diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt
index 4f45cb8..cd3dd29 100755
--- a/GPU_version/vio/frame_handler_log.txt
+++ b/GPU_version/vio/frame_handler_log.txt
@@ -1,1844 +1,1806 @@
-[10:19:05.498] Init: frame zero: 0.000000, 0.000000 0.000000
-[10:19:05.498] Init: Selected first frame. 
-[10:19:05.498] frame process finished the id is: 0 the obs is:0 
-[10:19:05.602] Init: px average disparity is:0.163584 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:05.602] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:05.602] frame process finished the id is: 1 the obs is:0 
-[10:19:05.693] Init: px average disparity is:0.187139 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:05.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:05.693] frame process finished the id is: 2 the obs is:0 
-[10:19:05.792] Init: px average disparity is:0.282148 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:05.792] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:05.792] frame process finished the id is: 3 the obs is:0 
-[10:19:05.891] Init: px average disparity is:0.328856 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:05.891] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:05.891] frame process finished the id is: 4 the obs is:0 
-[10:19:05.993] Init: px average disparity is:0.326512 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:05.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:05.993] frame process finished the id is: 5 the obs is:0 
-[10:19:06.093] Init: px average disparity is:0.334130 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:06.093] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:06.093] frame process finished the id is: 6 the obs is:0 
-[10:19:06.193] Init: px average disparity is:0.335619 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:06.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:06.193] frame process finished the id is: 7 the obs is:0 
-[10:19:06.296] Init: px average disparity is:0.413324 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:06.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:06.296] frame process finished the id is: 8 the obs is:0 
-[10:19:06.402] Init: px average disparity is:0.382292 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:06.402] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:06.402] frame process finished the id is: 9 the obs is:0 
-[10:19:06.502] Init: px average disparity is:0.488821 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:06.502] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:06.502] frame process finished the id is: 10 the obs is:0 
-[10:19:06.602] Init: px average disparity is:0.465515 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:06.602] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:06.602] frame process finished the id is: 11 the obs is:0 
-[10:19:06.703] Init: px average disparity is:0.504160 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:06.703] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:06.703] frame process finished the id is: 12 the obs is:0 
-[10:19:06.802] Init: px average disparity is:0.500823 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:06.802] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:06.802] frame process finished the id is: 13 the obs is:0 
-[10:19:06.905] Init: px average disparity is:0.532459 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:06.906] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:06.906] frame process finished the id is: 14 the obs is:0 
-[10:19:06.993] Init: px average disparity is:0.501916 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:06.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:06.993] frame process finished the id is: 15 the obs is:0 
-[10:19:07.101] Init: px average disparity is:0.566353 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:07.101] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:07.101] frame process finished the id is: 16 the obs is:0 
-[10:19:07.204] Init: px average disparity is:0.566689 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:07.204] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:07.204] frame process finished the id is: 17 the obs is:0 
-[10:19:07.304] Init: px average disparity is:0.502581 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:07.304] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:07.304] frame process finished the id is: 18 the obs is:0 
-[10:19:07.405] Init: px average disparity is:0.528639 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:07.405] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:07.405] frame process finished the id is: 19 the obs is:0 
-[10:19:07.504] Init: px average disparity is:0.528657 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:07.504] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:07.504] frame process finished the id is: 20 the obs is:0 
-[10:19:07.604] Init: px average disparity is:0.528529 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:07.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:07.604] frame process finished the id is: 21 the obs is:0 
-[10:19:07.706] Init: px average disparity is:0.510053 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:07.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:07.706] frame process finished the id is: 22 the obs is:0 
-[10:19:07.805] Init: px average disparity is:0.506097 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:07.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:07.805] frame process finished the id is: 23 the obs is:0 
-[10:19:07.906] Init: px average disparity is:0.507686 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:07.906] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:07.906] frame process finished the id is: 24 the obs is:0 
-[10:19:08.005] Init: px average disparity is:0.464140 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:08.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:08.005] frame process finished the id is: 25 the obs is:0 
-[10:19:08.104] Init: px average disparity is:0.527238 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:08.104] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:08.104] frame process finished the id is: 26 the obs is:0 
-[10:19:08.203] Init: px average disparity is:0.470787 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:08.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:08.203] frame process finished the id is: 27 the obs is:0 
-[10:19:08.304] Init: px average disparity is:0.457099 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:08.304] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:08.304] frame process finished the id is: 28 the obs is:0 
-[10:19:08.394] Init: px average disparity is:0.506628 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:08.394] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:08.394] frame process finished the id is: 29 the obs is:0 
-[10:19:08.505] Init: px average disparity is:0.498561 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:08.505] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:08.505] frame process finished the id is: 30 the obs is:0 
-[10:19:08.605] Init: px average disparity is:0.470076 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:08.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:08.605] frame process finished the id is: 31 the obs is:0 
-[10:19:08.705] Init: px average disparity is:0.532696 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:08.705] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:08.705] frame process finished the id is: 32 the obs is:0 
-[10:19:08.805] Init: px average disparity is:0.484881 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:08.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:08.805] frame process finished the id is: 33 the obs is:0 
-[10:19:08.903] Init: px average disparity is:0.503268 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:08.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:08.904] frame process finished the id is: 34 the obs is:0 
-[10:19:09.005] Init: px average disparity is:0.494785 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:09.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:09.006] frame process finished the id is: 35 the obs is:0 
-[10:19:09.106] Init: px average disparity is:0.512405 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:09.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:09.106] frame process finished the id is: 36 the obs is:0 
-[10:19:09.204] Init: px average disparity is:0.487378 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:09.204] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:09.204] frame process finished the id is: 37 the obs is:0 
-[10:19:09.304] Init: px average disparity is:0.479614 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:09.304] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:09.304] frame process finished the id is: 38 the obs is:0 
-[10:19:09.404] Init: px average disparity is:0.473677 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:09.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:09.404] frame process finished the id is: 39 the obs is:0 
-[10:19:09.503] Init: px average disparity is:0.532299 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:09.503] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:09.503] frame process finished the id is: 40 the obs is:0 
-[10:19:09.607] Init: px average disparity is:0.483573 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:09.607] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:09.607] frame process finished the id is: 41 the obs is:0 
-[10:19:09.704] Init: px average disparity is:0.484172 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:09.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:09.704] frame process finished the id is: 42 the obs is:0 
-[10:19:09.804] Init: px average disparity is:0.494746 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:09.804] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:09.804] frame process finished the id is: 43 the obs is:0 
-[10:19:09.903] Init: px average disparity is:0.489029 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:09.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:09.903] frame process finished the id is: 44 the obs is:0 
-[10:19:10.004] Init: px average disparity is:0.496784 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:10.004] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:10.004] frame process finished the id is: 45 the obs is:0 
-[10:19:10.104] Init: px average disparity is:0.495274 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:10.104] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:10.104] frame process finished the id is: 46 the obs is:0 
-[10:19:10.204] Init: px average disparity is:0.483225 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:10.204] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:10.204] frame process finished the id is: 47 the obs is:0 
-[10:19:10.305] Init: px average disparity is:0.488735 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:10.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:10.305] frame process finished the id is: 48 the obs is:0 
-[10:19:10.404] Init: px average disparity is:0.480770 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:10.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:10.404] frame process finished the id is: 49 the obs is:0 
-[10:19:10.506] Init: px average disparity is:0.478573 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:10.506] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:10.506] frame process finished the id is: 50 the obs is:0 
-[10:19:10.604] Init: px average disparity is:0.473983 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:10.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:10.604] frame process finished the id is: 51 the obs is:0 
-[10:19:10.705] Init: px average disparity is:0.491635 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:10.705] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:10.705] frame process finished the id is: 52 the obs is:0 
-[10:19:10.805] Init: px average disparity is:0.542750 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:10.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:10.805] frame process finished the id is: 53 the obs is:0 
-[10:19:10.904] Init: px average disparity is:0.506654 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:10.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:10.904] frame process finished the id is: 54 the obs is:0 
-[10:19:11.005] Init: px average disparity is:0.514503 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:11.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:11.005] frame process finished the id is: 55 the obs is:0 
-[10:19:11.106] Init: px average disparity is:0.476707 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:11.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:11.106] frame process finished the id is: 56 the obs is:0 
-[10:19:11.205] Init: px average disparity is:0.492650 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:11.205] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:11.205] frame process finished the id is: 57 the obs is:0 
-[10:19:11.305] Init: px average disparity is:0.470434 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:11.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:11.305] frame process finished the id is: 58 the obs is:0 
-[10:19:11.404] Init: px average disparity is:0.475161 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:11.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:11.404] frame process finished the id is: 59 the obs is:0 
-[10:19:11.505] Init: px average disparity is:0.476662 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:11.505] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:11.505] frame process finished the id is: 60 the obs is:0 
-[10:19:11.599] Init: px average disparity is:0.496295 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:11.599] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:11.599] frame process finished the id is: 61 the obs is:0 
-[10:19:11.703] Init: px average disparity is:0.521249 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:11.703] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:11.703] frame process finished the id is: 62 the obs is:0 
-[10:19:11.804] Init: px average disparity is:0.503380 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:11.804] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:11.804] frame process finished the id is: 63 the obs is:0 
-[10:19:11.904] Init: px average disparity is:0.471589 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:11.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:11.904] frame process finished the id is: 64 the obs is:0 
-[10:19:12.003] Init: px average disparity is:0.482046 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:12.003] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:12.004] frame process finished the id is: 65 the obs is:0 
-[10:19:12.103] Init: px average disparity is:0.504582 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:12.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:12.104] frame process finished the id is: 66 the obs is:0 
-[10:19:12.204] Init: px average disparity is:0.507588 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:12.204] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:12.204] frame process finished the id is: 67 the obs is:0 
-[10:19:12.308] Init: px average disparity is:0.497823 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:12.308] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:12.308] frame process finished the id is: 68 the obs is:0 
-[10:19:12.404] Init: px average disparity is:0.499632 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:12.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:12.404] frame process finished the id is: 69 the obs is:0 
-[10:19:12.504] Init: px average disparity is:0.468118 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:12.504] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:12.504] frame process finished the id is: 70 the obs is:0 
-[10:19:12.604] Init: px average disparity is:0.467709 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:12.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:12.604] frame process finished the id is: 71 the obs is:0 
-[10:19:12.704] Init: px average disparity is:0.519263 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:12.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:12.704] frame process finished the id is: 72 the obs is:0 
-[10:19:12.804] Init: px average disparity is:0.429112 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:12.804] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:12.804] frame process finished the id is: 73 the obs is:0 
-[10:19:12.905] Init: px average disparity is:0.489868 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:12.905] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:12.905] frame process finished the id is: 74 the obs is:0 
-[10:19:13.005] Init: px average disparity is:0.502575 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:13.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:13.005] frame process finished the id is: 75 the obs is:0 
-[10:19:13.105] Init: px average disparity is:0.531151 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:13.105] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:13.105] frame process finished the id is: 76 the obs is:0 
-[10:19:13.207] Init: px average disparity is:0.510108 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:13.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:13.207] frame process finished the id is: 77 the obs is:0 
-[10:19:13.305] Init: px average disparity is:0.508710 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:13.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:13.305] frame process finished the id is: 78 the obs is:0 
-[10:19:13.353] Odometry x=0.000000, y=0.000000, theta=-0.000000
-[10:19:13.404] Init: px average disparity is:0.478239 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:13.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:13.404] frame process finished the id is: 79 the obs is:0 
-[10:19:13.452] Odometry x=0.000000, y=0.000000, theta=-0.000000
-[10:19:13.509] Init: px average disparity is:0.499561 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:13.509] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:13.509] frame process finished the id is: 80 the obs is:0 
-[10:19:13.548] Odometry x=0.000001, y=0.014004, theta=-0.001419
-[10:19:13.607] Init: px average disparity is:6.568719 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:13.607] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:13.607] frame process finished the id is: 81 the obs is:0 
-[10:19:13.651] Odometry x=-0.006237, y=0.041788, theta=0.017511
-[10:19:13.705] Init: px average disparity is:3.457499 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:13.705] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:13.705] frame process finished the id is: 82 the obs is:0 
-[10:19:13.753] Odometry x=-0.006312, y=0.052501, theta=-0.000831
-[10:19:13.804] Init: px average disparity is:5.193704 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:13.804] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:13.805] frame process finished the id is: 83 the obs is:0 
-[10:19:13.849] Odometry x=-0.006552, y=0.063943, theta=-0.004240
-[10:19:13.906] Init: px average disparity is:5.420565 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:13.906] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:13.906] frame process finished the id is: 84 the obs is:0 
-[10:19:13.942] Odometry x=-0.006516, y=0.073525, theta=-0.003866
-[10:19:14.006] Init: px average disparity is:7.223757 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:14.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:14.006] frame process finished the id is: 85 the obs is:0 
-[10:19:14.048] Odometry x=-0.006480, y=0.089331, theta=0.004642
-[10:19:14.105] Init: px average disparity is:8.613627 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:14.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:14.106] frame process finished the id is: 86 the obs is:0 
-[10:19:14.149] Odometry x=-0.006473, y=0.100074, theta=-0.001900
-[10:19:14.207] Init: px average disparity is:12.431273 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:14.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:14.207] frame process finished the id is: 87 the obs is:0 
-[10:19:14.249] Odometry x=-0.005971, y=0.109842, theta=0.001195
-[10:19:14.311] Init: px average disparity is:10.445757 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:14.311] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:14.311] frame process finished the id is: 88 the obs is:0 
-[10:19:14.351] Odometry x=-0.005976, y=0.121102, theta=0.006287
-[10:19:14.406] Init: px average disparity is:11.218734 ,While minimum is: 40.000000  KLT tracked : 323
-[10:19:14.406] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:14.406] frame process finished the id is: 89 the obs is:0 
-[10:19:14.447] Odometry x=-0.005180, y=0.131712, theta=-0.000104
-[10:19:14.506] Init: px average disparity is:15.473215 ,While minimum is: 40.000000  KLT tracked : 318
-[10:19:14.506] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:14.506] frame process finished the id is: 90 the obs is:0 
-[10:19:14.548] Odometry x=-0.005185, y=0.143390, theta=-0.000127
-[10:19:14.609] Init: px average disparity is:20.744059 ,While minimum is: 40.000000  KLT tracked : 318
-[10:19:14.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:14.609] frame process finished the id is: 91 the obs is:0 
-[10:19:14.646] Odometry x=-0.005173, y=0.153833, theta=0.003645
-[10:19:14.710] Init: px average disparity is:20.847972 ,While minimum is: 40.000000  KLT tracked : 318
-[10:19:14.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:14.710] frame process finished the id is: 92 the obs is:0 
-[10:19:14.747] Odometry x=-0.005057, y=0.164407, theta=-0.004158
-[10:19:14.808] Init: px average disparity is:21.342311 ,While minimum is: 40.000000  KLT tracked : 318
-[10:19:14.808] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:14.808] frame process finished the id is: 93 the obs is:0 
-[10:19:14.845] Odometry x=-0.004845, y=0.175550, theta=0.002609
-[10:19:14.909] Init: px average disparity is:23.826245 ,While minimum is: 40.000000  KLT tracked : 314
-[10:19:14.909] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:14.910] frame process finished the id is: 94 the obs is:0 
-[10:19:14.951] Odometry x=-0.004821, y=0.186185, theta=-0.008250
-[10:19:15.009] Init: px average disparity is:25.367622 ,While minimum is: 40.000000  KLT tracked : 314
-[10:19:15.009] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:15.009] frame process finished the id is: 95 the obs is:0 
-[10:19:15.050] Odometry x=-0.004331, y=0.197969, theta=0.003995
-[10:19:15.110] Init: px average disparity is:25.158223 ,While minimum is: 40.000000  KLT tracked : 311
-[10:19:15.110] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:15.110] frame process finished the id is: 96 the obs is:0 
-[10:19:15.150] Odometry x=-0.004370, y=0.208386, theta=0.010881
-[10:19:15.210] Init: px average disparity is:24.959381 ,While minimum is: 40.000000  KLT tracked : 298
-[10:19:15.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:15.210] frame process finished the id is: 97 the obs is:0 
-[10:19:15.250] Odometry x=-0.004408, y=0.219983, theta=0.001839
-[10:19:15.310] Init: px average disparity is:28.369698 ,While minimum is: 40.000000  KLT tracked : 298
-[10:19:15.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:15.310] frame process finished the id is: 98 the obs is:0 
-[10:19:15.345] Odometry x=-0.004408, y=0.230880, theta=0.002364
-[10:19:15.408] Init: px average disparity is:30.896511 ,While minimum is: 40.000000  KLT tracked : 296
-[10:19:15.408] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:15.408] frame process finished the id is: 99 the obs is:0 
-[10:19:15.451] Odometry x=-0.004246, y=0.241495, theta=0.001692
-[10:19:15.508] Init: px average disparity is:29.820161 ,While minimum is: 40.000000  KLT tracked : 293
-[10:19:15.508] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:15.508] frame process finished the id is: 100 the obs is:0 
-[10:19:15.561] Odometry x=-0.004233, y=0.253175, theta=0.004648
-[10:19:15.609] Init: px average disparity is:28.708163 ,While minimum is: 40.000000  KLT tracked : 289
-[10:19:15.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:15.609] frame process finished the id is: 101 the obs is:0 
-[10:19:15.655] Odometry x=-0.004272, y=0.265475, theta=0.010673
-[10:19:15.709] Init: px average disparity is:30.345589 ,While minimum is: 40.000000  KLT tracked : 289
-[10:19:15.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:15.709] frame process finished the id is: 102 the obs is:0 
-[10:19:15.751] Odometry x=-0.004334, y=0.275230, theta=0.008097
-[10:19:15.809] Init: px average disparity is:30.993465 ,While minimum is: 40.000000  KLT tracked : 289
-[10:19:15.809] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:15.809] frame process finished the id is: 103 the obs is:0 
-[10:19:15.844] Odometry x=-0.002129, y=0.287200, theta=0.014203
-[10:19:15.908] Init: px average disparity is:30.329734 ,While minimum is: 40.000000  KLT tracked : 288
-[10:19:15.908] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:15.909] frame process finished the id is: 104 the obs is:0 
-[10:19:15.950] Odometry x=-0.002135, y=0.297329, theta=0.012734
-[10:19:16.009] Init: px average disparity is:29.240386 ,While minimum is: 40.000000  KLT tracked : 288
-[10:19:16.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:16.010] frame process finished the id is: 105 the obs is:0 
-[10:19:16.047] Odometry x=-0.002368, y=0.309322, theta=0.016111
-[10:19:16.110] Init: px average disparity is:30.598703 ,While minimum is: 40.000000  KLT tracked : 288
-[10:19:16.110] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:16.110] frame process finished the id is: 106 the obs is:0 
-[10:19:16.146] Odometry x=-0.002427, y=0.319776, theta=0.006530
-[10:19:16.210] Init: px average disparity is:33.674741 ,While minimum is: 40.000000  KLT tracked : 288
-[10:19:16.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:16.210] frame process finished the id is: 107 the obs is:0 
-[10:19:16.247] Odometry x=0.007852, y=0.326248, theta=0.026626
-[10:19:16.310] Init: px average disparity is:33.708280 ,While minimum is: 40.000000  KLT tracked : 288
-[10:19:16.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:16.310] frame process finished the id is: 108 the obs is:0 
-[10:19:16.346] Odometry x=0.007919, y=0.337719, theta=0.024543
-[10:19:16.410] Init: px average disparity is:34.283456 ,While minimum is: 40.000000  KLT tracked : 288
-[10:19:16.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:16.410] frame process finished the id is: 109 the obs is:0 
-[10:19:16.449] Odometry x=0.007791, y=0.348436, theta=-0.000331
-[10:19:16.511] Init: px average disparity is:34.719018 ,While minimum is: 40.000000  KLT tracked : 288
-[10:19:16.511] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:16.511] frame process finished the id is: 110 the obs is:0 
-[10:19:16.546] Odometry x=0.007785, y=0.359233, theta=0.004289
-[10:19:16.613] Init: px average disparity is:36.876180 ,While minimum is: 40.000000  KLT tracked : 288
-[10:19:16.613] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:16.613] frame process finished the id is: 111 the obs is:0 
-[10:19:16.654] Odometry x=0.007074, y=0.370540, theta=0.004832
-[10:19:16.712] Init: px average disparity is:38.221640 ,While minimum is: 40.000000  KLT tracked : 288
-[10:19:16.712] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:16.712] frame process finished the id is: 112 the obs is:0 
-[10:19:16.750] Odometry x=0.006999, y=0.384625, theta=0.009004
-[10:19:16.850] Odometry x=0.006964, y=0.395546, theta=0.007672
-[10:19:16.892] Init: Homography RANSAC (inlier) is:0 ,While 20 inliers minimum required.  px average disparity is:41.777722 ,While minimum is: 40.000000  KLT tracked: 288
-[10:19:16.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[10:19:16.892] frame process finished the id is: 113 the obs is:0 
-[10:19:16.947] Odometry x=0.006889, y=0.405808, theta=0.019750
-[10:19:16.971] Init finished: Homography RANSAC (inlier) is:35 ,While 20 inliers minimum required.  px average disparity is:45.205036 ,While minimum is: 40.000000  KLT tracked: 288
-[10:19:16.971] Init: distance between the first and current frame is x:0.006889 ,z=0.405808,angle between two frames: 0.019750 
-[10:19:16.975] Init: Selected Second frame. 	 The number of features: 35 depth mean:-1.123182 min:-1.836819
-[10:19:16.975] frame process finished the id is: 114 the obs is:35 
