[19:47:20.187] Init: frame zero: 0.000000, 0.000000 0.000000
[19:47:20.187] Init: Selected first frame. 
[19:47:20.187] frame process finished the id is: 0 the obs is:0 
[19:47:20.270] Init: px average disparity is:0.204329 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:20.270] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:20.270] frame process finished the id is: 1 the obs is:0 
[19:47:20.351] Init: px average disparity is:0.243617 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:20.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:20.351] frame process finished the id is: 2 the obs is:0 
[19:47:20.461] Init: px average disparity is:0.254270 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:20.461] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:20.461] frame process finished the id is: 3 the obs is:0 
[19:47:20.564] Init: px average disparity is:0.251470 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:20.565] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:20.565] frame process finished the id is: 4 the obs is:0 
[19:47:20.652] Init: px average disparity is:0.249118 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:20.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:20.652] frame process finished the id is: 5 the obs is:0 
[19:47:20.752] Init: px average disparity is:0.246301 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:20.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:20.752] frame process finished the id is: 6 the obs is:0 
[19:47:20.856] Init: px average disparity is:0.258817 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:20.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:20.856] frame process finished the id is: 7 the obs is:0 
[19:47:20.955] Init: px average disparity is:0.242331 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:20.955] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:20.955] frame process finished the id is: 8 the obs is:0 
[19:47:21.053] Init: px average disparity is:0.267766 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:21.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:21.053] frame process finished the id is: 9 the obs is:0 
[19:47:21.163] Init: px average disparity is:0.242735 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:21.163] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:21.163] frame process finished the id is: 10 the obs is:0 
[19:47:21.265] Init: px average disparity is:0.258761 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:21.265] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:21.265] frame process finished the id is: 11 the obs is:0 
[19:47:21.363] Init: px average disparity is:0.265155 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:21.363] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:21.363] frame process finished the id is: 12 the obs is:0 
[19:47:21.464] Init: px average disparity is:0.252633 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:21.465] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:21.465] frame process finished the id is: 13 the obs is:0 
[19:47:21.561] Init: px average disparity is:0.260903 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:21.562] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:21.562] frame process finished the id is: 14 the obs is:0 
[19:47:21.663] Init: px average disparity is:0.244260 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:21.663] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:21.663] frame process finished the id is: 15 the obs is:0 
[19:47:21.764] Init: px average disparity is:0.258527 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:21.764] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:21.764] frame process finished the id is: 16 the obs is:0 
[19:47:21.865] Init: px average disparity is:0.282513 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:21.865] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:21.865] frame process finished the id is: 17 the obs is:0 
[19:47:21.964] Init: px average disparity is:0.261825 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:21.964] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:21.964] frame process finished the id is: 18 the obs is:0 
[19:47:22.066] Init: px average disparity is:0.242968 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:22.066] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:22.066] frame process finished the id is: 19 the obs is:0 
[19:47:22.154] Init: px average disparity is:0.245115 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:22.154] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:22.154] frame process finished the id is: 20 the obs is:0 
[19:47:22.253] Init: px average disparity is:0.269605 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:22.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:22.253] frame process finished the id is: 21 the obs is:0 
[19:47:22.351] Init: px average disparity is:0.271846 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:22.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:22.351] frame process finished the id is: 22 the obs is:0 
[19:47:22.452] Init: px average disparity is:0.248510 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:22.452] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:22.452] frame process finished the id is: 23 the obs is:0 
[19:47:22.551] Init: px average disparity is:0.234759 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:22.551] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:22.551] frame process finished the id is: 24 the obs is:0 
[19:47:22.655] Init: px average disparity is:0.274192 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:22.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:22.655] frame process finished the id is: 25 the obs is:0 
[19:47:22.758] Init: px average disparity is:0.264948 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:22.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:22.758] frame process finished the id is: 26 the obs is:0 
[19:47:22.859] Init: px average disparity is:0.235996 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:22.859] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:22.859] frame process finished the id is: 27 the obs is:0 
[19:47:22.961] Init: px average disparity is:0.275517 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:22.961] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:22.961] frame process finished the id is: 28 the obs is:0 
[19:47:23.056] Init: px average disparity is:0.243868 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:23.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:23.056] frame process finished the id is: 29 the obs is:0 
[19:47:23.104] Odometry x=0.000000, y=0.000000, theta=-0.000000
[19:47:23.156] Init: px average disparity is:0.237670 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:23.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:23.156] frame process finished the id is: 30 the obs is:0 
[19:47:23.200] Odometry x=0.000001, y=0.008332, theta=-0.000004
[19:47:23.260] Init: px average disparity is:0.229784 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:23.260] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:23.260] frame process finished the id is: 31 the obs is:0 
[19:47:23.301] Odometry x=0.000003, y=0.015649, theta=0.000260
