diff --git a/GPU_version/vio/CMakeLists.txt b/GPU_version/vio/CMakeLists.txt
index 834dc0a..f8000d9 100755
--- a/GPU_version/vio/CMakeLists.txt
+++ b/GPU_version/vio/CMakeLists.txt
@@ -86,3 +86,4 @@ ADD_DEFINITIONS(-DPROJECT_DIR=\"${PROJECT_SOURCE_DIR}\")
 ADD_DEFINITIONS(-DVIO_DEBUG=true)
 ADD_DEFINITIONS(-DG2O_USE_VENDORED_CERES=ON)
 ADD_DEFINITIONS(-DG2O_DELETE_IMPLICITLY_OWNED_OBJECTS=OFF)
+
diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt
index c5f0517..d8f974b 100755
--- a/GPU_version/vio/depth_filter_log.txt
+++ b/GPU_version/vio/depth_filter_log.txt
@@ -1,2 +1,6 @@
-[15:02:36.165] New key frame 
-[15:02:36.165] BA loop 
+[17:12:03.647] New key frame 
+[17:12:03.647] BA loop 
+[17:12:44.004] New key frame 
+[17:12:44.004] BA loop 
+[17:12:44.192] New key frame 
+[17:12:44.192] BA loop 
diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt
index 1475ff8..3f03776 100755
--- a/GPU_version/vio/frame_handler_log.txt
+++ b/GPU_version/vio/frame_handler_log.txt
@@ -1,1898 +1,3434 @@
-<<<<<<< HEAD
-[14:34:41.318] Init: frame zero: 0.000000, 0.000000 0.000000
-[14:34:41.318] Init: Selected first frame. 
-[14:34:41.318] frame process finished the id is: 0 the obs is:0 
-[14:34:41.353] Init: px average disparity is:0.201870 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:41.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:41.353] frame process finished the id is: 1 the obs is:0 
-[14:34:41.458] Init: px average disparity is:0.235763 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:41.458] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:41.458] frame process finished the id is: 2 the obs is:0 
-[14:34:41.559] Init: px average disparity is:0.253975 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:41.559] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:41.559] frame process finished the id is: 3 the obs is:0 
-[14:34:41.664] Init: px average disparity is:0.251757 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:41.664] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:41.664] frame process finished the id is: 4 the obs is:0 
-[14:34:41.760] Init: px average disparity is:0.247308 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:41.760] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:41.760] frame process finished the id is: 5 the obs is:0 
-[14:34:41.859] Init: px average disparity is:0.244166 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:41.859] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:41.859] frame process finished the id is: 6 the obs is:0 
-[14:34:41.965] Init: px average disparity is:0.251078 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:41.965] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:41.965] frame process finished the id is: 7 the obs is:0 
-[14:34:42.064] Init: px average disparity is:0.231787 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:42.064] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:42.064] frame process finished the id is: 8 the obs is:0 
-[14:34:42.159] Init: px average disparity is:0.260209 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:42.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:42.159] frame process finished the id is: 9 the obs is:0 
-[14:34:42.258] Init: px average disparity is:0.240296 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:42.258] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:42.258] frame process finished the id is: 10 the obs is:0 
-[14:34:42.360] Init: px average disparity is:0.248580 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:42.360] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:42.360] frame process finished the id is: 11 the obs is:0 
-[14:34:42.458] Init: px average disparity is:0.258905 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:42.458] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:42.458] frame process finished the id is: 12 the obs is:0 
-[14:34:42.558] Init: px average disparity is:0.246382 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:42.559] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:42.559] frame process finished the id is: 13 the obs is:0 
-[14:34:42.657] Init: px average disparity is:0.247992 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:42.658] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:42.658] frame process finished the id is: 14 the obs is:0 
-[14:34:42.757] Init: px average disparity is:0.237397 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:42.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:42.757] frame process finished the id is: 15 the obs is:0 
-[14:34:42.857] Init: px average disparity is:0.251326 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:42.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:42.857] frame process finished the id is: 16 the obs is:0 
-[14:34:42.959] Init: px average disparity is:0.277640 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:42.959] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:42.959] frame process finished the id is: 17 the obs is:0 
-[14:34:43.059] Init: px average disparity is:0.246569 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:43.059] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:43.059] frame process finished the id is: 18 the obs is:0 
-[14:34:43.159] Init: px average disparity is:0.243728 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:43.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:43.159] frame process finished the id is: 19 the obs is:0 
-[14:34:43.260] Init: px average disparity is:0.239680 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:43.260] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:43.260] frame process finished the id is: 20 the obs is:0 
-[14:34:43.360] Init: px average disparity is:0.258502 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:43.360] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:43.360] frame process finished the id is: 21 the obs is:0 
-[14:34:43.460] Init: px average disparity is:0.267150 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:43.461] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:43.461] frame process finished the id is: 22 the obs is:0 
-[14:34:43.558] Init: px average disparity is:0.241248 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:43.558] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:43.558] frame process finished the id is: 23 the obs is:0 
-[14:34:43.658] Init: px average disparity is:0.233374 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:43.658] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:43.658] frame process finished the id is: 24 the obs is:0 
-[14:34:43.758] Init: px average disparity is:0.273961 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:43.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:43.758] frame process finished the id is: 25 the obs is:0 
-[14:34:43.862] Init: px average disparity is:0.259759 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:43.862] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:43.862] frame process finished the id is: 26 the obs is:0 
-[14:34:43.958] Init: px average disparity is:0.230434 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:43.958] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:43.958] frame process finished the id is: 27 the obs is:0 
-[14:34:44.060] Init: px average disparity is:0.274519 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:44.061] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:44.061] frame process finished the id is: 28 the obs is:0 
-[14:34:44.159] Init: px average disparity is:0.237630 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:44.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:44.159] frame process finished the id is: 29 the obs is:0 
-[14:34:44.196] Odometry x=0.000000, y=0.000000, theta=-0.000000
-[14:34:44.259] Init: px average disparity is:0.237869 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:44.260] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:44.260] frame process finished the id is: 30 the obs is:0 
-[14:34:44.294] Odometry x=0.000000, y=0.000000, theta=-0.000000
-[14:34:44.358] Init: px average disparity is:0.219188 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:44.359] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:44.359] frame process finished the id is: 31 the obs is:0 
-[14:34:44.395] Odometry x=0.000037, y=0.006144, theta=-0.001122
-[14:34:44.460] Init: px average disparity is:1.780859 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:44.461] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:44.461] frame process finished the id is: 32 the obs is:0 
-[14:34:44.496] Odometry x=0.000129, y=0.012020, theta=-0.000993
-[14:34:44.559] Init: px average disparity is:6.042441 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:44.559] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:44.559] frame process finished the id is: 33 the obs is:0 
-[14:34:44.595] Odometry x=0.000216, y=0.019102, theta=-0.008383
-[14:34:44.660] Init: px average disparity is:7.685535 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:44.660] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:44.660] frame process finished the id is: 34 the obs is:0 
-[14:34:44.698] Odometry x=0.000451, y=0.025712, theta=-0.002271
-[14:34:44.759] Init: px average disparity is:5.010287 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:44.760] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:44.760] frame process finished the id is: 35 the obs is:0 
-[14:34:44.796] Odometry x=0.000458, y=0.032160, theta=-0.002608
-[14:34:44.859] Init: px average disparity is:5.373467 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:44.859] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:44.859] frame process finished the id is: 36 the obs is:0 
-[14:34:44.899] Odometry x=0.000544, y=0.037573, theta=-0.006361
-[14:34:44.947] Init: px average disparity is:4.266374 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:44.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:44.947] frame process finished the id is: 37 the obs is:0 
-[14:34:44.997] Odometry x=0.000611, y=0.042715, theta=-0.007241
-[14:34:45.060] Init: px average disparity is:5.727360 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:45.060] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:45.060] frame process finished the id is: 38 the obs is:0 
-[14:34:45.095] Odometry x=0.000836, y=0.049345, theta=0.000573
-[14:34:45.159] Init: px average disparity is:4.119609 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:45.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:45.159] frame process finished the id is: 39 the obs is:0 
-[14:34:45.198] Odometry x=0.000911, y=0.051147, theta=-0.024614
-[14:34:45.253] Init: px average disparity is:5.954193 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:45.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:45.253] frame process finished the id is: 40 the obs is:0 
-[14:34:45.294] Odometry x=0.001008, y=0.057011, theta=-0.012458
-[14:34:45.360] Init: px average disparity is:6.993505 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:45.360] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:45.360] frame process finished the id is: 41 the obs is:0 
-[14:34:45.399] Odometry x=0.001038, y=0.062364, theta=-0.006768
-[14:34:45.460] Init: px average disparity is:8.833857 ,While minimum is: 10.000000  KLT tracked : 122
-[14:34:45.460] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:45.460] frame process finished the id is: 42 the obs is:0 
-[14:34:45.501] Odometry x=0.001167, y=0.068231, theta=-0.010268
-[14:34:45.594] Odometry x=0.001234, y=0.073663, theta=-0.023707
-[14:34:45.655] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:12.060619 ,While minimum is: 10.000000  KLT tracked: 122
-[14:34:45.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:45.655] frame process finished the id is: 43 the obs is:0 
-[14:34:45.699] Odometry x=0.001694, y=0.079405, theta=-0.012849
-[14:34:45.717] Init: Homography RANSAC (inlier) is:28 ,While 30 inliers minimum required.  px average disparity is:14.865715 ,While minimum is: 10.000000  KLT tracked: 122
-[14:34:45.717] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:45.717] frame process finished the id is: 44 the obs is:0 
-[14:34:45.791] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required.  px average disparity is:12.955273 ,While minimum is: 10.000000  KLT tracked: 122
-[14:34:45.791] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:45.791] frame process finished the id is: 45 the obs is:0 
-[14:34:45.798] Odometry x=0.001710, y=0.084775, theta=-0.008808
-[14:34:45.887] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required.  px average disparity is:12.899217 ,While minimum is: 10.000000  KLT tracked: 122
-[14:34:45.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:45.887] frame process finished the id is: 46 the obs is:0 
-[14:34:45.898] Odometry x=0.001988, y=0.090922, theta=-0.006851
-[14:34:45.986] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required.  px average disparity is:11.433650 ,While minimum is: 10.000000  KLT tracked: 122
-[14:34:45.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:45.986] frame process finished the id is: 47 the obs is:0 
-[14:34:45.995] Odometry x=0.001990, y=0.096438, theta=-0.003317
-[14:34:46.087] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required.  px average disparity is:13.661948 ,While minimum is: 10.000000  KLT tracked: 122
-[14:34:46.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[14:34:46.087] frame process finished the id is: 48 the obs is:0 
-[14:34:46.096] Odometry x=0.002197, y=0.102286, theta=-0.001748
-[14:34:46.197] Odometry x=0.002658, y=0.107656, theta=-0.010700
-[14:34:46.202] Init finished: Homography RANSAC (inlier) is:30 ,While 30 inliers minimum required.  px average disparity is:13.643162 ,While minimum is: 10.000000  KLT tracked: 121
-[14:34:46.202] Init: distance between the first and current frame is x:0.002658 ,z=0.107656,angle between two frames: -0.010700 
-[14:34:46.203] Init: Selected Second frame. 	 The number of features: 30 depth mean:-0.006171 min:-0.512314
-[14:34:46.203] frame process finished the id is: 49 the obs is:30 
-[14:34:46.305] Odometry x=0.003318, y=0.114597, theta=-0.002615
-[14:34:46.325] After Reprojection Map nPoint:30 ,nCell:12 ,nMatches:10 ,distance between ekf and vo x:0.001119 ,z=-0.000103,angle between two frames:0.005753
-[14:34:46.325] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 	 error init =0.000395 	 error end=0.000147
-[14:34:46.325] After pose optimization, distance between ekf and vo x:-0.002957 ,z=-0.003791,angle between two frames:0.002475
-[14:34:46.325] Update EKF and 3D points the number of feature in the new frame: 28 and number of obs: 28
-[14:34:46.326] frame process finished the id is: 50 the obs is:28 
-[14:34:46.397] Odometry x=0.003860, y=0.118107, theta=-0.004336
-[14:34:46.455] After Reprojection Map nPoint:28 ,nCell:13 ,nMatches:8 ,distance between ekf and vo x:-0.001811 ,z=0.000283,angle between two frames:0.004549
-[14:34:46.455] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 	 error init =0.000532 	 error end=0.000532
-[14:34:46.455] After pose optimization, distance between ekf and vo x:-0.001811 ,z=0.000283,angle between two frames:0.004549
-[14:34:46.455] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25
-[14:34:46.456] frame process finished the id is: 51 the obs is:25 
-[14:34:46.495] Odometry x=0.002158, y=0.119716, theta=-0.008469
-[14:34:46.532] After Reprojection Map nPoint:25 ,nCell:12 ,nMatches:4 ,distance between ekf and vo x:-0.000835 ,z=0.000230,angle between two frames:0.001512
-[14:34:46.533] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 	 error init =0.000511 	 error end=0.000452
-[14:34:46.533] After pose optimization, distance between ekf and vo x:-0.002233 ,z=0.003060,angle between two frames:0.002320
-[14:34:46.533] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17
-[14:34:46.533] frame process finished the id is: 52 the obs is:17 
-[14:34:46.598] Odometry x=0.000364, y=0.122939, theta=-0.006014
-[14:34:46.634] After Reprojection Map nPoint:17 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:-0.001402 ,z=-0.000470,angle between two frames:0.000827
-[14:34:46.634] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 	 error init =0.000025 	 error end=0.000025
-[14:34:46.634] After pose optimization, distance between ekf and vo x:-0.002276 ,z=-0.000544,angle between two frames:0.003589
-[14:34:46.634] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17
-[14:34:46.634] frame process finished the id is: 53 the obs is:17 
-[14:34:46.693] Odometry x=-0.001666, y=0.122836, theta=-0.008934
-[14:34:46.729] After Reprojection Map nPoint:17 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:0.000609 ,z=-0.000391,angle between two frames:0.004689
-[14:34:46.729] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 	 error init =0.000182 	 error end=0.000178
-[14:34:46.729] After pose optimization, distance between ekf and vo x:-0.002681 ,z=-0.000594,angle between two frames:0.005571
-[14:34:46.729] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17
-[14:34:46.730] frame process finished the id is: 54 the obs is:17 
-[14:34:46.797] Odometry x=-0.003980, y=0.122646, theta=-0.013595
-[14:34:46.829] After Reprojection Map nPoint:17 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:0.000823 ,z=-0.000497,angle between two frames:0.004795
-[14:34:46.830] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 	 error init =0.000154 	 error end=0.000151
-[14:34:46.830] After pose optimization, distance between ekf and vo x:-0.000580 ,z=-0.000454,angle between two frames:0.000033
-[14:34:46.830] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17
-[14:34:46.830] frame process finished the id is: 55 the obs is:17 
-[14:34:46.902] Odometry x=-0.004506, y=0.122591, theta=-0.012758
-[14:34:46.939] After Reprojection Map nPoint:17 ,nCell:6 ,nMatches:3 ,distance between ekf and vo x:0.000390 ,z=-0.000161,angle between two frames:0.002898
-[14:34:46.940] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 	 error init =0.000140 	 error end=0.000136
-[14:34:46.940] After pose optimization, distance between ekf and vo x:0.000765 ,z=-0.000056,angle between two frames:0.004364
-[14:34:46.940] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17
-[14:34:46.940] frame process finished the id is: 56 the obs is:17 
-[14:34:47.001] Odometry x=-0.002604, y=0.122892, theta=-0.007993
-[14:34:47.088] After Reprojection Map nPoint:17 ,nCell:3 ,nMatches:2 ,distance between ekf and vo x:-0.002400 ,z=-0.000201,angle between two frames:0.002793
-[14:34:47.088] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 	 error init =0.000001 	 error end=0.000001
-[14:34:47.088] After pose optimization, distance between ekf and vo x:-0.002400 ,z=-0.000201,angle between two frames:0.002793
-[14:34:47.088] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17
-[14:34:47.089] frame process finished the id is: 57 the obs is:17 
-[14:34:47.098] Odometry x=-0.004867, y=0.123077, theta=-0.005550
-[14:34:47.172] After Reprojection Map nPoint:17 ,nCell:4 ,nMatches:2 ,distance between ekf and vo x:-0.001821 ,z=0.000030,angle between two frames:0.001543
-[14:34:47.172] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 	 error init =0.000027 	 error end=0.000027
-[14:34:47.172] After pose optimization, distance between ekf and vo x:-0.001821 ,z=0.000030,angle between two frames:0.001543
-[14:34:47.172] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17
-[14:34:47.172] frame process finished the id is: 58 the obs is:17 
-[14:34:47.204] Odometry x=-0.006543, y=0.123483, theta=-0.007411
-[14:34:47.223] After Reprojection Map nPoint:17 ,nCell:4 ,nMatches:2 ,distance between ekf and vo x:-0.001241 ,z=-0.000178,angle between two frames:0.000609
-[14:34:47.223] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 	 error init =0.000086 	 error end=0.000086
-[14:34:47.223] After pose optimization, distance between ekf and vo x:-0.001241 ,z=-0.000178,angle between two frames:0.000609
-[14:34:47.223] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17
-[14:34:47.224] frame process finished the id is: 59 the obs is:17 
-[14:34:47.296] After Reprojection Map nPoint:17 ,nCell:4 ,nMatches:2 ,distance between ekf and vo x:-0.001829 ,z=-0.000140,angle between two frames:0.002927
-[14:34:47.296] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000002 	 error end=0.000002
-[14:34:47.296] After pose optimization, distance between ekf and vo x:-0.001829 ,z=-0.000140,angle between two frames:0.002927
-[14:34:47.296] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:47.297] frame process finished the id is: 60 the obs is:12 
-[14:34:47.302] Odometry x=-0.009036, y=0.132707, theta=-0.011002
-[14:34:47.399] Odometry x=-0.007412, y=0.139673, theta=-0.018823
-[14:34:47.451] After Reprojection Map nPoint:12 ,nCell:3 ,nMatches:1 ,distance between ekf and vo x:0.000115 ,z=-0.000079,angle between two frames:0.000819
-[14:34:47.451] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:47.451] After pose optimization, distance between ekf and vo x:0.000115 ,z=-0.000079,angle between two frames:0.000819
-[14:34:47.451] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:47.452] frame process finished the id is: 61 the obs is:12 
-[14:34:47.496] Odometry x=-0.007301, y=0.139963, theta=-0.017596
-[14:34:47.529] After Reprojection Map nPoint:12 ,nCell:3 ,nMatches:1 ,distance between ekf and vo x:-0.000060 ,z=-0.000115,angle between two frames:0.000950
-[14:34:47.529] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 	 error init =0.005837 	 error end=0.005822
-[14:34:47.529] After pose optimization, distance between ekf and vo x:-0.000255 ,z=-0.000127,angle between two frames:0.000596
-[14:34:47.529] frame process finished the id is: 61 the obs is:12 
-[14:34:47.598] Odometry x=-0.007188, y=0.146382, theta=-0.021186
-[14:34:47.638] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.002508 ,z=-0.002412,angle between two frames:0.005520
-[14:34:47.638] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:47.638] After pose optimization, distance between ekf and vo x:-0.002508 ,z=-0.002412,angle between two frames:0.005520
-[14:34:47.638] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:47.638] frame process finished the id is: 63 the obs is:12 
-[14:34:47.696] Odometry x=-0.009556, y=0.144459, theta=-0.015731
-[14:34:47.758] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000106 ,z=-0.000004,angle between two frames:0.000739
-[14:34:47.759] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:47.759] After pose optimization, distance between ekf and vo x:-0.000107 ,z=-0.000004,angle between two frames:0.000739
-[14:34:47.759] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:47.759] frame process finished the id is: 64 the obs is:12 
-[14:34:47.799] Odometry x=-0.009604, y=0.144863, theta=-0.014790
-[14:34:47.821] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000326 ,z=-0.000109,angle between two frames:0.000593
-[14:34:47.822] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:47.822] After pose optimization, distance between ekf and vo x:-0.000326 ,z=-0.000109,angle between two frames:0.000593
-[14:34:47.822] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:47.823] frame process finished the id is: 65 the obs is:12 
-[14:34:47.898] Odometry x=-0.009906, y=0.145133, theta=-0.013823
-[14:34:47.972] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.003507 ,z=-0.002520,angle between two frames:0.007264
-[14:34:47.973] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000003 	 error end=0.000003
-[14:34:47.973] After pose optimization, distance between ekf and vo x:-0.003510 ,z=-0.002521,angle between two frames:0.007269
-[14:34:47.973] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:47.973] frame process finished the id is: 66 the obs is:12 
-[14:34:48.001] Odometry x=-0.013194, y=0.143580, theta=-0.020895
-[14:34:48.080] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000166 ,z=-0.000159,angle between two frames:0.000748
-[14:34:48.080] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000013 	 error end=0.000013
-[14:34:48.080] After pose optimization, distance between ekf and vo x:-0.000166 ,z=-0.000159,angle between two frames:0.000748
-[14:34:48.080] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:48.081] frame process finished the id is: 67 the obs is:12 
-[14:34:48.100] Odometry x=-0.013450, y=0.144029, theta=-0.021587
-[14:34:48.141] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000659 ,z=-0.001182,angle between two frames:0.001824
-[14:34:48.141] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000003 	 error end=0.000003
-[14:34:48.141] After pose optimization, distance between ekf and vo x:0.000659 ,z=-0.001182,angle between two frames:0.001824
-[14:34:48.141] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:48.142] frame process finished the id is: 68 the obs is:12 
-[14:34:48.197] Odometry x=-0.012820, y=0.143712, theta=-0.023122
-[14:34:48.200] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000446 ,z=-0.001189,angle between two frames:0.003359
-[14:34:48.200] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:48.200] After pose optimization, distance between ekf and vo x:0.000446 ,z=-0.001189,angle between two frames:0.003359
-[14:34:48.200] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:48.200] frame process finished the id is: 69 the obs is:12 
-[14:34:48.298] Odometry x=-0.012149, y=0.150258, theta=-0.026409
-[14:34:48.362] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.001521 ,z=-0.001612,angle between two frames:0.000338
-[14:34:48.362] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000001 	 error end=0.000001
-[14:34:48.362] After pose optimization, distance between ekf and vo x:0.001521 ,z=-0.001612,angle between two frames:0.000338
-[14:34:48.362] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:48.363] frame process finished the id is: 70 the obs is:12 
-[14:34:48.396] Odometry x=-0.010621, y=0.149064, theta=-0.026380
-[14:34:48.417] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000054 ,z=-0.000118,angle between two frames:0.000077
-[14:34:48.418] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000005 	 error end=0.000005
-[14:34:48.418] After pose optimization, distance between ekf and vo x:0.000051 ,z=-0.000111,angle between two frames:0.000072
-[14:34:48.418] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:48.418] frame process finished the id is: 71 the obs is:12 
-[14:34:48.498] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000173 ,z=-0.002325,angle between two frames:0.002335
-[14:34:48.498] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:48.498] After pose optimization, distance between ekf and vo x:0.000173 ,z=-0.002325,angle between two frames:0.002335
-[14:34:48.498] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:48.498] frame process finished the id is: 72 the obs is:12 
-[14:34:48.499] Odometry x=-0.010198, y=0.154863, theta=-0.030334
-[14:34:48.597] Odometry x=-0.010984, y=0.162228, theta=-0.027402
-[14:34:48.606] After Reprojection Map nPoint:12 ,nCell:3 ,nMatches:1 ,distance between ekf and vo x:-0.000362 ,z=-0.001265,angle between two frames:0.003412
-[14:34:48.606] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:48.606] After pose optimization, distance between ekf and vo x:-0.000362 ,z=-0.001262,angle between two frames:0.003413
-[14:34:48.606] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:48.606] frame process finished the id is: 73 the obs is:12 
-[14:34:48.695] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000528 ,z=0.008422,angle between two frames:0.000779
-[14:34:48.696] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000032 	 error end=0.000032
-[14:34:48.696] After pose optimization, distance between ekf and vo x:-0.000485 ,z=0.008394,angle between two frames:0.000285
-[14:34:48.696] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:48.696] frame process finished the id is: 74 the obs is:12 
-[14:34:48.700] Odometry x=-0.011603, y=0.175270, theta=-0.037352
-[14:34:48.797] Odometry x=-0.011450, y=0.182751, theta=-0.038616
-[14:34:48.800] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000054 ,z=0.001632,angle between two frames:0.000528
-[14:34:48.800] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.004205 	 error end=0.003888
-[14:34:48.800] After pose optimization, distance between ekf and vo x:0.002028 ,z=-0.025801,angle between two frames:0.039833
-[14:34:48.800] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:48.800] frame process finished the id is: 75 the obs is:12 
-[14:34:48.894] Odometry x=-0.009878, y=0.170460, theta=-0.074805
-[14:34:48.897] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000498 ,z=0.000107,angle between two frames:0.001053
-[14:34:48.898] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:48.898] After pose optimization, distance between ekf and vo x:-0.000498 ,z=0.000107,angle between two frames:0.001053
-[14:34:48.898] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:48.898] frame process finished the id is: 76 the obs is:12 
-[14:34:48.996] Odometry x=-0.011728, y=0.182837, theta=-0.072676
-[14:34:49.017] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000201 ,z=0.000686,angle between two frames:0.000005
-[14:34:49.018] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000036 	 error end=0.000036
-[14:34:49.018] After pose optimization, distance between ekf and vo x:-0.000181 ,z=0.000391,angle between two frames:0.000304
-[14:34:49.018] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:49.018] frame process finished the id is: 77 the obs is:12 
-[14:34:49.091] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000243 ,z=0.000984,angle between two frames:0.000017
-[14:34:49.091] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000001 	 error end=0.000001
-[14:34:49.091] After pose optimization, distance between ekf and vo x:-0.000243 ,z=0.000980,angle between two frames:0.000012
-[14:34:49.091] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:49.091] frame process finished the id is: 78 the obs is:12 
-[14:34:49.095] Odometry x=-0.012091, y=0.184763, theta=-0.073013
-[14:34:49.186] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000329 ,z=0.001074,angle between two frames:0.000018
-[14:34:49.186] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:49.186] After pose optimization, distance between ekf and vo x:-0.000329 ,z=0.001074,angle between two frames:0.000018
-[14:34:49.186] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:49.187] frame process finished the id is: 79 the obs is:12 
-[14:34:49.198] Odometry x=-0.012123, y=0.193524, theta=-0.064362
-[14:34:49.297] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000305 ,z=-0.000054,angle between two frames:0.000879
-[14:34:49.297] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000001 	 error end=0.000001
-[14:34:49.297] After pose optimization, distance between ekf and vo x:-0.000304 ,z=-0.000061,angle between two frames:0.000888
-[14:34:49.297] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:49.297] frame process finished the id is: 80 the obs is:12 
-[14:34:49.301] Odometry x=-0.012172, y=0.199406, theta=-0.071964
-[14:34:49.386] After Reprojection Map nPoint:12 ,nCell:9 ,nMatches:1 ,distance between ekf and vo x:-0.000332 ,z=0.000996,angle between two frames:0.000000
-[14:34:49.386] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000004 	 error end=0.000004
-[14:34:49.386] After pose optimization, distance between ekf and vo x:-0.000327 ,z=0.000967,angle between two frames:0.000046
-[14:34:49.386] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:49.387] frame process finished the id is: 81 the obs is:12 
-[14:34:49.398] Odometry x=-0.012184, y=0.208371, theta=-0.058791
-[14:34:49.494] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000541 ,z=0.000911,angle between two frames:0.000811
-[14:34:49.494] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:49.494] After pose optimization, distance between ekf and vo x:-0.000541 ,z=0.000910,angle between two frames:0.000812
-[14:34:49.494] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:49.494] frame process finished the id is: 82 the obs is:12 
-[14:34:49.496] Odometry x=-0.012501, y=0.215717, theta=-0.070131
-[14:34:49.594] Odometry x=-0.011868, y=0.237625, theta=-0.055985
-[14:34:49.599] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000374 ,z=0.000240,angle between two frames:0.000955
-[14:34:49.600] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:49.600] After pose optimization, distance between ekf and vo x:-0.000374 ,z=0.000240,angle between two frames:0.000955
-[14:34:49.600] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:49.600] frame process finished the id is: 83 the obs is:12 
-[14:34:49.696] Odometry x=-0.011652, y=0.243656, theta=-0.071029
-[14:34:49.703] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000973 ,z=-0.006598,angle between two frames:0.005890
-[14:34:49.703] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000278 	 error end=0.000278
-[14:34:49.703] After pose optimization, distance between ekf and vo x:-0.000897 ,z=-0.007831,angle between two frames:0.006907
-[14:34:49.703] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:49.704] frame process finished the id is: 84 the obs is:12 
-[14:34:49.794] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:0.000033 ,z=-0.001337,angle between two frames:0.001340
-[14:34:49.794] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:49.794] After pose optimization, distance between ekf and vo x:0.000033 ,z=-0.001337,angle between two frames:0.001340
-[14:34:49.794] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:49.795] frame process finished the id is: 85 the obs is:12 
-[14:34:49.798] Odometry x=-0.014225, y=0.243402, theta=-0.058933
-[14:34:49.900] Odometry x=-0.011952, y=0.247844, theta=-0.078035
-[14:34:49.905] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000039 ,z=-0.001783,angle between two frames:0.002219
-[14:34:49.905] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000031 	 error end=0.000031
-[14:34:49.905] After pose optimization, distance between ekf and vo x:-0.000030 ,z=-0.001906,angle between two frames:0.002318
-[14:34:49.905] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:49.906] frame process finished the id is: 86 the obs is:12 
-[14:34:49.994] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000027 ,z=-0.000731,angle between two frames:0.000931
-[14:34:49.994] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000001 	 error end=0.000001
-[14:34:49.994] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000731,angle between two frames:0.000931
-[14:34:49.994] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:49.995] frame process finished the id is: 87 the obs is:12 
-[14:34:49.999] Odometry x=-0.011563, y=0.256891, theta=-0.083916
-[14:34:50.094] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000012 ,z=-0.000687,angle between two frames:0.000835
-[14:34:50.094] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 	 error init =0.006413 	 error end=0.006413
-[14:34:50.094] After pose optimization, distance between ekf and vo x:-0.000012 ,z=-0.000687,angle between two frames:0.000835
-[14:34:50.094] frame process finished the id is: 87 the obs is:12 
-[14:34:50.097] Odometry x=-0.009421, y=0.260110, theta=-0.074921
-[14:34:50.201] Odometry x=-0.005793, y=0.270525, theta=-0.097075
-[14:34:50.209] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000142 ,z=-0.001659,angle between two frames:0.001685
-[14:34:50.209] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000818 	 error end=0.000818
-[14:34:50.209] After pose optimization, distance between ekf and vo x:-0.000142 ,z=-0.001659,angle between two frames:0.001685
-[14:34:50.209] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:50.209] frame process finished the id is: 89 the obs is:12 
-[14:34:50.298] Odometry x=-0.005585, y=0.275416, theta=-0.107370
-[14:34:50.303] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000114 ,z=-0.001513,angle between two frames:0.001953
-[14:34:50.303] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 	 error init =0.009425 	 error end=0.009425
-[14:34:50.303] After pose optimization, distance between ekf and vo x:-0.000114 ,z=-0.001513,angle between two frames:0.001953
-[14:34:50.304] frame process finished the id is: 89 the obs is:12 
-[14:34:50.397] Odometry x=-0.004345, y=0.291849, theta=-0.105549
-[14:34:50.402] After Reprojection Map nPoint:12 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:-0.000409 ,z=-0.002148,angle between two frames:0.002516
-[14:34:50.402] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:50.402] After pose optimization, distance between ekf and vo x:-0.000409 ,z=-0.002148,angle between two frames:0.002516
-[14:34:50.402] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:50.402] frame process finished the id is: 91 the obs is:12 
-[14:34:50.495] After Reprojection Map nPoint:12 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:-0.000017 ,z=-0.000300,angle between two frames:0.000398
-[14:34:50.495] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000006 	 error end=0.000006
-[14:34:50.495] After pose optimization, distance between ekf and vo x:-0.000017 ,z=-0.000300,angle between two frames:0.000398
-[14:34:50.495] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:50.495] frame process finished the id is: 92 the obs is:12 
-[14:34:50.502] Odometry x=-0.004427, y=0.293568, theta=-0.130647
-[14:34:50.597] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000026 ,z=-0.000436,angle between two frames:0.000567
-[14:34:50.597] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.006265 	 error end=0.006265
-[14:34:50.597] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000436,angle between two frames:0.000567
-[14:34:50.597] frame process finished the id is: 92 the obs is:12 
-[14:34:50.599] Odometry x=-0.003889, y=0.301204, theta=-0.118477
-[14:34:50.701] Odometry x=-0.003184, y=0.305198, theta=-0.127845
-[14:34:50.710] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000092 ,z=-0.001133,angle between two frames:0.001809
-[14:34:50.710] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:50.710] After pose optimization, distance between ekf and vo x:-0.000092 ,z=-0.001133,angle between two frames:0.001809
-[14:34:50.710] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:50.710] frame process finished the id is: 94 the obs is:12 
-[14:34:50.797] Odometry x=-0.002876, y=0.310014, theta=-0.137962
-[14:34:50.827] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000063 ,z=-0.001007,angle between two frames:0.001294
-[14:34:50.827] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:50.827] After pose optimization, distance between ekf and vo x:-0.000063 ,z=-0.001007,angle between two frames:0.001294
-[14:34:50.827] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:50.827] frame process finished the id is: 95 the obs is:12 
-[14:34:50.892] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:-0.000025 ,z=-0.000418,angle between two frames:0.000596
-[14:34:50.893] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:50.893] After pose optimization, distance between ekf and vo x:-0.000025 ,z=-0.000418,angle between two frames:0.000596
-[14:34:50.893] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:50.893] frame process finished the id is: 96 the obs is:12 
-[14:34:50.896] Odometry x=-0.002047, y=0.328525, theta=-0.132757
-[14:34:51.002] Odometry x=-0.001586, y=0.335353, theta=-0.141287
-[14:34:51.016] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:-0.000053 ,z=-0.000584,angle between two frames:0.000865
-[14:34:51.016] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:51.016] After pose optimization, distance between ekf and vo x:-0.000053 ,z=-0.000585,angle between two frames:0.000865
-[14:34:51.016] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:51.017] frame process finished the id is: 97 the obs is:12 
-[14:34:51.095] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:0.000008 ,z=-0.000316,angle between two frames:0.000454
-[14:34:51.095] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.001234 	 error end=0.001234
-[14:34:51.095] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000316,angle between two frames:0.000454
-[14:34:51.095] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:51.095] frame process finished the id is: 98 the obs is:12 
-[14:34:51.101] Odometry x=-0.005411, y=0.351192, theta=-0.143648
-[14:34:51.198] Odometry x=-0.004945, y=0.357622, theta=-0.142346
-[14:34:51.203] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:0.000156 ,z=-0.001686,angle between two frames:0.003272
-[14:34:51.203] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:51.203] After pose optimization, distance between ekf and vo x:0.000156 ,z=-0.001686,angle between two frames:0.003272
-[14:34:51.203] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:51.203] frame process finished the id is: 99 the obs is:12 
-[14:34:51.300] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:0.000055 ,z=-0.000204,angle between two frames:0.000402
-[14:34:51.300] After pose optimization, distance between ekf and vo x:0.000055 ,z=-0.000204,angle between two frames:0.000402
-[14:34:51.300] frame process finished the id is: 99 the obs is:12 
-[14:34:51.300] Odometry x=-0.013196, y=0.376994, theta=-0.144112
-[14:34:51.400] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:0.000081 ,z=-0.000541,angle between two frames:0.000894
-[14:34:51.400] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:51.400] After pose optimization, distance between ekf and vo x:0.000081 ,z=-0.000541,angle between two frames:0.000894
-[14:34:51.400] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:51.400] frame process finished the id is: 101 the obs is:12 
-[14:34:51.400] Odometry x=-0.012484, y=0.381974, theta=-0.146976
-[14:34:51.501] Odometry x=-0.011914, y=0.391217, theta=-0.147131
-[14:34:51.508] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:0.000310 ,z=-0.001603,angle between two frames:0.003273
-[14:34:51.508] After pose optimization, distance between ekf and vo x:0.000310 ,z=-0.001603,angle between two frames:0.003273
-[14:34:51.508] frame process finished the id is: 101 the obs is:12 
-[14:34:51.597] Odometry x=-0.011414, y=0.396587, theta=-0.148267
-[14:34:51.600] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:0.000055 ,z=-0.000193,angle between two frames:0.000345
-[14:34:51.600] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:51.600] After pose optimization, distance between ekf and vo x:0.000055 ,z=-0.000193,angle between two frames:0.000345
-[14:34:51.600] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:51.600] frame process finished the id is: 103 the obs is:12 
-[14:34:51.699] After Reprojection Map nPoint:12 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:0.000063 ,z=-0.000246,angle between two frames:0.000486
-[14:34:51.699] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:51.699] After pose optimization, distance between ekf and vo x:0.000063 ,z=-0.000246,angle between two frames:0.000486
-[14:34:51.699] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:51.699] frame process finished the id is: 104 the obs is:12 
-[14:34:51.702] Odometry x=-0.009818, y=0.403628, theta=-0.141589
-[14:34:51.799] Odometry x=-0.009328, y=0.410047, theta=-0.145824
-[14:34:51.803] After Reprojection Map nPoint:12 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:0.000130 ,z=-0.000952,angle between two frames:0.001910
-[14:34:51.803] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.003286 	 error end=0.003286
-[14:34:51.803] After pose optimization, distance between ekf and vo x:0.000130 ,z=-0.000952,angle between two frames:0.001910
-[14:34:51.803] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:51.804] frame process finished the id is: 105 the obs is:12 
-[14:34:51.891] After Reprojection Map nPoint:12 ,nCell:9 ,nMatches:1 ,distance between ekf and vo x:0.000042 ,z=-0.000215,angle between two frames:0.000337
-[14:34:51.891] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.006905 	 error end=0.006196
-[14:34:51.891] After pose optimization, distance between ekf and vo x:0.002122 ,z=-0.001673,angle between two frames:0.010570
-[14:34:51.891] frame process finished the id is: 105 the obs is:12 
-[14:34:51.897] Odometry x=-0.008133, y=0.415792, theta=-0.147007
-[14:34:51.997] Odometry x=-0.006995, y=0.431714, theta=-0.148288
-[14:34:51.998] After Reprojection Map nPoint:12 ,nCell:4 ,nMatches:1 ,distance between ekf and vo x:0.000069 ,z=-0.000309,angle between two frames:0.000561
-[14:34:51.998] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000001 	 error end=0.000001
-[14:34:51.998] After pose optimization, distance between ekf and vo x:0.000069 ,z=-0.000309,angle between two frames:0.000561
-[14:34:51.998] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:51.998] frame process finished the id is: 107 the obs is:12 
-[14:34:52.100] Odometry x=-0.006452, y=0.438051, theta=-0.144044
-[14:34:52.102] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000227 ,z=-0.000488,angle between two frames:0.001178
-[14:34:52.102] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.001397 	 error end=0.001397
-[14:34:52.102] After pose optimization, distance between ekf and vo x:0.000227 ,z=-0.000488,angle between two frames:0.001178
-[14:34:52.102] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:52.102] frame process finished the id is: 108 the obs is:12 
-[14:34:52.198] Odometry x=-0.005884, y=0.443646, theta=-0.155716
-[14:34:52.221] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000094 ,z=-0.000383,angle between two frames:0.000633
-[14:34:52.221] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:52.221] After pose optimization, distance between ekf and vo x:0.000094 ,z=-0.000383,angle between two frames:0.000633
-[14:34:52.221] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:52.221] frame process finished the id is: 109 the obs is:12 
-[14:34:52.299] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000137 ,z=-0.000440,angle between two frames:0.000801
-[14:34:52.300] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000006 	 error end=0.000006
-[14:34:52.300] After pose optimization, distance between ekf and vo x:0.000137 ,z=-0.000440,angle between two frames:0.000801
-[14:34:52.300] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:52.300] frame process finished the id is: 110 the obs is:12 
-[14:34:52.300] Odometry x=-0.005484, y=0.443391, theta=-0.156094
-[14:34:52.398] Odometry x=-0.005250, y=0.450796, theta=-0.160644
-[14:34:52.400] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000173 ,z=-0.000650,angle between two frames:0.001142
-[14:34:52.400] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000050 	 error end=0.000050
-[14:34:52.400] After pose optimization, distance between ekf and vo x:0.000173 ,z=-0.000650,angle between two frames:0.001142
-[14:34:52.400] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:52.401] frame process finished the id is: 111 the obs is:12 
-[14:34:52.496] Odometry x=-0.004619, y=0.456529, theta=-0.167109
-[14:34:52.503] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000206 ,z=-0.000582,angle between two frames:0.001241
-[14:34:52.503] After pose optimization, distance between ekf and vo x:0.000206 ,z=-0.000582,angle between two frames:0.001241
-[14:34:52.503] frame process finished the id is: 111 the obs is:12 
-[14:34:52.596] Odometry x=-0.004426, y=0.462386, theta=-0.165991
-[14:34:52.604] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000076 ,z=-0.000311,angle between two frames:0.000474
-[14:34:52.604] After pose optimization, distance between ekf and vo x:0.000076 ,z=-0.000311,angle between two frames:0.000474
-[14:34:52.604] frame process finished the id is: 111 the obs is:12 
-[14:34:52.699] Odometry x=-0.003010, y=0.471922, theta=-0.169223
-[14:34:52.706] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000233 ,z=-0.000897,angle between two frames:0.001571
-[14:34:52.706] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:52.706] After pose optimization, distance between ekf and vo x:0.000233 ,z=-0.000897,angle between two frames:0.001571
-[14:34:52.706] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:52.706] frame process finished the id is: 114 the obs is:12 
-[14:34:52.796] Odometry x=-0.004246, y=0.454959, theta=-0.170201
-[14:34:52.803] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000081 ,z=-0.000685,angle between two frames:0.000850
-[14:34:52.803] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:52.803] After pose optimization, distance between ekf and vo x:0.000081 ,z=-0.000685,angle between two frames:0.000850
-[14:34:52.803] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:52.803] frame process finished the id is: 115 the obs is:12 
-[14:34:52.899] Odometry x=-0.003293, y=0.463548, theta=-0.179426
-[14:34:52.904] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000202 ,z=-0.000414,angle between two frames:0.000926
-[14:34:52.904] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000063 	 error end=0.000063
-[14:34:52.904] After pose optimization, distance between ekf and vo x:0.000202 ,z=-0.000414,angle between two frames:0.000926
-[14:34:52.904] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:52.904] frame process finished the id is: 116 the obs is:12 
-[14:34:52.996] Odometry x=0.000935, y=0.453014, theta=-0.171704
-[14:34:53.002] After Reprojection Map nPoint:12 ,nCell:4 ,nMatches:1 ,distance between ekf and vo x:0.000056 ,z=-0.000532,angle between two frames:0.000636
-[14:34:53.002] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:53.002] After pose optimization, distance between ekf and vo x:0.000056 ,z=-0.000532,angle between two frames:0.000636
-[14:34:53.002] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:53.002] frame process finished the id is: 117 the obs is:12 
-[14:34:53.097] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000191 ,z=-0.000525,angle between two frames:0.001166
-[14:34:53.097] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000009 	 error end=0.000009
-[14:34:53.097] After pose optimization, distance between ekf and vo x:0.000191 ,z=-0.000525,angle between two frames:0.001166
-[14:34:53.097] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:53.097] frame process finished the id is: 118 the obs is:12 
-[14:34:53.098] Odometry x=0.003670, y=0.460002, theta=-0.173896
-[14:34:53.196] Odometry x=0.004964, y=0.466474, theta=-0.167186
-[14:34:53.201] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000090 ,z=-0.000181,angle between two frames:0.000393
-[14:34:53.201] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000019 	 error end=0.000019
-[14:34:53.201] After pose optimization, distance between ekf and vo x:0.000090 ,z=-0.000181,angle between two frames:0.000393
-[14:34:53.201] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:53.201] frame process finished the id is: 119 the obs is:12 
-[14:34:53.298] Odometry x=0.006877, y=0.474587, theta=-0.167662
-[14:34:53.309] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000336 ,z=-0.001569,angle between two frames:0.002864
-[14:34:53.309] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000269 	 error end=0.000269
-[14:34:53.309] After pose optimization, distance between ekf and vo x:0.000336 ,z=-0.001569,angle between two frames:0.002864
-[14:34:53.309] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:53.310] frame process finished the id is: 120 the obs is:12 
-[14:34:53.396] Odometry x=0.007284, y=0.474302, theta=-0.170634
-[14:34:53.396] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000043 ,z=-0.000438,angle between two frames:0.000641
-[14:34:53.396] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000033 	 error end=0.000033
-[14:34:53.396] After pose optimization, distance between ekf and vo x:0.000043 ,z=-0.000438,angle between two frames:0.000641
-[14:34:53.396] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:53.396] frame process finished the id is: 121 the obs is:12 
-[14:34:53.495] Odometry x=0.008626, y=0.482881, theta=-0.164664
-[14:34:53.497] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:-0.000263 ,z=-0.000860,angle between two frames:0.001472
-[14:34:53.497] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:53.497] After pose optimization, distance between ekf and vo x:-0.000263 ,z=-0.000860,angle between two frames:0.001472
-[14:34:53.497] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:53.497] frame process finished the id is: 122 the obs is:12 
-[14:34:53.597] Odometry x=0.008952, y=0.489931, theta=-0.178696
-[14:34:53.606] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000099 ,z=-0.000409,angle between two frames:0.000752
-[14:34:53.606] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000724 	 error end=0.000724
-[14:34:53.606] After pose optimization, distance between ekf and vo x:0.000099 ,z=-0.000409,angle between two frames:0.000752
-[14:34:53.606] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:53.606] frame process finished the id is: 123 the obs is:12 
-[14:34:53.693] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000085 ,z=-0.000422,angle between two frames:0.000741
-[14:34:53.693] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000011 	 error end=0.000011
-[14:34:53.693] After pose optimization, distance between ekf and vo x:0.000085 ,z=-0.000422,angle between two frames:0.000741
-[14:34:53.693] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:53.693] frame process finished the id is: 124 the obs is:12 
-[14:34:53.700] Odometry x=0.009721, y=0.495139, theta=-0.180487
-[14:34:53.799] Odometry x=0.014102, y=0.500206, theta=-0.193238
-[14:34:53.808] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000128 ,z=-0.000462,angle between two frames:0.000655
-[14:34:53.808] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 	 error init =0.006692 	 error end=0.006692
-[14:34:53.808] After pose optimization, distance between ekf and vo x:0.000128 ,z=-0.000462,angle between two frames:0.000655
-[14:34:53.808] frame process finished the id is: 124 the obs is:12 
-[14:34:53.896] Odometry x=0.014881, y=0.505521, theta=-0.183700
-[14:34:53.904] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000217 ,z=-0.000473,angle between two frames:0.000918
-[14:34:53.904] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000012 	 error end=0.000012
-[14:34:53.904] After pose optimization, distance between ekf and vo x:0.000217 ,z=-0.000473,angle between two frames:0.000918
-[14:34:53.904] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:53.904] frame process finished the id is: 126 the obs is:12 
-[14:34:53.999] Odometry x=0.015075, y=0.505371, theta=-0.184359
-[14:34:54.006] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000285 ,z=-0.000177,angle between two frames:0.000747
-[14:34:54.006] After pose optimization, distance between ekf and vo x:0.000285 ,z=-0.000177,angle between two frames:0.000747
-[14:34:54.006] frame process finished the id is: 126 the obs is:12 
-[14:34:54.096] Odometry x=0.015920, y=0.512183, theta=-0.185472
-[14:34:54.101] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000362 ,z=-0.000215,angle between two frames:0.000945
-[14:34:54.101] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:54.101] After pose optimization, distance between ekf and vo x:0.000362 ,z=-0.000215,angle between two frames:0.000945
-[14:34:54.101] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:54.101] frame process finished the id is: 128 the obs is:12 
-[14:34:54.200] Odometry x=0.016779, y=0.519071, theta=-0.167990
-[14:34:54.210] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000819 ,z=-0.000528,angle between two frames:0.002099
-[14:34:54.210] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:54.210] After pose optimization, distance between ekf and vo x:0.000819 ,z=-0.000528,angle between two frames:0.002099
-[14:34:54.210] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:54.211] frame process finished the id is: 129 the obs is:12 
-[14:34:54.297] Odometry x=0.018153, y=0.524578, theta=-0.174679
-[14:34:54.299] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000213 ,z=-0.000377,angle between two frames:0.000666
-[14:34:54.299] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000710 	 error end=0.000710
-[14:34:54.299] After pose optimization, distance between ekf and vo x:0.000213 ,z=-0.000377,angle between two frames:0.000666
-[14:34:54.299] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:54.299] frame process finished the id is: 130 the obs is:12 
-[14:34:54.393] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000072 ,z=-0.000198,angle between two frames:0.000273
-[14:34:54.393] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.002813 	 error end=0.002813
-[14:34:54.393] After pose optimization, distance between ekf and vo x:0.000072 ,z=-0.000198,angle between two frames:0.000273
-[14:34:54.393] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:54.393] frame process finished the id is: 131 the obs is:12 
-[14:34:54.396] Odometry x=0.018908, y=0.529965, theta=-0.160965
-[14:34:54.493] Odometry x=0.019446, y=0.536016, theta=-0.173174
-[14:34:54.514] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000231 ,z=-0.000563,angle between two frames:0.000853
-[14:34:54.514] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000005 	 error end=0.000005
-[14:34:54.514] After pose optimization, distance between ekf and vo x:0.000231 ,z=-0.000563,angle between two frames:0.000853
-[14:34:54.514] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:54.514] frame process finished the id is: 132 the obs is:12 
-[14:34:54.595] Odometry x=0.020223, y=0.541523, theta=-0.173518
-[14:34:54.603] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000206 ,z=-0.000406,angle between two frames:0.000653
-[14:34:54.603] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000001 	 error end=0.000001
-[14:34:54.603] After pose optimization, distance between ekf and vo x:0.000206 ,z=-0.000406,angle between two frames:0.000653
-[14:34:54.603] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:54.603] frame process finished the id is: 133 the obs is:12 
-[14:34:54.703] Odometry x=0.020845, y=0.547080, theta=-0.175028
-[14:34:54.705] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000470 ,z=-0.000840,angle between two frames:0.001673
-[14:34:54.705] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:54.705] After pose optimization, distance between ekf and vo x:0.000470 ,z=-0.000840,angle between two frames:0.001673
-[14:34:54.705] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:54.705] frame process finished the id is: 134 the obs is:12 
-[14:34:54.799] Odometry x=0.021748, y=0.552737, theta=-0.184422
-[14:34:54.800] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000156 ,z=-0.000497,angle between two frames:0.000644
-[14:34:54.800] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:54.800] After pose optimization, distance between ekf and vo x:0.000156 ,z=-0.000497,angle between two frames:0.000644
-[14:34:54.800] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:54.800] frame process finished the id is: 135 the obs is:12 
