two frames x:0.000182 ,z=0.002912,angle between two frames:0.004951
[22:36:05.274] After Reprojection Map nPoint:52 ,nCell:24 ,nMatches:24 ,distance between two frames x:0.000327 ,z=0.004940,angle between two frames:0.018727
[22:36:05.274] Init estimate scale:0.201958
[22:36:05.274] it:0 	 Success 	 new_chi2: 4.291025 	 dT = 0.000082, 0.000000, 0.000196
[22:36:05.274] it:1 	 FAILURE 	 new_chi2: 4.292122
[22:36:05.274] n deleted obs = 72 	 scale =0.201958 	 error init =0.059598 	 error end=0.059598
[22:36:05.274] After pose optimization, distance between two frames x:0.000327 ,z=0.004940,angle between two frames:0.018727 and reprojected points are: 0
[22:36:05.274] Update EKF and 3D points, distance between two frames x:0.000378 ,z=0.006069,angle between two frames:0.017528
[22:36:05.373] After Reprojection Map nPoint:59 ,nCell:28 ,nMatches:26 ,distance between two frames x:0.000252 ,z=0.005061,angle between two frames:0.011233
[22:36:05.373] Init estimate scale:0.215126
[22:36:05.373] it:0 	 Success 	 new_chi2: 3.866610 	 dT = 0.000331, 0.000000, 0.004879
[22:36:05.373] it:1 	 FAILURE 	 new_chi2: 3.913668
[22:36:05.373] n deleted obs = 76 	 scale =0.215126 	 error init =0.050876 	 error end=0.050876
[22:36:05.373] After pose optimization, distance between two frames x:0.000252 ,z=0.005061,angle between two frames:0.011233 and reprojected points are: 0
[22:36:05.373] Update EKF and 3D points, distance between two frames x:0.000323 ,z=0.006108,angle between two frames:0.009951
[22:36:05.471] After Reprojection Map nPoint:47 ,nCell:19 ,nMatches:19 ,distance between two frames x:0.000284 ,z=0.004712,angle between two frames:0.018667
[22:36:05.471] Init estimate scale:0.197004
[22:36:05.471] it:0 	 Success 	 new_chi2: 2.960825 	 dT = 0.002947, 0.000000, 0.007534
[22:36:05.471] it:1 	 FAILURE 	 new_chi2: 2.992163
[22:36:05.471] n deleted obs = 60 	 scale =0.197004 	 error init =0.049347 	 error end=0.049347
[22:36:05.471] After pose optimization, distance between two frames x:0.000284 ,z=0.004712,angle between two frames:0.018667 and reprojected points are: 0
[22:36:05.471] Update EKF and 3D points, distance between two frames x:0.000277 ,z=0.004712,angle between two frames:0.020023
[22:36:05.573] After Reprojection Map nPoint:50 ,nCell:24 ,nMatches:21 ,distance between two frames x:0.000375 ,z=0.007771,angle between two frames:0.001817
[22:36:05.574] Init estimate scale:0.205346
[22:36:05.574] it:0 	 Success 	 new_chi2: 3.020924 	 dT = 0.000477, 0.000000, 0.004916
[22:36:05.574] it:1 	 FAILURE 	 new_chi2: 3.033130
[22:36:05.574] n deleted obs = 64 	 scale =0.205346 	 error init =0.047202 	 error end=0.047202
[22:36:05.574] After pose optimization, distance between two frames x:0.000375 ,z=0.007771,angle between two frames:0.001817 and reprojected points are: 0
[22:36:05.574] Update EKF and 3D points, distance between two frames x:0.000385 ,z=0.008104,angle between two frames:0.000379
[22:36:05.675] After Reprojection Map nPoint:54 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.000070 ,z=0.001919,angle between two frames:0.012498
[22:36:05.675] Init estimate scale:0.195692
[22:36:05.675] it:0 	 Success 	 new_chi2: 3.111536 	 dT = 0.000063, 0.000000, 0.000208
[22:36:05.675] it:1 	 FAILURE 	 new_chi2: 3.111782
[22:36:05.675] n deleted obs = 72 	 scale =0.195692 	 error init =0.043216 	 error end=0.043216
[22:36:05.675] After pose optimization, distance between two frames x:0.000070 ,z=0.001919,angle between two frames:0.012498 and reprojected points are: 0
[22:36:05.675] Update EKF and 3D points, distance between two frames x:0.000089 ,z=0.002277,angle between two frames:0.010990
[22:36:05.773] After Reprojection Map nPoint:55 ,nCell:21 ,nMatches:21 ,distance between two frames x:0.000119 ,z=0.002117,angle between two frames:0.009640
[22:36:05.773] Init estimate scale:0.196539
[22:36:05.773] it:0 	 Success 	 new_chi2: 2.304320 	 dT = 0.000027, 0.000000, 0.000125
[22:36:05.773] it:1 	 FAILURE 	 new_chi2: 2.304717
[22:36:05.773] n deleted obs = 69 	 scale =0.196539 	 error init =0.033396 	 error end=0.033396
[22:36:05.773] After pose optimization, distance between two frames x:0.000119 ,z=0.002117,angle between two frames:0.009640 and reprojected points are: 0
[22:36:05.773] Update EKF and 3D points, distance between two frames x:0.000128 ,z=0.002475,angle between two frames:0.007988
[22:36:05.873] After Reprojection Map nPoint:55 ,nCell:26 ,nMatches:25 ,distance between two frames x:0.000049 ,z=0.002116,angle between two frames:0.010703
[22:36:05.873] Init estimate scale:0.194650
[22:36:05.873] it:0 	 Success 	 new_chi2: 2.793384 	 dT = 0.000088, 0.000000, 0.000169
[22:36:05.873] it:1 	 Success 	 new_chi2: 2.792968 	 dT = 0.000088, 0.000000, 0.000169
[22:36:05.873] it:2 	 Success 	 new_chi2: 2.792558 	 dT = 0.000087, 0.000000, 0.000169
[22:36:05.873] it:3 	 Success 	 new_chi2: 2.792153 	 dT = 0.000087, 0.000000, 0.000169
[22:36:05.874] it:4 	 Success 	 new_chi2: 2.791755 	 dT = 0.000087, 0.000000, 0.000169
[22:36:05.874] it:5 	 Success 	 new_chi2: 2.791362 	 dT = 0.000102, 0.000000, 0.000133
[22:36:05.874] it:6 	 Success 	 new_chi2: 2.791005 	 dT = 0.000102, 0.000000, 0.000133
[22:36:05.874] it:7 	 Success 	 new_chi2: 2.790652 	 dT = 0.000102, 0.000000, 0.000133
[22:36:05.874] it:8 	 Success 	 new_chi2: 2.790304 	 dT = 0.000101, 0.000000, 0.000133
[22:36:05.874] it:9 	 Success 	 new_chi2: 2.789961 	 dT = 0.000101, 0.000000, 0.000133
[22:36:05.874] it:10 	 Success 	 new_chi2: 2.789623 	 dT = 0.000101, 0.000000, 0.000133
[22:36:05.874] it:11 	 Success 	 new_chi2: 2.789290 	 dT = 0.000101, 0.000000, 0.000133
[22:36:05.874] it:12 	 Success 	 new_chi2: 2.788961 	 dT = 0.000101, 0.000000, 0.000132
[22:36:05.874] it:13 	 Success 	 new_chi2: 2.788637 	 dT = 0.000101, 0.000000, 0.000132
[22:36:05.874] it:14 	 Success 	 new_chi2: 2.788318 	 dT = 0.000101, 0.000000, 0.000132
[22:36:05.874] it:15 	 Success 	 new_chi2: 2.788003 	 dT = 0.000101, 0.000000, 0.000132
[22:36:05.874] it:16 	 Success 	 new_chi2: 2.787694 	 dT = 0.000101, 0.000000, 0.000132
[22:36:05.874] it:17 	 Success 	 new_chi2: 2.787389 	 dT = 0.000101, 0.000000, 0.000132
[22:36:05.874] it:18 	 Success 	 new_chi2: 2.787088 	 dT = 0.000100, 0.000000, 0.000132
[22:36:05.874] it:19 	 Success 	 new_chi2: 2.786793 	 dT = 0.000100, 0.000000, 0.000132
[22:36:05.874] it:20 	 Success 	 new_chi2: 2.786502 	 dT = 0.000100, 0.000000, 0.000132
[22:36:05.874] it:21 	 Success 	 new_chi2: 2.786216 	 dT = 0.000100, 0.000000, 0.000132
[22:36:05.874] it:22 	 Success 	 new_chi2: 2.785934 	 dT = 0.000100, 0.000000, 0.000132
[22:36:05.874] it:23 	 Success 	 new_chi2: 2.785657 	 dT = 0.000100, 0.000000, 0.000132
[22:36:05.874] it:24 	 Success 	 new_chi2: 2.785385 	 dT = 0.000100, 0.000000, 0.000132
[22:36:05.874] it:25 	 Success 	 new_chi2: 2.785117 	 dT = 0.000100, 0.000000, 0.000132
[22:36:05.874] it:26 	 Success 	 new_chi2: 2.784854 	 dT = 0.000100, 0.000000, 0.000132
[22:36:05.874] it:27 	 Success 	 new_chi2: 2.784596 	 dT = 0.000100, 0.000000, 0.000132
[22:36:05.874] it:28 	 Success 	 new_chi2: 2.784342 	 dT = 0.000099, 0.000000, 0.000132
[22:36:05.874] it:29 	 Success 	 new_chi2: 2.784093 	 dT = 0.000099, 0.000000, 0.000132
[22:36:05.874] it:30 	 Success 	 new_chi2: 2.783848 	 dT = 0.000099, 0.000000, 0.000131
[22:36:05.874] it:31 	 Success 	 new_chi2: 2.783608 	 dT = 0.000099, 0.000000, 0.000131
[22:36:05.875] it:32 	 Success 	 new_chi2: 2.783373 	 dT = 0.000099, 0.000000, 0.000131
[22:36:05.875] it:33 	 Success 	 new_chi2: 2.783142 	 dT = 0.000099, 0.000000, 0.000131
[22:36:05.875] it:34 	 Success 	 new_chi2: 2.782916 	 dT = 0.000099, 0.000000, 0.000131
[22:36:05.875] it:35 	 Success 	 new_chi2: 2.782694 	 dT = 0.000099, 0.000000, 0.000131
[22:36:05.875] it:36 	 Success 	 new_chi2: 2.782477 	 dT = 0.000099, 0.000000, 0.000131
[22:36:05.875] it:37 	 Success 	 new_chi2: 2.782264 	 dT = 0.000099, 0.000000, 0.000131
[22:36:05.875] it:38 	 Success 	 new_chi2: 2.782056 	 dT = 0.000099, 0.000000, 0.000131
[22:36:05.875] it:39 	 Success 	 new_chi2: 2.781852 	 dT = 0.000098, 0.000000, 0.000131
[22:36:05.875] it:40 	 Success 	 new_chi2: 2.781653 	 dT = 0.000098, 0.000000, 0.000131
[22:36:05.875] it:41 	 Success 	 new_chi2: 2.781459 	 dT = 0.000098, 0.000000, 0.000131
[22:36:05.875] it:42 	 Success 	 new_chi2: 2.781269 	 dT = 0.000098, 0.000000, 0.000131
[22:36:05.875] it:43 	 Success 	 new_chi2: 2.781083 	 dT = 0.000098, 0.000000, 0.000131
[22:36:05.875] it:44 	 Success 	 new_chi2: 2.780902 	 dT = 0.000098, 0.000000, 0.000131
[22:36:05.875] it:45 	 Success 	 new_chi2: 2.780725 	 dT = 0.000098, 0.000000, 0.000131
[22:36:05.875] it:46 	 Success 	 new_chi2: 2.780553 	 dT = 0.000098, 0.000000, 0.000131
[22:36:05.875] it:47 	 Success 	 new_chi2: 2.780385 	 dT = 0.000098, 0.000000, 0.000131
[22:36:05.875] it:48 	 Success 	 new_chi2: 2.780222 	 dT = 0.000098, 0.000000, 0.000131
[22:36:05.875] it:49 	 Success 	 new_chi2: 2.780063 	 dT = 0.000097, 0.000000, 0.000130
[22:36:05.875] it:50 	 Success 	 new_chi2: 2.779908 	 dT = 0.000097, 0.000000, 0.000130
[22:36:05.875] it:51 	 Success 	 new_chi2: 2.779758 	 dT = 0.000097, 0.000000, 0.000130
[22:36:05.875] it:52 	 Success 	 new_chi2: 2.779612 	 dT = 0.000097, 0.000000, 0.000130
[22:36:05.875] it:53 	 Success 	 new_chi2: 2.779471 	 dT = 0.000097, 0.000000, 0.000130
[22:36:05.875] it:54 	 Success 	 new_chi2: 2.779334 	 dT = 0.000097, 0.000000, 0.000130
[22:36:05.875] it:55 	 Success 	 new_chi2: 2.779201 	 dT = 0.000097, 0.000000, 0.000130
[22:36:05.876] it:56 	 Success 	 new_chi2: 2.779073 	 dT = 0.000097, 0.000000, 0.000130
[22:36:05.876] it:57 	 Success 	 new_chi2: 2.778949 	 dT = 0.000097, 0.000000, 0.000130
[22:36:05.876] it:58 	 Success 	 new_chi2: 2.778830 	 dT = 0.000097, 0.000000, 0.000130
[22:36:05.876] it:59 	 Success 	 new_chi2: 2.778715 	 dT = 0.000097, 0.000000, 0.000130
[22:36:05.876] it:60 	 Success 	 new_chi2: 2.778604 	 dT = 0.000096, 0.000000, 0.000130
[22:36:05.876] it:61 	 Success 	 new_chi2: 2.778498 	 dT = 0.000096, 0.000000, 0.000130
[22:36:05.876] it:62 	 Success 	 new_chi2: 2.778395 	 dT = 0.000096, 0.000000, 0.000130
[22:36:05.876] it:63 	 Success 	 new_chi2: 2.778298 	 dT = 0.000096, 0.000000, 0.000130
[22:36:05.876] it:64 	 Success 	 new_chi2: 2.778204 	 dT = 0.000096, 0.000000, 0.000130
[22:36:05.876] it:65 	 Success 	 new_chi2: 2.778115 	 dT = 0.000096, 0.000000, 0.000130
[22:36:05.876] it:66 	 Success 	 new_chi2: 2.778030 	 dT = 0.000096, 0.000000, 0.000130
[22:36:05.876] it:67 	 Success 	 new_chi2: 2.777949 	 dT = 0.000096, 0.000000, 0.000130
[22:36:05.876] it:68 	 Success 	 new_chi2: 2.777873 	 dT = 0.000096, 0.000000, 0.000130
[22:36:05.876] it:69 	 Success 	 new_chi2: 2.777801 	 dT = 0.000096, 0.000000, 0.000130
[22:36:05.876] n deleted obs = 75 	 scale =0.194650 	 error init =0.037245 	 error end=0.037036
[22:36:05.876] After pose optimization, distance between two frames x:0.006898 ,z=0.002116,angle between two frames:0.001334 and reprojected points are: 0
[22:36:05.876] Update EKF and 3D points, distance between two frames x:0.006472 ,z=0.002470,angle between two frames:0.000851
[22:36:05.974] After Reprojection Map nPoint:64 ,nCell:25 ,nMatches:25 ,distance between two frames x:-0.002516 ,z=0.002083,angle between two frames:0.004777
[22:36:05.974] Init estimate scale:0.187034
[22:36:05.974] it:0 	 Success 	 new_chi2: 2.826959 	 dT = 0.000019, 0.000000, 0.000149
[22:36:05.974] it:1 	 FAILURE 	 new_chi2: 2.827065
[22:36:05.974] n deleted obs = 80 	 scale =0.187034 	 error init =0.035337 	 error end=0.035337
[22:36:05.974] After pose optimization, distance between two frames x:-0.002516 ,z=0.002083,angle between two frames:0.004777 and reprojected points are: 0
[22:36:05.974] Update EKF and 3D points, distance between two frames x:-0.002503 ,z=0.002436,angle between two frames:0.003776
[22:36:06.074] After Reprojection Map nPoint:69 ,nCell:28 ,nMatches:26 ,distance between two frames x:0.000068 ,z=0.002091,angle between two frames:0.006808
[22:36:06.074] Init estimate scale:0.200526
[22:36:06.074] it:0 	 Success 	 new_chi2: 2.949200 	 dT = 0.000150, 0.000000, 0.000595
[22:36:06.074] it:1 	 FAILURE 	 new_chi2: 2.949513
[22:36:06.074] n deleted obs = 84 	 scale =0.200526 	 error init =0.035110 	 error end=0.035110
[22:36:06.074] After pose optimization, distance between two frames x:0.000068 ,z=0.002091,angle between two frames:0.006808 and reprojected points are: 0
[22:36:06.074] Update EKF and 3D points, distance between two frames x:0.000086 ,z=0.002445,angle between two frames:0.005814
[22:36:06.174] After Reprojection Map nPoint:51 ,nCell:22 ,nMatches:20 ,distance between two frames x:0.000103 ,z=0.002073,angle between two frames:0.009565
[22:36:06.174] Init estimate scale:0.199118
[22:36:06.174] it:0 	 Success 	 new_chi2: 2.174164 	 dT = 0.000024, 0.000000, 0.000386
[22:36:06.174] it:1 	 FAILURE 	 new_chi2: 2.174952
[22:36:06.174] n deleted obs = 64 	 scale =0.199118 	 error init =0.033971 	 error end=0.033971
[22:36:06.175] After pose optimization, distance between two frames x:0.000103 ,z=0.002073,angle between two frames:0.009565 and reprojected points are: 0
[22:36:06.175] Update EKF and 3D points, distance between two frames x:0.000115 ,z=0.002426,angle between two frames:0.008493
[22:36:06.272] After Reprojection Map nPoint:46 ,nCell:19 ,nMatches:19 ,distance between two frames x:0.000063 ,z=0.002102,angle between two frames:0.003810
[22:36:06.272] Init estimate scale:0.186903
[22:36:06.272] it:0 	 Success 	 new_chi2: 2.525215 	 dT = 0.000034, 0.000000, 0.000089
[22:36:06.272] it:1 	 FAILURE 	 new_chi2: 2.525355
[22:36:06.272] n deleted obs = 59 	 scale =0.186903 	 error init =0.042800 	 error end=0.042800
[22:36:06.272] After pose optimization, distance between two frames x:0.000063 ,z=0.002102,angle between two frames:0.003810 and reprojected points are: 0
[22:36:06.272] Update EKF and 3D points, distance between two frames x:0.000122 ,z=0.003192,angle between two frames:0.001571
[22:36:06.375] After Reprojection Map nPoint:55 ,nCell:24 ,nMatches:22 ,distance between two frames x:0.000309 ,z=0.004899,angle between two frames:0.009665
[22:36:06.376] Init estimate scale:0.192012
[22:36:06.376] it:0 	 Success 	 new_chi2: 3.786020 	 dT = 0.000175, 0.000000, 0.000613
[22:36:06.376] it:1 	 FAILURE 	 new_chi2: 3.787755
[22:36:06.376] n deleted obs = 71 	 scale =0.192012 	 error init =0.053324 	 error end=0.053324
[22:36:06.376] After pose optimization, distance between two frames x:0.000309 ,z=0.004899,angle between two frames:0.009665 and reprojected points are: 0
[22:36:06.376] Update EKF and 3D points, distance between two frames x:0.000327 ,z=0.005254,angle between two frames:0.009449
[22:36:06.475] After Reprojection Map nPoint:53 ,nCell:22 ,nMatches:20 ,distance between two frames x:0.000099 ,z=0.002093,angle between two frames:0.006992
[22:36:06.475] Init estimate scale:0.211975
[22:36:06.475] it:0 	 Success 	 new_chi2: 2.294599 	 dT = 0.000133, 0.000000, 0.000233
[22:36:06.475] it:1 	 FAILURE 	 new_chi2: 2.294780
[22:36:06.475] n deleted obs = 66 	 scale =0.211975 	 error init =0.034767 	 error end=0.034767
[22:36:06.475] After pose optimization, distance between two frames x:0.000099 ,z=0.002093,angle between two frames:0.006992 and reprojected points are: 0
[22:36:06.475] Update EKF and 3D points, distance between two frames x:0.000127 ,z=0.002442,angle between two frames:0.007733
[22:36:06.572] After Reprojection Map nPoint:59 ,nCell:23 ,nMatches:21 ,distance between two frames x:0.000166 ,z=0.002070,angle between two frames:0.001494
[22:36:06.573] Init estimate scale:0.200268
[22:36:06.573] it:0 	 Success 	 new_chi2: 5.243372 	 dT = 0.002017, 0.000000, 0.005741
[22:36:06.573] it:1 	 FAILURE 	 new_chi2: 5.252642
[22:36:06.573] n deleted obs = 69 	 scale =0.200268 	 error init =0.075991 	 error end=0.075991
[22:36:06.573] After pose optimization, distance between two frames x:0.000166 ,z=0.002070,angle between two frames:0.001494 and reprojected points are: 0
[22:36:06.573] Update EKF and 3D points, distance between two frames x:0.000242 ,z=0.003157,angle between two frames:0.002277
[22:36:06.673] After Reprojection Map nPoint:57 ,nCell:25 ,nMatches:23 ,distance between two frames x:0.000351 ,z=0.004882,angle between two frames:0.007011
[22:36:06.673] Init estimate scale:0.210798
[22:36:06.673] it:0 	 Success 	 new_chi2: 3.007231 	 dT = 0.001577, 0.000000, 0.004040
[22:36:06.673] it:1 	 FAILURE 	 new_chi2: 3.022410
[22:36:06.673] n deleted obs = 73 	 scale =0.210798 	 error init =0.041195 	 error end=0.041195
[22:36:06.673] After pose optimization, distance between two frames x:0.000351 ,z=0.004882,angle between two frames:0.007011 and reprojected points are: 0
[22:36:06.673] Update EKF and 3D points, distance between two frames x:0.000434 ,z=0.005967,angle between two frames:0.007270
[22:36:06.773] After Reprojection Map nPoint:63 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.000381 ,z=0.004883,angle between two frames:0.003860
[22:36:06.773] Init estimate scale:0.212824
[22:36:06.773] it:0 	 Success 	 new_chi2: 2.011241 	 dT = 0.000022, 0.000000, 0.000074
[22:36:06.773] it:1 	 FAILURE 	 new_chi2: 2.011375
[22:36:06.773] n deleted obs = 80 	 scale =0.212824 	 error init =0.025141 	 error end=0.025141
[22:36:06.773] After pose optimization, distance between two frames x:0.000381 ,z=0.004883,angle between two frames:0.003860 and reprojected points are: 0
[22:36:06.773] Update EKF and 3D points, distance between two frames x:0.000466 ,z=0.005967,angle between two frames:0.003183
[22:36:06.873] After Reprojection Map nPoint:64 ,nCell:26 ,nMatches:25 ,distance between two frames x:0.000363 ,z=0.004865,angle between two frames:0.005365
[22:36:06.873] Init estimate scale:0.214597
[22:36:06.873] it:0 	 Success 	 new_chi2: 2.189595 	 dT = 0.000040, 0.000000, 0.000055
[22:36:06.873] it:1 	 Success 	 new_chi2: 2.189577 	 dT = 0.000040, 0.000000, 0.000055
[22:36:06.874] it:2 	 Success 	 new_chi2: 2.189560 	 dT = 0.000040, 0.000000, 0.000055
[22:36:06.874] it:3 	 Success 	 new_chi2: 2.189544 	 dT = 0.000040, 0.000000, 0.000055
[22:36:06.874] it:4 	 Success 	 new_chi2: 2.189528 	 dT = 0.000040, 0.000000, 0.000055
[22:36:06.874] it:5 	 Success 	 new_chi2: 2.189513 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:6 	 Success 	 new_chi2: 2.189502 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:7 	 Success 	 new_chi2: 2.189490 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:8 	 Success 	 new_chi2: 2.189480 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:9 	 Success 	 new_chi2: 2.189471 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:10 	 Success 	 new_chi2: 2.189462 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:11 	 Success 	 new_chi2: 2.189454 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:12 	 Success 	 new_chi2: 2.189447 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:13 	 Success 	 new_chi2: 2.189440 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:14 	 Success 	 new_chi2: 2.189435 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:15 	 Success 	 new_chi2: 2.189430 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:16 	 Success 	 new_chi2: 2.189426 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:17 	 Success 	 new_chi2: 2.189423 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:18 	 Success 	 new_chi2: 2.189421 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:19 	 Success 	 new_chi2: 2.189419 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:20 	 Success 	 new_chi2: 2.189418 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:21 	 Success 	 new_chi2: 2.189418 	 dT = 0.000055, 0.000000, 0.000043
[22:36:06.874] it:22 	 FAILURE 	 new_chi2: 2.189419
[22:36:06.874] n deleted obs = 79 	 scale =0.214597 	 error init =0.027716 	 error end=0.027714
[22:36:06.874] After pose optimization, distance between two frames x:0.001441 ,z=0.004865,angle between two frames:0.004406 and reprojected points are: 0
[22:36:06.874] Update EKF and 3D points, distance between two frames x:0.001396 ,z=0.005219,angle between two frames:0.004986
[22:36:06.972] After Reprojection Map nPoint:58 ,nCell:22 ,nMatches:20 ,distance between two frames x:-0.000271 ,z=0.002098,angle between two frames:0.000300
[22:36:06.972] Init estimate scale:0.211889
[22:36:06.972] it:0 	 Success 	 new_chi2: 1.551580 	 dT = 0.000025, 0.000000, 0.000036
[22:36:06.972] it:1 	 FAILURE 	 new_chi2: 1.551615
[22:36:06.972] n deleted obs = 70 	 scale =0.211889 	 error init =0.022165 	 error end=0.022165
[22:36:06.972] After pose optimization, distance between two frames x:-0.000271 ,z=0.002098,angle between two frames:0.000300 and reprojected points are: 0
[22:36:06.972] Update EKF and 3D points, distance between two frames x:-0.000189 ,z=0.003183,angle between two frames:0.000410
[22:36:07.072] After Reprojection Map nPoint:59 ,nCell:27 ,nMatches:25 ,distance between two frames x:0.000379 ,z=0.004858,angle between two frames:0.002428
[22:36:07.072] Init estimate scale:0.215884
[22:36:07.072] it:0 	 Success 	 new_chi2: 4.409826 	 dT = 0.000199, 0.000000, 0.000379
[22:36:07.072] it:1 	 FAILURE 	 new_chi2: 4.411428
[22:36:07.072] n deleted obs = 76 	 scale =0.215884 	 error init =0.058024 	 error end=0.058024
[22:36:07.072] After pose optimization, distance between two frames x:0.000379 ,z=0.004858,angle between two frames:0.002428 and reprojected points are: 0
[22:36:07.072] Update EKF and 3D points, distance between two frames x:0.000453 ,z=0.005942,angle between two frames:0.003302
[22:36:07.176] After Reprojection Map nPoint:68 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.000322 ,z=0.004881,angle between two frames:0.006497
[22:36:07.176] Init estimate scale:0.212646
[22:36:07.176] it:0 	 Success 	 new_chi2: 3.075988 	 dT = 0.000147, 0.000000, 0.000166
[22:36:07.176] it:1 	 FAILURE 	 new_chi2: 3.076544
[22:36:07.176] n deleted obs = 84 	 scale =0.212646 	 error init =0.036619 	 error end=0.036619
[22:36:07.176] After pose optimization, distance between two frames x:0.000322 ,z=0.004881,angle between two frames:0.006497 and reprojected points are: 0
[22:36:07.176] Update EKF and 3D points, distance between two frames x:0.000344 ,z=0.005235,angle between two frames:0.006762
[22:36:07.275] After Reprojection Map nPoint:71 ,nCell:29 ,nMatches:27 ,distance between two frames x:0.000094 ,z=0.002066,angle between two frames:0.002064
[22:36:07.275] Init estimate scale:0.213889
[22:36:07.275] it:0 	 Success 	 new_chi2: 3.394523 	 dT = 0.000125, 0.000000, 0.000274
[22:36:07.275] it:1 	 FAILURE 	 new_chi2: 3.395987
[22:36:07.275] n deleted obs = 87 	 scale =0.213889 	 error init =0.039018 	 error end=0.039018
[22:36:07.275] After pose optimization, distance between two frames x:0.000094 ,z=0.002066,angle between two frames:0.002064 and reprojected points are: 0
[22:36:07.275] Update EKF and 3D points, distance between two frames x:0.000114 ,z=0.002419,angle between two frames:0.002817
[22:36:07.376] After Reprojection Map nPoint:70 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.000115 ,z=0.002088,angle between two frames:0.010262
[22:36:07.376] Init estimate scale:0.210741
[22:36:07.376] it:0 	 Success 	 new_chi2: 3.091079 	 dT = 0.000036, 0.000000, 0.000144
[22:36:07.376] it:1 	 FAILURE 	 new_chi2: 3.091631
[22:36:07.376] n deleted obs = 91 	 scale =0.210741 	 error init =0.033968 	 error end=0.033968
[22:36:07.376] After pose optimization, distance between two frames x:0.000115 ,z=0.002088,angle between two frames:0.010262 and reprojected points are: 0
[22:36:07.376] Update EKF and 3D points, distance between two frames x:0.000131 ,z=0.002443,angle between two frames:0.010701
[22:36:07.475] After Reprojection Map nPoint:71 ,nCell:27 ,nMatches:26 ,distance between two frames x:0.000094 ,z=0.002092,angle between two frames:0.001512
[22:36:07.475] Init estimate scale:0.212066
[22:36:07.475] it:0 	 Success 	 new_chi2: 3.143704 	 dT = 0.000074, 0.000000, 0.000454
[22:36:07.475] it:1 	 FAILURE 	 new_chi2: 3.145119
[22:36:07.475] n deleted obs = 88 	 scale =0.212066 	 error init =0.035724 	 error end=0.035724
[22:36:07.475] After pose optimization, distance between two frames x:0.000094 ,z=0.002092,angle between two frames:0.001512 and reprojected points are: 0
[22:36:07.475] Update EKF and 3D points, distance between two frames x:0.000102 ,z=0.002446,angle between two frames:0.003614
[22:36:07.574] After Reprojection Map nPoint:66 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.000041 ,z=0.002091,angle between two frames:0.021007
[22:36:07.574] Init estimate scale:0.206963
[22:36:07.574] it:0 	 Success 	 new_chi2: 2.561851 	 dT = 0.004226, 0.000000, 0.012499
[22:36:07.574] it:1 	 FAILURE 	 new_chi2: 2.596416
[22:36:07.574] n deleted obs = 87 	 scale =0.206963 	 error init =0.029447 	 error end=0.029447
[22:36:07.574] After pose optimization, distance between two frames x:0.000041 ,z=0.002091,angle between two frames:0.021007 and reprojected points are: 0
[22:36:07.574] Update EKF and 3D points, distance between two frames x:0.000051 ,z=0.002445,angle between two frames:0.020426
[22:36:07.675] After Reprojection Map nPoint:72 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.000061 ,z=0.002092,angle between two frames:0.008662
[22:36:07.675] Init estimate scale:0.215511
[22:36:07.675] it:0 	 Success 	 new_chi2: 3.219694 	 dT = -0.000001, 0.000000, 0.000271
[22:36:07.675] it:1 	 FAILURE 	 new_chi2: 3.220577
[22:36:07.675] n deleted obs = 90 	 scale =0.215511 	 error init =0.035774 	 error end=0.035774
[22:36:07.675] After pose optimization, distance between two frames x:0.000061 ,z=0.002092,angle between two frames:0.008662 and reprojected points are: 0
[22:36:07.675] Update EKF and 3D points, distance between two frames x:0.000073 ,z=0.002447,angle between two frames:0.007971
[22:36:07.775] After Reprojection Map nPoint:73 ,nCell:28 ,nMatches:28 ,distance between two frames x:0.000066 ,z=0.002099,angle between two frames:0.013088
[22:36:07.775] Init estimate scale:0.218910
[22:36:07.775] it:0 	 Success 	 new_chi2: 3.261979 	 dT = 0.000075, 0.000000, 0.000329
[22:36:07.775] it:1 	 Success 	 new_chi2: 3.261903 	 dT = 0.000075, 0.000000, 0.000329
[22:36:07.775] it:2 	 Success 	 new_chi2: 3.261840 	 dT = 0.000074, 0.000000, 0.000329
[22:36:07.775] it:3 	 Success 	 new_chi2: 3.261792 	 dT = 0.000074, 0.000000, 0.000329
[22:36:07.775] it:4 	 Success 	 new_chi2: 3.261756 	 dT = 0.000073, 0.000000, 0.000329
[22:36:07.775] it:5 	 Success 	 new_chi2: 3.261734 	 dT = 0.000106, 0.000000, 0.000278
[22:36:07.775] it:6 	 FAILURE 	 new_chi2: 3.261787
[22:36:07.775] n deleted obs = 91 	 scale =0.218910 	 error init =0.035846 	 error end=0.035843
[22:36:07.775] After pose optimization, distance between two frames x:0.000436 ,z=0.002099,angle between two frames:0.011443 and reprojected points are: 0
[22:36:07.775] Update EKF and 3D points, distance between two frames x:0.000419 ,z=0.002453,angle between two frames:0.011349
[22:36:07.876] After Reprojection Map nPoint:74 ,nCell:28 ,nMatches:27 ,distance between two frames x:-0.000100 ,z=0.002095,angle between two frames:0.001379
[22:36:07.876] Init estimate scale:0.208734
[22:36:07.876] it:0 	 Success 	 new_chi2: 2.658291 	 dT = 0.000060, 0.000000, 0.000263
[22:36:07.876] it:1 	 Success 	 new_chi2: 2.658115 	 dT = 0.000060, 0.000000, 0.000262
[22:36:07.876] it:2 	 Success 	 new_chi2: 2.657949 	 dT = 0.000059, 0.000000, 0.000262
[22:36:07.876] it:3 	 Success 	 new_chi2: 2.657791 	 dT = 0.000059, 0.000000, 0.000262
[22:36:07.876] it:4 	 Success 	 new_chi2: 2.657643 	 dT = 0.000059, 0.000000, 0.000262
[22:36:07.876] it:5 	 Success 	 new_chi2: 2.657503 	 dT = 0.000084, 0.000000, 0.000225
[22:36:07.876] it:6 	 Success 	 new_chi2: 2.657370 	 dT = 0.000084, 0.000000, 0.000225
[22:36:07.876] it:7 	 Success 	 new_chi2: 2.657246 	 dT = 0.000084, 0.000000, 0.000225
[22:36:07.876] it:8 	 Success 	 new_chi2: 2.657130 	 dT = 0.000084, 0.000000, 0.000225
[22:36:07.876] it:9 	 Success 	 new_chi2: 2.657022 	 dT = 0.000084, 0.000000, 0.000225
[22:36:07.876] it:10 	 Success 	 new_chi2: 2.656922 	 dT = 0.000084, 0.000000, 0.000225
[22:36:07.876] it:11 	 Success 	 new_chi2: 2.656830 	 dT = 0.000084, 0.000000, 0.000224
[22:36:07.876] it:12 	 Success 	 new_chi2: 2.656747 	 dT = 0.000084, 0.000000, 0.000224
[22:36:07.876] it:13 	 Success 	 new_chi2: 2.656671 	 dT = 0.000084, 0.000000, 0.000224
[22:36:07.876] it:14 	 Success 	 new_chi2: 2.656604 	 dT = 0.000084, 0.000000, 0.000224
[22:36:07.877] it:15 	 Success 	 new_chi2: 2.656545 	 dT = 0.000084, 0.000000, 0.000224
[22:36:07.877] it:16 	 Success 	 new_chi2: 2.656494 	 dT = 0.000083, 0.000000, 0.000224
[22:36:07.877] it:17 	 Success 	 new_chi2: 2.656451 	 dT = 0.000083, 0.000000, 0.000224
[22:36:07.877] it:18 	 Success 	 new_chi2: 2.656416 	 dT = 0.000083, 0.000000, 0.000224
[22:36:07.877] it:19 	 Success 	 new_chi2: 2.656390 	 dT = 0.000083, 0.000000, 0.000224
[22:36:07.877] it:20 	 Success 	 new_chi2: 2.656371 	 dT = 0.000083, 0.000000, 0.000223
[22:36:07.877] it:21 	 Success 	 new_chi2: 2.656360 	 dT = 0.000083, 0.000000, 0.000223
[22:36:07.877] it:22 	 Success 	 new_chi2: 2.656358 	 dT = 0.000083, 0.000000, 0.000223
[22:36:07.877] it:23 	 FAILURE 	 new_chi2: 2.656363
[22:36:07.877] n deleted obs = 91 	 scale =0.208734 	 error init =0.029212 	 error end=0.029191
[22:36:07.877] After pose optimization, distance between two frames x:0.001619 ,z=0.002095,angle between two frames:0.003745 and reprojected points are: 0
[22:36:07.877] Update EKF and 3D points, distance between two frames x:0.001517 ,z=0.002422,angle between two frames:0.003684
[22:36:07.973] After Reprojection Map nPoint:64 ,nCell:29 ,nMatches:28 ,distance between two frames x:-0.000606 ,z=0.001925,angle between two frames:0.005954
[22:36:07.973] Init estimate scale:0.210132
[22:36:07.973] it:0 	 Success 	 new_chi2: 2.673725 	 dT = 0.000071, 0.000000, 0.000225
[22:36:07.973] it:1 	 FAILURE 	 new_chi2: 2.673810
[22:36:07.973] n deleted obs = 85 	 scale =0.210132 	 error init =0.031456 	 error end=0.031456
[22:36:07.973] After pose optimization, distance between two frames x:-0.000606 ,z=0.001925,angle between two frames:0.005954 and reprojected points are: 0
[22:36:07.973] Update EKF and 3D points, distance between two frames x:-0.000563 ,z=0.003081,angle between two frames:0.007510
[22:36:08.073] After Reprojection Map nPoint:60 ,nCell:32 ,nMatches:31 ,distance between two frames x:0.000221 ,z=0.005185,angle between two frames:0.000111
[22:36:08.073] Init estimate scale:0.203685
[22:36:08.073] it:0 	 Success 	 new_chi2: 2.860065 	 dT = 0.000008, 0.000000, 0.000208
[22:36:08.073] it:1 	 FAILURE 	 new_chi2: 2.860365
[22:36:08.073] n deleted obs = 83 	 scale =0.203685 	 error init =0.034459 	 error end=0.034459
[22:36:08.073] After pose optimization, distance between two frames x:0.000221 ,z=0.005185,angle between two frames:0.000111 and reprojected points are: 0
[22:36:08.073] Update EKF and 3D points, distance between two frames x:0.000255 ,z=0.006232,angle between two frames:0.001646
[22:36:08.174] After Reprojection Map nPoint:58 ,nCell:28 ,nMatches:28 ,distance between two frames x:0.000103 ,z=0.004711,angle between two frames:0.002447
[22:36:08.174] Init estimate scale:0.205631
[22:36:08.175] it:0 	 Success 	 new_chi2: 3.486455 	 dT = 0.000357, 0.000000, 0.002184
[22:36:08.175] it:1 	 FAILURE 	 new_chi2: 3.493892
[22:36:08.175] n deleted obs = 77 	 scale =0.205631 	 error init =0.045279 	 error end=0.045279
[22:36:08.175] After pose optimization, distance between two frames x:0.000103 ,z=0.004711,angle between two frames:0.002447 and reprojected points are: 0
[22:36:08.175] Update EKF and 3D points, distance between two frames x:0.000119 ,z=0.005075,angle between two frames:0.002897
[22:36:08.273] After Reprojection Map nPoint:57 ,nCell:24 ,nMatches:22 ,distance between two frames x:0.000092 ,z=0.002156,angle between two frames:0.000207
[22:36:08.273] Init estimate scale:0.207080
[22:36:08.273] it:0 	 Success 	 new_chi2: 2.005113 	 dT = 0.000012, 0.000000, 0.000120
[22:36:08.273] it:1 	 FAILURE 	 new_chi2: 2.005195
[22:36:08.273] n deleted obs = 72 	 scale =0.207080 	 error init =0.027849 	 error end=0.027849
[22:36:08.274] After pose optimization, distance between two frames x:0.000092 ,z=0.002156,angle between two frames:0.000207 and reprojected points are: 0
[22:36:08.274] Update EKF and 3D points, distance between two frames x:0.000136 ,z=0.003272,angle between two frames:0.001547
[22:36:08.373] After Reprojection Map nPoint:62 ,nCell:27 ,nMatches:25 ,distance between two frames x:0.000225 ,z=0.005008,angle between two frames:0.012984
[22:36:08.373] Init estimate scale:0.199213
[22:36:08.373] it:0 	 Success 	 new_chi2: 2.043902 	 dT = 0.004491, 0.000000, 0.005680
[22:36:08.373] it:1 	 FAILURE 	 new_chi2: 2.045677
[22:36:08.373] n deleted obs = 79 	 scale =0.199213 	 error init =0.025872 	 error end=0.025872
[22:36:08.373] After pose optimization, distance between two frames x:0.000225 ,z=0.005008,angle between two frames:0.012984 and reprojected points are: 0
[22:36:08.373] Update EKF and 3D points, distance between two frames x:0.000243 ,z=0.005343,angle between two frames:0.013600
[22:36:08.473] After Reprojection Map nPoint:47 ,nCell:20 ,nMatches:20 ,distance between two frames x:0.000112 ,z=0.001981,angle between two frames:0.011053
[22:36:08.473] Init estimate scale:0.194033
[22:36:08.473] it:0 	 Success 	 new_chi2: 2.349821 	 dT = 0.000067, 0.000000, 0.000040
[22:36:08.473] it:1 	 FAILURE 	 new_chi2: 2.349823
[22:36:08.473] n deleted obs = 62 	 scale =0.194033 	 error init =0.037900 	 error end=0.037900
[22:36:08.473] After pose optimization, distance between two frames x:0.000112 ,z=0.001981,angle between two frames:0.011053 and reprojected points are: 0
[22:36:08.473] Update EKF and 3D points, distance between two frames x:0.000183 ,z=0.003000,angle between two frames:0.013234
[22:36:08.581] After Reprojection Map nPoint:44 ,nCell:18 ,nMatches:17 ,distance between two frames x:0.000362 ,z=0.004563,angle between two frames:0.002233
[22:36:08.581] Init estimate scale:0.188778
[22:36:08.582] it:0 	 Success 	 new_chi2: 2.258690 	 dT = 0.001702, 0.000000, 0.000822
[22:36:08.582] it:1 	 FAILURE 	 new_chi2: 2.264565
[22:36:08.582] n deleted obs = 52 	 scale =0.188778 	 error init =0.043436 	 error end=0.043436
[22:36:08.582] After pose optimization, distance between two frames x:0.000362 ,z=0.004563,angle between two frames:0.002233 and reprojected points are: 0
[22:36:08.582] Update EKF and 3D points, distance between two frames x:0.000376 ,z=0.004916,angle between two frames:0.003132
[22:36:08.671] After Reprojection Map nPoint:46 ,nCell:20 ,nMatches:19 ,distance between two frames x:0.000083 ,z=0.002170,angle between two frames:0.000593
[22:36:08.672] Init estimate scale:0.190868
[22:36:08.672] it:0 	 Success 	 new_chi2: 2.569091 	 dT = 0.000014, 0.000000, 0.000010
[22:36:08.672] it:1 	 FAILURE 	 new_chi2: 2.569133
[22:36:08.672] n deleted obs = 59 	 scale =0.190868 	 error init =0.043544 	 error end=0.043544
[22:36:08.672] After pose optimization, distance between two frames x:0.000083 ,z=0.002170,angle between two frames:0.000593 and reprojected points are: 0
[22:36:08.672] Update EKF and 3D points, distance between two frames x:0.000158 ,z=0.003255,angle between two frames:0.002539
[22:36:08.772] After Reprojection Map nPoint:51 ,nCell:20 ,nMatches:19 ,distance between two frames x:0.000410 ,z=0.004843,angle between two frames:0.002435
[22:36:08.772] Init estimate scale:0.197281
[22:36:08.772] it:0 	 Success 	 new_chi2: 2.094309 	 dT = 0.000018, 0.000000, 0.000044
[22:36:08.772] it:1 	 FAILURE 	 new_chi2: 2.094357
[22:36:08.772] n deleted obs = 62 	 scale =0.197281 	 error init =0.033779 	 error end=0.033779
[22:36:08.773] After pose optimization, distance between two frames x:0.000410 ,z=0.004843,angle between two frames:0.002435 and reprojected points are: 0
[22:36:08.773] Update EKF and 3D points, distance between two frames x:0.000466 ,z=0.005930,angle between two frames:0.001603
[22:36:08.873] After Reprojection Map nPoint:59 ,nCell:25 ,nMatches:23 ,distance between two frames x:0.000173 ,z=0.004895,angle between two frames:0.021665
[22:36:08.873] Init estimate scale:0.181737
[22:36:08.873] it:0 	 Success 	 new_chi2: 4.126122 	 dT = 0.003880, 0.000000, 0.003656
[22:36:08.873] it:1 	 FAILURE 	 new_chi2: 4.144321
[22:36:08.873] n deleted obs = 72 	 scale =0.181737 	 error init =0.057307 	 error end=0.057307
[22:36:08.873] After pose optimization, distance between two frames x:0.000173 ,z=0.004895,angle between two frames:0.021665 and reprojected points are: 0
[22:36:08.873] Update EKF and 3D points, distance between two frames x:0.000216 ,z=0.005989,angle between two frames:0.021976
[22:36:08.973] After Reprojection Map nPoint:58 ,nCell:19 ,nMatches:19 ,distance between two frames x:0.000188 ,z=0.004913,angle between two frames:0.009619
[22:36:08.973] Init estimate scale:0.189680
[22:36:08.973] it:0 	 Success 	 new_chi2: 2.084623 	 dT = 0.000037, 0.000000, 0.000059
[22:36:08.973] it:1 	 Success 	 new_chi2: 2.084530 	 dT = 0.000037, 0.000000, 0.000059
[22:36:08.973] it:2 	 Success 	 new_chi2: 2.084438 	 dT = 0.000037, 0.000000, 0.000059
[22:36:08.973] it:3 	 Success 	 new_chi2: 2.084346 	 dT = 0.000037, 0.000000, 0.000059
[22:36:08.973] it:4 	 Success 	 new_chi2: 2.084255 	 dT = 0.000037, 0.000000, 0.000059
[22:36:08.973] it:5 	 Success 	 new_chi2: 2.084164 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:6 	 Success 	 new_chi2: 2.084123 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:7 	 Success 	 new_chi2: 2.084084 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:8 	 Success 	 new_chi2: 2.084045 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:9 	 Success 	 new_chi2: 2.084007 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:10 	 Success 	 new_chi2: 2.083970 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:11 	 Success 	 new_chi2: 2.083934 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:12 	 Success 	 new_chi2: 2.083899 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:13 	 Success 	 new_chi2: 2.083864 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:14 	 Success 	 new_chi2: 2.083831 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:15 	 Success 	 new_chi2: 2.083798 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:16 	 Success 	 new_chi2: 2.083766 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:17 	 Success 	 new_chi2: 2.083735 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:18 	 Success 	 new_chi2: 2.083704 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:19 	 Success 	 new_chi2: 2.083675 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:20 	 Success 	 new_chi2: 2.083646 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:21 	 Success 	 new_chi2: 2.083618 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:22 	 Success 	 new_chi2: 2.083592 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:23 	 Success 	 new_chi2: 2.083565 	 dT = 0.000078, 0.000000, 0.000040
[22:36:08.974] it:24 	 Success 	 new_chi2: 2.083540 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.974] it:25 	 Success 	 new_chi2: 2.083516 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.974] it:26 	 Success 	 new_chi2: 2.083492 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.974] it:27 	 Success 	 new_chi2: 2.083469 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.974] it:28 	 Success 	 new_chi2: 2.083448 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.974] it:29 	 Success 	 new_chi2: 2.083426 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.974] it:30 	 Success 	 new_chi2: 2.083406 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.974] it:31 	 Success 	 new_chi2: 2.083387 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.974] it:32 	 Success 	 new_chi2: 2.083368 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.974] it:33 	 Success 	 new_chi2: 2.083350 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.974] it:34 	 Success 	 new_chi2: 2.083334 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:35 	 Success 	 new_chi2: 2.083317 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:36 	 Success 	 new_chi2: 2.083302 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:37 	 Success 	 new_chi2: 2.083288 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:38 	 Success 	 new_chi2: 2.083274 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:39 	 Success 	 new_chi2: 2.083261 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:40 	 Success 	 new_chi2: 2.083250 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:41 	 Success 	 new_chi2: 2.083238 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:42 	 Success 	 new_chi2: 2.083228 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:43 	 Success 	 new_chi2: 2.083219 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:44 	 Success 	 new_chi2: 2.083210 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:45 	 Success 	 new_chi2: 2.083202 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:46 	 Success 	 new_chi2: 2.083195 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:47 	 Success 	 new_chi2: 2.083189 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:48 	 Success 	 new_chi2: 2.083184 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:49 	 Success 	 new_chi2: 2.083180 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:50 	 Success 	 new_chi2: 2.083176 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:51 	 Success 	 new_chi2: 2.083173 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:52 	 Success 	 new_chi2: 2.083171 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:53 	 Success 	 new_chi2: 2.083170 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:54 	 Success 	 new_chi2: 2.083170 	 dT = 0.000078, 0.000000, 0.000041
[22:36:08.975] it:55 	 FAILURE 	 new_chi2: 2.083170
[22:36:08.975] n deleted obs = 68 	 scale =0.189680 	 error init =0.030656 	 error end=0.030635
[22:36:08.975] After pose optimization, distance between two frames x:0.004197 ,z=0.004913,angle between two frames:0.007339 and reprojected points are: 0
[22:36:08.975] Update EKF and 3D points, distance between two frames x:0.003940 ,z=0.005267,angle between two frames:0.008922
[22:36:09.073] After Reprojection Map nPoint:65 ,nCell:26 ,nMatches:25 ,distance between two frames x:-0.001521 ,z=0.002083,angle between two frames:0.012737
[22:36:09.074] Init estimate scale:0.185916
[22:36:09.074] it:0 	 Success 	 new_chi2: 2.827053 	 dT = 0.000090, 0.000000, 0.000227
[22:36:09.074] it:1 	 FAILURE 	 new_chi2: 2.827201
[22:36:09.074] n deleted obs = 80 	 scale =0.185916 	 error init =0.035338 	 error end=0.035338
[22:36:09.074] After pose optimization, distance between two frames x:-0.001521 ,z=0.002083,angle between two frames:0.012737 and reprojected points are: 0
[22:36:09.074] Update EKF and 3D points, distance between two frames x:-0.001504 ,z=0.003172,angle between two frames:0.013087
[22:36:09.182] After Reprojection Map nPoint:67 ,nCell:25 ,nMatches:25 ,distance between two frames x:0.000068 ,z=0.004883,angle between two frames:0.015112
[22:36:09.182] Init estimate scale:0.194158
[22:36:09.182] it:0 	 Success 	 new_chi2: 3.010292 	 dT = 0.000084, 0.000000, 0.000330
[22:36:09.182] it:1 	 Success 	 new_chi2: 3.009516 	 dT = 0.000083, 0.000000, 0.000329
[22:36:09.182] it:2 	 Success 	 new_chi2: 3.008752 	 dT = 0.000083, 0.000000, 0.000329
[22:36:09.182] it:3 	 Success 	 new_chi2: 3.008002 	 dT = 0.000082, 0.000000, 0.000329
[22:36:09.182] it:4 	 Success 	 new_chi2: 3.007264 	 dT = 0.000081, 0.000000, 0.000329
[22:36:09.182] it:5 	 Success 	 new_chi2: 3.006539 	 dT = 0.000112, 0.000000, 0.000279
