diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt index 64a231e..c99d93f 100755 --- a/GPU_version/vio/depth_filter_log.txt +++ b/GPU_version/vio/depth_filter_log.txt @@ -1,224 +1,658 @@ -[12:03:41.417] New key frame -[12:03:41.417] BA loop run -[12:03:41.419] init error: 1.701205 -[12:03:41.420] end error: 1.009137 -[12:03:42.450] New key frame -[12:03:42.450] BA loop run -[12:03:42.452] init error: 6.237241 -[12:03:42.453] end error: 0.489862 -[12:03:42.648] New key frame -[12:03:42.648] BA loop run -[12:03:42.650] init error: 18.028230 -[12:03:42.652] end error: 2.508618 -[12:03:42.933] New key frame -[12:03:42.933] BA loop run -[12:03:42.937] init error: 36.102278 -[12:03:42.942] end error: 4.830597 -[12:03:43.247] New key frame -[12:03:43.247] BA loop run -[12:03:43.251] init error: 33.122877 -[12:03:43.255] end error: 5.928311 -[12:03:43.601] New key frame -[12:03:43.601] BA loop run -[12:03:43.607] init error: 39.321419 -[12:03:43.615] end error: 13.236725 -[12:03:44.013] New key frame -[12:03:44.013] BA loop run -[12:03:44.020] init error: 42.204503 -[12:03:44.027] end error: 12.819218 -[12:03:44.412] New key frame -[12:03:44.412] BA loop run -[12:03:44.422] init error: 52.348360 -[12:03:44.435] end error: 20.717566 -[12:03:44.859] New key frame -[12:03:44.859] BA loop run -[12:03:44.869] init error: 72.326163 -[12:03:44.878] end error: 48.291812 -[12:03:45.349] New key frame -[12:03:45.349] BA loop run -[12:03:45.359] init error: 77.093405 -[12:03:45.371] end error: 45.229245 -[12:03:45.907] New key frame -[12:03:45.907] BA loop run -[12:03:45.918] init error: 52.638919 -[12:03:45.929] end error: 32.273172 -[12:03:46.446] New key frame -[12:03:46.446] BA loop run -[12:03:46.459] init error: 89.777557 -[12:03:46.474] end error: 61.190620 -[12:03:47.109] New key frame -[12:03:47.109] BA loop run -[12:03:47.126] init error: 97.152057 -[12:03:47.143] end error: 69.287463 -[12:03:47.816] New key frame -[12:03:47.816] BA loop run -[12:03:47.831] init error: 99.116283 -[12:03:47.845] end error: 66.357638 -[12:03:48.329] New key frame -[12:03:48.329] BA loop run -[12:03:48.343] init error: 99.484118 -[12:03:48.358] end error: 67.706517 -[12:03:49.068] New key frame -[12:03:49.068] BA loop run -[12:03:49.084] init error: 119.223442 -[12:03:49.099] end error: 73.552946 -[12:03:49.970] New key frame -[12:03:49.970] BA loop run -[12:03:49.986] init error: 106.027200 -[12:03:50.001] end error: 68.441734 -[12:03:51.711] New key frame -[12:03:51.711] BA loop run -[12:03:51.725] init error: 70.560324 -[12:03:51.736] end error: 57.569337 -[12:03:53.093] New key frame -[12:03:53.094] BA loop run -[12:03:53.116] init error: 103.350472 -[12:03:53.134] end error: 51.536080 -[12:03:54.627] New key frame -[12:03:54.627] BA loop run -[12:03:54.647] init error: 125.083965 -[12:03:54.665] end error: 64.421823 -[12:03:56.359] New key frame -[12:03:56.359] BA loop run -[12:03:56.380] init error: 130.588163 -[12:03:56.400] end error: 72.136725 -[12:03:58.040] New key frame -[12:03:58.040] BA loop run -[12:03:58.063] init error: 174.737917 -[12:03:58.084] end error: 92.886043 -[12:03:59.575] New key frame -[12:03:59.575] BA loop run -[12:03:59.597] init error: 143.136133 -[12:03:59.615] end error: 97.968820 -[12:04:01.123] New key frame -[12:04:01.123] BA loop run -[12:04:01.144] init error: 151.510506 -[12:04:01.166] end error: 102.378463 -[12:04:03.072] New key frame -[12:04:03.072] BA loop run -[12:04:03.095] init error: 155.979793 -[12:04:03.120] end error: 113.121948 -[12:04:04.754] New key frame -[12:04:04.754] BA loop run -[12:04:04.779] init error: 181.844751 -[12:04:04.801] end error: 133.088599 -[12:04:06.496] New key frame -[12:04:06.496] BA loop run -[12:04:06.528] init error: 202.141490 -[12:04:06.558] end error: 165.511598 -[12:04:08.474] New key frame -[12:04:08.474] BA loop run -[12:04:08.498] init error: 259.418164 -[12:04:08.520] end error: 206.366686 -[12:04:10.145] New key frame -[12:04:10.146] BA loop run -[12:04:10.169] init error: 259.091854 -[12:04:10.188] end error: 207.428913 -[12:04:12.348] New key frame -[12:04:12.348] BA loop run -[12:04:12.370] init error: 181.705955 -[12:04:12.386] end error: 166.767867 -[12:04:14.020] New key frame -[12:04:14.020] BA loop run -[12:04:14.044] init error: 214.785175 -[12:04:14.061] end error: 182.617615 -[12:04:19.641] New key frame -[12:04:19.641] BA loop run -[12:04:19.671] init error: 771.169429 -[12:04:19.686] end error: 395.558168 -[12:04:22.579] New key frame -[12:04:22.579] BA loop run -[12:04:22.609] init error: 1169.384753 -[12:04:22.628] end error: 404.458621 -[12:04:29.656] New key frame -[12:04:29.656] BA loop run -[12:04:29.684] init error: 591.965362 -[12:04:29.697] end error: 315.026841 -[12:04:32.758] New key frame -[12:04:32.758] BA loop run -[12:04:32.789] init error: 480.827370 -[12:04:32.804] end error: 366.377149 -[12:04:34.911] New key frame -[12:04:34.911] BA loop run -[12:04:34.946] init error: 549.858008 -[12:04:34.966] end error: 413.140415 -[12:04:36.688] New key frame -[12:04:36.688] BA loop run -[12:04:36.719] init error: 659.142107 -[12:04:36.736] end error: 458.711528 -[12:04:39.397] New key frame -[12:04:39.397] BA loop run -[12:04:39.427] init error: 671.995324 -[12:04:39.444] end error: 574.540631 -[12:04:41.789] New key frame -[12:04:41.789] BA loop run -[12:04:41.814] init error: 776.453923 -[12:04:41.828] end error: 768.396840 -[12:04:44.200] New key frame -[12:04:44.200] BA loop run -[12:04:44.223] init error: 626.692321 -[12:04:44.235] end error: 552.409475 -[12:04:46.599] New key frame -[12:04:46.599] BA loop run -[12:04:46.619] init error: 521.987400 -[12:04:46.630] end error: 466.837199 -[12:04:47.958] New key frame -[12:04:47.958] BA loop run -[12:04:47.980] init error: 455.683188 -[12:04:47.991] end error: 364.066169 -[12:04:49.604] New key frame -[12:04:49.604] BA loop run -[12:04:49.623] init error: 485.524351 -[12:04:49.632] end error: 411.181207 -[12:04:51.534] New key frame -[12:04:51.535] BA loop run -[12:04:51.549] init error: 228.858900 -[12:04:51.555] end error: 146.154664 -[12:04:53.142] New key frame -[12:04:53.142] BA loop run -[12:04:53.160] init error: 350.238517 -[12:04:53.168] end error: 267.636461 -[12:04:54.386] New key frame -[12:04:54.386] BA loop run -[12:04:54.405] init error: 457.128205 -[12:04:54.416] end error: 340.386048 -[12:05:05.589] New key frame -[12:05:05.589] BA loop run -[12:05:05.596] init error: 25.690490 -[12:05:05.597] end error: 9.485745 -[12:05:05.779] New key frame -[12:05:05.779] BA loop run -[12:05:05.785] init error: 87.741382 -[12:05:05.786] end error: 11.538819 -[12:05:05.973] New key frame -[12:05:05.973] BA loop run -[12:05:05.979] init error: 28.194039 -[12:05:05.979] end error: 2.489291 -[12:05:06.142] New key frame -[12:05:06.142] BA loop run -[12:05:06.147] init error: 9.138186 -[12:05:06.147] end error: 2.698424 -[12:05:06.312] New key frame -[12:05:06.312] BA loop run -[12:05:06.318] init error: 2.996002 -[12:05:06.319] end error: 2.624229 -[12:05:06.447] New key frame -[12:05:06.447] BA loop run -[12:05:06.453] init error: 13.122931 -[12:05:06.454] end error: 9.273583 -[12:05:06.575] New key frame -[12:05:06.575] BA loop run -[12:05:06.581] init error: 11.353129 -[12:05:06.582] end error: 9.504530 -[12:05:06.848] New key frame -[12:05:06.848] BA loop run -[12:05:06.853] init error: 3.687899 -[12:05:06.853] end error: 3.702094 -[12:05:07.103] New key frame -[12:05:07.103] BA loop run -[12:05:07.108] init error: 3.702785 -[12:05:07.108] end error: 3.702846 -[12:05:12.138] New key frame -[12:05:12.138] BA loop run -[12:05:12.143] init error: 6.161187 -[12:05:12.143] end error: 3.664383 +[19:07:57.571] New key frame +[19:07:57.571] BA loop run +[19:07:57.572] init error: 20.124301 +[19:07:57.575] end error: 0.000366 +[19:07:57.725] New key frame +[19:07:57.725] BA loop run +[19:07:57.726] init error: 3.326193 +[19:07:57.729] end error: 0.063434 +[19:07:57.892] New key frame +[19:07:57.892] BA loop run +[19:07:58.033] New key frame +[19:07:58.033] BA loop run +[19:07:58.033] init error: 5.224831 +[19:07:58.034] end error: 0.000000 +[19:07:58.206] New key frame +[19:07:58.206] BA loop run +[19:07:58.206] init error: 16.211948 +[19:07:58.208] end error: 0.000001 +[19:07:58.406] New key frame +[19:07:58.406] BA loop run +[19:07:58.409] init error: 48.486817 +[19:07:58.413] end error: 2.767577 +[19:07:58.593] New key frame +[19:07:58.593] BA loop run +[19:07:58.595] init error: 348.821161 +[19:07:58.600] end error: 1.276149 +[19:07:58.892] New key frame +[19:07:58.892] BA loop run +[19:07:58.894] init error: 1915.998266 +[19:07:58.899] end error: 3.539466 +[19:07:59.206] New key frame +[19:07:59.206] BA loop run +[19:07:59.208] init error: 62.901709 +[19:07:59.216] end error: 2.655298 +[19:07:59.583] New key frame +[19:07:59.583] BA loop run +[19:07:59.585] init error: 36.592363 +[19:07:59.592] end error: 0.916429 +[19:07:59.821] New key frame +[19:07:59.821] BA loop run +[19:07:59.822] init error: 42.686031 +[19:07:59.828] end error: 1.124509 +[19:08:00.077] New key frame +[19:08:00.077] BA loop run +[19:08:00.078] init error: 306.849947 +[19:08:00.086] end error: 2.161691 +[19:08:00.316] New key frame +[19:08:00.316] BA loop run +[19:08:00.318] init error: 43.793156 +[19:08:00.326] end error: 0.286283 +[19:08:00.565] New key frame +[19:08:00.565] BA loop run +[19:08:00.567] init error: 114.305784 +[19:08:00.577] end error: 2.788313 +[19:08:00.829] New key frame +[19:08:00.829] BA loop run +[19:08:00.831] init error: 244.921992 +[19:08:00.840] end error: 3.144747 +[19:08:01.075] New key frame +[19:08:01.075] BA loop run +[19:08:01.077] init error: 175.755635 +[19:08:01.085] end error: 2.467674 +[19:08:01.352] New key frame +[19:08:01.352] BA loop run +[19:08:01.354] init error: 2023.324703 +[19:08:01.366] end error: 2.591742 +[19:08:01.561] New key frame +[19:08:01.561] BA loop run +[19:08:01.563] init error: 57.058299 +[19:08:01.570] end error: 2.626874 +[19:08:01.755] New key frame +[19:08:01.755] BA loop run +[19:08:01.757] init error: 729.558334 +[19:08:01.763] end error: 1.215458 +[19:08:01.957] New key frame +[19:08:01.957] BA loop run +[19:08:01.960] init error: 297.638335 +[19:08:01.968] end error: 3.091007 +[19:08:02.150] New key frame +[19:08:02.150] BA loop run +[19:08:02.152] init error: 144.108217 +[19:08:02.162] end error: 5.496201 +[19:08:02.356] New key frame +[19:08:02.356] BA loop run +[19:08:02.358] init error: 177.430184 +[19:08:02.366] end error: 3.954758 +[19:08:02.558] New key frame +[19:08:02.558] BA loop run +[19:08:02.560] init error: 127.969103 +[19:08:02.573] end error: 3.019139 +[19:08:02.801] New key frame +[19:08:02.802] BA loop run +[19:08:02.804] init error: 87.389767 +[19:08:02.819] end error: 1.922565 +[19:08:03.105] New key frame +[19:08:03.105] BA loop run +[19:08:03.107] init error: 3304.183444 +[19:08:03.121] end error: 2.712068 +[19:08:03.338] New key frame +[19:08:03.338] BA loop run +[19:08:03.340] init error: 226.922840 +[19:08:03.350] end error: 2.476651 +[19:08:03.594] New key frame +[19:08:03.594] BA loop run +[19:08:03.596] init error: 93.843590 +[19:08:03.606] end error: 2.491450 +[19:08:03.762] New key frame +[19:08:03.762] BA loop run +[19:08:03.765] init error: 1540.880986 +[19:08:03.775] end error: 3.174820 +[19:08:03.905] New key frame +[19:08:03.905] BA loop run +[19:08:03.908] init error: 59.127683 +[19:08:03.916] end error: 1.047741 +[19:08:04.135] New key frame +[19:08:04.135] BA loop run +[19:08:04.139] init error: 165.054727 +[19:08:04.150] end error: 4.635068 +[19:08:04.399] New key frame +[19:08:04.399] BA loop run +[19:08:04.403] init error: 84.080127 +[19:08:04.414] end error: 0.297043 +[19:08:04.637] New key frame +[19:08:04.637] BA loop run +[19:08:04.642] init error: 79.358421 +[19:08:04.654] end error: 0.269855 +[19:08:04.840] New key frame +[19:08:04.840] BA loop run +[19:08:04.845] init error: 126.204088 +[19:08:04.886] end error: 0.000484 +[19:08:05.064] New key frame +[19:08:05.064] BA loop run +[19:08:05.069] init error: 942.581476 +[19:08:05.081] end error: 0.000467 +[19:08:05.255] New key frame +[19:08:05.255] BA loop run +[19:08:05.259] init error: 36.688360 +[19:08:05.308] end error: 1.078818 +[19:08:05.607] New key frame +[19:08:05.607] BA loop run +[19:08:05.613] init error: 354592.408913 +[19:08:05.626] end error: 526.740896 +[19:08:05.961] New key frame +[19:08:05.961] BA loop run +[19:08:05.965] init error: 340.419486 +[19:08:05.979] end error: 3.914580 +[19:08:06.888] New key frame +[19:08:06.888] BA loop run +[19:08:06.892] init error: 5395.758872 +[19:08:06.901] end error: 1.489281 +[19:08:07.302] New key frame +[19:08:07.302] BA loop run +[19:08:07.306] init error: 143.068603 +[19:08:07.322] end error: 3.227177 +[19:08:07.706] New key frame +[19:08:07.706] BA loop run +[19:08:07.710] init error: 12406.169850 +[19:08:07.719] end error: 22.960628 +[19:08:08.376] New key frame +[19:08:08.376] BA loop run +[19:08:08.380] init error: 23441.247347 +[19:08:08.389] end error: 11.344908 +[19:08:08.769] New key frame +[19:08:08.769] BA loop run +[19:08:08.772] init error: 311.001814 +[19:08:08.785] end error: 2.741961 +[19:08:09.146] New key frame +[19:08:09.146] BA loop run +[19:08:09.151] init error: 2233.139659 +[19:08:09.165] end error: 5.287275 +[19:08:09.507] New key frame +[19:08:09.507] BA loop run +[19:08:09.512] init error: 141.205930 +[19:08:09.522] end error: 4.366998 +[19:08:09.909] New key frame +[19:08:09.909] BA loop run +[19:08:09.914] init error: 3004.172520 +[19:08:09.926] end error: 6.696819 +[19:08:10.343] New key frame +[19:08:10.343] BA loop run +[19:08:10.348] init error: 717.712530 +[19:08:10.358] end error: 19.996458 +[19:08:10.763] New key frame +[19:08:10.764] BA loop run +[19:08:10.769] init error: 381.142383 +[19:08:10.781] end error: 18.124120 +[19:08:11.149] New key frame +[19:08:11.149] BA loop run +[19:08:11.153] init error: 110.654655 +[19:08:11.167] end error: 9.119094 +[19:08:11.667] New key frame +[19:08:11.667] BA loop run +[19:08:11.673] init error: 148.874228 +[19:08:11.688] end error: 6.669374 +[19:08:12.204] New key frame +[19:08:12.204] BA loop run +[19:08:12.211] init error: 132.139573 +[19:08:12.232] end error: 8.932782 +[19:08:12.732] New key frame +[19:08:12.732] BA loop run +[19:08:12.740] init error: 132.865428 +[19:08:12.761] end error: 13.242387 +[19:08:13.253] New key frame +[19:08:13.253] BA loop run +[19:08:13.262] init error: 132.371013 +[19:08:13.281] end error: 13.640638 +[19:08:13.812] New key frame +[19:08:13.812] BA loop run +[19:08:13.824] init error: 420.872838 +[19:08:13.847] end error: 71.267133 +[19:08:14.437] New key frame +[19:08:14.437] BA loop run +[19:08:14.445] init error: 246.103669 +[19:08:14.466] end error: 35.143164 +[19:08:14.901] New key frame +[19:08:14.901] BA loop run +[19:08:14.910] init error: 595.048774 +[19:08:14.930] end error: 6.163617 +[19:08:15.429] New key frame +[19:08:15.429] BA loop run +[19:08:15.440] init error: 217.000308 +[19:08:15.469] end error: 7.208416 +[19:08:16.142] New key frame +[19:08:16.142] BA loop run +[19:08:16.149] init error: 581.567047 +[19:08:16.169] end error: 2.480761 +[19:08:16.652] New key frame +[19:08:16.652] BA loop run +[19:08:16.658] init error: 144.297517 +[19:08:16.677] end error: 3.885534 +[19:08:17.390] New key frame +[19:08:17.390] BA loop run +[19:08:17.397] init error: 205.203008 +[19:08:17.419] end error: 5.931317 +[19:08:18.184] New key frame +[19:08:18.184] BA loop run +[19:08:18.192] init error: 2362.207276 +[19:08:18.217] end error: 8.164335 +[19:08:18.863] New key frame +[19:08:18.863] BA loop run +[19:08:18.872] init error: 15541.837434 +[19:08:18.897] end error: 30.216289 +[19:08:19.517] New key frame +[19:08:19.517] BA loop run +[19:08:19.530] init error: 5645.073677 +[19:08:19.572] end error: 28.499126 +[19:08:20.298] New key frame +[19:08:20.298] BA loop run +[19:08:20.307] init error: 12194.098173 +[19:08:20.336] end error: 13.802437 +[19:08:20.989] New key frame +[19:08:20.989] BA loop run +[19:08:21.001] init error: 768.314319 +[19:08:21.037] end error: 24.252743 +[19:08:21.889] New key frame +[19:08:21.889] BA loop run +[19:08:21.900] init error: 4254.552392 +[19:08:21.924] end error: 44.963277 +[19:08:22.816] New key frame +[19:08:22.817] BA loop run +[19:08:22.828] init error: 372.261075 +[19:08:22.864] end error: 9.733314 +[19:08:23.453] New key frame +[19:08:23.453] BA loop run +[19:08:23.466] init error: 7895.034185 +[19:08:23.499] end error: 14.295506 +[19:08:24.035] New key frame +[19:08:24.035] BA loop run +[19:08:24.047] init error: 983.457179 +[19:08:24.077] end error: 27.183696 +[19:08:24.707] New key frame +[19:08:24.707] BA loop run +[19:08:24.719] init error: 238.905484 +[19:08:24.752] end error: 31.446009 +[19:08:25.574] New key frame +[19:08:25.574] BA loop run +[19:08:25.586] init error: 6639.216114 +[19:08:25.615] end error: 63.603546 +[19:08:26.418] New key frame +[19:08:26.418] BA loop run +[19:08:26.431] init error: 1527.439349 +[19:08:26.467] end error: 102.500410 +[19:08:27.104] New key frame +[19:08:27.104] BA loop run +[19:08:27.118] init error: 1682.446704 +[19:08:27.158] end error: 63.194832 +[19:08:28.170] New key frame +[19:08:28.170] BA loop run +[19:08:28.184] init error: 44402.645376 +[19:08:28.221] end error: 100.878931 +[19:08:29.319] New key frame +[19:08:29.319] BA loop run +[19:08:29.335] init error: 23143.431080 +[19:08:29.375] end error: 106.133547 +[19:08:29.885] New key frame +[19:08:29.885] BA loop run +[19:08:29.901] init error: 11041.869810 +[19:08:29.945] end error: 92.381053 +[19:08:30.974] New key frame +[19:08:30.974] BA loop run +[19:08:30.996] init error: 12458.156341 +[19:08:31.043] end error: 284.208753 +[19:08:32.234] New key frame +[19:08:32.234] BA loop run +[19:08:32.252] init error: 3241.041272 +[19:08:32.303] end error: 138.828491 +[19:08:33.769] New key frame +[19:08:33.769] BA loop run +[19:08:33.789] init error: 342796.721782 +[19:08:33.834] end error: 870.263472 +[19:08:34.914] New key frame +[19:08:34.914] BA loop run +[19:08:34.928] init error: 663960.189876 +[19:08:34.965] end error: 872.220583 +[19:08:36.148] New key frame +[19:08:36.148] BA loop run +[19:08:36.160] init error: 44034623.483747 +[19:08:36.190] end error: 2783.771215 +[19:08:37.044] New key frame +[19:08:37.044] BA loop run +[19:08:37.058] init error: 15634.066874 +[19:08:37.090] end error: 433.156869 +[19:08:38.420] New key frame +[19:08:38.420] BA loop run +[19:08:38.432] init error: 503468.223023 +[19:08:38.458] end error: 847.134752 +[19:08:39.613] New key frame +[19:08:39.613] BA loop run +[19:08:39.625] init error: 389294.375516 +[19:08:39.648] end error: 690.928109 +[19:08:40.874] New key frame +[19:08:40.874] BA loop run +[19:08:40.889] init error: 2377335.676515 +[19:08:40.915] end error: 1104.021857 +[19:08:43.363] New key frame +[19:08:43.363] BA loop run +[19:08:43.376] init error: 1446751.118520 +[19:08:43.400] end error: 1436.698234 +[19:08:44.738] New key frame +[19:08:44.738] BA loop run +[19:08:44.746] init error: 671993.539226 +[19:08:44.771] end error: 1126.179519 +[19:08:46.569] New key frame +[19:08:46.570] BA loop run +[19:08:46.578] init error: 38227755.723560 +[19:08:46.595] end error: 1152.006000 +[19:08:47.336] New key frame +[19:08:47.336] BA loop run +[19:08:47.343] init error: 552349.637205 +[19:08:47.357] end error: 514.800584 +[19:08:48.048] New key frame +[19:08:48.048] BA loop run +[19:08:48.054] init error: 1662425.910845 +[19:08:48.065] end error: 346.807761 +[19:08:48.696] New key frame +[19:08:48.696] BA loop run +[19:08:48.701] init error: 1551.689280 +[19:08:48.713] end error: 34.723154 +[19:08:50.537] New key frame +[19:08:50.537] BA loop run +[19:08:50.540] init error: 17253.587149 +[19:08:50.547] end error: 41.350147 +[19:08:50.944] New key frame +[19:08:50.944] BA loop run +[19:08:50.947] init error: 41829.307931 +[19:08:50.952] end error: 13.714445 +[19:08:51.401] New key frame +[19:08:51.401] BA loop run +[19:08:51.405] init error: 6269.468046 +[19:08:51.412] end error: 1.252471 +[19:08:51.879] New key frame +[19:08:51.879] BA loop run +[19:08:51.883] init error: 80889.919449 +[19:08:51.889] end error: 5.937364 +[19:08:52.330] New key frame +[19:08:52.330] BA loop run +[19:08:52.334] init error: 9300.475177 +[19:08:52.340] end error: 6.408737 +[19:08:52.723] New key frame +[19:08:52.723] BA loop run +[19:08:52.726] init error: 6762.686568 +[19:08:52.732] end error: 30.922879 +[19:08:53.046] New key frame +[19:08:53.046] BA loop run +[19:08:53.049] init error: 700473.491322 +[19:08:53.055] end error: 53.988333 +[19:08:53.337] New key frame +[19:08:53.337] BA loop run +[19:08:53.340] init error: 137404.671135 +[19:08:53.345] end error: 28.566632 +[19:08:53.632] New key frame +[19:08:53.632] BA loop run +[19:08:53.636] init error: 2455.155716 +[19:08:53.642] end error: 7.978690 +[19:08:53.928] New key frame +[19:08:53.928] BA loop run +[19:08:53.932] init error: 12036.376719 +[19:08:53.939] end error: 30.499619 +[19:08:54.198] New key frame +[19:08:54.198] BA loop run +[19:08:54.203] init error: 1078.009475 +[19:08:54.211] end error: 50.562398 +[19:08:54.516] New key frame +[19:08:54.516] BA loop run +[19:08:54.521] init error: 6000.783577 +[19:08:54.531] end error: 182.849311 +[19:08:54.817] New key frame +[19:08:54.817] BA loop run +[19:08:54.822] init error: 17020.616100 +[19:08:54.831] end error: 47.082725 +[19:08:55.144] New key frame +[19:08:55.144] BA loop run +[19:08:55.151] init error: 367551.921240 +[19:08:55.161] end error: 329.161299 +[19:08:55.452] New key frame +[19:08:55.452] BA loop run +[19:08:55.460] init error: 921304.542850 +[19:08:55.473] end error: 1085.927310 +[19:08:55.776] New key frame +[19:08:55.776] BA loop run +[19:08:55.784] init error: 52108.764078 +[19:08:55.800] end error: 356.900435 +[19:08:56.139] New key frame +[19:08:56.139] BA loop run +[19:08:56.148] init error: 347174.233661 +[19:08:56.164] end error: 128.466734 +[19:08:56.569] New key frame +[19:08:56.569] BA loop run +[19:08:56.578] init error: 115657.173290 +[19:08:56.595] end error: 567.610467 +[19:08:57.088] New key frame +[19:08:57.088] BA loop run +[19:08:57.097] init error: 34133.221553 +[19:08:57.113] end error: 105.756833 +[19:08:57.655] New key frame +[19:08:57.655] BA loop run +[19:08:57.666] init error: 1690132.313171 +[19:08:57.687] end error: 232.489549 +[19:08:58.406] New key frame +[19:08:58.406] BA loop run +[19:08:58.419] init error: 37636.651818 +[19:08:58.444] end error: 303.571524 +[19:08:59.291] New key frame +[19:08:59.291] BA loop run +[19:08:59.305] init error: 113246.107218 +[19:08:59.336] end error: 1694.849522 +[19:09:00.011] New key frame +[19:09:00.011] BA loop run +[19:09:00.030] init error: 156038.558897 +[19:09:00.063] end error: 447.036669 +[19:09:00.744] New key frame +[19:09:00.744] BA loop run +[19:09:00.764] init error: 2348.101843 +[19:09:00.797] end error: 1079.336873 +[19:09:01.371] New key frame +[19:09:01.372] BA loop run +[19:09:01.391] init error: 8593.408104 +[19:09:01.428] end error: 1483.332738 +[19:09:02.517] New key frame +[19:09:02.517] BA loop run +[19:09:02.537] init error: 602342.957103 +[19:09:02.575] end error: 632.161000 +[19:09:03.518] New key frame +[19:09:03.518] BA loop run +[19:09:03.541] init error: 2532.563297 +[19:09:03.595] end error: 1354.499854 +[19:09:05.686] New key frame +[19:09:05.686] BA loop run +[19:09:05.702] init error: 2417.686791 +[19:09:05.743] end error: 257.207984 +[19:09:06.762] New key frame +[19:09:06.762] BA loop run +[19:09:06.781] init error: 92905.664997 +[19:09:06.825] end error: 552.618345 +[19:09:07.734] New key frame +[19:09:07.734] BA loop run +[19:09:07.752] init error: 76574.633398 +[19:09:07.790] end error: 536.851969 +[19:09:08.316] New key frame +[19:09:08.317] BA loop run +[19:09:08.336] init error: 17765.492579 +[19:09:08.381] end error: 537.227541 +[19:09:08.888] New key frame +[19:09:08.888] BA loop run +[19:09:08.907] init error: 2713.787254 +[19:09:08.946] end error: 344.511587 +[19:09:09.764] New key frame +[19:09:09.764] BA loop run +[19:09:09.784] init error: 28287.606737 +[19:09:09.830] end error: 495.225474 +[19:09:10.843] New key frame +[19:09:10.843] BA loop run +[19:09:10.866] init error: 182562.043663 +[19:09:10.920] end error: 1447.150602 +[19:09:11.932] New key frame +[19:09:11.932] BA loop run +[19:09:11.957] init error: 295804.193193 +[19:09:12.011] end error: 863.894614 +[19:09:12.832] New key frame +[19:09:12.832] BA loop run +[19:09:12.857] init error: 30989.020287 +[19:09:12.932] end error: 865.154263 +[19:09:13.632] New key frame +[19:09:13.632] BA loop run +[19:09:13.657] init error: 2005.115013 +[19:09:13.713] end error: 754.150107 +[19:09:14.562] New key frame +[19:09:14.562] BA loop run +[19:09:14.590] init error: 2930.989857 +[19:09:14.704] end error: 847.762853 +[19:09:15.411] New key frame +[19:09:15.411] BA loop run +[19:09:15.439] init error: 8141.425072 +[19:09:15.505] end error: 656.188305 +[19:09:16.068] New key frame +[19:09:16.068] BA loop run +[19:09:16.090] init error: 7883.882089 +[19:09:16.139] end error: 549.824669 +[19:09:16.817] New key frame +[19:09:16.817] BA loop run +[19:09:16.838] init error: 31683.980719 +[19:09:16.885] end error: 561.011736 +[19:09:17.385] New key frame +[19:09:17.385] BA loop run +[19:09:17.406] init error: 59327.635941 +[19:09:17.472] end error: 483.543798 +[19:09:17.892] New key frame +[19:09:17.892] BA loop run +[19:09:17.913] init error: 4670.716461 +[19:09:17.968] end error: 379.145547 +[19:09:18.604] New key frame +[19:09:18.604] BA loop run +[19:09:18.627] init error: 5209.772044 +[19:09:18.698] end error: 406.523648 +[19:09:19.314] New key frame +[19:09:19.314] BA loop run +[19:09:19.342] init error: 24325.460496 +[19:09:19.396] end error: 1069.182673 +[19:09:20.044] New key frame +[19:09:20.044] BA loop run +[19:09:20.067] init error: 67332.643981 +[19:09:20.120] end error: 451.879759 +[19:09:20.768] New key frame +[19:09:20.768] BA loop run +[19:09:20.795] init error: 5823.475524 +[19:09:20.849] end error: 715.265627 +[19:09:21.296] New key frame +[19:09:21.296] BA loop run +[19:09:21.317] init error: 12157.100550 +[19:09:21.366] end error: 441.857794 +[19:09:22.053] New key frame +[19:09:22.053] BA loop run +[19:09:22.074] init error: 28622.816252 +[19:09:22.123] end error: 800.104694 +[19:09:22.991] New key frame +[19:09:22.991] BA loop run +[19:09:23.011] init error: 3101.906475 +[19:09:23.071] end error: 354.338690 +[19:09:23.883] New key frame +[19:09:23.883] BA loop run +[19:09:23.912] init error: 135469.987048 +[19:09:23.966] end error: 1135.546090 +[19:09:24.720] New key frame +[19:09:24.720] BA loop run +[19:09:24.747] init error: 13523.226465 +[19:09:24.816] end error: 666.512385 +[19:09:25.480] New key frame +[19:09:25.481] BA loop run +[19:09:25.503] init error: 435607.138491 +[19:09:25.555] end error: 595.250050 +[19:09:26.154] New key frame +[19:09:26.154] BA loop run +[19:09:26.175] init error: 15305.018933 +[19:09:26.244] end error: 393.300600 +[19:09:26.639] New key frame +[19:09:26.639] BA loop run +[19:09:26.663] init error: 5086.688488 +[19:09:26.771] end error: 1158.814927 +[19:09:27.192] New key frame +[19:09:27.192] BA loop run +[19:09:27.214] init error: 169567.864815 +[19:09:27.259] end error: 906.772537 +[19:09:27.636] New key frame +[19:09:27.636] BA loop run +[19:09:27.656] init error: 2315.138570 +[19:09:27.710] end error: 429.474969 +[19:09:28.021] New key frame +[19:09:28.021] BA loop run +[19:09:28.041] init error: 2193.575695 +[19:09:28.083] end error: 646.445919 +[19:09:28.645] New key frame +[19:09:28.645] BA loop run +[19:09:28.665] init error: 5229.595941 +[19:09:28.710] end error: 561.443113 +[19:09:29.317] New key frame +[19:09:29.317] BA loop run +[19:09:29.338] init error: 392563.566338 +[19:09:29.382] end error: 312.687692 +[19:09:29.969] New key frame +[19:09:29.969] BA loop run +[19:09:29.991] init error: 22890.618899 +[19:09:30.036] end error: 187.744379 +[19:09:30.596] New key frame +[19:09:30.596] BA loop run +[19:09:30.620] init error: 44921.900136 +[19:09:30.676] end error: 372.990847 +[19:09:31.359] New key frame +[19:09:31.359] BA loop run +[19:09:31.389] init error: 10506.844043 +[19:09:31.454] end error: 1413.312563 +[19:09:32.052] New key frame +[19:09:32.052] BA loop run +[19:09:32.085] init error: 8061.284444 +[19:09:32.146] end error: 695.109379 +[19:09:32.677] New key frame +[19:09:32.677] BA loop run +[19:09:32.710] init error: 22051.193591 +[19:09:32.791] end error: 487.391619 +[19:09:33.253] New key frame +[19:09:33.253] BA loop run +[19:09:33.292] init error: 408549.445554 +[19:09:33.360] end error: 2152.703612 +[19:09:34.085] New key frame +[19:09:34.086] BA loop run +[19:09:34.123] init error: 426652.390483 +[19:09:34.210] end error: 895.246709 +[19:09:34.790] New key frame +[19:09:34.790] BA loop run +[19:09:34.823] init error: 146290.284901 +[19:09:34.905] end error: 952.559704 +[19:09:35.659] New key frame +[19:09:35.659] BA loop run +[19:09:35.691] init error: 881388.768973 +[19:09:35.774] end error: 1705.674421 +[19:09:36.533] New key frame +[19:09:36.533] BA loop run +[19:09:36.562] init error: 76209.846512 +[19:09:36.633] end error: 1204.167804 +[19:09:37.454] New key frame +[19:09:37.454] BA loop run +[19:09:37.483] init error: 11119.525258 +[19:09:37.554] end error: 1859.468648 +[19:09:38.341] New key frame +[19:09:38.341] BA loop run +[19:09:38.367] init error: 5625.588972 +[19:09:38.466] end error: 2318.181275 +[19:09:39.275] New key frame +[19:09:39.275] BA loop run +[19:09:39.302] init error: 13654.263186 +[19:09:39.377] end error: 801.690669 +[19:09:40.328] New key frame +[19:09:40.328] BA loop run +[19:09:40.363] init error: 3104.981592 +[19:09:40.433] end error: 707.488389 +[19:09:41.352] New key frame +[19:09:41.352] BA loop run +[19:09:41.377] init error: 2056.058613 +[19:09:41.444] end error: 877.723256 diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index 77c86df..a13e6e8 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,1551 +1,1855 @@ -[12:03:38.551] Init: frame zero: 0.000000, 0.000000 0.000000 -[12:03:38.551] Init: Selected first frame. -[12:03:38.551] frame process finished the id is: 0 the obs is:0 -[12:03:38.571] Init: px average disparity is:0.032512 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:38.571] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:38.571] frame process finished the id is: 1 the obs is:0 -[12:03:38.656] Init: px average disparity is:0.031284 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:38.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:38.656] frame process finished the id is: 2 the obs is:0 -[12:03:38.754] Init: px average disparity is:0.036556 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:38.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:38.754] frame process finished the id is: 3 the obs is:0 -[12:03:38.855] Init: px average disparity is:0.032202 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:38.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:38.855] frame process finished the id is: 4 the obs is:0 -[12:03:38.953] Init: px average disparity is:0.041515 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:38.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:38.953] frame process finished the id is: 5 the obs is:0 -[12:03:39.054] Init: px average disparity is:0.030973 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:39.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:39.054] frame process finished the id is: 6 the obs is:0 -[12:03:39.151] Init: px average disparity is:0.031908 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:39.151] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:39.151] frame process finished the id is: 7 the obs is:0 -[12:03:39.251] Init: px average disparity is:0.035828 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:39.251] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:39.251] frame process finished the id is: 8 the obs is:0 -[12:03:39.351] Init: px average disparity is:0.031084 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:39.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:39.351] frame process finished the id is: 9 the obs is:0 -[12:03:39.453] Init: px average disparity is:0.040163 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:39.453] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:39.453] frame process finished the id is: 10 the obs is:0 -[12:03:39.552] Init: px average disparity is:0.036231 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:39.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:39.553] frame process finished the id is: 11 the obs is:0 -[12:03:39.653] Init: px average disparity is:0.032094 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:39.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:39.653] frame process finished the id is: 12 the obs is:0 -[12:03:39.751] Init: px average disparity is:0.039061 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:39.751] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:39.751] frame process finished the id is: 13 the obs is:0 -[12:03:39.821] Odometry x=0.000000, y=0.000000, theta=-0.000000 -[12:03:39.865] Init: px average disparity is:0.039995 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:39.865] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:39.865] frame process finished the id is: 14 the obs is:0 -[12:03:39.951] Init: px average disparity is:0.032783 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:39.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:39.951] frame process finished the id is: 15 the obs is:0 -[12:03:40.044] Odometry x=0.000006, y=0.019328, theta=-0.000006 -[12:03:40.059] Init: px average disparity is:0.152070 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:40.060] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:40.060] frame process finished the id is: 16 the obs is:0 -[12:03:40.153] Init: px average disparity is:6.438189 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:40.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:40.153] frame process finished the id is: 17 the obs is:0 -[12:03:40.258] Init: px average disparity is:4.621185 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:40.258] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:40.258] frame process finished the id is: 18 the obs is:0 -[12:03:40.312] Odometry x=0.000595, y=0.052658, theta=0.000604 -[12:03:40.367] Init: px average disparity is:4.962524 ,While minimum is: 10.000000 KLT tracked : 896 -[12:03:40.367] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:40.367] frame process finished the id is: 19 the obs is:0 -[12:03:40.466] Init: px average disparity is:9.757717 ,While minimum is: 10.000000 KLT tracked : 895 -[12:03:40.466] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:40.466] frame process finished the id is: 20 the obs is:0 -[12:03:40.588] Odometry x=0.000538, y=0.083517, theta=0.001621 -[12:03:40.649] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:12.627500 ,While minimum is: 10.000000 KLT tracked: 895 -[12:03:40.649] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:40.649] frame process finished the id is: 21 the obs is:0 -[12:03:40.761] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:15.604936 ,While minimum is: 10.000000 KLT tracked: 888 -[12:03:40.761] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:40.761] frame process finished the id is: 22 the obs is:0 -[12:03:40.797] Odometry x=0.000484, y=0.112915, theta=0.005291 -[12:03:40.873] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:19.846154 ,While minimum is: 10.000000 KLT tracked: 888 -[12:03:40.873] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:40.873] frame process finished the id is: 23 the obs is:0 -[12:03:40.983] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:29.051805 ,While minimum is: 10.000000 KLT tracked: 888 -[12:03:40.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:40.983] frame process finished the id is: 24 the obs is:0 -[12:03:41.090] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:27.308837 ,While minimum is: 10.000000 KLT tracked: 888 -[12:03:41.090] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[12:03:41.090] frame process finished the id is: 25 the obs is:0 -[12:03:41.104] Odometry x=-0.000099, y=0.141745, theta=0.011512 -[12:03:41.206] Init finished: Homography RANSAC (inlier) is:410 ,While 40 inliers minimum required. px average disparity is:28.646685 ,While minimum is: 10.000000 KLT tracked: 887 -[12:03:41.206] Init: distance between the first and current frame is x:-0.000963 ,z=0.159976,angle between two frames: 0.020628 -[12:03:41.207] Init: Selected Second frame. The number of features: 409 depth mean:0.985522 min:0.294558 -[12:03:41.207] frame process finished the id is: 26 the obs is:409 -[12:03:41.329] Odometry x=-0.000963, y=0.159976, theta=0.020628 -[12:03:41.412] After Reprojection Map nMatches:362 ,distance between ekf and vo x:-0.000153 ,z=0.001394,angle between two frames:0.000177 -[12:03:41.413] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =283 error init =0.015824 error end=0.017410 -[12:03:41.413] After pose optimization, distance between ekf and vo x:-0.000153 ,z=0.001394,angle between two frames:0.000177 -[12:03:41.413] Update EKF and 3D points the number of feature in the new frame: 283 and number of obs: 283 -[12:03:41.413] frame Scene Depth mean:0.983853 ,depth min:0.279575 -[12:03:41.417] need key frame pitch dis: 0.021188 translation dif:0.177089 -[12:03:41.417] Choose frame as a key frame Scene Depth mean:0.983853 ,depth min:0.279575 -[12:03:41.417] frame process finished the id is: 27 the obs is:283 -[12:03:41.565] Odometry x=-0.000891, y=0.177087, theta=0.021188 -[12:03:41.629] After Reprojection Map nMatches:301 ,distance between ekf and vo x:0.000101 ,z=0.000631,angle between two frames:0.000039 -[12:03:41.630] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =249 error init =0.012260 error end=0.009934 -[12:03:41.630] After pose optimization, distance between ekf and vo x:0.000101 ,z=0.000631,angle between two frames:0.000039 -[12:03:41.630] Update EKF and 3D points the number of feature in the new frame: 249 and number of obs: 249 -[12:03:41.630] frame Scene Depth mean:2.094736 ,depth min:0.115851 -[12:03:41.633] need key frame pitch dis: 0.002219 translation dif:0.033435 -[12:03:41.633] frame process finished the id is: 28 the obs is:248 -[12:03:41.824] Odometry x=-0.001547, y=0.193406, theta=0.022848 -[12:03:41.852] After Reprojection Map nMatches:332 ,distance between ekf and vo x:0.000209 ,z=0.000924,angle between two frames:0.000064 -[12:03:41.853] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =264 error init =0.015838 error end=0.012756 -[12:03:41.853] After pose optimization, distance between ekf and vo x:0.000209 ,z=0.000924,angle between two frames:0.000064 -[12:03:41.853] Update EKF and 3D points the number of feature in the new frame: 264 and number of obs: 264 -[12:03:41.853] frame Scene Depth mean:2.000979 ,depth min:0.067047 -[12:03:41.855] need key frame pitch dis: 0.011022 translation dif:0.049760 -[12:03:41.855] frame process finished the id is: 29 the obs is:260 -[12:03:42.050] Odometry x=-0.001396, y=0.209734, theta=0.031651 -[12:03:42.062] After Reprojection Map nMatches:363 ,distance between ekf and vo x:0.000230 ,z=0.001237,angle between two frames:0.000082 -[12:03:42.063] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =276 error init =0.024373 error end=0.018401 -[12:03:42.063] After pose optimization, distance between ekf and vo x:0.000230 ,z=0.001237,angle between two frames:0.000082 -[12:03:42.063] Update EKF and 3D points the number of feature in the new frame: 276 and number of obs: 276 -[12:03:42.063] frame Scene Depth mean:2.345230 ,depth min:0.050082 -[12:03:42.065] need key frame pitch dis: 0.011032 translation dif:0.091252 -[12:03:42.065] frame process finished the id is: 30 the obs is:271 -[12:03:42.248] After Reprojection Map nMatches:422 ,distance between ekf and vo x:-0.000053 ,z=0.000397,angle between two frames:0.000017 -[12:03:42.249] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =350 error init =0.011703 error end=0.007015 -[12:03:42.249] After pose optimization, distance between ekf and vo x:-0.000053 ,z=0.000397,angle between two frames:0.000017 -[12:03:42.249] Update EKF and 3D points the number of feature in the new frame: 350 and number of obs: 350 -[12:03:42.249] frame Scene Depth mean:2.818742 ,depth min:0.054130 -[12:03:42.252] need key frame pitch dis: 0.010005 translation dif:0.095185 -[12:03:42.252] frame process finished the id is: 31 the obs is:349 -[12:03:42.285] Odometry