-[10:19:17.047] Odometry x=0.007230, y=0.416307, theta=0.005349
-[10:19:17.131] After Reprojection Map nPoint:33 ,nCell:33 ,nMatches:1 ,distance between ekf and vo x:-0.000361 ,z=0.000040,angle between two frames:0.000213
-[10:19:17.131] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.259288 	 error end=0.151046
-[10:19:17.132] After pose optimization, distance between ekf and vo x:0.068409 ,z=0.094400,angle between two frames:0.031242
-[10:19:17.132] frame process finished the id is: 114 the obs is:35 
-[10:19:17.148] Odometry x=0.007196, y=0.427230, theta=0.009931
-[10:19:17.241] Odometry x=0.007189, y=0.437799, theta=0.006063
-[10:19:17.280] After Reprojection Map nPoint:33 ,nCell:33 ,nMatches:3 ,distance between ekf and vo x:-0.000441 ,z=0.000051,angle between two frames:0.000262
-[10:19:17.280] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.436758 	 error end=0.436758
-[10:19:17.280] After pose optimization, distance between ekf and vo x:-0.000441 ,z=0.000051,angle between two frames:0.000262
-[10:19:17.280] frame process finished the id is: 114 the obs is:35 
-[10:19:17.344] Odometry x=0.007131, y=0.455194, theta=0.005782
-[10:19:17.435] After Reprojection Map nPoint:32 ,nCell:32 ,nMatches:1 ,distance between ekf and vo x:-0.001812 ,z=0.000335,angle between two frames:0.001159
-[10:19:17.435] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.301326 	 error end=0.247982
-[10:19:17.435] After pose optimization, distance between ekf and vo x:0.043380 ,z=-0.188550,angle between two frames:0.044518
-[10:19:17.435] frame process finished the id is: 114 the obs is:35 
-[10:19:17.448] Odometry x=0.007062, y=0.465920, theta=0.003115
-[10:19:17.545] Odometry x=0.006999, y=0.477187, theta=0.009209
-[10:19:17.581] After Reprojection Map nPoint:32 ,nCell:32 ,nMatches:2 ,distance between ekf and vo x:-0.000187 ,z=0.000020,angle between two frames:0.000110
-[10:19:17.581] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.260373 	 error end=0.219880
-[10:19:17.581] After pose optimization, distance between ekf and vo x:0.037284 ,z=-0.030259,angle between two frames:0.018391
-[10:19:17.581] frame process finished the id is: 114 the obs is:35 
-[10:19:17.649] Odometry x=0.006948, y=0.487430, theta=0.010336
-[10:19:17.744] After Reprojection Map nPoint:31 ,nCell:31 ,nMatches:2 ,distance between ekf and vo x:-0.001676 ,z=0.000197,angle between two frames:0.001036
-[10:19:17.744] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =1.670707 	 error end=0.546809
-[10:19:17.744] After pose optimization, distance between ekf and vo x:-0.075781 ,z=-2.677579,angle between two frames:0.318105
-[10:19:17.744] frame process finished the id is: 114 the obs is:35 
-[10:19:17.746] Odometry x=0.006835, y=0.498704, theta=0.011216
-[10:19:17.845] Odometry x=0.006777, y=0.509163, theta=0.008267
-[10:19:17.892] After Reprojection Map nPoint:30 ,nCell:28 ,nMatches:5 ,distance between ekf and vo x:-0.000344 ,z=0.000071,angle between two frames:0.000214
-[10:19:17.892] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.326917 	 error end=0.326917
-[10:19:17.892] After pose optimization, distance between ekf and vo x:-0.000344 ,z=0.000071,angle between two frames:0.000214
-[10:19:17.892] frame process finished the id is: 114 the obs is:35 
-[10:19:17.945] Odometry x=0.006707, y=0.520113, theta=0.015210
-[10:19:18.047] Odometry x=0.006513, y=0.541398, theta=0.008048
-[10:19:18.054] After Reprojection Map nPoint:31 ,nCell:30 ,nMatches:3 ,distance between ekf and vo x:-0.003831 ,z=0.000761,angle between two frames:0.002520
-[10:19:18.054] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.399595 	 error end=0.399005
-[10:19:18.054] After pose optimization, distance between ekf and vo x:-0.002624 ,z=0.000541,angle between two frames:0.005436
-[10:19:18.054] frame process finished the id is: 114 the obs is:35 
-[10:19:18.144] Odometry x=0.006454, y=0.557463, theta=0.009051
-[10:19:18.210] After Reprojection Map nPoint:32 ,nCell:32 ,nMatches:1 ,distance between ekf and vo x:-0.001473 ,z=0.000322,angle between two frames:0.000973
-[10:19:18.210] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.540800 	 error end=0.772675
-[10:19:18.210] After pose optimization, distance between ekf and vo x:0.786503 ,z=0.952603,angle between two frames:0.197000
-[10:19:18.210] frame process finished the id is: 114 the obs is:35 
-[10:19:18.244] Odometry x=0.006422, y=0.569857, theta=0.013414
-[10:19:18.342] Odometry x=0.006102, y=0.580592, theta=0.017451
-[10:19:18.377] After Reprojection Map nPoint:33 ,nCell:33 ,nMatches:1 ,distance between ekf and vo x:-0.003686 ,z=0.000955,angle between two frames:0.002636
-[10:19:18.377] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.266368 	 error end=0.239038
-[10:19:18.377] After pose optimization, distance between ekf and vo x:0.029311 ,z=0.193060,angle between two frames:0.010592
-[10:19:18.377] frame process finished the id is: 114 the obs is:35 
-[10:19:18.447] Odometry x=0.005828, y=0.591393, theta=0.015535
-[10:19:18.533] After Reprojection Map nPoint:30 ,nCell:29 ,nMatches:2 ,distance between ekf and vo x:-0.002312 ,z=0.000295,angle between two frames:0.001487
-[10:19:18.533] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.329336 	 error end=0.329336
-[10:19:18.533] After pose optimization, distance between ekf and vo x:-0.002312 ,z=0.000295,angle between two frames:0.001487
-[10:19:18.533] frame process finished the id is: 114 the obs is:35 
-[10:19:18.544] Odometry x=0.005724, y=0.603890, theta=0.012890
-[10:19:18.644] Odometry x=0.005665, y=0.615417, theta=0.016839
-[10:19:18.683] After Reprojection Map nPoint:30 ,nCell:30 ,nMatches:1 ,distance between ekf and vo x:-0.000433 ,z=0.000050,angle between two frames:0.000279
-[10:19:18.683] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.195581 	 error end=0.195581
-[10:19:18.683] After pose optimization, distance between ekf and vo x:-0.000433 ,z=0.000050,angle between two frames:0.000279
-[10:19:18.683] frame process finished the id is: 114 the obs is:35 
-[10:19:18.744] Odometry x=0.005809, y=0.627462, theta=0.015474
-[10:19:18.844] After Reprojection Map nPoint:32 ,nCell:31 ,nMatches:3 ,distance between ekf and vo x:-0.002129 ,z=0.000524,angle between two frames:0.001535
-[10:19:18.844] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.336234 	 error end=0.336234
-[10:19:18.844] After pose optimization, distance between ekf and vo x:-0.002129 ,z=0.000524,angle between two frames:0.001535
-[10:19:18.844] frame process finished the id is: 114 the obs is:35 
-[10:19:18.851] Odometry x=0.005717, y=0.639528, theta=0.010344
-[10:19:18.945] Odometry x=0.005657, y=0.650440, theta=0.013387
-[10:19:19.008] After Reprojection Map nPoint:30 ,nCell:29 ,nMatches:2 ,distance between ekf and vo x:-0.002169 ,z=0.000289,angle between two frames:0.001486
-[10:19:19.008] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.468328 	 error end=0.468328
-[10:19:19.008] After pose optimization, distance between ekf and vo x:-0.002169 ,z=0.000289,angle between two frames:0.001486
-[10:19:19.008] frame process finished the id is: 114 the obs is:35 
-[10:19:19.049] Odometry x=0.005547, y=0.666959, theta=0.019114
-[10:19:19.147] Odometry x=0.004932, y=0.677743, theta=0.011908
-[10:19:19.169] After Reprojection Map nPoint:33 ,nCell:33 ,nMatches:0 ,distance between ekf and vo x:-0.002302 ,z=0.000517,angle between two frames:0.001629
-[10:19:19.169] After pose optimization, distance between ekf and vo x:-0.002302 ,z=0.000517,angle between two frames:0.001629
-[10:19:19.169] frame process finished the id is: 114 the obs is:35 
-[10:19:19.247] Odometry x=0.004845, y=0.688184, theta=0.022715
-[10:19:19.330] After Reprojection Map nPoint:32 ,nCell:30 ,nMatches:2 ,distance between ekf and vo x:-0.003854 ,z=0.000958,angle between two frames:0.002954
-[10:19:19.330] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.534756 	 error end=0.534756
-[10:19:19.330] After pose optimization, distance between ekf and vo x:-0.003854 ,z=0.000958,angle between two frames:0.002954
-[10:19:19.330] frame process finished the id is: 114 the obs is:35 
-[10:19:19.345] Odometry x=0.004722, y=0.699104, theta=0.018926
-[10:19:19.448] Odometry x=0.004551, y=0.709510, theta=0.003896
-[10:19:19.485] After Reprojection Map nPoint:32 ,nCell:30 ,nMatches:4 ,distance between ekf and vo x:-0.002277 ,z=0.000162,angle between two frames:0.001528
-[10:19:19.485] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.393270 	 error end=0.393270
-[10:19:19.485] After pose optimization, distance between ekf and vo x:-0.002277 ,z=0.000162,angle between two frames:0.001528
-[10:19:19.485] frame process finished the id is: 114 the obs is:35 
-[10:19:19.547] Odometry x=0.004538, y=0.720490, theta=0.005402
-[10:19:19.640] After Reprojection Map nPoint:39 ,nCell:25 ,nMatches:11 ,distance between ekf and vo x:-0.000725 ,z=0.000029,angle between two frames:0.000470
-[10:19:19.640] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =26 	 error init =0.188537 	 error end=0.188537
-[10:19:19.640] After pose optimization, distance between ekf and vo x:-0.000725 ,z=0.000029,angle between two frames:0.000470
-[10:19:19.640] Update EKF and 3D points the number of feature in the new frame: 29 and number of obs: 29
-[10:19:19.640] key frame check new frame:0.003852 0.721235 0.005910, key close:0.006889 0.405808 0.019750
-[10:19:19.640] Choose frame as a key frame Scene Depth mean:-20891082.926923 ,depth min:-510610023.148457
-[10:19:19.640] frame process finished the id is: 131 the obs is:29 
-[10:19:19.645] Odometry x=0.003852, y=0.721235, theta=0.005910
-[10:19:19.647] Image Alignment failed 0
-[10:19:19.647] frame process finished the id is: 131 the obs is:29 
-[10:19:19.690] Image Alignment failed 0
-[10:19:19.690] frame process finished the id is: 131 the obs is:29 
-[10:19:19.755] Odometry x=0.003705, y=0.734158, theta=0.010397
-[10:19:19.797] Image Alignment failed 0
-[10:19:19.797] frame process finished the id is: 131 the obs is:29 
-[10:19:19.849] Odometry x=0.004200, y=0.747102, theta=0.017929
-[10:19:19.895] Image Alignment failed 0
-[10:19:19.895] frame process finished the id is: 131 the obs is:29 
-[10:19:19.948] Odometry x=0.004298, y=0.756770, theta=0.016263
-[10:19:19.997] Image Alignment failed 0
-[10:19:19.997] frame process finished the id is: 131 the obs is:29 
-[10:19:20.048] Odometry x=0.004175, y=0.767475, theta=0.035514
-[10:19:20.097] Image Alignment failed 0
-[10:19:20.098] frame process finished the id is: 131 the obs is:29 
-[10:19:20.148] Odometry x=0.002891, y=0.778102, theta=0.009776
-[10:19:20.196] Image Alignment failed 0
-[10:19:20.196] frame process finished the id is: 131 the obs is:29 
-[10:19:20.243] Odometry x=0.000899, y=0.789664, theta=0.007059
-[10:19:20.295] Image Alignment failed 0
-[10:19:20.296] frame process finished the id is: 131 the obs is:29 
-[10:19:20.348] Odometry x=0.000802, y=0.800867, theta=0.010830
-[10:19:20.398] Image Alignment failed 0
-[10:19:20.398] frame process finished the id is: 131 the obs is:29 
-[10:19:20.448] Odometry x=0.001733, y=0.816771, theta=0.015596
-[10:19:20.496] Image Alignment failed 0
-[10:19:20.496] frame process finished the id is: 131 the obs is:29 
-[10:19:20.548] Odometry x=0.001636, y=0.827815, theta=0.019343
-[10:19:20.593] Image Alignment failed 0
-[10:19:20.593] frame process finished the id is: 131 the obs is:29 
-[10:19:20.647] Odometry x=0.001401, y=0.838257, theta=0.018649
-[10:19:20.696] Image Alignment failed 0
-[10:19:20.696] frame process finished the id is: 131 the obs is:29 
-[10:19:20.748] Odometry x=0.001306, y=0.849119, theta=0.017379
-[10:19:20.796] Image Alignment failed 0
-[10:19:20.796] frame process finished the id is: 131 the obs is:29 
-[10:19:20.843] Odometry x=0.000404, y=0.863688, theta=0.019185
-[10:19:20.896] Image Alignment failed 0
-[10:19:20.896] frame process finished the id is: 131 the obs is:29 
-[10:19:20.948] Odometry x=0.000304, y=0.875311, theta=0.015747
-[10:19:20.997] Image Alignment failed 0
-[10:19:20.997] frame process finished the id is: 131 the obs is:29 
-[10:19:21.049] Odometry x=0.000251, y=0.886710, theta=0.012273
-[10:19:21.090] Image Alignment failed 0
-[10:19:21.091] frame process finished the id is: 131 the obs is:29 
-[10:19:21.148] Odometry x=0.002111, y=0.897546, theta=0.021969
-[10:19:21.191] Image Alignment failed 0
-[10:19:21.191] frame process finished the id is: 131 the obs is:29 
-[10:19:21.252] Odometry x=0.002034, y=0.907680, theta=0.011185
-[10:19:21.291] Image Alignment failed 0
-[10:19:21.291] frame process finished the id is: 131 the obs is:29 
-[10:19:21.348] Odometry x=0.001969, y=0.919042, theta=0.015000
-[10:19:21.397] Image Alignment failed 0
-[10:19:21.397] frame process finished the id is: 131 the obs is:29 
-[10:19:21.448] Odometry x=0.001927, y=0.929282, theta=0.017922
-[10:19:21.496] Image Alignment failed 0
-[10:19:21.496] frame process finished the id is: 131 the obs is:29 
-[10:19:21.548] Odometry x=0.001804, y=0.943545, theta=0.026231
-[10:19:21.596] Image Alignment failed 0
-[10:19:21.596] frame process finished the id is: 131 the obs is:29 
-[10:19:21.648] Odometry x=0.002229, y=0.954198, theta=0.017568
-[10:19:21.696] Image Alignment failed 0
-[10:19:21.696] frame process finished the id is: 131 the obs is:29 
-[10:19:21.748] Odometry x=0.002728, y=0.965056, theta=0.011717
-[10:19:21.809] Image Alignment failed 0
-[10:19:21.809] frame process finished the id is: 131 the obs is:29 
-[10:19:21.849] Odometry x=0.002299, y=0.976638, theta=0.023812
-[10:19:21.901] Image Alignment failed 0
-[10:19:21.901] frame process finished the id is: 131 the obs is:29 
-[10:19:21.949] Odometry x=0.002739, y=0.988210, theta=0.022159
-[10:19:21.996] Image Alignment failed 0
-[10:19:21.996] frame process finished the id is: 131 the obs is:29 
-[10:19:22.045] Odometry x=0.001662, y=1.001288, theta=0.014701
-[10:19:22.096] Image Alignment failed 0
-[10:19:22.097] frame process finished the id is: 131 the obs is:29 
-[10:19:22.141] Odometry x=0.001587, y=1.012116, theta=0.014444
-[10:19:22.197] Image Alignment failed 0
-[10:19:22.197] frame process finished the id is: 131 the obs is:29 
-[10:19:22.248] Odometry x=0.001195, y=1.023074, theta=0.014327
-[10:19:22.296] Image Alignment failed 0
-[10:19:22.296] frame process finished the id is: 131 the obs is:29 
-[10:19:22.349] Odometry x=0.001918, y=1.034090, theta=0.024859
-[10:19:22.397] Image Alignment failed 0
-[10:19:22.397] frame process finished the id is: 131 the obs is:29 
-[10:19:22.449] Odometry x=0.001773, y=1.043171, theta=0.029605
-[10:19:22.498] Image Alignment failed 0
-[10:19:22.499] frame process finished the id is: 131 the obs is:29 
-[10:19:22.550] Odometry x=0.002315, y=1.054363, theta=0.019067
-[10:19:22.597] Image Alignment failed 0
-[10:19:22.597] frame process finished the id is: 131 the obs is:29 
-[10:19:22.650] Odometry x=0.002180, y=1.066718, theta=0.022494
-[10:19:22.699] Image Alignment failed 0
-[10:19:22.699] frame process finished the id is: 131 the obs is:29 
-[10:19:22.749] Odometry x=0.001854, y=1.082804, theta=0.013635
-[10:19:22.798] Image Alignment failed 0
-[10:19:22.798] frame process finished the id is: 131 the obs is:29 
-[10:19:22.849] Odometry x=0.002335, y=1.093423, theta=0.017516
-[10:19:22.891] Image Alignment failed 0
-[10:19:22.891] frame process finished the id is: 131 the obs is:29 
-[10:19:22.947] Odometry x=0.002258, y=1.103885, theta=0.008369
-[10:19:22.997] Image Alignment failed 0
-[10:19:22.997] frame process finished the id is: 131 the obs is:29 
-[10:19:23.051] Odometry x=0.002195, y=1.118389, theta=0.017433
-[10:19:23.098] Image Alignment failed 0
-[10:19:23.098] frame process finished the id is: 131 the obs is:29 
-[10:19:23.151] Odometry x=0.002218, y=1.124679, theta=0.020795
-[10:19:23.200] Image Alignment failed 0
-[10:19:23.200] frame process finished the id is: 131 the obs is:29 
-[10:19:23.252] Odometry x=0.002132, y=1.135303, theta=0.009519
-[10:19:23.299] Image Alignment failed 0
-[10:19:23.299] frame process finished the id is: 131 the obs is:29 
-[10:19:23.350] Odometry x=0.002014, y=1.146192, theta=0.013223
-[10:19:23.391] Image Alignment failed 0
-[10:19:23.391] frame process finished the id is: 131 the obs is:29 
-[10:19:23.448] Odometry x=0.001920, y=1.156424, theta=0.019990
-[10:19:23.502] Image Alignment failed 0
-[10:19:23.502] frame process finished the id is: 131 the obs is:29 
-[10:19:23.548] Odometry x=0.001660, y=1.177706, theta=0.004411
-[10:19:23.596] Image Alignment failed 0
-[10:19:23.597] frame process finished the id is: 131 the obs is:29 
-[10:19:23.648] Odometry x=0.001941, y=1.212842, theta=-0.002200
-[10:19:23.697] Image Alignment failed 0
-[10:19:23.697] frame process finished the id is: 131 the obs is:29 
-[10:19:23.750] Odometry x=0.015797, y=1.210076, theta=0.004743
-[10:19:23.798] Image Alignment failed 0
-[10:19:23.798] frame process finished the id is: 131 the obs is:29 
-[10:19:23.850] Odometry x=0.015441, y=1.193680, theta=0.018754
-[10:19:23.897] Image Alignment failed 0
-[10:19:23.897] frame process finished the id is: 131 the obs is:29 
-[10:19:23.949] Odometry x=0.014957, y=1.177353, theta=0.041038
-[10:19:23.991] Image Alignment failed 0
-[10:19:23.991] frame process finished the id is: 131 the obs is:29 
-[10:19:24.046] Odometry x=0.016970, y=1.214489, theta=0.014233
-[10:19:24.093] Image Alignment failed 0
-[10:19:24.093] frame process finished the id is: 131 the obs is:29 
-[10:19:24.150] Odometry x=0.014117, y=1.252273, theta=0.015688
-[10:19:24.197] Image Alignment failed 0
-[10:19:24.197] frame process finished the id is: 131 the obs is:29 
-[10:19:24.249] Odometry x=0.013861, y=1.250276, theta=0.020811
-[10:19:24.297] Image Alignment failed 0
-[10:19:24.297] frame process finished the id is: 131 the obs is:29 
-[10:19:24.348] Odometry x=0.013754, y=1.262911, theta=0.002348
-[10:19:24.398] Image Alignment failed 0
-[10:19:24.398] frame process finished the id is: 131 the obs is:29 
-[10:19:24.446] Odometry x=0.014859, y=1.287563, theta=-0.010813
-[10:19:24.491] Image Alignment failed 0
-[10:19:24.491] frame process finished the id is: 131 the obs is:29 
-[10:19:24.550] Odometry x=0.014887, y=1.297164, theta=0.000546
-[10:19:24.597] Image Alignment failed 0
-[10:19:24.597] frame process finished the id is: 131 the obs is:29 
-[10:19:24.642] Odometry x=0.015706, y=1.307853, theta=0.010207
-[10:19:24.697] Image Alignment failed 0
-[10:19:24.697] frame process finished the id is: 131 the obs is:29 
-[10:19:24.743] Odometry x=0.015720, y=1.324642, theta=0.015389
-[10:19:24.798] Image Alignment failed 0
-[10:19:24.798] frame process finished the id is: 131 the obs is:29 
-[10:19:24.848] Odometry x=0.015679, y=1.335500, theta=0.015704
-[10:19:24.891] Image Alignment failed 0
-[10:19:24.891] frame process finished the id is: 131 the obs is:29 
-[10:19:24.941] Odometry x=0.015435, y=1.358881, theta=-0.003779
-[10:19:24.990] Image Alignment failed 0
-[10:19:24.990] frame process finished the id is: 131 the obs is:29 
-[10:19:25.042] Odometry x=0.020969, y=1.380680, theta=0.004983
-[10:19:25.096] Image Alignment failed 0
-[10:19:25.096] frame process finished the id is: 131 the obs is:29 
-[10:19:25.148] Odometry x=0.023965, y=1.398566, theta=0.006546
-[10:19:25.200] Image Alignment failed 0
-[10:19:25.200] frame process finished the id is: 131 the obs is:29 
-[10:19:25.248] Odometry x=0.021621, y=1.410620, theta=0.005929
-[10:19:25.297] Image Alignment failed 0
-[10:19:25.297] frame process finished the id is: 131 the obs is:29 
-[10:19:25.354] Odometry x=0.036842, y=1.452155, theta=-0.004257
-[10:19:25.398] Image Alignment failed 0
-[10:19:25.398] frame process finished the id is: 131 the obs is:29 
-[10:19:25.447] Odometry x=0.034935, y=1.438414, theta=-0.008617
-[10:19:25.501] Image Alignment failed 0
-[10:19:25.501] frame process finished the id is: 131 the obs is:29 
-[10:19:25.547] Odometry x=0.035348, y=1.448555, theta=-0.009625
-[10:19:25.598] Image Alignment failed 0
-[10:19:25.598] frame process finished the id is: 131 the obs is:29 
-[10:19:25.647] Odometry x=0.035380, y=1.459264, theta=0.000648
-[10:19:25.694] Image Alignment failed 0
-[10:19:25.694] frame process finished the id is: 131 the obs is:29 
-[10:19:25.751] Odometry x=0.035352, y=1.469983, theta=0.008872
-[10:19:25.800] Image Alignment failed 0
-[10:19:25.800] frame process finished the id is: 131 the obs is:29 
-[10:19:25.853] Odometry x=0.044370, y=1.481603, theta=0.003546
-[10:19:25.901] Image Alignment failed 0
-[10:19:25.901] frame process finished the id is: 131 the obs is:29 
-[10:19:25.947] Odometry x=0.044202, y=1.494135, theta=-0.041770
-[10:19:25.992] Image Alignment failed 0
-[10:19:25.992] frame process finished the id is: 131 the obs is:29 
-[10:19:26.056] Odometry x=0.036275, y=1.503985, theta=-0.010755
-[10:19:26.100] Image Alignment failed 0
-[10:19:26.100] frame process finished the id is: 131 the obs is:29 
-[10:19:26.150] Odometry x=0.036514, y=1.516307, theta=-0.018607
-[10:19:26.199] Image Alignment failed 0
-[10:19:26.199] frame process finished the id is: 131 the obs is:29 
-[10:19:26.249] Odometry x=0.025556, y=1.525652, theta=0.004200
-[10:19:26.293] Image Alignment failed 0
-[10:19:26.293] frame process finished the id is: 131 the obs is:29 
-[10:19:26.348] Odometry x=0.027275, y=1.523867, theta=0.010607
-[10:19:26.398] Image Alignment failed 0
-[10:19:26.399] frame process finished the id is: 131 the obs is:29 
-[10:19:26.448] Odometry x=0.026680, y=1.585285, theta=-0.000037
-[10:19:26.499] Image Alignment failed 0
-[10:19:26.499] frame process finished the id is: 131 the obs is:29 
-[10:19:26.548] Odometry x=0.034978, y=1.615025, theta=-0.009059
-[10:19:26.599] Image Alignment failed 0
-[10:19:26.599] frame process finished the id is: 131 the obs is:29 
-[10:19:26.647] Odometry x=0.026715, y=1.627272, theta=-0.026875
-[10:19:26.693] Image Alignment failed 0
-[10:19:26.693] frame process finished the id is: 131 the obs is:29 
-[10:19:26.752] Odometry x=0.026802, y=1.638151, theta=-0.017938
-[10:19:26.799] Image Alignment failed 0
-[10:19:26.799] frame process finished the id is: 131 the obs is:29 
-[10:19:26.848] Odometry x=0.026753, y=1.648279, theta=-0.010822
-[10:19:26.902] Image Alignment failed 0
-[10:19:26.902] frame process finished the id is: 131 the obs is:29 
-[10:19:26.952] Odometry x=0.027650, y=1.669770, theta=0.009068
-[10:19:26.994] Image Alignment failed 0
-[10:19:26.994] frame process finished the id is: 131 the obs is:29 
-[10:19:27.046] Odometry x=0.027436, y=1.681005, theta=-0.027849
-[10:19:27.098] Image Alignment failed 0
-[10:19:27.099] frame process finished the id is: 131 the obs is:29 
-[10:19:27.151] Odometry x=0.027590, y=1.691507, theta=-0.023318
-[10:19:27.198] Image Alignment failed 0
-[10:19:27.198] frame process finished the id is: 131 the obs is:29 
-[10:19:27.245] Odometry x=0.027385, y=1.702789, theta=-0.033129
-[10:19:27.308] Image Alignment failed 0
-[10:19:27.308] frame process finished the id is: 131 the obs is:29 
-[10:19:27.347] Odometry x=0.027326, y=1.735063, theta=-0.013515
-[10:19:27.427] Image Alignment failed 0
-[10:19:27.427] frame process finished the id is: 131 the obs is:29 
-[10:19:27.449] Odometry x=0.027499, y=1.765425, theta=-0.032436
-[10:19:27.529] Image Alignment failed 0
-[10:19:27.529] frame process finished the id is: 131 the obs is:29 
-[10:19:27.554] Odometry x=0.027535, y=1.771316, theta=-0.019725
-[10:19:27.631] Image Alignment failed 0
-[10:19:27.631] frame process finished the id is: 131 the obs is:29 
-[10:19:27.650] Odometry x=0.036442, y=1.782696, theta=-0.016998
-[10:19:27.725] Image Alignment failed 0
-[10:19:27.725] frame process finished the id is: 131 the obs is:29 
-[10:19:27.742] Odometry x=0.037355, y=1.822777, theta=0.005640
-[10:19:27.831] Image Alignment failed 0
-[10:19:27.831] frame process finished the id is: 131 the obs is:29 
-[10:19:27.848] Odometry x=0.035660, y=1.842366, theta=-0.006636
-[10:19:27.930] Image Alignment failed 0
-[10:19:27.930] frame process finished the id is: 131 the obs is:29 
-[10:19:27.948] Odometry x=0.031504, y=1.872277, theta=0.009768
-[10:19:28.031] Image Alignment failed 0
-[10:19:28.031] frame process finished the id is: 131 the obs is:29 
-[10:19:28.044] Odometry x=0.031614, y=1.884909, theta=-0.006166
-[10:19:28.132] Image Alignment failed 0
-[10:19:28.132] frame process finished the id is: 131 the obs is:29 
-[10:19:28.148] Odometry x=0.035492, y=1.895783, theta=-0.017915
-[10:19:28.231] Image Alignment failed 0
-[10:19:28.231] frame process finished the id is: 131 the obs is:29 
-[10:19:28.247] Odometry x=0.040044, y=1.907133, theta=-0.028553
-[10:19:28.332] Image Alignment failed 0
-[10:19:28.332] frame process finished the id is: 131 the obs is:29 
-[10:19:28.346] Odometry x=0.050381, y=1.954773, theta=-0.006402
-[10:19:28.430] Image Alignment failed 0
-[10:19:28.430] frame process finished the id is: 131 the obs is:29 
-[10:19:28.447] Odometry x=0.049204, y=1.979387, theta=-0.005672
-[10:19:28.532] Image Alignment failed 0
-[10:19:28.532] frame process finished the id is: 131 the obs is:29 
-[10:19:28.546] Odometry x=0.049209, y=1.990789, theta=-0.008090
-[10:19:28.631] Image Alignment failed 0
-[10:19:28.631] frame process finished the id is: 131 the obs is:29 
-[10:19:28.647] Odometry x=0.049396, y=2.011296, theta=-0.003893
-[10:19:28.730] Image Alignment failed 0
-[10:19:28.730] frame process finished the id is: 131 the obs is:29 
-[10:19:28.746] Odometry x=0.049234, y=2.022016, theta=0.000322
-[10:19:28.830] Image Alignment failed 0
-[10:19:28.830] frame process finished the id is: 131 the obs is:29 
-[10:19:28.846] Odometry x=0.049238, y=2.032881, theta=-0.002959
-[10:19:28.931] Image Alignment failed 0
-[10:19:28.931] frame process finished the id is: 131 the obs is:29 
-[10:19:28.948] Odometry x=0.049236, y=2.043604, theta=-0.008960
-[10:19:29.031] Image Alignment failed 0
-[10:19:29.031] frame process finished the id is: 131 the obs is:29 
-[10:19:29.048] Odometry x=0.049478, y=2.064940, theta=-0.008799
-[10:19:29.132] Image Alignment failed 0
-[10:19:29.132] frame process finished the id is: 131 the obs is:29 
-[10:19:29.143] Odometry x=0.049304, y=2.075846, theta=0.001304
-[10:19:29.232] Image Alignment failed 0
-[10:19:29.232] frame process finished the id is: 131 the obs is:29 
-[10:19:29.244] Odometry x=0.049265, y=2.086602, theta=0.004828
-[10:19:29.331] Image Alignment failed 0
-[10:19:29.331] frame process finished the id is: 131 the obs is:29 
-[10:19:29.344] Odometry x=0.052293, y=2.097456, theta=-0.012895
-[10:19:29.431] Image Alignment failed 0
-[10:19:29.431] frame process finished the id is: 131 the obs is:29 
-[10:19:29.444] Odometry x=0.052413, y=2.108958, theta=0.000806
-[10:19:29.531] Image Alignment failed 0
-[10:19:29.531] frame process finished the id is: 131 the obs is:29 
-[10:19:29.550] Odometry x=0.053582, y=2.159752, theta=-0.002528
-[10:19:29.631] Image Alignment failed 0
-[10:19:29.631] frame process finished the id is: 131 the obs is:29 
-[10:19:29.645] Odometry x=0.053862, y=2.176185, theta=-0.008665
-[10:19:29.732] Image Alignment failed 0
-[10:19:29.732] frame process finished the id is: 131 the obs is:29 
-[10:19:29.746] Odometry x=0.067773, y=2.202819, theta=-0.018791
-[10:19:29.831] Image Alignment failed 0
-[10:19:29.831] frame process finished the id is: 131 the obs is:29 
-[10:19:29.849] Odometry x=0.045067, y=2.222364, theta=-0.016906
-[10:19:29.931] Image Alignment failed 0
-[10:19:29.931] frame process finished the id is: 131 the obs is:29 
-[10:19:29.950] Odometry x=0.045190, y=2.233354, theta=-0.020058
-[10:19:30.034] Image Alignment failed 0
-[10:19:30.034] frame process finished the id is: 131 the obs is:29 
-[10:19:30.047] Odometry x=0.059268, y=2.232997, theta=-0.009949
-[10:19:30.131] Image Alignment failed 0
-[10:19:30.131] frame process finished the id is: 131 the obs is:29 
-[10:19:30.147] Odometry x=0.068403, y=2.249518, theta=-0.002333
-[10:19:30.231] Image Alignment failed 0
-[10:19:30.231] frame process finished the id is: 131 the obs is:29 
-[10:19:30.253] Odometry x=0.068451, y=2.259885, theta=-0.021404
-[10:19:30.331] Image Alignment failed 0
-[10:19:30.331] frame process finished the id is: 131 the obs is:29 
-[10:19:30.353] Odometry x=0.068584, y=2.270674, theta=-0.020065
-[10:19:30.432] Image Alignment failed 0
-[10:19:30.432] frame process finished the id is: 131 the obs is:29 
-[10:19:30.530] Image Alignment failed 0
-[10:19:30.530] frame process finished the id is: 131 the obs is:29 
-[10:19:30.632] Image Alignment failed 0
-[10:19:30.632] frame process finished the id is: 131 the obs is:29 
-[10:19:30.731] Image Alignment failed 0
-[10:19:30.731] frame process finished the id is: 131 the obs is:29 
-[10:19:30.830] Image Alignment failed 0
-[10:19:30.830] frame process finished the id is: 131 the obs is:29 
-[10:19:30.931] Image Alignment failed 0
-[10:19:30.931] frame process finished the id is: 131 the obs is:29 
-[10:19:31.030] Image Alignment failed 0
-[10:19:31.030] frame process finished the id is: 131 the obs is:29 
