[13:20:45.904] Init: frame zero: 0.000000, 0.000000 0.000000
[13:20:45.904] Init: Selected first frame. 
[13:20:45.904] frame process finished the id is: 0 the obs is:0 
[13:20:46.007] Init: px average disparity is:0.200866 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:46.007] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:46.007] frame process finished the id is: 1 the obs is:0 
[13:20:46.100] Init: px average disparity is:0.239564 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:46.100] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:46.100] frame process finished the id is: 2 the obs is:0 
[13:20:46.200] Init: px average disparity is:0.254097 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:46.200] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:46.200] frame process finished the id is: 3 the obs is:0 
[13:20:46.302] Init: px average disparity is:0.269892 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:46.302] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:46.302] frame process finished the id is: 4 the obs is:0 
[13:20:46.402] Init: px average disparity is:0.253967 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:46.402] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:46.402] frame process finished the id is: 5 the obs is:0 
[13:20:46.500] Init: px average disparity is:0.240101 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:46.500] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:46.500] frame process finished the id is: 6 the obs is:0 
[13:20:46.604] Init: px average disparity is:0.246226 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:46.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:46.604] frame process finished the id is: 7 the obs is:0 
[13:20:46.704] Init: px average disparity is:0.245367 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:46.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:46.704] frame process finished the id is: 8 the obs is:0 
[13:20:46.799] Init: px average disparity is:0.273102 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:46.799] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:46.799] frame process finished the id is: 9 the obs is:0 
[13:20:46.899] Init: px average disparity is:0.240946 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:46.899] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:46.899] frame process finished the id is: 10 the obs is:0 
[13:20:47.000] Init: px average disparity is:0.253455 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:47.000] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:47.000] frame process finished the id is: 11 the obs is:0 
[13:20:47.100] Init: px average disparity is:0.255972 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:47.100] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:47.100] frame process finished the id is: 12 the obs is:0 
[13:20:47.200] Init: px average disparity is:0.249367 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:47.200] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:47.200] frame process finished the id is: 13 the obs is:0 
[13:20:47.299] Init: px average disparity is:0.252182 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:47.299] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:47.299] frame process finished the id is: 14 the obs is:0 
[13:20:47.399] Init: px average disparity is:0.243911 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:47.399] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:47.399] frame process finished the id is: 15 the obs is:0 
[13:20:47.506] Init: px average disparity is:0.262573 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:47.506] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:47.506] frame process finished the id is: 16 the obs is:0 
[13:20:47.599] Init: px average disparity is:0.271009 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:47.599] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:47.599] frame process finished the id is: 17 the obs is:0 
[13:20:47.706] Init: px average disparity is:0.254086 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:47.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:47.706] frame process finished the id is: 18 the obs is:0 
[13:20:47.807] Init: px average disparity is:0.247628 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:47.807] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:47.807] frame process finished the id is: 19 the obs is:0 
[13:20:47.900] Init: px average disparity is:0.238957 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:47.900] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:47.900] frame process finished the id is: 20 the obs is:0 
[13:20:48.001] Init: px average disparity is:0.266071 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:48.001] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:48.001] frame process finished the id is: 21 the obs is:0 
[13:20:48.100] Init: px average disparity is:0.278223 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:48.100] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:48.100] frame process finished the id is: 22 the obs is:0 
[13:20:48.200] Init: px average disparity is:0.247381 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:48.200] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:48.200] frame process finished the id is: 23 the obs is:0 
[13:20:48.306] Init: px average disparity is:0.239182 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:48.306] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:48.306] frame process finished the id is: 24 the obs is:0 
[13:20:48.400] Init: px average disparity is:0.265764 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:48.400] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:48.400] frame process finished the id is: 25 the obs is:0 
[13:20:48.510] Init: px average disparity is:0.249611 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:48.510] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:48.510] frame process finished the id is: 26 the obs is:0 
[13:20:48.600] Init: px average disparity is:0.230995 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:48.600] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:48.600] frame process finished the id is: 27 the obs is:0 
[13:20:48.709] Init: px average disparity is:0.269572 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:48.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:48.710] frame process finished the id is: 28 the obs is:0 
[13:20:48.807] Init: px average disparity is:0.234655 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:48.807] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:48.807] frame process finished the id is: 29 the obs is:0 
[13:20:48.849] Odometry x=0.000000, y=0.000000, theta=-0.000000
[13:20:48.907] Init: px average disparity is:0.240181 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:48.907] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:48.907] frame process finished the id is: 30 the obs is:0 
[13:20:48.945] Odometry x=0.000000, y=0.000000, theta=-0.000000
[13:20:49.007] Init: px average disparity is:0.222288 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:49.007] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:49.007] frame process finished the id is: 31 the obs is:0 
[13:20:49.045] Odometry x=0.000035, y=0.006149, theta=-0.001159
[13:20:49.108] Init: px average disparity is:1.697238 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:49.108] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:49.108] frame process finished the id is: 32 the obs is:0 
[13:20:49.146] Odometry x=0.000041, y=0.017375, theta=0.001838
[13:20:49.209] Init: px average disparity is:5.922311 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:49.209] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:49.209] frame process finished the id is: 33 the obs is:0 
[13:20:49.247] Odometry x=0.000150, y=0.025982, theta=-0.005847
[13:20:49.309] Init: px average disparity is:7.643958 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:49.309] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:49.309] frame process finished the id is: 34 the obs is:0 
[13:20:49.347] Odometry x=0.000336, y=0.033102, theta=0.003223
[13:20:49.415] Init: px average disparity is:4.857568 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:49.415] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:49.415] frame process finished the id is: 35 the obs is:0 
[13:20:49.446] Odometry x=0.000326, y=0.039021, theta=0.003270
[13:20:49.502] Init: px average disparity is:5.157370 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:49.502] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:49.502] frame process finished the id is: 36 the obs is:0 
[13:20:49.545] Odometry x=0.000396, y=0.044435, theta=-0.000391
[13:20:49.609] Init: px average disparity is:4.020017 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:49.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:49.609] frame process finished the id is: 37 the obs is:0 
[13:20:49.645] Odometry x=0.000447, y=0.049577, theta=-0.001263
[13:20:49.709] Init: px average disparity is:5.463182 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:49.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:49.709] frame process finished the id is: 38 the obs is:0 
[13:20:49.749] Odometry x=0.000636, y=0.057099, theta=0.007905
[13:20:49.810] Init: px average disparity is:4.041486 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:49.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:49.810] frame process finished the id is: 39 the obs is:0 
[13:20:49.849] Odometry x=0.000673, y=0.061488, theta=-0.018752
[13:20:49.909] Init: px average disparity is:5.881265 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:49.909] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:49.909] frame process finished the id is: 40 the obs is:0 
[13:20:49.949] Odometry x=0.000731, y=0.067642, theta=-0.008436
[13:20:50.011] Init: px average disparity is:7.183428 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:50.011] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:50.011] frame process finished the id is: 41 the obs is:0 
[13:20:50.044] Odometry x=0.000725, y=0.072504, theta=-0.003780
[13:20:50.110] Init: px average disparity is:8.647643 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:50.110] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:50.110] frame process finished the id is: 42 the obs is:0 
[13:20:50.149] Odometry x=0.000911, y=0.079481, theta=-0.003921
[13:20:50.210] Init: px average disparity is:12.075291 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:50.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:50.210] frame process finished the id is: 43 the obs is:0 
[13:20:50.249] Odometry x=0.000977, y=0.084840, theta=-0.016308
[13:20:50.311] Init: px average disparity is:14.940774 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:50.311] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:50.311] frame process finished the id is: 44 the obs is:0 
[13:20:50.350] Odometry x=0.001384, y=0.090558, theta=-0.005533