[19:47:23.356] Init: px average disparity is:1.741080 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:23.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:23.356] frame process finished the id is: 32 the obs is:0 
[19:47:23.401] Odometry x=0.000004, y=0.022464, theta=0.000731
[19:47:23.456] Init: px average disparity is:6.015370 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:23.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:23.456] frame process finished the id is: 33 the obs is:0 
[19:47:23.503] Odometry x=0.000002, y=0.029049, theta=0.002700
[19:47:23.557] Init: px average disparity is:7.676594 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:23.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:23.557] frame process finished the id is: 34 the obs is:0 
[19:47:23.601] Odometry x=-0.000016, y=0.035540, theta=0.003148
[19:47:23.657] Init: px average disparity is:4.989181 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:23.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:23.657] frame process finished the id is: 35 the obs is:0 
[19:47:23.704] Odometry x=-0.000034, y=0.041985, theta=0.004574
[19:47:23.756] Init: px average disparity is:5.356401 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:23.756] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:23.756] frame process finished the id is: 36 the obs is:0 
[19:47:23.801] Odometry x=-0.000059, y=0.048418, theta=0.005760
[19:47:23.857] Init: px average disparity is:4.226288 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:23.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:23.857] frame process finished the id is: 37 the obs is:0 
[19:47:23.903] Odometry x=-0.000097, y=0.054837, theta=0.009711
[19:47:23.957] Init: px average disparity is:5.710924 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:23.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:23.957] frame process finished the id is: 38 the obs is:0 
[19:47:24.005] Odometry x=-0.000158, y=0.061261, theta=0.006967
[19:47:24.058] Init: px average disparity is:4.135368 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:24.058] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:24.058] frame process finished the id is: 39 the obs is:0 
[19:47:24.105] Odometry x=-0.000199, y=0.067676, theta=0.013926
[19:47:24.157] Init: px average disparity is:6.062933 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:24.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:24.157] frame process finished the id is: 40 the obs is:0 
[19:47:24.203] Odometry x=-0.000286, y=0.074097, theta=0.016239
[19:47:24.257] Init: px average disparity is:7.138935 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:24.257] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:24.257] frame process finished the id is: 41 the obs is:0 
[19:47:24.300] Odometry x=-0.000390, y=0.080513, theta=0.014435
[19:47:24.357] Init: px average disparity is:8.812187 ,While minimum is: 10.000000  KLT tracked : 121
[19:47:24.357] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:24.357] frame process finished the id is: 42 the obs is:0 
[19:47:24.403] Odometry x=-0.000481, y=0.086932, theta=0.013807
[19:47:24.505] Odometry x=-0.000567, y=0.093345, theta=0.020496
[19:47:24.520] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:12.162465 ,While minimum is: 10.000000  KLT tracked: 121
[19:47:24.521] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:24.521] frame process finished the id is: 43 the obs is:0 
[19:47:24.605] Odometry x=-0.000695, y=0.099765, theta=0.023010
[19:47:24.623] Init: Homography RANSAC (inlier) is:25 ,While 30 inliers minimum required.  px average disparity is:15.187007 ,While minimum is: 10.000000  KLT tracked: 121
[19:47:24.623] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:24.623] frame process finished the id is: 44 the obs is:0 
[19:47:24.704] Odometry x=-0.000849, y=0.106177, theta=0.025867
[19:47:24.731] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required.  px average disparity is:13.293063 ,While minimum is: 10.000000  KLT tracked: 121
[19:47:24.731] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:24.731] frame process finished the id is: 45 the obs is:0 
[19:47:24.804] Odometry x=-0.001013, y=0.112597, theta=0.026347
[19:47:24.835] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required.  px average disparity is:13.182359 ,While minimum is: 10.000000  KLT tracked: 121
[19:47:24.835] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
[19:47:24.835] frame process finished the id is: 46 the obs is:0 
[19:47:24.901] Odometry x=-0.001180, y=0.119015, theta=0.024200
[19:47:24.922] Init finished: Homography RANSAC (inlier) is:30 ,While 30 inliers minimum required.  px average disparity is:11.649852 ,While minimum is: 10.000000  KLT tracked: 121
[19:47:24.922] Init: distance between the first and current frame is x:-0.001180 ,z=0.119015,angle between two frames: 0.024200 
[19:47:24.922] Init: Selected Second frame. 	 The number of features: 30 depth mean:0.069648 min:-0.434851
[19:47:24.922] frame process finished the id is: 47 the obs is:30 
[19:47:25.003] Odometry x=-0.001333, y=0.125433, theta=0.022084
[19:47:25.027] After Reprojection Map nPoint:30 ,nCell:12 ,nMatches:9 ,distance between ekf and vo x:-0.000060 ,z=0.000052,angle between two frames:0.000014
[19:47:25.028] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =30 	 error init =0.000021 	 error end=0.000021
[19:47:25.028] After pose optimization, distance between ekf and vo x:-0.000099 ,z=0.000055,angle between two frames:0.000066
[19:47:25.028] Update EKF and 3D points the number of feature in the new frame: 30 and number of obs: 30
[19:47:25.028] need key frame pitch dis: 0.022036 translation dif:0.128119
[19:47:25.028] Choose frame as a key frame Scene Depth mean:-1.513531 ,depth min:-29.836003
[19:47:25.028] frame process finished the id is: 48 the obs is:30 
[19:47:25.106] Odometry x=-0.001519, y=0.132811, theta=0.021634
[19:47:25.136] After Reprojection Map nPoint:60 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:0.000241 ,z=0.000060,angle between two frames:0.000013
[19:47:25.137] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =54 	 error init =0.000037 	 error end=0.000037
[19:47:25.137] After pose optimization, distance between ekf and vo x:0.000623 ,z=-0.000017,angle between two frames:0.000121
[19:47:25.137] Update EKF and 3D points the number of feature in the new frame: 54 and number of obs: 54
[19:47:25.138] need key frame pitch dis: 0.021127 translation dif:0.133626
[19:47:25.138] Choose frame as a key frame Scene Depth mean:-1.361262 ,depth min:-29.842420
[19:47:25.138] frame process finished the id is: 49 the obs is:54 
[19:47:25.213] Odometry x=-0.000992, y=0.133623, theta=0.021127
[19:47:25.232] After Reprojection Map nPoint:138 ,nCell:14 ,nMatches:13 ,distance between ekf and vo x:-0.000221 ,z=0.000090,angle between two frames:0.000034
[19:47:25.233] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =103 	 error init =0.000243 	 error end=0.000243
[19:47:25.233] After pose optimization, distance between ekf and vo x:-0.000221 ,z=0.000090,angle between two frames:0.000034
[19:47:25.233] Update EKF and 3D points the number of feature in the new frame: 103 and number of obs: 103
[19:47:25.234] need key frame pitch dis: 0.021104 translation dif:0.137169