[22:36:09.182] it:6 	 Success 	 new_chi2: 3.005936 	 dT = 0.000112, 0.000000, 0.000278
[22:36:09.182] it:7 	 Success 	 new_chi2: 3.005345 	 dT = 0.000112, 0.000000, 0.000278
[22:36:09.182] it:8 	 Success 	 new_chi2: 3.004765 	 dT = 0.000112, 0.000000, 0.000278
[22:36:09.182] it:9 	 Success 	 new_chi2: 3.004196 	 dT = 0.000112, 0.000000, 0.000278
[22:36:09.182] it:10 	 Success 	 new_chi2: 3.003639 	 dT = 0.000112, 0.000000, 0.000277
[22:36:09.182] it:11 	 Success 	 new_chi2: 3.003094 	 dT = 0.000112, 0.000000, 0.000277
[22:36:09.183] it:12 	 Success 	 new_chi2: 3.002559 	 dT = 0.000112, 0.000000, 0.000277
[22:36:09.183] it:13 	 Success 	 new_chi2: 3.002036 	 dT = 0.000112, 0.000000, 0.000276
[22:36:09.183] it:14 	 Success 	 new_chi2: 3.001524 	 dT = 0.000112, 0.000000, 0.000276
[22:36:09.183] it:15 	 Success 	 new_chi2: 3.001024 	 dT = 0.000112, 0.000000, 0.000276
[22:36:09.183] it:16 	 Success 	 new_chi2: 3.000534 	 dT = 0.000112, 0.000000, 0.000276
[22:36:09.183] it:17 	 Success 	 new_chi2: 3.000056 	 dT = 0.000112, 0.000000, 0.000275
[22:36:09.183] it:18 	 Success 	 new_chi2: 2.999589 	 dT = 0.000112, 0.000000, 0.000275
[22:36:09.183] it:19 	 Success 	 new_chi2: 2.999133 	 dT = 0.000112, 0.000000, 0.000275
[22:36:09.183] it:20 	 Success 	 new_chi2: 2.998689 	 dT = 0.000112, 0.000000, 0.000275
[22:36:09.183] it:21 	 Success 	 new_chi2: 2.998255 	 dT = 0.000112, 0.000000, 0.000274
[22:36:09.183] it:22 	 Success 	 new_chi2: 2.997832 	 dT = 0.000112, 0.000000, 0.000274
[22:36:09.183] it:23 	 Success 	 new_chi2: 2.997421 	 dT = 0.000111, 0.000000, 0.000274
[22:36:09.183] it:24 	 Success 	 new_chi2: 2.997020 	 dT = 0.000111, 0.000000, 0.000274
[22:36:09.183] it:25 	 Success 	 new_chi2: 2.996630 	 dT = 0.000111, 0.000000, 0.000273
[22:36:09.183] it:26 	 Success 	 new_chi2: 2.996252 	 dT = 0.000111, 0.000000, 0.000273
[22:36:09.183] it:27 	 Success 	 new_chi2: 2.995884 	 dT = 0.000111, 0.000000, 0.000273
[22:36:09.183] it:28 	 Success 	 new_chi2: 2.995527 	 dT = 0.000111, 0.000000, 0.000273
[22:36:09.183] it:29 	 Success 	 new_chi2: 2.995181 	 dT = 0.000111, 0.000000, 0.000272
[22:36:09.183] it:30 	 Success 	 new_chi2: 2.994845 	 dT = 0.000111, 0.000000, 0.000272
[22:36:09.183] it:31 	 Success 	 new_chi2: 2.994521 	 dT = 0.000111, 0.000000, 0.000272
[22:36:09.183] it:32 	 Success 	 new_chi2: 2.994207 	 dT = 0.000111, 0.000000, 0.000272
[22:36:09.183] it:33 	 Success 	 new_chi2: 2.993904 	 dT = 0.000111, 0.000000, 0.000271
[22:36:09.183] it:34 	 Success 	 new_chi2: 2.993612 	 dT = 0.000111, 0.000000, 0.000271
[22:36:09.183] it:35 	 Success 	 new_chi2: 2.993330 	 dT = 0.000111, 0.000000, 0.000271
[22:36:09.183] it:36 	 Success 	 new_chi2: 2.993059 	 dT = 0.000111, 0.000000, 0.000271
[22:36:09.183] it:37 	 Success 	 new_chi2: 2.992798 	 dT = 0.000111, 0.000000, 0.000271
[22:36:09.184] it:38 	 Success 	 new_chi2: 2.992549 	 dT = 0.000111, 0.000000, 0.000270
[22:36:09.184] it:39 	 Success 	 new_chi2: 2.992309 	 dT = 0.000110, 0.000000, 0.000270
[22:36:09.184] it:40 	 Success 	 new_chi2: 2.992080 	 dT = 0.000110, 0.000000, 0.000270
[22:36:09.184] it:41 	 Success 	 new_chi2: 2.991862 	 dT = 0.000110, 0.000000, 0.000270
[22:36:09.184] it:42 	 Success 	 new_chi2: 2.991654 	 dT = 0.000110, 0.000000, 0.000269
[22:36:09.184] it:43 	 Success 	 new_chi2: 2.991457 	 dT = 0.000110, 0.000000, 0.000269
[22:36:09.184] it:44 	 Success 	 new_chi2: 2.991270 	 dT = 0.000110, 0.000000, 0.000269
[22:36:09.184] it:45 	 Success 	 new_chi2: 2.991094 	 dT = 0.000110, 0.000000, 0.000269
[22:36:09.184] it:46 	 Success 	 new_chi2: 2.990927 	 dT = 0.000110, 0.000000, 0.000269
[22:36:09.184] it:47 	 Success 	 new_chi2: 2.990772 	 dT = 0.000110, 0.000000, 0.000268
[22:36:09.184] it:48 	 Success 	 new_chi2: 2.990626 	 dT = 0.000110, 0.000000, 0.000268
[22:36:09.184] it:49 	 Success 	 new_chi2: 2.990491 	 dT = 0.000110, 0.000000, 0.000268
[22:36:09.184] it:50 	 Success 	 new_chi2: 2.990366 	 dT = 0.000110, 0.000000, 0.000268
[22:36:09.184] it:51 	 Success 	 new_chi2: 2.990251 	 dT = 0.000109, 0.000000, 0.000268
[22:36:09.184] it:52 	 Success 	 new_chi2: 2.990146 	 dT = 0.000109, 0.000000, 0.000267
[22:36:09.184] it:53 	 Success 	 new_chi2: 2.990052 	 dT = 0.000109, 0.000000, 0.000267
[22:36:09.184] it:54 	 Success 	 new_chi2: 2.989968 	 dT = 0.000109, 0.000000, 0.000267
[22:36:09.184] it:55 	 Success 	 new_chi2: 2.989894 	 dT = 0.000109, 0.000000, 0.000267
[22:36:09.184] it:56 	 Success 	 new_chi2: 2.989830 	 dT = 0.000109, 0.000000, 0.000267
[22:36:09.184] it:57 	 Success 	 new_chi2: 2.989776 	 dT = 0.000109, 0.000000, 0.000266
[22:36:09.184] it:58 	 Success 	 new_chi2: 2.989732 	 dT = 0.000109, 0.000000, 0.000266
[22:36:09.184] it:59 	 Success 	 new_chi2: 2.989698 	 dT = 0.000109, 0.000000, 0.000266
[22:36:09.184] it:60 	 Success 	 new_chi2: 2.989674 	 dT = 0.000109, 0.000000, 0.000266
[22:36:09.184] it:61 	 Success 	 new_chi2: 2.989660 	 dT = 0.000108, 0.000000, 0.000266
[22:36:09.184] it:62 	 Success 	 new_chi2: 2.989656 	 dT = 0.000108, 0.000000, 0.000265
[22:36:09.185] it:63 	 FAILURE 	 new_chi2: 2.989661
[22:36:09.185] n deleted obs = 82 	 scale =0.194158 	 error init =0.036711 	 error end=0.036459
[22:36:09.185] After pose optimization, distance between two frames x:0.006790 ,z=0.004883,angle between two frames:0.002019 and reprojected points are: 0
[22:36:09.185] Update EKF and 3D points, distance between two frames x:0.006392 ,z=0.005217,angle between two frames:0.000383
[22:36:09.272] After Reprojection Map nPoint:70 ,nCell:23 ,nMatches:21 ,distance between two frames x:-0.002453 ,z=0.002050,angle between two frames:0.010623
[22:36:09.272] Init estimate scale:0.192969
[22:36:09.272] it:0 	 Success 	 new_chi2: 2.384731 	 dT = 0.000045, 0.000000, 0.000266
[22:36:09.272] it:1 	 FAILURE 	 new_chi2: 2.384857
[22:36:09.272] n deleted obs = 81 	 scale =0.192969 	 error init =0.029441 	 error end=0.029441
[22:36:09.272] After pose optimization, distance between two frames x:-0.002453 ,z=0.002050,angle between two frames:0.010623 and reprojected points are: 0
[22:36:09.272] Update EKF and 3D points, distance between two frames x:-0.002451 ,z=0.002386,angle between two frames:0.010689
[22:36:09.373] After Reprojection Map nPoint:76 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.000009 ,z=0.001989,angle between two frames:0.001037
[22:36:09.373] Init estimate scale:0.199397
[22:36:09.373] it:0 	 Success 	 new_chi2: 2.226360 	 dT = 0.001912, 0.000000, 0.006339
[22:36:09.373] it:1 	 FAILURE 	 new_chi2: 2.229938
[22:36:09.373] n deleted obs = 87 	 scale =0.199397 	 error init =0.025590 	 error end=0.025590
[22:36:09.373] After pose optimization, distance between two frames x:0.000009 ,z=0.001989,angle between two frames:0.001037 and reprojected points are: 0
[22:36:09.373] Update EKF and 3D points, distance between two frames x:0.000011 ,z=0.002343,angle between two frames:0.001158
[22:36:09.473] After Reprojection Map nPoint:70 ,nCell:26 ,nMatches:24 ,distance between two frames x:0.000012 ,z=0.002083,angle between two frames:0.000646
[22:36:09.473] Init estimate scale:0.198016
[22:36:09.473] it:0 	 Success 	 new_chi2: 2.639671 	 dT = 0.000159, 0.000000, 0.000371
[22:36:09.473] it:1 	 Success 	 new_chi2: 2.639415 	 dT = 0.000158, 0.000000, 0.000371
[22:36:09.473] it:2 	 Success 	 new_chi2: 2.639179 	 dT = 0.000157, 0.000000, 0.000370
[22:36:09.473] it:3 	 Success 	 new_chi2: 2.638964 	 dT = 0.000156, 0.000000, 0.000370
[22:36:09.473] it:4 	 Success 	 new_chi2: 2.638769 	 dT = 0.000155, 0.000000, 0.000369
[22:36:09.473] it:5 	 Success 	 new_chi2: 2.638594 	 dT = 0.000191, 0.000000, 0.000311
[22:36:09.473] it:6 	 Success 	 new_chi2: 2.638442 	 dT = 0.000191, 0.000000, 0.000311
[22:36:09.473] it:7 	 Success 	 new_chi2: 2.638307 	 dT = 0.000191, 0.000000, 0.000310
[22:36:09.474] it:8 	 Success 	 new_chi2: 2.638191 	 dT = 0.000191, 0.000000, 0.000310
[22:36:09.474] it:9 	 Success 	 new_chi2: 2.638093 	 dT = 0.000191, 0.000000, 0.000310
[22:36:09.474] it:10 	 Success 	 new_chi2: 2.638014 	 dT = 0.000191, 0.000000, 0.000309
[22:36:09.474] it:11 	 Success 	 new_chi2: 2.637953 	 dT = 0.000191, 0.000000, 0.000309
[22:36:09.474] it:12 	 Success 	 new_chi2: 2.637909 	 dT = 0.000190, 0.000000, 0.000308
[22:36:09.474] it:13 	 Success 	 new_chi2: 2.637884 	 dT = 0.000190, 0.000000, 0.000308
[22:36:09.474] it:14 	 Success 	 new_chi2: 2.637877 	 dT = 0.000190, 0.000000, 0.000308
[22:36:09.474] it:15 	 FAILURE 	 new_chi2: 2.637888
[22:36:09.474] n deleted obs = 85 	 scale =0.198016 	 error init =0.031055 	 error end=0.031034
[22:36:09.474] After pose optimization, distance between two frames x:0.002513 ,z=0.002083,angle between two frames:0.003992 and reprojected points are: 0
[22:36:09.474] Update EKF and 3D points, distance between two frames x:0.002353 ,z=0.002429,angle between two frames:0.003999
[22:36:09.574] After Reprojection Map nPoint:41 ,nCell:16 ,nMatches:16 ,distance between two frames x:-0.000972 ,z=0.001716,angle between two frames:0.015822
[22:36:09.574] Init estimate scale:0.234304
[22:36:09.574] it:0 	 Success 	 new_chi2: 4.180532 	 dT = -0.000002, 0.000000, 0.002940
[22:36:09.574] it:1 	 FAILURE 	 new_chi2: 4.180785
[22:36:09.574] n deleted obs = 52 	 scale =0.234304 	 error init =0.080395 	 error end=0.080395
[22:36:09.574] After pose optimization, distance between two frames x:-0.000972 ,z=0.001716,angle between two frames:0.015822 and reprojected points are: 0
[22:36:09.574] Update EKF and 3D points, distance between two frames x:-0.000979 ,z=0.002068,angle between two frames:0.017003
[22:36:09.671] After Reprojection Map nPoint:38 ,nCell:16 ,nMatches:13 ,distance between two frames x:-0.000042 ,z=0.002089,angle between two frames:0.011725
[22:36:09.672] Init estimate scale:0.192914
[22:36:09.672] it:0 	 Success 	 new_chi2: 3.301444 	 dT = -0.032766, 0.000000, 0.025822
[22:36:09.672] it:1 	 Success 	 new_chi2: 3.287472 	 dT = -0.014122, 0.000000, 0.050262
[22:36:09.672] it:2 	 FAILURE 	 new_chi2: 3.401412
[22:36:09.672] n deleted obs = 43 	 scale =0.192914 	 error init =0.076778 	 error end=0.076453
[22:36:09.672] After pose optimization, distance between two frames x:-0.032808 ,z=0.002089,angle between two frames:0.014097 and reprojected points are: 0
[22:36:09.672] Update EKF and 3D points, distance between two frames x:-0.030699 ,z=0.002452,angle between two frames:0.012301
[22:36:09.771] After Reprojection Map nPoint:34 ,nCell:13 ,nMatches:12 ,distance between two frames x:0.012477 ,z=0.002228,angle between two frames:0.010399
[22:36:09.771] Init estimate scale:0.231390
[22:36:09.772] it:0 	 Success 	 new_chi2: 1.292584 	 dT = -0.000134, 0.000000, 0.000040
[22:36:09.772] it:1 	 Success 	 new_chi2: 1.292425 	 dT = -0.000133, 0.000000, 0.000040
[22:36:09.772] it:2 	 Success 	 new_chi2: 1.292266 	 dT = -0.000133, 0.000000, 0.000040
[22:36:09.772] it:3 	 Success 	 new_chi2: 1.292108 	 dT = -0.000133, 0.000000, 0.000040
[22:36:09.772] it:4 	 Success 	 new_chi2: 1.291950 	 dT = -0.000133, 0.000000, 0.000040
[22:36:09.772] it:5 	 Success 	 new_chi2: 1.291793 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:6 	 Success 	 new_chi2: 1.291703 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:7 	 Success 	 new_chi2: 1.291614 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:8 	 Success 	 new_chi2: 1.291526 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:9 	 Success 	 new_chi2: 1.291437 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:10 	 Success 	 new_chi2: 1.291348 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:11 	 Success 	 new_chi2: 1.291259 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:12 	 Success 	 new_chi2: 1.291171 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:13 	 Success 	 new_chi2: 1.291082 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:14 	 Success 	 new_chi2: 1.290994 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:15 	 Success 	 new_chi2: 1.290906 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:16 	 Success 	 new_chi2: 1.290817 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:17 	 Success 	 new_chi2: 1.290729 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:18 	 Success 	 new_chi2: 1.290641 	 dT = -0.000118, 0.000000, 0.000060
[22:36:09.772] it:19 	 Success 	 new_chi2: 1.290553 	 dT = -0.000117, 0.000000, 0.000060
[22:36:09.772] it:20 	 Success 	 new_chi2: 1.290465 	 dT = -0.000117, 0.000000, 0.000060
[22:36:09.772] it:21 	 Success 	 new_chi2: 1.290377 	 dT = -0.000117, 0.000000, 0.000060
[22:36:09.772] it:22 	 Success 	 new_chi2: 1.290290 	 dT = -0.000117, 0.000000, 0.000060
[22:36:09.772] it:23 	 Success 	 new_chi2: 1.290202 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:24 	 Success 	 new_chi2: 1.290114 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:25 	 Success 	 new_chi2: 1.290027 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:26 	 Success 	 new_chi2: 1.289939 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:27 	 Success 	 new_chi2: 1.289852 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:28 	 Success 	 new_chi2: 1.289765 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:29 	 Success 	 new_chi2: 1.289678 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:30 	 Success 	 new_chi2: 1.289591 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:31 	 Success 	 new_chi2: 1.289504 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:32 	 Success 	 new_chi2: 1.289417 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:33 	 Success 	 new_chi2: 1.289330 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:34 	 Success 	 new_chi2: 1.289243 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:35 	 Success 	 new_chi2: 1.289157 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:36 	 Success 	 new_chi2: 1.289070 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:37 	 Success 	 new_chi2: 1.288983 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:38 	 Success 	 new_chi2: 1.288897 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:39 	 Success 	 new_chi2: 1.288811 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:40 	 Success 	 new_chi2: 1.288725 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.772] it:41 	 Success 	 new_chi2: 1.288638 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.773] it:42 	 Success 	 new_chi2: 1.288552 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.773] it:43 	 Success 	 new_chi2: 1.288466 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.773] it:44 	 Success 	 new_chi2: 1.288381 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.773] it:45 	 Success 	 new_chi2: 1.288295 	 dT = -0.000117, 0.000000, 0.000059
[22:36:09.773] it:46 	 Success 	 new_chi2: 1.288209 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:47 	 Success 	 new_chi2: 1.288123 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:48 	 Success 	 new_chi2: 1.288038 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:49 	 Success 	 new_chi2: 1.287953 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:50 	 Success 	 new_chi2: 1.287867 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:51 	 Success 	 new_chi2: 1.287782 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:52 	 Success 	 new_chi2: 1.287697 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:53 	 Success 	 new_chi2: 1.287612 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:54 	 Success 	 new_chi2: 1.287527 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:55 	 Success 	 new_chi2: 1.287442 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:56 	 Success 	 new_chi2: 1.287357 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:57 	 Success 	 new_chi2: 1.287272 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:58 	 Success 	 new_chi2: 1.287188 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:59 	 Success 	 new_chi2: 1.287103 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:60 	 Success 	 new_chi2: 1.287019 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:61 	 Success 	 new_chi2: 1.286934 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:62 	 Success 	 new_chi2: 1.286850 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:63 	 Success 	 new_chi2: 1.286766 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:64 	 Success 	 new_chi2: 1.286682 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:65 	 Success 	 new_chi2: 1.286598 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:66 	 Success 	 new_chi2: 1.286514 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:67 	 Success 	 new_chi2: 1.286430 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:68 	 Success 	 new_chi2: 1.286346 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] it:69 	 Success 	 new_chi2: 1.286263 	 dT = -0.000117, 0.000000, 0.000058
[22:36:09.773] n deleted obs = 40 	 scale =0.231390 	 error init =0.032315 	 error end=0.032154
[22:36:09.773] After pose optimization, distance between two frames x:0.004196 ,z=0.002228,angle between two frames:0.006371 and reprojected points are: 0
[22:36:09.773] Update EKF and 3D points, distance between two frames x:0.004732 ,z=0.002602,angle between two frames:0.006090
[22:36:09.872] After Reprojection Map nPoint:41 ,nCell:19 ,nMatches:17 ,distance between two frames x:0.003169 ,z=0.002391,angle between two frames:0.005673
[22:36:09.872] Init estimate scale:0.237965
[22:36:09.872] it:0 	 Success 	 new_chi2: 4.086456 	 dT = -0.001818, 0.000000, 0.076312
[22:36:09.872] it:1 	 FAILURE 	 new_chi2: 4.296001
[22:36:09.872] n deleted obs = 51 	 scale =0.237965 	 error init =0.080127 	 error end=0.080127
[22:36:09.872] After pose optimization, distance between two frames x:0.003169 ,z=0.002391,angle between two frames:0.005673 and reprojected points are: 0
[22:36:09.872] Update EKF and 3D points, distance between two frames x:0.003180 ,z=0.003517,angle between two frames:0.006940
[22:36:09.974] After Reprojection Map nPoint:50 ,nCell:24 ,nMatches:24 ,distance between two frames x:0.000069 ,z=0.005132,angle between two frames:0.013995
[22:36:09.974] Init estimate scale:0.223198
[22:36:09.974] it:0 	 Success 	 new_chi2: 4.581177 	 dT = -0.010313, 0.000000, 0.045656
[22:36:09.974] it:1 	 Success 	 new_chi2: 4.485741 	 dT = -0.006609, 0.000000, 0.012765
[22:36:09.974] it:2 	 Success 	 new_chi2: 4.464777 	 dT = -0.006210, 0.000000, 0.010452
[22:36:09.974] it:3 	 Success 	 new_chi2: 4.448307 	 dT = -0.005881, 0.000000, 0.009072
[22:36:09.974] it:4 	 Success 	 new_chi2: 4.434429 	 dT = -0.005605, 0.000000, 0.008126
[22:36:09.974] it:5 	 Success 	 new_chi2: 4.422312 	 dT = 0.000957, 0.000000, 0.004114
[22:36:09.974] it:6 	 FAILURE 	 new_chi2: 4.427520
[22:36:09.974] n deleted obs = 64 	 scale =0.223198 	 error init =0.071581 	 error end=0.069099
[22:36:09.974] After pose optimization, distance between two frames x:-0.034550 ,z=0.005132,angle between two frames:0.100066 and reprojected points are: 0
[22:36:09.974] Update EKF and 3D points, distance between two frames x:-0.032297 ,z=0.005502,angle between two frames:0.095669
[22:36:10.082] After Reprojection Map nPoint:54 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.013348 ,z=0.002422,angle between two frames:0.019382
[22:36:10.082] Init estimate scale:0.196399
[22:36:10.082] it:0 	 Success 	 new_chi2: 3.030367 	 dT = 0.002190, 0.000000, 0.003113
[22:36:10.082] it:1 	 FAILURE 	 new_chi2: 3.030838
[22:36:10.082] n deleted obs = 72 	 scale =0.196399 	 error init =0.042088 	 error end=0.042088
[22:36:10.082] After pose optimization, distance between two frames x:0.013348 ,z=0.002422,angle between two frames:0.019382 and reprojected points are: 0
[22:36:10.082] Update EKF and 3D points, distance between two frames x:0.013378 ,z=0.002750,angle between two frames:0.018753
[22:36:10.175] After Reprojection Map nPoint:54 ,nCell:23 ,nMatches:21 ,distance between two frames x:0.000187 ,z=0.002049,angle between two frames:0.004802
[22:36:10.175] Init estimate scale:0.199923
[22:36:10.175] it:0 	 Success 	 new_chi2: 3.996933 	 dT = 0.000045, 0.000000, 0.000124
[22:36:10.175] it:1 	 Success 	 new_chi2: 3.996810 	 dT = 0.000045, 0.000000, 0.000124
[22:36:10.175] it:2 	 Success 	 new_chi2: 3.996689 	 dT = 0.000044, 0.000000, 0.000124
[22:36:10.175] it:3 	 Success 	 new_chi2: 3.996569 	 dT = 0.000044, 0.000000, 0.000123
[22:36:10.175] it:4 	 Success 	 new_chi2: 3.996452 	 dT = 0.000044, 0.000000, 0.000123
[22:36:10.175] it:5 	 Success 	 new_chi2: 3.996335 	 dT = 0.000075, 0.000000, 0.000079
[22:36:10.175] it:6 	 Success 	 new_chi2: 3.996233 	 dT = 0.000075, 0.000000, 0.000079
[22:36:10.175] it:7 	 Success 	 new_chi2: 3.996132 	 dT = 0.000075, 0.000000, 0.000078
[22:36:10.175] it:8 	 Success 	 new_chi2: 3.996032 	 dT = 0.000075, 0.000000, 0.000078
[22:36:10.175] it:9 	 Success 	 new_chi2: 3.995934 	 dT = 0.000075, 0.000000, 0.000078
[22:36:10.175] it:10 	 Success 	 new_chi2: 3.995837 	 dT = 0.000075, 0.000000, 0.000078
[22:36:10.175] it:11 	 Success 	 new_chi2: 3.995741 	 dT = 0.000075, 0.000000, 0.000078
[22:36:10.175] it:12 	 Success 	 new_chi2: 3.995647 	 dT = 0.000075, 0.000000, 0.000078
[22:36:10.175] it:13 	 Success 	 new_chi2: 3.995554 	 dT = 0.000075, 0.000000, 0.000078
[22:36:10.175] it:14 	 Success 	 new_chi2: 3.995463 	 dT = 0.000075, 0.000000, 0.000078
[22:36:10.176] it:15 	 Success 	 new_chi2: 3.995373 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:16 	 Success 	 new_chi2: 3.995284 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:17 	 Success 	 new_chi2: 3.995197 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:18 	 Success 	 new_chi2: 3.995112 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:19 	 Success 	 new_chi2: 3.995027 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:20 	 Success 	 new_chi2: 3.994944 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:21 	 Success 	 new_chi2: 3.994863 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:22 	 Success 	 new_chi2: 3.994782 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:23 	 Success 	 new_chi2: 3.994704 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:24 	 Success 	 new_chi2: 3.994626 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:25 	 Success 	 new_chi2: 3.994550 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:26 	 Success 	 new_chi2: 3.994475 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:27 	 Success 	 new_chi2: 3.994402 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:28 	 Success 	 new_chi2: 3.994330 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:29 	 Success 	 new_chi2: 3.994260 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:30 	 Success 	 new_chi2: 3.994191 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:31 	 Success 	 new_chi2: 3.994123 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:32 	 Success 	 new_chi2: 3.994056 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:33 	 Success 	 new_chi2: 3.993991 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:34 	 Success 	 new_chi2: 3.993928 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:35 	 Success 	 new_chi2: 3.993865 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:36 	 Success 	 new_chi2: 3.993805 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:37 	 Success 	 new_chi2: 3.993745 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:38 	 Success 	 new_chi2: 3.993687 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:39 	 Success 	 new_chi2: 3.993630 	 dT = 0.000074, 0.000000, 0.000078
[22:36:10.176] it:40 	 Success 	 new_chi2: 3.993575 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.176] it:41 	 Success 	 new_chi2: 3.993520 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:42 	 Success 	 new_chi2: 3.993468 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:43 	 Success 	 new_chi2: 3.993416 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:44 	 Success 	 new_chi2: 3.993366 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:45 	 Success 	 new_chi2: 3.993318 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:46 	 Success 	 new_chi2: 3.993270 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:47 	 Success 	 new_chi2: 3.993225 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:48 	 Success 	 new_chi2: 3.993180 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:49 	 Success 	 new_chi2: 3.993137 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:50 	 Success 	 new_chi2: 3.993095 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:51 	 Success 	 new_chi2: 3.993054 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:52 	 Success 	 new_chi2: 3.993015 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:53 	 Success 	 new_chi2: 3.992977 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:54 	 Success 	 new_chi2: 3.992941 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:55 	 Success 	 new_chi2: 3.992906 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:56 	 Success 	 new_chi2: 3.992872 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:57 	 Success 	 new_chi2: 3.992840 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:58 	 Success 	 new_chi2: 3.992809 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:59 	 Success 	 new_chi2: 3.992779 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:60 	 Success 	 new_chi2: 3.992750 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:61 	 Success 	 new_chi2: 3.992723 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:62 	 Success 	 new_chi2: 3.992698 	 dT = 0.000073, 0.000000, 0.000078
[22:36:10.177] it:63 	 Success 	 new_chi2: 3.992673 	 dT = 0.000072, 0.000000, 0.000078
[22:36:10.177] it:64 	 Success 	 new_chi2: 3.992650 	 dT = 0.000072, 0.000000, 0.000078
[22:36:10.178] it:65 	 Success 	 new_chi2: 3.992628 	 dT = 0.000072, 0.000000, 0.000078
[22:36:10.178] it:66 	 Success 	 new_chi2: 3.992608 	 dT = 0.000072, 0.000000, 0.000078
[22:36:10.178] it:67 	 Success 	 new_chi2: 3.992589 	 dT = 0.000072, 0.000000, 0.000078
[22:36:10.178] it:68 	 Success 	 new_chi2: 3.992571 	 dT = 0.000072, 0.000000, 0.000078
[22:36:10.178] it:69 	 Success 	 new_chi2: 3.992555 	 dT = 0.000072, 0.000000, 0.000078
[22:36:10.178] n deleted obs = 68 	 scale =0.199923 	 error init =0.058778 	 error end=0.058714
[22:36:10.178] After pose optimization, distance between two frames x:0.005192 ,z=0.002049,angle between two frames:0.010509 and reprojected points are: 0
[22:36:10.178] Update EKF and 3D points, distance between two frames x:0.004742 ,z=0.003099,angle between two frames:0.010038
[22:36:10.273] After Reprojection Map nPoint:52 ,nCell:26 ,nMatches:24 ,distance between two frames x:-0.002036 ,z=0.004738,angle between two frames:0.013149
[22:36:10.273] Init estimate scale:0.197814
[22:36:10.273] it:0 	 Success 	 new_chi2: 2.349534 	 dT = 0.000218, 0.000000, 0.000368
[22:36:10.273] it:1 	 Success 	 new_chi2: 2.349058 	 dT = 0.000216, 0.000000, 0.000367
[22:36:10.273] it:2 	 Success 	 new_chi2: 2.348604 	 dT = 0.000214, 0.000000, 0.000366
[22:36:10.273] it:3 	 Success 	 new_chi2: 2.348171 	 dT = 0.000213, 0.000000, 0.000366
[22:36:10.273] it:4 	 Success 	 new_chi2: 2.347758 	 dT = 0.000211, 0.000000, 0.000365
[22:36:10.273] it:5 	 Success 	 new_chi2: 2.347367 	 dT = 0.000319, 0.000000, 0.000214
[22:36:10.273] it:6 	 Success 	 new_chi2: 2.347036 	 dT = 0.000318, 0.000000, 0.000214
[22:36:10.273] it:7 	 Success 	 new_chi2: 2.346722 	 dT = 0.000317, 0.000000, 0.000214
[22:36:10.273] it:8 	 Success 	 new_chi2: 2.346426 	 dT = 0.000316, 0.000000, 0.000215
[22:36:10.273] it:9 	 Success 	 new_chi2: 2.346146 	 dT = 0.000315, 0.000000, 0.000215
[22:36:10.273] it:10 	 Success 	 new_chi2: 2.345883 	 dT = 0.000314, 0.000000, 0.000215
[22:36:10.273] it:11 	 Success 	 new_chi2: 2.345637 	 dT = 0.000313, 0.000000, 0.000215
[22:36:10.273] it:12 	 Success 	 new_chi2: 2.345408 	 dT = 0.000312, 0.000000, 0.000215
[22:36:10.273] it:13 	 Success 	 new_chi2: 2.345195 	 dT = 0.000311, 0.000000, 0.000215
[22:36:10.273] it:14 	 Success 	 new_chi2: 2.344999 	 dT = 0.000310, 0.000000, 0.000215
[22:36:10.273] it:15 	 Success 	 new_chi2: 2.344819 	 dT = 0.000309, 0.000000, 0.000215
[22:36:10.273] it:16 	 Success 	 new_chi2: 2.344656 	 dT = 0.000308, 0.000000, 0.000215
[22:36:10.273] it:17 	 Success 	 new_chi2: 2.344509 	 dT = 0.000307, 0.000000, 0.000215
[22:36:10.273] it:18 	 Success 	 new_chi2: 2.344378 	 dT = 0.000306, 0.000000, 0.000215
[22:36:10.273] it:19 	 Success 	 new_chi2: 2.344263 	 dT = 0.000305, 0.000000, 0.000215
[22:36:10.273] it:20 	 Success 	 new_chi2: 2.344165 	 dT = 0.000304, 0.000000, 0.000216
[22:36:10.274] it:21 	 Success 	 new_chi2: 2.344082 	 dT = 0.000303, 0.000000, 0.000216
[22:36:10.274] it:22 	 Success 	 new_chi2: 2.344015 	 dT = 0.000302, 0.000000, 0.000216
[22:36:10.274] it:23 	 Success 	 new_chi2: 2.343964 	 dT = 0.000301, 0.000000, 0.000216
[22:36:10.274] it:24 	 Success 	 new_chi2: 2.343928 	 dT = 0.000300, 0.000000, 0.000216
[22:36:10.274] it:25 	 Success 	 new_chi2: 2.343909 	 dT = 0.000298, 0.000000, 0.000216
[22:36:10.274] it:26 	 Success 	 new_chi2: 2.343904 	 dT = 0.000297, 0.000000, 0.000216
[22:36:10.274] it:27 	 FAILURE 	 new_chi2: 2.343915
[22:36:10.274] n deleted obs = 69 	 scale =0.197814 	 error init =0.034051 	 error end=0.033970
[22:36:10.274] After pose optimization, distance between two frames x:0.005519 ,z=0.004738,angle between two frames:0.006800 and reprojected points are: 0
[22:36:10.274] Update EKF and 3D points, distance between two frames x:0.005058 ,z=0.005126,angle between two frames:0.008813
[22:36:10.373] After Reprojection Map nPoint:43 ,nCell:15 ,nMatches:15 ,distance between two frames x:-0.002703 ,z=0.002415,angle between two frames:0.022765
[22:36:10.373] Init estimate scale:0.212400
[22:36:10.373] it:0 	 Success 	 new_chi2: 2.692922 	 dT = -0.000590, 0.000000, -0.000487
[22:36:10.373] it:1 	 Success 	 new_chi2: 2.691299 	 dT = -0.000469, 0.000000, -0.000494
[22:36:10.373] it:2 	 Success 	 new_chi2: 2.689900 	 dT = -0.000361, 0.000000, -0.000499
[22:36:10.373] it:3 	 Success 	 new_chi2: 2.688693 	 dT = -0.000264, 0.000000, -0.000503
[22:36:10.373] it:4 	 Success 	 new_chi2: 2.687653 	 dT = -0.000177, 0.000000, -0.000506
[22:36:10.373] it:5 	 Success 	 new_chi2: 2.686756 	 dT = 0.003837, 0.000000, -0.001066
[22:36:10.373] it:6 	 FAILURE 	 new_chi2: 2.690948
[22:36:10.373] n deleted obs = 54 	 scale =0.212400 	 error init =0.049869 	 error end=0.049755
[22:36:10.373] After pose optimization, distance between two frames x:-0.004564 ,z=0.002415,angle between two frames:0.025254 and reprojected points are: 0
[22:36:10.373] Update EKF and 3D points, distance between two frames x:-0.004453 ,z=0.002432,angle between two frames:0.025685
[22:36:10.472] After Reprojection Map nPoint:28 ,nCell:12 ,nMatches:11 ,distance between two frames x:0.000482 ,z=0.008209,angle between two frames:0.001368
[22:36:10.472] Init estimate scale:0.207084
[22:36:10.472] it:0 	 Success 	 new_chi2: 1.972569 	 dT = -0.000099, 0.000000, 0.000007
[22:36:10.472] it:1 	 Success 	 new_chi2: 1.972384 	 dT = -0.000099, 0.000000, 0.000007
[22:36:10.472] it:2 	 Success 	 new_chi2: 1.972199 	 dT = -0.000099, 0.000000, 0.000007
[22:36:10.472] it:3 	 Success 	 new_chi2: 1.972015 	 dT = -0.000099, 0.000000, 0.000007
[22:36:10.472] it:4 	 Success 	 new_chi2: 1.971831 	 dT = -0.000098, 0.000000, 0.000007
[22:36:10.472] it:5 	 Success 	 new_chi2: 1.971648 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:6 	 Success 	 new_chi2: 1.971476 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:7 	 Success 	 new_chi2: 1.971304 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:8 	 Success 	 new_chi2: 1.971133 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:9 	 Success 	 new_chi2: 1.970961 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:10 	 Success 	 new_chi2: 1.970790 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:11 	 Success 	 new_chi2: 1.970619 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:12 	 Success 	 new_chi2: 1.970448 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:13 	 Success 	 new_chi2: 1.970278 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:14 	 Success 	 new_chi2: 1.970107 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:15 	 Success 	 new_chi2: 1.969937 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:16 	 Success 	 new_chi2: 1.969767 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:17 	 Success 	 new_chi2: 1.969597 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:18 	 Success 	 new_chi2: 1.969428 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:19 	 Success 	 new_chi2: 1.969258 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:20 	 Success 	 new_chi2: 1.969089 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:21 	 Success 	 new_chi2: 1.968920 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:22 	 Success 	 new_chi2: 1.968751 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:23 	 Success 	 new_chi2: 1.968583 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:24 	 Success 	 new_chi2: 1.968414 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:25 	 Success 	 new_chi2: 1.968246 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:26 	 Success 	 new_chi2: 1.968078 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:27 	 Success 	 new_chi2: 1.967910 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:28 	 Success 	 new_chi2: 1.967743 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:29 	 Success 	 new_chi2: 1.967575 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:30 	 Success 	 new_chi2: 1.967408 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:31 	 Success 	 new_chi2: 1.967241 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:32 	 Success 	 new_chi2: 1.967074 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:33 	 Success 	 new_chi2: 1.966908 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:34 	 Success 	 new_chi2: 1.966742 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:35 	 Success 	 new_chi2: 1.966575 	 dT = -0.000078, 0.000000, -0.000008
[22:36:10.472] it:36 	 Success 	 new_chi2: 1.966409 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.472] it:37 	 Success 	 new_chi2: 1.966244 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:38 	 Success 	 new_chi2: 1.966078 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:39 	 Success 	 new_chi2: 1.965913 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:40 	 Success 	 new_chi2: 1.965748 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:41 	 Success 	 new_chi2: 1.965583 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:42 	 Success 	 new_chi2: 1.965418 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:43 	 Success 	 new_chi2: 1.965253 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:44 	 Success 	 new_chi2: 1.965089 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:45 	 Success 	 new_chi2: 1.964925 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:46 	 Success 	 new_chi2: 1.964761 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:47 	 Success 	 new_chi2: 1.964597 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:48 	 Success 	 new_chi2: 1.964434 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:49 	 Success 	 new_chi2: 1.964271 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:50 	 Success 	 new_chi2: 1.964108 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:51 	 Success 	 new_chi2: 1.963945 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:52 	 Success 	 new_chi2: 1.963782 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:53 	 Success 	 new_chi2: 1.963620 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:54 	 Success 	 new_chi2: 1.963457 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:55 	 Success 	 new_chi2: 1.963295 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:56 	 Success 	 new_chi2: 1.963133 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:57 	 Success 	 new_chi2: 1.962972 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:58 	 Success 	 new_chi2: 1.962810 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:59 	 Success 	 new_chi2: 1.962649 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:60 	 Success 	 new_chi2: 1.962488 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:61 	 Success 	 new_chi2: 1.962327 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:62 	 Success 	 new_chi2: 1.962167 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:63 	 Success 	 new_chi2: 1.962006 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:64 	 Success 	 new_chi2: 1.961846 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:65 	 Success 	 new_chi2: 1.961686 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:66 	 Success 	 new_chi2: 1.961526 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:67 	 Success 	 new_chi2: 1.961367 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:68 	 Success 	 new_chi2: 1.961208 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] it:69 	 Success 	 new_chi2: 1.961048 	 dT = -0.000078, 0.000000, -0.000009
[22:36:10.473] n deleted obs = 36 	 scale =0.207084 	 error init =0.054794 	 error end=0.054469
[22:36:10.473] After pose optimization, distance between two frames x:-0.005061 ,z=0.008209,angle between two frames:0.001890 and reprojected points are: 0
[22:36:10.473] Update EKF and 3D points, distance between two frames x:-0.004680 ,z=0.008548,angle between two frames:0.001106
[22:36:10.572] After Reprojection Map nPoint:32 ,nCell:12 ,nMatches:11 ,distance between two frames x:0.002267 ,z=0.002017,angle between two frames:0.006121
[22:36:10.572] Init estimate scale:0.177915
[22:36:10.572] it:0 	 Success 	 new_chi2: 1.566679 	 dT = 0.002489, 0.000000, 0.003127
[22:36:10.572] it:1 	 FAILURE 	 new_chi2: 1.570881
[22:36:10.572] n deleted obs = 39 	 scale =0.177915 	 error init =0.040171 	 error end=0.040171
[22:36:10.572] After pose optimization, distance between two frames x:0.002267 ,z=0.002017,angle between two frames:0.006121 and reprojected points are: 0
[22:36:10.572] Update EKF and 3D points, distance between two frames x:0.002267 ,z=0.002017,angle between two frames:0.006574
[22:36:10.676] After Reprojection Map nPoint:41 ,nCell:27 ,nMatches:24 ,distance between two frames x:0.000529 ,z=0.008095,angle between two frames:0.001897
[22:36:10.677] Init estimate scale:0.220587
[22:36:10.677] it:0 	 Success 	 new_chi2: 5.789124 	 dT = -0.004062, 0.000000, 0.020809
[22:36:10.677] it:1 	 FAILURE 	 new_chi2: 5.844239
[22:36:10.677] n deleted obs = 58 	 scale =0.220587 	 error init =0.099812 	 error end=0.099812
[22:36:10.677] After pose optimization, distance between two frames x:0.000529 ,z=0.008095,angle between two frames:0.001897 and reprojected points are: 0
[22:36:10.677] Update EKF and 3D points, distance between two frames x:0.000553 ,z=0.008450,angle between two frames:0.002181
[22:36:10.774] After Reprojection Map nPoint:52 ,nCell:23 ,nMatches:22 ,distance between two frames x:0.000147 ,z=0.002100,angle between two frames:0.003473
[22:36:10.774] Init estimate scale:0.204908
[22:36:10.774] it:0 	 Success 	 new_chi2: 3.207167 	 dT = 0.001024, 0.000000, 0.005759
[22:36:10.774] it:1 	 FAILURE 	 new_chi2: 3.216549
[22:36:10.774] n deleted obs = 67 	 scale =0.204908 	 error init =0.047868 	 error end=0.047868
[22:36:10.774] After pose optimization, distance between two frames x:0.000147 ,z=0.002100,angle between two frames:0.003473 and reprojected points are: 0
[22:36:10.774] Update EKF and 3D points, distance between two frames x:0.000172 ,z=0.002438,angle between two frames:0.003636
[22:36:10.875] After Reprojection Map nPoint:54 ,nCell:25 ,nMatches:23 ,distance between two frames x:0.000142 ,z=0.002000,angle between two frames:0.000583
[22:36:10.875] Init estimate scale:0.218197
[22:36:10.875] it:0 	 Success 	 new_chi2: 3.553020 	 dT = 0.000036, 0.000000, 0.000360
[22:36:10.875] it:1 	 Success 	 new_chi2: 3.552941 	 dT = 0.000034, 0.000000, 0.000359
[22:36:10.875] it:2 	 Success 	 new_chi2: 3.552872 	 dT = 0.000033, 0.000000, 0.000359
[22:36:10.875] it:3 	 Success 	 new_chi2: 3.552811 	 dT = 0.000031, 0.000000, 0.000358
[22:36:10.875] it:4 	 Success 	 new_chi2: 3.552759 	 dT = 0.000030, 0.000000, 0.000358
[22:36:10.875] it:5 	 Success 	 new_chi2: 3.552716 	 dT = 0.000325, 0.000000, 0.000223
[22:36:10.875] it:6 	 Success 	 new_chi2: 3.552677 	 dT = 0.000325, 0.000000, 0.000223
[22:36:10.875] it:7 	 Success 	 new_chi2: 3.552655 	 dT = 0.000324, 0.000000, 0.000223
[22:36:10.875] it:8 	 Success 	 new_chi2: 3.552651 	 dT = 0.000323, 0.000000, 0.000224
[22:36:10.875] it:9 	 FAILURE 	 new_chi2: 3.552665
[22:36:10.875] n deleted obs = 71 	 scale =0.218197 	 error init =0.050043 	 error end=0.050037
[22:36:10.875] After pose optimization, distance between two frames x:0.001280 ,z=0.002000,angle between two frames:0.001881 and reprojected points are: 0
[22:36:10.875] Update EKF and 3D points, distance between two frames x:0.001231 ,z=0.002354,angle between two frames:0.001560
[22:36:10.975] After Reprojection Map nPoint:62 ,nCell:26 ,nMatches:23 ,distance between two frames x:-0.000290 ,z=0.002094,angle between two frames:0.000718
[22:36:10.975] Init estimate scale:0.199808
[22:36:10.975] it:0 	 Success 	 new_chi2: 2.606612 	 dT = 0.000020, 0.000000, 0.000067
[22:36:10.975] it:1 	 FAILURE 	 new_chi2: 2.606622
[22:36:10.975] n deleted obs = 74 	 scale =0.199808 	 error init =0.035224 	 error end=0.035224
[22:36:10.975] After pose optimization, distance between two frames x:-0.000290 ,z=0.002094,angle between two frames:0.000718 and reprojected points are: 0
[22:36:10.975] Update EKF and 3D points, distance between two frames x:-0.000265 ,z=0.002449,angle between two frames:0.000876
[22:36:11.076] After Reprojection Map nPoint:58 ,nCell:26 ,nMatches:24 ,distance between two frames x:0.000147 ,z=0.002096,angle between two frames:0.002984
[22:36:11.076] Init estimate scale:0.202742
[22:36:11.076] it:0 	 Success 	 new_chi2: 2.990582 	 dT = 0.000021, 0.000000, 0.000063
[22:36:11.076] it:1 	 Success 	 new_chi2: 2.990429 	 dT = 0.000021, 0.000000, 0.000063
[22:36:11.076] it:2 	 Success 	 new_chi2: 2.990276 	 dT = 0.000021, 0.000000, 0.000063
[22:36:11.076] it:3 	 Success 	 new_chi2: 2.990124 	 dT = 0.000021, 0.000000, 0.000063
[22:36:11.076] it:4 	 Success 	 new_chi2: 2.989973 	 dT = 0.000021, 0.000000, 0.000063
[22:36:11.076] it:5 	 Success 	 new_chi2: 2.989821 	 dT = 0.000060, 0.000000, 0.000047
[22:36:11.076] it:6 	 Success 	 new_chi2: 2.989692 	 dT = 0.000060, 0.000000, 0.000047
[22:36:11.076] it:7 	 Success 	 new_chi2: 2.989563 	 dT = 0.000060, 0.000000, 0.000047
[22:36:11.076] it:8 	 Success 	 new_chi2: 2.989434 	 dT = 0.000060, 0.000000, 0.000047
[22:36:11.076] it:9 	 Success 	 new_chi2: 2.989307 	 dT = 0.000060, 0.000000, 0.000047
[22:36:11.076] it:10 	 Success 	 new_chi2: 2.989180 	 dT = 0.000060, 0.000000, 0.000047
[22:36:11.076] it:11 	 Success 	 new_chi2: 2.989053 	 dT = 0.000060, 0.000000, 0.000047
[22:36:11.076] it:12 	 Success 	 new_chi2: 2.988928 	 dT = 0.000060, 0.000000, 0.000047
[22:36:11.076] it:13 	 Success 	 new_chi2: 2.988803 	 dT = 0.000060, 0.000000, 0.000047
[22:36:11.076] it:14 	 Success 	 new_chi2: 2.988679 	 dT = 0.000060, 0.000000, 0.000047
