[12:36:00.778] Init: frame zero: 0.000000, 0.000000 0.000000
[12:36:00.779] Init: Selected first frame. 
[12:36:00.878] Init: px average disparity is:0.053382 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:00.878] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:00.978] Init: px average disparity is:0.051768 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:00.978] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:01.085] Init: px average disparity is:0.062911 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:01.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:01.177] Init: px average disparity is:0.073476 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:01.177] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:01.277] Init: px average disparity is:0.047844 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:01.278] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:01.376] Init: px average disparity is:0.051101 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:01.376] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:01.478] Init: px average disparity is:0.066273 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:01.478] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:01.584] Init: px average disparity is:0.057098 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:01.584] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:01.675] Init: px average disparity is:0.065082 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:01.675] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:01.776] Init: px average disparity is:0.056080 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:01.776] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:01.880] Init: px average disparity is:0.054258 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:01.880] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:01.978] Init: px average disparity is:0.054771 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:01.978] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:02.076] Init: px average disparity is:0.057801 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:02.076] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:02.176] Init: px average disparity is:0.061003 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:02.176] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:02.279] Init: px average disparity is:0.071421 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:02.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:02.375] Init: px average disparity is:0.066659 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:02.375] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:02.477] Init: px average disparity is:0.171887 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:02.477] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:02.578] Init: px average disparity is:1.514625 ,While minimum is: 40.000000  KLT tracked : 102
[12:36:02.578] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:02.678] Init: px average disparity is:6.234379 ,While minimum is: 40.000000  KLT tracked : 100
[12:36:02.678] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:02.777] Init: px average disparity is:4.506110 ,While minimum is: 40.000000  KLT tracked : 100
[12:36:02.777] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:02.878] Init: px average disparity is:8.273376 ,While minimum is: 40.000000  KLT tracked : 100
[12:36:02.878] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:02.976] Init: px average disparity is:12.090768 ,While minimum is: 40.000000  KLT tracked : 100
[12:36:02.976] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:03.076] Init: px average disparity is:18.016455 ,While minimum is: 40.000000  KLT tracked : 100
[12:36:03.076] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:03.279] Init: px average disparity is:13.701610 ,While minimum is: 40.000000  KLT tracked : 100
[12:36:03.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:03.576] Init: px average disparity is:12.393392 ,While minimum is: 40.000000  KLT tracked : 100
[12:36:03.576] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:03.676] Init: px average disparity is:16.304891 ,While minimum is: 40.000000  KLT tracked : 100
[12:36:03.676] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:03.782] Init: px average disparity is:15.459186 ,While minimum is: 40.000000  KLT tracked : 100
[12:36:03.782] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:03.878] Init: px average disparity is:21.852814 ,While minimum is: 40.000000  KLT tracked : 100
[12:36:03.878] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:03.976] Init: px average disparity is:23.629475 ,While minimum is: 40.000000  KLT tracked : 100
[12:36:03.976] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:04.077] Init: px average disparity is:25.077754 ,While minimum is: 40.000000  KLT tracked : 100
[12:36:04.077] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:04.177] Init: px average disparity is:28.793966 ,While minimum is: 40.000000  KLT tracked : 99
[12:36:04.177] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:04.277] Init: px average disparity is:35.447556 ,While minimum is: 40.000000  KLT tracked : 97
[12:36:04.277] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:04.377] Init: px average disparity is:30.366716 ,While minimum is: 40.000000  KLT tracked : 96
[12:36:04.377] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:04.476] Init: px average disparity is:29.761796 ,While minimum is: 40.000000  KLT tracked : 95
[12:36:04.476] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:04.576] Init: px average disparity is:31.809666 ,While minimum is: 40.000000  KLT tracked : 95
[12:36:04.576] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:04.689] Init: px average disparity is:34.092659 ,While minimum is: 40.000000  KLT tracked : 95
[12:36:04.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:04.797] Init: px average disparity is:34.804754 ,While minimum is: 40.000000  KLT tracked : 95
[12:36:04.797] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:04.888] Init: px average disparity is:32.196033 ,While minimum is: 40.000000  KLT tracked : 94
[12:36:04.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:04.988] Init: px average disparity is:33.757493 ,While minimum is: 40.000000  KLT tracked : 94
[12:36:04.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:05.091] Init: px average disparity is:25.537018 ,While minimum is: 40.000000  KLT tracked : 93
[12:36:05.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:05.188] Init: px average disparity is:38.031124 ,While minimum is: 40.000000  KLT tracked : 92
[12:36:05.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[12:36:05.315] homography: x=-0.175466 y=-0.435135 z=0.044843 roll=-0.000000 pitch=0.149521 yaw=0.000000 	 ekf: x=-0.005115 z=0.164629 pitch=-0.067342
[12:36:05.315] homography after fuse: x=-0.165551 y=0.000000 z=0.051815 pitch=0.136846	 number of outlier: 58
[12:36:05.315] Init finished: Homography RANSAC (inlier) is:34 ,While 20 inliers minimum required.  px average disparity is:41.354277 ,While minimum is: 40.000000  KLT tracked: 92
[12:36:05.315] Init: distance between the first and current frame is x:-0.165551 ,z=0.051815,angle between two frames: 0.136846 
[12:36:05.315] Init: Selected Second frame. 	 The number of features: 34
[12:36:05.459] After Reprojection Map nPoint:29 ,nCell:29 ,nMatches:4 ,distance between two frames x:0.061880 ,z=0.048769,angle between two frames:0.086196
[12:36:05.459] Init estimate scale:0.555268
[12:36:05.459] it:0 	 Success 	 new_chi2: 2.405506 	 dT = 0.042059, -0.053903, -0.002750
[12:36:05.459] it:1 	 Success 	 new_chi2: 2.375245 	 dT = 0.040245, -0.052460, -0.002805
[12:36:05.459] it:2 	 Success 	 new_chi2: 2.355559 	 dT = 0.038977, -0.051610, -0.002842
[12:36:05.459] it:3 	 Success 	 new_chi2: 2.342791 	 dT = 0.038108, -0.051186, -0.002859
[12:36:05.459] it:4 	 Success 	 new_chi2: 2.334890 	 dT = 0.037554, -0.051089, -0.002859
[12:36:05.459] it:5 	 Success 	 new_chi2: 2.330653 	 dT = 0.027149, -0.040025, -0.003392
[12:36:05.459] it:6 	 FAILURE 	 new_chi2: 2.332944
[12:36:05.459] n deleted obs = 1 	 n obs felt =3 	 error init =0.601376 	 error end=0.582663
[12:36:05.459] After pose optimization, distance between two frames x:0.258823 ,z=-0.211478,angle between two frames:0.100311
[12:36:05.459] Update EKF and 3D points, distance between two frames x:0.247178 ,z=-0.195772,angle between two frames:0.100004
[12:36:05.549] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:1 ,distance between two frames x:-0.071523 ,z=0.096459,angle between two frames:0.001981
[12:36:05.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000051 ,z=-0.000001,angle between two frames:0.002552
[12:36:05.714] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000016 ,z=-0.000000,angle between two frames:0.001630
[12:36:05.828] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000153 ,z=0.005495,angle between two frames:0.009273
[12:36:05.913] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000188 ,z=0.005424,angle between two frames:0.002803
[12:36:06.022] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000317 ,z=0.005535,angle between two frames:0.016452
[12:36:06.115] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000264 ,z=0.005539,angle between two frames:0.009781
[12:36:06.212] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000398 ,z=0.005278,angle between two frames:0.012673
[12:36:06.330] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000295 ,z=0.005515,angle between two frames:0.000102
[12:36:06.425] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000514 ,z=0.005741,angle between two frames:0.000622
[12:36:06.532] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000471 ,z=0.005478,angle between two frames:0.005167
[12:36:06.615] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000424 ,z=0.005482,angle between two frames:0.001082
[12:36:06.724] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000488 ,z=0.005465,angle between two frames:0.002443
[12:36:06.825] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000327 ,z=0.005473,angle between two frames:0.010148
[12:36:06.926] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000339 ,z=0.005438,angle between two frames:0.003711
[12:36:07.021] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000169 ,z=0.005183,angle between two frames:0.021605
[12:36:07.125] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000052 ,z=0.005799,angle between two frames:0.000152
[12:36:07.225] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=0.005360,angle between two frames:0.007029
[12:36:07.330] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000021 ,z=0.005515,angle between two frames:0.014903
[12:36:07.437] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000054 ,z=0.005355,angle between two frames:0.013463
[12:36:07.512] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000074 ,z=0.005742,angle between two frames:0.008962
[12:36:07.639] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000088 ,z=0.005489,angle between two frames:0.001480
[12:36:07.713] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000201 ,z=0.005401,angle between two frames:0.000437
[12:36:07.829] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000171 ,z=0.005447,angle between two frames:0.000451
[12:36:07.919] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000149 ,z=0.005766,angle between two frames:0.001648
[12:36:08.035] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000217 ,z=0.005492,angle between two frames:0.001220
[12:36:08.142] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000182 ,z=0.005231,angle between two frames:0.004728
[12:36:08.213] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000336 ,z=0.005369,angle between two frames:0.001420
[12:36:08.334] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000204 ,z=0.005750,angle between two frames:0.008866
[12:36:08.414] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000327 ,z=0.005424,angle between two frames:0.004070
[12:36:08.542] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000113 ,z=0.005423,angle between two frames:0.014481
[12:36:08.613] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000150 ,z=0.005413,angle between two frames:0.009640
[12:36:08.732] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000188 ,z=0.005527,angle between two frames:0.026752
[12:36:08.824] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000231 ,z=0.005448,angle between two frames:0.011703
[12:36:08.926] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000161 ,z=0.005506,angle between two frames:0.006031
[12:36:09.022] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000168 ,z=0.005487,angle between two frames:0.011459
[12:36:09.131] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000244 ,z=0.005516,angle between two frames:0.009165
[12:36:09.223] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000306 ,z=0.005501,angle between two frames:0.006041
[12:36:09.330] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000310 ,z=0.005485,angle between two frames:0.010944
[12:36:09.422] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000287 ,z=0.005487,angle between two frames:0.014970
[12:36:09.524] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000191 ,z=0.005489,angle between two frames:0.000860
[12:36:09.641] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000202 ,z=0.005493,angle between two frames:0.015527
[12:36:09.713] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000140 ,z=0.005467,angle between two frames:0.000218
[12:36:09.837] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000173 ,z=0.005544,angle between two frames:0.004672
[12:36:09.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000015 ,z=0.005497,angle between two frames:0.007264
[12:36:10.034] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000110 ,z=0.005491,angle between two frames:0.004543
[12:36:10.124] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000042 ,z=0.005510,angle between two frames:0.001023
[12:36:10.224] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000079 ,z=0.005387,angle between two frames:0.008210
[12:36:10.325] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000097 ,z=0.005616,angle between two frames:0.010048
[12:36:10.426] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000157 ,z=0.005500,angle between two frames:0.005931
[12:36:10.526] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000197 ,z=0.005460,angle between two frames:0.012722
[12:36:10.617] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000300 ,z=0.005200,angle between two frames:0.005721
[12:36:10.734] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000405 ,z=0.005475,angle between two frames:0.017201
[12:36:10.815] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000420 ,z=0.005508,angle between two frames:0.004313
[12:36:10.937] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000476 ,z=0.005778,angle between two frames:0.012682
[12:36:11.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000434 ,z=0.005236,angle between two frames:0.002102
[12:36:11.134] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000556 ,z=0.005434,angle between two frames:0.006326
[12:36:11.222] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000459 ,z=0.005553,angle between two frames:0.004833
[12:36:11.339] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000470 ,z=0.005527,angle between two frames:0.001612
[12:36:11.413] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000303 ,z=0.004626,angle between two frames:0.008903
[12:36:11.538] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000392 ,z=0.006186,angle between two frames:0.000812
[12:36:11.614] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000255 ,z=0.005526,angle between two frames:0.014761
[12:36:11.745] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000166 ,z=0.005514,angle between two frames:0.013036
[12:36:11.814] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000133 ,z=0.005463,angle between two frames:0.005413
[12:36:11.933] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000106 ,z=0.005491,angle between two frames:0.011803
[12:36:12.021] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000329 ,z=0.005488,angle between two frames:0.001050
[12:36:12.136] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000331 ,z=0.005627,angle between two frames:0.014368
[12:36:12.215] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000497 ,z=0.005322,angle between two frames:0.007040
[12:36:12.339] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000506 ,z=0.005483,angle between two frames:0.000634
[12:36:12.414] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000582 ,z=0.005467,angle between two frames:0.012049
[12:36:12.545] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000702 ,z=0.005561,angle between two frames:0.006113
[12:36:12.615] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000737 ,z=0.005171,angle between two frames:0.004240
[12:36:12.738] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000806 ,z=0.005692,angle between two frames:0.005121
[12:36:12.820] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000761 ,z=0.005161,angle between two frames:0.007636
[12:36:12.930] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000747 ,z=0.005717,angle between two frames:0.001766
[12:36:13.021] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000706 ,z=0.005147,angle between two frames:0.004614
[12:36:13.126] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000650 ,z=0.005740,angle between two frames:0.005233
[12:36:13.241] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000602 ,z=0.005186,angle between two frames:0.002193
[12:36:13.314] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000496 ,z=0.005598,angle between two frames:0.011184
[12:36:13.437] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000529 ,z=0.005764,angle between two frames:0.011192
[12:36:13.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000409 ,z=0.005111,angle between two frames:0.004883
[12:36:13.641] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000531 ,z=0.005545,angle between two frames:0.017709
[12:36:13.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000545 ,z=0.005662,angle between two frames:0.007061
[12:36:13.842] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000536 ,z=0.005244,angle between two frames:0.028477
[12:36:13.914] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000751 ,z=0.005488,angle between two frames:0.001899
[12:36:14.045] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000789 ,z=0.005094,angle between two frames:0.016076
[12:36:14.112] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000763 ,z=0.005498,angle between two frames:0.001551
[12:36:14.233] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000899 ,z=0.005481,angle between two frames:0.012452
[12:36:14.317] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000809 ,z=0.005421,angle between two frames:0.006488
[12:36:14.425] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000878 ,z=0.005431,angle between two frames:0.008098
[12:36:14.534] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000806 ,z=0.005410,angle between two frames:0.013979
[12:36:14.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000873 ,z=0.005444,angle between two frames:0.001501
[12:36:14.738] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000739 ,z=0.005459,angle between two frames:0.000929
[12:36:14.815] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000779 ,z=0.005443,angle between two frames:0.008020
[12:36:14.941] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000629 ,z=0.005418,angle between two frames:0.000895
[12:36:15.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000635 ,z=0.005459,angle between two frames:0.003488
[12:36:15.136] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000602 ,z=0.005468,angle between two frames:0.002902
[12:36:15.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000624 ,z=0.005450,angle between two frames:0.003222
[12:36:15.343] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000681 ,z=0.005467,angle between two frames:0.003348
[12:36:15.414] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000625 ,z=0.005443,angle between two frames:0.005621
[12:36:15.537] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000706 ,z=0.005458,angle between two frames:0.003258
[12:36:15.644] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000764 ,z=0.005414,angle between two frames:0.000091
[12:36:15.742] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000794 ,z=0.005442,angle between two frames:0.008308
[12:36:15.814] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000866 ,z=0.005427,angle between two frames:0.001338
[12:36:15.932] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001041 ,z=0.005395,angle between two frames:0.028499
[12:36:16.023] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001040 ,z=0.005394,angle between two frames:0.009359
[12:36:16.142] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001046 ,z=0.005404,angle between two frames:0.018189