-[14:34:54.898] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000283 ,z=-0.000586,angle between two frames:0.000960
-[14:34:54.898] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:54.898] After pose optimization, distance between ekf and vo x:0.000283 ,z=-0.000586,angle between two frames:0.000960
-[14:34:54.898] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:54.898] frame process finished the id is: 136 the obs is:12 
-[14:34:54.901] Odometry x=0.022870, y=0.559890, theta=-0.179005
-[14:34:54.998] Odometry x=0.023592, y=0.566513, theta=-0.183340
-[14:34:55.007] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000176 ,z=-0.001514,angle between two frames:0.001303
-[14:34:55.007] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000146 	 error end=0.000146
-[14:34:55.007] After pose optimization, distance between ekf and vo x:0.000176 ,z=-0.001514,angle between two frames:0.001303
-[14:34:55.007] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:55.007] frame process finished the id is: 137 the obs is:12 
-[14:34:55.097] Odometry x=0.017135, y=0.577331, theta=-0.182361
-[14:34:55.098] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000187 ,z=-0.000385,angle between two frames:0.000573
-[14:34:55.098] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:55.098] After pose optimization, distance between ekf and vo x:0.000187 ,z=-0.000385,angle between two frames:0.000573
-[14:34:55.098] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:55.098] frame process finished the id is: 138 the obs is:12 
-[14:34:55.197] Odometry x=0.019496, y=0.582700, theta=-0.167637
-[14:34:55.215] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000173 ,z=-0.000544,angle between two frames:0.000616
-[14:34:55.215] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:55.215] After pose optimization, distance between ekf and vo x:0.000173 ,z=-0.000544,angle between two frames:0.000616
-[14:34:55.215] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:55.215] frame process finished the id is: 139 the obs is:12 
-[14:34:55.296] Odometry x=0.018713, y=0.588757, theta=-0.175279
-[14:34:55.297] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000247 ,z=-0.000425,angle between two frames:0.000821
-[14:34:55.297] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000131 	 error end=0.000131
-[14:34:55.297] After pose optimization, distance between ekf and vo x:0.000247 ,z=-0.000425,angle between two frames:0.000821
-[14:34:55.297] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:55.297] frame process finished the id is: 140 the obs is:12 
-[14:34:55.396] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000132 ,z=-0.000193,angle between two frames:0.000416
-[14:34:55.396] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 	 error init =0.009035 	 error end=0.009035
-[14:34:55.396] After pose optimization, distance between ekf and vo x:0.000132 ,z=-0.000193,angle between two frames:0.000416
-[14:34:55.396] frame process finished the id is: 140 the obs is:12 
-[14:34:55.399] Odometry x=0.019784, y=0.594312, theta=-0.175896
-[14:34:55.496] Odometry x=0.020646, y=0.599701, theta=-0.184304
-[14:34:55.513] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000366 ,z=-0.001141,angle between two frames:0.001369
-[14:34:55.513] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:55.513] After pose optimization, distance between ekf and vo x:0.000366 ,z=-0.001141,angle between two frames:0.001369
-[14:34:55.513] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:55.514] frame process finished the id is: 142 the obs is:12 
-[14:34:55.596] Odometry x=0.022360, y=0.604392, theta=-0.183857
-[14:34:55.598] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000061 ,z=-0.000284,angle between two frames:0.000232
-[14:34:55.598] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:55.598] After pose optimization, distance between ekf and vo x:0.000061 ,z=-0.000284,angle between two frames:0.000232
-[14:34:55.598] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:55.599] frame process finished the id is: 143 the obs is:12 
-[14:34:55.698] Odometry x=0.022948, y=0.610051, theta=-0.184336
-[14:34:55.708] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000322 ,z=-0.000840,angle between two frames:0.001113
-[14:34:55.708] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:55.708] After pose optimization, distance between ekf and vo x:0.000322 ,z=-0.000840,angle between two frames:0.001113
-[14:34:55.708] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:55.709] frame process finished the id is: 144 the obs is:12 
-[14:34:55.796] Odometry x=0.023784, y=0.615528, theta=-0.197531
-[14:34:55.819] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000061 ,z=-0.000602,angle between two frames:0.000316
-[14:34:55.820] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:55.820] After pose optimization, distance between ekf and vo x:0.000061 ,z=-0.000602,angle between two frames:0.000316
-[14:34:55.820] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:55.820] frame process finished the id is: 145 the obs is:12 
-[14:34:55.898] Odometry x=0.023883, y=0.615260, theta=-0.197446
-[14:34:55.906] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000421 ,z=-0.000766,angle between two frames:0.001195
-[14:34:55.906] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:55.906] After pose optimization, distance between ekf and vo x:0.000421 ,z=-0.000766,angle between two frames:0.001195
-[14:34:55.906] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:55.906] frame process finished the id is: 146 the obs is:12 
-[14:34:55.995] Odometry x=0.025250, y=0.622864, theta=-0.209822
-[14:34:55.998] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000086 ,z=-0.000072,angle between two frames:0.000192
-[14:34:55.998] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:55.998] After pose optimization, distance between ekf and vo x:0.000086 ,z=-0.000072,angle between two frames:0.000192
-[14:34:55.998] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:55.998] frame process finished the id is: 147 the obs is:12 
-[14:34:56.096] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000095 ,z=-0.000140,angle between two frames:0.000241
-[14:34:56.096] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000012 	 error end=0.000012
-[14:34:56.096] After pose optimization, distance between ekf and vo x:0.000095 ,z=-0.000140,angle between two frames:0.000241
-[14:34:56.096] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:56.097] frame process finished the id is: 148 the obs is:12 
-[14:34:56.097] Odometry x=0.026008, y=0.628411, theta=-0.209012
-[14:34:56.198] Odometry x=0.026661, y=0.634670, theta=-0.222699
-[14:34:56.201] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000119 ,z=-0.000276,angle between two frames:0.000388
-[14:34:56.201] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000209 	 error end=0.000209
-[14:34:56.201] After pose optimization, distance between ekf and vo x:0.000119 ,z=-0.000276,angle between two frames:0.000388
-[14:34:56.201] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:56.202] frame process finished the id is: 149 the obs is:12 
-[14:34:56.295] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000029 ,z=-0.000207,angle between two frames:0.000137
-[14:34:56.295] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000220 	 error end=0.000220
-[14:34:56.295] After pose optimization, distance between ekf and vo x:0.000029 ,z=-0.000207,angle between two frames:0.000137
-[14:34:56.295] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:56.295] frame process finished the id is: 150 the obs is:12 
-[14:34:56.297] Odometry x=0.027901, y=0.640944, theta=-0.218088
-[14:34:56.396] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000023 ,z=-0.000127,angle between two frames:0.000076
-[14:34:56.396] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:56.396] After pose optimization, distance between ekf and vo x:0.000023 ,z=-0.000127,angle between two frames:0.000076
-[14:34:56.396] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:56.396] frame process finished the id is: 151 the obs is:12 
-[14:34:56.399] Odometry x=0.028586, y=0.648429, theta=-0.221627
-[14:34:56.492] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000009 ,z=-0.000042,angle between two frames:0.000009
-[14:34:56.492] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000003 	 error end=0.000003
-[14:34:56.492] After pose optimization, distance between ekf and vo x:-0.000009 ,z=-0.000042,angle between two frames:0.000009
-[14:34:56.492] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:56.493] frame process finished the id is: 152 the obs is:12 
-[14:34:56.496] Odometry x=0.029329, y=0.654719, theta=-0.224640
-[14:34:56.598] Odometry x=0.029369, y=0.667427, theta=-0.216206
-[14:34:56.603] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000045 ,z=-0.000121,angle between two frames:0.000130
-[14:34:56.603] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000014 	 error end=0.000014
-[14:34:56.603] After pose optimization, distance between ekf and vo x:0.000045 ,z=-0.000121,angle between two frames:0.000130
-[14:34:56.603] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:56.603] frame process finished the id is: 153 the obs is:12 
-[14:34:56.696] Odometry x=0.030052, y=0.673211, theta=-0.218249
-[14:34:56.701] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000053 ,z=-0.000218,angle between two frames:0.000192
-[14:34:56.701] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000476 	 error end=0.000476
-[14:34:56.701] After pose optimization, distance between ekf and vo x:0.000053 ,z=-0.000218,angle between two frames:0.000192
-[14:34:56.701] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:56.701] frame process finished the id is: 154 the obs is:12 
-[14:34:56.800] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000033 ,z=-0.000155,angle between two frames:0.000111
-[14:34:56.800] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000027 	 error end=0.000027
-[14:34:56.800] After pose optimization, distance between ekf and vo x:0.000033 ,z=-0.000155,angle between two frames:0.000111
-[14:34:56.800] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:56.800] Odometry x=0.030201, y=0.673423, theta=-0.218456
-[14:34:56.800] frame process finished the id is: 155 the obs is:12 
-[14:34:56.897] Odometry x=0.030908, y=0.679798, theta=-0.224643
-[14:34:56.903] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000360 ,z=-0.000663,angle between two frames:0.001049
-[14:34:56.903] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:56.903] After pose optimization, distance between ekf and vo x:0.000360 ,z=-0.000663,angle between two frames:0.001049
-[14:34:56.903] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:56.904] frame process finished the id is: 156 the obs is:12 
-[14:34:56.995] Odometry x=0.032017, y=0.687914, theta=-0.218103
-[14:34:56.996] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000013 ,z=-0.000118,angle between two frames:0.000015
-[14:34:56.996] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:56.996] After pose optimization, distance between ekf and vo x:-0.000013 ,z=-0.000118,angle between two frames:0.000015
-[14:34:56.996] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:56.996] frame process finished the id is: 157 the obs is:12 
-[14:34:57.098] Odometry x=0.032716, y=0.694232, theta=-0.216169
-[14:34:57.098] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000002 ,z=-0.000120,angle between two frames:0.000003
-[14:34:57.098] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000012 	 error end=0.000012
-[14:34:57.098] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000120,angle between two frames:0.000003
-[14:34:57.098] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:57.099] frame process finished the id is: 158 the obs is:12 
-[14:34:57.197] Odometry x=0.033003, y=0.703515, theta=-0.212668
-[14:34:57.203] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000028 ,z=-0.000320,angle between two frames:0.000059
-[14:34:57.203] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:57.203] After pose optimization, distance between ekf and vo x:-0.000028 ,z=-0.000320,angle between two frames:0.000059
-[14:34:57.203] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:57.203] frame process finished the id is: 159 the obs is:12 
-[14:34:57.286] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000008 ,z=-0.000025,angle between two frames:0.000027
-[14:34:57.286] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:57.286] After pose optimization, distance between ekf and vo x:-0.000008 ,z=-0.000025,angle between two frames:0.000027
-[14:34:57.286] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:57.286] frame process finished the id is: 160 the obs is:12 
-[14:34:57.300] Odometry x=0.033615, y=0.709179, theta=-0.212203
-[14:34:57.388] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000005 ,z=-0.000094,angle between two frames:0.000027
-[14:34:57.389] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:57.389] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000094,angle between two frames:0.000027
-[14:34:57.389] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:57.389] frame process finished the id is: 161 the obs is:12 
-[14:34:57.413] Odometry x=0.034516, y=0.717482, theta=-0.207741
-[14:34:57.496] Odometry x=0.035255, y=0.724479, theta=-0.214395
-[14:34:57.501] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000028 ,z=-0.000159,angle between two frames:0.000001
-[14:34:57.501] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:57.501] After pose optimization, distance between ekf and vo x:-0.000028 ,z=-0.000159,angle between two frames:0.000001
-[14:34:57.501] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:57.501] frame process finished the id is: 162 the obs is:12 
-[14:34:57.603] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000140 ,z=-0.000444,angle between two frames:0.000087
-[14:34:57.603] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000058 	 error end=0.000058
-[14:34:57.603] After pose optimization, distance between ekf and vo x:-0.000140 ,z=-0.000444,angle between two frames:0.000087
-[14:34:57.603] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:57.603] frame process finished the id is: 163 the obs is:12 
-[14:34:57.608] Odometry x=0.035698, y=0.729354, theta=-0.216079
-[14:34:57.702] Odometry x=0.036502, y=0.736654, theta=-0.218960
-[14:34:57.703] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000164 ,z=-0.000506,angle between two frames:0.000097
-[14:34:57.703] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:57.703] After pose optimization, distance between ekf and vo x:-0.000164 ,z=-0.000506,angle between two frames:0.000097
-[14:34:57.703] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:57.703] frame process finished the id is: 164 the obs is:12 
-[14:34:57.800] Odometry x=0.037042, y=0.742063, theta=-0.219086
-[14:34:57.833] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000014 ,z=-0.000050,angle between two frames:0.000010
-[14:34:57.833] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000008 	 error end=0.000008
-[14:34:57.833] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000050,angle between two frames:0.000010
-[14:34:57.833] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:57.833] frame process finished the id is: 165 the obs is:12 
-[14:34:57.894] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000050 ,z=-0.000175,angle between two frames:0.000047
-[14:34:57.894] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000133 	 error end=0.000133
-[14:34:57.894] After pose optimization, distance between ekf and vo x:-0.000050 ,z=-0.000175,angle between two frames:0.000047
-[14:34:57.895] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:57.895] frame process finished the id is: 166 the obs is:12 
-[14:34:57.898] Odometry x=0.037046, y=0.742422, theta=-0.218872
-[14:34:57.997] Odometry x=0.037742, y=0.748780, theta=-0.222678
-[14:34:58.009] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:-0.000005 ,z=-0.000102,angle between two frames:0.000050
-[14:34:58.009] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:58.009] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000102,angle between two frames:0.000050
-[14:34:58.009] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:58.010] frame process finished the id is: 167 the obs is:12 
-[14:34:58.094] Odometry x=0.037796, y=0.749193, theta=-0.221959
-[14:34:58.098] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000119 ,z=-0.000402,angle between two frames:0.000142
-[14:34:58.098] After pose optimization, distance between ekf and vo x:-0.000119 ,z=-0.000402,angle between two frames:0.000142
-[14:34:58.098] frame process finished the id is: 167 the obs is:12 
-[14:34:58.188] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000013 ,z=-0.000056,angle between two frames:0.000016
-[14:34:58.189] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:58.189] After pose optimization, distance between ekf and vo x:-0.000013 ,z=-0.000056,angle between two frames:0.000016
-[14:34:58.189] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:58.189] frame process finished the id is: 169 the obs is:12 
-[14:34:58.198] Odometry x=0.038448, y=0.755037, theta=-0.222141
-[14:34:58.297] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000025 ,z=-0.000085,angle between two frames:0.000007
-[14:34:58.297] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:58.297] After pose optimization, distance between ekf and vo x:-0.000025 ,z=-0.000085,angle between two frames:0.000007
-[14:34:58.297] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:58.297] frame process finished the id is: 170 the obs is:12 
-[14:34:58.298] Odometry x=0.039409, y=0.763297, theta=-0.213572
-[14:34:58.392] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000012 ,z=-0.000047,angle between two frames:0.000008
-[14:34:58.392] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:58.392] After pose optimization, distance between ekf and vo x:-0.000012 ,z=-0.000047,angle between two frames:0.000008
-[14:34:58.392] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:58.393] frame process finished the id is: 171 the obs is:12 
-[14:34:58.399] Odometry x=0.040211, y=0.770761, theta=-0.214175
-[14:34:58.499] Odometry x=0.040892, y=0.776907, theta=-0.213857
-[14:34:58.502] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000014 ,z=-0.000059,angle between two frames:0.000014
-[14:34:58.502] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:58.502] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000059,angle between two frames:0.000014
-[14:34:58.502] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:58.502] frame process finished the id is: 172 the obs is:12 
-[14:34:58.587] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000009 ,z=-0.000040,angle between two frames:0.000017
-[14:34:58.587] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000010 	 error end=0.000010
-[14:34:58.587] After pose optimization, distance between ekf and vo x:-0.000009 ,z=-0.000040,angle between two frames:0.000017
-[14:34:58.587] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:58.588] frame process finished the id is: 173 the obs is:12 
-[14:34:58.598] Odometry x=0.041564, y=0.783091, theta=-0.210255
-[14:34:58.700] Odometry x=0.042358, y=0.790435, theta=-0.212535
-[14:34:58.712] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000195 ,z=-0.000719,angle between two frames:0.000521
-[14:34:58.712] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:58.712] After pose optimization, distance between ekf and vo x:0.000195 ,z=-0.000719,angle between two frames:0.000521
-[14:34:58.712] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:58.712] frame process finished the id is: 174 the obs is:12 
-[14:34:58.786] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000005 ,z=-0.000022,angle between two frames:0.000008
-[14:34:58.786] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:58.786] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000022,angle between two frames:0.000008
-[14:34:58.786] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:58.786] frame process finished the id is: 175 the obs is:12 
-[14:34:58.798] Odometry x=0.042600, y=0.790441, theta=-0.213336
-[14:34:58.898] Odometry x=0.043432, y=0.798083, theta=-0.209337
-[14:34:58.918] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000205 ,z=-0.000784,angle between two frames:0.000628
-[14:34:58.918] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:58.918] After pose optimization, distance between ekf and vo x:0.000205 ,z=-0.000784,angle between two frames:0.000628
-[14:34:58.918] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:58.919] frame process finished the id is: 176 the obs is:12 
-[14:34:58.987] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000066 ,z=-0.000055,angle between two frames:0.000121
-[14:34:58.987] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000297 	 error end=0.000297
-[14:34:58.987] After pose optimization, distance between ekf and vo x:-0.000066 ,z=-0.000055,angle between two frames:0.000121
-[14:34:58.987] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:58.987] frame process finished the id is: 177 the obs is:12 
-[14:34:58.997] Odometry x=0.044137, y=0.803346, theta=-0.205331
-[14:34:59.096] Odometry x=0.045002, y=0.811666, theta=-0.207105
-[14:34:59.106] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000077 ,z=-0.000723,angle between two frames:0.000432
-[14:34:59.106] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:59.106] After pose optimization, distance between ekf and vo x:0.000077 ,z=-0.000723,angle between two frames:0.000432
-[14:34:59.106] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:59.107] frame process finished the id is: 178 the obs is:12 
-[14:34:59.189] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000017 ,z=-0.000066,angle between two frames:0.000024
-[14:34:59.189] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:59.189] After pose optimization, distance between ekf and vo x:-0.000017 ,z=-0.000066,angle between two frames:0.000024
-[14:34:59.189] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:59.189] frame process finished the id is: 179 the obs is:12 
-[14:34:59.198] Odometry x=0.045721, y=0.817329, theta=-0.207052
-[14:34:59.297] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000098 ,z=-0.001188,angle between two frames:0.000768
-[14:34:59.297] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:59.297] After pose optimization, distance between ekf and vo x:0.000098 ,z=-0.001188,angle between two frames:0.000768
-[14:34:59.297] Odometry x=0.046496, y=0.824657, theta=-0.208537
-[14:34:59.297] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:59.297] frame process finished the id is: 180 the obs is:12 
-[14:34:59.396] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000072 ,z=-0.000267,angle between two frames:0.000010
-[14:34:59.397] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 	 error init =0.000000 	 error end=0.000000
-[14:34:59.397] After pose optimization, distance between ekf and vo x:-0.000072 ,z=-0.000267,angle between two frames:0.000010
-[14:34:59.397] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
-[14:34:59.397] frame process finished the id is: 181 the obs is:12 
-[14:34:59.397] Odometry x=0.047123, y=0.829368, theta=-0.217054
-[14:34:59.496] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000107 ,z=-0.000661,angle between two frames:0.000015
-[14:34:59.496] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 	 error init =0.005281 	 error end=0.005281
-[14:34:59.496] After pose optimization, distance between ekf and vo x:-0.000107 ,z=-0.000661,angle between two frames:0.000015
-[14:34:59.496] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11
-[14:34:59.496] frame process finished the id is: 182 the obs is:11 
-[14:34:59.498] Odometry x=0.047743, y=0.835075, theta=-0.214120
-[14:34:59.601] Odometry x=0.048422, y=0.841310, theta=-0.216892
-[14:34:59.602] After Reprojection Map nPoint:11 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000031 ,z=-0.001016,angle between two frames:0.000477
-[14:34:59.602] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 	 error init =0.000087 	 error end=0.000087
-[14:34:59.602] After pose optimization, distance between ekf and vo x:-0.000031 ,z=-0.001016,angle between two frames:0.000477
-[14:34:59.602] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11
-[14:34:59.602] frame process finished the id is: 183 the obs is:11 
-[14:34:59.686] After Reprojection Map nPoint:11 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000032 ,z=-0.000092,angle between two frames:0.000013
-[14:34:59.686] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 	 error init =0.000000 	 error end=0.000000
-[14:34:59.686] After pose optimization, distance between ekf and vo x:-0.000032 ,z=-0.000092,angle between two frames:0.000013
-[14:34:59.686] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11
-[14:34:59.686] frame process finished the id is: 184 the obs is:11 
-[14:34:59.698] Odometry x=0.049065, y=0.846594, theta=-0.224229
-[14:34:59.796] Odometry x=0.049778, y=0.852740, theta=-0.223256
-[14:34:59.820] After Reprojection Map nPoint:11 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000151 ,z=-0.000449,angle between two frames:0.000193
-[14:34:59.820] n deleted obs = 0 	 n obs with reprojection err
-=======
-[15:02:31.173] Init: frame zero: 0.000000, 0.000000 0.000000
-[15:02:31.173] Init: Selected first frame. 
-[15:02:31.173] frame process finished the id is: 0 the obs is:0 
-[15:02:31.203] Init: px average disparity is:0.204766 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:31.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:31.203] frame process finished the id is: 1 the obs is:0 
-[15:02:31.296] Init: px average disparity is:0.254710 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:31.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:31.296] frame process finished the id is: 2 the obs is:0 
-[15:02:31.396] Init: px average disparity is:0.258687 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:31.396] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:31.396] frame process finished the id is: 3 the obs is:0 
-[15:02:31.500] Init: px average disparity is:0.257112 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:31.500] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:31.500] frame process finished the id is: 4 the obs is:0 
-[15:02:31.595] Init: px average disparity is:0.260131 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:31.595] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:31.595] frame process finished the id is: 5 the obs is:0 
-[15:02:31.695] Init: px average disparity is:0.253240 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:31.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:31.695] frame process finished the id is: 6 the obs is:0 
-[15:02:31.806] Init: px average disparity is:0.265735 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:31.807] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:31.807] frame process finished the id is: 7 the obs is:0 
-[15:02:31.905] Init: px average disparity is:0.255464 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:31.905] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:31.905] frame process finished the id is: 8 the obs is:0 
-[15:02:32.001] Init: px average disparity is:0.281982 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:32.001] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:32.001] frame process finished the id is: 9 the obs is:0 
-[15:02:32.100] Init: px average disparity is:0.256724 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:32.100] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:32.100] frame process finished the id is: 10 the obs is:0 
-[15:02:32.202] Init: px average disparity is:0.265233 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:32.202] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:32.202] frame process finished the id is: 11 the obs is:0 
-[15:02:32.300] Init: px average disparity is:0.271957 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:32.300] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:32.300] frame process finished the id is: 12 the obs is:0 
-[15:02:32.403] Init: px average disparity is:0.261671 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:32.403] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:32.403] frame process finished the id is: 13 the obs is:0 
-[15:02:32.501] Init: px average disparity is:0.268405 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:32.501] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:32.501] frame process finished the id is: 14 the obs is:0 
-[15:02:32.603] Init: px average disparity is:0.251128 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:32.603] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:32.603] frame process finished the id is: 15 the obs is:0 
-[15:02:32.702] Init: px average disparity is:0.265931 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:32.702] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:32.702] frame process finished the id is: 16 the obs is:0 
-[15:02:32.801] Init: px average disparity is:0.296831 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:32.801] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:32.802] frame process finished the id is: 17 the obs is:0 
-[15:02:32.900] Init: px average disparity is:0.265149 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:32.900] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:32.901] frame process finished the id is: 18 the obs is:0 
-[15:02:33.001] Init: px average disparity is:0.251746 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:33.001] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:33.001] frame process finished the id is: 19 the obs is:0 
-[15:02:33.101] Init: px average disparity is:0.257138 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:33.101] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:33.101] frame process finished the id is: 20 the obs is:0 
-[15:02:33.204] Init: px average disparity is:0.276642 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:33.204] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:33.204] frame process finished the id is: 21 the obs is:0 
-[15:02:33.303] Init: px average disparity is:0.281102 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:33.303] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:33.303] frame process finished the id is: 22 the obs is:0 
-[15:02:33.401] Init: px average disparity is:0.259442 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:33.401] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:33.401] frame process finished the id is: 23 the obs is:0 
-[15:02:33.501] Init: px average disparity is:0.246822 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:33.502] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:33.502] frame process finished the id is: 24 the obs is:0 
-[15:02:33.600] Init: px average disparity is:0.285573 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:33.600] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:33.600] frame process finished the id is: 25 the obs is:0 
-[15:02:33.707] Init: px average disparity is:0.267547 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:33.707] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:33.707] frame process finished the id is: 26 the obs is:0 
-[15:02:33.802] Init: px average disparity is:0.241625 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:33.802] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:33.802] frame process finished the id is: 27 the obs is:0 
-[15:02:33.905] Init: px average disparity is:0.285951 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:33.905] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:33.905] frame process finished the id is: 28 the obs is:0 
-[15:02:34.004] Init: px average disparity is:0.254980 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:34.004] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:34.004] frame process finished the id is: 29 the obs is:0 
-[15:02:34.043] Odometry x=0.000000, y=0.000000, theta=-0.000000
-[15:02:34.103] Init: px average disparity is:0.250407 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:34.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:34.103] frame process finished the id is: 30 the obs is:0 
-[15:02:34.138] Odometry x=0.000000, y=0.000000, theta=-0.000000
-[15:02:34.202] Init: px average disparity is:0.238669 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:34.202] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:34.202] frame process finished the id is: 31 the obs is:0 
-[15:02:34.239] Odometry x=0.000040, y=0.006142, theta=-0.001144
-[15:02:34.301] Init: px average disparity is:1.732545 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:34.301] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:34.301] frame process finished the id is: 32 the obs is:0 
-[15:02:34.340] Odometry x=0.000087, y=0.011880, theta=-0.001201
-[15:02:34.402] Init: px average disparity is:6.026566 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:34.402] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:34.402] frame process finished the id is: 33 the obs is:0 
-[15:02:34.439] Odometry x=0.000315, y=0.023540, theta=-0.008529
-[15:02:34.504] Init: px average disparity is:7.695938 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:34.504] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:34.504] frame process finished the id is: 34 the obs is:0 
-[15:02:34.542] Odometry x=0.000725, y=0.031388, theta=-0.000516
-[15:02:34.605] Init: px average disparity is:5.012340 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:34.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:34.605] frame process finished the id is: 35 the obs is:0 
-[15:02:34.642] Odometry x=0.000780, y=0.037020, theta=-0.001593
-[15:02:34.702] Init: px average disparity is:5.378174 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:34.703] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:34.703] frame process finished the id is: 36 the obs is:0 
-[15:02:34.740] Odometry x=0.001849, y=0.045007, theta=-0.000630
-[15:02:34.805] Init: px average disparity is:4.273644 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:34.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:34.805] frame process finished the id is: 37 the obs is:0 
-[15:02:34.843] Odometry x=0.001864, y=0.050416, theta=-0.000524
-[15:02:34.905] Init: px average disparity is:5.753049 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:34.905] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:34.905] frame process finished the id is: 38 the obs is:0 
-[15:02:34.942] Odometry x=0.001872, y=0.060419, theta=0.005156
-[15:02:35.005] Init: px average disparity is:4.094173 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:35.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:35.005] frame process finished the id is: 39 the obs is:0 
-[15:02:35.040] Odometry x=0.001879, y=0.065651, theta=-0.008522
-[15:02:35.105] Init: px average disparity is:5.968848 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:35.105] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:35.105] frame process finished the id is: 40 the obs is:0 
-[15:02:35.143] Odometry x=0.001903, y=0.071816, theta=0.001989
-[15:02:35.204] Init: px average disparity is:7.017181 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:35.204] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:35.204] frame process finished the id is: 41 the obs is:0 
-[15:02:35.242] Odometry x=0.001912, y=0.072980, theta=0.000849
-[15:02:35.303] Init: px average disparity is:8.879703 ,While minimum is: 10.000000  KLT tracked : 126
-[15:02:35.303] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:35.303] frame process finished the id is: 42 the obs is:0 
-[15:02:35.340] Odometry x=0.001904, y=0.078215, theta=0.007803
-[15:02:35.443] Odometry x=0.001968, y=0.083577, theta=-0.014216
-[15:02:35.475] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:12.100441 ,While minimum is: 10.000000  KLT tracked: 126
-[15:02:35.475] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:35.475] frame process finished the id is: 43 the obs is:0 
-[15:02:35.543] Odometry x=0.002275, y=0.090136, theta=-0.002056
-[15:02:35.561] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:14.878219 ,While minimum is: 10.000000  KLT tracked: 126
-[15:02:35.561] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:35.561] frame process finished the id is: 44 the obs is:0 
-[15:02:35.641] Odometry x=0.002232, y=0.095379, theta=-0.000266
-[15:02:35.664] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:12.946838 ,While minimum is: 10.000000  KLT tracked: 126
-[15:02:35.664] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:35.664] frame process finished the id is: 45 the obs is:0 
-[15:02:35.739] Odometry x=0.002345, y=0.103215, theta=0.000882
-[15:02:35.772] Init: Homography RANSAC (inlier) is:22 ,While 30 inliers minimum required.  px average disparity is:12.883808 ,While minimum is: 10.000000  KLT tracked: 126
-[15:02:35.772] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:35.772] frame process finished the id is: 46 the obs is:0 
-[15:02:35.842] Odometry x=0.002318, y=0.108817, theta=0.007854
-[15:02:35.863] Init: Homography RANSAC (inlier) is:22 ,While 30 inliers minimum required.  px average disparity is:11.397537 ,While minimum is: 10.000000  KLT tracked: 126
-[15:02:35.863] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:35.863] frame process finished the id is: 47 the obs is:0 
-[15:02:35.939] Odometry x=0.002409, y=0.114709, theta=0.009961
-[15:02:35.963] Init: Homography RANSAC (inlier) is:25 ,While 30 inliers minimum required.  px average disparity is:13.611910 ,While minimum is: 10.000000  KLT tracked: 126
-[15:02:35.963] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:35.963] frame process finished the id is: 48 the obs is:0 
-[15:02:36.042] Odometry x=0.003150, y=0.137099, theta=0.007237
-[15:02:36.066] Init: Homography RANSAC (inlier) is:25 ,While 30 inliers minimum required.  px average disparity is:13.673733 ,While minimum is: 10.000000  KLT tracked: 125
-[15:02:36.066] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[15:02:36.066] frame process finished the id is: 49 the obs is:0 
-[15:02:36.150] Odometry x=0.003188, y=0.148639, theta=0.012113
-[15:02:36.165] Init finished: Homography RANSAC (inlier) is:36 ,While 30 inliers minimum required.  px average disparity is:19.754425 ,While minimum is: 10.000000  KLT tracked: 125
-[15:02:36.165] Init: distance between the first and current frame is x:0.005483 ,z=0.155246,angle between two frames: 0.003028 
-[15:02:36.165] Init: Selected Second frame. 	 The number of features: 36 depth mean:-0.194038 min:-0.893048
-[15:02:36.165] frame process finished the id is: 50 the obs is:36 
-[15:02:36.242] Odometry x=0.005483, y=0.155246, theta=0.003028
-[15:02:36.282] After Reprojection Map nPoint:72 ,nCell:16 ,nMatches:12 ,distance between ekf and vo x:0.003275 ,z=0.000631,angle between two frames:0.006234
-[15:02:36.282] n deleted obs = 10 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =62 	 error init =0.013697 	 error end=0.013697
-[15:02:36.282] After pose optimization, distance between ekf and vo x:0.003275 ,z=0.000631,angle between two frames:0.006234
-[15:02:36.282] Update EKF and 3D points the number of feature in the new frame: 72 and number of obs: 72
-[15:02:36.282] frame process finished the id is: 51 the obs is:72 
-[15:02:36.344] Odometry x=0.008588, y=0.158087, theta=0.009087
-[15:02:36.372] After Reprojection Map nPoint:108 ,nCell:17 ,nMatches:13 ,distance between ekf and vo x:0.000993 ,z=-0.000095,angle between two frames:0.001558
-[15:02:36.372] n deleted obs = 21 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =87 	 error init =0.027702 	 error end=0.027039
-[15:02:36.372] After pose optimization, distance between ekf and vo x:-0.015248 ,z=-0.021310,angle between two frames:0.025756
-[15:02:36.372] Update EKF and 3D points the number of feature in the new frame: 108 and number of obs: 108
-[15:02:36.372] frame process finished the id is: 52 the obs is:108 
-[15:02:36.440] Odometry x=-0.005571, y=0.138338, theta=0.033776
-[15:02:36.484] After Reprojection Map nPoint:123 ,nCell:29 ,nMatches:14 ,distance between ekf and vo x:0.000162 ,z=0.000044,angle between two frames:0.000158
-[15:02:36.485] n deleted obs = 13 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =110 	 error init =0.013347 	 error end=0.009386
-[15:02:36.485] After pose optimization, distance between ekf and vo x:-0.002074 ,z=0.036481,angle between two frames:0.005315
-[15:02:36.485] Update EKF and 3D points the number of feature in the new frame: 123 and number of obs: 123
-[15:02:36.485] frame process finished the id is: 53 the obs is:123 
-[15:02:36.538] Odometry x=-0.007446, y=0.173401, theta=0.029843
-[15:02:36.569] After Reprojection Map nPoint:158 ,nCell:31 ,nMatches:17 ,distance between ekf and vo x:-0.000013 ,z=0.000026,angle between two frames:0.000019
-[15:02:36.569] n deleted obs = 10 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =148 	 error init =0.001994 	 error end=0.001977
-[15:02:36.569] After pose optimization, distance between ekf and vo x:-0.000403 ,z=-0.000119,angle between two frames:0.000908
-[15:02:36.569] Update EKF and 3D points the number of feature in the new frame: 158 and number of obs: 158
-[15:02:36.570] frame process finished the id is: 54 the obs is:158 
-[15:02:36.641] Odometry x=-0.007706, y=0.173660, theta=0.031358
-[15:02:36.678] After Reprojection Map nPoint:184 ,nCell:32 ,nMatches:17 ,distance between ekf and vo x:0.000110 ,z=0.000034,angle between two frames:0.000277
-[15:02:36.679] n deleted obs = 17 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =167 	 error init =0.001773 	 error end=0.001061
-[15:02:36.679] After pose optimization, distance between ekf and vo x:0.017708 ,z=0.005378,angle between two frames:0.025630
-[15:02:36.679] Update EKF and 3D points the number of feature in the new frame: 184 and number of obs: 184
-[15:02:36.680] frame process finished the id is: 55 the obs is:184 
-[15:02:36.743] Odometry x=0.009019, y=0.179111, theta=0.008037
-[15:02:36.768] After Reprojection Map nPoint:220 ,nCell:33 ,nMatches:16 ,distance between ekf and vo x:-0.000029 ,z=0.000035,angle between two frames:0.000085
-[15:02:36.768] n deleted obs = 16 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =204 	 error init =0.021039 	 error end=0.021039
-[15:02:36.768] After pose optimization, distance between ekf and vo x:-0.000029 ,z=0.000035,angle between two frames:0.000085
-[15:02:36.768] Update EKF and 3D points the number of feature in the new frame: 220 and number of obs: 220
-[15:02:36.769] frame process finished the id is: 56 the obs is:220 
-[15:02:36.846] Odometry x=0.009009, y=0.179520, theta=0.008902
-[15:02:36.877] After Reprojection Map nPoint:243 ,nCell:35 ,nMatches:17 ,distance between ekf and vo x:0.000008 ,z=-0.000009,angle between two frames:0.000006
-[15:02:36.877] n deleted obs = 44 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =199 	 error init =0.019397 	 error end=0.019397
-[15:02:36.877] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000009,angle between two frames:0.000006
-[15:02:36.877] Update EKF and 3D points the number of feature in the new frame: 243 and number of obs: 243
-[15:02:36.878] frame process finished the id is: 57 the obs is:243 
-[15:02:36.943] Odometry x=0.009015, y=0.179974, theta=0.009204
-[15:02:36.984] After Reprojection Map nPoint:272 ,nCell:27 ,nMatches:18 ,distance between ekf and vo x:0.000010 ,z=-0.000013,angle between two frames:0.000002
-[15:02:36.984] n deleted obs = 37 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =235 	 error init =0.005655 	 error end=0.005655
-[15:02:36.985] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000013,angle between two frames:0.000002
-[15:02:36.985] Update EKF and 3D points the number of feature in the new frame: 272 and number of obs: 272
-[15:02:36.985] frame process finished the id is: 58 the obs is:272 
-[15:02:37.046] Odometry x=0.009038, y=0.180336, theta=0.008917
-[15:02:37.080] After Reprojection Map nPoint:294 ,nCell:71 ,nMatches:25 ,distance between ekf and vo x:0.000000 ,z=0.000012,angle between two frames:0.000001
-[15:02:37.081] n deleted obs = 54 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =240 	 error init =0.008672 	 error end=0.006811
-[15:02:37.081] After pose optimization, distance between ekf and vo x:-0.020594 ,z=0.001015,angle between two frames:0.002934
-[15:02:37.081] Update EKF and 3D points the number of feature in the new frame: 294 and number of obs: 294
-[15:02:37.082] frame process finished the id is: 59 the obs is:294 
-[15:02:37.143] Odometry x=-0.010399, y=0.181710, theta=0.012264
-[15:02:37.171] After Reprojection Map nPoint:283 ,nCell:49 ,nMatches:27 ,distance between ekf and vo x:0.000017 ,z=-0.000017,angle between two frames:0.000000
-[15:02:37.171] n deleted obs = 60 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =223 	 error init =0.026463 	 error end=0.026463
-[15:02:37.171] After pose optimization, distance between ekf and vo x:0.000017 ,z=-0.000017,angle between two frames:0.000000
-[15:02:37.171] Update EKF and 3D points the number of feature in the new frame: 283 and number of obs: 283
-[15:02:37.172] frame process finished the id is: 60 the obs is:283 
-[15:02:37.193] Image Alignment failed 0
-[15:02:37.193] frame process finished the id is: 60 the obs is:283 
-[15:02:37.246] Odometry x=-0.010361, y=0.182059, theta=0.012535
-[15:02:37.301] Image Alignment failed 0
-[15:02:37.301] frame process finished the id is: 60 the obs is:283 
-[15:02:37.340] Odometry x=-0.010406, y=0.188695, theta=0.018798
-[15:02:37.402] Image Alignment failed 0
-[15:02:37.402] frame process finished the id is: 60 the obs is:283 
-[15:02:37.438] Odometry x=-0.010250, y=0.194369, theta=0.013003
-[15:02:37.501] Image Alignment failed 0
-[15:02:37.501] frame process finished the id is: 60 the obs is:283 
-[15:02:37.541] Odometry x=-0.010297, y=0.199986, theta=0.018133
-[15:02:37.602] Image Alignment failed 0
-[15:02:37.602] frame process finished the id is: 60 the obs is:283 
-[15:02:37.640] Odometry x=-0.009076, y=0.205649, theta=0.008567
-[15:02:37.701] Image Alignment failed 0
-[15:02:37.701] frame process finished the id is: 60 the obs is:283 
-[15:02:37.743] Odometry x=-0.009078, y=0.211139, theta=0.013741
-[15:02:37.801] Image Alignment failed 0
-[15:02:37.801] frame process finished the id is: 60 the obs is:283 
-[15:02:37.841] Odometry x=-0.008995, y=0.220973, theta=0.021974
-[15:02:37.903] Image Alignment failed 0
-[15:02:37.903] frame process finished the id is: 60 the obs is:283 
-[15:02:37.944] Odometry x=-0.011606, y=0.226948, theta=0.005677
-[15:02:38.000] Image Alignment failed 0
-[15:02:38.000] frame process finished the id is: 60 the obs is:283 
-[15:02:38.042] Odometry x=-0.011367, y=0.233968, theta=0.032275
-[15:02:38.101] Image Alignment failed 0
-[15:02:38.101] frame process finished the id is: 60 the obs is:283 
-[15:02:38.140] Odometry x=-0.011013, y=0.240120, theta=0.022067
-[15:02:38.201] Image Alignment failed 0
-[15:02:38.201] frame process finished the id is: 60 the obs is:283 
-[15:02:38.243] Odometry x=-0.011236, y=0.265136, theta=0.026515
-[15:02:38.302] Image Alignment failed 0
-[15:02:38.302] frame process finished the id is: 60 the obs is:283 
-[15:02:38.342] Odometry x=-0.011293, y=0.271562, theta=0.024102
-[15:02:38.401] Image Alignment failed 0
-[15:02:38.401] frame process finished the id is: 60 the obs is:283 
-[15:02:38.440] Odometry x=-0.011354, y=0.276956, theta=0.014935
-[15:02:38.501] Image Alignment failed 0
-[15:02:38.501] frame process finished the id is: 60 the obs is:283 
-[15:02:38.543] Odometry x=-0.011299, y=0.282448, theta=0.015099
-[15:02:38.601] Image Alignment failed 0
-[15:02:38.601] frame process finished the id is: 60 the obs is:283 
-[15:02:38.641] Odometry x=-0.010752, y=0.287835, theta=0.004638
-[15:02:38.701] Image Alignment failed 0
-[15:02:38.701] frame process finished the id is: 60 the obs is:283 
-[15:02:38.739] Odometry x=-0.010756, y=0.293326, theta=0.009108
-[15:02:38.801] Image Alignment failed 0
-[15:02:38.801] frame process finished the id is: 60 the obs is:283 
-[15:02:38.842] Odometry x=-0.013758, y=0.308149, theta=0.026125
-[15:02:38.901] Image Alignment failed 0
-[15:02:38.901] frame process finished the id is: 60 the obs is:283 
-[15:02:38.940] Odometry x=-0.013477, y=0.313243, theta=0.015855
-[15:02:39.002] Image Alignment failed 0
-[15:02:39.002] frame process finished the id is: 60 the obs is:283 
-[15:02:39.044] Odometry x=-0.013518, y=0.318664, theta=0.021524
-[15:02:39.102] Image Alignment failed 0
-[15:02:39.102] frame process finished the id is: 60 the obs is:283 
-[15:02:39.147] Odometry x=-0.013444, y=0.324191, theta=0.018469
-[15:02:39.201] Image Alignment failed 0
-[15:02:39.201] frame process finished the id is: 60 the obs is:283 
-[15:02:39.243] Odometry x=-0.013506, y=0.330347, theta=0.021898
-[15:02:39.301] Image Alignment failed 0
-[15:02:39.301] frame process finished the id is: 60 the obs is:283 
-[15:02:39.341] Odometry x=-0.013552, y=0.335734, theta=0.009540
-[15:02:39.402] Image Alignment failed 0
-[15:02:39.402] frame process finished the id is: 60 the obs is:283 
-[15:02:39.444] Odometry x=-0.013484, y=0.364138, theta=0.029626
-[15:02:39.502] Image Alignment failed 0
-[15:02:39.502] frame process finished the id is: 60 the obs is:283 
-[15:02:39.540] Odometry x=-0.013439, y=0.369706, theta=0.001261
-[15:02:39.601] Image Alignment failed 0
-[15:02:39.601] frame process finished the id is: 60 the obs is:283 
-[15:02:39.643] Odometry x=-0.013457, y=0.374790, theta=0.025020
-[15:02:39.701] Image Alignment failed 0
-[15:02:39.701] frame process finished the id is: 60 the obs is:283 
-[15:02:39.746] Odometry x=-0.011003, y=0.380423, theta=0.009205
-[15:02:39.801] Image Alignment failed 0
-[15:02:39.801] frame process finished the id is: 60 the obs is:283 
-[15:02:39.844] Odometry x=-0.010702, y=0.387821, theta=-0.000378
-[15:02:39.901] Image Alignment failed 0
-[15:02:39.901] frame process finished the id is: 60 the obs is:283 
-[15:02:39.942] Odometry x=-0.009455, y=0.392825, theta=0.011839
-[15:02:40.003] Image Alignment failed 0
-[15:02:40.003] frame process finished the id is: 60 the obs is:283 
-[15:02:40.046] Odometry x=-0.009303, y=0.401043, theta=0.003689
-[15:02:40.101] Image Alignment failed 0
-[15:02:40.101] frame process finished the id is: 60 the obs is:283 
-[15:02:40.144] Odometry x=-0.011225, y=0.404770, theta=-0.017035
-[15:02:40.201] Image Alignment failed 0
-[15:02:40.201] frame process finished the id is: 60 the obs is:283 
-[15:02:40.242] Odometry x=-0.010470, y=0.419372, theta=-0.008975
-[15:02:40.305] Image Alignment failed 0
-[15:02:40.305] frame process finished the id is: 60 the obs is:283 
-[15:02:40.346] Odometry x=-0.010712, y=0.424573, theta=-0.012906
-[15:02:40.401] Image Alignment failed 0
-[15:02:40.401] frame process finished the id is: 60 the obs is:283 
-[15:02:40.444] Odometry x=-0.010579, y=0.430476, theta=-0.007647
-[15:02:40.504] Image Alignment failed 0
-[15:02:40.504] frame process finished the id is: 60 the obs is:283 
-[15:02:40.546] Odometry x=-0.010536, y=0.435889, theta=-0.017156
-[15:02:40.603] Image Alignment failed 0
-[15:02:40.603] frame process finished the id is: 60 the obs is:283 
-[15:02:40.641] Odometry x=-0.010483, y=0.441525, theta=-0.010229
-[15:02:40.702] Image Alignment failed 0
-[15:02:40.702] frame process finished the id is: 60 the obs is:283 
-[15:02:40.741] Odometry x=-0.010922, y=0.468790, theta=0.009780
-[15:02:40.802] Image Alignment failed 0
-[15:02:40.803] frame process finished the id is: 60 the obs is:283 
-[15:02:40.846] Odometry x=-0.010950, y=0.474327, theta=0.000044
-[15:02:40.904] Image Alignment failed 0
-[15:02:40.904] frame process finished the id is: 60 the obs is:283 
-[15:02:40.945] Odometry x=-0.010808, y=0.480168, theta=0.008478
-[15:02:41.004] Image Alignment failed 0
-[15:02:41.004] frame process finished the id is: 60 the obs is:283 
-[15:02:41.043] Odometry x=-0.010813, y=0.485655, theta=0.000972
-[15:02:41.102] Image Alignment failed 0
-[15:02:41.102] frame process finished the id is: 60 the obs is:283 
-[15:02:41.146] Odometry x=-0.019949, y=0.505202, theta=-0.004160
-[15:02:41.203] Image Alignment failed 0
-[15:02:41.203] frame process finished the id is: 60 the obs is:283 
-[15:02:41.244] Odometry x=-0.019708, y=0.510732, theta=-0.003394
-[15:02:41.303] Image Alignment failed 0
-[15:02:41.303] frame process finished the id is: 60 the obs is:283 
-[15:02:41.346] Odometry x=-0.019695, y=0.516258, theta=-0.005263
-[15:02:41.401] Image Alignment failed 0
-[15:02:41.401] frame process finished the id is: 60 the obs is:283 
-[15:02:41.444] Odometry x=-0.019615, y=0.521650, theta=-0.005684
-[15:02:41.505] Image Alignment failed 0
-[15:02:41.505] frame process finished the id is: 60 the obs is:283 
-[15:02:41.546] Odometry x=-0.015134, y=0.526840, theta=0.002171
-[15:02:41.602] Image Alignment failed 0
-[15:02:41.602] frame process finished the id is: 60 the obs is:283 
-[15:02:41.644] Odometry x=-0.015141, y=0.532223, theta=0.001832
-[15:02:41.701] Image Alignment failed 0
-[15:02:41.701] frame process finished the id is: 60 the obs is:283 
-[15:02:41.742] Odometry x=-0.014556, y=0.537736, theta=0.001101
-[15:02:41.803] Image Alignment failed 0
-[15:02:41.803] frame process finished the id is: 60 the obs is:283 
-[15:02:41.841] Odometry x=-0.020129, y=0.543586, theta=-0.007544
-[15:02:41.905] Image Alignment failed 0
-[15:02:41.905] frame process finished the id is: 60 the obs is:283 
-[15:02:41.946] Odometry x=-0.020010, y=0.550494, theta=0.011956
-[15:02:42.003] Image Alignment failed 0
-[15:02:42.003] frame process finished the id is: 60 the obs is:283 
-[15:02:42.043] Odometry x=-0.019671, y=0.555549, theta=-0.007303
-[15:02:42.101] Image Alignment failed 0
-[15:02:42.101] frame process finished the id is: 60 the obs is:283 
-[15:02:42.143] Odometry x=-0.019113, y=0.560726, theta=0.000292
-[15:02:42.203] Image Alignment failed 0
-[15:02:42.203] frame process finished the id is: 60 the obs is:283 
-[15:02:42.242] Odometry x=-0.019109, y=0.566062, theta=-0.010128
-[15:02:42.301] Image Alignment failed 0
-[15:02:42.301] frame process finished the id is: 60 the obs is:283 
-[15:02:42.341] Odometry x=-0.019039, y=0.572341, theta=0.001368
-[15:02:42.401] Image Alignment failed 0
-[15:02:42.401] frame process finished the id is: 60 the obs is:283 
-[15:02:42.441] Odometry x=-0.019755, y=0.577660, theta=0.000378
-[15:02:42.501] Image Alignment failed 0
-[15:02:42.501] frame process finished the id is: 60 the obs is:283 
-[15:02:42.544] Odometry x=-0.019350, y=0.585308, theta=-0.000985
-[15:02:42.603] Image Alignment failed 0
-[15:02:42.603] frame process finished the id is: 60 the obs is:283 
-[15:02:42.642] Odometry x=-0.019470, y=0.570300, theta=0.009208
-[15:02:42.704] Image Alignment failed 0
-[15:02:42.704] frame process finished the id is: 60 the obs is:283 
-[15:02:42.741] Odometry x=-0.019399, y=0.579029, theta=0.000587
-[15:02:42.804] Image Alignment failed 0
-[15:02:42.804] frame process finished the id is: 60 the obs is:283 
-[15:02:42.844] Odometry x=-0.014596, y=0.578075, theta=0.019506
-[15:02:42.903] Image Alignment failed 0
-[15:02:42.903] frame process finished the id is: 60 the obs is:283 
-[15:02:42.942] Odometry x=-0.014457, y=0.586998, theta=0.009846
-[15:02:43.003] Image Alignment failed 0
-[15:02:43.003] frame process finished the id is: 60 the obs is:283 
-[15:02:43.040] Odometry x=-0.013886, y=0.592667, theta=0.021376
-[15:02:43.103] Image Alignment failed 0
-[15:02:43.103] frame process finished the id is: 60 the obs is:283 
-[15:02:43.143] Odometry x=-0.012837, y=0.600892, theta=0.010482
-[15:02:43.203] Image Alignment failed 0
-[15:02:43.203] frame process finished the id is: 60 the obs is:283 
-[15:02:43.241] Odometry x=-0.012898, y=0.605158, theta=0.010074
-[15:02:43.303] Image Alignment failed 0
-[15:02:43.303] frame process finished the id is: 60 the obs is:283 
-[15:02:43.344] Odometry x=-0.012150, y=0.611360, theta=0.016933
-[15:02:43.403] Image Alignment failed 0
-[15:02:43.403] frame process finished the id is: 60 the obs is:283 
-[15:02:43.442] Odometry x=-0.012709, y=0.617766, theta=-0.009002
-[15:02:43.503] Image Alignment failed 0
-[15:02:43.503] frame process finished the id is: 60 the obs is:283 
-[15:02:43.540] Odometry x=-0.012537, y=0.623366, theta=0.001732
-[15:02:43.604] Image Alignment failed 0
-[15:02:43.604] frame process finished the id is: 60 the obs is:283 
-[15:02:43.645] Odometry x=-0.011762, y=0.628644, theta=-0.009264
-[15:02:43.703] Image Alignment failed 0
-[15:02:43.703] frame process finished the id is: 60 the obs is:283 
-[15:02:43.743] Odometry x=-0.011472, y=0.634348, theta=-0.001387
-[15:02:43.803] Image Alignment failed 0
-[15:02:43.803] frame process finished the id is: 60 the obs is:283 
-[15:02:43.841] Odometry x=-0.011768, y=0.639657, theta=-0.005644
-[15:02:43.903] Image Alignment failed 0
-[15:02:43.903] frame process finished the id is: 60 the obs is:283 
-[15:02:43.944] Odometry x=-0.011540, y=0.646296, theta=-0.012513
-[15:02:44.009] Image Alignment failed 0
-[15:02:44.009] frame process finished the id is: 60 the obs is:283 
-[15:02:44.046] Odometry x=-0.010219, y=0.651572, theta=0.007700
-[15:02:44.103] Image Alignment failed 0
-[15:02:44.103] frame process finished the id is: 60 the obs is:283 
-[15:02:44.144] Odometry x=-0.010032, y=0.657069, theta=-0.007375
-[15:02:44.204] Image Alignment failed 0
-[15:02:44.204] frame process finished the id is: 60 the obs is:283 
-[15:02:44.237] Odometry x=-0.010030, y=0.662425, theta=0.012611
-[15:02:44.305] Image Alignment failed 0
-[15:02:44.305] frame process finished the id is: 60 the obs is:283 
-[15:02:44.340] Odometry x=-0.009990, y=0.667523, theta=-0.002173
-[15:02:44.404] Image Alignment failed 0
-[15:02:44.404] frame process finished the id is: 60 the obs is:283 
-[15:02:44.438] Odometry x=-0.009984, y=0.672872, theta=0.003514
-[15:02:44.504] Image Alignment failed 0
-[15:02:44.504] frame process finished the id is: 60 the obs is:283 
-[15:02:44.547] Odometry x=-0.010035, y=0.678274, theta=0.004580
-[15:02:44.603] Image Alignment failed 0
-[15:02:44.603] frame process finished the id is: 60 the obs is:283 
-[15:02:44.643] Odometry x=-0.010032, y=0.684075, theta=-0.002190
-[15:02:44.701] Image Alignment failed 0
-[15:02:44.701] frame process finished the id is: 60 the obs is:283 
-[15:02:44.745] Odometry x=-0.010028, y=0.691598, theta=0.011392
-[15:02:44.802] Image Alignment failed 0
-[15:02:44.802] frame process finished the id is: 60 the obs is:283 
-[15:02:44.842] Odometry x=-0.009932, y=0.697361, theta=0.007289
-[15:02:44.901] Image Alignment failed 0
-[15:02:44.901] frame process finished the id is: 60 the obs is:283 
-[15:02:44.941] Odometry x=-0.017563, y=0.705839, theta=0.004363
-[15:02:45.002] Image Alignment failed 0