[22:36:11.076] it:15 	 Success 	 new_chi2: 2.988555 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.076] it:16 	 Success 	 new_chi2: 2.988432 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.076] it:17 	 Success 	 new_chi2: 2.988310 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.076] it:18 	 Success 	 new_chi2: 2.988188 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.076] it:19 	 Success 	 new_chi2: 2.988068 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.076] it:20 	 Success 	 new_chi2: 2.987947 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.076] it:21 	 Success 	 new_chi2: 2.987828 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:22 	 Success 	 new_chi2: 2.987709 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:23 	 Success 	 new_chi2: 2.987591 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:24 	 Success 	 new_chi2: 2.987474 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:25 	 Success 	 new_chi2: 2.987357 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:26 	 Success 	 new_chi2: 2.987241 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:27 	 Success 	 new_chi2: 2.987125 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:28 	 Success 	 new_chi2: 2.987011 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:29 	 Success 	 new_chi2: 2.986897 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:30 	 Success 	 new_chi2: 2.986783 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:31 	 Success 	 new_chi2: 2.986671 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:32 	 Success 	 new_chi2: 2.986558 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:33 	 Success 	 new_chi2: 2.986447 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:34 	 Success 	 new_chi2: 2.986336 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:35 	 Success 	 new_chi2: 2.986226 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:36 	 Success 	 new_chi2: 2.986117 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:37 	 Success 	 new_chi2: 2.986009 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:38 	 Success 	 new_chi2: 2.985901 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:39 	 Success 	 new_chi2: 2.985793 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:40 	 Success 	 new_chi2: 2.985687 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:41 	 Success 	 new_chi2: 2.985581 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:42 	 Success 	 new_chi2: 2.985475 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:43 	 Success 	 new_chi2: 2.985371 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.077] it:44 	 Success 	 new_chi2: 2.985267 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:45 	 Success 	 new_chi2: 2.985164 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:46 	 Success 	 new_chi2: 2.985061 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:47 	 Success 	 new_chi2: 2.984959 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:48 	 Success 	 new_chi2: 2.984858 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:49 	 Success 	 new_chi2: 2.984757 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:50 	 Success 	 new_chi2: 2.984658 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:51 	 Success 	 new_chi2: 2.984558 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:52 	 Success 	 new_chi2: 2.984460 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:53 	 Success 	 new_chi2: 2.984362 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:54 	 Success 	 new_chi2: 2.984265 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:55 	 Success 	 new_chi2: 2.984168 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:56 	 Success 	 new_chi2: 2.984072 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:57 	 Success 	 new_chi2: 2.983977 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:58 	 Success 	 new_chi2: 2.983883 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:59 	 Success 	 new_chi2: 2.983789 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:60 	 Success 	 new_chi2: 2.983696 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:61 	 Success 	 new_chi2: 2.983603 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:62 	 Success 	 new_chi2: 2.983511 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:63 	 Success 	 new_chi2: 2.983420 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:64 	 Success 	 new_chi2: 2.983329 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:65 	 Success 	 new_chi2: 2.983240 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:66 	 Success 	 new_chi2: 2.983150 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:67 	 Success 	 new_chi2: 2.983062 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:68 	 Success 	 new_chi2: 2.982974 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.078] it:69 	 Success 	 new_chi2: 2.982887 	 dT = 0.000059, 0.000000, 0.000047
[22:36:11.079] n deleted obs = 74 	 scale =0.202742 	 error init =0.040413 	 error end=0.040308
[22:36:11.079] After pose optimization, distance between two frames x:0.004102 ,z=0.002096,angle between two frames:0.000399 and reprojected points are: 0
[22:36:11.079] Update EKF and 3D points, distance between two frames x:0.003754 ,z=0.003251,angle between two frames:0.000166
[22:36:11.176] After Reprojection Map nPoint:57 ,nCell:29 ,nMatches:26 ,distance between two frames x:-0.001570 ,z=0.005198,angle between two frames:0.000411
[22:36:11.176] Init estimate scale:0.192808
[22:36:11.176] it:0 	 Success 	 new_chi2: 2.265314 	 dT = 0.000014, 0.000000, 0.000089
[22:36:11.176] it:1 	 Success 	 new_chi2: 2.265247 	 dT = 0.000014, 0.000000, 0.000089
[22:36:11.176] it:2 	 Success 	 new_chi2: 2.265180 	 dT = 0.000014, 0.000000, 0.000089
[22:36:11.176] it:3 	 Success 	 new_chi2: 2.265114 	 dT = 0.000014, 0.000000, 0.000089
[22:36:11.176] it:4 	 Success 	 new_chi2: 2.265048 	 dT = 0.000014, 0.000000, 0.000089
[22:36:11.176] it:5 	 Success 	 new_chi2: 2.264983 	 dT = 0.000046, 0.000000, 0.000079
[22:36:11.176] it:6 	 Success 	 new_chi2: 2.264904 	 dT = 0.000046, 0.000000, 0.000079
[22:36:11.176] it:7 	 Success 	 new_chi2: 2.264827 	 dT = 0.000046, 0.000000, 0.000079
[22:36:11.176] it:8 	 Success 	 new_chi2: 2.264750 	 dT = 0.000046, 0.000000, 0.000079
[22:36:11.176] it:9 	 Success 	 new_chi2: 2.264674 	 dT = 0.000046, 0.000000, 0.000079
[22:36:11.176] it:10 	 Success 	 new_chi2: 2.264599 	 dT = 0.000046, 0.000000, 0.000079
[22:36:11.176] it:11 	 Success 	 new_chi2: 2.264525 	 dT = 0.000046, 0.000000, 0.000079
[22:36:11.176] it:12 	 Success 	 new_chi2: 2.264451 	 dT = 0.000046, 0.000000, 0.000079
[22:36:11.176] it:13 	 Success 	 new_chi2: 2.264379 	 dT = 0.000046, 0.000000, 0.000079
[22:36:11.176] it:14 	 Success 	 new_chi2: 2.264308 	 dT = 0.000046, 0.000000, 0.000079
[22:36:11.176] it:15 	 Success 	 new_chi2: 2.264237 	 dT = 0.000045, 0.000000, 0.000079
[22:36:11.176] it:16 	 Success 	 new_chi2: 2.264168 	 dT = 0.000045, 0.000000, 0.000079
[22:36:11.176] it:17 	 Success 	 new_chi2: 2.264099 	 dT = 0.000045, 0.000000, 0.000079
[22:36:11.177] it:18 	 Success 	 new_chi2: 2.264032 	 dT = 0.000045, 0.000000, 0.000079
[22:36:11.177] it:19 	 Success 	 new_chi2: 2.263965 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:20 	 Success 	 new_chi2: 2.263899 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:21 	 Success 	 new_chi2: 2.263834 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:22 	 Success 	 new_chi2: 2.263770 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:23 	 Success 	 new_chi2: 2.263707 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:24 	 Success 	 new_chi2: 2.263645 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:25 	 Success 	 new_chi2: 2.263584 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:26 	 Success 	 new_chi2: 2.263524 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:27 	 Success 	 new_chi2: 2.263465 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:28 	 Success 	 new_chi2: 2.263406 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:29 	 Success 	 new_chi2: 2.263349 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:30 	 Success 	 new_chi2: 2.263292 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:31 	 Success 	 new_chi2: 2.263236 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:32 	 Success 	 new_chi2: 2.263182 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:33 	 Success 	 new_chi2: 2.263128 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:34 	 Success 	 new_chi2: 2.263075 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:35 	 Success 	 new_chi2: 2.263023 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:36 	 Success 	 new_chi2: 2.262972 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:37 	 Success 	 new_chi2: 2.262922 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:38 	 Success 	 new_chi2: 2.262872 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:39 	 Success 	 new_chi2: 2.262824 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:40 	 Success 	 new_chi2: 2.262777 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:41 	 Success 	 new_chi2: 2.262730 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.177] it:42 	 Success 	 new_chi2: 2.262685 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:43 	 Success 	 new_chi2: 2.262640 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:44 	 Success 	 new_chi2: 2.262596 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:45 	 Success 	 new_chi2: 2.262553 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:46 	 Success 	 new_chi2: 2.262511 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:47 	 Success 	 new_chi2: 2.262470 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:48 	 Success 	 new_chi2: 2.262430 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:49 	 Success 	 new_chi2: 2.262391 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:50 	 Success 	 new_chi2: 2.262353 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:51 	 Success 	 new_chi2: 2.262315 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:52 	 Success 	 new_chi2: 2.262279 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:53 	 Success 	 new_chi2: 2.262243 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:54 	 Success 	 new_chi2: 2.262208 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:55 	 Success 	 new_chi2: 2.262174 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:56 	 Success 	 new_chi2: 2.262142 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:57 	 Success 	 new_chi2: 2.262110 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:58 	 Success 	 new_chi2: 2.262078 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:59 	 Success 	 new_chi2: 2.262048 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:60 	 Success 	 new_chi2: 2.262019 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:61 	 Success 	 new_chi2: 2.261991 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:62 	 Success 	 new_chi2: 2.261963 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:63 	 Success 	 new_chi2: 2.261936 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:64 	 Success 	 new_chi2: 2.261911 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:65 	 Success 	 new_chi2: 2.261886 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:66 	 Success 	 new_chi2: 2.261862 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.178] it:67 	 Success 	 new_chi2: 2.261839 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.179] it:68 	 Success 	 new_chi2: 2.261817 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.179] it:69 	 Success 	 new_chi2: 2.261796 	 dT = 0.000045, 0.000000, 0.000078
[22:36:11.179] n deleted obs = 75 	 scale =0.192808 	 error init =0.030204 	 error end=0.030157
[22:36:11.179] After pose optimization, distance between two frames x:0.001434 ,z=0.005198,angle between two frames:0.005122 and reprojected points are: 0
[22:36:11.179] Update EKF and 3D points, distance between two frames x:0.001263 ,z=0.005530,angle between two frames:0.004440
[22:36:11.275] After Reprojection Map nPoint:61 ,nCell:27 ,nMatches:26 ,distance between two frames x:-0.001015 ,z=0.001970,angle between two frames:0.005299
[22:36:11.275] Init estimate scale:0.201968
[22:36:11.275] it:0 	 Success 	 new_chi2: 4.174862 	 dT = 0.000042, 0.000000, 0.000194
[22:36:11.275] it:1 	 FAILURE 	 new_chi2: 4.174946
[22:36:11.275] n deleted obs = 80 	 scale =0.201968 	 error init =0.052186 	 error end=0.052186
[22:36:11.275] After pose optimization, distance between two frames x:-0.001015 ,z=0.001970,angle between two frames:0.005299 and reprojected points are: 0
[22:36:11.275] Update EKF and 3D points, distance between two frames x:-0.000992 ,z=0.002315,angle between two frames:0.005568
[22:36:11.375] After Reprojection Map nPoint:61 ,nCell:28 ,nMatches:25 ,distance between two frames x:0.000137 ,z=0.002040,angle between two frames:0.002550
[22:36:11.375] Init estimate scale:0.200811
[22:36:11.375] it:0 	 Success 	 new_chi2: 3.389735 	 dT = 0.006750, 0.000000, 0.009519
[22:36:11.375] it:1 	 FAILURE 	 new_chi2: 3.428554
[22:36:11.375] n deleted obs = 78 	 scale =0.200811 	 error init =0.043458 	 error end=0.043458
[22:36:11.375] After pose optimization, distance between two frames x:0.000137 ,z=0.002040,angle between two frames:0.002550 and reprojected points are: 0
[22:36:11.375] Update EKF and 3D points, distance between two frames x:0.000160 ,z=0.002400,angle between two frames:0.003135
[22:36:11.475] After Reprojection Map nPoint:62 ,nCell:27 ,nMatches:27 ,distance between two frames x:0.000128 ,z=0.002125,angle between two frames:0.008972
[22:36:11.475] Init estimate scale:0.201718
[22:36:11.475] it:0 	 Success 	 new_chi2: 3.128334 	 dT = 0.005256, 0.000000, 0.012672
[22:36:11.475] it:1 	 FAILURE 	 new_chi2: 3.153159
[22:36:11.475] n deleted obs = 81 	 scale =0.201718 	 error init =0.038621 	 error end=0.038621
[22:36:11.475] After pose optimization, distance between two frames x:0.000128 ,z=0.002125,angle between two frames:0.008972 and reprojected points are: 0
[22:36:11.475] Update EKF and 3D points, distance between two frames x:0.000149 ,z=0.002481,angle between two frames:0.008960
[22:36:11.573] After Reprojection Map nPoint:61 ,nCell:30 ,nMatches:29 ,distance between two frames x:0.000123 ,z=0.002098,angle between two frames:0.002557
[22:36:11.573] Init estimate scale:0.198406
[22:36:11.573] it:0 	 Success 	 new_chi2: 4.189136 	 dT = -0.000019, 0.000000, 0.000210
[22:36:11.573] it:1 	 Success 	 new_chi2: 4.189107 	 dT = -0.000019, 0.000000, 0.000210
[22:36:11.573] it:2 	 Success 	 new_chi2: 4.189079 	 dT = -0.000019, 0.000000, 0.000210
[22:36:11.573] it:3 	 Success 	 new_chi2: 4.189054 	 dT = -0.000019, 0.000000, 0.000210
[22:36:11.573] it:4 	 Success 	 new_chi2: 4.189032 	 dT = -0.000019, 0.000000, 0.000210
[22:36:11.574] it:5 	 Success 	 new_chi2: 4.189011 	 dT = 0.000047, 0.000000, 0.000184
[22:36:11.574] it:6 	 Success 	 new_chi2: 4.188982 	 dT = 0.000047, 0.000000, 0.000184
[22:36:11.574] it:7 	 Success 	 new_chi2: 4.188955 	 dT = 0.000047, 0.000000, 0.000184
[22:36:11.574] it:8 	 Success 	 new_chi2: 4.188932 	 dT = 0.000047, 0.000000, 0.000184
[22:36:11.574] it:9 	 Success 	 new_chi2: 4.188913 	 dT = 0.000047, 0.000000, 0.000184
[22:36:11.574] it:10 	 Success 	 new_chi2: 4.188897 	 dT = 0.000047, 0.000000, 0.000184
[22:36:11.574] it:11 	 Success 	 new_chi2: 4.188884 	 dT = 0.000047, 0.000000, 0.000184
[22:36:11.574] it:12 	 Success 	 new_chi2: 4.188875 	 dT = 0.000047, 0.000000, 0.000184
[22:36:11.574] it:13 	 Success 	 new_chi2: 4.188869 	 dT = 0.000047, 0.000000, 0.000184
[22:36:11.574] it:14 	 Success 	 new_chi2: 4.188866 	 dT = 0.000047, 0.000000, 0.000184
[22:36:11.574] it:15 	 FAILURE 	 new_chi2: 4.188867
[22:36:11.574] n deleted obs = 83 	 scale =0.198406 	 error init =0.050472 	 error end=0.050468
[22:36:11.574] After pose optimization, distance between two frames x:0.000454 ,z=0.002098,angle between two frames:0.005266 and reprojected points are: 0
[22:36:11.574] Update EKF and 3D points, distance between two frames x:0.000454 ,z=0.002453,angle between two frames:0.004982
[22:36:11.673] After Reprojection Map nPoint:63 ,nCell:31 ,nMatches:30 ,distance between two frames x:-0.000001 ,z=0.002097,angle between two frames:0.001217
[22:36:11.673] Init estimate scale:0.207287
[22:36:11.673] it:0 	 Success 	 new_chi2: 3.896863 	 dT = 0.005416, 0.000000, 0.011017
[22:36:11.673] it:1 	 FAILURE 	 new_chi2: 3.920752
[22:36:11.673] n deleted obs = 87 	 scale =0.207287 	 error init =0.044792 	 error end=0.044792
[22:36:11.673] After pose optimization, distance between two frames x:-0.000001 ,z=0.002097,angle between two frames:0.001217 and reprojected points are: 0
[22:36:11.673] Update EKF and 3D points, distance between two frames x:0.000067 ,z=0.003183,angle between two frames:0.001023
[22:36:11.773] After Reprojection Map nPoint:67 ,nCell:29 ,nMatches:27 ,distance between two frames x:0.000312 ,z=0.004887,angle between two frames:0.001846
[22:36:11.773] Init estimate scale:0.207634
[22:36:11.773] it:0 	 Success 	 new_chi2: 3.946080 	 dT = 0.007955, 0.000000, 0.013337
[22:36:11.773] it:1 	 Success 	 new_chi2: 3.930242 	 dT = 0.004452, 0.000000, 0.011318
[22:36:11.773] it:2 	 FAILURE 	 new_chi2: 3.937317
[22:36:11.773] n deleted obs = 85 	 scale =0.207634 	 error init =0.046424 	 error end=0.046238
[22:36:11.773] After pose optimization, distance between two frames x:0.008267 ,z=0.004887,angle between two frames:0.015184 and reprojected points are: 0
[22:36:11.773] Update EKF and 3D points, distance between two frames x:0.007480 ,z=0.005973,angle between two frames:0.013664
[22:36:11.876] After Reprojection Map nPoint:69 ,nCell:30 ,nMatches:29 ,distance between two frames x:-0.003570 ,z=0.004889,angle between two frames:0.007988
[22:36:11.876] Init estimate scale:0.215138
[22:36:11.876] it:0 	 Success 	 new_chi2: 4.055241 	 dT = 0.000032, 0.000000, 0.000267
[22:36:11.876] it:1 	 Success 	 new_chi2: 4.055216 	 dT = 0.000032, 0.000000, 0.000267
[22:36:11.876] it:2 	 Success 	 new_chi2: 4.055198 	 dT = 0.000032, 0.000000, 0.000267
[22:36:11.876] it:3 	 Success 	 new_chi2: 4.055187 	 dT = 0.000031, 0.000000, 0.000267
[22:36:11.876] it:4 	 Success 	 new_chi2: 4.055181 	 dT = 0.000031, 0.000000, 0.000266
[22:36:11.876] it:5 	 FAILURE 	 new_chi2: 4.055182
[22:36:11.876] n deleted obs = 91 	 scale =0.215138 	 error init =0.044563 	 error end=0.044562
[22:36:11.876] After pose optimization, distance between two frames x:-0.003444 ,z=0.004889,angle between two frames:0.006922 and reprojected points are: 0
[22:36:11.877] Update EKF and 3D points, distance between two frames x:-0.003428 ,z=0.005235,angle between two frames:0.006852
[22:36:11.974] After Reprojection Map nPoint:65 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.000096 ,z=0.002050,angle between two frames:0.002486
[22:36:11.974] Init estimate scale:0.210871
[22:36:11.974] it:0 	 Success 	 new_chi2: 2.949024 	 dT = 0.000010, 0.000000, 0.000147
[22:36:11.974] it:1 	 Success 	 new_chi2: 2.948854 	 dT = 0.000010, 0.000000, 0.000147
[22:36:11.974] it:2 	 Success 	 new_chi2: 2.948685 	 dT = 0.000010, 0.000000, 0.000147
[22:36:11.974] it:3 	 Success 	 new_chi2: 2.948518 	 dT = 0.000010, 0.000000, 0.000147
[22:36:11.974] it:4 	 Success 	 new_chi2: 2.948353 	 dT = 0.000010, 0.000000, 0.000147
[22:36:11.974] it:5 	 Success 	 new_chi2: 2.948189 	 dT = 0.000053, 0.000000, 0.000127
[22:36:11.974] it:6 	 Success 	 new_chi2: 2.948006 	 dT = 0.000052, 0.000000, 0.000127
[22:36:11.974] it:7 	 Success 	 new_chi2: 2.947824 	 dT = 0.000052, 0.000000, 0.000127
[22:36:11.974] it:8 	 Success 	 new_chi2: 2.947645 	 dT = 0.000052, 0.000000, 0.000127
[22:36:11.974] it:9 	 Success 	 new_chi2: 2.947468 	 dT = 0.000052, 0.000000, 0.000127
[22:36:11.974] it:10 	 Success 	 new_chi2: 2.947293 	 dT = 0.000052, 0.000000, 0.000127
[22:36:11.974] it:11 	 Success 	 new_chi2: 2.947120 	 dT = 0.000052, 0.000000, 0.000127
[22:36:11.974] it:12 	 Success 	 new_chi2: 2.946950 	 dT = 0.000052, 0.000000, 0.000127
[22:36:11.974] it:13 	 Success 	 new_chi2: 2.946782 	 dT = 0.000052, 0.000000, 0.000127
[22:36:11.974] it:14 	 Success 	 new_chi2: 2.946616 	 dT = 0.000052, 0.000000, 0.000127
[22:36:11.974] it:15 	 Success 	 new_chi2: 2.946452 	 dT = 0.000052, 0.000000, 0.000127
[22:36:11.975] it:16 	 Success 	 new_chi2: 2.946290 	 dT = 0.000052, 0.000000, 0.000127
[22:36:11.975] it:17 	 Success 	 new_chi2: 2.946131 	 dT = 0.000052, 0.000000, 0.000127
[22:36:11.975] it:18 	 Success 	 new_chi2: 2.945973 	 dT = 0.000052, 0.000000, 0.000126
[22:36:11.975] it:19 	 Success 	 new_chi2: 2.945818 	 dT = 0.000052, 0.000000, 0.000126
[22:36:11.975] it:20 	 Success 	 new_chi2: 2.945665 	 dT = 0.000052, 0.000000, 0.000126
[22:36:11.975] it:21 	 Success 	 new_chi2: 2.945514 	 dT = 0.000052, 0.000000, 0.000126
[22:36:11.975] it:22 	 Success 	 new_chi2: 2.945366 	 dT = 0.000052, 0.000000, 0.000126
[22:36:11.975] it:23 	 Success 	 new_chi2: 2.945219 	 dT = 0.000052, 0.000000, 0.000126
[22:36:11.975] it:24 	 Success 	 new_chi2: 2.945075 	 dT = 0.000052, 0.000000, 0.000126
[22:36:11.975] it:25 	 Success 	 new_chi2: 2.944933 	 dT = 0.000052, 0.000000, 0.000126
[22:36:11.975] it:26 	 Success 	 new_chi2: 2.944793 	 dT = 0.000051, 0.000000, 0.000126
[22:36:11.975] it:27 	 Success 	 new_chi2: 2.944655 	 dT = 0.000051, 0.000000, 0.000126
[22:36:11.975] it:28 	 Success 	 new_chi2: 2.944519 	 dT = 0.000051, 0.000000, 0.000126
[22:36:11.975] it:29 	 Success 	 new_chi2: 2.944386 	 dT = 0.000051, 0.000000, 0.000126
[22:36:11.975] it:30 	 Success 	 new_chi2: 2.944254 	 dT = 0.000051, 0.000000, 0.000126
[22:36:11.975] it:31 	 Success 	 new_chi2: 2.944125 	 dT = 0.000051, 0.000000, 0.000126
[22:36:11.975] it:32 	 Success 	 new_chi2: 2.943998 	 dT = 0.000051, 0.000000, 0.000126
[22:36:11.975] it:33 	 Success 	 new_chi2: 2.943872 	 dT = 0.000051, 0.000000, 0.000126
[22:36:11.975] it:34 	 Success 	 new_chi2: 2.943749 	 dT = 0.000051, 0.000000, 0.000126
[22:36:11.975] it:35 	 Success 	 new_chi2: 2.943628 	 dT = 0.000051, 0.000000, 0.000125
[22:36:11.975] it:36 	 Success 	 new_chi2: 2.943509 	 dT = 0.000051, 0.000000, 0.000125
[22:36:11.975] it:37 	 Success 	 new_chi2: 2.943393 	 dT = 0.000051, 0.000000, 0.000125
[22:36:11.976] it:38 	 Success 	 new_chi2: 2.943278 	 dT = 0.000051, 0.000000, 0.000125
[22:36:11.976] it:39 	 Success 	 new_chi2: 2.943165 	 dT = 0.000051, 0.000000, 0.000125
[22:36:11.976] it:40 	 Success 	 new_chi2: 2.943055 	 dT = 0.000051, 0.000000, 0.000125
[22:36:11.976] it:41 	 Success 	 new_chi2: 2.942946 	 dT = 0.000051, 0.000000, 0.000125
[22:36:11.976] it:42 	 Success 	 new_chi2: 2.942840 	 dT = 0.000051, 0.000000, 0.000125
[22:36:11.976] it:43 	 Success 	 new_chi2: 2.942736 	 dT = 0.000051, 0.000000, 0.000125
[22:36:11.976] it:44 	 Success 	 new_chi2: 2.942634 	 dT = 0.000051, 0.000000, 0.000125
[22:36:11.976] it:45 	 Success 	 new_chi2: 2.942533 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.976] it:46 	 Success 	 new_chi2: 2.942435 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.976] it:47 	 Success 	 new_chi2: 2.942339 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.976] it:48 	 Success 	 new_chi2: 2.942245 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.976] it:49 	 Success 	 new_chi2: 2.942153 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.976] it:50 	 Success 	 new_chi2: 2.942063 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.976] it:51 	 Success 	 new_chi2: 2.941975 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.976] it:52 	 Success 	 new_chi2: 2.941889 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.976] it:53 	 Success 	 new_chi2: 2.941805 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.976] it:54 	 Success 	 new_chi2: 2.941723 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.976] it:55 	 Success 	 new_chi2: 2.941643 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.976] it:56 	 Success 	 new_chi2: 2.941566 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.976] it:57 	 Success 	 new_chi2: 2.941490 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.977] it:58 	 Success 	 new_chi2: 2.941416 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.977] it:59 	 Success 	 new_chi2: 2.941344 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.977] it:60 	 Success 	 new_chi2: 2.941274 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.977] it:61 	 Success 	 new_chi2: 2.941207 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.977] it:62 	 Success 	 new_chi2: 2.941141 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.977] it:63 	 Success 	 new_chi2: 2.941077 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.977] it:64 	 Success 	 new_chi2: 2.941015 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.977] it:65 	 Success 	 new_chi2: 2.940955 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.977] it:66 	 Success 	 new_chi2: 2.940897 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.977] it:67 	 Success 	 new_chi2: 2.940842 	 dT = 0.000050, 0.000000, 0.000125
[22:36:11.977] it:68 	 Success 	 new_chi2: 2.940788 	 dT = 0.000049, 0.000000, 0.000125
[22:36:11.977] it:69 	 Success 	 new_chi2: 2.940736 	 dT = 0.000049, 0.000000, 0.000125
[22:36:11.977] n deleted obs = 86 	 scale =0.210871 	 error init =0.033897 	 error end=0.033801
[22:36:11.977] After pose optimization, distance between two frames x:0.003455 ,z=0.002050,angle between two frames:0.011388 and reprojected points are: 1
[22:36:11.977] Update EKF and 3D points, distance between two frames x:0.003280 ,z=0.002375,angle between two frames:0.010924
[22:36:12.074] After Reprojection Map nPoint:65 ,nCell:28 ,nMatches:28 ,distance between two frames x:-0.001075 ,z=0.001992,angle between two frames:0.002355
[22:36:12.074] Init estimate scale:0.209721
[22:36:12.074] it:0 	 Success 	 new_chi2: 4.097181 	 dT = 0.000455, 0.000000, 0.002076
[22:36:12.074] it:1 	 FAILURE 	 new_chi2: 4.099543
[22:36:12.074] n deleted obs = 87 	 scale =0.209721 	 error init =0.047094 	 error end=0.047094
[22:36:12.074] After pose optimization, distance between two frames x:-0.001075 ,z=0.001992,angle between two frames:0.002355 and reprojected points are: 0
[22:36:12.074] Update EKF and 3D points, distance between two frames x:-0.001046 ,z=0.002345,angle between two frames:0.002021
[22:36:12.173] After Reprojection Map nPoint:58 ,nCell:23 ,nMatches:21 ,distance between two frames x:0.000170 ,z=0.002090,angle between two frames:0.007840
[22:36:12.174] Init estimate scale:0.216077
[22:36:12.174] it:0 	 Success 	 new_chi2: 3.507273 	 dT = 0.000012, 0.000000, 0.000180
[22:36:12.174] it:1 	 FAILURE 	 new_chi2: 3.507445
[22:36:12.174] n deleted obs = 73 	 scale =0.216077 	 error init =0.048045 	 error end=0.048045
[22:36:12.174] After pose optimization, distance between two frames x:0.000170 ,z=0.002090,angle between two frames:0.007840 and reprojected points are: 0
[22:36:12.174] Update EKF and 3D points, distance between two frames x:0.000201 ,z=0.002440,angle between two frames:0.007996
[22:36:12.273] After Reprojection Map nPoint:61 ,nCell:26 ,nMatches:25 ,distance between two frames x:0.000182 ,z=0.002075,angle between two frames:0.000732
[22:36:12.273] Init estimate scale:0.202560
[22:36:12.273] it:0 	 Success 	 new_chi2: 3.411506 	 dT = 0.000065, 0.000000, 0.000194
[22:36:12.273] it:1 	 FAILURE 	 new_chi2: 3.411521
[22:36:12.273] n deleted obs = 77 	 scale =0.202560 	 error init =0.044305 	 error end=0.044305
[22:36:12.273] After pose optimization, distance between two frames x:0.000182 ,z=0.002075,angle between two frames:0.000732 and reprojected points are: 0
[22:36:12.273] Update EKF and 3D points, distance between two frames x:0.000213 ,z=0.002429,angle between two frames:0.000755
[22:36:12.374] After Reprojection Map nPoint:61 ,nCell:23 ,nMatches:22 ,distance between two frames x:0.000182 ,z=0.002088,angle between two frames:0.000677
[22:36:12.374] Init estimate scale:0.202482
[22:36:12.374] it:0 	 Success 	 new_chi2: 3.356220 	 dT = 0.007221, 0.000000, 0.009407
[22:36:12.374] it:1 	 FAILURE 	 new_chi2: 3.363567
[22:36:12.374] n deleted obs = 76 	 scale =0.202482 	 error init =0.044161 	 error end=0.044161
[22:36:12.374] After pose optimization, distance between two frames x:0.000182 ,z=0.002088,angle between two frames:0.000677 and reprojected points are: 0
[22:36:12.374] Update EKF and 3D points, distance between two frames x:0.000212 ,z=0.002442,angle between two frames:0.000461
[22:36:12.474] After Reprojection Map nPoint:65 ,nCell:27 ,nMatches:26 ,distance between two frames x:0.000178 ,z=0.002089,angle between two frames:0.003358
[22:36:12.474] Init estimate scale:0.202701
[22:36:12.474] it:0 	 Success 	 new_chi2: 4.177794 	 dT = 0.000038, 0.000000, 0.000202
[22:36:12.474] it:1 	 FAILURE 	 new_chi2: 4.178103
[22:36:12.474] n deleted obs = 85 	 scale =0.202701 	 error init =0.049151 	 error end=0.049151
[22:36:12.474] After pose optimization, distance between two frames x:0.000178 ,z=0.002089,angle between two frames:0.003358 and reprojected points are: 0
[22:36:12.474] Update EKF and 3D points, distance between two frames x:0.000207 ,z=0.002445,angle between two frames:0.003576
[22:36:12.573] After Reprojection Map nPoint:68 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.000171 ,z=0.002102,angle between two frames:0.000962
[22:36:12.573] Init estimate scale:0.202239
[22:36:12.573] it:0 	 Success 	 new_chi2: 3.403435 	 dT = 0.000014, 0.000000, 0.000165
[22:36:12.574] it:1 	 FAILURE 	 new_chi2: 3.403672
[22:36:12.574] n deleted obs = 88 	 scale =0.202239 	 error init =0.038675 	 error end=0.038675
[22:36:12.574] After pose optimization, distance between two frames x:0.000171 ,z=0.002102,angle between two frames:0.000962 and reprojected points are: 0
[22:36:12.574] Update EKF and 3D points, distance between two frames x:0.000261 ,z=0.003188,angle between two frames:0.001022
[22:36:12.675] After Reprojection Map nPoint:71 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.000404 ,z=0.004887,angle between two frames:0.002962
[22:36:12.675] Init estimate scale:0.203743
[22:36:12.675] it:0 	 Success 	 new_chi2: 4.346490 	 dT = 0.008387, 0.000000, 0.009477
[22:36:12.675] it:1 	 FAILURE 	 new_chi2: 4.347036
[22:36:12.675] n deleted obs = 90 	 scale =0.203743 	 error init =0.048294 	 error end=0.048294
[22:36:12.675] After pose optimization, distance between two frames x:0.000404 ,z=0.004887,angle between two frames:0.002962 and reprojected points are: 0
[22:36:12.675] Update EKF and 3D points, distance between two frames x:0.000430 ,z=0.005241,angle between two frames:0.003286
[22:36:12.775] After Reprojection Map nPoint:50 ,nCell:23 ,nMatches:23 ,distance between two frames x:0.000158 ,z=0.002094,angle between two frames:0.002762
[22:36:12.775] Init estimate scale:0.204185
[22:36:12.775] it:0 	 Success 	 new_chi2: 3.616374 	 dT = 0.000063, 0.000000, 0.000167
[22:36:12.775] it:1 	 Success 	 new_chi2: 3.615989 	 dT = 0.000063, 0.000000, 0.000167
[22:36:12.776] it:2 	 Success 	 new_chi2: 3.615607 	 dT = 0.000063, 0.000000, 0.000166
[22:36:12.776] it:3 	 Success 	 new_chi2: 3.615229 	 dT = 0.000063, 0.000000, 0.000166
[22:36:12.776] it:4 	 Success 	 new_chi2: 3.614853 	 dT = 0.000063, 0.000000, 0.000166
[22:36:12.776] it:5 	 Success 	 new_chi2: 3.614480 	 dT = 0.000100, 0.000000, 0.000135
[22:36:12.776] it:6 	 Success 	 new_chi2: 3.614185 	 dT = 0.000100, 0.000000, 0.000135
[22:36:12.776] it:7 	 Success 	 new_chi2: 3.613892 	 dT = 0.000100, 0.000000, 0.000134
[22:36:12.776] it:8 	 Success 	 new_chi2: 3.613603 	 dT = 0.000100, 0.000000, 0.000134
[22:36:12.776] it:9 	 Success 	 new_chi2: 3.613316 	 dT = 0.000100, 0.000000, 0.000134
[22:36:12.776] it:10 	 Success 	 new_chi2: 3.613032 	 dT = 0.000100, 0.000000, 0.000134
[22:36:12.776] it:11 	 Success 	 new_chi2: 3.612752 	 dT = 0.000100, 0.000000, 0.000134
[22:36:12.776] it:12 	 Success 	 new_chi2: 3.612474 	 dT = 0.000100, 0.000000, 0.000134
[22:36:12.776] it:13 	 Success 	 new_chi2: 3.612199 	 dT = 0.000100, 0.000000, 0.000134
[22:36:12.776] it:14 	 Success 	 new_chi2: 3.611927 	 dT = 0.000100, 0.000000, 0.000134
[22:36:12.776] it:15 	 Success 	 new_chi2: 3.611658 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.776] it:16 	 Success 	 new_chi2: 3.611392 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.776] it:17 	 Success 	 new_chi2: 3.611129 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.776] it:18 	 Success 	 new_chi2: 3.610869 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.776] it:19 	 Success 	 new_chi2: 3.610612 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.776] it:20 	 Success 	 new_chi2: 3.610357 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.776] it:21 	 Success 	 new_chi2: 3.610106 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.776] it:22 	 Success 	 new_chi2: 3.609857 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.776] it:23 	 Success 	 new_chi2: 3.609612 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.777] it:24 	 Success 	 new_chi2: 3.609369 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.777] it:25 	 Success 	 new_chi2: 3.609129 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.777] it:26 	 Success 	 new_chi2: 3.608893 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.777] it:27 	 Success 	 new_chi2: 3.608659 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.777] it:28 	 Success 	 new_chi2: 3.608428 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.777] it:29 	 Success 	 new_chi2: 3.608199 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.777] it:30 	 Success 	 new_chi2: 3.607974 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.777] it:31 	 Success 	 new_chi2: 3.607752 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.777] it:32 	 Success 	 new_chi2: 3.607532 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.777] it:33 	 Success 	 new_chi2: 3.607316 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.777] it:34 	 Success 	 new_chi2: 3.607102 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.777] it:35 	 Success 	 new_chi2: 3.606891 	 dT = 0.000099, 0.000000, 0.000134
[22:36:12.777] it:36 	 Success 	 new_chi2: 3.606683 	 dT = 0.000099, 0.000000, 0.000133
[22:36:12.777] it:37 	 Success 	 new_chi2: 3.606478 	 dT = 0.000099, 0.000000, 0.000133
[22:36:12.777] it:38 	 Success 	 new_chi2: 3.606276 	 dT = 0.000099, 0.000000, 0.000133
[22:36:12.777] it:39 	 Success 	 new_chi2: 3.606076 	 dT = 0.000099, 0.000000, 0.000133
[22:36:12.777] it:40 	 Success 	 new_chi2: 3.605880 	 dT = 0.000099, 0.000000, 0.000133
[22:36:12.777] it:41 	 Success 	 new_chi2: 3.605686 	 dT = 0.000099, 0.000000, 0.000133
[22:36:12.777] it:42 	 Success 	 new_chi2: 3.605495 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.777] it:43 	 Success 	 new_chi2: 3.605308 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.777] it:44 	 Success 	 new_chi2: 3.605123 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.777] it:45 	 Success 	 new_chi2: 3.604940 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.777] it:46 	 Success 	 new_chi2: 3.604761 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.777] it:47 	 Success 	 new_chi2: 3.604584 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.777] it:48 	 Success 	 new_chi2: 3.604411 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:49 	 Success 	 new_chi2: 3.604240 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:50 	 Success 	 new_chi2: 3.604072 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:51 	 Success 	 new_chi2: 3.603907 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:52 	 Success 	 new_chi2: 3.603745 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:53 	 Success 	 new_chi2: 3.603585 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:54 	 Success 	 new_chi2: 3.603428 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:55 	 Success 	 new_chi2: 3.603275 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:56 	 Success 	 new_chi2: 3.603124 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:57 	 Success 	 new_chi2: 3.602975 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:58 	 Success 	 new_chi2: 3.602830 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:59 	 Success 	 new_chi2: 3.602688 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:60 	 Success 	 new_chi2: 3.602548 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:61 	 Success 	 new_chi2: 3.602411 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:62 	 Success 	 new_chi2: 3.602277 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:63 	 Success 	 new_chi2: 3.602145 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:64 	 Success 	 new_chi2: 3.602017 	 dT = 0.000098, 0.000000, 0.000133
[22:36:12.778] it:65 	 Success 	 new_chi2: 3.601891 	 dT = 0.000097, 0.000000, 0.000133
[22:36:12.778] it:66 	 Success 	 new_chi2: 3.601768 	 dT = 0.000097, 0.000000, 0.000132
[22:36:12.778] it:67 	 Success 	 new_chi2: 3.601648 	 dT = 0.000097, 0.000000, 0.000132
[22:36:12.778] it:68 	 Success 	 new_chi2: 3.601530 	 dT = 0.000097, 0.000000, 0.000132
[22:36:12.778] it:69 	 Success 	 new_chi2: 3.601416 	 dT = 0.000097, 0.000000, 0.000132
[22:36:12.778] n deleted obs = 70 	 scale =0.204185 	 error init =0.051662 	 error end=0.051447
[22:36:12.778] After pose optimization, distance between two frames x:0.006885 ,z=0.002094,angle between two frames:0.012269 and reprojected points are: 0
[22:36:12.778] Update EKF and 3D points, distance between two frames x:0.006515 ,z=0.002412,angle between two frames:0.011825
[22:36:12.874] After Reprojection Map nPoint:49 ,nCell:25 ,nMatches:24 ,distance between two frames x:-0.002274 ,z=0.001944,angle between two frames:0.007936
[22:36:12.874] Init estimate scale:0.204191
[22:36:12.874] it:0 	 Success 	 new_chi2: 2.230454 	 dT = 0.000057, 0.000000, 0.000122
[22:36:12.874] it:1 	 FAILURE 	 new_chi2: 2.230520
[22:36:12.874] n deleted obs = 70 	 scale =0.204191 	 error init =0.031864 	 error end=0.031864
[22:36:12.874] After pose optimization, distance between two frames x:-0.002274 ,z=0.001944,angle between two frames:0.007936 and reprojected points are: 0
[22:36:12.874] Update EKF and 3D points, distance between two frames x:-0.002189 ,z=0.003045,angle between two frames:0.010181
[22:36:12.974] After Reprojection Map nPoint:53 ,nCell:28 ,nMatches:26 ,distance between two frames x:0.000334 ,z=0.004952,angle between two frames:0.019931
[22:36:12.975] Init estimate scale:0.190541
[22:36:12.975] it:0 	 Success 	 new_chi2: 2.297443 	 dT = 0.005522, 0.000000, 0.005663
[22:36:12.975] it:1 	 FAILURE 	 new_chi2: 2.299323
[22:36:12.975] n deleted obs = 75 	 scale =0.190541 	 error init =0.030633 	 error end=0.030633
[22:36:12.975] After pose optimization, distance between two frames x:0.000334 ,z=0.004952,angle between two frames:0.019931 and reprojected points are: 0
[22:36:12.975] Update EKF and 3D points, distance between two frames x:0.000351 ,z=0.005298,angle between two frames:0.020958
[22:36:13.074] After Reprojection Map nPoint:53 ,nCell:31 ,nMatches:29 ,distance between two frames x:0.000096 ,z=0.002049,angle between two frames:0.010489
[22:36:13.074] Init estimate scale:0.212443
[22:36:13.074] it:0 	 Success 	 new_chi2: 4.461355 	 dT = 0.000037, 0.000000, 0.000311
[22:36:13.074] it:1 	 FAILURE 	 new_chi2: 4.462426
[22:36:13.074] n deleted obs = 75 	 scale =0.212443 	 error init =0.059485 	 error end=0.059485
[22:36:13.074] After pose optimization, distance between two frames x:0.000096 ,z=0.002049,angle between two frames:0.010489 and reprojected points are: 0
[22:36:13.074] Update EKF and 3D points, distance between two frames x:0.000151 ,z=0.003191,angle between two frames:0.010953
[22:36:13.172] After Reprojection Map nPoint:60 ,nCell:27 ,nMatches:26 ,distance between two frames x:0.000240 ,z=0.005141,angle between two frames:0.002472
[22:36:13.173] Init estimate scale:0.206449
[22:36:13.173] it:0 	 Success 	 new_chi2: 2.678251 	 dT = -0.000020, 0.000000, 0.000231
[22:36:13.173] it:1 	 FAILURE 	 new_chi2: 2.678502
[22:36:13.173] n deleted obs = 79 	 scale =0.206449 	 error init =0.033902 	 error end=0.033902
[22:36:13.173] After pose optimization, distance between two frames x:0.000240 ,z=0.005141,angle between two frames:0.002472 and reprojected points are: 0
[22:36:13.173] Update EKF and 3D points, distance between two frames x:0.000253 ,z=0.005480,angle between two frames:0.003235
[22:36:13.277] After Reprojection Map nPoint:61 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.000075 ,z=0.002004,angle between two frames:0.011362
[22:36:13.277] Init estimate scale:0.214501
[22:36:13.277] it:0 	 Success 	 new_chi2: 2.464060 	 dT = -0.000001, 0.000000, 0.000299
[22:36:13.277] it:1 	 FAILURE 	 new_chi2: 2.464078
[22:36:13.277] n deleted obs = 77 	 scale =0.214501 	 error init =0.032001 	 error end=0.032001
[22:36:13.277] After pose optimization, distance between two frames x:0.000075 ,z=0.002004,angle between two frames:0.011362 and reprojected points are: 0
[22:36:13.277] Update EKF and 3D points, distance between two frames x:0.000088 ,z=0.002360,angle between two frames:0.011188
[22:36:13.373] After Reprojection Map nPoint:61 ,nCell:23 ,nMatches:20 ,distance between two frames x:0.000077 ,z=0.002108,angle between two frames:0.004406
[22:36:13.373] Init estimate scale:0.207778
[22:36:13.374] it:0 	 Success 	 new_chi2: 2.510249 	 dT = 0.000940, 0.000000, 0.004493
[22:36:13.374] it:1 	 Success 	 new_chi2: 2.507257 	 dT = 0.000803, 0.000000, 0.004255
[22:36:13.374] it:2 	 Success 	 new_chi2: 2.505810 	 dT = 0.000674, 0.000000, 0.004051
[22:36:13.374] it:3 	 Success 	 new_chi2: 2.505622 	 dT = 0.000554, 0.000000, 0.003874
[22:36:13.374] it:4 	 FAILURE 	 new_chi2: 2.506461
[22:36:13.374] n deleted obs = 73 	 scale =0.207778 	 error init =0.034387 	 error end=0.034324
[22:36:13.374] After pose optimization, distance between two frames x:0.002494 ,z=0.002108,angle between two frames:0.017205 and reprojected points are: 0
[22:36:13.374] Update EKF and 3D points, distance between two frames x:0.002353 ,z=0.002459,angle between two frames:0.016197
[22:36:13.473] After Reprojection Map nPoint:64 ,nCell:28 ,nMatches:24 ,distance between two frames x:-0.000844 ,z=0.002077,angle between two frames:0.006168
[22:36:13.473] Init estimate scale:0.222878
[22:36:13.473] it:0 	 Success 	 new_chi2: 3.210923 	 dT = 0.000059, 0.000000, 0.000361
[22:36:13.473] it:1 	 FAILURE 	 new_chi2: 3.210991
[22:36:13.473] n deleted obs = 79 	 scale =0.222878 	 error init =0.040645 	 error end=0.040645
[22:36:13.473] After pose optimization, distance between two frames x:-0.000844 ,z=0.002077,angle between two frames:0.006168 and reprojected points are: 0
[22:36:13.473] Update EKF and 3D points, distance between two frames x:-0.000796 ,z=0.003144,angle between two frames:0.006045
[22:36:13.574] After Reprojection Map nPoint:65 ,nCell:28 ,nMatches:26 ,distance between two frames x:0.000218 ,z=0.004800,angle between two frames:0.000059
[22:36:13.574] Init estimate scale:0.208016
[22:36:13.574] it:0 	 Success 	 new_chi2: 3.044958 	 dT = -0.000030, 0.000000, 0.000249
[22:36:13.574] it:1 	 Success 	 new_chi2: 3.044866 	 dT = -0.000030, 0.000000, 0.000249
[22:36:13.574] it:2 	 Success 	 new_chi2: 3.044777 	 dT = -0.000030, 0.000000, 0.000249
[22:36:13.574] it:3 	 Success 	 new_chi2: 3.044690 	 dT = -0.000030, 0.000000, 0.000249
[22:36:13.574] it:4 	 Success 	 new_chi2: 3.044606 	 dT = -0.000030, 0.000000, 0.000249
[22:36:13.574] it:5 	 Success 	 new_chi2: 3.044525 	 dT = 0.000095, 0.000000, 0.000227
[22:36:13.574] it:6 	 Success 	 new_chi2: 3.044416 	 dT = 0.000095, 0.000000, 0.000227
[22:36:13.574] it:7 	 Success 	 new_chi2: 3.044312 	 dT = 0.000095, 0.000000, 0.000227
[22:36:13.574] it:8 	 Success 	 new_chi2: 3.044215 	 dT = 0.000095, 0.000000, 0.000227
[22:36:13.574] it:9 	 Success 	 new_chi2: 3.044124 	 dT = 0.000095, 0.000000, 0.000227
[22:36:13.574] it:10 	 Success 	 new_chi2: 3.044038 	 dT = 0.000095, 0.000000, 0.000227
[22:36:13.574] it:11 	 Success 	 new_chi2: 3.043959 	 dT = 0.000095, 0.000000, 0.000227
[22:36:13.574] it:12 	 Success 	 new_chi2: 3.043885 	 dT = 0.000095, 0.000000, 0.000227
[22:36:13.575] it:13 	 Success 	 new_chi2: 3.043817 	 dT = 0.000095, 0.000000, 0.000227
[22:36:13.575] it:14 	 Success 	 new_chi2: 3.043756 	 dT = 0.000094, 0.000000, 0.000226
[22:36:13.575] it:15 	 Success 	 new_chi2: 3.043700 	 dT = 0.000094, 0.000000, 0.000226