[13:20:50.410] Init: px average disparity is:13.092673 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:50.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:50.410] frame process finished the id is: 45 the obs is:0 
[13:20:50.447] Odometry x=0.001380, y=0.095927, theta=-0.001488
[13:20:50.511] Init: px average disparity is:12.295294 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:50.511] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:50.511] frame process finished the id is: 46 the obs is:0 
[13:20:50.548] Odometry x=0.001603, y=0.103966, theta=-0.001423
[13:20:50.610] Init: px average disparity is:10.582953 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:50.610] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:50.610] frame process finished the id is: 47 the obs is:0 
[13:20:50.649] Odometry x=0.001223, y=0.109444, theta=0.002223
[13:20:50.710] Init: px average disparity is:12.200701 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:50.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:50.710] frame process finished the id is: 48 the obs is:0 
[13:20:50.750] Odometry x=0.001292, y=0.114963, theta=0.006026
[13:20:50.810] Init: px average disparity is:12.945971 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:50.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:50.810] frame process finished the id is: 49 the obs is:0 
[13:20:50.850] Odometry x=0.001436, y=0.132545, theta=0.004291
[13:20:50.910] Init: px average disparity is:19.050332 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:50.910] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:50.910] frame process finished the id is: 50 the obs is:0 
[13:20:50.960] Odometry x=0.002465, y=0.143633, theta=0.010428
[13:20:51.010] Init: px average disparity is:13.902146 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:51.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:51.010] frame process finished the id is: 51 the obs is:0 
[13:20:51.050] Odometry x=0.004224, y=0.149556, theta=-0.005699
[13:20:51.110] Init: px average disparity is:13.731347 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:51.110] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:51.110] frame process finished the id is: 52 the obs is:0 
[13:20:51.150] Odometry x=0.004264, y=0.162430, theta=-0.005526
[13:20:51.212] Init: px average disparity is:9.274701 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:51.212] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:51.212] frame process finished the id is: 53 the obs is:0 
[13:20:51.248] Odometry x=0.006255, y=0.167802, theta=-0.008874
[13:20:51.309] Init: px average disparity is:9.880701 ,While minimum is: 20.000000  KLT tracked : 135
[13:20:51.309] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:51.309] frame process finished the id is: 54 the obs is:0 
[13:20:51.344] Odometry x=0.006951, y=0.174776, theta=-0.013428
[13:20:51.409] Init: px average disparity is:9.717077 ,While minimum is: 20.000000  KLT tracked : 134
[13:20:51.409] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:51.409] frame process finished the id is: 55 the obs is:0 
[13:20:51.448] Odometry x=0.008857, y=0.179877, theta=-0.010011
[13:20:51.510] Init: px average disparity is:10.611340 ,While minimum is: 20.000000  KLT tracked : 134
[13:20:51.510] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:51.510] frame process finished the id is: 56 the obs is:0 
[13:20:51.551] Odometry x=0.008938, y=0.185285, theta=-0.011376
[13:20:51.612] Init: px average disparity is:11.302614 ,While minimum is: 20.000000  KLT tracked : 134
[13:20:51.613] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:51.613] frame process finished the id is: 57 the obs is:0 
[13:20:51.652] Odometry x=0.009407, y=0.190797, theta=-0.013017
[13:20:51.710] Init: px average disparity is:9.441809 ,While minimum is: 20.000000  KLT tracked : 134
[13:20:51.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:51.711] frame process finished the id is: 58 the obs is:0 
[13:20:51.752] Odometry x=0.009426, y=0.196384, theta=0.006469
[13:20:51.809] Init: px average disparity is:11.521159 ,While minimum is: 20.000000  KLT tracked : 134
[13:20:51.809] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:51.810] frame process finished the id is: 59 the obs is:0 
[13:20:51.853] Odometry x=0.009696, y=0.201859, theta=0.001730
[13:20:51.909] Init: px average disparity is:13.522692 ,While minimum is: 20.000000  KLT tracked : 134
[13:20:51.910] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:51.910] frame process finished the id is: 60 the obs is:0 
[13:20:51.948] Odometry x=0.009794, y=0.210357, theta=0.000805
[13:20:52.010] Init: px average disparity is:14.574476 ,While minimum is: 20.000000  KLT tracked : 134
[13:20:52.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:52.010] frame process finished the id is: 61 the obs is:0 
[13:20:52.053] Odometry x=0.011274, y=0.215782, theta=-0.002447
[13:20:52.112] Init: px average disparity is:15.562186 ,While minimum is: 20.000000  KLT tracked : 134
[13:20:52.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:52.112] frame process finished the id is: 62 the obs is:0 
[13:20:52.147] Odometry x=0.011281, y=0.223037, theta=0.005065
[13:20:52.211] Init: px average disparity is:16.050926 ,While minimum is: 20.000000  KLT tracked : 134
[13:20:52.211] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:52.211] frame process finished the id is: 63 the obs is:0 
[13:20:52.247] Odometry x=0.011326, y=0.227974, theta=-0.000706
[13:20:52.312] Init: px average disparity is:16.464864 ,While minimum is: 20.000000  KLT tracked : 134
[13:20:52.312] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:52.312] frame process finished the id is: 64 the obs is:0 
[13:20:52.347] Odometry x=0.011331, y=0.234870, theta=0.006139
[13:20:52.412] Init: px average disparity is:18.639393 ,While minimum is: 20.000000  KLT tracked : 134
[13:20:52.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[13:20:52.412] frame process finished the id is: 65 the obs is:0 
[13:20:52.447] Odometry x=0.011366, y=0.241203, theta=0.001668
[13:20:52.547] Odometry x=0.009543, y=0.246819, theta=0.006500
[13:20:52.581] Init finished: Homography RANSAC (inlier) is:42 ,While 25 inliers minimum required.  px average disparity is:21.668524 ,While minimum is: 20.000000  KLT tracked: 134
[13:20:52.582] Init: distance between the first and current frame is x:0.010092 ,z=0.255309,angle between two frames: 0.011970 
[13:20:52.582] Init: Selected Second frame. 	 The number of features: 33 depth mean:0.227774 min:-2.178621
[13:20:52.582] frame process finished the id is: 66 the obs is:33 
[13:20:52.649] Odometry x=0.010092, y=0.255309, theta=0.011970
[13:20:52.745] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:-0.000367 ,z=0.000096,angle between two frames:0.000249
[13:20:52.745] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.156913 	 error end=0.116623
[13:20:52.745] After pose optimization, distance between ekf and vo x:0.027730 ,z=-0.046123,angle between two frames:0.003241
[13:20:52.745] frame process finished the id is: 66 the obs is:33 
[13:20:52.747] Odometry x=0.005718, y=0.260474, theta=-0.000298
[13:20:52.849] Odometry x=0.007278, y=0.267604, theta=0.024039
[13:20:52.895] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000377 ,z=0.000108,angle between two frames:0.000201
[13:20:52.895] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.212351 	 error end=0.162339
[13:20:52.895] After pose optimization, distance between ekf and vo x:-0.085948 ,z=-0.285302,angle between two frames:0.227095
[13:20:52.895] frame process finished the id is: 66 the obs is:33 
[13:20:52.946] Odometry x=0.007228, y=0.274012, theta=0.014415
[13:20:53.039] After Reprojection Map nPoint:22 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000309 ,z=0.000063,angle between two frames:0.000169
[13:20:53.039] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.435202 	 error end=0.332261
[13:20:53.039] After pose optimization, distance between ekf and vo x:0.072860 ,z=0.416883,angle between two frames:0.150908
[13:20:53.039] frame process finished the id is: 66 the obs is:33 
[13:20:53.049] Odometry x=0.006787, y=0.301381, theta=0.038525
[13:20:53.147] Odometry x=0.006932, y=0.306982, theta=0.010954
[13:20:53.181] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000228 ,z=0.000089,angle between two frames:0.000116
[13:20:53.181] After pose optimization, distance between ekf and vo x:-0.000228 ,z=0.000089,angle between two frames:0.000116
[13:20:53.181] frame process finished the id is: 66 the obs is:33 
[13:20:53.249] Odometry x=0.006791, y=0.314059, theta=0.009850
[13:20:53.323] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:3 ,distance between ekf and vo x:-0.000268 ,z=0.000062,angle between two frames:0.000144
[13:20:53.323] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.192182 	 error end=0.192182
[13:20:53.323] After pose optimization, distance between ekf and vo x:-0.000268 ,z=0.000062,angle between two frames:0.000144
[13:20:53.323] frame process finished the id is: 66 the obs is:33 
[13:20:53.346] Odometry x=0.006959, y=0.319421, theta=0.010971
[13:20:53.444] Odometry x=0.006948, y=0.325550, theta=0.005085
[13:20:53.466] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000420 ,z=0.000104,angle between two frames:0.000218
[13:20:53.466] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.469640 	 error end=0.469640
[13:20:53.466] After pose optimization, distance between ekf and vo x:-0.000420 ,z=0.000104,angle between two frames:0.000218
[13:20:53.466] frame process finished the id is: 66 the obs is:33 
[13:20:53.546] Odometry x=0.007012, y=0.331115, theta=0.003121
[13:20:53.608] After Reprojection Map nPoint:17 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000351 ,z=0.000086,angle between two frames:0.000186
[13:20:53.608] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.029622 	 error end=0.029622
[13:20:53.608] After pose optimization, distance between ekf and vo x:-0.000351 ,z=0.000086,angle between two frames:0.000186
[13:20:53.608] frame process finished the id is: 66 the obs is:33 
[13:20:53.648] Odometry x=0.007052, y=0.341804, theta=0.029835
[13:20:53.745] Odometry x=0.007008, y=0.347165, theta=0.004816
[13:20:53.750] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:3 ,distance between ekf and vo x:-0.000124 ,z=0.000044,angle between two frames:0.000060
[13:20:53.750] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.097846 	 error end=0.075034
[13:20:53.750] After pose optimization, distance between ekf and vo x:0.015433 ,z=-0.029761,angle between two frames:0.029932
[13:20:53.750] frame process finished the id is: 66 the obs is:33 
[13:20:53.848] Odometry x=0.006994, y=0.352903, theta=0.011286
[13:20:53.893] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:-0.000277 ,z=0.000066,angle between two frames:0.000151
[13:20:53.893] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.128091 	 error end=0.128091
[13:20:53.893] After pose optimization, distance between ekf and vo x:-0.000277 ,z=0.000066,angle between two frames:0.000151