[19:47:25.234] Choose frame as a key frame Scene Depth mean:-1.754386 ,depth min:-29.830169
[19:47:25.234] frame process finished the id is: 50 the obs is:103 
[19:47:25.306] Odometry x=-0.001197, y=0.141863, theta=0.023953
[19:47:25.330] After Reprojection Map nPoint:290 ,nCell:21 ,nMatches:11 ,distance between ekf and vo x:-0.000021 ,z=0.000049,angle between two frames:0.000003
[19:47:25.339] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =287 	 error init =0.000248 	 error end=0.000227
[19:47:25.339] After pose optimization, distance between ekf and vo x:0.004735 ,z=-0.000683,angle between two frames:0.001840
[19:47:25.339] Update EKF and 3D points the number of feature in the new frame: 287 and number of obs: 287
[19:47:25.344] need key frame pitch dis: 0.001537 translation dif:0.009386
[19:47:25.344] frame process finished the id is: 51 the obs is:287 
[19:47:25.404] Odometry x=0.002893, y=0.142167, theta=0.022664
[19:47:25.448] After Reprojection Map nPoint:474 ,nCell:51 ,nMatches:15 ,distance between ekf and vo x:0.000201 ,z=-0.000053,angle between two frames:0.000005
[19:47:25.462] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =446 	 error init =0.000822 	 error end=0.000231
[19:47:25.462] After pose optimization, distance between ekf and vo x:0.010370 ,z=-0.006746,angle between two frames:0.001538
[19:47:25.462] Update EKF and 3D points the number of feature in the new frame: 446 and number of obs: 446
[19:47:25.470] need key frame pitch dis: 0.002901 translation dif:0.013044
[19:47:25.470] frame process finished the id is: 52 the obs is:446 
[19:47:25.502] Odometry x=0.011833, y=0.137326, theta=0.024005
[19:47:25.575] After Reprojection Map nPoint:633 ,nCell:65 ,nMatches:18 ,distance between ekf and vo x:0.000068 ,z=0.000232,angle between two frames:0.000006
[19:47:25.576] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =542 	 error init =0.000308 	 error end=0.000308
[19:47:25.576] After pose optimization, distance between ekf and vo x:0.000068 ,z=0.000232,angle between two frames:0.000006
[19:47:25.576] Update EKF and 3D points the number of feature in the new frame: 542 and number of obs: 542
[19:47:25.585] need key frame pitch dis: 0.003626 translation dif:0.013152
[19:47:25.585] frame process finished the id is: 53 the obs is:542 
[19:47:25.599] Odometry x=0.011872, y=0.138518, theta=0.024730
[19:47:25.693] After Reprojection Map nPoint:729 ,nCell:48 ,nMatches:15 ,distance between ekf and vo x:0.000402 ,z=-0.000134,angle between two frames:0.000008
[19:47:25.703] Odometry x=0.011701, y=0.145800, theta=0.031025
[19:47:25.709] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =700 	 error init =0.000152 	 error end=0.000140
[19:47:25.709] After pose optimization, distance between ekf and vo x:0.001094 ,z=-0.007272,angle between two frames:0.006372
[19:47:25.709] Update EKF and 3D points the number of feature in the new frame: 700 and number of obs: 700
[19:47:25.721] need key frame pitch dis: 0.009974 translation dif:0.013777
[19:47:25.721] frame process finished the id is: 54 the obs is:700 
[19:47:25.805] Odometry x=0.011739, y=0.150271, theta=0.040122
[19:47:25.817] After Reprojection Map nPoint:887 ,nCell:81 ,nMatches:14 ,distance between ekf and vo x:0.000087 ,z=-0.000006,angle between two frames:0.000003
[19:47:25.825] n deleted obs = 23 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =854 	 error init =0.001147 	 error end=0.000974
[19:47:25.825] After pose optimization, distance between ekf and vo x:0.005158 ,z=-0.019688,angle between two frames:0.002764
[19:47:25.825] Update EKF and 3D points the number of feature in the new frame: 854 and number of obs: 854
[19:47:25.839] need key frame pitch dis: 0.010400 translation dif:0.018435
[19:47:25.839] frame process finished the id is: 55 the obs is:854 
[19:47:25.908] Odometry x=0.012923, y=0.150028, theta=0.041959
[19:47:25.942] After Reprojection Map nPoint:1041 ,nCell:25 ,nMatches:14 ,distance between ekf and vo x:0.000125 ,z=0.000320,angle between two frames:0.000032
[19:47:25.966] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =950 	 error init =0.000925 	 error end=0.000832
[19:47:25.966] After pose optimization, distance between ekf and vo x:0.030696 ,z=-0.056899,angle between two frames:0.001634
[19:47:25.966] Update EKF and 3D points the number of feature in the new frame: 950 and number of obs: 950
[19:47:25.982] need key frame pitch dis: 0.018754 translation dif:0.054350
[19:47:25.982] frame process finished the id is: 56 the obs is:950 
[19:47:26.005] Odometry x=0.039628, y=0.101299, theta=0.039858
[19:47:26.091] After Reprojection Map nPoint:1137 ,nCell:71 ,nMatches:16 ,distance between ekf and vo x:0.000228 ,z=0.000352,angle between two frames:0.000006
[19:47:26.095] n deleted obs = 9 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1121 	 error init =0.000175 	 error end=0.000175
[19:47:26.095] After pose optimization, distance between ekf and vo x:0.000419 ,z=0.000455,angle between two frames:0.000043
[19:47:26.095] Update EKF and 3D points the number of feature in the new frame: 1121 and number of obs: 1121
[19:47:26.108] Odometry x=0.039953, y=0.102681, theta=0.040031
[19:47:26.114] need key frame pitch dis: 0.018904 translation dif:0.051321
[19:47:26.114] frame process finished the id is: 57 the obs is:1121 
[19:47:26.205] Odometry x=0.039662, y=0.109963, theta=0.040463
[19:47:26.217] After Reprojection Map nPoint:1308 ,nCell:20 ,nMatches:16 ,distance between ekf and vo x:0.000936 ,z=-0.000101,angle between two frames:0.000147
[19:47:26.256] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1217 	 error init =0.001203 	 error end=0.000381
[19:47:26.256] After pose optimization, distance between ekf and vo x:-0.013497 ,z=0.018693,angle between two frames:0.000032
[19:47:26.256] Update EKF and 3D points the number of feature in the new frame: 1217 and number of obs: 1217
[19:47:26.277] need key frame pitch dis: 0.019584 translation dif:0.031861
[19:47:26.277] frame process finished the id is: 58 the obs is:1217 
[19:47:26.308] Odometry x=0.028160, y=0.120768, theta=0.040711
[19:47:26.368] After Reprojection Map nPoint:1404 ,nCell:48 ,nMatches:18 ,distance between ekf and vo x:0.000259 ,z=-0.000306,angle between two frames:0.000001
[19:47:26.401] Odometry x=0.027863, y=0.128044, theta=0.039982
[19:47:26.412] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1366 	 error init =0.000094 	 error end=0.000088
[19:47:26.412] After pose optimization, distance between ekf and vo x:0.006059 ,z=0.001980,angle between two frames:0.001677
[19:47:26.412] Update EKF and 3D points the number of feature in the new frame: 1366 and number of obs: 1366
[19:47:26.435] need key frame pitch dis: 0.020554 translation dif:0.033794
[19:47:26.435] frame process finished the id is: 59 the obs is:1366 
[19:47:26.503] Odometry x=0.028981, y=0.134595, theta=0.043635
[19:47:26.544] After Reprojection Map nPoint:1553 ,nCell:52 ,nMatches:21 ,distance between ekf and vo x:0.001140 ,z=-0.000375,angle between two frames:0.000138
[19:47:26.577] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1018 	 error init =0.000070 	 error end=0.000064
[19:47:26.577] After pose optimization, distance between ekf and vo x:-0.002606 ,z=-0.007716,angle between two frames:0.000741
[19:47:26.577] Update EKF and 3D points the number of feature in the new frame: 1018 and number of obs: 1018