-[10:19:31.131] Image Alignment failed 0
-[10:19:31.131] frame process finished the id is: 131 the obs is:29 
-[10:19:31.230] Image Alignment failed 0
-[10:19:31.230] frame process finished the id is: 131 the obs is:29 
-[10:19:31.335] Image Alignment failed 0
-[10:19:31.335] frame process finished the id is: 131 the obs is:29 
-[10:19:31.432] Image Alignment failed 0
-[10:19:31.432] frame process finished the id is: 131 the obs is:29 
-[10:19:31.532] Image Alignment failed 0
-[10:19:31.532] frame process finished the id is: 131 the obs is:29 
-[10:19:31.631] Image Alignment failed 0
-[10:19:31.631] frame process finished the id is: 131 the obs is:29 
-[10:19:31.730] Image Alignment failed 0
-[10:19:31.730] frame process finished the id is: 131 the obs is:29 
-[10:19:31.831] Image Alignment failed 0
-[10:19:31.831] frame process finished the id is: 131 the obs is:29 
-[10:19:31.932] Image Alignment failed 0
-[10:19:31.932] frame process finished the id is: 131 the obs is:29 
-[10:19:32.031] Image Alignment failed 0
-[10:19:32.031] frame process finished the id is: 131 the obs is:29 
-[10:19:32.131] Image Alignment failed 0
-[10:19:32.131] frame process finished the id is: 131 the obs is:29 
-[10:19:32.231] Image Alignment failed 0
-[10:19:32.231] frame process finished the id is: 131 the obs is:29 
-[10:19:32.331] Image Alignment failed 0
-[10:19:32.331] frame process finished the id is: 131 the obs is:29 
-[10:19:32.431] Image Alignment failed 0
-[10:19:32.431] frame process finished the id is: 131 the obs is:29 
-[10:19:32.531] Image Alignment failed 0
-[10:19:32.531] frame process finished the id is: 131 the obs is:29 
-[10:19:32.632] Image Alignment failed 0
-[10:19:32.632] frame process finished the id is: 131 the obs is:29 
-[10:19:32.731] Image Alignment failed 0
-[10:19:32.731] frame process finished the id is: 131 the obs is:29 
-[10:19:32.832] Image Alignment failed 0
-[10:19:32.832] frame process finished the id is: 131 the obs is:29 
-[10:19:32.931] Image Alignment failed 0
-[10:19:32.931] frame process finished the id is: 131 the obs is:29 
-[10:19:33.032] Image Alignment failed 0
-[10:19:33.032] frame process finished the id is: 131 the obs is:29 
-[10:19:33.132] Image Alignment failed 0
-[10:19:33.132] frame process finished the id is: 131 the obs is:29 
-[10:19:33.234] Image Alignment failed 0
-[10:19:33.234] frame process finished the id is: 131 the obs is:29 
-[10:19:33.331] Image Alignment failed 0
-[10:19:33.331] frame process finished the id is: 131 the obs is:29 
-[10:19:33.430] Image Alignment failed 0
-[10:19:33.430] frame process finished the id is: 131 the obs is:29 
-[10:19:33.530] Image Alignment failed 0
-[10:19:33.530] frame process finished the id is: 131 the obs is:29 
-[10:19:33.631] Image Alignment failed 0
-[10:19:33.631] frame process finished the id is: 131 the obs is:29 
-[10:19:33.730] Image Alignment failed 0
-[10:19:33.730] frame process finished the id is: 131 the obs is:29 
-[10:19:33.831] Image Alignment failed 0
-[10:19:33.831] frame process finished the id is: 131 the obs is:29 
-[10:19:33.934] Image Alignment failed 0
-[10:19:33.934] frame process finished the id is: 131 the obs is:29 
-[10:19:34.031] Image Alignment failed 0
-[10:19:34.031] frame process finished the id is: 131 the obs is:29 
-[10:19:34.131] Image Alignment failed 0
-[10:19:34.131] frame process finished the id is: 131 the obs is:29 
-[10:19:34.231] Image Alignment failed 0
-[10:19:34.231] frame process finished the id is: 131 the obs is:29 
-[10:19:34.331] Image Alignment failed 0
-[10:19:34.331] frame process finished the id is: 131 the obs is:29 
-[10:19:34.431] Image Alignment failed 0
-[10:19:34.431] frame process finished the id is: 131 the obs is:29 
-[10:19:34.531] Image Alignment failed 0
-[10:19:34.531] frame process finished the id is: 131 the obs is:29 
-[10:19:34.631] Image Alignment failed 0
-[10:19:34.631] frame process finished the id is: 131 the obs is:29 
-[10:19:34.731] Image Alignment failed 0
-[10:19:34.731] frame process finished the id is: 131 the obs is:29 
-[10:19:34.831] Image Alignment failed 0
-[10:19:34.831] frame process finished the id is: 131 the obs is:29 
-[10:19:34.931] Image Alignment failed 0
-[10:19:34.931] frame process finished the id is: 131 the obs is:29 
-[10:19:35.032] Image Alignment failed 0
-[10:19:35.032] frame process finished the id is: 131 the obs is:29 
-[10:19:35.131] Image Alignment failed 0
-[10:19:35.131] frame process finished the id is: 131 the obs is:29 
-[10:19:35.231] Image Alignment failed 0
-[10:19:35.231] frame process finished the id is: 131 the obs is:29 
-[10:19:35.332] Image Alignment failed 0
-[10:19:35.332] frame process finished the id is: 131 the obs is:29 
-[10:19:35.435] Image Alignment failed 0
-[10:19:35.435] frame process finished the id is: 131 the obs is:29 
-[10:19:35.533] Image Alignment failed 0
-[10:19:35.533] frame process finished the id is: 131 the obs is:29 
-[10:19:35.636] Image Alignment failed 0
-[10:19:35.636] frame process finished the id is: 131 the obs is:29 
-[10:19:35.731] Image Alignment failed 0
-[10:19:35.731] frame process finished the id is: 131 the obs is:29 
-[10:19:35.831] Image Alignment failed 0
-[10:19:35.831] frame process finished the id is: 131 the obs is:29 
-[10:19:35.931] Image Alignment failed 0
-[10:19:35.931] frame process finished the id is: 131 the obs is:29 
-[10:19:36.031] Image Alignment failed 0
-[10:19:36.031] frame process finished the id is: 131 the obs is:29 
-[10:19:36.131] Image Alignment failed 0
-[10:19:36.131] frame process finished the id is: 131 the obs is:29 
-[10:19:36.230] Image Alignment failed 0
-[10:19:36.230] frame process finished the id is: 131 the obs is:29 
-[10:19:36.331] Image Alignment failed 0
-[10:19:36.331] frame process finished the id is: 131 the obs is:29 
-[10:19:36.431] Image Alignment failed 0
-[10:19:36.431] frame process finished the id is: 131 the obs is:29 
-[10:19:36.531] Image Alignment failed 0
-[10:19:36.531] frame process finished the id is: 131 the obs is:29 
-[10:19:36.632] Image Alignment failed 0
-[10:19:36.632] frame process finished the id is: 131 the obs is:29 
-[10:19:36.731] Image Alignment failed 0
-[10:19:36.731] frame process finished the id is: 131 the obs is:29 
-[10:19:36.832] Image Alignment failed 0
-[10:19:36.832] frame process finished the id is: 131 the obs is:29 
-[10:19:36.931] Image Alignment failed 0
-[10:19:36.931] frame process finished the id is: 131 the obs is:29 
-[10:19:37.031] Image Alignment failed 0
-[10:19:37.031] frame process finished the id is: 131 the obs is:29 
-[10:19:37.131] Image Alignment failed 0
-[10:19:37.131] frame process finished the id is: 131 the obs is:29 
-[10:19:37.232] Image Alignment failed 0
-[10:19:37.232] frame process finished the id is: 131 the obs is:29 
-[10:19:37.332] Image Alignment failed 0
-[10:19:37.332] frame process finished the id is: 131 the obs is:29 
-[10:19:37.431] Image Alignment failed 0
-[10:19:37.431] frame process finished the id is: 131 the obs is:29 
-[10:19:37.532] Image Alignment failed 0
-[10:19:37.532] frame process finished the id is: 131 the obs is:29 
-[10:19:37.631] Image Alignment failed 0
-[10:19:37.631] frame process finished the id is: 131 the obs is:29 
-[10:19:37.731] Image Alignment failed 0
-[10:19:37.731] frame process finished the id is: 131 the obs is:29 
-[10:19:37.831] Image Alignment failed 0
-[10:19:37.832] frame process finished the id is: 131 the obs is:29 
-[10:19:37.932] Image Alignment failed 0
-[10:19:37.932] frame process finished the id is: 131 the obs is:29 
-[10:19:38.031] Image Alignment failed 0
-[10:19:38.031] frame process finished the id is: 131 the obs is:29 
-[10:19:38.131] Image Alignment failed 0
-[10:19:38.131] frame process finished the id is: 131 the obs is:29 
-[10:19:38.232] Image Alignment failed 0
-[10:19:38.232] frame process finished the id is: 131 the obs is:29 
-[10:19:38.332] Image Alignment failed 0
-[10:19:38.332] frame process finished the id is: 131 the obs is:29 
-[10:19:38.431] Image Alignment failed 0
-[10:19:38.431] frame process finished the id is: 131 the obs is:29 
-[10:19:38.531] Image Alignment failed 0
-[10:19:38.531] frame process finished the id is: 131 the obs is:29 
-[10:19:38.633] Image Alignment failed 0
-[10:19:38.633] frame process finished the id is: 131 the obs is:29 
-[10:19:38.732] Image Alignment failed 0
-[10:19:38.732] frame process finished the id is: 131 the obs is:29 
-[10:19:38.831] Image Alignment failed 0
-[10:19:38.831] frame process finished the id is: 131 the obs is:29 
-[10:19:38.932] Image Alignment failed 0
-[10:19:38.932] frame process finished the id is: 131 the obs is:29 
-[10:19:39.034] Image Alignment failed 0
-[10:19:39.034] frame process finished the id is: 131 the obs is:29 
-[10:19:39.131] Image Alignment failed 0
-[10:19:39.131] frame process finished the id is: 131 the obs is:29 
-[10:19:39.231] Image Alignment failed 0
-[10:19:39.231] frame process finished the id is: 131 the obs is:29 
-[10:19:39.333] Image Alignment failed 0
-[10:19:39.333] frame process finished the id is: 131 the obs is:29 
-[10:19:39.432] Image Alignment failed 0
-[10:19:39.432] frame process finished the id is: 131 the obs is:29 
-[10:19:39.532] Image Alignment failed 0
-[10:19:39.532] frame process finished the id is: 131 the obs is:29 
-[10:19:39.635] Image Alignment failed 0
-[10:19:39.635] frame process finished the id is: 131 the obs is:29 
-[10:19:39.731] Image Alignment failed 0
-[10:19:39.731] frame process finished the id is: 131 the obs is:29 
-[10:19:39.831] Image Alignment failed 0
-[10:19:39.831] frame process finished the id is: 131 the obs is:29 
-[10:19:39.931] Image Alignment failed 0
-[10:19:39.931] frame process finished the id is: 131 the obs is:29 
-[10:19:40.031] Image Alignment failed 0
-[10:19:40.031] frame process finished the id is: 131 the obs is:29 
-[10:19:40.131] Image Alignment failed 0
-[10:19:40.131] frame process finished the id is: 131 the obs is:29 
-[10:19:40.232] Image Alignment failed 0
-[10:19:40.232] frame process finished the id is: 131 the obs is:29 
-[10:19:40.331] Image Alignment failed 0
-[10:19:40.331] frame process finished the id is: 131 the obs is:29 
-[10:19:40.431] Image Alignment failed 0
-[10:19:40.431] frame process finished the id is: 131 the obs is:29 
-[10:19:40.532] Image Alignment failed 0
-[10:19:40.532] frame process finished the id is: 131 the obs is:29 
-[10:19:40.631] Image Alignment failed 0
-[10:19:40.631] frame process finished the id is: 131 the obs is:29 
-[10:19:40.732] Image Alignment failed 0
-[10:19:40.732] frame process finished the id is: 131 the obs is:29 
-[10:19:40.831] Image Alignment failed 0
-[10:19:40.831] frame process finished the id is: 131 the obs is:29 
-[10:19:40.934] Image Alignment failed 0
-[10:19:40.934] frame process finished the id is: 131 the obs is:29 
-[10:19:41.034] Image Alignment failed 0
-[10:19:41.034] frame process finished the id is: 131 the obs is:29 
-[10:19:41.136] Image Alignment failed 0
-[10:19:41.136] frame process finished the id is: 131 the obs is:29 
-[10:19:41.231] Image Alignment failed 0
-[10:19:41.231] frame process finished the id is: 131 the obs is:29 
-[10:19:41.332] Image Alignment failed 0
-[10:19:41.332] frame process finished the id is: 131 the obs is:29 
-[10:19:41.432] Image Alignment failed 0
-[10:19:41.432] frame process finished the id is: 131 the obs is:29 
-[10:19:41.532] Image Alignment failed 0
-[10:19:41.532] frame process finished the id is: 131 the obs is:29 
-[10:19:41.631] Image Alignment failed 0
-[10:19:41.631] frame process finished the id is: 131 the obs is:29 
-[10:19:41.731] Image Alignment failed 0
-[10:19:41.731] frame process finished the id is: 131 the obs is:29 
-[10:19:41.832] Image Alignment failed 0
-[10:19:41.832] frame process finished the id is: 131 the obs is:29 
-[10:19:41.932] Image Alignment failed 0
-[10:19:41.932] frame process finished the id is: 131 the obs is:29 
-[10:19:42.032] Image Alignment failed 0
-[10:19:42.032] frame process finished the id is: 131 the obs is:29 
-[10:19:42.132] Image Alignment failed 0
-[10:19:42.132] frame process finished the id is: 131 the obs is:29 
-[10:19:42.233] Image Alignment failed 0
-[10:19:42.233] frame process finished the id is: 131 the obs is:29 
-[10:19:42.333] Image Alignment failed 0
-[10:19:42.333] frame process finished the id is: 131 the obs is:29 
-[10:19:42.433] Image Alignment failed 0
-[10:19:42.433] frame process finished the id is: 131 the obs is:29 
-[10:19:42.530] Image Alignment failed 0
-[10:19:42.530] frame process finished the id is: 131 the obs is:29 
-[10:19:42.632] Image Alignment failed 0
-[10:19:42.632] frame process finished the id is: 131 the obs is:29 
-[10:19:42.735] Image Alignment failed 0
-[10:19:42.735] frame process finished the id is: 131 the obs is:29 
-[10:19:42.833] Image Alignment failed 0
-[10:19:42.833] frame process finished the id is: 131 the obs is:29 
-[10:19:42.934] Image Alignment failed 0
-[10:19:42.934] frame process finished the id is: 131 the obs is:29 
-[10:19:43.035] Image Alignment failed 0
-[10:19:43.035] frame process finished the id is: 131 the obs is:29 
-[10:19:43.131] Image Alignment failed 0
-[10:19:43.131] frame process finished the id is: 131 the obs is:29 
-[10:19:43.232] Image Alignment failed 0
-[10:19:43.232] frame process finished the id is: 131 the obs is:29 
-[10:19:43.331] Image Alignment failed 0
-[10:19:43.331] frame process finished the id is: 131 the obs is:29 
-[10:19:43.432] Image Alignment failed 0
-[10:19:43.432] frame process finished the id is: 131 the obs is:29 
-[10:19:43.531] Image Alignment failed 0
-[10:19:43.531] frame process finished the id is: 131 the obs is:29 
-[10:19:43.631] Image Alignment failed 0
-[10:19:43.631] frame process finished the id is: 131 the obs is:29 
-[10:19:43.733] Image Alignment failed 0
-[10:19:43.733] frame process finished the id is: 131 the obs is:29 
-[10:19:43.834] Image Alignment failed 0
-[10:19:43.834] frame process finished the id is: 131 the obs is:29 
-[10:19:43.932] Image Alignment failed 0
-[10:19:43.932] frame process finished the id is: 131 the obs is:29 
-[10:19:44.034] Image Alignment failed 0
-[10:19:44.034] frame process finished the id is: 131 the obs is:29 
-[10:19:44.133] Image Alignment failed 0
-[10:19:44.133] frame process finished the id is: 131 the obs is:29 
-[10:19:44.230] Image Alignment failed 0
-[10:19:44.230] frame process finished the id is: 131 the obs is:29 
-[10:19:44.332] Image Alignment failed 0
-[10:19:44.332] frame process finished the id is: 131 the obs is:29 
-[10:19:44.432] Image Alignment failed 0
-[10:19:44.432] frame process finished the id is: 131 the obs is:29 
-[10:19:44.532] Image Alignment failed 0
-[10:19:44.532] frame process finished the id is: 131 the obs is:29 
-[10:19:44.632] Image Alignment failed 0
-[10:19:44.632] frame process finished the id is: 131 the obs is:29 
-[10:19:44.734] Image Alignment failed 0
-[10:19:44.734] frame process finished the id is: 131 the obs is:29 
-[10:19:44.830] Image Alignment failed 0
-[10:19:44.830] frame process finished the id is: 131 the obs is:29 
-[10:19:44.933] Image Alignment failed 0
-[10:19:44.933] frame process finished the id is: 131 the obs is:29 
-[10:19:45.032] Image Alignment failed 0
-[10:19:45.032] frame process finished the id is: 131 the obs is:29 
-[10:19:45.131] Image Alignment failed 0
-[10:19:45.131] frame process finished the id is: 131 the obs is:29 
-[10:19:45.231] Image Alignment failed 0
-[10:19:45.231] frame process finished the id is: 131 the obs is:29 
-[10:19:45.332] Image Alignment failed 0
-[10:19:45.332] frame process finished the id is: 131 the obs is:29 
-[10:19:45.433] Image Alignment failed 0
-[10:19:45.433] frame process finished the id is: 131 the obs is:29 
-[10:19:45.532] Image Alignment failed 0
-[10:19:45.533] frame process finished the id is: 131 the obs is:29 
-[10:19:45.632] Image Alignment failed 0
-[10:19:45.632] frame process finished the id is: 131 the obs is:29 
-[10:19:45.732] Image Alignment failed 0
-[10:19:45.732] frame process finished the id is: 131 the obs is:29 
-[10:19:45.832] Image Alignment failed 0
-[10:19:45.832] frame process finished the id is: 131 the obs is:29 
-[10:19:45.933] Image Alignment failed 0
-[10:19:45.933] frame process finished the id is: 131 the obs is:29 
-[10:19:46.032] Image Alignment failed 0
-[10:19:46.032] frame process finished the id is: 131 the obs is:29 
-[10:19:46.131] Image Alignment failed 0
-[10:19:46.132] frame process finished the id is: 131 the obs is:29 
-[10:19:46.234] Image Alignment failed 0
-[10:19:46.234] frame process finished the id is: 131 the obs is:29 
-[10:19:46.334] Image Alignment failed 0
-[10:19:46.334] frame process finished the id is: 131 the obs is:29 
-[10:19:46.431] Image Alignment failed 0
-[10:19:46.431] frame process finished the id is: 131 the obs is:29 
-[10:19:46.533] Image Alignment failed 0
-[10:19:46.533] frame process finished the id is: 131 the obs is:29 
-[10:19:46.626] Image Alignment failed 0
-[10:19:46.626] frame process finished the id is: 131 the obs is:29 
-[10:19:46.732] Image Alignment failed 0
-[10:19:46.732] frame process finished the id is: 131 the obs is:29 
-[10:19:46.835] Image Alignment failed 0
-[10:19:46.835] frame process finished the id is: 131 the obs is:29 
-[10:19:46.933] Image Alignment failed 0
-[10:19:46.933] frame process finished the id is: 131 the obs is:29 
-[10:19:47.033] Image Alignment failed 0
-[10:19:47.033] frame process finished the id is: 131 the obs is:29 
-[10:19:47.131] Image Alignment failed 0
-[10:19:47.131] frame process finished the id is: 131 the obs is:29 
-[10:19:47.233] Image Alignment failed 0
-[10:19:47.233] frame process finished the id is: 131 the obs is:29 
-[10:19:47.332] Image Alignment failed 0
-[10:19:47.332] frame process finished the id is: 131 the obs is:29 
-[10:19:47.435] Image Alignment failed 0
-[10:19:47.435] frame process finished the id is: 131 the obs is:29 
-[10:19:47.532] Image Alignment failed 0
-[10:19:47.532] frame process finished the id is: 131 the obs is:29 
-[10:19:47.633] Image Alignment failed 0
-[10:19:47.633] frame process finished the id is: 131 the obs is:29 
-[10:19:47.733] Image Alignment failed 0
-[10:19:47.733] frame process finished the id is: 131 the obs is:29 
-[10:19:47.832] Image Alignment failed 0
-[10:19:47.832] frame process finished the id is: 131 the obs is:29 
-[10:19:47.933] Image Alignment failed 0
-[10:19:47.933] frame process finished the id is: 131 the obs is:29 
-[10:19:48.033] Image Alignment failed 0
-[10:19:48.033] frame process finished the id is: 131 the obs is:29 
-[10:19:48.132] Image Alignment failed 0
-[10:19:48.132] frame process finished the id is: 131 the obs is:29 
-[10:19:48.233] Image Alignment failed 0
-[10:19:48.233] frame process finished the id is: 131 the obs is:29 
-[10:19:48.336] Image Alignment failed 0
-[10:19:48.336] frame process finished the id is: 131 the obs is:29 
-[10:19:48.432] Image Alignment failed 0
-[10:19:48.432] frame process finished the id is: 131 the obs is:29 
-[10:19:48.534] Image Alignment failed 0
-[10:19:48.534] frame process finished the id is: 131 the obs is:29 
-[10:19:48.632] Image Alignment failed 0
-[10:19:48.632] frame process finished the id is: 131 the obs is:29 
-[10:19:48.733] Image Alignment failed 0
-[10:19:48.733] frame process finished the id is: 131 the obs is:29 
-[10:19:48.833] Image Alignment failed 0
-[10:19:48.834] frame process finished the id is: 131 the obs is:29 
-[10:19:48.931] Image Alignment failed 0
-[10:19:48.932] frame process finished the id is: 131 the obs is:29 
-[10:19:49.032] Image Alignment failed 0
-[10:19:49.032] frame process finished the id is: 131 the obs is:29 
-[10:19:49.132] Image Alignment failed 0
-[10:19:49.132] frame process finished the id is: 131 the obs is:29 
-[10:19:49.232] Image Alignment failed 0
-[10:19:49.232] frame process finished the id is: 131 the obs is:29 
-[10:19:49.332] Image Alignment failed 0
-[10:19:49.332] frame process finished the id is: 131 the obs is:29 
-[10:19:49.434] Image Alignment failed 0
-[10:19:49.434] frame process finished the id is: 131 the obs is:29 
-[10:19:49.531] Image Alignment failed 0
-[10:19:49.531] frame process finished the id is: 131 the obs is:29 
-[10:19:49.633] Image Alignment failed 0
-[10:19:49.633] frame process finished the id is: 131 the obs is:29 
-[10:19:49.733] Image Alignment failed 0
-[10:19:49.733] frame process finished the id is: 131 the obs is:29 
-[10:19:49.832] Image Alignment failed 0
-[10:19:49.832] frame process finished the id is: 131 the obs is:29 
-[10:19:49.932] Image Alignment failed 0
-[10:19:49.933] frame process finished the id is: 131 the obs is:29 
-[10:19:50.033] Image Alignment failed 0
-[10:19:50.033] frame process finished the id is: 131 the obs is:29 
-[10:19:50.134] Image Alignment failed 0
-[10:19:50.134] frame process finished the id is: 131 the obs is:29 
-[10:19:50.233] Image Alignment failed 0
-[10:19:50.233] frame process finished the id is: 131 the obs is:29 
-[10:19:50.332] Image Alignment failed 0
-[10:19:50.332] frame process finished the id is: 131 the obs is:29 
-[10:19:50.433] Image Alignment failed 0
-[10:19:50.433] frame process finished the id is: 131 the obs is:29 
-[10:19:50.534] Image Alignment failed 0
-[10:19:50.534] frame process finished the id is: 131 the obs is:29 
-[10:19:50.632] Image Alignment failed 0
-[10:19:50.632] frame process finished the id is: 131 the obs is:29 
-[10:19:50.732] Image Alignment failed 0
-[10:19:50.732] frame process finished the id is: 131 the obs is:29 
-[10:19:50.832] Image Alignment failed 0
-[10:19:50.832] frame process finished the id is: 131 the obs is:29 
-[10:19:50.934] Image Alignment failed 0
-[10:19:50.934] frame process finished the id is: 131 the obs is:29 
-[10:19:51.032] Image Alignment failed 0
-[10:19:51.032] frame process finished the id is: 131 the obs is:29 
-[10:19:51.132] Image Alignment failed 0
-[10:19:51.132] frame process finished the id is: 131 the obs is:29 
-[10:19:51.233] Image Alignment failed 0
-[10:19:51.233] frame process finished the id is: 131 the obs is:29 
-[10:19:51.332] Image Alignment failed 0
-[10:19:51.333] frame process finished the id is: 131 the obs is:29 
-[10:19:51.434] Image Alignment failed 0
-[10:19:51.434] frame process finished the id is: 131 the obs is:29 
-[10:19:51.532] Image Alignment failed 0
-[10:19:51.532] frame process finished the id is: 131 the obs is:29 
-[10:19:51.634] Image Alignment failed 0
-[10:19:51.634] frame process finished the id is: 131 the obs is:29 
-[10:19:51.732] Image Alignment failed 0
-[10:19:51.732] frame process finished the id is: 131 the obs is:29 
-[10:19:51.833] Image Alignment failed 0
-[10:19:51.833] frame process finished the id is: 131 the obs is:29 
-[10:19:51.935] Image Alignment failed 0
-[10:19:51.935] frame process finished the id is: 131 the obs is:29 
-[10:19:52.033] Image Alignment failed 0
-[10:19:52.033] frame process finished the id is: 131 the obs is:29 
-[10:19:52.132] Image Alignment failed 0
-[10:19:52.132] frame process finished the id is: 131 the obs is:29 
-[10:19:52.233] Image Alignment failed 0
-[10:19:52.233] frame process finished the id is: 131 the obs is:29 
-[10:19:52.332] Image Alignment failed 0
-[10:19:52.332] frame process finished the id is: 131 the obs is:29 
-[10:19:52.433] Image Alignment failed 0
-[10:19:52.433] frame process finished the id is: 131 the obs is:29 
-[10:19:52.542] Image Alignment failed 0
-[10:19:52.542] frame process finished the id is: 131 the obs is:29 
-[10:19:52.632] Image Alignment failed 0
-[10:19:52.632] frame process finished the id is: 131 the obs is:29 
-[10:19:52.733] Image Alignment failed 0
-[10:19:52.733] frame process finished the id is: 131 the obs is:29 
-[10:19:52.833] Image Alignment failed 0
-[10:19:52.833] frame process finished the id is: 131 the obs is:29 
-[10:19:52.933] Image Alignment failed 0
-[10:19:52.933] frame process finished the id is: 131 the obs is:29 
-[10:19:53.033] Image Alignment failed 0
-[10:19:53.033] frame process finished the id is: 131 the obs is:29 
-[10:19:53.132] Image Alignment failed 0
-[10:19:53.132] frame process finished the id is: 131 the obs is:29 
-[10:19:53.232] Image Alignment failed 0
-[10:19:53.232] frame process finished the id is: 131 the obs is:29 
-[10:19:53.331] Image Alignment failed 0
-[10:19:53.331] frame process finished the id is: 131 the obs is:29 
-[10:19:53.433] Image Alignment failed 0
-[10:19:53.433] frame process finished the id is: 131 the obs is:29 
-[10:19:53.531] Image Alignment failed 0
-[10:19:53.531] frame process finished the id is: 131 the obs is:29 
-[10:19:53.632] Image Alignment failed 0
-[10:19:53.632] frame process finished the id is: 131 the obs is:29 
-[10:19:53.731] Image Alignment failed 0
-[10:19:53.731] frame process finished the id is: 131 the obs is:29 
-[10:19:53.832] Image Alignment failed 0
-[10:19:53.832] frame process finished the id is: 131 the obs is:29 
-[10:19:53.931] Image Alignment failed 0
-[10:19:53.931] frame process finished the id is: 131 the obs is:29 
-[10:19:54.032] Image Alignment failed 0
-[10:19:54.032] frame process finished the id is: 131 the obs is:29 
-[10:19:54.131] Image Alignment failed 0
-[10:19:54.131] frame process finished the id is: 131 the obs is:29 
-[10:19:54.232] Image Alignment failed 0
-[10:19:54.232] frame process finished the id is: 131 the obs is:29 
-[10:19:54.331] Image Alignment failed 0
-[10:19:54.331] frame process finished the id is: 131 the obs is:29 
-[10:19:54.432] Image Alignment failed 0
-[10:19:54.433] frame process finished the id is: 131 the obs is:29 
-[10:19:54.535] Image Alignment failed 0
-[10:19:54.535] frame process finished the id is: 131 the obs is:29 
-[10:19:54.608] Odometry x=0.064903, y=2.281790, theta=-0.010131
-[10:19:54.633] Image Alignment failed 0
-[10:19:54.633] frame process finished the id is: 131 the obs is:29 
-[10:19:54.708] Odometry x=6.324816, y=0.407575, theta=0.385592
-[10:19:54.732] Image Alignment failed 0
-[10:19:54.732] frame process finished the id is: 131 the obs is:29 
-[10:19:54.809] Odometry x=6.322744, y=0.398221, theta=0.365937
-[10:19:54.832] Image Alignment failed 0
-[10:19:54.832] frame process finished the id is: 131 the obs is:29 
-[10:19:54.910] Odometry x=6.324648, y=0.387756, theta=0.365796
-[10:19:54.932] Image Alignment failed 0
-[10:19:54.932] frame process finished the id is: 131 the obs is:29 
-[10:19:55.009] Odometry x=6.332830, y=0.337200, theta=0.347810
-[10:19:55.032] Image Alignment failed 0
-[10:19:55.032] frame process finished the id is: 131 the obs is:29 
-[10:19:55.109] Odometry x=6.335483, y=0.322087, theta=0.358284
-[10:19:55.134] Image Alignment failed 0
-[10:19:55.134] frame process finished the id is: 131 the obs is:29 
-[10:19:55.208] Odometry x=6.342208, y=0.316603, theta=0.366725
-[10:19:55.233] Image Alignment failed 0
-[10:19:55.233] frame process finished the id is: 131 the obs is:29 
-[10:19:55.304] Odometry x=6.345847, y=0.296590, theta=0.373789
-[10:19:55.333] Image Alignment failed 0
-[10:19:55.334] frame process finished the id is: 131 the obs is:29 
-[10:19:55.412] Odometry x=6.348476, y=0.287832, theta=0.366886
-[10:19:55.434] Image Alignment failed 0
-[10:19:55.434] frame process finished the id is: 131 the obs is:29 
-[10:19:55.507] Odometry x=6.345642, y=0.308304, theta=0.404326
-[10:19:55.538] Image Alignment failed 0
-[10:19:55.538] frame process finished the id is: 131 the obs is:29 
-[10:19:55.608] Odometry x=6.342562, y=0.293667, theta=0.364150
-[10:19:55.635] Image Alignment failed 0
-[10:19:55.635] frame process finished the id is: 131 the obs is:29 
-[10:19:55.710] Odometry x=6.345212, y=0.279990, theta=0.368754
-[10:19:55.735] Image Alignment failed 0
-[10:19:55.735] frame process finished the id is: 131 the obs is:29 
-[10:19:55.807] Odometry x=6.350894, y=0.249838, theta=0.359173
-[10:19:55.835] Image Alignment failed 0
-[10:19:55.835] frame process finished the id is: 131 the obs is:29 
-[10:19:55.908] Odometry x=6.365751, y=0.256441, theta=0.364209
-[10:19:55.935] Image Alignment failed 0
-[10:19:55.935] frame process finished the id is: 131 the obs is:29 
-[10:19:56.009] Odometry x=6.356780, y=0.260477, theta=0.380898
-[10:19:56.034] Image Alignment failed 0
-[10:19:56.034] frame process finished the id is: 131 the obs is:29 
-[10:19:56.109] Odometry x=6.358351, y=0.252481, theta=0.373332
-[10:19:56.135] Image Alignment failed 0
-[10:19:56.135] frame process finished the id is: 131 the obs is:29 
-[10:19:56.208] Odometry x=6.360216, y=0.242163, theta=0.378193
-[10:19:56.235] Image Alignment failed 0
-[10:19:56.235] frame process finished the id is: 131 the obs is:29 
-[10:19:56.303] Odometry x=6.360326, y=0.244161, theta=0.381123
-[10:19:56.334] Image Alignment failed 0
-[10:19:56.334] frame process finished the id is: 131 the obs is:29 
-[10:19:56.409] Odometry x=6.363020, y=0.254750, theta=0.390741
-[10:19:56.435] Image Alignment failed 0