[13:20:53.893] frame process finished the id is: 66 the obs is:33 
[13:20:53.951] Odometry x=0.006976, y=0.358367, theta=0.004676
[13:20:54.036] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:2 ,distance between ekf and vo x:-0.000440 ,z=0.000103,angle between two frames:0.000243
[13:20:54.036] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.192332 	 error end=0.102225
[13:20:54.036] After pose optimization, distance between ekf and vo x:0.036713 ,z=-0.146841,angle between two frames:0.014407
[13:20:54.036] frame process finished the id is: 66 the obs is:33 
[13:20:54.048] Odometry x=0.006932, y=0.365480, theta=0.013033
[13:20:54.146] Odometry x=0.007181, y=0.370268, theta=-0.003180
[13:20:54.179] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.000282 ,z=0.000065,angle between two frames:0.000155
[13:20:54.179] After pose optimization, distance between ekf and vo x:-0.000282 ,z=0.000065,angle between two frames:0.000155
[13:20:54.179] frame process finished the id is: 66 the obs is:33 
[13:20:54.249] Odometry x=0.008356, y=0.375261, theta=0.019695
[13:20:54.323] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:1 ,distance between ekf and vo x:-0.000336 ,z=0.000094,angle between two frames:0.000181
[13:20:54.323] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.123158 	 error end=0.119332
[13:20:54.323] After pose optimization, distance between ekf and vo x:0.003190 ,z=0.001713,angle between two frames:0.000965
[13:20:54.323] frame process finished the id is: 66 the obs is:33 
[13:20:54.346] Odometry x=0.008459, y=0.380812, theta=-0.006257
[13:20:54.448] Odometry x=0.000102, y=0.387009, theta=0.020190
[13:20:54.467] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.000581 ,z=0.000142,angle between two frames:0.000313
[13:20:54.467] After pose optimization, distance between ekf and vo x:-0.000581 ,z=0.000142,angle between two frames:0.000313
[13:20:54.467] frame process finished the id is: 66 the obs is:33 
[13:20:54.551] Odometry x=0.001781, y=0.392685, theta=0.000959
[13:20:54.609] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000261 ,z=0.000083,angle between two frames:0.000139
[13:20:54.609] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.086745 	 error end=0.086529
[13:20:54.609] After pose optimization, distance between ekf and vo x:-0.000612 ,z=-0.000084,angle between two frames:0.000139
[13:20:54.609] frame process finished the id is: 66 the obs is:33 
[13:20:54.649] Odometry x=0.001181, y=0.402946, theta=-0.004845
[13:20:54.747] Odometry x=0.001195, y=0.409005, theta=0.007949
[13:20:54.751] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:1 ,distance between ekf and vo x:-0.000375 ,z=0.000069,angle between two frames:0.000225
[13:20:54.751] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.704996 	 error end=0.083912
[13:20:54.751] After pose optimization, distance between ekf and vo x:-0.060972 ,z=-1.349650,angle between two frames:0.155364
[13:20:54.751] frame process finished the id is: 66 the obs is:33 
[13:20:54.851] Odometry x=0.002656, y=0.419335, theta=-0.002515
[13:20:54.894] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000352 ,z=0.000089,angle between two frames:0.000202
[13:20:54.894] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.187584 	 error end=0.187584
[13:20:54.894] After pose optimization, distance between ekf and vo x:-0.000352 ,z=0.000089,angle between two frames:0.000202
[13:20:54.894] frame process finished the id is: 66 the obs is:33 
[13:20:54.948] Odometry x=-0.000681, y=0.424727, theta=-0.015861
[13:20:55.036] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:2 ,distance between ekf and vo x:-0.000204 ,z=0.000061,angle between two frames:0.000126
[13:20:55.036] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.393681 	 error end=0.393681
[13:20:55.036] After pose optimization, distance between ekf and vo x:-0.000204 ,z=0.000061,angle between two frames:0.000126
[13:20:55.036] frame process finished the id is: 66 the obs is:33 
[13:20:55.047] Odometry x=-0.000080, y=0.437473, theta=-0.009407
[13:20:55.151] Odometry x=0.000055, y=0.426427, theta=-0.028440
[13:20:55.182] After Reprojection Map nPoint:25 ,nCell:25 ,nMatches:0 ,distance between ekf and vo x:-0.000322 ,z=0.000076,angle between two frames:0.000201
[13:20:55.182] After pose optimization, distance between ekf and vo x:-0.000322 ,z=0.000076,angle between two frames:0.000201
[13:20:55.182] frame process finished the id is: 66 the obs is:33 
[13:20:55.249] Odometry x=0.000807, y=0.431961, theta=-0.000609
[13:20:55.325] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:0 ,distance between ekf and vo x:-0.000406 ,z=0.000090,angle between two frames:0.000249
[13:20:55.325] After pose optimization, distance between ekf and vo x:-0.000406 ,z=0.000090,angle between two frames:0.000249
[13:20:55.325] frame process finished the id is: 66 the obs is:33 
[13:20:55.351] Odometry x=0.001102, y=0.436564, theta=-0.008835
[13:20:55.446] Odometry x=0.001106, y=0.441772, theta=0.002134
[13:20:55.468] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:2 ,distance between ekf and vo x:-0.000327 ,z=0.000081,angle between two frames:0.000203
[13:20:55.468] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.433878 	 error end=0.430917
[13:20:55.468] After pose optimization, distance between ekf and vo x:-0.038068 ,z=-0.016331,angle between two frames:0.022718
[13:20:55.468] frame process finished the id is: 66 the obs is:33 
[13:20:55.548] Odometry x=0.001095, y=0.449342, theta=0.017418
[13:20:55.610] After Reprojection Map nPoint:23 ,nCell:22 ,nMatches:1 ,distance between ekf and vo x:-0.000319 ,z=0.000097,angle between two frames:0.000178
[13:20:55.610] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.432084 	 error end=0.212775
[13:20:55.610] After pose optimization, distance between ekf and vo x:0.079162 ,z=-0.057894,angle between two frames:0.044245
[13:20:55.610] frame process finished the id is: 66 the obs is:33 
[13:20:55.646] Odometry x=0.001173, y=0.454781, theta=0.004920
[13:20:55.750] Odometry x=0.000891, y=0.473947, theta=0.014386
[13:20:55.752] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.000451 ,z=0.000119,angle between two frames:0.000261
[13:20:55.752] After pose optimization, distance between ekf and vo x:-0.000451 ,z=0.000119,angle between two frames:0.000261
[13:20:55.752] frame process finished the id is: 66 the obs is:33 
[13:20:55.847] Odometry x=0.000853, y=0.479600, theta=0.004820
[13:20:55.895] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:3 ,distance between ekf and vo x:-0.000460 ,z=0.000118,angle between two frames:0.000284
[13:20:55.895] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.390208 	 error end=0.255029
[13:20:55.895] After pose optimization, distance between ekf and vo x:0.152022 ,z=-0.150865,angle between two frames:0.028343
[13:20:55.895] frame process finished the id is: 66 the obs is:33 
[13:20:55.950] Odometry x=-0.011122, y=0.503546, theta=0.002954
[13:20:56.044] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:1 ,distance between ekf and vo x:-0.001019 ,z=0.000360,angle between two frames:0.000664
[13:20:56.044] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.287275 	 error end=0.287275
[13:20:56.044] After pose optimization, distance between ekf and vo x:-0.001019 ,z=0.000360,angle between two frames:0.000664
[13:20:56.044] frame process finished the id is: 66 the obs is:33 
[13:20:56.048] Odometry x=-0.011127, y=0.509095, theta=0.009359
[13:20:56.151] Odometry x=-0.012493, y=0.520574, theta=0.008740
[13:20:56.187] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.000242 ,z=0.000067,angle between two frames:0.000148
[13:20:56.187] After pose optimization, distance between ekf and vo x:-0.000242 ,z=0.000067,angle between two frames:0.000148
[13:20:56.187] frame process finished the id is: 66 the obs is:33 
[13:20:56.249] Odometry x=-0.012579, y=0.526203, theta=0.002607
[13:20:56.330] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000324 ,z=0.000068,angle between two frames:0.000206
[13:20:56.330] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.434574 	 error end=0.434574
[13:20:56.330] After pose optimization, distance between ekf and vo x:-0.000324 ,z=0.000068,angle between two frames:0.000206
[13:20:56.330] frame process finished the id is: 66 the obs is:33 
[13:20:56.351] Odometry x=-0.011192, y=0.536863, theta=0.015632
[13:20:56.448] Odometry x=-0.011231, y=0.542247, theta=0.007726
[13:20:56.473] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000398 ,z=0.000114,angle between two frames:0.000238
[13:20:56.473] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.493847 	 error end=0.432969
[13:20:56.473] After pose optimization, distance between ekf and vo x:0.015035 ,z=-0.007767,angle between two frames:0.004837
[13:20:56.473] frame process finished the id is: 66 the obs is:33 
[13:20:56.546] Odometry x=-0.010443, y=0.547317, theta=0.006672
[13:20:56.617] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000349 ,z=0.000106,angle between two frames:0.000212
[13:20:56.617] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.452820 	 error end=0.134229
[13:20:56.617] After pose optimization, distance between ekf and vo x:0.001152 ,z=-0.132072,angle between two frames:0.011808
[13:20:56.617] frame process finished the id is: 66 the obs is:33 
[13:20:56.646] Odometry x=-0.010523, y=0.560804, theta=0.003672
[13:20:56.750] Odometry x=-0.010531, y=0.566925, theta=0.009051
[13:20:56.761] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.000297 ,z=0.000059,angle between two frames:0.000220
[13:20:56.761] After pose optimization, distance between ekf and vo x:-0.000297 ,z=0.000059,angle between two frames:0.000220
[13:20:56.761] frame process finished the id is: 66 the obs is:33 
[13:20:56.848] Odometry x=-0.010156, y=0.571921, theta=-0.009951
[13:20:56.904] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:-0.000250 ,z=0.000080,angle between two frames:0.000165
[13:20:56.904] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.642525 	 error end=0.642525
[13:20:56.904] After pose optimization, distance between ekf and vo x:-0.000250 ,z=0.000080,angle between two frames:0.000165
[13:20:56.904] frame process finished the id is: 66 the obs is:33 
[13:20:56.945] Odometry x=-0.009591, y=0.577096, theta=-0.002362
[13:20:57.047] Odometry x=-0.009580, y=0.582431, theta=-0.012784
[13:20:57.047] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:0 ,distance between ekf and vo x:-0.000299 ,z=0.000080,angle between two frames:0.000199
[13:20:57.047] After pose optimization, distance between ekf and vo x:-0.000299 ,z=0.000080,angle between two frames:0.000199
[13:20:57.047] frame process finished the id is: 66 the obs is:33 
[13:20:57.146] Odometry x=-0.009541, y=0.588287, theta=-0.003499
[13:20:57.190] After Reprojection Map nPoint:22 ,nCell:21 ,nMatches:2 ,distance between ekf and vo x:-0.000322 ,z=0.000091,angle between two frames:0.000208
[13:20:57.190] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.388088 	 error end=0.388088
[13:20:57.190] After pose optimization, distance between ekf and vo x:-0.000322 ,z=0.000091,angle between two frames:0.000208