[19:47:26.594] need key frame pitch dis: 0.021842 translation dif:0.029133
[19:47:26.594] frame process finished the id is: 60 the obs is:1018 
[19:47:26.601] Odometry x=0.026677, y=0.128733, theta=0.042946
[19:47:26.683] After Reprojection Map nPoint:1205 ,nCell:28 ,nMatches:20 ,distance between ekf and vo x:-0.000351 ,z=0.001035,angle between two frames:0.000080
[19:47:26.703] Odometry x=0.026373, y=0.136006, theta=0.048306
[19:47:26.721] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1196 	 error init =0.001157 	 error end=0.000555
[19:47:26.721] After pose optimization, distance between ekf and vo x:0.002683 ,z=0.000746,angle between two frames:0.005586
[19:47:26.721] Update EKF and 3D points the number of feature in the new frame: 1196 and number of obs: 1196
[19:47:26.741] need key frame pitch dis: 0.027336 translation dif:0.029330
[19:47:26.741] frame process finished the id is: 61 the obs is:1196 
[19:47:26.805] Odometry x=0.026667, y=0.142274, theta=0.048723
[19:47:26.835] After Reprojection Map nPoint:1383 ,nCell:62 ,nMatches:19 ,distance between ekf and vo x:0.000550 ,z=-0.000366,angle between two frames:0.000050
[19:47:26.839] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1222 	 error init =0.000447 	 error end=0.000447
[19:47:26.839] After pose optimization, distance between ekf and vo x:-0.000619 ,z=-0.002457,angle between two frames:0.001464
[19:47:26.839] Update EKF and 3D points the number of feature in the new frame: 1222 and number of obs: 1222
[19:47:26.861] need key frame pitch dis: 0.028416 translation dif:0.027564
[19:47:26.861] frame process finished the id is: 62 the obs is:1222 
[19:47:26.902] Odometry x=0.026088, y=0.140990, theta=0.049521
[19:47:26.950] After Reprojection Map nPoint:1409 ,nCell:49 ,nMatches:18 ,distance between ekf and vo x:-0.000071 ,z=0.000186,angle between two frames:0.000012
[19:47:26.994] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1365 	 error init =0.000084 	 error end=0.000082
[19:47:26.994] After pose optimization, distance between ekf and vo x:0.000769 ,z=-0.001716,angle between two frames:0.000118
[19:47:26.994] Update EKF and 3D points the number of feature in the new frame: 1365 and number of obs: 1365
[19:47:27.005] Odometry x=0.026701, y=0.140495, theta=0.050428
[19:47:27.018] need key frame pitch dis: 0.029323 translation dif:0.028109
[19:47:27.018] frame process finished the id is: 63 the obs is:1365 
[19:47:27.102] Odometry x=0.026327, y=0.147772, theta=0.041954
[19:47:27.117] After Reprojection Map nPoint:1552 ,nCell:69 ,nMatches:17 ,distance between ekf and vo x:-0.000231 ,z=0.000402,angle between two frames:0.000046
[19:47:27.160] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1312 	 error init =0.000841 	 error end=0.000535
[19:47:27.160] After pose optimization, distance between ekf and vo x:-0.022261 ,z=0.011456,angle between two frames:0.009010
[19:47:27.160] Update EKF and 3D points the number of feature in the new frame: 1312 and number of obs: 1312
[19:47:27.183] need key frame pitch dis: 0.020533 translation dif:0.017353
[19:47:27.183] frame process finished the id is: 64 the obs is:1312 
[19:47:27.204] Odometry x=0.007283, y=0.152296, theta=0.041638
[19:47:27.273] After Reprojection Map nPoint:1499 ,nCell:39 ,nMatches:15 ,distance between ekf and vo x:-0.000062 ,z=0.000118,angle between two frames:0.000001
[19:47:27.278] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1443 	 error init =0.000187 	 error end=0.000186
[19:47:27.278] After pose optimization, distance between ekf and vo x:0.000039 ,z=0.000053,angle between two frames:0.000005
[19:47:27.278] Update EKF and 3D points the number of feature in the new frame: 1443 and number of obs: 1443
[19:47:27.303] need key frame pitch dis: 0.018448 translation dif:0.018259
[19:47:27.303] frame process finished the id is: 65 the obs is:1443 
[19:47:27.306] Odometry x=0.007275, y=0.153331, theta=0.039553
[19:47:27.394] After Reprojection Map nPoint:1630 ,nCell:101 ,nMatches:15 ,distance between ekf and vo x:-0.000231 ,z=0.000294,angle between two frames:0.000105
[19:47:27.399] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1530 	 error init =0.000060 	 error end=0.000059
[19:47:27.399] After pose optimization, distance between ekf and vo x:0.000320 ,z=-0.000082,angle between two frames:0.000047
[19:47:27.399] Update EKF and 3D points the number of feature in the new frame: 1530 and number of obs: 1530
[19:47:27.404] Odometry x=0.007514, y=0.154250, theta=0.039708
[19:47:27.425] need key frame pitch dis: 0.018604 translation dif:0.019185
[19:47:27.425] frame process finished the id is: 66 the obs is:1530 
[19:47:27.506] Odometry x=0.007218, y=0.161532, theta=0.037600
[19:47:27.514] After Reprojection Map nPoint:1717 ,nCell:49 ,nMatches:16 ,distance between ekf and vo x:-0.000054 ,z=0.000287,angle between two frames:0.000051
[19:47:27.568] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1705 	 error init =0.000175 	 error end=0.000059
[19:47:27.568] After pose optimization, distance between ekf and vo x:0.009013 ,z=-0.013645,angle between two frames:0.000682
[19:47:27.568] Update EKF and 3D points the number of feature in the new frame: 1705 and number of obs: 1705
[19:47:27.596] need key frame pitch dis: 0.017797 translation dif:0.021049
[19:47:27.596] frame process finished the id is: 67 the obs is:1705 
[19:47:27.604] Odometry x=0.015012, y=0.150576, theta=0.038901
[19:47:27.699] After Reprojection Map nPoint:1892 ,nCell:179 ,nMatches:15 ,distance between ekf and vo x:0.001180 ,z=0.000646,angle between two frames:0.000254
[19:47:27.701] Odometry x=0.014726, y=0.157856, theta=0.039281
[19:47:27.726] n deleted obs = 40 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1511 	 error init =0.001000 	 error end=0.000883
[19:47:27.726] After pose optimization, distance between ekf and vo x:-0.004348 ,z=-0.004483,angle between two frames:0.012015
[19:47:27.726] Update EKF and 3D points the number of feature in the new frame: 1511 and number of obs: 1511
[19:47:27.752] need key frame pitch dis: 0.008725 translation dif:0.016807
[19:47:27.752] frame process finished the id is: 68 the obs is:1511 
[19:47:27.803] Odometry x=0.011166, y=0.148535, theta=0.029830
[19:47:27.852] After Reprojection Map nPoint:1698 ,nCell:68 ,nMatches:15 ,distance between ekf and vo x:-0.000706 ,z=0.000810,angle between two frames:0.000002
[19:47:27.900] Odometry x=0.010941, y=0.155816, theta=0.027401
[19:47:27.905] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1653 	 error init =0.000005 	 error end=0.000005
[19:47:27.905] After pose optimization, distance between ekf and vo x:-0.004340 ,z=0.001592,angle between two frames:0.000620
[19:47:27.905] Update EKF and 3D points the number of feature in the new frame: 1653 and number of obs: 1653
[19:47:27.933] need key frame pitch dis: 0.007588 translation dif:0.019876
[19:47:27.933] frame process finished the id is: 69 the obs is:1653 
[19:47:28.002] Odometry x=0.009796, y=0.162282, theta=0.032094
[19:47:28.024] After Reprojection Map nPoint:1840 ,nCell:94 ,nMatches:16 ,distance between ekf and vo x:-0.000243 ,z=0.000406,angle between two frames:0.000056
[19:47:28.082] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1822 	 error init =0.001641 	 error end=0.000634