-[10:19:56.435] frame process finished the id is: 131 the obs is:29 
-[10:19:56.513] Odometry x=6.365007, y=0.244874, theta=0.375156
-[10:19:56.535] Image Alignment failed 0
-[10:19:56.535] frame process finished the id is: 131 the obs is:29 
-[10:19:56.612] Odometry x=6.346338, y=0.228870, theta=0.380694
-[10:19:56.636] Image Alignment failed 0
-[10:19:56.636] frame process finished the id is: 131 the obs is:29 
-[10:19:56.707] Odometry x=6.357655, y=0.233277, theta=0.373294
-[10:19:56.735] Image Alignment failed 0
-[10:19:56.735] frame process finished the id is: 131 the obs is:29 
-[10:19:56.807] Odometry x=6.364726, y=0.231953, theta=0.365794
-[10:19:56.835] Image Alignment failed 0
-[10:19:56.835] frame process finished the id is: 131 the obs is:29 
-[10:19:56.908] Odometry x=6.369761, y=0.226774, theta=0.394507
-[10:19:56.935] Image Alignment failed 0
-[10:19:56.935] frame process finished the id is: 131 the obs is:29 
-[10:19:57.010] Odometry x=6.372067, y=0.217424, theta=0.399614
-[10:19:57.034] Image Alignment failed 0
-[10:19:57.034] frame process finished the id is: 131 the obs is:29 
-[10:19:57.108] Odometry x=6.382239, y=0.215840, theta=0.365692
-[10:19:57.135] Image Alignment failed 0
-[10:19:57.135] frame process finished the id is: 131 the obs is:29 
-[10:19:57.208] Odometry x=6.376581, y=0.200478, theta=0.374583
-[10:19:57.233] Image Alignment failed 0
-[10:19:57.233] frame process finished the id is: 131 the obs is:29 
-[10:19:57.308] Odometry x=6.378963, y=0.190831, theta=0.375065
-[10:19:57.333] Image Alignment failed 0
-[10:19:57.333] frame process finished the id is: 131 the obs is:29 
-[10:19:57.410] Odometry x=6.377857, y=0.196582, theta=0.374684
-[10:19:57.433] Image Alignment failed 0
-[10:19:57.433] frame process finished the id is: 131 the obs is:29 
-[10:19:57.511] Odometry x=6.396421, y=0.171592, theta=0.382201
-[10:19:57.533] Image Alignment failed 0
-[10:19:57.533] frame process finished the id is: 131 the obs is:29 
-[10:19:57.611] Odometry x=6.401806, y=0.149106, theta=0.377025
-[10:19:57.633] Image Alignment failed 0
-[10:19:57.633] frame process finished the id is: 131 the obs is:29 
-[10:19:57.711] Odometry x=6.413254, y=0.172762, theta=0.402864
-[10:19:57.734] Image Alignment failed 0
-[10:19:57.734] frame process finished the id is: 131 the obs is:29 
-[10:19:57.812] Odometry x=6.412901, y=0.168537, theta=0.397401
-[10:19:57.833] Image Alignment failed 0
-[10:19:57.833] frame process finished the id is: 131 the obs is:29 
-[10:19:57.912] Odometry x=6.411743, y=0.173294, theta=0.383931
-[10:19:57.934] Image Alignment failed 0
-[10:19:57.934] frame process finished the id is: 131 the obs is:29 
-[10:19:58.008] Odometry x=6.418555, y=0.140143, theta=0.382519
-[10:19:58.034] Image Alignment failed 0
-[10:19:58.034] frame process finished the id is: 131 the obs is:29 
-[10:19:58.108] Odometry x=6.420312, y=0.130468, theta=0.378453
-[10:19:58.134] Image Alignment failed 0
-[10:19:58.134] frame process finished the id is: 131 the obs is:29 
-[10:19:58.208] Odometry x=6.426931, y=0.100569, theta=0.396799
-[10:19:58.233] Image Alignment failed 0
-[10:19:58.233] frame process finished the id is: 131 the obs is:29 
-[10:19:58.308] Odometry x=6.429000, y=0.090688, theta=0.396870
-[10:19:58.333] Image Alignment failed 0
-[10:19:58.333] frame process finished the id is: 131 the obs is:29 
-[10:19:58.408] Odometry x=6.424862, y=0.108340, theta=0.392360
-[10:19:58.433] Image Alignment failed 0
-[10:19:58.433] frame process finished the id is: 131 the obs is:29 
-[10:19:58.508] Odometry x=6.449628, y=0.074164, theta=0.385015
-[10:19:58.533] Image Alignment failed 0
-[10:19:58.533] frame process finished the id is: 131 the obs is:29 
-[10:19:58.609] Odometry x=6.450107, y=0.072906, theta=0.394924
-[10:19:58.634] Image Alignment failed 0
-[10:19:58.634] frame process finished the id is: 131 the obs is:29 
-[10:19:58.708] Odometry x=6.450014, y=0.060771, theta=0.388896
-[10:19:58.733] Image Alignment failed 0
-[10:19:58.733] frame process finished the id is: 131 the obs is:29 
-[10:19:58.808] Odometry x=6.450306, y=0.065035, theta=0.394279
-[10:19:58.833] Image Alignment failed 0
-[10:19:58.833] frame process finished the id is: 131 the obs is:29 
-[10:19:58.910] Odometry x=6.449386, y=0.004301, theta=0.382927
-[10:19:58.933] Image Alignment failed 0
-[10:19:58.933] frame process finished the id is: 131 the obs is:29 
-[10:19:59.012] Odometry x=6.449585, y=0.010190, theta=0.398215
-[10:19:59.033] Image Alignment failed 0
-[10:19:59.033] frame process finished the id is: 131 the obs is:29 
-[10:19:59.111] Odometry x=6.458626, y=0.014758, theta=0.379721
-[10:19:59.133] Image Alignment failed 0
-[10:19:59.133] frame process finished the id is: 131 the obs is:29 
-[10:19:59.211] Odometry x=6.474479, y=0.019848, theta=0.415578
-[10:19:59.233] Image Alignment failed 0
-[10:19:59.233] frame process finished the id is: 131 the obs is:29 
-[10:19:59.311] Odometry x=6.475246, y=0.014321, theta=0.409925
-[10:19:59.333] Image Alignment failed 0
-[10:19:59.333] frame process finished the id is: 131 the obs is:29 
-[10:19:59.412] Odometry x=6.466117, y=-0.000472, theta=0.396751
-[10:19:59.434] Image Alignment failed 0
-[10:19:59.434] frame process finished the id is: 131 the obs is:29 
-[10:19:59.512] Odometry x=6.468153, y=-0.010650, theta=0.378525
-[10:19:59.533] Image Alignment failed 0
-[10:19:59.533] frame process finished the id is: 131 the obs is:29 
-[10:19:59.611] Odometry x=6.471094, y=-0.024852, theta=0.395607
-[10:19:59.633] Image Alignment failed 0
-[10:19:59.633] frame process finished the id is: 131 the obs is:29 
-[10:19:59.711] Odometry x=6.470469, y=-0.021760, theta=0.390607
-[10:19:59.734] Image Alignment failed 0
-[10:19:59.734] frame process finished the id is: 131 the obs is:29 
-[10:19:59.807] Odometry x=6.472440, y=-0.031299, theta=0.405097
-[10:19:59.836] Image Alignment failed 0
-[10:19:59.836] frame process finished the id is: 131 the obs is:29 
-[10:19:59.907] Odometry x=6.459616, y=-0.023120, theta=0.412266
-[10:19:59.936] Image Alignment failed 0
-[10:19:59.936] frame process finished the id is: 131 the obs is:29 
-[10:20:00.008] Odometry x=6.448819, y=-0.031634, theta=0.372488
-[10:20:00.034] Image Alignment failed 0
-[10:20:00.034] frame process finished the id is: 131 the obs is:29 
-[10:20:00.108] Odometry x=6.452121, y=-0.045073, theta=0.387056
-[10:20:00.133] Image Alignment failed 0
-[10:20:00.133] frame process finished the id is: 131 the obs is:29 
-[10:20:00.206] Odometry x=6.456008, y=-0.053500, theta=0.379549
-[10:20:00.232] Image Alignment failed 0
-[10:20:00.232] frame process finished the id is: 131 the obs is:29 
-[10:20:00.302] Odometry x=6.458757, y=-0.061897, theta=0.379829
-[10:20:00.333] Image Alignment failed 0
-[10:20:00.333] frame process finished the id is: 131 the obs is:29 
-[10:20:00.411] Odometry x=6.469481, y=-0.064245, theta=0.377302
-[10:20:00.433] Image Alignment failed 0
-[10:20:00.433] frame process finished the id is: 131 the obs is:29 
-[10:20:00.510] Odometry x=6.479608, y=-0.119308, theta=0.379105
-[10:20:00.533] Image Alignment failed 0
-[10:20:00.533] frame process finished the id is: 131 the obs is:29 
-[10:20:00.608] Odometry x=6.481569, y=-0.129141, theta=0.372985
-[10:20:00.634] Image Alignment failed 0
-[10:20:00.634] frame process finished the id is: 131 the obs is:29 
-[10:20:00.711] Odometry x=6.462926, y=-0.209141, theta=0.394043
-[10:20:00.733] Image Alignment failed 0
-[10:20:00.733] frame process finished the id is: 131 the obs is:29 
-[10:20:00.810] Odometry x=6.466722, y=-0.217617, theta=0.389998
-[10:20:00.834] Image Alignment failed 0
-[10:20:00.834] frame process finished the id is: 131 the obs is:29 
-[10:20:00.910] Odometry x=6.474315, y=-0.221566, theta=0.381721
-[10:20:00.933] Image Alignment failed 0
-[10:20:00.933] frame process finished the id is: 131 the obs is:29 
-[10:20:01.006] Odometry x=6.468682, y=-0.233672, theta=0.389864
-[10:20:01.033] Image Alignment failed 0
-[10:20:01.033] frame process finished the id is: 131 the obs is:29 
-[10:20:01.108] Odometry x=6.463352, y=-0.249240, theta=0.385807
-[10:20:01.134] Image Alignment failed 0
-[10:20:01.134] frame process finished the id is: 131 the obs is:29 
-[10:20:01.207] Odometry x=6.465411, y=-0.259638, theta=0.378531
-[10:20:01.237] Image Alignment failed 0
-[10:20:01.237] frame process finished the id is: 131 the obs is:29 
-[10:20:01.307] Odometry x=6.466672, y=-0.269105, theta=0.410755
-[10:20:01.333] Image Alignment failed 0
-[10:20:01.334] frame process finished the id is: 131 the obs is:29 
-[10:20:01.406] Odometry x=6.471517, y=-0.283779, theta=0.422180
-[10:20:01.439] Image Alignment failed 0
-[10:20:01.439] frame process finished the id is: 131 the obs is:29 
-[10:20:01.509] Odometry x=6.470592, y=-0.295510, theta=0.388302
-[10:20:01.528] Image Alignment failed 0
-[10:20:01.528] frame process finished the id is: 131 the obs is:29 
-[10:20:01.606] Odometry x=6.471162, y=-0.306649, theta=0.390853
-[10:20:01.644] Image Alignment failed 0
-[10:20:01.644] frame process finished the id is: 131 the obs is:29 
-[10:20:01.708] Odometry x=6.473406, y=-0.317690, theta=0.378073
-[10:20:01.734] Image Alignment failed 0
-[10:20:01.734] frame process finished the id is: 131 the obs is:29 
-[10:20:01.808] Odometry x=6.475458, y=-0.327593, theta=0.388421
-[10:20:01.838] Image Alignment failed 0
-[10:20:01.838] frame process finished the id is: 131 the obs is:29 
-[10:20:01.908] Odometry x=6.477213, y=-0.337708, theta=0.388234
-[10:20:01.933] Image Alignment failed 0
-[10:20:01.933] frame process finished the id is: 131 the obs is:29 
-[10:20:02.006] Odometry x=6.469350, y=-0.304122, theta=0.379584
-[10:20:02.033] Image Alignment failed 0
-[10:20:02.033] frame process finished the id is: 131 the obs is:29 
-[10:20:02.105] Odometry x=6.468866, y=-0.301539, theta=0.390572
-[10:20:02.133] Image Alignment failed 0
-[10:20:02.134] frame process finished the id is: 131 the obs is:29 
-[10:20:02.209] Odometry x=6.480237, y=-0.294926, theta=0.376204
-[10:20:02.227] Image Alignment failed 0
-[10:20:02.227] frame process finished the id is: 131 the obs is:29 
-[10:20:02.310] Odometry x=6.479528, y=-0.291359, theta=0.380783
-[10:20:02.334] Image Alignment failed 0
-[10:20:02.334] frame process finished the id is: 131 the obs is:29 
-[10:20:02.406] Odometry x=6.479175, y=-0.311307, theta=0.391284
-[10:20:02.438] Image Alignment failed 0
-[10:20:02.438] frame process finished the id is: 131 the obs is:29 
-[10:20:02.510] Odometry x=6.474428, y=-0.242248, theta=0.330715
-[10:20:02.527] Image Alignment failed 0
-[10:20:02.527] frame process finished the id is: 131 the obs is:29 
-[10:20:02.611] Odometry x=6.475918, y=-0.272046, theta=0.375182
-[10:20:02.634] Image Alignment failed 0
-[10:20:02.634] frame process finished the id is: 131 the obs is:29 
-[10:20:02.707] Odometry x=6.483703, y=-0.317604, theta=0.358826
-[10:20:02.733] Image Alignment failed 0
-[10:20:02.733] frame process finished the id is: 131 the obs is:29 
-[10:20:02.808] Odometry x=6.491432, y=-0.337196, theta=0.372696
-[10:20:02.834] Image Alignment failed 0
-[10:20:02.834] frame process finished the id is: 131 the obs is:29 
-[10:20:02.905] Odometry x=6.496607, y=-0.364078, theta=0.360621
-[10:20:02.933] Image Alignment failed 0
-[10:20:02.933] frame process finished the id is: 131 the obs is:29 
-[10:20:03.007] Odometry x=6.495948, y=-0.348366, theta=0.366388
-[10:20:03.034] Image Alignment failed 0
-[10:20:03.034] frame process finished the id is: 131 the obs is:29 
-[10:20:03.113] Odometry x=6.497753, y=-0.358012, theta=0.377929
-[10:20:03.133] Image Alignment failed 0
-[10:20:03.133] frame process finished the id is: 131 the obs is:29 
-[10:20:03.209] Odometry x=6.501036, y=-0.367043, theta=0.354270
-[10:20:03.239] Image Alignment failed 0
-[10:20:03.239] frame process finished the id is: 131 the obs is:29 
-[10:20:03.327] Odometry x=6.502799, y=-0.376432, theta=0.355838
-[10:20:03.338] Image Alignment failed 0
-[10:20:03.338] frame process finished the id is: 131 the obs is:29 
-[10:20:03.408] Odometry x=6.506385, y=-0.391443, theta=0.354512
-[10:20:03.435] Image Alignment failed 0
-[10:20:03.436] frame process finished the id is: 131 the obs is:29 
-[10:20:03.511] Odometry x=6.507983, y=-0.400072, theta=0.353976
-[10:20:03.535] Image Alignment failed 0
-[10:20:03.535] frame process finished the id is: 131 the obs is:29 
-[10:20:03.608] Odometry x=6.509782, y=-0.410670, theta=0.367351
-[10:20:03.635] Image Alignment failed 0
-[10:20:03.635] frame process finished the id is: 131 the obs is:29 
-[10:20:03.709] Odometry x=6.511363, y=-0.417611, theta=0.362219
-[10:20:03.734] Image Alignment failed 0
-[10:20:03.734] frame process finished the id is: 131 the obs is:29 
-[10:20:03.809] Odometry x=6.512077, y=-0.421409, theta=0.368804
-[10:20:03.833] Image Alignment failed 0
-[10:20:03.833] frame process finished the id is: 131 the obs is:29 
-[10:20:03.909] Odometry x=6.517741, y=-0.426391, theta=0.355289
-[10:20:04.009] Odometry x=6.517741, y=-0.426391, theta=0.355289
-[10:20:04.022] Image Alignment failed 0
-[10:20:04.022] frame process finished the id is: 131 the obs is:29 
-[10:20:04.035] Image Alignment failed 0
-[10:20:04.035] frame process finished the id is: 131 the obs is:29 
-[10:20:04.107] Odometry x=6.519347, y=-0.425160, theta=0.359911
-[10:20:04.132] Image Alignment failed 0
-[10:20:04.132] frame process finished the id is: 131 the obs is:29 
-[10:20:04.206] Odometry x=6.523843, y=-0.446862, theta=0.355096
-[10:20:04.234] Image Alignment failed 0
-[10:20:04.234] frame process finished the id is: 131 the obs is:29 
-[10:20:04.311] Odometry x=6.525463, y=-0.455558, theta=0.359773
-[10:20:04.335] Image Alignment failed 0
-[10:20:04.335] frame process finished the id is: 131 the obs is:29 
-[10:20:04.411] Odometry x=6.527105, y=-0.464283, theta=0.360447
-[10:20:04.434] Image Alignment failed 0
-[10:20:04.434] frame process finished the id is: 131 the obs is:29 
-[10:20:04.511] Odometry x=6.528869, y=-0.473316, theta=0.361494
-[10:20:04.534] Image Alignment failed 0
-[10:20:04.534] frame process finished the id is: 131 the obs is:29 
-[10:20:04.609] Odometry x=6.530965, y=-0.484083, theta=0.360700
-[10:20:04.634] Image Alignment failed 0
-[10:20:04.634] frame process finished the id is: 131 the obs is:29 
-[10:20:04.708] Odometry x=6.533069, y=-0.493007, theta=0.356303
-[10:20:04.734] Image Alignment failed 0
-[10:20:04.734] frame process finished the id is: 131 the obs is:29 
-[10:20:04.807] Odometry x=6.534754, y=-0.502856, theta=0.361728
-[10:20:04.835] Image Alignment failed 0
-[10:20:04.835] frame process finished the id is: 131 the obs is:29 
-[10:20:04.908] Odometry x=6.536595, y=-0.512498, theta=0.364638
-[10:20:04.935] Image Alignment failed 0
-[10:20:04.935] frame process finished the id is: 131 the obs is:29 
-[10:20:05.006] Odometry x=6.538330, y=-0.521907, theta=0.361307
-[10:20:05.035] Image Alignment failed 0
-[10:20:05.035] frame process finished the id is: 131 the obs is:29 
-[10:20:05.110] Odometry x=6.541658, y=-0.532819, theta=0.362004
-[10:20:05.134] Image Alignment failed 0
-[10:20:05.134] frame process finished the id is: 131 the obs is:29 
-[10:20:05.208] Odometry x=6.543594, y=-0.542853, theta=0.364964
-[10:20:05.228] Image Alignment failed 0
-[10:20:05.228] frame process finished the id is: 131 the obs is:29 
-[10:20:05.310] Odometry x=6.542380, y=-0.553965, theta=0.365119
-[10:20:05.334] Image Alignment failed 0
-[10:20:05.334] frame process finished the id is: 131 the obs is:29 
-[10:20:05.410] Odometry x=6.544272, y=-0.563961, theta=0.361670
-[10:20:05.436] Image Alignment failed 0
-[10:20:05.436] frame process finished the id is: 131 the obs is:29 
-[10:20:05.512] Odometry x=6.545630, y=-0.574268, theta=0.366246
-[10:20:05.537] Image Alignment failed 0
-[10:20:05.537] frame process finished the id is: 131 the obs is:29 
-[10:20:05.605] Odometry x=6.547533, y=-0.583900, theta=0.364019
-[10:20:05.628] Image Alignment failed 0
-[10:20:05.628] frame process finished the id is: 131 the obs is:29 
-[10:20:05.702] Odometry x=6.549120, y=-0.592254, theta=0.362213
-[10:20:05.733] Image Alignment failed 0
-[10:20:05.733] frame process finished the id is: 131 the obs is:29 
-[10:20:05.810] Odometry x=6.551021, y=-0.601151, theta=0.369732
-[10:20:05.833] Image Alignment failed 0
-[10:20:05.833] frame process finished the id is: 131 the obs is:29 
-[10:20:05.904] Odometry x=6.554841, y=-0.610171, theta=0.350017
-[10:20:05.934] Image Alignment failed 0
-[10:20:05.934] frame process finished the id is: 131 the obs is:29 
-[10:20:06.007] Odometry x=6.556628, y=-0.619990, theta=0.352470
-[10:20:06.041] Image Alignment failed 0
-[10:20:06.042] frame process finished the id is: 131 the obs is:29 
-[10:20:06.106] Odometry x=6.558227, y=-0.628301, theta=0.359919
-[10:20:06.135] Image Alignment failed 0
-[10:20:06.135] frame process finished the id is: 131 the obs is:29 
-[10:20:06.210] Odometry x=6.560727, y=-0.630155, theta=0.352349
-[10:20:06.235] Image Alignment failed 0
-[10:20:06.235] frame process finished the id is: 131 the obs is:29 
-[10:20:06.307] Odometry x=6.561568, y=-0.636190, theta=0.362285
-[10:20:06.335] Image Alignment failed 0
-[10:20:06.335] frame process finished the id is: 131 the obs is:29 
-[10:20:06.409] Odometry x=6.563609, y=-0.646354, theta=0.346456
-[10:20:06.436] Image Alignment failed 0
-[10:20:06.436] frame process finished the id is: 131 the obs is:29 
-[10:20:06.504] Odometry x=6.565445, y=-0.656416, theta=0.344627
-[10:20:06.535] Image Alignment failed 0
-[10:20:06.535] frame process finished the id is: 131 the obs is:29 
-[10:20:06.607] Odometry x=6.565795, y=-0.668797, theta=0.349002
-[10:20:06.630] Image Alignment failed 0
-[10:20:06.630] frame process finished the id is: 131 the obs is:29 
-[10:20:06.705] Odometry x=6.567193, y=-0.679269, theta=0.352147
-[10:20:06.728] Image Alignment failed 0
-[10:20:06.728] frame process finished the id is: 131 the obs is:29 
-[10:20:06.807] Odometry x=6.570202, y=-0.688203, theta=0.362202
-[10:20:06.828] Image Alignment failed 0
-[10:20:06.828] frame process finished the id is: 131 the obs is:29 
-[10:20:06.904] Odometry x=6.571468, y=-0.693376, theta=0.362127
-[10:20:06.928] Image Alignment failed 0
-[10:20:06.928] frame process finished the id is: 131 the obs is:29 
-[10:20:07.008] Odometry x=6.573892, y=-0.702462, theta=0.350946
-[10:20:07.029] Image Alignment failed 0
-[10:20:07.029] frame process finished the id is: 131 the obs is:29 
-[10:20:07.105] Odometry x=6.575358, y=-0.713036, theta=0.357683
-[10:20:07.132] Image Alignment failed 0
-[10:20:07.132] frame process finished the id is: 131 the obs is:29 
-[10:20:07.206] Odometry x=6.577164, y=-0.723165, theta=0.361395
-[10:20:07.228] Image Alignment failed 0
-[10:20:07.228] frame process finished the id is: 131 the obs is:29 
-[10:20:07.308] Odometry x=6.578504, y=-0.733732, theta=0.364789
-[10:20:07.328] Image Alignment failed 0
-[10:20:07.328] frame process finished the id is: 131 the obs is:29 
-[10:20:07.405] Odometry x=6.581750, y=-0.742808, theta=0.361179
-[10:20:07.429] Image Alignment failed 0
-[10:20:07.429] frame process finished the id is: 131 the obs is:29 
-[10:20:07.512] Odometry x=6.583474, y=-0.751748, theta=0.351568
-[10:20:07.528] Image Alignment failed 0
-[10:20:07.528] frame process finished the id is: 131 the obs is:29 
-[10:20:07.610] Odometry x=6.585371, y=-0.762290, theta=0.356712
-[10:20:07.628] Image Alignment failed 0
-[10:20:07.628] frame process finished the id is: 131 the obs is:29 
-[10:20:07.706] Odometry x=6.587123, y=-0.772385, theta=0.356246
-[10:20:07.728] Image Alignment failed 0
-[10:20:07.728] frame process finished the id is: 131 the obs is:29 
-[10:20:07.808] Odometry x=6.588647, y=-0.782369, theta=0.367858
-[10:20:07.830] Image Alignment failed 0
-[10:20:07.830] frame process finished the id is: 131 the obs is:29 
-[10:20:07.910] Odometry x=6.590570, y=-0.792425, theta=0.362488
-[10:20:07.929] Image Alignment failed 0
-[10:20:07.929] frame process finished the id is: 131 the obs is:29 
-[10:20:08.007] Odometry x=6.596849, y=-0.797282, theta=0.360451
-[10:20:08.029] Image Alignment failed 0
-[10:20:08.029] frame process finished the id is: 131 the obs is:29 
-[10:20:08.104] Odometry x=6.599271, y=-0.806992, theta=0.359534
-[10:20:08.127] Image Alignment failed 0
-[10:20:08.127] frame process finished the id is: 131 the obs is:29 
-[10:20:08.208] Odometry x=6.601133, y=-0.816645, theta=0.365654
-[10:20:08.228] Image Alignment failed 0
-[10:20:08.228] frame process finished the id is: 131 the obs is:29 
-[10:20:08.305] Odometry x=6.601764, y=-0.827607, theta=0.364751
-[10:20:08.326] Image Alignment failed 0
-[10:20:08.326] frame process finished the id is: 131 the obs is:29 
-[10:20:08.408] Odometry x=6.603575, y=-0.837448, theta=0.363753
-[10:20:08.437] Image Alignment failed 0
-[10:20:08.437] frame process finished the id is: 131 the obs is:29 
-[10:20:08.506] Odometry x=6.605532, y=-0.847387, theta=0.350394
-[10:20:08.527] Image Alignment failed 0
-[10:20:08.527] frame process finished the id is: 131 the obs is:29 
-[10:20:08.606] Odometry x=6.607504, y=-0.856248, theta=0.358014
-[10:20:08.627] Image Alignment failed 0
-[10:20:08.627] frame process finished the id is: 131 the obs is:29 
-[10:20:08.703] Odometry x=6.610292, y=-0.865407, theta=0.360765
-[10:20:08.727] Image Alignment failed 0
-[10:20:08.727] frame process finished the id is: 131 the obs is:29 
-[10:20:08.809] Odometry x=6.608858, y=-0.865308, theta=0.355367
-[10:20:08.828] Image Alignment failed 0
-[10:20:08.828] frame process finished the id is: 131 the obs is:29 
-[10:20:08.906] Odometry x=6.610303, y=-0.876731, theta=0.354734
-[10:20:08.927] Image Alignment failed 0
-[10:20:08.927] frame process finished the id is: 131 the obs is:29 
-[10:20:09.003] Odometry x=6.611977, y=-0.885825, theta=0.354129
-[10:20:09.029] Image Alignment failed 0
-[10:20:09.029] frame process finished the id is: 131 the obs is:29 
-[10:20:09.105] Odometry x=6.614265, y=-0.893915, theta=0.368737
-[10:20:09.128] Image Alignment failed 0
-[10:20:09.128] frame process finished the id is: 131 the obs is:29 
-[10:20:09.207] Odometry x=6.616439, y=-0.903697, theta=0.370431
-[10:20:09.227] Image Alignment failed 0
-[10:20:09.227] frame process finished the id is: 131 the obs is:29 
-[10:20:09.309] Odometry x=6.617398, y=-0.914327, theta=0.349817
-[10:20:09.328] Image Alignment failed 0
-[10:20:09.328] frame process finished the id is: 131 the obs is:29 
-[10:20:09.410] Odometry x=6.618456, y=-0.919992, theta=0.355635
-[10:20:09.427] Image Alignment failed 0
-[10:20:09.427] frame process finished the id is: 131 the obs is:29 
-[10:20:09.502] Odometry x=6.620034, y=-0.929923, theta=0.353088
-[10:20:09.527] Image Alignment failed 0
-[10:20:09.527] frame process finished the id is: 131 the obs is:29 
-[10:20:09.609] Odometry x=6.620276, y=-0.939947, theta=0.355634
-[10:20:09.628] Image Alignment failed 0
-[10:20:09.628] frame process finished the id is: 131 the obs is:29 
-[10:20:09.706] Odometry x=6.624474, y=-0.949002, theta=0.363651
-[10:20:09.727] Image Alignment failed 0
-[10:20:09.727] frame process finished the id is: 131 the obs is:29 
-[10:20:09.809] Odometry x=6.627716, y=-0.957504, theta=0.361079
-[10:20:09.827] Image Alignment failed 0
-[10:20:09.827] frame process finished the id is: 131 the obs is:29 
-[10:20:09.908] Odometry x=6.629769, y=-0.966840, theta=0.347418
-[10:20:09.929] Image Alignment failed 0
-[10:20:09.929] frame process finished the id is: 131 the obs is:29 
-[10:20:10.005] Odometry x=6.631516, y=-0.976574, theta=0.349552
-[10:20:10.030] Image Alignment failed 0
-[10:20:10.030] frame process finished the id is: 131 the obs is:29 
-[10:20:10.107] Odometry x=6.633233, y=-0.986554, theta=0.351052
-[10:20:10.127] Image Alignment failed 0
-[10:20:10.127] frame process finished the id is: 131 the obs is:29 
-[10:20:10.204] Odometry x=6.635076, y=-0.996675, theta=0.351385
-[10:20:10.231] Image Alignment failed 0
-[10:20:10.231] frame process finished the id is: 131 the obs is:29 
-[10:20:10.309] Odometry x=6.636950, y=-1.006828, theta=0.356820
-[10:20:10.328] Image Alignment failed 0
-[10:20:10.328] frame process finished the id is: 131 the obs is:29 
-[10:20:10.411] Odometry x=6.636718, y=-1.009731, theta=0.350095
-[10:20:10.434] Image Alignment failed 0
-[10:20:10.434] frame process finished the id is: 131 the obs is:29 
-[10:20:10.509] Odometry x=6.639162, y=-1.019563, theta=0.351057
-[10:20:10.529] Image Alignment failed 0
-[10:20:10.529] frame process finished the id is: 131 the obs is:29 
-[10:20:10.606] Odometry x=6.638214, y=-1.031451, theta=0.347898
-[10:20:10.630] Image Alignment failed 0
-[10:20:10.630] frame process finished the id is: 131 the obs is:29 
-[10:20:10.710] Odometry x=6.639870, y=-1.041646, theta=0.357271
-[10:20:10.729] Image Alignment failed 0
-[10:20:10.729] frame process finished the id is: 131 the obs is:29 
-[10:20:10.808] Odometry x=6.641702, y=-1.051726, theta=0.353267
-[10:20:10.828] Image Alignment failed 0
-[10:20:10.828] frame process finished the id is: 131 the obs is:29 
-[10:20:10.903] Odometry x=6.643869, y=-1.063541, theta=0.351392
-[10:20:10.928] Image Alignment failed 0
-[10:20:10.928] frame process finished the id is: 131 the obs is:29 
-[10:20:11.011] Odometry x=6.645650, y=-1.073140, theta=0.358213
-[10:20:11.027] Image Alignment failed 0
-[10:20:11.027] frame process finished the id is: 131 the obs is:29 
-[10:20:11.104] Odometry x=6.647327, y=-1.084029, theta=0.354247
-[10:20:11.129] Image Alignment failed 0
-[10:20:11.129] frame process finished the id is: 131 the obs is:29 
-[10:20:11.204] Odometry x=6.647608, y=-1.091505, theta=0.351423
-[10:20:11.227] Image Alignment failed 0
-[10:20:11.227] frame process finished the id is: 131 the obs is:29 
-[10:20:11.309] Odometry x=6.648998, y=-1.098526, theta=0.359677
-[10:20:11.331] Image Alignment failed 0
-[10:20:11.332] frame process finished the id is: 131 the obs is:29 
-[10:20:11.404] Odometry x=6.651005, y=-1.109066, theta=0.357042
-[10:20:11.429] Image Alignment failed 0
-[10:20:11.429] frame process finished the id is: 131 the obs is:29 
-[10:20:11.506] Odometry x=6.653050, y=-1.118280, theta=0.356871
-[10:20:11.533] Image Alignment failed 0
-[10:20:11.533] frame process finished the id is: 131 the obs is:29 
-[10:20:11.606] Odometry x=6.655158, y=-1.128867, theta=0.347838
-[10:20:11.627] Image Alignment failed 0
-[10:20:11.627] frame process finished the id is: 131 the obs is:29 
-[10:20:11.739] Image Alignment failed 0
-[10:20:11.739] frame process finished the id is: 131 the obs is:29 
-[10:20:11.829] Image Alignment failed 0
-[10:20:11.829] frame process finished the id is: 131 the obs is:29 
-[10:20:11.927] Image Alignment failed 0
-[10:20:11.927] frame process finished the id is: 131 the obs is:29 
-[10:20:12.028] Image Alignment failed 0
-[10:20:12.028] frame process finished the id is: 131 the obs is:29 
-[10:20:12.128] Image Alignment failed 0
-[10:20:12.128] frame process finished the id is: 131 the obs is:29 
-[10:20:12.229] Image Alignment failed 0
-[10:20:12.229] frame process finished the id is: 131 the obs is:29 
-[10:20:12.330] Image Alignment failed 0
-[10:20:12.330] frame process finished the id is: 131 the obs is:29 
-[10:20:12.427] Image Alignment failed 0
-[10:20:12.427] frame process finished the id is: 131 the obs is:29 
-[10:20:12.526] Image Alignment failed 0
-[10:20:12.526] frame process finished the id is: 131 the obs is:29 
-[10:20:12.630] Image Alignment failed 0
-[10:20:12.630] frame process finished the id is: 131 the obs is:29 
-[10:20:12.729] Image Alignment failed 0
-[10:20:12.729] frame process finished the id is: 131 the obs is:29 
-[10:20:12.828] Image Alignment failed 0
-[10:20:12.828] frame process finished the id is: 131 the obs is:29 
-[10:20:12.928] Image Alignment failed 0
-[10:20:12.928] frame process finished the id is: 131 the obs is:29 
-[10:20:13.028] Image Alignment failed 0
-[10:20:13.028] frame process finished the id is: 131 the obs is:29 
-[10:20:13.128] Image Alignment failed 0
-[10:20:13.128] frame process finished the id is: 131 the obs is:29 
-[10:20:13.230] Image Alignment failed 0
-[10:20:13.230] frame process finished the id is: 131 the obs is:29 
-[10:20:13.328] Image Alignment failed 0
-[10:20:13.328] frame process finished the id is: 131 the obs is:29 
-[10:20:13.428] Image Alignment failed 0
-[10:20:13.428] frame process finished the id is: 131 the obs is:29 
-[10:20:13.527] Image Alignment failed 0
-[10:20:13.527] frame process finished the id is: 131 the obs is:29 
-[10:20:13.630] Image Alignment failed 0
-[10:20:13.630] frame process finished the id is: 131 the obs is:29 
-[10:20:13.728] Image Alignment failed 0
-[10:20:13.728] frame process finished the id is: 131 the obs is:29 
-[10:20:13.829] Image Alignment failed 0
-[10
\ No newline at end of file
+[13:31:33.982] Init: frame zero: 0.000000, 0.000000 0.000000
+[13:31:33.982] Init: Selected first frame. 