[12:36:16.214] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001084 ,z=0.005392,angle between two frames:0.001814
[12:36:16.333] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000994 ,z=0.004965,angle between two frames:0.009380
[12:36:16.423] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001029 ,z=0.005757,angle between two frames:0.007753
[12:36:16.529] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001053 ,z=0.005178,angle between two frames:0.008676
[12:36:16.613] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001014 ,z=0.005594,angle between two frames:0.005146
[12:36:16.737] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000963 ,z=0.005541,angle between two frames:0.013208
[12:36:16.817] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000809 ,z=0.005162,angle between two frames:0.008772
[12:36:16.939] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000645 ,z=0.005089,angle between two frames:0.007338
[12:36:17.013] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000929 ,z=0.005907,angle between two frames:0.006547
[12:36:17.135] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000652 ,z=0.005436,angle between two frames:0.007846
[12:36:17.221] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000934 ,z=0.005422,angle between two frames:0.008207
[12:36:17.330] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000970 ,z=0.005428,angle between two frames:0.013003
[12:36:17.414] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001119 ,z=0.005375,angle between two frames:0.006857
[12:36:17.545] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001186 ,z=0.005349,angle between two frames:0.015868
[12:36:17.616] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001327 ,z=0.005508,angle between two frames:0.001621
[12:36:17.722] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001237 ,z=0.005070,angle between two frames:0.000457
[12:36:17.837] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001315 ,z=0.005326,angle between two frames:0.001362
[12:36:17.915] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001238 ,z=0.004965,angle between two frames:0.010705
[12:36:18.035] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001472 ,z=0.005307,angle between two frames:0.005142
[12:36:18.123] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001531 ,z=0.005382,angle between two frames:0.000332
[12:36:18.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001530 ,z=0.005555,angle between two frames:0.005680
[12:36:18.354] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001450 ,z=0.005581,angle between two frames:0.014921
[12:36:18.424] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000037 ,z=0.000210,angle between two frames:0.006319
[12:36:18.519] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001168 ,z=0.005422,angle between two frames:0.003299
[12:36:18.620] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001089 ,z=0.005100,angle between two frames:0.013373
[12:36:18.724] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001420 ,z=0.005824,angle between two frames:0.017644
[12:36:18.826] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001553 ,z=0.005760,angle between two frames:0.004534
[12:36:18.922] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001303 ,z=0.005105,angle between two frames:0.005878
[12:36:19.021] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001392 ,z=0.005601,angle between two frames:0.004628
[12:36:19.148] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001299 ,z=0.005368,angle between two frames:0.000277
[12:36:19.245] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000000,angle between two frames:0.001333
[12:36:19.333] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.001051
[12:36:19.498] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001369 ,z=0.005639,angle between two frames:0.004294
[12:36:19.595] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000328
[12:36:19.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000535
[12:36:19.820] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:19.931] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000204
[12:36:20.031] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:20.108] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000286
[12:36:20.178] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000088
[12:36:20.240] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:20.368] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001380 ,z=0.005204,angle between two frames:0.003675
[12:36:20.427] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000097
[12:36:20.530] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001368 ,z=0.005324,angle between two frames:0.008040
[12:36:20.644] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001389 ,z=0.005609,angle between two frames:0.000698
[12:36:20.740] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001318 ,z=0.005333,angle between two frames:0.000551
[12:36:20.883] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001267 ,z=0.005073,angle between two frames:0.002225
[12:36:20.953] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000068
[12:36:21.104] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.002068
[12:36:21.162] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.000786
[12:36:21.293] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000008,angle between two frames:0.004338
[12:36:21.362] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000000,angle between two frames:0.001581
[12:36:21.464] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.002313
[12:36:21.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000409
[12:36:21.671] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.007320
[12:36:21.725] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000463
[12:36:21.883] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001746 ,z=0.005156,angle between two frames:0.002291
[12:36:21.940] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000410
[12:36:22.024] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001914 ,z=0.005565,angle between two frames:0.001476
[12:36:22.122] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001656 ,z=0.004898,angle between two frames:0.004638
[12:36:22.221] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001754 ,z=0.005297,angle between two frames:0.000466
[12:36:22.327] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001678 ,z=0.005120,angle between two frames:0.004190
[12:36:22.423] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001689 ,z=0.005332,angle between two frames:0.000098
[12:36:22.522] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001675 ,z=0.005369,angle between two frames:0.004896
[12:36:22.623] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001553 ,z=0.005133,angle between two frames:0.000043
[12:36:22.726] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001610 ,z=0.005267,angle between two frames:0.000687
[12:36:22.822] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001625 ,z=0.005254,angle between two frames:0.005025
[12:36:22.922] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001684 ,z=0.005237,angle between two frames:0.000524
[12:36:23.022] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001646 ,z=0.005187,angle between two frames:0.006732
[12:36:23.123] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001751 ,z=0.005213,angle between two frames:0.005475
[12:36:23.226] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001851 ,z=0.005153,angle between two frames:0.020392
[12:36:23.323] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001947 ,z=0.005141,angle between two frames:0.000124
[12:36:23.429] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001984 ,z=0.005119,angle between two frames:0.004872
[12:36:23.528] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001985 ,z=0.005128,angle between two frames:0.000182
[12:36:23.626] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002002 ,z=0.005116,angle between two frames:0.000391
[12:36:23.724] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002012 ,z=0.005118,angle between two frames:0.000496
[12:36:23.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002013 ,z=0.005116,angle between two frames:0.000865
[12:36:23.957] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000036
[12:36:24.063] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000059
[12:36:24.165] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000416
[12:36:24.287] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.001076
[12:36:24.396] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:24.527] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:24.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:24.759] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:24.840] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000934
[12:36:24.899] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:24.974] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:25.034] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:25.137] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001958 ,z=0.004991,angle between two frames:0.001020
[12:36:25.233] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002099 ,z=0.005290,angle between two frames:0.002336
[12:36:25.326] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001990 ,z=0.004986,angle between two frames:0.000693
[12:36:25.424] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002191 ,z=0.005402,angle between two frames:0.004653
[12:36:25.542] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001982 ,z=0.004870,angle between two frames:0.000763
[12:36:25.688] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002091 ,z=0.005113,angle between two frames:0.000841
[12:36:25.743] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000218
[12:36:25.823] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002059 ,z=0.005097,angle between two frames:0.001824
[12:36:25.938] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002065 ,z=0.005089,angle between two frames:0.002785
[12:36:26.053] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002048 ,z=0.005101,angle between two frames:0.000781
[12:36:26.120] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.004114
[12:36:26.222] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001960 ,z=0.005163,angle between two frames:0.000581
[12:36:26.339] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002015 ,z=0.005190,angle between two frames:0.005661
[12:36:26.495] After Reprojection Map nPoint:29 ,nCell:27 ,nMatches:4 ,distance between two frames x:-0.002038 ,z=0.005106,angle between two frames:0.003524
[12:36:26.495] Init estimate scale:1.270595
[12:36:26.495] it:0 	 Success 	 new_chi2: 4.253037 	 dT = -0.131930, -0.312120, 0.000000
[12:36:26.495] it:1 	 Success 	 new_chi2: 3.605955 	 dT = -0.094218, -0.028458, 0.000000
[12:36:26.495] it:2 	 FAILURE 	 new_chi2: 4.204069
[12:36:26.495] n deleted obs = 4 	 n obs felt =0 	 error init =1.063259 	 error end=0.901489
[12:36:26.495] After pose optimization, distance between two frames x:-0.133968 ,z=-0.307014,angle between two frames:0.003524
[12:36:26.495] Update EKF and 3D points, distance between two frames x:-0.126410 ,z=-0.288550,angle between two frames:0.003983
[12:36:26.622] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:4 ,distance between two frames x:0.046711 ,z=0.114111,angle between two frames:0.002840
[12:36:26.732] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000943
[12:36:26.787] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000004,angle between two frames:0.000339
[12:36:26.887] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:26.950] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:27.093] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000666
[12:36:27.208] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000309
[12:36:27.294] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:27.366] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:27.438] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000166
[12:36:27.573] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002358 ,z=0.004821,angle between two frames:0.001601
[12:36:27.631] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000242
[12:36:27.722] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002431 ,z=0.005091,angle between two frames:0.003293
[12:36:27.822] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002250 ,z=0.004813,angle between two frames:0.002369
[12:36:27.964] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002409 ,z=0.005222,angle between two frames:0.003662
[12:36:28.032] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000377
[12:36:28.121] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002201 ,z=0.004922,angle between two frames:0.001450
[12:36:28.219] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002118 ,z=0.004757,angle between two frames:0.001335
[12:36:28.325] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002266 ,z=0.005067,angle between two frames:0.001635
[12:36:28.420] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002272 ,z=0.004928,angle between two frames:0.007185
[12:36:28.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002434 ,z=0.005149,angle between two frames:0.004905
[12:36:28.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002420 ,z=0.005021,angle between two frames:0.004559
[12:36:28.727] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002454 ,z=0.004919,angle between two frames:0.005792
[12:36:28.821] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002506 ,z=0.004897,angle between two frames:0.004683
[12:36:28.922] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002397 ,z=0.004641,angle between two frames:0.004136
[12:36:29.023] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002569 ,z=0.004901,angle between two frames:0.006730
[12:36:29.125] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002552 ,z=0.004866,angle between two frames:0.001095
[12:36:29.224] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002545 ,z=0.004907,angle between two frames:0.002037
[12:36:29.323] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002499 ,z=0.004885,angle between two frames:0.003089
[12:36:29.425] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002529 ,z=0.004976,angle between two frames:0.000418
[12:36:29.527] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002468 ,z=0.004904,angle between two frames:0.003071
[12:36:29.622] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002325 ,z=0.004708,angle between two frames:0.004056
[12:36:29.761] After Reprojection Map nPoint:27 ,nCell:24 ,nMatches:4 ,distance between two frames x:-0.002514 ,z=0.005192,angle between two frames:0.005051
[12:36:29.761] Init estimate scale:4.081995
[12:36:29.761] it:0 	 Success 	 new_chi2: 10.465794 	 dT = -12.006287, -1.787460, 5.794169
[12:36:29.761] it:1 	 FAILURE 	 new_chi2: 31.805933
[12:36:29.761] n deleted obs = 4 	 n obs felt =0 	 error init =2.616448 	 error end=2.616448
[12:36:29.761] After pose optimization, distance between two frames x:-0.002514 ,z=0.005192,angle between two frames:0.005051
[12:36:29.761] Update EKF and 3D points, distance between two frames x:-0.002651 ,z=0.005481,angle between two frames:0.005221
[12:36:29.859] After Reprojection Map nPoint:32 ,nCell:28 ,nMatches:5 ,distance between two frames x:-0.000850 ,z=0.001787,angle between two frames:0.000502
[12:36:29.859] Init estimate scale:0.876886
[12:36:29.859] it:0 	 Success 	 new_chi2: 5.281221 	 dT = -0.159995, -0.099570, 0.095999
[12:36:29.859] it:1 	 FAILURE 	 new_chi2: 59.597839
[12:36:29.859] n deleted obs = 5 	 n obs felt =3 	 error init =0.660153 	 error end=0.660153
[12:36:29.859] After pose optimization, distance between two frames x:-0.000850 ,z=0.001787,angle between two frames:0.000502
[12:36:29.859] Update EKF and 3D points, distance between two frames x:-0.000995 ,z=0.002083,angle between two frames:0.000033
[12:36:29.963] After Reprojection Map nPoint:33 ,nCell:30 ,nMatches:8 ,distance between two frames x:-0.000887 ,z=0.001816,angle between two frames:0.004682
[12:36:29.963] Init estimate scale:0.893111
[12:36:29.963] it:0 	 Success 	 new_chi2: 8.765845 	 dT = -0.029710, 0.004446, 0.053466
[12:36:29.963] it:1 	 Success 	 new_chi2: 8.385442 	 dT = -0.034669, -0.011688, 0.070631
[12:36:29.963] it:2 	 FAILURE 	 new_chi2: 8.992115
[12:36:29.963] n deleted obs = 7 	 n obs felt =5 	 error init =0.730487 	 error end=0.698787
[12:36:29.963] After pose optimization, distance between two frames x:-0.030597 ,z=0.006261,angle between two frames:0.048784
[12:36:29.963] Update EKF and 3D points, distance between two frames x:-0.028994 ,z=0.006262,angle between two frames:0.045348
[12:36:30.058] After Reprojection Map nPoint:33 ,nCell:24 ,nMatches:5 ,distance between two frames x:0.009901 ,z=0.000000,angle between two frames:0.021504
[12:36:30.058] Init estimate scale:0.399379
[12:36:30.058] it:0 	 Success 	 new_chi2: 3.922655 	 dT = -0.197781, -0.158685, 0.201763
[12:36:30.058] it:1 	 FAILURE 	 new_chi2: 8.925166
[12:36:30.058] n deleted obs = 4 	 n obs felt =5 	 error init =0.435851 	 error end=0.435851
[12:36:30.058] After pose optimization, distance between two frames x:0.009901 ,z=0.000000,angle between two frames:0.021504
[12:36:30.058] Update EKF and 3D points, distance between two frames x:0.009759 ,z=0.000310,angle between two frames:0.022085
[12:36:30.165] After Reprojection Map nPoint:32 ,nCell:29 ,nMatches:7 ,distance between two frames x:-0.000875 ,z=0.001901,angle between two frames:0.007219
[12:36:30.165] Init estimate scale:1.149637
[12:36:30.165] it:0 	 Success 	 new_chi2: 13.021704 	 dT = -0.605867, -0.323481, 1.908495
[12:36:30.165] it:1 	 Success 	 new_chi2: 12.536828 	 dT = -0.142396, 0.364385, -0.731256
[12:36:30.165] it:2 	 FAILURE 	 new_chi2: 197.658711
[12:36:30.165] n deleted obs = 4 	 n obs felt =5 	 error init =1.446856 	 error end=1.392981
[12:36:30.165] After pose optimization, distance between two frames x:-0.606742 ,z=-0.321580,angle between two frames:1.901277
[12:36:30.258] After Reprojection Map nPoint:33 ,nCell:26 ,nMatches:7 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.001392
[12:36:30.258] Init estimate scale:0.740496
[12:36:30.258] it:0 	 Success 	 new_chi2: 6.370355 	 dT = -0.119566, -0.077643, 0.130920
[12:36:30.258] it:1 	 FAILURE 	 new_chi2: 26.612460
[12:36:30.258] n deleted obs = 6 	 n obs felt =5 	 error init =0.579123 	 error end=0.579123
[12:36:30.258] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.001392
[12:36:30.258] Update EKF and 3D points, distance between two frames x:-0.000138 ,z=0.000285,angle between two frames:0.001928
[12:36:30.361] After Reprojection Map nPoint:33 ,nCell:29 ,nMatches:6 ,distance between two frames x:-0.000849 ,z=0.001760,angle between two frames:0.006301
[12:36:30.361] Init estimate scale:0.931943
[12:36:30.361] it:0 	 Success 	 new_chi2: 8.184108 	 dT = -0.158850, -0.048412, 0.290610
[12:36:30.361] it:1 	 FAILURE 	 new_chi2: 51.763261
[12:36:30.361] n deleted obs = 6 	 n obs felt =4 	 error init =0.818411 	 error end=0.818411
[12:36:30.361] After pose optimization, distance between two frames x:-0.000849 ,z=0.001760,angle between two frames:0.006301
[12:36:30.361] Update EKF and 3D points, distance between two frames x:-0.000983 ,z=0.002032,angle between two frames:0.006933
[12:36:30.463] After Reprojection Map nPoint:30 ,nCell:25 ,nMatches:7 ,distance between two frames x:-0.000831 ,z=0.001684,angle between two frames:0.005368
[12:36:30.463] Init estimate scale:0.878705
[12:36:30.463] it:0 	 Success 	 new_chi2: 8.054185 	 dT = 1456219.597760, 177.761181, 0.002667
[12:36:30.463] it:1 	 FAILURE 	 new_chi2: 56969.178476
[12:36:30.463] n deleted obs = 5 	 n obs felt =4 	 error init =0.894909 	 error end=0.894909
[12:36:30.463] After pose optimization, distance between two frames x:-0.000831 ,z=0.001684,angle between two frames:0.005368
[12:36:30.463] Update EKF and 3D points, distance between two frames x:-0.000977 ,z=0.001980,angle between two frames:0.005320
[12:36:30.558] After Reprojection Map nPoint:35 ,nCell:30 ,nMatches:7 ,distance between two frames x:-0.000900 ,z=0.001831,angle between two frames:0.001240
[12:36:30.559] Init estimate scale:0.501230
[12:36:30.559] it:0 	 Success 	 new_chi2: 6.881928 	 dT = -0.050589, -0.033680, 0.068287
[12:36:30.559] it:1 	 FAILURE 	 new_chi2: 17.229863
[12:36:30.559] n deleted obs = 4 	 n obs felt =7 	 error init =0.625630 	 error end=0.625630
[12:36:30.559] After pose optimization, distance between two frames x:-0.000900 ,z=0.001831,angle between two frames:0.001240
[12:36:30.559] Update EKF and 3D points, distance between two frames x:-0.001048 ,z=0.002132,angle between two frames:0.001109
[12:36:30.659] After Reprojection Map nPoint:34 ,nCell:31 ,nMatches:3 ,distance between two frames x:-0.000911 ,z=0.001858,angle between two frames:0.001814
[12:36:30.659] Init estimate scale:0.837873
[12:36:30.659] it:0 	 Success 	 new_chi2: 5.700684 	 dT = -0.012280, 0.004890, 0.061318
[12:36:30.659] it:1 	 Success 	 new_chi2: 4.244201 	 dT = -0.007421, 0.015171, 0.031729
[12:36:30.659] it:2 	 Success 	 new_chi2: 3.905843 	 dT = -0.006784, 0.019273, 0.025511
[12:36:30.659] it:3 	 Success 	 new_chi2: 3.760037 	 dT = -0.006728, 0.023040, 0.022009