[19:47:28.082] After pose optimization, distance between ekf and vo x:0.009259 ,z=-0.016251,angle between two frames:0.000206
[19:47:28.082] Update EKF and 3D points the number of feature in the new frame: 1822 and number of obs: 1822
[19:47:28.105] Odometry x=0.017828, y=0.148991, theta=0.031817
[19:47:28.113] need key frame pitch dis: 0.010713 translation dif:0.022413
[19:47:28.113] frame process finished the id is: 70 the obs is:1822 
[19:47:28.207] Odometry x=0.017597, y=0.156264, theta=0.031840
[19:47:28.212] After Reprojection Map nPoint:2009 ,nCell:73 ,nMatches:14 ,distance between ekf and vo x:-0.000425 ,z=0.001505,angle between two frames:0.000206
[19:47:28.215] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1983 	 error init =0.000013 	 error end=0.000013
[19:47:28.215] After pose optimization, distance between ekf and vo x:-0.000425 ,z=0.001505,angle between two frames:0.000206
[19:47:28.215] Update EKF and 3D points the number of feature in the new frame: 1983 and number of obs: 1983
[19:47:28.248] need key frame pitch dis: 0.010867 translation dif:0.025882
[19:47:28.248] frame process finished the id is: 71 the obs is:1983 
[19:47:28.304] Odometry x=0.017307, y=0.162713, theta=0.028173
[19:47:28.351] After Reprojection Map nPoint:2170 ,nCell:62 ,nMatches:18 ,distance between ekf and vo x:-0.000275 ,z=0.000923,angle between two frames:0.000203
[19:47:28.402] Odometry x=0.017114, y=0.169283, theta=0.034474
[19:47:28.415] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2008 	 error init =0.000063 	 error end=0.000052
[19:47:28.415] After pose optimization, distance between ekf and vo x:0.009270 ,z=-0.002496,angle between two frames:0.001000
[19:47:28.415] Update EKF and 3D points the number of feature in the new frame: 2008 and number of obs: 2008
[19:47:28.449] need key frame pitch dis: 0.009449 translation dif:0.037781
[19:47:28.449] frame process finished the id is: 72 the obs is:2008 
[19:47:28.500] Odometry x=0.019312, y=0.174384, theta=0.028858
[19:47:28.550] After Reprojection Map nPoint:2195 ,nCell:16 ,nMatches:14 ,distance between ekf and vo x:0.000395 ,z=0.000560,angle between two frames:0.000186
[19:47:28.552] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1961 	 error init =0.000293 	 error end=0.000293
[19:47:28.552] After pose optimization, distance between ekf and vo x:0.000395 ,z=0.000560,angle between two frames:0.000186
[19:47:28.552] Update EKF and 3D points the number of feature in the new frame: 1961 and number of obs: 1961
[19:47:28.586] need key frame pitch dis: 0.008875 translation dif:0.043812
[19:47:28.586] frame process finished the id is: 73 the obs is:1961 
[19:47:28.602] Odometry x=0.019635, y=0.175699, theta=0.029979
[19:47:28.690] After Reprojection Map nPoint:2148 ,nCell:219 ,nMatches:15 ,distance between ekf and vo x:-0.014935 ,z=0.001387,angle between two frames:0.036438
[19:47:28.693] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1468 	 error init =0.000205 	 error end=0.000205
[19:47:28.693] After pose optimization, distance between ekf and vo x:-0.014935 ,z=0.001387,angle between two frames:0.036438
[19:47:28.693] frame process finished the id is: 73 the obs is:1961 
[19:47:28.704] Odometry x=0.019390, y=0.182979, theta=0.015785
[19:47:28.784] After Reprojection Map nPoint:2148 ,nCell:31 ,nMatches:11 ,distance between ekf and vo x:-0.000065 ,z=0.000244,angle between two frames:0.000205
[19:47:28.807] Odometry x=0.019292, y=0.189768, theta=0.011494
[19:47:28.808] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2064 	 error init =0.000027 	 error end=0.000026
[19:47:28.808] After pose optimization, distance between ekf and vo x:0.012181 ,z=-0.029143,angle between two frames:0.000563
[19:47:28.808] Update EKF and 3D points the number of feature in the new frame: 2064 and number of obs: 2064
[19:47:28.844] need key frame pitch dis: 0.006915 translation dif:0.041544
[19:47:28.844] frame process finished the id is: 75 the obs is:2064 
[19:47:28.905] Odometry x=0.022230, y=0.188408, theta=0.014261
[19:47:28.936] After Reprojection Map nPoint:2251 ,nCell:75 ,nMatches:14 ,distance between ekf and vo x:-0.001684 ,z=0.000198,angle between two frames:0.004249
[19:47:28.963] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2152 	 error init =0.000177 	 error end=0.000133
[19:47:28.963] After pose optimization, distance between ekf and vo x:0.036428 ,z=-0.052090,angle between two frames:0.005082
[19:47:28.963] Update EKF and 3D points the number of feature in the new frame: 2152 and number of obs: 2152
[19:47:29.000] need key frame pitch dis: 0.011608 translation dif:0.055565
[19:47:29.000] frame process finished the id is: 76 the obs is:2152 
[19:47:29.003] Odometry x=0.053950, y=0.143866, theta=0.009496
[19:47:29.094] After Reprojection Map nPoint:2339 ,nCell:42 ,nMatches:17 ,distance between ekf and vo x:-0.005265 ,z=-0.000687,angle between two frames:0.011850
[19:47:29.102] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =810 	 error init =0.000634 	 error end=0.000632
[19:47:29.102] After pose optimization, distance between ekf and vo x:-0.011553 ,z=-0.038107,angle between two frames:0.015483
[19:47:29.102] Update EKF and 3D points the number of feature in the new frame: 810 and number of obs: 810
[19:47:29.107] Odometry x=0.043963, y=0.111928, theta=-0.003046
[19:47:29.115] need key frame pitch dis: 0.024150 translation dif:0.051744
[19:47:29.115] frame process finished the id is: 77 the obs is:810 
[19:47:29.200] After Reprojection Map nPoint:997 ,nCell:42 ,nMatches:19 ,distance between ekf and vo x:-0.000082 ,z=-0.000150,angle between two frames:0.000022
[19:47:29.203] n deleted obs = 145 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =585 	 error init =0.001748 	 error end=0.001713
[19:47:29.203] After pose optimization, distance between ekf and vo x:0.023054 ,z=-0.019923,angle between two frames:0.003005
[19:47:29.203] Update EKF and 3D points the number of feature in the new frame: 585 and number of obs: 585
[19:47:29.204] Odometry x=0.063886, y=0.095704, theta=0.001260
[19:47:29.213] need key frame pitch dis: 0.019867 translation dif:0.075147
[19:47:29.213] frame process finished the id is: 78 the obs is:585 
[19:47:29.302] After Reprojection Map nPoint:772 ,nCell:62 ,nMatches:16 ,distance between ekf and vo x:-0.000036 ,z=0.000029,angle between two frames:0.000001
[19:47:29.303] Odometry x=0.063886, y=0.102993, theta=0.008833
[19:47:29.303] n deleted obs = 35 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =655 	 error init =0.000648 	 error end=0.000648
[19:47:29.303] After pose optimization, distance between ekf and vo x:-0.000036 ,z=0.000029,angle between two frames:0.000001
[19:47:29.303] Update EKF and 3D points the number of feature in the new frame: 655 and number of obs: 655
[19:47:29.314] need key frame pitch dis: 0.017674 translation dif:0.072641
[19:47:29.314] frame process finished the id is: 79 the obs is:655 
[19:47:29.406] After Reprojection Map nPoint:842 ,nCell:80 ,nMatches:17 ,distance between ekf and vo x:0.000143 ,z=-0.000039,angle between two frames:0.000022
[19:47:29.407] Odometry x=0.063804, y=0.109101, theta=0.026695
[19:47:29.408] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =557 	 error init =0.000254 	 error end=0.000254
[19:47:29.408] After pose optimization, distance between ekf and vo x:0.000649 ,z=-0.000849,angle between two frames:0.000011