+[13:31:33.982] frame process finished the id is: 0 the obs is:0 
+[13:31:34.087] Init: px average disparity is:0.171924 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:34.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:34.087] frame process finished the id is: 1 the obs is:0 
+[13:31:34.177] Init: px average disparity is:0.197214 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:34.177] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:34.177] frame process finished the id is: 2 the obs is:0 
+[13:31:34.278] Init: px average disparity is:0.300773 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:34.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:34.279] frame process finished the id is: 3 the obs is:0 
+[13:31:34.378] Init: px average disparity is:0.346792 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:34.378] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:34.378] frame process finished the id is: 4 the obs is:0 
+[13:31:34.478] Init: px average disparity is:0.344977 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:34.478] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:34.478] frame process finished the id is: 5 the obs is:0 
+[13:31:34.580] Init: px average disparity is:0.356134 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:34.580] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:34.580] frame process finished the id is: 6 the obs is:0 
+[13:31:34.682] Init: px average disparity is:0.357122 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:34.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:34.682] frame process finished the id is: 7 the obs is:0 
+[13:31:34.781] Init: px average disparity is:0.434690 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:34.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:34.781] frame process finished the id is: 8 the obs is:0 
+[13:31:34.880] Init: px average disparity is:0.401477 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:34.880] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:34.880] frame process finished the id is: 9 the obs is:0 
+[13:31:34.978] Init: px average disparity is:0.514230 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:34.978] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:34.978] frame process finished the id is: 10 the obs is:0 
+[13:31:35.088] Init: px average disparity is:0.487374 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:35.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:35.088] frame process finished the id is: 11 the obs is:0 
+[13:31:35.188] Init: px average disparity is:0.528610 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:35.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:35.188] frame process finished the id is: 12 the obs is:0 
+[13:31:35.288] Init: px average disparity is:0.524849 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:35.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:35.288] frame process finished the id is: 13 the obs is:0 
+[13:31:35.388] Init: px average disparity is:0.564045 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:35.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:35.388] frame process finished the id is: 14 the obs is:0 
+[13:31:35.488] Init: px average disparity is:0.529731 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:35.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:35.489] frame process finished the id is: 15 the obs is:0 
+[13:31:35.588] Init: px average disparity is:0.596839 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:35.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:35.588] frame process finished the id is: 16 the obs is:0 
+[13:31:35.689] Init: px average disparity is:0.598733 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:35.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:35.689] frame process finished the id is: 17 the obs is:0 
+[13:31:35.788] Init: px average disparity is:0.532942 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:35.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:35.789] frame process finished the id is: 18 the obs is:0 
+[13:31:35.889] Init: px average disparity is:0.561542 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:35.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:35.889] frame process finished the id is: 19 the obs is:0 
+[13:31:35.988] Init: px average disparity is:0.553948 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:35.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:35.988] frame process finished the id is: 20 the obs is:0 
+[13:31:36.089] Init: px average disparity is:0.554106 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:36.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:36.089] frame process finished the id is: 21 the obs is:0 
+[13:31:36.186] Init: px average disparity is:0.537530 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:36.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:36.186] frame process finished the id is: 22 the obs is:0 
+[13:31:36.289] Init: px average disparity is:0.532027 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:36.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:36.289] frame process finished the id is: 23 the obs is:0 
+[13:31:36.389] Init: px average disparity is:0.536972 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:36.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:36.389] frame process finished the id is: 24 the obs is:0 
+[13:31:36.488] Init: px average disparity is:0.488394 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:36.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:36.488] frame process finished the id is: 25 the obs is:0 
+[13:31:36.589] Init: px average disparity is:0.554650 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:36.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:36.589] frame process finished the id is: 26 the obs is:0 
+[13:31:36.688] Init: px average disparity is:0.497258 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:36.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:36.688] frame process finished the id is: 27 the obs is:0 
+[13:31:36.789] Init: px average disparity is:0.478406 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:36.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:36.790] frame process finished the id is: 28 the obs is:0 
+[13:31:36.889] Init: px average disparity is:0.536003 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:36.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:36.890] frame process finished the id is: 29 the obs is:0 
+[13:31:36.988] Init: px average disparity is:0.527197 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:36.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:36.988] frame process finished the id is: 30 the obs is:0 
+[13:31:37.089] Init: px average disparity is:0.493819 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:37.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:37.089] frame process finished the id is: 31 the obs is:0 
+[13:31:37.189] Init: px average disparity is:0.562226 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:37.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:37.189] frame process finished the id is: 32 the obs is:0 
+[13:31:37.289] Init: px average disparity is:0.507723 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:37.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:37.289] frame process finished the id is: 33 the obs is:0 
+[13:31:37.389] Init: px average disparity is:0.527498 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:37.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:37.389] frame process finished the id is: 34 the obs is:0 
+[13:31:37.490] Init: px average disparity is:0.523116 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:37.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:37.490] frame process finished the id is: 35 the obs is:0 
+[13:31:37.581] Init: px average disparity is:0.536801 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:37.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:37.581] frame process finished the id is: 36 the obs is:0 
+[13:31:37.688] Init: px average disparity is:0.510002 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:37.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:37.688] frame process finished the id is: 37 the obs is:0 
+[13:31:37.789] Init: px average disparity is:0.506828 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:37.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:37.789] frame process finished the id is: 38 the obs is:0 
+[13:31:37.888] Init: px average disparity is:0.495384 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:37.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:37.888] frame process finished the id is: 39 the obs is:0 
+[13:31:37.988] Init: px average disparity is:0.559384 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:37.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:37.988] frame process finished the id is: 40 the obs is:0 
+[13:31:38.094] Init: px average disparity is:0.507849 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:38.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:38.094] frame process finished the id is: 41 the obs is:0 
+[13:31:38.188] Init: px average disparity is:0.510538 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:38.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:38.188] frame process finished the id is: 42 the obs is:0 
+[13:31:38.288] Init: px average disparity is:0.518728 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:38.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:38.288] frame process finished the id is: 43 the obs is:0 
+[13:31:38.388] Init: px average disparity is:0.514651 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:38.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:38.388] frame process finished the id is: 44 the obs is:0 
+[13:31:38.488] Init: px average disparity is:0.518479 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:38.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:38.488] frame process finished the id is: 45 the obs is:0 
+[13:31:38.589] Init: px average disparity is:0.528163 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:38.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:38.589] frame process finished the id is: 46 the obs is:0 
+[13:31:38.693] Init: px average disparity is:0.505184 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:38.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:38.693] frame process finished the id is: 47 the obs is:0 
+[13:31:38.794] Init: px average disparity is:0.514183 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:38.794] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:38.794] frame process finished the id is: 48 the obs is:0 
+[13:31:38.877] Init: px average disparity is:0.509565 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:38.877] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:38.877] frame process finished the id is: 49 the obs is:0 
+[13:31:38.993] Init: px average disparity is:0.504711 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:38.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:38.993] frame process finished the id is: 50 the obs is:0 
+[13:31:39.088] Init: px average disparity is:0.498120 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:39.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:39.089] frame process finished the id is: 51 the obs is:0 
+[13:31:39.188] Init: px average disparity is:0.518064 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:39.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:39.188] frame process finished the id is: 52 the obs is:0 
+[13:31:39.289] Init: px average disparity is:0.574171 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:39.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:39.289] frame process finished the id is: 53 the obs is:0 
+[13:31:39.389] Init: px average disparity is:0.534647 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:39.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:39.389] frame process finished the id is: 54 the obs is:0 
+[13:31:39.489] Init: px average disparity is:0.540708 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:39.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:39.489] frame process finished the id is: 55 the obs is:0 
+[13:31:39.595] Init: px average disparity is:0.503344 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:39.596] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:39.596] frame process finished the id is: 56 the obs is:0 
+[13:31:39.688] Init: px average disparity is:0.516396 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:39.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:39.688] frame process finished the id is: 57 the obs is:0 
+[13:31:39.790] Init: px average disparity is:0.491501 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:39.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:39.790] frame process finished the id is: 58 the obs is:0 
+[13:31:39.889] Init: px average disparity is:0.500469 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:39.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:39.889] frame process finished the id is: 59 the obs is:0 
+[13:31:39.989] Init: px average disparity is:0.502337 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:39.989] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:39.989] frame process finished the id is: 60 the obs is:0 
+[13:31:40.088] Init: px average disparity is:0.522458 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:40.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:40.089] frame process finished the id is: 61 the obs is:0 
+[13:31:40.190] Init: px average disparity is:0.545939 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:40.190] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:40.190] frame process finished the id is: 62 the obs is:0 
+[13:31:40.279] Init: px average disparity is:0.534511 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:40.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:40.279] frame process finished the id is: 63 the obs is:0 
+[13:31:40.388] Init: px average disparity is:0.493620 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:40.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:40.388] frame process finished the id is: 64 the obs is:0 
+[13:31:40.488] Init: px average disparity is:0.508335 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:40.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:40.489] frame process finished the id is: 65 the obs is:0 
+[13:31:40.588] Init: px average disparity is:0.527201 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:40.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:40.588] frame process finished the id is: 66 the obs is:0 
+[13:31:40.688] Init: px average disparity is:0.534781 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:40.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:40.688] frame process finished the id is: 67 the obs is:0 
+[13:31:40.795] Init: px average disparity is:0.527935 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:40.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:40.795] frame process finished the id is: 68 the obs is:0 
+[13:31:40.888] Init: px average disparity is:0.524864 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:40.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:40.888] frame process finished the id is: 69 the obs is:0 
+[13:31:40.988] Init: px average disparity is:0.495727 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:40.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:40.988] frame process finished the id is: 70 the obs is:0 
+[13:31:41.088] Init: px average disparity is:0.489154 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:41.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:41.088] frame process finished the id is: 71 the obs is:0 
+[13:31:41.189] Init: px average disparity is:0.546246 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:41.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:41.189] frame process finished the id is: 72 the obs is:0 
+[13:31:41.289] Init: px average disparity is:0.448256 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:41.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:41.289] frame process finished the id is: 73 the obs is:0 
+[13:31:41.392] Init: px average disparity is:0.512867 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:41.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:41.393] frame process finished the id is: 74 the obs is:0 
+[13:31:41.490] Init: px average disparity is:0.530945 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:41.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:41.490] frame process finished the id is: 75 the obs is:0 
+[13:31:41.590] Init: px average disparity is:0.558546 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:41.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:41.590] frame process finished the id is: 76 the obs is:0 
+[13:31:41.684] Init: px average disparity is:0.539629 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:41.684] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:41.684] frame process finished the id is: 77 the obs is:0 
+[13:31:41.789] Init: px average disparity is:0.539964 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:41.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:41.789] frame process finished the id is: 78 the obs is:0 
+[13:31:41.837] Odometry x=0.000000, y=0.000000, theta=0.000000
+[13:31:41.888] Init: px average disparity is:0.507625 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:41.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:41.889] frame process finished the id is: 79 the obs is:0 
+[13:31:41.937] Odometry x=0.000000, y=0.000000, theta=0.000000
+[13:31:41.994] Init: px average disparity is:0.526847 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:41.994] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:41.994] frame process finished the id is: 80 the obs is:0 
+[13:31:42.037] Odometry x=0.000001, y=0.013358, theta=0.000968
+[13:31:42.091] Init: px average disparity is:6.463798 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:42.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:42.091] frame process finished the id is: 81 the obs is:0 
+[13:31:42.137] Odometry x=-0.000379, y=0.024747, theta=-0.001854
+[13:31:42.189] Init: px average disparity is:3.496661 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:42.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:42.189] frame process finished the id is: 82 the obs is:0 
+[13:31:42.234] Odometry x=-0.000473, y=0.036436, theta=0.002181
+[13:31:42.289] Init: px average disparity is:5.282629 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:42.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:42.289] frame process finished the id is: 83 the obs is:0 
+[13:31:42.335] Odometry x=-0.000540, y=0.048596, theta=0.006035
+[13:31:42.392] Init: px average disparity is:5.620252 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:42.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:42.392] frame process finished the id is: 84 the obs is:0 
+[13:31:42.428] Odometry x=-0.000101, y=0.058768, theta=-0.001412
+[13:31:42.490] Init: px average disparity is:7.615593 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:42.491] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:42.491] frame process finished the id is: 85 the obs is:0 
+[13:31:42.533] Odometry x=-0.000116, y=0.072021, theta=-0.004844
+[13:31:42.590] Init: px average disparity is:8.932544 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:42.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:42.590] frame process finished the id is: 86 the obs is:0 
+[13:31:42.635] Odometry x=0.000074, y=0.082783, theta=0.002949
+[13:31:42.690] Init: px average disparity is:12.753211 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:42.690] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:42.690] frame process finished the id is: 87 the obs is:0 
+[13:31:42.734] Odometry x=0.000648, y=0.094070, theta=0.003317
+[13:31:42.795] Init: px average disparity is:10.715972 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:42.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:42.795] frame process finished the id is: 88 the obs is:0 
+[13:31:42.838] Odometry x=0.000636, y=0.105444, theta=-0.010203
+[13:31:42.892] Init: px average disparity is:11.875664 ,While minimum is: 40.000000  KLT tracked : 298
+[13:31:42.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:42.892] frame process finished the id is: 89 the obs is:0 
+[13:31:42.932] Odometry x=0.000713, y=0.115948, theta=-0.006330
+[13:31:42.979] Init: px average disparity is:15.491363 ,While minimum is: 40.000000  KLT tracked : 293
+[13:31:42.979] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:42.979] frame process finished the id is: 90 the obs is:0 
+[13:31:43.034] Odometry x=0.000720, y=0.125916, theta=0.001035
+[13:31:43.092] Init: px average disparity is:21.209539 ,While minimum is: 40.000000  KLT tracked : 293
+[13:31:43.092] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:43.092] frame process finished the id is: 91 the obs is:0 
+[13:31:43.129] Odometry x=0.000734, y=0.136189, theta=-0.005571
+[13:31:43.198] Init: px average disparity is:21.705830 ,While minimum is: 40.000000  KLT tracked : 293
+[13:31:43.198] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:43.198] frame process finished the id is: 92 the obs is:0 
+[13:31:43.232] Odometry x=0.000708, y=0.146964, theta=-0.004452
+[13:31:43.293] Init: px average disparity is:22.121128 ,While minimum is: 40.000000  KLT tracked : 293
+[13:31:43.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:43.293] frame process finished the id is: 93 the obs is:0 
+[13:31:43.333] Odometry x=0.000978, y=0.158654, theta=-0.009256
+[13:31:43.393] Init: px average disparity is:24.239584 ,While minimum is: 40.000000  KLT tracked : 289
+[13:31:43.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:43.393] frame process finished the id is: 94 the obs is:0 
+[13:31:43.434] Odometry x=0.000989, y=0.169295, theta=0.001291
+[13:31:43.493] Init: px average disparity is:26.022915 ,While minimum is: 40.000000  KLT tracked : 289
+[13:31:43.493] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:43.493] frame process finished the id is: 95 the obs is:0 
+[13:31:43.533] Odometry x=0.001012, y=0.180329, theta=-0.007750
+[13:31:43.594] Init: px average disparity is:25.834814 ,While minimum is: 40.000000  KLT tracked : 287
+[13:31:43.594] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:43.594] frame process finished the id is: 96 the obs is:0 
+[13:31:43.634] Odometry x=0.000950, y=0.191231, theta=-0.014290
+[13:31:43.693] Init: px average disparity is:25.559168 ,While minimum is: 40.000000  KLT tracked : 274
+[13:31:43.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:43.693] frame process finished the id is: 97 the obs is:0 
+[13:31:43.734] Odometry x=0.000909, y=0.202059, theta=-0.002956
+[13:31:43.795] Init: px average disparity is:28.963259 ,While minimum is: 40.000000  KLT tracked : 274
+[13:31:43.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:43.795] frame process finished the id is: 98 the obs is:0 
+[13:31:43.834] Odometry x=0.000893, y=0.212784, theta=-0.007865
+[13:31:43.893] Init: px average disparity is:31.308741 ,While minimum is: 40.000000  KLT tracked : 272
+[13:31:43.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:43.893] frame process finished the id is: 99 the obs is:0 
+[13:31:43.936] Odometry x=0.000859, y=0.222637, theta=-0.006993
+[13:31:43.993] Init: px average disparity is:30.035295 ,While minimum is: 40.000000  KLT tracked : 270
+[13:31:43.994] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:43.994] frame process finished the id is: 100 the obs is:0 
+[13:31:44.047] Odometry x=0.000849, y=0.233458, theta=-0.004882
+[13:31:44.095] Init: px average disparity is:28.858631 ,While minimum is: 40.000000  KLT tracked : 264
+[13:31:44.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:44.095] frame process finished the id is: 101 the obs is:0 
+[13:31:44.139] Odometry x=0.001041, y=0.246076, theta=-0.012074
+[13:31:44.186] Init: px average disparity is:30.670175 ,While minimum is: 40.000000  KLT tracked : 264
+[13:31:44.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:44.186] frame process finished the id is: 102 the obs is:0 
+[13:31:44.235] Odometry x=0.000983, y=0.255844, theta=-0.011264
+[13:31:44.293] Init: px average disparity is:31.336828 ,While minimum is: 40.000000  KLT tracked : 264
+[13:31:44.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:44.293] frame process finished the id is: 103 the obs is:0 
+[13:31:44.329] Odometry x=0.003729, y=0.268275, theta=-0.015097
+[13:31:44.393] Init: px average disparity is:31.224998 ,While minimum is: 40.000000  KLT tracked : 263
+[13:31:44.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:44.393] frame process finished the id is: 104 the obs is:0 
+[13:31:44.431] Odometry x=0.003755, y=0.278359, theta=-0.012060
+[13:31:44.494] Init: px average disparity is:30.524775 ,While minimum is: 40.000000  KLT tracked : 263
+[13:31:44.494] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:44.494] frame process finished the id is: 105 the obs is:0 
+[13:31:44.536] Odometry x=0.003234, y=0.290059, theta=-0.019604
+[13:31:44.594] Init: px average disparity is:31.933799 ,While minimum is: 40.000000  KLT tracked : 263
+[13:31:44.594] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:44.594] frame process finished the id is: 106 the obs is:0 
+[13:31:44.635] Odometry x=0.003157, y=0.301683, theta=-0.008852
+[13:31:44.695] Init: px average disparity is:35.169790 ,While minimum is: 40.000000  KLT tracked : 263
+[13:31:44.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:44.695] frame process finished the id is: 107 the obs is:0 
+[13:31:44.736] Odometry x=0.012102, y=0.302457, theta=-0.027739
+[13:31:44.796] Init: px average disparity is:35.597564 ,While minimum is: 40.000000  KLT tracked : 263
+[13:31:44.796] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:44.796] frame process finished the id is: 108 the obs is:0 
+[13:31:44.830] Odometry x=0.012286, y=0.315497, theta=-0.025933
+[13:31:44.896] Init: px average disparity is:36.489848 ,While minimum is: 40.000000  KLT tracked : 263
+[13:31:44.896] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:44.896] frame process finished the id is: 109 the obs is:0 
+[13:31:44.936] Odometry x=0.011944, y=0.326197, theta=-0.000946
+[13:31:44.996] Init: px average disparity is:36.630540 ,While minimum is: 40.000000  KLT tracked : 263
+[13:31:44.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:44.996] frame process finished the id is: 110 the obs is:0 
+[13:31:45.030] Odometry x=0.011932, y=0.337527, theta=-0.006210
+[13:31:45.097] Init: px average disparity is:38.454056 ,While minimum is: 40.000000  KLT tracked : 263
+[13:31:45.097] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:45.097] frame process finished the id is: 111 the obs is:0 
+[13:31:45.139] Odometry x=0.011212, y=0.348290, theta=-0.006745
+[13:31:45.197] Init: px average disparity is:39.769759 ,While minimum is: 40.000000  KLT tracked : 263
+[13:31:45.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:31:45.197] frame process finished the id is: 112 the obs is:0 
+[13:31:45.240] Odometry x=0.011199, y=0.361337, theta=-0.002237
+[13:31:45.336] Odometry x=0.011184, y=0.372625, theta=-0.010608
+[13:31:45.347] Init finished: Homography RANSAC (inlier) is:41 ,While 20 inliers minimum required.  px average disparity is:43.051408 ,While minimum is: 40.000000  KLT tracked: 263
+[13:31:45.347] Init: distance between the first and current frame is x:0.011184 ,z=0.372625,angle between two frames: -0.010608 
+[13:31:45.350] Init: Selected Second frame. 	 The number of features: 41 depth mean:-1.166683 min:-1.718554
+[13:31:45.350] frame process finished the id is: 113 the obs is:41 
+[13:31:45.433] Odometry x=0.011103, y=0.382883, theta=-0.020550
+[13:31:45.519] After Reprojection Map nPoint:34 ,nCell:34 ,nMatches:2 ,distance between ekf and vo x:-0.000385 ,z=-0.000053,angle between two frames:0.000184
+[13:31:45.519] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.494634 	 error end=0.494634
+[13:31:45.519] After pose optimization, distance between ekf and vo x:-0.000385 ,z=-0.000053,angle between two frames:0.000184
+[13:31:45.519] frame process finished the id is: 113 the obs is:41 
+[13:31:45.538] Odometry x=0.011058, y=0.393770, theta=-0.007742
+[13:31:45.632] Odometry x=0.011012, y=0.405237, theta=-0.012077
+[13:31:45.666] After Reprojection Map nPoint:35 ,nCell:35 ,nMatches:2 ,distance between ekf and vo x:-0.000411 ,z=-0.000048,angle between two frames:0.000210
+[13:31:45.666] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.264979 	 error end=0.264979
+[13:31:45.666] After pose optimization, distance between ekf and vo x:-0.000411 ,z=-0.000048,angle between two frames:0.000210
+[13:31:45.666] frame process finished the id is: 113 the obs is:41 
+[13:31:45.729] Odometry x=0.010950, y=0.416674, theta=-0.003471
+[13:31:45.814] After Reprojection Map nPoint:36 ,nCell:36 ,nMatches:4 ,distance between ekf and vo x:-0.000322 ,z=-0.000043,angle between two frames:0.000166
+[13:31:45.814] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.351533 	 error end=0.289038