[22:36:13.575] it:16 	 Success 	 new_chi2: 3.043649 	 dT = 0.000094, 0.000000, 0.000226
[22:36:13.575] it:17 	 Success 	 new_chi2: 3.043605 	 dT = 0.000094, 0.000000, 0.000226
[22:36:13.575] it:18 	 Success 	 new_chi2: 3.043567 	 dT = 0.000094, 0.000000, 0.000226
[22:36:13.575] it:19 	 Success 	 new_chi2: 3.043534 	 dT = 0.000094, 0.000000, 0.000226
[22:36:13.575] it:20 	 Success 	 new_chi2: 3.043508 	 dT = 0.000094, 0.000000, 0.000226
[22:36:13.575] it:21 	 Success 	 new_chi2: 3.043487 	 dT = 0.000094, 0.000000, 0.000226
[22:36:13.575] it:22 	 Success 	 new_chi2: 3.043472 	 dT = 0.000094, 0.000000, 0.000226
[22:36:13.575] it:23 	 Success 	 new_chi2: 3.043462 	 dT = 0.000094, 0.000000, 0.000226
[22:36:13.575] it:24 	 Success 	 new_chi2: 3.043459 	 dT = 0.000094, 0.000000, 0.000226
[22:36:13.575] it:25 	 FAILURE 	 new_chi2: 3.043461
[22:36:13.575] n deleted obs = 82 	 scale =0.208016 	 error init =0.037134 	 error end=0.037115
[22:36:13.575] After pose optimization, distance between two frames x:0.001862 ,z=0.004800,angle between two frames:0.005607 and reprojected points are: 0
[22:36:13.575] Update EKF and 3D points, distance between two frames x:0.001772 ,z=0.005178,angle between two frames:0.004920
[22:36:13.673] After Reprojection Map nPoint:69 ,nCell:27 ,nMatches:23 ,distance between two frames x:-0.000536 ,z=0.002240,angle between two frames:0.002701
[22:36:13.673] Init estimate scale:0.203727
[22:36:13.673] it:0 	 Success 	 new_chi2: 2.113081 	 dT = 0.010164, 0.000000, 0.010152
[22:36:13.673] it:1 	 Success 	 new_chi2: 2.093692 	 dT = 0.005480, 0.000000, 0.008467
[22:36:13.673] it:2 	 FAILURE 	 new_chi2: 2.094049
[22:36:13.673] n deleted obs = 82 	 scale =0.203727 	 error init =0.025769 	 error end=0.025533
[22:36:13.673] After pose optimization, distance between two frames x:0.009628 ,z=0.002240,angle between two frames:0.007451 and reprojected points are: 0
[22:36:13.673] Update EKF and 3D points, distance between two frames x:0.008578 ,z=0.003262,angle between two frames:0.006759
[22:36:13.775] After Reprojection Map nPoint:66 ,nCell:28 ,nMatches:26 ,distance between two frames x:-0.004738 ,z=0.004601,angle between two frames:0.000692
[22:36:13.775] Init estimate scale:0.212200
[22:36:13.775] it:0 	 Success 	 new_chi2: 3.787901 	 dT = 0.011767, 0.000000, 0.026219
[22:36:13.775] it:1 	 FAILURE 	 new_chi2: 3.853203
[22:36:13.775] n deleted obs = 82 	 scale =0.212200 	 error init =0.046194 	 error end=0.046194
[22:36:13.775] After pose optimization, distance between two frames x:-0.004738 ,z=0.004601,angle between two frames:0.000692 and reprojected points are: 0
[22:36:13.775] Update EKF and 3D points, distance between two frames x:-0.004675 ,z=0.005704,angle between two frames:0.000261
[22:36:13.875] After Reprojection Map nPoint:64 ,nCell:29 ,nMatches:26 ,distance between two frames x:0.000293 ,z=0.004964,angle between two frames:0.001414
[22:36:13.875] Init estimate scale:0.204521
[22:36:13.875] it:0 	 Success 	 new_chi2: 2.895134 	 dT = 0.007909, 0.000000, 0.013583
[22:36:13.875] it:1 	 FAILURE 	 new_chi2: 2.914359
[22:36:13.875] n deleted obs = 81 	 scale =0.204521 	 error init =0.035742 	 error end=0.035742
[22:36:13.875] After pose optimization, distance between two frames x:0.000293 ,z=0.004964,angle between two frames:0.001414 and reprojected points are: 0
[22:36:13.875] Update EKF and 3D points, distance between two frames x:0.000314 ,z=0.005311,angle between two frames:0.001670
[22:36:13.975] After Reprojection Map nPoint:64 ,nCell:27 ,nMatches:25 ,distance between two frames x:0.000125 ,z=0.002052,angle between two frames:0.004359
[22:36:13.975] Init estimate scale:0.214531
[22:36:13.975] it:0 	 Success 	 new_chi2: 3.000905 	 dT = 0.004654, 0.000000, 0.011824
[22:36:13.975] it:1 	 FAILURE 	 new_chi2: 3.026758
[22:36:13.975] n deleted obs = 80 	 scale =0.214531 	 error init =0.037511 	 error end=0.037511
[22:36:13.975] After pose optimization, distance between two frames x:0.000125 ,z=0.002052,angle between two frames:0.004359 and reprojected points are: 0
[22:36:13.975] Update EKF and 3D points, distance between two frames x:0.000150 ,z=0.002412,angle between two frames:0.004819
[22:36:14.074] After Reprojection Map nPoint:68 ,nCell:34 ,nMatches:32 ,distance between two frames x:0.000145 ,z=0.002125,angle between two frames:0.001812
[22:36:14.074] Init estimate scale:0.210418
[22:36:14.074] it:0 	 Success 	 new_chi2: 4.423635 	 dT = 0.000295, 0.000000, 0.001464
[22:36:14.074] it:1 	 Success 	 new_chi2: 4.423616 	 dT = 0.000282, 0.000000, 0.001457
[22:36:14.074] it:2 	 FAILURE 	 new_chi2: 4.423783
[22:36:14.074] n deleted obs = 91 	 scale =0.210418 	 error init =0.048611 	 error end=0.048611
[22:36:14.074] After pose optimization, distance between two frames x:0.000440 ,z=0.002125,angle between two frames:0.003275 and reprojected points are: 0
[22:36:14.074] Update EKF and 3D points, distance between two frames x:0.000446 ,z=0.002487,angle between two frames:0.003559
[22:36:14.173] After Reprojection Map nPoint:69 ,nCell:30 ,nMatches:26 ,distance between two frames x:0.000037 ,z=0.002141,angle between two frames:0.004878
[22:36:14.173] Init estimate scale:0.206077
[22:36:14.173] it:0 	 Success 	 new_chi2: 2.830917 	 dT = 0.000330, 0.000000, 0.000933
[22:36:14.173] it:1 	 Success 	 new_chi2: 2.830232 	 dT = 0.000324, 0.000000, 0.000930
[22:36:14.173] it:2 	 Success 	 new_chi2: 2.829644 	 dT = 0.000319, 0.000000, 0.000927
[22:36:14.173] it:3 	 Success 	 new_chi2: 2.829152 	 dT = 0.000313, 0.000000, 0.000923
[22:36:14.173] it:4 	 Success 	 new_chi2: 2.828752 	 dT = 0.000308, 0.000000, 0.000921
[22:36:14.173] it:5 	 Success 	 new_chi2: 2.828444 	 dT = 0.000509, 0.000000, 0.000708
[22:36:14.173] it:6 	 Success 	 new_chi2: 2.828261 	 dT = 0.000505, 0.000000, 0.000706
[22:36:14.173] it:7 	 Success 	 new_chi2: 2.828166 	 dT = 0.000501, 0.000000, 0.000704
[22:36:14.173] it:8 	 Success 	 new_chi2: 2.828160 	 dT = 0.000497, 0.000000, 0.000702
[22:36:14.173] it:9 	 FAILURE 	 new_chi2: 2.828240
[22:36:14.173] n deleted obs = 87 	 scale =0.206077 	 error init =0.032539 	 error end=0.032508
[22:36:14.173] After pose optimization, distance between two frames x:0.003146 ,z=0.002141,angle between two frames:0.011630 and reprojected points are: 0
[22:36:14.173] Update EKF and 3D points, distance between two frames x:0.002972 ,z=0.002486,angle between two frames:0.011527
[22:36:14.277] After Reprojection Map nPoint:68 ,nCell:32 ,nMatches:30 ,distance between two frames x:-0.001031 ,z=0.002039,angle between two frames:0.001509
[22:36:14.277] Init estimate scale:0.208288
[22:36:14.277] it:0 	 Success 	 new_chi2: 6.200793 	 dT = 0.009032, 0.000000, 0.027500
[22:36:14.277] it:1 	 FAILURE 	 new_chi2: 6.272295
[22:36:14.277] n deleted obs = 89 	 scale =0.208288 	 error init =0.069672 	 error end=0.069672
[22:36:14.277] After pose optimization, distance between two frames x:-0.001031 ,z=0.002039,angle between two frames:0.001509 and reprojected points are: 0
[22:36:14.277] Update EKF and 3D points, distance between two frames x:-0.001004 ,z=0.002393,angle between two frames:0.001661
[22:36:14.373] After Reprojection Map nPoint:72 ,nCell:30 ,nMatches:30 ,distance between two frames x:0.000157 ,z=0.002095,angle between two frames:0.000625
[22:36:14.374] Init estimate scale:0.213025
[22:36:14.374] it:0 	 Success 	 new_chi2: 3.987895 	 dT = 0.000162, 0.000000, 0.000345
[22:36:14.374] it:1 	 FAILURE 	 new_chi2: 3.988293
[22:36:14.374] n deleted obs = 93 	 scale =0.213025 	 error init =0.042881 	 error end=0.042881
[22:36:14.374] After pose optimization, distance between two frames x:0.000157 ,z=0.002095,angle between two frames:0.000625 and reprojected points are: 0
[22:36:14.374] Update EKF and 3D points, distance between two frames x:0.000183 ,z=0.002449,angle between two frames:0.000873
[22:36:14.473] After Reprojection Map nPoint:68 ,nCell:30 ,nMatches:29 ,distance between two frames x:0.000153 ,z=0.002092,angle between two frames:0.005783
[22:36:14.473] Init estimate scale:0.201588
[22:36:14.473] it:0 	 Success 	 new_chi2: 4.053442 	 dT = 0.000158, 0.000000, 0.000363
[22:36:14.473] it:1 	 FAILURE 	 new_chi2: 4.054353
[22:36:14.473] n deleted obs = 88 	 scale =0.201588 	 error init =0.046062 	 error end=0.046062
[22:36:14.473] After pose optimization, distance between two frames x:0.000153 ,z=0.002092,angle between two frames:0.005783 and reprojected points are: 0
[22:36:14.473] Update EKF and 3D points, distance between two frames x:0.000175 ,z=0.002446,angle between two frames:0.006212
[22:36:14.573] After Reprojection Map nPoint:65 ,nCell:27 ,nMatches:26 ,distance between two frames x:0.000135 ,z=0.002096,angle between two frames:0.001041
[22:36:14.573] Init estimate scale:0.205643
[22:36:14.573] it:0 	 Success 	 new_chi2: 3.016636 	 dT = 0.000046, 0.000000, 0.000225
[22:36:14.573] it:1 	 FAILURE 	 new_chi2: 3.016813
[22:36:14.573] n deleted obs = 85 	 scale =0.205643 	 error init =0.035490 	 error end=0.035490
[22:36:14.573] After pose optimization, distance between two frames x:0.000135 ,z=0.002096,angle between two frames:0.001041 and reprojected points are: 0
[22:36:14.573] Update EKF and 3D points, distance between two frames x:0.000159 ,z=0.002448,angle between two frames:0.000907
[22:36:14.672] After Reprojection Map nPoint:65 ,nCell:29 ,nMatches:27 ,distance between two frames x:0.000143 ,z=0.002043,angle between two frames:0.003958
[22:36:14.672] Init estimate scale:0.217300
[22:36:14.672] it:0 	 Success 	 new_chi2: 2.775803 	 dT = 0.009699, 0.000000, 0.009832
[22:36:14.672] it:1 	 Success 	 new_chi2: 2.756254 	 dT = 0.005386, 0.000000, 0.008703
[22:36:14.672] it:2 	 Success 	 new_chi2: 2.755094 	 dT = 0.002894, 0.000000, 0.007947
[22:36:14.672] it:3 	 FAILURE 	 new_chi2: 2.761373
[22:36:14.672] n deleted obs = 82 	 scale =0.217300 	 error init =0.033851 	 error end=0.033599
[22:36:14.672] After pose optimization, distance between two frames x:0.015229 ,z=0.002043,angle between two frames:0.014578 and reprojected points are: 0
[22:36:14.672] Update EKF and 3D points, distance between two frames x:0.014277 ,z=0.002396,angle between two frames:0.012583
[22:36:14.773] After Reprojection Map nPoint:65 ,nCell:27 ,nMatches:27 ,distance between two frames x:-0.005644 ,z=0.002089,angle between two frames:0.014682
[22:36:14.773] Init estimate scale:0.201508
[22:36:14.774] it:0 	 Success 	 new_chi2: 3.234744 	 dT = 0.000119, 0.000000, 0.000296
[22:36:14.774] it:1 	 Success 	 new_chi2: 3.234053 	 dT = 0.000119, 0.000000, 0.000296
[22:36:14.774] it:2 	 Success 	 new_chi2: 3.233373 	 dT = 0.000118, 0.000000, 0.000296
[22:36:14.774] it:3 	 Success 	 new_chi2: 3.232704 	 dT = 0.000118, 0.000000, 0.000295
[22:36:14.774] it:4 	 Success 	 new_chi2: 3.232045 	 dT = 0.000117, 0.000000, 0.000295
[22:36:14.774] it:5 	 Success 	 new_chi2: 3.231397 	 dT = 0.000209, 0.000000, 0.000226
[22:36:14.774] it:6 	 Success 	 new_chi2: 3.230978 	 dT = 0.000209, 0.000000, 0.000226
[22:36:14.774] it:7 	 Success 	 new_chi2: 3.230569 	 dT = 0.000209, 0.000000, 0.000226
[22:36:14.774] it:8 	 Success 	 new_chi2: 3.230172 	 dT = 0.000208, 0.000000, 0.000226
[22:36:14.774] it:9 	 Success 	 new_chi2: 3.229786 	 dT = 0.000208, 0.000000, 0.000226
[22:36:14.774] it:10 	 Success 	 new_chi2: 3.229411 	 dT = 0.000207, 0.000000, 0.000225
[22:36:14.774] it:11 	 Success 	 new_chi2: 3.229047 	 dT = 0.000207, 0.000000, 0.000225
[22:36:14.774] it:12 	 Success 	 new_chi2: 3.228695 	 dT = 0.000207, 0.000000, 0.000225
[22:36:14.774] it:13 	 Success 	 new_chi2: 3.228353 	 dT = 0.000206, 0.000000, 0.000225
[22:36:14.774] it:14 	 Success 	 new_chi2: 3.228022 	 dT = 0.000206, 0.000000, 0.000225
[22:36:14.774] it:15 	 Success 	 new_chi2: 3.227702 	 dT = 0.000206, 0.000000, 0.000225
[22:36:14.774] it:16 	 Success 	 new_chi2: 3.227393 	 dT = 0.000205, 0.000000, 0.000225
[22:36:14.774] it:17 	 Success 	 new_chi2: 3.227095 	 dT = 0.000205, 0.000000, 0.000225
[22:36:14.774] it:18 	 Success 	 new_chi2: 3.226808 	 dT = 0.000204, 0.000000, 0.000224
[22:36:14.774] it:19 	 Success 	 new_chi2: 3.226531 	 dT = 0.000204, 0.000000, 0.000224
[22:36:14.774] it:20 	 Success 	 new_chi2: 3.226265 	 dT = 0.000204, 0.000000, 0.000224
[22:36:14.774] it:21 	 Success 	 new_chi2: 3.226010 	 dT = 0.000203, 0.000000, 0.000224
[22:36:14.775] it:22 	 Success 	 new_chi2: 3.225765 	 dT = 0.000203, 0.000000, 0.000224
[22:36:14.775] it:23 	 Success 	 new_chi2: 3.225531 	 dT = 0.000203, 0.000000, 0.000224
[22:36:14.775] it:24 	 Success 	 new_chi2: 3.225308 	 dT = 0.000202, 0.000000, 0.000224
[22:36:14.775] it:25 	 Success 	 new_chi2: 3.225095 	 dT = 0.000202, 0.000000, 0.000224
[22:36:14.775] it:26 	 Success 	 new_chi2: 3.224892 	 dT = 0.000201, 0.000000, 0.000224
[22:36:14.775] it:27 	 Success 	 new_chi2: 3.224700 	 dT = 0.000201, 0.000000, 0.000223
[22:36:14.775] it:28 	 Success 	 new_chi2: 3.224518 	 dT = 0.000201, 0.000000, 0.000223
[22:36:14.775] it:29 	 Success 	 new_chi2: 3.224347 	 dT = 0.000200, 0.000000, 0.000223
[22:36:14.775] it:30 	 Success 	 new_chi2: 3.224186 	 dT = 0.000200, 0.000000, 0.000223
[22:36:14.775] it:31 	 Success 	 new_chi2: 3.224035 	 dT = 0.000199, 0.000000, 0.000223
[22:36:14.775] it:32 	 Success 	 new_chi2: 3.223895 	 dT = 0.000199, 0.000000, 0.000223
[22:36:14.775] it:33 	 Success 	 new_chi2: 3.223765 	 dT = 0.000199, 0.000000, 0.000223
[22:36:14.775] it:34 	 Success 	 new_chi2: 3.223645 	 dT = 0.000198, 0.000000, 0.000223
[22:36:14.775] it:35 	 Success 	 new_chi2: 3.223535 	 dT = 0.000198, 0.000000, 0.000223
[22:36:14.775] it:36 	 Success 	 new_chi2: 3.223435 	 dT = 0.000198, 0.000000, 0.000223
[22:36:14.775] it:37 	 Success 	 new_chi2: 3.223345 	 dT = 0.000197, 0.000000, 0.000222
[22:36:14.775] it:38 	 Success 	 new_chi2: 3.223265 	 dT = 0.000197, 0.000000, 0.000222
[22:36:14.775] it:39 	 Success 	 new_chi2: 3.223196 	 dT = 0.000196, 0.000000, 0.000222
[22:36:14.775] it:40 	 Success 	 new_chi2: 3.223136 	 dT = 0.000196, 0.000000, 0.000222
[22:36:14.775] it:41 	 Success 	 new_chi2: 3.223086 	 dT = 0.000196, 0.000000, 0.000222
[22:36:14.775] it:42 	 Success 	 new_chi2: 3.223046 	 dT = 0.000195, 0.000000, 0.000222
[22:36:14.776] it:43 	 Success 	 new_chi2: 3.223016 	 dT = 0.000195, 0.000000, 0.000222
[22:36:14.776] it:44 	 Success 	 new_chi2: 3.222995 	 dT = 0.000194, 0.000000, 0.000222
[22:36:14.776] it:45 	 Success 	 new_chi2: 3.222985 	 dT = 0.000194, 0.000000, 0.000222
[22:36:14.776] it:46 	 Success 	 new_chi2: 3.222984 	 dT = 0.000194, 0.000000, 0.000222
[22:36:14.776] it:47 	 FAILURE 	 new_chi2: 3.222993
[22:36:14.776] n deleted obs = 86 	 scale =0.201508 	 error init =0.037613 	 error end=0.037477
[22:36:14.776] After pose optimization, distance between two frames x:0.003220 ,z=0.002089,angle between two frames:0.004031 and reprojected points are: 0
[22:36:14.776] Update EKF and 3D points, distance between two frames x:0.002667 ,z=0.002441,angle between two frames:0.006048
[22:36:14.873] After Reprojection Map nPoint:58 ,nCell:27 ,nMatches:24 ,distance between two frames x:-0.003278 ,z=0.002081,angle between two frames:0.021679
[22:36:14.873] Init estimate scale:0.192126
[22:36:14.873] it:0 	 Success 	 new_chi2: 2.750564 	 dT = 0.003959, 0.000000, 0.014191
[22:36:14.873] it:1 	 FAILURE 	 new_chi2: 2.752656
[22:36:14.873] n deleted obs = 75 	 scale =0.192126 	 error init =0.036674 	 error end=0.036674
[22:36:14.873] After pose optimization, distance between two frames x:-0.003278 ,z=0.002081,angle between two frames:0.021679 and reprojected points are: 0
[22:36:14.873] Update EKF and 3D points, distance between two frames x:-0.003261 ,z=0.002435,angle between two frames:0.022079
[22:36:14.975] After Reprojection Map nPoint:66 ,nCell:30 ,nMatches:28 ,distance between two frames x:0.000099 ,z=0.002097,angle between two frames:0.002776
[22:36:14.975] Init estimate scale:0.209214
[22:36:14.975] it:0 	 Success 	 new_chi2: 4.045586 	 dT = -0.000046, 0.000000, 0.000560
[22:36:14.975] it:1 	 Success 	 new_chi2: 4.045342 	 dT = -0.000047, 0.000000, 0.000559
[22:36:14.975] it:2 	 Success 	 new_chi2: 4.045113 	 dT = -0.000049, 0.000000, 0.000559
[22:36:14.975] it:3 	 Success 	 new_chi2: 4.044898 	 dT = -0.000050, 0.000000, 0.000558
[22:36:14.976] it:4 	 Success 	 new_chi2: 4.044698 	 dT = -0.000051, 0.000000, 0.000557
[22:36:14.976] it:5 	 Success 	 new_chi2: 4.044512 	 dT = 0.000142, 0.000000, 0.000523
[22:36:14.976] it:6 	 FAILURE 	 new_chi2: 4.044883
[22:36:14.976] n deleted obs = 85 	 scale =0.209214 	 error init =0.047595 	 error end=0.047582
[22:36:14.976] After pose optimization, distance between two frames x:-0.000144 ,z=0.002097,angle between two frames:0.000017 and reprojected points are: 0
[22:36:14.976] Update EKF and 3D points, distance between two frames x:-0.000112 ,z=0.002451,angle between two frames:0.000681
[22:36:15.074] After Reprojection Map nPoint:65 ,nCell:32 ,nMatches:30 ,distance between two frames x:0.000185 ,z=0.002091,angle between two frames:0.005465
[22:36:15.074] Init estimate scale:0.211282
[22:36:15.074] it:0 	 Success 	 new_chi2: 3.800361 	 dT = -0.002535, 0.000000, 0.016076
[22:36:15.074] it:1 	 FAILURE 	 new_chi2: 3.836695
[22:36:15.074] n deleted obs = 89 	 scale =0.211282 	 error init =0.042701 	 error end=0.042701
[22:36:15.074] After pose optimization, distance between two frames x:0.000185 ,z=0.002091,angle between two frames:0.005465 and reprojected points are: 0
[22:36:15.074] Update EKF and 3D points, distance between two frames x:0.000202 ,z=0.002445,angle between two frames:0.005313
[22:36:15.175] After Reprojection Map nPoint:68 ,nCell:32 ,nMatches:27 ,distance between two frames x:0.000102 ,z=0.002094,angle between two frames:0.000859
[22:36:15.175] Init estimate scale:0.190096
[22:36:15.175] it:0 	 Success 	 new_chi2: 2.649540 	 dT = 0.002470, 0.000000, 0.012408
[22:36:15.175] it:1 	 FAILURE 	 new_chi2: 2.674448
[22:36:15.175] n deleted obs = 85 	 scale =0.190096 	 error init =0.031171 	 error end=0.031171
[22:36:15.175] After pose optimization, distance between two frames x:0.000102 ,z=0.002094,angle between two frames:0.000859 and reprojected points are: 0
[22:36:15.175] Update EKF and 3D points, distance between two frames x:0.000117 ,z=0.002448,angle between two frames:0.000606
[22:36:15.275] After Reprojection Map nPoint:66 ,nCell:31 ,nMatches:29 ,distance between two frames x:0.000091 ,z=0.002091,angle between two frames:0.001859
[22:36:15.275] Init estimate scale:0.203754
[22:36:15.275] it:0 	 Success 	 new_chi2: 3.370714 	 dT = 0.003827, 0.000000, 0.018808
[22:36:15.275] it:1 	 FAILURE 	 new_chi2: 3.421397
[22:36:15.275] n deleted obs = 88 	 scale =0.203754 	 error init =0.038304 	 error end=0.038304
[22:36:15.275] After pose optimization, distance between two frames x:0.000091 ,z=0.002091,angle between two frames:0.001859 and reprojected points are: 0
[22:36:15.275] Update EKF and 3D points, distance between two frames x:0.000107 ,z=0.002446,angle between two frames:0.001923
[22:36:15.372] After Reprojection Map nPoint:71 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.000093 ,z=0.002097,angle between two frames:0.000338
[22:36:15.372] Init estimate scale:0.213759
[22:36:15.372] it:0 	 Success 	 new_chi2: 3.111825 	 dT = 0.000056, 0.000000, 0.000326
[22:36:15.373] it:1 	 FAILURE 	 new_chi2: 3.112122
[22:36:15.373] n deleted obs = 91 	 scale =0.213759 	 error init =0.034196 	 error end=0.034196
[22:36:15.373] After pose optimization, distance between two frames x:0.000093 ,z=0.002097,angle between two frames:0.000338 and reprojected points are: 0
[22:36:15.373] Update EKF and 3D points, distance between two frames x:0.000109 ,z=0.002451,angle between two frames:0.000357
[22:36:15.473] After Reprojection Map nPoint:75 ,nCell:28 ,nMatches:28 ,distance between two frames x:0.000093 ,z=0.002094,angle between two frames:0.000504
[22:36:15.473] Init estimate scale:0.212669
[22:36:15.473] it:0 	 Success 	 new_chi2: 3.680428 	 dT = 0.013830, 0.000000, 0.020738
[22:36:15.473] it:1 	 FAILURE 	 new_chi2: 3.690357
[22:36:15.473] n deleted obs = 95 	 scale =0.212669 	 error init =0.038741 	 error end=0.038741
[22:36:15.473] After pose optimization, distance between two frames x:0.000093 ,z=0.002094,angle between two frames:0.000504 and reprojected points are: 0
[22:36:15.473] Update EKF and 3D points, distance between two frames x:0.000111 ,z=0.002448,angle between two frames:0.000817
[22:36:15.575] After Reprojection Map nPoint:72 ,nCell:33 ,nMatches:31 ,distance between two frames x:0.000103 ,z=0.002096,angle between two frames:0.002773
[22:36:15.575] Init estimate scale:0.214418
[22:36:15.575] it:0 	 Success 	 new_chi2: 4.085290 	 dT = 0.000085, 0.000000, 0.000326
[22:36:15.575] it:1 	 FAILURE 	 new_chi2: 4.086115
[22:36:15.575] n deleted obs = 95 	 scale =0.214418 	 error init =0.043003 	 error end=0.043003
[22:36:15.575] After pose optimization, distance between two frames x:0.000103 ,z=0.002096,angle between two frames:0.002773 and reprojected points are: 0
[22:36:15.575] Update EKF and 3D points, distance between two frames x:0.000120 ,z=0.002450,angle between two frames:0.002648
[22:36:15.675] After Reprojection Map nPoint:76 ,nCell:32 ,nMatches:31 ,distance between two frames x:0.000098 ,z=0.002095,angle between two frames:0.000770
[22:36:15.675] Init estimate scale:0.211283
[22:36:15.675] it:0 	 Success 	 new_chi2: 4.211600 	 dT = 0.000082, 0.000000, 0.000364
[22:36:15.675] it:1 	 FAILURE 	 new_chi2: 4.212193
[22:36:15.675] n deleted obs = 99 	 scale =0.211283 	 error init =0.042541 	 error end=0.042541
[22:36:15.675] After pose optimization, distance between two frames x:0.000098 ,z=0.002095,angle between two frames:0.000770 and reprojected points are: 0
[22:36:15.675] Update EKF and 3D points, distance between two frames x:0.000115 ,z=0.002449,angle between two frames:0.000695
[22:36:15.774] After Reprojection Map nPoint:75 ,nCell:32 ,nMatches:32 ,distance between two frames x:0.000102 ,z=0.002094,angle between two frames:0.001355
[22:36:15.774] Init estimate scale:0.212791
[22:36:15.774] it:0 	 Success 	 new_chi2: 4.088764 	 dT = 0.012304, 0.000000, 0.024683
[22:36:15.774] it:1 	 FAILURE 	 new_chi2: 4.100966
[22:36:15.774] n deleted obs = 98 	 scale =0.212791 	 error init =0.041722 	 error end=0.041722
[22:36:15.774] After pose optimization, distance between two frames x:0.000102 ,z=0.002094,angle between two frames:0.001355 and reprojected points are: 0
[22:36:15.774] Update EKF and 3D points, distance between two frames x:0.000119 ,z=0.002448,angle between two frames:0.001391
[22:36:15.873] After Reprojection Map nPoint:75 ,nCell:30 ,nMatches:30 ,distance between two frames x:0.000104 ,z=0.002095,angle between two frames:0.001213
[22:36:15.874] Init estimate scale:0.211592
[22:36:15.874] it:0 	 Success 	 new_chi2: 3.253894 	 dT = 0.011440, 0.000000, 0.018479
[22:36:15.874] it:1 	 FAILURE 	 new_chi2: 3.263546
[22:36:15.874] n deleted obs = 97 	 scale =0.211592 	 error init =0.033545 	 error end=0.033545
[22:36:15.874] After pose optimization, distance between two frames x:0.000104 ,z=0.002095,angle between two frames:0.001213 and reprojected points are: 0
[22:36:15.874] Update EKF and 3D points, distance between two frames x:0.000123 ,z=0.002453,angle between two frames:0.001631
[22:36:15.973] After Reprojection Map nPoint:73 ,nCell:32 ,nMatches:32 ,distance between two frames x:0.000118 ,z=0.002119,angle between two frames:0.005323
[22:36:15.973] Init estimate scale:0.210288
[22:36:15.973] it:0 	 Success 	 new_chi2: 3.392719 	 dT = 0.015180, 0.000000, 0.014191
[22:36:15.974] it:1 	 FAILURE 	 new_chi2: 3.399286
[22:36:15.974] n deleted obs = 99 	 scale =0.210288 	 error init =0.034270 	 error end=0.034270
[22:36:15.974] After pose optimization, distance between two frames x:0.000118 ,z=0.002119,angle between two frames:0.005323 and reprojected points are: 0
[22:36:15.974] Update EKF and 3D points, distance between two frames x:0.000138 ,z=0.002473,angle between two frames:0.005427
[22:36:16.075] After Reprojection Map nPoint:65 ,nCell:28 ,nMatches:28 ,distance between two frames x:0.000120 ,z=0.002097,angle between two frames:0.000250
[22:36:16.075] Init estimate scale:0.202926
[22:36:16.075] it:0 	 Success 	 new_chi2: 3.804844 	 dT = 0.018535, 0.000000, 0.012323
[22:36:16.075] it:1 	 Success 	 new_chi2: 3.780155 	 dT = 0.005465, 0.000000, 0.010778
[22:36:16.075] it:2 	 FAILURE 	 new_chi2: 3.784736
[22:36:16.075] n deleted obs = 89 	 scale =0.202926 	 error init =0.042751 	 error end=0.042474
[22:36:16.075] After pose optimization, distance between two frames x:0.018656 ,z=0.002097,angle between two frames:0.012573 and reprojected points are: 0
[22:36:16.075] Update EKF and 3D points, distance between two frames x:0.016709 ,z=0.003194,angle between two frames:0.011555
[22:36:16.174] After Reprojection Map nPoint:61 ,nCell:26 ,nMatches:25 ,distance between two frames x:-0.008778 ,z=0.004934,angle between two frames:0.003673
[22:36:16.174] Init estimate scale:0.194846
[22:36:16.174] it:0 	 Success 	 new_chi2: 3.173186 	 dT = 0.000195, 0.000000, 0.000225
[22:36:16.174] it:1 	 FAILURE 	 new_chi2: 3.173244
[22:36:16.174] n deleted obs = 79 	 scale =0.194846 	 error init =0.040167 	 error end=0.040167
[22:36:16.174] After pose optimization, distance between two frames x:-0.008778 ,z=0.004934,angle between two frames:0.003673 and reprojected points are: 0
[22:36:16.174] Update EKF and 3D points, distance between two frames x:-0.008755 ,z=0.005289,angle between two frames:0.003720
[22:36:16.273] After Reprojection Map nPoint:65 ,nCell:28 ,nMatches:27 ,distance between two frames x:0.000134 ,z=0.002097,angle between two frames:0.000175
[22:36:16.273] Init estimate scale:0.195411
[22:36:16.273] it:0 	 Success 	 new_chi2: 2.649427 	 dT = 0.006774, 0.000000, 0.006604
[22:36:16.273] it:1 	 FAILURE 	 new_chi2: 2.649953
[22:36:16.273] n deleted obs = 84 	 scale =0.195411 	 error init =0.031541 	 error end=0.031541
[22:36:16.273] After pose optimization, distance between two frames x:0.000134 ,z=0.002097,angle between two frames:0.000175 and reprojected points are: 0
[22:36:16.273] Update EKF and 3D points, distance between two frames x:0.000155 ,z=0.002423,angle between two frames:0.000015
[22:36:16.377] After Reprojection Map nPoint:64 ,nCell:26 ,nMatches:25 ,distance between two frames x:0.000128 ,z=0.001932,angle between two frames:0.000384
[22:36:16.377] Init estimate scale:0.196640
[22:36:16.377] it:0 	 Success 	 new_chi2: 4.529162 	 dT = 0.008763, 0.000000, 0.019573
[22:36:16.377] it:1 	 FAILURE 	 new_chi2: 4.554294
[22:36:16.377] n deleted obs = 81 	 scale =0.196640 	 error init =0.055916 	 error end=0.055916
[22:36:16.377] After pose optimization, distance between two frames x:0.000128 ,z=0.001932,angle between two frames:0.000384 and reprojected points are: 0
[22:36:16.377] Update EKF and 3D points, distance between two frames x:0.000150 ,z=0.002309,angle between two frames:0.000158
[22:36:16.486] After Reprojection Map nPoint:61 ,nCell:28 ,nMatches:26 ,distance between two frames x:0.000130 ,z=0.002231,angle between two frames:0.007337
[22:36:16.487] Init estimate scale:0.183822
[22:36:16.487] it:0 	 Success 	 new_chi2: 2.689723 	 dT = 0.013400, 0.000000, 0.027593
[22:36:16.487] it:1 	 FAILURE 	 new_chi2: 2.726717
[22:36:16.487] n deleted obs = 79 	 scale =0.183822 	 error init =0.034047 	 error end=0.034047
[22:36:16.487] After pose optimization, distance between two frames x:0.000130 ,z=0.002231,angle between two frames:0.007337 and reprojected points are: 0
[22:36:16.487] Update EKF and 3D points, distance between two frames x:0.000148 ,z=0.002563,angle between two frames:0.007456
[22:36:16.572] After Reprojection Map nPoint:61 ,nCell:27 ,nMatches:26 ,distance between two frames x:0.000112 ,z=0.002043,angle between two frames:0.001464
[22:36:16.572] Init estimate scale:0.191551
[22:36:16.572] it:0 	 Success 	 new_chi2: 2.883884 	 dT = 0.007750, 0.000000, 0.016012
[22:36:16.573] it:1 	 FAILURE 	 new_chi2: 2.887716
[22:36:16.573] n deleted obs = 79 	 scale =0.191551 	 error init =0.036505 	 error end=0.036505
[22:36:16.573] After pose optimization, distance between two frames x:0.000112 ,z=0.002043,angle between two frames:0.001464 and reprojected points are: 0
[22:36:16.573] Update EKF and 3D points, distance between two frames x:0.000168 ,z=0.003087,angle between two frames:0.002032
[22:36:16.673] After Reprojection Map nPoint:65 ,nCell:26 ,nMatches:26 ,distance between two frames x:0.000241 ,z=0.004701,angle between two frames:0.003929
[22:36:16.673] Init estimate scale:0.199062
[22:36:16.673] it:0 	 Success 	 new_chi2: 4.785013 	 dT = 0.000267, 0.000000, 0.000929
[22:36:16.673] it:1 	 Success 	 new_chi2: 4.784237 	 dT = 0.000262, 0.000000, 0.000925
[22:36:16.674] it:2 	 Success 	 new_chi2: 4.783534 	 dT = 0.000256, 0.000000, 0.000920
[22:36:16.674] it:3 	 Success 	 new_chi2: 4.782900 	 dT = 0.000251, 0.000000, 0.000916
[22:36:16.674] it:4 	 Success 	 new_chi2: 4.782336 	 dT = 0.000246, 0.000000, 0.000912
[22:36:16.674] it:5 	 Success 	 new_chi2: 4.781838 	 dT = 0.000417, 0.000000, 0.000823
[22:36:16.674] it:6 	 FAILURE 	 new_chi2: 4.781931
[22:36:16.674] n deleted obs = 80 	 scale =0.199062 	 error init =0.059813 	 error end=0.059773
[22:36:16.674] After pose optimization, distance between two frames x:0.001522 ,z=0.004701,angle between two frames:0.000673 and reprojected points are: 0
[22:36:16.674] Update EKF and 3D points, distance between two frames x:0.001457 ,z=0.005047,angle between two frames:0.000271
[22:36:16.773] After Reprojection Map nPoint:73 ,nCell:27 ,nMatches:26 ,distance between two frames x:-0.000387 ,z=0.002045,angle between two frames:0.003000
[22:36:16.773] Init estimate scale:0.200890
[22:36:16.773] it:0 	 Success 	 new_chi2: 3.932482 	 dT = 0.000190, 0.000000, 0.000790
[22:36:16.773] it:1 	 FAILURE 	 new_chi2: 3.934800
[22:36:16.773] n deleted obs = 90 	 scale =0.200890 	 error init =0.043694 	 error end=0.043694
[22:36:16.773] After pose optimization, distance between two frames x:-0.000387 ,z=0.002045,angle between two frames:0.003000 and reprojected points are: 0
[22:36:16.773] Update EKF and 3D points, distance between two frames x:-0.000369 ,z=0.002412,angle between two frames:0.003213
[22:36:16.875] After Reprojection Map nPoint:73 ,nCell:27 ,nMatches:26 ,distance between two frames x:0.000107 ,z=0.002170,angle between two frames:0.002853
[22:36:16.875] Init estimate scale:0.202560
[22:36:16.875] it:0 	 Success 	 new_chi2: 3.529668 	 dT = 0.002758, 0.000000, 0.039864
[22:36:16.875] it:1 	 FAILURE 	 new_chi2: 3.642170
[22:36:16.875] n deleted obs = 88 	 scale =0.202560 	 error init =0.040110 	 error end=0.040110
[22:36:16.875] After pose optimization, distance between two frames x:0.000107 ,z=0.002170,angle between two frames:0.002853 and reprojected points are: 0
[22:36:16.875] Update EKF and 3D points, distance between two frames x:0.000123 ,z=0.002516,angle between two frames:0.002872
[22:36:16.974] After Reprojection Map nPoint:67 ,nCell:27 ,nMatches:27 ,distance between two frames x:0.000099 ,z=0.002047,angle between two frames:0.000416
[22:36:16.974] Init estimate scale:0.201508
[22:36:16.974] it:0 	 Success 	 new_chi2: 4.405136 	 dT = 0.000275, 0.000000, 0.000941
[22:36:16.974] it:1 	 FAILURE 	 new_chi2: 4.406324
[22:36:16.974] n deleted obs = 86 	 scale =0.201508 	 error init =0.051223 	 error end=0.051223
[22:36:16.974] After pose optimization, distance between two frames x:0.000099 ,z=0.002047,angle between two frames:0.000416 and reprojected points are: 0
[22:36:16.974] Update EKF and 3D points, distance between two frames x:0.000115 ,z=0.002405,angle between two frames:0.000023
[22:36:17.073] After Reprojection Map nPoint:63 ,nCell:26 ,nMatches:26 ,distance between two frames x:0.000093 ,z=0.002121,angle between two frames:0.004292
[22:36:17.073] Init estimate scale:0.188884
[22:36:17.073] it:0 	 Success 	 new_chi2: 4.019964 	 dT = 0.000039, 0.000000, 0.000840
[22:36:17.073] it:1 	 FAILURE 	 new_chi2: 4.020454
[22:36:17.073] n deleted obs = 80 	 scale =0.188884 	 error init =0.050250 	 error end=0.050250
[22:36:17.073] After pose optimization, distance between two frames x:0.000093 ,z=0.002121,angle between two frames:0.004292 and reprojected points are: 0
[22:36:17.073] Update EKF and 3D points, distance between two frames x:0.000109 ,z=0.002477,angle between two frames:0.004260
[22:36:17.174] After Reprojection Map nPoint:71 ,nCell:28 ,nMatches:27 ,distance between two frames x:0.000095 ,z=0.002108,angle between two frames:0.000840
[22:36:17.174] Init estimate scale:0.199984
[22:36:17.174] it:0 	 Success 	 new_chi2: 5.885545 	 dT = -0.008867, 0.000000, 0.048784
[22:36:17.174] it:1 	 FAILURE 	 new_chi2: 6.204622
[22:36:17.174] n deleted obs = 85 	 scale =0.199984 	 error init =0.069242 	 error end=0.069242
[22:36:17.174] After pose optimization, distance between two frames x:0.000095 ,z=0.002108,angle between two frames:0.000840 and reprojected points are: 0
[22:36:17.174] Update EKF and 3D points, distance between two frames x:0.000110 ,z=0.002464,angle between two frames:0.000674
[22:36:17.273] After Reprojection Map nPoint:67 ,nCell:32 ,nMatches:30 ,distance between two frames x:0.000091 ,z=0.002107,angle between two frames:0.001951
[22:36:17.273] Init estimate scale:0.196554
[22:36:17.274] it:0 	 Success 	 new_chi2: 4.128052 	 dT = -0.007143, 0.000000, 0.092963
[22:36:17.274] it:1 	 FAILURE 	 new_chi2: 4.497534
[22:36:17.274] n deleted obs = 87 	 scale =0.196554 	 error init =0.047449 	 error end=0.047449
[22:36:17.274] After pose optimization, distance between two frames x:0.000091 ,z=0.002107,angle between two frames:0.001951 and reprojected points are: 0
[22:36:17.274] Update EKF and 3D points, distance between two frames x:0.000108 ,z=0.002461,angle between two frames:0.001726
[22:36:17.374] After Reprojection Map nPoint:74 ,nCell:30 ,nMatches:29 ,distance between two frames x:0.000096 ,z=0.002095,angle between two frames:0.003658
[22:36:17.374] Init estimate scale:0.201494
[22:36:17.374] it:0 	 Success 	 new_chi2: 6.970902 	 dT = -0.001054, 0.000000, 0.048363
[22:36:17.374] it:1 	 FAILURE 	 new_chi2: 7.064941
[22:36:17.374] n deleted obs = 93 	 scale =0.201494 	 error init =0.074956 	 error end=0.074956
[22:36:17.374] After pose optimization, distance between two frames x:0.000096 ,z=0.002095,angle between two frames:0.003658 and reprojected points are: 0
[22:36:17.374] Update EKF and 3D points, distance between two frames x:0.000113 ,z=0.002449,angle between two frames:0.003624
[22:36:17.473] After Reprojection Map nPoint:75 ,nCell:30 ,nMatches:28 ,distance between two frames x:0.000098 ,z=0.002095,angle between two frames:0.001807
[22:36:17.474] Init estimate scale:0.197400
[22:36:17.474] it:0 	 Success 	 new_chi2: 4.640297 	 dT = 0.001689, 0.000000, 0.121914
[22:36:17.474] it:1 	 FAILURE 	 new_chi2: 5.393779
[22:36:17.474] n deleted obs = 94 	 scale =0.197400 	 error init =0.049365 	 error end=0.049365
[22:36:17.474] After pose optimization, distance between two frames x:0.000098 ,z=0.002095,angle between two frames:0.001807 and reprojected points are: 0
[22:36:17.474] Update EKF and 3D points, distance between two frames x:0.000114 ,z=0.002450,angle between two frames:0.001788
[22:36:17.574] After Reprojection Map nPoint:76 ,nCell:30 ,nMatches:29 ,distance between two frames x:0.000095 ,z=0.002092,angle between two frames:0.001766
[22:36:17.574] Init estimate scale:0.197024
[22:36:17.574] it:0 	 Success 	 new_chi2: 5.905426 	 dT = 0.000185, 0.000000, 0.001005
[22:36:17.574] it:1 	 FAILURE 	 new_chi2: 5.906897
[22:36:17.574] n deleted obs = 94 	 scale =0.197024 	 error init =0.062824 	 error end=0.062824
[22:36:17.574] After pose optimization, distance between two frames x:0.000095 ,z=0.002092,angle between two frames:0.001766 and reprojected points are: 0
[22:36:17.574] Update EKF and 3D points, distance between two frames x:0.000112 ,z=0.002446,angle between two frames:0.001907
[22:36:17.674] After Reprojection Map nPoint:73 ,nCell:27 ,nMatches:26 ,distance between two frames x:0.000102 ,z=0.002087,angle between two frames:0.001469
[22:36:17.674] Init estimate scale:0.194270
[22:36:17.674] it:0 	 Success 	 new_chi2: 4.498485 	 dT = -0.009042, 0.000000, 0.047821
[22:36:17.674] it:1 	 FAILURE 	 new_chi2: 4.638307
[22:36:17.674] n deleted obs = 90 	 scale =0.194270 	 error init =0.049983 	 error end=0.049983
[22:36:17.674] After pose optimization, distance between two frames x:0.000102 ,z=0.002087,angle between two frames:0.001469 and reprojected points are: 0
[22:36:17.674] Update EKF and 3D points, distance between two frames x:0.000121 ,z=0.002443,angle between two frames:0.001877
[22:36:17.773] After Reprojection Map nPoint:59 ,nCell:28 ,nMatches:27 ,distance between two frames x:0.000112 ,z=0.002104,angle between two frames:0.006957
[22:36:17.773] Init estimate scale:0.198345
[22:36:17.773] it:0 	 Success 	 new_chi2: 4.963443 	 dT = -0.018457, 0.000000, 0.046445
[22:36:17.773] it:1 	 FAILURE 	 new_chi2: 5.088026
[22:36:17.773] n deleted obs = 81 	 scale =0.198345 	 error init =0.061277 	 error end=0.061277
[22:36:17.773] After pose optimization, distance between two frames x:0.000112 ,z=0.002104,angle between two frames:0.006957 and reprojected points are: 0
[22:36:17.773] Update EKF and 3D points, distance between two frames x:0.000176 ,z=0.003195,angle between two frames:0.007797
[22:36:17.875] After Reprojection Map nPoint:64 ,nCell:27 ,nMatches:26 ,distance between two frames x:0.000303 ,z=0.004907,angle between two frames:0.003141
[22:36:17.875] Init estimate scale:0.195432
[22:36:17.875] it:0 	 Success 	 new_chi2: 4.709902 	 dT = -0.002441, 0.000000, 0.025817
[22:36:17.875] it:1 	 FAILURE 	 new_chi2: 4.769864
[22:36:17.875] n deleted obs = 81 	 scale =0.195432 	 error init =0.058147 	 error end=0.058147
[22:36:17.875] After pose optimization, distance between two frames x:0.000303 ,z=0.004907,angle between two frames:0.003141 and reprojected points are: 0
[22:36:17.875] Update EKF and 3D points, distance between two frames x:0.000323 ,z=0.005267,angle between two frames:0.002729
[22:36:17.974] After Reprojection Map nPoint:60 ,nCell:24 ,nMatches:24 ,distance between two frames x:0.000111 ,z=0.002107,angle between two frames:0.005742
[22:36:17.974] Init estimate scale:0.199905
[22:36:17.974] it:0 	 Success 	 new_chi2: 4.658627 	 dT = -0.000641, 0.000000, 0.042130
[22:36:17.974] it:1 	 FAILURE 	 new_chi2: 4.747783
[22:36:17.974] n deleted obs = 76 	 scale =0.199905 	 error init =0.061298 	 error end=0.061298
[22:36:17.974] After pose optimization, distance between two frames x:0.000111 ,z=0.002107,angle between two frames:0.005742 and reprojected points are: 0
[22:36:17.974] Update EKF and 3D points, distance between two frames x:0.000128 ,z=0.002458,angle between two frames:0.006231
[22:36:18.073] After Reprojection Map nPoint:68 ,nCell:31 ,nMatches:30 ,distance between two frames x:0.000099 ,z=0.002076,angle between two frames:0.005364
[22:36:18.074] Init estimate scale:0.205610
[22:36:18.074] it:0 	 Success 	 new_chi2: 4.536757 	 dT = 0.000229, 0.000000, 0.001103
[22:36:18.074] it:1 	 FAILURE 	 new_chi2: 4.539383
[22:36:18.074] n deleted obs = 89 	 scale =0.205610 	 error init =0.050975 	 error end=0.050975
[22:36:18.074] After pose optimization, distance between two frames x:0.000099 ,z=0.002076,angle between two frames:0.005364 and reprojected points are: 0
[22:36:18.074] Update EKF and 3D points, distance between two frames x:0.000115 ,z=0.002430,angle between two frames:0.005728
[22:36:18.174] After Reprojection Map nPoint:66 ,nCell:30 ,nMatches:29 ,distance between two frames x:0.000091 ,z=0.002098,angle between two frames:0.003989
[22:36:18.174] Init estimate scale:0.211755
[22:36:18.174] it:0 	 Success 	 new_chi2: 4.154474 	 dT = 0.001410, 0.000000, 0.046147
[22:36:18.174] it:1 	 FAILURE 	 new_chi2: 4.308286
[22:36:18.174] n deleted obs = 85 	 scale =0.211755 	 error init =0.048876 	 error end=0.048876
[22:36:18.174] After pose optimization, distance between two frames x:0.000091 ,z=0.002098,angle between two frames:0.003989 and reprojected points are: 0
[22:36:18.174] Update EKF and 3D points, distance between two frames x:0.000104 ,z=0.002437,angle between two frames:0.004560
[22:36:18.274] After Reprojection Map nPoint:61 ,nCell:24 ,nMatches:24 ,distance between two frames x:0.000070 ,z=0.001968,angle between two frames:0.012660
[22:36:18.274] Init estimate scale:0.221788
[22:36:18.274] it:0 	 Success 	 new_chi2: 3.921636 	 dT = 0.012789, 0.000000, 0.111088
[22:36:18.274] it:1 	 FAILURE 	 new_chi2: 4.441228
[22:36:18.274] n deleted obs = 78 	 scale =0.221788 	 error init =0.050277 	 error end=0.050277
[22:36:18.274] After pose optimization, distance between two frames x:0.000070 ,z=0.001968,angle between two frames:0.012660 and reprojected points are: 0
[22:36:18.274] Update EKF and 3D points, distance between two frames x:0.000098 ,z=0.003060,angle between two frames:0.014435
[22:36:18.374] After Reprojection Map nPoint:61 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.000089 ,z=0.004915,angle between two frames:0.011078
[22:36:18.374] Init estimate scale:0.199278
[22:36:18.374] it:0 	 Success 	 new_chi2: 4.031212 	 dT = 0.025668, 0.000000, 0.144683
[22:36:18.374] it:1 	 FAILURE 	 new_chi2: 4.803700
[22:36:18.374] n deleted obs = 82 	 scale =0.199278 	 error init =0.049161 	 error end=0.049161
[22:36:18.374] After pose optimization, distance between two frames x:0.000089 ,z=0.004915,angle between two frames:0.011078 and reprojected points are: 0
[22:36:18.374] Update EKF and 3D points, distance between two frames x:0.000093 ,z=0.005268,angle between two frames:0.011510
[22:36:18.473] After Reprojection Map nPoint:61 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.000026 ,z=0.002085,angle between two frames:0.005280
[22:36:18.473] Init estimate scale:0.205287
[22:36:18.473] it:0 	 Success 	 new_chi2: 4.165698 	 dT = 0.039742, 0.000000, 0.214320
[22:36:18.473] it:1 	 FAILURE 	 new_chi2: 5.822683
[22:36:18.473] n deleted obs = 81 	 scale =0.205287 	 error init =0.051428 	 error end=0.051428
[22:36:18.473] After pose optimization, distance between two frames x:0.000026 ,z=0.002085,angle between two frames:0.005280 and reprojected points are: 0
[22:36:18.473] Update EKF and 3D points, distance between two frames x:0.000029 ,z=0.002442,angle between two frames:0.005632
[22:36:18.574] After Reprojection Map nPoint:65 ,nCell:32 ,nMatches:31 ,distance between two frames x:0.000015 ,z=0.002112,angle between two frames:0.003036
[22:36:18.574] Init estimate scale:0.199570
[22:36:18.574] it:0 	 Success 	 new_chi2: 4.561664 	 dT = 0.000443, 0.000000, 0.000920
[22:36:18.574] it:1 	 FAILURE 	 new_chi2: 4.562993
[22:36:18.574] n deleted obs = 88 	 scale =0.199570 	 error init =0.051837 	 error end=0.051837
[22:36:18.574] After pose optimization, distance between two frames x:0.000015 ,z=0.002112,angle between two frames:0.003036 and reprojected points are: 0
[22:36:18.574] Update EKF and 3D points, distance between two frames x:0.000017 ,z=0.002467,angle between two frames:0.003226
[22:36:18.673] After Reprojection Map nPoint:63 ,nCell:32 ,nMatches:30 ,distance between two frames x:0.000012 ,z=0.002105,angle between two frames:0.001860
[22:36:18.673] Init estimate scale:0.189125
[22:36:18.674] it:0 	 Success 	 new_chi2: 3.068152 	 dT = -0.000259, 0.000000, 0.000712
[22:36:18.674] it:1 	 FAILURE 	 new_chi2: 3.068999
[22:36:18.674] n deleted obs = 86 	 scale =0.189125 	 error init =0.035676 	 error end=0.035676
[22:36:18.674] After pose optimization, distance between two frames x:0.000012 ,z=0.002105,angle between two frames:0.001860 and reprojected points are: 0
[22:36:18.674] Update EKF and 3D points, distance between two frames x:0.000013 ,z=0.002460,angle between two frames:0.002086