-[15:02:45.002] frame process finished the id is: 60 the obs is:283 
-[15:02:45.041] Odometry x=-0.015894, y=0.711702, theta=0.017092
-[15:02:45.102] Image Alignment failed 0
-[15:02:45.102] frame process finished the id is: 60 the obs is:283 
-[15:02:45.141] Odometry x=-0.017366, y=0.717164, theta=-0.000552
-[15:02:45.201] Image Alignment failed 0
-[15:02:45.201] frame process finished the id is: 60 the obs is:283 
-[15:02:45.243] Odometry x=-0.017097, y=0.722913, theta=0.006456
-[15:02:45.302] Image Alignment failed 0
-[15:02:45.302] frame process finished the id is: 60 the obs is:283 
-[15:02:45.342] Odometry x=-0.017058, y=0.728424, theta=-0.001337
-[15:02:45.404] Image Alignment failed 0
-[15:02:45.404] frame process finished the id is: 60 the obs is:283 
-[15:02:45.441] Odometry x=-0.016383, y=0.733862, theta=0.006207
-[15:02:45.503] Image Alignment failed 0
-[15:02:45.503] frame process finished the id is: 60 the obs is:283 
-[15:02:45.544] Odometry x=-0.016450, y=0.739484, theta=0.005991
-[15:02:45.602] Image Alignment failed 0
-[15:02:45.602] frame process finished the id is: 60 the obs is:283 
-[15:02:45.642] Odometry x=-0.016442, y=0.745148, theta=-0.007291
-[15:02:45.702] Image Alignment failed 0
-[15:02:45.702] frame process finished the id is: 60 the obs is:283 
-[15:02:45.740] Odometry x=-0.017759, y=0.749488, theta=-0.004679
-[15:02:45.802] Image Alignment failed 0
-[15:02:45.803] frame process finished the id is: 60 the obs is:283 
-[15:02:45.838] Odometry x=-0.017665, y=0.754698, theta=-0.007837
-[15:02:45.903] Image Alignment failed 0
-[15:02:45.903] frame process finished the id is: 60 the obs is:283 
-[15:02:45.941] Odometry x=-0.017633, y=0.760058, theta=0.002810
-[15:02:46.002] Image Alignment failed 0
-[15:02:46.002] frame process finished the id is: 60 the obs is:283 
-[15:02:46.044] Odometry x=-0.017048, y=0.765428, theta=-0.007674
-[15:02:46.104] Image Alignment failed 0
-[15:02:46.104] frame process finished the id is: 60 the obs is:283 
-[15:02:46.143] Odometry x=-0.017034, y=0.770858, theta=0.003830
-[15:02:46.203] Image Alignment failed 0
-[15:02:46.203] frame process finished the id is: 60 the obs is:283 
-[15:02:46.241] Odometry x=-0.017144, y=0.776440, theta=-0.003684
-[15:02:46.301] Image Alignment failed 0
-[15:02:46.302] frame process finished the id is: 60 the obs is:283 
-[15:02:46.344] Odometry x=-0.017125, y=0.781862, theta=-0.005377
-[15:02:46.402] Image Alignment failed 0
-[15:02:46.402] frame process finished the id is: 60 the obs is:283 
-[15:02:46.442] Odometry x=-0.017114, y=0.788353, theta=0.006152
-[15:02:46.503] Image Alignment failed 0
-[15:02:46.503] frame process finished the id is: 60 the obs is:283 
-[15:02:46.540] Odometry x=-0.016993, y=0.794122, theta=0.001191
-[15:02:46.602] Image Alignment failed 0
-[15:02:46.602] frame process finished the id is: 60 the obs is:283 
-[15:02:46.642] Odometry x=-0.017906, y=0.800385, theta=0.012881
-[15:02:46.703] Image Alignment failed 0
-[15:02:46.703] frame process finished the id is: 60 the obs is:283 
-[15:02:46.740] Odometry x=-0.017934, y=0.805918, theta=0.003776
-[15:02:46.801] Image Alignment failed 0
-[15:02:46.802] frame process finished the id is: 60 the obs is:283 
-[15:02:46.840] Odometry x=-0.017957, y=0.811680, theta=0.012141
-[15:02:46.902] Image Alignment failed 0
-[15:02:46.902] frame process finished the id is: 60 the obs is:283 
-[15:02:46.944] Odometry x=-0.017988, y=0.817342, theta=0.003177
-[15:02:47.003] Image Alignment failed 0
-[15:02:47.003] frame process finished the id is: 60 the obs is:283 
-[15:02:47.042] Odometry x=-0.018613, y=0.825820, theta=0.004213
-[15:02:47.103] Image Alignment failed 0
-[15:02:47.103] frame process finished the id is: 60 the obs is:283 
-[15:02:47.146] Odometry x=-0.018624, y=0.831043, theta=0.002388
-[15:02:47.202] Image Alignment failed 0
-[15:02:47.202] frame process finished the id is: 60 the obs is:283 
-[15:02:47.254] Odometry x=-0.018637, y=0.838318, theta=0.007977
-[15:02:47.302] Image Alignment failed 0
-[15:02:47.302] frame process finished the id is: 60 the obs is:283 
-[15:02:47.340] Odometry x=-0.018651, y=0.844233, theta=0.000391
-[15:02:47.403] Image Alignment failed 0
-[15:02:47.403] frame process finished the id is: 60 the obs is:283 
-[15:02:47.453] Odometry x=-0.018651, y=0.849635, theta=0.001258
-[15:02:47.503] Image Alignment failed 0
-[15:02:47.503] frame process finished the id is: 60 the obs is:283 
-[15:02:47.546] Odometry x=-0.018651, y=0.855494, theta=-0.000398
-[15:02:47.602] Image Alignment failed 0
-[15:02:47.602] frame process finished the id is: 60 the obs is:283 
-[15:02:47.650] Odometry x=-0.018624, y=0.860830, theta=0.002459
-[15:02:47.701] Image Alignment failed 0
-[15:02:47.701] frame process finished the id is: 60 the obs is:283 
-[15:02:47.743] Odometry x=-0.018624, y=0.866171, theta=-0.000643
-[15:02:47.802] Image Alignment failed 0
-[15:02:47.802] frame process finished the id is: 60 the obs is:283 
-[15:02:47.842] Odometry x=-0.018611, y=0.871314, theta=-0.004974
-[15:02:47.901] Image Alignment failed 0
-[15:02:47.901] frame process finished the id is: 60 the obs is:283 
-[15:02:47.938] Odometry x=-0.018561, y=0.877473, theta=-0.000904
-[15:02:48.002] Image Alignment failed 0
-[15:02:48.002] frame process finished the id is: 60 the obs is:283 
-[15:02:48.043] Odometry x=-0.018556, y=0.882561, theta=-0.003246
-[15:02:48.102] Image Alignment failed 0
-[15:02:48.102] frame process finished the id is: 60 the obs is:283 
-[15:02:48.141] Odometry x=-0.018369, y=0.890705, theta=0.007861
-[15:02:48.201] Image Alignment failed 0
-[15:02:48.201] frame process finished the id is: 60 the obs is:283 
-[15:02:48.244] Odometry x=-0.018387, y=0.896529, theta=0.004492
-[15:02:48.303] Image Alignment failed 0
-[15:02:48.303] frame process finished the id is: 60 the obs is:283 
-[15:02:48.344] Odometry x=-0.018392, y=0.901747, theta=0.009235
-[15:02:48.401] Image Alignment failed 0
-[15:02:48.401] frame process finished the id is: 60 the obs is:283 
-[15:02:48.442] Odometry x=-0.018416, y=0.907566, theta=0.013851
-[15:02:48.502] Image Alignment failed 0
-[15:02:48.502] frame process finished the id is: 60 the obs is:283 
-[15:02:48.545] Odometry x=-0.018445, y=0.913172, theta=0.011128
-[15:02:48.601] Image Alignment failed 0
-[15:02:48.602] frame process finished the id is: 60 the obs is:283 
-[15:02:48.644] Odometry x=-0.018457, y=0.918758, theta=0.005352
-[15:02:48.702] Image Alignment failed 0
-[15:02:48.702] frame process finished the id is: 60 the obs is:283 
-[15:02:48.742] Odometry x=-0.018398, y=0.925069, theta=0.010680
-[15:02:48.801] Image Alignment failed 0
-[15:02:48.801] frame process finished the id is: 60 the obs is:283 
-[15:02:48.841] Odometry x=-0.018429, y=0.930449, theta=0.014043
-[15:02:48.902] Image Alignment failed 0
-[15:02:48.902] frame process finished the id is: 60 the obs is:283 
-[15:02:48.941] Odometry x=-0.018474, y=0.936549, theta=0.011630
-[15:02:49.002] Image Alignment failed 0
-[15:02:49.002] frame process finished the id is: 60 the obs is:283 
-[15:02:49.042] Odometry x=-0.018497, y=0.941787, theta=0.007552
-[15:02:49.101] Image Alignment failed 0
-[15:02:49.101] frame process finished the id is: 60 the obs is:283 
-[15:02:49.142] Odometry x=-0.018509, y=0.947396, theta=0.008542
-[15:02:49.202] Image Alignment failed 0
-[15:02:49.202] frame process finished the id is: 60 the obs is:283 
-[15:02:49.241] Odometry x=-0.018520, y=0.952811, theta=0.003147
-[15:02:49.302] Image Alignment failed 0
-[15:02:49.302] frame process finished the id is: 60 the obs is:283 
-[15:02:49.342] Odometry x=-0.018525, y=0.958351, theta=0.005615
-[15:02:49.402] Image Alignment failed 0
-[15:02:49.402] frame process finished the id is: 60 the obs is:283 
-[15:02:49.445] Odometry x=-0.018530, y=0.963667, theta=0.004425
-[15:02:49.502] Image Alignment failed 0
-[15:02:49.502] frame process finished the id is: 60 the obs is:283 
-[15:02:49.543] Odometry x=-0.018475, y=0.969575, theta=0.006077
-[15:02:49.602] Image Alignment failed 0
-[15:02:49.602] frame process finished the id is: 60 the obs is:283 
-[15:02:49.642] Odometry x=-0.018489, y=0.974854, theta=0.008428
-[15:02:49.702] Image Alignment failed 0
-[15:02:49.702] frame process finished the id is: 60 the obs is:283 
-[15:02:49.741] Odometry x=-0.018471, y=0.980747, theta=0.012476
-[15:02:49.803] Image Alignment failed 0
-[15:02:49.803] frame process finished the id is: 60 the obs is:283 
-[15:02:49.844] Odometry x=-0.018486, y=0.985976, theta=0.017433
-[15:02:49.902] Image Alignment failed 0
-[15:02:49.902] frame process finished the id is: 60 the obs is:283 
-[15:02:49.943] Odometry x=-0.018498, y=0.992197, theta=0.007734
-[15:02:50.002] Image Alignment failed 0
-[15:02:50.002] frame process finished the id is: 60 the obs is:283 
-[15:02:50.043] Odometry x=-0.018518, y=0.997488, theta=0.017893
-[15:02:50.104] Image Alignment failed 0
-[15:02:50.105] frame process finished the id is: 60 the obs is:283 
-[15:02:50.141] Odometry x=-0.018562, y=1.002538, theta=0.014137
-[15:02:50.202] Image Alignment failed 0
-[15:02:50.202] frame process finished the id is: 60 the obs is:283 
-[15:02:50.239] Odometry x=-0.018625, y=1.008338, theta=0.018344
-[15:02:50.304] Image Alignment failed 0
-[15:02:50.304] frame process finished the id is: 60 the obs is:283 
-[15:02:50.342] Odometry x=-0.018677, y=1.014313, theta=0.014163
-[15:02:50.402] Image Alignment failed 0
-[15:02:50.402] frame process finished the id is: 60 the obs is:283 
-[15:02:50.446] Odometry x=-0.018726, y=1.021691, theta=0.014078
-[15:02:50.502] Image Alignment failed 0
-[15:02:50.502] frame process finished the id is: 60 the obs is:283 
-[15:02:50.541] Odometry x=-0.018772, y=1.027988, theta=0.016185
-[15:02:50.602] Image Alignment failed 0
-[15:02:50.602] frame process finished the id is: 60 the obs is:283 
-[15:02:50.637] Odometry x=-0.018815, y=1.033143, theta=0.016879
-[15:02:50.701] Image Alignment failed 0
-[15:02:50.701] frame process finished the id is: 60 the obs is:283 
-[15:02:50.743] Odometry x=-0.018864, y=1.038662, theta=0.017027
-[15:02:50.803] Image Alignment failed 0
-[15:02:50.803] frame process finished the id is: 60 the obs is:283 
-[15:02:50.840] Odometry x=-0.018916, y=1.044836, theta=0.015200
-[15:02:50.903] Image Alignment failed 0
-[15:02:50.903] frame process finished the id is: 60 the obs is:283 
-[15:02:50.939] Odometry x=-0.018958, y=1.050842, theta=0.016283
-[15:02:51.003] Image Alignment failed 0
-[15:02:51.003] frame process finished the id is: 60 the obs is:283 
-[15:02:51.042] Odometry x=-0.018975, y=1.056412, theta=0.012575
-[15:02:51.103] Image Alignment failed 0
-[15:02:51.103] frame process finished the id is: 60 the obs is:283 
-[15:02:51.140] Odometry x=-0.018993, y=1.061858, theta=0.011118
-[15:02:51.203] Image Alignment failed 0
-[15:02:51.203] frame process finished the id is: 60 the obs is:283 
-[15:02:51.243] Odometry x=-0.019031, y=1.067322, theta=0.017684
-[15:02:51.303] Image Alignment failed 0
-[15:02:51.303] frame process finished the id is: 60 the obs is:283 
-[15:02:51.341] Odometry x=-0.019039, y=1.072570, theta=0.001029
-[15:02:51.403] Image Alignment failed 0
-[15:02:51.403] frame process finished the id is: 60 the obs is:283 
-[15:02:51.444] Odometry x=-0.019036, y=1.077929, theta=0.003522
-[15:02:51.503] Image Alignment failed 0
-[15:02:51.503] frame process finished the id is: 60 the obs is:283 
-[15:02:51.542] Odometry x=-0.019038, y=1.083616, theta=0.002981
-[15:02:51.602] Image Alignment failed 0
-[15:02:51.602] frame process finished the id is: 60 the obs is:283 
-[15:02:51.641] Odometry x=-0.019040, y=1.089041, theta=0.004237
-[15:02:51.703] Image Alignment failed 0
-[15:02:51.703] frame process finished the id is: 60 the obs is:283 
-[15:02:51.738] Odometry x=-0.018750, y=1.094763, theta=0.013076
-[15:02:51.803] Image Alignment failed 0
-[15:02:51.803] frame process finished the id is: 60 the obs is:283 
-[15:02:51.842] Odometry x=-0.018747, y=1.100249, theta=0.012407
-[15:02:51.895] Image Alignment failed 0
-[15:02:51.895] frame process finished the id is: 60 the obs is:283 
-[15:02:51.940] Odometry x=-0.018782, y=1.105745, theta=0.015406
-[15:02:52.002] Image Alignment failed 0
-[15:02:52.002] frame process finished the id is: 60 the obs is:283 
-[15:02:52.043] Odometry x=-0.018840, y=1.113004, theta=0.013040
-[15:02:52.102] Image Alignment failed 0
-[15:02:52.102] frame process finished the id is: 60 the obs is:283 
-[15:02:52.141] Odometry x=-0.018879, y=1.118721, theta=0.014065
-[15:02:52.202] Image Alignment failed 0
-[15:02:52.202] frame process finished the id is: 60 the obs is:283 
-[15:02:52.239] Odometry x=-0.018904, y=1.124638, theta=0.011554
-[15:02:52.303] Image Alignment failed 0
-[15:02:52.303] frame process finished the id is: 60 the obs is:283 
-[15:02:52.337] Odometry x=-0.019001, y=1.130013, theta=0.010869
-[15:02:52.396] Image Alignment failed 0
-[15:02:52.397] frame process finished the id is: 60 the obs is:283 
-[15:02:52.440] Odometry x=-0.019028, y=1.136042, theta=0.013501
-[15:02:52.496] Image Alignment failed 0
-[15:02:52.496] frame process finished the id is: 60 the obs is:283 
-[15:02:52.543] Odometry x=-0.019066, y=1.142499, theta=0.013264
-[15:02:52.597] Image Alignment failed 0
-[15:02:52.597] frame process finished the id is: 60 the obs is:283 
-[15:02:52.640] Odometry x=-0.019014, y=1.147863, theta=0.016874
-[15:02:52.703] Image Alignment failed 0
-[15:02:52.703] frame process finished the id is: 60 the obs is:283 
-[15:02:52.739] Odometry x=-0.019058, y=1.153477, theta=0.014100
-[15:02:52.803] Image Alignment failed 0
-[15:02:52.803] frame process finished the id is: 60 the obs is:283 
-[15:02:52.837] Odometry x=-0.019049, y=1.159098, theta=0.008586
-[15:02:52.905] Image Alignment failed 0
-[15:02:52.905] frame process finished the id is: 60 the obs is:283 
-[15:02:52.940] Odometry x=-0.019068, y=1.165262, theta=0.005574
-[15:02:53.007] Image Alignment failed 0
-[15:02:53.007] frame process finished the id is: 60 the obs is:283 
-[15:02:53.043] Odometry x=-0.018997, y=1.172285, theta=0.012097
-[15:02:53.102] Image Alignment failed 0
-[15:02:53.102] frame process finished the id is: 60 the obs is:283 
-[15:02:53.141] Odometry x=-0.019022, y=1.177918, theta=0.007409
-[15:02:53.202] Image Alignment failed 0
-[15:02:53.202] frame process finished the id is: 60 the obs is:283 
-[15:02:53.240] Odometry x=-0.017788, y=1.183254, theta=0.017899
-[15:02:53.302] Image Alignment failed 0
-[15:02:53.302] frame process finished the id is: 60 the obs is:283 
-[15:02:53.351] Odometry x=-0.017864, y=1.188499, theta=0.013928
-[15:02:53.401] Image Alignment failed 0
-[15:02:53.401] frame process finished the id is: 60 the obs is:283 
-[15:02:53.441] Odometry x=-0.017897, y=1.194303, theta=0.013070
-[15:02:53.502] Image Alignment failed 0
-[15:02:53.502] frame process finished the id is: 60 the obs is:283 
-[15:02:53.545] Odometry x=-0.017910, y=1.199407, theta=0.008407
-[15:02:53.603] Image Alignment failed 0
-[15:02:53.603] frame process finished the id is: 60 the obs is:283 
-[15:02:53.640] Odometry x=-0.017799, y=1.206116, theta=0.016718
-[15:02:53.701] Image Alignment failed 0
-[15:02:53.701] frame process finished the id is: 60 the obs is:283 
-[15:02:53.744] Odometry x=-0.017858, y=1.211559, theta=0.015861
-[15:02:53.802] Image Alignment failed 0
-[15:02:53.802] frame process finished the id is: 60 the obs is:283 
-[15:02:53.837] Odometry x=-0.017840, y=1.217057, theta=0.014834
-[15:02:53.904] Image Alignment failed 0
-[15:02:53.904] frame process finished the id is: 60 the obs is:283 
-[15:02:53.939] Odometry x=-0.017888, y=1.222219, theta=0.024994
-[15:02:54.003] Image Alignment failed 0
-[15:02:54.003] frame process finished the id is: 60 the obs is:283 
-[15:02:54.041] Odometry x=-0.017906, y=1.227813, theta=0.027587
-[15:02:54.105] Image Alignment failed 0
-[15:02:54.105] frame process finished the id is: 60 the obs is:283 
-[15:02:54.144] Odometry x=-0.017987, y=1.233306, theta=0.026054
-[15:02:54.202] Image Alignment failed 0
-[15:02:54.202] frame process finished the id is: 60 the obs is:283 
-[15:02:54.243] Odometry x=-0.018030, y=1.238982, theta=0.029917
-[15:02:54.302] Image Alignment failed 0
-[15:02:54.302] frame process finished the id is: 60 the obs is:283 
-[15:02:54.347] Odometry x=-0.018154, y=1.245547, theta=0.034000
-[15:02:54.398] Image Alignment failed 0
-[15:02:54.398] frame process finished the id is: 60 the obs is:283 
-[15:02:54.441] Odometry x=-0.018267, y=1.252039, theta=0.030416
-[15:02:54.504] Image Alignment failed 0
-[15:02:54.504] frame process finished the id is: 60 the obs is:283 
-[15:02:54.539] Odometry x=-0.018341, y=1.257371, theta=0.026345
-[15:02:54.603] Image Alignment failed 0
-[15:02:54.603] frame process finished the id is: 60 the obs is:283 
-[15:02:54.641] Odometry x=-0.018412, y=1.262770, theta=0.024680
-[15:02:54.704] Image Alignment failed 0
-[15:02:54.704] frame process finished the id is: 60 the obs is:283 
-[15:02:54.741] Odometry x=-0.018442, y=1.268200, theta=0.022287
-[15:02:54.804] Image Alignment failed 0
-[15:02:54.804] frame process finished the id is: 60 the obs is:283 
-[15:02:54.839] Odometry x=-0.018504, y=1.273495, theta=0.033061
-[15:02:54.902] Image Alignment failed 0
-[15:02:54.902] frame process finished the id is: 60 the obs is:283 
-[15:02:54.939] Odometry x=-0.018577, y=1.279143, theta=0.023299
-[15:02:55.003] Image Alignment failed 0
-[15:02:55.003] frame process finished the id is: 60 the obs is:283 
-[15:02:55.043] Odometry x=-0.018635, y=1.284496, theta=0.024077
-[15:02:55.103] Image Alignment failed 0
-[15:02:55.104] frame process finished the id is: 60 the obs is:283 
-[15:02:55.141] Odometry x=-0.018632, y=1.289876, theta=0.032255
-[15:02:55.205] Image Alignment failed 0
-[15:02:55.205] frame process finished the id is: 60 the obs is:283 
-[15:02:55.244] Odometry x=-0.018721, y=1.295233, theta=0.032191
-[15:02:55.303] Image Alignment failed 0
-[15:02:55.303] frame process finished the id is: 60 the obs is:283 
-[15:02:55.342] Odometry x=-0.018776, y=1.301511, theta=0.022909
-[15:02:55.403] Image Alignment failed 0
-[15:02:55.403] frame process finished the id is: 60 the obs is:283 
-[15:02:55.438] Odometry x=-0.018821, y=1.306846, theta=0.021096
-[15:02:55.503] Image Alignment failed 0
-[15:02:55.503] frame process finished the id is: 60 the obs is:283 
-[15:02:55.541] Odometry x=-0.018770, y=1.312187, theta=0.028348
-[15:02:55.604] Image Alignment failed 0
-[15:02:55.604] frame process finished the id is: 60 the obs is:283 
-[15:02:55.642] Odometry x=-0.018613, y=1.317573, theta=0.019348
-[15:02:55.709] Image Alignment failed 0
-[15:02:55.709] frame process finished the id is: 60 the obs is:283 
-[15:02:55.740] Odometry x=-0.018668, y=1.323995, theta=0.019608
-[15:02:55.803] Image Alignment failed 0
-[15:02:55.803] frame process finished the id is: 60 the obs is:283 
-[15:02:55.844] Odometry x=-0.018661, y=1.330668, theta=0.025150
-[15:02:55.904] Image Alignment failed 0
-[15:02:55.904] frame process finished the id is: 60 the obs is:283 
-[15:02:55.942] Odometry x=-0.018752, y=1.336392, theta=0.030936
-[15:02:56.002] Image Alignment failed 0
-[15:02:56.002] frame process finished the id is: 60 the obs is:283 
-[15:02:56.049] Odometry x=-0.018755, y=1.341575, theta=0.030736
-[15:02:56.102] Image Alignment failed 0
-[15:02:56.102] frame process finished the id is: 60 the obs is:283 
-[15:02:56.139] Odometry x=-0.018841, y=1.347536, theta=0.025581
-[15:02:56.202] Image Alignment failed 0
-[15:02:56.202] frame process finished the id is: 60 the obs is:283 
-[15:02:56.244] Odometry x=-0.018876, y=1.352460, theta=0.032223
-[15:02:56.304] Image Alignment failed 0
-[15:02:56.304] frame process finished the id is: 60 the obs is:283 
-[15:02:56.342] Odometry x=-0.018971, y=1.358002, theta=0.033411
-[15:02:56.402] Image Alignment failed 0
-[15:02:56.402] frame process finished the id is: 60 the obs is:283 
-[15:02:56.439] Odometry x=-0.019052, y=1.363386, theta=0.029067
-[15:02:56.503] Image Alignment failed 0
-[15:02:56.503] frame process finished the id is: 60 the obs is:283 
-[15:02:56.543] Odometry x=-0.019156, y=1.370752, theta=0.016795
-[15:02:56.603] Image Alignment failed 0
-[15:02:56.603] frame process finished the id is: 60 the obs is:283 
-[15:02:56.643] Odometry x=-0.019193, y=1.376122, theta=0.018474
-[15:02:56.703] Image Alignment failed 0
-[15:02:56.703] frame process finished the id is: 60 the obs is:283 
-[15:02:56.740] Odometry x=-0.019128, y=1.381735, theta=0.024164
-[15:02:56.802] Image Alignment failed 0
-[15:02:56.802] frame process finished the id is: 60 the obs is:283 
-[15:02:56.842] Odometry x=-0.019208, y=1.387118, theta=0.021724
-[15:02:56.902] Image Alignment failed 0
-[15:02:56.902] frame process finished the id is: 60 the obs is:283 
-[15:02:57.002] Image Alignment failed 0
-[15:02:57.002] frame process finished the id is: 60 the obs is:283 
-[15:02:57.102] Image Alignment failed 0
-[15:02:57.102] frame process finished the id is: 60 the obs is:283 
-[15:02:57.208] Image Alignment failed 0
-[15:02:57.208] frame process finished the id is: 60 the obs is:283 
-[15:02:57.302] Image Alignment failed 0
-[15:02:57.302] frame process finished the id is: 60 the obs is:283 
-[15:02:57.403] Image Alignment failed 0
-[15:02:57.403] frame process finished the id is: 60 the obs is:283 
-[15:02:57.503] Image Alignment failed 0
-[15:02:57.503] frame process finished the id is: 60 the obs is:283 
-[15:02:57.603] Image Alignment failed 0
-[15:02:57.603] frame process finished the id is: 60 the obs is:283 
-[15:02:57.702] Image Alignment failed 0
-[15:02:57.702] frame process finished the id is: 60 the obs is:283 
-[15:02:57.801] Image Alignment failed 0
-[15:02:57.801] frame process finished the id is: 60 the obs is:283 
-[15:02:57.903] Image Alignment failed 0
-[15:02:57.903] frame process finished the id is: 60 the obs is:283 
-[15:02:58.001] Image Alignment failed 0
-[15:02:58.001] frame process finished the id is: 60 the obs is:283 
-[15:02:58.102] Image Alignment failed 0
-[15:02:58.103] frame process finished the id is: 60 the obs is:283 
-[15:02:58.203] Image Alignment failed 0
-[15:02:58.203] frame process finished the id is: 60 the obs is:283 
-[15:02:58.303] Image Alignment failed 0
-[15:02:58.303] frame process finished the id is: 60 the obs is:283 
-[15:02:58.403] Image Alignment failed 0
-[15:02:58.403] frame process finished the id is: 60 the obs is:283 
-[15:02:58.503] Image Alignment failed 0
-[15:02:58.503] frame process finished the id is: 60 the obs is:283 
-[15:02:58.602] Image Alignment failed 0
-[15:02:58.603] frame process finished the id is: 60 the obs is:283 
-[15:02:58.703] Image Alignment failed 0
-[15:02:58.703] frame process finished the id is: 60 the obs is:283 
-[15:02:58.800] Image Alignment failed 0
-[15:02:58.800] frame process finished the id is: 60 the obs is:283 
-[15:02:58.900] Image Alignment failed 0
-[15:02:58.900] frame process finished the id is: 60 the obs is:283 
-[15:02:59.012] Image Alignment failed 0
-[15:02:59.012] frame process finished the id is: 60 the obs is:283 
-[15:02:59.102] Image Alignment failed 0
-[15:02:59.102] frame process finished the id is: 60 the obs is:283 
-[15:02:59.203] Image Alignment failed 0
-[15:02:59.203] frame process finished the id is: 60 the obs is:283 
-[15:02:59.303] Image Alignment failed 0
-[15:02:59.303] frame process finished the id is: 60 the obs is:283 
-[15:02:59.403] Image Alignment failed 0
-[15:02:59.403] frame process finished the id is: 60 the obs is:283 
-[15:02:59.503] Image Alignment failed 0
-[15:02:59.503] frame process finished the id is: 60 the obs is:283 
-[15:02:59.603] Image Alignment failed 0
-[15:02:59.603] frame process finished the id is: 60 the obs is:283 
-[15:02:59.703] Image Alignment failed 0
-[15:02:59.703] frame process finished the id is: 60 the obs is:283 
-[15:02:59.803] Image Alignment failed 0
-[15:02:59.803] frame process finished the id is: 60 the obs is:283 
-[15:02:59.903] Image Alignment failed 0
-[15:02:59.903] frame process finished the id is: 60 the obs is:283 
-[15:03:00.003] Image Alignment failed 0
-[15:03:00.003] frame process finished the id is: 60 the obs is:283 
-[15:03:00.102] Image Alignment failed 0
-[15:03:00.102] frame process finished the id is: 60 the obs is:283 
-[15:03:00.203] Image Alignment failed 0
-[15:03:00.203] frame process finished the id is: 60 the obs is:283 
-[15:03:00.303] Image Alignment failed 0
-[15:03:00.303] frame process finished the id is: 60 the obs is:283 
-[15:03:00.402] Image Alignment failed 0
-[15:03:00.402] frame process finished the id is: 60 the obs is:283 
-[15:03:00.502] Image Alignment failed 0
-[15:03:00.502] frame process finished the id is: 60 the obs is:283 
-[15:03:00.604] Image Alignment failed 0
-[15:03:00.604] frame process finished the id is: 60 the obs is:283 
-[15:03:00.703] Image Alignment failed 0
-[15:03:00.703] frame process finished the id is: 60 the obs is:283 
-[15:03:00.804] Image Alignment failed 0
-[15:03:00.804] frame process finished the id is: 60 the obs is:283 
-[15:03:00.903] Image Alignment failed 0
-[15:03:00.903] frame process finished the id is: 60 the obs is:283 
-[15:03:01.004] Image Alignment failed 0
-[15:03:01.004] frame process finished the id is: 60 the obs is:283 
-[15:03:01.104] Image Alignment failed 0
-[15:03:01.104] frame process finished the id is: 60 the obs is:283 
-[15:03:01.203] Image Alignment failed 0
-[15:03:01.203] frame process finished the id is: 60 the obs is:283 
-[15:03:01.304] Image Alignment failed 0
-[15:03:01.304] frame process finished the id is: 60 the obs is:283 
-[15:03:01.403] Image Alignment failed 0
-[15:03:01.403] frame process finished the id is: 60 the obs is:283 
-[15:03:01.502] Image Alignment failed 0
-[15:03:01.503] frame process finished the id is: 60 the obs is:283 
-[15:03:01.604] Image Alignment failed 0
-[15:03:01.604] frame process finished the id is: 60 the obs is:283 
-[15:03:01.703] Image Alignment failed 0
-[15:03:01.703] frame process finished the id is: 60 the obs is:283 
-[15:03:01.804] Image Alignment failed 0
-[15:03:01.804] frame process finished the id is: 60 the obs is:283 
-[15:03:01.904] Image Alignment failed 0
-[15:03:01.904] frame process finished the id is: 60 the obs is:283 
->>>>>>> debug bandel adjustment
+[17:11:54.774] Init: frame zero: 0.000000, 0.000000 0.000000
+[17:11:54.774] Init: Selected first frame. 
+[17:11:54.774] frame process finished the id is: 0 the obs is:0 
+[17:11:54.787] Init: px average disparity is:0.172758 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:54.787] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:54.787] frame process finished the id is: 1 the obs is:0 
+[17:11:54.884] Init: px average disparity is:0.201742 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:54.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:54.884] frame process finished the id is: 2 the obs is:0 
+[17:11:54.983] Init: px average disparity is:0.313015 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:54.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:54.983] frame process finished the id is: 3 the obs is:0 
+[17:11:55.085] Init: px average disparity is:0.361645 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:55.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:55.085] frame process finished the id is: 4 the obs is:0 
+[17:11:55.182] Init: px average disparity is:0.364241 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:55.182] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:55.182] frame process finished the id is: 5 the obs is:0 
+[17:11:55.281] Init: px average disparity is:0.385082 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:55.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:55.281] frame process finished the id is: 6 the obs is:0 
+[17:11:55.382] Init: px average disparity is:0.390899 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:55.382] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:55.382] frame process finished the id is: 7 the obs is:0 
+[17:11:55.484] Init: px average disparity is:0.477527 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:55.484] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:55.484] frame process finished the id is: 8 the obs is:0 
+[17:11:55.581] Init: px average disparity is:0.448349 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:55.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:55.581] frame process finished the id is: 9 the obs is:0 
+[17:11:55.690] Init: px average disparity is:0.566287 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:55.690] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:55.690] frame process finished the id is: 10 the obs is:0 
+[17:11:55.792] Init: px average disparity is:0.543055 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:55.792] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:55.793] frame process finished the id is: 11 the obs is:0 
+[17:11:55.892] Init: px average disparity is:0.590355 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:55.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:55.892] frame process finished the id is: 12 the obs is:0 
+[17:11:55.993] Init: px average disparity is:0.586119 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:55.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:55.993] frame process finished the id is: 13 the obs is:0 
+[17:11:56.093] Init: px average disparity is:0.628194 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:56.093] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:56.093] frame process finished the id is: 14 the obs is:0 
+[17:11:56.192] Init: px average disparity is:0.593164 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:56.192] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:56.192] frame process finished the id is: 15 the obs is:0 
+[17:11:56.293] Init: px average disparity is:0.662760 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:56.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:56.293] frame process finished the id is: 16 the obs is:0 
+[17:11:56.394] Init: px average disparity is:0.667646 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:56.394] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:56.394] frame process finished the id is: 17 the obs is:0 
+[17:11:56.493] Init: px average disparity is:0.599362 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:56.493] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:56.493] frame process finished the id is: 18 the obs is:0 
+[17:11:56.592] Init: px average disparity is:0.626093 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:56.593] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:56.593] frame process finished the id is: 19 the obs is:0 
+[17:11:56.692] Init: px average disparity is:0.619001 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:56.692] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:56.692] frame process finished the id is: 20 the obs is:0 
+[17:11:56.792] Init: px average disparity is:0.619136 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:56.792] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:56.792] frame process finished the id is: 21 the obs is:0 
+[17:11:56.892] Init: px average disparity is:0.601060 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:56.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:56.892] frame process finished the id is: 22 the obs is:0 
+[17:11:56.993] Init: px average disparity is:0.594629 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:56.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:56.993] frame process finished the id is: 23 the obs is:0 
+[17:11:57.092] Init: px average disparity is:0.599880 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:57.092] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:57.092] frame process finished the id is: 24 the obs is:0 
+[17:11:57.193] Init: px average disparity is:0.545959 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:57.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:57.193] frame process finished the id is: 25 the obs is:0 
+[17:11:57.292] Init: px average disparity is:0.612244 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:57.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:57.293] frame process finished the id is: 26 the obs is:0 
+[17:11:57.393] Init: px average disparity is:0.552641 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:57.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:57.393] frame process finished the id is: 27 the obs is:0 
+[17:11:57.493] Init: px average disparity is:0.535403 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:57.493] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:57.493] frame process finished the id is: 28 the obs is:0 
+[17:11:57.593] Init: px average disparity is:0.588645 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:57.593] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:57.593] frame process finished the id is: 29 the obs is:0 
+[17:11:57.693] Init: px average disparity is:0.583976 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:57.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:57.693] frame process finished the id is: 30 the obs is:0 
+[17:11:57.792] Init: px average disparity is:0.549757 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:57.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:57.793] frame process finished the id is: 31 the obs is:0 
+[17:11:57.893] Init: px average disparity is:0.616166 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:57.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:57.893] frame process finished the id is: 32 the obs is:0 
+[17:11:57.993] Init: px average disparity is:0.563134 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:57.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:57.993] frame process finished the id is: 33 the obs is:0 
+[17:11:58.093] Init: px average disparity is:0.584492 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:58.093] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:58.093] frame process finished the id is: 34 the obs is:0 
+[17:11:58.194] Init: px average disparity is:0.579335 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:58.194] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:58.194] frame process finished the id is: 35 the obs is:0 
+[17:11:58.294] Init: px average disparity is:0.598716 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:58.294] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:58.294] frame process finished the id is: 36 the obs is:0 
+[17:11:58.393] Init: px average disparity is:0.565848 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:58.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:58.393] frame process finished the id is: 37 the obs is:0 
+[17:11:58.493] Init: px average disparity is:0.565890 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:58.493] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:58.493] frame process finished the id is: 38 the obs is:0 
+[17:11:58.593] Init: px average disparity is:0.553919 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:58.594] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:58.594] frame process finished the id is: 39 the obs is:0 
+[17:11:58.692] Init: px average disparity is:0.616115 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:58.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:58.693] frame process finished the id is: 40 the obs is:0 
+[17:11:58.796] Init: px average disparity is:0.566093 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:58.796] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:58.796] frame process finished the id is: 41 the obs is:0 
+[17:11:58.892] Init: px average disparity is:0.567436 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:58.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:58.892] frame process finished the id is: 42 the obs is:0 
+[17:11:58.993] Init: px average disparity is:0.577059 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:58.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:58.993] frame process finished the id is: 43 the obs is:0 
+[17:11:59.093] Init: px average disparity is:0.573469 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:59.093] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:59.093] frame process finished the id is: 44 the obs is:0 
+[17:11:59.193] Init: px average disparity is:0.578291 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:59.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:59.193] frame process finished the id is: 45 the obs is:0 
+[17:11:59.293] Init: px average disparity is:0.589306 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:59.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:59.293] frame process finished the id is: 46 the obs is:0 
+[17:11:59.393] Init: px average disparity is:0.564525 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:59.393] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:59.393] frame process finished the id is: 47 the obs is:0 
+[17:11:59.493] Init: px average disparity is:0.576495 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:59.494] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:59.494] frame process finished the id is: 48 the obs is:0 
+[17:11:59.593] Init: px average disparity is:0.564883 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:59.593] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:59.593] frame process finished the id is: 49 the obs is:0 
+[17:11:59.694] Init: px average disparity is:0.561558 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:59.694] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:59.694] frame process finished the id is: 50 the obs is:0 
+[17:11:59.793] Init: px average disparity is:0.556288 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:59.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:59.793] frame process finished the id is: 51 the obs is:0 
+[17:11:59.893] Init: px average disparity is:0.576670 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:59.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:59.893] frame process finished the id is: 52 the obs is:0 
+[17:11:59.993] Init: px average disparity is:0.631701 ,While minimum is: 10.000000  KLT tracked : 289
+[17:11:59.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:11:59.994] frame process finished the id is: 53 the obs is:0 
+[17:12:00.094] Init: px average disparity is:0.594549 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:00.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:00.094] frame process finished the id is: 54 the obs is:0 
+[17:12:00.193] Init: px average disparity is:0.601162 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:00.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:00.193] frame process finished the id is: 55 the obs is:0 
+[17:12:00.296] Init: px average disparity is:0.560766 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:00.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:00.296] frame process finished the id is: 56 the obs is:0 
+[17:12:00.381] Init: px average disparity is:0.576117 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:00.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:00.382] frame process finished the id is: 57 the obs is:0 
+[17:12:00.496] Init: px average disparity is:0.550259 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:00.496] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:00.496] frame process finished the id is: 58 the obs is:0 
+[17:12:00.594] Init: px average disparity is:0.558625 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:00.594] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:00.594] frame process finished the id is: 59 the obs is:0 
+[17:12:00.692] Init: px average disparity is:0.558588 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:00.692] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:00.692] frame process finished the id is: 60 the obs is:0 
+[17:12:00.793] Init: px average disparity is:0.580301 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:00.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:00.793] frame process finished the id is: 61 the obs is:0 
+[17:12:00.893] Init: px average disparity is:0.604858 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:00.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:00.893] frame process finished the id is: 62 the obs is:0 
+[17:12:00.993] Init: px average disparity is:0.593513 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:00.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:00.993] frame process finished the id is: 63 the obs is:0 
+[17:12:01.092] Init: px average disparity is:0.550602 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:01.092] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:01.092] frame process finished the id is: 64 the obs is:0 
+[17:12:01.194] Init: px average disparity is:0.563679 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:01.194] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:01.194] frame process finished the id is: 65 the obs is:0 
+[17:12:01.292] Init: px average disparity is:0.584935 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:01.292] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:01.292] frame process finished the id is: 66 the obs is:0 
+[17:12:01.392] Init: px average disparity is:0.593140 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:01.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:01.392] frame process finished the id is: 67 the obs is:0 
+[17:12:01.496] Init: px average disparity is:0.586973 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:01.497] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:01.497] frame process finished the id is: 68 the obs is:0 
+[17:12:01.592] Init: px average disparity is:0.581842 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:01.592] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:01.593] frame process finished the id is: 69 the obs is:0 
+[17:12:01.693] Init: px average disparity is:0.553551 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:01.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:01.693] frame process finished the id is: 70 the obs is:0 
+[17:12:01.793] Init: px average disparity is:0.545325 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:01.793] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:01.793] frame process finished the id is: 71 the obs is:0 
+[17:12:01.893] Init: px average disparity is:0.605028 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:01.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:01.893] frame process finished the id is: 72 the obs is:0 
+[17:12:01.993] Init: px average disparity is:0.505007 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:01.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:01.993] frame process finished the id is: 73 the obs is:0 
+[17:12:02.094] Init: px average disparity is:0.576057 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:02.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:02.094] frame process finished the id is: 74 the obs is:0 
+[17:12:02.193] Init: px average disparity is:0.596579 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:02.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:02.193] frame process finished the id is: 75 the obs is:0 
+[17:12:02.293] Init: px average disparity is:0.619819 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:02.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:02.293] frame process finished the id is: 76 the obs is:0 
+[17:12:02.395] Init: px average disparity is:0.600371 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:02.395] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:02.395] frame process finished the id is: 77 the obs is:0 
+[17:12:02.494] Init: px average disparity is:0.599256 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:02.494] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:02.494] frame process finished the id is: 78 the obs is:0 
+[17:12:02.541] Odometry x=0.000000, y=0.000000, theta=-0.000000
+[17:12:02.593] Init: px average disparity is:0.566610 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:02.593] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:02.594] frame process finished the id is: 79 the obs is:0 
+[17:12:02.641] Odometry x=0.000000, y=0.000000, theta=-0.000000
+[17:12:02.695] Init: px average disparity is:0.587722 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:02.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:02.695] frame process finished the id is: 80 the obs is:0 
+[17:12:02.737] Odometry x=0.000001, y=0.013355, theta=-0.000979
+[17:12:02.795] Init: px average disparity is:6.740154 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:02.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:02.795] frame process finished the id is: 81 the obs is:0 
+[17:12:02.841] Odometry x=-0.003901, y=0.095117, theta=0.021456
+[17:12:02.893] Init: px average disparity is:3.541135 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:02.893] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:02.893] frame process finished the id is: 82 the obs is:0 
+[17:12:02.943] Odometry x=-0.004273, y=0.105861, theta=0.002213
+[17:12:02.993] Init: px average disparity is:5.016869 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:02.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:02.993] frame process finished the id is: 83 the obs is:0 
+[17:12:03.039] Odometry x=-0.004300, y=0.117098, theta=0.002495
+[17:12:03.094] Init: px average disparity is:4.792613 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:03.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:03.094] frame process finished the id is: 84 the obs is:0 
+[17:12:03.132] Odometry x=-0.004079, y=0.115686, theta=0.001524
+[17:12:03.194] Init: px average disparity is:6.633594 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:03.194] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:03.194] frame process finished the id is: 85 the obs is:0 
+[17:12:03.237] Odometry x=-0.004143, y=0.127195, theta=0.009457
+[17:12:03.293] Init: px average disparity is:7.916255 ,While minimum is: 10.000000  KLT tracked : 289
+[17:12:03.294] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:03.294] frame process finished the id is: 86 the obs is:0 
+[17:12:03.338] Odometry x=-0.002634, y=0.138026, theta=-0.004483
+[17:12:03.442] Odometry x=-0.002507, y=0.149310, theta=-0.005029
+[17:12:03.465] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:11.843733 ,While minimum is: 10.000000  KLT tracked: 289
+[17:12:03.465] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:03.465] frame process finished the id is: 87 the obs is:0 
+[17:12:03.539] Odometry x=-0.002509, y=0.160659, theta=0.007860
+[17:12:03.551] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required.  px average disparity is:10.018337 ,While minimum is: 10.000000  KLT tracked: 289
+[17:12:03.551] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[17:12:03.551] frame process finished the id is: 88 the obs is:0 
+[17:12:03.632] Odometry x=-0.002449, y=0.171300, theta=0.003164
+[17:12:03.647] Init finished: Homography RANSAC (inlier) is:30 ,While 30 inliers minimum required.  px average disparity is:10.711583 ,While minimum is: 10.000000  KLT tracked: 289
+[17:12:03.647] Init: distance between the first and current frame is x:-0.002449 ,z=0.171300,angle between two frames: 0.003164 
+[17:12:03.647] Init: Selected Second frame. 	 The number of features: 30 depth mean:-0.219337 min:-0.527999
+[17:12:03.647] frame process finished the id is: 89 the obs is:30 
+[17:12:03.737] Odometry x=-0.002448, y=0.181502, theta=-0.001828
+[17:12:03.753] After Reprojection Map nPoint:30 ,nCell:18 ,nMatches:14 ,distance between ekf and vo x:0.000276 ,z=0.000055,angle between two frames:0.001571
+[17:12:03.754] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =21 	 error init =0.000680 	 error end=0.000519
+[17:12:03.754] After pose optimization, distance between ekf and vo x:0.000370 ,z=-0.004096,angle between two frames:0.011745
+[17:12:03.754] Update EKF and 3D points the number of feature in the new frame: 21 and number of obs: 21
+[17:12:03.754] frame process finished the id is: 90 the obs is:21 
+[17:12:03.835] Odometry x=-0.002104, y=0.178213, theta=-0.012651
+[17:12:03.869] After Reprojection Map nPoint:21 ,nCell:12 ,nMatches:9 ,distance between ekf and vo x:0.000330 ,z=-0.001747,angle between two frames:0.000584
+[17:12:03.869] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 	 error init =0.001028 	 error end=0.001028
+[17:12:03.869] After pose optimization, distance between ekf and vo x:0.000330 ,z=-0.001747,angle between two frames:0.000584
+[17:12:03.869] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16
+[17:12:03.869] frame process finished the id is: 91 the obs is:16 
+[17:12:03.937] Odometry x=-0.001750, y=0.177304, theta=-0.012812
+[17:12:03.966] After Reprojection Map nPoint:16 ,nCell:11 ,nMatches:9 ,distance between ekf and vo x:0.000094 ,z=0.000481,angle between two frames:0.003055
+[17:12:03.966] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =16 	 error init =0.000507 	 error end=0.000428
+[17:12:03.966] After pose optimization, distance between ekf and vo x:-0.003721 ,z=-0.000026,angle between two frames:0.021260
+[17:12:03.966] frame process finished the id is: 91 the obs is:16 
+[17:12:04.037] Odometry x=-0.001569, y=0.190705, theta=0.000436
+[17:12:04.055] After Reprojection Map nPoint:16 ,nCell:13 ,nMatches:6 ,distance between ekf and vo x:0.000542 ,z=-0.000068,angle between two frames:0.000117
+[17:12:04.056] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001869 	 error end=0.001747
+[17:12:04.056] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.013402,angle between two frames:0.002733
+[17:12:04.056] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:04.056] frame process finished the id is: 93 the obs is:10 
+[17:12:04.137] Odometry x=-0.001491, y=0.193225, theta=-0.007475
+[17:12:04.162] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:0.000179 ,z=-0.001168,angle between two frames:0.003220
+[17:12:04.163] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001343 	 error end=0.000848
+[17:12:04.163] After pose optimization, distance between ekf and vo x:-0.003050 ,z=-0.013480,angle between two frames:0.009208
+[17:12:04.163] frame process finished the id is: 93 the obs is:10 
+[17:12:04.237] Odometry x=-0.001291, y=0.204116, theta=-0.001460
+[17:12:04.260] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:5 ,distance between ekf and vo x:0.000155 ,z=-0.000222,angle between two frames:0.004142
+[17:12:04.260] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000266 	 error end=0.000255
+[17:12:04.260] After pose optimization, distance between ekf and vo x:-0.001185 ,z=-0.000416,angle between two frames:0.001528
+[17:12:04.260] frame process finished the id is: 93 the obs is:10 
+[17:12:04.339] Odometry x=-0.000013, y=0.214817, theta=0.004115
+[17:12:04.351] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000065 ,z=0.000326,angle between two frames:0.000891
+[17:12:04.351] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000152 	 error end=0.000151
+[17:12:04.351] After pose optimization, distance between ekf and vo x:-0.000473 ,z=0.002141,angle between two frames:0.004124
+[17:12:04.351] frame process finished the id is: 93 the obs is:10 
+[17:12:04.438] Odometry x=0.000061, y=0.226889, theta=-0.004988
+[17:12:04.453] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000000 ,z=0.000245,angle between two frames:0.000914
+[17:12:04.453] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000260 	 error end=0.000260
+[17:12:04.453] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000245,angle between two frames:0.000914
+[17:12:04.453] frame process finished the id is: 93 the obs is:10 
+[17:12:04.537] Odometry x=0.000094, y=0.237356, theta=-0.002720
+[17:12:04.556] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:-0.000113 ,z=0.000629,angle between two frames:0.000549
+[17:12:04.557] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
+[17:12:04.557] After pose optimization, distance between ekf and vo x:-0.000105 ,z=0.001092,angle between two frames:0.000505
+[17:12:04.557] frame process finished the id is: 93 the obs is:10 
+[17:12:04.636] Odometry x=0.000254, y=0.248163, theta=-0.003518
+[17:12:04.662] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:-0.000173 ,z=0.000001,angle between two frames:0.001189
+[17:12:04.662] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001218 	 error end=0.001218
+[17:12:04.662] After pose optimization, distance between ekf and vo x:-0.000173 ,z=0.000001,angle between two frames:0.001189
+[17:12:04.662] frame process finished the id is: 93 the obs is:10 
+[17:12:04.749] Odometry x=0.000621, y=0.261838, theta=-0.001158
+[17:12:04.751] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:0.000068 ,z=-0.000105,angle between two frames:0.000590
+[17:12:04.751] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001112 	 error end=0.000619
+[17:12:04.751] After pose optimization, distance between ekf and vo x:0.000204 ,z=-0.002597,angle between two frames:0.041942
+[17:12:04.751] frame process finished the id is: 93 the obs is:10 
+[17:12:04.843] Odometry x=0.000630, y=0.281372, theta=0.002408
+[17:12:04.851] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:0.000060 ,z=-0.000098,angle between two frames:0.000563
+[17:12:04.851] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000626 	 error end=0.000626
+[17:12:04.851] After pose optimization, distance between ekf and vo x:0.000060 ,z=-0.000098,angle between two frames:0.000563
+[17:12:04.851] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:04.851] frame process finished the id is: 101 the obs is:10 
+[17:12:04.938] Odometry x=0.000646, y=0.278193, theta=-0.002559
+[17:12:04.952] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000097 ,z=0.000351,angle between two frames:0.000245
+[17:12:04.952] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000430 	 error end=0.000405
+[17:12:04.952] After pose optimization, distance between ekf and vo x:-0.005781 ,z=0.000339,angle between two frames:0.022378
+[17:12:04.952] frame process finished the id is: 101 the obs is:10 
+[17:12:05.033] Odometry x=0.002915, y=0.290116, theta=0.003525
+[17:12:05.051] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:3 ,distance between ekf and vo x:-0.000114 ,z=0.000343,angle between two frames:0.000406
+[17:12:05.051] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000394 	 error end=0.000389
+[17:12:05.051] After pose optimization, distance between ekf and vo x:-0.000995 ,z=0.002323,angle between two frames:0.003452
+[17:12:05.051] frame process finished the id is: 101 the obs is:10 
+[17:12:05.136] Odometry x=0.002963, y=0.300244, theta=0.002055
+[17:12:05.151] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:2 ,distance between ekf and vo x:-0.000145 ,z=0.000563,angle between two frames:0.000578
+[17:12:05.152] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000003 	 error end=0.000003
+[17:12:05.152] After pose optimization, distance between ekf and vo x:-0.000155 ,z=0.000573,angle between two frames:0.000590
+[17:12:05.152] frame process finished the id is: 101 the obs is:10 
+[17:12:05.239] Odometry x=0.002918, y=0.311301, theta=0.004299
+[17:12:05.251] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000178 ,z=0.000529,angle between two frames:0.000586
+[17:12:05.251] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.001249 	 error end=0.001153
+[17:12:05.251] After pose optimization, distance between ekf and vo x:-0.001395 ,z=-0.003621,angle between two frames:0.004022
+[17:12:05.251] frame process finished the id is: 101 the obs is:10 
+[17:12:05.337] Odometry x=0.002942, y=0.322756, theta=0.003519
+[17:12:05.351] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000110 ,z=0.000407,angle between two frames:0.000358
+[17:12:05.351] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000402 	 error end=0.000401
+[17:12:05.351] After pose optimization, distance between ekf and vo x:-0.000503 ,z=0.001185,angle between two frames:0.002168
+[17:12:05.351] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:05.351] frame process finished the id is: 106 the obs is:10 
+[17:12:05.435] Odometry x=0.005206, y=0.335310, theta=0.014252
+[17:12:05.452] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:-0.000121 ,z=0.000373,angle between two frames:0.000446
+[17:12:05.452] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001218 	 error end=0.001193
+[17:12:05.452] After pose optimization, distance between ekf and vo x:-0.002012 ,z=0.001561,angle between two frames:0.006230
+[17:12:05.452] frame process finished the id is: 106 the obs is:10 
+[17:12:05.537] Odometry x=0.004785, y=0.345739, theta=0.004165
+[17:12:05.552] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:-0.000147 ,z=0.000416,angle between two frames:0.000690
+[17:12:05.552] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000301 	 error end=0.000294
+[17:12:05.552] After pose optimization, distance between ekf and vo x:-0.002552 ,z=0.001379,angle between two frames:0.007339
+[17:12:05.552] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:05.552] frame process finished the id is: 108 the obs is:10 
+[17:12:05.637] Odometry x=0.002988, y=0.358579, theta=-0.000567
+[17:12:05.652] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:4 ,distance between ekf and vo x:0.000031 ,z=0.000708,angle between two frames:0.002629
+[17:12:05.652] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.001734 	 error end=0.001734
+[17:12:05.652] After pose optimization, distance between ekf and vo x:0.000309 ,z=0.000578,angle between two frames:0.001812
+[17:12:05.652] frame process finished the id is: 108 the obs is:10 
+[17:12:05.735] Odometry x=0.003092, y=0.369299, theta=0.002874
+[17:12:05.753] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:0.000135 ,z=0.000310,angle between two frames:0.000524
+[17:12:05.753] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001845 	 error end=0.001815
+[17:12:05.753] After pose optimization, distance between ekf and vo x:-0.001276 ,z=0.008284,angle between two frames:0.000683
+[17:12:05.753] frame process finished the id is: 108 the obs is:10 
+[17:12:05.842] Odometry x=0.002659, y=0.387057, theta=0.001681
+[17:12:05.852] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:4 ,distance between ekf and vo x:0.000016 ,z=0.000202,angle between two frames:0.000821
+[17:12:05.852] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000876 	 error end=0.000872
+[17:12:05.852] After pose optimization, distance between ekf and vo x:-0.002447 ,z=-0.006948,angle between two frames:0.011032
+[17:12:05.852] frame process finished the id is: 108 the obs is:10 
+[17:12:05.943] Odometry x=0.002653, y=0.407321, theta=0.009171
+[17:12:05.959] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:0.000271 ,z=0.001684,angle between two frames:0.000189
+[17:12:05.959] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000012 	 error end=0.000012
+[17:12:05.959] After pose optimization, distance between ekf and vo x:0.000269 ,z=0.001685,angle between two frames:0.000195
+[17:12:05.959] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:05.959] frame process finished the id is: 112 the obs is:10 