[12:36:30.659] it:4 	 Success 	 new_chi2: 3.744092 	 dT = -0.007021, 0.027135, 0.019538
[12:36:30.659] it:5 	 FAILURE 	 new_chi2: 3.874860
[12:36:30.659] n deleted obs = 2 	 n obs felt =3 	 error init =1.140137 	 error end=0.748818
[12:36:30.659] After pose optimization, distance between two frames x:-0.034125 ,z=0.064232,angle between two frames:0.138753
[12:36:30.659] Update EKF and 3D points, distance between two frames x:-0.032307 ,z=0.060844,angle between two frames:0.130318
[12:36:30.763] After Reprojection Map nPoint:31 ,nCell:28 ,nMatches:7 ,distance between two frames x:0.011162 ,z=-0.020816,angle between two frames:0.051894
[12:36:30.763] Init estimate scale:2.057705
[12:36:30.763] it:0 	 Success 	 new_chi2: 12.622708 	 dT = 0.752216, -2.967705, -0.000000
[12:36:30.763] it:1 	 Success 	 new_chi2: 4.679704 	 dT = 0.827504, 1.224841, -0.000000
[12:36:30.763] it:2 	 FAILURE 	 new_chi2: 11.315911
[12:36:30.763] n deleted obs = 5 	 n obs felt =3 	 error init =1.577838 	 error end=0.584963
[12:36:30.763] After pose optimization, distance between two frames x:0.763378 ,z=-2.988521,angle between two frames:0.051894
[12:36:30.861] After Reprojection Map nPoint:32 ,nCell:24 ,nMatches:8 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000424
[12:36:30.861] Init estimate scale:1.058339
[12:36:30.861] it:0 	 Success 	 new_chi2: 12.975481 	 dT = -0.174223, -0.220061, 0.292502
[12:36:30.861] it:1 	 FAILURE 	 new_chi2: 70.340809
[12:36:30.861] n deleted obs = 6 	 n obs felt =6 	 error init =1.081290 	 error end=1.081290
[12:36:30.861] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000424
[12:36:30.861] Update EKF and 3D points, distance between two frames x:-0.000122 ,z=0.000310,angle between two frames:0.000583
[12:36:30.963] After Reprojection Map nPoint:33 ,nCell:31 ,nMatches:8 ,distance between two frames x:-0.000749 ,z=0.001904,angle between two frames:0.001300
[12:36:30.963] Init estimate scale:0.436836
[12:36:30.963] it:0 	 Success 	 new_chi2: 8.020108 	 dT = -0.031686, 0.064636, 0.025561
[12:36:30.963] it:1 	 FAILURE 	 new_chi2: 11.980233
[12:36:30.963] n deleted obs = 5 	 n obs felt =8 	 error init =0.616931 	 error end=0.616931
[12:36:30.963] After pose optimization, distance between two frames x:-0.000749 ,z=0.001904,angle between two frames:0.001300
[12:36:30.963] Update EKF and 3D points, distance between two frames x:-0.000865 ,z=0.002198,angle between two frames:0.001488
[12:36:31.058] After Reprojection Map nPoint:37 ,nCell:34 ,nMatches:8 ,distance between two frames x:-0.000711 ,z=0.001816,angle between two frames:0.001606
[12:36:31.058] Init estimate scale:0.665008
[12:36:31.058] it:0 	 Success 	 new_chi2: 11.474354 	 dT = -0.016291, -0.049432, -0.000000
[12:36:31.058] it:1 	 FAILURE 	 new_chi2: 12.113089
[12:36:31.058] n deleted obs = 5 	 n obs felt =6 	 error init =1.043123 	 error end=1.043123
[12:36:31.058] After pose optimization, distance between two frames x:-0.000711 ,z=0.001816,angle between two frames:0.001606
[12:36:31.058] Update EKF and 3D points, distance between two frames x:-0.000826 ,z=0.002112,angle between two frames:0.001945
[12:36:31.160] After Reprojection Map nPoint:35 ,nCell:30 ,nMatches:6 ,distance between two frames x:-0.000709 ,z=0.001830,angle between two frames:0.003101
[12:36:31.161] Init estimate scale:0.665182
[12:36:31.161] it:0 	 Success 	 new_chi2: 7.699306 	 dT = -0.319891, -0.179214, 0.443245
[12:36:31.161] it:1 	 FAILURE 	 new_chi2: 25.092619
[12:36:31.161] n deleted obs = 4 	 n obs felt =7 	 error init =0.699937 	 error end=0.699937
[12:36:31.161] After pose optimization, distance between two frames x:-0.000709 ,z=0.001830,angle between two frames:0.003101
[12:36:31.161] Update EKF and 3D points, distance between two frames x:-0.000826 ,z=0.002137,angle between two frames:0.003479
[12:36:31.264] After Reprojection Map nPoint:37 ,nCell:30 ,nMatches:7 ,distance between two frames x:-0.000724 ,z=0.001896,angle between two frames:0.003049
[12:36:31.264] Init estimate scale:0.697205
[12:36:31.264] it:0 	 Success 	 new_chi2: 7.840751 	 dT = -0.030094, 0.014686, 0.018569
[12:36:31.264] it:1 	 FAILURE 	 new_chi2: 8.673968
[12:36:31.264] n deleted obs = 5 	 n obs felt =6 	 error init =0.712796 	 error end=0.712796
[12:36:31.264] After pose optimization, distance between two frames x:-0.000724 ,z=0.001896,angle between two frames:0.003049
[12:36:31.264] Update EKF and 3D points, distance between two frames x:-0.000835 ,z=0.002187,angle between two frames:0.003194
[12:36:31.360] After Reprojection Map nPoint:33 ,nCell:26 ,nMatches:9 ,distance between two frames x:-0.000689 ,z=0.001798,angle between two frames:0.001585
[12:36:31.360] Init estimate scale:0.543911
[12:36:31.360] it:0 	 Success 	 new_chi2: 7.076269 	 dT = -0.030832, -0.024374, 0.052021
[12:36:31.360] it:1 	 FAILURE 	 new_chi2: 7.821166
[12:36:31.360] n deleted obs = 4 	 n obs felt =12 	 error init =0.442267 	 error end=0.442267
[12:36:31.360] After pose optimization, distance between two frames x:-0.000689 ,z=0.001798,angle between two frames:0.001585
[12:36:31.360] Update EKF and 3D points, distance between two frames x:-0.000805 ,z=0.002110,angle between two frames:0.002253
[12:36:31.474] After Reprojection Map nPoint:40 ,nCell:30 ,nMatches:12 ,distance between two frames x:-0.000679 ,z=0.001938,angle between two frames:0.005949
[12:36:31.474] Init estimate scale:0.701109
[12:36:31.474] it:0 	 Success 	 new_chi2: 16.151297 	 dT = -0.152257, 0.118311, -0.000000
[12:36:31.474] it:1 	 FAILURE 	 new_chi2: 74.015589
[12:36:31.474] n deleted obs = 9 	 n obs felt =13 	 error init =0.734150 	 error end=0.734150
[12:36:31.474] After pose optimization, distance between two frames x:-0.000679 ,z=0.001938,angle between two frames:0.005949
[12:36:31.474] Update EKF and 3D points, distance between two frames x:-0.000790 ,z=0.002232,angle between two frames:0.006016
[12:36:31.474] Choose frame as a key frame Scene Depth mean:2.132989 ,depth min:1.889166
[12:36:31.600] After Reprojection Map nPoint:46 ,nCell:31 ,nMatches:14 ,distance between two frames x:0.000456 ,z=0.000452,angle between two frames:0.000156
[12:36:31.600] Init estimate scale:0.675594
[12:36:31.600] it:0 	 Success 	 new_chi2: 16.741489 	 dT = -0.287278, -0.063389, 0.532660
[12:36:31.600] it:1 	 FAILURE 	 new_chi2: 21.912535
[12:36:31.600] n deleted obs = 13 	 n obs felt =20 	 error init =0.507318 	 error end=0.507318
[12:36:31.601] After pose optimization, distance between two frames x:0.000456 ,z=0.000452,angle between two frames:0.000156
[12:36:31.601] Update EKF and 3D points, distance between two frames x:0.000277 ,z=0.000828,angle between two frames:0.000326
[12:36:31.601] Choose frame as a key frame Scene Depth mean:2.269445 ,depth min:1.992715
[12:36:31.717] After Reprojection Map nPoint:65 ,nCell:43 ,nMatches:16 ,distance between two frames x:-0.001104 ,z=0.002319,angle between two frames:0.001186
[12:36:31.717] Init estimate scale:0.487453
[12:36:31.717] it:0 	 Success 	 new_chi2: 13.976920 	 dT = -0.067164, 0.073675, -0.021178
[12:36:31.717] it:1 	 FAILURE 	 new_chi2: 14.861747
[12:36:31.717] n deleted obs = 7 	 n obs felt =35 	 error init =0.332784 	 error end=0.332784
[12:36:31.717] After pose optimization, distance between two frames x:-0.001104 ,z=0.002319,angle between two frames:0.001186
[12:36:31.717] Update EKF and 3D points, distance between two frames x:-0.001220 ,z=0.002621,angle between two frames:0.002356
[12:36:31.717] Choose frame as a key frame Scene Depth mean:2.145668 ,depth min:1.994284
[12:36:31.812] After Reprojection Map nPoint:75 ,nCell:41 ,nMatches:16 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:31.812] Init estimate scale:0.427571
[12:36:31.812] it:0 	 Success 	 new_chi2: 15.020431 	 dT = -0.000747, 0.000023, -0.000000
[12:36:31.812] it:1 	 FAILURE 	 new_chi2: 15.032117
[12:36:31.812] n deleted obs = 7 	 n obs felt =32 	 error init =0.385139 	 error end=0.385139
[12:36:31.812] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:31.812] Update EKF and 3D points, distance between two frames x:-0.000162 ,z=0.000418,angle between two frames:0.000636
[12:36:31.812] Choose frame as a key frame Scene Depth mean:2.204254 ,depth min:1.893223
[12:36:31.910] After Reprojection Map nPoint:101 ,nCell:58 ,nMatches:27 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:31.910] Init estimate scale:0.345715
[12:36:31.910] it:0 	 Success 	 new_chi2: 29.464264 	 dT = 0.000000, 0.000000, 0.000000
[12:36:31.910] it:1 	 Success 	 new_chi2: 29.464260 	 dT = 0.000000, 0.000000, 0.000000
[12:36:31.910] it:2 	 Success 	 new_chi2: 29.464255 	 dT = 0.000000, 0.000000, 0.000000
[12:36:31.910] it:3 	 Success 	 new_chi2: 29.464251 	 dT = 0.000000, 0.000000, 0.000000
[12:36:31.910] it:4 	 Success 	 new_chi2: 29.464247 	 dT = 0.000000, 0.000000, 0.000000
[12:36:31.910] it:5 	 Success 	 new_chi2: 29.464242 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.910] it:6 	 Success 	 new_chi2: 29.464229 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.910] it:7 	 Success 	 new_chi2: 29.464215 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.910] it:8 	 Success 	 new_chi2: 29.464202 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.910] it:9 	 Success 	 new_chi2: 29.464188 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.910] it:10 	 Success 	 new_chi2: 29.464175 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.910] it:11 	 Success 	 new_chi2: 29.464162 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.910] it:12 	 Success 	 new_chi2: 29.464148 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.910] it:13 	 Success 	 new_chi2: 29.464135 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.910] it:14 	 Success 	 new_chi2: 29.464121 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.910] it:15 	 Success 	 new_chi2: 29.464108 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.910] it:16 	 Success 	 new_chi2: 29.464094 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.910] it:17 	 Success 	 new_chi2: 29.464081 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:18 	 Success 	 new_chi2: 29.464067 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:19 	 Success 	 new_chi2: 29.464054 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:20 	 Success 	 new_chi2: 29.464040 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:21 	 Success 	 new_chi2: 29.464027 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:22 	 Success 	 new_chi2: 29.464013 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:23 	 Success 	 new_chi2: 29.464000 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:24 	 Success 	 new_chi2: 29.463986 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:25 	 Success 	 new_chi2: 29.463973 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:26 	 Success 	 new_chi2: 29.463960 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:27 	 Success 	 new_chi2: 29.463946 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:28 	 Success 	 new_chi2: 29.463933 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:29 	 Success 	 new_chi2: 29.463919 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:30 	 Success 	 new_chi2: 29.463906 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:31 	 Success 	 new_chi2: 29.463892 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:32 	 Success 	 new_chi2: 29.463879 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:33 	 Success 	 new_chi2: 29.463865 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:34 	 Success 	 new_chi2: 29.463852 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:35 	 Success 	 new_chi2: 29.463838 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:36 	 Success 	 new_chi2: 29.463825 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:37 	 Success 	 new_chi2: 29.463811 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:38 	 Success 	 new_chi2: 29.463798 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:39 	 Success 	 new_chi2: 29.463785 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:40 	 Success 	 new_chi2: 29.463771 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:41 	 Success 	 new_chi2: 29.463758 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:42 	 Success 	 new_chi2: 29.463744 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:43 	 Success 	 new_chi2: 29.463731 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:44 	 Success 	 new_chi2: 29.463717 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:45 	 Success 	 new_chi2: 29.463704 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:46 	 Success 	 new_chi2: 29.463690 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:47 	 Success 	 new_chi2: 29.463677 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:48 	 Success 	 new_chi2: 29.463663 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:49 	 Success 	 new_chi2: 29.463650 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:50 	 Success 	 new_chi2: 29.463636 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:51 	 Success 	 new_chi2: 29.463623 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:52 	 Success 	 new_chi2: 29.463609 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:53 	 Success 	 new_chi2: 29.463596 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:54 	 Success 	 new_chi2: 29.463583 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:55 	 Success 	 new_chi2: 29.463569 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:56 	 Success 	 new_chi2: 29.463556 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:57 	 Success 	 new_chi2: 29.463542 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.911] it:58 	 Success 	 new_chi2: 29.463529 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.912] it:59 	 Success 	 new_chi2: 29.463515 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.912] it:60 	 Success 	 new_chi2: 29.463502 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.912] it:61 	 Success 	 new_chi2: 29.463488 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.912] it:62 	 Success 	 new_chi2: 29.463475 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.912] it:63 	 Success 	 new_chi2: 29.463461 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.912] it:64 	 Success 	 new_chi2: 29.463448 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.912] it:65 	 Success 	 new_chi2: 29.463434 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.912] it:66 	 Success 	 new_chi2: 29.463421 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.912] it:67 	 Success 	 new_chi2: 29.463408 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.912] it:68 	 Success 	 new_chi2: 29.463394 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.912] it:69 	 Success 	 new_chi2: 29.463381 	 dT = -0.000000, 0.000000, -0.000000
[12:36:31.912] n deleted obs = 10 	 n obs felt =51 	 error init =0.483021 	 error end=0.483006
[12:36:31.912] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.000000
[12:36:31.912] Update EKF and 3D points, distance between two frames x:-0.000172 ,z=0.000445,angle between two frames:0.001314
[12:36:31.912] Choose frame as a key frame Scene Depth mean:2.150103 ,depth min:1.893741
[12:36:32.035] After Reprojection Map nPoint:123 ,nCell:73 ,nMatches:23 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:32.035] Init estimate scale:0.489680
[12:36:32.035] it:0 	 Success 	 new_chi2: 21.772004 	 dT = 27443362143853.496094, -6389.655672, 2.356194
[12:36:32.035] it:1 	 FAILURE 	 new_chi2: 179333879642.178894
[12:36:32.035] n deleted obs = 16 	 n obs felt =40 	 error init =0.388786 	 error end=0.388786
[12:36:32.035] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:32.035] Update EKF and 3D points, distance between two frames x:-0.000177 ,z=0.000452,angle between two frames:0.001329
[12:36:32.035] Choose frame as a key frame Scene Depth mean:2.205229 ,depth min:-1356873871420.716309
[12:36:32.193] After Reprojection Map nPoint:150 ,nCell:82 ,nMatches:27 ,distance between two frames x:-0.001097 ,z=0.002794,angle between two frames:0.008648
[12:36:32.193] Init estimate scale:0.385231
[12:36:32.193] it:0 	 Success 	 new_chi2: 22.594548 	 dT = -0.122333, 0.120621, -0.028175
[12:36:32.193] it:1 	 FAILURE 	 new_chi2: 24.753077
[12:36:32.193] n deleted obs = 14 	 n obs felt =58 	 error init =0.313813 	 error end=0.313813
[12:36:32.193] After pose optimization, distance between two frames x:-0.001097 ,z=0.002794,angle between two frames:0.008648
[12:36:32.193] Update EKF and 3D points, distance between two frames x:-0.001333 ,z=0.003384,angle between two frames:0.009373
[12:36:32.193] Choose frame as a key frame Scene Depth mean:2.151150 ,depth min:-88733296880471.671875
[12:36:32.400] After Reprojection Map nPoint:184 ,nCell:88 ,nMatches:25 ,distance between two frames x:-0.001457 ,z=0.003649,angle between two frames:0.004512
[12:36:32.400] Init estimate scale:0.409126
[12:36:32.400] it:0 	 Success 	 new_chi2: 24.785871 	 dT = 0.001594, -0.000226, 0.000080
[12:36:32.401] it:1 	 Success 	 new_chi2: 24.746925 	 dT = 0.001591, -0.000225, 0.000079
[12:36:32.401] it:2 	 Success 	 new_chi2: 24.708036 	 dT = 0.001589, -0.000224, 0.000079
[12:36:32.401] it:3 	 Success 	 new_chi2: 24.669203 	 dT = 0.001586, -0.000224, 0.000079
[12:36:32.401] it:4 	 Success 	 new_chi2: 24.630426 	 dT = 0.001584, -0.000223, 0.000079
[12:36:32.401] it:5 	 Success 	 new_chi2: 24.591706 	 dT = 0.000884, -0.000099, 0.000047
[12:36:32.401] it:6 	 Success 	 new_chi2: 24.569783 	 dT = 0.000881, -0.000099, 0.000046
[12:36:32.401] it:7 	 Success 	 new_chi2: 24.547911 	 dT = 0.000879, -0.000098, 0.000046
[12:36:32.401] it:8 	 Success 	 new_chi2: 24.526090 	 dT = 0.000877, -0.000098, 0.000046
[12:36:32.401] it:9 	 Success 	 new_chi2: 24.504319 	 dT = 0.000875, -0.000097, 0.000046
[12:36:32.401] it:10 	 Success 	 new_chi2: 24.482598 	 dT = 0.000873, -0.000097, 0.000046
[12:36:32.401] it:11 	 Success 	 new_chi2: 24.460928 	 dT = 0.000871, -0.000096, 0.000046
[12:36:32.401] it:12 	 Success 	 new_chi2: 24.439307 	 dT = 0.000869, -0.000096, 0.000046
[12:36:32.401] it:13 	 Success 	 new_chi2: 24.417736 	 dT = 0.000867, -0.000096, 0.000046
[12:36:32.401] it:14 	 Success 	 new_chi2: 24.396216 	 dT = 0.000865, -0.000095, 0.000046
[12:36:32.401] it:15 	 Success 	 new_chi2: 24.374744 	 dT = 0.000863, -0.000095, 0.000046
[12:36:32.401] it:16 	 Success 	 new_chi2: 24.353322 	 dT = 0.000861, -0.000094, 0.000045
[12:36:32.401] it:17 	 Success 	 new_chi2: 24.331950 	 dT = 0.000859, -0.000094, 0.000045
[12:36:32.401] it:18 	 Success 	 new_chi2: 24.310627 	 dT = 0.000857, -0.000093, 0.000045
[12:36:32.401] it:19 	 Success 	 new_chi2: 24.289353 	 dT = 0.000855, -0.000093, 0.000045
[12:36:32.401] it:20 	 Success 	 new_chi2: 24.268127 	 dT = 0.000853, -0.000093, 0.000045
[12:36:32.401] it:21 	 Success 	 new_chi2: 24.246951 	 dT = 0.000851, -0.000092, 0.000045
[12:36:32.401] it:22 	 Success 	 new_chi2: 24.225824 	 dT = 0.000849, -0.000092, 0.000045
[12:36:32.401] it:23 	 Success 	 new_chi2: 24.204745 	 dT = 0.000847, -0.000091, 0.000045
[12:36:32.401] it:24 	 Success 	 new_chi2: 24.183714 	 dT = 0.000845, -0.000091, 0.000045
[12:36:32.401] it:25 	 Success 	 new_chi2: 24.162732 	 dT = 0.000843, -0.000091, 0.000045
[12:36:32.402] it:26 	 Success 	 new_chi2: 24.141798 	 dT = 0.000841, -0.000090, 0.000044
[12:36:32.402] it:27 	 Success 	 new_chi2: 24.120913 	 dT = 0.000839, -0.000090, 0.000044
[12:36:32.402] it:28 	 Success 	 new_chi2: 24.100075 	 dT = 0.000837, -0.000089, 0.000044
[12:36:32.402] it:29 	 Success 	 new_chi2: 24.079285 	 dT = 0.000835, -0.000089, 0.000044
[12:36:32.402] it:30 	 Success 	 new_chi2: 24.058543 	 dT = 0.000833, -0.000089, 0.000044
[12:36:32.402] it:31 	 Success 	 new_chi2: 24.037848 	 dT = 0.000831, -0.000088, 0.000044
[12:36:32.402] it:32 	 Success 	 new_chi2: 24.017201 	 dT = 0.000829, -0.000088, 0.000044
[12:36:32.402] it:33 	 Success 	 new_chi2: 23.996601 	 dT = 0.000827, -0.000087, 0.000044
[12:36:32.402] it:34 	 Success 	 new_chi2: 23.976049 	 dT = 0.000825, -0.000087, 0.000044
[12:36:32.402] it:35 	 Success 	 new_chi2: 23.955543 	 dT = 0.000823, -0.000087, 0.000044
[12:36:32.402] it:36 	 Success 	 new_chi2: 23.935085 	 dT = 0.000822, -0.000086, 0.000043
[12:36:32.402] it:37 	 Success 	 new_chi2: 23.914674 	 dT = 0.000820, -0.000086, 0.000043
[12:36:32.402] it:38 	 Success 	 new_chi2: 23.894309 	 dT = 0.000818, -0.000085, 0.000043
[12:36:32.402] it:39 	 Success 	 new_chi2: 23.873991 	 dT = 0.000816, -0.000085, 0.000043
[12:36:32.402] it:40 	 Success 	 new_chi2: 23.853719 	 dT = 0.000814, -0.000085, 0.000043
[12:36:32.402] it:41 	 Success 	 new_chi2: 23.833494 	 dT = 0.000812, -0.000084, 0.000043
[12:36:32.402] it:42 	 Success 	 new_chi2: 23.813315 	 dT = 0.000810, -0.000084, 0.000043
[12:36:32.402] it:43 	 Success 	 new_chi2: 23.793182 	 dT = 0.000808, -0.000083, 0.000043
[12:36:32.402] it:44 	 Success 	 new_chi2: 23.773095 	 dT = 0.000807, -0.000083, 0.000043
[12:36:32.402] it:45 	 Success 	 new_chi2: 23.753054 	 dT = 0.000805, -0.000083, 0.000043
[12:36:32.402] it:46 	 Success 	 new_chi2: 23.733059 	 dT = 0.000803, -0.000082, 0.000043
[12:36:32.406] it:47 	 Success 	 new_chi2: 23.713110 	 dT = 0.000801, -0.000082, 0.000042
[12:36:32.407] it:48 	 Success 	 new_chi2: 23.693206 	 dT = 0.000799, -0.000082, 0.000042
[12:36:32.407] it:49 	 Success 	 new_chi2: 23.673347 	 dT = 0.000797, -0.000081, 0.000042