+[13:31:45.814] After pose optimization, distance between ekf and vo x:0.148594 ,z=0.009374,angle between two frames:0.038685
+[13:31:45.814] Update EKF and 3D points the number of feature in the new frame: 4 and number of obs: 4
+[13:31:45.814] key frame check new frame:0.151427 0.426127 -0.040401, key close:0.011184 0.372625 -0.010608
+[13:31:45.814] Choose frame as a key frame Scene Depth mean:-8.976423 ,depth min:-19.242695
+[13:31:45.814] frame process finished the id is: 116 the obs is:4 
+[13:31:45.829] Odometry x=0.151427, y=0.426127, theta=-0.040401
+[13:31:45.932] Odometry x=0.151024, y=0.438969, theta=-0.036906
+[13:31:45.966] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000034 ,z=-0.000017,angle between two frames:0.000004
+[13:31:45.966] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000017,angle between two frames:0.000004
+[13:31:45.966] frame process finished the id is: 116 the obs is:4 
+[13:31:46.030] Odometry x=0.150758, y=0.450396, theta=-0.039649
+[13:31:46.116] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000032 ,z=-0.000015,angle between two frames:0.000004
+[13:31:46.116] After pose optimization, distance between ekf and vo x:-0.000032 ,z=-0.000015,angle between two frames:0.000004
+[13:31:46.116] frame process finished the id is: 116 the obs is:4 
+[13:31:46.134] Odometry x=0.150522, y=0.460995, theta=-0.042980
+[13:31:46.231] Odometry x=0.150553, y=0.473595, theta=-0.029659
+[13:31:46.266] After Reprojection Map nPoint:4 ,nCell:3 ,nMatches:1 ,distance between ekf and vo x:-0.000033 ,z=-0.000025,angle between two frames:0.000005
+[13:31:46.266] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.122376 	 error end=0.122376
+[13:31:46.266] After pose optimization, distance between ekf and vo x:-0.000033 ,z=-0.000025,angle between two frames:0.000005
+[13:31:46.266] frame process finished the id is: 116 the obs is:4 
+[13:31:46.331] Odometry x=0.150544, y=0.484835, theta=-0.031517
+[13:31:46.425] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000134 ,z=-0.000108,angle between two frames:0.000001
+[13:31:46.425] After pose optimization, distance between ekf and vo x:0.000134 ,z=-0.000108,angle between two frames:0.000001
+[13:31:46.425] frame process finished the id is: 116 the obs is:4 
+[13:31:46.433] Odometry x=0.150350, y=0.496165, theta=-0.036165
+[13:31:46.532] Odometry x=0.150158, y=0.508306, theta=-0.028657
+[13:31:46.577] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000034 ,z=-0.000012,angle between two frames:0.000004
+[13:31:46.577] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000012,angle between two frames:0.000004
+[13:31:46.577] frame process finished the id is: 116 the obs is:4 
+[13:31:46.629] Odometry x=0.150088, y=0.519132, theta=-0.032593
+[13:31:46.727] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000034 ,z=-0.000011,angle between two frames:0.000004
+[13:31:46.727] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000011,angle between two frames:0.000004
+[13:31:46.727] frame process finished the id is: 116 the obs is:4 
+[13:31:46.732] Odometry x=0.149922, y=0.532709, theta=-0.038311
+[13:31:46.828] Odometry x=0.149735, y=0.543536, theta=-0.028547
+[13:31:46.877] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000037 ,z=-0.000007,angle between two frames:0.000004
+[13:31:46.877] After pose optimization, distance between ekf and vo x:-0.000037 ,z=-0.000007,angle between two frames:0.000004
+[13:31:46.877] frame process finished the id is: 116 the obs is:4 
+[13:31:46.932] Odometry x=0.149705, y=0.554070, theta=-0.032064
+[13:31:47.028] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000039 ,z=-0.000014,angle between two frames:0.000004
+[13:31:47.028] After pose optimization, distance between ekf and vo x:-0.000039 ,z=-0.000014,angle between two frames:0.000004
+[13:31:47.028] frame process finished the id is: 116 the obs is:4 
+[13:31:47.029] Odometry x=0.149424, y=0.570711, theta=-0.029268
+[13:31:47.130] Odometry x=0.149226, y=0.584016, theta=-0.033424
+[13:31:47.178] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000036 ,z=-0.000017,angle between two frames:0.000004
+[13:31:47.178] After pose optimization, distance between ekf and vo x:-0.000036 ,z=-0.000017,angle between two frames:0.000004
+[13:31:47.178] frame process finished the id is: 116 the obs is:4 
+[13:31:47.229] Odometry x=0.149469, y=0.594338, theta=-0.030218
+[13:31:47.329] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000039 ,z=-0.000013,angle between two frames:0.000004
+[13:31:47.329] After pose optimization, distance between ekf and vo x:-0.000039 ,z=-0.000013,angle between two frames:0.000004
+[13:31:47.329] frame process finished the id is: 116 the obs is:4 
+[13:31:47.337] Odometry x=0.149358, y=0.603562, theta=-0.023059
+[13:31:47.434] Odometry x=0.149237, y=0.614533, theta=-0.027683
+[13:31:47.479] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000021 ,z=-0.000007,angle between two frames:0.000002
+[13:31:47.479] After pose optimization, distance between ekf and vo x:-0.000021 ,z=-0.000007,angle between two frames:0.000002
+[13:31:47.479] frame process finished the id is: 116 the obs is:4 
+[13:31:47.531] Odometry x=0.148879, y=0.643311, theta=-0.034184
+[13:31:47.629] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000026 ,z=-0.000010,angle between two frames:0.000003
+[13:31:47.629] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000010,angle between two frames:0.000003
+[13:31:47.629] frame process finished the id is: 116 the obs is:4 
+[13:31:47.632] Odometry x=0.148250, y=0.653547, theta=-0.027548
+[13:31:47.733] Odometry x=0.148082, y=0.663984, theta=-0.038348
+[13:31:47.781] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000038 ,z=-0.000012,angle between two frames:0.000004
+[13:31:47.781] After pose optimization, distance between ekf and vo x:-0.000038 ,z=-0.000012,angle between two frames:0.000004
+[13:31:47.781] frame process finished the id is: 116 the obs is:4 
+[13:31:47.829] Odometry x=0.146868, y=0.674688, theta=-0.033372
+[13:31:47.932] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:2 ,distance between ekf and vo x:-0.000026 ,z=-0.000009,angle between two frames:0.000003
+[13:31:47.932] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.097363 	 error end=0.097363
+[13:31:47.932] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000009,angle between two frames:0.000003
+[13:31:47.932] frame process finished the id is: 116 the obs is:4 
+[13:31:47.933] Odometry x=0.146706, y=0.685162, theta=-0.030956
+[13:31:48.032] Odometry x=0.146558, y=0.696430, theta=-0.022003
+[13:31:48.083] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000028 ,z=-0.000010,angle between two frames:0.000003
+[13:31:48.083] After pose optimization, distance between ekf and vo x:-0.000028 ,z=-0.000010,angle between two frames:0.000003
+[13:31:48.083] frame process finished the id is: 116 the obs is:4 
+[13:31:48.131] Odometry x=0.146463, y=0.707758, theta=-0.020143
+[13:31:48.231] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:0.027285 ,z=0.018053,angle between two frames:0.004876
+[13:31:48.231] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.228122 	 error end=0.228122
+[13:31:48.231] After pose optimization, distance between ekf and vo x:0.027285 ,z=0.018053,angle between two frames:0.004876
+[13:31:48.231] Update EKF and 3D points the number of feature in the new frame: 6 and number of obs: 6
+[13:31:48.231] key frame check new frame:0.172240 0.725409 -0.016289, key close:0.151427 0.426127 -0.040401
+[13:31:48.231] Choose frame as a key frame Scene Depth mean:1.606597 ,depth min:1.160308
+[13:31:48.231] frame process finished the id is: 132 the obs is:6 
+[13:31:48.239] Odometry x=0.172240, y=0.725409, theta=-0.016289
+[13:31:48.332] Odometry x=0.172405, y=0.739503, theta=-0.018433
+[13:31:48.391] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000024 ,z=-0.002968,angle between two frames:0.008175
+[13:31:48.392] After pose optimization, distance between ekf and vo x:0.000024 ,z=-0.002968,angle between two frames:0.008175
+[13:31:48.392] frame process finished the id is: 132 the obs is:6 
+[13:31:48.435] Odometry x=0.172367, y=0.749647, theta=-0.018341
+[13:31:48.533] Odometry x=0.169602, y=0.767142, theta=-0.036925
+[13:31:48.548] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000105 ,z=-0.001989,angle between two frames:0.005107
+[13:31:48.548] After pose optimization, distance between ekf and vo x:0.000105 ,z=-0.001989,angle between two frames:0.005107
+[13:31:48.548] frame process finished the id is: 132 the obs is:6 
+[13:31:48.633] Odometry x=0.169234, y=0.777713, theta=-0.030689
+[13:31:48.703] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000663 ,z=-0.002699,angle between two frames:0.005193
+[13:31:48.703] After pose optimization, distance between ekf and vo x:0.000663 ,z=-0.002699,angle between two frames:0.005193
+[13:31:48.703] frame process finished the id is: 132 the obs is:6 
+[13:31:48.730] Odometry x=0.167790, y=0.790296, theta=-0.032166
+[13:31:48.836] Odometry x=0.167594, y=0.800714, theta=-0.029090
+[13:31:48.863] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000666 ,z=-0.002749,angle between two frames:0.005682
+[13:31:48.863] After pose optimization, distance between ekf and vo x:0.000666 ,z=-0.002749,angle between two frames:0.005682
+[13:31:48.863] frame process finished the id is: 132 the obs is:6 
+[13:31:48.933] Odometry x=0.167434, y=0.812113, theta=-0.029519
+[13:31:49.028] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001214 ,z=-0.004490,angle between two frames:0.009011
+[13:31:49.028] After pose optimization, distance between ekf and vo x:0.001214 ,z=-0.004490,angle between two frames:0.009011
+[13:31:49.028] frame process finished the id is: 132 the obs is:6 
+[13:31:49.033] Odometry x=0.167253, y=0.823296, theta=-0.038777
+[13:31:49.132] Odometry x=0.166916, y=0.833727, theta=-0.038114
+[13:31:49.185] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000406 ,z=-0.001544,angle between two frames:0.002749
+[13:31:49.185] After pose optimization, distance between ekf and vo x:0.000406 ,z=-0.001544,angle between two frames:0.002749
+[13:31:49.185] frame process finished the id is: 132 the obs is:6 
+[13:31:49.233] Odometry x=0.166716, y=0.844584, theta=-0.036845
+[13:31:49.330] Odometry x=0.165672, y=0.859115, theta=-0.038654
+[13:31:49.344] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000896 ,z=-0.002836,angle between two frames:0.004921
+[13:31:49.345] After pose optimization, distance between ekf and vo x:0.000896 ,z=-0.002836,angle between two frames:0.004921
+[13:31:49.345] frame process finished the id is: 132 the obs is:6 
+[13:31:49.432] Odometry x=0.164022, y=0.876934, theta=-0.031443
+[13:31:49.501] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000568 ,z=-0.001358,angle between two frames:0.002557
+[13:31:49.501] After pose optimization, distance between ekf and vo x:0.000568 ,z=-0.001358,angle between two frames:0.002557
+[13:31:49.501] frame process finished the id is: 132 the obs is:6 
+[13:31:49.529] Odometry x=0.163798, y=0.887781, theta=-0.032489
+[13:31:49.633] Odometry x=0.166198, y=0.898623, theta=-0.045122
+[13:31:49.650] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000142 ,z=-0.000334,angle between two frames:0.000547
+[13:31:49.650] After pose optimization, distance between ekf and vo x:0.000142 ,z=-0.000334,angle between two frames:0.000547
+[13:31:49.650] frame process finished the id is: 132 the obs is:6 
+[13:31:49.735] Odometry x=0.166002, y=0.909218, theta=-0.036784
+[13:31:49.810] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001340 ,z=-0.002561,angle between two frames:0.005109
+[13:31:49.810] After pose optimization, distance between ekf and vo x:0.001340 ,z=-0.002561,angle between two frames:0.005109
+[13:31:49.810] frame process finished the id is: 132 the obs is:6 
+[13:31:49.837] Odometry x=0.165790, y=0.920099, theta=-0.043548
+[13:31:49.930] Odometry x=0.165603, y=0.930161, theta=-0.033116
+[13:31:49.969] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001236 ,z=-0.002319,angle between two frames:0.004442
+[13:31:49.969] After pose optimization, distance between ekf and vo x:0.001236 ,z=-0.002319,angle between two frames:0.004442
+[13:31:49.969] frame process finished the id is: 132 the obs is:6 
+[13:31:50.032] Odometry x=0.165349, y=0.942757, theta=-0.043861
+[13:31:50.130] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001449 ,z=-0.003006,angle between two frames:0.005087
+[13:31:50.130] After pose optimization, distance between ekf and vo x:0.001449 ,z=-0.003006,angle between two frames:0.005087
+[13:31:50.130] frame process finished the id is: 132 the obs is:6 
+[13:31:50.132] Odometry x=0.165122, y=0.953585, theta=-0.037836
+[13:31:50.235] Odometry x=0.166859, y=0.964641, theta=-0.041200
+[13:31:50.286] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000814 ,z=-0.001495,angle between two frames:0.002897
+[13:31:50.286] After pose optimization, distance between ekf and vo x:0.000814 ,z=-0.001495,angle between two frames:0.002897
+[13:31:50.286] frame process finished the id is: 132 the obs is:6 
+[13:31:50.336] Odometry x=0.166694, y=0.974028, theta=-0.040183
+[13:31:50.434] Odometry x=0.166407, y=0.989113, theta=-0.029965
+[13:31:50.443] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.000917 ,z=-0.001317,angle between two frames:0.002863
+[13:31:50.443] After pose optimization, distance between ekf and vo x:0.000917 ,z=-0.001317,angle between two frames:0.002863
+[13:31:50.443] frame process finished the id is: 132 the obs is:6 
+[13:31:50.531] Odometry x=0.166186, y=1.004899, theta=-0.031004
+[13:31:50.601] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.001183 ,z=-0.001856,angle between two frames:0.003531
+[13:31:50.602] After pose optimization, distance between ekf and vo x:0.001183 ,z=-0.001856,angle between two frames:0.003531
+[13:31:50.602] frame process finished the id is: 132 the obs is:6 
+[13:31:50.626] Odometry x=0.165954, y=1.017345, theta=-0.035705
+[13:31:50.733] Odometry x=0.165767, y=1.028200, theta=-0.034188
+[13:31:50.763] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between ekf and vo x:0.002390 ,z=-0.003348,angle between two frames:0.006339
+[13:31:50.763] After pose optimization, distance between ekf and vo x:0.002390 ,z=-0.003348,angle between two frames:0.006339
+[13:31:50.763] frame process finished the id is: 132 the obs is:6 
+[13:31:50.767] Image Alignment failed 0
+[13:31:50.767] frame process finished the id is: 132 the obs is:6 
+[13:31:50.772] Image Alignment failed 0
+[13:31:50.772] frame process finished the id is: 132 the obs is:6 
+[13:31:50.834] Odometry x=0.165850, y=1.039101, theta=-0.037945
+[13:31:50.877] Image Alignment failed 0
+[13:31:50.877] frame process finished the id is: 132 the obs is:6 
+[13:31:50.933] Odometry x=0.164810, y=1.056104, theta=-0.044028
+[13:31:50.979] Image Alignment failed 0
+[13:31:50.979] frame process finished the id is: 132 the obs is:6 
+[13:31:51.032] Odometry x=0.164588, y=1.067472, theta=-0.038145
+[13:31:51.077] Image Alignment failed 0
+[13:31:51.077] frame process finished the id is: 132 the obs is:6 
+[13:31:51.134] Odometry x=0.164316, y=1.080481, theta=-0.046219
+[13:31:51.179] Image Alignment failed 0
+[13:31:51.179] frame process finished the id is: 132 the obs is:6 
+[13:31:51.235] Odometry x=0.163840, y=1.091759, theta=-0.039428
+[13:31:51.277] Image Alignment failed 0
+[13:31:51.277] frame process finished the id is: 132 the obs is:6 
+[13:31:51.336] Odometry x=0.164374, y=1.102525, theta=-0.042736
+[13:31:51.377] Image Alignment failed 0
+[13:31:51.377] frame process finished the id is: 132 the obs is:6 
+[13:31:51.432] Odometry x=0.164163, y=1.112959, theta=-0.034725
+[13:31:51.477] Image Alignment failed 0
+[13:31:51.477] frame process finished the id is: 132 the obs is:6 
+[13:31:51.532] Odometry x=0.163908, y=1.127455, theta=-0.043803
+[13:31:51.574] Image Alignment failed 0
+[13:31:51.574] frame process finished the id is: 132 the obs is:6 
+[13:31:51.635] Odometry x=0.163861, y=1.133207, theta=-0.047203
+[13:31:51.679] Image Alignment failed 0
+[13:31:51.679] frame process finished the id is: 132 the obs is:6 
+[13:31:51.736] Odometry x=0.163634, y=1.143829, theta=-0.035927
+[13:31:51.778] Image Alignment failed 0
+[13:31:51.778] frame process finished the id is: 132 the obs is:6 
+[13:31:51.836] Odometry x=0.163458, y=1.157960, theta=-0.036866
+[13:31:51.877] Image Alignment failed 0
+[13:31:51.877] frame process finished the id is: 132 the obs is:6 
+[13:31:51.933] Odometry x=0.163229, y=1.168674, theta=-0.049463
+[13:31:51.977] Image Alignment failed 0
+[13:31:51.977] frame process finished the id is: 132 the obs is:6 
+[13:31:52.034] Odometry x=0.162869, y=1.183886, theta=-0.032232
+[13:31:52.078] Image Alignment failed 0
+[13:31:52.078] frame process finished the id is: 132 the obs is:6 
+[13:31:52.133] Odometry x=0.162285, y=1.216888, theta=-0.023771
+[13:31:52.177] Image Alignment failed 0
+[13:31:52.177] frame process finished the id is: 132 the obs is:6 
+[13:31:52.234] Odometry x=0.147397, y=1.175944, theta=-0.030983
+[13:31:52.277] Image Alignment failed 0
+[13:31:52.278] frame process finished the id is: 132 the obs is:6 
+[13:31:52.335] Odometry x=0.144997, y=1.146450, theta=-0.046472
+[13:31:52.377] Image Alignment failed 0
+[13:31:52.377] frame process finished the id is: 132 the obs is:6 
+[13:31:52.435] Odometry x=0.144904, y=1.112047, theta=-0.075575
+[13:31:52.477] Image Alignment failed 0
+[13:31:52.477] frame process finished the id is: 132 the obs is:6 
+[13:31:52.534] Odometry x=0.143760, y=1.140767, theta=-0.036977
+[13:31:52.578] Image Alignment failed 0
+[13:31:52.578] frame process finished the id is: 132 the obs is:6 
+[13:31:52.637] Odometry x=0.143638, y=1.151519, theta=-0.050382
+[13:31:52.678] Image Alignment failed 0
+[13:31:52.678] frame process finished the id is: 132 the obs is:6 
+[13:31:52.733] Odometry x=0.143932, y=1.163325, theta=-0.047382
+[13:31:52.777] Image Alignment failed 0
+[13:31:52.778] frame process finished the id is: 132 the obs is:6 
+[13:31:52.835] Odometry x=0.149495, y=1.186545, theta=-0.040314
+[13:31:52.878] Image Alignment failed 0
+[13:31:52.878] frame process finished the id is: 132 the obs is:6 
+[13:31:52.935] Odometry x=0.150560, y=1.196737, theta=-0.021245
+[13:31:52.978] Image Alignment failed 0
+[13:31:52.978] frame process finished the id is: 132 the obs is:6 
+[13:31:53.032] Odometry x=0.150424, y=1.207084, theta=-0.017175
+[13:31:53.077] Image Alignment failed 0
+[13:31:53.077] frame process finished the id is: 132 the obs is:6 
+[13:31:53.127] Odometry x=0.150302, y=1.219157, theta=-0.037785
+[13:31:53.177] Image Alignment failed 0
+[13:31:53.177] frame process finished the id is: 132 the obs is:6 
+[13:31:53.234] Odometry x=0.151036, y=1.242648, theta=-0.040855
+[13:31:53.277] Image Alignment failed 0
+[13:31:53.277] frame process finished the id is: 132 the obs is:6 
+[13:31:53.334] Odometry x=0.141193, y=1.238172, theta=-0.047573
+[13:31:53.377] Image Alignment failed 0
+[13:31:53.377] frame process finished the id is: 132 the obs is:6 
+[13:31:53.427] Odometry x=0.138954, y=1.248674, theta=-0.023905
+[13:31:53.477] Image Alignment failed 0
+[13:31:53.477] frame process finished the id is: 132 the obs is:6 
+[13:31:53.527] Odometry x=0.144926, y=1.271890, theta=-0.033264
+[13:31:53.577] Image Alignment failed 0
+[13:31:53.577] frame process finished the id is: 132 the obs is:6 
+[13:31:53.634] Odometry x=0.141697, y=1.280833, theta=-0.033528
+[13:31:53.680] Image Alignment failed 0
+[13:31:53.680] frame process finished the id is: 132 the obs is:6 
+[13:31:53.733] Odometry x=0.141312, y=1.293651, theta=-0.026060
+[13:31:53.777] Image Alignment failed 0
+[13:31:53.777] frame process finished the id is: 132 the obs is:6 
+[13:31:53.837] Odometry x=0.152038, y=1.279021, theta=-0.018128
+[13:31:53.875] Image Alignment failed 0
+[13:31:53.875] frame process finished the id is: 132 the obs is:6 
+[13:31:53.934] Odometry x=0.151788, y=1.292158, theta=-0.030923
+[13:31:53.983] Image Alignment failed 0
+[13:31:53.984] frame process finished the id is: 132 the obs is:6 
+[13:31:54.033] Odometry x=0.148149, y=1.323869, theta=-0.024339
+[13:31:54.080] Image Alignment failed 0
+[13:31:54.080] frame process finished the id is: 132 the obs is:6 
+[13:31:54.134] Odometry x=0.149398, y=1.323204, theta=-0.027806
+[13:31:54.175] Image Alignment failed 0
+[13:31:54.175] frame process finished the id is: 132 the obs is:6 
+[13:31:54.236] Odometry x=0.182469, y=1.310036, theta=-0.042150
+[13:31:54.280] Image Alignment failed 0
+[13:31:54.280] frame process finished the id is: 132 the obs is:6 
+[13:31:54.340] Odometry x=0.182611, y=1.319307, theta=-0.022783
+[13:31:54.379] Image Alignment failed 0
+[13:31:54.379] frame process finished the id is: 132 the obs is:6 
+[13:31:54.431] Odometry x=0.191530, y=1.346618, theta=-0.006943
+[13:31:54.479] Image Alignment failed 0
+[13:31:54.479] frame process finished the id is: 132 the obs is:6 
+[13:31:54.542] Odometry x=0.194186, y=1.365345, theta=-0.025150
+[13:31:54.584] Image Alignment failed 0
+[13:31:54.584] frame process finished the id is: 132 the obs is:6 
+[13:31:54.636] Odometry x=0.193926, y=1.377759, theta=-0.025588
+[13:31:54.679] Image Alignment failed 0
+[13:31:54.679] frame process finished the id is: 132 the obs is:6 
+[13:31:54.737] Odometry x=0.194326, y=1.385772, theta=-0.035158
+[13:31:54.779] Image Alignment failed 0
+[13:31:54.779] frame process finished the id is: 132 the obs is:6 
+[13:31:54.837] Odometry x=0.194881, y=1.396287, theta=-0.041544
+[13:31:54.880] Image Alignment failed 0
+[13:31:54.880] frame process finished the id is: 132 the obs is:6 
+[13:31:54.935] Odometry x=0.201442, y=1.382261, theta=-0.041369
+[13:31:54.980] Image Alignment failed 0
+[13:31:54.980] frame process finished the id is: 132 the obs is:6 
+[13:31:55.036] Odometry x=0.204497, y=1.403032, theta=-0.035086
+[13:31:55.080] Image Alignment failed 0
+[13:31:55.080] frame process finished the id is: 132 the obs is:6 
+[13:31:55.136] Odometry x=0.195285, y=1.414455, theta=-0.010089
+[13:31:55.180] Image Alignment failed 0
+[13:31:55.180] frame process finished the id is: 132 the obs is:6 
+[13:31:55.237] Odometry x=0.195171, y=1.425334, theta=-0.018988
+[13:31:55.280] Image Alignment failed 0
+[13:31:55.280] frame process finished the id is: 132 the obs is:6 
+[13:31:55.334] Odometry x=0.194935, y=1.435451, theta=-0.026107
+[13:31:55.383] Image Alignment failed 0
+[13:31:55.383] frame process finished the id is: 132 the obs is:6 
+[13:31:55.439] Odometry x=0.194474, y=1.446163, theta=-0.045578
+[13:31:55.480] Image Alignment failed 0
+[13:31:55.480] frame process finished the id is: 132 the obs is:6 
+[13:31:55.531] Odometry x=0.194226, y=1.457594, theta=-0.035192
+[13:31:55.579] Image Alignment failed 0
+[13:31:55.580] frame process finished the id is: 132 the obs is:6 
+[13:31:55.637] Odometry x=0.194727, y=1.447068, theta=-0.009738
+[13:31:55.680] Image Alignment failed 0
+[13:31:55.680] frame process finished the id is: 132 the obs is:6 
+[13:31:55.733] Odometry x=0.189323, y=1.446279, theta=-0.001121
+[13:31:55.787] Image Alignment failed 0
+[13:31:55.787] frame process finished the id is: 132 the obs is:6 
+[13:31:55.833] Odometry x=0.189233, y=1.453525, theta=-0.015651
+[13:31:55.910] Image Alignment failed 0
+[13:31:55.910] frame process finished the id is: 132 the obs is:6 
+[13:31:55.935] Odometry x=0.200884, y=1.466505, theta=-0.009450
+[13:31:56.010] Image Alignment failed 0
+[13:31:56.010] frame process finished the id is: 132 the obs is:6 
+[13:31:56.040] Odometry x=0.201379, y=1.477408, theta=-0.012175
+[13:31:56.110] Image Alignment failed 0
+[13:31:56.110] frame process finished the id is: 132 the obs is:6 
+[13:31:56.135] Odometry x=0.200886, y=1.481735, theta=-0.026614
+[13:31:56.211] Image Alignment failed 0
+[13:31:56.211] frame process finished the id is: 132 the obs is:6 
+[13:31:56.227] Odometry x=0.200690, y=1.493090, theta=-0.033570
+[13:31:56.308] Image Alignment failed 0
+[13:31:56.308] frame process finished the id is: 132 the obs is:6 
+[13:31:56.337] Odometry x=0.200897, y=1.495295, theta=-0.023547
+[13:31:56.410] Image Alignment failed 0
+[13:31:56.410] frame process finished the id is: 132 the obs is:6 
+[13:31:56.436] Odometry x=0.189788, y=1.507214, theta=-0.031200
+[13:31:56.511] Image Alignment failed 0
+[13:31:56.511] frame process finished the id is: 132 the obs is:6 
+[13:31:56.531] Odometry x=0.189925, y=1.517555, theta=-0.034418
+[13:31:56.611] Image Alignment failed 0
+[13:31:56.611] frame process finished the id is: 132 the obs is:6 
+[13:31:56.633] Odometry x=0.189743, y=1.529421, theta=-0.021008
+[13:31:56.711] Image Alignment failed 0
+[13:31:56.711] frame process finished the id is: 132 the obs is:6 
+[13:31:56.730] Odometry x=0.193385, y=1.540331, theta=-0.016291
+[13:31:56.812] Image Alignment failed 0
+[13:31:56.812] frame process finished the id is: 132 the obs is:6 
+[13:31:56.830] Odometry x=0.183211, y=1.513424, theta=-0.032518
+[13:31:56.912] Image Alignment failed 0
+[13:31:56.912] frame process finished the id is: 132 the obs is:6 
+[13:31:56.929] Odometry x=0.181340, y=1.539923, theta=-0.030691
+[13:31:57.011] Image Alignment failed 0
+[13:31:57.011] frame process finished the id is: 132 the obs is:6 
+[13:31:57.034] Odometry x=0.179424, y=1.562031, theta=-0.027946
+[13:31:57.111] Image Alignment failed 0
+[13:31:57.111] frame process finished the id is: 132 the obs is:6 
+[13:31:57.134] Odometry x=0.179078, y=1.560396, theta=-0.031748
+[13:31:57.211] Image Alignment failed 0
+[13:31:57.211] frame process finished the id is: 132 the obs is:6 
+[13:31:57.229] Odometry x=0.178732, y=1.571097, theta=-0.037384
+[13:31:57.311] Image Alignment failed 0
+[13:31:57.311] frame process finished the id is: 132 the obs is:6 
+[13:31:57.334] Odometry x=0.178577, y=1.581299, theta=-0.039251
+[13:31:57.411] Image Alignment failed 0
+[13:31:57.411] frame process finished the id is: 132 the obs is:6 
+[13:31:57.434] Odometry x=0.178356, y=1.592678, theta=-0.023707
+[13:31:57.511] Image Alignment failed 0
+[13:31:57.511] frame process finished the id is: 132 the obs is:6 
+[13:31:57.530] Odometry x=0.176868, y=1.603339, theta=-0.027694
+[13:31:57.611] Image Alignment failed 0
+[13:31:57.611] frame process finished the id is: 132 the obs is:6 
+[13:31:57.629] Odometry x=0.175604, y=1.625606, theta=-0.034193
+[13:31:57.711] Image Alignment failed 0
+[13:31:57.711] frame process finished the id is: 132 the obs is:6 
+[13:31:57.730] Odometry x=0.181476, y=1.636461, theta=-0.035725
+[13:31:57.811] Image Alignment failed 0
+[13:31:57.811] frame process finished the id is: 132 the obs is:6 
+[13:31:57.831] Odometry x=0.179265, y=1.675509, theta=-0.034807
+[13:31:57.912] Image Alignment failed 0
+[13:31:57.912] frame process finished the id is: 132 the obs is:6 
+[13:31:57.928] Odometry x=0.178635, y=1.686384, theta=-0.043521
+[13:31:58.011] Image Alignment failed 0
+[13:31:58.011] frame process finished the id is: 132 the obs is:6 
+[13:31:58.034] Odometry x=0.169763, y=1.695537, theta=-0.030773
+[13:31:58.111] Image Alignment failed 0
+[13:31:58.111] frame process finished the id is: 132 the obs is:6 
+[13:31:58.130] Odometry x=0.180738, y=1.727773, theta=-0.010000
+[13:31:58.212] Image Alignment failed 0
+[13:31:58.212] frame process finished the id is: 132 the obs is:6 
+[13:31:58.232] Odometry x=0.184222, y=1.738343, theta=0.001048
+[13:31:58.312] Image Alignment failed 0
+[13:31:58.312] frame process finished the id is: 132 the obs is:6 
+[13:31:58.335] Odometry x=0.185835, y=1.761133, theta=-0.019306
+[13:31:58.411] Image Alignment failed 0
+[13:31:58.411] frame process finished the id is: 132 the obs is:6 
+[13:31:58.430] Odometry x=0.185452, y=1.772430, theta=-0.037155
+[13:31:58.517] Image Alignment failed 0
+[13:31:58.517] frame process finished the id is: 132 the obs is:6 
+[13:31:58.530] Odometry x=0.181195, y=1.782214, theta=-0.026639
+[13:31:58.612] Image Alignment failed 0
+[13:31:58.612] frame process finished the id is: 132 the obs is:6 
+[13:31:58.633] Odometry x=0.181601, y=1.813473, theta=-0.041432
+[13:31:58.707] Image Alignment failed 0
+[13:31:58.707] frame process finished the id is: 132 the obs is:6 
+[13:31:58.738] Odometry x=0.187673, y=1.830356, theta=-0.029675
+[13:31:58.811] Image Alignment failed 0
+[13:31:58.811] frame process finished the id is: 132 the obs is:6 
+[13:31:58.837] Odometry x=0.193245, y=1.840896, theta=-0.043037
+[13:31:58.912] Image Alignment failed 0
+[13:31:58.912] frame process finished the id is: 132 the obs is:6 
+[13:31:59.010] Image Alignment failed 0
+[13:31:59.010] frame process finished the id is: 132 the obs is:6 
+[13:31:59.110] Image Alignment failed 0
+[13:31:59.110] frame process finished the id is: 132 the obs is:6 
+[13:31:59.212] Image Alignment failed 0
+[13:31:59.212] frame process finished the id is: 132 the obs is:6 
+[13:31:59.310] Image Alignment failed 0
+[13:31:59.310] frame process finished the id is: 132 the obs is:6 
+[13:31:59.411] Image Alignment failed 0
+[13:31:59.411] frame process finished the id is: 132 the obs is:6 
+[13:31:59.510] Image Alignment failed 0
+[13:31:59.510] frame process finished the id is: 132 the obs is:6 
+[13:31:59.610] Image Alignment failed 0
+[13:31:59.610] frame process finished the id is: 132 the obs is:6 
+[13:31:59.710] Image Alignment failed 0
+[13:31:59.710] frame process finished the id is: 132 the obs is:6 
+[13:31:59.815] Image Alignment failed 0
+[13:31:59.815] frame process finished the id is: 132 the obs is:6 