[22:36:18.773] After Reprojection Map nPoint:60 ,nCell:29 ,nMatches:29 ,distance between two frames x:0.000007 ,z=0.002099,angle between two frames:0.000685
[22:36:18.773] Init estimate scale:0.197399
[22:36:18.773] it:0 	 Success 	 new_chi2: 3.530196 	 dT = -0.000026, 0.000000, 0.001112
[22:36:18.774] it:1 	 Success 	 new_chi2: 3.527798 	 dT = -0.000031, 0.000000, 0.001105
[22:36:18.774] it:2 	 Success 	 new_chi2: 3.525474 	 dT = -0.000037, 0.000000, 0.001098
[22:36:18.774] it:3 	 Success 	 new_chi2: 3.523223 	 dT = -0.000043, 0.000000, 0.001091
[22:36:18.774] it:4 	 Success 	 new_chi2: 3.521040 	 dT = -0.000048, 0.000000, 0.001084
[22:36:18.774] it:5 	 Success 	 new_chi2: 3.518926 	 dT = 0.000245, 0.000000, 0.001212
[22:36:18.774] it:6 	 Success 	 new_chi2: 3.517534 	 dT = 0.000240, 0.000000, 0.001203
[22:36:18.774] it:7 	 Success 	 new_chi2: 3.516263 	 dT = 0.000236, 0.000000, 0.001193
[22:36:18.774] it:8 	 Success 	 new_chi2: 3.515110 	 dT = 0.000231, 0.000000, 0.001184
[22:36:18.774] it:9 	 Success 	 new_chi2: 3.514071 	 dT = 0.000226, 0.000000, 0.001175
[22:36:18.774] it:10 	 Success 	 new_chi2: 3.513143 	 dT = 0.000222, 0.000000, 0.001166
[22:36:18.774] it:11 	 Success 	 new_chi2: 3.512322 	 dT = 0.000217, 0.000000, 0.001158
[22:36:18.774] it:12 	 Success 	 new_chi2: 3.511604 	 dT = 0.000212, 0.000000, 0.001149
[22:36:18.774] it:13 	 Success 	 new_chi2: 3.510988 	 dT = 0.000207, 0.000000, 0.001141
[22:36:18.774] it:14 	 Success 	 new_chi2: 3.510469 	 dT = 0.000203, 0.000000, 0.001132
[22:36:18.774] it:15 	 Success 	 new_chi2: 3.510044 	 dT = 0.000198, 0.000000, 0.001124
[22:36:18.774] it:16 	 Success 	 new_chi2: 3.509711 	 dT = 0.000193, 0.000000, 0.001116
[22:36:18.774] it:17 	 Success 	 new_chi2: 3.509467 	 dT = 0.000188, 0.000000, 0.001108
[22:36:18.774] it:18 	 Success 	 new_chi2: 3.509309 	 dT = 0.000184, 0.000000, 0.001100
[22:36:18.774] it:19 	 Success 	 new_chi2: 3.509233 	 dT = 0.000179, 0.000000, 0.001092
[22:36:18.774] it:20 	 FAILURE 	 new_chi2: 3.509238
[22:36:18.774] n deleted obs = 84 	 scale =0.197399 	 error init =0.042026 	 error end=0.041777
[22:36:18.774] After pose optimization, distance between two frames x:0.002823 ,z=0.002099,angle between two frames:0.020965 and reprojected points are: 0
[22:36:18.774] Update EKF and 3D points, distance between two frames x:0.002645 ,z=0.002453,angle between two frames:0.019549
[22:36:18.874] After Reprojection Map nPoint:54 ,nCell:26 ,nMatches:25 ,distance between two frames x:-0.001057 ,z=0.002071,angle between two frames:0.017017
[22:36:18.874] Init estimate scale:0.197983
[22:36:18.874] it:0 	 Success 	 new_chi2: 3.544628 	 dT = -0.000058, 0.000000, 0.001224
[22:36:18.874] it:1 	 Success 	 new_chi2: 3.543777 	 dT = -0.000064, 0.000000, 0.001217
[22:36:18.874] it:2 	 Success 	 new_chi2: 3.542983 	 dT = -0.000071, 0.000000, 0.001211
[22:36:18.874] it:3 	 Success 	 new_chi2: 3.542243 	 dT = -0.000077, 0.000000, 0.001204
[22:36:18.874] it:4 	 Success 	 new_chi2: 3.541555 	 dT = -0.000084, 0.000000, 0.001197
[22:36:18.874] it:5 	 Success 	 new_chi2: 3.540918 	 dT = 0.000206, 0.000000, 0.001383
[22:36:18.874] it:6 	 FAILURE 	 new_chi2: 3.541582
[22:36:18.874] n deleted obs = 73 	 scale =0.197983 	 error init =0.048557 	 error end=0.048506
[22:36:18.874] After pose optimization, distance between two frames x:-0.001411 ,z=0.002071,angle between two frames:0.010964 and reprojected points are: 0
[22:36:18.874] Update EKF and 3D points, distance between two frames x:-0.001360 ,z=0.003195,angle between two frames:0.012308
[22:36:18.974] After Reprojection Map nPoint:55 ,nCell:23 ,nMatches:23 ,distance between two frames x:0.000203 ,z=0.005059,angle between two frames:0.004212
[22:36:18.974] Init estimate scale:0.216129
[22:36:18.974] it:0 	 Success 	 new_chi2: 4.058383 	 dT = 0.000023, 0.000000, 0.001461
[22:36:18.974] it:1 	 Success 	 new_chi2: 4.056937 	 dT = 0.000014, 0.000000, 0.001451
[22:36:18.974] it:2 	 Success 	 new_chi2: 4.055589 	 dT = 0.000005, 0.000000, 0.001441
[22:36:18.974] it:3 	 Success 	 new_chi2: 4.054336 	 dT = -0.000004, 0.000000, 0.001431
[22:36:18.974] it:4 	 Success 	 new_chi2: 4.053174 	 dT = -0.000013, 0.000000, 0.001421
[22:36:18.974] it:5 	 Success 	 new_chi2: 4.052100 	 dT = 0.000180, 0.000000, 0.001476
[22:36:18.975] it:6 	 Success 	 new_chi2: 4.051893 	 dT = 0.000174, 0.000000, 0.001466
[22:36:18.975] it:7 	 Success 	 new_chi2: 4.051810 	 dT = 0.000168, 0.000000, 0.001456
[22:36:18.975] it:8 	 FAILURE 	 new_chi2: 4.051846
[22:36:18.975] n deleted obs = 73 	 scale =0.216129 	 error init =0.055594 	 error end=0.055504
[22:36:18.975] After pose optimization, distance between two frames x:0.000582 ,z=0.005059,angle between two frames:0.005935 and reprojected points are: 0
[22:36:18.975] Update EKF and 3D points, distance between two frames x:0.000558 ,z=0.006159,angle between two frames:0.004861
[22:36:19.072] After Reprojection Map nPoint:54 ,nCell:28 ,nMatches:26 ,distance between two frames x:-0.000125 ,z=0.004947,angle between two frames:0.004301
[22:36:19.072] Init estimate scale:0.200917
[22:36:19.072] it:0 	 Success 	 new_chi2: 2.349651 	 dT = -0.000645, 0.000000, 0.127841
[22:36:19.072] it:1 	 FAILURE 	 new_chi2: 2.791084
[22:36:19.072] n deleted obs = 73 	 scale =0.200917 	 error init =0.032187 	 error end=0.032187
[22:36:19.072] After pose optimization, distance between two frames x:-0.000125 ,z=0.004947,angle between two frames:0.004301 and reprojected points are: 0
[22:36:19.072] Update EKF and 3D points, distance between two frames x:-0.000110 ,z=0.006011,angle between two frames:0.004213
[22:36:19.180] After Reprojection Map nPoint:55 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.000070 ,z=0.004781,angle between two frames:0.001198
[22:36:19.180] Init estimate scale:0.209363
[22:36:19.180] it:0 	 Success 	 new_chi2: 2.859761 	 dT = 0.025031, 0.000000, 0.121133
[22:36:19.180] it:1 	 FAILURE 	 new_chi2: 3.348016
[22:36:19.180] n deleted obs = 74 	 scale =0.209363 	 error init =0.038645 	 error end=0.038645
[22:36:19.180] After pose optimization, distance between two frames x:0.000070 ,z=0.004781,angle between two frames:0.001198 and reprojected points are: 0
[22:36:19.180] Update EKF and 3D points, distance between two frames x:0.000076 ,z=0.005087,angle between two frames:0.001481
[22:36:19.273] After Reprojection Map nPoint:56 ,nCell:26 ,nMatches:25 ,distance between two frames x:0.000037 ,z=0.001877,angle between two frames:0.003228
[22:36:19.273] Init estimate scale:0.212181
[22:36:19.273] it:0 	 Success 	 new_chi2: 3.343555 	 dT = 0.060807, 0.000000, 0.172761
[22:36:19.273] it:1 	 FAILURE 	 new_chi2: 4.471391
[22:36:19.273] n deleted obs = 76 	 scale =0.212181 	 error init =0.043994 	 error end=0.043994
[22:36:19.273] After pose optimization, distance between two frames x:0.000037 ,z=0.001877,angle between two frames:0.003228 and reprojected points are: 0
[22:36:19.273] Update EKF and 3D points, distance between two frames x:0.000037 ,z=0.001876,angle between two frames:0.003388
[22:36:19.373] After Reprojection Map nPoint:59 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.000151 ,z=0.007930,angle between two frames:0.002630
[22:36:19.373] Init estimate scale:0.198532
[22:36:19.373] it:0 	 Success 	 new_chi2: 2.881885 	 dT = 0.368510, 0.000000, 0.647492
[22:36:19.373] it:1 	 FAILURE 	 new_chi2: 29.626561
[22:36:19.373] n deleted obs = 79 	 scale =0.198532 	 error init =0.036480 	 error end=0.036480
[22:36:19.373] After pose optimization, distance between two frames x:0.000151 ,z=0.007930,angle between two frames:0.002630 and reprojected points are: 0
[22:36:19.373] Update EKF and 3D points, distance between two frames x:0.000151 ,z=0.007929,angle between two frames:0.002967
[22:36:19.473] After Reprojection Map nPoint:57 ,nCell:27 ,nMatches:26 ,distance between two frames x:0.000164 ,z=0.007469,angle between two frames:0.001209
[22:36:19.473] Init estimate scale:0.191506
[22:36:19.473] it:0 	 Success 	 new_chi2: 3.697382 	 dT = 0.148708, 0.000000, 0.114130
[22:36:19.473] it:1 	 FAILURE 	 new_chi2: 4.987763
[22:36:19.473] n deleted obs = 77 	 scale =0.191506 	 error init =0.048018 	 error end=0.048018
[22:36:19.473] After pose optimization, distance between two frames x:0.000164 ,z=0.007469,angle between two frames:0.001209 and reprojected points are: 0
[22:36:19.473] Update EKF and 3D points, distance between two frames x:0.000192 ,z=0.008607,angle between two frames:0.001624
[22:36:19.575] After Reprojection Map nPoint:56 ,nCell:28 ,nMatches:27 ,distance between two frames x:0.000134 ,z=0.005122,angle between two frames:0.003950
[22:36:19.575] Init estimate scale:0.197209
[22:36:19.575] it:0 	 Success 	 new_chi2: 2.759124 	 dT = 0.000234, 0.000000, 0.000436
[22:36:19.575] it:1 	 Success 	 new_chi2: 2.758621 	 dT = 0.000232, 0.000000, 0.000435
[22:36:19.575] it:2 	 Success 	 new_chi2: 2.758140 	 dT = 0.000230, 0.000000, 0.000433
[22:36:19.575] it:3 	 Success 	 new_chi2: 2.757681 	 dT = 0.000227, 0.000000, 0.000432
[22:36:19.575] it:4 	 Success 	 new_chi2: 2.757244 	 dT = 0.000225, 0.000000, 0.000431
[22:36:19.575] it:5 	 Success 	 new_chi2: 2.756829 	 dT = 0.000396, 0.000000, 0.000471
[22:36:19.575] it:6 	 Success 	 new_chi2: 2.756315 	 dT = 0.000394, 0.000000, 0.000469
[22:36:19.575] it:7 	 Success 	 new_chi2: 2.755836 	 dT = 0.000393, 0.000000, 0.000468
[22:36:19.575] it:8 	 Success 	 new_chi2: 2.755391 	 dT = 0.000391, 0.000000, 0.000467
[22:36:19.575] it:9 	 Success 	 new_chi2: 2.754981 	 dT = 0.000390, 0.000000, 0.000466
[22:36:19.576] it:10 	 Success 	 new_chi2: 2.754605 	 dT = 0.000388, 0.000000, 0.000465
[22:36:19.576] it:11 	 Success 	 new_chi2: 2.754263 	 dT = 0.000387, 0.000000, 0.000464
[22:36:19.576] it:12 	 Success 	 new_chi2: 2.753954 	 dT = 0.000385, 0.000000, 0.000463
[22:36:19.576] it:13 	 Success 	 new_chi2: 2.753679 	 dT = 0.000384, 0.000000, 0.000462
[22:36:19.576] it:14 	 Success 	 new_chi2: 2.753436 	 dT = 0.000382, 0.000000, 0.000461
[22:36:19.576] it:15 	 Success 	 new_chi2: 2.753226 	 dT = 0.000380, 0.000000, 0.000460
[22:36:19.576] it:16 	 Success 	 new_chi2: 2.753049 	 dT = 0.000379, 0.000000, 0.000459
[22:36:19.576] it:17 	 Success 	 new_chi2: 2.752903 	 dT = 0.000377, 0.000000, 0.000458
[22:36:19.576] it:18 	 Success 	 new_chi2: 2.752789 	 dT = 0.000375, 0.000000, 0.000457
[22:36:19.576] it:19 	 Success 	 new_chi2: 2.752706 	 dT = 0.000374, 0.000000, 0.000456
[22:36:19.576] it:20 	 Success 	 new_chi2: 2.752655 	 dT = 0.000372, 0.000000, 0.000455
[22:36:19.576] it:21 	 Success 	 new_chi2: 2.752634 	 dT = 0.000371, 0.000000, 0.000454
[22:36:19.576] it:22 	 FAILURE 	 new_chi2: 2.752644
[22:36:19.576] n deleted obs = 79 	 scale =0.197209 	 error init =0.034926 	 error end=0.034843
[22:36:19.576] After pose optimization, distance between two frames x:0.007429 ,z=0.005122,angle between two frames:0.013518 and reprojected points are: 0
[22:36:19.576] Update EKF and 3D points, distance between two frames x:0.006971 ,z=0.005486,angle between two frames:0.013371
[22:36:19.675] After Reprojection Map nPoint:60 ,nCell:24 ,nMatches:23 ,distance between two frames x:-0.002712 ,z=0.002146,angle between two frames:0.000328
[22:36:19.675] Init estimate scale:0.202660
[22:36:19.675] it:0 	 Success 	 new_chi2: 3.027631 	 dT = 0.042968, 0.000000, 0.062457
[22:36:19.675] it:1 	 FAILURE 	 new_chi2: 3.175115
[22:36:19.675] n deleted obs = 76 	 scale =0.202660 	 error init =0.039837 	 error end=0.039837
[22:36:19.675] After pose optimization, distance between two frames x:-0.002712 ,z=0.002146,angle between two frames:0.000328 and reprojected points are: 0
[22:36:19.675] Update EKF and 3D points, distance between two frames x:-0.002669 ,z=0.003268,angle between two frames:0.000485
[22:36:19.774] After Reprojection Map nPoint:56 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.000194 ,z=0.005044,angle between two frames:0.002080
[22:36:19.774] Init estimate scale:0.202869
[22:36:19.774] it:0 	 Success 	 new_chi2: 2.544893 	 dT = 0.020002, 0.000000, 0.065447
[22:36:19.774] it:1 	 FAILURE 	 new_chi2: 2.673286
[22:36:19.774] n deleted obs = 74 	 scale =0.202869 	 error init =0.034390 	 error end=0.034390
[22:36:19.774] After pose optimization, distance between two frames x:0.000194 ,z=0.005044,angle between two frames:0.002080 and reprojected points are: 0
[22:36:19.774] Update EKF and 3D points, distance between two frames x:0.000207 ,z=0.005378,angle between two frames:0.002085
[22:36:19.874] After Reprojection Map nPoint:60 ,nCell:23 ,nMatches:22 ,distance between two frames x:0.000078 ,z=0.001976,angle between two frames:0.000719
[22:36:19.874] Init estimate scale:0.217795
[22:36:19.874] it:0 	 Success 	 new_chi2: 2.742278 	 dT = 0.000278, 0.000000, 0.000916
[22:36:19.874] it:1 	 Success 	 new_chi2: 2.741118 	 dT = 0.000273, 0.000000, 0.000911
[22:36:19.874] it:2 	 Success 	 new_chi2: 2.740026 	 dT = 0.000268, 0.000000, 0.000907
[22:36:19.874] it:3 	 Success 	 new_chi2: 2.739000 	 dT = 0.000263, 0.000000, 0.000902
[22:36:19.874] it:4 	 Success 	 new_chi2: 2.738038 	 dT = 0.000258, 0.000000, 0.000898
[22:36:19.874] it:5 	 Success 	 new_chi2: 2.737140 	 dT = 0.000423, 0.000000, 0.000781
[22:36:19.874] it:6 	 Success 	 new_chi2: 2.736288 	 dT = 0.000420, 0.000000, 0.000777
[22:36:19.874] it:7 	 Success 	 new_chi2: 2.735501 	 dT = 0.000417, 0.000000, 0.000773
[22:36:19.874] it:8 	 Success 	 new_chi2: 2.734779 	 dT = 0.000413, 0.000000, 0.000769
[22:36:19.875] it:9 	 Success 	 new_chi2: 2.734121 	 dT = 0.000410, 0.000000, 0.000765
[22:36:19.875] it:10 	 Success 	 new_chi2: 2.733524 	 dT = 0.000407, 0.000000, 0.000761
[22:36:19.875] it:11 	 Success 	 new_chi2: 2.732988 	 dT = 0.000404, 0.000000, 0.000758
[22:36:19.875] it:12 	 Success 	 new_chi2: 2.732513 	 dT = 0.000401, 0.000000, 0.000754
[22:36:19.875] it:13 	 Success 	 new_chi2: 2.732097 	 dT = 0.000397, 0.000000, 0.000751
[22:36:19.875] it:14 	 Success 	 new_chi2: 2.731738 	 dT = 0.000394, 0.000000, 0.000747
[22:36:19.875] it:15 	 Success 	 new_chi2: 2.731437 	 dT = 0.000391, 0.000000, 0.000744
[22:36:19.875] it:16 	 Success 	 new_chi2: 2.731191 	 dT = 0.000388, 0.000000, 0.000741
[22:36:19.875] it:17 	 Success 	 new_chi2: 2.731001 	 dT = 0.000385, 0.000000, 0.000738
[22:36:19.875] it:18 	 Success 	 new_chi2: 2.730865 	 dT = 0.000382, 0.000000, 0.000734
[22:36:19.875] it:19 	 Success 	 new_chi2: 2.730782 	 dT = 0.000379, 0.000000, 0.000731
[22:36:19.875] it:20 	 Success 	 new_chi2: 2.730752 	 dT = 0.000376, 0.000000, 0.000728
[22:36:19.875] it:21 	 FAILURE 	 new_chi2: 2.730773
[22:36:19.875] n deleted obs = 76 	 scale =0.217795 	 error init =0.036083 	 error end=0.035931
[22:36:19.875] After pose optimization, distance between two frames x:0.007428 ,z=0.001976,angle between two frames:0.015138 and reprojected points are: 0
[22:36:19.875] Update EKF and 3D points, distance between two frames x:0.006682 ,z=0.003075,angle between two frames:0.013355
[22:36:19.973] After Reprojection Map nPoint:58 ,nCell:20 ,nMatches:19 ,distance between two frames x:-0.003394 ,z=0.004940,angle between two frames:0.009721
[22:36:19.974] Init estimate scale:0.210359
[22:36:19.974] it:0 	 Success 	 new_chi2: 2.209371 	 dT = 0.000282, 0.000000, 0.000636
[22:36:19.974] it:1 	 Success 	 new_chi2: 2.208415 	 dT = 0.000279, 0.000000, 0.000634
[22:36:19.974] it:2 	 Success 	 new_chi2: 2.207497 	 dT = 0.000276, 0.000000, 0.000631
[22:36:19.974] it:3 	 Success 	 new_chi2: 2.206618 	 dT = 0.000273, 0.000000, 0.000629
[22:36:19.974] it:4 	 Success 	 new_chi2: 2.205777 	 dT = 0.000271, 0.000000, 0.000627
[22:36:19.974] it:5 	 Success 	 new_chi2: 2.204973 	 dT = 0.000412, 0.000000, 0.000541
[22:36:19.974] it:6 	 Success 	 new_chi2: 2.204173 	 dT = 0.000410, 0.000000, 0.000540
[22:36:19.974] it:7 	 Success 	 new_chi2: 2.203414 	 dT = 0.000408, 0.000000, 0.000538
[22:36:19.974] it:8 	 Success 	 new_chi2: 2.202694 	 dT = 0.000406, 0.000000, 0.000536
[22:36:19.974] it:9 	 Success 	 new_chi2: 2.202013 	 dT = 0.000404, 0.000000, 0.000534
[22:36:19.974] it:10 	 Success 	 new_chi2: 2.201370 	 dT = 0.000402, 0.000000, 0.000532
[22:36:19.974] it:11 	 Success 	 new_chi2: 2.200766 	 dT = 0.000400, 0.000000, 0.000530
[22:36:19.974] it:12 	 Success 	 new_chi2: 2.200199 	 dT = 0.000398, 0.000000, 0.000529
[22:36:19.974] it:13 	 Success 	 new_chi2: 2.199669 	 dT = 0.000395, 0.000000, 0.000527
[22:36:19.974] it:14 	 Success 	 new_chi2: 2.199176 	 dT = 0.000393, 0.000000, 0.000525
[22:36:19.974] it:15 	 Success 	 new_chi2: 2.198720 	 dT = 0.000391, 0.000000, 0.000524
[22:36:19.974] it:16 	 Success 	 new_chi2: 2.198299 	 dT = 0.000389, 0.000000, 0.000522
[22:36:19.974] it:17 	 Success 	 new_chi2: 2.197913 	 dT = 0.000387, 0.000000, 0.000521
[22:36:19.974] it:18 	 Success 	 new_chi2: 2.197563 	 dT = 0.000385, 0.000000, 0.000519
[22:36:19.974] it:19 	 Success 	 new_chi2: 2.197247 	 dT = 0.000383, 0.000000, 0.000517
[22:36:19.974] it:20 	 Success 	 new_chi2: 2.196965 	 dT = 0.000381, 0.000000, 0.000516
[22:36:19.974] it:21 	 Success 	 new_chi2: 2.196717 	 dT = 0.000379, 0.000000, 0.000514
[22:36:19.975] it:22 	 Success 	 new_chi2: 2.196503 	 dT = 0.000377, 0.000000, 0.000513
[22:36:19.975] it:23 	 Success 	 new_chi2: 2.196321 	 dT = 0.000375, 0.000000, 0.000512
[22:36:19.975] it:24 	 Success 	 new_chi2: 2.196172 	 dT = 0.000373, 0.000000, 0.000510
[22:36:19.975] it:25 	 Success 	 new_chi2: 2.196055 	 dT = 0.000371, 0.000000, 0.000509
[22:36:19.975] it:26 	 Success 	 new_chi2: 2.195970 	 dT = 0.000369, 0.000000, 0.000507
[22:36:19.975] it:27 	 Success 	 new_chi2: 2.195917 	 dT = 0.000367, 0.000000, 0.000506
[22:36:19.975] it:28 	 Success 	 new_chi2: 2.195894 	 dT = 0.000365, 0.000000, 0.000505
[22:36:19.975] it:29 	 FAILURE 	 new_chi2: 2.195903
[22:36:19.975] n deleted obs = 73 	 scale =0.210359 	 error init =0.030265 	 error end=0.030081
[22:36:19.975] After pose optimization, distance between two frames x:0.006943 ,z=0.004940,angle between two frames:0.005458 and reprojected points are: 0
[22:36:19.975] Update EKF and 3D points, distance between two frames x:0.005870 ,z=0.006012,angle between two frames:0.002771
[22:36:20.073] After Reprojection Map nPoint:63 ,nCell:27 ,nMatches:26 ,distance between two frames x:-0.004877 ,z=0.004826,angle between two frames:0.016030
[22:36:20.073] Init estimate scale:0.205554
[22:36:20.073] it:0 	 Success 	 new_chi2: 2.641113 	 dT = 0.000293, 0.000000, 0.000825
[22:36:20.074] it:1 	 FAILURE 	 new_chi2: 2.641481
[22:36:20.074] n deleted obs = 83 	 scale =0.205554 	 error init =0.031821 	 error end=0.031821
[22:36:20.074] After pose optimization, distance between two frames x:-0.004877 ,z=0.004826,angle between two frames:0.016030 and reprojected points are: 0
[22:36:20.074] Update EKF and 3D points, distance between two frames x:-0.004834 ,z=0.005954,angle between two frames:0.016649
[22:36:20.174] After Reprojection Map nPoint:64 ,nCell:27 ,nMatches:26 ,distance between two frames x:0.000177 ,z=0.005072,angle between two frames:0.005528
[22:36:20.174] Init estimate scale:0.211795
[22:36:20.174] it:0 	 Success 	 new_chi2: 350.169760 	 dT = -0.926480, 0.000000, 81.118972
[22:36:20.174] it:1 	 Success 	 new_chi2: 231.908054 	 dT = -65.292312, 0.000000, -39.638505
[22:36:20.174] it:2 	 FAILURE 	 new_chi2: 11543367936.226215
[22:36:20.175] n deleted obs = 84 	 scale =0.211795 	 error init =4.168688 	 error end=2.760810
[22:36:20.175] After pose optimization, distance between two frames x:-0.926302 ,z=0.005072,angle between two frames:0.567965 and reprojected points are: 0
[22:36:20.274] After Reprojection Map nPoint:57 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.000156 ,z=0.005588,angle between two frames:0.003498
[22:36:20.274] Init estimate scale:0.192518
[22:36:20.274] it:0 	 Success 	 new_chi2: 2.614239 	 dT = 0.184160, 0.000000, 0.374391
[22:36:20.274] it:1 	 FAILURE 	 new_chi2: 8.634334
[22:36:20.274] n deleted obs = 73 	 scale =0.192518 	 error init =0.035811 	 error end=0.035811
[22:36:20.274] After pose optimization, distance between two frames x:0.000156 ,z=0.005588,angle between two frames:0.003498 and reprojected points are: 0
[22:36:20.274] Update EKF and 3D points, distance between two frames x:0.000156 ,z=0.005588,angle between two frames:0.004095
[22:36:20.375] After Reprojection Map nPoint:59 ,nCell:27 ,nMatches:25 ,distance between two frames x:0.000185 ,z=0.007720,angle between two frames:0.002566
[22:36:20.375] Init estimate scale:0.195693
[22:36:20.375] it:0 	 Success 	 new_chi2: 2.923313 	 dT = 0.000293, 0.000000, 0.000872
[22:36:20.375] it:1 	 Success 	 new_chi2: 2.923026 	 dT = 0.000286, 0.000000, 0.000866
[22:36:20.375] it:2 	 Success 	 new_chi2: 2.922796 	 dT = 0.000278, 0.000000, 0.000861
[22:36:20.375] it:3 	 Success 	 new_chi2: 2.922621 	 dT = 0.000271, 0.000000, 0.000856
[22:36:20.375] it:4 	 Success 	 new_chi2: 2.922500 	 dT = 0.000264, 0.000000, 0.000851
[22:36:20.375] it:5 	 Success 	 new_chi2: 2.922431 	 dT = 0.000574, 0.000000, 0.000906
[22:36:20.375] it:6 	 FAILURE 	 new_chi2: 2.922438
[22:36:20.375] n deleted obs = 77 	 scale =0.195693 	 error init =0.037965 	 error end=0.037954
[22:36:20.375] After pose optimization, distance between two frames x:0.001577 ,z=0.007720,angle between two frames:0.001741 and reprojected points are: 0
[22:36:20.375] Update EKF and 3D points, distance between two frames x:0.001449 ,z=0.008809,angle between two frames:0.000491
[22:36:20.475] After Reprojection Map nPoint:60 ,nCell:24 ,nMatches:23 ,distance between two frames x:-0.000602 ,z=0.004900,angle between two frames:0.008516
[22:36:20.475] Init estimate scale:0.199913
[22:36:20.475] it:0 	 Success 	 new_chi2: 2.138428 	 dT = 0.395012, 0.000000, 0.564151
[22:36:20.475] it:1 	 FAILURE 	 new_chi2: 22.303706
[22:36:20.475] n deleted obs = 75 	 scale =0.199913 	 error init =0.028512 	 error end=0.028512
[22:36:20.475] After pose optimization, distance between two frames x:-0.000602 ,z=0.004900,angle between two frames:0.008516 and reprojected points are: 0
[22:36:20.475] Update EKF and 3D points, distance between two frames x:-0.000597 ,z=0.005237,angle between two frames:0.008560
[22:36:20.582] After Reprojection Map nPoint:63 ,nCell:29 ,nMatches:27 ,distance between two frames x:0.000029 ,z=0.001992,angle between two frames:0.002271
[22:36:20.582] Init estimate scale:0.193398
[22:36:20.582] it:0 	 Success 	 new_chi2: 2.580309 	 dT = 0.000017, 0.000000, 0.000617
[22:36:20.582] it:1 	 FAILURE 	 new_chi2: 2.580507
[22:36:20.582] n deleted obs = 83 	 scale =0.193398 	 error init =0.031088 	 error end=0.031088
[22:36:20.582] After pose optimization, distance between two frames x:0.000029 ,z=0.001992,angle between two frames:0.002271 and reprojected points are: 0
[22:36:20.582] Update EKF and 3D points, distance between two frames x:0.000032 ,z=0.002314,angle between two frames:0.001678
[22:36:20.674] After Reprojection Map nPoint:61 ,nCell:27 ,nMatches:26 ,distance between two frames x:0.000014 ,z=0.001994,angle between two frames:0.004942
[22:36:20.674] Init estimate scale:0.202843
[22:36:20.674] it:0 	 Success 	 new_chi2: 2.683747 	 dT = 0.556850, 0.000000, 1.890430
[22:36:20.674] it:1 	 FAILURE 	 new_chi2: 618.367759
[22:36:20.674] n deleted obs = 82 	 scale =0.202843 	 error init =0.032729 	 error end=0.032729
[22:36:20.674] After pose optimization, distance between two frames x:0.000014 ,z=0.001994,angle between two frames:0.004942 and reprojected points are: 0
[22:36:20.674] Update EKF and 3D points, distance between two frames x:0.000019 ,z=0.002349,angle between two frames:0.004837
[22:36:20.774] After Reprojection Map nPoint:55 ,nCell:24 ,nMatches:22 ,distance between two frames x:0.000029 ,z=0.002098,angle between two frames:0.001820
[22:36:20.774] Init estimate scale:0.215106
[22:36:20.774] it:0 	 Success 	 new_chi2: 2.194723 	 dT = -0.000090, 0.000000, 0.000606
[22:36:20.774] it:1 	 FAILURE 	 new_chi2: 2.194892
[22:36:20.774] n deleted obs = 72 	 scale =0.215106 	 error init =0.030482 	 error end=0.030482
[22:36:20.774] After pose optimization, distance between two frames x:0.000029 ,z=0.002098,angle between two frames:0.001820 and reprojected points are: 0
[22:36:20.774] Update EKF and 3D points, distance between two frames x:0.000035 ,z=0.002454,angle between two frames:0.002066
[22:36:20.876] After Reprojection Map nPoint:53 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.000037 ,z=0.002106,angle between two frames:0.002611
[22:36:20.876] Init estimate scale:0.192943
[22:36:20.876] it:0 	 Success 	 new_chi2: 2.465384 	 dT = 0.000334, 0.000000, 0.001022
[22:36:20.876] it:1 	 Success 	 new_chi2: 2.464506 	 dT = 0.000327, 0.000000, 0.001017
[22:36:20.876] it:2 	 Success 	 new_chi2: 2.463704 	 dT = 0.000320, 0.000000, 0.001011
[22:36:20.876] it:3 	 Success 	 new_chi2: 2.462974 	 dT = 0.000313, 0.000000, 0.001005
[22:36:20.876] it:4 	 Success 	 new_chi2: 2.462315 	 dT = 0.000306, 0.000000, 0.001000
[22:36:20.876] it:5 	 Success 	 new_chi2: 2.461725 	 dT = 0.000371, 0.000000, 0.001019
[22:36:20.876] it:6 	 Success 	 new_chi2: 2.461170 	 dT = 0.000366, 0.000000, 0.001012
[22:36:20.876] it:7 	 Success 	 new_chi2: 2.460690 	 dT = 0.000360, 0.000000, 0.001006
[22:36:20.876] it:8 	 Success 	 new_chi2: 2.460283 	 dT = 0.000354, 0.000000, 0.000999
[22:36:20.876] it:9 	 Success 	 new_chi2: 2.459948 	 dT = 0.000348, 0.000000, 0.000993
[22:36:20.876] it:10 	 Success 	 new_chi2: 2.459682 	 dT = 0.000343, 0.000000, 0.000986
[22:36:20.876] it:11 	 Success 	 new_chi2: 2.459485 	 dT = 0.000337, 0.000000, 0.000980
[22:36:20.876] it:12 	 Success 	 new_chi2: 2.459353 	 dT = 0.000331, 0.000000, 0.000974
[22:36:20.876] it:13 	 Success 	 new_chi2: 2.459285 	 dT = 0.000326, 0.000000, 0.000968
[22:36:20.876] it:14 	 Success 	 new_chi2: 2.459280 	 dT = 0.000320, 0.000000, 0.000962
[22:36:20.876] it:15 	 FAILURE 	 new_chi2: 2.459335
[22:36:20.876] n deleted obs = 71 	 scale =0.192943 	 error init =0.034724 	 error end=0.034638
[22:36:20.876] After pose optimization, distance between two frames x:0.004773 ,z=0.002106,angle between two frames:0.016603 and reprojected points are: 0
[22:36:20.876] Update EKF and 3D points, distance between two frames x:0.004476 ,z=0.002460,angle between two frames:0.016008
[22:36:20.975] After Reprojection Map nPoint:58 ,nCell:25 ,nMatches:23 ,distance between two frames x:-0.001762 ,z=0.002088,angle between two frames:0.001787
[22:36:20.975] Init estimate scale:0.208779
[22:36:20.975] it:0 	 Success 	 new_chi2: 2.435943 	 dT = 0.000466, 0.000000, 0.000832
[22:36:20.975] it:1 	 Success 	 new_chi2: 2.435657 	 dT = 0.000460, 0.000000, 0.000827
[22:36:20.975] it:2 	 Success 	 new_chi2: 2.435438 	 dT = 0.000454, 0.000000, 0.000822
[22:36:20.975] it:3 	 Success 	 new_chi2: 2.435283 	 dT = 0.000448, 0.000000, 0.000817
[22:36:20.975] it:4 	 Success 	 new_chi2: 2.435192 	 dT = 0.000441, 0.000000, 0.000813
[22:36:20.976] it:5 	 Success 	 new_chi2: 2.435163 	 dT = 0.000531, 0.000000, 0.000806
[22:36:20.976] it:6 	 FAILURE 	 new_chi2: 2.435204
[22:36:20.976] n deleted obs = 73 	 scale =0.208779 	 error init =0.032918 	 error end=0.032908
[22:36:20.976] After pose optimization, distance between two frames x:0.000507 ,z=0.002088,angle between two frames:0.002324 and reprojected points are: 1
[22:36:20.976] Update EKF and 3D points, distance between two frames x:0.000295 ,z=0.003192,angle between two frames:0.001932
[22:36:21.076] After Reprojection Map nPoint:58 ,nCell:25 ,nMatches:23 ,distance between two frames x:-0.000961 ,z=0.004968,angle between two frames:0.001336
[22:36:21.076] Init estimate scale:0.209545
[22:36:21.076] it:0 	 Success 	 new_chi2: 2.269949 	 dT = 0.000246, 0.000000, 0.000932
[22:36:21.076] it:1 	 FAILURE 	 new_chi2: 2.270202
[22:36:21.076] n deleted obs = 75 	 scale =0.209545 	 error init =0.030266 	 error end=0.030266
[22:36:21.076] After pose optimization, distance between two frames x:-0.000961 ,z=0.004968,angle between two frames:0.001336 and reprojected points are: 0
[22:36:21.076] Update EKF and 3D points, distance between two frames x:-0.000949 ,z=0.005321,angle between two frames:0.001060
[22:36:21.177] After Reprojection Map nPoint:55 ,nCell:20 ,nMatches:19 ,distance between two frames x:0.000071 ,z=0.002084,angle between two frames:0.003079
[22:36:21.177] Init estimate scale:0.194400
[22:36:21.177] it:0 	 Success 	 new_chi2: 1.760403 	 dT = 0.049003, 0.000000, 0.820432
[22:36:21.177] it:1 	 FAILURE 	 new_chi2: 17.548058
[22:36:21.177] n deleted obs = 67 	 scale =0.194400 	 error init =0.025888 	 error end=0.025888
[22:36:21.177] After pose optimization, distance between two frames x:0.000071 ,z=0.002084,angle between two frames:0.003079 and reprojected points are: 1
[22:36:21.177] Update EKF and 3D points, distance between two frames x:0.000084 ,z=0.002394,angle between two frames:0.003487
[22:36:21.274] After Reprojection Map nPoint:58 ,nCell:19 ,nMatches:19 ,distance between two frames x:0.000077 ,z=0.001903,angle between two frames:0.004523
[22:36:21.274] Init estimate scale:0.200269
[22:36:21.274] it:0 	 Success 	 new_chi2: 2.236331 	 dT = -0.091670, 0.000000, 0.849194
[22:36:21.274] it:1 	 FAILURE 	 new_chi2: 14.452636
[22:36:21.274] n deleted obs = 71 	 scale =0.200269 	 error init =0.031498 	 error end=0.031498
[22:36:21.274] After pose optimization, distance between two frames x:0.000077 ,z=0.001903,angle between two frames:0.004523 and reprojected points are: 0
[22:36:21.274] Update EKF and 3D points, distance between two frames x:0.000076 ,z=0.001903,angle between two frames:0.004865
[22:36:21.375] After Reprojection Map nPoint:58 ,nCell:22 ,nMatches:21 ,distance between two frames x:0.000323 ,z=0.008100,angle between two frames:0.002612
[22:36:21.376] Init estimate scale:0.213259
[22:36:21.376] it:0 	 Success 	 new_chi2: 2.001091 	 dT = 1.288168, 0.000000, 2.935146
[22:36:21.376] it:1 	 FAILURE 	 new_chi2: 707198.400919
[22:36:21.376] n deleted obs = 71 	 scale =0.213259 	 error init =0.028184 	 error end=0.028184
[22:36:21.376] After pose optimization, distance between two frames x:0.000323 ,z=0.008100,angle between two frames:0.002612 and reprojected points are: 0
[22:36:21.376] Update EKF and 3D points, distance between two frames x:0.000371 ,z=0.009188,angle between two frames:0.003013
[22:36:21.476] After Reprojection Map nPoint:56 ,nCell:21 ,nMatches:20 ,distance between two frames x:0.000222 ,z=0.004893,angle between two frames:0.000319
[22:36:21.476] Init estimate scale:0.205963
[22:36:21.476] it:0 	 Success 	 new_chi2: 1.930180 	 dT = 0.000114, 0.000000, 0.000751
[22:36:21.476] it:1 	 FAILURE 	 new_chi2: 1.930421
[22:36:21.476] n deleted obs = 67 	 scale =0.205963 	 error init =0.028809 	 error end=0.028809
[22:36:21.476] After pose optimization, distance between two frames x:0.000222 ,z=0.004893,angle between two frames:0.000319 and reprojected points are: 0
[22:36:21.476] Update EKF and 3D points, distance between two frames x:0.000267 ,z=0.005996,angle between two frames:0.000307
[22:36:21.576] After Reprojection Map nPoint:55 ,nCell:21 ,nMatches:19 ,distance between two frames x:0.000190 ,z=0.004960,angle between two frames:0.005979
[22:36:21.576] Init estimate scale:0.192953
[22:36:21.576] it:0 	 Success 	 new_chi2: 1.470661 	 dT = 0.066555, 0.000000, 0.099471
[22:36:21.576] it:1 	 FAILURE 	 new_chi2: 1.792258
[22:36:21.576] n deleted obs = 66 	 scale =0.192953 	 error init =0.022283 	 error end=0.022283
[22:36:21.576] After pose optimization, distance between two frames x:0.000190 ,z=0.004960,angle between two frames:0.005979 and reprojected points are: 0
[22:36:21.576] Update EKF and 3D points, distance between two frames x:0.000200 ,z=0.005280,angle between two frames:0.006325
[22:36:21.674] After Reprojection Map nPoint:56 ,nCell:21 ,nMatches:20 ,distance between two frames x:0.000060 ,z=0.001891,angle between two frames:0.002494
[22:36:21.674] Init estimate scale:0.191316
[22:36:21.674] it:0 	 Success 	 new_chi2: 2.314942 	 dT = 0.001036, 0.000000, 0.001811
[22:36:21.674] it:1 	 Success 	 new_chi2: 2.306947 	 dT = 0.000988, 0.000000, 0.001775
[22:36:21.674] it:2 	 Success 	 new_chi2: 2.299385 	 dT = 0.000941, 0.000000, 0.001741
[22:36:21.674] it:3 	 Success 	 new_chi2: 2.292223 	 dT = 0.000896, 0.000000, 0.001709
[22:36:21.674] it:4 	 Success 	 new_chi2: 2.285432 	 dT = 0.000853, 0.000000, 0.001678
[22:36:21.675] it:5 	 Success 	 new_chi2: 2.278986 	 dT = 0.001133, 0.000000, 0.001220
[22:36:21.675] it:6 	 Success 	 new_chi2: 2.275182 	 dT = 0.001096, 0.000000, 0.001210
[22:36:21.675] it:7 	 Success 	 new_chi2: 2.271568 	 dT = 0.001060, 0.000000, 0.001200
[22:36:21.675] it:8 	 Success 	 new_chi2: 2.268131 	 dT = 0.001026, 0.000000, 0.001191
[22:36:21.675] it:9 	 Success 	 new_chi2: 2.264859 	 dT = 0.000993, 0.000000, 0.001183
[22:36:21.675] it:10 	 Success 	 new_chi2: 2.261742 	 dT = 0.000961, 0.000000, 0.001176
[22:36:21.675] it:11 	 Success 	 new_chi2: 2.258770 	 dT = 0.000930, 0.000000, 0.001169
[22:36:21.675] it:12 	 Success 	 new_chi2: 2.255934 	 dT = 0.000900, 0.000000, 0.001162
[22:36:21.675] it:13 	 Success 	 new_chi2: 2.253228 	 dT = 0.000871, 0.000000, 0.001156
[22:36:21.675] it:14 	 Success 	 new_chi2: 2.250646 	 dT = 0.000843, 0.000000, 0.001150
[22:36:21.675] it:15 	 Success 	 new_chi2: 2.248180 	 dT = 0.000815, 0.000000, 0.001144
[22:36:21.675] it:16 	 Success 	 new_chi2: 2.245825 	 dT = 0.000789, 0.000000, 0.001138
[22:36:21.675] it:17 	 Success 	 new_chi2: 2.243577 	 dT = 0.000763, 0.000000, 0.001133
[22:36:21.675] it:18 	 Success 	 new_chi2: 2.241431 	 dT = 0.000738, 0.000000, 0.001127
[22:36:21.675] it:19 	 Success 	 new_chi2: 2.239381 	 dT = 0.000713, 0.000000, 0.001121
[22:36:21.675] it:20 	 Success 	 new_chi2: 2.237424 	 dT = 0.000689, 0.000000, 0.001116
[22:36:21.675] it:21 	 Success 	 new_chi2: 2.235556 	 dT = 0.000666, 0.000000, 0.001111
[22:36:21.675] it:22 	 Success 	 new_chi2: 2.233772 	 dT = 0.000644, 0.000000, 0.001105
[22:36:21.675] it:23 	 Success 	 new_chi2: 2.232070 	 dT = 0.000622, 0.000000, 0.001100
[22:36:21.675] it:24 	 Success 	 new_chi2: 2.230446 	 dT = 0.000600, 0.000000, 0.001095
[22:36:21.675] it:25 	 Success 	 new_chi2: 2.228897 	 dT = 0.000579, 0.000000, 0.001089
[22:36:21.675] it:26 	 Success 	 new_chi2: 2.227419 	 dT = 0.000559, 0.000000, 0.001084
[22:36:21.675] it:27 	 Success 	 new_chi2: 2.226009 	 dT = 0.000539, 0.000000, 0.001079
[22:36:21.675] it:28 	 Success 	 new_chi2: 2.224666 	 dT = 0.000519, 0.000000, 0.001074
[22:36:21.675] it:29 	 Success 	 new_chi2: 2.223385 	 dT = 0.000500, 0.000000, 0.001069
[22:36:21.675] it:30 	 Success 	 new_chi2: 2.222165 	 dT = 0.000482, 0.000000, 0.001063
[22:36:21.676] it:31 	 Success 	 new_chi2: 2.221004 	 dT = 0.000464, 0.000000, 0.001058
[22:36:21.676] it:32 	 Success 	 new_chi2: 2.219897 	 dT = 0.000446, 0.000000, 0.001053
[22:36:21.676] it:33 	 Success 	 new_chi2: 2.218845 	 dT = 0.000429, 0.000000, 0.001048
[22:36:21.676] it:34 	 Success 	 new_chi2: 2.217844 	 dT = 0.000412, 0.000000, 0.001043
[22:36:21.676] it:35 	 Success 	 new_chi2: 2.216892 	 dT = 0.000395, 0.000000, 0.001039
[22:36:21.676] it:36 	 Success 	 new_chi2: 2.215988 	 dT = 0.000379, 0.000000, 0.001034
[22:36:21.676] it:37 	 Success 	 new_chi2: 2.215129 	 dT = 0.000363, 0.000000, 0.001029
[22:36:21.676] it:38 	 Success 	 new_chi2: 2.214314 	 dT = 0.000348, 0.000000, 0.001024
[22:36:21.676] it:39 	 Success 	 new_chi2: 2.213541 	 dT = 0.000333, 0.000000, 0.001019
[22:36:21.676] it:40 	 Success 	 new_chi2: 2.212809 	 dT = 0.000318, 0.000000, 0.001015
[22:36:21.676] it:41 	 Success 	 new_chi2: 2.212116 	 dT = 0.000304, 0.000000, 0.001010
[22:36:21.676] it:42 	 Success 	 new_chi2: 2.211461 	 dT = 0.000290, 0.000000, 0.001005
[22:36:21.676] it:43 	 Success 	 new_chi2: 2.210842 	 dT = 0.000276, 0.000000, 0.001001
[22:36:21.676] it:44 	 Success 	 new_chi2: 2.210258 	 dT = 0.000263, 0.000000, 0.000996
[22:36:21.676] it:45 	 Success 	 new_chi2: 2.209707 	 dT = 0.000250, 0.000000, 0.000992
[22:36:21.676] it:46 	 Success 	 new_chi2: 2.209189 	 dT = 0.000237, 0.000000, 0.000987
[22:36:21.676] it:47 	 Success 	 new_chi2: 2.208703 	 dT = 0.000225, 0.000000, 0.000983
[22:36:21.676] it:48 	 Success 	 new_chi2: 2.208246 	 dT = 0.000212, 0.000000, 0.000978
[22:36:21.676] it:49 	 Success 	 new_chi2: 2.207819 	 dT = 0.000200, 0.000000, 0.000974
[22:36:21.676] it:50 	 Success 	 new_chi2: 2.207420 	 dT = 0.000189, 0.000000, 0.000970
[22:36:21.676] it:51 	 Success 	 new_chi2: 2.207048 	 dT = 0.000177, 0.000000, 0.000966
[22:36:21.676] it:52 	 Success 	 new_chi2: 2.206703 	 dT = 0.000166, 0.000000, 0.000961
[22:36:21.676] it:53 	 Success 	 new_chi2: 2.206383 	 dT = 0.000155, 0.000000, 0.000957
[22:36:21.676] it:54 	 Success 	 new_chi2: 2.206088 	 dT = 0.000144, 0.000000, 0.000953
[22:36:21.676] it:55 	 Success 	 new_chi2: 2.205817 	 dT = 0.000134, 0.000000, 0.000949
[22:36:21.676] it:56 	 Success 	 new_chi2: 2.205569 	 dT = 0.000124, 0.000000, 0.000945
[22:36:21.676] it:57 	 Success 	 new_chi2: 2.205344 	 dT = 0.000114, 0.000000, 0.000941
[22:36:21.677] it:58 	 Success 	 new_chi2: 2.205140 	 dT = 0.000104, 0.000000, 0.000937
[22:36:21.677] it:59 	 Success 	 new_chi2: 2.204958 	 dT = 0.000094, 0.000000, 0.000933
[22:36:21.677] it:60 	 Success 	 new_chi2: 2.204796 	 dT = 0.000085, 0.000000, 0.000929
[22:36:21.677] it:61 	 Success 	 new_chi2: 2.204655 	 dT = 0.000076, 0.000000, 0.000925
[22:36:21.677] it:62 	 Success 	 new_chi2: 2.204533 	 dT = 0.000067, 0.000000, 0.000921
[22:36:21.677] it:63 	 Success 	 new_chi2: 2.204430 	 dT = 0.000058, 0.000000, 0.000918
[22:36:21.677] it:64 	 Success 	 new_chi2: 2.204345 	 dT = 0.000049, 0.000000, 0.000914
[22:36:21.677] it:65 	 Success 	 new_chi2: 2.204279 	 dT = 0.000041, 0.000000, 0.000910
[22:36:21.677] it:66 	 Success 	 new_chi2: 2.204230 	 dT = 0.000033, 0.000000, 0.000906
[22:36:21.677] it:67 	 Success 	 new_chi2: 2.204198 	 dT = 0.000025, 0.000000, 0.000903
[22:36:21.677] it:68 	 Success 	 new_chi2: 2.204184 	 dT = 0.000017, 0.000000, 0.000899
[22:36:21.677] it:69 	 FAILURE 	 new_chi2: 2.204185
[22:36:21.677] n deleted obs = 68 	 scale =0.191316 	 error init =0.034043 	 error end=0.032414
[22:36:21.677] After pose optimization, distance between two frames x:0.032784 ,z=0.001891,angle between two frames:0.071813 and reprojected points are: 0
[22:36:21.677] Update EKF and 3D points, distance between two frames x:0.030689 ,z=0.002262,angle between two frames:0.066447
[22:36:21.779] After Reprojection Map nPoint:56 ,nCell:23 ,nMatches:21 ,distance between two frames x:-0.012416 ,z=0.002200,angle between two frames:0.035772
[22:36:21.779] Init estimate scale:0.200671
[22:36:21.779] it:0 	 Success 	 new_chi2: 2.440368 	 dT = -0.031979, 0.000000, 0.039797
[22:36:21.779] it:1 	 FAILURE 	 new_chi2: 2.449781
[22:36:21.779] n deleted obs = 70 	 scale =0.200671 	 error init =0.034862 	 error end=0.034862
[22:36:21.779] After pose optimization, distance between two frames x:-0.012416 ,z=0.002200,angle between two frames:0.035772 and reprojected points are: 0
[22:36:21.779] Update EKF and 3D points, distance between two frames x:-0.012397 ,z=0.002524,angle between two frames:0.036391
[22:36:21.875] After Reprojection Map nPoint:61 ,nCell:27 ,nMatches:25 ,distance between two frames x:0.000116 ,z=0.001991,angle between two frames:0.005514
[22:36:21.875] Init estimate scale:0.191268
[22:36:21.875] it:0 	 Success 	 new_chi2: 2.689877 	 dT = -0.296328, 0.000000, 0.378800
[22:36:21.875] it:1 	 FAILURE 	 new_chi2: 8.164568
[22:36:21.875] n deleted obs = 77 	 scale =0.191268 	 error init =0.034933 	 error end=0.034933
[22:36:21.875] After pose optimization, distance between two frames x:0.000116 ,z=0.001991,angle between two frames:0.005514 and reprojected points are: 0
[22:36:21.875] Update EKF and 3D points, distance between two frames x:0.000135 ,z=0.002341,angle between two frames:0.005979
[22:36:21.972] After Reprojection Map nPoint:58 ,nCell:24 ,nMatches:22 ,distance between two frames x:0.000114 ,z=0.002067,angle between two frames:0.007507
[22:36:21.972] Init estimate scale:0.198038
[22:36:21.972] it:0 	 Success 	 new_chi2: 2.268088 	 dT = -0.000463, 0.000000, 0.002055
[22:36:21.972] it:1 	 FAILURE 	 new_chi2: 2.270534
[22:36:21.972] n deleted obs = 74 	 scale =0.198038 	 error init =0.030650 	 error end=0.030650
[22:36:21.972] After pose optimization, distance between two frames x:0.000114 ,z=0.002067,angle between two frames:0.007507 and reprojected points are: 0
[22:36:21.972] Update EKF and 3D points, distance between two frames x:0.000130 ,z=0.002403,angle between two frames:0.008149
[22:36:22.072] After Reprojection Map nPoint:54 ,nCell:24 ,nMatches:22 ,distance between two frames x:0.000090 ,z=0.001988,angle between two frames:0.006164
[22:36:22.072] Init estimate scale:0.189566
[22:36:22.072] it:0 	 Success 	 new_chi2: 1.671550 	 dT = 0.000059, 0.000000, 0.000672
[22:36:22.072] it:1 	 FAILURE 	 new_chi2: 1.672055
[22:36:22.072] n deleted obs = 71 	 scale =0.189566 	 error init =0.023543 	 error end=0.023543
[22:36:22.072] After pose optimization, distance between two frames x:0.000090 ,z=0.001988,angle between two frames:0.006164 and reprojected points are: 0
[22:36:22.072] Update EKF and 3D points, distance between two frames x:0.000106 ,z=0.002354,angle between two frames:0.006196
[22:36:22.172] After Reprojection Map nPoint:50 ,nCell:22 ,nMatches:21 ,distance between two frames x:0.000097 ,z=0.002161,angle between two frames:0.002123
[22:36:22.172] Init estimate scale:0.179943
[22:36:22.172] it:0 	 Success 	 new_chi2: 2.185703 	 dT = -0.128925, 0.000000, 0.076874
[22:36:22.172] it:1 	 Success 	 new_chi2: 2.107912 	 dT = -0.003395, 0.000000, 0.020892
[22:36:22.172] it:2 	 FAILURE 	 new_chi2: 2.119386
[22:36:22.172] n deleted obs = 66 	 scale =0.179943 	 error init =0.033117 	 error end=0.031938
[22:36:22.172] After pose optimization, distance between two frames x:-0.128828 ,z=0.002161,angle between two frames:0.078997 and reprojected points are: 0
[22:36:22.172] Update EKF and 3D points, distance between two frames x:-0.114672 ,z=0.003295,angle between two frames:0.070396
[22:36:22.274] After Reprojection Map nPoint:52 ,nCell:21 ,nMatches:19 ,distance between two frames x:0.063531 ,z=0.005109,angle between two frames:0.040277
[22:36:22.274] Init estimate scale:0.199539
[22:36:22.274] it:0 	 Success 	 new_chi2: 1.923267 	 dT = -0.076667, 0.000000, 0.138674
[22:36:22.274] it:1 	 FAILURE 	 new_chi2: 2.047441
[22:36:22.274] n deleted obs = 64 	 scale =0.199539 	 error init =0.030051 	 error end=0.030051
[22:36:22.274] After pose optimization, distance between two frames x:0.063531 ,z=0.005109,angle between two frames:0.040277 and reprojected points are: 0
[22:36:22.274] Update EKF and 3D points, distance between two frames x:0.063615 ,z=0.006217,angle between two frames:0.040515
[22:36:22.373] After Reprojection Map nPoint:54 ,nCell:21 ,nMatches:20 ,distance between two frames x:0.000373 ,z=0.004983,angle between two frames:0.001241
[22:36:22.373] Init estimate scale:0.203705
[22:36:22.373] it:0 	 Success 	 new_chi2: 1.956345 	 dT = -0.000033, 0.000000, 0.000376
[22:36:22.374] it:1 	 FAILURE 	 new_chi2: 1.956684
[22:36:22.374] n deleted obs = 68 	 scale =0.203705 	 error init =0.028770 	 error end=0.028770
[22:36:22.374] After pose optimization, distance between two frames x:0.000373 ,z=0.004983,angle between two frames:0.001241 and reprojected points are: 0
[22:36:22.374] Update EKF and 3D points, distance between two frames x:0.000398 ,z=0.005326,angle between two frames:0.001337
[22:36:22.473] After Reprojection Map nPoint:51 ,nCell:23 ,nMatches:22 ,distance between two frames x:0.000149 ,z=0.002028,angle between two frames:0.000064
[22:36:22.473] Init estimate scale:0.197064
[22:36:22.474] it:0 	 Success 	 new_chi2: 1.753772 	 dT = -0.026930, 0.000000, 0.069120