+[17:12:06.039] Odometry x=0.002904, y=0.409567, theta=0.009628
+[17:12:06.060] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000343 ,z=0.000673,angle between two frames:0.000596
+[17:12:06.061] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000243 	 error end=0.000243
+[17:12:06.061] After pose optimization, distance between ekf and vo x:0.000286 ,z=0.000708,angle between two frames:0.000460
+[17:12:06.061] frame process finished the id is: 112 the obs is:10 
+[17:12:06.137] Odometry x=0.002836, y=0.421942, theta=0.019713
+[17:12:06.152] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000010 ,z=0.000210,angle between two frames:0.000041
+[17:12:06.152] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000636 	 error end=0.000635
+[17:12:06.152] After pose optimization, distance between ekf and vo x:-0.000076 ,z=0.000240,angle between two frames:0.000219
+[17:12:06.152] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:06.152] frame process finished the id is: 114 the obs is:10 
+[17:12:06.236] Odometry x=0.003093, y=0.433779, theta=0.015918
+[17:12:06.251] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:0.000011 ,z=0.000213,angle between two frames:0.000073
+[17:12:06.251] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.002919 	 error end=0.002902
+[17:12:06.251] After pose optimization, distance between ekf and vo x:-0.001080 ,z=0.000844,angle between two frames:0.004449
+[17:12:06.251] frame process finished the id is: 114 the obs is:10 
+[17:12:06.338] Odometry x=0.003053, y=0.444923, theta=0.019676
+[17:12:06.353] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:0.000002 ,z=0.000257,angle between two frames:0.000096
+[17:12:06.353] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001276 	 error end=0.001276
+[17:12:06.353] After pose optimization, distance between ekf and vo x:-0.000035 ,z=0.000299,angle between two frames:0.000170
+[17:12:06.353] frame process finished the id is: 114 the obs is:10 
+[17:12:06.431] Odometry x=0.002982, y=0.455478, theta=0.017816
+[17:12:06.458] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000217 ,z=0.002307,angle between two frames:0.000663
+[17:12:06.459] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000026 	 error end=0.000026
+[17:12:06.459] After pose optimization, distance between ekf and vo x:0.000217 ,z=0.002307,angle between two frames:0.000663
+[17:12:06.459] frame process finished the id is: 114 the obs is:10 
+[17:12:06.534] Odometry x=0.002821, y=0.472870, theta=0.017566
+[17:12:06.551] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000012 ,z=0.000244,angle between two frames:0.000100
+[17:12:06.552] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000006 	 error end=0.000006
+[17:12:06.552] After pose optimization, distance between ekf and vo x:-0.000021 ,z=0.000246,angle between two frames:0.000120
+[17:12:06.552] frame process finished the id is: 114 the obs is:10 
+[17:12:06.634] Odometry x=0.001914, y=0.483558, theta=0.017433
+[17:12:06.652] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000005 ,z=0.000218,angle between two frames:0.000064
+[17:12:06.652] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000034 	 error end=0.000034
+[17:12:06.652] After pose optimization, distance between ekf and vo x:0.000010 ,z=0.000232,angle between two frames:0.000052
+[17:12:06.652] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:06.652] frame process finished the id is: 119 the obs is:10 
+[17:12:06.734] Odometry x=0.001915, y=0.484362, theta=0.017607
+[17:12:06.766] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000244 ,z=0.003495,angle between two frames:0.000954
+[17:12:06.766] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001000 	 error end=0.001000
+[17:12:06.766] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.004061,angle between two frames:0.001352
+[17:12:06.766] frame process finished the id is: 119 the obs is:10 
+[17:12:06.839] Odometry x=0.001813, y=0.497387, theta=0.019223
+[17:12:06.852] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000012 ,z=0.000269,angle between two frames:0.000098
+[17:12:06.852] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.001638 	 error end=0.001637
+[17:12:06.852] After pose optimization, distance between ekf and vo x:0.000143 ,z=0.000569,angle between two frames:0.000235
+[17:12:06.852] frame process finished the id is: 119 the obs is:10 
+[17:12:06.935] Odometry x=0.001645, y=0.508829, theta=0.019378
+[17:12:06.952] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:0.000008 ,z=0.000256,angle between two frames:0.000118
+[17:12:06.952] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 	 error init =0.000002 	 error end=0.000002
+[17:12:06.952] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000256,angle between two frames:0.000118
+[17:12:06.952] frame process finished the id is: 119 the obs is:10 
+[17:12:07.035] Odometry x=0.001555, y=0.519065, theta=0.015351
+[17:12:07.051] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:0.000002 ,z=0.000257,angle between two frames:0.000156
+[17:12:07.051] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000120 	 error end=0.000120
+[17:12:07.051] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000257,angle between two frames:0.000156
+[17:12:07.051] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:07.051] frame process finished the id is: 123 the obs is:10 
+[17:12:07.136] Odometry x=0.001447, y=0.532557, theta=0.018607
+[17:12:07.153] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000012 ,z=0.000265,angle between two frames:0.000129
+[17:12:07.154] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001036 	 error end=0.001036
+[17:12:07.154] After pose optimization, distance between ekf and vo x:0.000124 ,z=0.000418,angle between two frames:0.000110
+[17:12:07.154] frame process finished the id is: 123 the obs is:10 
+[17:12:07.238] Odometry x=0.001358, y=0.544451, theta=0.009563
+[17:12:07.252] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000022 ,z=0.000180,angle between two frames:0.000198
+[17:12:07.252] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000038 	 error end=0.000038
+[17:12:07.252] After pose optimization, distance between ekf and vo x:0.000011 ,z=0.000177,angle between two frames:0.000218
+[17:12:07.252] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:07.252] frame process finished the id is: 125 the obs is:10 
+[17:12:07.333] Odometry x=0.001369, y=0.545331, theta=0.010089
+[17:12:07.374] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.001136 ,z=0.004963,angle between two frames:0.001038
+[17:12:07.374] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000767 	 error end=0.000767
+[17:12:07.374] After pose optimization, distance between ekf and vo x:0.001183 ,z=0.005174,angle between two frames:0.000790
+[17:12:07.374] frame process finished the id is: 125 the obs is:10 
+[17:12:07.436] Odometry x=0.001346, y=0.558723, theta=0.014656
+[17:12:07.454] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000041 ,z=0.000343,angle between two frames:0.000025
+[17:12:07.454] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000183 	 error end=0.000183
+[17:12:07.454] After pose optimization, distance between ekf and vo x:0.000046 ,z=0.000369,angle between two frames:0.000002
+[17:12:07.454] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:07.455] frame process finished the id is: 127 the obs is:10 
+[17:12:07.532] Odometry x=0.001386, y=0.559669, theta=0.014567
+[17:12:07.556] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000135 ,z=0.000990,angle between two frames:0.000132
+[17:12:07.556] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000000 	 error end=0.000000
+[17:12:07.556] After pose optimization, distance between ekf and vo x:0.000135 ,z=0.000990,angle between two frames:0.000132
+[17:12:07.556] frame process finished the id is: 127 the obs is:10 
+[17:12:07.637] Odometry x=0.001647, y=0.574028, theta=0.014675
+[17:12:07.659] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000301 ,z=0.002606,angle between two frames:0.000239
+[17:12:07.659] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000337 	 error end=0.000337
+[17:12:07.659] After pose optimization, distance between ekf and vo x:0.000397 ,z=0.002672,angle between two frames:0.000063
+[17:12:07.659] frame process finished the id is: 127 the obs is:10 
+[17:12:07.734] Odometry x=0.001558, y=0.585967, theta=0.012711
+[17:12:07.754] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000124 ,z=0.000849,angle between two frames:0.000006
+[17:12:07.754] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001139 	 error end=0.001138
+[17:12:07.754] After pose optimization, distance between ekf and vo x:0.000338 ,z=0.000985,angle between two frames:0.000403
+[17:12:07.754] frame process finished the id is: 127 the obs is:10 
+[17:12:07.834] Odometry x=0.001570, y=0.598443, theta=0.016830
+[17:12:07.860] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000450 ,z=0.003793,angle between two frames:0.000656
+[17:12:07.860] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.001157 	 error end=0.001156
+[17:12:07.860] After pose optimization, distance between ekf and vo x:0.000313 ,z=0.003434,angle between two frames:0.000414
+[17:12:07.860] frame process finished the id is: 127 the obs is:10 
+[17:12:07.933] Odometry x=0.001479, y=0.610044, theta=0.015988
+[17:12:07.959] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000221 ,z=0.001605,angle between two frames:0.000042
+[17:12:07.959] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000366 	 error end=0.000366
+[17:12:07.959] After pose optimization, distance between ekf and vo x:0.000218 ,z=0.001624,angle between two frames:0.000041
+[17:12:07.959] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:07.959] frame process finished the id is: 132 the obs is:10 
+[17:12:08.042] Odometry x=0.001598, y=0.618906, theta=0.006168
+[17:12:08.059] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000094 ,z=0.001176,angle between two frames:0.000182
+[17:12:08.059] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000169 	 error end=0.000169
+[17:12:08.059] After pose optimization, distance between ekf and vo x:-0.000223 ,z=-0.001232,angle between two frames:0.000452
+[17:12:08.059] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:08.059] frame process finished the id is: 133 the obs is:10 
+[17:12:08.135] Odometry x=0.001386, y=0.618322, theta=0.007052
+[17:12:08.170] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:0.000666 ,z=0.003568,angle between two frames:0.000179
+[17:12:08.170] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000001 	 error end=0.000001
+[17:12:08.170] After pose optimization, distance between ekf and vo x:0.000666 ,z=0.003568,angle between two frames:0.000179
+[17:12:08.170] frame process finished the id is: 133 the obs is:10 
+[17:12:08.238] Odometry x=0.001341, y=0.630923, theta=0.009137
+[17:12:08.259] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000064 ,z=0.001088,angle between two frames:0.000276
+[17:12:08.259] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000544 	 error end=0.000544
+[17:12:08.259] After pose optimization, distance between ekf and vo x:0.000064 ,z=0.001088,angle between two frames:0.000276
+[17:12:08.259] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:08.259] frame process finished the id is: 135 the obs is:10 
+[17:12:08.336] Odometry x=0.001325, y=0.643959, theta=0.005868
+[17:12:08.367] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000308 ,z=0.002638,angle between two frames:0.000552
+[17:12:08.367] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000057 	 error end=0.000057
+[17:12:08.367] After pose optimization, distance between ekf and vo x:0.000152 ,z=0.002612,angle between two frames:0.000282
+[17:12:08.367] frame process finished the id is: 135 the obs is:10 
+[17:12:08.437] Odometry x=0.001396, y=0.655242, theta=0.009155
+[17:12:08.469] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000337 ,z=0.003188,angle between two frames:0.000667
+[17:12:08.470] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000000 	 error end=0.000000
+[17:12:08.470] After pose optimization, distance between ekf and vo x:0.000337 ,z=0.003188,angle between two frames:0.000667
+[17:12:08.470] frame process finished the id is: 135 the obs is:10 
+[17:12:08.534] Odometry x=0.000983, y=0.665733, theta=0.006301
+[17:12:08.562] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000161 ,z=0.001621,angle between two frames:0.000186
+[17:12:08.562] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000001 	 error end=0.000001
+[17:12:08.562] After pose optimization, distance between ekf and vo x:0.000161 ,z=0.001621,angle between two frames:0.000187
+[17:12:08.562] frame process finished the id is: 135 the obs is:10 
+[17:12:08.637] Odometry x=0.000980, y=0.676146, theta=0.002689
+[17:12:08.666] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000619 ,z=0.004796,angle between two frames:0.002373
+[17:12:08.666] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000004 	 error end=0.000004
+[17:12:08.666] After pose optimization, distance between ekf and vo x:0.000612 ,z=0.004796,angle between two frames:0.002365
+[17:12:08.666] frame process finished the id is: 135 the obs is:10 
+[17:12:08.737] Odometry x=0.000987, y=0.688927, theta=-0.002798
+[17:12:08.766] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:0.000620 ,z=0.004815,angle between two frames:0.002400
+[17:12:08.766] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000008 	 error end=0.000008
+[17:12:08.766] After pose optimization, distance between ekf and vo x:0.000590 ,z=0.004816,angle between two frames:0.002356
+[17:12:08.766] frame process finished the id is: 135 the obs is:10 
+[17:12:08.835] Odometry x=0.001035, y=0.700681, theta=-0.006300
+[17:12:08.858] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000291 ,z=0.001271,angle between two frames:0.000143
+[17:12:08.858] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.002370 	 error end=0.002356
+[17:12:08.858] After pose optimization, distance between ekf and vo x:0.003496 ,z=0.000807,angle between two frames:0.002292
+[17:12:08.858] frame process finished the id is: 135 the obs is:10 
+[17:12:08.944] Odometry x=0.000751, y=0.712564, theta=-0.001255
+[17:12:08.963] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000501 ,z=0.002819,angle between two frames:0.000230
+[17:12:08.963] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000232 	 error end=0.000232
+[17:12:08.963] After pose optimization, distance between ekf and vo x:0.000871 ,z=0.002845,angle between two frames:0.000595
+[17:12:08.963] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:08.963] frame process finished the id is: 142 the obs is:10 
+[17:12:09.037] Odometry x=0.001596, y=0.715900, theta=-0.001097
+[17:12:09.074] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:0.000742 ,z=0.006499,angle between two frames:0.003239
+[17:12:09.075] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001384 	 error end=0.001384
+[17:12:09.075] After pose optimization, distance between ekf and vo x:0.001164 ,z=0.006644,angle between two frames:0.003530
+[17:12:09.075] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:09.075] frame process finished the id is: 143 the obs is:10 
+[17:12:09.136] Odometry x=0.002700, y=0.722841, theta=-0.003789
+[17:12:09.162] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000042 ,z=0.000930,angle between two frames:0.000728
+[17:12:09.162] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000001 	 error end=0.000001
+[17:12:09.162] After pose optimization, distance between ekf and vo x:-0.000042 ,z=0.000930,angle between two frames:0.000728
+[17:12:09.162] frame process finished the id is: 143 the obs is:10 
+[17:12:09.239] Odometry x=0.000353, y=0.742128, theta=0.013523
+[17:12:09.267] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000170 ,z=0.001465,angle between two frames:0.001136
+[17:12:09.267] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000113 	 error end=0.000113
+[17:12:09.267] After pose optimization, distance between ekf and vo x:-0.000123 ,z=0.001504,angle between two frames:0.001211
+[17:12:09.267] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:09.267] frame process finished the id is: 145 the obs is:10 
+[17:12:09.337] Odometry x=0.000213, y=0.744147, theta=0.012139
+[17:12:09.364] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000204 ,z=0.001189,angle between two frames:0.000825
+[17:12:09.364] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000202 	 error end=0.000202
+[17:12:09.364] After pose optimization, distance between ekf and vo x:-0.000113 ,z=0.001204,angle between two frames:0.000947
+[17:12:09.364] frame process finished the id is: 145 the obs is:10 
+[17:12:09.434] Odometry x=-0.000935, y=0.758704, theta=0.015255
+[17:12:09.465] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000202 ,z=0.001868,angle between two frames:0.001655
+[17:12:09.465] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000322 	 error end=0.000322
+[17:12:09.465] After pose optimization, distance between ekf and vo x:-0.000202 ,z=0.001868,angle between two frames:0.001655
+[17:12:09.465] frame process finished the id is: 145 the obs is:10 
+[17:12:09.537] Odometry x=-0.001046, y=0.769281, theta=0.012310
+[17:12:09.566] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000262 ,z=0.001817,angle between two frames:0.001673
+[17:12:09.567] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000246 	 error end=0.000246
+[17:12:09.567] After pose optimization, distance between ekf and vo x:-0.000343 ,z=0.001832,angle between two frames:0.001558
+[17:12:09.567] frame process finished the id is: 145 the obs is:10 
+[17:12:09.635] Odometry x=-0.000225, y=0.781975, theta=0.015400
+[17:12:09.666] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000428 ,z=0.001942,angle between two frames:0.001158
+[17:12:09.667] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000077 	 error end=0.000077
+[17:12:09.667] After pose optimization, distance between ekf and vo x:-0.000418 ,z=0.001954,angle between two frames:0.001173
+[17:12:09.667] frame process finished the id is: 145 the obs is:10 
+[17:12:09.738] Odometry x=-0.000186, y=0.792266, theta=0.016994
+[17:12:09.758] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000094 ,z=0.000527,angle between two frames:0.000521
+[17:12:09.758] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000226 	 error end=0.000226
+[17:12:09.758] After pose optimization, distance between ekf and vo x:-0.000016 ,z=0.000539,angle between two frames:0.000618
+[17:12:09.758] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:09.758] frame process finished the id is: 150 the obs is:10 
+[17:12:09.837] Odometry x=-0.000567, y=0.803789, theta=0.019881
+[17:12:09.871] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000258 ,z=0.002345,angle between two frames:0.002188
+[17:12:09.871] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000038 	 error end=0.000038
+[17:12:09.871] After pose optimization, distance between ekf and vo x:-0.000262 ,z=0.002346,angle between two frames:0.002182
+[17:12:09.871] frame process finished the id is: 150 the obs is:10 
+[17:12:09.939] Odometry x=-0.000670, y=0.814651, theta=0.018655
+[17:12:09.966] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000185 ,z=0.001180,angle between two frames:0.001108
+[17:12:09.966] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000063 	 error end=0.000063
+[17:12:09.966] After pose optimization, distance between ekf and vo x:-0.000185 ,z=0.001180,angle between two frames:0.001108
+[17:12:09.966] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:09.966] frame process finished the id is: 152 the obs is:10 
+[17:12:10.032] Odometry x=-0.000913, y=0.816493, theta=0.017488
+[17:12:10.061] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000199 ,z=0.001998,angle between two frames:0.001419
+[17:12:10.061] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.000008 	 error end=0.000008
+[17:12:10.061] After pose optimization, distance between ekf and vo x:-0.000197 ,z=0.001999,angle between two frames:0.001421
+[17:12:10.061] frame process finished the id is: 152 the obs is:10 
+[17:12:10.135] Odometry x=-0.002460, y=0.836827, theta=0.013155
+[17:12:10.165] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000200 ,z=0.001422,angle between two frames:0.001247
+[17:12:10.165] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000765 	 error end=0.000762
+[17:12:10.165] After pose optimization, distance between ekf and vo x:-0.001383 ,z=0.001412,angle between two frames:0.000004
+[17:12:10.165] frame process finished the id is: 152 the obs is:10 
+[17:12:10.238] Odometry x=-0.002587, y=0.847844, theta=0.014683
+[17:12:10.266] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000199 ,z=0.001309,angle between two frames:0.001109
+[17:12:10.266] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001567 	 error end=0.001559
+[17:12:10.266] After pose optimization, distance between ekf and vo x:0.000937 ,z=0.001806,angle between two frames:0.002500
+[17:12:10.266] frame process finished the id is: 152 the obs is:10 
+[17:12:10.337] Odometry x=-0.000091, y=0.858611, theta=0.027333
+[17:12:10.357] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000168 ,z=0.000615,angle between two frames:0.000447
+[17:12:10.358] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000852 	 error end=0.000849
+[17:12:10.358] After pose optimization, distance between ekf and vo x:-0.001499 ,z=0.000659,angle between two frames:0.001106
+[17:12:10.358] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:10.358] frame process finished the id is: 156 the obs is:10 
+[17:12:10.440] Odometry x=-0.001513, y=0.859799, theta=0.028210
+[17:12:10.451] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000027 ,z=0.000153,angle between two frames:0.000120
+[17:12:10.452] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000553 	 error end=0.000552
+[17:12:10.452] After pose optimization, distance between ekf and vo x:0.000433 ,z=0.000481,angle between two frames:0.000379
+[17:12:10.452] frame process finished the id is: 156 the obs is:10 
+[17:12:10.541] Odometry x=-0.001698, y=0.872864, theta=0.031155
+[17:12:10.552] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000020 ,z=0.000101,angle between two frames:0.000101
+[17:12:10.552] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000377 	 error end=0.000377
+[17:12:10.552] After pose optimization, distance between ekf and vo x:-0.000020 ,z=0.000101,angle between two frames:0.000101
+[17:12:10.552] frame process finished the id is: 156 the obs is:10 
+[17:12:10.634] Odometry x=-0.001834, y=0.883772, theta=0.034222
+[17:12:10.651] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000022 ,z=0.000130,angle between two frames:0.000159
+[17:12:10.652] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:10.652] After pose optimization, distance between ekf and vo x:-0.000022 ,z=0.000130,angle between two frames:0.000159
+[17:12:10.652] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:10.652] frame process finished the id is: 159 the obs is:10 
+[17:12:10.737] Odometry x=-0.002241, y=0.904213, theta=0.043714
+[17:12:10.750] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000016 ,z=0.000138,angle between two frames:0.000058
+[17:12:10.751] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000670 	 error end=0.000667
+[17:12:10.751] After pose optimization, distance between ekf and vo x:-0.001065 ,z=0.000299,angle between two frames:0.001224
+[17:12:10.751] frame process finished the id is: 159 the obs is:10 
+[17:12:10.838] Odometry x=-0.002440, y=0.915041, theta=0.035770
+[17:12:10.850] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000017 ,z=0.000141,angle between two frames:0.000052
+[17:12:10.851] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000157 	 error end=0.000157
+[17:12:10.851] After pose optimization, distance between ekf and vo x:0.000030 ,z=0.000162,angle between two frames:0.000003
+[17:12:10.851] frame process finished the id is: 159 the obs is:10 
+[17:12:10.940] Odometry x=-0.002666, y=0.928842, theta=0.028455
+[17:12:10.950] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000011 ,z=0.000144,angle between two frames:0.000055
+[17:12:10.950] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000501 	 error end=0.000500
+[17:12:10.950] After pose optimization, distance between ekf and vo x:-0.000156 ,z=0.000151,angle between two frames:0.000210
+[17:12:10.950] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:10.950] frame process finished the id is: 162 the obs is:10 
+[17:12:11.040] Odometry x=-0.002960, y=0.941333, theta=0.031282
+[17:12:11.063] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000003 ,z=0.000086,angle between two frames:0.000143
+[17:12:11.063] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000413 	 error end=0.000412
+[17:12:11.063] After pose optimization, distance between ekf and vo x:-0.000355 ,z=0.000126,angle between two frames:0.000465
+[17:12:11.063] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:11.063] frame process finished the id is: 163 the obs is:10 
+[17:12:11.138] Odometry x=-0.003589, y=0.959881, theta=0.020883
+[17:12:11.155] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000031 ,z=0.000039,angle between two frames:0.000000
+[17:12:11.155] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000273 	 error end=0.000273
+[17:12:11.155] After pose optimization, distance between ekf and vo x:-0.000202 ,z=0.000058,angle between two frames:0.000192
+[17:12:11.155] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:11.155] frame process finished the id is: 164 the obs is:10 
+[17:12:11.235] Odometry x=-0.003896, y=0.976130, theta=0.014848
+[17:12:11.250] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000015 ,z=0.000064,angle between two frames:0.000067
+[17:12:11.250] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000002 	 error end=0.000002
+[17:12:11.250] After pose optimization, distance between ekf and vo x:-0.000015 ,z=0.000064,angle between two frames:0.000067
+[17:12:11.250] frame process finished the id is: 164 the obs is:10 
+[17:12:11.330] Odometry x=-0.004027, y=0.988582, theta=0.019543
+[17:12:11.351] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000031 ,z=0.000093,angle between two frames:0.000051
+[17:12:11.352] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001562 	 error end=0.001562
+[17:12:11.352] After pose optimization, distance between ekf and vo x:-0.002266 ,z=0.000697,angle between two frames:0.002053
+[17:12:11.352] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:11.352] frame process finished the id is: 166 the obs is:10 
+[17:12:11.437] Odometry x=-0.006175, y=0.989890, theta=0.021647
+[17:12:11.452] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000007 ,z=0.000071,angle between two frames:0.000069
+[17:12:11.452] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000621 	 error end=0.000617
+[17:12:11.452] After pose optimization, distance between ekf and vo x:-0.001461 ,z=0.000076,angle between two frames:0.001528
+[17:12:11.452] frame process finished the id is: 166 the obs is:10 
+[17:12:11.536] Odometry x=-0.006316, y=1.002952, theta=0.021309
+[17:12:11.551] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000014 ,z=0.000073,angle between two frames:0.000046
+[17:12:11.551] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000067 	 error end=0.000067
+[17:12:11.551] After pose optimization, distance between ekf and vo x:0.000049 ,z=0.000069,angle between two frames:0.000017
+[17:12:11.551] frame process finished the id is: 166 the obs is:10 
+[17:12:11.639] Odometry x=-0.006481, y=1.015084, theta=0.037593
+[17:12:11.650] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000012 ,z=0.000070,angle between two frames:0.000088
+[17:12:11.651] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.001440 	 error end=0.001437
+[17:12:11.651] After pose optimization, distance between ekf and vo x:0.001072 ,z=0.000263,angle between two frames:0.000962
+[17:12:11.651] frame process finished the id is: 166 the obs is:10 
+[17:12:11.737] Odometry x=-0.006563, y=1.025977, theta=0.028259
+[17:12:11.754] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000005 ,z=0.000071,angle between two frames:0.000100
+[17:12:11.754] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000610 	 error end=0.000607
+[17:12:11.754] After pose optimization, distance between ekf and vo x:-0.002134 ,z=-0.002725,angle between two frames:0.002333
+[17:12:11.754] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:11.754] frame process finished the id is: 170 the obs is:10 
+[17:12:11.840] Odometry x=-0.008598, y=1.024647, theta=0.030634
+[17:12:11.857] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000016 ,z=0.000069,angle between two frames:0.000046
+[17:12:11.857] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.002034 	 error end=0.002029
+[17:12:11.857] After pose optimization, distance between ekf and vo x:0.001313 ,z=0.000047,angle between two frames:0.001250
+[17:12:11.857] frame process finished the id is: 170 the obs is:10 
+[17:12:11.937] Odometry x=-0.008825, y=1.039048, theta=0.018895
+[17:12:11.953] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000016 ,z=0.000057,angle between two frames:0.000054
+[17:12:11.954] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.001125 	 error end=0.001121
+[17:12:11.954] After pose optimization, distance between ekf and vo x:0.000982 ,z=0.000456,angle between two frames:0.000947
+[17:12:11.954] frame process finished the id is: 170 the obs is:10 
+[17:12:12.040] Odometry x=-0.008799, y=1.049898, theta=0.027495
+[17:12:12.051] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000017 ,z=0.000042,angle between two frames:0.000002
+[17:12:12.052] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.000001 	 error end=0.000001
+[17:12:12.052] After pose optimization, distance between ekf and vo x:-0.000020 ,z=0.000041,angle between two frames:0.000000
+[17:12:12.052] frame process finished the id is: 170 the obs is:10 
+[17:12:12.140] Odometry x=-0.009063, y=1.060520, theta=0.013550
+[17:12:12.151] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000029 ,z=0.000050,angle between two frames:0.000010
+[17:12:12.151] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000686 	 error end=0.000682
+[17:12:12.151] After pose optimization, distance between ekf and vo x:-0.001718 ,z=-0.000044,angle between two frames:0.001591
+[17:12:12.151] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:12.151] frame process finished the id is: 174 the obs is:10 
+[17:12:12.238] Odometry x=-0.010215, y=1.066829, theta=0.026871
+[17:12:12.250] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000014 ,z=0.000017,angle between two frames:0.000069
+[17:12:12.251] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000012 	 error end=0.000012
+[17:12:12.251] After pose optimization, distance between ekf and vo x:-0.000025 ,z=0.000017,angle between two frames:0.000079
+[17:12:12.251] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:12.251] frame process finished the id is: 175 the obs is:10 
+[17:12:12.336] Odometry x=-0.010159, y=1.066522, theta=0.026707
+[17:12:12.351] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000014 ,z=0.000075,angle between two frames:0.000084
+[17:12:12.351] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000140 	 error end=0.000140
+[17:12:12.351] After pose optimization, distance between ekf and vo x:0.000071 ,z=0.000082,angle between two frames:0.000004
+[17:12:12.351] frame process finished the id is: 175 the obs is:10 
+[17:12:12.439] Odometry x=-0.011119, y=1.079398, theta=0.023302
+[17:12:12.460] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000103 ,z=0.000238,angle between two frames:0.000258
+[17:12:12.460] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001734 	 error end=0.001714
+[17:12:12.460] After pose optimization, distance between ekf and vo x:-0.004185 ,z=-0.000096,angle between two frames:0.004054
+[17:12:12.460] frame process finished the id is: 175 the obs is:10 
+[17:12:12.539] Odometry x=-0.011256, y=1.091354, theta=0.021210
+[17:12:12.553] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000011 ,z=0.000100,angle between two frames:0.000137
+[17:12:12.553] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000114 	 error end=0.000114
+[17:12:12.553] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000100,angle between two frames:0.000137
+[17:12:12.553] frame process finished the id is: 175 the obs is:10 
+[17:12:12.637] Odometry x=-0.010754, y=1.102161, theta=0.026203
+[17:12:12.651] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000010 ,z=0.000049,angle between two frames:0.000050
+[17:12:12.652] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000526 	 error end=0.000525
+[17:12:12.652] After pose optimization, distance between ekf and vo x:0.001089 ,z=-0.002264,angle between two frames:0.000879
+[17:12:12.652] frame process finished the id is: 175 the obs is:10 
+[17:12:12.739] Odometry x=-0.010658, y=1.116248, theta=0.005253
+[17:12:12.752] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:3 ,distance between ekf and vo x:-0.000024 ,z=0.000104,angle between two frames:0.000077
+[17:12:12.752] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000000 	 error end=0.000000
+[17:12:12.752] After pose optimization, distance between ekf and vo x:-0.000024 ,z=0.000104,angle between two frames:0.000078
+[17:12:12.752] frame process finished the id is: 175 the obs is:10 
+[17:12:12.839] Odometry x=-0.010854, y=1.149467, theta=-0.010768
+[17:12:12.851] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:6 ,distance between ekf and vo x:-0.000033 ,z=0.000104,angle between two frames:0.000082
+[17:12:12.851] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.001380 	 error end=0.001380
+[17:12:12.851] After pose optimization, distance between ekf and vo x:-0.000033 ,z=0.000104,angle between two frames:0.000082
+[17:12:12.851] frame process finished the id is: 175 the obs is:10 
+[17:12:12.937] Odometry x=-0.016484, y=1.138656, theta=0.001429
+[17:12:12.951] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000007 ,z=0.000073,angle between two frames:0.000121
+[17:12:12.951] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000094 	 error end=0.000094
+[17:12:12.951] After pose optimization, distance between ekf and vo x:0.000294 ,z=0.000192,angle between two frames:0.000194
+[17:12:12.951] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:12.951] frame process finished the id is: 182 the obs is:10 
+[17:12:13.041] Odometry x=-0.016558, y=1.137333, theta=0.001616
+[17:12:13.050] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000011 ,z=0.000055,angle between two frames:0.000029
+[17:12:13.051] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001978 	 error end=0.001955
+[17:12:13.051] After pose optimization, distance between ekf and vo x:0.002338 ,z=0.000421,angle between two frames:0.001912
+[17:12:13.051] frame process finished the id is: 182 the obs is:10 
+[17:12:13.139] Odometry x=0.008068, y=1.164883, theta=0.012378
+[17:12:13.150] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000023 ,z=0.000087,angle between two frames:0.000009
+[17:12:13.150] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000532 	 error end=0.000531
+[17:12:13.150] After pose optimization, distance between ekf and vo x:0.001232 ,z=0.000482,angle between two frames:0.001081
+[17:12:13.150] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:13.150] frame process finished the id is: 184 the obs is:10 
+[17:12:13.237] Odometry x=0.009469, y=1.168081, theta=0.010183
+[17:12:13.253] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000057 ,z=0.000201,angle between two frames:0.000127
+[17:12:13.253] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.000006 	 error end=0.000006
+[17:12:13.253] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000201,angle between two frames:0.000127
+[17:12:13.253] frame process finished the id is: 184 the obs is:10 
+[17:12:13.339] Odometry x=0.008690, y=1.177010, theta=0.015971
+[17:12:13.351] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000017 ,z=0.000043,angle between two frames:0.000005
+[17:12:13.351] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000050 	 error end=0.000050
+[17:12:13.351] After pose optimization, distance between ekf and vo x:0.000115 ,z=0.000077,angle between two frames:0.000115
+[17:12:13.351] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:13.351] frame process finished the id is: 186 the obs is:10 
+[17:12:13.437] Odometry x=0.009149, y=1.189448, theta=0.027303
+[17:12:13.451] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000011 ,z=0.000050,angle between two frames:0.000027
+[17:12:13.452] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001959 	 error end=0.001950
+[17:12:13.452] After pose optimization, distance between ekf and vo x:0.002169 ,z=0.000926,angle between two frames:0.001887
+[17:12:13.452] frame process finished the id is: 186 the obs is:10 
+[17:12:13.537] Odometry x=0.011374, y=1.218074, theta=0.018902
+[17:12:13.553] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000021 ,z=0.000064,angle between two frames:0.000037
+[17:12:13.553] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000009 	 error end=0.000009
+[17:12:13.553] After pose optimization, distance between ekf and vo x:-0.000034 ,z=0.000068,angle between two frames:0.000048
+[17:12:13.553] frame process finished the id is: 186 the obs is:10 
+[17:12:13.640] Odometry x=0.011851, y=1.228739, theta=0.000211
+[17:12:13.651] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000007 ,z=0.000063,angle between two frames:0.000009
+[17:12:13.652] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.000000 	 error end=0.000000
+[17:12:13.652] After pose optimization, distance between ekf and vo x:-0.000007 ,z=0.000063,angle between two frames:0.000009
+[17:12:13.652] frame process finished the id is: 186 the obs is:10 
+[17:12:13.739] Odometry x=0.011829, y=1.239126, theta=-0.002980
+[17:12:13.753] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000014 ,z=0.000045,angle between two frames:0.000021
+[17:12:13.753] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002016 	 error end=0.002016
+[17:12:13.753] After pose optimization, distance between ekf and vo x:-0.000014 ,z=0.000045,angle between two frames:0.000021
+[17:12:13.753] frame process finished the id is: 186 the obs is:10 
+[17:12:13.831] Odometry x=0.012053, y=1.270136, theta=0.021214
+[17:12:13.851] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000014 ,z=0.000045,angle between two frames:0.000022
+[17:12:13.851] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000135 	 error end=0.000135
+[17:12:13.851] After pose optimization, distance between ekf and vo x:-0.000014 ,z=0.000045,angle between two frames:0.000022
+[17:12:13.851] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:13.851] frame process finished the id is: 191 the obs is:10 
+[17:12:13.932] Odometry x=0.011710, y=1.240678, theta=-0.001623
+[17:12:13.950] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000011 ,z=0.000009,angle between two frames:0.000042
+[17:12:13.950] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000277 	 error end=0.000277
+[17:12:13.950] After pose optimization, distance between ekf and vo x:-0.000011 ,z=0.000009,angle between two frames:0.000042
+[17:12:13.950] frame process finished the id is: 191 the obs is:10 
+[17:12:14.037] Odometry x=0.010150, y=1.272566, theta=0.007804
+[17:12:14.051] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000022 ,z=0.000081,angle between two frames:0.000048
+[17:12:14.051] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000059 	 error end=0.000059
+[17:12:14.051] After pose optimization, distance between ekf and vo x:-0.000762 ,z=-0.000337,angle between two frames:0.000639
+[17:12:14.051] frame process finished the id is: 191 the obs is:10 
+[17:12:14.131] Odometry x=0.023556, y=1.320756, theta=-0.032259
+[17:12:14.154] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000024 ,z=0.000014,angle between two frames:0.000092
+[17:12:14.154] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000354 	 error end=0.000354
+[17:12:14.154] After pose optimization, distance between ekf and vo x:-0.000024 ,z=0.000014,angle between two frames:0.000092
+[17:12:14.154] frame process finished the id is: 191 the obs is:10 
+[17:12:14.231] Odometry x=0.023550, y=1.330826, theta=-0.005833
+[17:12:14.251] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000028 ,z=0.000034,angle between two frames:0.000040
+[17:12:14.251] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000111 	 error end=0.000111
+[17:12:14.251] After pose optimization, distance between ekf and vo x:-0.000028 ,z=0.000034,angle between two frames:0.000040
+[17:12:14.251] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:14.251] frame process finished the id is: 195 the obs is:10 
+[17:12:14.335] Odometry x=0.023555, y=1.345165, theta=-0.010847
+[17:12:14.351] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000012 ,z=0.000023,angle between two frames:0.000055
+[17:12:14.351] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000346 	 error end=0.000346
+[17:12:14.351] After pose optimization, distance between ekf and vo x:-0.000012 ,z=0.000023,angle between two frames:0.000055
+[17:12:14.351] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:14.351] frame process finished the id is: 196 the obs is:10 
+[17:12:14.436] Odometry x=0.023433, y=1.345611, theta=-0.010572
+[17:12:14.454] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000006 ,z=0.000036,angle between two frames:0.000082
+[17:12:14.454] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000001 	 error end=0.000001
+[17:12:14.454] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000036,angle between two frames:0.000082
+[17:12:14.454] frame process finished the id is: 196 the obs is:10 
+[17:12:14.540] Odometry x=0.037466, y=1.323441, theta=-0.019776
+[17:12:14.550] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000000 ,z=0.000012,angle between two frames:0.000126
+[17:12:14.550] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000009 	 error end=0.000009
+[17:12:14.550] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000012,angle between two frames:0.000126
+[17:12:14.550] frame process finished the id is: 196 the obs is:10 
+[17:12:14.638] Odometry x=0.038236, y=1.361767, theta=-0.011731
+[17:12:14.653] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000006 ,z=0.000027,angle between two frames:0.000037
+[17:12:14.653] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000027,angle between two frames:0.000037
+[17:12:14.653] frame process finished the id is: 196 the obs is:10 
+[17:12:14.737] Odometry x=0.038246, y=1.373163, theta=-0.013300
+[17:12:14.754] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000015 ,z=-0.000025,angle between two frames:0.000114
+[17:12:14.754] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000961 	 error end=0.000953
+[17:12:14.754] After pose optimization, distance between ekf and vo x:0.005408 ,z=0.000099,angle between two frames:0.003102
+[17:12:14.754] frame process finished the id is: 196 the obs is:10 
+[17:12:14.837] Odometry x=0.038387, y=1.386804, theta=-0.006282
+[17:12:14.853] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000027 ,z=0.000052,angle between two frames:0.000046
+[17:12:14.853] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000133 	 error end=0.000132
+[17:12:14.853] After pose optimization, distance between ekf and vo x:-0.001835 ,z=-0.000105,angle between two frames:0.001306
+[17:12:14.853] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:14.853] frame process finished the id is: 201 the obs is:10 
+[17:12:14.945] Odometry x=0.036644, y=1.388410, theta=-0.005226
+[17:12:14.952] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000012 ,z=0.000064,angle between two frames:0.000006
+[17:12:14.952] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001738 	 error end=0.001738
+[17:12:14.952] After pose optimization, distance between ekf and vo x:-0.000012 ,z=0.000064,angle between two frames:0.000006
+[17:12:14.952] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:14.952] frame process finished the id is: 202 the obs is:10 
+[17:12:15.043] Odometry x=0.036626, y=1.362906, theta=-0.007850
+[17:12:15.054] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000019 ,z=0.000048,angle between two frames:0.000031
+[17:12:15.054] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000003 	 error end=0.000003
+[17:12:15.054] After pose optimization, distance between ekf and vo x:-0.000019 ,z=0.000048,angle between two frames:0.000031
+[17:12:15.054] frame process finished the id is: 202 the obs is:10 
+[17:12:15.136] Odometry x=0.037336, y=1.388636, theta=-0.020548
+[17:12:15.153] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000026 ,z=0.000061,angle between two frames:0.000014
+[17:12:15.153] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000060 	 error end=0.000060
+[17:12:15.153] After pose optimization, distance between ekf and vo x:-0.000026 ,z=0.000061,angle between two frames:0.000014
+[17:12:15.153] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:15.153] frame process finished the id is: 204 the obs is:10 
+[17:12:15.245] Odometry x=0.037635, y=1.390307, theta=-0.019549
+[17:12:15.253] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000002 ,z=0.000014,angle between two frames:0.000064
+[17:12:15.253] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.000001 	 error end=0.000001
+[17:12:15.253] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000014,angle between two frames:0.000062
+[17:12:15.253] frame process finished the id is: 204 the obs is:10 
+[17:12:15.339] Odometry x=0.037681, y=1.405109, theta=-0.018772
+[17:12:15.354] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000006 ,z=0.000020,angle between two frames:0.000053
+[17:12:15.354] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001525 	 error end=0.001525
+[17:12:15.354] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000020,angle between two frames:0.000053
+[17:12:15.354] frame process finished the id is: 204 the obs is:10 
+[17:12:15.437] Odometry x=0.039025, y=1.414983, theta=-0.011293
+[17:12:15.453] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000016 ,z=-0.000021,angle between two frames:0.000117
+[17:12:15.453] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000975 	 error end=0.000975
+[17:12:15.453] After pose optimization, distance between ekf and vo x:-0.000016 ,z=-0.000021,angle between two frames:0.000117
+[17:12:15.453] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:15.453] frame process finished the id is: 207 the obs is:10 
+[17:12:15.537] Odometry x=0.039039, y=1.426816, theta=0.002635
+[17:12:15.561] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000020 ,z=0.000326,angle between two frames:0.000010
+[17:12:15.561] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000953 	 error end=0.000953
+[17:12:15.561] After pose optimization, distance between ekf and vo x:-0.000020 ,z=0.000326,angle between two frames:0.000010
+[17:12:15.561] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:15.561] frame process finished the id is: 208 the obs is:10 
+[17:12:15.637] Odometry x=0.039057, y=1.431657, theta=0.001885
+[17:12:15.668] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000020 ,z=0.000816,angle between two frames:0.000057
+[17:12:15.669] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000474 	 error end=0.000474
+[17:12:15.669] After pose optimization, distance between ekf and vo x:0.000672 ,z=0.001230,angle between two frames:0.000509
+[17:12:15.669] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:15.669] frame process finished the id is: 209 the obs is:10 
+[17:12:15.740] Odometry x=0.039435, y=1.433546, theta=0.001348
+[17:12:15.776] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000263 ,z=0.001914,angle between two frames:0.000322
+[17:12:15.776] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002559 	 error end=0.002528
+[17:12:15.776] After pose optimization, distance between ekf and vo x:0.004180 ,z=0.002575,angle between two frames:0.003499
+[17:12:15.776] frame process finished the id is: 209 the obs is:10 
+[17:12:15.838] Odometry x=0.040993, y=1.446531, theta=0.001816
+[17:12:15.876] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000286 ,z=0.001758,angle between two frames:0.000473
+[17:12:15.877] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000940 	 error end=0.000934
+[17:12:15.877] After pose optimization, distance between ekf and vo x:0.002260 ,z=0.002149,angle between two frames:0.002281
+[17:12:15.877] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:15.877] frame process finished the id is: 211 the obs is:10 
+[17:12:15.940] Odometry x=0.042778, y=1.449009, theta=0.000706
+[17:12:15.970] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000177 ,z=0.001458,angle between two frames:0.000717
+[17:12:15.971] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000001 	 error end=0.000001
+[17:12:15.971] After pose optimization, distance between ekf and vo x:-0.000177 ,z=0.001458,angle between two frames:0.000717
+[17:12:15.971] frame process finished the id is: 211 the obs is:10 
+[17:12:16.037] Odometry x=0.042628, y=1.461998, theta=0.011785
+[17:12:16.069] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000232 ,z=0.001535,angle between two frames:0.000726
+[17:12:16.070] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000010 	 error end=0.000010
+[17:12:16.070] After pose optimization, distance between ekf and vo x:-0.000226 ,z=0.001537,angle between two frames:0.000731
+[17:12:16.070] frame process finished the id is: 211 the obs is:10 
+[17:12:16.140] Odometry x=0.053262, y=1.472530, theta=0.017269
+[17:12:16.167] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000125 ,z=0.000942,angle between two frames:0.000309
+[17:12:16.167] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000035 	 error end=0.000035
+[17:12:16.167] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000953,angle between two frames:0.000368
+[17:12:16.167] frame process finished the id is: 211 the obs is:10 
+[17:12:16.237] Odometry x=0.053050, y=1.507499, theta=-0.015104
+[17:12:16.277] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000189 ,z=0.001437,angle between two frames:0.000430
+[17:12:16.277] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
+[17:12:16.277] After pose optimization, distance between ekf and vo x:-0.000189 ,z=0.001437,angle between two frames:0.000430
+[17:12:16.277] frame process finished the id is: 211 the obs is:10 
+[17:12:16.340] Odometry x=0.053135, y=1.518045, theta=-0.010638
+[17:12:16.378] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000129 ,z=0.001812,angle between two frames:0.000880
+[17:12:16.378] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000128 	 error end=0.000128
+[17:12:16.378] After pose optimization, distance between ekf and vo x:-0.000129 ,z=0.001812,angle between two frames:0.000880
+[17:12:16.378] frame process finished the id is: 211 the obs is:10 
+[17:12:16.437] Odometry x=0.037528, y=1.528668, theta=-0.018718
+[17:12:16.479] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000104 ,z=0.001897,angle between two frames:0.000796
+[17:12:16.479] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000019 	 error end=0.000019
+[17:12:16.479] After pose optimization, distance between ekf and vo x:-0.000104 ,z=0.001897,angle between two frames:0.000796
+[17:12:16.479] frame process finished the id is: 211 the obs is:10 
+[17:12:16.536] Odometry x=0.043630, y=1.540130, theta=-0.015996
+[17:12:16.583] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000147 ,z=0.001748,angle between two frames:0.000751
+[17:12:16.583] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000002 	 error end=0.000002
+[17:12:16.583] After pose optimization, distance between ekf and vo x:-0.000147 ,z=0.001748,angle between two frames:0.000751
+[17:12:16.583] frame process finished the id is: 211 the obs is:10 
+[17:12:16.638] Odometry x=0.043919, y=1.556389, theta=-0.017486
+[17:12:16.706] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000168 ,z=0.001474,angle between two frames:0.000665
+[17:12:16.706] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000053 	 error end=0.000053
+[17:12:16.706] After pose optimization, distance between ekf and vo x:-0.000178 ,z=0.001499,angle between two frames:0.000659
+[17:12:16.706] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:16.706] frame process finished the id is: 219 the obs is:10 
+[17:12:16.743] Odometry x=0.044586, y=1.558383, theta=-0.017041
+[17:12:16.800] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000065 ,z=0.000769,angle between two frames:0.000225
+[17:12:16.800] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000003 	 error end=0.000003
+[17:12:16.800] After pose optimization, distance between ekf and vo x:-0.000065 ,z=0.000769,angle between two frames:0.000225
+[17:12:16.800] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:16.800] frame process finished the id is: 220 the obs is:10 
+[17:12:16.839] Odometry x=0.044200, y=1.559866, theta=-0.016629
+[17:12:16.902] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000084 ,z=0.000722,angle between two frames:0.000173
+[17:12:16.902] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000231 	 error end=0.000231
+[17:12:16.902] After pose optimization, distance between ekf and vo x:-0.000832 ,z=0.000636,angle between two frames:0.000287
+[17:12:16.902] frame process finished the id is: 220 the obs is:10 
+[17:12:16.931] Odometry x=0.044186, y=1.560133, theta=-0.014353
+[17:12:16.999] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000099 ,z=0.000732,angle between two frames:0.000203
+[17:12:16.999] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000903 	 error end=0.000903
+[17:12:16.999] After pose optimization, distance between ekf and vo x:-0.000099 ,z=0.000732,angle between two frames:0.000203
+[17:12:16.999] frame process finished the id is: 220 the obs is:10 
+[17:12:17.034] Odometry x=0.044413, y=1.564264, theta=-0.025099
+[17:12:17.094] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000215 ,z=0.001052,angle between two frames:0.000291
+[17:12:17.094] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001053 	 error end=0.001053
+[17:12:17.094] After pose optimization, distance between ekf and vo x:-0.000215 ,z=0.001052,angle between two frames:0.000291
+[17:12:17.094] frame process finished the id is: 220 the obs is:10 
+[17:12:17.136] Odometry x=0.059241, y=1.566503, theta=-0.016733
+[17:12:17.185] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000016 ,z=0.000088,angle between two frames:0.000004
+[17:12:17.185] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000002 	 error end=0.000002
+[17:12:17.185] After pose optimization, distance between ekf and vo x:-0.000016 ,z=0.000088,angle between two frames:0.000004
+[17:12:17.185] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:17.185] frame process finished the id is: 224 the obs is:10 
+[17:12:17.233] Odometry x=0.059170, y=1.567268, theta=-0.017133
+[17:12:17.293] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000013 ,z=0.000339,angle between two frames:0.000047
+[17:12:17.293] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 	 error init =0.000001 	 error end=0.000001
+[17:12:17.293] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000339,angle between two frames:0.000047
+[17:12:17.293] frame process finished the id is: 224 the obs is:10 
+[17:12:17.336] Odometry x=0.059282, y=1.585910, theta=-0.033477
+[17:12:17.400] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000145 ,z=0.000992,angle between two frames:0.000482
+[17:12:17.400] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000033 	 error end=0.000033
+[17:12:17.400] After pose optimization, distance between ekf and vo x:-0.000145 ,z=0.000992,angle between two frames:0.000482
+[17:12:17.400] frame process finished the id is: 224 the obs is:10 
+[17:12:17.433] Odometry x=0.059509, y=1.597535, theta=-0.043943
+[17:12:17.508] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000144 ,z=0.001474,angle between two frames:0.000664
+[17:12:17.508] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000792 	 error end=0.000792
+[17:12:17.508] After pose optimization, distance between ekf and vo x:-0.000144 ,z=0.001474,angle between two frames:0.000664
+[17:12:17.508] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:17.508] frame process finished the id is: 227 the obs is:10 
+[17:12:17.534] Odometry x=0.059060, y=1.597984, theta=-0.043678
+[17:12:17.610] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000228 ,z=0.001582,angle between two frames:0.000675
+[17:12:17.610] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.000363 	 error end=0.000363
+[17:12:17.610] After pose optimization, distance between ekf and vo x:-0.000451 ,z=0.001549,angle between two frames:0.000544
+[17:12:17.610] frame process finished the id is: 227 the obs is:10 
+[17:12:17.636] Odometry x=0.060002, y=1.644613, theta=-0.047554
+[17:12:17.704] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000035 ,z=0.000663,angle between two frames:0.000270
+[17:12:17.704] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000220 	 error end=0.000220
+[17:12:17.704] After pose optimization, distance between ekf and vo x:-0.000035 ,z=0.000663,angle between two frames:0.000270
+[17:12:17.704] frame process finished the id is: 227 the obs is:10 
+[17:12:17.734] Odometry x=0.070738, y=1.654283, theta=-0.056312
+[17:12:17.799] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000059 ,z=0.000899,angle between two frames:0.000097
+[17:12:17.799] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000052 	 error end=0.000052
+[17:12:17.799] After pose optimization, distance between ekf and vo x:0.000059 ,z=0.000899,angle between two frames:0.000097
+[17:12:17.799] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:17.799] frame process finished the id is: 230 the obs is:10 
+[17:12:17.837] Odometry x=0.070739, y=1.654408, theta=-0.055998
+[17:12:17.907] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000070 ,z=0.001479,angle between two frames:0.000449
+[17:12:17.907] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001446 	 error end=0.001446
+[17:12:17.907] After pose optimization, distance between ekf and vo x:-0.000070 ,z=0.001479,angle between two frames:0.000449
+[17:12:17.907] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:17.907] frame process finished the id is: 231 the obs is:10 
+[17:12:17.935] Odometry x=0.070793, y=1.656532, theta=-0.056444
+[17:12:18.000] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000005 ,z=0.001041,angle between two frames:0.000111
+[17:12:18.000] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000044 	 error end=0.000044
+[17:12:18.000] After pose optimization, distance between ekf and vo x:-0.000005 ,z=0.001041,angle between two frames:0.000111
+[17:12:18.000] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:18.001] frame process finished the id is: 232 the obs is:10 
+[17:12:18.033] Odometry x=0.070814, y=1.658244, theta=-0.056911