[12:36:32.407] it:50 	 Success 	 new_chi2: 23.653534 	 dT = 0.000795, -0.000081, 0.000042
[12:36:32.407] it:51 	 Success 	 new_chi2: 23.633766 	 dT = 0.000794, -0.000081, 0.000042
[12:36:32.407] it:52 	 Success 	 new_chi2: 23.614043 	 dT = 0.000792, -0.000080, 0.000042
[12:36:32.407] it:53 	 Success 	 new_chi2: 23.594365 	 dT = 0.000790, -0.000080, 0.000042
[12:36:32.407] it:54 	 Success 	 new_chi2: 23.574732 	 dT = 0.000788, -0.000079, 0.000042
[12:36:32.407] it:55 	 Success 	 new_chi2: 23.555144 	 dT = 0.000786, -0.000079, 0.000042
[12:36:32.407] it:56 	 Success 	 new_chi2: 23.535600 	 dT = 0.000785, -0.000079, 0.000042
[12:36:32.407] it:57 	 Success 	 new_chi2: 23.516101 	 dT = 0.000783, -0.000078, 0.000042
[12:36:32.407] it:58 	 Success 	 new_chi2: 23.496646 	 dT = 0.000781, -0.000078, 0.000042
[12:36:32.407] it:59 	 Success 	 new_chi2: 23.477235 	 dT = 0.000779, -0.000078, 0.000041
[12:36:32.407] it:60 	 Success 	 new_chi2: 23.457868 	 dT = 0.000778, -0.000077, 0.000041
[12:36:32.407] it:61 	 Success 	 new_chi2: 23.438546 	 dT = 0.000776, -0.000077, 0.000041
[12:36:32.407] it:62 	 Success 	 new_chi2: 23.419267 	 dT = 0.000774, -0.000077, 0.000041
[12:36:32.407] it:63 	 Success 	 new_chi2: 23.400032 	 dT = 0.000772, -0.000076, 0.000041
[12:36:32.407] it:64 	 Success 	 new_chi2: 23.380841 	 dT = 0.000771, -0.000076, 0.000041
[12:36:32.407] it:65 	 Success 	 new_chi2: 23.361693 	 dT = 0.000769, -0.000076, 0.000041
[12:36:32.407] it:66 	 Success 	 new_chi2: 23.342589 	 dT = 0.000767, -0.000075, 0.000041
[12:36:32.407] it:67 	 Success 	 new_chi2: 23.323528 	 dT = 0.000765, -0.000075, 0.000041
[12:36:32.407] it:68 	 Success 	 new_chi2: 23.304510 	 dT = 0.000764, -0.000074, 0.000041
[12:36:32.407] it:69 	 Success 	 new_chi2: 23.285536 	 dT = 0.000762, -0.000074, 0.000041
[12:36:32.407] n deleted obs = 11 	 n obs felt =63 	 error init =0.334944 	 error end=0.314414
[12:36:32.407] After pose optimization, distance between two frames x:0.059833 ,z=-0.003066,angle between two frames:0.001292
[12:36:32.407] Update EKF and 3D points, distance between two frames x:0.056028 ,z=-0.002077,angle between two frames:0.001524
[12:36:32.412] Choose frame as a key frame Scene Depth mean:2.151961 ,depth min:-41096759107178.734375
[12:36:32.615] After Reprojection Map nPoint:210 ,nCell:81 ,nMatches:29 ,distance between two frames x:-0.023515 ,z=0.006115,angle between two frames:0.000676
[12:36:32.616] Init estimate scale:0.488840
[12:36:32.616] it:0 	 Success 	 new_chi2: 27.517097 	 dT = -0.000000, -0.000000, -0.000000
[12:36:32.620] it:1 	 FAILURE 	 new_chi2: 27.517097
[12:36:32.620] n deleted obs = 20 	 n obs felt =60 	 error init =0.343964 	 error end=0.343964
[12:36:32.620] After pose optimization, distance between two frames x:-0.023515 ,z=0.006115,angle between two frames:0.000676
[12:36:32.620] Update EKF and 3D points, distance between two frames x:-0.023751 ,z=0.006697,angle between two frames:0.001680
[12:36:32.623] Choose frame as a key frame Scene Depth mean:2.189002 ,depth min:-41094221814483.515625
[12:36:32.827] After Reprojection Map nPoint:247 ,nCell:116 ,nMatches:30 ,distance between two frames x:-0.001457 ,z=0.003599,angle between two frames:0.005803
[12:36:32.828] Init estimate scale:0.558652
[12:36:32.828] it:0 	 Success 	 new_chi2: 35.450956 	 dT = 0.000000, -0.000000, -0.000000
[12:36:32.828] it:1 	 Success 	 new_chi2: 35.450956 	 dT = 0.000000, -0.000000, -0.000000
[12:36:32.828] it:2 	 Success 	 new_chi2: 35.450956 	 dT = 0.000000, -0.000000, -0.000000
[12:36:32.828] it:3 	 Success 	 new_chi2: 35.450956 	 dT = 0.000000, -0.000000, -0.000000
[12:36:32.828] it:4 	 Success 	 new_chi2: 35.450956 	 dT = 0.000000, -0.000000, -0.000000
[12:36:32.828] it:5 	 Success 	 new_chi2: 35.450956 	 dT = 0.000000, 0.000000, -0.000000
[12:36:32.828] n deleted obs = 22 	 n obs felt =76 	 error init =0.361744 	 error end=0.361744
[12:36:32.828] After pose optimization, distance between two frames x:-0.001457 ,z=0.003599,angle between two frames:0.005803
[12:36:32.828] Update EKF and 3D points, distance between two frames x:-0.001701 ,z=0.004208,angle between two frames:0.005695
[12:36:32.834] Choose frame as a key frame Scene Depth mean:2.212731 ,depth min:-135418102968617.093750
[12:36:33.018] After Reprojection Map nPoint:277 ,nCell:113 ,nMatches:28 ,distance between two frames x:-0.001510 ,z=0.003765,angle between two frames:0.000945
[12:36:33.018] Init estimate scale:0.463070
[12:36:33.018] it:0 	 Success 	 new_chi2: 26.831337 	 dT = -0.531929, -0.019762, 0.073402
[12:36:33.018] it:1 	 FAILURE 	 new_chi2: 43.420085
[12:36:33.018] n deleted obs = 11 	 n obs felt =72 	 error init =0.323269 	 error end=0.323269
[12:36:33.018] After pose optimization, distance between two frames x:-0.001510 ,z=0.003765,angle between two frames:0.000945
[12:36:33.018] Update EKF and 3D points, distance between two frames x:-0.001743 ,z=0.004351,angle between two frames:0.001479
[12:36:33.021] Choose frame as a key frame Scene Depth mean:2.213663 ,depth min:1.785783
[12:36:33.188] After Reprojection Map nPoint:309 ,nCell:116 ,nMatches:28 ,distance between two frames x:-0.001439 ,z=0.003624,angle between two frames:0.003332
[12:36:33.188] Init estimate scale:0.478216
[12:36:33.188] it:0 	 Success 	 new_chi2: 31.906646 	 dT = 0.000000, -0.020850, 0.000000
[12:36:33.188] it:1 	 FAILURE 	 new_chi2: 32.370439
[12:36:33.188] n deleted obs = 18 	 n obs felt =73 	 error init =0.350622 	 error end=0.350622
[12:36:33.188] After pose optimization, distance between two frames x:-0.001439 ,z=0.003624,angle between two frames:0.003332
[12:36:33.188] Update EKF and 3D points, distance between two frames x:-0.001669 ,z=0.004203,angle between two frames:0.003587
[12:36:33.191] Choose frame as a key frame Scene Depth mean:2.218940 ,depth min:1.885117
[12:36:33.339] After Reprojection Map nPoint:341 ,nCell:111 ,nMatches:29 ,distance between two frames x:-0.001420 ,z=0.003581,angle between two frames:0.001910
[12:36:33.339] Init estimate scale:0.459526
[12:36:33.340] it:0 	 Success 	 new_chi2: 33.622622 	 dT = 0.000000, 0.000000, 0.000000
[12:36:33.340] it:1 	 Success 	 new_chi2: 33.622622 	 dT = 0.000000, 0.000000, 0.000000
[12:36:33.340] it:2 	 Success 	 new_chi2: 33.622622 	 dT = 0.000000, 0.000000, 0.000000
[12:36:33.340] it:3 	 Success 	 new_chi2: 33.622622 	 dT = 0.000000, 0.000000, 0.000000
[12:36:33.340] it:4 	 Success 	 new_chi2: 33.622622 	 dT = 0.000000, 0.000000, 0.000000
[12:36:33.340] it:5 	 Success 	 new_chi2: 33.622622 	 dT = 156.541404, 5378721696959.314453, 0.040983
[12:36:33.340] it:6 	 Success 	 new_chi2: 25.331544 	 dT = 28.309068, -972692175269.225830, -0.006927
[12:36:33.340] it:7 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:8 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:9 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:10 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:11 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:12 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:13 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:14 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:15 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:16 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:17 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:18 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:19 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:20 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.340] it:21 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:22 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:23 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:24 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:25 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:26 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:27 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:28 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:29 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:30 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:31 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:32 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:33 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:34 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:35 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:36 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:37 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:38 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:39 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:40 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:41 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.341] it:42 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:43 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:44 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:45 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:46 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:47 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:48 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:49 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:50 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:51 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:52 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:53 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:54 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:55 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:56 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:57 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:58 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:59 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:60 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:61 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:62 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:63 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:64 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.342] it:65 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.343] it:66 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.343] it:67 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.343] it:68 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.343] it:69 	 Success 	 new_chi2: 25.322312 	 dT = -0.000000, -0.000000, -0.000000
[12:36:33.343] n deleted obs = 10 	 n obs felt =95 	 error init =0.320215 	 error end=0.241165
[12:36:33.343] After pose optimization, distance between two frames x:184.849052 ,z=4406029521690.092773,angle between two frames:0.035966
[12:36:33.488] After Reprojection Map nPoint:359 ,nCell:118 ,nMatches:29 ,distance between two frames x:-0.001912 ,z=0.004971,angle between two frames:0.000618
[12:36:33.488] Init estimate scale:0.473063
[12:36:33.488] it:0 	 Success 	 new_chi2: 36.050089 	 dT = 0.000000, 0.000000, 0.000000
[12:36:33.488] n deleted obs = 16 	 n obs felt =86 	 error init =0.353432 	 error end=0.353432
[12:36:33.488] After pose optimization, distance between two frames x:-0.001912 ,z=0.004971,angle between two frames:0.000618
[12:36:33.488] Update EKF and 3D points, distance between two frames x:-0.002025 ,z=0.005272,angle between two frames:0.000853
[12:36:33.488] Choose frame as a key frame Scene Depth mean:2.259213 ,depth min:1.892138
[12:36:33.633] After Reprojection Map nPoint:358 ,nCell:94 ,nMatches:29 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:33.633] Init estimate scale:0.472959
[12:36:33.636] it:0 	 Success 	 new_chi2: 33.404625 	 dT = 0.000000, 0.000000, -0.000000
[12:36:33.636] n deleted obs = 16 	 n obs felt =83 	 error init =0.337420 	 error end=0.337420
[12:36:33.636] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:33.636] Update EKF and 3D points, distance between two frames x:-0.000156 ,z=0.000409,angle between two frames:0.000265
[12:36:33.636] Choose frame as a key frame Scene Depth mean:2.232357 ,depth min:1.083582
[12:36:33.872] After Reprojection Map nPoint:405 ,nCell:83 ,nMatches:25 ,distance between two frames x:-0.000966 ,z=0.002528,angle between two frames:0.001772
[12:36:33.872] Init estimate scale:0.413076
[12:36:33.872] it:0 	 Success 	 new_chi2: 32.087529 	 dT = -0.120743, 0.225446, -0.006823
[12:36:33.872] it:1 	 FAILURE 	 new_chi2: 33.685775
[12:36:33.872] n deleted obs = 14 	 n obs felt =87 	 error init =0.317698 	 error end=0.317698
[12:36:33.872] After pose optimization, distance between two frames x:-0.000966 ,z=0.002528,angle between two frames:0.001772
[12:36:33.872] Update EKF and 3D points, distance between two frames x:-0.001312 ,z=0.003419,angle between two frames:0.000681
[12:36:33.873] Choose frame as a key frame Scene Depth mean:2.226522 ,depth min:-336112997264989.312500
[12:36:34.091] After Reprojection Map nPoint:377 ,nCell:69 ,nMatches:28 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:34.091] Init estimate scale:0.264866
[12:36:34.091] it:0 	 Success 	 new_chi2: 19.735240 	 dT = 0.000000, 0.000000, 0.000000
[12:36:34.091] n deleted obs = 6 	 n obs felt =84 	 error init =0.219280 	 error end=0.219280
[12:36:34.091] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:34.091] Update EKF and 3D points, distance between two frames x:-0.000371 ,z=0.000917,angle between two frames:0.002249
[12:36:34.091] Choose frame as a key frame Scene Depth mean:2.238665 ,depth min:-601580374965263.625000
[12:36:34.266] After Reprojection Map nPoint:452 ,nCell:129 ,nMatches:30 ,distance between two frames x:-0.002290 ,z=0.005665,angle between two frames:0.014458
[12:36:34.266] Init estimate scale:0.491346
[12:36:34.266] it:0 	 Success 	 new_chi2: 36.786054 	 dT = -0.703381, 0.977667, -0.387134
[12:36:34.267] it:1 	 FAILURE 	 new_chi2: 56.121326
[12:36:34.267] n deleted obs = 27 	 n obs felt =79 	 error init =0.347038 	 error end=0.347038
[12:36:34.267] After pose optimization, distance between two frames x:-0.002290 ,z=0.005665,angle between two frames:0.014458
[12:36:34.267] Update EKF and 3D points, distance between two frames x:-0.002533 ,z=0.006246,angle between two frames:0.015436
[12:36:34.267] Choose frame as a key frame Scene Depth mean:2.249001 ,depth min:-6785724499323.973633
[12:36:34.517] After Reprojection Map nPoint:538 ,nCell:138 ,nMatches:31 ,distance between two frames x:-0.001499 ,z=0.003585,angle between two frames:0.005964
[12:36:34.517] Init estimate scale:0.421040
[12:36:34.517] it:0 	 Success 	 new_chi2: 40.250592 	 dT = -0.000000, -0.000000, 0.000000
[12:36:34.517] n deleted obs = 20 	 n obs felt =113 	 error init =0.302636 	 error end=0.302636
[12:36:34.517] After pose optimization, distance between two frames x:-0.001499 ,z=0.003585,angle between two frames:0.005964
[12:36:34.517] Update EKF and 3D points, distance between two frames x:-0.001755 ,z=0.004203,angle between two frames:0.006233
[12:36:34.518] Choose frame as a key frame Scene Depth mean:2.378873 ,depth min:-64771084105913.312500
[12:36:34.713] After Reprojection Map nPoint:560 ,nCell:102 ,nMatches:33 ,distance between two frames x:-0.001588 ,z=0.003824,angle between two frames:0.001542
[12:36:34.713] Init estimate scale:0.405210
[12:36:34.713] it:0 	 Success 	 new_chi2: 39.858380 	 dT = -1.231075, 0.421477, 0.231404
[12:36:34.713] it:1 	 FAILURE 	 new_chi2: 70.084845
[12:36:34.713] n deleted obs = 24 	 n obs felt =105 	 error init =0.308980 	 error end=0.308980
[12:36:34.713] After pose optimization, distance between two frames x:-0.001588 ,z=0.003824,angle between two frames:0.001542
[12:36:34.713] Update EKF and 3D points, distance between two frames x:-0.001826 ,z=0.004404,angle between two frames:0.001583
[12:36:34.714] Choose frame as a key frame Scene Depth mean:2.306966 ,depth min:1.951902
[12:36:34.879] After Reprojection Map nPoint:550 ,nCell:145 ,nMatches:34 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:34.879] Init estimate scale:0.388562
[12:36:34.879] it:0 	 Success 	 new_chi2: 28.891333 	 dT = -0.063791, 0.009142, -0.000772
[12:36:34.879] it:1 	 FAILURE 	 new_chi2: 30.527022
[12:36:34.879] n deleted obs = 9 	 n obs felt =96 	 error init =0.275156 	 error end=0.275156
[12:36:34.879] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:34.879] Update EKF and 3D points, distance between two frames x:-0.000330 ,z=0.000802,angle between two frames:0.000211
[12:36:35.023] After Reprojection Map nPoint:587 ,nCell:164 ,nMatches:30 ,distance between two frames x:-0.002037 ,z=0.004952,angle between two frames:0.001502
[12:36:35.023] Init estimate scale:0.438692
[12:36:35.023] it:0 	 Success 	 new_chi2: 35.769710 	 dT = -0.018887, 0.002671, -0.000232
[12:36:35.023] it:1 	 FAILURE 	 new_chi2: 36.398331
[12:36:35.024] n deleted obs = 22 	 n obs felt =89 	 error init =0.322250 	 error end=0.322250
[12:36:35.024] After pose optimization, distance between two frames x:-0.002037 ,z=0.004952,angle between two frames:0.001502
[12:36:35.024] Update EKF and 3D points, distance between two frames x:-0.002163 ,z=0.005263,angle between two frames:0.002430
[12:36:35.154] After Reprojection Map nPoint:518 ,nCell:153 ,nMatches:29 ,distance between two frames x:-0.000774 ,z=0.001922,angle between two frames:0.006065
[12:36:35.154] Init estimate scale:0.440855
[12:36:35.154] it:0 	 Success 	 new_chi2: 31.642906 	 dT = -0.056195, 0.012147, -0.002451
[12:36:35.154] it:1 	 FAILURE 	 new_chi2: 33.163725
[12:36:35.154] n deleted obs = 13 	 n obs felt =89 	 error init =0.310225 	 error end=0.310225
[12:36:35.154] After pose optimization, distance between two frames x:-0.000774 ,z=0.001922,angle between two frames:0.006065
[12:36:35.154] Update EKF and 3D points, distance between two frames x:-0.001028 ,z=0.002563,angle between two frames:0.006729
[12:36:35.282] After Reprojection Map nPoint:539 ,nCell:126 ,nMatches:27 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:35.282] Init estimate scale:0.398782
[12:36:35.282] it:0 	 Success 	 new_chi2: 28.192006 	 dT = -0.000190, -0.000027, 0.000004
[12:36:35.282] it:1 	 FAILURE 	 new_chi2: 28.197102
[12:36:35.282] n deleted obs = 16 	 n obs felt =79 	 error init =0.296758 	 error end=0.296758
[12:36:35.282] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:35.282] Update EKF and 3D points, distance between two frames x:-0.000200 ,z=0.000505,angle between two frames:0.000164
[12:36:35.410] After Reprojection Map nPoint:555 ,nCell:176 ,nMatches:32 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:35.410] Init estimate scale:0.459372
[12:36:35.410] it:0 	 Success 	 new_chi2: 34.585837 	 dT = -0.000000, 0.000000, 0.000000
[12:36:35.410] it:1 	 FAILURE 	 new_chi2: 34.585838
[12:36:35.410] n deleted obs = 23 	 n obs felt =89 	 error init =0.308802 	 error end=0.308802
[12:36:35.410] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:35.410] Update EKF and 3D points, distance between two frames x:-0.000194 ,z=0.000484,angle between two frames:0.000259
[12:36:35.540] After Reprojection Map nPoint:572 ,nCell:130 ,nMatches:31 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:35.540] Init estimate scale:0.403063
[12:36:35.540] it:0 	 Success 	 new_chi2: 33.524807 	 dT = -0.141312, 0.298449, -0.000000
[12:36:35.540] it:1 	 FAILURE 	 new_chi2: 35.232434
[12:36:35.540] n deleted obs = 20 	 n obs felt =94 	 error init =0.294077 	 error end=0.294077
[12:36:35.540] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:35.540] Update EKF and 3D points, distance between two frames x:-0.000187 ,z=0.000461,angle between two frames:0.000899
[12:36:35.669] After Reprojection Map nPoint:583 ,nCell:120 ,nMatches:29 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:35.669] Init estimate scale:0.449809