+[13:31:59.913] Image Alignment failed 0
+[13:31:59.913] frame process finished the id is: 132 the obs is:6 
+[13:32:00.016] Image Alignment failed 0
+[13:32:00.016] frame process finished the id is: 132 the obs is:6 
+[13:32:00.111] Image Alignment failed 0
+[13:32:00.111] frame process finished the id is: 132 the obs is:6 
+[13:32:00.211] Image Alignment failed 0
+[13:32:00.211] frame process finished the id is: 132 the obs is:6 
+[13:32:00.312] Image Alignment failed 0
+[13:32:00.312] frame process finished the id is: 132 the obs is:6 
+[13:32:00.413] Image Alignment failed 0
+[13:32:00.413] frame process finished the id is: 132 the obs is:6 
+[13:32:00.512] Image Alignment failed 0
+[13:32:00.512] frame process finished the id is: 132 the obs is:6 
+[13:32:00.612] Image Alignment failed 0
+[13:32:00.612] frame process finished the id is: 132 the obs is:6 
+[13:32:00.712] Image Alignment failed 0
+[13:32:00.712] frame process finished the id is: 132 the obs is:6 
+[13:32:00.811] Image Alignment failed 0
+[13:32:00.811] frame process finished the id is: 132 the obs is:6 
+[13:32:00.912] Image Alignment failed 0
+[13:32:00.912] frame process finished the id is: 132 the obs is:6 
+[13:32:01.017] Image Alignment failed 0
+[13:32:01.017] frame process finished the id is: 132 the obs is:6 
+[13:32:01.113] Image Alignment failed 0
+[13:32:01.113] frame process finished the id is: 132 the obs is:6 
+[13:32:01.212] Image Alignment failed 0
+[13:32:01.212] frame process finished the id is: 132 the obs is:6 
+[13:32:01.312] Image Alignment failed 0
+[13:32:01.312] frame process finished the id is: 132 the obs is:6 
+[13:32:01.411] Image Alignment failed 0
+[13:32:01.411] frame process finished the id is: 132 the obs is:6 
+[13:32:01.511] Image Alignment failed 0
+[13:32:01.511] frame process finished the id is: 132 the obs is:6 
+[13:32:01.613] Image Alignment failed 0
+[13:32:01.613] frame process finished the id is: 132 the obs is:6 
+[13:32:01.713] Image Alignment failed 0
+[13:32:01.713] frame process finished the id is: 132 the obs is:6 
+[13:32:01.811] Image Alignment failed 0
+[13:32:01.812] frame process finished the id is: 132 the obs is:6 
+[13:32:01.911] Image Alignment failed 0
+[13:32:01.911] frame process finished the id is: 132 the obs is:6 
+[13:32:02.006] Image Alignment failed 0
+[13:32:02.006] frame process finished the id is: 132 the obs is:6 
+[13:32:02.117] Image Alignment failed 0
+[13:32:02.117] frame process finished the id is: 132 the obs is:6 
+[13:32:02.212] Image Alignment failed 0
+[13:32:02.212] frame process finished the id is: 132 the obs is:6 
+[13:32:02.312] Image Alignment failed 0
+[13:32:02.312] frame process finished the id is: 132 the obs is:6 
+[13:32:02.417] Image Alignment failed 0
+[13:32:02.417] frame process finished the id is: 132 the obs is:6 
+[13:32:02.512] Image Alignment failed 0
+[13:32:02.512] frame process finished the id is: 132 the obs is:6 
+[13:32:02.611] Image Alignment failed 0
+[13:32:02.611] frame process finished the id is: 132 the obs is:6 
+[13:32:02.712] Image Alignment failed 0
+[13:32:02.712] frame process finished the id is: 132 the obs is:6 
+[13:32:02.811] Image Alignment failed 0
+[13:32:02.812] frame process finished the id is: 132 the obs is:6 
+[13:32:02.912] Image Alignment failed 0
+[13:32:02.912] frame process finished the id is: 132 the obs is:6 
+[13:32:03.012] Image Alignment failed 0
+[13:32:03.012] frame process finished the id is: 132 the obs is:6 
+[13:32:03.112] Image Alignment failed 0
+[13:32:03.112] frame process finished the id is: 132 the obs is:6 
+[13:32:03.212] Image Alignment failed 0
+[13:32:03.212] frame process finished the id is: 132 the obs is:6 
+[13:32:03.313] Image Alignment failed 0
+[13:32:03.313] frame process finished the id is: 132 the obs is:6 
+[13:32:03.412] Image Alignment failed 0
+[13:32:03.412] frame process finished the id is: 132 the obs is:6 
+[13:32:03.512] Image Alignment failed 0
+[13:32:03.512] frame process finished the id is: 132 the obs is:6 
+[13:32:03.611] Image Alignment failed 0
+[13:32:03.611] frame process finished the id is: 132 the obs is:6 
+[13:32:03.712] Image Alignment failed 0
+[13:32:03.712] frame process finished the id is: 132 the obs is:6 
+[13:32:03.812] Image Alignment failed 0
+[13:32:03.812] frame process finished the id is: 132 the obs is:6 
+[13:32:03.915] Image Alignment failed 0
+[13:32:03.915] frame process finished the id is: 132 the obs is:6 
+[13:32:04.013] Image Alignment failed 0
+[13:32:04.014] frame process finished the id is: 132 the obs is:6 
+[13:32:04.112] Image Alignment failed 0
+[13:32:04.112] frame process finished the id is: 132 the obs is:6 
+[13:32:04.211] Image Alignment failed 0
+[13:32:04.211] frame process finished the id is: 132 the obs is:6 
+[13:32:04.311] Image Alignment failed 0
+[13:32:04.311] frame process finished the id is: 132 the obs is:6 
+[13:32:04.411] Image Alignment failed 0
+[13:32:04.412] frame process finished the id is: 132 the obs is:6 
+[13:32:04.511] Image Alignment failed 0
+[13:32:04.511] frame process finished the id is: 132 the obs is:6 
+[13:32:04.611] Image Alignment failed 0
+[13:32:04.611] frame process finished the id is: 132 the obs is:6 
+[13:32:04.711] Image Alignment failed 0
+[13:32:04.711] frame process finished the id is: 132 the obs is:6 
+[13:32:04.811] Image Alignment failed 0
+[13:32:04.812] frame process finished the id is: 132 the obs is:6 
+[13:32:04.912] Image Alignment failed 0
+[13:32:04.912] frame process finished the id is: 132 the obs is:6 
+[13:32:05.012] Image Alignment failed 0
+[13:32:05.012] frame process finished the id is: 132 the obs is:6 
+[13:32:05.113] Image Alignment failed 0
+[13:32:05.113] frame process finished the id is: 132 the obs is:6 
+[13:32:05.213] Image Alignment failed 0
+[13:32:05.213] frame process finished the id is: 132 the obs is:6 
+[13:32:05.313] Image Alignment failed 0
+[13:32:05.313] frame process finished the id is: 132 the obs is:6 
+[13:32:05.412] Image Alignment failed 0
+[13:32:05.412] frame process finished the id is: 132 the obs is:6 
+[13:32:05.512] Image Alignment failed 0
+[13:32:05.512] frame process finished the id is: 132 the obs is:6 
+[13:32:05.612] Image Alignment failed 0
+[13:32:05.612] frame process finished the id is: 132 the obs is:6 
+[13:32:05.717] Image Alignment failed 0
+[13:32:05.717] frame process finished the id is: 132 the obs is:6 
+[13:32:05.807] Image Alignment failed 0
+[13:32:05.807] frame process finished the id is: 132 the obs is:6 
+[13:32:05.912] Image Alignment failed 0
+[13:32:05.912] frame process finished the id is: 132 the obs is:6 
+[13:32:06.012] Image Alignment failed 0
+[13:32:06.012] frame process finished the id is: 132 the obs is:6 
+[13:32:06.112] Image Alignment failed 0
+[13:32:06.112] frame process finished the id is: 132 the obs is:6 
+[13:32:06.212] Image Alignment failed 0
+[13:32:06.212] frame process finished the id is: 132 the obs is:6 
+[13:32:06.313] Image Alignment failed 0
+[13:32:06.313] frame process finished the id is: 132 the obs is:6 
+[13:32:06.412] Image Alignment failed 0
+[13:32:06.412] frame process finished the id is: 132 the obs is:6 
+[13:32:06.512] Image Alignment failed 0
+[13:32:06.512] frame process finished the id is: 132 the obs is:6 
+[13:32:06.612] Image Alignment failed 0
+[13:32:06.612] frame process finished the id is: 132 the obs is:6 
+[13:32:06.713] Image Alignment failed 0
+[13:32:06.713] frame process finished the id is: 132 the obs is:6 
+[13:32:06.812] Image Alignment failed 0
+[13:32:06.812] frame process finished the id is: 132 the obs is:6 
+[13:32:06.912] Image Alignment failed 0
+[13:32:06.912] frame process finished the id is: 132 the obs is:6 
+[13:32:07.011] Image Alignment failed 0
+[13:32:07.011] frame process finished the id is: 132 the obs is:6 
+[13:32:07.113] Image Alignment failed 0
+[13:32:07.113] frame process finished the id is: 132 the obs is:6 
+[13:32:07.213] Image Alignment failed 0
+[13:32:07.213] frame process finished the id is: 132 the obs is:6 
+[13:32:07.311] Image Alignment failed 0
+[13:32:07.311] frame process finished the id is: 132 the obs is:6 
+[13:32:07.413] Image Alignment failed 0
+[13:32:07.413] frame process finished the id is: 132 the obs is:6 
+[13:32:07.519] Image Alignment failed 0
+[13:32:07.519] frame process finished the id is: 132 the obs is:6 
+[13:32:07.612] Image Alignment failed 0
+[13:32:07.612] frame process finished the id is: 132 the obs is:6 
+[13:32:07.712] Image Alignment failed 0
+[13:32:07.712] frame process finished the id is: 132 the obs is:6 
+[13:32:07.813] Image Alignment failed 0
+[13:32:07.813] frame process finished the id is: 132 the obs is:6 
+[13:32:07.912] Image Alignment failed 0
+[13:32:07.912] frame process finished the id is: 132 the obs is:6 
+[13:32:08.012] Image Alignment failed 0
+[13:32:08.012] frame process finished the id is: 132 the obs is:6 
+[13:32:08.118] Image Alignment failed 0
+[13:32:08.118] frame process finished the id is: 132 the obs is:6 
+[13:32:08.213] Image Alignment failed 0
+[13:32:08.213] frame process finished the id is: 132 the obs is:6 
+[13:32:08.312] Image Alignment failed 0
+[13:32:08.312] frame process finished the id is: 132 the obs is:6 
+[13:32:08.412] Image Alignment failed 0
+[13:32:08.412] frame process finished the id is: 132 the obs is:6 
+[13:32:08.512] Image Alignment failed 0
+[13:32:08.512] frame process finished the id is: 132 the obs is:6 
+[13:32:08.612] Image Alignment failed 0
+[13:32:08.612] frame process finished the id is: 132 the obs is:6 
+[13:32:08.712] Image Alignment failed 0
+[13:32:08.712] frame process finished the id is: 132 the obs is:6 
+[13:32:08.812] Image Alignment failed 0
+[13:32:08.812] frame process finished the id is: 132 the obs is:6 
+[13:32:08.912] Image Alignment failed 0
+[13:32:08.912] frame process finished the id is: 132 the obs is:6 
+[13:32:09.012] Image Alignment failed 0
+[13:32:09.012] frame process finished the id is: 132 the obs is:6 
+[13:32:09.112] Image Alignment failed 0
+[13:32:09.112] frame process finished the id is: 132 the obs is:6 
+[13:32:09.212] Image Alignment failed 0
+[13:32:09.212] frame process finished the id is: 132 the obs is:6 
+[13:32:09.312] Image Alignment failed 0
+[13:32:09.312] frame process finished the id is: 132 the obs is:6 
+[13:32:09.415] Image Alignment failed 0
+[13:32:09.415] frame process finished the id is: 132 the obs is:6 
+[13:32:09.515] Image Alignment failed 0
+[13:32:09.515] frame process finished the id is: 132 the obs is:6 
+[13:32:09.615] Image Alignment failed 0
+[13:32:09.615] frame process finished the id is: 132 the obs is:6 
+[13:32:09.712] Image Alignment failed 0
+[13:32:09.712] frame process finished the id is: 132 the obs is:6 
+[13:32:09.812] Image Alignment failed 0
+[13:32:09.812] frame process finished the id is: 132 the obs is:6 
+[13:32:09.917] Image Alignment failed 0
+[13:32:09.917] frame process finished the id is: 132 the obs is:6 
+[13:32:10.012] Image Alignment failed 0
+[13:32:10.012] frame process finished the id is: 132 the obs is:6 
+[13:32:10.111] Image Alignment failed 0
+[13:32:10.111] frame process finished the id is: 132 the obs is:6 
+[13:32:10.212] Image Alignment failed 0
+[13:32:10.212] frame process finished the id is: 132 the obs is:6 
+[13:32:10.313] Image Alignment failed 0
+[13:32:10.313] frame process finished the id is: 132 the obs is:6 
+[13:32:10.413] Image Alignment failed 0
+[13:32:10.413] frame process finished the id is: 132 the obs is:6 
+[13:32:10.513] Image Alignment failed 0
+[13:32:10.513] frame process finished the id is: 132 the obs is:6 
+[13:32:10.613] Image Alignment failed 0
+[13:32:10.613] frame process finished the id is: 132 the obs is:6 
+[13:32:10.713] Image Alignment failed 0
+[13:32:10.713] frame process finished the id is: 132 the obs is:6 
+[13:32:10.813] Image Alignment failed 0
+[13:32:10.813] frame process finished the id is: 132 the obs is:6 
+[13:32:10.913] Image Alignment failed 0
+[13:32:10.913] frame process finished the id is: 132 the obs is:6 
+[13:32:11.011] Image Alignment failed 0
+[13:32:11.011] frame process finished the id is: 132 the obs is:6 
+[13:32:11.112] Image Alignment failed 0
+[13:32:11.112] frame process finished the id is: 132 the obs is:6 
+[13:32:11.216] Image Alignment failed 0
+[13:32:11.216] frame process finished the id is: 132 the obs is:6 
+[13:32:11.313] Image Alignment failed 0
+[13:32:11.313] frame process finished the id is: 132 the obs is:6 
+[13:32:11.414] Image Alignment failed 0
+[13:32:11.414] frame process finished the id is: 132 the obs is:6 
+[13:32:11.515] Image Alignment failed 0
+[13:32:11.515] frame process finished the id is: 132 the obs is:6 
+[13:32:11.611] Image Alignment failed 0
+[13:32:11.611] frame process finished the id is: 132 the obs is:6 
+[13:32:11.718] Image Alignment failed 0
+[13:32:11.718] frame process finished the id is: 132 the obs is:6 
+[13:32:11.811] Image Alignment failed 0
+[13:32:11.811] frame process finished the id is: 132 the obs is:6 
+[13:32:11.913] Image Alignment failed 0
+[13:32:11.913] frame process finished the id is: 132 the obs is:6 
+[13:32:12.012] Image Alignment failed 0
+[13:32:12.012] frame process finished the id is: 132 the obs is:6 
+[13:32:12.112] Image Alignment failed 0
+[13:32:12.112] frame process finished the id is: 132 the obs is:6 
+[13:32:12.213] Image Alignment failed 0
+[13:32:12.213] frame process finished the id is: 132 the obs is:6 
+[13:32:12.318] Image Alignment failed 0
+[13:32:12.318] frame process finished the id is: 132 the obs is:6 
+[13:32:12.412] Image Alignment failed 0
+[13:32:12.413] frame process finished the id is: 132 the obs is:6 
+[13:32:12.514] Image Alignment failed 0
+[13:32:12.514] frame process finished the id is: 132 the obs is:6 
+[13:32:12.613] Image Alignment failed 0
+[13:32:12.613] frame process finished the id is: 132 the obs is:6 
+[13:32:12.712] Image Alignment failed 0
+[13:32:12.712] frame process finished the id is: 132 the obs is:6 
+[13:32:12.808] Image Alignment failed 0
+[13:32:12.808] frame process finished the id is: 132 the obs is:6 
+[13:32:12.909] Image Alignment failed 0
+[13:32:12.909] frame process finished the id is: 132 the obs is:6 
+[13:32:13.012] Image Alignment failed 0
+[13:32:13.013] frame process finished the id is: 132 the obs is:6 
+[13:32:13.114] Image Alignment failed 0
+[13:32:13.114] frame process finished the id is: 132 the obs is:6 
+[13:32:13.213] Image Alignment failed 0
+[13:32:13.213] frame process finished the id is: 132 the obs is:6 
+[13:32:13.312] Image Alignment failed 0
+[13:32:13.312] frame process finished the id is: 132 the obs is:6 
+[13:32:13.414] Image Alignment failed 0
+[13:32:13.414] frame process finished the id is: 132 the obs is:6 
+[13:32:13.513] Image Alignment failed 0
+[13:32:13.513] frame process finished the id is: 132 the obs is:6 
+[13:32:13.612] Image Alignment failed 0
+[13:32:13.612] frame process finished the id is: 132 the obs is:6 
+[13:32:13.711] Image Alignment failed 0
+[13:32:13.711] frame process finished the id is: 132 the obs is:6 
+[13:32:13.813] Image Alignment failed 0
+[13:32:13.813] frame process finished the id is: 132 the obs is:6 
+[13:32:13.914] Image Alignment failed 0
+[13:32:13.914] frame process finished the id is: 132 the obs is:6 
+[13:32:14.015] Image Alignment failed 0
+[13:32:14.015] frame process finished the id is: 132 the obs is:6 
+[13:32:14.112] Image Alignment failed 0
+[13:32:14.112] frame process finished the id is: 132 the obs is:6 
+[13:32:14.214] Image Alignment failed 0
+[13:32:14.214] frame process finished the id is: 132 the obs is:6 
+[13:32:14.308] Image Alignment failed 0
+[13:32:14.308] frame process finished the id is: 132 the obs is:6 
+[13:32:14.408] Image Alignment failed 0
+[13:32:14.408] frame process finished the id is: 132 the obs is:6 
+[13:32:14.508] Image Alignment failed 0
+[13:32:14.508] frame process finished the id is: 132 the obs is:6 
+[13:32:14.608] Image Alignment failed 0
+[13:32:14.608] frame process finished the id is: 132 the obs is:6 
+[13:32:14.709] Image Alignment failed 0
+[13:32:14.709] frame process finished the id is: 132 the obs is:6 
+[13:32:14.811] Image Alignment failed 0
+[13:32:14.811] frame process finished the id is: 132 the obs is:6 
+[13:32:14.908] Image Alignment failed 0
+[13:32:14.908] frame process finished the id is: 132 the obs is:6 
+[13:32:15.008] Image Alignment failed 0
+[13:32:15.008] frame process finished the id is: 132 the obs is:6 
+[13:32:15.108] Image Alignment failed 0
+[13:32:15.108] frame process finished the id is: 132 the obs is:6 
+[13:32:15.207] Image Alignment failed 0
+[13:32:15.207] frame process finished the id is: 132 the obs is:6 
+[13:32:15.308] Image Alignment failed 0
+[13:32:15.308] frame process finished the id is: 132 the obs is:6 
+[13:32:15.408] Image Alignment failed 0
+[13:32:15.408] frame process finished the id is: 132 the obs is:6 
+[13:32:15.508] Image Alignment failed 0
+[13:32:15.509] frame process finished the id is: 132 the obs is:6 
+[13:32:15.607] Image Alignment failed 0
+[13:32:15.607] frame process finished the id is: 132 the obs is:6 
+[13:32:15.709] Image Alignment failed 0
+[13:32:15.709] frame process finished the id is: 132 the obs is:6 
+[13:32:15.809] Image Alignment failed 0
+[13:32:15.809] frame process finished the id is: 132 the obs is:6 
+[13:32:15.908] Image Alignment failed 0
+[13:32:15.908] frame process finished the id is: 132 the obs is:6 
+[13:32:16.008] Image Alignment failed 0
+[13:32:16.008] frame process finished the id is: 132 the obs is:6 
+[13:32:16.109] Image Alignment failed 0
+[13:32:16.109] frame process finished the id is: 132 the obs is:6 
+[13:32:16.209] Image Alignment failed 0
+[13:32:16.209] frame process finished the id is: 132 the obs is:6 
+[13:32:16.307] Image Alignment failed 0
+[13:32:16.307] frame process finished the id is: 132 the obs is:6 
+[13:32:16.409] Image Alignment failed 0
+[13:32:16.409] frame process finished the id is: 132 the obs is:6 
+[13:32:16.509] Image Alignment failed 0
+[13:32:16.509] frame process finished the id is: 132 the obs is:6 
+[13:32:16.607] Image Alignment failed 0
+[13:32:16.607] frame process finished the id is: 132 the obs is:6 
+[13:32:16.708] Image Alignment failed 0
+[13:32:16.708] frame process finished the id is: 132 the obs is:6 
+[13:32:16.809] Image Alignment failed 0
+[13:32:16.809] frame process finished the id is: 132 the obs is:6 
+[13:32:16.907] Image Alignment failed 0
+[13:32:16.907] frame process finished the id is: 132 the obs is:6 
+[13:32:17.009] Image Alignment failed 0
+[13:32:17.009] frame process finished the id is: 132 the obs is:6 
+[13:32:17.107] Image Alignment failed 0
+[13:32:17.108] frame process finished the id is: 132 the obs is:6 
+[13:32:17.209] Image Alignment failed 0
+[13:32:17.209] frame process finished the id is: 132 the obs is:6 
+[13:32:17.309] Image Alignment failed 0
+[13:32:17.309] frame process finished the id is: 132 the obs is:6 
+[13:32:17.407] Image Alignment failed 0
+[13:32:17.407] frame process finished the id is: 132 the obs is:6 
+[13:32:17.508] Image Alignment failed 0
+[13:32:17.508] frame process finished the id is: 132 the obs is:6 
+[13:32:17.609] Image Alignment failed 0
+[13:32:17.609] frame process finished the id is: 132 the obs is:6 
+[13:32:17.707] Image Alignment failed 0
+[13:32:17.707] frame process finished the id is: 132 the obs is:6 
+[13:32:17.807] Image Alignment failed 0
+[13:32:17.807] frame process finished the id is: 132 the obs is:6 
+[13:32:17.911] Image Alignment failed 0
+[13:32:17.911] frame process finished the id is: 132 the obs is:6 
+[13:32:18.007] Image Alignment failed 0
+[13:32:18.007] frame process finished the id is: 132 the obs is:6 
+[13:32:18.111] Image Alignment failed 0
+[13:32:18.111] frame process finished the id is: 132 the obs is:6 
+[13:32:18.208] Image Alignment failed 0
+[13:32:18.208] frame process finished the id is: 132 the obs is:6 
+[13:32:18.308] Image Alignment failed 0
+[13:32:18.308] frame process finished the id is: 132 the obs is:6 
+[13:32:18.408] Image Alignment failed 0
+[13:32:18.408] frame process finished the id is: 132 the obs is:6 
+[13:32:18.508] Image Alignment failed 0
+[13:32:18.508] frame process finished the id is: 132 the obs is:6 
+[13:32:18.611] Image Alignment failed 0
+[13:32:18.611] frame process finished the id is: 132 the obs is:6 
+[13:32:18.708] Image Alignment failed 0
+[13:32:18.708] frame process finished the id is: 132 the obs is:6 
+[13:32:18.808] Image Alignment failed 0
+[13:32:18.808] frame process finished the id is: 132 the obs is:6 
+[13:32:18.908] Image Alignment failed 0
+[13:32:18.908] frame process finished the id is: 132 the obs is:6 
+[13:32:19.008] Image Alignment failed 0
+[13:32:19.008] frame process finished the id is: 132 the obs is:6 
+[13:32:19.108] Image Alignment failed 0
+[13:32:19.108] frame process finished the id is: 132 the obs is:6 
+[13:32:19.209] Image Alignment failed 0
+[13:32:19.209] frame process finished the id is: 132 the obs is:6 
+[13:32:19.308] Image Alignment failed 0
+[13:32:19.308] frame process finished the id is: 132 the obs is:6 
+[13:32:19.409] Image Alignment failed 0
+[13:32:19.409] frame process finished the id is: 132 the obs is:6 
+[13:32:19.508] Image Alignment failed 0
+[13:32:19.508] frame process finished the id is: 132 the obs is:6 
+[13:32:19.608] Image Alignment failed 0
+[13:32:19.608] frame process finished the id is: 132 the obs is:6 
+[13:32:19.708] Image Alignment failed 0
+[13:32:19.708] frame process finished the id is: 132 the obs is:6 
+[13:32:19.808] Image Alignment failed 0
+[13:32:19.808] frame process finished the id is: 132 the obs is:6 
+[13:32:19.908] Image Alignment failed 0
+[13:32:19.908] frame process finished the id is: 132 the obs is:6 
+[13:32:20.008] Image Alignment failed 0
+[13:32:20.008] frame process finished the id is: 132 the obs is:6 
+[13:32:20.109] Image Alignment failed 0
+[13:32:20.109] frame process finished the id is: 132 the obs is:6 
+[13:32:20.207] Image Alignment failed 0
+[13:32:20.207] frame process finished the id is: 132 the obs is:6 
+[13:32:20.310] Image Alignment failed 0
+[13:32:20.310] frame process finished the id is: 132 the obs is:6 
+[13:32:20.410] Image Alignment failed 0
+[13:32:20.410] frame process finished the id is: 132 the obs is:6 
+[13:32:20.508] Image Alignment failed 0
+[13:32:20.508] frame process finished the id is: 132 the obs is:6 
+[13:32:20.608] Image Alignment failed 0
+[13:32:20.608] frame process finished the id is: 132 the obs is:6 
+[13:32:20.708] Image Alignment failed 0
+[13:32:20.708] frame process finished the id is: 132 the obs is:6 
+[13:32:20.807] Image Alignment failed 0
+[13:32:20.807] frame process finished the id is: 132 the obs is:6 
+[13:32:20.908] Image Alignment failed 0
+[13:32:20.908] frame process finished the id is: 132 the obs is:6 
+[13:32:21.020] Image Alignment failed 0
+[13:32:21.020] frame process finished the id is: 132 the obs is:6 
+[13:32:21.109] Image Alignment failed 0
+[13:32:21.109] frame process finished the id is: 132 the obs is:6 
+[13:32:21.208] Image Alignment failed 0
+[13:32:21.208] frame process finished the id is: 132 the obs is:6 
+[13:32:21.311] Image Alignment failed 0
+[13:32:21.311] frame process finished the id is: 132 the obs is:6 
+[13:32:21.409] Image Alignment failed 0
+[13:32:21.409] frame process finished the id is: 132 the obs is:6 
+[13:32:21.509] Image Alignment failed 0
+[13:32:21.509] frame process finished the id is: 132 the obs is:6 
+[13:32:21.608] Image Alignment failed 0
+[13:32:21.608] frame process finished the id is: 132 the obs is:6 
+[13:32:21.708] Image Alignment failed 0
+[13:32:21.708] frame process finished the id is: 132 the obs is:6 
+[13:32:21.807] Image Alignment failed 0
+[13:32:21.807] frame process finished the id is: 132 the obs is:6 
+[13:32:21.908] Image Alignment failed 0
+[13:32:21.908] frame process finished the id is: 132 the obs is:6 
+[13:32:22.009] Image Alignment failed 0
+[13:32:22.009] frame process finished the id is: 132 the obs is:6 
+[13:32:22.107] Image Alignment failed 0
+[13:32:22.107] frame process finished the id is: 132 the obs is:6 
+[13:32:22.207] Image Alignment failed 0
+[13:32:22.207] frame process finished the id is: 132 the obs is:6 
+[13:32:22.309] Image Alignment failed 0
+[13:32:22.309] frame process finished the id is: 132 the obs is:6 
+[13:32:22.407] Image Alignment failed 0
+[13:32:22.407] frame process finished the id is: 132 the obs is:6 
+[13:32:22.508] Image Alignment failed 0
+[13:32:22.508] frame process finished the id is: 132 the obs is:6 
+[13:32:22.607] Image Alignment failed 0
+[13:32:22.608] frame process finished the id is: 132 the obs is:6 
+[13:32:22.707] Image Alignment failed 0
+[13:32:22.707] frame process finished the id is: 132 the obs is:6 
+[13:32:22.808] Image Alignment failed 0
+[13:32:22.808] frame process finished the id is: 132 the obs is:6 
+[13:32:22.909] Image Alignment failed 0
+[13:32:22.909] frame process finished the id is: 132 the obs is:6 
+[13:32:23.011] Image Alignment failed 0
+[13:32:23.011] frame process finished the id is: 132 the obs is:6 
+[13:32:23.089] Odometry x=0.192482, y=1.860166, theta=-0.046015
+[13:32:23.108] Image Alignment failed 0
+[13:32:23.108] frame process finished the id is: 132 the obs is:6 
+[13:32:23.192] Odometry x=6.709942, y=0.746288, theta=0.016354
+[13:32:23.209] Image Alignment failed 0
+[13:32:23.209] frame process finished the id is: 132 the obs is:6 
+[13:32:23.294] Odometry x=6.705150, y=0.735871, theta=0.045953
+[13:32:23.308] Image Alignment failed 0
+[13:32:23.308] frame process finished the id is: 132 the obs is:6 
+[13:32:23.393] Odometry x=6.704867, y=0.724649, theta=0.046050
+[13:32:23.408] Image Alignment failed 0
+[13:32:23.408] frame process finished the id is: 132 the obs is:6 
+[13:32:23.493] Odometry x=6.717712, y=0.713586, theta=0.071742
+[13:32:23.508] Image Alignment failed 0
+[13:32:23.508] frame process finished the id is: 132 the obs is:6 
+[13:32:23.592] Odometry x=6.717392, y=0.703158, theta=0.065747
+[13:32:23.612] Image Alignment failed 0
+[13:32:23.612] frame process finished the id is: 132 the obs is:6 
+[13:32:23.693] Odometry x=6.715869, y=0.692697, theta=0.067398
+[13:32:23.709] Image Alignment failed 0
+[13:32:23.709] frame process finished the id is: 132 the obs is:6 
+[13:32:23.791] Odometry x=6.716219, y=0.692871, theta=0.022948
+[13:32:23.810] Image Alignment failed 0
+[13:32:23.810] frame process finished the id is: 132 the obs is:6 
+[13:32:23.894] Odometry x=6.715983, y=0.668093, theta=0.042780
+[13:32:23.910] Image Alignment failed 0
+[13:32:23.910] frame process finished the id is: 132 the obs is:6 
+[13:32:23.991] Odometry x=6.715965, y=0.659374, theta=0.020835
+[13:32:24.013] Image Alignment failed 0
+[13:32:24.013] frame process finished the id is: 132 the obs is:6 
+[13:32:24.092] Odometry x=6.709707, y=0.648500, theta=0.064729
+[13:32:24.111] Image Alignment failed 0
+[13:32:24.112] frame process finished the id is: 132 the obs is:6 
+[13:32:24.194] Odometry x=6.707841, y=0.640176, theta=0.068105
+[13:32:24.212] Image Alignment failed 0
+[13:32:24.212] frame process finished the id is: 132 the obs is:6 
+[13:32:24.291] Odometry x=6.707407, y=0.626314, theta=0.047261
+[13:32:24.311] Image Alignment failed 0
+[13:32:24.311] frame process finished the id is: 132 the obs is:6 
+[13:32:24.393] Odometry x=6.707115, y=0.617198, theta=0.067016
+[13:32:24.411] Image Alignment failed 0
+[13:32:24.411] frame process finished the id is: 132 the obs is:6 
+[13:32:24.493] Odometry x=6.706865, y=0.604704, theta=0.035132
+[13:32:24.509] Image Alignment failed 0
+[13:32:24.509] frame process finished the id is: 132 the obs is:6 
+[13:32:24.592] Odometry x=6.705334, y=0.593976, theta=0.059153
+[13:32:24.609] Image Alignment failed 0
+[13:32:24.609] frame process finished the id is: 132 the obs is:6 
+[13:32:24.692] Odometry x=6.699207, y=0.583302, theta=0.047421
+[13:32:24.709] Image Alignment failed 0
+[13:32:24.709] frame process finished the id is: 132 the obs is:6 
+[13:32:24.788] Odometry x=6.701627, y=0.593873, theta=0.051086
+[13:32:24.809] Image Alignment failed 0
+[13:32:24.809] frame process finished the id is: 132 the obs is:6 
+[13:32:24.891] Odometry x=6.707086, y=0.604222, theta=0.044666
+[13:32:24.909] Image Alignment failed 0
+[13:32:24.909] frame process finished the id is: 132 the obs is:6 
+[13:32:24.996] Odometry x=6.706800, y=0.593595, theta=0.060313
+[13:32:25.010] Image Alignment failed 0
+[13:32:25.010] frame process finished the id is: 132 the obs is:6 
+[13:32:25.095] Odometry x=6.707801, y=0.601922, theta=0.056694
+[13:32:25.111] Image Alignment failed 0
+[13:32:25.111] frame process finished the id is: 132 the obs is:6 
+[13:32:25.192] Odometry x=6.697894, y=0.570863, theta=0.068951
+[13:32:25.211] Image Alignment failed 0
+[13:32:25.211] frame process finished the id is: 132 the obs is:6 
+[13:32:25.290] Odometry x=6.704555, y=0.580698, theta=0.074229
+[13:32:25.310] Image Alignment failed 0
+[13:32:25.310] frame process finished the id is: 132 the obs is:6 
+[13:32:25.393] Odometry x=6.704839, y=0.580098, theta=0.039880
+[13:32:25.411] Image Alignment failed 0
+[13:32:25.411] frame process finished the id is: 132 the obs is:6 
+[13:32:25.494] Odometry x=6.705992, y=0.597111, theta=0.032491
+[13:32:25.509] Image Alignment failed 0
+[13:32:25.509] frame process finished the id is: 132 the obs is:6 
+[13:32:25.592] Odometry x=6.704330, y=0.586187, theta=0.055670
+[13:32:25.610] Image Alignment failed 0