x=-0.002800, y=0.255143, theta=0.030634 -[12:03:42.446] After Reprojection Map nMatches:434 ,distance between ekf and vo x:0.000028 ,z=0.000406,angle between two frames:0.000023 -[12:03:42.447] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =380 error init =0.009988 error end=0.006346 -[12:03:42.447] After pose optimization, distance between ekf and vo x:0.000028 ,z=0.000406,angle between two frames:0.000023 -[12:03:42.447] Update EKF and 3D points the number of feature in the new frame: 380 and number of obs: 380 -[12:03:42.447] frame Scene Depth mean:3.485256 ,depth min:0.058566 -[12:03:42.450] need key frame pitch dis: 0.677002 translation dif:5.196789 -[12:03:42.450] Choose frame as a key frame Scene Depth mean:3.485256 ,depth min:0.058566 -[12:03:42.450] frame process finished the id is: 32 the obs is:378 -[12:03:42.539] Odometry x=-0.003008, y=0.268960, theta=0.049487 -[12:03:42.644] After Reprojection Map nMatches:342 ,distance between ekf and vo x:-0.000064 ,z=0.000474,angle between two frames:0.000014 -[12:03:42.645] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =285 error init =0.008718 error end=0.014175 -[12:03:42.645] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.000474,angle between two frames:0.000014 -[12:03:42.645] Update EKF and 3D points the number of feature in the new frame: 285 and number of obs: 285 -[12:03:42.645] frame Scene Depth mean:5.053117 ,depth min:0.051824 -[12:03:42.648] need key frame pitch dis: 0.077688 translation dif:0.124349 -[12:03:42.648] Choose frame as a key frame Scene Depth mean:5.053117 ,depth min:0.051824 -[12:03:42.648] frame process finished the id is: 33 the obs is:283 -[12:03:42.794] Odometry x=-0.002816, y=0.284311, theta=0.098316 -[12:03:42.926] After Reprojection Map nMatches:476 ,distance between ekf and vo x:-0.000064 ,z=0.000143,angle between two frames:0.000001 -[12:03:42.927] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =376 error init =0.010524 error end=0.011034 -[12:03:42.927] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.000143,angle between two frames:0.000001 -[12:03:42.927] Update EKF and 3D points the number of feature in the new frame: 376 and number of obs: 376 -[12:03:42.927] frame Scene Depth mean:5.666394 ,depth min:0.050193 -[12:03:42.933] need key frame pitch dis: 0.092334 translation dif:0.137873 -[12:03:42.933] Choose frame as a key frame Scene Depth mean:5.666394 ,depth min:0.050193 -[12:03:42.933] frame process finished the id is: 34 the obs is:372 -[12:03:43.131] Odometry x=-0.003942, y=0.297817, theta=0.112962 -[12:03:43.239] After Reprojection Map nMatches:548 ,distance between ekf and vo x:-0.000046 ,z=0.000110,angle between two frames:0.000001 -[12:03:43.240] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =414 error init =0.015711 error end=0.013966 -[12:03:43.240] After pose optimization, distance between ekf and vo x:-0.000046 ,z=0.000110,angle between two frames:0.000001 -[12:03:43.240] Update EKF and 3D points the number of feature in the new frame: 414 and number of obs: 414 -[12:03:43.240] frame Scene Depth mean:6.110849 ,depth min:0.058551 -[12:03:43.247] need key frame pitch dis: 0.117029 translation dif:0.150077 -[12:03:43.247] Choose frame as a key frame Scene Depth mean:6.110849 ,depth min:0.058551 -[12:03:43.247] frame process finished the id is: 35 the obs is:412 -[12:03:43.296] Odometry x=-0.005643, y=0.309980, theta=0.137658 -[12:03:43.546] Odometry x=-0.008175, y=0.328281, theta=0.137836 -[12:03:43.590] After Reprojection Map nMatches:583 ,distance between ekf and vo x:0.000099 ,z=0.000084,angle between two frames:0.000002 -[12:03:43.592] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =450 error init =0.018100 error end=0.024570 -[12:03:43.592] After pose optimization, distance between ekf and vo x:0.000099 ,z=0.000084,angle between two frames:0.000002 -[12:03:43.592] Update EKF and 3D points the number of feature in the new frame: 450 and number of obs: 450 -[12:03:43.592] frame Scene Depth mean:6.081825 ,depth min:0.055417 -[12:03:43.601] need key frame pitch dis: 0.117195 translation dif:0.204756 -[12:03:43.601] Choose frame as a key frame Scene Depth mean:6.081825 ,depth min:0.055417 -[12:03:43.601] frame process finished the id is: 36 the obs is:444 -[12:03:43.788] Odometry x=-0.014148, y=0.370077, theta=0.128956 -[12:03:44.001] After Reprojection Map nMatches:711 ,distance between ekf and vo x:0.000141 ,z=-0.000063,angle between two frames:0.000001 -[12:03:44.003] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =551 error init =0.019291 error end=0.012912 -[12:03:44.003] After pose optimization, distance between ekf and vo x:0.000141 ,z=-0.000063,angle between two frames:0.000001 -[12:03:44.003] Update EKF and 3D points the number of feature in the new frame: 551 and number of obs: 551 -[12:03:44.004] frame Scene Depth mean:6.120801 ,depth min:0.066459 -[12:03:44.013] need key frame pitch dis: 0.117337 translation dif:0.228574 -[12:03:44.013] Choose frame as a key frame Scene Depth mean:6.120801 ,depth min:0.066459 -[12:03:44.013] frame process finished the id is: 37 the obs is:548 -[12:03:44.069] Odometry x=-0.015724, y=0.388073, theta=0.137965 -[12:03:44.302] Odometry x=-0.017538, y=0.401059, theta=0.140901 -[12:03:44.400] After Reprojection Map nMatches:644 ,distance between ekf and vo x:0.000074 ,z=-0.000035,angle between two frames:0.000003 -[12:03:44.401] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =519 error init =0.015652 error end=0.013849 -[12:03:44.401] After pose optimization, distance between ekf and vo x:0.000074 ,z=-0.000035,angle between two frames:0.000003 -[12:03:44.401] Update EKF and 3D points the number of feature in the new frame: 519 and number of obs: 519 -[12:03:44.402] frame Scene Depth mean:6.150316 ,depth min:0.058273 -[12:03:44.411] need key frame pitch dis: 0.120941 translation dif:0.251417 -[12:03:44.412] Choose frame as a key frame Scene Depth mean:6.150316 ,depth min:0.058273 -[12:03:44.412] frame process finished the id is: 38 the obs is:516 -[12:03:44.552] Odometry x=-0.015926, y=0.410947, theta=0.141569 -[12:03:44.804] Odometry x=-0.017787, y=0.424266, theta=0.139281 -[12:03:44.845] After Reprojection Map nMatches:766 ,distance between ekf and vo x:0.000003 ,z=0.000049,angle between two frames:0.000000 -[12:03:44.847] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =620 error init =0.020540 error end=0.014017 -[12:03:44.847] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000049,angle between two frames:0.000000 -[12:03:44.847] Update EKF and 3D points the number of feature in the new frame: 620 and number of obs: 620 -[12:03:44.847] frame Scene Depth mean:5.495129 ,depth min:0.060206 -[12:03:44.859] need key frame pitch dis: 0.118808 translation dif:0.294846 -[12:03:44.859] Choose frame as a key frame Scene Depth mean:5.495129 ,depth min:0.060206 -[12:03:44.859] frame process finished the id is: 39 the obs is:617 -[12:03:45.108] Odometry x=-0.023753, y=0.458005, theta=0.143705 -[12:03:45.282] Odometry x=-0.026907, y=0.478960, theta=0.155703 -[12:03:45.335] After Reprojection Map nMatches:814 ,distance between ekf and vo x:0.000039 ,z=0.000034,angle between two frames:0.000000 -[12:03:45.337] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =657 error init =0.023289 error end=0.017531 -[12:03:45.337] After pose optimization, distance between ekf and vo x:0.000039 ,z=0.000034,angle between two frames:0.000000 -[12:03:45.337] Update EKF and 3D points the number of feature in the new frame: 657 and number of obs: 657 -[12:03:45.337] frame Scene Depth mean:5.345818 ,depth min:0.083410 -[12:03:45.349] need key frame pitch dis: 0.333877 translation dif:1.228136 -[12:03:45.349] Choose frame as a key frame Scene Depth mean:5.345818 ,depth min:0.083410 -[12:03:45.349] frame process finished the id is: 40 the obs is:657 -[12:03:45.569] Odometry x=-0.027966, y=0.486629, theta=0.136981 -[12:03:45.779] Odometry x=-0.024093, y=0.502215, theta=0.130177 -[12:03:45.890] After Reprojection Map nMatches:865 ,distance between ekf and vo x:0.000135 ,z=-0.000031,angle between two frames:0.000001 -[12:03:45.892] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =674 error init =0.025095 error end=0.011471 -[12:03:45.892] After pose optimization, distance between ekf and vo x:0.000135 ,z=-0.000031,angle between two frames:0.000001 -[12:03:45.892] Update EKF and 3D points the number of feature in the new frame: 674 and number of obs: 674 -[12:03:45.893] frame Scene Depth mean:4.756417 ,depth min:0.105521 -[12:03:45.907] need key frame pitch dis: 0.110878 translation dif:0.352485 -[12:03:45.907] Choose frame as a key frame Scene Depth mean:4.756417 ,depth min:0.105521 -[12:03:45.907] frame process finished the id is: 41 the obs is:674 -[12:03:46.039] Odometry x=-0.025426, y=0.511611, theta=0.131507 -[12:03:46.303] Odometry x=-0.027169, y=0.524957, theta=0.139570 -[12:03:46.429] After Reprojection Map nMatches:810 ,distance between ekf and vo x:0.000050 ,z=0.000038,angle between two frames:0.000001 -[12:03:46.432] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =631 error init =0.016754 error end=0.015752 -[12:03:46.432] After pose optimization, distance between ekf and vo x:0.000050 ,z=0.000038,angle between two frames:0.000001 -[12:03:46.432] Update EKF and 3D points the number of feature in the new frame: 631 and number of obs: 631 -[12:03:46.432] frame Scene Depth mean:4.643523 ,depth min:0.085524 -[12:03:46.446] need key frame pitch dis: 0.112942 translation dif:0.377728 -[12:03:46.446] Choose frame as a key frame Scene Depth mean:4.643523 ,depth min:0.085524 -[12:03:46.446] frame process finished the id is: 42 the obs is:631 -[12:03:46.534] Odometry x=-0.028249, y=0.536718, theta=0.133571 -[12:03:46.785] Odometry x=-0.029207, y=0.552223, theta=0.140027 -[12:03:47.093] After Reprojection Map nMatches:913 ,distance between ekf and vo x:0.000115 ,z=-0.000047,angle between two frames:0.000001 -[12:03:47.095] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =702 error init =0.023482 error end=0.020418 -[12:03:47.095] After pose optimization, distance between ekf and vo x:0.000115 ,z=-0.000047,angle between two frames:0.000001 -[12:03:47.095] Update EKF and 3D points the number of feature in the new frame: 702 and number of obs: 702 -[12:03:47.095] frame Scene Depth mean:3.925493 ,depth min:0.054296 -[12:03:47.109] need key frame pitch dis: 0.121729 translation dif:0.402501 -[12:03:47.109] Choose frame as a key frame Scene Depth mean:3.925493 ,depth min:0.054296 -[12:03:47.109] frame process finished the id is: 43 the obs is:702 -[12:03:47.116] Odometry x=-0.030195, y=0.561414, theta=0.142358 -[12:03:47.280] Odometry x=-0.033561, y=0.576131, theta=0.142214 -[12:03:47.585] Odometry x=-0.035845, y=0.593580, theta=0.149400 -[12:03:47.785] Odometry x=-0.038523, y=0.612201, theta=0.154103 -[12:03:47.799] After Reprojection Map nMatches:927 ,distance between ekf and vo x:0.000267 ,z=-0.000155,angle between two frames:0.000001 -[12:03:47.802] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =718 error init =0.028795 error end=0.030377 -[12:03:47.802] After pose optimization, distance between ekf and vo x:0.000267 ,z=-0.000155,angle between two frames:0.000001 -[12:03:47.802] Update EKF and 3D points the number of feature in the new frame: 718 and number of obs: 718 -[12:03:47.802] frame Scene Depth mean:3.570665 ,depth min:0.054891 -[12:03:47.816] need key frame pitch dis: 0.129000 translation dif:0.456494 -[12:03:47.816] Choose frame as a key frame Scene Depth mean:3.570665 ,depth min:0.054891 -[12:03:47.816] frame process finished the id is: 44 the obs is:706 -[12:03:48.036] Odometry x=-0.038775, y=0.614902, theta=0.149628 -[12:03:48.289] Odometry x=-0.039882, y=0.630046, theta=0.157625 -[12:03:48.318] After Reprojection Map nMatches:731 ,distance between ekf and vo x:0.000109 ,z=0.000030,angle between two frames:0.000003 -[12:03:48.319] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =531 error init =0.033429 error end=0.040586 -[12:03:48.319] After pose optimization, distance between ekf and vo x:0.000109 ,z=0.000030,angle between two frames:0.000003 -[12:03:48.319] Update EKF and 3D points the number of feature in the new frame: 531 and number of obs: 531 -[12:03:48.320] frame Scene Depth mean:3.418309 ,depth min:0.054218 -[12:03:48.329] need key frame pitch dis: 0.136477 translation dif:0.499966 -[12:03:48.329] Choose frame as a key frame Scene Depth mean:3.418309 ,depth min:0.054218 -[12:03:48.329] frame process finished the id is: 45 the obs is:525 -[12:03:48.523] Odometry x=-0.045151, y=0.662822, theta=0.150137 -[12:03:48.776] Odometry x=-0.047970, y=0.681382, theta=0.158769 -[12:03:49.049] After Reprojection Map nMatches:1058 ,distance between ekf and vo x:0.000030 ,z=0.000091,angle between two frames:0.000002 -[12:03:49.051] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =802 error init =0.019835 error end=0.015195 -[12:03:49.051] After pose optimization, distance between ekf and vo x:0.000030 ,z=0.000091,angle between two frames:0.000002 -[12:03:49.051] Update EKF and 3D points the number of feature in the new frame: 802 and number of obs: 802 -[12:03:49.052] frame Scene Depth mean:3.841695 ,depth min:0.050565 -[12:03:49.068] need key frame pitch dis: 0.312341 translation dif:0.747871 -[12:03:49.068] Choose frame as a key frame Scene Depth mean:3.841695 ,depth min:0.050565 -[12:03:49.068] frame process finished the id is: 46 the obs is:802 -[12:03:49.953] After Reprojection Map nMatches:937 ,distance between ekf and vo x:0.001819 ,z=-0.004305,angle between two frames:0.000169 -[12:03:49.955] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =697 error init =0.028463 error end=0.031707 -[12:03:49.955] After pose optimization, distance between ekf and vo x:0.001819 ,z=-0.004305,angle between two frames:0.000169 -[12:03:49.955] Update EKF and 3D points the number of feature in the new frame: 697 and number of obs: 697 -[12:03:49.955] frame Scene Depth mean:3.960806 ,depth min:0.105209 -[12:03:49.970] need key frame pitch dis: 0.313618 translation dif:0.745835 -[12:03:49.970] Choose frame as a key frame Scene Depth mean:3.960806 ,depth min:0.105209 -[12:03:49.970] frame process finished the id is: 47 the obs is:697 -[12:03:50.549] Odometry x=-0.047344, y=0.679363, theta=0.162531 -[12:03:50.806] Odometry x=-0.047264, y=0.679640, theta=0.158385 -[12:03:50.864] After Reprojection Map nMatches:1071 ,distance between ekf and vo x:0.001657 ,z=-0.003213,angle between two frames:0.000105 -[12:03:50.867] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =809 error init =0.011119 error end=0.009622 -[12:03:50.867] After pose optimization, distance between ekf and vo x:-0.129035 ,z=-1.484967,angle between two frames:0.033867 -[12:03:50.867] frame process finished the id is: 47 the obs is:697 -[12:03:51.111] Odometry x=-0.047229, y=0.679697, theta=0.121350 -[12:03:51.299] Odometry x=-0.047432, y=0.679846, theta=0.018057 -[12:03:51.543] Odometry x=-0.047424, y=0.679892, theta=-0.097272 -[12:03:51.694] After Reprojection Map nMatches:1027 ,distance between ekf and vo x:0.000101 ,z=0.000037,angle between two frames:0.000001 -[12:03:51.696] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =815 error init =0.019651 error end=0.019785 -[12:03:51.696] After pose optimization, distance between ekf and vo x:0.000101 ,z=0.000037,angle between two frames:0.000001 -[12:03:51.696] Update EKF and 3D points the number of feature in the new frame: 815 and number of obs: 815 -[12:03:51.696] frame Scene Depth mean:3.994712 ,depth min:0.068272 -[12:03:51.711] need key frame pitch dis: 0.038326 translation dif:0.745527 -[12:03:51.711] Choose frame as a key frame Scene Depth mean:3.994712 ,depth min:0.068272 -[12:03:51.711] frame process finished the id is: 49 the obs is:797 -[12:03:52.791] Odometry x=-0.046941, y=0.679936, theta=-0.112761 -[12:03:53.072] After Reprojection Map nMatches:1284 ,distance between ekf and vo x:-0.000085 ,z=0.000559,angle between two frames:0.000001 -[12:03:53.075] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =955 error init =0.047580 error end=0.030997 -[12:03:53.075] After pose optimization, distance between ekf and vo x:-0.000085 ,z=0.000559,angle between two frames:0.000001 -[12:03:53.075] Update EKF and 3D points the number of feature in the new frame: 955 and number of obs: 955 -[12:03:53.075] frame Scene Depth mean:4.039699 ,depth min:0.054282 -[12:03:53.093] need key frame pitch dis: 0.037434 translation dif:0.744826 -[12:03:53.093] Choose frame as a key frame Scene Depth mean:4.039699 ,depth min:0.054282 -[12:03:53.094] frame process finished the id is: 50 the obs is:955 -[12:03:53.105] Odometry x=-0.046842, y=0.680791, theta=-0.113653 -[12:03:53.324] Odometry x=-0.046095, y=0.687142, theta=-0.108159 -[12:03:53.543] Odometry x=-0.044636, y=0.700610, theta=-0.104885 -[12:03:53.788] Odometry x=-0.043310, y=0.713668, theta=-0.107093 -[12:03:54.080] Odometry x=-0.041874, y=0.727039, theta=-0.107537 -[12:03:54.297] Odometry x=-0.040406, y=0.740620, theta=-0.107619 -[12:03:54.584] Odometry x=-0.039114, y=0.754484, theta=-0.097848 -[12:03:54.604] After Reprojection Map nMatches:1399 ,distance between ekf and vo x:0.000066 ,z=0.000610,angle between two frames:0.000013 -[12:03:54.608] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1077 error init =0.027497 error end=0.022722 -[12:03:54.608] After pose optimization, distance between ekf and vo x:0.000066 ,z=0.000610,angle between two frames:0.000013 -[12:03:54.608] Update EKF and 3D points the number of feature in the new frame: 1077 and number of obs: 1077 -[12:03:54.609] frame Scene Depth mean:3.693732 ,depth min:0.089844 -[12:03:54.626] need key frame pitch dis: 0.052584 translation dif:0.677061 -[12:03:54.626] Choose frame as a key frame Scene Depth mean:3.693732 ,depth min:0.089844 -[12:03:54.627] frame process finished the id is: 51 the obs is:1077 -[12:03:54.816] Odometry x=-0.037429, y=0.773427, theta=-0.102277 -[12:03:55.118] Odometry x=-0.036075, y=0.787058, theta=-0.114830 -[12:03:55.280] Odometry x=-0.034492, y=0.800600, theta=-0.123671 -[12:03:55.536] Odometry x=-0.033987, y=0.816120, theta=-0.113498 -[12:03:55.823] Odometry x=-0.032413, y=0.829658, theta=-0.121037 -[12:03:56.050] Odometry x=-0.032055, y=0.842369, theta=-0.098187 -[12:03:56.301] Odometry x=-0.030688, y=0.855921, theta=-0.106952 -[12:03:56.338] After Reprojection Map nMatches:1332 ,distance between ekf and vo x:0.000054 ,z=0.000761,angle between two frames:0.000010 -[12:03:56.341] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =976 error init =0.028592 error end=0.030804 -[12:03:56.341] After pose optimization, distance between ekf and vo x:0.000054 ,z=0.000761,angle between two frames:0.000010 -[12:03:56.341] Update EKF and 3D points the number of feature in the new frame: 976 and number of obs: 976 -[12:03:56.341] frame Scene Depth mean:3.804424 ,depth min:0.059153 -[12:03:56.358] need key frame pitch dis: 0.044322 translation dif:0.601088 -[12:03:56.358] Choose frame as a key frame Scene Depth mean:3.804424 ,depth min:0.059153 -[12:03:56.359] frame process finished the id is: 52 the obs is:974 -[12:03:56.540] Odometry x=-0.028139, y=0.873844, theta=-0.117478 -[12:03:56.795] Odometry x=-0.026493, y=0.887358, theta=-0.135264 -[12:03:57.085] Odometry x=-0.024927, y=0.900873, theta=-0.147222 -[12:03:57.318] Odometry x=-0.021084, y=0.914670, theta=-0.158191 -[12:03:57.547] Odometry x=-0.018934, y=0.928127, theta=-0.160939 -[12:03:57.779] Odometry x=-0.016690, y=0.941721, theta=-0.167221 -[12:03:58.015] After Reprojection Map nMatches:1289 ,distance between ekf and vo x:0.000354 ,z=0.000445,angle between two frames:0.000023 -[12:03:58.018] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =977 error init =0.019404 error end=0.025664 -[12:03:58.018] After pose optimization, distance between ekf and vo x:0.000354 ,z=0.000445,angle between two frames:0.000023 -[12:03:58.018] Update EKF and 3D points the number of feature in the new frame: 977 and number of obs: 977 -[12:03:58.019] frame Scene Depth mean:3.555088 ,depth min:0.080981 -[12:03:58.040] need key frame pitch dis: 0.007407 translation dif:0.553231 -[12:03:58.040] Choose frame as a key frame Scene Depth mean:3.555088 ,depth min:0.080981 -[12:03:58.040] frame process finished the id is: 53 the obs is:974 -[12:03:58.045] Odometry