[19:47:29.408] Update EKF and 3D points the number of feature in the new frame: 557 and number of obs: 557
[19:47:29.417] need key frame pitch dis: 0.011370 translation dif:0.071138
[19:47:29.418] frame process finished the id is: 80 the obs is:557 
[19:47:29.502] After Reprojection Map nPoint:744 ,nCell:15 ,nMatches:15 ,distance between ekf and vo x:-0.000061 ,z=0.000130,angle between two frames:0.000005
[19:47:29.506] Odometry x=0.063822, y=0.114382, theta=0.022835
[19:47:29.515] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =651 	 error init =0.000339 	 error end=0.000301
[19:47:29.515] After pose optimization, distance between ekf and vo x:-0.060566 ,z=-0.010278,angle between two frames:0.009291
[19:47:29.515] Update EKF and 3D points the number of feature in the new frame: 651 and number of obs: 651
[19:47:29.526] need key frame pitch dis: 0.014640 translation dif:0.037107
[19:47:29.526] frame process finished the id is: 81 the obs is:651 
[19:47:29.607] Odometry x=0.048248, y=0.116842, theta=0.026368
[19:47:29.610] After Reprojection Map nPoint:838 ,nCell:32 ,nMatches:17 ,distance between ekf and vo x:-0.000030 ,z=0.000067,angle between two frames:0.000002
[19:47:29.630] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =632 	 error init =0.000325 	 error end=0.000313
[19:47:29.630] After pose optimization, distance between ekf and vo x:-0.004924 ,z=0.005319,angle between two frames:0.001246
[19:47:29.630] Update EKF and 3D points the number of feature in the new frame: 632 and number of obs: 632
[19:47:29.641] need key frame pitch dis: 0.004330 translation dif:0.046691
[19:47:29.641] frame process finished the id is: 82 the obs is:632 
[19:47:29.702] Odometry x=0.046767, y=0.125616, theta=0.029615
[19:47:29.726] After Reprojection Map nPoint:819 ,nCell:42 ,nMatches:18 ,distance between ekf and vo x:-0.000034 ,z=0.000065,angle between two frames:0.000003
[19:47:29.730] n deleted obs = 10 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =682 	 error init =0.000215 	 error end=0.000215
[19:47:29.730] After pose optimization, distance between ekf and vo x:0.000386 ,z=-0.001090,angle between two frames:0.000047
[19:47:29.730] Update EKF and 3D points the number of feature in the new frame: 682 and number of obs: 682
[19:47:29.742] need key frame pitch dis: 0.007808 translation dif:0.048752
[19:47:29.742] frame process finished the id is: 83 the obs is:682 
[19:47:29.804] Odometry x=0.047077, y=0.125495, theta=0.028935
[19:47:29.831] After Reprojection Map nPoint:869 ,nCell:29 ,nMatches:20 ,distance between ekf and vo x:-0.000591 ,z=-0.000523,angle between two frames:0.000094
[19:47:29.834] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =778 	 error init =0.000686 	 error end=0.000686
[19:47:29.834] After pose optimization, distance between ekf and vo x:-0.000317 ,z=-0.001612,angle between two frames:0.000196
[19:47:29.834] Update EKF and 3D points the number of feature in the new frame: 778 and number of obs: 778
[19:47:29.847] need key frame pitch dis: 0.008234 translation dif:0.048524
[19:47:29.847] frame process finished the id is: 84 the obs is:778 
[19:47:29.907] Odometry x=0.046776, y=0.125092, theta=0.029360
[19:47:29.946] After Reprojection Map nPoint:965 ,nCell:16 ,nMatches:15 ,distance between ekf and vo x:-0.000272 ,z=-0.001002,angle between two frames:0.000087
[19:47:29.974] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =877 	 error init =0.001186 	 error end=0.001037
[19:47:29.974] After pose optimization, distance between ekf and vo x:-0.044545 ,z=0.095869,angle between two frames:0.011113
[19:47:29.974] Update EKF and 3D points the number of feature in the new frame: 877 and number of obs: 877
[19:47:29.989] need key frame pitch dis: 0.002237 translation dif:0.075869
[19:47:29.989] frame process finished the id is: 85 the obs is:877 
[19:47:30.006] Odometry x=0.008254, y=0.208926, theta=0.018890
[19:47:30.089] After Reprojection Map nPoint:1064 ,nCell:48 ,nMatches:13 ,distance between ekf and vo x:-0.000300 ,z=-0.000934,angle between two frames:0.000079
[19:47:30.090] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1003 	 error init =0.000312 	 error end=0.000312
[19:47:30.090] After pose optimization, distance between ekf and vo x:-0.000300 ,z=-0.000934,angle between two frames:0.000079
[19:47:30.090] Update EKF and 3D points the number of feature in the new frame: 1003 and number of obs: 1003
[19:47:30.103] Odometry x=0.007975, y=0.209109, theta=0.018841
[19:47:30.107] need key frame pitch dis: 0.002264 translation dif:0.072530
[19:47:30.107] frame process finished the id is: 86 the obs is:1003 
[19:47:30.195] After Reprojection Map nPoint:1190 ,nCell:70 ,nMatches:18 ,distance between ekf and vo x:-0.000195 ,z=-0.000319,angle between two frames:0.000037
[19:47:30.197] n deleted obs = 86 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =955 	 error init =0.001457 	 error end=0.001441
[19:47:30.197] After pose optimization, distance between ekf and vo x:0.016040 ,z=0.018010,angle between two frames:0.008343
[19:47:30.197] Update EKF and 3D points the number of feature in the new frame: 955 and number of obs: 955
[19:47:30.206] Odometry x=0.021814, y=0.225664, theta=0.026694
[19:47:30.214] need key frame pitch dis: 0.005590 translation dif:0.091447
[19:47:30.214] frame process finished the id is: 87 the obs is:955 
[19:47:30.298] After Reprojection Map nPoint:1142 ,nCell:46 ,nMatches:15 ,distance between ekf and vo x:-0.000068 ,z=0.000159,angle between two frames:0.000003
[19:47:30.303] Odometry x=0.021623, y=0.232947, theta=0.028528
[19:47:30.328] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =967 	 error init =0.001316 	 error end=0.000163
[19:47:30.328] After pose optimization, distance between ekf and vo x:-0.012132 ,z=-0.103598,angle between two frames:0.022185
[19:47:30.328] frame process finished the id is: 87 the obs is:955 
[19:47:30.407] Odometry x=0.021426, y=0.239746, theta=0.029203
[19:47:30.429] After Reprojection Map nPoint:1142 ,nCell:523 ,nMatches:14 ,distance between ekf and vo x:-0.000036 ,z=0.000145,angle between two frames:0.000003
[19:47:30.431] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1091 	 error init =0.000020 	 error end=0.000020
[19:47:30.431] After pose optimization, distance between ekf and vo x:-0.000036 ,z=0.000145,angle between two frames:0.000003
[19:47:30.431] Update EKF and 3D points the number of feature in the new frame: 1091 and number of obs: 1091
[19:47:30.450] need key frame pitch dis: 0.008331 translation dif:0.105994
[19:47:30.451] Choose frame as a key frame Scene Depth mean:-0.132847 ,depth min:-29.921499
[19:47:30.451] frame process finished the id is: 89 the obs is:1091 
[19:47:30.505] Odometry x=0.021370, y=0.240724, theta=0.029436
[19:47:30.551] After Reprojection Map nPoint:2369 ,nCell:170 ,nMatches:14 ,distance between ekf and vo x:-0.000083 ,z=0.000303,angle between two frames:0.000024
[19:47:30.557] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1824 	 error init =0.000483 	 error end=0.000315
[19:47:30.557] After pose optimization, distance between ekf and vo x:-0.041094 ,z=0.010738,angle between two frames:0.039265
[19:47:30.557] frame process finished the id is: 89 the obs is:1091 
[19:47:30.607] Odometry x=0.021151, y=0.248004, theta=0.020719
[19:47:30.651] After Reprojection Map nPoint:2369 ,nCell:63 ,nMatches:15 ,distance between ekf and vo x:-0.000072 ,z=0.000295,angle between two frames:0.000032