[13:20:57.190] frame process finished the id is: 66 the obs is:33 
[13:20:57.246] Odometry x=-0.017413, y=0.594054, theta=-0.001606
[13:20:57.333] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000226 ,z=0.000063,angle between two frames:0.000143
[13:20:57.333] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.285117 	 error end=0.285117
[13:20:57.333] After pose optimization, distance between ekf and vo x:-0.000226 ,z=0.000063,angle between two frames:0.000143
[13:20:57.333] frame process finished the id is: 66 the obs is:33 
[13:20:57.348] Odometry x=-0.017118, y=0.600466, theta=-0.003778
[13:20:57.446] Odometry x=-0.017021, y=0.606055, theta=0.006713
[13:20:57.477] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:2 ,distance between ekf and vo x:-0.000409 ,z=0.000082,angle between two frames:0.000263
[13:20:57.477] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.669448 	 error end=0.669448
[13:20:57.477] After pose optimization, distance between ekf and vo x:-0.000409 ,z=0.000082,angle between two frames:0.000263
[13:20:57.477] frame process finished the id is: 66 the obs is:33 
[13:20:57.548] Odometry x=-0.015829, y=0.612673, theta=-0.011172
[13:20:57.620] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000380 ,z=0.000062,angle between two frames:0.000256
[13:20:57.620] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.272949 	 error end=0.272949
[13:20:57.620] After pose optimization, distance between ekf and vo x:-0.000380 ,z=0.000062,angle between two frames:0.000256
[13:20:57.620] frame process finished the id is: 66 the obs is:33 
[13:20:57.645] Odometry x=-0.015447, y=0.618016, theta=0.000680
[13:20:57.747] Odometry x=-0.015422, y=0.626930, theta=-0.017556
[13:20:57.763] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000300 ,z=0.000072,angle between two frames:0.000205
[13:20:57.763] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.250993 	 error end=0.250993
[13:20:57.763] After pose optimization, distance between ekf and vo x:-0.000300 ,z=0.000072,angle between two frames:0.000205
[13:20:57.763] frame process finished the id is: 66 the obs is:33 
[13:20:57.850] Odometry x=-0.015112, y=0.632529, theta=0.000006
[13:20:57.905] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:0 ,distance between ekf and vo x:-0.000273 ,z=0.000072,angle between two frames:0.000186
[13:20:57.905] After pose optimization, distance between ekf and vo x:-0.000273 ,z=0.000072,angle between two frames:0.000186
[13:20:57.905] frame process finished the id is: 66 the obs is:33 
[13:20:57.947] Odometry x=-0.015028, y=0.637886, theta=-0.004831
[13:20:58.048] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000412 ,z=0.000094,angle between two frames:0.000270
[13:20:58.048] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.458728 	 error end=0.122297
[13:20:58.048] After pose optimization, distance between ekf and vo x:-0.068710 ,z=-5.984052,angle between two frames:0.020599
[13:20:58.048] frame process finished the id is: 66 the obs is:33 
[13:20:58.049] Odometry x=-0.015065, y=0.641675, theta=-0.012472
[13:20:58.146] Odometry x=-0.012865, y=0.647128, theta=-0.005455
[13:20:58.191] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000336 ,z=0.000089,angle between two frames:0.000235
[13:20:58.191] After pose optimization, distance between ekf and vo x:-0.000336 ,z=0.000089,angle between two frames:0.000235
[13:20:58.191] frame process finished the id is: 66 the obs is:33 
[13:20:58.249] Odometry x=-0.012882, y=0.652655, theta=-0.034897
[13:20:58.336] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000167 ,z=0.000233,angle between two frames:0.000045
[13:20:58.336] After pose optimization, distance between ekf and vo x:-0.000167 ,z=0.000233,angle between two frames:0.000045
[13:20:58.336] frame process finished the id is: 66 the obs is:33 
[13:20:58.346] Odometry x=-0.012255, y=0.657618, theta=-0.012758
[13:20:58.449] Odometry x=-0.012752, y=0.663010, theta=-0.024439
[13:20:58.479] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000338 ,z=0.000059,angle between two frames:0.000238
[13:20:58.479] After pose optimization, distance between ekf and vo x:-0.000338 ,z=0.000059,angle between two frames:0.000238
[13:20:58.479] frame process finished the id is: 66 the obs is:33 
[13:20:58.546] Odometry x=-0.012357, y=0.668456, theta=-0.013601
[13:20:58.623] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000365 ,z=0.000075,angle between two frames:0.000258
[13:20:58.623] After pose optimization, distance between ekf and vo x:-0.000365 ,z=0.000075,angle between two frames:0.000258
[13:20:58.623] frame process finished the id is: 66 the obs is:33 
[13:20:58.649] Odometry x=-0.018269, y=0.675336, theta=-0.021170
[13:20:58.746] Odometry x=-0.018168, y=0.680897, theta=-0.021644
[13:20:58.766] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.000320 ,z=0.000075,angle between two frames:0.000221
[13:20:58.766] After pose optimization, distance between ekf and vo x:-0.000320 ,z=0.000075,angle between two frames:0.000221
[13:20:58.766] frame process finished the id is: 66 the obs is:33 
[13:20:58.850] Odometry x=-0.017379, y=0.686187, theta=0.002609
[13:20:58.916] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:1 ,distance between ekf and vo x:-0.000801 ,z=0.000276,angle between two frames:0.000599
[13:20:58.916] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.259860 	 error end=0.200888
[13:20:58.916] After pose optimization, distance between ekf and vo x:-0.137602 ,z=0.068444,angle between two frames:0.000599
[13:20:58.916] frame process finished the id is: 66 the obs is:33 
[13:20:58.948] Odometry x=-0.017197, y=0.691678, theta=-0.013176
[13:20:59.045] Odometry x=-0.017179, y=0.697034, theta=0.006782
[13:20:59.059] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000298 ,z=0.000066,angle between two frames:0.000207
[13:20:59.059] After pose optimization, distance between ekf and vo x:-0.000298 ,z=0.000066,angle between two frames:0.000207
[13:20:59.059] frame process finished the id is: 66 the obs is:33 
[13:20:59.142] Odometry x=-0.017124, y=0.702131, theta=-0.008001
[13:20:59.204] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000346 ,z=0.000077,angle between two frames:0.000251
[13:20:59.204] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.110445 	 error end=0.110445
[13:20:59.204] After pose optimization, distance between ekf and vo x:-0.000346 ,z=0.000077,angle between two frames:0.000251
[13:20:59.204] frame process finished the id is: 66 the obs is:33 
[13:20:59.245] Odometry x=-0.017011, y=0.707549, theta=0.000964
[13:20:59.349] After Reprojection Map nPoint:14 ,nCell:13 ,nMatches:1 ,distance between ekf and vo x:-0.000328 ,z=0.000070,angle between two frames:0.000230
[13:20:59.349] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.951228 	 error end=0.951228
[13:20:59.349] After pose optimization, distance between ekf and vo x:-0.000328 ,z=0.000070,angle between two frames:0.000230
[13:20:59.349] frame process finished the id is: 66 the obs is:33 
[13:20:59.352] Odometry x=-0.017034, y=0.713673, theta=0.001467
[13:20:59.449] Odometry x=-0.017011, y=0.720092, theta=-0.007146
[13:20:59.492] After Reprojection Map nPoint:25 ,nCell:24 ,nMatches:1 ,distance between ekf and vo x:-0.000345 ,z=0.000080,angle between two frames:0.000246
[13:20:59.492] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.447144 	 error end=0.258254
[13:20:59.492] After pose optimization, distance between ekf and vo x:-0.155225 ,z=4.947971,angle between two frames:0.029508
[13:20:59.492] frame process finished the id is: 66 the obs is:33 
[13:20:59.550] Odometry x=-0.017003, y=0.725205, theta=0.005747
[13:20:59.636] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:0 ,distance between ekf and vo x:-0.000319 ,z=0.000091,angle between two frames:0.000223
[13:20:59.636] After pose optimization, distance between ekf and vo x:-0.000319 ,z=0.000091,angle between two frames:0.000223
[13:20:59.636] frame process finished the id is: 66 the obs is:33 
[13:20:59.648] Odometry x=-0.014115, y=0.732644, theta=-0.001575
[13:20:59.746] Odometry x=-0.029320, y=0.742029, theta=-0.008017
[13:20:59.779] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000346 ,z=0.000076,angle between two frames:0.000259
[13:20:59.779] After pose optimization, distance between ekf and vo x:-0.000346 ,z=0.000076,angle between two frames:0.000259
[13:20:59.779] frame process finished the id is: 66 the obs is:33 
[13:20:59.846] Odometry x=-0.029147, y=0.747321, theta=0.001241
[13:20:59.921] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000310 ,z=0.000076,angle between two frames:0.000238
[13:20:59.921] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.312454 	 error end=0.161270
[13:20:59.921] After pose optimization, distance between ekf and vo x:0.341395 ,z=6.824946,angle between two frames:1.149991
[13:20:59.922] frame process finished the id is: 66 the obs is:33 
[13:20:59.946] Odometry x=-0.029115, y=0.760576, theta=-0.006669
[13:21:00.048] Odometry x=-0.028505, y=0.766076, theta=-0.005475
[13:21:00.064] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000265 ,z=0.000061,angle between two frames:0.000208
[13:21:00.064] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.724927 	 error end=0.189664
[13:21:00.064] After pose optimization, distance between ekf and vo x:0.494562 ,z=-7.213938,angle between two frames:0.455365
[13:21:00.064] frame process finished the id is: 66 the obs is:33 
[13:21:00.146] Odometry x=-0.028455, y=0.771582, theta=-0.017764
[13:21:00.215] After Reprojection Map nPoint:24 ,nCell:24 ,nMatches:0 ,distance between ekf and vo x:-0.000930 ,z=0.000318,angle between two frames:0.000765
[13:21:00.215] After pose optimization, distance between ekf and vo x:-0.000930 ,z=0.000318,angle between two frames:0.000765
[13:21:00.215] frame process finished the id is: 66 the obs is:33 
[13:21:00.248] Odometry x=-0.027924, y=0.776996, theta=-0.009181
[13:21:00.350] Odometry x=-0.027848, y=0.782378, theta=-0.011584
[13:21:00.360] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000495 ,z=0.000140,angle between two frames:0.000409
[13:21:00.360] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.559095 	 error end=0.443893
[13:21:00.360] After pose optimization, distance between ekf and vo x:0.007054 ,z=0.029039,angle between two frames:0.018932
[13:21:00.360] frame process finished the id is: 66 the obs is:33 
[13:21:00.448] Odometry x=-0.027760, y=0.788304, theta=-0.016724
[13:21:00.504] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000311 ,z=0.000069,angle between two frames:0.000217
[13:21:00.504] After pose optimization, distance between ekf and vo x:-0.000311 ,z=0.000069,angle between two frames:0.000217
[13:21:00.504] frame process finished the id is: 66 the obs is:33 
[13:21:00.546] Odometry x=-0.030497, y=0.793842, theta=-0.010699
[13:21:00.643] Odometry x=-0.030433, y=0.798951, theta=-0.023584
[13:21:00.654] After Reprojection Map nPoint:19 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000613 ,z=0.000119,angle between two frames:0.000575
[13:21:00.654] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.695228 	 error end=0.695228