x=-0.018811, y=0.938225, theta=-0.158494 -[12:03:58.300] Odometry x=-0.016923, y=0.949058, theta=-0.149254 -[12:03:58.552] Odometry x=-0.015213, y=0.963089, theta=-0.148038 -[12:03:58.774] Odometry x=-0.012778, y=0.976797, theta=-0.153410 -[12:03:59.138] Odometry x=-0.010592, y=0.990930, theta=-0.149297 -[12:03:59.312] Odometry x=-0.008152, y=1.005171, theta=-0.144415 -[12:03:59.549] Odometry x=-0.005997, y=1.019820, theta=-0.135609 -[12:03:59.553] After Reprojection Map nMatches:1209 ,distance between ekf and vo x:0.000343 ,z=0.000201,angle between two frames:0.000014 -[12:03:59.558] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =852 error init =0.026590 error end=0.023572 -[12:03:59.558] After pose optimization, distance between ekf and vo x:0.000343 ,z=0.000201,angle between two frames:0.000014 -[12:03:59.558] Update EKF and 3D points the number of feature in the new frame: 852 and number of obs: 852 -[12:03:59.558] frame Scene Depth mean:3.567143 ,depth min:0.088816 -[12:03:59.575] need key frame pitch dis: 0.319335 translation dif:0.489747 -[12:03:59.575] Choose frame as a key frame Scene Depth mean:3.567143 ,depth min:0.088816 -[12:03:59.575] frame process finished the id is: 54 the obs is:852 -[12:03:59.786] Odometry x=-0.003320, y=1.039625, theta=-0.143232 -[12:04:00.036] Odometry x=-0.001200, y=1.054176, theta=-0.138532 -[12:04:00.295] Odometry x=0.000824, y=1.068833, theta=-0.133660 -[12:04:00.550] Odometry x=0.002878, y=1.083572, theta=-0.132387 -[12:04:00.781] Odometry x=0.004769, y=1.098190, theta=-0.138083 -[12:04:01.101] After Reprojection Map nMatches:1247 ,distance between ekf and vo x:0.000369 ,z=0.000198,angle between two frames:0.000017 -[12:04:01.105] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =864 error init =0.023558 error end=0.050373 -[12:04:01.105] After pose optimization, distance between ekf and vo x:0.000369 ,z=0.000198,angle between two frames:0.000017 -[12:04:01.105] Update EKF and 3D points the number of feature in the new frame: 864 and number of obs: 864 -[12:04:01.105] frame Scene Depth mean:3.762205 ,depth min:0.179374 -[12:04:01.118] Odometry x=0.003718, y=1.092461, theta=-0.140736 -[12:04:01.123] need key frame pitch dis: 0.279474 translation dif:0.470341 -[12:04:01.123] Choose frame as a key frame Scene Depth mean:3.762205 ,depth min:0.179374 -[12:04:01.123] frame process finished the id is: 55 the obs is:864 -[12:04:01.293] Odometry x=0.005231, y=1.103841, theta=-0.139349 -[12:04:01.541] Odometry x=0.007322, y=1.118936, theta=-0.137878 -[12:04:01.816] Odometry x=0.011561, y=1.135204, theta=-0.106225 -[12:04:02.042] Odometry x=0.013098, y=1.150048, theta=-0.107365 -[12:04:02.291] Odometry x=0.014661, y=1.164965, theta=-0.093623 -[12:04:02.551] Odometry x=0.015615, y=1.180100, theta=-0.081410 -[12:04:02.802] Odometry x=0.016825, y=1.195453, theta=-0.036778 -[12:04:03.048] After Reprojection Map nMatches:1459 ,distance between ekf and vo x:0.000662 ,z=0.000137,angle between two frames:0.000027 -[12:04:03.052] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1089 error init =0.022240 error end=0.025387 -[12:04:03.052] After pose optimization, distance between ekf and vo x:0.000662 ,z=0.000137,angle between two frames:0.000027 -[12:04:03.052] Update EKF and 3D points the number of feature in the new frame: 1089 and number of obs: 1089 -[12:04:03.052] frame Scene Depth mean:2.893059 ,depth min:0.117558 -[12:04:03.072] need key frame pitch dis: 0.194810 translation dif:0.267642 -[12:04:03.072] Choose frame as a key frame Scene Depth mean:2.893059 ,depth min:0.117558 -[12:04:03.072] frame process finished the id is: 56 the obs is:1084 -[12:04:03.081] Odometry x=0.013952, y=1.182781, theta=-0.039111 -[12:04:03.282] Odometry x=0.013355, y=1.194847, theta=-0.043476 -[12:04:03.531] Odometry x=0.014308, y=1.209369, theta=-0.023707 -[12:04:03.796] Odometry x=0.014594, y=1.224161, theta=-0.049473 -[12:04:04.020] Odometry x=0.014190, y=1.239494, theta=-0.078762 -[12:04:04.270] Odometry x=0.015226, y=1.255571, theta=-0.083362 -[12:04:04.569] Odometry x=0.016346, y=1.270225, theta=-0.103073 -[12:04:04.732] After Reprojection Map nMatches:1336 ,distance between ekf and vo x:0.000377 ,z=0.000438,angle between two frames:0.000022 -[12:04:04.735] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =979 error init =0.012053 error end=0.039020 -[12:04:04.735] After pose optimization, distance between ekf and vo x:0.000377 ,z=0.000438,angle between two frames:0.000022 -[12:04:04.735] Update EKF and 3D points the number of feature in the new frame: 979 and number of obs: 979 -[12:04:04.736] frame Scene Depth mean:2.992170 ,depth min:0.098620 -[12:04:04.754] need key frame pitch dis: 0.340727 translation dif:0.371232 -[12:04:04.754] Choose frame as a key frame Scene Depth mean:2.992170 ,depth min:0.098620 -[12:04:04.754] frame process finished the id is: 57 the obs is:979 -[12:04:04.791] Odometry x=0.016947, y=1.261567, theta=-0.095109 -[12:04:05.101] Odometry x=0.018179, y=1.272987, theta=-0.106414 -[12:04:05.292] Odometry x=0.019848, y=1.287034, theta=-0.082830 -[12:04:05.534] Odometry x=0.018982, y=1.301621, theta=-0.069459 -[12:04:05.809] Odometry x=0.019544, y=1.316669, theta=-0.040940 -[12:04:06.045] Odometry x=0.020623, y=1.332377, theta=-0.054597 -[12:04:06.278] Odometry x=0.020706, y=1.347387, theta=-0.070649 -[12:04:06.473] After Reprojection Map nMatches:1298 ,distance between ekf and vo x:0.000973 ,z=0.000812,angle between two frames:0.000059 -[12:04:06.477] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =980 error init =0.021976 error end=0.023242 -[12:04:06.477] After pose optimization, distance between ekf and vo x:0.000973 ,z=0.000812,angle between two frames:0.000059 -[12:04:06.477] Update EKF and 3D points the number of feature in the new frame: 980 and number of obs: 980 -[12:04:06.478] frame Scene Depth mean:2.330864 ,depth min:0.069377 -[12:04:06.496] need key frame pitch dis: 0.250709 translation dif:0.264902 -[12:04:06.496] Choose frame as a key frame Scene Depth mean:2.330864 ,depth min:0.069377 -[12:04:06.496] frame process finished the id is: 58 the obs is:936 -[12:04:07.544] Odometry x=0.020014, y=1.327953, theta=-0.079630 -[12:04:07.817] Odometry x=0.018375, y=1.331074, theta=-0.079652 -[12:04:08.057] Odometry x=0.018849, y=1.338727, theta=-0.078486 -[12:04:08.285] Odometry x=0.019029, y=1.348083, theta=-0.072040 -[12:04:08.451] After Reprojection Map nMatches:1635 ,distance between ekf and vo x:0.000611 ,z=0.000637,angle between two frames:0.000034 -[12:04:08.455] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1224 error init =0.031640 error end=0.037408 -[12:04:08.455] After pose optimization, distance between ekf and vo x:0.000611 ,z=0.000637,angle between two frames:0.000034 -[12:04:08.455] Update EKF and 3D points the number of feature in the new frame: 1224 and number of obs: 1224 -[12:04:08.455] frame Scene Depth mean:2.500277 ,depth min:0.054714 -[12:04:08.474] need key frame pitch dis: 0.174185 translation dif:0.266916 -[12:04:08.474] Choose frame as a key frame Scene Depth mean:2.500277 ,depth min:0.054714 -[12:04:08.474] frame process finished the id is: 59 the obs is:1210 -[12:04:08.523] Odometry x=0.018838, y=1.352559, theta=-0.057950 -[12:04:08.792] Odometry x=0.019288, y=1.360839, theta=-0.057098 -[12:04:09.114] Odometry x=0.019818, y=1.371069, theta=-0.060141 -[12:04:09.297] Odometry x=0.019873, y=1.380985, theta=-0.029632 -[12:04:09.546] Odometry x=0.019971, y=1.391911, theta=-0.025896 -[12:04:09.812] Odometry x=0.020230, y=1.402760, theta=-0.019394 -[12:04:10.053] Odometry x=0.019452, y=1.415271, theta=-0.014616 -[12:04:10.125] After Reprojection Map nMatches:1276 ,distance between ekf and vo x:0.000829 ,z=0.000622,angle between two frames:0.000046 -[12:04:10.128] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =960 error init =0.020487 error end=0.029569 -[12:04:10.129] After pose optimization, distance between ekf and vo x:0.000829 ,z=0.000622,angle between two frames:0.000046 -[12:04:10.129] Update EKF and 3D points the number of feature in the new frame: 960 and number of obs: 960 -[12:04:10.129] frame Scene Depth mean:2.194218 ,depth min:0.052725 -[12:04:10.145] need key frame pitch dis: 0.163415 translation dif:0.272919 -[12:04:10.145] Choose frame as a key frame Scene Depth mean:2.194218 ,depth min:0.052725 -[12:04:10.145] frame process finished the id is: 60 the obs is:925 -[12:04:10.308] Odometry x=0.019540, y=1.409250, theta=-0.007716 -[12:04:10.526] Odometry x=0.019349, y=1.416402, theta=0.018900 -[12:04:10.798] Odometry x=0.019131, y=1.426554, theta=0.035062 -[12:04:11.069] Odometry x=0.018502, y=1.438828, theta=0.041287 -[12:04:11.300] Odometry x=0.017972, y=1.449665, theta=0.049986 -[12:04:11.555] Odometry x=0.017038, y=1.460037, theta=0.028894 -[12:04:11.773] Odometry x=0.016724, y=1.471049, theta=0.021805 -[12:04:12.043] Odometry x=0.015397, y=1.481576, theta=0.057826 -[12:04:12.274] Odometry x=0.014213, y=1.493222, theta=0.059591 -[12:04:12.330] After Reprojection Map nMatches:1420 ,distance between ekf and vo x:0.000859 ,z=0.000709,angle between two frames:0.000036 -[12:04:12.333] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1152 error init =0.014706 error end=0.009951 -[12:04:12.333] After pose optimization, distance between ekf and vo x:0.000859 ,z=0.000709,angle between two frames:0.000036 -[12:04:12.333] Update EKF and 3D points the number of feature in the new frame: 1152 and number of obs: 1152 -[12:04:12.333] frame Scene Depth mean:1.610212 ,depth min:0.051158 -[12:04:12.347] need key frame pitch dis: 0.141467 translation dif:0.243624 -[12:04:12.347] Choose frame as a key frame Scene Depth mean:1.610212 ,depth min:0.051158 -[12:04:12.348] frame process finished the id is: 61 the obs is:1117 -[12:04:12.531] Odometry x=0.015370, y=1.483961, theta=0.041315 -[12:04:13.810] Odometry x=0.015275, y=1.484132, theta=0.027372 -[12:04:14.002] After Reprojection Map nMatches:1234 ,distance between ekf and vo x:0.000553 ,z=0.000499,angle between two frames:0.000025 -[12:04:14.004] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =953 error init =0.014431 error end=0.024986 -[12:04:14.004] After pose optimization, distance between ekf and vo x:0.000553 ,z=0.000499,angle between two frames:0.000025 -[12:04:14.004] Update EKF and 3D points the number of feature in the new frame: 953 and number of obs: 953 -[12:04:14.005] frame Scene Depth mean:1.826515 ,depth min:0.051044 -[12:04:14.020] need key frame pitch dis: 0.188689 translation dif:0.235754 -[12:04:14.020] Choose frame as a key frame Scene Depth mean:1.826515 ,depth min:0.051044 -[12:04:14.020] frame process finished the id is: 62 the obs is:953 -[12:04:14.051] Odometry x=0.014312, y=1.484700, theta=0.025952 -[12:04:14.305] Odometry x=0.014193, y=1.484789, theta=-0.004381 -[12:04:14.553] Odometry x=0.013951, y=1.485206, theta=-0.101843 -[12:04:14.802] Odometry x=0.013965, y=1.485357, theta=-0.234660 -[12:04:15.106] Odometry x=0.013907, y=1.486431, theta=-0.398669 -[12:04:16.545] Odometry x=0.013239, y=1.486755, theta=-0.468186 -[12:04:16.785] Odometry x=0.013044, y=1.487046, theta=-0.471582 -[12:04:16.830] After Reprojection Map nMatches:1849 ,distance between ekf and vo x:0.000304 ,z=0.000979,angle between two frames:0.000024 -[12:04:16.838] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1358 error init =0.031015 error end=0.033125 -[12:04:16.838] After pose optimization, distance between ekf and vo x:-0.343663 ,z=18.035674,angle between two frames:0.510553 -[12:04:16.838] frame process finished the id is: 62 the obs is:953 -[12:04:17.117] Odometry x=0.012893, y=1.487317, theta=-0.512993 -[12:04:17.298] Odometry x=0.012899, y=1.487325, theta=-0.595213 -[12:04:17.573] Odometry x=0.012776, y=1.487561, theta=-0.688452 -[12:04:19.096] Odometry x=0.012802, y=1.487742, theta=-0.724140 -[12:04:19.286] Odometry x=0.012805, y=1.487883, theta=-0.759790 -[12:04:19.532] Odometry x=0.012811, y=1.487887, theta=-0.833846 -[12:04:19.609] After Reprojection Map nMatches:2197 ,distance between ekf and vo x:0.000289 ,z=0.000055,angle between two frames:0.000008 -[12:04:19.614] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1732 error init =0.057926 error end=0.016596 -[12:04:19.614] After pose optimization, distance between ekf and vo x:0.020392 ,z=-0.001944,angle between two frames:0.001130 -[12:04:19.614] Update EKF and 3D points the number of feature in the new frame: 1732 and number of obs: 1732 -[12:04:19.614] frame Scene Depth mean:1.657263 ,depth min:0.059380 -[12:04:19.641] need key frame pitch dis: 1.132604 translation dif:0.222592 -[12:04:19.641] Choose frame as a key frame Scene Depth mean:1.657263 ,depth min:0.059380 -[12:04:19.641] frame process finished the id is: 64 the obs is:1729 -[12:04:19.798] Odometry x=0.017482, y=1.487288, theta=-0.886985 -[12:04:20.032] Odometry x=0.017761, y=1.487294, theta=-0.947132 -[12:04:20.311] Odometry x=0.017886, y=1.487378, theta=-1.005716 -[12:04:20.549] Odometry x=0.017956, y=1.487413, theta=-1.067296 -[12:04:21.540] Odometry x=0.018162, y=1.487459, theta=-1.071738 -[12:04:21.794] Odometry x=0.022754, y=1.489959, theta=-1.070099 -[12:04:22.022] Odometry x=0.037453, y=1.498004, theta=-1.069585 -[12:04:22.300] Odometry x=0.054006, y=1.506673, theta=-1.089961 -[12:04:22.542] Odometry x=0.069695, y=1.514496, theta=-1.140571 -[12:04:22.548] After Reprojection Map nMatches:2227 ,distance between ekf and vo x:0.000086 ,z=-0.000031,angle between two frames:0.000001 -[12:04:22.554] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1823 error init =0.114395 error end=0.015666 -[12:04:22.554] After pose optimization, distance between ekf and vo x:0.000086 ,z=-0.000031,angle between two frames:0.000001 -[12:04:22.554] Update EKF and 3D points the number of feature in the new frame: 1823 and number of obs: 1823 -[12:04:22.554] frame Scene Depth mean:1.340164 ,depth min:0.115377 -[12:04:22.578] need key frame pitch dis: 1.375812 translation dif:0.279928 -[12:04:22.578] Choose frame as a key frame Scene Depth mean:1.340164 ,depth min:0.115377 -[12:04:22.579] frame process finished the id is: 65 the obs is:1822 -[12:04:22.773] Odometry x=0.093739, y=1.525431, theta=-1.146576 -[12:04:24.542] Odometry x=0.094085, y=1.525915, theta=-1.149591 -[12:04:24.789] Odometry x=0.097726, y=1.527342, theta=-1.148237 -[12:04:24.972] After Reprojection Map nMatches:1976 ,distance between ekf and vo x:0.000012 ,z=-0.000031,angle between two frames:0.000001 -[12:04:24.977] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1436 error init =0.135796 error end=0.060225 -[12:04:24.977] After pose optimization, distance between ekf and vo x:0.224131 ,z=0.250388,angle between two frames:0.027237 -[12:04:24.977] frame process finished the id is: 65 the obs is:1822 -[12:04:25.125] Odometry x=0.104043, y=1.529955, theta=-1.146162 -[12:04:25.278] Odometry x=0.111253, y=1.532985, theta=-1.141104 -[12:04:25.547] Odometry x=0.118972, y=1.536469, theta=-1.136708 -[12:04:25.814] Odometry x=0.126517, y=1.539978, theta=-1.132628 -[12:04:26.059] Odometry x=0.134791, y=1.543667, theta=-1.132393 -[12:04:26.307] Odometry x=0.143553, y=1.547896, theta=-1.131925 -[12:04:26.534] Odometry x=0.152760, y=1.552233, theta=-1.136499 -[12:04:26.784] Odometry x=0.161842, y=1.556459, theta=-1.132679 -[12:04:27.118] Odometry x=0.171114, y=1.560538, theta=-1.126296 -[12:04:27.324] Odometry x=0.180489, y=1.564616, theta=-1.122980 -[12:04:27.535] Odometry x=0.189640, y=1.569050, theta=-1.121137 -[12:04:27.810] Odometry x=0.198633, y=1.573407, theta=-1.115688 -[12:04:28.055] Odometry x=0.207699, y=1.577763, theta=-1.113086 -[12:04:29.316] Odometry x=0.207709, y=1.577755, theta=-1.116196 -[12:04:29.554] Odometry x=0.207716, y=1.577746, theta=-1.169451 -[12:04:29.616] After Reprojection Map nMatches:2988 ,distance between ekf and vo x:0.000040 ,z=-0.000043,angle between two frames:0.000001 -[12:04:29.624] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =2286 error init =0.396740 error end=0.035571 -[12:04:29.624] After pose optimization, distance between ekf and vo x:0.052893 ,z=-0.104217,angle between two frames:0.007455 -[12:04:29.624] Update EKF and 3D points the number of feature in the new frame: 2286 and number of obs: 2286 -[12:04:29.624] frame Scene Depth mean:1.250409 ,depth min:0.133361 -[12:04:29.654] need key frame pitch dis: 1.517307 translation dif:0.386061 -[12:04:29.654] Choose frame as a key frame Scene Depth mean:1.250409 ,depth min:0.133361 -[12:04:29.656] frame process finished the id is: 67 the obs is:2285 -[12:04:29.778] Odometry x=0.196062, y=1.542624, theta=-1.271688 -[12:04:30.054] Odometry x=0.196019, y=1.542465, theta=-1.369131 -[12:04:30.299] Odometry x=0.196026, y=1.542514, theta=-1.481752 -[12:04:31.281] Odometry x=0.195982, y=1.542148, theta=-1.526015 -[12:04:31.541] Odometry x=0.195968, y=1.542132, theta=-1.575576 -[12:04:31.786] Odometry x=0.196133, y=1.542084, theta=-1.658570 -[12:04:32.043] Odometry x=0.196149, y=1.542084, theta=-1.774177 -[12:04:32.285] Odometry x=0.196147, y=1.542055, theta=-1.896427 -[12:04:32.537] Odometry x=0.196146, y=1.542056, theta=-2.027724 -[12:04:32.732] After Reprojection Map nMatches:2646 ,distance between ekf and vo x:0.000005 ,z=-0.000025,angle between two frames:0.000001 -[12:04:32.737] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =2110 error init =0.199544 error end=0.027571 -[12:04:32.737] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000025,angle between two frames:0.000001 -[12:04:32.737] Update EKF and 3D points the number of feature in the new frame: 2110 and number of obs: 2110 -[12:04:32.739] frame Scene Depth mean:0.462882 ,depth min:0.050282 -[12:04:32.758] need key frame pitch dis: 2.343591 translation dif:0.386035 -[12:04:32.758] Choose frame as a key frame Scene Depth mean:0.462882 ,depth min:0.050282 -[12:04:32.758] frame process finished the id is: 68 the obs is:1590 -[12:04:32.824] Odometry x=0.196024, y=1.542459, theta=-2.097972 -[12:04:34.060] Odometry x=0.195997, y=1.542446, theta=-2.135197 -[12:04:34.280] Odometry x=0.195975, y=1.542437, theta=-2.170836 -[12:04:34.533] Odometry x=0.195949, y=1.542405, theta=-2.246428 -[12:04:34.797] Odometry x=0.195937, y=1.542370, theta=-2.358758 -[12:04:34.874] After Reprojection Map nMatches:2164 ,distance between ekf and vo x:-0.000005 ,z=0.000053,angle between two frames:0.000000 -[12:04:34.891] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =1336 error init =0.179337 error end=0.085459 -[12:04:34.891] After pose optimization, distance between ekf and vo x:0.015946 ,z=0.025012,angle between two frames:0.000540 -[12:04:34.891] Update EKF and 3D points the number of feature in the new frame: 1336 and number of obs: 1336 -[12:04:34.893] frame Scene Depth mean:0.548857 ,depth min:0.052561 -[12:04:34.910] need key frame pitch dis: 1.108721 translation dif:2.711648 -[12:04:34.910] Choose frame as a key frame Scene Depth mean:0.548857 ,depth min:0.052561 -[12:04:34.911] frame process finished the id is: 69 the obs is:961 -[12:04:35.098] Odometry x=0.199543, y=1.548065, theta=-2.464618 -[12:04:35.286] Odometry x=0.199540, y=1.548042, theta=-2.538586 -[12:04:36.652] After Reprojection Map nMatches:1737 ,distance between ekf and vo x:-0.000028 ,z=0.000018,angle between two frames:0.000000 -[12:04:36.667] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =937 error init =0.557372 error end=0.126210 -[12:04:36.667] After pose optimization, distance between ekf and vo x:0.002002 ,z=0.001652,angle between two frames:0.000024 -[12:04:36.667] Update EKF and 3D points the number of feature in the new frame: 937 and number of obs: 937 -[12:04:36.667] frame Scene Depth mean:0.799624 ,depth min:0.051287 -[12:04:36.687] need key frame pitch dis: 1.581979 translation dif:0.277819 -[12:04:36.687] Choose frame as a key frame Scene Depth mean:0.799624 ,depth min:0.051287 -[12:04:36.688] frame process finished the id is: 70 the obs is:907 -[12:04:37.807] Odometry x=0.200007, y=1.548432, theta=-2.564976 -[12:04:38.062] Odometry x=0.200005, y=1.548426, theta=-2.567379 -[12:04:38.280] Odometry x=0.199974, y=1.548356, theta=-2.577917 -[12:04:38.537] Odometry x=0.199971, y=1.548353, theta=-2.601649 -[12:04:38.794] Odometry x=0.199811, y=1.548329, theta=-2.631543 -[12:04:39.374] After Reprojection Map nMatches:1498 ,distance between ekf and vo x:-0.000006 ,z=0.000024,angle between two frames:0.000000 -[12:04:39.379] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =888 error init =2.748435 error end=0.062510 -[12:04:39.379] After pose optimization, distance between ekf and vo x:-0.000006 ,z=0.000024,angle between two frames:0.000000 -[12:04:39.379] Update EKF and 3D points the number of feature in the new frame: 888 and number of obs: 888 -[12:04:39.380] frame Scene Depth mean:1.428927 ,depth min:0.050124 -[12:04:39.397] need key frame pitch dis: 1.990371 translation dif:0.066859 -[12:04:39.397] Choose frame as a key frame Scene Depth mean:1.428927 ,depth min:0.050124 -[12:04:39.397] frame process finished the id is: 71 the obs is:877 -[12:04:40.061] Odometry x=0.199858, y=1.548357, theta=-2.632326 -[12:04:40.326] Odometry x=0.200017, y=1.548037, theta=-2.631784 -[12:04:40.556] Odometry x=0.204995, y=1.539569, theta=-2.628246 -[12:04:40.820] Odometry x=0.209621, y=1.531356, theta=-2.621421 -[12:04:41.091] Odometry x=0.214309, y=1.523176, theta=-2.620868 -[12:04:41.264] Odometry x=0.218971, y=1.515015, theta=-2.626008 -[12:04:41.543] Odometry x=0.223751, y=1.506423, theta=-2.628138 -[12:04:41.763] After Reprojection Map nMatches:1268 ,distance between ekf and vo x:-0.000022 ,z=0.000005,angle between two frames:0.000000 -[12:04:41.774] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =638 error init =0.283910 error end=0.225759 -[12:04:41.774] After pose optimization, distance between ekf and vo x:0.001317 ,z=0.000749,angle between two frames:0.000078 -[12:04:41.774] Update EKF and 3D points the number of feature in the new frame: 638 and number of obs: 638 -[12:04:41.774] frame Scene Depth mean:1.643332 ,depth min:0.050019 -[12:04:41.780] Odometry x=0.221395, y=1.510080, theta=-2.630295 -[12:04:41.788] need key frame pitch dis: 1.988339 translation dif:0.066735 -[12:04:41.788] Choose frame as a key frame Scene Depth mean:1.643332 ,depth min:0.050019 -[12:04:41.789] frame process finished the id is: 72 the obs is:631 -[12:04:42.049] Odometry x=0.225056, y=1.503495, theta=-2.627888 -[12:04:42.468] Odometry x=0.230229, y=1.494843, theta=-2.623128 -[12:04:42.689] Odometry x=0.235202, y=1.485978, theta=-2.620907 -[12:04:42.823] Odometry x=0.239732, y=1.478206, theta=-2.619916 -[12:04:43.271] Odometry x=0.244162, y=1.470300, theta=-2.617188 -[12:04:43.405] Odometry x=0.248731, y=1.462367, theta=-2.618491 -[12:04:43.538] Odometry x=0.253607, y=1.453933, theta=-2.617959 -[12:04:43.789] Odometry x=0.258457, y=1.445403, theta=-2.614159 -[12:04:44.047] Odometry x=0.263453, y=1.436797, theta=-2.608363 -[12:04:44.178] After Reprojection Map nMatches:1267 ,distance between ekf and vo x:-0.000010 ,z=0.000082,angle between two frames:0.000014 -[12:04:44.183] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =759 error init =0.094600 error end=0.065923 -[12:04:44.183] After pose optimization, distance between ekf and vo x:-0.000010 ,z=0.000082,angle between two frames:0.000014 -[12:04:44.183] Update EKF and 3D points the number of feature in the new frame: 759 and number of obs: 759 -[12:04:44.184] frame Scene Depth mean:1.434227 ,depth min:0.056611 -[12:04:44.199] need key frame pitch dis: 1.963419 translation dif:0.114958 -[12:04:44.199] Choose frame as a key frame Scene Depth mean:1.434227 ,depth min:0.056611 -[12:04:44.200] frame process finished the id is: 73 the obs is:740 -[12:04:44.304] Odometry x=0.258636, y=1.445247, theta=-2.605375 -[12:04:44.531] Odometry x=0.262488, y=1.437894, theta=-2.595775 -[12:04:44.819] Odometry x=0.267892, y=1.428374, theta=-2.594800 -[12:04:45.111] Odometry x=0.274146, y=1.418203, theta=-2.597090 -[12:04:45.306] Odometry x=0.280496, y=1.407609, theta=-2.598620 -[12:04:45.545] Odometry x=0.287032, y=1.396794, theta=-2.595074 -[12:04:45.817] Odometry x=0.293651, y=1.385794, theta=-2.596426 -[12:04:46.045] Odometry x=0.300088, y=1.374576, theta=-2.591587 -[12:04:46.291] Odometry x=0.306929, y=1.363389, theta=-2.594098 -[12:04:46.551] Odometry x=0.313524, y=1.352005, theta=-2.600636 -[12:04:46.574] After Reprojection Map nMatches:1379 ,distance between ekf and vo x:0.041648 ,z=0.135105,angle between two frames:0.100000 -[12:04:46.583] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =744 error init =0.066558 error end=0.044736 -[12:04:46.583] After pose optimization, distance between ekf and vo x:0.050355 ,z=0.138767,angle between two frames:0.100306 -[12:04:46.583] Update EKF and 3D points the number of feature in the new frame: 744 and number of obs: 744 -[12:04:46.584] frame Scene Depth mean:1.682695 ,depth min:0.073333 -[12:04:46.598] need key frame pitch dis: 1.975583 translation dif:0.171219 -[12:04:46.598] Choose frame as a key frame Scene Depth mean:1.682695 ,depth min:0.073333 -[12:04:46.599] frame process finished the id is: 74 the obs is:670 -[12:04:46.795] Odometry x=0.317656, y=1.396843, theta=-2.617539 -[12:04:47.081] Odometry x=0.323700, y=1.385767, theta=-2.614412 -[12:04:47.292] Odometry x=0.330124, y=1.374505, theta=-2.604561 -[12:04:47.558] Odometry x=0.336564, y=1.364244, theta=-2.578824 -[12:04:47.787] Odometry x=0.343799, y=1.352989, theta=-2.549388 -[12:04:47.937] After Reprojection Map nMatches:968 ,distance between ekf and vo x:0.000016 ,z=0.000034,angle between two frames:0.000000 -[12:04:47.945] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =605 error init =0.061040 error end=0.049567 -[12:04:47.945] After pose optimization, distance between ekf and vo x:0.034418 ,z=0.019676,angle between two frames:0.000187 -[12:04:47.945] Update EKF and 3D points the number of feature in the new frame: 605 and number of obs: 605 -[12:04:47.945] frame Scene Depth mean:1.356478 ,depth min:0.053499 -[12:04:47.957] need key frame pitch dis: 2.111811 translation dif:0.138248 -[12:04:47.957] Choose frame as a key frame Scene Depth mean:1.356478 ,depth min:0.053499 -[12:04:47.958] frame process finished the id is: 75 the obs is:594 -[12:04:48.031] Odometry x=0.351661, y=1.360357, theta=-2.548650 -[12:04:48.301] Odometry x=0.357201, y=1.352131, theta=-2.550366 -[12:04:48.538] Odometry x=0.364436, y=1.341377, theta=-2.549612 -[12:04:48.820] Odometry x=0.371981, y=1.330168, theta=-2.552892 -[12:04:49.135] Odometry x=0.379880, y=1.318659, theta=-2.564329 -[12:04:49.288] Odometry x=0.387408, y=1.307133, theta=-2.564938 -[12:04:49.554] Odometry x=0.394909, y=1.295607, theta=-2.561895 -[12:04:49.583] After Reprojection Map nMatches:1116 ,distance between ekf and vo x:-0.000470 ,z=0.000069,angle between two frames:0.000012 -[12:04:49.590] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =691 error init =0.264856 error end=0.081138 -[12:04:49.590] After pose optimization, distance between ekf and vo x:-0.000312 ,z=0.000191,angle between two frames:0.000033 -[12:04:49.590] Update EKF and 3D points the number of feature in the new frame: 691 and number of obs: 691 -[12:04:49.590] frame Scene Depth mean:1.106439 ,depth min:0.052139 -[12:04:49.604] need key frame pitch dis: 2.112089 translation dif:0.082810 -[12:04:49.604] Choose frame as a key frame Scene Depth mean:1.106439 ,depth min:0.052139 -[12:04:49.604] frame process finished the id is: 76 the obs is:662 -[12:04:49.778] Odometry x=0.390737, y=1.301827, theta=-2.548928 -[12:04:50.055] Odometry x=0.396526, y=1.293244, theta=-2.549956 -[12:04:50.282] Odometry x=0.403500, y=1.282500, theta=-2.543319 -[12:04:50.529] Odometry x=0.411126, y=1.270996, theta=-2.537033 -[12:04:50.803] Odometry x=0.419023, y=1.259599, theta=-2.538776 -[12:04:51.088] Odometry x=0.426681, y=1.247955, theta=-2.539180 -[12:04:51.293] Odometry x=0.434547, y=1.236521, theta=-2.538516 -[12:04:51.517] After Reprojection Map nMatches:1093 ,distance between ekf and vo x:-0.000421 ,z=0.000041,angle between two frames:0.000013 -[12:04:51.523] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =599 error init =0.435341 error end=0.054652 -[12:04:51.523] After pose optimization, distance between ekf and vo x:-0.000412 ,z=0.000048,angle between two frames:0.000013 -[12:04:51.523] Update EKF and 3D points the number of feature in the new frame: 599 and number of obs: 599 -[12:04:51.523] Odometry x=0.431609, y=1.241293, theta=-2.533122 -[12:04:51.523] frame Scene Depth mean:1.281094 ,depth min:0.051873 -[12:04:51.534] need key frame pitch dis: 5.290889 translation dif:0.861372 -[12:04:51.534] Choose frame as a key frame Scene Depth mean:1.281094 ,depth min:0.051873 -[12:04:51.534] frame process finished the id is: 77 the obs is:576 -[12:04:51.783] Odometry x=0.437784, y=1.232288, theta=-2.528160 -[12:04:52.048] Odometry x=0.445272, y=1.221607, theta=-2.521802 -[12:04:52.292] Odometry x=0.453307, y=1.210353, theta=-2.523075 -[12:04:52.548] Odometry x=0.461712, y=1.198435, theta=-2.523188 -[12:04:52.806] Odometry x=0.469728, y=1.186809, theta=-2.529373 -[12:04:53.092] Odometry x=0.477724, y=1.174887, theta=-2.532838 -[12:04:53.122] After Reprojection Map nMatches:916 ,distance between ekf and vo x:-0.000062 ,z=0.000087,angle between two frames:0.000043 -[12:04:53.128] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =685 error init =0.031626 error end=0.022813 -[12:04:53.128] After pose optimization, distance between ekf and vo x:-0.000059 ,z=0.000090,angle between two frames:0.000042 -[12:04:53.128] Update EKF and 3D points the number of feature in the new frame: 685 and number of obs: 685 -[12:04:53.128] frame Scene Depth mean:1.481035 ,depth min:0.051996 -[12:04:53.141] need key frame pitch dis: 5.290617 translation dif:0.885684 -[12:04:53.142] Choose frame as a key frame Scene Depth mean:1.481035 ,depth min:0.051996 -[12:04:53.142] frame process finished the id is: 78 the obs is:643 -[12:04:53.289] Odometry x=0.488595, y=1.159336, theta=-2.532892 -[12:04:53.535] Odometry x=0.496749, y=1.147725, theta=-2.530736 -[12:04:53.837] Odometry x=0.504784, y=1.136187, theta=-2.536920 -[12:04:54.034] Odometry x=0.511813, y=1.125307, theta=-2.534579 -[12:04:54.307] Odometry x=0.519845, y=1.113875, theta=-2.538791 -[12:04:54.367] After Reprojection Map nMatches:830 ,distance between ekf and vo x:-0.001240 ,z=0.000101,angle between two frames:0.000054 -[12:04:54.374] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =626 error init =0.033308 error end=0.023556 -[12:04:54.374] After pose optimization, distance between ekf and vo x:0.001255 ,z=0.002190,angle between two frames:0.000333 -[12:04:54.374] Update EKF and 3D points the number of feature in the new frame: 626 and number of obs: 626 -[12:04:54.375] frame Scene Depth mean:1.280266 ,depth min:0.058799 -[12:04:54.385] need key frame pitch dis: 5.288154 translation dif:0.906961 -[12:04:54.386] Choose frame as a key frame Scene Depth mean:1.280266 ,depth min:0.058799 -[12:04:54.386] frame process finished the id is: 79 the obs is:621 -[12:04:54.551] Odometry x=0.518263, y=1.117296, theta=-2.530388 -[12:04:54.795] Odometry x=0.524179, y=1.108582, theta=-2.516268 -[12:04:55.106] Odometry x=0.532356, y=1.097926, theta=-2.513078 -[12:04:55.289] Odometry x=0.540830, y=1.085949, theta=-2.519040 -[12:04:55.424] After Reprojection Map nMatches:962 ,distance between ekf and vo x:0.288064 ,z=0.637797,angle between two frames:0.500029 -[12:04:55.427] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =688 error init =0.065854 error end=0.052154 -[12:04:55.427] After pose optimization, distance between ekf and vo x:0.288064 ,z=0.637797,angle between two frames:0.500029 -[12:04:55.427] frame process finished the id is: 79 the obs is:621 -[12:04:55.549] Odometry x=0.549121, y=1.073915, theta=-2.515389 -[12:04:55.815] Odometry x=0.557330, y=1.062558, theta=-2.514357 -[12:04:56.054] Odometry x=0.565573, y=1.051152, theta=-2.505198 -[12:04:56.253] After Reprojection Map nMatches:950 ,distance between ekf and vo x:0.278457 ,z=0.641963,angle between two frames:0.500010 -[12:04:56.256] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =655 error init =0.189778 error end=0.065852 -[12:04:56.256] After pose optimization, distance between ekf and vo x:0.278457 ,z=0.641963,angle between two frames:0.500010 -[12:04:56.256] frame process finished the id is: 79 the obs is:621 -[12:04:56.280] Odometry x=0.573887, y=1.039890, theta=-2.512113 -[12:04:56.538] Odometry x=0.582213, y=1.028550, theta=-2.507940 -[12:04:56.821] Odometry x=0.590528, y=1.017213, theta=-2.510700 -[12:04:56.978] After Reprojection Map nMatches:808 ,distance between ekf and vo x:0.469992 ,z=0.848675,angle between two frames:5.582878 -[12:04:56.981] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =619 error init =0.049753 error end=0.033985 -[12:04:56.981] After pose optimization, distance between ekf and vo x:0.469992 ,z=0.848675,angle between two frames:5.582878 -[12:04:56.981] frame process finished the id is: 79 the obs is:621 -[12:04:57.084] Odometry x=0.598669, y=1.005981, theta=-2.508031 -[12:04:57.317] Odometry x=0.606773, y=0.994213, theta=-2.505553 -[12:04:57.543] Odometry x=0.615083, y=0.982187, theta=-2.502844 -[12:04:57.747] After Reprojection Map nMatches:617 ,distance between ekf and vo x:0.696645 ,z=1.014137,angle between two frames:5.382991 -[12:04:57.749] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =451 error init =0.036489 error end=0.031616 -[12:04:57.749] After pose optimization, distance between ekf and vo x:0.696645 ,z=1.014137,angle between two frames:5.382991 -[12:04:57.749] frame process finished the id is: 79 the obs is:621 -[12:04:57.801] Odometry x=0.623623, y=0.971042, theta=-2.507856 -[12:04:58.055] Odometry x=0.631952, y=0.959747, theta=-2.504050 -[12:04:58.308] Odometry x=0.640340, y=0.948515, theta=-2.492213 -[12:04:58.365] After Reprojection Map nMatches:602 ,distance between ekf and vo x:0.577245 ,z=0.938188,angle between two frames:5.483080 -[12:04:58.367] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =469 error init =0.064622 error end=0.045486 -[12:04:58.367] After pose optimization, distance between ekf and vo x:0.577245 ,z=0.938188,angle between two frames:5.483080 -[12:04:58.367] frame process finished the id is: 79 the obs is:621 -[12:04:58.534] Odometry x=0.648781, y=0.937319, theta=-2.483570 -[12:04:58.787] Odometry x=0.657518, y=0.926069, theta=-2.480633 -[12:04:59.085] After Reprojection Map nMatches:412 ,distance between ekf and vo x:0.258117 ,z=0.650767,angle between two frames:0.500089 -[12:04:59.087] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =286 error init =0.279077 error end=0.092383 -[12:04:59.087] After pose optimization, distance between ekf and vo x:0.258117 ,z=0.650767,angle between two frames:0.500089 -[12:04:59.087] frame process finished the id is: 79 the obs is:621 -[12:04:59.125] Odometry x=0.666228, y=0.914693, theta=-2.481049 -[12:04:59.285] Odometry x=0.675148, y=0.903520, theta=-2.475394 -[12:04:59.553] Odometry x=0.683807, y=0.892512, theta=-2.469749 -[12:04:59.780] After Reprojection Map nMatches:308 ,distance between ekf and vo x:0.443355 ,z=0.862789,angle between two frames:5.583084 -[12:04:59.781] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =260 error init =0.025995 error end=0.040750 -[12:04:59.781] After pose optimization, distance between ekf and vo x:3.564651 ,z=0.073054,angle between two frames:3.822215 -[12:04:59.781] frame process finished the id is: 79 the obs is:621 -[12:04:59.797] Odometry x=0.692704, y=0.881321, theta=-2.467662 -[12:05:00.025] Odometry x=0.701558, y=0.870059, theta=-2.461200 -[12:05:00.295] Odometry x=0.708231, y=0.861395, theta=-2.480341 -[12:05:00.526] Odometry x=0.716900, y=0.850644, theta=-2.450147 -[12:05:00.574] After Reprojection Map nMatches:224 ,distance between ekf and vo x:1.463203 ,z=1.254610,angle between two frames:4.782950 -[12:05:00.575] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =139 error init =0.000260 error end=0.000886 -[12:05:00.575] After pose optimization, distance between ekf and vo x:1.418423 ,z=1.299755,angle between two frames:4.782977 -[12:05:00.575] frame process finished the id is: 79 the obs is:621 -[12:05:00.765] Odometry x=0.726305, y=0.839542, theta=-2.436254 -[12:05:01.086] Odometry x=0.735422, y=0.828648, theta=-2.445274 -[12:05:01.308] Odometry x=0.744409, y=0.817981, theta=-2.448299 -[12:05:01.335] After Reprojection Map nMatches:290 ,distance between ekf and vo x:1.141667 ,z=1.275689,angle between two frames:4.983137 -[12:05:01.336] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =196 error init =0.001163 error end=0.005727 -[12:05:01.336] After pose optimization, distance between ekf and vo x:1.140520 ,z=1.276581,angle between two frames:4.983221 -[12:05:01.336] frame process finished the id is: 79 the obs is:621 -[12:05:01.555] Odometry x=0.753376, y=0.807195, theta=-2.450382 -[12:05:01.795] Odometry x=0.762347, y=0.796522, theta=-2.430405 -[12:05:01.799] After Reprojection Map nMatches:297 ,distance between ekf and vo x:0.414614 ,z=0.877362,angle between two frames:5.583085 -[12:05:01.801] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =243 error init =0.193736 error end=0.046050 -[12:05:01.801] After pose optimization, distance between ekf and vo x:0.414614 ,z=0.877362,angle between two frames:5.583085 -[12:05:01.801] frame process finished the id is: 79 the obs is:621 -[12:05:02.029] Odometry x=0.771559, y=0.785916, theta=-2.420283 -[12:05:02.288] Odometry x=0.780817, y=0.775382, theta=-2.421347 -[12:05:02.351] After Reprojection Map nMatches:334 ,distance between ekf and vo x:0.864038 ,z=1.199870,angle between two frames:5.183173 -[12:05:02.352] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =252 error init =0.016435 error end=0.012845 -[12:05:02.352] After pose optimization, distance between ekf and vo x:0.864038 ,z=1.199870,angle between two frames:5.183173 -[12:05:02.352] frame process finished the id is: 79 the obs is:621 -[12:05:02.536] Odometry x=0.790333, y=0.764938, theta=-2.403540 -[12:05:02.728] After Reprojection Map nMatches:229 ,distance between ekf and vo x:0.137729 ,z=0.544806,angle between two frames:0.399988 -[12:05:02.729] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =194 error init =0.054390 error end=0.018245 -[12:05:02.729] After pose optimization, distance between ekf and vo x:0.138052 ,z=0.544985,angle between two frames:0.399945 -[12:05:02.729] frame process finished the id is: 79 the obs is:621 -[12:05:02.789] Odometry x=0.799425, y=0.754114, theta=-2.404750 -[12:05:03.089] Odometry x=0.808698, y=0.743439, theta=-2.412815 -[12:05:03.151] After Reprojection Map nMatches:290 ,distance between ekf and vo x:0.041881 ,z=0.279474,angle between two frames:0.200058 -[12:05:03.152] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =236 error init =0.022031 error end=0.019818 -[12:05:03.152] After pose optimization, distance between ekf and vo x:0.042250 ,z=0.279736,angle between two frames:0.200046 -[12:05:03.152] frame process finished the id is: 79 the obs is:621 -[12:05:03.302] Odometry x=0.818052, y=0.732836, theta=-2.422581 -[12:05:03.463] After Reprojection Map nMatches:283 ,distance between ekf and vo x:0.392357 ,z=0.886895,angle between two frames:0.699999 -[12:05:03.464] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =243 error init =0.005227 error end=0.004111 -[12:05:03.464] After pose optimization, distance between ekf and vo x:0.342000 ,z=0.888183,angle between two frames:0.699386 -[12:05:03.464] frame process finished the id is: 79 the obs is:621 -[12:05:03.548] Odometry x=0.827410, y=0.721864, theta=-2.433389 -[12:05:03.807] Odometry x=0.836818, y=0.710989, theta=-2.432833 -[12:05:03.835] After Reprojection Map nMatches:269 ,distance between ekf and vo x:0.618811 ,z=1.064822,angle between two frames:5.382952 -[12:05:03.836] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =214 error init =0.098869 error end=0.015834 -[12:05:03.836] After pose optimization, distance between ekf and vo x:0.618811 ,z=1.064822,angle between two frames:5.382952 -[12:05:03.836] frame process finished the id is: 79 the obs is:621 -[12:05:04.050] Odometry x=0.845960, y=0.700339, theta=-2.431364 -[12:05:04.075] After Reprojection Map nMatches:346 ,distance between ekf and vo x:0.152850 ,z=0.540698,angle between two frames:0.399977 -[12:05:04.076] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =304 error init =0.005115 error end=0.005099 -[12:05:04.076] After pose optimization, distance between ekf and vo x:0.152850 ,z=0.540698,angle between two frames:0.399977 -[12:05:04.076] frame process finished