+[17:12:18.107] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000169 ,z=0.001381,angle between two frames:0.000484
+[17:12:18.108] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000037 	 error end=0.000037
+[17:12:18.108] After pose optimization, distance between ekf and vo x:-0.000169 ,z=0.001381,angle between two frames:0.000484
+[17:12:18.108] frame process finished the id is: 232 the obs is:10 
+[17:12:18.135] Odometry x=0.070688, y=1.703431, theta=-0.070715
+[17:12:18.202] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000067 ,z=0.001055,angle between two frames:0.000489
+[17:12:18.202] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000034 	 error end=0.000034
+[17:12:18.203] After pose optimization, distance between ekf and vo x:0.000048 ,z=0.001025,angle between two frames:0.000548
+[17:12:18.203] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:18.203] frame process finished the id is: 234 the obs is:10 
+[17:12:18.233] Odometry x=0.070558, y=1.705018, theta=-0.070703
+[17:12:18.300] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:-0.000065 ,z=0.000891,angle between two frames:0.000425
+[17:12:18.300] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000188 	 error end=0.000188
+[17:12:18.300] After pose optimization, distance between ekf and vo x:-0.000065 ,z=0.000891,angle between two frames:0.000425
+[17:12:18.300] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:18.300] frame process finished the id is: 235 the obs is:10 
+[17:12:18.336] Odometry x=0.070511, y=1.706218, theta=-0.071100
+[17:12:18.399] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000048 ,z=0.000984,angle between two frames:0.000178
+[17:12:18.399] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000335 	 error end=0.000335
+[17:12:18.399] After pose optimization, distance between ekf and vo x:0.000048 ,z=0.000984,angle between two frames:0.000178
+[17:12:18.399] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:18.399] frame process finished the id is: 236 the obs is:10 
+[17:12:18.436] Odometry x=0.070518, y=1.706100, theta=-0.071293
+[17:12:18.500] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000002 ,z=0.000802,angle between two frames:0.000136
+[17:12:18.501] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000001 	 error end=0.000001
+[17:12:18.501] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000802,angle between two frames:0.000136
+[17:12:18.501] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:18.501] frame process finished the id is: 237 the obs is:10 
+[17:12:18.533] Odometry x=0.070490, y=1.710686, theta=-0.071232
+[17:12:18.600] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000078 ,z=0.001161,angle between two frames:0.000299
+[17:12:18.600] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000000 	 error end=0.000000
+[17:12:18.600] After pose optimization, distance between ekf and vo x:0.000078 ,z=0.001161,angle between two frames:0.000299
+[17:12:18.600] frame process finished the id is: 237 the obs is:10 
+[17:12:18.632] Odometry x=0.071040, y=1.725681, theta=-0.064587
+[17:12:18.700] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000057 ,z=0.001081,angle between two frames:0.000350
+[17:12:18.700] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000005 	 error end=0.000005
+[17:12:18.700] After pose optimization, distance between ekf and vo x:0.000057 ,z=0.001081,angle between two frames:0.000350
+[17:12:18.700] frame process finished the id is: 237 the obs is:10 
+[17:12:18.740] Odometry x=0.063726, y=1.736767, theta=-0.078508
+[17:12:18.800] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000042 ,z=0.000550,angle between two frames:0.000112
+[17:12:18.800] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000002 	 error end=0.000002
+[17:12:18.800] After pose optimization, distance between ekf and vo x:0.000043 ,z=0.000550,angle between two frames:0.000112
+[17:12:18.800] frame process finished the id is: 237 the obs is:10 
+[17:12:18.833] Odometry x=0.076388, y=1.766427, theta=-0.099220
+[17:12:18.901] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000085 ,z=0.000572,angle between two frames:0.000150
+[17:12:18.901] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000214 	 error end=0.000214
+[17:12:18.901] After pose optimization, distance between ekf and vo x:0.000085 ,z=0.000572,angle between two frames:0.000150
+[17:12:18.901] frame process finished the id is: 237 the obs is:10 
+[17:12:18.931] Odometry x=0.083605, y=1.794615, theta=-0.105853
+[17:12:19.008] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000273 ,z=0.001344,angle between two frames:0.000353
+[17:12:19.008] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001503 	 error end=0.001503
+[17:12:19.008] After pose optimization, distance between ekf and vo x:0.000273 ,z=0.001344,angle between two frames:0.000353
+[17:12:19.008] frame process finished the id is: 237 the obs is:10 
+[17:12:19.039] Odometry x=0.080947, y=1.759899, theta=-0.084086
+[17:12:19.102] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:5 ,distance between ekf and vo x:0.000050 ,z=0.000625,angle between two frames:0.000152
+[17:12:19.103] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000077 	 error end=0.000077
+[17:12:19.103] After pose optimization, distance between ekf and vo x:-0.000010 ,z=0.000614,angle between two frames:0.000121
+[17:12:19.103] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:19.103] frame process finished the id is: 243 the obs is:10 
+[17:12:19.137] Odometry x=0.080967, y=1.761068, theta=-0.083666
+[17:12:19.204] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:-0.000004 ,z=0.000929,angle between two frames:0.000421
+[17:12:19.204] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000184 	 error end=0.000184
+[17:12:19.204] After pose optimization, distance between ekf and vo x:-0.000184 ,z=0.000905,angle between two frames:0.000325
+[17:12:19.204] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:19.204] frame process finished the id is: 244 the obs is:10 
+[17:12:19.234] Odometry x=0.079260, y=1.766490, theta=-0.083028
+[17:12:19.301] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000028 ,z=0.000567,angle between two frames:0.000148
+[17:12:19.301] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002453 	 error end=0.002453
+[17:12:19.301] After pose optimization, distance between ekf and vo x:0.000028 ,z=0.000567,angle between two frames:0.000148
+[17:12:19.301] frame process finished the id is: 244 the obs is:10 
+[17:12:19.336] Odometry x=0.070389, y=1.803452, theta=-0.076697
+[17:12:19.410] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000169 ,z=0.001674,angle between two frames:0.000744
+[17:12:19.410] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000012 	 error end=0.000012
+[17:12:19.410] After pose optimization, distance between ekf and vo x:0.000169 ,z=0.001674,angle between two frames:0.000744
+[17:12:19.410] frame process finished the id is: 244 the obs is:10 
+[17:12:19.441] Odometry x=0.069694, y=1.816504, theta=-0.089132
+[17:12:19.505] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000078 ,z=0.000591,angle between two frames:0.000092
+[17:12:19.505] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000011 	 error end=0.000011
+[17:12:19.505] After pose optimization, distance between ekf and vo x:0.000078 ,z=0.000591,angle between two frames:0.000092
+[17:12:19.505] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:19.505] frame process finished the id is: 247 the obs is:10 
+[17:12:19.540] Odometry x=0.069776, y=1.817562, theta=-0.088601
+[17:12:19.599] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000077 ,z=0.000766,angle between two frames:0.000035
+[17:12:19.599] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:19.599] After pose optimization, distance between ekf and vo x:0.000077 ,z=0.000766,angle between two frames:0.000035
+[17:12:19.599] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:19.599] frame process finished the id is: 248 the obs is:10 
+[17:12:19.709] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000221 ,z=0.001334,angle between two frames:0.000076
+[17:12:19.709] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000010 	 error end=0.000010
+[17:12:19.709] After pose optimization, distance between ekf and vo x:0.000221 ,z=0.001334,angle between two frames:0.000076
+[17:12:19.709] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:19.709] frame process finished the id is: 249 the obs is:10 
+[17:12:19.805] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000022 ,z=0.000884,angle between two frames:0.000342
+[17:12:19.805] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000882 	 error end=0.000882
+[17:12:19.805] After pose optimization, distance between ekf and vo x:0.000022 ,z=0.000884,angle between two frames:0.000342
+[17:12:19.805] frame process finished the id is: 249 the obs is:10 
+[17:12:19.900] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000040 ,z=0.000872,angle between two frames:0.000302
+[17:12:19.900] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000615 	 error end=0.000615
+[17:12:19.900] After pose optimization, distance between ekf and vo x:0.000040 ,z=0.000872,angle between two frames:0.000302
+[17:12:19.900] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:19.901] frame process finished the id is: 251 the obs is:10 
+[17:12:20.001] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:0.000188 ,z=0.001135,angle between two frames:0.000194
+[17:12:20.001] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.002573 	 error end=0.002573
+[17:12:20.001] After pose optimization, distance between ekf and vo x:0.000188 ,z=0.001135,angle between two frames:0.000194
+[17:12:20.001] frame process finished the id is: 251 the obs is:10 
+[17:12:20.100] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:0.000187 ,z=0.001131,angle between two frames:0.000197
+[17:12:20.100] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 	 error init =0.004620 	 error end=0.004620
+[17:12:20.100] After pose optimization, distance between ekf and vo x:0.000187 ,z=0.001131,angle between two frames:0.000197
+[17:12:20.100] frame process finished the id is: 251 the obs is:10 
+[17:12:20.202] After Reprojection Map nPoint:10 ,nCell:3 ,nMatches:3 ,distance between ekf and vo x:0.000178 ,z=0.001110,angle between two frames:0.000198
+[17:12:20.202] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000000 	 error end=0.000000
+[17:12:20.202] After pose optimization, distance between ekf and vo x:0.000178 ,z=0.001110,angle between two frames:0.000198
+[17:12:20.202] frame process finished the id is: 251 the obs is:10 
+[17:12:20.300] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000160 ,z=0.001079,angle between two frames:0.000205
+[17:12:20.300] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000475 	 error end=0.000475
+[17:12:20.300] After pose optimization, distance between ekf and vo x:0.000160 ,z=0.001079,angle between two frames:0.000205
+[17:12:20.300] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:20.300] frame process finished the id is: 255 the obs is:10 
+[17:12:20.409] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000366 ,z=0.001586,angle between two frames:0.000068
+[17:12:20.409] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000298 	 error end=0.000298
+[17:12:20.409] After pose optimization, distance between ekf and vo x:0.000366 ,z=0.001586,angle between two frames:0.000068
+[17:12:20.409] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:20.409] frame process finished the id is: 256 the obs is:10 
+[17:12:20.495] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000248,angle between two frames:0.000110
+[17:12:20.496] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.000003 	 error end=0.000003
+[17:12:20.496] After pose optimization, distance between ekf and vo x:0.000021 ,z=0.000248,angle between two frames:0.000110
+[17:12:20.496] frame process finished the id is: 256 the obs is:10 
+[17:12:20.598] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000248,angle between two frames:0.000106
+[17:12:20.598] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
+[17:12:20.598] After pose optimization, distance between ekf and vo x:0.000021 ,z=0.000248,angle between two frames:0.000106
+[17:12:20.598] frame process finished the id is: 256 the obs is:10 
+[17:12:20.694] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000018 ,z=0.000248,angle between two frames:0.000125
+[17:12:20.694] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.004159 	 error end=0.004159
+[17:12:20.694] After pose optimization, distance between ekf and vo x:0.000018 ,z=0.000248,angle between two frames:0.000125
+[17:12:20.694] frame process finished the id is: 256 the obs is:10 
+[17:12:20.794] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000023 ,z=0.000245,angle between two frames:0.000098
+[17:12:20.794] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.004765 	 error end=0.004765
+[17:12:20.794] After pose optimization, distance between ekf and vo x:0.000023 ,z=0.000245,angle between two frames:0.000098
+[17:12:20.794] frame process finished the id is: 256 the obs is:10 
+[17:12:20.894] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000244,angle between two frames:0.000104
+[17:12:20.894] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000119 	 error end=0.000119
+[17:12:20.894] After pose optimization, distance between ekf and vo x:0.000021 ,z=0.000244,angle between two frames:0.000104
+[17:12:20.894] frame process finished the id is: 256 the obs is:10 
+[17:12:20.993] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000022 ,z=0.000244,angle between two frames:0.000104
+[17:12:20.993] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000315 	 error end=0.000315
+[17:12:20.993] After pose optimization, distance between ekf and vo x:0.000022 ,z=0.000244,angle between two frames:0.000104
+[17:12:20.993] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:20.993] frame process finished the id is: 262 the obs is:10 
+[17:12:21.102] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000111 ,z=0.000840,angle between two frames:0.000321
+[17:12:21.102] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:21.102] After pose optimization, distance between ekf and vo x:0.000111 ,z=0.000840,angle between two frames:0.000321
+[17:12:21.102] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:21.103] frame process finished the id is: 263 the obs is:10 
+[17:12:21.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000051 ,z=0.000266,angle between two frames:0.000071
+[17:12:21.195] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000811 	 error end=0.000811
+[17:12:21.195] After pose optimization, distance between ekf and vo x:0.000051 ,z=0.000266,angle between two frames:0.000071
+[17:12:21.195] frame process finished the id is: 263 the obs is:10 
+[17:12:21.294] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000051 ,z=0.000266,angle between two frames:0.000071
+[17:12:21.294] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000122 	 error end=0.000122
+[17:12:21.294] After pose optimization, distance between ekf and vo x:0.000051 ,z=0.000266,angle between two frames:0.000071
+[17:12:21.294] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:21.294] frame process finished the id is: 265 the obs is:10 
+[17:12:21.401] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000016 ,z=0.000790,angle between two frames:0.000421
+[17:12:21.401] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001477 	 error end=0.001477
+[17:12:21.401] After pose optimization, distance between ekf and vo x:0.000016 ,z=0.000790,angle between two frames:0.000421
+[17:12:21.401] frame process finished the id is: 265 the obs is:10 
+[17:12:21.505] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000016 ,z=0.000790,angle between two frames:0.000421
+[17:12:21.505] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002865 	 error end=0.002865
+[17:12:21.505] After pose optimization, distance between ekf and vo x:0.000016 ,z=0.000790,angle between two frames:0.000421
+[17:12:21.505] frame process finished the id is: 265 the obs is:10 
+[17:12:21.602] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000016 ,z=0.000788,angle between two frames:0.000419
+[17:12:21.602] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:21.602] After pose optimization, distance between ekf and vo x:0.000016 ,z=0.000788,angle between two frames:0.000419
+[17:12:21.602] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:21.602] frame process finished the id is: 268 the obs is:10 
+[17:12:21.702] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000024 ,z=0.000787,angle between two frames:0.000387
+[17:12:21.702] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
+[17:12:21.702] After pose optimization, distance between ekf and vo x:0.000024 ,z=0.000787,angle between two frames:0.000387
+[17:12:21.702] frame process finished the id is: 268 the obs is:10 
+[17:12:21.801] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000024 ,z=0.000787,angle between two frames:0.000386
+[17:12:21.801] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000722 	 error end=0.000722
+[17:12:21.801] After pose optimization, distance between ekf and vo x:0.000024 ,z=0.000787,angle between two frames:0.000386
+[17:12:21.801] frame process finished the id is: 268 the obs is:10 
+[17:12:21.902] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000023 ,z=0.000787,angle between two frames:0.000388
+[17:12:21.902] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.000055 	 error end=0.000055
+[17:12:21.902] After pose optimization, distance between ekf and vo x:0.000023 ,z=0.000787,angle between two frames:0.000388
+[17:12:21.902] frame process finished the id is: 268 the obs is:10 
+[17:12:22.003] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000025 ,z=0.000787,angle between two frames:0.000384
+[17:12:22.003] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:22.003] After pose optimization, distance between ekf and vo x:0.000025 ,z=0.000787,angle between two frames:0.000384
+[17:12:22.003] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:22.003] frame process finished the id is: 272 the obs is:10 
+[17:12:22.101] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000032 ,z=0.000833,angle between two frames:0.000266
+[17:12:22.101] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000203 	 error end=0.000203
+[17:12:22.101] After pose optimization, distance between ekf and vo x:0.000032 ,z=0.000833,angle between two frames:0.000266
+[17:12:22.101] frame process finished the id is: 272 the obs is:10 
+[17:12:22.201] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000032 ,z=0.000831,angle between two frames:0.000266
+[17:12:22.202] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001368 	 error end=0.001368
+[17:12:22.202] After pose optimization, distance between ekf and vo x:0.000032 ,z=0.000831,angle between two frames:0.000266
+[17:12:22.202] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:22.202] frame process finished the id is: 274 the obs is:10 
+[17:12:22.309] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000176 ,z=0.001163,angle between two frames:0.000029
+[17:12:22.309] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000006 	 error end=0.000006
+[17:12:22.309] After pose optimization, distance between ekf and vo x:0.000176 ,z=0.001163,angle between two frames:0.000029
+[17:12:22.309] frame process finished the id is: 274 the obs is:10 
+[17:12:22.411] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000176 ,z=0.001164,angle between two frames:0.000028
+[17:12:22.412] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000460 	 error end=0.000460
+[17:12:22.412] After pose optimization, distance between ekf and vo x:0.000176 ,z=0.001164,angle between two frames:0.000028
+[17:12:22.412] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:22.412] frame process finished the id is: 276 the obs is:10 
+[17:12:22.514] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000174 ,z=0.001339,angle between two frames:0.000095
+[17:12:22.514] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002709 	 error end=0.002709
+[17:12:22.514] After pose optimization, distance between ekf and vo x:0.000174 ,z=0.001339,angle between two frames:0.000095
+[17:12:22.514] frame process finished the id is: 276 the obs is:10 
+[17:12:22.616] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000173 ,z=0.001339,angle between two frames:0.000096
+[17:12:22.616] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000095 	 error end=0.000095
+[17:12:22.616] After pose optimization, distance between ekf and vo x:0.000179 ,z=0.001311,angle between two frames:0.000098
+[17:12:22.616] frame process finished the id is: 276 the obs is:10 
+[17:12:22.718] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000173 ,z=0.001340,angle between two frames:0.000095
+[17:12:22.718] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000016 	 error end=0.000016
+[17:12:22.718] After pose optimization, distance between ekf and vo x:0.000218 ,z=0.001330,angle between two frames:0.000117
+[17:12:22.718] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:22.718] frame process finished the id is: 279 the obs is:10 
+[17:12:22.817] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000185 ,z=0.001101,angle between two frames:0.000006
+[17:12:22.817] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000139 	 error end=0.000139
+[17:12:22.817] After pose optimization, distance between ekf and vo x:0.000185 ,z=0.001101,angle between two frames:0.000006
+[17:12:22.817] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:22.817] frame process finished the id is: 280 the obs is:10 
+[17:12:22.920] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.001333,angle between two frames:0.000031
+[17:12:22.920] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001463 	 error end=0.001463
+[17:12:22.920] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.001333,angle between two frames:0.000031
+[17:12:22.920] frame process finished the id is: 280 the obs is:10 
+[17:12:23.021] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.001336,angle between two frames:0.000032
+[17:12:23.021] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000027 	 error end=0.000027
+[17:12:23.021] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.001336,angle between two frames:0.000032
+[17:12:23.021] frame process finished the id is: 280 the obs is:10 
+[17:12:23.124] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000210 ,z=0.001336,angle between two frames:0.000030
+[17:12:23.124] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001305 	 error end=0.001305
+[17:12:23.124] After pose optimization, distance between ekf and vo x:0.000210 ,z=0.001336,angle between two frames:0.000030
+[17:12:23.124] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:23.124] frame process finished the id is: 283 the obs is:10 
+[17:12:23.226] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000226 ,z=0.001396,angle between two frames:0.000045
+[17:12:23.227] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000130 	 error end=0.000130
+[17:12:23.227] After pose optimization, distance between ekf and vo x:0.000432 ,z=0.001325,angle between two frames:0.000052
+[17:12:23.227] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:23.227] frame process finished the id is: 284 the obs is:10 
+[17:12:23.329] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000229 ,z=0.001417,angle between two frames:0.000038
+[17:12:23.330] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000015 	 error end=0.000015
+[17:12:23.330] After pose optimization, distance between ekf and vo x:0.000269 ,z=0.001409,angle between two frames:0.000019
+[17:12:23.330] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:23.330] frame process finished the id is: 285 the obs is:10 
+[17:12:23.432] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000214 ,z=0.001418,angle between two frames:0.000048
+[17:12:23.432] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000121 	 error end=0.000121
+[17:12:23.432] After pose optimization, distance between ekf and vo x:0.000214 ,z=0.001418,angle between two frames:0.000048
+[17:12:23.432] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:23.432] frame process finished the id is: 286 the obs is:10 
+[17:12:23.534] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000212 ,z=0.001441,angle between two frames:0.000079
+[17:12:23.534] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000229 	 error end=0.000229
+[17:12:23.534] After pose optimization, distance between ekf and vo x:0.000212 ,z=0.001441,angle between two frames:0.000079
+[17:12:23.534] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:23.534] frame process finished the id is: 287 the obs is:10 
+[17:12:23.630] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000129 ,z=0.000642,angle between two frames:0.000039
+[17:12:23.630] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001802 	 error end=0.001802
+[17:12:23.630] After pose optimization, distance between ekf and vo x:0.000129 ,z=0.000642,angle between two frames:0.000039
+[17:12:23.630] frame process finished the id is: 287 the obs is:10 
+[17:12:23.726] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000129 ,z=0.000642,angle between two frames:0.000039
+[17:12:23.727] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000410 	 error end=0.000410
+[17:12:23.727] After pose optimization, distance between ekf and vo x:0.000129 ,z=0.000642,angle between two frames:0.000039
+[17:12:23.727] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:23.727] frame process finished the id is: 289 the obs is:10 
+[17:12:23.818] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000027 ,z=0.000273,angle between two frames:0.000121
+[17:12:23.818] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000453 	 error end=0.000453
+[17:12:23.818] After pose optimization, distance between ekf and vo x:0.000027 ,z=0.000273,angle between two frames:0.000121
+[17:12:23.818] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:23.818] frame process finished the id is: 290 the obs is:10 
+[17:12:23.914] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000115 ,z=0.000638,angle between two frames:0.000076
+[17:12:23.914] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001499 	 error end=0.001499
+[17:12:23.914] After pose optimization, distance between ekf and vo x:0.000115 ,z=0.000638,angle between two frames:0.000076
+[17:12:23.914] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:23.914] frame process finished the id is: 291 the obs is:10 
+[17:12:24.008] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000118 ,z=0.000655,angle between two frames:0.000056
+[17:12:24.009] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.003242 	 error end=0.003242
+[17:12:24.009] After pose optimization, distance between ekf and vo x:0.000118 ,z=0.000655,angle between two frames:0.000056
+[17:12:24.009] frame process finished the id is: 291 the obs is:10 
+[17:12:24.103] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000117 ,z=0.000655,angle between two frames:0.000057
+[17:12:24.103] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000374 	 error end=0.000374
+[17:12:24.103] After pose optimization, distance between ekf and vo x:0.000117 ,z=0.000655,angle between two frames:0.000057
+[17:12:24.103] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:24.103] frame process finished the id is: 293 the obs is:10 
+[17:12:24.201] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000119 ,z=0.000661,angle between two frames:0.000063
+[17:12:24.202] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:24.202] After pose optimization, distance between ekf and vo x:0.000119 ,z=0.000661,angle between two frames:0.000063
+[17:12:24.202] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:24.202] frame process finished the id is: 294 the obs is:10 
+[17:12:24.302] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000104 ,z=0.000669,angle between two frames:0.000076
+[17:12:24.302] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000262 	 error end=0.000262
+[17:12:24.302] After pose optimization, distance between ekf and vo x:0.000104 ,z=0.000669,angle between two frames:0.000076
+[17:12:24.302] frame process finished the id is: 294 the obs is:10 
+[17:12:24.402] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000669,angle between two frames:0.000076
+[17:12:24.402] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.000041 	 error end=0.000041
+[17:12:24.402] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000669,angle between two frames:0.000076
+[17:12:24.402] frame process finished the id is: 294 the obs is:10 
+[17:12:24.502] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000671,angle between two frames:0.000075
+[17:12:24.502] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000059 	 error end=0.000059
+[17:12:24.502] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000671,angle between two frames:0.000075
+[17:12:24.502] frame process finished the id is: 294 the obs is:10 
+[17:12:24.602] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000669,angle between two frames:0.000076
+[17:12:24.602] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000240 	 error end=0.000240
+[17:12:24.602] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000669,angle between two frames:0.000076
+[17:12:24.602] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:24.602] frame process finished the id is: 298 the obs is:10 
+[17:12:24.705] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078
+[17:12:24.705] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002073 	 error end=0.002073
+[17:12:24.705] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078
+[17:12:24.705] frame process finished the id is: 298 the obs is:10 
+[17:12:24.803] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078
+[17:12:24.803] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000351 	 error end=0.000351
+[17:12:24.803] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078
+[17:12:24.803] frame process finished the id is: 298 the obs is:10 
+[17:12:24.907] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078
+[17:12:24.907] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000210 	 error end=0.000210
+[17:12:24.907] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000078
+[17:12:24.907] frame process finished the id is: 298 the obs is:10 
+[17:12:25.001] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000077
+[17:12:25.001] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000820 	 error end=0.000820
+[17:12:25.001] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000644,angle between two frames:0.000077
+[17:12:25.001] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:25.001] frame process finished the id is: 302 the obs is:10 
+[17:12:25.100] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000153 ,z=0.000665,angle between two frames:0.000080
+[17:12:25.100] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:25.100] After pose optimization, distance between ekf and vo x:0.000153 ,z=0.000665,angle between two frames:0.000080
+[17:12:25.100] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:25.100] frame process finished the id is: 303 the obs is:10 
+[17:12:25.202] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000088 ,z=0.000699,angle between two frames:0.000180
+[17:12:25.202] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.002352 	 error end=0.002352
+[17:12:25.202] After pose optimization, distance between ekf and vo x:0.000088 ,z=0.000699,angle between two frames:0.000180
+[17:12:25.202] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:25.202] frame process finished the id is: 304 the obs is:10 
+[17:12:25.301] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000133 ,z=0.000676,angle between two frames:0.000049
+[17:12:25.301] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:25.301] After pose optimization, distance between ekf and vo x:0.000133 ,z=0.000676,angle between two frames:0.000049
+[17:12:25.301] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:25.301] frame process finished the id is: 305 the obs is:10 
+[17:12:25.400] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000082 ,z=0.000714,angle between two frames:0.000167
+[17:12:25.401] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000001 	 error end=0.000001
+[17:12:25.401] After pose optimization, distance between ekf and vo x:0.000082 ,z=0.000714,angle between two frames:0.000167
+[17:12:25.401] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:25.401] frame process finished the id is: 306 the obs is:10 
+[17:12:25.502] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000140 ,z=0.000711,angle between two frames:0.000049
+[17:12:25.502] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000352 	 error end=0.000352
+[17:12:25.502] After pose optimization, distance between ekf and vo x:0.000140 ,z=0.000711,angle between two frames:0.000049
+[17:12:25.502] frame process finished the id is: 306 the obs is:10 
+[17:12:25.601] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000140 ,z=0.000705,angle between two frames:0.000050
+[17:12:25.602] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000016 	 error end=0.000016
+[17:12:25.602] After pose optimization, distance between ekf and vo x:0.000140 ,z=0.000705,angle between two frames:0.000050
+[17:12:25.602] frame process finished the id is: 306 the obs is:10 
+[17:12:25.702] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000140 ,z=0.000707,angle between two frames:0.000050
+[17:12:25.702] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000003 	 error end=0.000003
+[17:12:25.702] After pose optimization, distance between ekf and vo x:0.000140 ,z=0.000707,angle between two frames:0.000050
+[17:12:25.702] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:25.702] frame process finished the id is: 309 the obs is:10 
+[17:12:25.802] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000128 ,z=0.000688,angle between two frames:0.000014
+[17:12:25.802] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000021 	 error end=0.000021
+[17:12:25.802] After pose optimization, distance between ekf and vo x:0.000128 ,z=0.000688,angle between two frames:0.000014
+[17:12:25.802] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:25.802] frame process finished the id is: 310 the obs is:10 
+[17:12:25.905] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000161 ,z=0.000741,angle between two frames:0.000120
+[17:12:25.905] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:25.905] After pose optimization, distance between ekf and vo x:0.000161 ,z=0.000741,angle between two frames:0.000120
+[17:12:25.905] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:25.905] frame process finished the id is: 311 the obs is:10 
+[17:12:26.001] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000152 ,z=0.000758,angle between two frames:0.000077
+[17:12:26.001] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000434 	 error end=0.000434
+[17:12:26.001] After pose optimization, distance between ekf and vo x:0.000152 ,z=0.000758,angle between two frames:0.000077
+[17:12:26.001] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:26.001] frame process finished the id is: 312 the obs is:10 
+[17:12:26.102] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000178 ,z=0.000743,angle between two frames:0.000174
+[17:12:26.102] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000023 	 error end=0.000023
+[17:12:26.102] After pose optimization, distance between ekf and vo x:0.000178 ,z=0.000743,angle between two frames:0.000174
+[17:12:26.102] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:26.102] frame process finished the id is: 313 the obs is:10 
+[17:12:26.202] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000166 ,z=0.000758,angle between two frames:0.000122
+[17:12:26.202] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000002 	 error end=0.000002
+[17:12:26.202] After pose optimization, distance between ekf and vo x:0.000166 ,z=0.000758,angle between two frames:0.000122
+[17:12:26.202] frame process finished the id is: 313 the obs is:10 
+[17:12:26.302] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000166 ,z=0.000759,angle between two frames:0.000121
+[17:12:26.302] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000434 	 error end=0.000434
+[17:12:26.302] After pose optimization, distance between ekf and vo x:0.000166 ,z=0.000759,angle between two frames:0.000121
+[17:12:26.302] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:26.302] frame process finished the id is: 315 the obs is:10 
+[17:12:26.406] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000178 ,z=0.000749,angle between two frames:0.000167
+[17:12:26.406] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:26.406] After pose optimization, distance between ekf and vo x:0.000178 ,z=0.000749,angle between two frames:0.000167
+[17:12:26.406] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:26.406] frame process finished the id is: 316 the obs is:10 
+[17:12:26.487] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000017 ,z=0.000073,angle between two frames:0.000034
+[17:12:26.487] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000307 	 error end=0.000307
+[17:12:26.487] After pose optimization, distance between ekf and vo x:0.000017 ,z=0.000073,angle between two frames:0.000034
+[17:12:26.487] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:26.487] frame process finished the id is: 317 the obs is:10 
+[17:12:26.587] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
+[17:12:26.587] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000001 	 error end=0.000001
+[17:12:26.587] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
+[17:12:26.587] frame process finished the id is: 317 the obs is:10 
+[17:12:26.687] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
+[17:12:26.687] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.000000 	 error end=0.000000
+[17:12:26.687] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
+[17:12:26.687] frame process finished the id is: 317 the obs is:10 
+[17:12:26.786] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
+[17:12:26.786] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000569 	 error end=0.000569
+[17:12:26.786] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
+[17:12:26.786] frame process finished the id is: 317 the obs is:10 
+[17:12:26.887] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
+[17:12:26.887] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000046 	 error end=0.000046
+[17:12:26.887] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
+[17:12:26.887] frame process finished the id is: 317 the obs is:10 
+[17:12:27.000] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
+[17:12:27.001] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000003 	 error end=0.000003
+[17:12:27.001] After pose optimization, distance between ekf and vo x:0.000019 ,z=0.000071,angle between two frames:0.000041
+[17:12:27.001] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:27.001] frame process finished the id is: 322 the obs is:10 
+[17:12:27.087] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000020 ,z=0.000073,angle between two frames:0.000041
+[17:12:27.087] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000001 	 error end=0.000001
+[17:12:27.087] After pose optimization, distance between ekf and vo x:0.000020 ,z=0.000073,angle between two frames:0.000041
+[17:12:27.087] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:27.087] frame process finished the id is: 323 the obs is:10 
+[17:12:27.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000100 ,z=0.000352,angle between two frames:0.000107
+[17:12:27.195] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000073 	 error end=0.000073
+[17:12:27.195] After pose optimization, distance between ekf and vo x:0.000100 ,z=0.000352,angle between two frames:0.000107
+[17:12:27.195] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:27.195] frame process finished the id is: 324 the obs is:10 
+[17:12:27.301] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000168 ,z=0.000776,angle between two frames:0.000116
+[17:12:27.301] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000370 	 error end=0.000370
+[17:12:27.301] After pose optimization, distance between ekf and vo x:0.000168 ,z=0.000776,angle between two frames:0.000116
+[17:12:27.301] frame process finished the id is: 324 the obs is:10 
+[17:12:27.401] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000167 ,z=0.000776,angle between two frames:0.000115
+[17:12:27.401] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000005 	 error end=0.000005
+[17:12:27.401] After pose optimization, distance between ekf and vo x:0.000167 ,z=0.000776,angle between two frames:0.000115
+[17:12:27.401] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:27.401] frame process finished the id is: 326 the obs is:10 
+[17:12:27.502] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000169 ,z=0.000779,angle between two frames:0.000116
+[17:12:27.502] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.002371 	 error end=0.002371
+[17:12:27.502] After pose optimization, distance between ekf and vo x:0.000169 ,z=0.000779,angle between two frames:0.000116
+[17:12:27.502] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:27.502] frame process finished the id is: 327 the obs is:10 
+[17:12:27.601] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000168 ,z=0.000792,angle between two frames:0.000101
+[17:12:27.602] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000809 	 error end=0.000809
+[17:12:27.602] After pose optimization, distance between ekf and vo x:0.000168 ,z=0.000792,angle between two frames:0.000101
+[17:12:27.602] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:27.602] frame process finished the id is: 328 the obs is:10 
+[17:12:27.701] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000184 ,z=0.000781,angle between two frames:0.000165
+[17:12:27.701] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001255 	 error end=0.001255
+[17:12:27.701] After pose optimization, distance between ekf and vo x:0.000184 ,z=0.000781,angle between two frames:0.000165
+[17:12:27.701] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:27.701] frame process finished the id is: 329 the obs is:10 
+[17:12:27.800] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000172 ,z=0.000791,angle between two frames:0.000117
+[17:12:27.801] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000009 	 error end=0.000009
+[17:12:27.801] After pose optimization, distance between ekf and vo x:0.000172 ,z=0.000790,angle between two frames:0.000117
+[17:12:27.801] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:27.801] frame process finished the id is: 330 the obs is:10 
+[17:12:27.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000095 ,z=0.000334,angle between two frames:0.000096
+[17:12:27.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000101 	 error end=0.000101
+[17:12:27.895] After pose optimization, distance between ekf and vo x:0.000095 ,z=0.000334,angle between two frames:0.000096
+[17:12:27.895] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:27.895] frame process finished the id is: 331 the obs is:10 
+[17:12:28.001] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000177 ,z=0.000806,angle between two frames:0.000117
+[17:12:28.001] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000054 	 error end=0.000054
+[17:12:28.001] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000806,angle between two frames:0.000117
+[17:12:28.001] frame process finished the id is: 331 the obs is:10 
+[17:12:28.101] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000177 ,z=0.000807,angle between two frames:0.000116
+[17:12:28.101] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 	 error init =0.004330 	 error end=0.004330
+[17:12:28.101] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000807,angle between two frames:0.000116
+[17:12:28.101] frame process finished the id is: 331 the obs is:10 
+[17:12:28.202] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000177 ,z=0.000806,angle between two frames:0.000116
+[17:12:28.202] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.002880 	 error end=0.002880
+[17:12:28.202] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000806,angle between two frames:0.000116
+[17:12:28.202] frame process finished the id is: 331 the obs is:10 
+[17:12:28.303] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000177 ,z=0.000810,angle between two frames:0.000117
+[17:12:28.303] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000018 	 error end=0.000018
+[17:12:28.303] After pose optimization, distance between ekf and vo x:0.000177 ,z=0.000810,angle between two frames:0.000117
+[17:12:28.303] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:28.303] frame process finished the id is: 335 the obs is:10 
+[17:12:28.401] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000175 ,z=0.000804,angle between two frames:0.000115
+[17:12:28.401] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000671 	 error end=0.000671
+[17:12:28.401] After pose optimization, distance between ekf and vo x:0.000175 ,z=0.000804,angle between two frames:0.000115
+[17:12:28.401] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:28.401] frame process finished the id is: 336 the obs is:10 
+[17:12:28.496] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102
+[17:12:28.496] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000766 	 error end=0.000766
+[17:12:28.496] After pose optimization, distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102
+[17:12:28.496] frame process finished the id is: 336 the obs is:10 
+[17:12:28.596] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102
+[17:12:28.596] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000009 	 error end=0.000009
+[17:12:28.596] After pose optimization, distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102
+[17:12:28.596] frame process finished the id is: 336 the obs is:10 
+[17:12:28.697] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102
+[17:12:28.697] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:28.697] After pose optimization, distance between ekf and vo x:0.000100 ,z=0.000390,angle between two frames:0.000102
+[17:12:28.697] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:28.697] frame process finished the id is: 339 the obs is:10 
+[17:12:28.803] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000195 ,z=0.000822,angle between two frames:0.000200
+[17:12:28.803] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000011 	 error end=0.000011
+[17:12:28.803] After pose optimization, distance between ekf and vo x:0.000195 ,z=0.000822,angle between two frames:0.000200
+[17:12:28.803] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:28.803] frame process finished the id is: 340 the obs is:10 
+[17:12:28.903] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000195 ,z=0.000823,angle between two frames:0.000199
+[17:12:28.903] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001306 	 error end=0.001306
+[17:12:28.903] After pose optimization, distance between ekf and vo x:0.000195 ,z=0.000823,angle between two frames:0.000199
+[17:12:28.903] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:28.903] frame process finished the id is: 341 the obs is:10 
+[17:12:29.003] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000197 ,z=0.000831,angle between two frames:0.000200
+[17:12:29.003] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000077 	 error end=0.000077
+[17:12:29.003] After pose optimization, distance between ekf and vo x:0.000197 ,z=0.000831,angle between two frames:0.000200
+[17:12:29.003] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:29.003] frame process finished the id is: 342 the obs is:10 
+[17:12:29.095] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000377,angle between two frames:0.000072
+[17:12:29.095] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000328 	 error end=0.000328
+[17:12:29.095] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000377,angle between two frames:0.000072
+[17:12:29.095] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:29.095] frame process finished the id is: 343 the obs is:10 
+[17:12:29.196] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000094 ,z=0.000376,angle between two frames:0.000072
+[17:12:29.196] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000014 	 error end=0.000014
+[17:12:29.196] After pose optimization, distance between ekf and vo x:0.000094 ,z=0.000376,angle between two frames:0.000072
+[17:12:29.196] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:29.196] frame process finished the id is: 344 the obs is:10 
+[17:12:29.303] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000202 ,z=0.000842,angle between two frames:0.000206
+[17:12:29.303] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000324 	 error end=0.000324
+[17:12:29.303] After pose optimization, distance between ekf and vo x:0.000202 ,z=0.000842,angle between two frames:0.000206
+[17:12:29.303] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:29.303] frame process finished the id is: 345 the obs is:10 
+[17:12:29.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000101 ,z=0.000381,angle between two frames:0.000095
+[17:12:29.395] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000311 	 error end=0.000311
+[17:12:29.395] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000346,angle between two frames:0.000100
+[17:12:29.395] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:29.395] frame process finished the id is: 346 the obs is:10 
+[17:12:29.497] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000125 ,z=0.000466,angle between two frames:0.000144
+[17:12:29.497] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000004 	 error end=0.000004
+[17:12:29.497] After pose optimization, distance between ekf and vo x:0.000125 ,z=0.000466,angle between two frames:0.000144
+[17:12:29.497] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:29.497] frame process finished the id is: 347 the obs is:10 
+[17:12:29.595] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
+[17:12:29.595] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.001685 	 error end=0.001685
+[17:12:29.595] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
+[17:12:29.595] frame process finished the id is: 347 the obs is:10 
+[17:12:29.696] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
+[17:12:29.696] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000023 	 error end=0.000023
+[17:12:29.696] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
+[17:12:29.696] frame process finished the id is: 347 the obs is:10 
+[17:12:29.799] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
+[17:12:29.799] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002604 	 error end=0.002604
+[17:12:29.799] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
+[17:12:29.799] frame process finished the id is: 347 the obs is:10 
+[17:12:29.894] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
+[17:12:29.894] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000002 	 error end=0.000002
+[17:12:29.894] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000377,angle between two frames:0.000148
+[17:12:29.894] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:29.894] frame process finished the id is: 351 the obs is:10 
+[17:12:29.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000382,angle between two frames:0.000058
+[17:12:29.994] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000024 	 error end=0.000024
+[17:12:29.994] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000382,angle between two frames:0.000058
+[17:12:29.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:29.994] frame process finished the id is: 352 the obs is:10 
+[17:12:30.094] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057
+[17:12:30.094] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.002791 	 error end=0.002791
+[17:12:30.094] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057
+[17:12:30.094] frame process finished the id is: 352 the obs is:10 
+[17:12:30.197] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057
+[17:12:30.197] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000761 	 error end=0.000761
+[17:12:30.197] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057
+[17:12:30.197] frame process finished the id is: 352 the obs is:10 
+[17:12:30.297] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057
+[17:12:30.297] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000002 	 error end=0.000002
+[17:12:30.297] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000057
+[17:12:30.297] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:30.297] frame process finished the id is: 355 the obs is:10 
+[17:12:30.396] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000381,angle between two frames:0.000057
+[17:12:30.396] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000011 	 error end=0.000011
+[17:12:30.396] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000381,angle between two frames:0.000057
+[17:12:30.396] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:30.396] frame process finished the id is: 356 the obs is:10 
+[17:12:30.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000115 ,z=0.000381,angle between two frames:0.000148
+[17:12:30.494] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000887 	 error end=0.000887
+[17:12:30.494] After pose optimization, distance between ekf and vo x:0.000115 ,z=0.000381,angle between two frames:0.000148
+[17:12:30.494] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:30.494] frame process finished the id is: 357 the obs is:10 
+[17:12:30.596] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147
+[17:12:30.596] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000038 	 error end=0.000038
+[17:12:30.596] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147
+[17:12:30.596] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:30.596] frame process finished the id is: 358 the obs is:10 
+[17:12:30.696] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000097 ,z=0.000374,angle between two frames:0.000090
+[17:12:30.697] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:30.697] After pose optimization, distance between ekf and vo x:0.000097 ,z=0.000374,angle between two frames:0.000090
+[17:12:30.697] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:30.697] frame process finished the id is: 359 the obs is:10 
+[17:12:30.795] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000099 ,z=0.000376,angle between two frames:0.000090
+[17:12:30.795] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:30.795] After pose optimization, distance between ekf and vo x:0.000099 ,z=0.000376,angle between two frames:0.000090
+[17:12:30.795] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:30.795] frame process finished the id is: 360 the obs is:10 
+[17:12:30.892] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000313,angle between two frames:0.000124
+[17:12:30.893] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000003 	 error end=0.000003
+[17:12:30.893] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000313,angle between two frames:0.000124
+[17:12:30.893] frame process finished the id is: 360 the obs is:10 
+[17:12:30.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000146
+[17:12:30.995] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000000 	 error end=0.000000
+[17:12:30.995] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000146
+[17:12:30.995] frame process finished the id is: 360 the obs is:10 
+[17:12:31.096] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000111 ,z=0.000371,angle between two frames:0.000144
+[17:12:31.096] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000018 	 error end=0.000018
+[17:12:31.096] After pose optimization, distance between ekf and vo x:0.000111 ,z=0.000371,angle between two frames:0.000144
+[17:12:31.096] frame process finished the id is: 360 the obs is:10 
+[17:12:31.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147
+[17:12:31.195] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.001162 	 error end=0.001162
+[17:12:31.195] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147
+[17:12:31.195] frame process finished the id is: 360 the obs is:10 
+[17:12:31.295] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147
+[17:12:31.295] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000046 	 error end=0.000046
+[17:12:31.295] After pose optimization, distance between ekf and vo x:0.000114 ,z=0.000381,angle between two frames:0.000147
+[17:12:31.295] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:31.295] frame process finished the id is: 365 the obs is:10 
+[17:12:31.395] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
+[17:12:31.395] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000005 	 error end=0.000005
+[17:12:31.395] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
+[17:12:31.395] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:31.395] frame process finished the id is: 366 the obs is:10 
+[17:12:31.500] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000089 ,z=0.000374,angle between two frames:0.000057
+[17:12:31.500] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000082 	 error end=0.000082
+[17:12:31.500] After pose optimization, distance between ekf and vo x:0.000089 ,z=0.000374,angle between two frames:0.000057
+[17:12:31.500] frame process finished the id is: 366 the obs is:10 
+[17:12:31.595] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000089 ,z=0.000374,angle between two frames:0.000057
+[17:12:31.595] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:31.595] After pose optimization, distance between ekf and vo x:0.000089 ,z=0.000374,angle between two frames:0.000057
+[17:12:31.595] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:31.595] frame process finished the id is: 368 the obs is:10 
+[17:12:31.696] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000057
+[17:12:31.696] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000018 	 error end=0.000018
+[17:12:31.696] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000057
+[17:12:31.696] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:31.696] frame process finished the id is: 369 the obs is:10 
+[17:12:31.793] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057
+[17:12:31.793] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001738 	 error end=0.001738
+[17:12:31.793] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057
+[17:12:31.793] frame process finished the id is: 369 the obs is:10 
+[17:12:31.897] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057
+[17:12:31.897] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
+[17:12:31.897] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057
+[17:12:31.897] frame process finished the id is: 369 the obs is:10 
+[17:12:31.997] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057