[13:21:00.654] After pose optimization, distance between ekf and vo x:-0.000613 ,z=0.000119,angle between two frames:0.000575
[13:21:00.654] frame process finished the id is: 66 the obs is:33 
[13:21:00.745] Odometry x=-0.030300, y=0.804305, theta=0.001265
[13:21:00.810] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:1 ,distance between ekf and vo x:-0.001149 ,z=0.000402,angle between two frames:0.000922
[13:21:00.810] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.692986 	 error end=0.692986
[13:21:00.810] After pose optimization, distance between ekf and vo x:-0.001149 ,z=0.000402,angle between two frames:0.000922
[13:21:00.810] frame process finished the id is: 66 the obs is:33 
[13:21:00.848] Odometry x=-0.030284, y=0.809605, theta=-0.017285
[13:21:00.950] Odometry x=-0.029726, y=0.815709, theta=0.011918
[13:21:00.963] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000838 ,z=0.000255,angle between two frames:0.000705
[13:21:00.963] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.244156 	 error end=0.067416
[13:21:00.963] After pose optimization, distance between ekf and vo x:0.031372 ,z=-2.405320,angle between two frames:0.008118
[13:21:00.963] frame process finished the id is: 66 the obs is:33 
[13:21:01.047] Odometry x=-0.029789, y=0.821577, theta=0.007541
[13:21:01.125] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:-0.002236 ,z=0.000428,angle between two frames:0.001713
[13:21:01.125] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.682296 	 error end=0.682296
[13:21:01.125] After pose optimization, distance between ekf and vo x:-0.002236 ,z=0.000428,angle between two frames:0.001713
[13:21:01.126] frame process finished the id is: 66 the obs is:33 
[13:21:01.149] Odometry x=-0.029666, y=0.827092, theta=0.008391
[13:21:01.246] Odometry x=-0.029607, y=0.832565, theta=0.013476
[13:21:01.290] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.002808 ,z=0.000573,angle between two frames:0.002226
[13:21:01.290] After pose optimization, distance between ekf and vo x:-0.002808 ,z=0.000573,angle between two frames:0.002226
[13:21:01.290] frame process finished the id is: 66 the obs is:33 
[13:21:01.349] Odometry x=-0.029636, y=0.837921, theta=0.004664
[13:21:01.452] Odometry x=-0.029655, y=0.843287, theta=0.009934
[13:21:01.455] After Reprojection Map nPoint:22 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.003035 ,z=0.000603,angle between two frames:0.002564
[13:21:01.455] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.455829 	 error end=0.455829
[13:21:01.455] After pose optimization, distance between ekf and vo x:-0.003035 ,z=0.000603,angle between two frames:0.002564
[13:21:01.455] frame process finished the id is: 66 the obs is:33 
[13:21:01.544] Odometry x=-0.029652, y=0.848931, theta=0.001573
[13:21:01.612] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.001813 ,z=0.000267,angle between two frames:0.001678
[13:21:01.612] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.429191 	 error end=0.429191
[13:21:01.612] After pose optimization, distance between ekf and vo x:-0.001813 ,z=0.000267,angle between two frames:0.001678
[13:21:01.612] frame process finished the id is: 66 the obs is:33 
[13:21:01.645] Odometry x=-0.032902, y=0.876012, theta=0.006279
[13:21:01.752] Odometry x=-0.032922, y=0.882142, theta=0.005779
[13:21:01.777] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.002713 ,z=0.000532,angle between two frames:0.002286
[13:21:01.777] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.787266 	 error end=0.230134
[13:21:01.777] After pose optimization, distance between ekf and vo x:1.052814 ,z=26.397092,angle between two frames:1.994916
[13:21:01.777] frame process finished the id is: 66 the obs is:33 
[13:21:01.845] Odometry x=-0.033275, y=0.888894, theta=0.012413
[13:21:01.942] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.002706 ,z=0.000682,angle between two frames:0.002360
[13:21:01.942] After pose optimization, distance between ekf and vo x:-0.002706 ,z=0.000682,angle between two frames:0.002360
[13:21:01.942] frame process finished the id is: 66 the obs is:33 
[13:21:01.953] Odometry x=-0.033266, y=0.894113, theta=0.005269
[13:21:02.060] Odometry x=-0.033306, y=0.900955, theta=0.013630
[13:21:02.108] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.002710 ,z=0.000657,angle between two frames:0.002252
[13:21:02.108] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.518192 	 error end=0.518192
[13:21:02.108] After pose optimization, distance between ekf and vo x:-0.002710 ,z=0.000657,angle between two frames:0.002252
[13:21:02.108] frame process finished the id is: 66 the obs is:33 
[13:21:02.145] Odometry x=-0.033318, y=0.906938, theta=0.002324
[13:21:02.258] Odometry x=-0.033319, y=0.912577, theta=0.003263
[13:21:02.266] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.001399 ,z=0.000243,angle between two frames:0.001343
[13:21:02.266] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.832527 	 error end=0.832527
[13:21:02.266] After pose optimization, distance between ekf and vo x:-0.001399 ,z=0.000243,angle between two frames:0.001343
[13:21:02.266] frame process finished the id is: 66 the obs is:33 
[13:21:02.352] Odometry x=-0.033323, y=0.918476, theta=0.001819
[13:21:02.431] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.002766 ,z=0.000632,angle between two frames:0.002436
[13:21:02.431] After pose optimization, distance between ekf and vo x:-0.002766 ,z=0.000632,angle between two frames:0.002436
[13:21:02.431] frame process finished the id is: 66 the obs is:33 
[13:21:02.450] Odometry x=-0.033243, y=0.923765, theta=0.008248
[13:21:02.548] Odometry x=-0.033256, y=0.928874, theta=0.002686
[13:21:02.595] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:-0.002738 ,z=0.000568,angle between two frames:0.002341
[13:21:02.595] After pose optimization, distance between ekf and vo x:-0.002738 ,z=0.000568,angle between two frames:0.002341
[13:21:02.595] frame process finished the id is: 66 the obs is:33 
[13:21:02.647] Odometry x=-0.033249, y=0.934274, theta=-0.003344
[13:21:02.744] Odometry x=-0.033185, y=0.939961, theta=0.005612
[13:21:02.753] After Reprojection Map nPoint:13 ,nCell:13 ,nMatches:0 ,distance between ekf and vo x:-0.001552 ,z=0.000241,angle between two frames:0.001449
[13:21:02.753] After pose optimization, distance between ekf and vo x:-0.001552 ,z=0.000241,angle between two frames:0.001449
[13:21:02.753] frame process finished the id is: 66 the obs is:33 
[13:21:02.848] Odometry x=-0.033192, y=0.944958, theta=0.003603
[13:21:02.916] After Reprojection Map nPoint:13 ,nCell:13 ,nMatches:0 ,distance between ekf and vo x:-0.002237 ,z=0.000393,angle between two frames:0.002040
[13:21:02.916] After pose optimization, distance between ekf and vo x:-0.002237 ,z=0.000393,angle between two frames:0.002040
[13:21:02.916] frame process finished the id is: 66 the obs is:33 
[13:21:02.946] Odometry x=-0.033197, y=0.951121, theta=0.010426
[13:21:03.049] Odometry x=-0.033223, y=0.957067, theta=0.005174
[13:21:03.079] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.001991 ,z=0.000325,angle between two frames:0.001943
[13:21:03.079] After pose optimization, distance between ekf and vo x:-0.001991 ,z=0.000325,angle between two frames:0.001943
[13:21:03.079] frame process finished the id is: 66 the obs is:33 
[13:21:03.149] Odometry x=-0.033231, y=0.962269, theta=0.010892
[13:21:03.244] After Reprojection Map nPoint:17 ,nCell:16 ,nMatches:2 ,distance between ekf and vo x:-0.002337 ,z=0.000511,angle between two frames:0.002263
[13:21:03.244] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.433684 	 error end=0.433684
[13:21:03.244] After pose optimization, distance between ekf and vo x:-0.002337 ,z=0.000511,angle between two frames:0.002263
[13:21:03.244] frame process finished the id is: 66 the obs is:33 
[13:21:03.247] Odometry x=-0.033260, y=0.968089, theta=0.015499
[13:21:03.350] Odometry x=-0.033293, y=0.973695, theta=0.012776
[13:21:03.406] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.001510 ,z=0.000313,angle between two frames:0.001525
[13:21:03.406] After pose optimization, distance between ekf and vo x:-0.001510 ,z=0.000313,angle between two frames:0.001525
[13:21:03.406] frame process finished the id is: 66 the obs is:33 
[13:21:03.447] Odometry x=-0.033311, y=0.979280, theta=0.006999
[13:21:03.547] Odometry x=-0.033257, y=0.985592, theta=0.012327
[13:21:03.569] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.001775 ,z=0.000244,angle between two frames:0.001822
[13:21:03.569] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.340294 	 error end=0.340294
[13:21:03.569] After pose optimization, distance between ekf and vo x:-0.001775 ,z=0.000244,angle between two frames:0.001822
[13:21:03.569] frame process finished the id is: 66 the obs is:33 
[13:21:03.646] Odometry x=-0.033292, y=0.990972, theta=0.015690
[13:21:03.734] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:-0.002028 ,z=0.000418,angle between two frames:0.002182
[13:21:03.734] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.559115 	 error end=0.559115
[13:21:03.734] After pose optimization, distance between ekf and vo x:-0.002028 ,z=0.000418,angle between two frames:0.002182
[13:21:03.734] frame process finished the id is: 66 the obs is:33 
[13:21:03.746] Odometry x=-0.033341, y=0.997071, theta=0.013277
[13:21:03.847] Odometry x=-0.033369, y=1.002309, theta=0.009199
[13:21:03.903] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.001496 ,z=0.000337,angle between two frames:0.001682
[13:21:03.903] After pose optimization, distance between ekf and vo x:-0.001496 ,z=0.000337,angle between two frames:0.001682
[13:21:03.903] frame process finished the id is: 66 the obs is:33 
[13:21:03.949] Odometry x=-0.033376, y=1.008152, theta=0.009179
[13:21:04.047] Odometry x=-0.033390, y=1.013504, theta=0.004969
[13:21:04.066] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.002098 ,z=0.000337,angle between two frames:0.002399
[13:21:04.066] After pose optimization, distance between ekf and vo x:-0.002098 ,z=0.000337,angle between two frames:0.002399
[13:21:04.066] frame process finished the id is: 66 the obs is:33 
[13:21:04.147] Odometry x=-0.033396, y=1.019049, theta=0.007226
[13:21:04.217] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.001276 ,z=0.000206,angle between two frames:0.001450
[13:21:04.217] After pose optimization, distance between ekf and vo x:-0.001276 ,z=0.000206,angle between two frames:0.001450
[13:21:04.217] frame process finished the id is: 66 the obs is:33 
[13:21:04.249] Odometry x=-0.033400, y=1.024613, theta=-0.000008
[13:21:04.348] Odometry x=-0.033354, y=1.030305, theta=0.004021
[13:21:04.380] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:2 ,distance between ekf and vo x:-0.001956 ,z=0.000211,angle between two frames:0.002439
[13:21:04.380] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.694023 	 error end=0.694023
[13:21:04.380] After pose optimization, distance between ekf and vo x:-0.001956 ,z=0.000211,angle between two frames:0.002439
[13:21:04.380] frame process finished the id is: 66 the obs is:33 