the id is: 79 the obs is:621 -[12:05:04.283] After Reprojection Map nMatches:373 ,distance between ekf and vo x:0.152848 ,z=0.540702,angle between two frames:0.399978 -[12:05:04.284] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =344 error init =0.752367 error end=0.013580 -[12:05:04.284] After pose optimization, distance between ekf and vo x:0.152848 ,z=0.540702,angle between two frames:0.399978 -[12:05:04.284] frame process finished the id is: 79 the obs is:621 -[12:05:04.311] Odometry x=0.855198, y=0.689729, theta=-2.412078 -[12:05:04.501] After Reprojection Map nMatches:319 ,distance between ekf and vo x:0.210851 ,z=0.667222,angle between two frames:0.499994 -[12:05:04.502] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =227 error init =0.000040 error end=0.004499 -[12:05:04.502] After pose optimization, distance between ekf and vo x:0.210849 ,z=0.667225,angle between two frames:0.499991 -[12:05:04.502] frame process finished the id is: 79 the obs is:621 -[12:05:04.550] Odometry x=0.864515, y=0.679180, theta=-2.408901 -[12:05:04.731] After Reprojection Map nMatches:370 ,distance between ekf and vo x:0.208662 ,z=0.667926,angle between two frames:0.499995 -[12:05:04.732] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =285 error init =0.103637 error end=0.009766 -[12:05:04.732] After pose optimization, distance between ekf and vo x:0.208662 ,z=0.667926,angle between two frames:0.499995 -[12:05:04.732] frame process finished the id is: 79 the obs is:621 -[12:05:04.822] Odometry x=0.873969, y=0.668665, theta=-2.410021 -[12:05:04.985] After Reprojection Map nMatches:373 ,distance between ekf and vo x:0.289755 ,z=0.783903,angle between two frames:0.599964 -[12:05:04.986] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =290 error init =0.308011 error end=0.036725 -[12:05:04.986] After pose optimization, distance between ekf and vo x:0.150337 ,z=0.806374,angle between two frames:0.562388 -[12:05:04.986] frame process finished the id is: 79 the obs is:621 -[12:05:05.069] Odometry x=0.883505, y=0.658087, theta=-2.412981 -[12:05:05.212] After Reprojection Map nMatches:310 ,distance between ekf and vo x:0.291908 ,z=0.783351,angle between two frames:0.600027 -[12:05:05.212] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =254 error init =0.002997 error end=0.006416 -[12:05:05.212] After pose optimization, distance between ekf and vo x:0.285328 ,z=0.783326,angle between two frames:0.598805 -[12:05:05.212] frame process finished the id is: 79 the obs is:621 -[12:05:05.290] Odometry x=0.892878, y=0.647596, theta=-2.405919 -[12:05:05.415] After Reprojection Map nMatches:289 ,distance between ekf and vo x:0.286573 ,z=0.785082,angle between two frames:0.599974 -[12:05:05.416] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =237 error init =0.208421 error end=0.007395 -[12:05:05.416] After pose optimization, distance between ekf and vo x:0.138558 ,z=0.938931,angle between two frames:0.530350 -[12:05:05.416] frame process finished the id is: 79 the obs is:621 -[12:05:05.550] Odometry x=0.902646, y=0.637052, theta=-2.401442 -[12:05:05.587] After Reprojection Map nMatches:72 ,distance between ekf and vo x:0.000210 ,z=0.000058,angle between two frames:0.000034 -[12:05:05.588] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =49 error init =0.051805 error end=0.065435 -[12:05:05.588] After pose optimization, distance between ekf and vo x:0.000514 ,z=0.000485,angle between two frames:0.000172 -[12:05:05.588] Update EKF and 3D points the number of feature in the new frame: 49 and number of obs: 49 -[12:05:05.588] frame Scene Depth mean:1.469718 ,depth min:0.113220 -[12:05:05.589] need key frame pitch dis: 1.797162 translation dif:1.805053 -[12:05:05.589] Choose frame as a key frame Scene Depth mean:1.469718 ,depth min:0.113220 -[12:05:05.589] frame process finished the id is: 102 the obs is:49 -[12:05:05.777] After Reprojection Map nMatches:68 ,distance between ekf and vo x:0.002238 ,z=0.004526,angle between two frames:0.000308 -[12:05:05.778] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =49 error init =0.012817 error end=0.008163 -[12:05:05.778] After pose optimization, distance between ekf and vo x:0.002238 ,z=0.004526,angle between two frames:0.000308 -[12:05:05.778] Update EKF and 3D points the number of feature in the new frame: 49 and number of obs: 49 -[12:05:05.778] frame Scene Depth mean:2.204504 ,depth min:0.482243 -[12:05:05.779] need key frame pitch dis: 1.972171 translation dif:1.386914 -[12:05:05.779] Choose frame as a key frame Scene Depth mean:2.204504 ,depth min:0.482243 -[12:05:05.779] frame process finished the id is: 103 the obs is:49 -[12:05:05.794] Odometry x=0.912194, y=0.628039, theta=-2.411846 -[12:05:05.972] After Reprojection Map nMatches:60 ,distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000000 -[12:05:05.972] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =33 error init =0.029074 error end=0.005143 -[12:05:05.972] After pose optimization, distance between ekf and vo x:-0.000052 ,z=-0.000200,angle between two frames:0.000034 -[12:05:05.972] Update EKF and 3D points the number of feature in the new frame: 33 and number of obs: 33 -[12:05:05.972] frame Scene Depth mean:2.200410 ,depth min:0.691302 -[12:05:05.973] need key frame pitch dis: 1.961973 translation dif:1.393564 -[12:05:05.973] Choose frame as a key frame Scene Depth mean:2.200410 ,depth min:0.691302 -[12:05:05.973] frame process finished the id is: 104 the obs is:33 -[12:05:06.029] Odometry x=0.917574, y=0.621311, theta=-2.401647 -[12:05:06.141] After Reprojection Map nMatches:38 ,distance between ekf and vo x:-0.000136 ,z=0.000224,angle between two frames:0.000076 -[12:05:06.141] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =24 error init =0.202247 error end=0.058993 -[12:05:06.141] After pose optimization, distance between ekf and vo x:-0.000136 ,z=0.000224,angle between two frames:0.000076 -[12:05:06.141] Update EKF and 3D points the number of feature in the new frame: 24 and number of obs: 24 -[12:05:06.141] frame Scene Depth mean:1.864207 ,depth min:0.363300 -[12:05:06.142] need key frame pitch dis: 1.966405 translation dif:1.399943 -[12:05:06.142] Choose frame as a key frame Scene Depth mean:1.864207 ,depth min:0.363300 -[12:05:06.142] frame process finished the id is: 105 the obs is:24 -[12:05:06.289] Odometry x=0.922738, y=0.614878, theta=-2.406079 -[12:05:06.312] After Reprojection Map nMatches:25 ,distance between ekf and vo x:-0.000029 ,z=0.000039,angle between two frames:0.000015 -[12:05:06.312] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =11 error init =1.282626 error end=0.175150 -[12:05:06.312] After pose optimization, distance between ekf and vo x:-0.002126 ,z=0.003120,angle between two frames:0.001273 -[12:05:06.312] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11 -[12:05:06.312] frame Scene Depth mean:0.799203 ,depth min:0.258593 -[12:05:06.312] need key frame pitch dis: 1.941377 translation dif:1.405102 -[12:05:06.312] Choose frame as a key frame Scene Depth mean:0.799203 ,depth min:0.258593 -[12:05:06.312] frame process finished the id is: 106 the obs is:11 -[12:05:06.446] After Reprojection Map nMatches:23 ,distance between ekf and vo x:-0.002270 ,z=0.002487,angle between two frames:0.000257 -[12:05:06.446] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =22 error init =0.001728 error end=0.002503 -[12:05:06.446] After pose optimization, distance between ekf and vo x:-0.001971 ,z=0.002776,angle between two frames:0.000254 -[12:05:06.446] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 -[12:05:06.446] frame Scene Depth mean:1.876598 ,depth min:0.359031 -[12:05:06.447] need key frame pitch dis: 1.938132 translation dif:1.406452 -[12:05:06.447] Choose frame as a key frame Scene Depth mean:1.876598 ,depth min:0.359031 -[12:05:06.447] frame process finished the id is: 107 the obs is:22 -[12:05:06.556] Odometry x=0.928363, y=0.608332, theta=-2.377806 -[12:05:06.574] After Reprojection Map nMatches:22 ,distance between ekf and vo x:-0.000004 ,z=-0.000003,angle between two frames:0.000004 -[12:05:06.575] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =16 error init =0.000051 error end=0.000078 -[12:05:06.575] After pose optimization, distance between ekf and vo x:-0.000489 ,z=-0.000003,angle between two frames:0.001219 -[12:05:06.575] Update EKF and 3D points the number of feature in the new frame: 16 and number of obs: 16 -[12:05:06.575] frame Scene Depth mean:1.733231 ,depth min:0.320645 -[12:05:06.575] need key frame pitch dis: 2.377642 translation dif:1.113964 -[12:05:06.575] Choose frame as a key frame Scene Depth mean:1.733231 ,depth min:0.320645 -[12:05:06.575] frame process finished the id is: 108 the obs is:16 -[12:05:06.710] After Reprojection Map nMatches:13 ,distance between ekf and vo x:0.000001 ,z=-0.000005,angle between two frames:0.000001 -[12:05:06.711] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =7 error init =0.012403 error end=0.084982 -[12:05:06.711] After pose optimization, distance between ekf and vo x:0.003908 ,z=0.002162,angle between two frames:0.006093 -[12:05:06.711] frame process finished the id is: 108 the obs is:16 -[12:05:06.783] Odometry x=0.945226, y=0.590983, theta=-2.395773 -[12:05:06.848] After Reprojection Map nMatches:21 ,distance between ekf and vo x:0.000121 ,z=0.000036,angle between two frames:0.000064 -[12:05:06.848] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =17 error init =0.001214 error end=0.000942 -[12:05:06.848] After pose optimization, distance between ekf and vo x:-0.042191 ,z=-0.014018,angle between two frames:0.065617 -[12:05:06.848] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17 -[12:05:06.848] frame Scene Depth mean:4.530622 ,depth min:0.344184 -[12:05:06.848] need key frame pitch dis: 0.031303 translation dif:0.800568 -[12:05:06.848] Choose frame as a key frame Scene Depth mean:4.530622 ,depth min:0.344184 -[12:05:06.848] frame process finished the id is: 110 the obs is:17 -[12:05:06.980] After Reprojection Map nMatches:15 ,distance between ekf and vo x:-0.000036 ,z=-0.000035,angle between two frames:0.000019 -[12:05:06.980] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =4 error init =0.000025 error end=0.000042 -[12:05:06.980] After pose optimization, distance between ekf and vo x:-0.000036 ,z=-0.000035,angle between two frames:0.000019 -[12:05:06.980] frame process finished the id is: 110 the obs is:17 -[12:05:07.092] Odometry x=0.942304, y=0.581048, theta=-2.401123 -[12:05:07.102] After Reprojection Map nMatches:20 ,distance between ekf and vo x:-0.000036 ,z=-0.000032,angle between two frames:0.000019 -[12:05:07.103] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =12 error init =0.013964 error end=0.003491 -[12:05:07.103] After pose optimization, distance between ekf and vo x:-0.000036 ,z=-0.000032,angle between two frames:0.000019 -[12:05:07.103] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 -[12:05:07.103] frame Scene Depth mean:4.643938 ,depth min:0.344171 -[12:05:07.103] need key frame pitch dis: 0.031306 translation dif:0.800575 -[12:05:07.103] Choose frame as a key frame Scene Depth mean:4.643938 ,depth min:0.344171 -[12:05:07.103] frame process finished the id is: 112 the obs is:12 -[12:05:07.200] After Reprojection Map nMatches:12 ,distance between ekf and vo x:-0.000006 ,z=0.000009,angle between two frames:0.000001 -[12:05:07.200] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =2 error init =2.140789 error end=0.013956 -[12:05:07.200] After pose optimization, distance between ekf and vo x:0.000594 ,z=0.000516,angle between two frames:0.000088 -[12:05:07.200] frame process finished the id is: 112 the obs is:12 -[12:05:07.299] After Reprojection Map nMatches:8 ,distance between ekf and vo x:-0.001681 ,z=-0.000431,angle between two frames:0.000083 -[12:05:07.299] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =2 error init =0.000000 error end=0.000000 -[12:05:07.299] After pose optimization, distance between ekf and vo x:-0.001681 ,z=-0.000431,angle between two frames:0.000083 -[12:05:07.299] frame process finished the id is: 112 the obs is:12 -[12:05:07.386] After Reprojection Map nMatches:7 ,distance between ekf and vo x:-0.000064 ,z=0.000017,angle between two frames:0.000001 -[12:05:07.386] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =4 error init =0.001299 error end=0.001880 -[12:05:07.386] After pose optimization, distance between ekf and vo x:0.014541 ,z=0.003922,angle between two frames:0.025084 -[12:05:07.386] frame process finished the id is: 112 the obs is:12 -[12:05:07.464] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.464] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.464] frame process finished the id is: 112 the obs is:12 -[12:05:07.545] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.545] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.545] frame process finished the id is: 112 the obs is:12 -[12:05:07.627] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.627] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.627] frame process finished the id is: 112 the obs is:12 -[12:05:07.708] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.708] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.708] frame process finished the id is: 112 the obs is:12 -[12:05:07.794] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.795] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.795] frame process finished the id is: 112 the obs is:12 -[12:05:07.893] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.893] frame process finished the id is: 112 the obs is:12 -[12:05:07.993] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.993] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:07.993] frame process finished the id is: 112 the obs is:12 -[12:05:08.092] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.092] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.092] frame process finished the id is: 112 the obs is:12 -[12:05:08.192] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.192] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.192] frame process finished the id is: 112 the obs is:12 -[12:05:08.295] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.295] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.295] frame process finished the id is: 112 the obs is:12 -[12:05:08.397] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.397] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.397] frame process finished the id is: 112 the obs is:12 -[12:05:08.493] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.493] frame process finished the id is: 112 the obs is:12 -[12:05:08.593] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.594] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.594] frame process finished the id is: 112 the obs is:12 -[12:05:08.694] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.694] frame process finished the id is: 112 the obs is:12 -[12:05:08.793] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.793] frame process finished the id is: 112 the obs is:12 -[12:05:08.893] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.893] frame process finished the id is: 112 the obs is:12 -[12:05:08.992] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:08.992] frame process finished the id is: 112 the obs is:12 -[12:05:09.088] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.088] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.088] frame process finished the id is: 112 the obs is:12 -[12:05:09.197] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.197] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.197] frame process finished the id is: 112 the obs is:12 -[12:05:09.290] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.290] frame process finished the id is: 112 the obs is:12 -[12:05:09.392] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.392] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.392] frame process finished the id is: 112 the obs is:12 -[12:05:09.493] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.493] frame process finished the id is: 112 the obs is:12 -[12:05:09.596] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.596] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.596] frame process finished the id is: 112 the obs is:12 -[12:05:09.689] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.689] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.689] frame process finished the id is: 112 the obs is:12 -[12:05:09.794] Odometry x=0.942870, y=0.579948, theta=-2.405912 -[12:05:09.795] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.795] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.795] frame process finished the id is: 112 the obs is:12 -[12:05:09.895] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.895] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.895] frame process finished the id is: 112 the obs is:12 -[12:05:09.992] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:09.992] frame process finished the id is: 112 the obs is:12 -[12:05:10.031] Odometry x=0.942894, y=0.579874, theta=-2.407300 -[12:05:10.091] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.091] frame process finished the id is: 112 the obs is:12 -[12:05:10.191] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.191] frame process finished the id is: 112 the obs is:12 -[12:05:10.286] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.286] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.286] frame process finished the id is: 112 the obs is:12 -[12:05:10.313] Odometry x=0.942899, y=0.579830, theta=-2.432420 -[12:05:10.389] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.389] frame process finished the id is: 112 the obs is:12 -[12:05:10.488] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.488] frame process finished the id is: 112 the obs is:12 -[12:05:10.537] Odometry x=0.942862, y=0.579785, theta=-2.518755 -[12:05:10.589] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.589] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.589] frame process finished the id is: 112 the obs is:12 -[12:05:10.690] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.690] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.690] frame process finished the id is: 112 the obs is:12 -[12:05:10.793] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.793] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.793] frame process finished the id is: 112 the obs is:12 -[12:05:10.826] Odometry x=0.942860, y=0.579779, theta=-2.592032 -[12:05:10.897] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.897] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.897] frame process finished the id is: 112 the obs is:12 -[12:05:10.992] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.992] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:10.992] frame process finished the id is: 112 the obs is:12 -[12:05:11.085] Odometry x=0.942903, y=0.579190, theta=-2.676297 -[12:05:11.086] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.086] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.086] frame process finished the id is: 112 the obs is:12 -[12:05:11.188] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.188] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.188] frame process finished the id is: 112 the obs is:12 -[12:05:11.288] Odometry x=0.942891, y=0.579188, theta=-2.757157 -[12:05:11.288] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.288] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.288] frame process finished the id is: 112 the obs is:12 -[12:05:11.389] After Reprojection Map nMatches:11 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.389] frame process finished the id is: 112 the obs is:12 -[12:05:11.488] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.488] frame process finished the id is: 112 the obs is:12 -[12:05:11.554] Odometry x=0.942897, y=0.579195, theta=-2.838272 -[12:05:11.589] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.589] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.589] frame process finished the id is: 112 the obs is:12 -[12:05:11.695] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.696] frame process finished the id is: 112 the obs is:12 -[12:05:11.789] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.789] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.789] frame process finished the id is: 112 the obs is:12 -[12:05:11.823] Odometry x=0.942884, y=0.579177, theta=-2.929845 -[12:05:11.887] After Reprojection Map nMatches:12 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.887] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:11.887] frame process finished the id is: 112 the obs is:12 -[12:05:12.026] After Reprojection Map nMatches:14 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:12.026] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =4 error init =0.000000 error end=0.000000 -[12:05:12.026] After pose optimization, distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:12.026] frame process finished the id is: 112 the obs is:12 -[12:05:12.052] Odometry x=0.942809, y=0.578991, theta=-3.002776 -[12:05:12.138] After Reprojection Map nMatches:14 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:12.138] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =10 error init =0.000000 error end=0.000004 -[12:05:12.138] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:12.138] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10 -[12:05:12.138] frame Scene Depth mean:0.241040 ,depth min:0.074887 -[12:05:12.138] need key frame pitch dis: 2.897119 translation dif:1.084097 -[12:05:12.138] Choose frame as a key frame Scene Depth mean:0.241040 ,depth min:0.074887 -[12:05:12.138] frame process finished the id is: 163 the obs is:10 -[12:05:12.228] After Reprojection Map nMatches:10 ,distance between ekf and vo x:0.000008 ,z=0.000083,angle between two frames:0.000003 -[12:05:12.228] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =8 error init =0.000000 error end=0.000000 -[12:05:12.228] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000083,angle between two frames:0.000003 -[12:05:12.228] frame process finished the id is: 163 the obs is:10 -[12:05:12.309] Odometry x=0.942341, y=0.577979, theta=-3.108622 -[12:05:12.318] After Reprojection Map nMatches:8 ,distance between ekf and vo x:0.000088 ,z=-0.000672,angle between two frames:0.001122 -[12:05:12.318] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =7 error init =0.047439 error end=0.049044 -[12:05:12.318] After pose optimization, distance between ekf and vo x:0.000088 ,z=-0.000672,angle between two frames:0.001122 -[12:05:12.318] frame process finished the id is: 163 the obs is:10 -[12:05:12.409] After Reprojection Map nMatches:7 ,distance between ekf and vo x:0.000090 ,z=-0.000711,angle between two frames:0.001168 -[12:05:12.409] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =7 error init =0.000005 error end=0.000005 -[12:05:12.409] After pose optimization, distance between ekf and vo x:0.000090 ,z=-0.000711,angle between two frames:0.001168 -[12:05:12.409] frame process finished the id is: 163 the obs is:10 -[12:05:12.503] After Reprojection Map nMatches:7 ,distance between ekf and vo x:-0.000002 ,z=-0.000372,angle between two frames:0.000526 -[12:05:12.503] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =7 error init =0.000002 error end=0.000001 -[12:05:12.503] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000372,angle between two frames:0.000525 -[12:05:12.503] frame process finished the id is: 163 the obs is:10 -[12:05:12.526] Odometry x=0.942141, y=0.577611, theta=3.117967 -[12:05:12.603] After Reprojection Map nMatches:7 ,distance between ekf and vo x:-0.000002 ,z=-0.000372,angle between two frames:0.000526 -[12:05:12.603] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =7 error init =0.002964 error end=0.001586 -[12:05:12.603] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000372,angle between two frames:0.000526 -[12:05:12.603] frame process finished the id is: 163 the obs is:10 -[12:05:12.699] After Reprojection Map nMatches:7 ,distance between ekf and vo x:-0.000033 ,z=-0.000429,angle between two frames:0.000612 -[12:05:12.699] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =0 error init =0.956420 error end=0.045160 -[12:05:12.699] After pose optimization, distance between ekf and vo x:-0.007605 ,z=-0.004681,angle between two frames:0.008016 -[12:05:12.699] frame process finished the id is: 163 the obs is:10 -[12:05:12.784] Odometry x=0.942113, y=0.577481, theta=3.045387 -[12:05:12.790] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:12.790] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:12.790] frame process finished the id is: 163 the obs is:10 -[12:05:12.891] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:12.891] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:12.891] frame process finished the id is: 163 the obs is:10 -[12:05:12.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:12.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:12.990] frame process finished the id is: 163 the obs is:10 -[12:05:13.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.090] frame process finished the id is: 163 the obs is:10 -[12:05:13.106] Odometry x=0.942106, y=0.577481, theta=2.974482 -[12:05:13.189] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.189] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.189] frame process finished the id is: 163 the obs is:10 -[12:05:13.287] Odometry x=0.942190, y=0.576973, theta=2.904573 -[12:05:13.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.290] frame process finished the id is: 163 the obs is:10 -[12:05:13.388] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.388] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.388] frame process finished the id is: 163 the obs is:10 -[12:05:13.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.488] frame process finished the id is: 163 the obs is:10 -[12:05:13.550] Odometry x=0.942134, y=0.576929, theta=2.827470 -[12:05:13.587] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.587] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.587] frame process finished the id is: 163 the obs is:10 -[12:05:13.687] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.687] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.687] frame process finished the id is: 163 the obs is:10 -[12:05:13.794] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.794] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.794] frame process finished the id is: 163 the obs is:10 -[12:05:13.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:13.893] frame process finished the id is: 163 the obs is:10 -[12:05:14.003] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.003] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.003] frame process finished the id is: 163 the obs is:10 -[12:05:14.095] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.095] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.095] frame process finished the id is: 163 the obs is:10 -[12:05:14.196] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.196] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.196] frame process finished the id is: 163 the obs is:10 -[12:05:14.294] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.294] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.294] frame process finished the id is: 163 the obs is:10 -[12:05:14.319] Odometry x=0.942130, y=0.576937, theta=2.806370 -[12:05:14.400] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.400] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.400] frame process finished the id is: 163 the obs is:10 -[12:05:14.495] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.495] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.495] frame process finished the id is: 163 the obs is:10 -[12:05:14.539] Odometry x=0.941894, y=0.576743, theta=2.802521 -[12:05:14.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.591] frame process finished the id is: 163 the obs is:10 -[12:05:14.694] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.694] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.694] frame process finished the id is: 163 the obs is:10 -[12:05:14.781] Odometry x=0.941646, y=0.576557, theta=2.788335 -[12:05:14.785] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.786] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.786] frame process finished the id is: 163 the obs is:10 -[12:05:14.889] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.889] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.889] frame process finished the id is: 163 the obs is:10 -[12:05:14.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:14.990] frame process finished the id is: 163 the obs is:10 -[12:05:15.087] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.087] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.087] frame process finished the id is: 163 the obs is:10 -[12:05:15.120] Odometry x=0.941643, y=0.576560, theta=2.737629 -[12:05:15.198] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.198] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.198] frame process finished the id is: 163 the obs is:10 -[12:05:15.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.291] frame process finished the id is: 163 the obs is:10 -[12:05:15.394] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.394] frame process finished the id is: 163 the obs is:10 -[12:05:15.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.488] frame process finished the id is: 163 the obs is:10 -[12:05:15.588] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.588] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.588] frame process finished the id is: 163 the obs is:10 -[12:05:15.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.695] frame process finished the id is: 163 the obs is:10 -[12:05:15.807] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.807] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.807] frame process finished the id is: 163 the obs is:10 -[12:05:15.888] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.888] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.888] frame process finished the id is: 163 the obs is:10 -[12:05:15.991] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:15.991] frame process finished the id is: 163 the obs is:10 -[12:05:16.091] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.091] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.091] frame process finished the id is: 163 the obs is:10 -[12:05:16.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.191] frame process finished the id is: 163 the obs is:10 -[12:05:16.292] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.292] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.292] frame process finished the id is: 163 the obs is:10 -[12:05:16.391] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.391] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.391] frame process finished the id is: 163 the obs is:10 -[12:05:16.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.488] frame process finished the id is: 163 the obs is:10 -[12:05:16.529] Odometry x=0.941436, y=0.576111, theta=2.717372 -[12:05:16.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.591] frame process finished the id is: 163 the obs is:10 -[12:05:16.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.693] frame process finished the id is: 163 the obs is:10 -[12:05:16.788] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.788] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.788] frame process finished the id is: 163 the obs is:10 -[12:05:16.791] Odometry x=0.941325, y=0.575921, theta=2.718534 -[12:05:16.888] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.888] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.888] frame process finished the id is: 163 the obs is:10 -[12:05:16.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.991] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:16.991] frame process finished the id is: 163 the obs is:10 -[12:05:17.087] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.087] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.087] frame process finished the id is: 163 the obs is:10 -[12:05:17.130] Odometry x=0.937888, y=0.570718, theta=2.719788 -[12:05:17.191] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.191] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.191] frame process finished the id is: 163 the obs is:10 -[12:05:17.282] Odometry x=0.935011, y=0.564227, theta=2.722348 -[12:05:17.291] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.291] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.291] frame process finished the id is: 163 the obs is:10 -[12:05:17.389] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.389] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.389] frame process finished the id is: 163 the obs is:10 -[12:05:17.486] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.486] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.486] frame process finished the id is: 163 the obs is:10 -[12:05:17.550] Odometry x=0.929773, y=0.552493, theta=2.720872 -[12:05:17.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.591] frame process finished the id is: 163 the obs is:10 -[12:05:17.686] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.686] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.686] frame process finished the id is: 163 the obs is:10 -[12:05:17.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.792] frame process finished the id is: 163 the obs is:10 -[12:05:17.807] Odometry x=0.924033, y=0.539666, theta=2.720294 -[12:05:17.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.890] frame process finished the id is: 163 the obs is:10 -[12:05:17.990] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.990] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:17.990] frame process finished the id is: 163 the obs is:10 -[12:05:18.059] Odometry x=0.917988, y=0.526220, theta=2.712004 -[12:05:18.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.089] frame process finished the id is: 163 the obs is:10 -[12:05:18.188] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.188] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.188] frame process finished the id is: 163 the obs is:10 -[12:05:18.295] Odometry x=0.912240, y=0.513348, theta=2.737351 -[12:05:18.299] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.299] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.299] frame process finished the id is: 163 the obs is:10 -[12:05:18.394] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.394] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.394] frame process finished the id is: 163 the obs is:10 -[12:05:18.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.490] frame process finished the id is: 163 the obs is:10 -[12:05:18.535] Odometry x=0.906785, y=0.500313, theta=2.751700 -[12:05:18.587] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.587] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.587] frame process finished the id is: 163 the obs is:10 -[12:05:18.692] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.692] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.692] frame process finished the id is: 163 the obs is:10 -[12:05:18.787] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.787] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.787] frame process finished the id is: 163 the obs is:10 -[12:05:18.805] Odometry x=0.901253, y=0.487366, theta=2.746586 -[12:05:18.886] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.886] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.886] frame process finished the id is: 163 the obs is:10 -[12:05:18.985] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.985] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:18.985] frame process finished the id is: 163 the obs is:10 -[12:05:19.089] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.089] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.089] frame process finished the id is: 163 the obs is:10 -[12:05:19.190] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.190] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.190] frame process finished the id is: 163 the obs is:10 -[12:05:19.290] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.290] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.290] frame process finished the id is: 163 the obs is:10 -[12:05:19.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.393] frame process finished the id is: 163 the obs is:10 -[12:05:19.490] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.490] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.490] frame process finished the id is: 163 the obs is:10 -[12:05:19.549] Odometry x=0.901327, y=0.487355, theta=2.732196 -[12:05:19.591] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.591] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.591] frame process finished the id is: 163 the obs is:10 -[12:05:19.691] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.691] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.691] frame process finished the id is: 163 the obs is:10 -[12:05:19.789] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.789] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.789] frame process finished the id is: 163 the obs is:10 -[12:05:19.823] Odometry x=0.899781, y=0.483825, theta=2.733499 -[12:05:19.890] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.890] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.890] frame process finished the id is: 163 the obs is:10 -[12:05:19.988] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.988] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:19.988] frame process finished the id is: 163 the obs is:10 -[12:05:20.043] Odometry x=0.894847, y=0.472600, theta=2.735795 -[12:05:20.090] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.090] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.090] frame process finished the id is: 163 the obs is:10 -[12:05:20.187] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.188] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.188] frame process finished the id is: 163 the obs is:10 -[12:05:20.289] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.289] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.289] frame process finished the id is: 163 the obs is:10 -[12:05:20.318] Odometry x=0.889937, y=0.461352, theta=2.730389 -[12:05:20.387] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.387] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.387] frame process finished the id is: 163 the obs is:10 -[12:05:20.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.488] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.488] frame process finished the id is: 163 the obs is:10 -[12:05:20.590] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.590] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.590] frame process finished the id is: 163 the obs is:10 -[12:05:20.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.693] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.693] frame process finished the id is: 163 the obs is:10 -[12:05:20.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.792] frame process finished the id is: 163 the obs is:10 -[12:05:20.893] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.893] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.893] frame process finished the id is: 163 the obs is:10 -[12:05:20.993] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.994] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:20.994] frame process finished the id is: 163 the obs is:10 -[12:05:21.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.094] frame process finished the id is: 163 the obs is:10 -[12:05:21.199] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.199] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.199] frame process finished the id is: 163 the obs is:10 -[12:05:21.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.293] frame process finished the id is: 163 the obs is:10 -[12:05:21.398] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.398] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.398] frame process finished the id is: 163 the obs is:10 -[12:05:21.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.493] frame process finished the id is: 163 the obs is:10 -[12:05:21.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.592] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.592] frame process finished the id is: 163 the obs is:10 -[12:05:21.