+[17:12:31.997] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000064 	 error end=0.000064
+[17:12:31.997] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000057
+[17:12:31.997] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:31.997] frame process finished the id is: 372 the obs is:10 
+[17:12:32.096] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000058
+[17:12:32.096] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000587 	 error end=0.000587
+[17:12:32.096] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000058
+[17:12:32.096] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:32.096] frame process finished the id is: 373 the obs is:10 
+[17:12:32.200] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000381,angle between two frames:0.000058
+[17:12:32.200] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.001211 	 error end=0.001211
+[17:12:32.200] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000381,angle between two frames:0.000058
+[17:12:32.200] frame process finished the id is: 373 the obs is:10 
+[17:12:32.297] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000381,angle between two frames:0.000057
+[17:12:32.297] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
+[17:12:32.297] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000381,angle between two frames:0.000057
+[17:12:32.297] frame process finished the id is: 373 the obs is:10 
+[17:12:32.393] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000382,angle between two frames:0.000058
+[17:12:32.393] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000045 	 error end=0.000045
+[17:12:32.394] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000382,angle between two frames:0.000058
+[17:12:32.394] frame process finished the id is: 373 the obs is:10 
+[17:12:32.495] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000381,angle between two frames:0.000058
+[17:12:32.495] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001533 	 error end=0.001533
+[17:12:32.495] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000381,angle between two frames:0.000058
+[17:12:32.495] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:32.495] frame process finished the id is: 377 the obs is:10 
+[17:12:32.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000386,angle between two frames:0.000112
+[17:12:32.594] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000659 	 error end=0.000659
+[17:12:32.594] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000386,angle between two frames:0.000112
+[17:12:32.594] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:32.594] frame process finished the id is: 378 the obs is:10 
+[17:12:32.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000098 ,z=0.000374,angle between two frames:0.000090
+[17:12:32.695] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000129 	 error end=0.000129
+[17:12:32.695] After pose optimization, distance between ekf and vo x:0.000098 ,z=0.000374,angle between two frames:0.000090
+[17:12:32.695] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:32.695] frame process finished the id is: 379 the obs is:10 
+[17:12:32.794] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000058
+[17:12:32.794] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.002353 	 error end=0.002353
+[17:12:32.794] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000378,angle between two frames:0.000058
+[17:12:32.794] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:32.794] frame process finished the id is: 380 the obs is:10 
+[17:12:32.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
+[17:12:32.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.003354 	 error end=0.003354
+[17:12:32.895] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
+[17:12:32.895] frame process finished the id is: 380 the obs is:10 
+[17:12:32.996] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
+[17:12:32.996] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000146 	 error end=0.000146
+[17:12:32.996] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
+[17:12:32.996] frame process finished the id is: 380 the obs is:10 
+[17:12:33.097] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
+[17:12:33.097] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000075 	 error end=0.000075
+[17:12:33.097] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
+[17:12:33.097] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:33.097] frame process finished the id is: 383 the obs is:10 
+[17:12:33.194] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000085 ,z=0.000352,angle between two frames:0.000045
+[17:12:33.194] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000028 	 error end=0.000028
+[17:12:33.194] After pose optimization, distance between ekf and vo x:0.000085 ,z=0.000352,angle between two frames:0.000045
+[17:12:33.194] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:33.195] frame process finished the id is: 384 the obs is:10 
+[17:12:33.297] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000385,angle between two frames:0.000112
+[17:12:33.297] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:33.297] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000385,angle between two frames:0.000112
+[17:12:33.297] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:33.297] frame process finished the id is: 385 the obs is:10 
+[17:12:33.396] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000384,angle between two frames:0.000058
+[17:12:33.396] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000198 	 error end=0.000198
+[17:12:33.396] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000384,angle between two frames:0.000058
+[17:12:33.396] frame process finished the id is: 385 the obs is:10 
+[17:12:33.493] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000383,angle between two frames:0.000058
+[17:12:33.493] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 	 error init =0.004361 	 error end=0.004361
+[17:12:33.493] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000383,angle between two frames:0.000058
+[17:12:33.493] frame process finished the id is: 385 the obs is:10 
+[17:12:33.595] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000386,angle between two frames:0.000058
+[17:12:33.595] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000444 	 error end=0.000444
+[17:12:33.595] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000386,angle between two frames:0.000058
+[17:12:33.595] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:33.595] frame process finished the id is: 388 the obs is:10 
+[17:12:33.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000058
+[17:12:33.695] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.003443 	 error end=0.003443
+[17:12:33.695] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000058
+[17:12:33.695] frame process finished the id is: 388 the obs is:10 
+[17:12:33.795] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000058
+[17:12:33.795] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000037 	 error end=0.000037
+[17:12:33.795] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000379,angle between two frames:0.000058
+[17:12:33.795] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:33.795] frame process finished the id is: 390 the obs is:10 
+[17:12:33.892] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000071 ,z=0.000244,angle between two frames:0.000101
+[17:12:33.892] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000002 	 error end=0.000002
+[17:12:33.892] After pose optimization, distance between ekf and vo x:0.000071 ,z=0.000244,angle between two frames:0.000101
+[17:12:33.892] frame process finished the id is: 390 the obs is:10 
+[17:12:33.993] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000113 ,z=0.000381,angle between two frames:0.000146
+[17:12:33.994] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:33.994] After pose optimization, distance between ekf and vo x:0.000113 ,z=0.000381,angle between two frames:0.000146
+[17:12:33.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:33.994] frame process finished the id is: 392 the obs is:10 
+[17:12:34.094] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066
+[17:12:34.094] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000003 	 error end=0.000003
+[17:12:34.094] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066
+[17:12:34.094] frame process finished the id is: 392 the obs is:10 
+[17:12:34.197] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066
+[17:12:34.197] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001740 	 error end=0.001740
+[17:12:34.197] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066
+[17:12:34.197] frame process finished the id is: 392 the obs is:10 
+[17:12:34.296] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066
+[17:12:34.296] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000018 	 error end=0.000018
+[17:12:34.296] After pose optimization, distance between ekf and vo x:0.000093 ,z=0.000378,angle between two frames:0.000066
+[17:12:34.296] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:34.296] frame process finished the id is: 395 the obs is:10 
+[17:12:34.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000374,angle between two frames:0.000065
+[17:12:34.394] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000003 	 error end=0.000003
+[17:12:34.394] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000374,angle between two frames:0.000065
+[17:12:34.394] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:34.394] frame process finished the id is: 396 the obs is:10 
+[17:12:34.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
+[17:12:34.495] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000000 	 error end=0.000000
+[17:12:34.495] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
+[17:12:34.495] frame process finished the id is: 396 the obs is:10 
+[17:12:34.600] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
+[17:12:34.600] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001525 	 error end=0.001525
+[17:12:34.600] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
+[17:12:34.600] frame process finished the id is: 396 the obs is:10 
+[17:12:34.697] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
+[17:12:34.697] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001194 	 error end=0.001194
+[17:12:34.697] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000058
+[17:12:34.697] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:34.697] frame process finished the id is: 399 the obs is:10 
+[17:12:34.795] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000108 ,z=0.000393,angle between two frames:0.000112
+[17:12:34.795] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000004 	 error end=0.000004
+[17:12:34.795] After pose optimization, distance between ekf and vo x:0.000108 ,z=0.000393,angle between two frames:0.000112
+[17:12:34.795] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:34.795] frame process finished the id is: 400 the obs is:10 
+[17:12:34.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
+[17:12:34.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.002471 	 error end=0.002471
+[17:12:34.895] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000111
+[17:12:34.895] frame process finished the id is: 400 the obs is:10 
+[17:12:34.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000390,angle between two frames:0.000112
+[17:12:34.994] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001313 	 error end=0.001313
+[17:12:34.994] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000390,angle between two frames:0.000112
+[17:12:34.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:34.995] frame process finished the id is: 402 the obs is:10 
+[17:12:35.095] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
+[17:12:35.095] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000416 	 error end=0.000416
+[17:12:35.095] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
+[17:12:35.095] frame process finished the id is: 402 the obs is:10 
+[17:12:35.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
+[17:12:35.195] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000000 	 error end=0.000000
+[17:12:35.195] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
+[17:12:35.195] frame process finished the id is: 402 the obs is:10 
+[17:12:35.295] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
+[17:12:35.295] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000802 	 error end=0.000802
+[17:12:35.295] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
+[17:12:35.295] frame process finished the id is: 402 the obs is:10 
+[17:12:35.395] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
+[17:12:35.395] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000021 	 error end=0.000021
+[17:12:35.395] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000387,angle between two frames:0.000112
+[17:12:35.395] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:35.395] frame process finished the id is: 406 the obs is:10 
+[17:12:35.496] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000108
+[17:12:35.496] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:35.496] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000108
+[17:12:35.496] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:35.496] frame process finished the id is: 407 the obs is:10 
+[17:12:35.598] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000056
+[17:12:35.598] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000032 	 error end=0.000032
+[17:12:35.598] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000383,angle between two frames:0.000056
+[17:12:35.598] frame process finished the id is: 407 the obs is:10 
+[17:12:35.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000382,angle between two frames:0.000056
+[17:12:35.695] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000654 	 error end=0.000654
+[17:12:35.695] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000382,angle between two frames:0.000056
+[17:12:35.695] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:35.695] frame process finished the id is: 409 the obs is:10 
+[17:12:35.794] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000380,angle between two frames:0.000058
+[17:12:35.794] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000229 	 error end=0.000229
+[17:12:35.794] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000380,angle between two frames:0.000058
+[17:12:35.794] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:35.794] frame process finished the id is: 410 the obs is:10 
+[17:12:35.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000056
+[17:12:35.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000106 	 error end=0.000106
+[17:12:35.895] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000056
+[17:12:35.895] frame process finished the id is: 410 the obs is:10 
+[17:12:35.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000056
+[17:12:35.994] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001254 	 error end=0.001254
+[17:12:35.994] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000378,angle between two frames:0.000056
+[17:12:35.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:35.994] frame process finished the id is: 412 the obs is:10 
+[17:12:36.104] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000232 ,z=0.000962,angle between two frames:0.000158
+[17:12:36.104] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:36.104] After pose optimization, distance between ekf and vo x:0.000232 ,z=0.000962,angle between two frames:0.000158
+[17:12:36.104] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:36.104] frame process finished the id is: 413 the obs is:10 
+[17:12:36.208] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000370 ,z=0.001502,angle between two frames:0.000365
+[17:12:36.208] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.003270 	 error end=0.003270
+[17:12:36.208] After pose optimization, distance between ekf and vo x:0.000370 ,z=0.001502,angle between two frames:0.000365
+[17:12:36.209] frame process finished the id is: 413 the obs is:10 
+[17:12:36.311] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000371 ,z=0.001506,angle between two frames:0.000368
+[17:12:36.311] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000000 	 error end=0.000000
+[17:12:36.311] After pose optimization, distance between ekf and vo x:0.000371 ,z=0.001506,angle between two frames:0.000368
+[17:12:36.311] frame process finished the id is: 413 the obs is:10 
+[17:12:36.412] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000370 ,z=0.001506,angle between two frames:0.000365
+[17:12:36.412] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000041 	 error end=0.000041
+[17:12:36.412] After pose optimization, distance between ekf and vo x:0.000370 ,z=0.001506,angle between two frames:0.000365
+[17:12:36.412] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:36.412] frame process finished the id is: 416 the obs is:10 
+[17:12:36.506] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000232 ,z=0.001067,angle between two frames:0.000139
+[17:12:36.506] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000062 	 error end=0.000062
+[17:12:36.506] After pose optimization, distance between ekf and vo x:0.000232 ,z=0.001067,angle between two frames:0.000139
+[17:12:36.506] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:36.506] frame process finished the id is: 417 the obs is:10 
+[17:12:36.597] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000103 ,z=0.000385,angle between two frames:0.000078
+[17:12:36.597] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000006 	 error end=0.000006
+[17:12:36.597] After pose optimization, distance between ekf and vo x:0.000103 ,z=0.000385,angle between two frames:0.000078
+[17:12:36.597] frame process finished the id is: 417 the obs is:10 
+[17:12:36.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000102 ,z=0.000385,angle between two frames:0.000078
+[17:12:36.695] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000627 	 error end=0.000627
+[17:12:36.695] After pose optimization, distance between ekf and vo x:0.000102 ,z=0.000385,angle between two frames:0.000078
+[17:12:36.695] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:36.695] frame process finished the id is: 419 the obs is:10 
+[17:12:36.802] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000255 ,z=0.001108,angle between two frames:0.000240
+[17:12:36.802] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000111 	 error end=0.000111
+[17:12:36.802] After pose optimization, distance between ekf and vo x:0.000255 ,z=0.001108,angle between two frames:0.000240
+[17:12:36.802] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:36.802] frame process finished the id is: 420 the obs is:10 
+[17:12:36.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
+[17:12:36.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.002950 	 error end=0.002950
+[17:12:36.895] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
+[17:12:36.895] frame process finished the id is: 420 the obs is:10 
+[17:12:36.999] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
+[17:12:36.999] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 	 error init =0.000000 	 error end=0.000000
+[17:12:36.999] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
+[17:12:36.999] frame process finished the id is: 420 the obs is:10 
+[17:12:37.093] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
+[17:12:37.093] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000885 	 error end=0.000885
+[17:12:37.093] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
+[17:12:37.093] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:37.093] frame process finished the id is: 423 the obs is:10 
+[17:12:37.200] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000134 ,z=0.000533,angle between two frames:0.000085
+[17:12:37.200] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:37.200] After pose optimization, distance between ekf and vo x:0.000134 ,z=0.000533,angle between two frames:0.000085
+[17:12:37.200] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:37.200] frame process finished the id is: 424 the obs is:10 
+[17:12:37.303] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000212 ,z=0.000818,angle between two frames:0.000162
+[17:12:37.303] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:37.303] After pose optimization, distance between ekf and vo x:0.000212 ,z=0.000818,angle between two frames:0.000162
+[17:12:37.303] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:37.303] frame process finished the id is: 425 the obs is:10 
+[17:12:37.393] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
+[17:12:37.393] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000762 	 error end=0.000762
+[17:12:37.393] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
+[17:12:37.393] frame process finished the id is: 425 the obs is:10 
+[17:12:37.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
+[17:12:37.494] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000918 	 error end=0.000918
+[17:12:37.494] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000029
+[17:12:37.494] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:37.494] frame process finished the id is: 427 the obs is:10 
+[17:12:37.601] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000093
+[17:12:37.601] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000023 	 error end=0.000023
+[17:12:37.601] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000093
+[17:12:37.601] frame process finished the id is: 427 the obs is:10 
+[17:12:37.695] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000093
+[17:12:37.695] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:37.695] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000389,angle between two frames:0.000093
+[17:12:37.695] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:37.695] frame process finished the id is: 429 the obs is:10 
+[17:12:37.802] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000160
+[17:12:37.802] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001877 	 error end=0.001877
+[17:12:37.802] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000160
+[17:12:37.802] frame process finished the id is: 429 the obs is:10 
+[17:12:37.902] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000812,angle between two frames:0.000161
+[17:12:37.902] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =2 	 error init =0.001134 	 error end=0.001134
+[17:12:37.902] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000812,angle between two frames:0.000161
+[17:12:37.902] frame process finished the id is: 429 the obs is:10 
+[17:12:38.005] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000161
+[17:12:38.005] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000008 	 error end=0.000008
+[17:12:38.005] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000161
+[17:12:38.005] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:38.006] frame process finished the id is: 432 the obs is:10 
+[17:12:38.103] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000159
+[17:12:38.103] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.006431 	 error end=0.006431
+[17:12:38.103] After pose optimization, distance between ekf and vo x:0.000176 ,z=0.000773,angle between two frames:0.000176
+[17:12:38.103] frame process finished the id is: 432 the obs is:10 
+[17:12:38.201] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000159
+[17:12:38.201] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001501 	 error end=0.001501
+[17:12:38.201] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000814,angle between two frames:0.000159
+[17:12:38.201] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:38.201] frame process finished the id is: 434 the obs is:10 
+[17:12:38.294] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000317,angle between two frames:0.000030
+[17:12:38.294] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000028 	 error end=0.000028
+[17:12:38.294] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000317,angle between two frames:0.000030
+[17:12:38.294] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:38.294] frame process finished the id is: 435 the obs is:10 
+[17:12:38.396] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000105 ,z=0.000428,angle between two frames:0.000055
+[17:12:38.396] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000040 	 error end=0.000040
+[17:12:38.396] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000428,angle between two frames:0.000055
+[17:12:38.396] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:38.396] frame process finished the id is: 436 the obs is:10 
+[17:12:38.496] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000440,angle between two frames:0.000059
+[17:12:38.496] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000007 	 error end=0.000007
+[17:12:38.496] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000440,angle between two frames:0.000059
+[17:12:38.496] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:38.496] frame process finished the id is: 437 the obs is:10 
+[17:12:38.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000387,angle between two frames:0.000094
+[17:12:38.594] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:38.594] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000387,angle between two frames:0.000094
+[17:12:38.594] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:38.594] frame process finished the id is: 438 the obs is:10 
+[17:12:38.705] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000208 ,z=0.000810,angle between two frames:0.000160
+[17:12:38.705] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000010 	 error end=0.000010
+[17:12:38.705] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000810,angle between two frames:0.000160
+[17:12:38.705] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:38.705] frame process finished the id is: 439 the obs is:10 
+[17:12:38.798] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000148 ,z=0.000592,angle between two frames:0.000102
+[17:12:38.798] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000044 	 error end=0.000044
+[17:12:38.798] After pose optimization, distance between ekf and vo x:0.000148 ,z=0.000592,angle between two frames:0.000102
+[17:12:38.798] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:38.798] frame process finished the id is: 440 the obs is:10 
+[17:12:38.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000108 ,z=0.000392,angle between two frames:0.000094
+[17:12:38.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000013 	 error end=0.000013
+[17:12:38.895] After pose optimization, distance between ekf and vo x:0.000108 ,z=0.000392,angle between two frames:0.000094
+[17:12:38.895] frame process finished the id is: 440 the obs is:10 
+[17:12:38.995] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000108 ,z=0.000391,angle between two frames:0.000093
+[17:12:38.995] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000308 	 error end=0.000308
+[17:12:38.995] After pose optimization, distance between ekf and vo x:0.000108 ,z=0.000391,angle between two frames:0.000093
+[17:12:38.995] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:38.995] frame process finished the id is: 442 the obs is:10 
+[17:12:39.109] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000341 ,z=0.001529,angle between two frames:0.000237
+[17:12:39.109] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000106 	 error end=0.000106
+[17:12:39.109] After pose optimization, distance between ekf and vo x:0.000341 ,z=0.001529,angle between two frames:0.000237
+[17:12:39.109] frame process finished the id is: 442 the obs is:10 
+[17:12:39.211] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000342 ,z=0.001533,angle between two frames:0.000238
+[17:12:39.211] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000058 	 error end=0.000058
+[17:12:39.211] After pose optimization, distance between ekf and vo x:0.000342 ,z=0.001533,angle between two frames:0.000238
+[17:12:39.211] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:39.211] frame process finished the id is: 444 the obs is:10 
+[17:12:39.297] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000315,angle between two frames:0.000016
+[17:12:39.297] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000059 	 error end=0.000059
+[17:12:39.297] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000315,angle between two frames:0.000016
+[17:12:39.297] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:39.297] frame process finished the id is: 445 the obs is:10 
+[17:12:39.414] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000348 ,z=0.001561,angle between two frames:0.000274
+[17:12:39.414] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000378 	 error end=0.000378
+[17:12:39.414] After pose optimization, distance between ekf and vo x:0.000348 ,z=0.001561,angle between two frames:0.000274
+[17:12:39.414] frame process finished the id is: 445 the obs is:10 
+[17:12:39.515] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000273
+[17:12:39.515] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.001712 	 error end=0.001712
+[17:12:39.515] After pose optimization, distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000273
+[17:12:39.515] frame process finished the id is: 445 the obs is:10 
+[17:12:39.616] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000275
+[17:12:39.616] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000026 	 error end=0.000026
+[17:12:39.616] After pose optimization, distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000275
+[17:12:39.616] frame process finished the id is: 445 the obs is:10 
+[17:12:39.717] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000273
+[17:12:39.717] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.003545 	 error end=0.003545
+[17:12:39.717] After pose optimization, distance between ekf and vo x:0.000347 ,z=0.001559,angle between two frames:0.000273
+[17:12:39.717] frame process finished the id is: 445 the obs is:10 
+[17:12:39.819] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000346 ,z=0.001559,angle between two frames:0.000274
+[17:12:39.819] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000335 	 error end=0.000335
+[17:12:39.819] After pose optimization, distance between ekf and vo x:0.000346 ,z=0.001559,angle between two frames:0.000274
+[17:12:39.819] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:39.819] frame process finished the id is: 450 the obs is:10 
+[17:12:39.905] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
+[17:12:39.905] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 	 error init =0.000007 	 error end=0.000007
+[17:12:39.905] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
+[17:12:39.905] frame process finished the id is: 450 the obs is:10 
+[17:12:39.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
+[17:12:39.994] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.002615 	 error end=0.002615
+[17:12:39.994] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
+[17:12:39.994] frame process finished the id is: 450 the obs is:10 
+[17:12:40.095] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000013
+[17:12:40.095] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000000 	 error end=0.000000
+[17:12:40.095] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000013
+[17:12:40.095] frame process finished the id is: 450 the obs is:10 
+[17:12:40.195] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
+[17:12:40.195] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000097 	 error end=0.000097
+[17:12:40.195] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
+[17:12:40.195] frame process finished the id is: 450 the obs is:10 
+[17:12:40.295] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
+[17:12:40.295] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000048 	 error end=0.000048
+[17:12:40.295] After pose optimization, distance between ekf and vo x:0.000074 ,z=0.000312,angle between two frames:0.000014
+[17:12:40.295] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:40.295] frame process finished the id is: 455 the obs is:10 
+[17:12:40.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000314,angle between two frames:0.000016
+[17:12:40.394] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.003644 	 error end=0.003644
+[17:12:40.394] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000314,angle between two frames:0.000016
+[17:12:40.394] frame process finished the id is: 455 the obs is:10 
+[17:12:40.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000315,angle between two frames:0.000016
+[17:12:40.494] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000233 	 error end=0.000233
+[17:12:40.494] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000315,angle between two frames:0.000016
+[17:12:40.494] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:40.494] frame process finished the id is: 457 the obs is:10 
+[17:12:40.609] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000351 ,z=0.001567,angle between two frames:0.000274
+[17:12:40.609] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.001635 	 error end=0.001635
+[17:12:40.609] After pose optimization, distance between ekf and vo x:0.000351 ,z=0.001567,angle between two frames:0.000274
+[17:12:40.609] frame process finished the id is: 457 the obs is:10 
+[17:12:40.710] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000353 ,z=0.001570,angle between two frames:0.000275
+[17:12:40.710] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.002356 	 error end=0.002356
+[17:12:40.710] After pose optimization, distance between ekf and vo x:0.000353 ,z=0.001570,angle between two frames:0.000275
+[17:12:40.710] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:40.710] frame process finished the id is: 459 the obs is:10 
+[17:12:40.796] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000315,angle between two frames:0.000016
+[17:12:40.796] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000000 	 error end=0.000000
+[17:12:40.796] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000315,angle between two frames:0.000016
+[17:12:40.796] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:40.796] frame process finished the id is: 460 the obs is:10 
+[17:12:40.895] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000328,angle between two frames:0.000079
+[17:12:40.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000211 	 error end=0.000211
+[17:12:40.895] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000328,angle between two frames:0.000079
+[17:12:40.895] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:40.895] frame process finished the id is: 461 the obs is:10 
+[17:12:41.002] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000208 ,z=0.000810,angle between two frames:0.000161
+[17:12:41.002] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000019 	 error end=0.000019
+[17:12:41.002] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000810,angle between two frames:0.000161
+[17:12:41.002] frame process finished the id is: 461 the obs is:10 
+[17:12:41.103] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000208 ,z=0.000814,angle between two frames:0.000161
+[17:12:41.103] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000000 	 error end=0.000000
+[17:12:41.103] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000814,angle between two frames:0.000161
+[17:12:41.103] frame process finished the id is: 461 the obs is:10 
+[17:12:41.206] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000208 ,z=0.000811,angle between two frames:0.000161
+[17:12:41.206] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.002618 	 error end=0.002618
+[17:12:41.206] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000811,angle between two frames:0.000161
+[17:12:41.206] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:41.206] frame process finished the id is: 464 the obs is:10 
+[17:12:41.294] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000084 ,z=0.000324,angle between two frames:0.000052
+[17:12:41.294] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000023 	 error end=0.000023
+[17:12:41.294] After pose optimization, distance between ekf and vo x:0.000084 ,z=0.000324,angle between two frames:0.000052
+[17:12:41.294] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:41.294] frame process finished the id is: 465 the obs is:10 
+[17:12:41.393] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000086 ,z=0.000324,angle between two frames:0.000065
+[17:12:41.393] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000001 	 error end=0.000001
+[17:12:41.393] After pose optimization, distance between ekf and vo x:0.000086 ,z=0.000324,angle between two frames:0.000065
+[17:12:41.393] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:41.393] frame process finished the id is: 466 the obs is:10 
+[17:12:41.495] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000104 ,z=0.000385,angle between two frames:0.000078
+[17:12:41.495] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000117 	 error end=0.000117
+[17:12:41.495] After pose optimization, distance between ekf and vo x:0.000104 ,z=0.000385,angle between two frames:0.000078
+[17:12:41.495] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:41.495] frame process finished the id is: 467 the obs is:10 
+[17:12:41.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000107 ,z=0.000385,angle between two frames:0.000094
+[17:12:41.594] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000014 	 error end=0.000014
+[17:12:41.594] After pose optimization, distance between ekf and vo x:0.000107 ,z=0.000385,angle between two frames:0.000094
+[17:12:41.594] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:41.594] frame process finished the id is: 468 the obs is:10 
+[17:12:41.707] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000819,angle between two frames:0.000162
+[17:12:41.707] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000227 	 error end=0.000227
+[17:12:41.707] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000819,angle between two frames:0.000162
+[17:12:41.707] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:41.707] frame process finished the id is: 469 the obs is:10 
+[17:12:41.811] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000163
+[17:12:41.811] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000756 	 error end=0.000756
+[17:12:41.811] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000163
+[17:12:41.811] frame process finished the id is: 469 the obs is:10 
+[17:12:41.905] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000163
+[17:12:41.905] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000587 	 error end=0.000587
+[17:12:41.905] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000163
+[17:12:41.905] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:41.905] frame process finished the id is: 471 the obs is:10 
+[17:12:41.994] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000028
+[17:12:41.994] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001174 	 error end=0.001174
+[17:12:41.994] After pose optimization, distance between ekf and vo x:0.000076 ,z=0.000320,angle between two frames:0.000028
+[17:12:41.994] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:41.994] frame process finished the id is: 472 the obs is:10 
+[17:12:42.111] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000343 ,z=0.001566,angle between two frames:0.000333
+[17:12:42.111] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000733 	 error end=0.000733
+[17:12:42.111] After pose optimization, distance between ekf and vo x:0.000343 ,z=0.001566,angle between two frames:0.000333
+[17:12:42.111] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:42.111] frame process finished the id is: 473 the obs is:10 
+[17:12:42.198] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000026
+[17:12:42.198] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000709 	 error end=0.000709
+[17:12:42.198] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000026
+[17:12:42.198] frame process finished the id is: 473 the obs is:10 
+[17:12:42.296] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000026
+[17:12:42.296] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000654 	 error end=0.000654
+[17:12:42.296] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000026
+[17:12:42.296] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:42.296] frame process finished the id is: 475 the obs is:10 
+[17:12:42.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000027
+[17:12:42.394] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000545 	 error end=0.000545
+[17:12:42.394] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000027
+[17:12:42.394] frame process finished the id is: 475 the obs is:10 
+[17:12:42.493] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000027
+[17:12:42.493] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000166 	 error end=0.000166
+[17:12:42.493] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000027
+[17:12:42.493] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:42.493] frame process finished the id is: 477 the obs is:10 
+[17:12:42.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000028
+[17:12:42.594] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000007 	 error end=0.000007
+[17:12:42.594] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000316,angle between two frames:0.000028
+[17:12:42.594] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:42.594] frame process finished the id is: 478 the obs is:10 
+[17:12:42.702] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000221 ,z=0.000869,angle between two frames:0.000168
+[17:12:42.702] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000160 	 error end=0.000160
+[17:12:42.702] After pose optimization, distance between ekf and vo x:0.000221 ,z=0.000869,angle between two frames:0.000168
+[17:12:42.702] frame process finished the id is: 478 the obs is:10 
+[17:12:42.802] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000216 ,z=0.000841,angle between two frames:0.000161
+[17:12:42.802] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.001256 	 error end=0.001256
+[17:12:42.802] After pose optimization, distance between ekf and vo x:0.000216 ,z=0.000841,angle between two frames:0.000161
+[17:12:42.802] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:42.802] frame process finished the id is: 480 the obs is:10 
+[17:12:42.902] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000154
+[17:12:42.902] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =9 	 error init =0.000000 	 error end=0.000000
+[17:12:42.902] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000154
+[17:12:42.902] frame process finished the id is: 480 the obs is:10 
+[17:12:43.001] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000212 ,z=0.000821,angle between two frames:0.000154
+[17:12:43.001] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 	 error init =0.000095 	 error end=0.000095
+[17:12:43.001] After pose optimization, distance between ekf and vo x:0.000212 ,z=0.000821,angle between two frames:0.000154
+[17:12:43.001] frame process finished the id is: 480 the obs is:10 
+[17:12:43.102] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000154
+[17:12:43.102] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000097 	 error end=0.000097
+[17:12:43.102] After pose optimization, distance between ekf and vo x:0.000211 ,z=0.000821,angle between two frames:0.000154
+[17:12:43.102] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:43.102] frame process finished the id is: 483 the obs is:10 
+[17:12:43.193] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000077 ,z=0.000326,angle between two frames:0.000042
+[17:12:43.193] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000363 	 error end=0.000363
+[17:12:43.193] After pose optimization, distance between ekf and vo x:0.000077 ,z=0.000326,angle between two frames:0.000042
+[17:12:43.193] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:43.193] frame process finished the id is: 484 the obs is:10 
+[17:12:43.294] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000385,angle between two frames:0.000057
+[17:12:43.294] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.000009 	 error end=0.000009
+[17:12:43.294] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000385,angle between two frames:0.000057
+[17:12:43.294] frame process finished the id is: 484 the obs is:10 
+[17:12:43.394] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000092 ,z=0.000385,angle between two frames:0.000057
+[17:12:43.395] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000291 	 error end=0.000291
+[17:12:43.395] After pose optimization, distance between ekf and vo x:0.000092 ,z=0.000385,angle between two frames:0.000057
+[17:12:43.395] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:43.395] frame process finished the id is: 486 the obs is:10 
+[17:12:43.494] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000090 ,z=0.000380,angle between two frames:0.000057
+[17:12:43.494] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000869 	 error end=0.000869
+[17:12:43.494] After pose optimization, distance between ekf and vo x:0.000090 ,z=0.000380,angle between two frames:0.000057
+[17:12:43.494] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:43.494] frame process finished the id is: 487 the obs is:10 
+[17:12:43.594] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000382,angle between two frames:0.000057
+[17:12:43.594] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =8 	 error init =0.000057 	 error end=0.000057
+[17:12:43.594] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000382,angle between two frames:0.000057
+[17:12:43.594] frame process finished the id is: 487 the obs is:10 
+[17:12:43.696] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000091 ,z=0.000383,angle between two frames:0.000056
+[17:12:43.696] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000025 	 error end=0.000025
+[17:12:43.696] After pose optimization, distance between ekf and vo x:0.000091 ,z=0.000383,angle between two frames:0.000056
+[17:12:43.696] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:43.696] frame process finished the id is: 489 the obs is:10 
+[17:12:43.795] Odometry x=0.072651, y=1.839967, theta=-0.078171
+[17:12:43.797] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000108 ,z=0.000395,angle between two frames:0.000110
+[17:12:43.797] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =7 	 error init =0.000001 	 error end=0.000001
+[17:12:43.797] After pose optimization, distance between ekf and vo x:0.000108 ,z=0.000395,angle between two frames:0.000110
+[17:12:43.797] frame process finished the id is: 489 the obs is:10 
+[17:12:43.896] Odometry x=3.052921, y=-0.606922, theta=-2.965814
+[17:12:43.903] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000111,angle between two frames:0.000022
+[17:12:43.904] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.002633 	 error end=0.001757
+[17:12:43.904] After pose optimization, distance between ekf and vo x:-0.039285 ,z=-0.188058,angle between two frames:0.061787
+[17:12:43.904] frame process finished the id is: 489 the obs is:10 
+[17:12:43.999] Odometry x=3.050513, y=-0.595961, theta=-2.985628
+[17:12:44.004] After Reprojection Map nPoint:10 ,nCell:4 ,nMatches:4 ,distance between ekf and vo x:0.000021 ,z=0.000109,angle between two frames:0.000022
+[17:12:44.004] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =10 	 error init =0.000002 	 error end=0.000002
+[17:12:44.004] After pose optimization, distance between ekf and vo x:-0.000003 ,z=-0.000013,angle between two frames:0.000061
+[17:12:44.004] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[17:12:44.004] Choose frame as a key frame Scene Depth mean:0.675551 ,depth min:0.359185
+[17:12:44.004] frame process finished the id is: 492 the obs is:10 
+[17:12:44.089] After Reprojection Map nPoint:10 ,nCell:5 ,nMatches:4 ,distance between ekf and vo x:-0.000008 ,z=-0.000013,angle between two frames:0.000003
+[17:12:44.089] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =6 	 error init =0.002877 	 error end=0.002057
+[17:12:44.089] After pose optimization, distance between ekf and vo x:-0.044666 ,z=-0.194542,angle between two frames:0.063980
+[17:12:44.089] frame process finished the id is: 492 the obs is:10 
+[17:12:44.098] Odometry x=3.015019, y=-0.575672, theta=-1.146782
+[17:12:44.192] After Reprojection Map nPoint:50 ,nCell:16 ,nMatches:13 ,distance between ekf and vo x:0.000009 ,z=-0.000007,angle between two frames:0.000001
+[17:12:44.192] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =35 	 error init =0.001038 	 error end=0.001038
+[17:12:44.192] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000007,angle between two frames:0.000001
+[17:12:44.192] Update EKF and 3D points the number of feature in the new frame: 35 and number of obs: 35
+[17:12:44.192] Choose frame as a key frame Scene Depth mean:2.964710 ,depth min:2.851252
+[17:12:44.192] frame process finished the id is: 494 the obs is:35 
+[17:12:44.197] Odometry x=3.012330, y=-0.576098, theta=-1.146765
+[17:12:44.297] Odometry x=2.994013, y=-0.581159, theta=-1.128802
+[17:12:44.303] After Reprojection Map nPoint:110 ,nCell:25 ,nMatches:17 ,distance between ekf and vo x:-0.000023 ,z=-0.000002,angle between two frames:0.000014
+[17:12:44.303] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =102 	 error init =0.000843 	 error end=0.000843
+[17:12:44.303] After pose optimization, distance between ekf and vo x:-0.000023 ,z=-0.000002,angle between two frames:0.000014
+[17:12:44.303] Update EKF and 3D points the number of feature in the new frame: 102 and number of obs: 102
+[17:12:44.304] frame process finished the id is: 495 the obs is:102 
+[17:12:44.397] Odometry x=2.988684, y=-0.586157, theta=-1.139986
+[17:12:44.407] After Reprojection Map nPoint:177 ,nCell:34 ,nMatches:25 ,distance between ekf and vo x:-0.000131 ,z=0.000012,angle between two frames:0.000059
+[17:12:44.407] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =145 	 error init =0.000405 	 error end=0.000405
+[17:12:44.407] After pose optimization, distance between ekf and vo x:-0.000131 ,z=0.000012,angle between two frames:0.000059
+[17:12:44.407] Update EKF and 3D points the number of feature in the new frame: 145 and number of obs: 145
+[17:12:44.408] frame process finished the id is: 496 the obs is:145 
+[17:12:44.495] Odometry x=2.984662, y=-0.585259, theta=-1.129825
+[17:12:44.513] After Reprojection Map nPoint:220 ,nCell:43 ,nMatches:24 ,distance between ekf and vo x:-0.000179 ,z=0.000009,angle between two frames:0.000097
+[17:12:44.514] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 	 error init =0.000113 	 error end=0.000113
+[17:12:44.514] After pose optimization, distance between ekf and vo x:-0.000179 ,z=0.000009,angle between two frames:0.000097
+[17:12:44.514] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173
+[17:12:44.515] frame process finished the id is: 497 the obs is:173 
+[17:12:44.598] Odometry x=2.984634, y=-0.585117, theta=-1.130041
+[17:12:44.613] After Reprojection Map nPoint:248 ,nCell:45 ,nMatches:29 ,distance between ekf and vo x:-0.000094 ,z=0.000007,angle between two frames:0.000054
+[17:12:44.614] n deleted obs = 20 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =199 	 error init =0.001097 	 error end=0.001097
+[17:12:44.614] After pose optimization, distance between ekf and vo x:-0.000094 ,z=0.000007,angle between two frames:0.000054
+[17:12:44.614] Update EKF and 3D points the number of feature in the new frame: 199 and number of obs: 199
+[17:12:44.615] frame process finished the id is: 498 the obs is:199 
+[17:12:44.696] Odometry x=2.968193, y=-0.603001, theta=-1.111760
+[17:12:44.706] After Reprojection Map nPoint:274 ,nCell:53 ,nMatches:32 ,distance between ekf and vo x:-0.000052 ,z=0.000001,angle between two frames:0.000027
+[17:12:44.706] n deleted obs = 11 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 	 error init =0.001339 	 error end=0.001339
+[17:12:44.706] After pose optimization, distance between ekf and vo x:-0.000052 ,z=0.000001,angle between two frames:0.000027
+[17:12:44.706] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189
+[17:12:44.708] frame process finished the id is: 499 the obs is:189 
+[17:12:44.795] Odometry x=2.983276, y=-0.586028, theta=-1.129961
+[17:12:44.803] After Reprojection Map nPoint:264 ,nCell:46 ,nMatches:30 ,distance between ekf and vo x:-0.000041 ,z=-0.000007,angle between two frames:0.000027
+[17:12:44.804] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =211 	 error init =0.000320 	 error end=0.000320
+[17:12:44.804] After pose optimization, distance between ekf and vo x:-0.000041 ,z=-0.000007,angle between two frames:0.000027
+[17:12:44.804] Update EKF and 3D points the number of feature in the new frame: 211 and number of obs: 211
+[17:12:44.805] frame process finished the id is: 500 the obs is:211 
+[17:12:44.894] After Reprojection Map nPoint:286 ,nCell:51 ,nMatches:33 ,distance between ekf and vo x:0.000003 ,z=-0.000003,angle between two frames:0.000000
+[17:12:44.895] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =194 	 error init =0.000190 	 error end=0.000190
+[17:12:44.895] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000003,angle between two frames:0.000000
+[17:12:44.895] Update EKF and 3D points the number of feature in the new frame: 194 and number of obs: 194
+[17:12:44.896] frame process finished the id is: 501 the obs is:194 
+[17:12:44.897] Odometry x=2.981687, y=-0.587531, theta=-1.129789
+[17:12:44.994] Odometry x=2.966791, y=-0.601323, theta=-1.136188
+[17:12:45.003] After Reprojection Map nPoint:269 ,nCell:42 ,nMatches:32 ,distance between ekf and vo x:0.000008 ,z=-0.000028,angle between two frames:0.000015
+[17:12:45.004] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =196 	 error init =0.000215 	 error end=0.000215
+[17:12:45.004] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000028,angle between two frames:0.000015
+[17:12:45.004] Update EKF and 3D points the number of feature in the new frame: 196 and number of obs: 196
+[17:12:45.005] frame process finished the id is: 502 the obs is:196 
+[17:12:45.098] Odometry x=2.938165, y=-0.618954, theta=-1.153939
+[17:12:45.108] After Reprojection Map nPoint:271 ,nCell:39 ,nMatches:26 ,distance between ekf and vo x:-0.000131 ,z=0.000013,angle between two frames:0.000051
+[17:12:45.108] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =168 	 error init =0.000275 	 error end=0.000275
+[17:12:45.108] After pose optimization, distance between ekf and vo x:-0.000131 ,z=0.000013,angle between two frames:0.000051
+[17:12:45.108] Update EKF and 3D points the number of feature in the new frame: 168 and number of obs: 168
+[17:12:45.109] frame process finished the id is: 503 the obs is:168 
+[17:12:45.198] Odometry x=2.949450, y=-0.616248, theta=-1.127796
+[17:12:45.209] After Reprojection Map nPoint:243 ,nCell:48 ,nMatches:29 ,distance between ekf and vo x:-0.000114 ,z=0.000013,angle between two frames:0.000055
+[17:12:45.209] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =149 	 error init =0.000677 	 error end=0.000677
+[17:12:45.209] After pose optimization, distance between ekf and vo x:-0.000114 ,z=0.000013,angle between two frames:0.000055
+[17:12:45.209] Update EKF and 3D points the number of feature in the new frame: 149 and number of obs: 149
+[17:12:45.210] frame process finished the id is: 504 the obs is:149 
+[17:12:45.297] Odometry x=2.949490, y=-0.582721, theta=-1.130078
+[17:12:45.308] After Reprojection Map nPoint:224 ,nCell:48 ,nMatches:27 ,distance between ekf and vo x:-0.000151 ,z=0.000021,angle between two frames:0.000079
+[17:12:45.308] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 	 error init =0.000311 	 error end=0.000311
+[17:12:45.308] After pose optimization, distance between ekf and vo x:-0.000151 ,z=0.000021,angle between two frames:0.000079
+[17:12:45.308] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189
+[17:12:45.309] frame process finished the id is: 505 the obs is:189 
+[17:12:45.393] After Reprojection Map nPoint:264 ,nCell:46 ,nMatches:31 ,distance between ekf and vo x:0.000003 ,z=-0.000005,angle between two frames:0.000002
+[17:12:45.394] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =221 	 error init =0.000596 	 error end=0.000596
+[17:12:45.394] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000005,angle between two frames:0.000002
+[17:12:45.394] Update EKF and 3D points the number of feature in the new frame: 221 and number of obs: 221
+[17:12:45.395] frame process finished the id is: 506 the obs is:221 
+[17:12:45.397] Odometry x=2.947677, y=-0.616014, theta=-1.128204
+[17:12:45.493] Odometry x=2.943011, y=-0.620416, theta=-1.135165
+[17:12:45.494] After Reprojection Map nPoint:296 ,nCell:54 ,nMatches:35 ,distance between ekf and vo x:0.000010 ,z=-0.000006,angle between two frames:0.000000
+[17:12:45.494] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =232 	 error init =0.000227 	 error end=0.000227
+[17:12:45.494] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000006,angle between two frames:0.000000
+[17:12:45.494] Update EKF and 3D points the number of feature in the new frame: 232 and number of obs: 232
+[17:12:45.496] frame process finished the id is: 507 the obs is:232 
+[17:12:45.594] After Reprojection Map nPoint:307 ,nCell:51 ,nMatches:30 ,distance between ekf and vo x:-0.000002 ,z=-0.000003,angle between two frames:0.000002
+[17:12:45.594] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =202 	 error init =0.001037 	 error end=0.001037
+[17:12:45.594] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000003,angle between two frames:0.000002
+[17:12:45.594] Update EKF and 3D points the number of feature in the new frame: 202 and number of obs: 202
+[17:12:45.596] Odometry x=2.942751, y=-0.624162, theta=-1.135796
+[17:12:45.596] frame process finished the id is: 508 the obs is:202 
+[17:12:45.700] Odometry x=2.936631, y=-0.631381, theta=-1.156706
+[17:12:45.702] After Reprojection Map nPoint:277 ,nCell:55 ,nMatches:28 ,distance between ekf and vo x:-0.000009 ,z=-0.000005,angle between two frames:0.000007
+[17:12:45.702] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =142 	 error init =0.000334 	 error end=0.000334
+[17:12:45.702] After pose optimization, distance between ekf and vo x:-0.000009 ,z=-0.000005,angle between two frames:0.000007
+[17:12:45.702] Update EKF and 3D points the number of feature in the new frame: 142 and number of obs: 142
+[17:12:45.703] frame process finished the id is: 509 the obs is:142 
+[17:12:45.800] Odometry x=2.939252, y=-0.630436, theta=-1.157827
+[17:12:45.808] After Reprojection Map nPoint:217 ,nCell:42 ,nMatches:33 ,distance between ekf and vo x:-0.000096 ,z=-0.000006,angle between two frames:0.000052
+[17:12:45.808] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =124 	 error init =0.000119 	 error end=0.000119