[12:36:35.669] it:0 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:1 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:2 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:3 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:4 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:5 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:6 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:7 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:8 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:9 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:10 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:11 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:12 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:13 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:14 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:15 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:16 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:17 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.669] it:18 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:19 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:20 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:21 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:22 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:23 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:24 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:25 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:26 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:27 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:28 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:29 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:30 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:31 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:32 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:33 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:34 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:35 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:36 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:37 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:38 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:39 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.670] it:40 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:41 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:42 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:43 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:44 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:45 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:46 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:47 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:48 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:49 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:50 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:51 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:52 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:53 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:54 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:55 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:56 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:57 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:58 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:59 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:60 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:61 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:62 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:63 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.671] it:64 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.672] it:65 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.672] it:66 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.672] it:67 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.672] it:68 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.672] it:69 	 Success 	 new_chi2: 37.160166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:35.672] n deleted obs = 24 	 n obs felt =87 	 error init =0.334776 	 error end=0.334776
[12:36:35.672] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:35.672] Update EKF and 3D points, distance between two frames x:-0.000312 ,z=0.000759,angle between two frames:0.000838
[12:36:35.803] After Reprojection Map nPoint:629 ,nCell:156 ,nMatches:30 ,distance between two frames x:-0.001927 ,z=0.004693,angle between two frames:0.005682
[12:36:35.803] Init estimate scale:0.452131
[12:36:35.803] it:0 	 Success 	 new_chi2: 37.891212 	 dT = -0.073567, -0.004821, -0.000504
[12:36:35.803] it:1 	 FAILURE 	 new_chi2: 40.585798
[12:36:35.803] n deleted obs = 22 	 n obs felt =96 	 error init =0.321112 	 error end=0.321112
[12:36:35.803] After pose optimization, distance between two frames x:-0.001927 ,z=0.004693,angle between two frames:0.005682
[12:36:35.803] Update EKF and 3D points, distance between two frames x:-0.002059 ,z=0.005003,angle between two frames:0.006634
[12:36:35.933] After Reprojection Map nPoint:570 ,nCell:124 ,nMatches:31 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:35.933] Init estimate scale:0.403950
[12:36:35.933] it:0 	 Success 	 new_chi2: 31.026132 	 dT = -0.023853, 0.001275, -0.000000
[12:36:35.933] it:1 	 FAILURE 	 new_chi2: 31.737893
[12:36:35.933] n deleted obs = 14 	 n obs felt =89 	 error init =0.301225 	 error end=0.301225
[12:36:35.933] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:35.933] Update EKF and 3D points, distance between two frames x:-0.000168 ,z=0.000396,angle between two frames:0.001366
[12:36:36.066] After Reprojection Map nPoint:581 ,nCell:127 ,nMatches:27 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:36.066] Init estimate scale:0.407795
[12:36:36.066] it:0 	 Success 	 new_chi2: 28.028115 	 dT = 0.000000, 0.000000, 0.000000
[12:36:36.066] n deleted obs = 14 	 n obs felt =83 	 error init =0.288950 	 error end=0.288950
[12:36:36.066] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:36.066] Update EKF and 3D points, distance between two frames x:-0.000308 ,z=0.000722,angle between two frames:0.000933
[12:36:36.195] After Reprojection Map nPoint:548 ,nCell:116 ,nMatches:28 ,distance between two frames x:-0.001906 ,z=0.004463,angle between two frames:0.005706
[12:36:36.195] Init estimate scale:0.449219
[12:36:36.195] it:0 	 Success 	 new_chi2: 32.826245 	 dT = -0.076907, 0.020667, -0.004231
[12:36:36.195] it:1 	 FAILURE 	 new_chi2: 34.975333
[12:36:36.195] n deleted obs = 14 	 n obs felt =89 	 error init =0.318701 	 error end=0.318701
[12:36:36.195] After pose optimization, distance between two frames x:-0.001906 ,z=0.004463,angle between two frames:0.005706
[12:36:36.195] Update EKF and 3D points, distance between two frames x:-0.002035 ,z=0.004772,angle between two frames:0.005565
[12:36:36.325] After Reprojection Map nPoint:537 ,nCell:157 ,nMatches:27 ,distance between two frames x:-0.000802 ,z=0.001909,angle between two frames:0.001052
[12:36:36.325] Init estimate scale:0.411914
[12:36:36.325] it:0 	 Success 	 new_chi2: 30.508468 	 dT = 0.000000, 0.000000, 0.000000
[12:36:36.325] it:1 	 Success 	 new_chi2: 30.508468 	 dT = 0.000000, 0.000000, 0.000000
[12:36:36.325] it:2 	 Success 	 new_chi2: 30.508467 	 dT = 0.000000, 0.000000, 0.000000
[12:36:36.325] it:3 	 Success 	 new_chi2: 30.508467 	 dT = 0.000000, 0.000000, 0.000000
[12:36:36.325] it:4 	 Success 	 new_chi2: 30.508466 	 dT = 0.000000, 0.000000, 0.000000
[12:36:36.325] it:5 	 Success 	 new_chi2: 30.508466 	 dT = -0.000000, -0.000000, -0.000000
[12:36:36.325] it:6 	 FAILURE 	 new_chi2: 30.508466
[12:36:36.325] n deleted obs = 17 	 n obs felt =81 	 error init =0.311311 	 error end=0.311311
[12:36:36.325] After pose optimization, distance between two frames x:-0.000802 ,z=0.001909,angle between two frames:0.001052
[12:36:36.325] Update EKF and 3D points, distance between two frames x:-0.000920 ,z=0.002191,angle between two frames:0.000746
[12:36:36.454] After Reprojection Map nPoint:587 ,nCell:161 ,nMatches:25 ,distance between two frames x:-0.000732 ,z=0.001745,angle between two frames:0.001922
[12:36:36.454] Init estimate scale:0.413604
[12:36:36.454] it:0 	 Success 	 new_chi2: 29.806073 	 dT = -0.076990, 0.037532, -0.012491
[12:36:36.454] it:1 	 FAILURE 	 new_chi2: 32.027025
[12:36:36.454] n deleted obs = 16 	 n obs felt =81 	 error init =0.307279 	 error end=0.307279
[12:36:36.454] After pose optimization, distance between two frames x:-0.000732 ,z=0.001745,angle between two frames:0.001922
[12:36:36.454] Update EKF and 3D points, distance between two frames x:-0.000985 ,z=0.002352,angle between two frames:0.001422
[12:36:36.583] After Reprojection Map nPoint:536 ,nCell:127 ,nMatches:24 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:36.583] Init estimate scale:0.399621
[12:36:36.583] it:0 	 Success 	 new_chi2: 25.269787 	 dT = -3.054555, 5.522584, -0.000001
[12:36:36.583] it:1 	 FAILURE 	 new_chi2: 35.206001
[12:36:36.583] n deleted obs = 9 	 n obs felt =83 	 error init =0.274672 	 error end=0.274672
[12:36:36.583] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:36.583] Update EKF and 3D points, distance between two frames x:-0.000212 ,z=0.000514,angle between two frames:0.000713
[12:36:36.712] After Reprojection Map nPoint:543 ,nCell:144 ,nMatches:23 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:36.712] Init estimate scale:0.466956
[12:36:36.712] it:0 	 Success 	 new_chi2: 33.454623 	 dT = -0.100997, 0.050378, -0.001243
[12:36:36.712] it:1 	 FAILURE 	 new_chi2: 36.156570
[12:36:36.712] n deleted obs = 21 	 n obs felt =79 	 error init =0.334546 	 error end=0.334546
[12:36:36.712] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:36.712] Update EKF and 3D points, distance between two frames x:-0.000199 ,z=0.000483,angle between two frames:0.000867
[12:36:36.841] After Reprojection Map nPoint:547 ,nCell:128 ,nMatches:25 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:36.841] Init estimate scale:0.426901
[12:36:36.841] it:0 	 Success 	 new_chi2: 30.759499 	 dT = -0.060708, -0.006637, -0.000796
[12:36:36.841] it:1 	 FAILURE 	 new_chi2: 32.706420
[12:36:36.841] n deleted obs = 16 	 n obs felt =82 	 error init =0.313872 	 error end=0.313872
[12:36:36.841] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:36.841] Update EKF and 3D points, distance between two frames x:-0.000187 ,z=0.000456,angle between two frames:0.001008
[12:36:36.971] After Reprojection Map nPoint:524 ,nCell:121 ,nMatches:27 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:36.971] Init estimate scale:0.385134
[12:36:36.971] it:0 	 Success 	 new_chi2: 28.219898 	 dT = 0.000000, 0.000000, 0.000000
[12:36:36.971] it:1 	 Success 	 new_chi2: 28.219898 	 dT = 0.000000, 0.000000, 0.000000
[12:36:36.971] it:2 	 Success 	 new_chi2: 28.219898 	 dT = 0.000000, 0.000000, 0.000000
[12:36:36.971] it:3 	 Success 	 new_chi2: 28.219898 	 dT = 0.000000, 0.000000, 0.000000
[12:36:36.971] it:4 	 Success 	 new_chi2: 28.219898 	 dT = 0.000000, 0.000000, 0.000000
[12:36:36.971] it:5 	 Success 	 new_chi2: 28.219898 	 dT = -0.000000, -0.000000, -0.000000
[12:36:36.971] it:6 	 FAILURE 	 new_chi2: 28.219898
[12:36:36.971] n deleted obs = 13 	 n obs felt =83 	 error init =0.293957 	 error end=0.293957
[12:36:36.971] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:36.971] Update EKF and 3D points, distance between two frames x:-0.000302 ,z=0.000714,angle between two frames:0.000582
[12:36:37.102] After Reprojection Map nPoint:577 ,nCell:144 ,nMatches:27 ,distance between two frames x:-0.001867 ,z=0.004415,angle between two frames:0.003763
[12:36:37.102] Init estimate scale:0.444190
[12:36:37.102] it:0 	 Success 	 new_chi2: 34.463044 	 dT = -0.133699, 0.231395, -0.000000
[12:36:37.102] it:1 	 FAILURE 	 new_chi2: 36.474780
[12:36:37.102] n deleted obs = 21 	 n obs felt =84 	 error init =0.328219 	 error end=0.328219
[12:36:37.102] After pose optimization, distance between two frames x:-0.001867 ,z=0.004415,angle between two frames:0.003763
[12:36:37.102] Update EKF and 3D points, distance between two frames x:-0.001993 ,z=0.004712,angle between two frames:0.004144
[12:36:37.232] After Reprojection Map nPoint:534 ,nCell:122 ,nMatches:30 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:37.232] Init estimate scale:0.476123
[12:36:37.232] it:0 	 Success 	 new_chi2: 36.936089 	 dT = -0.000373, -0.000188, 0.000000
[12:36:37.232] it:1 	 FAILURE 	 new_chi2: 36.951099
[12:36:37.232] n deleted obs = 26 	 n obs felt =84 	 error init =0.335783 	 error end=0.335783
[12:36:37.232] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:37.232] Update EKF and 3D points, distance between two frames x:-0.000174 ,z=0.000404,angle between two frames:0.000650
[12:36:37.366] After Reprojection Map nPoint:537 ,nCell:121 ,nMatches:25 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:37.366] Init estimate scale:0.481899
[12:36:37.366] it:0 	 Success 	 new_chi2: 34.801244 	 dT = -0.116089, 0.035193, -0.005751
[12:36:37.366] it:1 	 FAILURE 	 new_chi2: 38.417183
[12:36:37.366] n deleted obs = 19 	 n obs felt =83 	 error init =0.341189 	 error end=0.341189
[12:36:37.366] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:37.366] Update EKF and 3D points, distance between two frames x:-0.000315 ,z=0.000721,angle between two frames:0.001094
[12:36:37.496] After Reprojection Map nPoint:535 ,nCell:72 ,nMatches:26 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:37.496] Init estimate scale:0.462507
[12:36:37.496] it:0 	 Success 	 new_chi2: 38.804010 	 dT = -0.000000, -0.000000, 0.000000
[12:36:37.496] n deleted obs = 22 	 n obs felt =94 	 error init =0.334517 	 error end=0.334517
[12:36:37.496] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:37.496] Update EKF and 3D points, distance between two frames x:-0.000242 ,z=0.000552,angle between two frames:0.001323
[12:36:37.626] After Reprojection Map nPoint:511 ,nCell:99 ,nMatches:27 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:37.626] Init estimate scale:0.331358
[12:36:37.626] it:0 	 Success 	 new_chi2: 25.528893 	 dT = -0.087661, 0.020031, -0.003263
[12:36:37.626] it:1 	 FAILURE 	 new_chi2: 27.595315
[12:36:37.626] n deleted obs = 7 	 n obs felt =91 	 error init =0.260499 	 error end=0.260499
[12:36:37.626] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:37.626] Update EKF and 3D points, distance between two frames x:-0.000218 ,z=0.000493,angle between two frames:0.001240
[12:36:37.773] After Reprojection Map nPoint:550 ,nCell:99 ,nMatches:28 ,distance between two frames x:0.000034 ,z=0.000039,angle between two frames:0.000001
[12:36:37.773] Init estimate scale:0.417992
[12:36:37.773] it:0 	 Success 	 new_chi2: 33.513110 	 dT = -0.000000, -0.000000, -0.000000
[12:36:37.773] n deleted obs = 11 	 n obs felt =98 	 error init =0.307460 	 error end=0.307460
[12:36:37.773] After pose optimization, distance between two frames x:0.000034 ,z=0.000039,angle between two frames:0.000001
[12:36:37.773] Update EKF and 3D points, distance between two frames x:-0.000300 ,z=0.000789,angle between two frames:0.000850
[12:36:37.907] After Reprojection Map nPoint:596 ,nCell:104 ,nMatches:32 ,distance between two frames x:-0.002069 ,z=0.004636,angle between two frames:0.005514
[12:36:37.907] Init estimate scale:0.447557
[12:36:37.907] it:0 	 Success 	 new_chi2: 42.885012 	 dT = 0.000000, 0.000001, -0.000000
[12:36:37.907] it:1 	 Success 	 new_chi2: 42.884998 	 dT = 0.000000, 0.000001, -0.000000
[12:36:37.907] it:2 	 Success 	 new_chi2: 42.884984 	 dT = 0.000000, 0.000001, -0.000000
[12:36:37.907] it:3 	 Success 	 new_chi2: 42.884971 	 dT = 0.000000, 0.000001, -0.000000
[12:36:37.907] it:4 	 Success 	 new_chi2: 42.884957 	 dT = 0.000000, 0.000001, -0.000000
[12:36:37.907] it:5 	 Success 	 new_chi2: 42.884943 	 dT = 0.000000, -0.000000, 0.000000
[12:36:37.907] it:6 	 FAILURE 	 new_chi2: 42.884944
[12:36:37.908] n deleted obs = 20 	 n obs felt =108 	 error init =0.335039 	 error end=0.335039
[12:36:37.908] After pose optimization, distance between two frames x:-0.002069 ,z=0.004640,angle between two frames:0.005514
[12:36:37.908] Update EKF and 3D points, distance between two frames x:-0.002200 ,z=0.004935,angle between two frames:0.005978
[12:36:37.908] Choose frame as a key frame Scene Depth mean:2.350883 ,depth min:0.852104
[12:36:38.039] After Reprojection Map nPoint:549 ,nCell:112 ,nMatches:30 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:38.039] Init estimate scale:0.476790
[12:36:38.039] it:0 	 Success 	 new_chi2: 40.256551 	 dT = 0.000000, -0.000000, -0.000000
[12:36:38.039] it:1 	 FAILURE 	 new_chi2: 40.256551
[12:36:38.039] n deleted obs = 21 	 n obs felt =102 	 error init =0.327289 	 error end=0.327289
[12:36:38.039] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:38.039] Update EKF and 3D points, distance between two frames x:-0.000177 ,z=0.000402,angle between two frames:0.000087
[12:36:38.039] Choose frame as a key frame Scene Depth mean:2.466257 ,depth min:-132618519133988.968750
[12:36:38.174] After Reprojection Map nPoint:554 ,nCell:88 ,nMatches:25 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:38.174] Init estimate scale:0.465294
[12:36:38.174] it:0 	 Success 	 new_chi2: 32.631697 	 dT = -0.000006, -0.000001, 0.000000
[12:36:38.174] it:1 	 FAILURE 	 new_chi2: 32.631884
[12:36:38.174] n deleted obs = 19 	 n obs felt =78 	 error init =0.336409 	 error end=0.336409
[12:36:38.174] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:38.174] Update EKF and 3D points, distance between two frames x:-0.000302 ,z=0.000699,angle between two frames:0.000694
[12:36:38.174] Choose frame as a key frame Scene Depth mean:2.351886 ,depth min:-6932213873141.963867
[12:36:38.305] After Reprojection Map nPoint:578 ,nCell:93 ,nMatches:29 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:38.305] Init estimate scale:0.436703
[12:36:38.305] it:0 	 Success 	 new_chi2: 36.972166 	 dT = -0.291403, 1.165124, -0.545495
[12:36:38.305] it:1 	 FAILURE 	 new_chi2: 49.361449
[12:36:38.305] n deleted obs = 17 	 n obs felt =97 	 error init =0.324317 	 error end=0.324317
[12:36:38.305] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:38.305] Update EKF and 3D points, distance between two frames x:-0.000237 ,z=0.000552,angle between two frames:0.000727
[12:36:38.437] After Reprojection Map nPoint:576 ,nCell:99 ,nMatches:25 ,distance between two frames x:-0.001463 ,z=0.003411,angle between two frames:0.004576
[12:36:38.437] Init estimate scale:0.426229
[12:36:38.437] it:0 	 Success 	 new_chi2: 31.368812 	 dT = -372649.156001, -104891412506619068416.000000, -14859315.581606
[12:36:38.437] it:1 	 Success 	 new_chi2: 23.592377 	 dT = 0.000000, 0.000000, -0.000000
[12:36:38.437] n deleted obs = 6 	 n obs felt =96 	 error init =0.307537 	 error end=0.231298
[12:36:38.437] After pose optimization, distance between two frames x:-372649.157464 ,z=-104891412506619068416.000000,angle between two frames:2.984219
[12:36:38.561] After Reprojection Map nPoint:649 ,nCell:147 ,nMatches:31 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:38.561] Init estimate scale:0.431096
[12:36:38.561] it:0 	 Success 	 new_chi2: 36.338350 	 dT = -0.000000, -0.000000, 0.000000
[12:36:38.561] it:1 	 FAILURE 	 new_chi2: 36.338350
[12:36:38.561] n deleted obs = 14 	 n obs felt =104 	 error init =0.307952 	 error end=0.307952
[12:36:38.561] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:38.561] Update EKF and 3D points, distance between two frames x:-0.000282 ,z=0.000667,angle between two frames:0.000556
[12:36:38.678] After Reprojection Map nPoint:641 ,nCell:129 ,nMatches:34 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:38.678] Init estimate scale:0.430398
[12:36:38.678] it:0 	 Success 	 new_chi2: 38.829279 	 dT = -0.000075, -0.000070, -0.000000
[12:36:38.678] it:1 	 FAILURE 	 new_chi2: 38.832810
[12:36:38.678] n deleted obs = 16 	 n obs felt =104 	 error init =0.323577 	 error end=0.323577
[12:36:38.678] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:38.678] Update EKF and 3D points, distance between two frames x:-0.000213 ,z=0.000507,angle between two frames:0.000300
[12:36:38.798] After Reprojection Map nPoint:621 ,nCell:149 ,nMatches:33 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:38.798] Init estimate scale:0.413403
[12:36:38.798] it:0 	 Success 	 new_chi2: 39.905190 	 dT = -0.000000, 0.000000, -0.000000
[12:36:38.798] n deleted obs = 20 	 n obs felt =113 	 error init =0.300039 	 error end=0.300039
[12:36:38.798] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:38.798] Update EKF and 3D points, distance between two frames x:-0.000201 ,z=0.000473,angle between two frames:0.000277
[12:36:38.913] After Reprojection Map nPoint:631 ,nCell:122 ,nMatches:34 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:38.913] Init estimate scale:0.432526