[13:21:04.445] Odometry x=-0.033358, y=1.035720, theta=0.004591
[13:21:04.531] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000528 ,z=0.000079,angle between two frames:0.000710
[13:21:04.531] After pose optimization, distance between ekf and vo x:-0.000528 ,z=0.000079,angle between two frames:0.000710
[13:21:04.531] frame process finished the id is: 66 the obs is:33 
[13:21:04.547] Odometry x=-0.033371, y=1.041231, theta=0.010350
[13:21:04.649] Odometry x=-0.033376, y=1.046731, theta=0.015539
[13:21:04.695] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:1 ,distance between ekf and vo x:-0.001954 ,z=0.000327,angle between two frames:0.002237
[13:21:04.695] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.072090 	 error end=0.071623
[13:21:04.695] After pose optimization, distance between ekf and vo x:-0.001919 ,z=-0.000360,angle between two frames:0.002967
[13:21:04.695] frame process finished the id is: 66 the obs is:33 
[13:21:04.747] Odometry x=-0.033306, y=1.052379, theta=0.004907
[13:21:04.848] Odometry x=-0.033320, y=1.057614, theta=0.009462
[13:21:04.854] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.001954 ,z=0.000246,angle between two frames:0.002201
[13:21:04.854] After pose optimization, distance between ekf and vo x:-0.001954 ,z=0.000246,angle between two frames:0.002201
[13:21:04.854] frame process finished the id is: 66 the obs is:33 
[13:21:04.947] Odometry x=-0.033353, y=1.062577, theta=0.007185
[13:21:05.011] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:-0.001543 ,z=0.000321,angle between two frames:0.001984
[13:21:05.011] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.366524 	 error end=0.366524
[13:21:05.011] After pose optimization, distance between ekf and vo x:-0.001543 ,z=0.000321,angle between two frames:0.001984
[13:21:05.011] frame process finished the id is: 66 the obs is:33 
[13:21:05.043] Odometry x=-0.033380, y=1.068531, theta=0.010401
[13:21:05.147] Odometry x=-0.033404, y=1.073860, theta=0.007745
[13:21:05.169] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.001173 ,z=0.000171,angle between two frames:0.001352
[13:21:05.169] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.548393 	 error end=1.548393
[13:21:05.169] After pose optimization, distance between ekf and vo x:-0.001173 ,z=0.000171,angle between two frames:0.001352
[13:21:05.169] frame process finished the id is: 66 the obs is:33 
[13:21:05.251] Odometry x=-0.033431, y=1.080156, theta=0.010800
[13:21:05.326] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:1 ,distance between ekf and vo x:-0.000750 ,z=0.000107,angle between two frames:0.000902
[13:21:05.326] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.054558 	 error end=0.054407
[13:21:05.326] After pose optimization, distance between ekf and vo x:-0.000750 ,z=-0.000059,angle between two frames:0.001053
[13:21:05.326] frame process finished the id is: 66 the obs is:33 
[13:21:05.346] Odometry x=-0.033466, y=1.086413, theta=0.010387
[13:21:05.442] Odometry x=-0.033495, y=1.091616, theta=0.010246
[13:21:05.489] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.001747 ,z=0.000325,angle between two frames:0.002164
[13:21:05.489] After pose optimization, distance between ekf and vo x:-0.001747 ,z=0.000325,angle between two frames:0.002164
[13:21:05.489] frame process finished the id is: 66 the obs is:33 
[13:21:05.547] Odometry x=-0.033524, y=1.096878, theta=0.010190
[13:21:05.645] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.001011 ,z=0.000230,angle between two frames:0.001276
[13:21:05.645] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.185900 	 error end=0.185900
[13:21:05.645] After pose optimization, distance between ekf and vo x:-0.001011 ,z=0.000230,angle between two frames:0.001276
[13:21:05.645] frame process finished the id is: 66 the obs is:33 
[13:21:05.645] Odometry x=-0.033509, y=1.102859, theta=0.008125
[13:21:05.747] Odometry x=-0.033538, y=1.109113, theta=0.010509
[13:21:05.802] After Reprojection Map nPoint:13 ,nCell:13 ,nMatches:0 ,distance between ekf and vo x:-0.000703 ,z=0.000098,angle between two frames:0.000967
[13:21:05.802] After pose optimization, distance between ekf and vo x:-0.000703 ,z=0.000098,angle between two frames:0.000967
[13:21:05.802] frame process finished the id is: 66 the obs is:33 
[13:21:05.849] Odometry x=-0.033560, y=1.114576, theta=0.006252
[13:21:05.946] Odometry x=-0.033556, y=1.120011, theta=0.004018
[13:21:05.951] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.001134 ,z=0.000233,angle between two frames:0.001406
[13:21:05.951] After pose optimization, distance between ekf and vo x:-0.001134 ,z=0.000233,angle between two frames:0.001406
[13:21:05.951] frame process finished the id is: 66 the obs is:33 
[13:21:06.048] Odometry x=-0.033558, y=1.125371, theta=0.009245
[13:21:06.100] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:-0.001179 ,z=0.000226,angle between two frames:0.001401
[13:21:06.100] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.189057 	 error end=0.189057
[13:21:06.100] After pose optimization, distance between ekf and vo x:-0.001179 ,z=0.000226,angle between two frames:0.001401
[13:21:06.100] frame process finished the id is: 66 the obs is:33 
[13:21:06.149] Odometry x=-0.033566, y=1.130737, theta=0.000053
[13:21:06.246] Odometry x=-0.033563, y=1.136157, theta=0.003710
[13:21:06.257] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.001683 ,z=0.000255,angle between two frames:0.002049
[13:21:06.257] After pose optimization, distance between ekf and vo x:-0.001683 ,z=0.000255,angle between two frames:0.002049
[13:21:06.257] frame process finished the id is: 66 the obs is:33 
[13:21:06.347] Odometry x=-0.033568, y=1.141749, theta=0.004793
[13:21:06.411] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:-0.000984 ,z=0.000173,angle between two frames:0.001315
[13:21:06.411] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.290950 	 error end=0.290950
[13:21:06.411] After pose optimization, distance between ekf and vo x:-0.000984 ,z=0.000173,angle between two frames:0.001315
[13:21:06.411] frame process finished the id is: 66 the obs is:33 
[13:21:06.446] Odometry x=-0.033576, y=1.147241, theta=0.004419
[13:21:06.543] Odometry x=-0.033521, y=1.152607, theta=0.010958
[13:21:06.567] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.001323 ,z=0.000341,angle between two frames:0.001722
[13:21:06.567] After pose optimization, distance between ekf and vo x:-0.001323 ,z=0.000341,angle between two frames:0.001722
[13:21:06.567] frame process finished the id is: 66 the obs is:33 
[13:21:06.645] Odometry x=-0.033455, y=1.158282, theta=0.009135
[13:21:06.717] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.001120 ,z=0.000289,angle between two frames:0.001326
[13:21:06.717] After pose optimization, distance between ekf and vo x:-0.001120 ,z=0.000289,angle between two frames:0.001326
[13:21:06.717] frame process finished the id is: 66 the obs is:33 
[13:21:06.746] Odometry x=-0.033484, y=1.163730, theta=0.011555
[13:21:06.849] Odometry x=-0.033497, y=1.170090, theta=0.009186
[13:21:06.867] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000524 ,z=0.000133,angle between two frames:0.000731
[13:21:06.867] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.482075 	 error end=0.482075
[13:21:06.867] After pose optimization, distance between ekf and vo x:-0.000524 ,z=0.000133,angle between two frames:0.000731
[13:21:06.867] frame process finished the id is: 66 the obs is:33 
[13:21:06.946] Odometry x=-0.033530, y=1.176307, theta=0.012281
[13:21:07.018] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.001223 ,z=0.000364,angle between two frames:0.001521
[13:21:07.018] After pose optimization, distance between ekf and vo x:-0.001223 ,z=0.000364,angle between two frames:0.001521
[13:21:07.018] frame process finished the id is: 66 the obs is:33 
[13:21:07.049] Odometry x=-0.033554, y=1.181539, theta=0.009995
[13:21:07.142] Odometry x=-0.033583, y=1.186912, theta=0.008849
[13:21:07.182] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.001735 ,z=0.000515,angle between two frames:0.002392
[13:21:07.182] After pose optimization, distance between ekf and vo x:-0.001735 ,z=0.000515,angle between two frames:0.002392
[13:21:07.182] frame process finished the id is: 66 the obs is:33 
[13:21:07.249] Odometry x=-0.033601, y=1.192460, theta=0.011499
[13:21:07.326] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:1 ,distance between ekf and vo x:-0.000225 ,z=0.000072,angle between two frames:0.000324
[13:21:07.326] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.318950 	 error end=0.305241
[13:21:07.326] After pose optimization, distance between ekf and vo x:0.013020 ,z=0.021333,angle between two frames:0.010941
[13:21:07.326] frame process finished the id is: 66 the obs is:33 
[13:21:07.345] Odometry x=-0.033648, y=1.199833, theta=0.013947
[13:21:07.447] Odometry x=-0.033646, y=1.204932, theta=0.014022
[13:21:07.479] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:1 ,distance between ekf and vo x:-0.000874 ,z=0.000195,angle between two frames:0.001093
[13:21:07.479] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.293396 	 error end=1.253969
[13:21:07.479] After pose optimization, distance between ekf and vo x:-0.000874 ,z=0.065725,angle between two frames:0.041543
[13:21:07.479] frame process finished the id is: 66 the obs is:33 
[13:21:07.544] Odometry x=-0.033679, y=1.210421, theta=0.009040
[13:21:07.642] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:1 ,distance between ekf and vo x:-0.001171 ,z=0.000233,angle between two frames:0.001871
[13:21:07.642] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.300830 	 error end=0.271185
[13:21:07.642] After pose optimization, distance between ekf and vo x:-0.051248 ,z=0.044612,angle between two frames:0.037111
[13:21:07.642] frame process finished the id is: 66 the obs is:33 
[13:21:07.642] Odometry x=-0.033682, y=1.215689, theta=0.003773
[13:21:07.745] Odometry x=-0.033699, y=1.221510, theta=0.005185
[13:21:07.803] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:0 ,distance between ekf and vo x:-0.001512 ,z=0.000347,angle between two frames:0.002112
[13:21:07.803] After pose optimization, distance between ekf and vo x:-0.001512 ,z=0.000347,angle between two frames:0.002112
[13:21:07.803] frame process finished the id is: 66 the obs is:33 
[13:21:07.848] Odometry x=-0.033667, y=1.227369, theta=0.007276
[13:21:07.946] Odometry x=-0.033689, y=1.232969, theta=0.003980
[13:21:07.957] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.001332 ,z=0.000354,angle between two frames:0.001846
[13:21:07.957] After pose optimization, distance between ekf and vo x:-0.001332 ,z=0.000354,angle between two frames:0.001846
[13:21:07.957] frame process finished the id is: 66 the obs is:33 
[13:21:08.045] Odometry x=-0.033116, y=1.238262, theta=0.011119
[13:21:08.109] After Reprojection Map nPoint:19 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.001029 ,z=0.000249,angle between two frames:0.001350
[13:21:08.109] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.368644 	 error end=0.368644