+[17:12:45.808] After pose optimization, distance between ekf and vo x:-0.000096 ,z=-0.000006,angle between two frames:0.000052
+[17:12:45.808] Update EKF and 3D points the number of feature in the new frame: 124 and number of obs: 124
+[17:12:45.809] frame process finished the id is: 510 the obs is:124 
+[17:12:45.894] After Reprojection Map nPoint:199 ,nCell:37 ,nMatches:26 ,distance between ekf and vo x:0.000003 ,z=-0.000004,angle between two frames:0.000000
+[17:12:45.894] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =144 	 error init =0.000792 	 error end=0.000792
+[17:12:45.894] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000004,angle between two frames:0.000000
+[17:12:45.894] Update EKF and 3D points the number of feature in the new frame: 144 and number of obs: 144
+[17:12:45.895] frame process finished the id is: 511 the obs is:144 
+[17:12:45.897] Odometry x=2.933375, y=-0.631670, theta=-1.156578
+[17:12:45.994] After Reprojection Map nPoint:219 ,nCell:49 ,nMatches:31 ,distance between ekf and vo x:0.000012 ,z=-0.000007,angle between two frames:0.000002
+[17:12:45.995] n deleted obs = 24 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 	 error init =0.001177 	 error end=0.001177
+[17:12:45.995] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000007,angle between two frames:0.000002
+[17:12:45.995] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173
+[17:12:45.996] Odometry x=2.939905, y=-0.639840, theta=-1.157393
+[17:12:45.996] frame process finished the id is: 512 the obs is:173 
+[17:12:46.099] Odometry x=2.938376, y=-0.641623, theta=-1.124527
+[17:12:46.106] After Reprojection Map nPoint:248 ,nCell:56 ,nMatches:32 ,distance between ekf and vo x:-0.000017 ,z=-0.000009,angle between two frames:0.000013
+[17:12:46.106] n deleted obs = 37 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =164 	 error init =0.002118 	 error end=0.002118
+[17:12:46.106] After pose optimization, distance between ekf and vo x:-0.000017 ,z=-0.000009,angle between two frames:0.000013
+[17:12:46.106] Update EKF and 3D points the number of feature in the new frame: 164 and number of obs: 164
+[17:12:46.107] frame process finished the id is: 513 the obs is:164 
+[17:12:46.195] After Reprojection Map nPoint:239 ,nCell:63 ,nMatches:33 ,distance between ekf and vo x:0.000005 ,z=-0.000004,angle between two frames:0.000001
+[17:12:46.195] n deleted obs = 17 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =187 	 error init =0.000906 	 error end=0.000906
+[17:12:46.195] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000004,angle between two frames:0.000001
+[17:12:46.195] Update EKF and 3D points the number of feature in the new frame: 187 and number of obs: 187
+[17:12:46.196] frame process finished the id is: 514 the obs is:187 
+[17:12:46.199] Odometry x=2.940568, y=-0.639454, theta=-1.156067
+[17:12:46.293] After Reprojection Map nPoint:262 ,nCell:32 ,nMatches:30 ,distance between ekf and vo x:0.000011 ,z=-0.000007,angle between two frames:0.000002
+[17:12:46.293] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =183 	 error init =0.000178 	 error end=0.000178
+[17:12:46.293] After pose optimization, distance between ekf and vo x:0.000011 ,z=-0.000007,angle between two frames:0.000002
+[17:12:46.293] Update EKF and 3D points the number of feature in the new frame: 183 and number of obs: 183
+[17:12:46.295] frame process finished the id is: 515 the obs is:183 
+[17:12:46.297] Odometry x=2.940152, y=-0.639445, theta=-1.156172
+[17:12:46.394] After Reprojection Map nPoint:258 ,nCell:31 ,nMatches:27 ,distance between ekf and vo x:0.000002 ,z=-0.000003,angle between two frames:0.000001
+[17:12:46.395] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =175 	 error init =0.000382 	 error end=0.000382
+[17:12:46.395] After pose optimization, distance between ekf and vo x:0.000002 ,z=-0.000003,angle between two frames:0.000001
+[17:12:46.395] Update EKF and 3D points the number of feature in the new frame: 175 and number of obs: 175
+[17:12:46.396] Odometry x=2.932899, y=-0.645808, theta=-1.144846
+[17:12:46.396] frame process finished the id is: 516 the obs is:175 
+[17:12:46.492] After Reprojection Map nPoint:250 ,nCell:32 ,nMatches:25 ,distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000001
+[17:12:46.493] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =161 	 error init =0.000140 	 error end=0.000140
+[17:12:46.493] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000001
+[17:12:46.493] Update EKF and 3D points the number of feature in the new frame: 161 and number of obs: 161
+[17:12:46.494] frame process finished the id is: 517 the obs is:161 
+[17:12:46.496] Odometry x=2.932397, y=-0.646297, theta=-1.144064
+[17:12:46.594] Odometry x=2.935213, y=-0.644104, theta=-1.127272
+[17:12:46.608] After Reprojection Map nPoint:236 ,nCell:40 ,nMatches:30 ,distance between ekf and vo x:0.000000 ,z=-0.000036,angle between two frames:0.000032
+[17:12:46.609] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =121 	 error init =0.000380 	 error end=0.000380
+[17:12:46.609] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000036,angle between two frames:0.000032
+[17:12:46.609] Update EKF and 3D points the number of feature in the new frame: 121 and number of obs: 121
+[17:12:46.609] frame process finished the id is: 518 the obs is:121 
+[17:12:46.703] Odometry x=2.932817, y=-0.647425, theta=-1.143675
+[17:12:46.707] After Reprojection Map nPoint:196 ,nCell:30 ,nMatches:27 ,distance between ekf and vo x:-0.000193 ,z=0.000031,angle between two frames:0.000068
+[17:12:46.707] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =130 	 error init =0.001240 	 error end=0.001240
+[17:12:46.707] After pose optimization, distance between ekf and vo x:-0.000193 ,z=0.000031,angle between two frames:0.000068
+[17:12:46.707] Update EKF and 3D points the number of feature in the new frame: 130 and number of obs: 130
+[17:12:46.708] frame process finished the id is: 519 the obs is:130 
+[17:12:46.798] After Reprojection Map nPoint:205 ,nCell:37 ,nMatches:29 ,distance between ekf and vo x:-0.000170 ,z=0.000036,angle between two frames:0.000065
+[17:12:46.798] Odometry x=2.919886, y=-0.659135, theta=-1.149287
+[17:12:46.799] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =153 	 error init =0.000294 	 error end=0.000294
+[17:12:46.799] After pose optimization, distance between ekf and vo x:-0.000170 ,z=0.000036,angle between two frames:0.000065
+[17:12:46.799] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153
+[17:12:46.800] frame process finished the id is: 520 the obs is:153 
+[17:12:46.901] Odometry x=2.913863, y=-0.647064, theta=-1.153326
+[17:12:46.907] After Reprojection Map nPoint:228 ,nCell:35 ,nMatches:32 ,distance between ekf and vo x:-0.000172 ,z=0.000030,angle between two frames:0.000072
+[17:12:46.907] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =161 	 error init =0.000474 	 error end=0.000474
+[17:12:46.907] After pose optimization, distance between ekf and vo x:-0.000172 ,z=0.000030,angle between two frames:0.000072
+[17:12:46.907] Update EKF and 3D points the number of feature in the new frame: 161 and number of obs: 161
+[17:12:46.908] frame process finished the id is: 521 the obs is:161 
+[17:12:46.997] After Reprojection Map nPoint:236 ,nCell:32 ,nMatches:29 ,distance between ekf and vo x:0.000007 ,z=-0.000009,angle between two frames:0.000003
+[17:12:46.997] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =188 	 error init =0.000993 	 error end=0.000993
+[17:12:46.997] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000009,angle between two frames:0.000003
+[17:12:46.997] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188
+[17:12:46.998] frame process finished the id is: 522 the obs is:188 
+[17:12:47.001] Odometry x=2.913474, y=-0.646611, theta=-1.153622
+[17:12:47.094] After Reprojection Map nPoint:263 ,nCell:37 ,nMatches:31 ,distance between ekf and vo x:0.000006 ,z=-0.000006,angle between two frames:0.000001
+[17:12:47.094] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =155 	 error init =0.000624 	 error end=0.000624
+[17:12:47.094] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000006,angle between two frames:0.000001
+[17:12:47.094] Update EKF and 3D points the number of feature in the new frame: 155 and number of obs: 155
+[17:12:47.095] frame process finished the id is: 523 the obs is:155 
+[17:12:47.099] Odometry x=2.910074, y=-0.652405, theta=-1.163468
+[17:12:47.201] Odometry x=2.904485, y=-0.659131, theta=-1.162046
+[17:12:47.209] After Reprojection Map nPoint:230 ,nCell:38 ,nMatches:35 ,distance between ekf and vo x:0.000001 ,z=-0.000029,angle between two frames:0.000029
+[17:12:47.210] n deleted obs = 18 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =132 	 error init =0.001648 	 error end=0.001648
+[17:12:47.210] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000029,angle between two frames:0.000029
+[17:12:47.210] Update EKF and 3D points the number of feature in the new frame: 132 and number of obs: 132
+[17:12:47.211] frame process finished the id is: 524 the obs is:132 
+[17:12:47.298] Odometry x=2.903642, y=-0.673838, theta=-1.174520
+[17:12:47.301] After Reprojection Map nPoint:207 ,nCell:35 ,nMatches:31 ,distance between ekf and vo x:0.000008 ,z=-0.000019,angle between two frames:0.000018
+[17:12:47.301] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =163 	 error init =0.000521 	 error end=0.000521
+[17:12:47.301] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000019,angle between two frames:0.000018
+[17:12:47.301] Update EKF and 3D points the number of feature in the new frame: 163 and number of obs: 163
+[17:12:47.302] frame process finished the id is: 525 the obs is:163 
+[17:12:47.401] Odometry x=2.915059, y=-0.667866, theta=-1.159834
+[17:12:47.407] After Reprojection Map nPoint:238 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:0.000016 ,z=-0.000040,angle between two frames:0.000025
+[17:12:47.408] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =194 	 error init =0.000544 	 error end=0.000544
+[17:12:47.408] After pose optimization, distance between ekf and vo x:0.000016 ,z=-0.000040,angle between two frames:0.000025
+[17:12:47.408] Update EKF and 3D points the number of feature in the new frame: 194 and number of obs: 194
+[17:12:47.409] frame process finished the id is: 526 the obs is:194 
+[17:12:47.498] Odometry x=2.910036, y=-0.693178, theta=-1.168247
+[17:12:47.508] After Reprojection Map nPoint:269 ,nCell:37 ,nMatches:31 ,distance between ekf and vo x:-0.000045 ,z=0.000013,angle between two frames:0.000023
+[17:12:47.509] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =190 	 error init =0.000243 	 error end=0.000243
+[17:12:47.509] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000013,angle between two frames:0.000023
+[17:12:47.509] Update EKF and 3D points the number of feature in the new frame: 190 and number of obs: 190
+[17:12:47.510] frame process finished the id is: 527 the obs is:190 
+[17:12:47.600] Odometry x=2.911197, y=-0.664152, theta=-1.170476
+[17:12:47.611] After Reprojection Map nPoint:265 ,nCell:40 ,nMatches:31 ,distance between ekf and vo x:-0.000115 ,z=0.000029,angle between two frames:0.000065
+[17:12:47.611] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =216 	 error init =0.000397 	 error end=0.000397
+[17:12:47.611] After pose optimization, distance between ekf and vo x:-0.000115 ,z=0.000029,angle between two frames:0.000065
+[17:12:47.611] Update EKF and 3D points the number of feature in the new frame: 216 and number of obs: 216
+[17:12:47.612] frame process finished the id is: 528 the obs is:216 
+[17:12:47.697] Odometry x=2.906389, y=-0.658985, theta=-1.164113
+[17:12:47.719] After Reprojection Map nPoint:291 ,nCell:49 ,nMatches:36 ,distance between ekf and vo x:-0.000193 ,z=0.000063,angle between two frames:0.000089
+[17:12:47.720] n deleted obs = 11 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =217 	 error init =0.000487 	 error end=0.000487
+[17:12:47.720] After pose optimization, distance between ekf and vo x:-0.000193 ,z=0.000063,angle between two frames:0.000089
+[17:12:47.720] Update EKF and 3D points the number of feature in the new frame: 217 and number of obs: 217
+[17:12:47.721] frame process finished the id is: 529 the obs is:217 
+[17:12:47.800] Odometry x=2.900788, y=-0.665884, theta=-1.158332
+[17:12:47.819] After Reprojection Map nPoint:292 ,nCell:33 ,nMatches:29 ,distance between ekf and vo x:-0.000078 ,z=0.000012,angle between two frames:0.000046
+[17:12:47.820] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =192 	 error init =0.000190 	 error end=0.000190
+[17:12:47.820] After pose optimization, distance between ekf and vo x:-0.000078 ,z=0.000012,angle between two frames:0.000046
+[17:12:47.820] Update EKF and 3D points the number of feature in the new frame: 192 and number of obs: 192
+[17:12:47.821] frame process finished the id is: 530 the obs is:192 
+[17:12:47.898] Odometry x=2.905266, y=-0.659717, theta=-1.163954
+[17:12:47.904] After Reprojection Map nPoint:267 ,nCell:37 ,nMatches:28 ,distance between ekf and vo x:0.000013 ,z=-0.000009,angle between two frames:0.000002
+[17:12:47.905] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =216 	 error init =0.000257 	 error end=0.000257
+[17:12:47.905] After pose optimization, distance between ekf and vo x:0.000013 ,z=-0.000009,angle between two frames:0.000002
+[17:12:47.905] Update EKF and 3D points the number of feature in the new frame: 216 and number of obs: 216
+[17:12:47.906] frame process finished the id is: 531 the obs is:216 
+[17:12:47.993] After Reprojection Map nPoint:291 ,nCell:42 ,nMatches:28 ,distance between ekf and vo x:0.000012 ,z=-0.000008,angle between two frames:0.000002
+[17:12:47.994] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 	 error init =0.000522 	 error end=0.000522
+[17:12:47.994] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000008,angle between two frames:0.000002
+[17:12:47.994] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189
+[17:12:47.995] frame process finished the id is: 532 the obs is:189 
+[17:12:47.995] Odometry x=2.901522, y=-0.662906, theta=-1.163898
+[17:12:48.093] Odometry x=2.895868, y=-0.667515, theta=-1.160378
+[17:12:48.093] After Reprojection Map nPoint:264 ,nCell:41 ,nMatches:27 ,distance between ekf and vo x:0.000007 ,z=-0.000005,angle between two frames:0.000001
+[17:12:48.099] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =146 	 error init =0.000547 	 error end=0.000546
+[17:12:48.099] After pose optimization, distance between ekf and vo x:-0.000153 ,z=-0.001236,angle between two frames:0.000368
+[17:12:48.099] Update EKF and 3D points the number of feature in the new frame: 146 and number of obs: 146
+[17:12:48.100] frame process finished the id is: 533 the obs is:146 
+[17:12:48.195] Odometry x=2.895407, y=-0.668952, theta=-1.161247
+[17:12:48.207] After Reprojection Map nPoint:221 ,nCell:34 ,nMatches:28 ,distance between ekf and vo x:-0.000005 ,z=-0.000015,angle between two frames:0.000019
+[17:12:48.207] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =136 	 error init =0.000457 	 error end=0.000457
+[17:12:48.207] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000015,angle between two frames:0.000019
+[17:12:48.207] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136
+[17:12:48.208] frame process finished the id is: 534 the obs is:136 
+[17:12:48.298] Odometry x=2.899517, y=-0.668395, theta=-1.169935
+[17:12:48.299] After Reprojection Map nPoint:211 ,nCell:36 ,nMatches:27 ,distance between ekf and vo x:-0.000007 ,z=-0.000026,angle between two frames:0.000022
+[17:12:48.299] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =109 	 error init =0.000567 	 error end=0.000567
+[17:12:48.299] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000026,angle between two frames:0.000022
+[17:12:48.299] Update EKF and 3D points the number of feature in the new frame: 109 and number of obs: 109
+[17:12:48.300] frame process finished the id is: 535 the obs is:109 
+[17:12:48.391] After Reprojection Map nPoint:184 ,nCell:42 ,nMatches:30 ,distance between ekf and vo x:0.000014 ,z=-0.000010,angle between two frames:0.000002
+[17:12:48.392] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =116 	 error init =0.000837 	 error end=0.000837
+[17:12:48.392] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000010,angle between two frames:0.000002
+[17:12:48.392] Update EKF and 3D points the number of feature in the new frame: 116 and number of obs: 116
+[17:12:48.392] frame process finished the id is: 536 the obs is:116 
+[17:12:48.401] Odometry x=2.895032, y=-0.674228, theta=-1.162340
+[17:12:48.492] After Reprojection Map nPoint:191 ,nCell:43 ,nMatches:28 ,distance between ekf and vo x:0.000010 ,z=-0.000008,angle between two frames:0.000001
+[17:12:48.492] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 	 error init =0.000087 	 error end=0.000087
+[17:12:48.492] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000008,angle between two frames:0.000001
+[17:12:48.492] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173
+[17:12:48.493] Odometry x=2.898066, y=-0.684473, theta=-1.171165
+[17:12:48.494] frame process finished the id is: 537 the obs is:173 
+[17:12:48.593] After Reprojection Map nPoint:248 ,nCell:50 ,nMatches:30 ,distance between ekf and vo x:0.000010 ,z=-0.000007,angle between two frames:0.000001
+[17:12:48.593] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =210 	 error init =0.000340 	 error end=0.000340
+[17:12:48.593] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000007,angle between two frames:0.000001
+[17:12:48.593] Update EKF and 3D points the number of feature in the new frame: 210 and number of obs: 210
+[17:12:48.594] frame process finished the id is: 538 the obs is:210 
+[17:12:48.601] Odometry x=2.898548, y=-0.684088, theta=-1.171940
+[17:12:48.694] Odometry x=2.896967, y=-0.684357, theta=-1.174773
+[17:12:48.703] After Reprojection Map nPoint:285 ,nCell:60 ,nMatches:34 ,distance between ekf and vo x:-0.000001 ,z=-0.000017,angle between two frames:0.000010
+[17:12:48.703] n deleted obs = 32 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =197 	 error init =0.001123 	 error end=0.001123
+[17:12:48.703] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000017,angle between two frames:0.000010
+[17:12:48.703] Update EKF and 3D points the number of feature in the new frame: 197 and number of obs: 197
+[17:12:48.705] frame process finished the id is: 539 the obs is:197 
+[17:12:48.796] Odometry x=2.891255, y=-0.689340, theta=-1.183272
+[17:12:48.801] After Reprojection Map nPoint:272 ,nCell:48 ,nMatches:27 ,distance between ekf and vo x:0.000005 ,z=-0.000012,angle between two frames:0.000018
+[17:12:48.801] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =129 	 error init =0.000806 	 error end=0.000806
+[17:12:48.801] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000012,angle between two frames:0.000018
+[17:12:48.801] Update EKF and 3D points the number of feature in the new frame: 129 and number of obs: 129
+[17:12:48.802] frame process finished the id is: 540 the obs is:129 
+[17:12:48.899] Odometry x=2.877387, y=-0.717080, theta=-1.188175
+[17:12:48.912] After Reprojection Map nPoint:204 ,nCell:52 ,nMatches:28 ,distance between ekf and vo x:-0.000050 ,z=-0.000023,angle between two frames:0.000039
+[17:12:48.918] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =155 	 error init =0.000344 	 error end=0.000340
+[17:12:48.918] After pose optimization, distance between ekf and vo x:-0.000476 ,z=-0.008991,angle between two frames:0.002447
+[17:12:48.918] Update EKF and 3D points the number of feature in the new frame: 155 and number of obs: 155
+[17:12:48.919] frame process finished the id is: 541 the obs is:155 
+[17:12:48.996] Odometry x=2.891863, y=-0.698143, theta=-1.167373
+[17:12:49.017] After Reprojection Map nPoint:230 ,nCell:63 ,nMatches:31 ,distance between ekf and vo x:-0.000044 ,z=0.000013,angle between two frames:0.000026
+[17:12:49.018] n deleted obs = 32 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =164 	 error init =0.001516 	 error end=0.001516
+[17:12:49.018] After pose optimization, distance between ekf and vo x:-0.000044 ,z=0.000013,angle between two frames:0.000026
+[17:12:49.018] Update EKF and 3D points the number of feature in the new frame: 164 and number of obs: 164
+[17:12:49.019] frame process finished the id is: 542 the obs is:164 
+[17:12:49.096] Odometry x=2.894407, y=-0.693685, theta=-1.178124
+[17:12:49.117] After Reprojection Map nPoint:239 ,nCell:57 ,nMatches:26 ,distance between ekf and vo x:-0.000112 ,z=0.000038,angle between two frames:0.000047
+[17:12:49.117] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =159 	 error init =0.000598 	 error end=0.000598
+[17:12:49.117] After pose optimization, distance between ekf and vo x:-0.000112 ,z=0.000038,angle between two frames:0.000047
+[17:12:49.117] Update EKF and 3D points the number of feature in the new frame: 159 and number of obs: 159
+[17:12:49.118] frame process finished the id is: 543 the obs is:159 
+[17:12:49.198] Odometry x=2.888694, y=-0.680913, theta=-1.191827
+[17:12:49.224] After Reprojection Map nPoint:234 ,nCell:40 ,nMatches:28 ,distance between ekf and vo x:-0.000243 ,z=0.000093,angle between two frames:0.000097
+[17:12:49.224] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =170 	 error init =0.000086 	 error end=0.000086
+[17:12:49.224] After pose optimization, distance between ekf and vo x:-0.000243 ,z=0.000093,angle between two frames:0.000097
+[17:12:49.224] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170
+[17:12:49.225] frame process finished the id is: 544 the obs is:170 
+[17:12:49.297] Odometry x=2.892790, y=-0.693745, theta=-1.178136
+[17:12:49.330] After Reprojection Map nPoint:245 ,nCell:46 ,nMatches:30 ,distance between ekf and vo x:-0.000129 ,z=0.000041,angle between two frames:0.000068
+[17:12:49.330] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =167 	 error init =0.000664 	 error end=0.000664
+[17:12:49.330] After pose optimization, distance between ekf and vo x:-0.000129 ,z=0.000041,angle between two frames:0.000068
+[17:12:49.330] Update EKF and 3D points the number of feature in the new frame: 167 and number of obs: 167
+[17:12:49.331] frame process finished the id is: 545 the obs is:167 
+[17:12:49.399] Odometry x=2.893604, y=-0.694179, theta=-1.177816
+[17:12:49.432] After Reprojection Map nPoint:242 ,nCell:41 ,nMatches:31 ,distance between ekf and vo x:-0.000199 ,z=0.000065,angle between two frames:0.000056
+[17:12:49.433] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =136 	 error init =0.000292 	 error end=0.000292
+[17:12:49.433] After pose optimization, distance between ekf and vo x:-0.000199 ,z=0.000065,angle between two frames:0.000056
+[17:12:49.433] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136
+[17:12:49.434] frame process finished the id is: 546 the obs is:136 
+[17:12:49.491] Odometry x=2.893196, y=-0.694611, theta=-1.177508
+[17:12:49.537] After Reprojection Map nPoint:211 ,nCell:46 ,nMatches:32 ,distance between ekf and vo x:-0.000105 ,z=0.000019,angle between two frames:0.000040
+[17:12:49.542] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =157 	 error init =0.000420 	 error end=0.000419
+[17:12:49.542] After pose optimization, distance between ekf and vo x:-0.000309 ,z=-0.002980,angle between two frames:0.000961
+[17:12:49.542] Update EKF and 3D points the number of feature in the new frame: 157 and number of obs: 157
+[17:12:49.543] frame process finished the id is: 547 the obs is:157 
+[17:12:49.593] Odometry x=2.893884, y=-0.696603, theta=-1.178053
+[17:12:49.643] After Reprojection Map nPoint:232 ,nCell:36 ,nMatches:27 ,distance between ekf and vo x:-0.000060 ,z=-0.000020,angle between two frames:0.000023
+[17:12:49.650] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =178 	 error init =0.000376 	 error end=0.000376
+[17:12:49.650] After pose optimization, distance between ekf and vo x:-0.000536 ,z=-0.000772,angle between two frames:0.000389
+[17:12:49.650] Update EKF and 3D points the number of feature in the new frame: 178 and number of obs: 178
+[17:12:49.651] frame process finished the id is: 548 the obs is:178 
+[17:12:49.694] Odometry x=2.896337, y=-0.695231, theta=-1.177760
+[17:12:49.733] After Reprojection Map nPoint:253 ,nCell:34 ,nMatches:29 ,distance between ekf and vo x:0.000004 ,z=-0.000004,angle between two frames:0.000001
+[17:12:49.734] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =131 	 error init =0.000219 	 error end=0.000219
+[17:12:49.734] After pose optimization, distance between ekf and vo x:0.000017 ,z=-0.000021,angle between two frames:0.000004
+[17:12:49.734] Update EKF and 3D points the number of feature in the new frame: 131 and number of obs: 131
+[17:12:49.734] frame process finished the id is: 549 the obs is:131 
+[17:12:49.796] Odometry x=2.895975, y=-0.695471, theta=-1.177023
+[17:12:49.832] After Reprojection Map nPoint:206 ,nCell:41 ,nMatches:31 ,distance between ekf and vo x:-0.000298 ,z=0.000118,angle between two frames:0.000098
+[17:12:49.833] n deleted obs = 13 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =142 	 error init =0.000851 	 error end=0.000851
+[17:12:49.833] After pose optimization, distance between ekf and vo x:-0.000298 ,z=0.000118,angle between two frames:0.000098
+[17:12:49.833] Update EKF and 3D points the number of feature in the new frame: 142 and number of obs: 142
+[17:12:49.834] frame process finished the id is: 550 the obs is:142 
+[17:12:49.900] Odometry x=2.895388, y=-0.695613, theta=-1.176479
+[17:12:49.929] After Reprojection Map nPoint:217 ,nCell:39 ,nMatches:32 ,distance between ekf and vo x:-0.000088 ,z=0.000034,angle between two frames:0.000033
+[17:12:49.929] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =179 	 error init =0.000206 	 error end=0.000206
+[17:12:49.929] After pose optimization, distance between ekf and vo x:-0.000088 ,z=0.000034,angle between two frames:0.000033
+[17:12:49.929] Update EKF and 3D points the number of feature in the new frame: 179 and number of obs: 179
+[17:12:49.931] frame process finished the id is: 551 the obs is:179 
+[17:12:49.997] Odometry x=2.888968, y=-0.700867, theta=-1.179017
+[17:12:50.027] After Reprojection Map nPoint:254 ,nCell:35 ,nMatches:30 ,distance between ekf and vo x:-0.000121 ,z=0.000025,angle between two frames:0.000050
+[17:12:50.034] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =175 	 error init =0.000490 	 error end=0.000486
+[17:12:50.034] After pose optimization, distance between ekf and vo x:0.000957 ,z=-0.008510,angle between two frames:0.002365
+[17:12:50.034] Update EKF and 3D points the number of feature in the new frame: 175 and number of obs: 175
+[17:12:50.035] frame process finished the id is: 552 the obs is:175 
+[17:12:50.099] Odometry x=2.890472, y=-0.708420, theta=-1.180993
+[17:12:50.124] After Reprojection Map nPoint:250 ,nCell:30 ,nMatches:27 ,distance between ekf and vo x:-0.000034 ,z=-0.000005,angle between two frames:0.000018
+[17:12:50.124] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =199 	 error init =0.000298 	 error end=0.000298
+[17:12:50.124] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000005,angle between two frames:0.000018
+[17:12:50.124] Update EKF and 3D points the number of feature in the new frame: 199 and number of obs: 199
+[17:12:50.126] frame process finished the id is: 553 the obs is:199 
+[17:12:50.197] Odometry x=2.879753, y=-0.715603, theta=-1.185434
+[17:12:50.216] After Reprojection Map nPoint:274 ,nCell:31 ,nMatches:27 ,distance between ekf and vo x:-0.000008 ,z=-0.000006,angle between two frames:0.000015
+[17:12:50.216] n deleted obs = 13 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =183 	 error init =0.000906 	 error end=0.000906
+[17:12:50.216] After pose optimization, distance between ekf and vo x:-0.000008 ,z=-0.000006,angle between two frames:0.000015
+[17:12:50.216] Update EKF and 3D points the number of feature in the new frame: 183 and number of obs: 183
+[17:12:50.217] frame process finished the id is: 554 the obs is:183 
+[17:12:50.295] Odometry x=2.888774, y=-0.708140, theta=-1.180882
+[17:12:50.299] After Reprojection Map nPoint:258 ,nCell:35 ,nMatches:26 ,distance between ekf and vo x:0.000012 ,z=-0.000003,angle between two frames:0.000003
+[17:12:50.300] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =196 	 error init =0.000623 	 error end=0.000623
+[17:12:50.300] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000003,angle between two frames:0.000003
+[17:12:50.300] Update EKF and 3D points the number of feature in the new frame: 196 and number of obs: 196
+[17:12:50.301] frame process finished the id is: 555 the obs is:196 
+[17:12:50.393] After Reprojection Map nPoint:271 ,nCell:43 ,nMatches:30 ,distance between ekf and vo x:0.000007 ,z=-0.000003,angle between two frames:0.000001
+[17:12:50.398] Odometry x=2.882133, y=-0.713018, theta=-1.194398
+[17:12:50.399] n deleted obs = 9 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =172 	 error init =0.000838 	 error end=0.000832
+[17:12:50.399] After pose optimization, distance between ekf and vo x:-0.000318 ,z=-0.005573,angle between two frames:0.001732
+[17:12:50.399] Update EKF and 3D points the number of feature in the new frame: 172 and number of obs: 172
+[17:12:50.401] frame process finished the id is: 556 the obs is:172 
+[17:12:50.493] After Reprojection Map nPoint:247 ,nCell:43 ,nMatches:28 ,distance between ekf and vo x:0.000003 ,z=-0.000002,angle between two frames:0.000000
+[17:12:50.493] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =156 	 error init =0.000581 	 error end=0.000581
+[17:12:50.493] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000002,angle between two frames:0.000000
+[17:12:50.493] Update EKF and 3D points the number of feature in the new frame: 156 and number of obs: 156
+[17:12:50.494] frame process finished the id is: 557 the obs is:156 
+[17:12:50.495] Odometry x=2.880919, y=-0.718869, theta=-1.196308
+[17:12:50.591] After Reprojection Map nPoint:231 ,nCell:37 ,nMatches:24 ,distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000000
+[17:12:50.592] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =153 	 error init =0.000570 	 error end=0.000570
+[17:12:50.592] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000000
+[17:12:50.592] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153
+[17:12:50.593] frame process finished the id is: 558 the obs is:153 
+[17:12:50.599] Odometry x=2.873304, y=-0.710742, theta=-1.196969
+[17:12:50.698] Odometry x=2.868502, y=-0.710022, theta=-1.217090
+[17:12:50.706] After Reprojection Map nPoint:228 ,nCell:35 ,nMatches:28 ,distance between ekf and vo x:0.000022 ,z=-0.000025,angle between two frames:0.000029
+[17:12:50.706] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =171 	 error init =0.000528 	 error end=0.000528
+[17:12:50.706] After pose optimization, distance between ekf and vo x:0.000022 ,z=-0.000025,angle between two frames:0.000029
+[17:12:50.706] Update EKF and 3D points the number of feature in the new frame: 171 and number of obs: 171
+[17:12:50.707] frame process finished the id is: 559 the obs is:171 
+[17:12:50.795] Odometry x=2.866310, y=-0.714608, theta=-1.205696
+[17:12:50.800] After Reprojection Map nPoint:246 ,nCell:36 ,nMatches:29 ,distance between ekf and vo x:0.000009 ,z=-0.000025,angle between two frames:0.000015
+[17:12:50.800] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 	 error init =0.000551 	 error end=0.000551
+[17:12:50.800] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000025,angle between two frames:0.000015
+[17:12:50.800] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189
+[17:12:50.801] frame process finished the id is: 560 the obs is:189 
+[17:12:50.898] Odometry x=2.883274, y=-0.731667, theta=-1.210658
+[17:12:50.917] After Reprojection Map nPoint:264 ,nCell:39 ,nMatches:29 ,distance between ekf and vo x:-0.000084 ,z=0.000029,angle between two frames:0.000050
+[17:12:50.925] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =215 	 error init =0.000440 	 error end=0.000440
+[17:12:50.925] After pose optimization, distance between ekf and vo x:0.000820 ,z=-0.001302,angle between two frames:0.000420
+[17:12:50.925] Update EKF and 3D points the number of feature in the new frame: 215 and number of obs: 215
+[17:12:50.926] frame process finished the id is: 561 the obs is:215 
+[17:12:50.996] Odometry x=2.866015, y=-0.725617, theta=-1.206381
+[17:12:51.013] After Reprojection Map nPoint:290 ,nCell:40 ,nMatches:29 ,distance between ekf and vo x:0.000007 ,z=-0.000007,angle between two frames:0.000003
+[17:12:51.013] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =233 	 error init =0.000396 	 error end=0.000396
+[17:12:51.013] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000007,angle between two frames:0.000003
+[17:12:51.013] Update EKF and 3D points the number of feature in the new frame: 233 and number of obs: 233
+[17:12:51.015] frame process finished the id is: 562 the obs is:233 
+[17:12:51.094] Odometry x=2.866785, y=-0.724844, theta=-1.206379
+[17:12:51.097] After Reprojection Map nPoint:308 ,nCell:34 ,nMatches:26 ,distance between ekf and vo x:0.000006 ,z=-0.000003,angle between two frames:0.000001
+[17:12:51.098] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =218 	 error init =0.001217 	 error end=0.001217
+[17:12:51.098] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000003,angle between two frames:0.000001
+[17:12:51.098] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218
+[17:12:51.099] frame process finished the id is: 563 the obs is:218 
+[17:12:51.192] After Reprojection Map nPoint:293 ,nCell:37 ,nMatches:28 ,distance between ekf and vo x:0.000012 ,z=-0.000005,angle between two frames:0.000002
+[17:12:51.192] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =133 	 error init =0.000625 	 error end=0.000625
+[17:12:51.192] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000005,angle between two frames:0.000002
+[17:12:51.192] Update EKF and 3D points the number of feature in the new frame: 133 and number of obs: 133
+[17:12:51.193] frame process finished the id is: 564 the obs is:133 
+[17:12:51.198] Odometry x=2.863507, y=-0.727404, theta=-1.205888
+[17:12:51.290] After Reprojection Map nPoint:208 ,nCell:38 ,nMatches:26 ,distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000001
+[17:12:51.290] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =144 	 error init =0.000172 	 error end=0.000172
+[17:12:51.290] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000001
+[17:12:51.290] Update EKF and 3D points the number of feature in the new frame: 144 and number of obs: 144
+[17:12:51.291] frame process finished the id is: 565 the obs is:144 
+[17:12:51.298] Odometry x=2.862923, y=-0.727760, theta=-1.195778
+[17:12:51.392] After Reprojection Map nPoint:219 ,nCell:38 ,nMatches:29 ,distance between ekf and vo x:0.000005 ,z=-0.000003,angle between two frames:0.000000
+[17:12:51.396] Odometry x=2.861480, y=-0.751810, theta=-1.205987
+[17:12:51.397] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =147 	 error init =0.000146 	 error end=0.000146
+[17:12:51.397] After pose optimization, distance between ekf and vo x:0.000011 ,z=-0.000041,angle between two frames:0.000011
+[17:12:51.397] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147
+[17:12:51.398] frame process finished the id is: 566 the obs is:147 
+[17:12:51.491] After Reprojection Map nPoint:222 ,nCell:42 ,nMatches:26 ,distance between ekf and vo x:0.000008 ,z=-0.000006,angle between two frames:0.000000
+[17:12:51.491] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =159 	 error init =0.000372 	 error end=0.000372
+[17:12:51.491] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000006,angle between two frames:0.000000
+[17:12:51.491] Update EKF and 3D points the number of feature in the new frame: 159 and number of obs: 159
+[17:12:51.492] frame process finished the id is: 567 the obs is:159 
+[17:12:51.499] Odometry x=2.865089, y=-0.732871, theta=-1.197314
+[17:12:51.592] After Reprojection Map nPoint:234 ,nCell:47 ,nMatches:29 ,distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000001
+[17:12:51.593] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =179 	 error init =0.000399 	 error end=0.000399
+[17:12:51.593] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000001
+[17:12:51.593] Update EKF and 3D points the number of feature in the new frame: 179 and number of obs: 179
+[17:12:51.594] frame process finished the id is: 568 the obs is:179 
+[17:12:51.598] Odometry x=2.864651, y=-0.733219, theta=-1.197731
+[17:12:51.693] After Reprojection Map nPoint:254 ,nCell:40 ,nMatches:27 ,distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000001
+[17:12:51.693] n deleted obs = 15 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =187 	 error init =0.000692 	 error end=0.000692
+[17:12:51.693] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000001
+[17:12:51.693] Update EKF and 3D points the number of feature in the new frame: 187 and number of obs: 187
+[17:12:51.694] frame process finished the id is: 569 the obs is:187 
+[17:12:51.699] Odometry x=2.864025, y=-0.733721, theta=-1.198128
+[17:12:51.790] After Reprojection Map nPoint:262 ,nCell:30 ,nMatches:24 ,distance between ekf and vo x:0.000014 ,z=-0.000008,angle between two frames:0.000004
+[17:12:51.790] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =188 	 error init =0.000327 	 error end=0.000327
+[17:12:51.790] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000008,angle between two frames:0.000004
+[17:12:51.790] Update EKF and 3D points the number of feature in the new frame: 188 and number of obs: 188
+[17:12:51.792] frame process finished the id is: 570 the obs is:188 
+[17:12:51.798] Odometry x=2.842882, y=-0.737414, theta=-1.197976
+[17:12:51.891] After Reprojection Map nPoint:263 ,nCell:21 ,nMatches:20 ,distance between ekf and vo x:0.000007 ,z=-0.000005,angle between two frames:0.000001
+[17:12:51.891] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =157 	 error init =0.000548 	 error end=0.000548
+[17:12:51.891] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000005,angle between two frames:0.000001
+[17:12:51.891] Update EKF and 3D points the number of feature in the new frame: 157 and number of obs: 157
+[17:12:51.892] frame process finished the id is: 571 the obs is:157 
+[17:12:51.896] Odometry x=2.844373, y=-0.736402, theta=-1.197699
+[17:12:51.991] After Reprojection Map nPoint:232 ,nCell:22 ,nMatches:21 ,distance between ekf and vo x:0.000017 ,z=-0.000009,angle between two frames:0.000005
+[17:12:51.991] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =165 	 error init =0.000280 	 error end=0.000280
+[17:12:51.991] After pose optimization, distance between ekf and vo x:0.000017 ,z=-0.000009,angle between two frames:0.000005
+[17:12:51.991] Update EKF and 3D points the number of feature in the new frame: 165 and number of obs: 165
+[17:12:51.992] frame process finished the id is: 572 the obs is:165 
+[17:12:51.996] Odometry x=2.835681, y=-0.729526, theta=-1.186960
+[17:12:52.094] Odometry x=2.819385, y=-0.743188, theta=-1.207477
+[17:12:52.097] After Reprojection Map nPoint:240 ,nCell:32 ,nMatches:25 ,distance between ekf and vo x:-0.000002 ,z=0.000004,angle between two frames:0.000001
+[17:12:52.097] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =151 	 error init =0.000215 	 error end=0.000215
+[17:12:52.097] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000004,angle between two frames:0.000001
+[17:12:52.097] Update EKF and 3D points the number of feature in the new frame: 151 and number of obs: 151
+[17:12:52.098] frame process finished the id is: 573 the obs is:151 
+[17:12:52.197] Odometry x=2.824449, y=-0.744733, theta=-1.182902
+[17:12:52.204] After Reprojection Map nPoint:226 ,nCell:22 ,nMatches:21 ,distance between ekf and vo x:-0.000001 ,z=0.000005,angle between two frames:0.000029
+[17:12:52.204] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =208 	 error init =0.000481 	 error end=0.000481
+[17:12:52.204] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000005,angle between two frames:0.000029
+[17:12:52.204] Update EKF and 3D points the number of feature in the new frame: 208 and number of obs: 208
+[17:12:52.206] frame process finished the id is: 574 the obs is:208 
+[17:12:52.299] Odometry x=2.822536, y=-0.746059, theta=-1.168542
+[17:12:52.307] After Reprojection Map nPoint:283 ,nCell:25 ,nMatches:24 ,distance between ekf and vo x:-0.000058 ,z=0.000011,angle between two frames:0.000043
+[17:12:52.307] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =206 	 error init =0.000163 	 error end=0.000163
+[17:12:52.307] After pose optimization, distance between ekf and vo x:-0.000058 ,z=0.000011,angle between two frames:0.000043
+[17:12:52.307] Update EKF and 3D points the number of feature in the new frame: 206 and number of obs: 206
+[17:12:52.308] frame process finished the id is: 575 the obs is:206 
+[17:12:52.398] Odometry x=2.823474, y=-0.745461, theta=-1.182850
+[17:12:52.400] After Reprojection Map nPoint:281 ,nCell:33 ,nMatches:28 ,distance between ekf and vo x:-0.000022 ,z=0.000007,angle between two frames:0.000012
+[17:12:52.400] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =172 	 error init =0.000259 	 error end=0.000259
+[17:12:52.400] After pose optimization, distance between ekf and vo x:-0.000022 ,z=0.000007,angle between two frames:0.000012
+[17:12:52.400] Update EKF and 3D points the number of feature in the new frame: 172 and number of obs: 172
+[17:12:52.401] frame process finished the id is: 576 the obs is:172 
+[17:12:52.495] After Reprojection Map nPoint:247 ,nCell:34 ,nMatches:26 ,distance between ekf and vo x:0.000004 ,z=-0.000003,angle between two frames:0.000000
+[17:12:52.495] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =211 	 error init =0.000485 	 error end=0.000485
+[17:12:52.495] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000003,angle between two frames:0.000000
+[17:12:52.495] Update EKF and 3D points the number of feature in the new frame: 211 and number of obs: 211
+[17:12:52.496] frame process finished the id is: 577 the obs is:211 
+[17:12:52.511] Odometry x=2.822320, y=-0.746387, theta=-1.182782
+[17:12:52.592] After Reprojection Map nPoint:286 ,nCell:31 ,nMatches:28 ,distance between ekf and vo x:0.000012 ,z=-0.000007,angle between two frames:0.000002
+[17:12:52.592] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =207 	 error init =0.000313 	 error end=0.000313
+[17:12:52.592] After pose optimization, distance between ekf and vo x:0.000012 ,z=-0.000007,angle between two frames:0.000002
+[17:12:52.592] Update EKF and 3D points the number of feature in the new frame: 207 and number of obs: 207
+[17:12:52.593] frame process finished the id is: 578 the obs is:207 
+[17:12:52.597] Odometry x=2.821577, y=-0.747018, theta=-1.182613
+[17:12:52.691] After Reprojection Map nPoint:282 ,nCell:28 ,nMatches:28 ,distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000000
+[17:12:52.692] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =211 	 error init =0.000266 	 error end=0.000266
+[17:12:52.692] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000000
+[17:12:52.692] Update EKF and 3D points the number of feature in the new frame: 211 and number of obs: 211
+[17:12:52.693] frame process finished the id is: 579 the obs is:211 
+[17:12:52.703] Odometry x=2.814344, y=-0.752953, theta=-1.183118
+[17:12:52.791] After Reprojection Map nPoint:286 ,nCell:29 ,nMatches:29 ,distance between ekf and vo x:-0.000000 ,z=-0.000003,angle between two frames:0.000001
+[17:12:52.792] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =229 	 error init =0.000132 	 error end=0.000132
+[17:12:52.792] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000003,angle between two frames:0.000001
+[17:12:52.792] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229
+[17:12:52.793] frame process finished the id is: 580 the obs is:229 
+[17:12:52.798] Odometry x=2.813985, y=-0.753195, theta=-1.183145
+[17:12:52.893] After Reprojection Map nPoint:304 ,nCell:29 ,nMatches:28 ,distance between ekf and vo x:0.000003 ,z=-0.000004,angle between two frames:0.000000
+[17:12:52.894] n deleted obs = 16 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =196 	 error init =0.000727 	 error end=0.000727
+[17:12:52.894] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000004,angle between two frames:0.000000
+[17:12:52.894] Update EKF and 3D points the number of feature in the new frame: 196 and number of obs: 196
+[17:12:52.895] frame process finished the id is: 581 the obs is:196 
+[17:12:52.897] Odometry x=2.813737, y=-0.753417, theta=-1.183465
+[17:12:52.994] Odometry x=2.808332, y=-0.757182, theta=-1.179231
+[17:12:52.999] After Reprojection Map nPoint:271 ,nCell:37 ,nMatches:28 ,distance between ekf and vo x:0.000015 ,z=-0.000028,angle between two frames:0.000018
+[17:12:53.000] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =222 	 error init =0.001207 	 error end=0.001207
+[17:12:53.000] After pose optimization, distance between ekf and vo x:0.000015 ,z=-0.000028,angle between two frames:0.000018
+[17:12:53.000] Update EKF and 3D points the number of feature in the new frame: 222 and number of obs: 222
+[17:12:53.001] frame process finished the id is: 582 the obs is:222 
+[17:12:53.097] Odometry x=2.803892, y=-0.766007, theta=-1.166652
+[17:12:53.101] After Reprojection Map nPoint:297 ,nCell:26 ,nMatches:22 ,distance between ekf and vo x:0.000004 ,z=-0.000016,angle between two frames:0.000013
+[17:12:53.101] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =227 	 error init =0.000515 	 error end=0.000515
+[17:12:53.101] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000016,angle between two frames:0.000013
+[17:12:53.101] Update EKF and 3D points the number of feature in the new frame: 227 and number of obs: 227
+[17:12:53.103] frame process finished the id is: 583 the obs is:227 
+[17:12:53.198] Odometry x=2.801171, y=-0.765030, theta=-1.172276
+[17:12:53.300] Odometry x=2.800941, y=-0.766045, theta=-1.175488
+[17:12:53.302] After Reprojection Map nPoint:302 ,nCell:32 ,nMatches:26 ,distance between ekf and vo x:-0.000037 ,z=-0.000001,angle between two frames:0.000007
+[17:12:53.302] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =130 	 error init =0.000663 	 error end=0.000663
+[17:12:53.302] After pose optimization, distance between ekf and vo x:-0.000037 ,z=-0.000001,angle between two frames:0.000007
+[17:12:53.302] Update EKF and 3D points the number of feature in the new frame: 130 and number of obs: 130
+[17:12:53.303] frame process finished the id is: 584 the obs is:130 
+[17:12:53.397] Odometry x=2.790368, y=-0.776644, theta=-1.182283
+[17:12:53.407] After Reprojection Map nPoint:205 ,nCell:36 ,nMatches:28 ,distance between ekf and vo x:-0.000072 ,z=0.000038,angle between two frames:0.000039
+[17:12:53.407] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =146 	 error init =0.000328 	 error end=0.000328
+[17:12:53.408] After pose optimization, distance between ekf and vo x:-0.000072 ,z=0.000038,angle between two frames:0.000039
+[17:12:53.408] Update EKF and 3D points the number of feature in the new frame: 146 and number of obs: 146
+[17:12:53.408] frame process finished the id is: 585 the obs is:146 
+[17:12:53.499] Odometry x=2.791882, y=-0.773841, theta=-1.183464
+[17:12:53.505] After Reprojection Map nPoint:221 ,nCell:39 ,nMatches:29 ,distance between ekf and vo x:-0.000045 ,z=0.000048,angle between two frames:0.000026
+[17:12:53.505] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =106 	 error init =0.001485 	 error end=0.001485
+[17:12:53.505] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000048,angle between two frames:0.000026
+[17:12:53.505] Update EKF and 3D points the number of feature in the new frame: 106 and number of obs: 106
+[17:12:53.506] frame process finished the id is: 586 the obs is:106 
+[17:12:53.596] After Reprojection Map nPoint:181 ,nCell:45 ,nMatches:31 ,distance between ekf and vo x:-0.000041 ,z=0.000020,angle between two frames:0.000008
+[17:12:53.596] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =160 	 error init =0.000422 	 error end=0.000422
+[17:12:53.596] After pose optimization, distance between ekf and vo x:-0.000041 ,z=0.000020,angle between two frames:0.000008
+[17:12:53.596] Update EKF and 3D points the number of feature in the new frame: 160 and number of obs: 160
+[17:12:53.596] Odometry x=2.797320, y=-0.768871, theta=-1.176201
+[17:12:53.597] frame process finished the id is: 587 the obs is:160 
+[17:12:53.696] After Reprojection Map nPoint:235 ,nCell:45 ,nMatches:34 ,distance between ekf and vo x:-0.000101 ,z=0.000026,angle between two frames:0.000033
+[17:12:53.696] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =152 	 error init =0.000804 	 error end=0.000804
+[17:12:53.696] After pose optimization, distance between ekf and vo x:-0.000101 ,z=0.000026,angle between two frames:0.000033
+[17:12:53.696] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152
+[17:12:53.697] frame process finished the id is: 588 the obs is:152 
+[17:12:53.699] Odometry x=2.796963, y=-0.769151, theta=-1.176477
+[17:12:53.779] After Reprojection Map nPoint:227 ,nCell:30 ,nMatches:29 ,distance between ekf and vo x:0.000006 ,z=-0.000001,angle between two frames:0.000001
+[17:12:53.780] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =131 	 error init =0.000286 	 error end=0.000286
+[17:12:53.780] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000001,angle between two frames:0.000001
+[17:12:53.780] Update EKF and 3D points the number of feature in the new frame: 131 and number of obs: 131
+[17:12:53.780] frame process finished the id is: 589 the obs is:131 
+[17:12:53.796] Odometry x=2.796629, y=-0.769435, theta=-1.177005
+[17:12:53.863] After Reprojection Map nPoint:206 ,nCell:36 ,nMatches:32 ,distance between ekf and vo x:0.000004 ,z=0.000001,angle between two frames:0.000001
+[17:12:53.863] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =150 	 error init =0.000755 	 error end=0.000755
+[17:12:53.863] After pose optimization, distance between ekf and vo x:0.000004 ,z=0.000001,angle between two frames:0.000001
+[17:12:53.863] Update EKF and 3D points the number of feature in the new frame: 150 and number of obs: 150
+[17:12:53.864] frame process finished the id is: 590 the obs is:150 
+[17:12:53.898] Odometry x=2.796298, y=-0.769711, theta=-1.176830
+[17:12:53.949] After Reprojection Map nPoint:225 ,nCell:38 ,nMatches:35 ,distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000002
+[17:12:53.949] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =152 	 error init =0.000273 	 error end=0.000273
+[17:12:53.949] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000002
+[17:12:53.949] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152
+[17:12:53.950] frame process finished the id is: 591 the obs is:152 
+[17:12:53.995] Odometry x=2.795981, y=-0.769860, theta=-1.176354
+[17:12:54.034] After Reprojection Map nPoint:227 ,nCell:32 ,nMatches:32 ,distance between ekf and vo x:0.000006 ,z=-0.000004,angle between two frames:0.000000
+[17:12:54.034] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =162 	 error init =0.000150 	 error end=0.000150
+[17:12:54.034] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000004,angle between two frames:0.000000
+[17:12:54.034] Update EKF and 3D points the number of feature in the new frame: 162 and number of obs: 162
+[17:12:54.035] frame process finished the id is: 592 the obs is:162 
+[17:12:54.098] Odometry x=2.795672, y=-0.770127, theta=-1.176301
+[17:12:54.118] After Reprojection Map nPoint:237 ,nCell:34 ,nMatches:31 ,distance between ekf and vo x:0.000004 ,z=-0.000005,angle between two frames:0.000000
+[17:12:54.118] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =107 	 error init =0.000504 	 error end=0.000504
+[17:12:54.118] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000005,angle between two frames:0.000000
+[17:12:54.118] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107
+[17:12:54.119] frame process finished the id is: 593 the obs is:107 
+[17:12:54.195] Odometry x=2.795379, y=-0.770367, theta=-1.176265
+[17:12:54.203] After Reprojection Map nPoint:182 ,nCell:35 ,nMatches:35 ,distance between ekf and vo x:0.000020 ,z=-0.000007,angle between two frames:0.000006
+[17:12:54.203] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =121 	 error init =0.001310 	 error end=0.001310
+[17:12:54.203] After pose optimization, distance between ekf and vo x:0.000020 ,z=-0.000007,angle between two frames:0.000006
+[17:12:54.203] Update EKF and 3D points the number of feature in the new frame: 121 and number of obs: 121
+[17:12:54.204] frame process finished the id is: 594 the obs is:121 
+[17:12:54.292] After Reprojection Map nPoint:196 ,nCell:28 ,nMatches:28 ,distance between ekf and vo x:0.000023 ,z=-0.000011,angle between two frames:0.000006
+[17:12:54.293] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =162 	 error init =0.000155 	 error end=0.000155
+[17:12:54.293] After pose optimization, distance between ekf and vo x:0.000023 ,z=-0.000011,angle between two frames:0.000006
+[17:12:54.293] Update EKF and 3D points the number of feature in the new frame: 162 and number of obs: 162
+[17:12:54.294] frame process finished the id is: 595 the obs is:162 
+[17:12:54.297] Odometry x=2.794206, y=-0.771725, theta=-1.176146
+[17:12:54.394] After Reprojection Map nPoint:237 ,nCell:28 ,nMatches:28 ,distance between ekf and vo x:0.000006 ,z=-0.000004,angle between two frames:0.000000
+[17:12:54.395] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =182 	 error init =0.000388 	 error end=0.000388
+[17:12:54.395] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000004,angle between two frames:0.000000
+[17:12:54.395] Update EKF and 3D points the number of feature in the new frame: 182 and number of obs: 182
+[17:12:54.396] frame process finished the id is: 596 the obs is:182 
+[17:12:54.400] Odometry x=2.788238, y=-0.776763, theta=-1.173640
+[17:12:54.493] After Reprojection Map nPoint:257 ,nCell:32 ,nMatches:29 ,distance between ekf and vo x:0.000007 ,z=-0.000006,angle between two frames:0.000001
+[17:12:54.493] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =147 	 error init =0.001068 	 error end=0.001068
+[17:12:54.493] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000006,angle between two frames:0.000001
+[17:12:54.493] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147
+[17:12:54.494] frame process finished the id is: 597 the obs is:147 
+[17:12:54.498] Odometry x=2.787826, y=-0.776248, theta=-1.173821
+[17:12:54.599] Odometry x=2.781877, y=-0.781220, theta=-1.176673
+[17:12:54.601] After Reprojection Map nPoint:222 ,nCell:32 ,nMatches:31 ,distance between ekf and vo x:-0.000114 ,z=0.000057,angle between two frames:0.000028
+[17:12:54.601] n deleted obs = 8 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =178 	 error init =0.000484 	 error end=0.000484
+[17:12:54.601] After pose optimization, distance between ekf and vo x:-0.000114 ,z=0.000057,angle between two frames:0.000028
+[17:12:54.601] Update EKF and 3D points the number of feature in the new frame: 178 and number of obs: 178
+[17:12:54.602] frame process finished the id is: 598 the obs is:178 
+[17:12:54.701] Odometry x=2.776125, y=-0.784691, theta=-1.175027
+[17:12:54.705] After Reprojection Map nPoint:253 ,nCell:31 ,nMatches:31 ,distance between ekf and vo x:-0.000058 ,z=0.000023,angle between two frames:0.000020
+[17:12:54.705] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =170 	 error init =0.000081 	 error end=0.000081
+[17:12:54.705] After pose optimization, distance between ekf and vo x:-0.000058 ,z=0.000023,angle between two frames:0.000020
+[17:12:54.705] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170
+[17:12:54.706] frame process finished the id is: 599 the obs is:170 
+[17:12:54.794] Odometry x=2.770740, y=-0.789099, theta=-1.175244
+[17:12:54.809] After Reprojection Map nPoint:245 ,nCell:32 ,nMatches:30 ,distance between ekf and vo x:-0.000173 ,z=0.000093,angle between two frames:0.000062
+[17:12:54.809] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =149 	 error init =0.000197 	 error end=0.000197
+[17:12:54.809] After pose optimization, distance between ekf and vo x:-0.000173 ,z=0.000093,angle between two frames:0.000062
+[17:12:54.809] Update EKF and 3D points the number of feature in the new frame: 149 and number of obs: 149
+[17:12:54.810] frame process finished the id is: 600 the obs is:149 
+[17:12:54.892] Odometry x=2.769524, y=-0.790005, theta=-1.175523
+[17:12:54.901] After Reprojection Map nPoint:224 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:-0.000038 ,z=0.000008,angle between two frames:0.000012
+[17:12:54.901] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =128 	 error init =0.000246 	 error end=0.000246
+[17:12:54.901] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000008,angle between two frames:0.000012
+[17:12:54.901] Update EKF and 3D points the number of feature in the new frame: 128 and number of obs: 128
+[17:12:54.902] frame process finished the id is: 601 the obs is:128 
+[17:12:54.993] After Reprojection Map nPoint:203 ,nCell:36 ,nMatches:36 ,distance between ekf and vo x:0.000014 ,z=-0.000009,angle between two frames:0.000004
+[17:12:54.993] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =108 	 error init =0.000837 	 error end=0.000837
+[17:12:54.993] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000009,angle between two frames:0.000004
+[17:12:54.993] Update EKF and 3D points the number of feature in the new frame: 108 and number of obs: 108
+[17:12:54.994] frame process finished the id is: 602 the obs is:108 
+[17:12:55.000] Odometry x=2.773333, y=-0.786729, theta=-1.175035
+[17:12:55.097] Odometry x=2.767759, y=-0.794491, theta=-1.173795
+[17:12:55.100] After Reprojection Map nPoint:183 ,nCell:39 ,nMatches:32 ,distance between ekf and vo x:-0.000011 ,z=-0.000001,angle between two frames:0.000007
+[17:12:55.100] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =150 	 error init =0.000234 	 error end=0.000234
+[17:12:55.100] After pose optimization, distance between ekf and vo x:-0.000011 ,z=-0.000001,angle between two frames:0.000007
+[17:12:55.100] Update EKF and 3D points the number of feature in the new frame: 150 and number of obs: 150
+[17:12:55.101] frame process finished the id is: 603 the obs is:150 
+[17:12:55.193] After Reprojection Map nPoint:225 ,nCell:35 ,nMatches:34 ,distance between ekf and vo x:0.000015 ,z=-0.000008,angle between two frames:0.000003
+[17:12:55.193] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =140 	 error init =0.000319 	 error end=0.000319
+[17:12:55.193] After pose optimization, distance between ekf and vo x:0.000015 ,z=-0.000008,angle between two frames:0.000003
+[17:12:55.193] Update EKF and 3D points the number of feature in the new frame: 140 and number of obs: 140
+[17:12:55.194] frame process finished the id is: 604 the obs is:140 
+[17:12:55.199] Odometry x=2.766847, y=-0.795215, theta=-1.173869
+[17:12:55.296] After Reprojection Map nPoint:215 ,nCell:31 ,nMatches:29 ,distance between ekf and vo x:0.000014 ,z=-0.000007,angle between two frames:0.000004