[22:36:22.474] it:1 	 FAILURE 	 new_chi2: 1.805558
[22:36:22.474] n deleted obs = 66 	 scale =0.197064 	 error init =0.026572 	 error end=0.026572
[22:36:22.474] After pose optimization, distance between two frames x:0.000149 ,z=0.002028,angle between two frames:0.000064 and reprojected points are: 0
[22:36:22.474] Update EKF and 3D points, distance between two frames x:0.000233 ,z=0.003142,angle between two frames:0.000196
[22:36:22.574] After Reprojection Map nPoint:56 ,nCell:26 ,nMatches:22 ,distance between two frames x:0.000384 ,z=0.005010,angle between two frames:0.001728
[22:36:22.574] Init estimate scale:0.203575
[22:36:22.574] it:0 	 Success 	 new_chi2: 1.757134 	 dT = -0.001152, 0.000000, 0.016916
[22:36:22.574] it:1 	 FAILURE 	 new_chi2: 1.761513
[22:36:22.574] n deleted obs = 71 	 scale =0.203575 	 error init =0.024748 	 error end=0.024748
[22:36:22.574] After pose optimization, distance between two frames x:0.000384 ,z=0.005010,angle between two frames:0.001728 and reprojected points are: 0
[22:36:22.574] Update EKF and 3D points, distance between two frames x:0.000466 ,z=0.006078,angle between two frames:0.001997
[22:36:22.673] After Reprojection Map nPoint:56 ,nCell:26 ,nMatches:24 ,distance between two frames x:0.000378 ,z=0.004809,angle between two frames:0.002499
[22:36:22.673] Init estimate scale:0.197904
[22:36:22.673] it:0 	 Success 	 new_chi2: 2.560508 	 dT = -0.004782, 0.000000, 0.020801
[22:36:22.673] it:1 	 FAILURE 	 new_chi2: 2.577519
[22:36:22.674] n deleted obs = 72 	 scale =0.197904 	 error init =0.035563 	 error end=0.035563
[22:36:22.674] After pose optimization, distance between two frames x:0.000378 ,z=0.004809,angle between two frames:0.002499 and reprojected points are: 0
[22:36:22.674] Update EKF and 3D points, distance between two frames x:0.000465 ,z=0.005884,angle between two frames:0.002919
[22:36:22.773] After Reprojection Map nPoint:54 ,nCell:21 ,nMatches:19 ,distance between two frames x:0.000400 ,z=0.004839,angle between two frames:0.004321
[22:36:22.773] Init estimate scale:0.192693
[22:36:22.773] it:0 	 Success 	 new_chi2: 2.075966 	 dT = -0.000054, 0.000000, 0.000323
[22:36:22.773] it:1 	 FAILURE 	 new_chi2: 2.076191
[22:36:22.773] n deleted obs = 65 	 scale =0.192693 	 error init =0.031454 	 error end=0.031454
[22:36:22.773] After pose optimization, distance between two frames x:0.000400 ,z=0.004839,angle between two frames:0.004321 and reprojected points are: 1
[22:36:22.773] Update EKF and 3D points, distance between two frames x:0.000496 ,z=0.005950,angle between two frames:0.004945
[22:36:22.873] After Reprojection Map nPoint:55 ,nCell:22 ,nMatches:19 ,distance between two frames x:0.000444 ,z=0.005002,angle between two frames:0.004150
[22:36:22.873] Init estimate scale:0.203368
[22:36:22.873] it:0 	 Success 	 new_chi2: 1.885833 	 dT = 0.000087, 0.000000, 0.001009
[22:36:22.873] it:1 	 Success 	 new_chi2: 1.885714 	 dT = 0.000072, 0.000000, 0.001001
[22:36:22.873] it:2 	 Success 	 new_chi2: 1.885635 	 dT = 0.000057, 0.000000, 0.000994
[22:36:22.873] it:3 	 Success 	 new_chi2: 1.885591 	 dT = 0.000043, 0.000000, 0.000987
[22:36:22.873] it:4 	 Success 	 new_chi2: 1.885582 	 dT = 0.000029, 0.000000, 0.000980
[22:36:22.873] it:5 	 FAILURE 	 new_chi2: 1.885604
[22:36:22.873] n deleted obs = 68 	 scale =0.203368 	 error init =0.027733 	 error end=0.027729
[22:36:22.873] After pose optimization, distance between two frames x:0.000703 ,z=0.005002,angle between two frames:0.008141 and reprojected points are: 0
[22:36:22.873] Update EKF and 3D points, distance between two frames x:0.000717 ,z=0.005346,angle between two frames:0.007988
[22:36:22.973] After Reprojection Map nPoint:53 ,nCell:21 ,nMatches:21 ,distance between two frames x:0.000085 ,z=0.002032,angle between two frames:0.000707
[22:36:22.974] Init estimate scale:0.203895
[22:36:22.974] it:0 	 Success 	 new_chi2: 3.083133 	 dT = -0.005032, 0.000000, 0.054197
[22:36:22.974] it:1 	 FAILURE 	 new_chi2: 3.107943
[22:36:22.974] n deleted obs = 67 	 scale =0.203895 	 error init =0.046017 	 error end=0.046017
[22:36:22.974] After pose optimization, distance between two frames x:0.000085 ,z=0.002032,angle between two frames:0.000707 and reprojected points are: 0
[22:36:22.974] Update EKF and 3D points, distance between two frames x:0.000120 ,z=0.002376,angle between two frames:0.001357
[22:36:23.073] After Reprojection Map nPoint:54 ,nCell:20 ,nMatches:19 ,distance between two frames x:0.000208 ,z=0.002035,angle between two frames:0.006941
[22:36:23.073] Init estimate scale:0.201783
[22:36:23.073] it:0 	 Success 	 new_chi2: 1.701289 	 dT = 0.012042, 0.000000, 0.035276
[22:36:23.073] it:1 	 Success 	 new_chi2: 1.697485 	 dT = -0.008516, 0.000000, 0.028038
[22:36:23.073] it:2 	 FAILURE 	 new_chi2: 1.714332
[22:36:23.073] n deleted obs = 67 	 scale =0.201783 	 error init =0.025392 	 error end=0.025336
[22:36:23.073] After pose optimization, distance between two frames x:0.012249 ,z=0.002035,angle between two frames:0.042217 and reprojected points are: 0
[22:36:23.073] Update EKF and 3D points, distance between two frames x:0.011079 ,z=0.003154,angle between two frames:0.038801
[22:36:23.172] After Reprojection Map nPoint:54 ,nCell:22 ,nMatches:20 ,distance between two frames x:-0.005332 ,z=0.005042,angle between two frames:0.017606
[22:36:23.172] Init estimate scale:0.202326
[22:36:23.172] it:0 	 Success 	 new_chi2: 3.241110 	 dT = -0.003831, 0.000000, 0.020289
[22:36:23.172] it:1 	 FAILURE 	 new_chi2: 3.245621
[22:36:23.172] n deleted obs = 69 	 scale =0.202326 	 error init =0.046973 	 error end=0.046973
[22:36:23.172] After pose optimization, distance between two frames x:-0.005332 ,z=0.005042,angle between two frames:0.017606 and reprojected points are: 0
[22:36:23.172] Update EKF and 3D points, distance between two frames x:-0.005209 ,z=0.006111,angle between two frames:0.018045
[22:36:23.272] After Reprojection Map nPoint:51 ,nCell:19 ,nMatches:18 ,distance between two frames x:0.000543 ,z=0.004812,angle between two frames:0.001684
[22:36:23.272] Init estimate scale:0.206113
[22:36:23.272] it:0 	 Success 	 new_chi2: 1.733711 	 dT = 0.000120, 0.000000, 0.000223
[22:36:23.272] it:1 	 Success 	 new_chi2: 1.733633 	 dT = 0.000119, 0.000000, 0.000223
[22:36:23.272] it:2 	 Success 	 new_chi2: 1.733558 	 dT = 0.000119, 0.000000, 0.000223
[22:36:23.272] it:3 	 Success 	 new_chi2: 1.733487 	 dT = 0.000118, 0.000000, 0.000223
[22:36:23.272] it:4 	 Success 	 new_chi2: 1.733420 	 dT = 0.000117, 0.000000, 0.000223
[22:36:23.272] it:5 	 Success 	 new_chi2: 1.733357 	 dT = 0.000165, 0.000000, 0.000179
[22:36:23.272] it:6 	 Success 	 new_chi2: 1.733302 	 dT = 0.000164, 0.000000, 0.000180
[22:36:23.272] it:7 	 Success 	 new_chi2: 1.733250 	 dT = 0.000163, 0.000000, 0.000180
[22:36:23.272] it:8 	 Success 	 new_chi2: 1.733202 	 dT = 0.000163, 0.000000, 0.000180
[22:36:23.272] it:9 	 Success 	 new_chi2: 1.733158 	 dT = 0.000162, 0.000000, 0.000180
[22:36:23.272] it:10 	 Success 	 new_chi2: 1.733118 	 dT = 0.000162, 0.000000, 0.000181
[22:36:23.272] it:11 	 Success 	 new_chi2: 1.733081 	 dT = 0.000161, 0.000000, 0.000181
[22:36:23.272] it:12 	 Success 	 new_chi2: 1.733048 	 dT = 0.000161, 0.000000, 0.000181
[22:36:23.272] it:13 	 Success 	 new_chi2: 1.733018 	 dT = 0.000160, 0.000000, 0.000181
[22:36:23.273] it:14 	 Success 	 new_chi2: 1.732992 	 dT = 0.000160, 0.000000, 0.000181
[22:36:23.273] it:15 	 Success 	 new_chi2: 1.732970 	 dT = 0.000159, 0.000000, 0.000182
[22:36:23.273] it:16 	 Success 	 new_chi2: 1.732952 	 dT = 0.000158, 0.000000, 0.000182
[22:36:23.273] it:17 	 Success 	 new_chi2: 1.732936 	 dT = 0.000158, 0.000000, 0.000182
[22:36:23.273] it:18 	 Success 	 new_chi2: 1.732925 	 dT = 0.000157, 0.000000, 0.000182
[22:36:23.273] it:19 	 Success 	 new_chi2: 1.732917 	 dT = 0.000157, 0.000000, 0.000183
[22:36:23.273] it:20 	 Success 	 new_chi2: 1.732913 	 dT = 0.000156, 0.000000, 0.000183
[22:36:23.273] it:21 	 Success 	 new_chi2: 1.732912 	 dT = 0.000156, 0.000000, 0.000183
[22:36:23.273] it:22 	 FAILURE 	 new_chi2: 1.732915
[22:36:23.273] n deleted obs = 64 	 scale =0.206113 	 error init =0.027089 	 error end=0.027077
[22:36:23.273] After pose optimization, distance between two frames x:0.003703 ,z=0.004812,angle between two frames:0.002330 and reprojected points are: 0
[22:36:23.273] Update EKF and 3D points, distance between two frames x:0.003484 ,z=0.005907,angle between two frames:0.001329
[22:36:23.372] After Reprojection Map nPoint:51 ,nCell:18 ,nMatches:16 ,distance between two frames x:-0.001005 ,z=0.004929,angle between two frames:0.011290
[22:36:23.373] Init estimate scale:0.203173
[22:36:23.373] it:0 	 Success 	 new_chi2: 1.355187 	 dT = 0.003118, 0.000000, 0.021174
[22:36:23.373] it:1 	 Success 	 new_chi2: 1.354375 	 dT = -0.002670, 0.000000, 0.018152
[22:36:23.373] it:2 	 FAILURE 	 new_chi2: 1.362028
[22:36:23.373] n deleted obs = 61 	 scale =0.203173 	 error init =0.022216 	 error end=0.022203
[22:36:23.373] After pose optimization, distance between two frames x:0.002113 ,z=0.004929,angle between two frames:0.009884 and reprojected points are: 0
[22:36:23.373] Update EKF and 3D points, distance between two frames x:0.001931 ,z=0.004928,angle between two frames:0.008032
[22:36:23.472] After Reprojection Map nPoint:57 ,nCell:19 ,nMatches:17 ,distance between two frames x:0.000991 ,z=0.007938,angle between two frames:0.000365
[22:36:23.472] Init estimate scale:0.200603
[22:36:23.473] it:0 	 Success 	 new_chi2: 2.294305 	 dT = -0.000066, 0.000000, 0.001235
[22:36:23.473] it:1 	 FAILURE 	 new_chi2: 2.295799
[22:36:23.473] n deleted obs = 65 	 scale =0.200603 	 error init =0.035297 	 error end=0.035297
[22:36:23.473] After pose optimization, distance between two frames x:0.000991 ,z=0.007938,angle between two frames:0.000365 and reprojected points are: 0
[22:36:23.473] Update EKF and 3D points, distance between two frames x:0.000991 ,z=0.007937,angle between two frames:0.000662
[22:36:23.572] After Reprojection Map nPoint:53 ,nCell:22 ,nMatches:21 ,distance between two frames x:0.000931 ,z=0.007501,angle between two frames:0.005215
[22:36:23.572] Init estimate scale:0.205176
[22:36:23.572] it:0 	 Success 	 new_chi2: 2.439056 	 dT = -0.022829, 0.000000, 0.031507
[22:36:23.572] it:1 	 FAILURE 	 new_chi2: 2.452306
[22:36:23.572] n deleted obs = 69 	 scale =0.205176 	 error init =0.035349 	 error end=0.035349
[22:36:23.572] After pose optimization, distance between two frames x:0.000931 ,z=0.007501,angle between two frames:0.005215 and reprojected points are: 0
[22:36:23.572] Update EKF and 3D points, distance between two frames x:0.000931 ,z=0.007501,angle between two frames:0.006011
[22:36:23.672] After Reprojection Map nPoint:54 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.000605 ,z=0.005385,angle between two frames:0.008473
[22:36:23.672] Init estimate scale:0.217527
[22:36:23.672] it:0 	 Success 	 new_chi2: 2.626208 	 dT = -0.018238, 0.000000, 0.020116
[22:36:23.672] it:1 	 Success 	 new_chi2: 2.623118 	 dT = -0.015511, 0.000000, 0.016958
[22:36:23.672] it:2 	 Success 	 new_chi2: 2.620352 	 dT = -0.013753, 0.000000, 0.014967
[22:36:23.672] it:3 	 Success 	 new_chi2: 2.617820 	 dT = -0.012489, 0.000000, 0.013557
[22:36:23.672] it:4 	 Success 	 new_chi2: 2.615467 	 dT = -0.011520, 0.000000, 0.012486
[22:36:23.672] it:5 	 Success 	 new_chi2: 2.613259 	 dT = -0.005145, 0.000000, 0.010745
[22:36:23.672] it:6 	 FAILURE 	 new_chi2: 2.617525
[22:36:23.672] n deleted obs = 72 	 scale =0.217527 	 error init =0.036475 	 error end=0.036295
[22:36:23.672] After pose optimization, distance between two frames x:-0.070906 ,z=0.005385,angle between two frames:0.069612 and reprojected points are: 0
[22:36:23.672] Update EKF and 3D points, distance between two frames x:-0.062945 ,z=0.006450,angle between two frames:0.060221
[22:36:23.773] After Reprojection Map nPoint:50 ,nCell:18 ,nMatches:17 ,distance between two frames x:0.035644 ,z=0.004809,angle between two frames:0.046499
[22:36:23.774] Init estimate scale:0.217361
[22:36:23.774] it:0 	 Success 	 new_chi2: 2.216103 	 dT = -0.014155, 0.000000, 0.026102
[22:36:23.774] it:1 	 FAILURE 	 new_chi2: 2.234906
[22:36:23.774] n deleted obs = 62 	 scale =0.217361 	 error init =0.035744 	 error end=0.035744
[22:36:23.774] After pose optimization, distance between two frames x:0.035644 ,z=0.004809,angle between two frames:0.046499 and reprojected points are: 0
[22:36:23.774] Update EKF and 3D points, distance between two frames x:0.035689 ,z=0.005161,angle between two frames:0.046973
[22:36:23.872] After Reprojection Map nPoint:51 ,nCell:22 ,nMatches:20 ,distance between two frames x:0.000260 ,z=0.002076,angle between two frames:0.002544
[22:36:23.872] Init estimate scale:0.230380
[22:36:23.872] it:0 	 Success 	 new_chi2: 2.676389 	 dT = -0.000072, 0.000000, 0.000208
[22:36:23.872] it:1 	 FAILURE 	 new_chi2: 2.676626
[22:36:23.872] n deleted obs = 64 	 scale =0.230380 	 error init =0.041819 	 error end=0.041819
[22:36:23.872] After pose optimization, distance between two frames x:0.000260 ,z=0.002076,angle between two frames:0.002544 and reprojected points are: 0
[22:36:23.872] Update EKF and 3D points, distance between two frames x:0.000402 ,z=0.003169,angle between two frames:0.002331
[22:36:23.972] After Reprojection Map nPoint:59 ,nCell:20 ,nMatches:19 ,distance between two frames x:0.000644 ,z=0.004918,angle between two frames:0.000896
[22:36:23.972] Init estimate scale:0.230394
[22:36:23.972] it:0 	 Success 	 new_chi2: 2.695382 	 dT = -0.013278, 0.000000, 0.012168
[22:36:23.972] it:1 	 Success 	 new_chi2: 2.691810 	 dT = -0.011643, 0.000000, 0.010962
[22:36:23.973] it:2 	 Success 	 new_chi2: 2.689032 	 dT = -0.010472, 0.000000, 0.010047
[22:36:23.973] it:3 	 Success 	 new_chi2: 2.686754 	 dT = -0.009583, 0.000000, 0.009320
[22:36:23.973] it:4 	 Success 	 new_chi2: 2.684815 	 dT = -0.008879, 0.000000, 0.008724
[22:36:23.973] it:5 	 Success 	 new_chi2: 2.683120 	 dT = -0.002169, 0.000000, 0.009917
[22:36:23.973] it:6 	 FAILURE 	 new_chi2: 2.689614
[22:36:23.973] n deleted obs = 68 	 scale =0.230394 	 error init =0.039638 	 error end=0.039458
[22:36:23.973] After pose optimization, distance between two frames x:-0.053213 ,z=0.004918,angle between two frames:0.052116 and reprojected points are: 0
[22:36:23.973] Update EKF and 3D points, distance between two frames x:-0.047170 ,z=0.005993,angle between two frames:0.046205
[22:36:24.073] After Reprojection Map nPoint:61 ,nCell:25 ,nMatches:22 ,distance between two frames x:0.027082 ,z=0.004851,angle between two frames:0.026448
[22:36:24.073] Init estimate scale:0.221785
[22:36:24.073] it:0 	 Success 	 new_chi2: 2.429076 	 dT = -0.005776, 0.000000, 0.006857
[22:36:24.073] it:1 	 FAILURE 	 new_chi2: 2.429669
[22:36:24.073] n deleted obs = 73 	 scale =0.221785 	 error init =0.033275 	 error end=0.033275
[22:36:24.073] After pose optimization, distance between two frames x:0.027082 ,z=0.004851,angle between two frames:0.026448 and reprojected points are: 0
[22:36:24.073] Update EKF and 3D points, distance between two frames x:0.027131 ,z=0.005180,angle between two frames:0.026449
[22:36:24.172] After Reprojection Map nPoint:57 ,nCell:20 ,nMatches:19 ,distance between two frames x:0.000290 ,z=0.001943,angle between two frames:0.005126
[22:36:24.172] Init estimate scale:0.209439
[22:36:24.172] it:0 	 Success 	 new_chi2: 14.903817 	 dT = -0.057054, 0.000000, 0.106581
[22:36:24.172] it:1 	 Success 	 new_chi2: 12.555561 	 dT = -0.049898, 0.000000, 0.058375
[22:36:24.172] it:2 	 Success 	 new_chi2: 11.843740 	 dT = -0.038631, 0.000000, 0.046302
[22:36:24.172] it:3 	 Success 	 new_chi2: 11.291558 	 dT = -0.032448, 0.000000, 0.039624
[22:36:24.172] it:4 	 Success 	 new_chi2: 10.838336 	 dT = -0.028337, 0.000000, 0.035211
[22:36:24.172] it:5 	 Success 	 new_chi2: 10.453656 	 dT = -0.009771, 0.000000, 0.026450
[22:36:24.172] it:6 	 Success 	 new_chi2: 10.087454 	 dT = -0.010499, 0.000000, 0.025494
[22:36:24.172] it:7 	 Success 	 new_chi2: 9.778783 	 dT = -0.010880, 0.000000, 0.024613
[22:36:24.172] it:8 	 Success 	 new_chi2: 9.513831 	 dT = -0.011041, 0.000000, 0.023815
[22:36:24.173] it:9 	 Success 	 new_chi2: 9.283100 	 dT = -0.011060, 0.000000, 0.023096
[22:36:24.173] it:10 	 Success 	 new_chi2: 9.079870 	 dT = -0.010988, 0.000000, 0.022448
[22:36:24.173] it:11 	 Success 	 new_chi2: 8.899247 	 dT = -0.010857, 0.000000, 0.021863
[22:36:24.173] it:12 	 Success 	 new_chi2: 8.737577 	 dT = -0.010687, 0.000000, 0.021333
[22:36:24.173] it:13 	 Success 	 new_chi2: 8.592068 	 dT = -0.010492, 0.000000, 0.020852
[22:36:24.173] it:14 	 Success 	 new_chi2: 8.460544 	 dT = -0.010281, 0.000000, 0.020414
[22:36:24.173] it:15 	 Success 	 new_chi2: 8.341277 	 dT = -0.010060, 0.000000, 0.020012
[22:36:24.173] it:16 	 Success 	 new_chi2: 8.232874 	 dT = -0.009835, 0.000000, 0.019644
[22:36:24.173] it:17 	 Success 	 new_chi2: 8.134197 	 dT = -0.009607, 0.000000, 0.019304
[22:36:24.173] it:18 	 Success 	 new_chi2: 8.044302 	 dT = -0.009379, 0.000000, 0.018990
[22:36:24.173] it:19 	 Success 	 new_chi2: 7.962399 	 dT = -0.009152, 0.000000, 0.018697
[22:36:24.173] it:20 	 Success 	 new_chi2: 7.887819 	 dT = -0.008928, 0.000000, 0.018424
[22:36:24.173] it:21 	 Success 	 new_chi2: 7.819988 	 dT = -0.008707, 0.000000, 0.018169
[22:36:24.173] it:22 	 Success 	 new_chi2: 7.758413 	 dT = -0.008488, 0.000000, 0.017928
[22:36:24.173] it:23 	 Success 	 new_chi2: 7.702663 	 dT = -0.008274, 0.000000, 0.017701
[22:36:24.173] it:24 	 Success 	 new_chi2: 7.652362 	 dT = -0.008062, 0.000000, 0.017484
[22:36:24.173] it:25 	 Success 	 new_chi2: 7.607175 	 dT = -0.007854, 0.000000, 0.017278
[22:36:24.173] it:26 	 Success 	 new_chi2: 7.566805 	 dT = -0.007650, 0.000000, 0.017080
[22:36:24.173] it:27 	 Success 	 new_chi2: 7.530983 	 dT = -0.007449, 0.000000, 0.016890
[22:36:24.173] it:28 	 Success 	 new_chi2: 7.499466 	 dT = -0.007252, 0.000000, 0.016706
[22:36:24.173] it:29 	 Success 	 new_chi2: 7.472031 	 dT = -0.007059, 0.000000, 0.016527
[22:36:24.173] it:30 	 Success 	 new_chi2: 7.448470 	 dT = -0.006869, 0.000000, 0.016353
[22:36:24.173] it:31 	 Success 	 new_chi2: 7.428592 	 dT = -0.006683, 0.000000, 0.016184
[22:36:24.173] it:32 	 Success 	 new_chi2: 7.412213 	 dT = -0.006502, 0.000000, 0.016020
[22:36:24.173] it:33 	 Success 	 new_chi2: 7.399161 	 dT = -0.006325, 0.000000, 0.015861
[22:36:24.173] it:34 	 Success 	 new_chi2: 7.389270 	 dT = -0.006154, 0.000000, 0.015707
[22:36:24.174] it:35 	 Success 	 new_chi2: 7.382379 	 dT = -0.005988, 0.000000, 0.015558
[22:36:24.174] it:36 	 Success 	 new_chi2: 7.378334 	 dT = -0.005828, 0.000000, 0.015416
[22:36:24.174] it:37 	 Success 	 new_chi2: 7.376987 	 dT = -0.005674, 0.000000, 0.015280
[22:36:24.174] it:38 	 FAILURE 	 new_chi2: 7.378193
[22:36:24.174] n deleted obs = 69 	 scale =0.209439 	 error init =0.215997 	 error end=0.106913
[22:36:24.174] After pose optimization, distance between two frames x:-0.484741 ,z=0.001943,angle between two frames:0.893278 and reprojected points are: 0
[22:36:24.174] Update EKF and 3D points, distance between two frames x:-0.453328 ,z=0.002294,angle between two frames:0.834556
[22:36:24.273] After Reprojection Map nPoint:59 ,nCell:23 ,nMatches:21 ,distance between two frames x:0.185726 ,z=0.002102,angle between two frames:0.348884
[22:36:24.273] Init estimate scale:0.224155
[22:36:24.273] it:0 	 Success 	 new_chi2: 3.017680 	 dT = -0.006108, 0.000000, 0.007346
[22:36:24.273] it:1 	 FAILURE 	 new_chi2: 3.017682
[22:36:24.273] n deleted obs = 73 	 scale =0.224155 	 error init =0.041338 	 error end=0.041338
[22:36:24.273] After pose optimization, distance between two frames x:0.185726 ,z=0.002102,angle between two frames:0.348884 and reprojected points are: 0
[22:36:24.273] Update EKF and 3D points, distance between two frames x:0.186400 ,z=0.003018,angle between two frames:0.348724
[22:36:24.373] After Reprojection Map nPoint:61 ,nCell:23 ,nMatches:20 ,distance between two frames x:0.003035 ,z=0.004118,angle between two frames:0.002423
[22:36:24.373] Init estimate scale:0.230536
[22:36:24.373] it:0 	 Success 	 new_chi2: 2.910636 	 dT = -0.007504, 0.000000, 0.008201
[22:36:24.373] it:1 	 Success 	 new_chi2: 2.906142 	 dT = -0.007330, 0.000000, 0.008110
[22:36:24.373] it:2 	 Success 	 new_chi2: 2.902233 	 dT = -0.007166, 0.000000, 0.008026
[22:36:24.373] it:3 	 Success 	 new_chi2: 2.898869 	 dT = -0.007011, 0.000000, 0.007946
[22:36:24.373] it:4 	 Success 	 new_chi2: 2.896014 	 dT = -0.006864, 0.000000, 0.007871
[22:36:24.373] it:5 	 Success 	 new_chi2: 2.893638 	 dT = -0.003101, 0.000000, 0.005645
[22:36:24.373] it:6 	 FAILURE 	 new_chi2: 2.907820
[22:36:24.373] n deleted obs = 71 	 scale =0.230536 	 error init =0.040995 	 error end=0.040755
[22:36:24.373] After pose optimization, distance between two frames x:-0.032839 ,z=0.004118,angle between two frames:0.042576 and reprojected points are: 0
[22:36:24.374] Update EKF and 3D points, distance between two frames x:-0.028254 ,z=0.004984,angle between two frames:0.038149
[22:36:24.474] After Reprojection Map nPoint:61 ,nCell:23 ,nMatches:19 ,distance between two frames x:0.020562 ,z=0.003947,angle between two frames:0.020818
[22:36:24.474] Init estimate scale:0.234650
[22:36:24.474] it:0 	 Success 	 new_chi2: 2.629991 	 dT = -0.006310, 0.000000, 0.007292
[22:36:24.474] it:1 	 Success 	 new_chi2: 2.627845 	 dT = -0.006191, 0.000000, 0.007230
[22:36:24.474] it:2 	 Success 	 new_chi2: 2.626050 	 dT = -0.006077, 0.000000, 0.007171
[22:36:24.474] it:3 	 Success 	 new_chi2: 2.624589 	 dT = -0.005969, 0.000000, 0.007116
[22:36:24.474] it:4 	 Success 	 new_chi2: 2.623444 	 dT = -0.005866, 0.000000, 0.007063
[22:36:24.474] it:5 	 Success 	 new_chi2: 2.622599 	 dT = -0.002652, 0.000000, 0.004858
[22:36:24.474] it:6 	 FAILURE 	 new_chi2: 2.633553
[22:36:24.474] n deleted obs = 71 	 scale =0.234650 	 error init =0.037042 	 error end=0.036938
[22:36:24.474] After pose optimization, distance between two frames x:-0.009851 ,z=0.003947,angle between two frames:0.015054 and reprojected points are: 0
[22:36:24.474] Update EKF and 3D points, distance between two frames x:-0.005925 ,z=0.004712,angle between two frames:0.011222
[22:36:24.575] After Reprojection Map nPoint:56 ,nCell:24 ,nMatches:19 ,distance between two frames x:0.017614 ,z=0.003479,angle between two frames:0.014663
[22:36:24.575] Init estimate scale:0.237436
[22:36:24.575] it:0 	 Success 	 new_chi2: 2.929533 	 dT = -0.009335, 0.000000, 0.010360
[22:36:24.575] it:1 	 Success 	 new_chi2: 2.923461 	 dT = -0.009067, 0.000000, 0.010221
[22:36:24.575] it:2 	 Success 	 new_chi2: 2.918268 	 dT = -0.008816, 0.000000, 0.010093
[22:36:24.575] it:3 	 Success 	 new_chi2: 2.913885 	 dT = -0.008582, 0.000000, 0.009974
[22:36:24.575] it:4 	 Success 	 new_chi2: 2.910249 	 dT = -0.008362, 0.000000, 0.009863
[22:36:24.575] it:5 	 Success 	 new_chi2: 2.907308 	 dT = -0.004473, 0.000000, 0.007151
[22:36:24.575] it:6 	 FAILURE 	 new_chi2: 2.918700
[22:36:24.575] n deleted obs = 65 	 scale =0.237436 	 error init =0.045070 	 error end=0.044728
[22:36:24.575] After pose optimization, distance between two frames x:-0.026547 ,z=0.003479,angle between two frames:0.035848 and reprojected points are: 0
[22:36:24.575] Update EKF and 3D points, distance between two frames x:-0.020980 ,z=0.004369,angle between two frames:0.030809
[22:36:24.673] After Reprojection Map nPoint:55 ,nCell:24 ,nMatches:21 ,distance between two frames x:0.024970 ,z=0.004069,angle between two frames:0.021220
[22:36:24.673] Init estimate scale:0.227765
[22:36:24.673] it:0 	 Success 	 new_chi2: 2.326922 	 dT = -0.006996, 0.000000, 0.007796
[22:36:24.673] it:1 	 Success 	 new_chi2: 2.321365 	 dT = -0.006838, 0.000000, 0.007710
[22:36:24.673] it:2 	 Success 	 new_chi2: 2.316266 	 dT = -0.006688, 0.000000, 0.007628
[22:36:24.673] it:3 	 Success 	 new_chi2: 2.311595 	 dT = -0.006545, 0.000000, 0.007551
[22:36:24.673] it:4 	 Success 	 new_chi2: 2.307325 	 dT = -0.006410, 0.000000, 0.007478
[22:36:24.673] it:5 	 Success 	 new_chi2: 2.303433 	 dT = -0.003222, 0.000000, 0.005467
[22:36:24.673] it:6 	 FAILURE 	 new_chi2: 2.312265
[22:36:24.673] n deleted obs = 67 	 scale =0.227765 	 error init =0.034730 	 error end=0.034380
[22:36:24.673] After pose optimization, distance between two frames x:-0.008507 ,z=0.004069,angle between two frames:0.016943 and reprojected points are: 0
[22:36:24.673] Update EKF and 3D points, distance between two frames x:-0.004133 ,z=0.004900,angle between two frames:0.012838
[22:36:24.774] After Reprojection Map nPoint:56 ,nCell:23 ,nMatches:19 ,distance between two frames x:0.019618 ,z=0.003787,angle between two frames:0.018499
[22:36:24.774] Init estimate scale:0.233096
[22:36:24.774] it:0 	 Success 	 new_chi2: 2.811057 	 dT = -0.011350, 0.000000, 0.012457
[22:36:24.774] it:1 	 Success 	 new_chi2: 2.801344 	 dT = -0.010944, 0.000000, 0.012239
[22:36:24.774] it:2 	 Success 	 new_chi2: 2.792893 	 dT = -0.010570, 0.000000, 0.012038
[22:36:24.774] it:3 	 Success 	 new_chi2: 2.785580 	 dT = -0.010223, 0.000000, 0.011854
[22:36:24.774] it:4 	 Success 	 new_chi2: 2.779297 	 dT = -0.009902, 0.000000, 0.011684
[22:36:24.774] it:5 	 Success 	 new_chi2: 2.773953 	 dT = -0.004510, 0.000000, 0.007901
[22:36:24.774] it:6 	 FAILURE 	 new_chi2: 2.788146
[22:36:24.774] n deleted obs = 64 	 scale =0.233096 	 error init =0.043923 	 error end=0.043343
[22:36:24.774] After pose optimization, distance between two frames x:-0.033371 ,z=0.003787,angle between two frames:0.041774 and reprojected points are: 0
[22:36:24.774] Update EKF and 3D points, distance between two frames x:-0.029733 ,z=0.004035,angle between two frames:0.037971
[22:36:24.874] After Reprojection Map nPoint:53 ,nCell:21 ,nMatches:19 ,distance between two frames x:0.021523 ,z=0.001478,angle between two frames:0.020853
[22:36:24.874] Init estimate scale:0.219587
[22:36:24.874] it:0 	 Success 	 new_chi2: 3.652256 	 dT = -0.015109, 0.000000, 0.017250
[22:36:24.874] it:1 	 Success 	 new_chi2: 3.641137 	 dT = -0.014398, 0.000000, 0.016876
[22:36:24.874] it:2 	 Success 	 new_chi2: 3.632023 	 dT = -0.013757, 0.000000, 0.016541
[22:36:24.874] it:3 	 Success 	 new_chi2: 3.624662 	 dT = -0.013174, 0.000000, 0.016239
[22:36:24.875] it:4 	 Success 	 new_chi2: 3.618848 	 dT = -0.012643, 0.000000, 0.015966
[22:36:24.875] it:5 	 Success 	 new_chi2: 3.614410 	 dT = -0.004853, 0.000000, 0.010393
[22:36:24.875] it:6 	 FAILURE 	 new_chi2: 3.637108
[22:36:24.875] n deleted obs = 63 	 scale =0.219587 	 error init =0.057972 	 error end=0.057372
[22:36:24.875] After pose optimization, distance between two frames x:-0.047558 ,z=0.001478,angle between two frames:0.062019 and reprojected points are: 0
[22:36:24.875] Update EKF and 3D points, distance between two frames x:-0.039188 ,z=0.002297,angle between two frames:0.053440
[22:36:24.975] After Reprojection Map nPoint:52 ,nCell:21 ,nMatches:20 ,distance between two frames x:0.037537 ,z=0.003803,angle between two frames:0.037441
[22:36:24.976] Init estimate scale:0.224550
[22:36:24.976] it:0 	 Success 	 new_chi2: 178.182276 	 dT = -0.779839, 0.000000, 0.961634
[22:36:24.976] it:1 	 Success 	 new_chi2: 22.379116 	 dT = -0.044309, 0.000000, -0.149748
[22:36:24.976] it:2 	 FAILURE 	 new_chi2: 23.025920
[22:36:24.976] n deleted obs = 62 	 scale =0.224550 	 error init =2.784098 	 error end=0.349674
[22:36:24.976] After pose optimization, distance between two frames x:-0.742302 ,z=0.003803,angle between two frames:0.924193 and reprojected points are: 2
[22:36:25.076] After Reprojection Map nPoint:58 ,nCell:22 ,nMatches:21 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.003068
[22:36:25.076] Init estimate scale:0.223354
[22:36:25.076] it:0 	 Success 	 new_chi2: 3.877124 	 dT = -0.025263, 0.000000, 0.030629
[22:36:25.076] it:1 	 Success 	 new_chi2: 3.853569 	 dT = -0.023247, 0.000000, 0.029550
[22:36:25.076] it:2 	 Success 	 new_chi2: 3.836285 	 dT = -0.021538, 0.000000, 0.028655
[22:36:25.076] it:3 	 Success 	 new_chi2: 3.824097 	 dT = -0.020063, 0.000000, 0.027903
[22:36:25.076] it:4 	 Success 	 new_chi2: 3.816161 	 dT = -0.018769, 0.000000, 0.027268
[22:36:25.076] it:5 	 Success 	 new_chi2: 3.811859 	 dT = -0.007466, 0.000000, 0.017664
[22:36:25.076] it:6 	 FAILURE 	 new_chi2: 3.851967
[22:36:25.076] n deleted obs = 70 	 scale =0.223354 	 error init =0.055387 	 error end=0.054455
[22:36:25.076] After pose optimization, distance between two frames x:-0.108880 ,z=-0.000000,angle between two frames:0.147073 and reprojected points are: 0
[22:36:25.076] Update EKF and 3D points, distance between two frames x:-0.101594 ,z=0.000243,angle between two frames:0.137926
[22:36:25.175] After Reprojection Map nPoint:62 ,nCell:20 ,nMatches:19 ,distance between two frames x:0.043102 ,z=0.001457,angle between two frames:0.054994
[22:36:25.175] Init estimate scale:0.205649
[22:36:25.175] it:0 	 Success 	 new_chi2: 3.115376 	 dT = -0.035287, 0.000000, 0.045873
[22:36:25.175] it:1 	 Success 	 new_chi2: 3.086736 	 dT = -0.031238, 0.000000, 0.043436
[22:36:25.175] it:2 	 Success 	 new_chi2: 3.068559 	 dT = -0.027990, 0.000000, 0.041508
[22:36:25.175] it:3 	 Success 	 new_chi2: 3.058156 	 dT = -0.025298, 0.000000, 0.039931
[22:36:25.175] it:4 	 Success 	 new_chi2: 3.053812 	 dT = -0.023007, 0.000000, 0.038603
[22:36:25.175] it:5 	 FAILURE 	 new_chi2: 3.054378
[22:36:25.175] n deleted obs = 72 	 scale =0.205649 	 error init =0.043269 	 error end=0.042414
[22:36:25.175] After pose optimization, distance between two frames x:-0.076712 ,z=0.001457,angle between two frames:0.115753 and reprojected points are: 0
[22:36:25.175] Update EKF and 3D points, distance between two frames x:-0.068700 ,z=0.001678,angle between two frames:0.104629
[22:36:25.277] After Reprojection Map nPoint:59 ,nCell:19 ,nMatches:19 ,distance between two frames x:0.047389 ,z=0.001333,angle between two frames:0.064687
[22:36:25.277] Init estimate scale:0.190698
[22:36:25.277] it:0 	 Success 	 new_chi2: 335.771054 	 dT = -3.352375, 0.000000, 7.749399
[22:36:25.278] it:1 	 FAILURE 	 new_chi2: 7720.035423
[22:36:25.278] n deleted obs = 69 	 scale =0.190698 	 error init =4.866247 	 error end=4.866247
[22:36:25.278] After pose optimization, distance between two frames x:0.047389 ,z=0.001333,angle between two frames:0.064687 and reprojected points are: 0
[22:36:25.278] Update EKF and 3D points, distance between two frames x:0.047649 ,z=0.001512,angle between two frames:0.064458
[22:36:25.374] After Reprojection Map nPoint:50 ,nCell:21 ,nMatches:21 ,distance between two frames x:0.001593 ,z=0.001098,angle between two frames:0.002139
[22:36:25.374] Init estimate scale:0.209190
[22:36:25.375] it:0 	 Success 	 new_chi2: 3.908365 	 dT = -0.047264, 0.000000, 0.066125
[22:36:25.375] it:1 	 Success 	 new_chi2: 3.865984 	 dT = -0.039031, 0.000000, 0.060412
[22:36:25.375] it:2 	 Success 	 new_chi2: 3.842494 	 dT = -0.032888, 0.000000, 0.055943
[22:36:25.375] it:3 	 Success 	 new_chi2: 3.832611 	 dT = -0.028066, 0.000000, 0.052203
[22:36:25.375] it:4 	 FAILURE 	 new_chi2: 3.833571
[22:36:25.375] n deleted obs = 65 	 scale =0.209190 	 error init =0.060129 	 error end=0.058963
[22:36:25.375] After pose optimization, distance between two frames x:-0.117590 ,z=0.001098,angle between two frames:0.184619 and reprojected points are: 0
[22:36:25.375] Update EKF and 3D points, distance between two frames x:-0.109598 ,z=0.001290,angle between two frames:0.172651
[22:36:25.474] After Reprojection Map nPoint:60 ,nCell:23 ,nMatches:22 ,distance between two frames x:0.047270 ,z=0.001166,angle between two frames:0.074615
[22:36:25.474] Init estimate scale:0.181545
[22:36:25.474] it:0 	 Success 	 new_chi2: 3.194739 	 dT = -0.007785, 0.000000, 0.012686
[22:36:25.474] it:1 	 Success 	 new_chi2: 3.189339 	 dT = -0.007493, 0.000000, 0.012480
[22:36:25.474] it:2 	 Success 	 new_chi2: 3.184685 	 dT = -0.007215, 0.000000, 0.012283
[22:36:25.474] it:3 	 Success 	 new_chi2: 3.180743 	 dT = -0.006951, 0.000000, 0.012095
[22:36:25.474] it:4 	 Success 	 new_chi2: 3.177486 	 dT = -0.006699, 0.000000, 0.011914
[22:36:25.474] it:5 	 Success 	 new_chi2: 3.174889 	 dT = -0.002536, 0.000000, 0.007425
[22:36:25.474] it:6 	 FAILURE 	 new_chi2: 3.184899
[22:36:25.474] n deleted obs = 73 	 scale =0.181545 	 error init =0.043764 	 error end=0.043492
[22:36:25.474] After pose optimization, distance between two frames x:0.011126 ,z=0.001166,angle between two frames:0.013156 and reprojected points are: 0
[22:36:25.474] Update EKF and 3D points, distance between two frames x:0.016094 ,z=0.001690,angle between two frames:0.020797
[22:36:25.575] After Reprojection Map nPoint:58 ,nCell:20 ,nMatches:19 ,distance between two frames x:0.022278 ,z=0.002490,angle between two frames:0.039265
[22:36:25.575] Init estimate scale:0.185317
[22:36:25.575] it:0 	 Success 	 new_chi2: 69.720057 	 dT = -0.153047, 0.000000, 0.250283
[22:36:25.575] it:1 	 Success 	 new_chi2: 19.107995 	 dT = -0.014948, 0.000000, 0.034572
[22:36:25.575] it:2 	 Success 	 new_chi2: 17.130116 	 dT = -0.011451, 0.000000, 0.027307
[22:36:25.575] it:3 	 Success 	 new_chi2: 15.834979 	 dT = -0.009312, 0.000000, 0.022321
[22:36:25.575] it:4 	 Success 	 new_chi2: 14.921584 	 dT = -0.007894, 0.000000, 0.018574
[22:36:25.575] it:5 	 Success 	 new_chi2: 14.249326 	 dT = 0.000849, 0.000000, 0.001294
[22:36:25.575] it:6 	 Success 	 new_chi2: 14.192861 	 dT = 0.000816, 0.000000, 0.001467
[22:36:25.575] it:7 	 Success 	 new_chi2: 14.130804 	 dT = 0.000784, 0.000000, 0.001631
[22:36:25.575] it:8 	 Success 	 new_chi2: 14.063601 	 dT = 0.000754, 0.000000, 0.001788
[22:36:25.575] it:9 	 Success 	 new_chi2: 13.991705 	 dT = 0.000724, 0.000000, 0.001937
[22:36:25.575] it:10 	 Success 	 new_chi2: 13.915570 	 dT = 0.000696, 0.000000, 0.002078
[22:36:25.575] it:11 	 Success 	 new_chi2: 13.835645 	 dT = 0.000669, 0.000000, 0.002211
[22:36:25.575] it:12 	 Success 	 new_chi2: 13.752368 	 dT = 0.000643, 0.000000, 0.002336
[22:36:25.575] it:13 	 Success 	 new_chi2: 13.666166 	 dT = 0.000620, 0.000000, 0.002454
[22:36:25.575] it:14 	 Success 	 new_chi2: 13.577448 	 dT = 0.000597, 0.000000, 0.002564
[22:36:25.575] it:15 	 Success 	 new_chi2: 13.486604 	 dT = 0.000576, 0.000000, 0.002667
[22:36:25.575] it:16 	 Success 	 new_chi2: 13.394006 	 dT = 0.000556, 0.000000, 0.002762
[22:36:25.575] it:17 	 Success 	 new_chi2: 13.300000 	 dT = 0.000538, 0.000000, 0.002851
[22:36:25.575] it:18 	 Success 	 new_chi2: 13.204913 	 dT = 0.000520, 0.000000, 0.002934
[22:36:25.576] it:19 	 Success 	 new_chi2: 13.109048 	 dT = 0.000502, 0.000000, 0.003011
[22:36:25.576] it:20 	 Success 	 new_chi2: 13.012687 	 dT = 0.000485, 0.000000, 0.003082
[22:36:25.576] it:21 	 Success 	 new_chi2: 12.916089 	 dT = 0.000467, 0.000000, 0.003147
[22:36:25.576] it:22 	 Success 	 new_chi2: 12.819495 	 dT = 0.000448, 0.000000, 0.003207
[22:36:25.576] it:23 	 Success 	 new_chi2: 12.723130 	 dT = 0.000428, 0.000000, 0.003262
[22:36:25.576] it:24 	 Success 	 new_chi2: 12.627204 	 dT = 0.000407, 0.000000, 0.003312
[22:36:25.576] it:25 	 Success 	 new_chi2: 12.531916 	 dT = 0.000383, 0.000000, 0.003356
[22:36:25.576] it:26 	 Success 	 new_chi2: 12.437461 	 dT = 0.000357, 0.000000, 0.003394
[22:36:25.576] it:27 	 Success 	 new_chi2: 12.344027 	 dT = 0.000328, 0.000000, 0.003426
[22:36:25.576] it:28 	 Success 	 new_chi2: 12.251806 	 dT = 0.000296, 0.000000, 0.003451
[22:36:25.576] it:29 	 Success 	 new_chi2: 12.160991 	 dT = 0.000263, 0.000000, 0.003468
[22:36:25.576] it:30 	 Success 	 new_chi2: 12.071777 	 dT = 0.000226, 0.000000, 0.003476
[22:36:25.576] it:31 	 Success 	 new_chi2: 11.984365 	 dT = 0.000188, 0.000000, 0.003474
[22:36:25.576] it:32 	 Success 	 new_chi2: 11.898959 	 dT = 0.000149, 0.000000, 0.003461
[22:36:25.576] it:33 	 Success 	 new_chi2: 11.815767 	 dT = 0.000109, 0.000000, 0.003436
[22:36:25.576] it:34 	 Success 	 new_chi2: 11.735000 	 dT = 0.000068, 0.000000, 0.003399
[22:36:25.576] it:35 	 Success 	 new_chi2: 11.656871 	 dT = 0.000028, 0.000000, 0.003347
[22:36:25.576] it:36 	 Success 	 new_chi2: 11.581599 	 dT = -0.000027, 0.000000, 0.003331
[22:36:25.576] it:37 	 Success 	 new_chi2: 11.508340 	 dT = -0.000083, 0.000000, 0.003308
[22:36:25.576] it:38 	 Success 	 new_chi2: 11.437197 	 dT = -0.000137, 0.000000, 0.003266
[22:36:25.576] it:39 	 Success 	 new_chi2: 11.368470 	 dT = -0.000187, 0.000000, 0.003207
[22:36:25.576] it:40 	 Success 	 new_chi2: 11.302426 	 dT = -0.000236, 0.000000, 0.003131
[22:36:25.576] it:41 	 Success 	 new_chi2: 11.239300 	 dT = -0.000281, 0.000000, 0.003039
[22:36:25.576] it:42 	 Success 	 new_chi2: 11.179297 	 dT = -0.000324, 0.000000, 0.002931
[22:36:25.576] it:43 	 Success 	 new_chi2: 11.122596 	 dT = -0.000367, 0.000000, 0.002817
[22:36:25.576] it:44 	 Success 	 new_chi2: 11.069188 	 dT = -0.000410, 0.000000, 0.002701
[22:36:25.576] it:45 	 Success 	 new_chi2: 11.018986 	 dT = -0.000450, 0.000000, 0.002575
[22:36:25.576] it:46 	 Success 	 new_chi2: 10.972045 	 dT = -0.000489, 0.000000, 0.002443
[22:36:25.577] it:47 	 Success 	 new_chi2: 10.928368 	 dT = -0.000526, 0.000000, 0.002306
[22:36:25.577] it:48 	 Success 	 new_chi2: 10.887915 	 dT = -0.000560, 0.000000, 0.002167
[22:36:25.577] it:49 	 Success 	 new_chi2: 10.850627 	 dT = -0.000590, 0.000000, 0.002024
[22:36:25.577] it:50 	 Success 	 new_chi2: 10.816450 	 dT = -0.000616, 0.000000, 0.001878
[22:36:25.577] it:51 	 Success 	 new_chi2: 10.785348 	 dT = -0.000635, 0.000000, 0.001770
[22:36:25.577] it:52 	 Success 	 new_chi2: 10.756555 	 dT = -0.000649, 0.000000, 0.001660
[22:36:25.577] it:53 	 Success 	 new_chi2: 10.730039 	 dT = -0.000656, 0.000000, 0.001541
[22:36:25.577] it:54 	 Success 	 new_chi2: 10.705876 	 dT = -0.000657, 0.000000, 0.001414
[22:36:25.577] it:55 	 Success 	 new_chi2: 10.684122 	 dT = -0.000664, 0.000000, 0.001325
[22:36:25.577] it:56 	 Success 	 new_chi2: 10.664121 	 dT = -0.000673, 0.000000, 0.001244
[22:36:25.577] it:57 	 Success 	 new_chi2: 10.645700 	 dT = -0.000678, 0.000000, 0.001159
[22:36:25.577] it:58 	 Success 	 new_chi2: 10.628890 	 dT = -0.000678, 0.000000, 0.001070
[22:36:25.577] it:59 	 Success 	 new_chi2: 10.613713 	 dT = -0.000673, 0.000000, 0.000989
[22:36:25.577] it:60 	 Success 	 new_chi2: 10.599994 	 dT = -0.000662, 0.000000, 0.000922
[22:36:25.577] it:61 	 Success 	 new_chi2: 10.587453 	 dT = -0.000661, 0.000000, 0.000888
[22:36:25.577] it:62 	 Success 	 new_chi2: 10.575589 	 dT = -0.000653, 0.000000, 0.000853
[22:36:25.577] it:63 	 Success 	 new_chi2: 10.564384 	 dT = -0.000638, 0.000000, 0.000813
[22:36:25.577] it:64 	 Success 	 new_chi2: 10.553866 	 dT = -0.000615, 0.000000, 0.000768
[22:36:25.577] it:65 	 Success 	 new_chi2: 10.544081 	 dT = -0.000586, 0.000000, 0.000717
[22:36:25.577] it:66 	 Success 	 new_chi2: 10.535087 	 dT = -0.000552, 0.000000, 0.000659
[22:36:25.577] it:67 	 Success 	 new_chi2: 10.526944 	 dT = -0.000515, 0.000000, 0.000597
[22:36:25.577] it:68 	 Success 	 new_chi2: 10.519705 	 dT = -0.000500, 0.000000, 0.000530
[22:36:25.577] it:69 	 Success 	 new_chi2: 10.513513 	 dT = -0.000492, 0.000000, 0.000462
[22:36:25.577] n deleted obs = 64 	 scale =0.185317 	 error init =1.025295 	 error end=0.154535
[22:36:25.577] After pose optimization, distance between two frames x:-0.177021 ,z=0.002490,angle between two frames:0.461977 and reprojected points are: 4
[22:36:25.577] Update EKF and 3D points, distance between two frames x:-0.163845 ,z=0.002622,angle between two frames:0.428714
[22:36:25.675] After Reprojection Map nPoint:61 ,nCell:27 ,nMatches:25 ,distance between two frames x:0.077928 ,z=0.000871,angle between two frames:0.199611
[22:36:25.675] Init estimate scale:0.142150
[22:36:25.675] it:0 	 Success 	 new_chi2: 4.030380 	 dT = -0.001094, 0.000000, 0.003118
[22:36:25.675] it:1 	 FAILURE 	 new_chi2: 4.032575
[22:36:25.675] n deleted obs = 76 	 scale =0.142150 	 error init =0.053031 	 error end=0.053031
[22:36:25.675] After pose optimization, distance between two frames x:0.077928 ,z=0.000871,angle between two frames:0.199611 and reprojected points are: 0
[22:36:25.675] Update EKF and 3D points, distance between two frames x:0.078275 ,z=0.000952,angle between two frames:0.200155
[22:36:25.776] After Reprojection Map nPoint:61 ,nCell:21 ,nMatches:21 ,distance between two frames x:0.002045 ,z=0.000485,angle between two frames:0.007213
[22:36:25.776] Init estimate scale:0.190499
[22:36:25.776] it:0 	 Success 	 new_chi2: 4.214220 	 dT = -0.002974, 0.000000, 0.011508
[22:36:25.776] it:1 	 FAILURE 	 new_chi2: 4.240614
[22:36:25.776] n deleted obs = 72 	 scale =0.190499 	 error init =0.058531 	 error end=0.058531
[22:36:25.776] After pose optimization, distance between two frames x:0.002045 ,z=0.000485,angle between two frames:0.007213 and reprojected points are: 0
[22:36:25.776] Update EKF and 3D points, distance between two frames x:0.002393 ,z=0.000571,angle between two frames:0.008078
[22:36:25.874] After Reprojection Map nPoint:63 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.002056 ,z=0.000514,angle between two frames:0.008607
[22:36:25.874] Init estimate scale:0.175716
[22:36:25.874] it:0 	 Success 	 new_chi2: 18.780728 	 dT = -0.020446, 0.000000, 0.058987
[22:36:25.874] it:1 	 Success 	 new_chi2: 15.827149 	 dT = -0.013849, 0.000000, 0.046957
[22:36:25.874] it:2 	 Success 	 new_chi2: 14.089285 	 dT = -0.010165, 0.000000, 0.039794
[22:36:25.874] it:3 	 Success 	 new_chi2: 12.923415 	 dT = -0.007788, 0.000000, 0.034869
[22:36:25.874] it:4 	 Success 	 new_chi2: 12.083813 	 dT = -0.006129, 0.000000, 0.031194
[22:36:25.874] it:5 	 Success 	 new_chi2: 11.452231 	 dT = -0.001857, 0.000000, 0.010128
[22:36:25.874] it:6 	 Success 	 new_chi2: 11.268442 	 dT = -0.001690, 0.000000, 0.009567
[22:36:25.874] it:7 	 Success 	 new_chi2: 11.103742 	 dT = -0.001535, 0.000000, 0.009039
[22:36:25.874] it:8 	 Success 	 new_chi2: 10.955825 	 dT = -0.001408, 0.000000, 0.008562
[22:36:25.874] it:9 	 Success 	 new_chi2: 10.822303 	 dT = -0.001316, 0.000000, 0.008118
[22:36:25.874] it:10 	 Success 	 new_chi2: 10.701266 	 dT = -0.001259, 0.000000, 0.007651
[22:36:25.874] it:11 	 Success 	 new_chi2: 10.591744 	 dT = -0.001224, 0.000000, 0.007060
[22:36:25.874] it:12 	 Success 	 new_chi2: 10.494126 	 dT = -0.001214, 0.000000, 0.006312
[22:36:25.874] it:13 	 Success 	 new_chi2: 10.409043 	 dT = -0.001285, 0.000000, 0.006003
[22:36:25.875] it:14 	 Success 	 new_chi2: 10.329812 	 dT = -0.001354, 0.000000, 0.005636
[22:36:25.875] it:15 	 Success 	 new_chi2: 10.256659 	 dT = -0.001417, 0.000000, 0.005603
[22:36:25.875] it:16 	 Success 	 new_chi2: 10.185655 	 dT = -0.001470, 0.000000, 0.005342
[22:36:25.875] it:17 	 Success 	 new_chi2: 10.119173 	 dT = -0.001560, 0.000000, 0.005147
[22:36:25.875] it:18 	 Success 	 new_chi2: 10.056034 	 dT = -0.001632, 0.000000, 0.004881
[22:36:25.875] it:19 	 Success 	 new_chi2: 9.996881 	 dT = -0.001747, 0.000000, 0.004707
[22:36:25.875] it:20 	 Success 	 new_chi2: 9.940362 	 dT = -0.001861, 0.000000, 0.004503
[22:36:25.875] it:21 	 Success 	 new_chi2: 9.886692 	 dT = -0.001989, 0.000000, 0.004487
[22:36:25.875] it:22 	 Success 	 new_chi2: 9.834069 	 dT = -0.002098, 0.000000, 0.004640
[22:36:25.875] it:23 	 Success 	 new_chi2: 9.781298 	 dT = -0.002177, 0.000000, 0.004725
[22:36:25.875] it:24 	 Success 	 new_chi2: 9.729373 	 dT = -0.002244, 0.000000, 0.004759
[22:36:25.875] it:25 	 Success 	 new_chi2: 9.678956 	 dT = -0.002314, 0.000000, 0.004750
[22:36:25.875] it:26 	 Success 	 new_chi2: 9.630501 	 dT = -0.002392, 0.000000, 0.004706
[22:36:25.875] it:27 	 Success 	 new_chi2: 9.584333 	 dT = -0.002482, 0.000000, 0.004632
[22:36:25.875] it:28 	 Success 	 new_chi2: 9.540730 	 dT = -0.002582, 0.000000, 0.004523
[22:36:25.875] it:29 	 Success 	 new_chi2: 9.499981 	 dT = -0.002691, 0.000000, 0.004379
[22:36:25.875] it:30 	 Success 	 new_chi2: 9.462389 	 dT = -0.002805, 0.000000, 0.004196