[19:47:30.667] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1789 	 error init =0.000215 	 error end=0.000194
[19:47:30.667] After pose optimization, distance between ekf and vo x:-0.048720 ,z=-0.089546,angle between two frames:0.010931
[19:47:30.667] Update EKF and 3D points the number of feature in the new frame: 1789 and number of obs: 1789
[19:47:30.704] Odometry x=-0.021182, y=0.171128, theta=0.030057
[19:47:30.802] Odometry x=-0.021398, y=0.178407, theta=0.031118
[19:47:30.903] Odometry x=-0.021621, y=0.185201, theta=0.032231
[19:47:30.918] need key frame pitch dis: 0.008953 translation dif:0.039401
[19:47:30.918] frame process finished the id is: 91 the obs is:1789 
[19:47:31.006] Odometry x=-0.021824, y=0.191778, theta=0.027968
[19:47:31.015] After Reprojection Map nPoint:3067 ,nCell:24 ,nMatches:17 ,distance between ekf and vo x:-0.000082 ,z=0.000314,angle between two frames:0.000037
[19:47:31.027] n deleted obs = 120 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2902 	 error init =0.000961 	 error end=0.000522
[19:47:31.028] After pose optimization, distance between ekf and vo x:0.034313 ,z=-0.026800,angle between two frames:0.001767
[19:47:31.028] Update EKF and 3D points the number of feature in the new frame: 2902 and number of obs: 2902
[19:47:31.104] Odometry x=0.008212, y=0.163539, theta=0.034140
[19:47:31.205] Odometry x=0.007963, y=0.170816, theta=0.030827
[19:47:31.303] Odometry x=0.007738, y=0.177607, theta=0.041552
[19:47:31.403] Odometry x=0.007459, y=0.184180, theta=0.046274
[19:47:31.422] need key frame pitch dis: 0.013035 translation dif:0.028008
[19:47:31.422] frame process finished the id is: 92 the obs is:2902 
[19:47:31.503] Odometry x=0.007146, y=0.190658, theta=0.049523
[19:47:31.527] After Reprojection Map nPoint:4180 ,nCell:76 ,nMatches:15 ,distance between ekf and vo x:-0.000658 ,z=0.000504,angle between two frames:0.000454
[19:47:31.539] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3513 	 error init =0.000474 	 error end=0.000465
[19:47:31.539] After pose optimization, distance between ekf and vo x:-0.038284 ,z=0.104880,angle between two frames:0.002623
[19:47:31.539] Update EKF and 3D points the number of feature in the new frame: 3513 and number of obs: 3513
[19:47:31.605] Odometry x=-0.025980, y=0.277239, theta=0.045084
[19:47:31.702] Odometry x=-0.026310, y=0.284501, theta=0.043680
[19:47:31.804] Odometry x=-0.026611, y=0.291292, theta=0.051112
[19:47:31.902] Odometry x=-0.026933, y=0.297852, theta=0.046795
[19:47:32.004] Odometry x=-0.027234, y=0.304333, theta=0.048528
[19:47:32.028] need key frame pitch dis: 0.023979 translation dif:0.142249
[19:47:32.030] Choose frame as a key frame Scene Depth mean:-0.370284 ,depth min:-29.927581
[19:47:32.031] frame process finished the id is: 93 the obs is:3513 
[19:47:32.105] Odometry x=-0.027541, y=0.310778, theta=0.043151
[19:47:32.202] Odometry x=-0.027812, y=0.317205, theta=0.041583
[19:47:32.202] After Reprojection Map nPoint:8304 ,nCell:787 ,nMatches:18 ,distance between ekf and vo x:-0.000493 ,z=0.000679,angle between two frames:0.000151
[19:47:32.214] n deleted obs = 234 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7467 	 error init =0.000575 	 error end=0.000575
[19:47:32.214] After pose optimization, distance between ekf and vo x:-0.000493 ,z=0.000679,angle between two frames:0.000151
[19:47:32.214] Update EKF and 3D points the number of feature in the new frame: 7467 and number of obs: 7467
[19:47:32.303] Odometry x=-0.028114, y=0.321354, theta=0.041434
[19:47:32.405] Odometry x=-0.028376, y=0.327768, theta=0.035904
[19:47:32.506] Odometry x=-0.028610, y=0.334182, theta=0.043017
[19:47:32.603] Odometry x=-0.028883, y=0.340591, theta=0.042556
[19:47:32.706] Odometry x=-0.029162, y=0.347006, theta=0.048671
[19:47:32.803] Odometry x=-0.029476, y=0.353418, theta=0.049856
[19:47:32.905] Odometry x=-0.029803, y=0.359831, theta=0.053442
[19:47:33.002] Odometry x=-0.030145, y=0.366242, theta=0.057430
[19:47:33.107] Odometry x=-0.030516, y=0.372650, theta=0.050838
[19:47:33.204] Odometry x=-0.030837, y=0.379061, theta=0.053355
[19:47:33.301] Odometry x=-0.031180, y=0.385471, theta=0.047481
[19:47:33.399] Odometry x=-0.031480, y=0.391881, theta=0.050538
[19:47:33.501] Odometry x=-0.031803, y=0.398292, theta=0.050525
[19:47:33.608] Odometry x=-0.032129, y=0.404703, theta=0.051078
[19:47:33.705] Odometry x=-0.032456, y=0.411113, theta=0.054333
[19:47:33.806] Odometry x=-0.032807, y=0.417526, theta=0.050568
[19:47:33.904] Odometry x=-0.033129, y=0.423939, theta=0.048218
[19:47:34.003] Odometry x=-0.033448, y=0.430354, theta=0.047269
[19:47:34.102] Odometry x=-0.033748, y=0.436767, theta=0.041536
[19:47:34.200] Odometry x=-0.034018, y=0.443181, theta=0.045379
[19:47:34.303] Odometry x=-0.034307, y=0.449595, theta=0.045661
[19:47:34.406] Odometry x=-0.034598, y=0.456007, theta=0.048776
[19:47:34.504] Odometry x=-0.034908, y=0.462418, theta=0.049085
[19:47:34.606] Odometry x=-0.035220, y=0.468829, theta=0.049813
[19:47:34.703] Odometry x=-0.035536, y=0.475240, theta=0.055173
[19:47:34.799] Odometry x=-0.035896, y=0.481646, theta=0.056806
[19:47:34.901] Odometry x=-0.036258, y=0.488055, theta=0.063240
[19:47:35.002] Odometry x=-0.036662, y=0.494462, theta=0.060254
[19:47:35.104] Odometry x=-0.037046, y=0.500866, theta=0.066194
[19:47:35.203] Odometry x=-0.037469, y=0.507273, theta=0.064532
[19:47:35.305] Odometry x=-0.037885, y=0.513679, theta=0.064966
[19:47:35.402] Odometry x=-0.038301, y=0.520085, theta=0.065708
[19:47:35.505] Odometry x=-0.038720, y=0.526491, theta=0.062827
[19:47:35.601] Odometry x=-0.039123, y=0.532897, theta=0.063419
[19:47:35.708] Odometry x=-0.039532, y=0.539303, theta=0.060334
[19:47:35.801] Odometry x=-0.039918, y=0.545709, theta=0.060855
[19:47:35.901] Odometry x=-0.040316, y=0.552124, theta=0.059277
[19:47:36.008] Odometry x=-0.040697, y=0.558532, theta=0.058367
[19:47:36.101] Odometry x=-0.041073, y=0.564942, theta=0.055262
[19:47:36.209] Odometry x=-0.041427, y=0.571352, theta=0.055142
[19:47:36.316] Odometry x=-0.041779, y=0.577762, theta=0.053964
[19:47:36.402] Odometry x=-0.042125, y=0.584172, theta=0.055101
[19:47:36.515] Odometry x=-0.042478, y=0.590583, theta=0.055877
[19:47:36.608] Odometry x=-0.042836, y=0.596993, theta=0.057976
[19:47:36.706] Odometry x=-0.043208, y=0.603401, theta=0.058386
[19:47:36.786] need key frame pitch dis: 0.017178 translation dif:0.085707
[19:47:36.786] frame process finished the id is: 94 the obs is:7467 
[19:47:36.804] Odometry x=-0.043582, y=0.609809, theta=0.059926
[19:47:36.903] Odometry x=-0.043967, y=0.616214, theta=0.064572
[19:47:36.968] After Reprojection Map nPoint:12258 ,nCell:608 ,nMatches:13 ,distance between ekf and vo x:-0.000192 ,z=0.000295,angle between two frames:0.000069
[19:47:36.985] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11242 	 error init =0.000089 	 error end=0.000089
[19:47:36.985] After pose optimization, distance between ekf and vo x:-0.000192 ,z=0.000295,angle between two frames:0.000069
[19:47:36.985] Update EKF and 3D points the number of feature in the new frame: 11242 and number of obs: 11242
[19:47:37.001] Odometry x=-0.043850, y=0.611712, theta=0.060863
[19:47:37.104] Odometry x=-0.044287, y=0.618976, theta=0.066420