+[17:12:55.296] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =126 	 error init =0.000615 	 error end=0.000615
+[17:12:55.296] After pose optimization, distance between ekf and vo x:0.000014 ,z=-0.000007,angle between two frames:0.000004
+[17:12:55.296] Update EKF and 3D points the number of feature in the new frame: 126 and number of obs: 126
+[17:12:55.297] frame process finished the id is: 605 the obs is:126 
+[17:12:55.299] Odometry x=2.763518, y=-0.798018, theta=-1.174789
+[17:12:55.394] After Reprojection Map nPoint:201 ,nCell:39 ,nMatches:35 ,distance between ekf and vo x:0.000028 ,z=-0.000014,angle between two frames:0.000008
+[17:12:55.394] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =120 	 error init =0.001109 	 error end=0.001109
+[17:12:55.394] After pose optimization, distance between ekf and vo x:0.000028 ,z=-0.000014,angle between two frames:0.000008
+[17:12:55.394] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120
+[17:12:55.395] frame process finished the id is: 606 the obs is:120 
+[17:12:55.397] Odometry x=2.763546, y=-0.799469, theta=-1.174455
+[17:12:55.494] After Reprojection Map nPoint:195 ,nCell:40 ,nMatches:34 ,distance between ekf and vo x:0.000025 ,z=-0.000013,angle between two frames:0.000007
+[17:12:55.494] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =120 	 error init =0.000340 	 error end=0.000340
+[17:12:55.494] After pose optimization, distance between ekf and vo x:0.000025 ,z=-0.000013,angle between two frames:0.000007
+[17:12:55.494] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120
+[17:12:55.495] frame process finished the id is: 607 the obs is:120 
+[17:12:55.499] Odometry x=2.763255, y=-0.799710, theta=-1.174081
+[17:12:55.598] Odometry x=2.757308, y=-0.804913, theta=-1.179276
+[17:12:55.604] After Reprojection Map nPoint:195 ,nCell:37 ,nMatches:35 ,distance between ekf and vo x:-0.000023 ,z=0.000015,angle between two frames:0.000000
+[17:12:55.604] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =123 	 error init =0.001077 	 error end=0.001077
+[17:12:55.604] After pose optimization, distance between ekf and vo x:-0.000023 ,z=0.000015,angle between two frames:0.000000
+[17:12:55.604] Update EKF and 3D points the number of feature in the new frame: 123 and number of obs: 123
+[17:12:55.605] frame process finished the id is: 608 the obs is:123 
+[17:12:55.695] Odometry x=2.762635, y=-0.800218, theta=-1.174102
+[17:12:55.720] After Reprojection Map nPoint:198 ,nCell:35 ,nMatches:27 ,distance between ekf and vo x:-0.000202 ,z=0.000066,angle between two frames:0.000068
+[17:12:55.720] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =136 	 error init =0.000681 	 error end=0.000681
+[17:12:55.720] After pose optimization, distance between ekf and vo x:-0.000202 ,z=0.000066,angle between two frames:0.000068
+[17:12:55.720] Update EKF and 3D points the number of feature in the new frame: 136 and number of obs: 136
+[17:12:55.721] frame process finished the id is: 609 the obs is:136 
+[17:12:55.793] Odometry x=2.754582, y=-0.801871, theta=-1.182115
+[17:12:55.831] After Reprojection Map nPoint:211 ,nCell:40 ,nMatches:31 ,distance between ekf and vo x:-0.000236 ,z=0.000077,angle between two frames:0.000093
+[17:12:55.831] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =174 	 error init =0.000660 	 error end=0.000660
+[17:12:55.831] After pose optimization, distance between ekf and vo x:-0.000236 ,z=0.000077,angle between two frames:0.000093
+[17:12:55.831] Update EKF and 3D points the number of feature in the new frame: 174 and number of obs: 174
+[17:12:55.832] frame process finished the id is: 610 the obs is:174 
+[17:12:55.897] Odometry x=2.754056, y=-0.801896, theta=-1.181751
+[17:12:55.931] After Reprojection Map nPoint:249 ,nCell:32 ,nMatches:32 ,distance between ekf and vo x:-0.000144 ,z=0.000067,angle between two frames:0.000057
+[17:12:55.932] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =189 	 error init =0.000390 	 error end=0.000390
+[17:12:55.932] After pose optimization, distance between ekf and vo x:-0.000144 ,z=0.000067,angle between two frames:0.000057
+[17:12:55.932] Update EKF and 3D points the number of feature in the new frame: 189 and number of obs: 189
+[17:12:55.933] frame process finished the id is: 611 the obs is:189 
+[17:12:55.999] Odometry x=2.753611, y=-0.802170, theta=-1.182065
+[17:12:56.041] After Reprojection Map nPoint:264 ,nCell:21 ,nMatches:21 ,distance between ekf and vo x:-0.000200 ,z=0.000118,angle between two frames:0.000075
+[17:12:56.041] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =209 	 error init =0.000449 	 error end=0.000449
+[17:12:56.041] After pose optimization, distance between ekf and vo x:-0.000200 ,z=0.000118,angle between two frames:0.000075
+[17:12:56.041] Update EKF and 3D points the number of feature in the new frame: 209 and number of obs: 209
+[17:12:56.042] frame process finished the id is: 612 the obs is:209 
+[17:12:56.096] Odometry x=2.753192, y=-0.802248, theta=-1.182854
+[17:12:56.127] After Reprojection Map nPoint:284 ,nCell:26 ,nMatches:24 ,distance between ekf and vo x:0.000008 ,z=-0.000006,angle between two frames:0.000001
+[17:12:56.136] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =229 	 error init =0.001062 	 error end=0.001061
+[17:12:56.136] After pose optimization, distance between ekf and vo x:-0.000098 ,z=-0.000800,angle between two frames:0.000241
+[17:12:56.136] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229
+[17:12:56.137] frame process finished the id is: 613 the obs is:229 
+[17:12:56.193] Odometry x=2.752831, y=-0.803491, theta=-1.183325
+[17:12:56.230] After Reprojection Map nPoint:304 ,nCell:29 ,nMatches:27 ,distance between ekf and vo x:-0.000056 ,z=0.000003,angle between two frames:0.000014
+[17:12:56.231] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =240 	 error init =0.000220 	 error end=0.000220
+[17:12:56.231] After pose optimization, distance between ekf and vo x:-0.000056 ,z=0.000003,angle between two frames:0.000014
+[17:12:56.231] Update EKF and 3D points the number of feature in the new frame: 240 and number of obs: 240
+[17:12:56.232] frame process finished the id is: 614 the obs is:240 
+[17:12:56.295] Odometry x=2.752412, y=-0.803663, theta=-1.182740
+[17:12:56.322] After Reprojection Map nPoint:315 ,nCell:35 ,nMatches:30 ,distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000005
+[17:12:56.323] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =259 	 error init =0.000673 	 error end=0.000673
+[17:12:56.323] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000005,angle between two frames:0.000005
+[17:12:56.323] Update EKF and 3D points the number of feature in the new frame: 259 and number of obs: 259
+[17:12:56.324] frame process finished the id is: 615 the obs is:259 
+[17:12:56.396] Odometry x=2.752079, y=-0.803942, theta=-1.182319
+[17:12:56.412] After Reprojection Map nPoint:334 ,nCell:40 ,nMatches:36 ,distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.000000
+[17:12:56.412] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =227 	 error init =0.000420 	 error end=0.000420
+[17:12:56.412] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000000,angle between two frames:0.000000
+[17:12:56.412] Update EKF and 3D points the number of feature in the new frame: 227 and number of obs: 227
+[17:12:56.413] frame process finished the id is: 616 the obs is:227 
+[17:12:56.496] Odometry x=2.745575, y=-0.808985, theta=-1.176455
+[17:12:56.500] After Reprojection Map nPoint:302 ,nCell:42 ,nMatches:38 ,distance between ekf and vo x:0.000007 ,z=-0.000003,angle between two frames:0.000003
+[17:12:56.501] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =203 	 error init =0.001146 	 error end=0.001146
+[17:12:56.501] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000003,angle between two frames:0.000003
+[17:12:56.501] Update EKF and 3D points the number of feature in the new frame: 203 and number of obs: 203
+[17:12:56.502] frame process finished the id is: 617 the obs is:203 
+[17:12:56.595] Odometry x=2.743942, y=-0.810407, theta=-1.180923
+[17:12:56.597] After Reprojection Map nPoint:278 ,nCell:43 ,nMatches:39 ,distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000003
+[17:12:56.598] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =200 	 error init =0.000694 	 error end=0.000694
+[17:12:56.598] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000005,angle between two frames:0.000003
+[17:12:56.598] Update EKF and 3D points the number of feature in the new frame: 200 and number of obs: 200
+[17:12:56.599] frame process finished the id is: 618 the obs is:200 
+[17:12:56.696] After Reprojection Map nPoint:275 ,nCell:41 ,nMatches:39 ,distance between ekf and vo x:0.000005 ,z=-0.000002,angle between two frames:0.000001
+[17:12:56.699] Odometry x=2.738867, y=-0.814728, theta=-1.193363
+[17:12:56.703] n deleted obs = 6 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =191 	 error init =0.001234 	 error end=0.001232
+[17:12:56.703] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000848,angle between two frames:0.000247
+[17:12:56.703] Update EKF and 3D points the number of feature in the new frame: 191 and number of obs: 191
+[17:12:56.704] frame process finished the id is: 619 the obs is:191 
+[17:12:56.797] After Reprojection Map nPoint:266 ,nCell:33 ,nMatches:33 ,distance between ekf and vo x:0.000007 ,z=-0.000002,angle between two frames:0.000002
+[17:12:56.798] n deleted obs = 10 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 	 error init =0.000951 	 error end=0.000951
+[17:12:56.798] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000002,angle between two frames:0.000002
+[17:12:56.798] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226
+[17:12:56.799] frame process finished the id is: 620 the obs is:226 
+[17:12:56.800] Odometry x=2.736329, y=-0.817839, theta=-1.189996
+[17:12:56.893] Odometry x=2.730724, y=-0.822189, theta=-1.182730
+[17:12:56.897] After Reprojection Map nPoint:301 ,nCell:42 ,nMatches:32 ,distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000001
+[17:12:56.897] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =237 	 error init =0.000212 	 error end=0.000212
+[17:12:56.897] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000001
+[17:12:56.897] Update EKF and 3D points the number of feature in the new frame: 237 and number of obs: 237
+[17:12:56.899] frame process finished the id is: 621 the obs is:237 
+[17:12:56.996] Odometry x=2.729094, y=-0.822565, theta=-1.185290
+[17:12:56.999] After Reprojection Map nPoint:312 ,nCell:41 ,nMatches:31 ,distance between ekf and vo x:0.000010 ,z=-0.000004,angle between two frames:0.000003
+[17:12:56.999] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =277 	 error init =0.000383 	 error end=0.000383
+[17:12:56.999] After pose optimization, distance between ekf and vo x:0.000010 ,z=-0.000004,angle between two frames:0.000003
+[17:12:56.999] Update EKF and 3D points the number of feature in the new frame: 277 and number of obs: 277
+[17:12:57.001] frame process finished the id is: 622 the obs is:277 
+[17:12:57.098] Odometry x=2.728586, y=-0.826421, theta=-1.185199
+[17:12:57.100] After Reprojection Map nPoint:352 ,nCell:44 ,nMatches:35 ,distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000001
+[17:12:57.100] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =274 	 error init =0.000860 	 error end=0.000860
+[17:12:57.100] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000001
+[17:12:57.100] Update EKF and 3D points the number of feature in the new frame: 274 and number of obs: 274
+[17:12:57.102] frame process finished the id is: 623 the obs is:274 
+[17:12:57.198] After Reprojection Map nPoint:349 ,nCell:41 ,nMatches:35 ,distance between ekf and vo x:0.000005 ,z=-0.000000,angle between two frames:0.000001
+[17:12:57.199] n deleted obs = 22 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =240 	 error init =0.001656 	 error end=0.001656
+[17:12:57.199] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000000,angle between two frames:0.000001
+[17:12:57.199] Update EKF and 3D points the number of feature in the new frame: 240 and number of obs: 240
+[17:12:57.200] frame process finished the id is: 624 the obs is:240 
+[17:12:57.201] Odometry x=2.727339, y=-0.825783, theta=-1.188852
+[17:12:57.294] Odometry x=2.721454, y=-0.830503, theta=-1.197302
+[17:12:57.299] After Reprojection Map nPoint:315 ,nCell:42 ,nMatches:36 ,distance between ekf and vo x:0.000009 ,z=-0.000003,angle between two frames:0.000003
+[17:12:57.300] n deleted obs = 44 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =237 	 error init =0.001345 	 error end=0.001345
+[17:12:57.300] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000003,angle between two frames:0.000003
+[17:12:57.300] Update EKF and 3D points the number of feature in the new frame: 237 and number of obs: 237
+[17:12:57.301] frame process finished the id is: 625 the obs is:237 
+[17:12:57.397] After Reprojection Map nPoint:312 ,nCell:49 ,nMatches:43 ,distance between ekf and vo x:0.000004 ,z=-0.000001,angle between two frames:0.000001
+[17:12:57.397] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =250 	 error init =0.000241 	 error end=0.000241
+[17:12:57.397] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000001,angle between two frames:0.000001
+[17:12:57.397] Update EKF and 3D points the number of feature in the new frame: 250 and number of obs: 250
+[17:12:57.399] frame process finished the id is: 626 the obs is:250 
+[17:12:57.401] Odometry x=2.720638, y=-0.833412, theta=-1.193500
+[17:12:57.495] Odometry x=2.714315, y=-0.837039, theta=-1.179288
+[17:12:57.500] After Reprojection Map nPoint:325 ,nCell:36 ,nMatches:36 ,distance between ekf and vo x:0.000006 ,z=0.000000,angle between two frames:0.000001
+[17:12:57.500] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =248 	 error init =0.000675 	 error end=0.000675
+[17:12:57.500] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000000,angle between two frames:0.000001
+[17:12:57.500] Update EKF and 3D points the number of feature in the new frame: 248 and number of obs: 248
+[17:12:57.501] frame process finished the id is: 627 the obs is:248 
+[17:12:57.597] After Reprojection Map nPoint:323 ,nCell:35 ,nMatches:33 ,distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000002
+[17:12:57.597] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =250 	 error init =0.000477 	 error end=0.000477
+[17:12:57.597] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000004,angle between two frames:0.000002
+[17:12:57.597] Update EKF and 3D points the number of feature in the new frame: 250 and number of obs: 250
+[17:12:57.598] Odometry x=2.719408, y=-0.834300, theta=-1.192877
+[17:12:57.599] frame process finished the id is: 628 the obs is:250 
+[17:12:57.698] Odometry x=2.713403, y=-0.839150, theta=-1.198301
+[17:12:57.707] After Reprojection Map nPoint:325 ,nCell:50 ,nMatches:36 ,distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000001
+[17:12:57.708] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 	 error init =0.000403 	 error end=0.000403
+[17:12:57.708] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000001
+[17:12:57.708] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226
+[17:12:57.709] frame process finished the id is: 629 the obs is:226 
+[17:12:57.796] Odometry x=2.713129, y=-0.839376, theta=-1.198273
+[17:12:57.804] After Reprojection Map nPoint:301 ,nCell:40 ,nMatches:36 ,distance between ekf and vo x:-0.000027 ,z=0.000034,angle between two frames:0.000021
+[17:12:57.804] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =206 	 error init =0.000972 	 error end=0.000972
+[17:12:57.804] After pose optimization, distance between ekf and vo x:-0.000027 ,z=0.000034,angle between two frames:0.000021
+[17:12:57.804] Update EKF and 3D points the number of feature in the new frame: 206 and number of obs: 206
+[17:12:57.805] frame process finished the id is: 630 the obs is:206 
+[17:12:57.893] Odometry x=2.710345, y=-0.862357, theta=-1.204670
+[17:12:57.904] After Reprojection Map nPoint:281 ,nCell:39 ,nMatches:37 ,distance between ekf and vo x:0.000009 ,z=0.000020,angle between two frames:0.000011
+[17:12:57.905] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =251 	 error init =0.000421 	 error end=0.000421
+[17:12:57.905] After pose optimization, distance between ekf and vo x:0.000009 ,z=0.000020,angle between two frames:0.000011
+[17:12:57.905] Update EKF and 3D points the number of feature in the new frame: 251 and number of obs: 251
+[17:12:57.906] frame process finished the id is: 631 the obs is:251 
+[17:12:58.000] Odometry x=2.711873, y=-0.841434, theta=-1.198334
+[17:12:58.012] After Reprojection Map nPoint:326 ,nCell:37 ,nMatches:36 ,distance between ekf and vo x:-0.000045 ,z=0.000058,angle between two frames:0.000033
+[17:12:58.013] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 	 error init =0.000345 	 error end=0.000345
+[17:12:58.013] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000058,angle between two frames:0.000033
+[17:12:58.013] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270
+[17:12:58.015] frame process finished the id is: 632 the obs is:270 
+[17:12:58.096] Odometry x=2.704190, y=-0.844800, theta=-1.199923
+[17:12:58.112] After Reprojection Map nPoint:345 ,nCell:38 ,nMatches:36 ,distance between ekf and vo x:-0.000006 ,z=0.000014,angle between two frames:0.000015
+[17:12:58.112] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =294 	 error init =0.000473 	 error end=0.000473
+[17:12:58.112] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000014,angle between two frames:0.000015
+[17:12:58.112] Update EKF and 3D points the number of feature in the new frame: 294 and number of obs: 294
+[17:12:58.114] frame process finished the id is: 633 the obs is:294 
+[17:12:58.193] Odometry x=2.710271, y=-0.842428, theta=-1.198343
+[17:12:58.203] After Reprojection Map nPoint:369 ,nCell:43 ,nMatches:42 ,distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000000
+[17:12:58.204] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =316 	 error init =0.000228 	 error end=0.000228
+[17:12:58.204] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000000
+[17:12:58.204] Update EKF and 3D points the number of feature in the new frame: 316 and number of obs: 316
+[17:12:58.206] frame process finished the id is: 634 the obs is:316 
+[17:12:58.295] Odometry x=2.704697, y=-0.847307, theta=-1.191688
+[17:12:58.305] After Reprojection Map nPoint:391 ,nCell:43 ,nMatches:40 ,distance between ekf and vo x:0.000008 ,z=0.000004,angle between two frames:0.000003
+[17:12:58.306] n deleted obs = 26 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =232 	 error init =0.001338 	 error end=0.001338
+[17:12:58.306] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000004,angle between two frames:0.000003
+[17:12:58.306] Update EKF and 3D points the number of feature in the new frame: 232 and number of obs: 232
+[17:12:58.307] frame process finished the id is: 635 the obs is:232 
+[17:12:58.397] After Reprojection Map nPoint:307 ,nCell:39 ,nMatches:36 ,distance between ekf and vo x:0.000003 ,z=0.000001,angle between two frames:0.000000
+[17:12:58.397] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =212 	 error init =0.000577 	 error end=0.000577
+[17:12:58.397] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000001,angle between two frames:0.000000
+[17:12:58.397] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212
+[17:12:58.398] Odometry x=2.708315, y=-0.844084, theta=-1.198197
+[17:12:58.399] frame process finished the id is: 636 the obs is:212 
+[17:12:58.495] Odometry x=2.701727, y=-0.846339, theta=-1.210795
+[17:12:58.497] After Reprojection Map nPoint:287 ,nCell:36 ,nMatches:33 ,distance between ekf and vo x:0.000005 ,z=-0.000001,angle between two frames:0.000002
+[17:12:58.497] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =220 	 error init =0.000573 	 error end=0.000573
+[17:12:58.497] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000001,angle between two frames:0.000002
+[17:12:58.497] Update EKF and 3D points the number of feature in the new frame: 220 and number of obs: 220
+[17:12:58.498] frame process finished the id is: 637 the obs is:220 
+[17:12:58.596] After Reprojection Map nPoint:295 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000001
+[17:12:58.596] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =213 	 error init =0.000275 	 error end=0.000275
+[17:12:58.596] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000001,angle between two frames:0.000001
+[17:12:58.596] Update EKF and 3D points the number of feature in the new frame: 213 and number of obs: 213
+[17:12:58.598] frame process finished the id is: 638 the obs is:213 
+[17:12:58.598] Odometry x=2.707167, y=-0.844746, theta=-1.198805
+[17:12:58.695] Odometry x=2.701230, y=-0.849216, theta=-1.196121
+[17:12:58.714] After Reprojection Map nPoint:288 ,nCell:42 ,nMatches:32 ,distance between ekf and vo x:-0.000080 ,z=0.000054,angle between two frames:0.000018
+[17:12:58.723] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =237 	 error init =0.000355 	 error end=0.000354
+[17:12:58.723] After pose optimization, distance between ekf and vo x:-0.000433 ,z=-0.002358,angle between two frames:0.000782
+[17:12:58.723] Update EKF and 3D points the number of feature in the new frame: 237 and number of obs: 237
+[17:12:58.724] frame process finished the id is: 639 the obs is:237 
+[17:12:58.798] Odometry x=2.706092, y=-0.846956, theta=-1.199498
+[17:12:58.822] After Reprojection Map nPoint:312 ,nCell:49 ,nMatches:34 ,distance between ekf and vo x:-0.000069 ,z=0.000059,angle between two frames:0.000027
+[17:12:58.822] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =225 	 error init =0.000313 	 error end=0.000313
+[17:12:58.822] After pose optimization, distance between ekf and vo x:-0.000069 ,z=0.000059,angle between two frames:0.000027
+[17:12:58.822] Update EKF and 3D points the number of feature in the new frame: 225 and number of obs: 225
+[17:12:58.824] frame process finished the id is: 640 the obs is:225 
+[17:12:58.897] Odometry x=2.699830, y=-0.855782, theta=-1.193418
+[17:12:58.917] After Reprojection Map nPoint:300 ,nCell:36 ,nMatches:33 ,distance between ekf and vo x:-0.000086 ,z=0.000062,angle between two frames:0.000033
+[17:12:58.917] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =207 	 error init =0.000359 	 error end=0.000359
+[17:12:58.917] After pose optimization, distance between ekf and vo x:-0.000086 ,z=0.000062,angle between two frames:0.000033
+[17:12:58.917] Update EKF and 3D points the number of feature in the new frame: 207 and number of obs: 207
+[17:12:58.919] frame process finished the id is: 641 the obs is:207 
+[17:12:58.999] Odometry x=2.699512, y=-0.856082, theta=-1.193779
+[17:12:59.012] After Reprojection Map nPoint:282 ,nCell:39 ,nMatches:34 ,distance between ekf and vo x:-0.000049 ,z=0.000033,angle between two frames:0.000014
+[17:12:59.020] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =220 	 error init =0.000425 	 error end=0.000425
+[17:12:59.020] After pose optimization, distance between ekf and vo x:-0.000048 ,z=-0.000773,angle between two frames:0.000276
+[17:12:59.020] Update EKF and 3D points the number of feature in the new frame: 220 and number of obs: 220
+[17:12:59.022] frame process finished the id is: 642 the obs is:220 
+[17:12:59.097] Odometry x=2.693125, y=-0.862484, theta=-1.203393
+[17:12:59.112] After Reprojection Map nPoint:295 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:-0.000034 ,z=0.000030,angle between two frames:0.000011
+[17:12:59.112] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 	 error init =0.000409 	 error end=0.000409
+[17:12:59.112] After pose optimization, distance between ekf and vo x:-0.000034 ,z=0.000030,angle between two frames:0.000011
+[17:12:59.112] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226
+[17:12:59.114] frame process finished the id is: 643 the obs is:226 
+[17:12:59.195] Odometry x=2.691534, y=-0.862980, theta=-1.205438
+[17:12:59.211] After Reprojection Map nPoint:301 ,nCell:36 ,nMatches:36 ,distance between ekf and vo x:-0.000023 ,z=0.000047,angle between two frames:0.000003
+[17:12:59.211] n deleted obs = 11 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =183 	 error init =0.000614 	 error end=0.000614
+[17:12:59.211] After pose optimization, distance between ekf and vo x:-0.000023 ,z=0.000047,angle between two frames:0.000003
+[17:12:59.211] Update EKF and 3D points the number of feature in the new frame: 183 and number of obs: 183
+[17:12:59.212] frame process finished the id is: 644 the obs is:183 
+[17:12:59.292] Odometry x=2.686124, y=-0.867031, theta=-1.208180
+[17:12:59.321] After Reprojection Map nPoint:258 ,nCell:37 ,nMatches:37 ,distance between ekf and vo x:-0.000143 ,z=0.000097,angle between two frames:0.000064
+[17:12:59.322] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =204 	 error init =0.000444 	 error end=0.000444
+[17:12:59.322] After pose optimization, distance between ekf and vo x:-0.000125 ,z=0.000064,angle between two frames:0.000075
+[17:12:59.322] Update EKF and 3D points the number of feature in the new frame: 204 and number of obs: 204
+[17:12:59.323] frame process finished the id is: 645 the obs is:204 
+[17:12:59.396] Odometry x=2.685755, y=-0.867117, theta=-1.207977
+[17:12:59.427] After Reprojection Map nPoint:279 ,nCell:33 ,nMatches:30 ,distance between ekf and vo x:-0.000164 ,z=0.000152,angle between two frames:0.000073
+[17:12:59.427] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =255 	 error init =0.000322 	 error end=0.000322
+[17:12:59.427] After pose optimization, distance between ekf and vo x:-0.000164 ,z=0.000152,angle between two frames:0.000073
+[17:12:59.427] Update EKF and 3D points the number of feature in the new frame: 255 and number of obs: 255
+[17:12:59.429] frame process finished the id is: 646 the obs is:255 
+[17:12:59.499] Odometry x=2.685256, y=-0.867234, theta=-1.207575
+[17:12:59.539] After Reprojection Map nPoint:330 ,nCell:34 ,nMatches:34 ,distance between ekf and vo x:-0.000164 ,z=0.000182,angle between two frames:0.000075
+[17:12:59.540] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =182 	 error init =0.000471 	 error end=0.000471
+[17:12:59.540] After pose optimization, distance between ekf and vo x:-0.000164 ,z=0.000182,angle between two frames:0.000075
+[17:12:59.540] Update EKF and 3D points the number of feature in the new frame: 182 and number of obs: 182
+[17:12:59.541] frame process finished the id is: 647 the obs is:182 
+[17:12:59.598] Odometry x=2.685481, y=-0.866391, theta=-1.207497
+[17:12:59.649] After Reprojection Map nPoint:257 ,nCell:33 ,nMatches:33 ,distance between ekf and vo x:-0.000157 ,z=0.000147,angle between two frames:0.000061
+[17:12:59.650] n deleted obs = 9 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =226 	 error init =0.000873 	 error end=0.000873
+[17:12:59.650] After pose optimization, distance between ekf and vo x:-0.000157 ,z=0.000147,angle between two frames:0.000061
+[17:12:59.650] Update EKF and 3D points the number of feature in the new frame: 226 and number of obs: 226
+[17:12:59.651] frame process finished the id is: 648 the obs is:226 
+[17:12:59.698] Odometry x=2.684992, y=-0.866542, theta=-1.207153
+[17:12:59.754] After Reprojection Map nPoint:301 ,nCell:37 ,nMatches:34 ,distance between ekf and vo x:-0.000115 ,z=0.000100,angle between two frames:0.000054
+[17:12:59.755] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =259 	 error init =0.000136 	 error end=0.000136
+[17:12:59.755] After pose optimization, distance between ekf and vo x:-0.000115 ,z=0.000100,angle between two frames:0.000054
+[17:12:59.755] Update EKF and 3D points the number of feature in the new frame: 259 and number of obs: 259
+[17:12:59.756] frame process finished the id is: 649 the obs is:259 
+[17:12:59.796] Odometry x=2.684570, y=-0.866801, theta=-1.206869
+[17:12:59.853] After Reprojection Map nPoint:334 ,nCell:38 ,nMatches:36 ,distance between ekf and vo x:-0.000100 ,z=0.000062,angle between two frames:0.000037
+[17:12:59.854] n deleted obs = 36 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =191 	 error init =0.001241 	 error end=0.001241
+[17:12:59.854] After pose optimization, distance between ekf and vo x:-0.000100 ,z=0.000062,angle between two frames:0.000037
+[17:12:59.854] Update EKF and 3D points the number of feature in the new frame: 191 and number of obs: 191
+[17:12:59.855] frame process finished the id is: 650 the obs is:191 
+[17:12:59.898] Odometry x=2.684103, y=-0.866862, theta=-1.206624
+[17:12:59.939] After Reprojection Map nPoint:266 ,nCell:38 ,nMatches:29 ,distance between ekf and vo x:-0.000003 ,z=0.000000,angle between two frames:0.000001
+[17:12:59.939] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =194 	 error init =0.000397 	 error end=0.000397
+[17:12:59.939] After pose optimization, distance between ekf and vo x:-0.000003 ,z=0.000000,angle between two frames:0.000001
+[17:12:59.939] Update EKF and 3D points the number of feature in the new frame: 194 and number of obs: 194
+[17:12:59.940] frame process finished the id is: 651 the obs is:194 
+[17:12:59.995] Odometry x=2.683759, y=-0.867121, theta=-1.206442
+[17:13:00.040] After Reprojection Map nPoint:269 ,nCell:31 ,nMatches:31 ,distance between ekf and vo x:-0.000096 ,z=0.000048,angle between two frames:0.000033
+[17:13:00.041] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =212 	 error init =0.000483 	 error end=0.000483
+[17:13:00.041] After pose optimization, distance between ekf and vo x:-0.000096 ,z=0.000048,angle between two frames:0.000033
+[17:13:00.041] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212
+[17:13:00.042] frame process finished the id is: 652 the obs is:212 
+[17:13:00.094] Odometry x=2.683589, y=-0.867136, theta=-1.206352
+[17:13:00.142] After Reprojection Map nPoint:287 ,nCell:38 ,nMatches:27 ,distance between ekf and vo x:-0.000167 ,z=0.000154,angle between two frames:0.000055
+[17:13:00.142] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =249 	 error init =0.000358 	 error end=0.000358
+[17:13:00.142] After pose optimization, distance between ekf and vo x:-0.000167 ,z=0.000154,angle between two frames:0.000055
+[17:13:00.142] Update EKF and 3D points the number of feature in the new frame: 249 and number of obs: 249
+[17:13:00.144] frame process finished the id is: 653 the obs is:249 
+[17:13:00.201] Odometry x=2.683115, y=-0.867282, theta=-1.206491
+[17:13:00.249] After Reprojection Map nPoint:324 ,nCell:44 ,nMatches:34 ,distance between ekf and vo x:-0.000177 ,z=0.000177,angle between two frames:0.000059
+[17:13:00.249] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =260 	 error init =0.000791 	 error end=0.000791
+[17:13:00.249] After pose optimization, distance between ekf and vo x:-0.000177 ,z=0.000177,angle between two frames:0.000059
+[17:13:00.249] Update EKF and 3D points the number of feature in the new frame: 260 and number of obs: 260
+[17:13:00.251] frame process finished the id is: 654 the obs is:260 
+[17:13:00.293] Odometry x=2.682572, y=-0.867316, theta=-1.206991
+[17:13:00.345] After Reprojection Map nPoint:335 ,nCell:48 ,nMatches:32 ,distance between ekf and vo x:-0.000038 ,z=0.000038,angle between two frames:0.000011
+[17:13:00.346] n deleted obs = 2 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =287 	 error init =0.000745 	 error end=0.000745
+[17:13:00.346] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000038,angle between two frames:0.000011
+[17:13:00.346] Update EKF and 3D points the number of feature in the new frame: 287 and number of obs: 287
+[17:13:00.347] frame process finished the id is: 655 the obs is:287 
+[17:13:00.396] Odometry x=2.682197, y=-0.867372, theta=-1.207031
+[17:13:00.454] After Reprojection Map nPoint:362 ,nCell:35 ,nMatches:28 ,distance between ekf and vo x:-0.000172 ,z=0.000123,angle between two frames:0.000050
+[17:13:00.454] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =306 	 error init =0.000271 	 error end=0.000271
+[17:13:00.454] After pose optimization, distance between ekf and vo x:-0.000172 ,z=0.000123,angle between two frames:0.000050
+[17:13:00.454] Update EKF and 3D points the number of feature in the new frame: 306 and number of obs: 306
+[17:13:00.456] frame process finished the id is: 656 the obs is:306 
+[17:13:00.499] Odometry x=2.681807, y=-0.867439, theta=-1.207298
+[17:13:00.559] After Reprojection Map nPoint:381 ,nCell:41 ,nMatches:32 ,distance between ekf and vo x:-0.000133 ,z=0.000105,angle between two frames:0.000043
+[17:13:00.560] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =200 	 error init =0.000509 	 error end=0.000509
+[17:13:00.560] After pose optimization, distance between ekf and vo x:-0.000133 ,z=0.000105,angle between two frames:0.000043
+[17:13:00.560] Update EKF and 3D points the number of feature in the new frame: 200 and number of obs: 200
+[17:13:00.561] frame process finished the id is: 657 the obs is:200 
+[17:13:00.593] Odometry x=2.681326, y=-0.867611, theta=-1.208241
+[17:13:00.648] After Reprojection Map nPoint:275 ,nCell:43 ,nMatches:27 ,distance between ekf and vo x:-0.000009 ,z=-0.000001,angle between two frames:0.000004
+[17:13:00.655] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =198 	 error init =0.001053 	 error end=0.001050
+[17:13:00.655] After pose optimization, distance between ekf and vo x:-0.000507 ,z=-0.003034,angle between two frames:0.000947
+[17:13:00.655] Update EKF and 3D points the number of feature in the new frame: 198 and number of obs: 198
+[17:13:00.656] frame process finished the id is: 658 the obs is:198 
+[17:13:00.696] Odometry x=2.680548, y=-0.870719, theta=-1.209691
+[17:13:00.756] After Reprojection Map nPoint:273 ,nCell:36 ,nMatches:30 ,distance between ekf and vo x:-0.000057 ,z=0.000020,angle between two frames:0.000019
+[17:13:00.757] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =195 	 error init =0.000424 	 error end=0.000424
+[17:13:00.757] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000020,angle between two frames:0.000019
+[17:13:00.757] Update EKF and 3D points the number of feature in the new frame: 195 and number of obs: 195
+[17:13:00.758] frame process finished the id is: 659 the obs is:195 
+[17:13:00.796] Odometry x=2.680150, y=-0.871001, theta=-1.210008
+[17:13:00.856] After Reprojection Map nPoint:270 ,nCell:38 ,nMatches:30 ,distance between ekf and vo x:-0.000171 ,z=0.000112,angle between two frames:0.000057
+[17:13:00.856] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =227 	 error init =0.000686 	 error end=0.000686
+[17:13:00.856] After pose optimization, distance between ekf and vo x:-0.000171 ,z=0.000112,angle between two frames:0.000057
+[17:13:00.856] Update EKF and 3D points the number of feature in the new frame: 227 and number of obs: 227
+[17:13:00.858] frame process finished the id is: 660 the obs is:227 
+[17:13:00.957] After Reprojection Map nPoint:302 ,nCell:38 ,nMatches:29 ,distance between ekf and vo x:-0.000103 ,z=0.000090,angle between two frames:0.000048
+[17:13:00.958] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =217 	 error init =0.000423 	 error end=0.000423
+[17:13:00.958] After pose optimization, distance between ekf and vo x:-0.000103 ,z=0.000090,angle between two frames:0.000048
+[17:13:00.958] Update EKF and 3D points the number of feature in the new frame: 217 and number of obs: 217
+[17:13:00.959] frame process finished the id is: 661 the obs is:217 
+[17:13:01.057] After Reprojection Map nPoint:292 ,nCell:37 ,nMatches:28 ,distance between ekf and vo x:-0.000125 ,z=0.000101,angle between two frames:0.000053
+[17:13:01.057] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 	 error init =0.000487 	 error end=0.000487
+[17:13:01.057] After pose optimization, distance between ekf and vo x:-0.000125 ,z=0.000101,angle between two frames:0.000053
+[17:13:01.057] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270
+[17:13:01.059] frame process finished the id is: 662 the obs is:270 
+[17:13:01.167] After Reprojection Map nPoint:345 ,nCell:45 ,nMatches:37 ,distance between ekf and vo x:-0.000179 ,z=0.000173,angle between two frames:0.000073
+[17:13:01.167] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =281 	 error init =0.000284 	 error end=0.000284
+[17:13:01.167] After pose optimization, distance between ekf and vo x:-0.000179 ,z=0.000173,angle between two frames:0.000073
+[17:13:01.167] Update EKF and 3D points the number of feature in the new frame: 281 and number of obs: 281
+[17:13:01.169] frame process finished the id is: 663 the obs is:281 
+[17:13:01.271] After Reprojection Map nPoint:356 ,nCell:42 ,nMatches:33 ,distance between ekf and vo x:-0.000061 ,z=0.000056,angle between two frames:0.000023
+[17:13:01.272] n deleted obs = 16 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 	 error init =0.000948 	 error end=0.000948
+[17:13:01.272] After pose optimization, distance between ekf and vo x:0.000035 ,z=0.000018,angle between two frames:0.000019
+[17:13:01.272] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270
+[17:13:01.274] frame process finished the id is: 664 the obs is:270 
+[17:13:01.367] After Reprojection Map nPoint:345 ,nCell:41 ,nMatches:32 ,distance between ekf and vo x:-0.000080 ,z=0.000062,angle between two frames:0.000031
+[17:13:01.368] n deleted obs = 43 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =214 	 error init =0.001372 	 error end=0.001372
+[17:13:01.368] After pose optimization, distance between ekf and vo x:-0.000080 ,z=0.000062,angle between two frames:0.000031
+[17:13:01.368] Update EKF and 3D points the number of feature in the new frame: 214 and number of obs: 214
+[17:13:01.369] frame process finished the id is: 665 the obs is:214 
+[17:13:01.471] After Reprojection Map nPoint:289 ,nCell:34 ,nMatches:28 ,distance between ekf and vo x:-0.000083 ,z=0.000088,angle between two frames:0.000032
+[17:13:01.472] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =214 	 error init =0.000146 	 error end=0.000146
+[17:13:01.472] After pose optimization, distance between ekf and vo x:-0.000083 ,z=0.000088,angle between two frames:0.000032
+[17:13:01.472] Update EKF and 3D points the number of feature in the new frame: 214 and number of obs: 214
+[17:13:01.473] frame process finished the id is: 666 the obs is:214 
+[17:13:01.565] After Reprojection Map nPoint:289 ,nCell:32 ,nMatches:27 ,distance between ekf and vo x:-0.000006 ,z=0.000009,angle between two frames:0.000007
+[17:13:01.566] n deleted obs = 14 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =218 	 error init =0.000741 	 error end=0.000741
+[17:13:01.566] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000009,angle between two frames:0.000007
+[17:13:01.566] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218
+[17:13:01.567] frame process finished the id is: 667 the obs is:218 
+[17:13:01.653] After Reprojection Map nPoint:293 ,nCell:31 ,nMatches:29 ,distance between ekf and vo x:0.000005 ,z=-0.000002,angle between two frames:0.000001
+[17:13:01.654] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =233 	 error init =0.000177 	 error end=0.000177
+[17:13:01.654] After pose optimization, distance between ekf and vo x:0.000011 ,z=-0.000033,angle between two frames:0.000010
+[17:13:01.654] Update EKF and 3D points the number of feature in the new frame: 233 and number of obs: 233
+[17:13:01.655] frame process finished the id is: 668 the obs is:233 
+[17:13:01.762] After Reprojection Map nPoint:308 ,nCell:33 ,nMatches:27 ,distance between ekf and vo x:-0.000086 ,z=0.000082,angle between two frames:0.000046
+[17:13:01.762] n deleted obs = 7 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =248 	 error init =0.000771 	 error end=0.000771
+[17:13:01.762] After pose optimization, distance between ekf and vo x:-0.000086 ,z=0.000082,angle between two frames:0.000046
+[17:13:01.762] Update EKF and 3D points the number of feature in the new frame: 248 and number of obs: 248
+[17:13:01.764] frame process finished the id is: 669 the obs is:248 
+[17:13:01.855] After Reprojection Map nPoint:323 ,nCell:36 ,nMatches:30 ,distance between ekf and vo x:-0.000013 ,z=0.000019,angle between two frames:0.000018
+[17:13:01.855] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =247 	 error init =0.000200 	 error end=0.000200
+[17:13:01.855] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000019,angle between two frames:0.000018
+[17:13:01.855] Update EKF and 3D points the number of feature in the new frame: 247 and number of obs: 247
+[17:13:01.857] frame process finished the id is: 670 the obs is:247 
+[17:13:01.950] After Reprojection Map nPoint:322 ,nCell:14 ,nMatches:14 ,distance between ekf and vo x:-0.000057 ,z=0.000048,angle between two frames:0.000036
+[17:13:01.951] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =130 	 error init =0.000087 	 error end=0.000087
+[17:13:01.951] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000048,angle between two frames:0.000036
+[17:13:01.951] Update EKF and 3D points the number of feature in the new frame: 130 and number of obs: 130
+[17:13:01.952] frame process finished the id is: 671 the obs is:130 
+[17:13:02.055] After Reprojection Map nPoint:205 ,nCell:26 ,nMatches:24 ,distance between ekf and vo x:-0.000093 ,z=-0.000059,angle between two frames:0.000025
+[17:13:02.060] n deleted obs = 5 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =120 	 error init =0.001158 	 error end=0.001156
+[17:13:02.060] After pose optimization, distance between ekf and vo x:-0.000501 ,z=-0.002827,angle between two frames:0.001077
+[17:13:02.060] Update EKF and 3D points the number of feature in the new frame: 120 and number of obs: 120
+[17:13:02.060] frame process finished the id is: 672 the obs is:120 
+[17:13:02.143] After Reprojection Map nPoint:195 ,nCell:30 ,nMatches:26 ,distance between ekf and vo x:0.000006 ,z=0.000002,angle between two frames:0.000001
+[17:13:02.143] n deleted obs = 13 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =107 	 error init =0.001358 	 error end=0.001358
+[17:13:02.143] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000002,angle between two frames:0.000001
+[17:13:02.143] Update EKF and 3D points the number of feature in the new frame: 107 and number of obs: 107
+[17:13:02.144] frame process finished the id is: 673 the obs is:107 
+[17:13:02.228] After Reprojection Map nPoint:182 ,nCell:32 ,nMatches:28 ,distance between ekf and vo x:0.000018 ,z=-0.000008,angle between two frames:0.000003
+[17:13:02.228] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =137 	 error init =0.000290 	 error end=0.000290
+[17:13:02.228] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000008,angle between two frames:0.000003
+[17:13:02.228] Update EKF and 3D points the number of feature in the new frame: 137 and number of obs: 137
+[17:13:02.229] frame process finished the id is: 674 the obs is:137 
+[17:13:02.336] After Reprojection Map nPoint:212 ,nCell:36 ,nMatches:29 ,distance between ekf and vo x:-0.000057 ,z=0.000072,angle between two frames:0.000039
+[17:13:02.337] n deleted obs = 4 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =146 	 error init =0.000269 	 error end=0.000269
+[17:13:02.337] After pose optimization, distance between ekf and vo x:-0.000057 ,z=0.000072,angle between two frames:0.000039
+[17:13:02.337] Update EKF and 3D points the number of feature in the new frame: 146 and number of obs: 146
+[17:13:02.338] frame process finished the id is: 675 the obs is:146 
+[17:13:02.443] After Reprojection Map nPoint:221 ,nCell:32 ,nMatches:29 ,distance between ekf and vo x:-0.000043 ,z=0.000075,angle between two frames:0.000043
+[17:13:02.444] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =137 	 error init =0.000347 	 error end=0.000347
+[17:13:02.444] After pose optimization, distance between ekf and vo x:-0.000043 ,z=0.000075,angle between two frames:0.000043
+[17:13:02.444] Update EKF and 3D points the number of feature in the new frame: 137 and number of obs: 137
+[17:13:02.445] frame process finished the id is: 676 the obs is:137 
+[17:13:02.543] After Reprojection Map nPoint:212 ,nCell:33 ,nMatches:33 ,distance between ekf and vo x:0.000001 ,z=0.000032,angle between two frames:0.000025
+[17:13:02.544] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =159 	 error init =0.000241 	 error end=0.000241
+[17:13:02.544] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000032,angle between two frames:0.000025
+[17:13:02.544] Update EKF and 3D points the number of feature in the new frame: 159 and number of obs: 159
+[17:13:02.544] frame process finished the id is: 677 the obs is:159 
+[17:13:02.644] After Reprojection Map nPoint:234 ,nCell:36 ,nMatches:36 ,distance between ekf and vo x:-0.000007 ,z=0.000055,angle between two frames:0.000033
+[17:13:02.645] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =158 	 error init =0.000157 	 error end=0.000157
+[17:13:02.645] After pose optimization, distance between ekf and vo x:-0.000007 ,z=0.000055,angle between two frames:0.000033
+[17:13:02.645] Update EKF and 3D points the number of feature in the new frame: 158 and number of obs: 158
+[17:13:02.646] frame process finished the id is: 678 the obs is:158 
+[17:13:02.747] After Reprojection Map nPoint:233 ,nCell:33 ,nMatches:33 ,distance between ekf and vo x:-0.000050 ,z=0.000077,angle between two frames:0.000055
+[17:13:02.748] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =186 	 error init =0.000213 	 error end=0.000213
+[17:13:02.748] After pose optimization, distance between ekf and vo x:-0.000050 ,z=0.000077,angle between two frames:0.000055
+[17:13:02.748] Update EKF and 3D points the number of feature in the new frame: 186 and number of obs: 186
+[17:13:02.749] frame process finished the id is: 679 the obs is:186 
+[17:13:02.839] After Reprojection Map nPoint:261 ,nCell:32 ,nMatches:32 ,distance between ekf and vo x:-0.000013 ,z=0.000021,angle between two frames:0.000015
+[17:13:02.839] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =212 	 error init =0.000396 	 error end=0.000396
+[17:13:02.839] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000021,angle between two frames:0.000015
+[17:13:02.839] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212
+[17:13:02.841] frame process finished the id is: 680 the obs is:212 
+[17:13:02.935] After Reprojection Map nPoint:287 ,nCell:32 ,nMatches:32 ,distance between ekf and vo x:-0.000029 ,z=0.000058,angle between two frames:0.000037
+[17:13:02.935] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =170 	 error init =0.000795 	 error end=0.000795
+[17:13:02.935] After pose optimization, distance between ekf and vo x:-0.000029 ,z=0.000058,angle between two frames:0.000037
+[17:13:02.935] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170
+[17:13:02.936] frame process finished the id is: 681 the obs is:170 
+[17:13:03.021] After Reprojection Map nPoint:245 ,nCell:31 ,nMatches:31 ,distance between ekf and vo x:0.000005 ,z=-0.000003,angle between two frames:0.000000
+[17:13:03.027] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =160 	 error init =0.000200 	 error end=0.000200
+[17:13:03.027] After pose optimization, distance between ekf and vo x:-0.000162 ,z=-0.000605,angle between two frames:0.000202
+[17:13:03.027] Update EKF and 3D points the number of feature in the new frame: 160 and number of obs: 160
+[17:13:03.028] frame process finished the id is: 682 the obs is:160 
+[17:13:03.128] After Reprojection Map nPoint:235 ,nCell:37 ,nMatches:35 ,distance between ekf and vo x:-0.000029 ,z=0.000045,angle between two frames:0.000033
+[17:13:03.136] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =193 	 error init =0.000424 	 error end=0.000424
+[17:13:03.136] After pose optimization, distance between ekf and vo x:-0.000318 ,z=-0.001156,angle between two frames:0.000435
+[17:13:03.136] Update EKF and 3D points the number of feature in the new frame: 193 and number of obs: 193
+[17:13:03.137] frame process finished the id is: 683 the obs is:193 
+[17:13:03.234] After Reprojection Map nPoint:268 ,nCell:30 ,nMatches:30 ,distance between ekf and vo x:-0.000029 ,z=0.000050,angle between two frames:0.000031
+[17:13:03.235] n deleted obs = 3 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =217 	 error init =0.000450 	 error end=0.000450
+[17:13:03.235] After pose optimization, distance between ekf and vo x:-0.000029 ,z=0.000050,angle between two frames:0.000031
+[17:13:03.235] Update EKF and 3D points the number of feature in the new frame: 217 and number of obs: 217
+[17:13:03.236] frame process finished the id is: 684 the obs is:217 
+[17:13:03.339] After Reprojection Map nPoint:292 ,nCell:30 ,nMatches:30 ,distance between ekf and vo x:-0.000045 ,z=0.000074,angle between two frames:0.000044
+[17:13:03.339] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =256 	 error init =0.000079 	 error end=0.000079
+[17:13:03.339] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000074,angle between two frames:0.000044
+[17:13:03.339] Update EKF and 3D points the number of feature in the new frame: 256 and number of obs: 256
+[17:13:03.341] frame process finished the id is: 685 the obs is:256 
+[17:13:03.450] After Reprojection Map nPoint:331 ,nCell:28 ,nMatches:28 ,distance between ekf and vo x:-0.000072 ,z=0.000100,angle between two frames:0.000054
+[17:13:03.451] n deleted obs = 12 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =236 	 error init =0.001134 	 error end=0.001134
+[17:13:03.451] After pose optimization, distance between ekf and vo x:-0.000072 ,z=0.000100,angle between two frames:0.000054
+[17:13:03.451] Update EKF and 3D points the number of feature in the new frame: 236 and number of obs: 236
+[17:13:03.452] frame process finished the id is: 686 the obs is:236 
+[17:13:03.541] After Reprojection Map nPoint:311 ,nCell:38 ,nMatches:35 ,distance between ekf and vo x:-0.000027 ,z=0.000028,angle between two frames:0.000015
+[17:13:03.542] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =222 	 error init =0.000062 	 error end=0.000062
+[17:13:03.542] After pose optimization, distance between ekf and vo x:-0.000027 ,z=0.000028,angle between two frames:0.000015
+[17:13:03.542] Update EKF and 3D points the number of feature in the new frame: 222 and number of obs: 222
+[17:13:03.543] frame process finished the id is: 687 the obs is:222 
+[17:13:03.629] After Reprojection Map nPoint:297 ,nCell:35 ,nMatches:32 ,distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000000
+[17:13:03.629] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =212 	 error init =0.000419 	 error end=0.000419
+[17:13:03.629] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000002,angle between two frames:0.000000
+[17:13:03.629] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212
+[17:13:03.630] frame process finished the id is: 688 the obs is:212 
+[17:13:03.715] After Reprojection Map nPoint:287 ,nCell:34 ,nMatches:31 ,distance between ekf and vo x:0.000003 ,z=-0.000002,angle between two frames:0.000000
+[17:13:03.715] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =243 	 error init =0.000245 	 error end=0.000245
+[17:13:03.715] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000002,angle between two frames:0.000000
+[17:13:03.715] Update EKF and 3D points the number of feature in the new frame: 243 and number of obs: 243
+[17:13:03.717] frame process finished the id is: 689 the obs is:243 
+[17:13:03.808] After Reprojection Map nPoint:318 ,nCell:31 ,nMatches:29 ,distance between ekf and vo x:-0.000065 ,z=0.000058,angle between two frames:0.000031
+[17:13:03.818] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =270 	 error init =0.000707 	 error end=0.000707
+[17:13:03.818] After pose optimization, distance between ekf and vo x:-0.000035 ,z=-0.000064,angle between two frames:0.000071
+[17:13:03.818] Update EKF and 3D points the number of feature in the new frame: 270 and number of obs: 270
+[17:13:03.820] frame process finished the id is: 690 the obs is:270 
+[17:13:03.913] After Reprojection Map nPoint:345 ,nCell:30 ,nMatches:28 ,distance between ekf and vo x:-0.000014 ,z=0.000039,angle between two frames:0.000030
+[17:13:03.914] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =294 	 error init =0.000248 	 error end=0.000248
+[17:13:03.914] After pose optimization, distance between ekf and vo x:-0.000014 ,z=0.000039,angle between two frames:0.000030
+[17:13:03.914] Update EKF and 3D points the number of feature in the new frame: 294 and number of obs: 294
+[17:13:03.916] frame process finished the id is: 691 the obs is:294 
+[17:13:04.010] After Reprojection Map nPoint:369 ,nCell:29 ,nMatches:29 ,distance between ekf and vo x:-0.000029 ,z=0.000054,angle between two frames:0.000033
+[17:13:04.021] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =308 	 error init =0.000596 	 error end=0.000596
+[17:13:04.021] After pose optimization, distance between ekf and vo x:0.000050 ,z=-0.000257,angle between two frames:0.000169
+[17:13:04.021] Update EKF and 3D points the number of feature in the new frame: 308 and number of obs: 308
+[17:13:04.023] frame process finished the id is: 692 the obs is:308 
+[17:13:04.116] After Reprojection Map nPoint:383 ,nCell:35 ,nMatches:32 ,distance between ekf and vo x:-0.000004 ,z=0.000017,angle between two frames:0.000009
+[17:13:04.125] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =242 	 error init =0.000119 	 error end=0.000119
+[17:13:04.125] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000302,angle between two frames:0.000110
+[17:13:04.125] Update EKF and 3D points the number of feature in the new frame: 242 and number of obs: 242
+[17:13:04.126] frame process finished the id is: 693 the obs is:242 
+[17:13:04.218] After Reprojection Map nPoint:317 ,nCell:35 ,nMatches:35 ,distance between ekf and vo x:-0.000028 ,z=0.000049,angle between two frames:0.000033
+[17:13:04.219] n deleted obs = 1 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =265 	 error init =0.000432 	 error end=0.000432
+[17:13:04.219] After pose optimization, distance between ekf and vo x:-0.000028 ,z=0.000049,angle between two frames:0.000033
+[17:13:04.219] Update EKF and 3D points the number of feature in the new frame: 265 and number of obs: 265
+[17:13:04.220] frame process finished the id is: 694 the obs is:265 
+[17:13:04.306] After Reprojection Map nPoint:340 ,nCell:36 ,nMatches:34 ,distance between ekf and vo x:0.000008 ,z=-0.000007,angle between two frames:0.000001
+[17:13:04.307] n deleted obs = 0 	 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =272 	 error init =0.000142 	 error end=0.000142
+[17:13:04.307] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000007,angle between two frames:0.000001
+[17:13:04.307] Update EKF and 3D points the number of feature in the new frame: 272 and number of obs: 272
+[17:13:04.308] frame process finished the id is: 695 the obs is:272 
diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp
index 02acab2..a151e94 100644
--- a/GPU_version/vio/src/frame_handler_mono.cpp
+++ b/GPU_version/vio/src/frame_handler_mono.cpp
@@ -167,7 +167,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
                        vio::time_in_HH_MM_SS_MMM().c_str(),new_frame_->fts_.size(),depth_mean,depth_min);
 #endif
   //std::cerr<<"run BA\n";
-  //ba_glob_->new_key_frame();
+  ba_glob_->new_key_frame();
   ROS_INFO("VIO initialized :)");
   ROS_INFO("Running ...");
   return RESULT_IS_KEYFRAME;
@@ -217,10 +217,8 @@ 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
-/*    fclose(log_);
-    exit(0);*/
-    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<10){
+    if((init_f.second.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.2 ||
+       fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())>0.02 || sfba_n_edges_final<10){
         new_frame_=last_frame_;
         return RESULT_FAILURE;
     }
@@ -238,7 +236,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
   {
         return RESULT_NO_KEYFRAME;
   }
-    std::cerr<<"241\n";
   double depth_mean=0.0, depth_min=0.0;
   frame_utils::getSceneDepth(new_frame_, depth_mean, depth_min);
   new_frame_->setKeyframe();
@@ -260,8 +257,8 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
   }
   // add keyframe to map
   map_.addKeyframe(new_frame_);
-  //std::cerr<<"BA run\n";
-  //ba_glob_->new_key_frame();
+  std::cerr<<"BA run\n";
+  ba_glob_->new_key_frame();
   return RESULT_IS_KEYFRAME;
 }
 
diff --git a/GPU_version/vio/src/point.cpp b/GPU_version/vio/src/point.cpp
index c9fbfc1..5578d95 100644
--- a/GPU_version/vio/src/point.cpp
+++ b/GPU_version/vio/src/point.cpp
@@ -184,7 +184,7 @@ void Point::optimize(const size_t n_iter)
       break;
   }
 
-    for(auto it=obs_.begin(); it!=obs_.end(); ++it) {
+/*    for(auto it=obs_.begin(); it!=obs_.end(); ++it) {
             Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d((*it)->frame->se3() * (*it)->point->pos_));
             //e /= (1 << (*it)->level);
 //            std::cerr<<"error - point.h : "<<e.norm()<<std::endl;
@@ -193,7 +193,7 @@ void Point::optimize(const size_t n_iter)
                 (*it)->point->n_failed_reproj_++;
 //            } else
 //                it++;
-    }
+    }*/
 
 }
 
diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp
index cb14381..c2a9b9a 100644
--- a/GPU_version/vio/src/reprojector.cpp
+++ b/GPU_version/vio/src/reprojector.cpp
@@ -130,31 +130,16 @@ namespace vio {
                 std::vector<std::vector<cv::DMatch>>  matches;
                 keypoints_kfs.push_back(cv::KeyPoint((*it_ref)->px.x(), (*it_ref)->px.y(), 7.f,(*it_ref)->score));
 
-
-//                std::cerr<<"135"<<std::endl;
                 cv::Mat ref_des=cv::Mat(1,64,CV_8UC1,(*it_ref)->descriptor);
-//                std::cerr<<"136"<<std::endl;
-                //std::cerr<<maskup.size<<" "<<maskdown.size<<" "<<cur_des.size<<std::endl;
-//                cv::Mat mup, mdown;
-//                cv::cvtColor(maskup, mup, cv::COLOR_GRAY2RGB);
-//                cv::imwrite("/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/maskup.png", mup);
-//                cv::cvtColor(maskdown, mdown, cv::COLOR_GRAY2RGB);
-//                cv::imwrite("/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/maskdown.png", mdown);
-//                std::cerr<<"137"<<std::endl;
+
                 if ((*it_ref)->px.y() < frame->img().rows/2) {
-                    std::cerr<<"if"<<std::endl;
                     matcher->knnMatch(ref_des, cur_des, matches, 1, cv::InputArray(maskup));
                 }
                 else{
-                    std::cerr<<"else"<<std::endl;
                     matcher->knnMatch(ref_des, cur_des, matches, 1, cv::InputArray(maskdown));
                 }
-//                std::cerr<<"144"<<std::endl;
                 //matcher->knnMatch(ref_des, cur_des, matches, 1);
 
-
-
-
                 for(auto&& match:matches.back()){
                     it_cur=keypoints.begin();
                     std::advance(it_cur,match.trainIdx);
@@ -204,6 +189,7 @@ namespace vio {
                 ++it_ref;
             }
         }
+        //exit(0);
         {
             for (auto&& cell : grid_.cells) {
                 if (reprojectCell(*cell, frame, log_))