[13:21:08.109] After pose optimization, distance between ekf and vo x:-0.001029 ,z=0.000249,angle between two frames:0.001350
[13:21:08.109] frame process finished the id is: 66 the obs is:33 
[13:21:08.156] Odometry x=-0.033138, y=1.243918, theta=0.002147
[13:21:08.246] Odometry x=-0.033116, y=1.249899, theta=0.003090
[13:21:08.259] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:-0.001022 ,z=0.000301,angle between two frames:0.001512
[13:21:08.259] After pose optimization, distance between ekf and vo x:-0.001022 ,z=0.000301,angle between two frames:0.001512
[13:21:08.259] frame process finished the id is: 66 the obs is:33 
[13:21:08.350] Odometry x=-0.033107, y=1.255480, theta=-0.001525
[13:21:08.411] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000680 ,z=0.000214,angle between two frames:0.000987
[13:21:08.411] After pose optimization, distance between ekf and vo x:-0.000680 ,z=0.000214,angle between two frames:0.000987
[13:21:08.411] frame process finished the id is: 66 the obs is:33 
[13:21:08.450] Odometry x=-0.033074, y=1.261369, theta=0.004701
[13:21:08.548] Odometry x=-0.033087, y=1.267079, theta=0.003609
[13:21:08.560] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000740 ,z=0.000147,angle between two frames:0.001042
[13:21:08.560] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.098086 	 error end=0.098086
[13:21:08.560] After pose optimization, distance between ekf and vo x:-0.000740 ,z=0.000147,angle between two frames:0.001042
[13:21:08.560] frame process finished the id is: 66 the obs is:33 
[13:21:08.645] Odometry x=-0.032955, y=1.272464, theta=0.002919
[13:21:08.702] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:-0.000074 ,z=0.000023,angle between two frames:0.000120
[13:21:08.702] After pose optimization, distance between ekf and vo x:-0.000074 ,z=0.000023,angle between two frames:0.000120
[13:21:08.702] frame process finished the id is: 66 the obs is:33 
[13:21:08.743] Odometry x=-0.032960, y=1.277609, theta=0.006125
[13:21:08.844] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000176 ,z=0.000052,angle between two frames:0.000284
[13:21:08.844] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.914660 	 error end=0.861316
[13:21:08.844] After pose optimization, distance between ekf and vo x:-0.000176 ,z=-0.050471,angle between two frames:0.115271
[13:21:08.844] frame process finished the id is: 66 the obs is:33 
[13:21:08.846] Odometry x=-0.032892, y=1.283310, theta=0.012723
[13:21:08.948] Odometry x=-0.032929, y=1.289185, theta=0.011288
[13:21:08.998] After Reprojection Map nPoint:14 ,nCell:13 ,nMatches:1 ,distance between ekf and vo x:-0.001341 ,z=0.000303,angle between two frames:0.001844
[13:21:08.998] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.354002 	 error end=0.354002
[13:21:08.998] After pose optimization, distance between ekf and vo x:-0.001341 ,z=0.000303,angle between two frames:0.001844
[13:21:08.998] frame process finished the id is: 66 the obs is:33 
[13:21:09.048] Odometry x=-0.032954, y=1.294833, theta=0.010451
[13:21:09.144] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000674 ,z=0.000161,angle between two frames:0.000962
[13:21:09.144] After pose optimization, distance between ekf and vo x:-0.000674 ,z=0.000161,angle between two frames:0.000962
[13:21:09.144] frame process finished the id is: 66 the obs is:33 
[13:21:09.150] Odometry x=-0.032992, y=1.300795, theta=0.016101
[13:21:09.246] Odometry x=-0.033042, y=1.306670, theta=0.015902
[13:21:09.287] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:0 ,distance between ekf and vo x:-0.000202 ,z=0.000041,angle between two frames:0.000312
[13:21:09.287] After pose optimization, distance between ekf and vo x:-0.000202 ,z=0.000041,angle between two frames:0.000312
[13:21:09.287] frame process finished the id is: 66 the obs is:33 
[13:21:09.348] Odometry x=-0.033077, y=1.312060, theta=0.011771
[13:21:09.429] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000084 ,z=0.000014,angle between two frames:0.000149
[13:21:09.429] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.143686 	 error end=0.139821
[13:21:09.429] After pose optimization, distance between ekf and vo x:-0.000458 ,z=-0.009701,angle between two frames:0.003531
[13:21:09.429] frame process finished the id is: 66 the obs is:33 
[13:21:09.446] Odometry x=-0.033109, y=1.317537, theta=0.013710
[13:21:09.546] Odometry x=-0.033105, y=1.322932, theta=0.010637
[13:21:09.586] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:-0.001254 ,z=0.000227,angle between two frames:0.002334
[13:21:09.587] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.110664 	 error end=0.078493
[13:21:09.587] After pose optimization, distance between ekf and vo x:-0.002518 ,z=-0.144713,angle between two frames:0.013644
[13:21:09.587] frame process finished the id is: 66 the obs is:33 
[13:21:09.644] Odometry x=-0.033135, y=1.328299, theta=0.015051
[13:21:09.728] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000115 ,z=0.000016,angle between two frames:0.000206
[13:21:09.728] After pose optimization, distance between ekf and vo x:-0.000115 ,z=0.000016,angle between two frames:0.000206
[13:21:09.728] frame process finished the id is: 66 the obs is:33 
[13:21:09.744] Odometry x=-0.033156, y=1.333698, theta=0.005551
[13:21:09.847] Odometry x=-0.033167, y=1.339052, theta=0.006083
[13:21:09.876] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000284 ,z=-0.000057,angle between two frames:0.000619
[13:21:09.876] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.644435 	 error end=0.648283
[13:21:09.876] After pose optimization, distance between ekf and vo x:0.579353 ,z=-0.152795,angle between two frames:0.909957
[13:21:09.876] frame process finished the id is: 66 the obs is:33 
[13:21:09.949] Odometry x=-0.033124, y=1.344598, theta=0.011630
[13:21:10.025] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:1 ,distance between ekf and vo x:-0.000843 ,z=0.000172,angle between two frames:0.001413
[13:21:10.025] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =4.143532 	 error end=0.860705
[13:21:10.025] After pose optimization, distance between ekf and vo x:9.866297 ,z=-90.349525,angle between two frames:1.071138
[13:21:10.025] frame process finished the id is: 66 the obs is:33 
[13:21:10.051] Odometry x=-0.033160, y=1.350220, theta=0.013445
[13:21:10.147] Odometry x=-0.033208, y=1.358478, theta=0.003726
[13:21:10.166] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000028 ,z=0.000004,angle between two frames:0.000085
[13:21:10.166] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.292684 	 error end=0.272269
[13:21:10.166] After pose optimization, distance between ekf and vo x:0.019181 ,z=0.047346,angle between two frames:0.016304
[13:21:10.166] frame process finished the id is: 66 the obs is:33 
[13:21:10.244] Odometry x=-0.033203, y=1.363777, theta=0.000944
[13:21:10.308] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000063 ,z=-0.000002,angle between two frames:0.000165
[13:21:10.308] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.773620 	 error end=0.708275
[13:21:10.308] After pose optimization, distance between ekf and vo x:-19.771096 ,z=73.169805,angle between two frames:0.617371
[13:21:10.308] frame process finished the id is: 66 the obs is:33 
[13:21:10.346] Odometry x=-0.033215, y=1.369876, theta=0.008101
[13:21:10.447] Odometry x=-0.033209, y=1.375591, theta=0.005812
[13:21:10.452] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000504 ,z=0.000009,angle between two frames:0.000883
[13:21:10.452] After pose optimization, distance between ekf and vo x:-0.000504 ,z=0.000009,angle between two frames:0.000883
[13:21:10.452] frame process finished the id is: 66 the obs is:33 
[13:21:10.550] Odometry x=-0.033219, y=1.381538, theta=0.002952
[13:21:10.593] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000059 ,z=-0.000017,angle between two frames:0.000182
[13:21:10.593] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.470163 	 error end=0.431280
[13:21:10.593] After pose optimization, distance between ekf and vo x:0.040565 ,z=0.428672,angle between two frames:0.068260
[13:21:10.593] frame process finished the id is: 66 the obs is:33 
[13:21:10.648] Odometry x=-0.033211, y=1.387651, theta=0.008301
[13:21:10.736] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000054 ,z=-0.000012,angle between two frames:0.000212
[13:21:10.736] After pose optimization, distance between ekf and vo x:-0.000054 ,z=-0.000012,angle between two frames:0.000212
[13:21:10.737] frame process finished the id is: 66 the obs is:33 
[13:21:10.746] Odometry x=-0.033130, y=1.395255, theta=0.012316
[13:21:10.854] Odometry x=-0.033131, y=1.400451, theta=0.015192
[13:21:10.879] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:-0.000094 ,z=-0.000012,angle between two frames:0.000243
[13:21:10.879] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.368951 	 error end=0.368951
[13:21:10.879] After pose optimization, distance between ekf and vo x:-0.000094 ,z=-0.000012,angle between two frames:0.000243
[13:21:10.879] frame process finished the id is: 66 the obs is:33 
[13:21:10.944] Odometry x=-0.033173, y=1.406410, theta=0.009694
[13:21:11.021] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:-0.000072 ,z=-0.000010,angle between two frames:0.000189
[13:21:11.021] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.253202 	 error end=0.253202
[13:21:11.021] After pose optimization, distance between ekf and vo x:-0.000072 ,z=-0.000010,angle between two frames:0.000189
[13:21:11.021] frame process finished the id is: 66 the obs is:33 
[13:21:11.048] Odometry x=-0.033160, y=1.411316, theta=0.013954
[13:21:11.149] Odometry x=-0.033202, y=1.417016, theta=0.013616
[13:21:11.163] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:-0.000015 ,z=-0.000005,angle between two frames:0.000107
[13:21:11.163] After pose optimization, distance between ekf and vo x:-0.000015 ,z=-0.000005,angle between two frames:0.000107
[13:21:11.163] frame process finished the id is: 66 the obs is:33 
[13:21:11.247] Odometry x=-0.033226, y=1.422403, theta=0.012215
[13:21:11.305] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:-0.000036 ,z=-0.000008,angle between two frames:0.000134
[13:21:11.305] After pose optimization, distance between ekf and vo x:-0.000036 ,z=-0.000008,angle between two frames:0.000134
[13:21:11.305] frame process finished the id is: 66 the obs is:33 
[13:21:11.349] Odometry x=-0.033270, y=1.430196, theta=-0.002468
[13:21:11.446] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:1 ,distance between ekf and vo x:-0.000052 ,z=-0.000026,angle between two frames:0.000177
[13:21:11.446] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.384455 	 error end=0.384455
[13:21:11.446] After pose optimization, distance between ekf and vo x:-0.000052 ,z=-0.000026,angle between two frames:0.000177
[13:21:11.446] frame process finished the id is: 66 the obs is:33 
[13:21:11.448] Odometry x=-0.033261, y=1.435486, theta=0.002429
[13:21:11.545] Odometry x=-0.033221, y=1.441121, theta=0.005752
[13:21:11.596] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.000300 ,z=-0.000134,angle between two frames:0.001046