[22:36:25.875] it:31 	 Success 	 new_chi2: 9.428261 	 dT = -0.002923, 0.000000, 0.003978
[22:36:25.875] it:32 	 Success 	 new_chi2: 9.397871 	 dT = -0.003042, 0.000000, 0.003733
[22:36:25.875] it:33 	 Success 	 new_chi2: 9.371442 	 dT = -0.003159, 0.000000, 0.003469
[22:36:25.875] it:34 	 Success 	 new_chi2: 9.349131 	 dT = -0.003271, 0.000000, 0.003195
[22:36:25.875] it:35 	 Success 	 new_chi2: 9.331053 	 dT = -0.003375, 0.000000, 0.002912
[22:36:25.875] it:36 	 Success 	 new_chi2: 9.317303 	 dT = -0.003471, 0.000000, 0.002617
[22:36:25.875] it:37 	 Success 	 new_chi2: 9.307968 	 dT = -0.003558, 0.000000, 0.002304
[22:36:25.876] it:38 	 Success 	 new_chi2: 9.303124 	 dT = -0.003636, 0.000000, 0.001975
[22:36:25.876] it:39 	 Success 	 new_chi2: 9.302814 	 dT = -0.003703, 0.000000, 0.001631
[22:36:25.876] it:40 	 FAILURE 	 new_chi2: 9.307032
[22:36:25.876] n deleted obs = 75 	 scale =0.175716 	 error init =0.250410 	 error end=0.124038
[22:36:25.876] After pose optimization, distance between two frames x:-0.130358 ,z=0.000514,angle between two frames:0.381433 and reprojected points are: 0
[22:36:25.876] Update EKF and 3D points, distance between two frames x:-0.121480 ,z=0.000568,angle between two frames:0.356050
[22:36:25.975] After Reprojection Map nPoint:69 ,nCell:21 ,nMatches:21 ,distance between two frames x:0.052525 ,z=0.000395,angle between two frames:0.149436
[22:36:25.975] Init estimate scale:0.260741
[22:36:25.975] it:0 	 Success 	 new_chi2: 12.263045 	 dT = -0.001567, 0.000000, 0.020629
[22:36:25.975] it:1 	 Success 	 new_chi2: 11.930915 	 dT = -0.001135, 0.000000, 0.019856
[22:36:25.975] it:2 	 Success 	 new_chi2: 11.650442 	 dT = -0.000751, 0.000000, 0.019165
[22:36:25.975] it:3 	 Success 	 new_chi2: 11.413662 	 dT = -0.000406, 0.000000, 0.018542
[22:36:25.975] it:4 	 Success 	 new_chi2: 11.214392 	 dT = -0.000095, 0.000000, 0.017989
[22:36:25.975] it:5 	 Success 	 new_chi2: 11.047642 	 dT = -0.000500, 0.000000, 0.003947
[22:36:25.975] it:6 	 Success 	 new_chi2: 11.009188 	 dT = -0.000515, 0.000000, 0.003984
[22:36:25.975] it:7 	 Success 	 new_chi2: 10.971288 	 dT = -0.000530, 0.000000, 0.004006
[22:36:25.975] it:8 	 Success 	 new_chi2: 10.934069 	 dT = -0.000547, 0.000000, 0.004015
[22:36:25.975] it:9 	 Success 	 new_chi2: 10.897621 	 dT = -0.000566, 0.000000, 0.004016
[22:36:25.975] it:10 	 Success 	 new_chi2: 10.861991 	 dT = -0.000586, 0.000000, 0.004015
[22:36:25.975] it:11 	 Success 	 new_chi2: 10.827182 	 dT = -0.000605, 0.000000, 0.004018
[22:36:25.976] it:12 	 Success 	 new_chi2: 10.793167 	 dT = -0.000624, 0.000000, 0.004027
[22:36:25.976] it:13 	 Success 	 new_chi2: 10.759916 	 dT = -0.000641, 0.000000, 0.004044
[22:36:25.976] it:14 	 Success 	 new_chi2: 10.727410 	 dT = -0.000655, 0.000000, 0.004065
[22:36:25.976] it:15 	 Success 	 new_chi2: 10.695655 	 dT = -0.000668, 0.000000, 0.004087
[22:36:25.976] it:16 	 Success 	 new_chi2: 10.664674 	 dT = -0.000681, 0.000000, 0.004110
[22:36:25.976] it:17 	 Success 	 new_chi2: 10.634501 	 dT = -0.000693, 0.000000, 0.004129
[22:36:25.976] it:18 	 Success 	 new_chi2: 10.605173 	 dT = -0.000706, 0.000000, 0.004146
[22:36:25.976] it:19 	 Success 	 new_chi2: 10.576724 	 dT = -0.000720, 0.000000, 0.004159
[22:36:25.976] it:20 	 Success 	 new_chi2: 10.549186 	 dT = -0.000735, 0.000000, 0.004168
[22:36:25.976] it:21 	 Success 	 new_chi2: 10.522587 	 dT = -0.000751, 0.000000, 0.004174
[22:36:25.976] it:22 	 Success 	 new_chi2: 10.496952 	 dT = -0.000769, 0.000000, 0.004175
[22:36:25.976] it:23 	 Success 	 new_chi2: 10.472302 	 dT = -0.000789, 0.000000, 0.004173
[22:36:25.976] it:24 	 Success 	 new_chi2: 10.448657 	 dT = -0.000811, 0.000000, 0.004166
[22:36:25.976] it:25 	 Success 	 new_chi2: 10.426038 	 dT = -0.000835, 0.000000, 0.004155
[22:36:25.976] it:26 	 Success 	 new_chi2: 10.404463 	 dT = -0.000861, 0.000000, 0.004140
[22:36:25.976] it:27 	 Success 	 new_chi2: 10.383949 	 dT = -0.000888, 0.000000, 0.004121
[22:36:25.976] it:28 	 Success 	 new_chi2: 10.364515 	 dT = -0.000918, 0.000000, 0.004097
[22:36:25.976] it:29 	 Success 	 new_chi2: 10.346179 	 dT = -0.000949, 0.000000, 0.004068
[22:36:25.976] it:30 	 Success 	 new_chi2: 10.328962 	 dT = -0.000982, 0.000000, 0.004035
[22:36:25.976] it:31 	 Success 	 new_chi2: 10.312882 	 dT = -0.001017, 0.000000, 0.003998
[22:36:25.976] it:32 	 Success 	 new_chi2: 10.297961 	 dT = -0.001053, 0.000000, 0.003956
[22:36:25.976] it:33 	 Success 	 new_chi2: 10.284219 	 dT = -0.001091, 0.000000, 0.003909
[22:36:25.976] it:34 	 Success 	 new_chi2: 10.271677 	 dT = -0.001130, 0.000000, 0.003858
[22:36:25.977] it:35 	 Success 	 new_chi2: 10.260358 	 dT = -0.001170, 0.000000, 0.003802
[22:36:25.977] it:36 	 Success 	 new_chi2: 10.250284 	 dT = -0.001211, 0.000000, 0.003742
[22:36:25.977] it:37 	 Success 	 new_chi2: 10.241478 	 dT = -0.001253, 0.000000, 0.003678
[22:36:25.977] it:38 	 Success 	 new_chi2: 10.233961 	 dT = -0.001295, 0.000000, 0.003609
[22:36:25.977] it:39 	 Success 	 new_chi2: 10.227757 	 dT = -0.001338, 0.000000, 0.003537
[22:36:25.977] it:40 	 Success 	 new_chi2: 10.222886 	 dT = -0.001381, 0.000000, 0.003460
[22:36:25.977] it:41 	 Success 	 new_chi2: 10.219368 	 dT = -0.001425, 0.000000, 0.003380
[22:36:25.977] it:42 	 Success 	 new_chi2: 10.217224 	 dT = -0.001468, 0.000000, 0.003296
[22:36:25.977] it:43 	 Success 	 new_chi2: 10.216471 	 dT = -0.001512, 0.000000, 0.003209
[22:36:25.977] it:44 	 FAILURE 	 new_chi2: 10.217123
[22:36:25.977] n deleted obs = 78 	 scale =0.260741 	 error init =0.157219 	 error end=0.130980
[22:36:25.977] After pose optimization, distance between two frames x:0.015214 ,z=0.000395,angle between two frames:0.097207 and reprojected points are: 0
[22:36:25.977] Update EKF and 3D points, distance between two frames x:0.017990 ,z=0.000385,angle between two frames:0.081115
[22:36:26.074] After Reprojection Map nPoint:66 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.016427 ,z=-0.000001,angle between two frames:0.098367
[22:36:26.074] Init estimate scale:0.293412
[22:36:26.074] it:0 	 Success 	 new_chi2: 8.779834 	 dT = 0.000059, 0.000000, 0.009257
[22:36:26.074] it:1 	 Success 	 new_chi2: 8.720362 	 dT = 0.000116, 0.000000, 0.009112
[22:36:26.074] it:2 	 Success 	 new_chi2: 8.667279 	 dT = 0.000171, 0.000000, 0.008974
[22:36:26.074] it:3 	 Success 	 new_chi2: 8.620230 	 dT = 0.000222, 0.000000, 0.008843
[22:36:26.074] it:4 	 Success 	 new_chi2: 8.578897 	 dT = 0.000270, 0.000000, 0.008717
[22:36:26.074] it:5 	 Success 	 new_chi2: 8.542999 	 dT = -0.000761, 0.000000, 0.002362
[22:36:26.074] it:6 	 Success 	 new_chi2: 8.526671 	 dT = -0.000774, 0.000000, 0.002347
[22:36:26.074] it:7 	 Success 	 new_chi2: 8.510736 	 dT = -0.000788, 0.000000, 0.002331
[22:36:26.074] it:8 	 Success 	 new_chi2: 8.495200 	 dT = -0.000803, 0.000000, 0.002314
[22:36:26.074] it:9 	 Success 	 new_chi2: 8.480069 	 dT = -0.000818, 0.000000, 0.002296
[22:36:26.074] it:10 	 Success 	 new_chi2: 8.465352 	 dT = -0.000833, 0.000000, 0.002278
[22:36:26.074] it:11 	 Success 	 new_chi2: 8.451055 	 dT = -0.000848, 0.000000, 0.002258
[22:36:26.074] it:12 	 Success 	 new_chi2: 8.437186 	 dT = -0.000864, 0.000000, 0.002237
[22:36:26.075] it:13 	 Success 	 new_chi2: 8.423754 	 dT = -0.000880, 0.000000, 0.002216
[22:36:26.075] it:14 	 Success 	 new_chi2: 8.410768 	 dT = -0.000897, 0.000000, 0.002193
[22:36:26.075] it:15 	 Success 	 new_chi2: 8.398237 	 dT = -0.000913, 0.000000, 0.002169
[22:36:26.075] it:16 	 Success 	 new_chi2: 8.386169 	 dT = -0.000930, 0.000000, 0.002144
[22:36:26.075] it:17 	 Success 	 new_chi2: 8.374576 	 dT = -0.000948, 0.000000, 0.002117
[22:36:26.075] it:18 	 Success 	 new_chi2: 8.363465 	 dT = -0.000965, 0.000000, 0.002090
[22:36:26.075] it:19 	 Success 	 new_chi2: 8.352848 	 dT = -0.000983, 0.000000, 0.002061
[22:36:26.075] it:20 	 Success 	 new_chi2: 8.342734 	 dT = -0.001001, 0.000000, 0.002031
[22:36:26.075] it:21 	 Success 	 new_chi2: 8.333133 	 dT = -0.001019, 0.000000, 0.001999
[22:36:26.075] it:22 	 Success 	 new_chi2: 8.324054 	 dT = -0.001037, 0.000000, 0.001967
[22:36:26.075] it:23 	 Success 	 new_chi2: 8.315508 	 dT = -0.001056, 0.000000, 0.001933
[22:36:26.075] it:24 	 Success 	 new_chi2: 8.307504 	 dT = -0.001074, 0.000000, 0.001898
[22:36:26.075] it:25 	 Success 	 new_chi2: 8.300052 	 dT = -0.001092, 0.000000, 0.001862
[22:36:26.075] it:26 	 Success 	 new_chi2: 8.293159 	 dT = -0.001110, 0.000000, 0.001825
[22:36:26.075] it:27 	 Success 	 new_chi2: 8.286836 	 dT = -0.001129, 0.000000, 0.001787
[22:36:26.075] it:28 	 Success 	 new_chi2: 8.281090 	 dT = -0.001147, 0.000000, 0.001748
[22:36:26.075] it:29 	 Success 	 new_chi2: 8.275929 	 dT = -0.001165, 0.000000, 0.001707
[22:36:26.075] it:30 	 Success 	 new_chi2: 8.271360 	 dT = -0.001183, 0.000000, 0.001666
[22:36:26.075] it:31 	 Success 	 new_chi2: 8.267390 	 dT = -0.001201, 0.000000, 0.001624
[22:36:26.075] it:32 	 Success 	 new_chi2: 8.264026 	 dT = -0.001218, 0.000000, 0.001582
[22:36:26.075] it:33 	 Success 	 new_chi2: 8.261272 	 dT = -0.001235, 0.000000, 0.001538
[22:36:26.075] it:34 	 Success 	 new_chi2: 8.259133 	 dT = -0.001252, 0.000000, 0.001493
[22:36:26.075] it:35 	 Success 	 new_chi2: 8.257613 	 dT = -0.001269, 0.000000, 0.001448
[22:36:26.075] it:36 	 Success 	 new_chi2: 8.256716 	 dT = -0.001286, 0.000000, 0.001402
[22:36:26.076] it:37 	 Success 	 new_chi2: 8.256444 	 dT = -0.001302, 0.000000, 0.001356
[22:36:26.076] it:38 	 FAILURE 	 new_chi2: 8.256798
[22:36:26.076] n deleted obs = 78 	 scale =0.293412 	 error init =0.112562 	 error end=0.105852
[22:36:26.076] After pose optimization, distance between two frames x:-0.015214 ,z=-0.000001,angle between two frames:0.009457 and reprojected points are: 0
[22:36:26.076] Update EKF and 3D points, distance between two frames x:-0.012818 ,z=-0.000047,angle between two frames:0.002437
[22:36:26.174] After Reprojection Map nPoint:56 ,nCell:23 ,nMatches:22 ,distance between two frames x:0.014180 ,z=-0.000245,angle between two frames:0.040704
[22:36:26.174] Init estimate scale:0.294256
[22:36:26.174] it:0 	 Success 	 new_chi2: 5.536005 	 dT = -0.000016, 0.000000, 0.004620
[22:36:26.174] it:1 	 FAILURE 	 new_chi2: 5.570523
[22:36:26.174] n deleted obs = 71 	 scale =0.294256 	 error init =0.077972 	 error end=0.077972
[22:36:26.174] After pose optimization, distance between two frames x:0.014180 ,z=-0.000245,angle between two frames:0.040704 and reprojected points are: 0
[22:36:26.174] Update EKF and 3D points, distance between two frames x:0.014514 ,z=-0.000301,angle between two frames:0.040581
[22:36:26.275] After Reprojection Map nPoint:62 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.001976 ,z=-0.000331,angle between two frames:0.000130
[22:36:26.275] Init estimate scale:0.275544
[22:36:26.275] it:0 	 Success 	 new_chi2: 5.683383 	 dT = -0.000091, 0.000000, 0.004228
[22:36:26.275] it:1 	 FAILURE 	 new_chi2: 5.713160
[22:36:26.275] n deleted obs = 77 	 scale =0.275544 	 error init =0.073810 	 error end=0.073810
[22:36:26.275] After pose optimization, distance between two frames x:0.001976 ,z=-0.000331,angle between two frames:0.000130 and reprojected points are: 0
[22:36:26.275] Update EKF and 3D points, distance between two frames x:0.003110 ,z=-0.000519,angle between two frames:0.000084
[22:36:26.377] After Reprojection Map nPoint:55 ,nCell:20 ,nMatches:18 ,distance between two frames x:0.005099 ,z=-0.000847,angle between two frames:0.000243
[22:36:26.377] Init estimate scale:0.307812
[22:36:26.377] it:0 	 Success 	 new_chi2: 5.086776 	 dT = -0.000049, 0.000000, 0.002027
[22:36:26.377] it:1 	 FAILURE 	 new_chi2: 5.100679
[22:36:26.377] n deleted obs = 64 	 scale =0.307812 	 error init =0.079481 	 error end=0.079481
[22:36:26.377] After pose optimization, distance between two frames x:0.005099 ,z=-0.000847,angle between two frames:0.000243 and reprojected points are: 0
[22:36:26.377] Update EKF and 3D points, distance between two frames x:0.005451 ,z=-0.000905,angle between two frames:0.000131
[22:36:26.474] After Reprojection Map nPoint:60 ,nCell:21 ,nMatches:19 ,distance between two frames x:0.002082 ,z=-0.000343,angle between two frames:0.000458
[22:36:26.474] Init estimate scale:0.299096
[22:36:26.474] it:0 	 Success 	 new_chi2: 4.184152 	 dT = -0.000007, 0.000000, 0.002738
[22:36:26.474] it:1 	 FAILURE 	 new_chi2: 4.202907
[22:36:26.474] n deleted obs = 69 	 scale =0.299096 	 error init =0.060640 	 error end=0.060640
[22:36:26.474] After pose optimization, distance between two frames x:0.002082 ,z=-0.000343,angle between two frames:0.000458 and reprojected points are: 0
[22:36:26.474] Update EKF and 3D points, distance between two frames x:0.003155 ,z=-0.000522,angle between two frames:0.000234
[22:36:26.574] After Reprojection Map nPoint:58 ,nCell:20 ,nMatches:19 ,distance between two frames x:0.004821 ,z=-0.000807,angle between two frames:0.002695
[22:36:26.574] Init estimate scale:0.328177
[22:36:26.574] it:0 	 Success 	 new_chi2: 5.505023 	 dT = 0.000350, 0.000000, 0.005060
[22:36:26.574] it:1 	 FAILURE 	 new_chi2: 5.544187
[22:36:26.574] n deleted obs = 67 	 scale =0.328177 	 error init =0.082165 	 error end=0.082165
[22:36:26.574] After pose optimization, distance between two frames x:0.004821 ,z=-0.000807,angle between two frames:0.002695 and reprojected points are: 0
[22:36:26.574] Update EKF and 3D points, distance between two frames x:0.005893 ,z=-0.000990,angle between two frames:0.003381
[22:36:26.676] After Reprojection Map nPoint:58 ,nCell:23 ,nMatches:22 ,distance between two frames x:0.004822 ,z=-0.000838,angle between two frames:0.007302
[22:36:26.677] Init estimate scale:0.281104
[22:36:26.677] it:0 	 Success 	 new_chi2: 9.514638 	 dT = -0.000283, 0.000000, 0.006831
[22:36:26.677] it:1 	 Success 	 new_chi2: 9.492928 	 dT = -0.000277, 0.000000, 0.006703
[22:36:26.677] it:2 	 Success 	 new_chi2: 9.474651 	 dT = -0.000274, 0.000000, 0.006575
[22:36:26.677] it:3 	 Success 	 new_chi2: 9.459665 	 dT = -0.000273, 0.000000, 0.006449
[22:36:26.677] it:4 	 Success 	 new_chi2: 9.447836 	 dT = -0.000275, 0.000000, 0.006325
[22:36:26.677] it:5 	 Success 	 new_chi2: 9.439040 	 dT = -0.001178, 0.000000, 0.002112
[22:36:26.677] it:6 	 Success 	 new_chi2: 9.432739 	 dT = -0.001206, 0.000000, 0.002057
[22:36:26.677] it:7 	 Success 	 new_chi2: 9.427120 	 dT = -0.001235, 0.000000, 0.002002
[22:36:26.677] it:8 	 Success 	 new_chi2: 9.422189 	 dT = -0.001264, 0.000000, 0.001945
[22:36:26.677] it:9 	 Success 	 new_chi2: 9.417956 	 dT = -0.001294, 0.000000, 0.001888
[22:36:26.677] it:10 	 Success 	 new_chi2: 9.414428 	 dT = -0.001324, 0.000000, 0.001829
[22:36:26.677] it:11 	 Success 	 new_chi2: 9.411616 	 dT = -0.001355, 0.000000, 0.001769
[22:36:26.677] it:12 	 Success 	 new_chi2: 9.409530 	 dT = -0.001386, 0.000000, 0.001708
[22:36:26.677] it:13 	 Success 	 new_chi2: 9.408178 	 dT = -0.001418, 0.000000, 0.001645
[22:36:26.677] it:14 	 Success 	 new_chi2: 9.407572 	 dT = -0.001449, 0.000000, 0.001581
[22:36:26.677] it:15 	 FAILURE 	 new_chi2: 9.407723
[22:36:26.677] n deleted obs = 72 	 scale =0.281104 	 error init =0.132148 	 error end=0.130661
[22:36:26.677] After pose optimization, distance between two frames x:-0.008219 ,z=-0.000838,angle between two frames:0.057139 and reprojected points are: 0
[22:36:26.677] Update EKF and 3D points, distance between two frames x:-0.007027 ,z=-0.000906,angle between two frames:0.054459
[22:36:26.774] After Reprojection Map nPoint:55 ,nCell:23 ,nMatches:22 ,distance between two frames x:0.007052 ,z=-0.000393,angle between two frames:0.013941
[22:36:26.775] Init estimate scale:0.298591
[22:36:26.775] it:0 	 Success 	 new_chi2: 4.694188 	 dT = -0.000062, 0.000000, 0.002716
[22:36:26.775] it:1 	 FAILURE 	 new_chi2: 4.716088
[22:36:26.775] n deleted obs = 69 	 scale =0.298591 	 error init =0.068032 	 error end=0.068032
[22:36:26.775] After pose optimization, distance between two frames x:0.007052 ,z=-0.000393,angle between two frames:0.013941 and reprojected points are: 0
[22:36:26.775] Update EKF and 3D points, distance between two frames x:0.007049 ,z=-0.000392,angle between two frames:0.013591
[22:36:26.875] After Reprojection Map nPoint:60 ,nCell:25 ,nMatches:25 ,distance between two frames x:0.007555 ,z=-0.001599,angle between two frames:0.000980
[22:36:26.875] Init estimate scale:0.309842
[22:36:26.875] it:0 	 Success 	 new_chi2: 9.304821 	 dT = -0.000175, 0.000000, 0.005712
[22:36:26.875] it:1 	 Success 	 new_chi2: 9.304088 	 dT = -0.000183, 0.000000, 0.005602
[22:36:26.875] it:2 	 FAILURE 	 new_chi2: 9.305942
[22:36:26.875] n deleted obs = 74 	 scale =0.309842 	 error init =0.125741 	 error end=0.125731
[22:36:26.875] After pose optimization, distance between two frames x:0.007380 ,z=-0.001599,angle between two frames:0.006692 and reprojected points are: 0
[22:36:26.875] Update EKF and 3D points, distance between two frames x:0.007723 ,z=-0.001670,angle between two frames:0.006362
[22:36:26.973] After Reprojection Map nPoint:64 ,nCell:27 ,nMatches:25 ,distance between two frames x:0.002027 ,z=-0.000420,angle between two frames:0.003921
[22:36:26.973] Init estimate scale:0.281168
[22:36:26.973] it:0 	 Success 	 new_chi2: 5.855724 	 dT = -0.000074, 0.000000, 0.001917
[22:36:26.973] it:1 	 FAILURE 	 new_chi2: 5.871056
[22:36:26.973] n deleted obs = 78 	 scale =0.281168 	 error init =0.075073 	 error end=0.075073
[22:36:26.973] After pose optimization, distance between two frames x:0.002027 ,z=-0.000420,angle between two frames:0.003921 and reprojected points are: 0
[22:36:26.973] Update EKF and 3D points, distance between two frames x:0.003113 ,z=-0.000651,angle between two frames:0.004357
[22:36:27.073] After Reprojection Map nPoint:65 ,nCell:25 ,nMatches:25 ,distance between two frames x:0.004890 ,z=-0.001031,angle between two frames:0.001926
[22:36:27.074] Init estimate scale:0.295907
[22:36:27.074] it:0 	 Success 	 new_chi2: 9.479035 	 dT = 0.000470, 0.000000, 0.005518
[22:36:27.074] it:1 	 FAILURE 	 new_chi2: 9.484839
[22:36:27.074] n deleted obs = 80 	 scale =0.295907 	 error init =0.118488 	 error end=0.118488
[22:36:27.074] After pose optimization, distance between two frames x:0.004890 ,z=-0.001031,angle between two frames:0.001926 and reprojected points are: 0
[22:36:27.074] Update EKF and 3D points, distance between two frames x:0.005226 ,z=-0.001101,angle between two frames:0.002344
[22:36:27.172] After Reprojection Map nPoint:64 ,nCell:23 ,nMatches:21 ,distance between two frames x:0.001988 ,z=-0.000412,angle between two frames:0.006282
[22:36:27.172] Init estimate scale:0.287124
[22:36:27.172] it:0 	 Success 	 new_chi2: 5.793592 	 dT = 0.000096, 0.000000, 0.004168
[22:36:27.172] it:1 	 FAILURE 	 new_chi2: 5.832088
[22:36:27.172] n deleted obs = 77 	 scale =0.287124 	 error init =0.075241 	 error end=0.075241
[22:36:27.172] After pose optimization, distance between two frames x:0.001988 ,z=-0.000412,angle between two frames:0.006282 and reprojected points are: 0
[22:36:27.172] Update EKF and 3D points, distance between two frames x:0.003021 ,z=-0.000621,angle between two frames:0.006911
[22:36:27.272] After Reprojection Map nPoint:61 ,nCell:22 ,nMatches:22 ,distance between two frames x:0.004649 ,z=-0.000929,angle between two frames:0.001775
[22:36:27.272] Init estimate scale:0.305636
[22:36:27.272] it:0 	 Success 	 new_chi2: 6.162636 	 dT = 0.000105, 0.000000, 0.005272
[22:36:27.272] it:1 	 FAILURE 	 new_chi2: 6.208730
[22:36:27.272] n deleted obs = 73 	 scale =0.305636 	 error init =0.084420 	 error end=0.084420
[22:36:27.272] After pose optimization, distance between two frames x:0.004649 ,z=-0.000929,angle between two frames:0.001775 and reprojected points are: 0
[22:36:27.272] Update EKF and 3D points, distance between two frames x:0.004649 ,z=-0.000929,angle between two frames:0.002116
[22:36:27.374] After Reprojection Map nPoint:61 ,nCell:23 ,nMatches:21 ,distance between two frames x:0.007869 ,z=-0.001588,angle between two frames:0.004467
[22:36:27.375] Init estimate scale:0.323266
[22:36:27.375] it:0 	 Success 	 new_chi2: 6.018674 	 dT = 0.000589, 0.000000, 0.005634
[22:36:27.375] it:1 	 FAILURE 	 new_chi2: 6.073645
[22:36:27.375] n deleted obs = 73 	 scale =0.323266 	 error init =0.082448 	 error end=0.082448
[22:36:27.375] After pose optimization, distance between two frames x:0.007869 ,z=-0.001588,angle between two frames:0.004467 and reprojected points are: 0
[22:36:27.375] Update EKF and 3D points, distance between two frames x:0.008996 ,z=-0.001805,angle between two frames:0.005873
[22:36:27.474] After Reprojection Map nPoint:62 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.005076 ,z=-0.000948,angle between two frames:0.007840
[22:36:27.474] Init estimate scale:0.312523
[22:36:27.474] it:0 	 Success 	 new_chi2: 10.502876 	 dT = -0.000148, 0.000000, 0.005501
[22:36:27.474] it:1 	 Success 	 new_chi2: 10.483182 	 dT = -0.000138, 0.000000, 0.005443
[22:36:27.474] it:2 	 Success 	 new_chi2: 10.465594 	 dT = -0.000129, 0.000000, 0.005385
[22:36:27.474] it:3 	 Success 	 new_chi2: 10.450060 	 dT = -0.000122, 0.000000, 0.005328
[22:36:27.474] it:4 	 Success 	 new_chi2: 10.436530 	 dT = -0.000115, 0.000000, 0.005272
[22:36:27.474] it:5 	 Success 	 new_chi2: 10.424959 	 dT = -0.000791, 0.000000, 0.002478
[22:36:27.474] it:6 	 Success 	 new_chi2: 10.411526 	 dT = -0.000800, 0.000000, 0.002447
[22:36:27.474] it:7 	 Success 	 new_chi2: 10.398648 	 dT = -0.000809, 0.000000, 0.002416
[22:36:27.474] it:8 	 Success 	 new_chi2: 10.386325 	 dT = -0.000819, 0.000000, 0.002385
[22:36:27.474] it:9 	 Success 	 new_chi2: 10.374555 	 dT = -0.000829, 0.000000, 0.002353
[22:36:27.474] it:10 	 Success 	 new_chi2: 10.363341 	 dT = -0.000839, 0.000000, 0.002321
[22:36:27.474] it:11 	 Success 	 new_chi2: 10.352680 	 dT = -0.000849, 0.000000, 0.002290
[22:36:27.474] it:12 	 Success 	 new_chi2: 10.342575 	 dT = -0.000860, 0.000000, 0.002258
[22:36:27.474] it:13 	 Success 	 new_chi2: 10.333027 	 dT = -0.000870, 0.000000, 0.002226
[22:36:27.474] it:14 	 Success 	 new_chi2: 10.324038 	 dT = -0.000881, 0.000000, 0.002195
[22:36:27.474] it:15 	 Success 	 new_chi2: 10.315609 	 dT = -0.000892, 0.000000, 0.002163
[22:36:27.474] it:16 	 Success 	 new_chi2: 10.307745 	 dT = -0.000904, 0.000000, 0.002132
[22:36:27.475] it:17 	 Success 	 new_chi2: 10.300447 	 dT = -0.000915, 0.000000, 0.002101
[22:36:27.475] it:18 	 Success 	 new_chi2: 10.293720 	 dT = -0.000927, 0.000000, 0.002070
[22:36:27.475] it:19 	 Success 	 new_chi2: 10.287569 	 dT = -0.000938, 0.000000, 0.002039
[22:36:27.475] it:20 	 Success 	 new_chi2: 10.281997 	 dT = -0.000950, 0.000000, 0.002009
[22:36:27.475] it:21 	 Success 	 new_chi2: 10.277009 	 dT = -0.000962, 0.000000, 0.001979
[22:36:27.475] it:22 	 Success 	 new_chi2: 10.272612 	 dT = -0.000974, 0.000000, 0.001949
[22:36:27.475] it:23 	 Success 	 new_chi2: 10.268810 	 dT = -0.000987, 0.000000, 0.001919
[22:36:27.475] it:24 	 Success 	 new_chi2: 10.265611 	 dT = -0.000999, 0.000000, 0.001889
[22:36:27.475] it:25 	 Success 	 new_chi2: 10.263020 	 dT = -0.001011, 0.000000, 0.001860
[22:36:27.475] it:26 	 Success 	 new_chi2: 10.261044 	 dT = -0.001024, 0.000000, 0.001831
[22:36:27.475] it:27 	 Success 	 new_chi2: 10.259691 	 dT = -0.001037, 0.000000, 0.001802
[22:36:27.475] it:28 	 Success 	 new_chi2: 10.258968 	 dT = -0.001050, 0.000000, 0.001773
[22:36:27.475] it:29 	 Success 	 new_chi2: 10.258882 	 dT = -0.001063, 0.000000, 0.001744
[22:36:27.475] it:30 	 FAILURE 	 new_chi2: 10.259442
[22:36:27.475] n deleted obs = 76 	 scale =0.312523 	 error init =0.138196 	 error end=0.134985
[22:36:27.475] After pose optimization, distance between two frames x:-0.017493 ,z=-0.000948,angle between two frames:0.069974 and reprojected points are: 0
[22:36:27.475] Update EKF and 3D points, distance between two frames x:-0.015699 ,z=-0.001016,angle between two frames:0.064484
[22:36:27.573] After Reprojection Map nPoint:63 ,nCell:22 ,nMatches:22 ,distance between two frames x:0.010614 ,z=-0.000383,angle between two frames:0.035391
[22:36:27.574] Init estimate scale:0.326551
[22:36:27.574] it:0 	 Success 	 new_chi2: 10.091347 	 dT = 0.001891, 0.000000, 0.010100
[22:36:27.574] it:1 	 FAILURE 	 new_chi2: 10.114037
[22:36:27.574] n deleted obs = 74 	 scale =0.326551 	 error init =0.136370 	 error end=0.136370
[22:36:27.574] After pose optimization, distance between two frames x:0.010614 ,z=-0.000383,angle between two frames:0.035391 and reprojected points are: 0
[22:36:27.574] Update EKF and 3D points, distance between two frames x:0.011686 ,z=-0.000622,angle between two frames:0.036489
[22:36:27.672] After Reprojection Map nPoint:68 ,nCell:27 ,nMatches:25 ,distance between two frames x:0.004828 ,z=-0.001053,angle between two frames:0.007630
[22:36:27.672] Init estimate scale:0.319364
[22:36:27.672] it:0 	 Success 	 new_chi2: 6.690335 	 dT = 0.000545, 0.000000, 0.006089
[22:36:27.672] it:1 	 FAILURE 	 new_chi2: 6.756547
[22:36:27.672] n deleted obs = 84 	 scale =0.319364 	 error init =0.079647 	 error end=0.079647
[22:36:27.672] After pose optimization, distance between two frames x:0.004828 ,z=-0.001053,angle between two frames:0.007630 and reprojected points are: 0
[22:36:27.672] Update EKF and 3D points, distance between two frames x:0.005850 ,z=-0.001274,angle between two frames:0.008063
[22:36:27.777] After Reprojection Map nPoint:66 ,nCell:23 ,nMatches:21 ,distance between two frames x:0.004595 ,z=-0.000983,angle between two frames:0.001791
[22:36:27.777] Init estimate scale:0.353399
[22:36:27.777] it:0 	 Success 	 new_chi2: 7.261977 	 dT = 0.000959, 0.000000, 0.008061
[22:36:27.777] it:1 	 FAILURE 	 new_chi2: 7.361670
[22:36:27.777] n deleted obs = 77 	 scale =0.353399 	 error init =0.094311 	 error end=0.094311
[22:36:27.777] After pose optimization, distance between two frames x:0.004595 ,z=-0.000983,angle between two frames:0.001791 and reprojected points are: 0
[22:36:27.777] Update EKF and 3D points, distance between two frames x:0.004958 ,z=-0.001061,angle between two frames:0.001739
[22:36:27.873] After Reprojection Map nPoint:65 ,nCell:23 ,nMatches:22 ,distance between two frames x:0.002149 ,z=-0.000462,angle between two frames:0.001084
[22:36:27.873] Init estimate scale:0.285553
[22:36:27.873] it:0 	 Success 	 new_chi2: 7.097901 	 dT = 0.000409, 0.000000, 0.007504
[22:36:27.873] it:1 	 FAILURE 	 new_chi2: 7.171362
[22:36:27.873] n deleted obs = 81 	 scale =0.285553 	 error init =0.087628 	 error end=0.087628
[22:36:27.873] After pose optimization, distance between two frames x:0.002149 ,z=-0.000462,angle between two frames:0.001084 and reprojected points are: 0
[22:36:27.873] Update EKF and 3D points, distance between two frames x:0.002481 ,z=-0.000534,angle between two frames:0.001132
[22:36:27.976] After Reprojection Map nPoint:69 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.001963 ,z=-0.000425,angle between two frames:0.000851
[22:36:27.976] Init estimate scale:0.295442
[22:36:27.976] it:0 	 Success 	 new_chi2: 9.852122 	 dT = 0.001464, 0.000000, 0.010557
[22:36:27.976] it:1 	 FAILURE 	 new_chi2: 9.877829
[22:36:27.976] n deleted obs = 81 	 scale =0.295442 	 error init =0.121631 	 error end=0.121631
[22:36:27.976] After pose optimization, distance between two frames x:0.001963 ,z=-0.000425,angle between two frames:0.000851 and reprojected points are: 0
[22:36:27.976] Update EKF and 3D points, distance between two frames x:0.002314 ,z=-0.000499,angle between two frames:0.001058
[22:36:28.073] After Reprojection Map nPoint:63 ,nCell:24 ,nMatches:22 ,distance between two frames x:0.002080 ,z=-0.000441,angle between two frames:0.000252
[22:36:28.073] Init estimate scale:0.331931
[22:36:28.073] it:0 	 Success 	 new_chi2: 6.510665 	 dT = 0.001078, 0.000000, 0.007136
[22:36:28.073] it:1 	 FAILURE 	 new_chi2: 6.587345
[22:36:28.073] n deleted obs = 75 	 scale =0.331931 	 error init =0.086809 	 error end=0.086809
[22:36:28.073] After pose optimization, distance between two frames x:0.002080 ,z=-0.000441,angle between two frames:0.000252 and reprojected points are: 0
[22:36:28.073] Update EKF and 3D points, distance between two frames x:0.003155 ,z=-0.000674,angle between two frames:0.000861
[22:36:28.173] After Reprojection Map nPoint:56 ,nCell:23 ,nMatches:21 ,distance between two frames x:0.004829 ,z=-0.001061,angle between two frames:0.005073
[22:36:28.173] Init estimate scale:0.271300
[22:36:28.173] it:0 	 Success 	 new_chi2: 5.680826 	 dT = 0.000249, 0.000000, 0.002791
[22:36:28.173] it:1 	 FAILURE 	 new_chi2: 5.705921
[22:36:28.173] n deleted obs = 71 	 scale =0.271300 	 error init =0.080012 	 error end=0.080012
[22:36:28.173] After pose optimization, distance between two frames x:0.004829 ,z=-0.001061,angle between two frames:0.005073 and reprojected points are: 0
[22:36:28.173] Update EKF and 3D points, distance between two frames x:0.005897 ,z=-0.001298,angle between two frames:0.005616
[22:36:28.273] After Reprojection Map nPoint:58 ,nCell:23 ,nMatches:23 ,distance between two frames x:0.004803 ,z=-0.001081,angle between two frames:0.003839
[22:36:28.273] Init estimate scale:0.248707
[22:36:28.273] it:0 	 Success 	 new_chi2: 9.125688 	 dT = 0.000765, 0.000000, 0.008275
[22:36:28.273] it:1 	 FAILURE 	 new_chi2: 9.131074
[22:36:28.273] n deleted obs = 72 	 scale =0.248707 	 error init =0.126746 	 error end=0.126746
[22:36:28.273] After pose optimization, distance between two frames x:0.004803 ,z=-0.001081,angle between two frames:0.003839 and reprojected points are: 0
[22:36:28.273] Update EKF and 3D points, distance between two frames x:0.005871 ,z=-0.001324,angle between two frames:0.004265
[22:36:28.373] After Reprojection Map nPoint:53 ,nCell:23 ,nMatches:21 ,distance between two frames x:0.004802 ,z=-0.001099,angle between two frames:0.004630
[22:36:28.373] Init estimate scale:0.288423
[22:36:28.373] it:0 	 Success 	 new_chi2: 5.709854 	 dT = 0.000297, 0.000000, 0.002791
[22:36:28.373] it:1 	 FAILURE 	 new_chi2: 5.736163
[22:36:28.373] n deleted obs = 70 	 scale =0.288423 	 error init =0.081569 	 error end=0.081569
[22:36:28.373] After pose optimization, distance between two frames x:0.004802 ,z=-0.001099,angle between two frames:0.004630 and reprojected points are: 0
[22:36:28.373] Update EKF and 3D points, distance between two frames x:0.005815 ,z=-0.001336,angle between two frames:0.005494
[22:36:28.472] After Reprojection Map nPoint:55 ,nCell:19 ,nMatches:19 ,distance between two frames x:0.004554 ,z=-0.001082,angle between two frames:0.007973
[22:36:28.472] Init estimate scale:0.283481
[22:36:28.472] it:0 	 Success 	 new_chi2: 9.808422 	 dT = 0.001007, 0.000000, 0.004219
[22:36:28.472] it:1 	 FAILURE 	 new_chi2: 9.813589
[22:36:28.472] n deleted obs = 65 	 scale =0.283481 	 error init =0.150899 	 error end=0.150899
[22:36:28.472] After pose optimization, distance between two frames x:0.004554 ,z=-0.001082,angle between two frames:0.007973 and reprojected points are: 0
[22:36:28.472] Update EKF and 3D points, distance between two frames x:0.005621 ,z=-0.001340,angle between two frames:0.008466
[22:36:28.574] After Reprojection Map nPoint:58 ,nCell:22 ,nMatches:22 ,distance between two frames x:0.004787 ,z=-0.001164,angle between two frames:0.000144
[22:36:28.574] Init estimate scale:0.345597
[22:36:28.574] it:0 	 Success 	 new_chi2: 9.731442 	 dT = 0.001586, 0.000000, 0.009646
[22:36:28.574] it:1 	 FAILURE 	 new_chi2: 9.749676
[22:36:28.574] n deleted obs = 70 	 scale =0.345597 	 error init =0.139021 	 error end=0.139021
[22:36:28.574] After pose optimization, distance between two frames x:0.004787 ,z=-0.001164,angle between two frames:0.000144 and reprojected points are: 0
[22:36:28.574] Update EKF and 3D points, distance between two frames x:0.005135 ,z=-0.001246,angle between two frames:0.000306
[22:36:28.674] After Reprojection Map nPoint:63 ,nCell:22 ,nMatches:20 ,distance between two frames x:0.002062 ,z=-0.000483,angle between two frames:0.004076
[22:36:28.674] Init estimate scale:0.274831
[22:36:28.674] it:0 	 Success 	 new_chi2: 6.310565 	 dT = 0.000156, 0.000000, 0.003151
[22:36:28.674] it:1 	 FAILURE 	 new_chi2: 6.336982
[22:36:28.674] n deleted obs = 74 	 scale =0.274831 	 error init =0.085278 	 error end=0.085278
[22:36:28.674] After pose optimization, distance between two frames x:0.002062 ,z=-0.000483,angle between two frames:0.004076 and reprojected points are: 0
[22:36:28.675] Update EKF and 3D points, distance between two frames x:0.003132 ,z=-0.000735,angle between two frames:0.004297
[22:36:28.773] After Reprojection Map nPoint:64 ,nCell:26 ,nMatches:25 ,distance between two frames x:0.004814 ,z=-0.001128,angle between two frames:0.002722
[22:36:28.774] Init estimate scale:0.261492
[22:36:28.774] it:0 	 Success 	 new_chi2: 11.379832 	 dT = 0.001627, 0.000000, 0.011370
[22:36:28.774] it:1 	 FAILURE 	 new_chi2: 11.394834
[22:36:28.774] n deleted obs = 80 	 scale =0.261492 	 error init =0.142248 	 error end=0.142248
[22:36:28.774] After pose optimization, distance between two frames x:0.004814 ,z=-0.001128,angle between two frames:0.002722 and reprojected points are: 0
[22:36:28.774] Update EKF and 3D points, distance between two frames x:0.005885 ,z=-0.001375,angle between two frames:0.003367
[22:36:28.873] After Reprojection Map nPoint:67 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.004823 ,z=-0.001100,angle between two frames:0.003946
[22:36:28.873] Init estimate scale:0.286157
[22:36:28.873] it:0 	 Success 	 new_chi2: 7.634507 	 dT = 0.000759, 0.000000, 0.008219
[22:36:28.873] it:1 	 FAILURE 	 new_chi2: 7.740030
[22:36:28.873] n deleted obs = 83 	 scale =0.286157 	 error init =0.091982 	 error end=0.091982
[22:36:28.873] After pose optimization, distance between two frames x:0.004823 ,z=-0.001100,angle between two frames:0.003946 and reprojected points are: 0
[22:36:28.873] Update EKF and 3D points, distance between two frames x:0.005839 ,z=-0.001331,angle between two frames:0.004479
[22:36:28.973] After Reprojection Map nPoint:60 ,nCell:23 ,nMatches:21 ,distance between two frames x:0.004573 ,z=-0.001024,angle between two frames:0.006291
[22:36:28.973] Init estimate scale:0.279149
[22:36:28.973] it:0 	 Success 	 new_chi2: 7.070875 	 dT = 0.001173, 0.000000, 0.008716
[22:36:28.973] it:1 	 FAILURE 	 new_chi2: 7.172175
[22:36:28.973] n deleted obs = 73 	 scale =0.279149 	 error init =0.096861 	 error end=0.096861
[22:36:28.973] After pose optimization, distance between two frames x:0.004573 ,z=-0.001024,angle between two frames:0.006291 and reprojected points are: 0
[22:36:28.973] Update EKF and 3D points, distance between two frames x:0.004922 ,z=-0.001099,angle between two frames:0.006859
[22:36:29.075] After Reprojection Map nPoint:56 ,nCell:24 ,nMatches:24 ,distance between two frames x:0.002067 ,z=-0.000440,angle between two frames:0.004569
[22:36:29.075] Init estimate scale:0.305207
[22:36:29.075] it:0 	 Success 	 new_chi2: 10.739107 	 dT = 0.003281, 0.000000, 0.014716
[22:36:29.075] it:1 	 FAILURE 	 new_chi2: 10.829979
[22:36:29.075] n deleted obs = 74 	 scale =0.305207 	 error init =0.145123 	 error end=0.145123
[22:36:29.075] After pose optimization, distance between two frames x:0.002067 ,z=-0.000440,angle between two frames:0.004569 and reprojected points are: 0
[22:36:29.075] Update EKF and 3D points, distance between two frames x:0.003147 ,z=-0.000671,angle between two frames:0.005053
[22:36:29.173] After Reprojection Map nPoint:56 ,nCell:21 ,nMatches:19 ,distance between two frames x:0.004837 ,z=-0.001024,angle between two frames:0.008206
[22:36:29.173] Init estimate scale:0.262131
[22:36:29.173] it:0 	 Success 	 new_chi2: 10.002781 	 dT = 0.000883, 0.000000, 0.006182
[22:36:29.173] it:1 	 Success 	 new_chi2: 9.998508 	 dT = 0.000914, 0.000000, 0.006161
[22:36:29.173] it:2 	 Success 	 new_chi2: 9.996905 	 dT = 0.000944, 0.000000, 0.006142
[22:36:29.173] it:3 	 FAILURE 	 new_chi2: 9.997954
[22:36:29.173] n deleted obs = 66 	 scale =0.262131 	 error init =0.151557 	 error end=0.151468
[22:36:29.173] After pose optimization, distance between two frames x:0.006634 ,z=-0.001024,angle between two frames:0.004137 and reprojected points are: 0
[22:36:29.173] Update EKF and 3D points, distance between two frames x:0.007508 ,z=-0.001251,angle between two frames:0.001750
[22:36:29.273] After Reprojection Map nPoint:57 ,nCell:23 ,nMatches:21 ,distance between two frames x:0.003943 ,z=-0.000976,angle between two frames:0.013817
[22:36:29.273] Init estimate scale:0.286434
[22:36:29.273] it:0 	 Success 	 new_chi2: 6.430319 	 dT = 0.001380, 0.000000, 0.008862
[22:36:29.273] it:1 	 FAILURE 	 new_chi2: 6.524637
[22:36:29.273] n deleted obs = 70 	 scale =0.286434 	 error init =0.091862 	 error end=0.091862
[22:36:29.273] After pose optimization, distance between two frames x:0.003943 ,z=-0.000976,angle between two frames:0.013817 and reprojected points are: 0
[22:36:29.273] Update EKF and 3D points, distance between two frames x:0.003943 ,z=-0.000976,angle between two frames:0.014192
[22:36:29.383] After Reprojection Map nPoint:61 ,nCell:21 ,nMatches:21 ,distance between two frames x:0.007619 ,z=-0.001541,angle between two frames:0.000798
[22:36:29.383] Init estimate scale:0.313276
[22:36:29.383] it:0 	 Success 	 new_chi2: 7.743169 	 dT = 0.001996, 0.000000, 0.011880
[22:36:29.383] it:1 	 FAILURE 	 new_chi2: 7.909850
[22:36:29.383] n deleted obs = 75 	 scale =0.313276 	 error init =0.103242 	 error end=0.103242
[22:36:29.383] After pose optimization, distance between two frames x:0.007619 ,z=-0.001541,angle between two frames:0.000798 and reprojected points are: 0
[22:36:29.383] Update EKF and 3D points, distance between two frames x:0.007921 ,z=-0.001600,angle between two frames:0.001015
[22:36:29.473] After Reprojection Map nPoint:60 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.001863 ,z=-0.000367,angle between two frames:0.002559
[22:36:29.473] Init estimate scale:0.321631
[22:36:29.473] it:0 	 Success 	 new_chi2: 11.249801 	 dT = 0.002688, 0.000000, 0.018726
[22:36:29.473] it:1 	 FAILURE 	 new_chi2: 11.319091
[22:36:29.473] n deleted obs = 77 	 scale =0.321631 	 error init =0.146101 	 error end=0.146101
[22:36:29.473] After pose optimization, distance between two frames x:0.001863 ,z=-0.000367,angle between two frames:0.002559 and reprojected points are: 0
[22:36:29.473] Update EKF and 3D points, distance between two frames x:0.002214 ,z=-0.000435,angle between two frames:0.002935
[22:36:29.573] After Reprojection Map nPoint:61 ,nCell:21 ,nMatches:20 ,distance between two frames x:0.002079 ,z=-0.000402,angle between two frames:0.003941
[22:36:29.573] Init estimate scale:0.334769
[22:36:29.573] it:0 	 Success 	 new_chi2: 7.674968 	 dT = 0.001623, 0.000000, 0.012562
[22:36:29.573] it:1 	 FAILURE 	 new_chi2: 7.831083
[22:36:29.573] n deleted obs = 73 	 scale =0.334769 	 error init =0.105137 	 error end=0.105137
[22:36:29.573] After pose optimization, distance between two frames x:0.002079 ,z=-0.000402,angle between two frames:0.003941 and reprojected points are: 0
[22:36:29.573] Update EKF and 3D points, distance between two frames x:0.003159 ,z=-0.000612,angle between two frames:0.003875
[22:36:29.675] After Reprojection Map nPoint:61 ,nCell:22 ,nMatches:21 ,distance between two frames x:0.004856 ,z=-0.000943,angle between two frames:0.001032
[22:36:29.675] Init estimate scale:0.324433
[22:36:29.675] it:0 	 Success 	 new_chi2: 10.840118 	 dT = 0.002863, 0.000000, 0.018324
[22:36:29.675] it:1 	 FAILURE 	 new_chi2: 10.928535
[22:36:29.675] n deleted obs = 74 	 scale =0.324433 	 error init =0.146488 	 error end=0.146488
[22:36:29.675] After pose optimization, distance between two frames x:0.004856 ,z=-0.000943,angle between two frames:0.001032 and reprojected points are: 0
[22:36:29.675] Update EKF and 3D points, distance between two frames x:0.005191 ,z=-0.001009,angle between two frames:0.001182
[22:36:29.774] After Reprojection Map nPoint:54 ,nCell:21 ,nMatches:21 ,distance between two frames x:0.001980 ,z=-0.000391,angle between two frames:0.001838
[22:36:29.775] Init estimate scale:0.351088
[22:36:29.775] it:0 	 Success 	 new_chi2: 11.449980 	 dT = 0.003683, 0.000000, 0.020989
[22:36:29.775] it:1 	 FAILURE 	 new_chi2: 11.543978
[22:36:29.775] n deleted obs = 67 	 scale =0.351088 	 error init =0.170895 	 error end=0.170895
[22:36:29.775] After pose optimization, distance between two frames x:0.001980 ,z=-0.000391,angle between two frames:0.001838 and reprojected points are: 0
[22:36:29.775] Update EKF and 3D points, distance between two frames x:0.002338 ,z=-0.000463,angle between two frames:0.002412
[22:36:29.873] After Reprojection Map nPoint:55 ,nCell:22 ,nMatches:21 ,distance between two frames x:0.002118 ,z=-0.000432,angle between two frames:0.005880
[22:36:29.873] Init estimate scale:0.354222
[22:36:29.873] it:0 	 Success 	 new_chi2: 11.477543 	 dT = 0.004649, 0.000000, 0.019933
[22:36:29.873] it:1 	 FAILURE 	 new_chi2: 11.612346
[22:36:29.873] n deleted obs = 68 	 scale =0.354222 	 error init =0.168787 	 error end=0.168787
[22:36:29.873] After pose optimization, distance between two frames x:0.002118 ,z=-0.000432,angle between two frames:0.005880 and reprojected points are: 0
[22:36:29.873] Update EKF and 3D points, distance between two frames x:0.003207 ,z=-0.000656,angle between two frames:0.006417
[22:36:29.974] After Reprojection Map nPoint:56 ,nCell:22 ,nMatches:22 ,distance between two frames x:0.004897 ,z=-0.001017,angle between two frames:0.003672
[22:36:29.974] Init estimate scale:0.347054
[22:36:29.974] it:0 	 Success 	 new_chi2: 11.661121 	 dT = 0.003588, 0.000000, 0.020055
[22:36:29.975] it:1 	 FAILURE 	 new_chi2: 11.769367
[22:36:29.975] n deleted obs = 70 	 scale =0.347054 	 error init =0.166587 	 error end=0.166587
[22:36:29.975] After pose optimization, distance between two frames x:0.004897 ,z=-0.001017,angle between two frames:0.003672 and reprojected points are: 0
[22:36:29.975] Update EKF and 3D points, distance between two frames x:0.005983 ,z=-0.001244,angle between two frames:0.004055
[22:36:30.074] After Reprojection Map nPoint:57 ,nCell:20 ,nMatches:19 ,distance between two frames x:0.004883 ,z=-0.001028,angle between two frames:0.002735
[22:36:30.074] Init estimate scale:0.327566
[22:36:30.074] it:0 	 Success 	 new_chi2: 10.704877 	 dT = 0.004113, 0.000000, 0.017086
[22:36:30.074] it:1 	 FAILURE 	 new_chi2: 10.839487
[22:36:30.074] n deleted obs = 69 	 scale =0.327566 	 error init =0.155143 	 error end=0.155143
[22:36:30.074] After pose optimization, distance between two frames x:0.004883 ,z=-0.001028,angle between two frames:0.002735 and reprojected points are: 0
[22:36:30.074] Update EKF and 3D points, distance between two frames x:0.005217 ,z=-0.001099,angle between two frames:0.002753
[22:36:30.175] After Reprojection Map nPoint:57 ,nCell:23 ,nMatches:22 ,distance between two frames x:0.001974 ,z=-0.000416,angle between two frames:0.001720
[22:36:30.175] Init estimate scale:0.333596
[22:36:30.175] it:0 	 Success 	 new_chi2: 12.430601 	 dT = 0.001854, 0.000000, 0.010371
[22:36:30.175] it:1 	 FAILURE 	 new_chi2: 12.481154
[22:36:30.175] n deleted obs = 72 	 scale =0.333596 	 error init =0.172647 	 error end=0.172647
[22:36:30.175] After pose optimization, distance between two frames x:0.001974 ,z=-0.000416,angle between two frames:0.001720 and reprojected points are: 0
[22:36:30.175] Update EKF and 3D points, distance between two frames x:0.001974 ,z=-0.000416,angle between two frames:0.002094
[22:36:30.272] After Reprojection Map nPoint:60 ,nCell:21 ,nMatches:21 ,distance between two frames x:0.007743 ,z=-0.001656,angle between two frames:0.002285
[22:36:30.272] Init estimate scale:0.346707
[22:36:30.272] it:0 	 Success 	 new_chi2: 11.719145 	 dT = 0.004323, 0.000000, 0.019177
[22:36:30.272] it:1 	 FAILURE 	 new_chi2: 11.920545