[12:36:38.913] it:0 	 Success 	 new_chi2: 44.259173 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:1 	 Success 	 new_chi2: 44.259173 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:2 	 Success 	 new_chi2: 44.259173 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:3 	 Success 	 new_chi2: 44.259173 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:4 	 Success 	 new_chi2: 44.259173 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:5 	 Success 	 new_chi2: 44.259173 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:6 	 Success 	 new_chi2: 44.259173 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:7 	 Success 	 new_chi2: 44.259173 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:8 	 Success 	 new_chi2: 44.259173 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:9 	 Success 	 new_chi2: 44.259173 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:10 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:11 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:12 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:13 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:14 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.913] it:15 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:16 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:17 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:18 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:19 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:20 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:21 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:22 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:23 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:24 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:25 	 Success 	 new_chi2: 44.259172 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:26 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:27 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:28 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:29 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:30 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:31 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:32 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:33 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:34 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:35 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:36 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:37 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:38 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:39 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:40 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.914] it:41 	 Success 	 new_chi2: 44.259171 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:42 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:43 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:44 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:45 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:46 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:47 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:48 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:49 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:50 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:51 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:52 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:53 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:54 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:55 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:56 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:57 	 Success 	 new_chi2: 44.259170 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:58 	 Success 	 new_chi2: 44.259169 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:59 	 Success 	 new_chi2: 44.259169 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:60 	 Success 	 new_chi2: 44.259169 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:61 	 Success 	 new_chi2: 44.259169 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:62 	 Success 	 new_chi2: 44.259169 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:63 	 Success 	 new_chi2: 44.259169 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:64 	 Success 	 new_chi2: 44.259169 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:65 	 Success 	 new_chi2: 44.259169 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.915] it:66 	 Success 	 new_chi2: 44.259169 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.916] it:67 	 Success 	 new_chi2: 44.259169 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.916] it:68 	 Success 	 new_chi2: 44.259169 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.916] it:69 	 Success 	 new_chi2: 44.259169 	 dT = 0.000000, 0.000000, 0.000000
[12:36:38.916] n deleted obs = 23 	 n obs felt =114 	 error init =0.323060 	 error end=0.323060
[12:36:38.916] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:38.916] Update EKF and 3D points, distance between two frames x:-0.000202 ,z=0.000469,angle between two frames:0.000680
[12:36:39.032] After Reprojection Map nPoint:660 ,nCell:153 ,nMatches:37 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:39.032] Init estimate scale:0.484334
[12:36:39.032] it:0 	 Success 	 new_chi2: 50.573169 	 dT = 0.000000, -0.000000, 0.000000
[12:36:39.032] it:1 	 Success 	 new_chi2: 50.573168 	 dT = 0.000000, -0.000000, 0.000000
[12:36:39.032] it:2 	 Success 	 new_chi2: 50.573168 	 dT = 0.000000, -0.000000, 0.000000
[12:36:39.032] it:3 	 Success 	 new_chi2: 50.573168 	 dT = 0.000000, -0.000000, 0.000000
[12:36:39.032] it:4 	 Success 	 new_chi2: 50.573168 	 dT = 0.000000, -0.000000, 0.000000
[12:36:39.032] it:5 	 Success 	 new_chi2: 50.573168 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.032] it:6 	 Success 	 new_chi2: 50.573168 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.032] it:7 	 Success 	 new_chi2: 50.573168 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.032] it:8 	 Success 	 new_chi2: 50.573168 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.032] it:9 	 Success 	 new_chi2: 50.573167 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.032] it:10 	 Success 	 new_chi2: 50.573167 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.032] it:11 	 Success 	 new_chi2: 50.573167 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.032] it:12 	 Success 	 new_chi2: 50.573167 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.032] it:13 	 Success 	 new_chi2: 50.573167 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.032] it:14 	 Success 	 new_chi2: 50.573166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.032] it:15 	 Success 	 new_chi2: 50.573166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.032] it:16 	 Success 	 new_chi2: 50.573166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.032] it:17 	 Success 	 new_chi2: 50.573166 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.032] it:18 	 Success 	 new_chi2: 50.573165 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:19 	 Success 	 new_chi2: 50.573165 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:20 	 Success 	 new_chi2: 50.573165 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:21 	 Success 	 new_chi2: 50.573165 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:22 	 Success 	 new_chi2: 50.573165 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:23 	 Success 	 new_chi2: 50.573164 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:24 	 Success 	 new_chi2: 50.573164 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:25 	 Success 	 new_chi2: 50.573164 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:26 	 Success 	 new_chi2: 50.573164 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:27 	 Success 	 new_chi2: 50.573164 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:28 	 Success 	 new_chi2: 50.573163 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:29 	 Success 	 new_chi2: 50.573163 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:30 	 Success 	 new_chi2: 50.573163 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:31 	 Success 	 new_chi2: 50.573163 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:32 	 Success 	 new_chi2: 50.573162 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:33 	 Success 	 new_chi2: 50.573162 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:34 	 Success 	 new_chi2: 50.573162 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:35 	 Success 	 new_chi2: 50.573162 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:36 	 Success 	 new_chi2: 50.573162 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:37 	 Success 	 new_chi2: 50.573161 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.033] it:38 	 Success 	 new_chi2: 50.573161 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:39 	 Success 	 new_chi2: 50.573161 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:40 	 Success 	 new_chi2: 50.573161 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:41 	 Success 	 new_chi2: 50.573161 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:42 	 Success 	 new_chi2: 50.573160 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:43 	 Success 	 new_chi2: 50.573160 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:44 	 Success 	 new_chi2: 50.573160 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:45 	 Success 	 new_chi2: 50.573160 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:46 	 Success 	 new_chi2: 50.573159 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:47 	 Success 	 new_chi2: 50.573159 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:48 	 Success 	 new_chi2: 50.573159 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:49 	 Success 	 new_chi2: 50.573159 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:50 	 Success 	 new_chi2: 50.573159 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:51 	 Success 	 new_chi2: 50.573158 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:52 	 Success 	 new_chi2: 50.573158 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:53 	 Success 	 new_chi2: 50.573158 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:54 	 Success 	 new_chi2: 50.573158 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:55 	 Success 	 new_chi2: 50.573157 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:56 	 Success 	 new_chi2: 50.573157 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:57 	 Success 	 new_chi2: 50.573157 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:58 	 Success 	 new_chi2: 50.573157 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:59 	 Success 	 new_chi2: 50.573157 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:60 	 Success 	 new_chi2: 50.573156 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.034] it:61 	 Success 	 new_chi2: 50.573156 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.035] it:62 	 Success 	 new_chi2: 50.573156 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.035] it:63 	 Success 	 new_chi2: 50.573156 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.035] it:64 	 Success 	 new_chi2: 50.573156 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.035] it:65 	 Success 	 new_chi2: 50.573155 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.035] it:66 	 Success 	 new_chi2: 50.573155 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.035] it:67 	 Success 	 new_chi2: 50.573155 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.035] it:68 	 Success 	 new_chi2: 50.573155 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.035] it:69 	 Success 	 new_chi2: 50.573154 	 dT = 0.000000, 0.000000, 0.000000
[12:36:39.035] n deleted obs = 31 	 n obs felt =113 	 error init =0.351203 	 error end=0.351202
[12:36:39.035] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:39.035] Update EKF and 3D points, distance between two frames x:-0.000195 ,z=0.000454,angle between two frames:0.000491
[12:36:39.151] After Reprojection Map nPoint:616 ,nCell:135 ,nMatches:38 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:39.151] Init estimate scale:0.421745
[12:36:39.151] it:0 	 Success 	 new_chi2: 37.654427 	 dT = -0.000000, -0.000000, 0.000000
[12:36:39.151] n deleted obs = 12 	 n obs felt =116 	 error init =0.294175 	 error end=0.294175
[12:36:39.151] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:39.151] Update EKF and 3D points, distance between two frames x:-0.000336 ,z=0.000774,angle between two frames:0.000661
[12:36:39.268] After Reprojection Map nPoint:604 ,nCell:127 ,nMatches:39 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:39.268] Init estimate scale:0.446082
[12:36:39.268] it:0 	 Success 	 new_chi2: 42.369149 	 dT = -0.114910, 0.068479, -0.024648
[12:36:39.268] it:1 	 FAILURE 	 new_chi2: 46.659803
[12:36:39.268] n deleted obs = 21 	 n obs felt =108 	 error init =0.328443 	 error end=0.328443
[12:36:39.268] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:39.268] Update EKF and 3D points, distance between two frames x:-0.000243 ,z=0.000553,angle between two frames:0.000906
[12:36:39.385] After Reprojection Map nPoint:624 ,nCell:95 ,nMatches:31 ,distance between two frames x:-0.001499 ,z=0.003416,angle between two frames:0.005802
[12:36:39.385] Init estimate scale:0.419832
[12:36:39.385] it:0 	 Success 	 new_chi2: 39.627628 	 dT = 0.000000, 0.000000, -0.000000
[12:36:39.385] n deleted obs = 14 	 n obs felt =111 	 error init =0.317021 	 error end=0.317021
[12:36:39.385] After pose optimization, distance between two frames x:-0.001499 ,z=0.003416,angle between two frames:0.005802
[12:36:39.385] Update EKF and 3D points, distance between two frames x:-0.001628 ,z=0.003706,angle between two frames:0.006520
[12:36:39.385] Choose frame as a key frame Scene Depth mean:2.462804 ,depth min:-283527193426.615723
[12:36:39.504] After Reprojection Map nPoint:612 ,nCell:121 ,nMatches:35 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:39.504] Init estimate scale:0.409321
[12:36:39.504] it:0 	 Success 	 new_chi2: 34.647263 	 dT = -0.055400, 0.030038, -0.010608
[12:36:39.504] it:1 	 FAILURE 	 new_chi2: 36.380686
[12:36:39.504] n deleted obs = 17 	 n obs felt =103 	 error init =0.288727 	 error end=0.288727
[12:36:39.504] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:39.504] Update EKF and 3D points, distance between two frames x:-0.000184 ,z=0.000406,angle between two frames:0.001174
[12:36:39.621] After Reprojection Map nPoint:678 ,nCell:129 ,nMatches:35 ,distance between two frames x:-0.001135 ,z=0.002506,angle between two frames:0.007455
[12:36:39.621] Init estimate scale:0.455883
[12:36:39.621] it:0 	 Success 	 new_chi2: 42.131306 	 dT = 0.000000, 0.000003, -0.000000
[12:36:39.621] it:1 	 Success 	 new_chi2: 42.131266 	 dT = 0.000000, 0.000003, -0.000000
[12:36:39.622] it:2 	 Success 	 new_chi2: 42.131227 	 dT = 0.000000, 0.000003, -0.000000
[12:36:39.622] it:3 	 Success 	 new_chi2: 42.131187 	 dT = 0.000000, 0.000003, -0.000000
[12:36:39.622] it:4 	 Success 	 new_chi2: 42.131147 	 dT = 0.000000, 0.000003, -0.000000
[12:36:39.622] it:5 	 Success 	 new_chi2: 42.131107 	 dT = 205.801008, 6905535917.599792, -0.001198
[12:36:39.622] it:6 	 Success 	 new_chi2: 29.363856 	 dT = 0.000002, 0.000000, 0.000000
[12:36:39.622] it:7 	 Success 	 new_chi2: 29.363856 	 dT = 0.000002, 0.000000, 0.000000
[12:36:39.622] it:8 	 Success 	 new_chi2: 29.363856 	 dT = 0.000002, 0.000000, 0.000000
[12:36:39.622] it:9 	 FAILURE 	 new_chi2: 29.363856
[12:36:39.622] n deleted obs = 8 	 n obs felt =122 	 error init =0.324087 	 error end=0.225876
[12:36:39.622] After pose optimization, distance between two frames x:205.799877 ,z=6905535917.602312,angle between two frames:0.008653
[12:36:39.739] After Reprojection Map nPoint:627 ,nCell:143 ,nMatches:36 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:39.739] Init estimate scale:0.467686
[12:36:39.740] it:0 	 Success 	 new_chi2: 38.380317 	 dT = 0.000000, 0.000000, -0.000000
[12:36:39.740] n deleted obs = 23 	 n obs felt =95 	 error init =0.325257 	 error end=0.325257
[12:36:39.740] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:39.740] Update EKF and 3D points, distance between two frames x:-0.000130 ,z=0.000290,angle between two frames:0.000068
[12:36:39.740] Choose frame as a key frame Scene Depth mean:2.320402 ,depth min:1.030416
[12:36:39.863] After Reprojection Map nPoint:667 ,nCell:139 ,nMatches:40 ,distance between two frames x:-0.000804 ,z=0.001790,angle between two frames:0.000535
[12:36:39.863] Init estimate scale:0.425198
[12:36:39.863] it:0 	 Success 	 new_chi2: 46.505762 	 dT = -0.000004, -0.000002, 0.000000
[12:36:39.863] it:1 	 FAILURE 	 new_chi2: 46.505981
[12:36:39.863] n deleted obs = 22 	 n obs felt =124 	 error init =0.318533 	 error end=0.318533
[12:36:39.863] After pose optimization, distance between two frames x:-0.000804 ,z=0.001790,angle between two frames:0.000535
[12:36:39.863] Update EKF and 3D points, distance between two frames x:-0.001063 ,z=0.002375,angle between two frames:0.001131
[12:36:39.863] Choose frame as a key frame Scene Depth mean:2.479357 ,depth min:-3653655902310797.500000
[12:36:39.985] After Reprojection Map nPoint:671 ,nCell:132 ,nMatches:42 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:39.985] Init estimate scale:0.419999
[12:36:39.985] it:0 	 Success 	 new_chi2: 43.247341 	 dT = -0.000000, -0.000000, -0.000000
[12:36:39.985] n deleted obs = 22 	 n obs felt =120 	 error init =0.304559 	 error end=0.304559
[12:36:39.985] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:39.985] Update EKF and 3D points, distance between two frames x:-0.000223 ,z=0.000503,angle between two frames:0.000402
[12:36:39.985] Choose frame as a key frame Scene Depth mean:2.398998 ,depth min:-2895525863511.332520
[12:36:40.106] After Reprojection Map nPoint:698 ,nCell:114 ,nMatches:34 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:40.106] Init estimate scale:0.475285
[12:36:40.106] it:0 	 Success 	 new_chi2: 44.192683 	 dT = -0.178118, 0.051018, -0.007424
[12:36:40.106] it:1 	 FAILURE 	 new_chi2: 50.427623
[12:36:40.106] n deleted obs = 24 	 n obs felt =108 	 error init =0.334793 	 error end=0.334793
[12:36:40.106] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:40.106] Update EKF and 3D points, distance between two frames x:-0.000209 ,z=0.000473,angle between two frames:0.000683
[12:36:40.106] Choose frame as a key frame Scene Depth mean:2.454482 ,depth min:-11238812711995.074219
[12:36:40.228] After Reprojection Map nPoint:691 ,nCell:143 ,nMatches:34 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:40.228] Init estimate scale:0.436874
[12:36:40.228] it:0 	 Success 	 new_chi2: 42.634255 	 dT = -0.572135, 1.113815, -0.078696
[12:36:40.228] it:1 	 FAILURE 	 new_chi2: 51.134881
[12:36:40.228] n deleted obs = 16 	 n obs felt =116 	 error init =0.322987 	 error end=0.322987
[12:36:40.228] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:40.228] Update EKF and 3D points, distance between two frames x:-0.000204 ,z=0.000463,angle between two frames:0.000675
[12:36:40.228] Choose frame as a key frame Scene Depth mean:2.398735 ,depth min:-8082513872655423.000000
[12:36:40.349] After Reprojection Map nPoint:701 ,nCell:150 ,nMatches:37 ,distance between two frames x:-0.001261 ,z=0.002864,angle between two frames:0.004709
[12:36:40.349] Init estimate scale:0.479531
[12:36:40.349] it:0 	 Success 	 new_chi2: 45.173621 	 dT = -0.133778, -0.184311, 0.000000
[12:36:40.350] it:1 	 FAILURE 	 new_chi2: 53.850086
[12:36:40.350] n deleted obs = 24 	 n obs felt =107 	 error init =0.344837 	 error end=0.344837
[12:36:40.350] After pose optimization, distance between two frames x:-0.001261 ,z=0.002864,angle between two frames:0.004709
[12:36:40.350] Update EKF and 3D points, distance between two frames x:-0.001544 ,z=0.003515,angle between two frames:0.005292
[12:36:40.473] After Reprojection Map nPoint:738 ,nCell:170 ,nMatches:37 ,distance between two frames x:-0.001674 ,z=0.003853,angle between two frames:0.003357
[12:36:40.474] Init estimate scale:0.416632
[12:36:40.474] it:0 	 Success 	 new_chi2: 39.099863 	 dT = -0.931232, 1.014899, -0.205098
[12:36:40.474] it:1 	 FAILURE 	 new_chi2: 58.730770
[12:36:40.474] n deleted obs = 16 	 n obs felt =114 	 error init =0.300768 	 error end=0.300768
[12:36:40.474] After pose optimization, distance between two frames x:-0.001674 ,z=0.003853,angle between two frames:0.003357
[12:36:40.474] Update EKF and 3D points, distance between two frames x:-0.001810 ,z=0.004159,angle between two frames:0.002783
[12:36:40.598] After Reprojection Map nPoint:795 ,nCell:183 ,nMatches:36 ,distance between two frames x:-0.000845 ,z=0.001892,angle between two frames:0.003719
[12:36:40.598] Init estimate scale:0.459265
[12:36:40.598] it:0 	 Success 	 new_chi2: 48.041443 	 dT = 0.000000, 0.000001, -0.000000
[12:36:40.598] it:1 	 Success 	 new_chi2: 48.041434 	 dT = 0.000000, 0.000001, -0.000000
[12:36:40.598] it:2 	 Success 	 new_chi2: 48.041425 	 dT = 0.000000, 0.000001, -0.000000
[12:36:40.598] it:3 	 Success 	 new_chi2: 48.041417 	 dT = 0.000000, 0.000001, -0.000000
[12:36:40.598] it:4 	 Success 	 new_chi2: 48.041408 	 dT = 0.000000, 0.000001, -0.000000
[12:36:40.598] it:5 	 Success 	 new_chi2: 48.041399 	 dT = 0.000000, -0.000000, 0.000000
[12:36:40.598] it:6 	 FAILURE 	 new_chi2: 48.041402
[12:36:40.598] n deleted obs = 20 	 n obs felt =124 	 error init =0.333621 	 error end=0.333621
[12:36:40.598] After pose optimization, distance between two frames x:-0.000845 ,z=0.001895,angle between two frames:0.003719
[12:36:40.598] Update EKF and 3D points, distance between two frames x:-0.000969 ,z=0.002174,angle between two frames:0.003977
[12:36:40.716] After Reprojection Map nPoint:761 ,nCell:122 ,nMatches:36 ,distance between two frames x:-0.000763 ,z=0.001721,angle between two frames:0.001953
[12:36:40.716] Init estimate scale:0.454518
[12:36:40.716] it:0 	 Success 	 new_chi2: 46.436782 	 dT = -0.000000, -0.000000, 0.000000
[12:36:40.716] it:1 	 FAILURE 	 new_chi2: 46.436782
[12:36:40.716] n deleted obs = 24 	 n obs felt =114 	 error init =0.336498 	 error end=0.336498
[12:36:40.716] After pose optimization, distance between two frames x:-0.000763 ,z=0.001721,angle between two frames:0.001953
[12:36:40.716] Update EKF and 3D points, distance between two frames x:-0.000894 ,z=0.002012,angle between two frames:0.002503
[12:36:40.837] After Reprojection Map nPoint:755 ,nCell:120 ,nMatches:34 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:40.837] Init estimate scale:0.424863