+[13:32:25.610] frame process finished the id is: 132 the obs is:6 
+[13:32:25.691] Odometry x=6.703943, y=0.572523, theta=0.045123
+[13:32:25.708] Image Alignment failed 0
+[13:32:25.708] frame process finished the id is: 132 the obs is:6 
+[13:32:25.791] Odometry x=6.703700, y=0.558728, theta=0.055223
+[13:32:25.810] Image Alignment failed 0
+[13:32:25.811] frame process finished the id is: 132 the obs is:6 
+[13:32:25.889] Odometry x=6.704197, y=0.568435, theta=0.036968
+[13:32:25.908] Image Alignment failed 0
+[13:32:25.908] frame process finished the id is: 132 the obs is:6 
+[13:32:25.993] Odometry x=6.709224, y=0.561458, theta=0.037330
+[13:32:26.009] Image Alignment failed 0
+[13:32:26.009] frame process finished the id is: 132 the obs is:6 
+[13:32:26.094] Odometry x=6.708824, y=0.536439, theta=0.052067
+[13:32:26.108] Image Alignment failed 0
+[13:32:26.108] frame process finished the id is: 132 the obs is:6 
+[13:32:26.197] Odometry x=6.700322, y=0.513763, theta=0.055663
+[13:32:26.210] Image Alignment failed 0
+[13:32:26.210] frame process finished the id is: 132 the obs is:6 
+[13:32:26.296] Odometry x=6.698343, y=0.517088, theta=0.032916
+[13:32:26.308] Image Alignment failed 0
+[13:32:26.308] frame process finished the id is: 132 the obs is:6 
+[13:32:26.393] Odometry x=6.699460, y=0.510530, theta=0.044975
+[13:32:26.410] Image Alignment failed 0
+[13:32:26.410] frame process finished the id is: 132 the obs is:6 
+[13:32:26.493] Odometry x=6.700153, y=0.499743, theta=0.044682
+[13:32:26.510] Image Alignment failed 0
+[13:32:26.510] frame process finished the id is: 132 the obs is:6 
+[13:32:26.595] Odometry x=6.706841, y=0.483752, theta=0.048594
+[13:32:26.609] Image Alignment failed 0
+[13:32:26.609] frame process finished the id is: 132 the obs is:6 
+[13:32:26.693] Odometry x=6.714064, y=0.494470, theta=0.033692
+[13:32:26.709] Image Alignment failed 0
+[13:32:26.709] frame process finished the id is: 132 the obs is:6 
+[13:32:26.793] Odometry x=6.729612, y=0.480380, theta=0.049272
+[13:32:26.810] Image Alignment failed 0
+[13:32:26.810] frame process finished the id is: 132 the obs is:6 
+[13:32:26.895] Odometry x=6.726950, y=0.462547, theta=0.053007
+[13:32:26.909] Image Alignment failed 0
+[13:32:26.909] frame process finished the id is: 132 the obs is:6 
+[13:32:26.997] Odometry x=6.726242, y=0.460459, theta=0.048443
+[13:32:27.011] Image Alignment failed 0
+[13:32:27.011] frame process finished the id is: 132 the obs is:6 
+[13:32:27.094] Odometry x=6.727058, y=0.450992, theta=0.038315
+[13:32:27.111] Image Alignment failed 0
+[13:32:27.111] frame process finished the id is: 132 the obs is:6 
+[13:32:27.196] Odometry x=6.727833, y=0.425444, theta=0.050422
+[13:32:27.209] Image Alignment failed 0
+[13:32:27.209] frame process finished the id is: 132 the obs is:6 
+[13:32:27.288] Odometry x=6.726101, y=0.374464, theta=0.038752
+[13:32:27.309] Image Alignment failed 0
+[13:32:27.309] frame process finished the id is: 132 the obs is:6 
+[13:32:27.390] Odometry x=6.717039, y=0.350969, theta=0.036505
+[13:32:27.409] Image Alignment failed 0
+[13:32:27.409] frame process finished the id is: 132 the obs is:6 
+[13:32:27.492] Odometry x=6.716935, y=0.341208, theta=0.033160
+[13:32:27.509] Image Alignment failed 0
+[13:32:27.509] frame process finished the id is: 132 the obs is:6 
+[13:32:27.594] Odometry x=6.716699, y=0.330493, theta=0.052807
+[13:32:27.609] Image Alignment failed 0
+[13:32:27.609] frame process finished the id is: 132 the obs is:6 
+[13:32:27.689] Odometry x=6.716375, y=0.319258, theta=0.055886
+[13:32:27.710] Image Alignment failed 0
+[13:32:27.710] frame process finished the id is: 132 the obs is:6 
+[13:32:27.791] Odometry x=6.712349, y=0.312715, theta=0.024699
+[13:32:27.809] Image Alignment failed 0
+[13:32:27.809] frame process finished the id is: 132 the obs is:6 
+[13:32:27.893] Odometry x=6.701842, y=0.306568, theta=0.038789
+[13:32:27.909] Image Alignment failed 0
+[13:32:27.909] frame process finished the id is: 132 the obs is:6 
+[13:32:27.990] Odometry x=6.701320, y=0.299872, theta=0.046355
+[13:32:28.009] Image Alignment failed 0
+[13:32:28.009] frame process finished the id is: 132 the obs is:6 
+[13:32:28.097] Odometry x=6.701212, y=0.295271, theta=0.038948
+[13:32:28.111] Image Alignment failed 0
+[13:32:28.111] frame process finished the id is: 132 the obs is:6 
+[13:32:28.194] Odometry x=6.701539, y=0.323343, theta=0.055204
+[13:32:28.209] Image Alignment failed 0
+[13:32:28.209] frame process finished the id is: 132 the obs is:6 
+[13:32:28.292] Odometry x=6.701341, y=0.331463, theta=0.024555
+[13:32:28.312] Image Alignment failed 0
+[13:32:28.312] frame process finished the id is: 132 the obs is:6 
+[13:32:28.395] Odometry x=6.701749, y=0.313291, theta=0.025542
+[13:32:28.412] Image Alignment failed 0
+[13:32:28.412] frame process finished the id is: 132 the obs is:6 
+[13:32:28.493] Odometry x=6.691212, y=0.313998, theta=0.056315
+[13:32:28.510] Image Alignment failed 0
+[13:32:28.510] frame process finished the id is: 132 the obs is:6 
+[13:32:28.594] Odometry x=6.691259, y=0.304834, theta=0.045511
+[13:32:28.609] Image Alignment failed 0
+[13:32:28.609] frame process finished the id is: 132 the obs is:6 
+[13:32:28.694] Odometry x=6.692866, y=0.293910, theta=0.045959
+[13:32:28.710] Image Alignment failed 0
+[13:32:28.710] frame process finished the id is: 132 the obs is:6 
+[13:32:28.787] Odometry x=6.693636, y=0.283993, theta=0.045671
+[13:32:28.809] Image Alignment failed 0
+[13:32:28.809] frame process finished the id is: 132 the obs is:6 
+[13:32:28.889] Odometry x=6.693889, y=0.295616, theta=0.046135
+[13:32:28.911] Image Alignment failed 0
+[13:32:28.911] frame process finished the id is: 132 the obs is:6 
+[13:32:28.991] Odometry x=6.696191, y=0.338872, theta=0.046472
+[13:32:29.008] Image Alignment failed 0
+[13:32:29.008] frame process finished the id is: 132 the obs is:6 
+[13:32:29.094] Odometry x=6.695405, y=0.294903, theta=0.051124
+[13:32:29.109] Image Alignment failed 0
+[13:32:29.109] frame process finished the id is: 132 the obs is:6 
+[13:32:29.193] Odometry x=6.695142, y=0.284585, theta=0.045641
+[13:32:29.209] Image Alignment failed 0
+[13:32:29.209] frame process finished the id is: 132 the obs is:6 
+[13:32:29.295] Odometry x=6.695124, y=0.273888, theta=0.045984
+[13:32:29.311] Image Alignment failed 0
+[13:32:29.311] frame process finished the id is: 132 the obs is:6 
+[13:32:29.393] Odometry x=6.695181, y=0.276111, theta=0.047794
+[13:32:29.409] Image Alignment failed 0
+[13:32:29.409] frame process finished the id is: 132 the obs is:6 
+[13:32:29.491] Odometry x=6.695540, y=0.294068, theta=0.048573
+[13:32:29.509] Image Alignment failed 0
+[13:32:29.509] frame process finished the id is: 132 the obs is:6 
+[13:32:29.593] Odometry x=6.690394, y=0.288139, theta=0.049629
+[13:32:29.609] Image Alignment failed 0
+[13:32:29.609] frame process finished the id is: 132 the obs is:6 
+[13:32:29.695] Odometry x=6.689791, y=0.277491, theta=0.059229
+[13:32:29.709] Image Alignment failed 0
+[13:32:29.709] frame process finished the id is: 132 the obs is:6 
+[13:32:29.795] Odometry x=6.699992, y=0.262946, theta=0.030971
+[13:32:29.809] Image Alignment failed 0
+[13:32:29.809] frame process finished the id is: 132 the obs is:6 
+[13:32:29.893] Odometry x=6.714272, y=0.257360, theta=0.031673
+[13:32:29.911] Image Alignment failed 0
+[13:32:29.911] frame process finished the id is: 132 the obs is:6 
+[13:32:29.990] Odometry x=6.712114, y=0.251600, theta=0.041908
+[13:32:30.011] Image Alignment failed 0
+[13:32:30.011] frame process finished the id is: 132 the obs is:6 
+[13:32:30.093] Odometry x=6.709742, y=0.247438, theta=0.039195
+[13:32:30.120] Image Alignment failed 0
+[13:32:30.120] frame process finished the id is: 132 the obs is:6 
+[13:32:30.190] Odometry x=6.723217, y=0.270111, theta=0.040386
+[13:32:30.211] Image Alignment failed 0
+[13:32:30.211] frame process finished the id is: 132 the obs is:6 
+[13:32:30.294] Odometry x=6.730249, y=0.259978, theta=0.031947
+[13:32:30.311] Image Alignment failed 0
+[13:32:30.311] frame process finished the id is: 132 the obs is:6 
+[13:32:30.395] Odometry x=6.729631, y=0.265008, theta=0.038080
+[13:32:30.409] Image Alignment failed 0
+[13:32:30.409] frame process finished the id is: 132 the obs is:6 
+[13:32:30.493] Odometry x=6.729991, y=0.301180, theta=0.046489
+[13:32:30.511] Image Alignment failed 0
+[13:32:30.511] frame process finished the id is: 132 the obs is:6 
+[13:32:30.595] Odometry x=6.725242, y=0.283215, theta=0.034914
+[13:32:30.610] Image Alignment failed 0
+[13:32:30.610] frame process finished the id is: 132 the obs is:6 
+[13:32:30.693] Odometry x=6.736042, y=0.279217, theta=0.047342
+[13:32:30.709] Image Alignment failed 0
+[13:32:30.709] frame process finished the id is: 132 the obs is:6 
+[13:32:30.790] Odometry x=6.736127, y=0.283055, theta=0.042745
+[13:32:30.810] Image Alignment failed 0
+[13:32:30.810] frame process finished the id is: 132 the obs is:6 
+[13:32:30.893] Odometry x=6.735863, y=0.270586, theta=0.037369
+[13:32:30.910] Image Alignment failed 0
+[13:32:30.910] frame process finished the id is: 132 the obs is:6 
+[13:32:30.995] Odometry x=6.735591, y=0.254966, theta=0.041838
+[13:32:31.009] Image Alignment failed 0
+[13:32:31.009] frame process finished the id is: 132 the obs is:6 
+[13:32:31.093] Odometry x=6.728811, y=0.217006, theta=0.040740
+[13:32:31.112] Image Alignment failed 0
+[13:32:31.112] frame process finished the id is: 132 the obs is:6 
+[13:32:31.192] Odometry x=6.729451, y=0.236140, theta=0.056583
+[13:32:31.210] Image Alignment failed 0
+[13:32:31.210] frame process finished the id is: 132 the obs is:6 
+[13:32:31.292] Odometry x=6.722818, y=0.225381, theta=0.043662
+[13:32:31.311] Image Alignment failed 0
+[13:32:31.311] frame process finished the id is: 132 the obs is:6 
+[13:32:31.389] Odometry x=6.722299, y=0.191041, theta=0.066248
+[13:32:31.408] Image Alignment failed 0
+[13:32:31.408] frame process finished the id is: 132 the obs is:6 
+[13:32:31.493] Odometry x=6.724712, y=0.175369, theta=0.046538
+[13:32:31.511] Image Alignment failed 0
+[13:32:31.511] frame process finished the id is: 132 the obs is:6 
+[13:32:31.595] Odometry x=6.724565, y=0.169242, theta=0.045186
+[13:32:31.609] Image Alignment failed 0
+[13:32:31.609] frame process finished the id is: 132 the obs is:6 
+[13:32:31.693] Odometry x=6.724371, y=0.161406, theta=0.056843
+[13:32:31.714] Image Alignment failed 0
+[13:32:31.714] frame process finished the id is: 132 the obs is:6 
+[13:32:31.806] Odometry x=6.724156, y=0.151063, theta=0.058847
+[13:32:31.813] Image Alignment failed 0
+[13:32:31.813] frame process finished the id is: 132 the obs is:6 
+[13:32:31.892] Odometry x=6.723957, y=0.143679, theta=0.053531
+[13:32:31.909] Image Alignment failed 0
+[13:32:31.909] frame process finished the id is: 132 the obs is:6 
+[13:32:31.996] Odometry x=6.723593, y=0.130954, theta=0.061730
+[13:32:32.011] Image Alignment failed 0
+[13:32:32.011] frame process finished the id is: 132 the obs is:6 
+[13:32:32.093] Odometry x=6.724185, y=0.119491, theta=0.066331
+[13:32:32.110] Image Alignment failed 0
+[13:32:32.110] frame process finished the id is: 132 the obs is:6 
+[13:32:32.191] Odometry x=6.724025, y=0.111377, theta=0.056275
+[13:32:32.210] Image Alignment failed 0
+[13:32:32.210] frame process finished the id is: 132 the obs is:6 
+[13:32:32.293] Odometry x=6.723840, y=0.105100, theta=0.048726
+[13:32:32.309] Image Alignment failed 0
+[13:32:32.309] frame process finished the id is: 132 the obs is:6 
+[13:32:32.390] Odometry x=6.725762, y=0.094542, theta=0.046953
+[13:32:32.494] Odometry x=6.725611, y=0.083771, theta=0.052585
+[13:32:32.500] Image Alignment failed 0
+[13:32:32.500] frame process finished the id is: 132 the obs is:6 
+[13:32:32.514] Image Alignment failed 0
+[13:32:32.514] frame process finished the id is: 132 the obs is:6 
+[13:32:32.595] Odometry x=6.725585, y=0.082706, theta=0.052538
+[13:32:32.609] Image Alignment failed 0
+[13:32:32.609] frame process finished the id is: 132 the obs is:6 
+[13:32:32.692] Odometry x=6.726732, y=0.060286, theta=0.068904
+[13:32:32.711] Image Alignment failed 0
+[13:32:32.711] frame process finished the id is: 132 the obs is:6 
+[13:32:32.792] Odometry x=6.726435, y=0.052362, theta=0.070456
+[13:32:32.811] Image Alignment failed 0
+[13:32:32.811] frame process finished the id is: 132 the obs is:6 
+[13:32:32.894] Odometry x=6.726099, y=0.042405, theta=0.062709
+[13:32:32.910] Image Alignment failed 0
+[13:32:32.910] frame process finished the id is: 132 the obs is:6 
+[13:32:32.996] Odometry x=6.726073, y=0.033582, theta=0.056545
+[13:32:33.009] Image Alignment failed 0
+[13:32:33.009] frame process finished the id is: 132 the obs is:6 
+[13:32:33.092] Odometry x=6.725756, y=0.022810, theta=0.064303
+[13:32:33.110] Image Alignment failed 0
+[13:32:33.110] frame process finished the id is: 132 the obs is:6 
+[13:32:33.194] Odometry x=6.725461, y=0.012138, theta=0.069708
+[13:32:33.211] Image Alignment failed 0
+[13:32:33.211] frame process finished the id is: 132 the obs is:6 
+[13:32:33.291] Odometry x=6.724971, y=0.001750, theta=0.064360
+[13:32:33.309] Image Alignment failed 0
+[13:32:33.309] frame process finished the id is: 132 the obs is:6 
+[13:32:33.392] Odometry x=6.724551, y=-0.008029, theta=0.061717
+[13:32:33.410] Image Alignment failed 0
+[13:32:33.410] frame process finished the id is: 132 the obs is:6 
+[13:32:33.494] Odometry x=6.724181, y=-0.017942, theta=0.065191
+[13:32:33.510] Image Alignment failed 0
+[13:32:33.510] frame process finished the id is: 132 the obs is:6 
+[13:32:33.591] Odometry x=6.724720, y=-0.029128, theta=0.064417
+[13:32:33.612] Image Alignment failed 0
+[13:32:33.612] frame process finished the id is: 132 the obs is:6 
+[13:32:33.694] Odometry x=6.724410, y=-0.039871, theta=0.061394
+[13:32:33.710] Image Alignment failed 0
+[13:32:33.710] frame process finished the id is: 132 the obs is:6 
+[13:32:33.795] Odometry x=6.721094, y=-0.048074, theta=0.061043
+[13:32:33.810] Image Alignment failed 0
+[13:32:33.810] frame process finished the id is: 132 the obs is:6 
+[13:32:33.894] Odometry x=6.720761, y=-0.058767, theta=0.063556
+[13:32:33.911] Image Alignment failed 0
+[13:32:33.911] frame process finished the id is: 132 the obs is:6 
+[13:32:33.997] Odometry x=6.720779, y=-0.065793, theta=0.060139
+[13:32:34.011] Image Alignment failed 0
+[13:32:34.011] frame process finished the id is: 132 the obs is:6 
+[13:32:34.090] Odometry x=6.720068, y=-0.076325, theta=0.061904
+[13:32:34.112] Image Alignment failed 0
+[13:32:34.112] frame process finished the id is: 132 the obs is:6 
+[13:32:34.188] Odometry x=6.719808, y=-0.085760, theta=0.061346
+[13:32:34.210] Image Alignment failed 0
+[13:32:34.210] frame process finished the id is: 132 the obs is:6 
+[13:32:34.294] Odometry x=6.720033, y=-0.093947, theta=0.063819
+[13:32:34.309] Image Alignment failed 0
+[13:32:34.309] frame process finished the id is: 132 the obs is:6 
+[13:32:34.392] Odometry x=6.721452, y=-0.105155, theta=0.064938
+[13:32:34.409] Image Alignment failed 0
+[13:32:34.409] frame process finished the id is: 132 the obs is:6 
+[13:32:34.494] Odometry x=6.720942, y=-0.115564, theta=0.056913
+[13:32:34.511] Image Alignment failed 0
+[13:32:34.511] frame process finished the id is: 132 the obs is:6 
+[13:32:34.595] Odometry x=6.720779, y=-0.121121, theta=0.058331
+[13:32:34.611] Image Alignment failed 0
+[13:32:34.611] frame process finished the id is: 132 the obs is:6 
+[13:32:34.692] Odometry x=6.724977, y=-0.126004, theta=0.068254
+[13:32:34.712] Image Alignment failed 0
+[13:32:34.712] frame process finished the id is: 132 the obs is:6 
+[13:32:34.795] Odometry x=6.724648, y=-0.135904, theta=0.058128
+[13:32:34.812] Image Alignment failed 0
+[13:32:34.812] frame process finished the id is: 132 the obs is:6 
+[13:32:34.892] Odometry x=6.724491, y=-0.146673, theta=0.063752
+[13:32:34.910] Image Alignment failed 0
+[13:32:34.910] frame process finished the id is: 132 the obs is:6 
+[13:32:34.991] Odometry x=6.717721, y=-0.156732, theta=0.064367
+[13:32:35.010] Image Alignment failed 0
+[13:32:35.010] frame process finished the id is: 132 the obs is:6 
+[13:32:35.089] Odometry x=6.715511, y=-0.167269, theta=0.070117
+[13:32:35.113] Image Alignment failed 0
+[13:32:35.113] frame process finished the id is: 132 the obs is:6 
+[13:32:35.191] Odometry x=6.715131, y=-0.178060, theta=0.065662
+[13:32:35.210] Image Alignment failed 0
+[13:32:35.210] frame process finished the id is: 132 the obs is:6 
+[13:32:35.293] Odometry x=6.715174, y=-0.188625, theta=0.049899
+[13:32:35.312] Image Alignment failed 0
+[13:32:35.312] frame process finished the id is: 132 the obs is:6 
+[13:32:35.389] Odometry x=6.714973, y=-0.197600, theta=0.049066
+[13:32:35.410] Image Alignment failed 0
+[13:32:35.410] frame process finished the id is: 132 the obs is:6 
+[13:32:35.488] Odometry x=6.715649, y=-0.207835, theta=0.065287
+[13:32:35.512] Image Alignment failed 0
+[13:32:35.512] frame process finished the id is: 132 the obs is:6 
+[13:32:35.590] Odometry x=6.714851, y=-0.218692, theta=0.058618
+[13:32:35.614] Image Alignment failed 0
+[13:32:35.614] frame process finished the id is: 132 the obs is:6 
+[13:32:35.692] Odometry x=6.714503, y=-0.229423, theta=0.064775
+[13:32:35.711] Image Alignment failed 0
+[13:32:35.711] frame process finished the id is: 132 the obs is:6 
+[13:32:35.794] Odometry x=6.714004, y=-0.239946, theta=0.046508
+[13:32:35.810] Image Alignment failed 0
+[13:32:35.810] frame process finished the id is: 132 the obs is:6 
+[13:32:35.891] Odometry x=6.713669, y=-0.250801, theta=0.051542
+[13:32:35.911] Image Alignment failed 0
+[13:32:35.911] frame process finished the id is: 132 the obs is:6 
+[13:32:35.998] Odometry x=6.713526, y=-0.259767, theta=0.060577
+[13:32:36.011] Image Alignment failed 0
+[13:32:36.011] frame process finished the id is: 132 the obs is:6 
+[13:32:36.095] Odometry x=6.713466, y=-0.271111, theta=0.055927
+[13:32:36.111] Image Alignment failed 0
+[13:32:36.111] frame process finished the id is: 132 the obs is:6 
+[13:32:36.192] Odometry x=6.713175, y=-0.281593, theta=0.053371
+[13:32:36.210] Image Alignment failed 0
+[13:32:36.210] frame process finished the id is: 132 the obs is:6 
+[13:32:36.294] Odometry x=6.711656, y=-0.291886, theta=0.052419
+[13:32:36.311] Image Alignment failed 0
+[13:32:36.311] frame process finished the id is: 132 the obs is:6 
+[13:32:36.396] Odometry x=6.711743, y=-0.302688, theta=0.048407
+[13:32:36.412] Image Alignment failed 0
+[13:32:36.412] frame process finished the id is: 132 the obs is:6 
+[13:32:36.496] Odometry x=6.711249, y=-0.313505, theta=0.053562
+[13:32:36.512] Image Alignment failed 0
+[13:32:36.512] frame process finished the id is: 132 the obs is:6 
+[13:32:36.589] Odometry x=6.710944, y=-0.323859, theta=0.061934
+[13:32:36.609] Image Alignment failed 0
+[13:32:36.609] frame process finished the id is: 132 the obs is:6 
+[13:32:36.688] Odometry x=6.711640, y=-0.334318, theta=0.056272
+[13:32:36.711] Image Alignment failed 0
+[13:32:36.711] frame process finished the id is: 132 the obs is:6 
+[13:32:36.791] Odometry x=6.709509, y=-0.343888, theta=0.060927
+[13:32:36.809] Image Alignment failed 0
+[13:32:36.809] frame process finished the id is: 132 the obs is:6 
+[13:32:36.893] Odometry x=6.708808, y=-0.354895, theta=0.043312
+[13:32:36.919] Image Alignment failed 0
+[13:32:36.919] frame process finished the id is: 132 the obs is:6 
+[13:32:36.991] Odometry x=6.708990, y=-0.365621, theta=0.053752
+[13:32:37.009] Image Alignment failed 0
+[13:32:37.009] frame process finished the id is: 132 the obs is:6 
+[13:32:37.092] Odometry x=6.708792, y=-0.374720, theta=0.046819
+[13:32:37.109] Image Alignment failed 0
+[13:32:37.109] frame process finished the id is: 132 the obs is:6 
+[13:32:37.189] Odometry x=6.708555, y=-0.385330, theta=0.045259
+[13:32:37.209] Image Alignment failed 0
+[13:32:37.209] frame process finished the id is: 132 the obs is:6 
+[13:32:37.295] Odometry x=6.708283, y=-0.394260, theta=0.057564
+[13:32:37.309] Image Alignment failed 0
+[13:32:37.309] frame process finished the id is: 132 the obs is:6 
+[13:32:37.392] Odometry x=6.708318, y=-0.405997, theta=0.044110
+[13:32:37.411] Image Alignment failed 0
+[13:32:37.411] frame process finished the id is: 132 the obs is:6 
+[13:32:37.489] Odometry x=6.708055, y=-0.415943, theta=0.045187
+[13:32:37.513] Image Alignment failed 0
+[13:32:37.513] frame process finished the id is: 132 the obs is:6 
+[13:32:37.589] Odometry x=6.707871, y=-0.425069, theta=0.041943
+[13:32:37.611] Image Alignment failed 0
+[13:32:37.611] frame process finished the id is: 132 the obs is:6 
+[13:32:37.691] Odometry x=6.707955, y=-0.436053, theta=0.040114
+[13:32:37.711] Image Alignment failed 0
+[13:32:37.711] frame process finished the id is: 132 the obs is:6 
+[13:32:37.793] Odometry x=6.707512, y=-0.445465, theta=0.062885
+[13:32:37.810] Image Alignment failed 0
+[13:32:37.810] frame process finished the id is: 132 the obs is:6 
+[13:32:37.893] Odometry x=6.707347, y=-0.453843, theta=0.054308
+[13:32:37.910] Image Alignment failed 0
+[13:32:37.910] frame process finished the id is: 132 the obs is:6 
+[13:32:37.989] Odometry x=6.706789, y=-0.464163, theta=0.059315
+[13:32:38.010] Image Alignment failed 0
+[13:32:38.010] frame process finished the id is: 132 the obs is:6 
+[13:32:38.096] Odometry x=6.706594, y=-0.474786, theta=0.049564
+[13:32:38.110] Image Alignment failed 0
+[13:32:38.110] frame process finished the id is: 132 the obs is:6 
+[13:32:38.191] Odometry x=6.706321, y=-0.486139, theta=0.049953
+[13:32:38.210] Image Alignment failed 0
+[13:32:38.210] frame process finished the id is: 132 the obs is:6 
+[13:32:38.293] Odometry x=6.707084, y=-0.496514, theta=0.048915
+[13:32:38.310] Image Alignment failed 0
+[13:32:38.310] frame process finished the id is: 132 the obs is:6 
+[13:32:38.393] Odometry x=6.706836, y=-0.507057, theta=0.064356
+[13:32:38.410] Image Alignment failed 0
+[13:32:38.410] frame process finished the id is: 132 the obs is:6 
+[13:32:38.489] Odometry x=6.706544, y=-0.517389, theta=0.058930
+[13:32:38.510] Image Alignment failed 0
+[13:32:38.510] frame process finished the id is: 132 the obs is:6 
+[13:32:38.591] Odometry x=6.706109, y=-0.527867, theta=0.064152
+[13:32:38.610] Image Alignment failed 0
+[13:32:38.610] frame process finished the id is: 132 the obs is:6 
+[13:32:38.693] Odometry x=6.705753, y=-0.538615, theta=0.063897
+[13:32:38.710] Image Alignment failed 0
+[13:32:38.710] frame process finished the id is: 132 the obs is:6 
+[13:32:38.794] Odometry x=6.705235, y=-0.549399, theta=0.063217
+[13:32:38.810] Image Alignment failed 0
+[13:32:38.810] frame process finished the id is: 132 the obs is:6 
+[13:32:38.896] Odometry x=6.704986, y=-0.557025, theta=0.063137
+[13:32:38.913] Image Alignment failed 0
+[13:32:38.913] frame process finished the id is: 132 the obs is:6 
+[13:32:38.994] Odometry x=6.705285, y=-0.567997, theta=0.061773
+[13:32:39.010] Image Alignment failed 0
+[13:32:39.010] frame process finished the id is: 132 the obs is:6 
+[13:32:39.092] Odometry x=6.702055, y=-0.578122, theta=0.067730
+[13:32:39.110] Image Alignment failed 0
+[13:32:39.110] frame process finished the id is: 132 the obs is:6 
+[13:32:39.194] Odometry x=6.700827, y=-0.588735, theta=0.058194
+[13:32:39.210] Image Alignment failed 0
+[13:32:39.210] frame process finished the id is: 132 the obs is:6 
+[13:32:39.295] Odometry x=6.700415, y=-0.599280, theta=0.061172
+[13:32:39.311] Image Alignment failed 0
+[13:32:39.311] frame process finished the id is: 132 the obs is:6 
+[13:32:39.388] Odometry x=6.700034, y=-0.610051, theta=0.064604
+[13:32:39.409] Image Alignment failed 0
+[13:32:39.409] frame process finished the id is: 132 the obs is:6 
+[13:32:39.497] Odometry x=6.699699, y=-0.620267, theta=0.057456
+[13:32:39.510] Image Alignment failed 0
+[13:32:39.510] frame process finished the id is: 132 the obs is:6 
+[13:32:39.593] Odometry x=6.699444, y=-0.631615, theta=0.061515
+[13:32:39.610] Image Alignment failed 0
+[13:32:39.610] frame process finished the id is: 132 the obs is:6 
+[13:32:39.689] Odometry x=6.699101, y=-0.642005, theta=0.068365
+[13:32:39.711] Image Alignment failed 0
+[13:32:39.711] frame process finished the id is: 132 the obs is:6 
+[13:32:39.795] Odometry x=6.698746, y=-0.652456, theta=0.056615
+[13:32:39.811] Image Alignment failed 0
+[13:32:39.811] frame process finished the id is: 132 the obs is:6 
+[13:32:39.889] Odometry x=6.698209, y=-0.663017, theta=0.054171
+[13:32:39.910] Image Alignment failed 0
+[13:32:39.910] frame process finished the id is: 132 the obs is:6 
+[13:32:39.992] Odometry x=6.697937, y=-0.673293, theta=0.056328
+[13:32:40.016] Image Alignment failed 0
+[13:32:40.016] frame process finished the id is: 132 the obs is:6 
+[13:32:40.091] Odometry x=6.697819, y=-0.685433, theta=0.062816
+[13:32:40.109] Image Alignment failed 0
+[13:32:40.110] frame process finished the id is: 132 the obs is:6 
+[13:32:40.220] Image Alignment failed 0
+[13:32:40.220] frame process finished the id is: 132 the obs is:6 
+[13:32:40.309] Image Alignment failed 0
+[13:32:40.309] frame process finished the id is: 132 the obs is:6 
+[13:32:40.410] Image Alignment failed 0
+[13:32:40.410] frame process finished the id is: 132 the obs is:6 
+[13:32:40.510] Image Alignment failed 0
+[13:32:40.510] frame process finished the id is: 132 the obs is:6 
+[13:32:40.610] Image Alignment failed 0
+[13:32:40.610] frame process finished the id is: 132 the obs is:6 
+[13:32:40.711] Image Alignment failed 0
+[13:32:40.711] frame process finished the id is: 132 the obs is:6 
+[13:32:40.812] Image Alignment failed 0
+[13:32:40.812] fram
\ No newline at end of file
diff --git a/GPU_version/vio/include/vio/ukf.h b/GPU_version/vio/include/vio/ukf.h
index f06f2ca..a8bb0d3 100644
--- a/GPU_version/vio/include/vio/ukf.h
+++ b/GPU_version/vio/include/vio/ukf.h
@@ -143,16 +143,16 @@ public:
         boost::unique_lock<boost::mutex> lock(ekf_mut_);
         filter_->predict(x,y,theta,1e-9*time.toNSec());
     };
-    //Camera frame z forward, x right, y down -> right hands (pitch counts from x)correct
+    //Camera frame z back, x right, y down -> left hands (pitch counts from x)correct
     //Notice T_F_W is the position of the first frame with respect to the new frame while they are looking at one feature
     std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5> UpdateSvo(double x/*in camera frame*/,double z/*in camera frame*/,double pitch/*in camera frame*/) {
         boost::unique_lock<boost::mutex> lock(ekf_mut_);
-        filter_->correct(x,z,-1.0*pitch);
+        filter_->correct(x,z,pitch);
         Eigen::Matrix<double,3,3> cov;
         cov<<filter_->cov_(0,0),filter_->cov_(0,1),filter_->cov_(0,2),
                 filter_->cov_(1,0),filter_->cov_(1,1),filter_->cov_(1,2),
                 filter_->cov_(2,0),filter_->cov_(2,1),filter_->cov_(2,2);
-        return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(cov,vio::SE2_5(filter_->state_(0),filter_->state_(1),-1.0*(filter_->state_(2))));
+        return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(cov,vio::SE2_5(filter_->state_(0),filter_->state_(1),(filter_->state_(2))));
     };
     std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5> get_location(){
         boost::unique_lock<boost::mutex> lock(ekf_mut_);
@@ -160,7 +160,7 @@ public:
         cov<<filter_->cov_(0,0),filter_->cov_(0,1),filter_->cov_(0,2),
                 filter_->cov_(1,0),filter_->cov_(1,1),filter_->cov_(1,2),
                 filter_->cov_(2,0),filter_->cov_(2,1),filter_->cov_(2,2);
-        return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(cov,vio::SE2_5(filter_->state_(0),filter_->state_(1),-1.0*(filter_->state_(2))));
+        return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(cov,vio::SE2_5(filter_->state_(0),filter_->state_(1),(filter_->state_(2))));
     }
     size_t cmd_syn_count_=0;
     size_t imu_syn_count_=2;
diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp
index a50d902..aa08917 100644
--- a/GPU_version/vio/src/frame_handler_mono.cpp
+++ b/GPU_version/vio/src/frame_handler_mono.cpp
@@ -222,7 +222,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
             new_frame_->T_f_w_.se2().translation().y()-init_f.second.se2().translation().y(),
             fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch()));
 #endif
-    if((init_f.second.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.1 ||
+    if((init_f.second.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.5 ||
        fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())>0.25*M_PI_2 || sfba_n_edges_final<4){
         new_frame_=last_frame_;
         return RESULT_FAILURE;
@@ -301,7 +301,7 @@ bool FrameHandlerMono::needNewKf()
             new_frame_->T_f_w_.se2().translation().x(),new_frame_->T_f_w_.se2().translation().y(),new_frame_->T_f_w_.pitch(),
             closest_kfs.se2().translation().x(),closest_kfs.se2().translation().y(),closest_kfs.pitch());
 #endif
-  if(fabs(closest_kfs.pitch()-new_frame_->T_f_w_.pitch()) > 0.43 || fabs((closest_kfs.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm())>0.2)return true;
+  if(fabs(closest_kfs.pitch()-new_frame_->T_f_w_.pitch()) > 0.43 || fabs((closest_kfs.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm())>0.15)return true;
   return false;
 }
 void FrameHandlerMono::UpdateIMU(double* value,const ros::Time& time){