[13:21:11.596] After pose optimization, distance between ekf and vo x:-0.000300 ,z=-0.000134,angle between two frames:0.001046
[13:21:11.596] frame process finished the id is: 66 the obs is:33 
[13:21:11.646] Odometry x=-0.033236, y=1.446787, theta=-0.000336
[13:21:11.737] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:1 ,distance between ekf and vo x:-0.000063 ,z=-0.000018,angle between two frames:0.000176
[13:21:11.737] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.274255 	 error end=0.274255
[13:21:11.737] After pose optimization, distance between ekf and vo x:-0.000063 ,z=-0.000018,angle between two frames:0.000176
[13:21:11.737] frame process finished the id is: 66 the obs is:33 
[13:21:11.880] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000001 ,z=-0.000022,angle between two frames:0.000079
[13:21:11.880] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.420975 	 error end=0.420975
[13:21:11.880] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000022,angle between two frames:0.000079
[13:21:11.880] frame process finished the id is: 66 the obs is:33 
[13:21:12.022] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:1 ,distance between ekf and vo x:-0.000002 ,z=-0.000025,angle between two frames:0.000082
[13:21:12.022] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.290226 	 error end=0.207779
[13:21:12.022] After pose optimization, distance between ekf and vo x:-0.206281 ,z=0.043049,angle between two frames:0.036361
[13:21:12.022] frame process finished the id is: 66 the obs is:33 
[13:21:12.164] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000001 ,z=-0.000028,angle between two frames:0.000084
[13:21:12.164] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000028,angle between two frames:0.000084
[13:21:12.164] frame process finished the id is: 66 the obs is:33 
[13:21:12.305] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.000000 ,z=-0.000030,angle between two frames:0.000085
[13:21:12.305] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000030,angle between two frames:0.000085
[13:21:12.305] frame process finished the id is: 66 the obs is:33 
[13:21:12.446] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:0.000005 ,z=-0.000034,angle between two frames:0.000088
[13:21:12.446] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.755541 	 error end=0.755541
[13:21:12.446] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000034,angle between two frames:0.000088
[13:21:12.446] frame process finished the id is: 66 the obs is:33 
[13:21:12.588] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:0 ,distance between ekf and vo x:0.000005 ,z=-0.000033,angle between two frames:0.000089
[13:21:12.588] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000033,angle between two frames:0.000089
[13:21:12.588] frame process finished the id is: 66 the obs is:33 
[13:21:12.729] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
[13:21:12.729] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
[13:21:12.729] frame process finished the id is: 66 the obs is:33 
[13:21:12.870] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:12.870] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.228645 	 error end=0.228399
[13:21:12.870] After pose optimization, distance between ekf and vo x:0.012708 ,z=0.003642,angle between two frames:0.001103
[13:21:12.870] frame process finished the id is: 66 the obs is:33 
[13:21:13.011] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:13.011] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:13.011] frame process finished the id is: 66 the obs is:33 
[13:21:13.152] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:0.000005 ,z=-0.000036,angle between two frames:0.000090
[13:21:13.152] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000036,angle between two frames:0.000090
[13:21:13.152] frame process finished the id is: 66 the obs is:33 
[13:21:13.293] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:0.000005 ,z=-0.000036,angle between two frames:0.000090
[13:21:13.293] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.462418 	 error end=0.462401
[13:21:13.293] After pose optimization, distance between ekf and vo x:-0.001471 ,z=0.000107,angle between two frames:0.006906
[13:21:13.293] frame process finished the id is: 66 the obs is:33 
[13:21:13.434] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:13.434] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:13.435] frame process finished the id is: 66 the obs is:33 
[13:21:13.575] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:13.575] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.062614 	 error end=1.062614
[13:21:13.575] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:13.575] frame process finished the id is: 66 the obs is:33 
[13:21:13.716] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:13.716] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:13.716] frame process finished the id is: 66 the obs is:33 
[13:21:13.857] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
[13:21:13.857] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
[13:21:13.857] frame process finished the id is: 66 the obs is:33 
[13:21:13.998] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:13.998] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.392164 	 error end=0.392164
[13:21:13.998] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:13.998] frame process finished the id is: 66 the obs is:33 
[13:21:14.139] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:14.139] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:14.139] frame process finished the id is: 66 the obs is:33 
[13:21:14.280] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:14.280] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.283050 	 error end=0.257030
[13:21:14.280] After pose optimization, distance between ekf and vo x:0.040107 ,z=0.069052,angle between two frames:0.336721
[13:21:14.280] frame process finished the id is: 66 the obs is:33 
[13:21:14.422] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:14.422] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:14.422] frame process finished the id is: 66 the obs is:33 
[13:21:14.562] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:14.562] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:14.562] frame process finished the id is: 66 the obs is:33 
[13:21:14.703] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:14.703] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:14.703] frame process finished the id is: 66 the obs is:33 
[13:21:14.844] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:14.844] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.283181 	 error end=0.223536
[13:21:14.844] After pose optimization, distance between ekf and vo x:6.971115 ,z=12.851796,angle between two frames:2.122555
[13:21:14.844] frame process finished the id is: 66 the obs is:33 
[13:21:14.986] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:14.986] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:14.986] frame process finished the id is: 66 the obs is:33 
[13:21:15.127] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
[13:21:15.127] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.106125 	 error end=1.106125
[13:21:15.127] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
[13:21:15.127] frame process finished the id is: 66 the obs is:33 
[13:21:15.268] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:15.268] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:15.268] frame process finished the id is: 66 the obs is:33 
[13:21:15.409] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:15.409] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:15.409] frame process finished the id is: 66 the obs is:33 
[13:21:15.550] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:15.550] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.329189 	 error end=0.222329
[13:21:15.550] After pose optimization, distance between ekf and vo x:-2.963968 ,z=12.652779,angle between two frames:0.796909
[13:21:15.550] frame process finished the id is: 66 the obs is:33 
[13:21:15.692] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:0.000005 ,z=-0.000036,angle between two frames:0.000090
[13:21:15.692] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000036,angle between two frames:0.000090
[13:21:15.692] frame process finished the id is: 66 the obs is:33 
[13:21:15.833] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:15.833] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.228917 	 error end=0.147320
[13:21:15.833] After pose optimization, distance between ekf and vo x:-0.032934 ,z=9.596327,angle between two frames:0.253580
[13:21:15.833] frame process finished the id is: 66 the obs is:33 
[13:21:15.975] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:15.975] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.235023 	 error end=0.112754
[13:21:15.975] After pose optimization, distance between ekf and vo x:-0.265285 ,z=0.094274,angle between two frames:0.021671
[13:21:15.975] frame process finished the id is: 66 the obs is:33 
[13:21:16.116] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:16.116] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:16.116] frame process finished the id is: 66 the obs is:33 
[13:21:16.258] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:16.258] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.279888 	 error end=0.272844
[13:21:16.258] After pose optimization, distance between ekf and vo x:0.011319 ,z=0.006808,angle between two frames:0.078103
[13:21:16.258] frame process finished the id is: 66 the obs is:33 
[13:21:16.401] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:16.401] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.730266 	 error end=0.722868
[13:21:16.401] After pose optimization, distance between ekf and vo x:0.017121 ,z=-0.035217,angle between two frames:0.034151
[13:21:16.401] frame process finished the id is: 66 the obs is:33 
[13:21:16.542] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
[13:21:16.543] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.180121 	 error end=0.094642
[13:21:16.543] After pose optimization, distance between ekf and vo x:-0.022069 ,z=6.031163,angle between two frames:0.131666
[13:21:16.543] frame process finished the id is: 66 the obs is:33 
[13:21:16.684] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:16.684] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.667467 	 error end=1.667467
[13:21:16.684] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:16.684] frame process finished the id is: 66 the obs is:33 
[13:21:16.825] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
[13:21:16.825] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.180256 	 error end=0.180256
[13:21:16.825] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
[13:21:16.826] frame process finished the id is: 66 the obs is:33 
[13:21:16.967] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:16.967] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
[13:21:16.967] frame process finished the id is: 66 the obs is:33 