[22:36:30.272] n deleted obs = 72 	 scale =0.346707 	 error init =0.162766 	 error end=0.162766
[22:36:30.272] After pose optimization, distance between two frames x:0.007743 ,z=-0.001656,angle between two frames:0.002285 and reprojected points are: 0
[22:36:30.272] Update EKF and 3D points, distance between two frames x:0.008797 ,z=-0.001884,angle between two frames:0.002497
[22:36:30.371] After Reprojection Map nPoint:61 ,nCell:23 ,nMatches:22 ,distance between two frames x:0.004740 ,z=-0.001030,angle between two frames:0.000295
[22:36:30.372] Init estimate scale:0.341933
[22:36:30.372] it:0 	 Success 	 new_chi2: 11.828739 	 dT = 0.003305, 0.000000, 0.020715
[22:36:30.372] it:1 	 FAILURE 	 new_chi2: 11.980729
[22:36:30.372] n deleted obs = 74 	 scale =0.341933 	 error init =0.159848 	 error end=0.159848
[22:36:30.372] After pose optimization, distance between two frames x:0.004740 ,z=-0.001030,angle between two frames:0.000295 and reprojected points are: 0
[22:36:30.372] Update EKF and 3D points, distance between two frames x:0.004740 ,z=-0.001030,angle between two frames:0.000476
[22:36:30.474] After Reprojection Map nPoint:57 ,nCell:21 ,nMatches:20 ,distance between two frames x:0.007456 ,z=-0.001609,angle between two frames:0.001191
[22:36:30.474] Init estimate scale:0.359119
[22:36:30.474] it:0 	 Success 	 new_chi2: 9.049905 	 dT = 0.003587, 0.000000, 0.016056
[22:36:30.474] it:1 	 FAILURE 	 new_chi2: 9.356878
[22:36:30.474] n deleted obs = 69 	 scale =0.359119 	 error init =0.131158 	 error end=0.131158
[22:36:30.474] After pose optimization, distance between two frames x:0.007456 ,z=-0.001609,angle between two frames:0.001191 and reprojected points are: 0
[22:36:30.474] Update EKF and 3D points, distance between two frames x:0.008540 ,z=-0.001839,angle between two frames:0.001998
[22:36:30.575] After Reprojection Map nPoint:59 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.004877 ,z=-0.001016,angle between two frames:0.007247
[22:36:30.576] Init estimate scale:0.374623
[22:36:30.576] it:0 	 Success 	 new_chi2: 9.868256 	 dT = 0.003910, 0.000000, 0.018667
[22:36:30.576] it:1 	 FAILURE 	 new_chi2: 10.255866
[22:36:30.576] n deleted obs = 75 	 scale =0.374623 	 error init =0.131577 	 error end=0.131577
[22:36:30.576] After pose optimization, distance between two frames x:0.004877 ,z=-0.001016,angle between two frames:0.007247 and reprojected points are: 0
[22:36:30.576] Update EKF and 3D points, distance between two frames x:0.005214 ,z=-0.001085,angle between two frames:0.007289
[22:36:30.675] After Reprojection Map nPoint:59 ,nCell:24 ,nMatches:24 ,distance between two frames x:0.001994 ,z=-0.000409,angle between two frames:0.000222
[22:36:30.675] Init estimate scale:0.418322
[22:36:30.675] it:0 	 Success 	 new_chi2: 13.729871 	 dT = 0.006142, 0.000000, 0.027791
[22:36:30.675] it:1 	 FAILURE 	 new_chi2: 14.084847
[22:36:30.675] n deleted obs = 76 	 scale =0.418322 	 error init =0.180656 	 error end=0.180656
[22:36:30.675] After pose optimization, distance between two frames x:0.001994 ,z=-0.000409,angle between two frames:0.000222 and reprojected points are: 0
[22:36:30.675] Update EKF and 3D points, distance between two frames x:0.002340 ,z=-0.000479,angle between two frames:0.000605
[22:36:30.776] After Reprojection Map nPoint:64 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.002047 ,z=-0.000411,angle between two frames:0.004841
[22:36:30.776] Init estimate scale:0.395422
[22:36:30.776] it:0 	 Success 	 new_chi2: 13.088404 	 dT = 0.005737, 0.000000, 0.026369
[22:36:30.776] it:1 	 FAILURE 	 new_chi2: 13.470977
[22:36:30.776] n deleted obs = 79 	 scale =0.395422 	 error init =0.165676 	 error end=0.165676
[22:36:30.776] After pose optimization, distance between two frames x:0.002047 ,z=-0.000411,angle between two frames:0.004841 and reprojected points are: 0
[22:36:30.776] Update EKF and 3D points, distance between two frames x:0.002411 ,z=-0.000483,angle between two frames:0.005096
[22:36:30.873] After Reprojection Map nPoint:61 ,nCell:22 ,nMatches:20 ,distance between two frames x:0.002151 ,z=-0.000424,angle between two frames:0.003847
[22:36:30.873] Init estimate scale:0.427432
[22:36:30.873] it:0 	 Success 	 new_chi2: 13.757561 	 dT = 0.005889, 0.000000, 0.030467
[22:36:30.874] it:1 	 FAILURE 	 new_chi2: 14.088253
[22:36:30.874] n deleted obs = 74 	 scale =0.427432 	 error init =0.185913 	 error end=0.185913
[22:36:30.874] After pose optimization, distance between two frames x:0.002151 ,z=-0.000424,angle between two frames:0.003847 and reprojected points are: 0
[22:36:30.874] Update EKF and 3D points, distance between two frames x:0.002480 ,z=-0.000487,angle between two frames:0.004360
[22:36:30.973] After Reprojection Map nPoint:67 ,nCell:27 ,nMatches:27 ,distance between two frames x:0.001947 ,z=-0.000369,angle between two frames:0.004876
[22:36:30.973] Init estimate scale:0.422834
[22:36:30.973] it:0 	 Success 	 new_chi2: 15.682256 	 dT = 0.006117, 0.000000, 0.033816
[22:36:30.973] it:1 	 FAILURE 	 new_chi2: 16.113045
[22:36:30.973] n deleted obs = 84 	 scale =0.422834 	 error init =0.186694 	 error end=0.186694
[22:36:30.973] After pose optimization, distance between two frames x:0.001947 ,z=-0.000369,angle between two frames:0.004876 and reprojected points are: 0
[22:36:30.973] Update EKF and 3D points, distance between two frames x:0.002294 ,z=-0.000433,angle between two frames:0.005258
[22:36:31.074] After Reprojection Map nPoint:64 ,nCell:24 ,nMatches:21 ,distance between two frames x:0.002050 ,z=-0.000380,angle between two frames:0.006119
[22:36:31.074] Init estimate scale:0.442321
[22:36:31.074] it:0 	 Success 	 new_chi2: 11.154650 	 dT = 0.004566, 0.000000, 0.026469
[22:36:31.074] it:1 	 FAILURE 	 new_chi2: 11.741804
[22:36:31.074] n deleted obs = 75 	 scale =0.442321 	 error init =0.148729 	 error end=0.148729
[22:36:31.074] After pose optimization, distance between two frames x:0.002050 ,z=-0.000380,angle between two frames:0.006119 and reprojected points are: 0
[22:36:31.074] Update EKF and 3D points, distance between two frames x:0.002411 ,z=-0.000442,angle between two frames:0.007083
[22:36:31.174] After Reprojection Map nPoint:56 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.002139 ,z=-0.000365,angle between two frames:0.007752
[22:36:31.174] Init estimate scale:0.444939
[22:36:31.174] it:0 	 Success 	 new_chi2: 14.123708 	 dT = 0.002310, 0.000000, 0.016790
[22:36:31.174] it:1 	 FAILURE 	 new_chi2: 14.281881
[22:36:31.174] n deleted obs = 73 	 scale =0.444939 	 error init =0.193475 	 error end=0.193475
[22:36:31.174] After pose optimization, distance between two frames x:0.002139 ,z=-0.000365,angle between two frames:0.007752 and reprojected points are: 0
[22:36:31.174] Update EKF and 3D points, distance between two frames x:0.002489 ,z=-0.000426,angle between two frames:0.007972
[22:36:31.288] After Reprojection Map nPoint:61 ,nCell:25 ,nMatches:23 ,distance between two frames x:0.002070 ,z=-0.000356,angle between two frames:0.002029
[22:36:31.288] Init estimate scale:0.460009
[22:36:31.288] it:0 	 Success 	 new_chi2: 12.323684 	 dT = 0.004401, 0.000000, 0.028800
[22:36:31.288] it:1 	 FAILURE 	 new_chi2: 13.062259
[22:36:31.288] n deleted obs = 78 	 scale =0.460009 	 error init =0.157996 	 error end=0.157996
[22:36:31.288] After pose optimization, distance between two frames x:0.002070 ,z=-0.000356,angle between two frames:0.002029 and reprojected points are: 0
[22:36:31.288] Update EKF and 3D points, distance between two frames x:0.002384 ,z=-0.000410,angle between two frames:0.001960
[22:36:31.373] After Reprojection Map nPoint:61 ,nCell:26 ,nMatches:25 ,distance between two frames x:0.001936 ,z=-0.000336,angle between two frames:0.000650
[22:36:31.373] Init estimate scale:0.484560
[22:36:31.373] it:0 	 Success 	 new_chi2: 17.301486 	 dT = 0.001455, 0.000000, 0.020564
[22:36:31.374] it:1 	 FAILURE 	 new_chi2: 17.511995
[22:36:31.374] n deleted obs = 79 	 scale =0.484560 	 error init =0.219006 	 error end=0.219006
[22:36:31.374] After pose optimization, distance between two frames x:0.001936 ,z=-0.000336,angle between two frames:0.000650 and reprojected points are: 0
[22:36:31.374] Update EKF and 3D points, distance between two frames x:0.002287 ,z=-0.000397,angle between two frames:0.000683
[22:36:31.474] After Reprojection Map nPoint:64 ,nCell:26 ,nMatches:25 ,distance between two frames x:0.002075 ,z=-0.000359,angle between two frames:0.001327
[22:36:31.474] Init estimate scale:0.508057
[22:36:31.474] it:0 	 Success 	 new_chi2: 13.796053 	 dT = 0.005586, 0.000000, 0.033726
[22:36:31.474] it:1 	 FAILURE 	 new_chi2: 14.719909
[22:36:31.474] n deleted obs = 81 	 scale =0.508057 	 error init =0.170322 	 error end=0.170322
[22:36:31.474] After pose optimization, distance between two frames x:0.002075 ,z=-0.000359,angle between two frames:0.001327 and reprojected points are: 0
[22:36:31.474] Update EKF and 3D points, distance between two frames x:0.002422 ,z=-0.000422,angle between two frames:0.001880
[22:36:31.574] After Reprojection Map nPoint:64 ,nCell:29 ,nMatches:27 ,distance between two frames x:0.002055 ,z=-0.000370,angle between two frames:0.003954
[22:36:31.574] Init estimate scale:0.463034
[22:36:31.574] it:0 	 Success 	 new_chi2: 15.330405 	 dT = 0.005417, 0.000000, 0.037568
[22:36:31.574] it:1 	 FAILURE 	 new_chi2: 15.879927
[22:36:31.574] n deleted obs = 86 	 scale =0.463034 	 error init =0.178261 	 error end=0.178261
[22:36:31.574] After pose optimization, distance between two frames x:0.002055 ,z=-0.000370,angle between two frames:0.003954 and reprojected points are: 0
[22:36:31.574] Update EKF and 3D points, distance between two frames x:0.002404 ,z=-0.000432,angle between two frames:0.004097
[22:36:31.674] After Reprojection Map nPoint:64 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.002062 ,z=-0.000370,angle between two frames:0.001403
[22:36:31.674] Init estimate scale:0.477119
[22:36:31.674] it:0 	 Success 	 new_chi2: 13.886965 	 dT = 0.004232, 0.000000, 0.033311
[22:36:31.674] it:1 	 FAILURE 	 new_chi2: 14.779834
[22:36:31.674] n deleted obs = 85 	 scale =0.477119 	 error init =0.163376 	 error end=0.163376
[22:36:31.674] After pose optimization, distance between two frames x:0.002062 ,z=-0.000370,angle between two frames:0.001403 and reprojected points are: 0
[22:36:31.674] Update EKF and 3D points, distance between two frames x:0.002410 ,z=-0.000434,angle between two frames:0.001734
[22:36:31.774] After Reprojection Map nPoint:62 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.002061 ,z=-0.000382,angle between two frames:0.003887
[22:36:31.774] Init estimate scale:0.442913
[22:36:31.774] it:0 	 Success 	 new_chi2: 15.488511 	 dT = 0.004923, 0.000000, 0.035206
[22:36:31.774] it:1 	 FAILURE 	 new_chi2: 16.075933
[22:36:31.774] n deleted obs = 83 	 scale =0.442913 	 error init =0.186609 	 error end=0.186609
[22:36:31.774] After pose optimization, distance between two frames x:0.002061 ,z=-0.000382,angle between two frames:0.003887 and reprojected points are: 0
[22:36:31.774] Update EKF and 3D points, distance between two frames x:0.002410 ,z=-0.000447,angle between two frames:0.004154
[22:36:31.881] After Reprojection Map nPoint:61 ,nCell:26 ,nMatches:26 ,distance between two frames x:0.002064 ,z=-0.000389,angle between two frames:0.003003
[22:36:31.881] Init estimate scale:0.450352
[22:36:31.881] it:0 	 Success 	 new_chi2: 15.478670 	 dT = 0.003305, 0.000000, 0.024748
[22:36:31.881] it:1 	 FAILURE 	 new_chi2: 15.851814
[22:36:31.881] n deleted obs = 81 	 scale =0.450352 	 error init =0.191095 	 error end=0.191095
[22:36:31.881] After pose optimization, distance between two frames x:0.002064 ,z=-0.000389,angle between two frames:0.003003 and reprojected points are: 0
[22:36:31.881] Update EKF and 3D points, distance between two frames x:0.002383 ,z=-0.000451,angle between two frames:0.003432
[22:36:31.975] After Reprojection Map nPoint:61 ,nCell:27 ,nMatches:25 ,distance between two frames x:0.001960 ,z=-0.000382,angle between two frames:0.004396
[22:36:31.975] Init estimate scale:0.453323
[22:36:31.975] it:0 	 Success 	 new_chi2: 11.934116 	 dT = 0.003869, 0.000000, 0.025960
[22:36:31.975] it:1 	 FAILURE 	 new_chi2: 12.574602
[22:36:31.975] n deleted obs = 80 	 scale =0.453323 	 error init =0.149176 	 error end=0.149176
[22:36:31.975] After pose optimization, distance between two frames x:0.001960 ,z=-0.000382,angle between two frames:0.004396 and reprojected points are: 0
[22:36:31.975] Update EKF and 3D points, distance between two frames x:0.002308 ,z=-0.000451,angle between two frames:0.004698
[22:36:32.074] After Reprojection Map nPoint:67 ,nCell:28 ,nMatches:27 ,distance between two frames x:0.002060 ,z=-0.000407,angle between two frames:0.000878
[22:36:32.074] Init estimate scale:0.456138
[22:36:32.074] it:0 	 Success 	 new_chi2: 14.404737 	 dT = 0.003038, 0.000000, 0.016040
[22:36:32.074] it:1 	 FAILURE 	 new_chi2: 14.686747
[22:36:32.074] n deleted obs = 84 	 scale =0.456138 	 error init =0.171485 	 error end=0.171485
[22:36:32.074] After pose optimization, distance between two frames x:0.002060 ,z=-0.000407,angle between two frames:0.000878 and reprojected points are: 0
[22:36:32.074] Update EKF and 3D points, distance between two frames x:0.002060 ,z=-0.000407,angle between two frames:0.000415
[22:36:32.176] After Reprojection Map nPoint:65 ,nCell:29 ,nMatches:27 ,distance between two frames x:0.007942 ,z=-0.001545,angle between two frames:0.001500
[22:36:32.176] Init estimate scale:0.484985
[22:36:32.176] it:0 	 Success 	 new_chi2: 13.131313 	 dT = 0.003007, 0.000000, 0.014576
[22:36:32.176] it:1 	 FAILURE 	 new_chi2: 13.555124
[22:36:32.176] n deleted obs = 84 	 scale =0.484985 	 error init =0.156325 	 error end=0.156325
[22:36:32.176] After pose optimization, distance between two frames x:0.007942 ,z=-0.001545,angle between two frames:0.001500 and reprojected points are: 0
[22:36:32.176] Update EKF and 3D points, distance between two frames x:0.008274 ,z=-0.001609,angle between two frames:0.001576
[22:36:32.273] After Reprojection Map nPoint:62 ,nCell:27 ,nMatches:26 ,distance between two frames x:0.001963 ,z=-0.000376,angle between two frames:0.001440
[22:36:32.273] Init estimate scale:0.486001
[22:36:32.273] it:0 	 Success 	 new_chi2: 13.103159 	 dT = 0.004964, 0.000000, 0.022645
[22:36:32.273] it:1 	 FAILURE 	 new_chi2: 13.788395
[22:36:32.273] n deleted obs = 82 	 scale =0.486001 	 error init =0.159795 	 error end=0.159795
[22:36:32.273] After pose optimization, distance between two frames x:0.001963 ,z=-0.000376,angle between two frames:0.001440 and reprojected points are: 0
[22:36:32.273] Update EKF and 3D points, distance between two frames x:0.002312 ,z=-0.000440,angle between two frames:0.001993
[22:36:32.374] After Reprojection Map nPoint:49 ,nCell:21 ,nMatches:20 ,distance between two frames x:0.002063 ,z=-0.000378,angle between two frames:0.005688
[22:36:32.374] Init estimate scale:0.519662
[22:36:32.374] it:0 	 Success 	 new_chi2: 10.920245 	 dT = 0.004493, 0.000000, 0.018956
[22:36:32.375] it:1 	 FAILURE 	 new_chi2: 11.390151
[22:36:32.375] n deleted obs = 64 	 scale =0.519662 	 error init =0.170629 	 error end=0.170629
[22:36:32.375] After pose optimization, distance between two frames x:0.002063 ,z=-0.000378,angle between two frames:0.005688 and reprojected points are: 0
[22:36:32.375] Update EKF and 3D points, distance between two frames x:0.002413 ,z=-0.000442,angle between two frames:0.005819
[22:36:32.475] After Reprojection Map nPoint:54 ,nCell:24 ,nMatches:23 ,distance between two frames x:0.002066 ,z=-0.000378,angle between two frames:0.001544
[22:36:32.475] Init estimate scale:0.483354
[22:36:32.475] it:0 	 Success 	 new_chi2: 14.461159 	 dT = 0.002556, 0.000000, 0.018348
[22:36:32.475] it:1 	 FAILURE 	 new_chi2: 14.690730
[22:36:32.475] n deleted obs = 71 	 scale =0.483354 	 error init =0.203678 	 error end=0.203678
[22:36:32.475] After pose optimization, distance between two frames x:0.002066 ,z=-0.000378,angle between two frames:0.001544 and reprojected points are: 0
[22:36:32.475] Update EKF and 3D points, distance between two frames x:0.003165 ,z=-0.000577,angle between two frames:0.002124
[22:36:32.576] After Reprojection Map nPoint:57 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.004948 ,z=-0.000886,angle between two frames:0.005591
[22:36:32.577] Init estimate scale:0.539331
[22:36:32.577] it:0 	 Success 	 new_chi2: 18.058657 	 dT = 0.006992, 0.000000, 0.035770
[22:36:32.577] it:1 	 FAILURE 	 new_chi2: 18.644263
[22:36:32.577] n deleted obs = 75 	 scale =0.539331 	 error init =0.240782 	 error end=0.240782
[22:36:32.577] After pose optimization, distance between two frames x:0.004948 ,z=-0.000886,angle between two frames:0.005591 and reprojected points are: 0
[22:36:32.577] Update EKF and 3D points, distance between two frames x:0.005993 ,z=-0.001068,angle between two frames:0.006291
[22:36:32.676] After Reprojection Map nPoint:62 ,nCell:26 ,nMatches:23 ,distance between two frames x:0.004700 ,z=-0.000807,angle between two frames:0.006155
[22:36:32.676] Init estimate scale:0.523811
[22:36:32.676] it:0 	 Success 	 new_chi2: 13.784035 	 dT = 0.000831, 0.000000, 0.005837
[22:36:32.676] it:1 	 FAILURE 	 new_chi2: 13.938911
[22:36:32.676] n deleted obs = 76 	 scale =0.523811 	 error init =0.181369 	 error end=0.181369
[22:36:32.676] After pose optimization, distance between two frames x:0.004700 ,z=-0.000807,angle between two frames:0.006155 and reprojected points are: 0
[22:36:32.676] Update EKF and 3D points, distance between two frames x:0.005828 ,z=-0.000995,angle between two frames:0.007079
[22:36:32.774] After Reprojection Map nPoint:60 ,nCell:26 ,nMatches:23 ,distance between two frames x:0.005077 ,z=-0.000826,angle between two frames:0.005375
[22:36:32.774] Init estimate scale:0.551717
[22:36:32.774] it:0 	 Success 	 new_chi2: 13.909064 	 dT = 0.002013, 0.000000, 0.018548
[22:36:32.774] it:1 	 FAILURE 	 new_chi2: 14.408964
[22:36:32.774] n deleted obs = 75 	 scale =0.551717 	 error init =0.185454 	 error end=0.185454
[22:36:32.774] After pose optimization, distance between two frames x:0.005077 ,z=-0.000826,angle between two frames:0.005375 and reprojected points are: 0
[22:36:32.775] Update EKF and 3D points, distance between two frames x:0.005411 ,z=-0.000880,angle between two frames:0.005700
[22:36:32.874] After Reprojection Map nPoint:47 ,nCell:19 ,nMatches:17 ,distance between two frames x:0.001977 ,z=-0.000315,angle between two frames:0.006444
[22:36:32.874] Init estimate scale:0.552454
[22:36:32.874] it:0 	 Success 	 new_chi2: 11.551990 	 dT = 0.003455, 0.000000, 0.025650
[22:36:32.874] it:1 	 FAILURE 	 new_chi2: 12.120747
[22:36:32.874] n deleted obs = 59 	 scale =0.552454 	 error init =0.195796 	 error end=0.195796
[22:36:32.874] After pose optimization, distance between two frames x:0.001977 ,z=-0.000315,angle between two frames:0.006444 and reprojected points are: 0
[22:36:32.874] Update EKF and 3D points, distance between two frames x:0.002313 ,z=-0.000364,angle between two frames:0.007302
[22:36:32.974] After Reprojection Map nPoint:55 ,nCell:26 ,nMatches:23 ,distance between two frames x:0.001996 ,z=-0.000283,angle between two frames:0.008485
[22:36:32.974] Init estimate scale:0.537009
[22:36:32.974] it:0 	 Success 	 new_chi2: 13.069869 	 dT = 0.002130, 0.000000, 0.018556
[22:36:32.974] it:1 	 FAILURE 	 new_chi2: 13.516540
[22:36:32.974] n deleted obs = 71 	 scale =0.537009 	 error init =0.184083 	 error end=0.184083
[22:36:32.974] After pose optimization, distance between two frames x:0.001996 ,z=-0.000283,angle between two frames:0.008485 and reprojected points are: 0
[22:36:32.974] Update EKF and 3D points, distance between two frames x:0.001997 ,z=-0.000284,angle between two frames:0.009265
[22:36:33.072] After Reprojection Map nPoint:45 ,nCell:17 ,nMatches:16 ,distance between two frames x:0.005924 ,z=-0.000819,angle between two frames:0.013034
[22:36:33.072] Init estimate scale:0.582816
[22:36:33.072] it:0 	 Success 	 new_chi2: 12.012023 	 dT = 0.003168, 0.000000, 0.018903
[22:36:33.072] it:1 	 FAILURE 	 new_chi2: 12.478161
[22:36:33.072] n deleted obs = 56 	 scale =0.582816 	 error init =0.214500 	 error end=0.214500
[22:36:33.072] After pose optimization, distance between two frames x:0.005924 ,z=-0.000819,angle between two frames:0.013034 and reprojected points are: 0
[22:36:33.072] Update EKF and 3D points, distance between two frames x:0.006961 ,z=-0.000958,angle between two frames:0.012430
[22:36:33.288] After Reprojection Map nPoint:34 ,nCell:19 ,nMatches:17 ,distance between two frames x:0.010058 ,z=-0.000961,angle between two frames:0.046078
[22:36:33.288] Init estimate scale:0.716812
[22:36:33.288] it:0 	 Success 	 new_chi2: 17.390436 	 dT = 0.004602, 0.000000, 0.033647
[22:36:33.288] it:1 	 FAILURE 	 new_chi2: 17.635226
[22:36:33.288] n deleted obs = 46 	 scale =0.716812 	 error init =0.378053 	 error end=0.378053
[22:36:33.288] After pose optimization, distance between two frames x:0.010058 ,z=-0.000961,angle between two frames:0.046078 and reprojected points are: 0
[22:36:33.288] Update EKF and 3D points, distance between two frames x:0.010317 ,z=-0.000989,angle between two frames:0.044495
[22:36:33.374] After Reprojection Map nPoint:41 ,nCell:20 ,nMatches:19 ,distance between two frames x:0.001397 ,z=-0.000152,angle between two frames:0.013483
[22:36:33.374] Init estimate scale:0.574158
[22:36:33.374] it:0 	 Success 	 new_chi2: 16.211660 	 dT = 0.005080, 0.000000, 0.041849
[22:36:33.374] it:1 	 FAILURE 	 new_chi2: 16.608857
[22:36:33.374] n deleted obs = 55 	 scale =0.574158 	 error init =0.294757 	 error end=0.294757
[22:36:33.374] After pose optimization, distance between two frames x:0.001397 ,z=-0.000152,angle between two frames:0.013483 and reprojected points are: 0
[22:36:33.374] Update EKF and 3D points, distance between two frames x:0.001710 ,z=-0.000183,angle between two frames:0.013603
[22:36:33.590] After Reprojection Map nPoint:57 ,nCell:26 ,nMatches:22 ,distance between two frames x:0.006511 ,z=-0.000861,angle between two frames:0.051878
[22:36:33.590] Init estimate scale:0.569435
[22:36:33.590] it:0 	 Success 	 new_chi2: 15.542624 	 dT = 0.002943, 0.000000, 0.023145
[22:36:33.590] it:1 	 FAILURE 	 new_chi2: 16.169011
[22:36:33.590] n deleted obs = 70 	 scale =0.569435 	 error init =0.222037 	 error end=0.222037
[22:36:33.590] After pose optimization, distance between two frames x:0.006511 ,z=-0.000861,angle between two frames:0.051878 and reprojected points are: 0
[22:36:33.590] Update EKF and 3D points, distance between two frames x:0.006793 ,z=-0.000902,angle between two frames:0.051428
[22:36:33.673] After Reprojection Map nPoint:32 ,nCell:15 ,nMatches:15 ,distance between two frames x:0.001679 ,z=-0.000237,angle between two frames:0.001312
[22:36:33.674] Init estimate scale:0.555184
[22:36:33.674] it:0 	 Success 	 new_chi2: 13.711914 	 dT = 0.005671, 0.000000, 0.031373
[22:36:33.674] it:1 	 FAILURE 	 new_chi2: 14.010699
[22:36:33.674] n deleted obs = 44 	 scale =0.555184 	 error init =0.311634 	 error end=0.311634
[22:36:33.674] After pose optimization, distance between two frames x:0.001679 ,z=-0.000237,angle between two frames:0.001312 and reprojected points are: 0
[22:36:33.674] Update EKF and 3D points, distance between two frames x:0.002004 ,z=-0.000285,angle between two frames:0.001720
[22:36:33.772] After Reprojection Map nPoint:14 ,nCell:10 ,nMatches:9 ,distance between two frames x:0.001687 ,z=-0.000258,angle between two frames:0.016993
[22:36:33.772] Init estimate scale:0.558148
[22:36:33.772] it:0 	 Success 	 new_chi2: 5.244553 	 dT = 0.000763, 0.000000, 0.012838
[22:36:33.772] it:1 	 FAILURE 	 new_chi2: 5.348142
[22:36:33.772] n deleted obs = 22 	 scale =0.558148 	 error init =0.238389 	 error end=0.238389
[22:36:33.772] After pose optimization, distance between two frames x:0.001687 ,z=-0.000258,angle between two frames:0.016993 and reprojected points are: 0
[22:36:33.772] Update EKF and 3D points, distance between two frames x:0.002730 ,z=-0.000401,angle between two frames:0.016320
[22:36:33.873] After Reprojection Map nPoint:29 ,nCell:15 ,nMatches:14 ,distance between two frames x:0.004735 ,z=-0.000581,angle between two frames:0.004053
[22:36:33.873] Init estimate scale:0.607786
[22:36:33.873] it:0 	 Success 	 new_chi2: 16.199676 	 dT = 0.002714, 0.000000, 0.022031
[22:36:33.873] it:1 	 Success 	 new_chi2: 16.094441 	 dT = 0.003079, 0.000000, 0.021969
[22:36:33.873] it:2 	 Success 	 new_chi2: 16.037081 	 dT = 0.003451, 0.000000, 0.021975
[22:36:33.873] it:3 	 Success 	 new_chi2: 16.026081 	 dT = 0.003836, 0.000000, 0.022046
[22:36:33.873] it:4 	 FAILURE 	 new_chi2: 16.060923
[22:36:33.873] n deleted obs = 36 	 scale =0.607786 	 error init =0.449991 	 error end=0.445169
[22:36:33.873] After pose optimization, distance between two frames x:0.013979 ,z=-0.000581,angle between two frames:0.070028 and reprojected points are: 0
[22:36:33.873] Update EKF and 3D points, distance between two frames x:0.013731 ,z=-0.000636,angle between two frames:0.066024
[22:36:33.973] After Reprojection Map nPoint:42 ,nCell:17 ,nMatches:16 ,distance between two frames x:-0.001467 ,z=-0.000307,angle between two frames:0.021811
[22:36:33.973] Init estimate scale:0.615094
[22:36:33.973] it:0 	 Success 	 new_chi2: 17.563127 	 dT = 0.005078, 0.000000, 0.027753
[22:36:33.973] it:1 	 FAILURE 	 new_chi2: 17.905516
[22:36:33.973] n deleted obs = 49 	 scale =0.615094 	 error init =0.358431 	 error end=0.358431
[22:36:33.973] After pose optimization, distance between two frames x:-0.001467 ,z=-0.000307,angle between two frames:0.021811 and reprojected points are: 0
[22:36:33.973] Update EKF and 3D points, distance between two frames x:-0.001118 ,z=-0.000370,angle between two frames:0.021296
[22:36:34.074] After Reprojection Map nPoint:44 ,nCell:20 ,nMatches:19 ,distance between two frames x:0.002050 ,z=-0.000372,angle between two frames:0.000708
[22:36:34.074] Init estimate scale:0.602641
[22:36:34.074] it:0 	 Success 	 new_chi2: 12.505753 	 dT = 0.005692, 0.000000, 0.026247
[22:36:34.074] it:1 	 FAILURE 	 new_chi2: 13.296446
[22:36:34.074] n deleted obs = 57 	 scale =0.602641 	 error init =0.219399 	 error end=0.219399
[22:36:34.074] After pose optimization, distance between two frames x:0.002050 ,z=-0.000372,angle between two frames:0.000708 and reprojected points are: 0
[22:36:34.074] Update EKF and 3D points, distance between two frames x:0.002049 ,z=-0.000371,angle between two frames:0.001933
[22:36:34.173] After Reprojection Map nPoint:40 ,nCell:20 ,nMatches:19 ,distance between two frames x:-0.000004 ,z=0.000006,angle between two frames:0.002558
[22:36:34.173] Init estimate scale:0.616305
[22:36:34.173] it:0 	 Success 	 new_chi2: 15.891577 	 dT = 0.003860, 0.000000, 0.023641
[22:36:34.173] it:1 	 FAILURE 	 new_chi2: 16.316147
[22:36:34.173] n deleted obs = 55 	 scale =0.616305 	 error init =0.288938 	 error end=0.288938
[22:36:34.173] After pose optimization, distance between two frames x:-0.000004 ,z=0.000006,angle between two frames:0.002558 and reprojected points are: 0
[22:36:34.173] Update EKF and 3D points, distance between two frames x:-0.000006 ,z=0.000009,angle between two frames:0.002235
[22:36:34.273] After Reprojection Map nPoint:46 ,nCell:18 ,nMatches:16 ,distance between two frames x:-0.000010 ,z=0.000019,angle between two frames:0.008807
[22:36:34.273] Init estimate scale:0.621451
[22:36:34.273] it:0 	 Success 	 new_chi2: 16.900931 	 dT = 0.004122, 0.000000, 0.027332
[22:36:34.273] it:1 	 FAILURE 	 new_chi2: 17.379937
[22:36:34.273] n deleted obs = 57 	 scale =0.621451 	 error init =0.296508 	 error end=0.296508
[22:36:34.273] After pose optimization, distance between two frames x:-0.000010 ,z=0.000019,angle between two frames:0.008807 and reprojected points are: 0
[22:36:34.273] Update EKF and 3D points, distance between two frames x:-0.000011 ,z=0.000019,angle between two frames:0.009864
[22:36:34.373] After Reprojection Map nPoint:56 ,nCell:20 ,nMatches:19 ,distance between two frames x:-0.000010 ,z=0.000008,angle between two frames:0.001844
[22:36:34.373] Init estimate scale:0.615507
[22:36:34.373] it:0 	 Success 	 new_chi2: 19.771855 	 dT = 0.004385, 0.000000, 0.031667
[22:36:34.373] it:1 	 FAILURE 	 new_chi2: 20.395328
[22:36:34.373] n deleted obs = 66 	 scale =0.615507 	 error init =0.299574 	 error end=0.299574
[22:36:34.373] After pose optimization, distance between two frames x:-0.000010 ,z=0.000008,angle between two frames:0.001844 and reprojected points are: 0
[22:36:34.373] Update EKF and 3D points, distance between two frames x:-0.000011 ,z=0.000010,angle between two frames:0.002084
[22:36:34.474] After Reprojection Map nPoint:58 ,nCell:25 ,nMatches:23 ,distance between two frames x:-0.000010 ,z=0.000013,angle between two frames:0.009626
[22:36:34.474] Init estimate scale:0.627809
[22:36:34.474] it:0 	 Success 	 new_chi2: 20.692216 	 dT = 0.003771, 0.000000, 0.033230
[22:36:34.474] it:1 	 FAILURE 	 new_chi2: 21.360080
[22:36:34.474] n deleted obs = 73 	 scale =0.627809 	 error init =0.283455 	 error end=0.283455
[22:36:34.474] After pose optimization, distance between two frames x:-0.000010 ,z=0.000013,angle between two frames:0.009626 and reprojected points are: 0
[22:36:34.474] Update EKF and 3D points, distance between two frames x:-0.000012 ,z=0.000013,angle between two frames:0.009463
[22:36:34.574] After Reprojection Map nPoint:64 ,nCell:27 ,nMatches:26 ,distance between two frames x:-0.000013 ,z=0.000012,angle between two frames:0.003959
[22:36:34.574] Init estimate scale:0.622746
[22:36:34.574] it:0 	 Success 	 new_chi2: 19.889444 	 dT = 0.007108, 0.000000, 0.046319
[22:36:34.574] it:1 	 FAILURE 	 new_chi2: 21.763752
[22:36:34.574] n deleted obs = 84 	 scale =0.622746 	 error init =0.236779 	 error end=0.236779
[22:36:34.574] After pose optimization, distance between two frames x:-0.000013 ,z=0.000012,angle between two frames:0.003959 and reprojected points are: 0
[22:36:34.574] Update EKF and 3D points, distance between two frames x:-0.000013 ,z=0.000014,angle between two frames:0.003611
[22:36:34.673] After Reprojection Map nPoint:54 ,nCell:24 ,nMatches:23 ,distance between two frames x:-0.000008 ,z=0.000005,angle between two frames:0.008057
[22:36:34.673] Init estimate scale:0.631999
[22:36:34.673] it:0 	 Success 	 new_chi2: 21.763537 	 dT = 0.005885, 0.000000, 0.036726
[22:36:34.673] it:1 	 FAILURE 	 new_chi2: 22.703719
[22:36:34.673] n deleted obs = 72 	 scale =0.631999 	 error init =0.302271 	 error end=0.302271
[22:36:34.673] After pose optimization, distance between two frames x:-0.000008 ,z=0.000005,angle between two frames:0.008057 and reprojected points are: 0
[22:36:34.673] Update EKF and 3D points, distance between two frames x:-0.000009 ,z=0.000005,angle between two frames:0.008890
[22:36:34.774] After Reprojection Map nPoint:51 ,nCell:22 ,nMatches:22 ,distance between two frames x:-0.000008 ,z=0.000026,angle between two frames:0.010200
[22:36:34.775] Init estimate scale:0.637222
[22:36:34.775] it:0 	 Success 	 new_chi2: 19.779370 	 dT = 0.007439, 0.000000, 0.050540
[22:36:34.775] it:1 	 FAILURE 	 new_chi2: 20.934803
[22:36:34.775] n deleted obs = 69 	 scale =0.637222 	 error init =0.286658 	 error end=0.286658
[22:36:34.775] After pose optimization, distance between two frames x:-0.000008 ,z=0.000026,angle between two frames:0.010200 and reprojected points are: 0
[22:36:34.775] Update EKF and 3D points, distance between two frames x:-0.000009 ,z=0.000026,angle between two frames:0.010327
[22:36:34.873] After Reprojection Map nPoint:58 ,nCell:24 ,nMatches:24 ,distance between two frames x:-0.000011 ,z=0.000004,angle between two frames:0.001011
[22:36:34.873] Init estimate scale:0.639364
[22:36:34.874] it:0 	 Success 	 new_chi2: 21.132985 	 dT = 0.005788, 0.000000, 0.052510
[22:36:34.874] it:1 	 FAILURE 	 new_chi2: 22.390258
[22:36:34.874] n deleted obs = 76 	 scale =0.639364 	 error init =0.278066 	 error end=0.278066
[22:36:34.874] After pose optimization, distance between two frames x:-0.000011 ,z=0.000004,angle between two frames:0.001011 and reprojected points are: 0
[22:36:34.874] Update EKF and 3D points, distance between two frames x:-0.000040 ,z=0.000005,angle between two frames:0.000350
[22:36:34.972] After Reprojection Map nPoint:54 ,nCell:18 ,nMatches:18 ,distance between two frames x:-0.000294 ,z=0.000032,angle between two frames:0.001114
[22:36:34.973] Init estimate scale:0.669648
[22:36:34.973] it:0 	 Success 	 new_chi2: 19.742385 	 dT = 0.006540, 0.000000, 0.051536
[22:36:34.973] it:1 	 FAILURE 	 new_chi2: 20.823106
[22:36:34.973] n deleted obs = 65 	 scale =0.669648 	 error init =0.303729 	 error end=0.303729
[22:36:34.973] After pose optimization, distance between two frames x:-0.000294 ,z=0.000032,angle between two frames:0.001114 and reprojected points are: 0
[22:36:34.973] Update EKF and 3D points, distance between two frames x:-0.000294 ,z=0.000035,angle between two frames:0.000668
[22:36:35.073] After Reprojection Map nPoint:55 ,nCell:23 ,nMatches:22 ,distance between two frames x:-0.000005 ,z=0.000022,angle between two frames:0.003820
[22:36:35.073] Init estimate scale:0.647962
[22:36:35.073] it:0 	 Success 	 new_chi2: 20.114481 	 dT = 0.005023, 0.000000, 0.049818
[22:36:35.073] it:1 	 FAILURE 	 new_chi2: 21.078266
[22:36:35.073] n deleted obs = 70 	 scale =0.647962 	 error init =0.287350 	 error end=0.287350
[22:36:35.073] After pose optimization, distance between two frames x:-0.000005 ,z=0.000022,angle between two frames:0.003820 and reprojected points are: 0
[22:36:35.073] Update EKF and 3D points, distance between two frames x:-0.000005 ,z=0.000022,angle between two frames:0.003873
[22:36:35.173] After Reprojection Map nPoint:56 ,nCell:25 ,nMatches:22 ,distance between two frames x:-0.000001 ,z=0.000001,angle between two frames:0.002827
[22:36:35.173] Init estimate scale:0.650608
[22:36:35.173] it:0 	 Success 	 new_chi2: 15.956249 	 dT = 0.003397, 0.000000, 0.039271
[22:36:35.173] it:1 	 FAILURE 	 new_chi2: 17.139268
[22:36:35.173] n deleted obs = 72 	 scale =0.650608 	 error init =0.221615 	 error end=0.221615
[22:36:35.173] After pose optimization, distance between two frames x:-0.000001 ,z=0.000001,angle between two frames:0.002827 and reprojected points are: 0
[22:36:35.173] Update EKF and 3D points, distance between two frames x:-0.000002 ,z=0.000002,angle between two frames:0.002892
[22:36:35.274] After Reprojection Map nPoint:63 ,nCell:26 ,nMatches:23 ,distance between two frames x:-0.000007 ,z=0.000002,angle between two frames:0.000953
[22:36:35.274] Init estimate scale:0.669683
[22:36:35.274] it:0 	 Success 	 new_chi2: 20.225122 	 dT = 0.002970, 0.000000, 0.050029
[22:36:35.274] it:1 	 FAILURE 	 new_chi2: 21.283979
[22:36:35.274] n deleted obs = 76 	 scale =0.669683 	 error init =0.266120 	 error end=0.266120
[22:36:35.274] After pose optimization, distance between two frames x:-0.000007 ,z=0.000002,angle between two frames:0.000953 and reprojected points are: 0
[22:36:35.274] Update EKF and 3D points, distance between two frames x:-0.000007 ,z=0.000002,angle between two frames:0.001083
[22:36:35.374] After Reprojection Map nPoint:62 ,nCell:28 ,nMatches:26 ,distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001532
[22:36:35.374] Init estimate scale:0.669920
[22:36:35.374] it:0 	 Success 	 new_chi2: 18.758450 	 dT = 0.003094, 0.000000, 0.045608
[22:36:35.374] it:1 	 FAILURE 	 new_chi2: 20.287739
[22:36:35.374] n deleted obs = 82 	 scale =0.669920 	 error init =0.228762 	 error end=0.228762
[22:36:35.374] After pose optimization, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001532 and reprojected points are: 0
[22:36:35.374] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001651
[22:36:35.479] After Reprojection Map nPoint:68 ,nCell:27 ,nMatches:25 ,distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001521
[22:36:35.479] Init estimate scale:0.669024
[22:36:35.479] it:0 	 Success 	 new_chi2: 21.514996 	 dT = 0.002989, 0.000000, 0.054806
[22:36:35.479] it:1 	 FAILURE 	 new_chi2: 22.839274
[22:36:35.479] n deleted obs = 84 	 scale =0.669024 	 error init =0.256131 	 error end=0.256131
[22:36:35.479] After pose optimization, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001521 and reprojected points are: 0
[22:36:35.479] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001647
[22:36:35.575] After Reprojection Map nPoint:71 ,nCell:29 ,nMatches:27 ,distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.001428
[22:36:35.575] Init estimate scale:0.668173
[22:36:35.575] it:0 	 Success 	 new_chi2: 24.193388 	 dT = 0.001655, 0.000000, 0.039316
[22:36:35.575] it:1 	 FAILURE 	 new_chi2: 25.046470
[22:36:35.575] n deleted obs = 88 	 scale =0.668173 	 error init =0.274925 	 error end=0.274925
[22:36:35.575] After pose optimization, distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.001428 and reprojected points are: 0
[22:36:35.575] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001543
[22:36:35.673] After Reprojection Map nPoint:68 ,nCell:27 ,nMatches:25 ,distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001493
[22:36:35.673] Init estimate scale:0.667292
[22:36:35.673] it:0 	 Success 	 new_chi2: 22.437498 	 dT = 0.003252, 0.000000, 0.057723
[22:36:35.673] it:1 	 FAILURE 	 new_chi2: 23.929589
[22:36:35.673] n deleted obs = 85 	 scale =0.667292 	 error init =0.263971 	 error end=0.263971
[22:36:35.673] After pose optimization, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001493 and reprojected points are: 0
[22:36:35.673] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001612
[22:36:35.772] After Reprojection Map nPoint:70 ,nCell:27 ,nMatches:26 ,distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001501
[22:36:35.773] Init estimate scale:0.666403
[22:36:35.773] it:0 	 Success 	 new_chi2: 22.359763 	 dT = 0.004648, 0.000000, 0.056589
[22:36:35.773] it:1 	 FAILURE 	 new_chi2: 23.899581
[22:36:35.773] n deleted obs = 88 	 scale =0.666403 	 error init =0.254088 	 error end=0.254088
[22:36:35.773] After pose optimization, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001501 and reprojected points are: 0
[22:36:35.773] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001619
[22:36:35.873] After Reprojection Map nPoint:68 ,nCell:28 ,nMatches:26 ,distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.001348
[22:36:35.873] Init estimate scale:0.665596
[22:36:35.873] it:0 	 Success 	 new_chi2: 22.766792 	 dT = 0.006556, 0.000000, 0.056761
[22:36:35.873] it:1 	 FAILURE 	 new_chi2: 24.552216
[22:36:35.873] n deleted obs = 87 	 scale =0.665596 	 error init =0.261687 	 error end=0.261687
[22:36:35.873] After pose optimization, distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.001348 and reprojected points are: 0
[22:36:35.873] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001469
[22:36:35.974] After Reprojection Map nPoint:66 ,nCell:29 ,nMatches:26 ,distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.001400
[22:36:35.974] Init estimate scale:0.644577
[22:36:35.974] it:0 	 Success 	 new_chi2: 18.772887 	 dT = 0.003310, 0.000000, 0.047358
[22:36:35.974] it:1 	 FAILURE 	 new_chi2: 20.415022
[22:36:35.974] n deleted obs = 85 	 scale =0.644577 	 error init =0.220857 	 error end=0.220857
[22:36:35.974] After pose optimization, distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.001400 and reprojected points are: 0
[22:36:35.974] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001527
[22:36:36.072] After Reprojection Map nPoint:70 ,nCell:26 ,nMatches:25 ,distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001537
[22:36:36.072] Init estimate scale:0.623685
[22:36:36.072] it:0 	 Success 	 new_chi2: 18.478909 	 dT = 0.003389, 0.000000, 0.044992
[22:36:36.072] it:1 	 FAILURE 	 new_chi2: 20.045110
[22:36:36.072] n deleted obs = 87 	 scale =0.623685 	 error init =0.212401 	 error end=0.212401
[22:36:36.072] After pose optimization, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001537 and reprojected points are: 0
[22:36:36.072] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001646
[22:36:36.173] After Reprojection Map nPoint:70 ,nCell:26 ,nMatches:24 ,distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001574
[22:36:36.173] Init estimate scale:0.640318
[22:36:36.174] it:0 	 Success 	 new_chi2: 18.361550 	 dT = 0.003329, 0.000000, 0.045413
[22:36:36.174] it:1 	 FAILURE 	 new_chi2: 19.926026
[22:36:36.174] n deleted obs = 85 	 scale =0.640318 	 error init =0.216018 	 error end=0.216018
[22:36:36.174] After pose optimization, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001574 and reprojected points are: 0
[22:36:36.174] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001692
[22:36:36.273] After Reprojection Map nPoint:68 ,nCell:28 ,nMatches:25 ,distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.001481
[22:36:36.273] Init estimate scale:0.639463
[22:36:36.274] it:0 	 Success 	 new_chi2: 18.391056 	 dT = 0.002983, 0.000000, 0.046173
[22:36:36.274] it:1 	 FAILURE 	 new_chi2: 19.976069
[22:36:36.274] n deleted obs = 85 	 scale =0.639463 	 error init =0.216365 	 error end=0.216365
[22:36:36.274] After pose optimization, distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.001481 and reprojected points are: 0
[22:36:36.274] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001598
[22:36:36.375] After Reprojection Map nPoint:69 ,nCell:25 ,nMatches:24 ,distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.001486
[22:36:36.375] Init estimate scale:0.638604
[22:36:36.375] it:0 	 Success 	 new_chi2: 21.148887 	 dT = 0.003398, 0.000000, 0.053544
[22:36:36.375] it:1 	 FAILURE 	 new_chi2: 22.428937
[22:36:36.375] n deleted obs = 85 	 scale =0.638604 	 error init =0.248810 	 error end=0.248810
[22:36:36.375] After pose optimization, distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.001486 and reprojected points are: 0
[22:36:36.375] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001602
[22:36:36.475] After Reprojection Map nPoint:68 ,nCell:28 ,nMatches:26 ,distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001462
[22:36:36.475] Init estimate scale:0.637757
[22:36:36.476] it:0 	 Success 	 new_chi2: 23.022133 	 dT = 0.001610, 0.000000, 0.038741
[22:36:36.476] it:1 	 FAILURE 	 new_chi2: 23.764076
[22:36:36.476] n deleted obs = 86 	 scale =0.637757 	 error init =0.267699 	 error end=0.267699
[22:36:36.476] After pose optimization, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001462 and reprojected points are: 0
[22:36:36.476] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001578
[22:36:36.574] After Reprojection Map nPoint:70 ,nCell:27 ,nMatches:24 ,distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.001467
[22:36:36.574] Init estimate scale:0.636906
[22:36:36.574] it:0 	 Success 	 new_chi2: 22.399418 	 dT = 0.001497, 0.000000, 0.037300
[22:36:36.574] it:1 	 FAILURE 	 new_chi2: 23.109460
[22:36:36.574] n deleted obs = 86 	 scale =0.636906 	 error init =0.260458 	 error end=0.260458
[22:36:36.574] After pose optimization, distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.001467 and reprojected points are: 0
[22:36:36.574] Update EKF and 3D points, distance between two frames x:-0.000003 ,z=0.000001,angle between two frames:0.001586
[22:36:36.674] After Reprojection Map nPoint:69 ,nCell:28 ,nMatches:26 ,distance between two frames x:-0.000002 ,z=0.000001,angle between two frames:0.001493
[22:36:36.674] Init estimate scale:0.638538
[22:36:36.674] it:0 	 Success 	 new_chi2: 21.839073 	 dT = 0.001245, 0.000000, 0.056034
[22:36:36.674] it:1 	 FAILURE 	 new_chi2: 23.012330
[22:36:36.674] n deleted obs = 85 	 scale =0.638538 	 error init =0.25