[12:36:40.837] it:0 	 Success 	 new_chi2: 45.559815 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.837] it:1 	 Success 	 new_chi2: 45.559815 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.837] it:2 	 Success 	 new_chi2: 45.559815 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.837] it:3 	 Success 	 new_chi2: 45.559815 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.837] it:4 	 Success 	 new_chi2: 45.559815 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.837] it:5 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.837] it:6 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.837] it:7 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.837] it:8 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.837] it:9 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.837] it:10 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.837] it:11 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:12 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:13 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:14 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:15 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:16 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:17 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:18 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:19 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:20 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:21 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:22 	 Success 	 new_chi2: 45.559814 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:23 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:24 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:25 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:26 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:27 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:28 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:29 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:30 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.838] it:31 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:32 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:33 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:34 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:35 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:36 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:37 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:38 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:39 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:40 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:41 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:42 	 Success 	 new_chi2: 45.559813 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:43 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:44 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:45 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:46 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:47 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:48 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:49 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:50 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:51 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:52 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:53 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:54 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:55 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.839] it:56 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] it:57 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] it:58 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] it:59 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] it:60 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] it:61 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] it:62 	 Success 	 new_chi2: 45.559812 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] it:63 	 Success 	 new_chi2: 45.559811 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] it:64 	 Success 	 new_chi2: 45.559811 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] it:65 	 Success 	 new_chi2: 45.559811 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] it:66 	 Success 	 new_chi2: 45.559811 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] it:67 	 Success 	 new_chi2: 45.559811 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] it:68 	 Success 	 new_chi2: 45.559811 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] it:69 	 Success 	 new_chi2: 45.559811 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.840] n deleted obs = 23 	 n obs felt =118 	 error init =0.323119 	 error end=0.323119
[12:36:40.840] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:40.840] Update EKF and 3D points, distance between two frames x:-0.000178 ,z=0.000397,angle between two frames:0.000599
[12:36:40.840] Choose frame as a key frame Scene Depth mean:2.367664 ,depth min:0.894726
[12:36:40.963] After Reprojection Map nPoint:676 ,nCell:127 ,nMatches:35 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:40.963] Init estimate scale:0.474540
[12:36:40.963] it:0 	 Success 	 new_chi2: 45.482192 	 dT = 0.000000, 0.000000, 0.000000
[12:36:40.963] it:1 	 Success 	 new_chi2: 45.482191 	 dT = 0.000000, 0.000000, 0.000000
[12:36:40.963] it:2 	 Success 	 new_chi2: 45.482190 	 dT = 0.000000, 0.000000, 0.000000
[12:36:40.963] it:3 	 Success 	 new_chi2: 45.482189 	 dT = 0.000000, 0.000000, 0.000000
[12:36:40.963] it:4 	 Success 	 new_chi2: 45.482188 	 dT = 0.000000, 0.000000, 0.000000
[12:36:40.963] it:5 	 Success 	 new_chi2: 45.482187 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.963] it:6 	 Success 	 new_chi2: 45.482187 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.963] it:7 	 Success 	 new_chi2: 45.482187 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.963] it:8 	 Success 	 new_chi2: 45.482186 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.963] it:9 	 Success 	 new_chi2: 45.482186 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.963] it:10 	 Success 	 new_chi2: 45.482186 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.963] it:11 	 Success 	 new_chi2: 45.482185 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.963] it:12 	 Success 	 new_chi2: 45.482185 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.963] it:13 	 Success 	 new_chi2: 45.482185 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:14 	 Success 	 new_chi2: 45.482184 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:15 	 Success 	 new_chi2: 45.482184 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:16 	 Success 	 new_chi2: 45.482184 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:17 	 Success 	 new_chi2: 45.482183 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:18 	 Success 	 new_chi2: 45.482183 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:19 	 Success 	 new_chi2: 45.482183 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:20 	 Success 	 new_chi2: 45.482182 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:21 	 Success 	 new_chi2: 45.482182 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:22 	 Success 	 new_chi2: 45.482182 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:23 	 Success 	 new_chi2: 45.482181 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:24 	 Success 	 new_chi2: 45.482181 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:25 	 Success 	 new_chi2: 45.482181 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:26 	 Success 	 new_chi2: 45.482180 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:27 	 Success 	 new_chi2: 45.482180 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:28 	 Success 	 new_chi2: 45.482180 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:29 	 Success 	 new_chi2: 45.482179 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:30 	 Success 	 new_chi2: 45.482179 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:31 	 Success 	 new_chi2: 45.482179 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:32 	 Success 	 new_chi2: 45.482178 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:33 	 Success 	 new_chi2: 45.482178 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:34 	 Success 	 new_chi2: 45.482178 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:35 	 Success 	 new_chi2: 45.482177 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:36 	 Success 	 new_chi2: 45.482177 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.964] it:37 	 Success 	 new_chi2: 45.482177 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:38 	 Success 	 new_chi2: 45.482176 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:39 	 Success 	 new_chi2: 45.482176 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:40 	 Success 	 new_chi2: 45.482176 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:41 	 Success 	 new_chi2: 45.482175 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:42 	 Success 	 new_chi2: 45.482175 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:43 	 Success 	 new_chi2: 45.482175 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:44 	 Success 	 new_chi2: 45.482174 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:45 	 Success 	 new_chi2: 45.482174 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:46 	 Success 	 new_chi2: 45.482174 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:47 	 Success 	 new_chi2: 45.482173 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:48 	 Success 	 new_chi2: 45.482173 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:49 	 Success 	 new_chi2: 45.482173 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:50 	 Success 	 new_chi2: 45.482172 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:51 	 Success 	 new_chi2: 45.482172 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:52 	 Success 	 new_chi2: 45.482172 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:53 	 Success 	 new_chi2: 45.482171 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:54 	 Success 	 new_chi2: 45.482171 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:55 	 Success 	 new_chi2: 45.482171 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:56 	 Success 	 new_chi2: 45.482170 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:57 	 Success 	 new_chi2: 45.482170 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:58 	 Success 	 new_chi2: 45.482170 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:59 	 Success 	 new_chi2: 45.482169 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:60 	 Success 	 new_chi2: 45.482169 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:61 	 Success 	 new_chi2: 45.482169 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:62 	 Success 	 new_chi2: 45.482168 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:63 	 Success 	 new_chi2: 45.482168 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:64 	 Success 	 new_chi2: 45.482168 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.965] it:65 	 Success 	 new_chi2: 45.482167 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.966] it:66 	 Success 	 new_chi2: 45.482167 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.966] it:67 	 Success 	 new_chi2: 45.482167 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.966] it:68 	 Success 	 new_chi2: 45.482167 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.966] it:69 	 Success 	 new_chi2: 45.482166 	 dT = 0.000000, 0.000000, -0.000000
[12:36:40.966] n deleted obs = 23 	 n obs felt =111 	 error init =0.339419 	 error end=0.339419
[12:36:40.966] After pose optimization, distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.000000
[12:36:40.966] Update EKF and 3D points, distance between two frames x:-0.000334 ,z=0.000737,angle between two frames:0.000872
[12:36:40.966] Choose frame as a key frame Scene Depth mean:2.411619 ,depth min:-6941338613201.217773
[12:36:41.088] After Reprojection Map nPoint:768 ,nCell:124 ,nMatches:35 ,distance between two frames x:-0.002053 ,z=0.004523,angle between two frames:0.005804
[12:36:41.088] Init estimate scale:0.485473
[12:36:41.088] it:0 	 Success 	 new_chi2: 47.765102 	 dT = -0.000000, -0.000000, 0.000000
[12:36:41.088] it:1 	 FAILURE 	 new_chi2: 47.765106
[12:36:41.088] n deleted obs = 26 	 n obs felt =112 	 error init =0.346124 	 error end=0.346124
[12:36:41.088] After pose optimization, distance between two frames x:-0.002053 ,z=0.004523,angle between two frames:0.005804
[12:36:41.088] Update EKF and 3D points, distance between two frames x:-0.002195 ,z=0.004828,angle between two frames:0.006485
[12:36:41.088] Choose frame as a key frame Scene Depth mean:2.603934 ,depth min:-8052203980234050.000000
[12:36:41.212] After Reprojection Map nPoint:755 ,nCell:94 ,nMatches:35 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:41.212] Init estimate scale:0.428693
[12:36:41.212] it:0 	 Success 	 new_chi2: 40.670135 	 dT = 0.000000, 0.000000, 0.000000
[12:36:41.212] n deleted obs = 22 	 n obs felt =112 	 error init =0.303508 	 error end=0.303508
[12:36:41.212] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:41.212] Update EKF and 3D points, distance between two frames x:-0.000179 ,z=0.000386,angle between two frames:0.001298
[12:36:41.213] Choose frame as a key frame Scene Depth mean:2.593458 ,depth min:-26097906154374.906250
[12:36:41.335] After Reprojection Map nPoint:719 ,nCell:96 ,nMatches:32 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:41.336] Init estimate scale:0.407830
[12:36:41.336] it:0 	 Success 	 new_chi2: 34.852681 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:1 	 Success 	 new_chi2: 34.852681 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:2 	 Success 	 new_chi2: 34.852681 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:3 	 Success 	 new_chi2: 34.852681 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:4 	 Success 	 new_chi2: 34.852681 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:5 	 Success 	 new_chi2: 34.852681 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:6 	 Success 	 new_chi2: 34.852680 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:7 	 Success 	 new_chi2: 34.852680 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:8 	 Success 	 new_chi2: 34.852680 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:9 	 Success 	 new_chi2: 34.852680 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:10 	 Success 	 new_chi2: 34.852680 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:11 	 Success 	 new_chi2: 34.852680 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:12 	 Success 	 new_chi2: 34.852680 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:13 	 Success 	 new_chi2: 34.852680 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:14 	 Success 	 new_chi2: 34.852680 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:15 	 Success 	 new_chi2: 34.852680 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:16 	 Success 	 new_chi2: 34.852680 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:17 	 Success 	 new_chi2: 34.852679 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:18 	 Success 	 new_chi2: 34.852679 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:19 	 Success 	 new_chi2: 34.852679 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:20 	 Success 	 new_chi2: 34.852679 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:21 	 Success 	 new_chi2: 34.852679 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:22 	 Success 	 new_chi2: 34.852679 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:23 	 Success 	 new_chi2: 34.852679 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:24 	 Success 	 new_chi2: 34.852679 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:25 	 Success 	 new_chi2: 34.852679 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.336] it:26 	 Success 	 new_chi2: 34.852679 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:27 	 Success 	 new_chi2: 34.852679 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:28 	 Success 	 new_chi2: 34.852678 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:29 	 Success 	 new_chi2: 34.852678 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:30 	 Success 	 new_chi2: 34.852678 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:31 	 Success 	 new_chi2: 34.852678 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:32 	 Success 	 new_chi2: 34.852678 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:33 	 Success 	 new_chi2: 34.852678 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:34 	 Success 	 new_chi2: 34.852678 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:35 	 Success 	 new_chi2: 34.852678 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:36 	 Success 	 new_chi2: 34.852678 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:37 	 Success 	 new_chi2: 34.852678 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:38 	 Success 	 new_chi2: 34.852678 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:39 	 Success 	 new_chi2: 34.852677 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:40 	 Success 	 new_chi2: 34.852677 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:41 	 Success 	 new_chi2: 34.852677 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:42 	 Success 	 new_chi2: 34.852677 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:43 	 Success 	 new_chi2: 34.852677 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:44 	 Success 	 new_chi2: 34.852677 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:45 	 Success 	 new_chi2: 34.852677 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:46 	 Success 	 new_chi2: 34.852677 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:47 	 Success 	 new_chi2: 34.852677 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:48 	 Success 	 new_chi2: 34.852677 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:49 	 Success 	 new_chi2: 34.852676 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:50 	 Success 	 new_chi2: 34.852676 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:51 	 Success 	 new_chi2: 34.852676 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:52 	 Success 	 new_chi2: 34.852676 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:53 	 Success 	 new_chi2: 34.852676 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.337] it:54 	 Success 	 new_chi2: 34.852676 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:55 	 Success 	 new_chi2: 34.852676 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:56 	 Success 	 new_chi2: 34.852676 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:57 	 Success 	 new_chi2: 34.852676 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:58 	 Success 	 new_chi2: 34.852676 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:59 	 Success 	 new_chi2: 34.852676 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:60 	 Success 	 new_chi2: 34.852675 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:61 	 Success 	 new_chi2: 34.852675 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:62 	 Success 	 new_chi2: 34.852675 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:63 	 Success 	 new_chi2: 34.852675 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:64 	 Success 	 new_chi2: 34.852675 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:65 	 Success 	 new_chi2: 34.852675 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:66 	 Success 	 new_chi2: 34.852675 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:67 	 Success 	 new_chi2: 34.852675 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:68 	 Success 	 new_chi2: 34.852675 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] it:69 	 Success 	 new_chi2: 34.852675 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.338] n deleted obs = 15 	 n obs felt =108 	 error init =0.283355 	 error end=0.283355
[12:36:41.338] After pose optimization, distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.000000
[12:36:41.338] Update EKF and 3D points, distance between two frames x:-0.000196 ,z=0.000418,angle between two frames:0.001625
[12:36:41.338] Choose frame as a key frame Scene Depth mean:2.474293 ,depth min:-12405376815326.134766
[12:36:41.460] After Reprojection Map nPoint:762 ,nCell:136 ,nMatches:37 ,distance between two frames x:-0.001212 ,z=0.002584,angle between two frames:0.010813
[12:36:41.460] Init estimate scale:0.460576
[12:36:41.461] it:0 	 Success 	 new_chi2: 48.757026 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.461] n deleted obs = 33 	 n obs felt =115 	 error init =0.329439 	 error end=0.329439
[12:36:41.461] After pose optimization, distance between two frames x:-0.001212 ,z=0.002584,angle between two frames:0.010813
[12:36:41.461] Update EKF and 3D points, distance between two frames x:-0.001494 ,z=0.003177,angle between two frames:0.011126
[12:36:41.461] Choose frame as a key frame Scene Depth mean:2.436582 ,depth min:-63053297205997.023438
[12:36:41.585] After Reprojection Map nPoint:715 ,nCell:107 ,nMatches:31 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:41.585] Init estimate scale:0.450878
[12:36:41.585] it:0 	 Success 	 new_chi2: 40.296662 	 dT = -0.002204, -0.000676, 0.000000
[12:36:41.586] it:1 	 FAILURE 	 new_chi2: 40.378511
[12:36:41.586] n deleted obs = 25 	 n obs felt =100 	 error init =0.322373 	 error end=0.322373
[12:36:41.586] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:41.586] Update EKF and 3D points, distance between two frames x:-0.000253 ,z=0.000482,angle between two frames:0.002600
[12:36:41.586] Choose frame as a key frame Scene Depth mean:2.519772 ,depth min:-2440376743910.829102
[12:36:41.708] After Reprojection Map nPoint:664 ,nCell:80 ,nMatches:25 ,distance between two frames x:-0.001574 ,z=0.002938,angle between two frames:0.014422
[12:36:41.708] Init estimate scale:0.412044
[12:36:41.708] it:0 	 Success 	 new_chi2: 34.836404 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.708] n deleted obs = 13 	 n obs felt =106 	 error init =0.292743 	 error end=0.292743
[12:36:41.708] After pose optimization, distance between two frames x:-0.001574 ,z=0.002938,angle between two frames:0.014422
[12:36:41.708] Update EKF and 3D points, distance between two frames x:-0.001673 ,z=0.003151,angle between two frames:0.012507
[12:36:41.709] Choose frame as a key frame Scene Depth mean:2.597724 ,depth min:-7909120452258160.000000
[12:36:41.830] After Reprojection Map nPoint:756 ,nCell:132 ,nMatches:34 ,distance between two frames x:-0.000602 ,z=0.001283,angle between two frames:0.011991