[19:47:37.203] Odometry x=-0.044737, y=0.625757, theta=0.065931
[19:47:37.306] Odometry x=-0.045175, y=0.632319, theta=0.069329
[19:47:37.405] Odometry x=-0.045624, y=0.638789, theta=0.070007
[19:47:37.504] Odometry x=-0.046072, y=0.645219, theta=0.067579
[19:47:37.606] Odometry x=-0.046504, y=0.651638, theta=0.066613
[19:47:37.703] Odometry x=-0.046932, y=0.658046, theta=0.067370
[19:47:37.803] Odometry x=-0.047364, y=0.664454, theta=0.065526
[19:47:37.903] Odometry x=-0.047782, y=0.670860, theta=0.062505
[19:47:38.002] Odometry x=-0.048183, y=0.677268, theta=0.061173
[19:47:38.103] Odometry x=-0.048573, y=0.683676, theta=0.060648
[19:47:38.205] Odometry x=-0.048961, y=0.690085, theta=0.061681
[19:47:38.303] Odometry x=-0.049356, y=0.696492, theta=0.065268
[19:47:38.403] Odometry x=-0.049774, y=0.702897, theta=0.067668
[19:47:38.506] Odometry x=-0.050208, y=0.709303, theta=0.073050
[19:47:38.604] Odometry x=-0.050675, y=0.715706, theta=0.077042
[19:47:38.701] Odometry x=-0.051169, y=0.722106, theta=0.080575
[19:47:38.803] Odometry x=-0.051685, y=0.728505, theta=0.081051
[19:47:38.906] Odometry x=-0.052203, y=0.734902, theta=0.079113
[19:47:39.004] Odometry x=-0.052708, y=0.741302, theta=0.081059
[19:47:39.104] Odometry x=-0.053228, y=0.747701, theta=0.079540
[19:47:39.203] Odometry x=-0.053738, y=0.754100, theta=0.079223
[19:47:39.301] Odometry x=-0.054247, y=0.760498, theta=0.077555
[19:47:39.404] Odometry x=-0.054743, y=0.766899, theta=0.077762
[19:47:39.507] Odometry x=-0.055243, y=0.773300, theta=0.076514
[19:47:39.602] Odometry x=-0.055734, y=0.779702, theta=0.075599
[19:47:39.698] Odometry x=-0.056218, y=0.786102, theta=0.075366
[19:47:39.804] Odometry x=-0.056702, y=0.792505, theta=0.073722
[19:47:39.901] Odometry x=-0.057174, y=0.798905, theta=0.073287
[19:47:40.003] Odometry x=-0.057643, y=0.805307, theta=0.072526
[19:47:40.105] Odometry x=-0.058107, y=0.811708, theta=0.073357
[19:47:40.202] Odometry x=-0.058577, y=0.818105, theta=0.074975
[19:47:40.304] Odometry x=-0.059058, y=0.824506, theta=0.073279
[19:47:40.406] Odometry x=-0.059527, y=0.830906, theta=0.077656
[19:47:40.504] Odometry x=-0.060025, y=0.837306, theta=0.080721
[19:47:40.605] Odometry x=-0.060541, y=0.843703, theta=0.083421
[19:47:40.706] Odometry x=-0.061075, y=0.850100, theta=0.085925
[19:47:40.799] Odometry x=-0.061625, y=0.856495, theta=0.085082
[19:47:40.901] Odometry x=-0.062169, y=0.862892, theta=0.086068
[19:47:41.003] Odometry x=-0.062720, y=0.869287, theta=0.084738
[19:47:41.104] Odometry x=-0.063263, y=0.875685, theta=0.084218
[19:47:41.201] Odometry x=-0.063803, y=0.882082, theta=0.083281
[19:47:41.303] Odometry x=-0.064335, y=0.888481, theta=0.083732
[19:47:41.400] Odometry x=-0.064873, y=0.894876, theta=0.084784
[19:47:41.502] Odometry x=-0.065416, y=0.901275, theta=0.083708
[19:47:41.605] Odometry x=-0.065952, y=0.907674, theta=0.083086
[19:47:41.704] Odometry x=-0.066483, y=0.914070, theta=0.081100
[19:47:41.800] Odometry x=-0.067003, y=0.920469, theta=0.081869
[19:47:41.899] Odometry x=-0.067526, y=0.926867, theta=0.084612
[19:47:42.002] Odometry x=-0.068070, y=0.933264, theta=0.086859
[19:47:42.105] Odometry x=-0.068626, y=0.939660, theta=0.088412
[19:47:42.202] Odometry x=-0.069193, y=0.946053, theta=0.091527
[19:47:42.302] Odometry x=-0.069777, y=0.952442, theta=0.091705
[19:47:42.412] Odometry x=-0.070365, y=0.958834, theta=0.094710
[19:47:42.502] Odometry x=-0.070972, y=0.965224, theta=0.097390
[19:47:42.606] Odometry x=-0.071595, y=0.971614, theta=0.102556
[19:47:42.706] Odometry x=-0.072251, y=0.977999, theta=0.104788
[19:47:42.804] Odometry x=-0.072923, y=0.984383, theta=0.107422
[19:47:42.901] Odometry x=-0.073608, y=0.990766, theta=0.110559
[19:47:43.000] Odometry x=-0.074318, y=0.997146, theta=0.109921
[19:47:43.102] Odometry x=-0.075021, y=1.003528, theta=0.108530
[19:47:43.205] Odometry x=-0.075718, y=1.009908, theta=0.107122
[19:47:43.304] Odometry x=-0.076404, y=1.016294, theta=0.105662
[19:47:43.407] Odometry x=-0.077081, y=1.022679, theta=0.102174
[19:47:43.504] Odometry x=-0.077734, y=1.029067, theta=0.099857
[19:47:43.602] Odometry x=-0.078372, y=1.035455, theta=0.099536
[19:47:43.705] Odometry x=-0.079011, y=1.041841, theta=0.100237
[19:47:43.804] Odometry x=-0.079652, y=1.048228, theta=0.100198
[19:47:43.902] Odometry x=-0.080292, y=1.054613, theta=0.097028
[19:47:44.001] Odometry x=-0.080912, y=1.061003, theta=0.098371
[19:47:44.103] Odometry x=-0.081542, y=1.067389, theta=0.100250
[19:47:44.205] Odometry x=-0.082183, y=1.073778, theta=0.102032
[19:47:44.259] need key frame pitch dis: 0.015779 translation dif:0.334950
[19:47:44.265] Choose frame as a key frame Scene Depth mean:-0.424079 ,depth min:-30.221449
[19:47:44.267] frame process finished the id is: 95 the obs is:11242 
[19:47:44.307] Odometry x=-0.082836, y=1.080164, theta=0.101084
[19:47:44.405] Odometry x=-0.083483, y=1.086553, theta=0.103604
[19:47:44.500] Odometry x=-0.084146, y=1.092938, theta=0.106221
[19:47:44.603] Odometry x=-0.084825, y=1.099323, theta=0.105367
[19:47:44.620] After Reprojection Map nPoint:16033 ,nCell:1836 ,nMatches:22 ,distance between ekf and vo x:-0.000326 ,z=0.000267,angle between two frames:0.000200
[19:47:44.644] n deleted obs = 44 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12594 	 error init =0.000142 	 error end=0.000142
[19:47:44.644] After pose optimization, distance between ekf and vo x:-0.000326 ,z=0.000267,angle between two frames:0.000200
[19:47:44.644] Update EKF and 3D points the number of feature in the new frame: 12594 and number of obs: 12594
[19:47:44.703] Odometry x=-0.083459, y=1.083676, theta=0.102216
[19:47:44.806] Odometry x=-0.084194, y=1.090916, theta=0.108047
[19:47:44.905] Odometry x=-0.084928, y=1.097671, theta=0.110597
[19:47:45.002] Odometry x=-0.085652, y=1.104209, theta=0.108211
[19:47:45.110] Odometry x=-0.086347, y=1.110657, theta=0.105630
[19:47:45.200] Odometry x=-0.087027, y=1.117068, theta=0.105955
[19:47:45.304] Odometry x=-0.087705, y=1.123462, theta=0.103918
[19:47:45.403] Odometry x=-0.088370, y=1.129851, theta=0.101486
[19:47:45.506] Odometry x=-0.089019, y=1.136238, theta=0.100912
[19:47:45.604] Odometry x=-0.089667, y=1.142628, theta=0.105384
[19:47:45.705] Odometry x=-0.090343, y=1.149008, theta=0.107010
[19:47:45.802] Odometry x=-0.091027, y=1.155391, theta=0.107896
[19:47:45.904] Odometry x=-0.091719, y=1.161771, theta=0.110915
[19:48:08.872] need key frame pitch dis: 0.057132 translation dif:0.808483
[19:48:08.879] Choose frame as a key frame Scene Depth mean:-0.588729 ,depth min:-30.550849
[19:48:08.881] frame process finished the id is: 96 the obs is:12594 
[19:48:09.202] After Reprojection Map nPoint:29979 ,nCell:88 ,nMatches:20 ,distance between ekf and vo x:-0.002448 ,z=0.000912,angle between two frames:0.001921
[19:48:09.246] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =27701 	 error init =0.000008 	 error end=0.000008
[19:48:09.247] After pose optimization, distance between ekf and vo x:-0.002448 ,z=0.000912,angle between two frames:0.001921
[19:48:09.247] Update EKF and 3D points the number of feature in the new frame: 27701 and number of obs: 27701
[19:49:01.035] need key frame pitch dis: 0.070584 translation dif:0.894341
[19:49:01.047] Choose frame as a key frame Scene Depth mean:-0.830682 ,depth min:-30.578197
[19:49:01.049] frame process finished the id is: 97 the obs is:27701 