[12:36:41.830] Init estimate scale:0.430566
[12:36:41.830] it:0 	 Success 	 new_chi2: 39.877626 	 dT = -0.097216, 0.552937, -0.139740
[12:36:41.830] it:1 	 FAILURE 	 new_chi2: 41.086704
[12:36:41.830] n deleted obs = 19 	 n obs felt =111 	 error init =0.306751 	 error end=0.306751
[12:36:41.830] After pose optimization, distance between two frames x:-0.000602 ,z=0.001283,angle between two frames:0.011991
[12:36:41.830] Update EKF and 3D points, distance between two frames x:-0.000727 ,z=0.001537,angle between two frames:0.013987
[12:36:41.831] Choose frame as a key frame Scene Depth mean:2.338883 ,depth min:-1920191476857439.750000
[12:36:41.997] After Reprojection Map nPoint:815 ,nCell:102 ,nMatches:35 ,distance between two frames x:-0.002845 ,z=0.006193,angle between two frames:0.026332
[12:36:41.997] Init estimate scale:0.491299
[12:36:41.997] it:0 	 Success 	 new_chi2: 50.773975 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.997] it:1 	 Success 	 new_chi2: 50.773975 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.997] it:2 	 Success 	 new_chi2: 50.773974 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.997] it:3 	 Success 	 new_chi2: 50.773974 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:4 	 Success 	 new_chi2: 50.773974 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:5 	 Success 	 new_chi2: 50.773973 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:6 	 Success 	 new_chi2: 50.773972 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:7 	 Success 	 new_chi2: 50.773971 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:8 	 Success 	 new_chi2: 50.773970 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:9 	 Success 	 new_chi2: 50.773969 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:10 	 Success 	 new_chi2: 50.773968 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:11 	 Success 	 new_chi2: 50.773967 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:12 	 Success 	 new_chi2: 50.773965 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:13 	 Success 	 new_chi2: 50.773964 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:14 	 Success 	 new_chi2: 50.773963 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:15 	 Success 	 new_chi2: 50.773962 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:16 	 Success 	 new_chi2: 50.773961 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:17 	 Success 	 new_chi2: 50.773960 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:18 	 Success 	 new_chi2: 50.773959 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:19 	 Success 	 new_chi2: 50.773958 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:20 	 Success 	 new_chi2: 50.773957 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:21 	 Success 	 new_chi2: 50.773955 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:22 	 Success 	 new_chi2: 50.773954 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:23 	 Success 	 new_chi2: 50.773953 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:24 	 Success 	 new_chi2: 50.773952 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.998] it:25 	 Success 	 new_chi2: 50.773951 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:26 	 Success 	 new_chi2: 50.773950 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:27 	 Success 	 new_chi2: 50.773949 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:28 	 Success 	 new_chi2: 50.773948 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:29 	 Success 	 new_chi2: 50.773947 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:30 	 Success 	 new_chi2: 50.773946 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:31 	 Success 	 new_chi2: 50.773944 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:32 	 Success 	 new_chi2: 50.773943 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:33 	 Success 	 new_chi2: 50.773942 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:34 	 Success 	 new_chi2: 50.773941 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:35 	 Success 	 new_chi2: 50.773940 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:36 	 Success 	 new_chi2: 50.773939 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:37 	 Success 	 new_chi2: 50.773938 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:38 	 Success 	 new_chi2: 50.773937 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:39 	 Success 	 new_chi2: 50.773936 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:40 	 Success 	 new_chi2: 50.773934 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:41 	 Success 	 new_chi2: 50.773933 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:42 	 Success 	 new_chi2: 50.773932 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:43 	 Success 	 new_chi2: 50.773931 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:44 	 Success 	 new_chi2: 50.773930 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:45 	 Success 	 new_chi2: 50.773929 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:46 	 Success 	 new_chi2: 50.773928 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:47 	 Success 	 new_chi2: 50.773927 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:48 	 Success 	 new_chi2: 50.773926 	 dT = 0.000000, 0.000000, -0.000000
[12:36:41.999] it:49 	 Success 	 new_chi2: 50.773924 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:50 	 Success 	 new_chi2: 50.773923 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:51 	 Success 	 new_chi2: 50.773922 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:52 	 Success 	 new_chi2: 50.773921 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:53 	 Success 	 new_chi2: 50.773920 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:54 	 Success 	 new_chi2: 50.773919 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:55 	 Success 	 new_chi2: 50.773918 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:56 	 Success 	 new_chi2: 50.773917 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:57 	 Success 	 new_chi2: 50.773916 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:58 	 Success 	 new_chi2: 50.773915 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:59 	 Success 	 new_chi2: 50.773913 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:60 	 Success 	 new_chi2: 50.773912 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:61 	 Success 	 new_chi2: 50.773911 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:62 	 Success 	 new_chi2: 50.773910 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:63 	 Success 	 new_chi2: 50.773909 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:64 	 Success 	 new_chi2: 50.773908 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:65 	 Success 	 new_chi2: 50.773907 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:66 	 Success 	 new_chi2: 50.773906 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:67 	 Success 	 new_chi2: 50.773905 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:68 	 Success 	 new_chi2: 50.773903 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] it:69 	 Success 	 new_chi2: 50.773902 	 dT = 0.000000, 0.000000, -0.000000
[12:36:42.000] n deleted obs = 36 	 n obs felt =112 	 error init =0.343067 	 error end=0.343067
[12:36:42.000] After pose optimization, distance between two frames x:-0.002844 ,z=0.006195,angle between two frames:0.026332
[12:36:42.000] Update EKF and 3D points, distance between two frames x:-0.002957 ,z=0.006445,angle between two frames:0.026219
[12:36:42.124] After Reprojection Map nPoint:789 ,nCell:159 ,nMatches:33 ,distance between two frames x:-0.000695 ,z=0.001530,angle between two frames:0.000405
[12:36:42.124] Init estimate scale:0.454837
[12:36:42.124] it:0 	 Success 	 new_chi2: 45.294192 	 dT = -0.000000, -0.000000, 0.000000
[12:36:42.124] it:1 	 FAILURE 	 new_chi2: 45.294192
[12:36:42.124] n deleted obs = 34 	 n obs felt =101 	 error init =0.335513 	 error end=0.335513
[12:36:42.124] After pose optimization, distance between two frames x:-0.000695 ,z=0.001530,angle between two frames:0.000405
[12:36:42.124] Update EKF and 3D points, distance between two frames x:-0.000806 ,z=0.001778,angle between two frames:0.001324
[12:36:42.245] After Reprojection Map nPoint:602 ,nCell:121 ,nMatches:22 ,distance between two frames x:-0.000687 ,z=0.001534,angle between two frames:0.005720
[12:36:42.245] Init estimate scale:0.333003
[12:36:42.245] it:0 	 Success 	 new_chi2: 21.133609 	 dT = -0.030996, 0.007394, -0.001305
[12:36:42.245] it:1 	 FAILURE 	 new_chi2: 21.676922
[12:36:42.245] n deleted obs = 6 	 n obs felt =86 	 error init =0.229713 	 error end=0.229713
[12:36:42.245] After pose optimization, distance between two frames x:-0.000687 ,z=0.001534,angle between two frames:0.005720
[12:36:42.245] Update EKF and 3D points, distance between two frames x:-0.001384 ,z=0.003069,angle between two frames:0.005150
[12:36:42.365] After Reprojection Map nPoint:750 ,nCell:150 ,nMatches:31 ,distance between two frames x:-0.003130 ,z=0.006913,angle between two frames:0.002203
[12:36:42.365] Init estimate scale:0.408848
[12:36:42.365] it:0 	 Success 	 new_chi2: 36.979341 	 dT = -0.006726, 0.000000, -0.000000
[12:36:42.365] it:1 	 FAILURE 	 new_chi2: 37.173610
[12:36:42.365] n deleted obs = 21 	 n obs felt =98 	 error init =0.310751 	 error end=0.310751
[12:36:42.365] After pose optimization, distance between two frames x:-0.003130 ,z=0.006913,angle between two frames:0.002203
[12:36:42.365] Update EKF and 3D points, distance between two frames x:-0.003260 ,z=0.007205,angle between two frames:0.002649
[12:36:42.487] After Reprojection Map nPoint:746 ,nCell:157 ,nMatches:29 ,distance between two frames x:-0.000800 ,z=0.001803,angle between two frames:0.002256
[12:36:42.487] Init estimate scale:0.494878
[12:36:42.487] it:0 	 Success 	 new_chi2: 43.557076 	 dT = -0.000000, 0.000000, 0.000000
[12:36:42.487] it:1 	 FAILURE 	 new_chi2: 43.557076
[12:36:42.487] n deleted obs = 33 	 n obs felt =93 	 error init =0.345691 	 error end=0.345691
[12:36:42.487] After pose optimization, distance between two frames x:-0.000800 ,z=0.001803,angle between two frames:0.002256
[12:36:42.487] Update EKF and 3D points, distance between two frames x:-0.000801 ,z=0.001802,angle between two frames:0.001533
[12:36:42.609] After Reprojection Map nPoint:729 ,nCell:115 ,nMatches:28 ,distance between two frames x:-0.000001 ,z=-0.000013,angle between two frames:0.003283
[12:36:42.609] Init estimate scale:0.458600
[12:36:42.610] it:0 	 Success 	 new_chi2: 40.563903 	 dT = 0.000364, 0.000000, -0.000000
[12:36:42.610] it:1 	 Success 	 new_chi2: 40.551903 	 dT = 0.000719, 0.000011, -0.000000
[12:36:42.610] it:2 	 Success 	 new_chi2: 40.528073 	 dT = -0.000186, 0.000006, 0.000000
[12:36:42.610] it:3 	 FAILURE 	 new_chi2: 40.534132
[12:36:42.610] n deleted obs = 29 	 n obs felt =91 	 error init =0.338033 	 error end=0.337734
[12:36:42.610] After pose optimization, distance between two frames x:0.001082 ,z=-0.000002,angle between two frames:0.003283
[12:36:42.610] Update EKF and 3D points, distance between two frames x:0.001017 ,z=-0.000006,angle between two frames:0.004572
[12:36:42.734] After Reprojection Map nPoint:728 ,nCell:108 ,nMatches:24 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:42.734] Init estimate scale:0.488840
[12:36:42.734] it:0 	 Success 	 new_chi2: 45.529965 	 dT = 0.000000, -0.000000, -0.000000
[12:36:42.734] n deleted obs = 31 	 n obs felt =98 	 error init =0.352945 	 error end=0.352945
[12:36:42.734] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:42.734] Update EKF and 3D points, distance between two frames x:-0.000024 ,z=-0.000005,angle between two frames:0.000687
[12:36:42.856] After Reprojection Map nPoint:755 ,nCell:150 ,nMatches:34 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:42.856] Init estimate scale:0.461957
[12:36:42.856] it:0 	 Success 	 new_chi2: 47.759666 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.856] it:1 	 Success 	 new_chi2: 47.759446 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.856] it:2 	 Success 	 new_chi2: 47.759227 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:3 	 Success 	 new_chi2: 47.759008 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:4 	 Success 	 new_chi2: 47.758788 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:5 	 Success 	 new_chi2: 47.758569 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:6 	 Success 	 new_chi2: 47.758370 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:7 	 Success 	 new_chi2: 47.758171 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:8 	 Success 	 new_chi2: 47.757972 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:9 	 Success 	 new_chi2: 47.757773 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:10 	 Success 	 new_chi2: 47.757575 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:11 	 Success 	 new_chi2: 47.757376 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:12 	 Success 	 new_chi2: 47.757177 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:13 	 Success 	 new_chi2: 47.756978 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:14 	 Success 	 new_chi2: 47.756779 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:15 	 Success 	 new_chi2: 47.756580 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:16 	 Success 	 new_chi2: 47.756382 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:17 	 Success 	 new_chi2: 47.756183 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:18 	 Success 	 new_chi2: 47.755984 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:19 	 Success 	 new_chi2: 47.755785 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:20 	 Success 	 new_chi2: 47.755586 	 dT = 0.000006, -0.000003, -0.000000
[12:36:42.857] it:21 	 Success 	 new_chi2: 47.755387 	 dT = 0.000000, -0.000000, -0.000000
[12:36:42.857] n deleted obs = 31 	 n obs felt =112 	 error init =0.333984 	 error end=0.333954
[12:36:42.857] After pose optimization, distance between two frames x:0.000122 ,z=-0.000054,angle between two frames:0.000000
[12:36:42.857] Update EKF and 3D points, distance between two frames x:0.000106 ,z=-0.000055,angle between two frames:0.000526
[12:36:43.003] After Reprojection Map nPoint:755 ,nCell:105 ,nMatches:29 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:43.003] Init estimate scale:0.428007
[12:36:43.003] it:0 	 Success 	 new_chi2: 38.399481 	 dT = -0.000240, -0.000113, 0.000000
[12:36:43.003] it:1 	 FAILURE 	 new_chi2: 38.408413
[12:36:43.003] n deleted obs = 21 	 n obs felt =97 	 error init =0.325419 	 error end=0.325419
[12:36:43.003] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:43.003] Update EKF and 3D points, distance between two frames x:-0.000006 ,z=-0.000002,angle between two frames:0.001347
[12:36:43.194] After Reprojection Map nPoint:784 ,nCell:81 ,nMatches:25 ,distance between two frames x:-0.000038 ,z=-0.000010,angle between two frames:0.008942
[12:36:43.194] Init estimate scale:0.418344
[12:36:43.194] it:0 	 Success 	 new_chi2: 40.211792 	 dT = -0.099395, 0.321324, -0.120212
[12:36:43.194] it:1 	 FAILURE 	 new_chi2: 43.976955
[12:36:43.194] n deleted obs = 18 	 n obs felt =122 	 error init =0.287227 	 error end=0.287227
[12:36:43.194] After pose optimization, distance between two frames x:-0.000038 ,z=-0.000010,angle between two frames:0.008942
[12:36:43.194] Update EKF and 3D points, distance between two frames x:-0.000035 ,z=-0.000016,angle between two frames:0.009445
[12:36:43.400] After Reprojection Map nPoint:769 ,nCell:108 ,nMatches:26 ,distance between two frames x:0.000042 ,z=-0.000057,angle between two frames:0.003375
[12:36:43.400] Init estimate scale:0.489692
[12:36:43.400] it:0 	 Success 	 new_chi2: 40.862212 	 dT = -0.019928, 1.834416, -1.251106
[12:36:43.400] it:1 	 FAILURE 	 new_chi2: 51.520818
[12:36:43.400] n deleted obs = 27 	 n obs felt =93 	 error init =0.340518 	 error end=0.340518
[12:36:43.400] After pose optimization, distance between two frames x:0.000042 ,z=-0.000057,angle between two frames:0.003375
[12:36:43.400] Update EKF and 3D points, distance between two frames x:0.000053 ,z=-0.000086,angle between two frames:0.004171
[12:36:43.659] After Reprojection Map nPoint:786 ,nCell:106 ,nMatches:29 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:43.659] Init estimate scale:0.476040
[12:36:43.659] it:0 	 Success 	 new_chi2: 45.219153 	 dT = -0.108550, 0.387400, -0.029935
[12:36:43.660] it:1 	 FAILURE 	 new_chi2: 45.828967
[12:36:43.660] n deleted obs = 31 	 n obs felt =105 	 error init =0.332494 	 error end=0.332494
[12:36:43.660] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:43.660] Update EKF and 3D points, distance between two frames x:0.000004 ,z=-0.000012,angle between two frames:0.000796
[12:36:43.816] After Reprojection Map nPoint:843 ,nCell:135 ,nMatches:34 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:43.816] Init estimate scale:0.517519
[12:36:43.821] it:0 	 Success 	 new_chi2: 53.434983 	 dT = 0.000000, 0.000000, -0.000000
[12:36:43.821] n deleted obs = 40 	 n obs felt =108 	 error init =0.361047 	 error end=0.361047
[12:36:43.821] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:43.821] Update EKF and 3D points, distance between two frames x:0.000002 ,z=-0.000005,angle between two frames:0.000550
[12:36:44.091] After Reprojection Map nPoint:764 ,nCell:109 ,nMatches:26 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:44.091] Init estimate scale:0.508949
[12:36:44.091] it:0 	 Success 	 new_chi2: 43.187686 	 dT = -2.330167, 4.445942, -0.000000
[12:36:44.091] it:1 	 FAILURE 	 new_chi2: 55.012363
[12:36:44.091] n deleted obs = 28 	 n obs felt =98 	 error init =0.342759 	 error end=0.342759
[12:36:44.091] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:44.091] Update EKF and 3D points, distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.000628
[12:36:44.364] After Reprojection Map nPoint:830 ,nCell:182 ,nMatches:33 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:44.364] Init estimate scale:0.429395
[12:36:44.364] it:0 	 Success 	 new_chi2: 45.025009 	 dT = -0.000281, 0.000000, -0.000000
[12:36:44.364] it:1 	 FAILURE 	 new_chi2: 45.035485
[12:36:44.364] n deleted obs = 27 	 n obs felt =114 	 error init =0.319326 	 error end=0.319326
[12:36:44.364] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:44.364] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.000654
[12:36:44.646] After Reprojection Map nPoint:842 ,nCell:134 ,nMatches:31 ,distance between two frames x:0.000002 ,z=-0.000011,angle between two frames:0.004125
[12:36:44.646] Init estimate scale:0.512737
[12:36:44.646] it:0 	 Success 	 new_chi2: 54.131666 	 dT = -0.181023, 0.126361, -0.013970
[12:36:44.646] it:1 	 FAILURE 	 new_chi2: 61.040874
[12:36:44.646] n deleted obs = 42 	 n obs felt =112 	 error init =0.351504 	 error end=0.351504
[12:36:44.646] After pose optimization, distance between two frames x:0.000002 ,z=-0.000011,angle between two frames:0.004125
[12:36:44.646] Update EKF and 3D points, distance between two frames x:0.000002 ,z=-0.000011,angle between two frames:0.004571
[12:36:44.646] Choose frame as a key frame Scene Depth mean:2.560073 ,depth min:1.326232
[12:36:44.887] After Reprojection Map nPoint:820 ,nCell:123 ,nMatches:30 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:44.887] Init estimate scale:0.520604
[12:36:44.887] it:0 	 Success 	 new_chi2: 59.133884 	 dT = -0.231912, 0.357114, -0.020347
[12:36:44.887] it:1 	 FAILURE 	 new_chi2: 64.928892
[12:36:44.887] n deleted obs = 53 	 n obs felt =109 	 error init =0.365024 	 error end=0.365024
[12:36:44.887] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:44.887] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000539
[12:36:44.888] Choose frame as a key frame Scene Depth mean:2.578734 ,depth min:1.656182
[12:36:45.057] After Reprojection Map nPoint:849 ,nCell:115 ,nMatches:31 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:45.057] Init estimate scale:0.517768
[12:36:45.058] it:0 	 Success 	 new_chi2: 60.792540 	 dT = -0.226828, 0.081695, -0.010064
[12:36:45.058] it:1 	 FAILURE 	 new_chi2: 70.039630
[12:36:45.058] n deleted obs = 50 	 n obs felt =115 	 error init =0.368440 	 error end=0.368440
[12:36:45.058] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[12:36:45.058] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000465
[12:36:45.296] After Reprojection Map nPoint:821 ,nCell:82 ,nMatches:29 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:45.296] Init estimate scale:0.482131
[12:36:45.297] it:0 	 Success 	 new_chi2: 51.924462 	 dT = -0.349658, 0.526089, -0.007619
[12:36:45.297] it:1 	 FAILURE 	 new_chi2: 58.753956
[12:36:45.297] n deleted obs = 48 	 n obs felt =101 	 error init =0.348486 	 error end=0.348486
[12:36:45.297] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:45.297] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000494
[12:36:45.493] After Reprojection Map nPoint:848 ,nCell:94 ,nMatches:30 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:45.493] Init estimate scale:0.500608
[12:36:45.493] it:0 	 Success 	 new_chi2: 54.092922 	 dT = -1.117449, 2.356244, -0.070376
[12:36:45.493] it:1 	 FAILURE 	 new_chi2: 65.538145
[12:36:45.493] n deleted obs = 41 	 n obs felt =115 	 error init =0.346750 	 error end=0.346750
[12:36:45.493] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[12:36:45.493] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000465