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.695] frame process finished the id is: 163 the obs is:10 -[12:05:21.792] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.792] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.792] frame process finished the id is: 163 the obs is:10 -[12:05:21.895] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.895] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.895] frame process finished the id is: 163 the obs is:10 -[12:05:21.995] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.995] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:21.995] frame process finished the id is: 163 the obs is:10 -[12:05:22.093] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.093] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.093] frame process finished the id is: 163 the obs is:10 -[12:05:22.195] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.195] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.195] frame process finished the id is: 163 the obs is:10 -[12:05:22.294] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.294] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.294] frame process finished the id is: 163 the obs is:10 -[12:05:22.395] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.395] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.395] frame process finished the id is: 163 the obs is:10 -[12:05:22.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.493] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.493] frame process finished the id is: 163 the obs is:10 -[12:05:22.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.595] frame process finished the id is: 163 the obs is:10 -[12:05:22.696] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.696] frame process finished the id is: 163 the obs is:10 -[12:05:22.795] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.795] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.795] frame process finished the id is: 163 the obs is:10 -[12:05:22.895] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.895] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.895] frame process finished the id is: 163 the obs is:10 -[12:05:22.995] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.995] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:22.995] frame process finished the id is: 163 the obs is:10 -[12:05:23.095] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.095] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.095] frame process finished the id is: 163 the obs is:10 -[12:05:23.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.194] frame process finished the id is: 163 the obs is:10 -[12:05:23.293] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.293] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.293] frame process finished the id is: 163 the obs is:10 -[12:05:23.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.393] frame process finished the id is: 163 the obs is:10 -[12:05:23.493] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.494] frame process finished the id is: 163 the obs is:10 -[12:05:23.595] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.595] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.595] frame process finished the id is: 163 the obs is:10 -[12:05:23.695] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.695] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.696] frame process finished the id is: 163 the obs is:10 -[12:05:23.800] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.800] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.800] frame process finished the id is: 163 the obs is:10 -[12:05:23.896] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.896] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.896] frame process finished the id is: 163 the obs is:10 -[12:05:23.998] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.998] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:23.998] frame process finished the id is: 163 the obs is:10 -[12:05:24.096] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.096] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.096] frame process finished the id is: 163 the obs is:10 -[12:05:24.196] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.196] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.196] frame process finished the id is: 163 the obs is:10 -[12:05:24.294] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.294] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.294] frame process finished the id is: 163 the obs is:10 -[12:05:24.397] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.397] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.397] frame process finished the id is: 163 the obs is:10 -[12:05:24.494] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.494] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.494] frame process finished the id is: 163 the obs is:10 -[12:05:24.594] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.594] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.594] frame process finished the id is: 163 the obs is:10 -[12:05:24.696] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.696] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.696] frame process finished the id is: 163 the obs is:10 -[12:05:24.796] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.796] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.796] frame process finished the id is: 163 the obs is:10 -[12:05:24.894] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.894] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:24.894] frame process finished the id is: 163 the obs is:10 -[12:05:25.000] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:25.000] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:25.000] frame process finished the id is: 163 the obs is:10 -[12:05:25.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:25.094] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:25.094] frame process finished the id is: 163 the obs is:10 -[12:05:25.194] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:25.194] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:25.194] frame process finished the id is: 163 the obs is:10 -[12:05:25.296] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:25.296] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:25.296] frame process finished the id is: 163 the obs is:10 -[12:05:25.393] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:25.393] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:25.393] frame process finished the id is: 163 the obs is:10 -[12:05:25.476] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:25.476] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[12:05:25.476] frame process finished the id is: 163 the obs is:10 +[19:07:52.624] Init: frame zero: 0.000000, 0.000000 0.000000 +[19:07:52.624] Init: Selected first frame. +[19:07:52.624] frame process finished the id is: 0 the obs is:0 +[19:07:52.655] Init: px average disparity is:0.032512 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:52.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:52.655] frame process finished the id is: 1 the obs is:0 +[19:07:52.752] Init: px average disparity is:0.031284 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:52.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:52.752] frame process finished the id is: 2 the obs is:0 +[19:07:52.850] Init: px average disparity is:0.036556 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:52.850] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:52.850] frame process finished the id is: 3 the obs is:0 +[19:07:52.952] Init: px average disparity is:0.032202 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:52.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:52.952] frame process finished the id is: 4 the obs is:0 +[19:07:53.049] Init: px average disparity is:0.041515 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:53.049] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:53.049] frame process finished the id is: 5 the obs is:0 +[19:07:53.150] Init: px average disparity is:0.030973 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:53.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:53.150] frame process finished the id is: 6 the obs is:0 +[19:07:53.247] Init: px average disparity is:0.031908 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:53.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:53.247] frame process finished the id is: 7 the obs is:0 +[19:07:53.350] Init: px average disparity is:0.035828 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:53.350] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:53.350] frame process finished the id is: 8 the obs is:0 +[19:07:53.447] Init: px average disparity is:0.031084 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:53.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:53.447] frame process finished the id is: 9 the obs is:0 +[19:07:53.549] Init: px average disparity is:0.040163 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:53.549] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:53.549] frame process finished the id is: 10 the obs is:0 +[19:07:53.651] Init: px average disparity is:0.036231 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:53.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:53.651] frame process finished the id is: 11 the obs is:0 +[19:07:53.750] Init: px average disparity is:0.032094 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:53.750] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:53.750] frame process finished the id is: 12 the obs is:0 +[19:07:53.846] Init: px average disparity is:0.039061 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:53.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:53.846] frame process finished the id is: 13 the obs is:0 +[19:07:53.917] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[19:07:53.958] Init: px average disparity is:0.039995 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:53.958] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:53.958] frame process finished the id is: 14 the obs is:0 +[19:07:54.048] Init: px average disparity is:0.032783 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:54.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:54.048] frame process finished the id is: 15 the obs is:0 +[19:07:54.140] Odometry x=0.000002, y=0.019215, theta=-0.000002 +[19:07:54.155] Init: px average disparity is:0.152070 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:54.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:54.155] frame process finished the id is: 16 the obs is:0 +[19:07:54.251] Init: px average disparity is:6.438189 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:54.251] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:54.251] frame process finished the id is: 17 the obs is:0 +[19:07:54.357] Init: px average disparity is:4.621185 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:54.357] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:54.357] frame process finished the id is: 18 the obs is:0 +[19:07:54.408] Odometry x=-0.000077, y=0.051753, theta=0.002548 +[19:07:54.457] Init: px average disparity is:4.962524 ,While minimum is: 10.000000 KLT tracked : 896 +[19:07:54.457] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:54.457] frame process finished the id is: 19 the obs is:0 +[19:07:54.553] Init: px average disparity is:9.757717 ,While minimum is: 10.000000 KLT tracked : 895 +[19:07:54.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:54.553] frame process finished the id is: 20 the obs is:0 +[19:07:54.684] Odometry x=-0.000142, y=0.082503, theta=0.000328 +[19:07:54.741] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:12.627500 ,While minimum is: 10.000000 KLT tracked: 895 +[19:07:54.741] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:54.741] frame process finished the id is: 21 the obs is:0 +[19:07:54.839] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:15.604936 ,While minimum is: 10.000000 KLT tracked: 888 +[19:07:54.839] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:54.839] frame process finished the id is: 22 the obs is:0 +[19:07:54.894] Odometry x=0.000084, y=0.112105, theta=0.003193 +[19:07:54.946] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:19.846154 ,While minimum is: 10.000000 KLT tracked: 888 +[19:07:54.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:54.946] frame process finished the id is: 23 the obs is:0 +[19:07:55.054] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:29.051805 ,While minimum is: 10.000000 KLT tracked: 888 +[19:07:55.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:55.054] frame process finished the id is: 24 the obs is:0 +[19:07:55.194] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:27.308837 ,While minimum is: 10.000000 KLT tracked: 888 +[19:07:55.194] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:55.194] frame process finished the id is: 25 the obs is:0 +[19:07:55.197] Odometry x=0.000025, y=0.141120, theta=0.009788 +[19:07:55.304] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:28.646685 ,While minimum is: 10.000000 KLT tracked: 887 +[19:07:55.304] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:55.304] frame process finished the id is: 26 the obs is:0 +[19:07:55.419] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:34.191057 ,While minimum is: 10.000000 KLT tracked: 887 +[19:07:55.419] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:55.419] frame process finished the id is: 27 the obs is:0 +[19:07:55.425] Odometry x=-0.000361, y=0.170199, theta=0.014686 +[19:07:55.547] Init: Homography RANSAC (inlier) is:0 ,While 40 inliers minimum required. px average disparity is:41.345493 ,While minimum is: 10.000000 KLT tracked: 883 +[19:07:55.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:55.547] frame process finished the id is: 28 the obs is:0 +[19:07:55.661] Odometry x=-0.000705, y=0.199401, theta=0.015152 +[19:07:55.681] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:47.654688 ,While minimum is: 10.000000 KLT tracked: 847 +[19:07:55.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:55.681] frame process finished the id is: 29 the obs is:0 +[19:07:55.796] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:43.551931 ,While minimum is: 10.000000 KLT tracked: 786 +[19:07:55.796] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:55.796] frame process finished the id is: 30 the obs is:0 +[19:07:55.906] Init: Homography RANSAC (inlier) is:8 ,While 40 inliers minimum required. px average disparity is:47.016634 ,While minimum is: 10.000000 KLT tracked: 760 +[19:07:55.907] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:55.907] frame process finished the id is: 31 the obs is:0 +[19:07:55.919] Odometry x=-0.001338, y=0.228181, theta=0.024783 +[19:07:56.020] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:44.933811 ,While minimum is: 10.000000 KLT tracked: 753 +[19:07:56.020] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:56.020] frame process finished the id is: 32 the obs is:0 +[19:07:56.134] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:49.476444 ,While minimum is: 10.000000 KLT tracked: 751 +[19:07:56.134] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:56.134] frame process finished the id is: 33 the obs is:0 +[19:07:56.146] Odometry x=-0.002141, y=0.256590, theta=0.034493 +[19:07:56.252] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:50.914915 ,While minimum is: 10.000000 KLT tracked: 737 +[19:07:56.252] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:56.252] frame process finished the id is: 34 the obs is:0 +[19:07:56.363] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:45.043391 ,While minimum is: 10.000000 KLT tracked: 737 +[19:07:56.363] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:56.363] frame process finished the id is: 35 the obs is:0 +[19:07:56.388] Odometry x=-0.003079, y=0.284319, theta=0.034810 +[19:07:56.474] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:42.854049 ,While minimum is: 10.000000 KLT tracked: 734 +[19:07:56.474] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:56.474] frame process finished the id is: 36 the obs is:0 +[19:07:56.635] Odometry x=-0.003642, y=0.310262, theta=0.038457 +[19:07:56.652] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:84.759268 ,While minimum is: 10.000000 KLT tracked: 718 +[19:07:56.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:56.652] frame process finished the id is: 37 the obs is:0 +[19:07:56.769] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:41.534774 ,While minimum is: 10.000000 KLT tracked: 698 +[19:07:56.769] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:56.769] frame process finished the id is: 38 the obs is:0 +[19:07:56.878] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:41.890483 ,While minimum is: 10.000000 KLT tracked: 694 +[19:07:56.878] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:56.878] frame process finished the id is: 39 the obs is:0 +[19:07:56.889] Odometry x=-0.004564, y=0.336417, theta=0.035257 +[19:07:56.994] Init: Homography RANSAC (inlier) is:1 ,While 40 inliers minimum required. px average disparity is:50.036648 ,While minimum is: 10.000000 KLT tracked: 694 +[19:07:56.994] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:56.994] frame process finished the id is: 40 the obs is:0 +[19:07:57.103] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:50.460980 ,While minimum is: 10.000000 KLT tracked: 694 +[19:07:57.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:57.103] frame process finished the id is: 41 the obs is:0 +[19:07:57.210] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.866775 ,While minimum is: 10.000000 KLT tracked: 694 +[19:07:57.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:57.210] frame process finished the id is: 42 the obs is:0 +[19:07:57.227] Odometry x=-0.004899, y=0.361293, theta=0.040091 +[19:07:57.319] Init: Homography RANSAC (inlier) is:2 ,While 40 inliers minimum required. px average disparity is:55.873502 ,While minimum is: 10.000000 KLT tracked: 694 +[19:07:57.319] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:07:57.319] frame process finished the id is: 43 the obs is:0 +[19:07:57.392] Odometry x=-0.004733, y=0.385165, theta=0.053182 +[19:07:57.427] Init finished: Homography RANSAC (inlier) is:132 ,While 40 inliers minimum required. px average disparity is:54.897266 ,While minimum is: 10.000000 KLT tracked: 692 +[19:07:57.427] Init: distance between the first and current frame is x:-0.006247 ,z=0.436171,angle between two frames: 0.051089 +[19:07:57.427] Init: Selected Second frame. The number of features: 132 depth mean:0.833198 min:0.519654 +[19:07:57.427] frame process finished the id is: 44 the obs is:132 +[19:07:57.570] After Reprojection Map nMatches:70 ,distance between ekf and vo x:-0.001390 ,z=0.002815,angle between two frames:0.000268 +[19:07:57.570] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =53 error init =0.083212 error end=0.035462 +[19:07:57.570] After pose optimization, distance between ekf and vo x:-0.001390 ,z=0.002815,angle between two frames:0.000268 +[19:07:57.570] Update EKF and 3D points the number of feature in the new frame: 53 and number of obs: 53 +[19:07:57.570] frame Scene Depth mean:0.731697 ,depth min:0.514046 +[19:07:57.571] need key frame pitch dis: 0.058935 translation dif:0.436229 +[19:07:57.571] Choose frame as a key frame Scene Depth mean:0.731697 ,depth min:0.514046 +[19:07:57.571] frame process finished the id is: 45 the obs is:53 +[19:07:57.641] Odometry x=-0.007188, y=0.436170, theta=0.058935 +[19:07:57.725] After Reprojection Map nMatches:64 ,distance between ekf and vo x:-0.003230 ,z=0.002067,angle between two frames:0.001707 +[19:07:57.725] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =57 error init =0.021342 error end=0.047718 +[19:07:57.725] After pose optimization, distance between ekf and vo x:-0.003230 ,z=0.002067,angle between two frames:0.001707 +[19:07:57.725] Update EKF and 3D points the number of feature in the new frame: 57 and number of obs: 57 +[19:07:57.725] frame Scene Depth mean:0.721604 ,depth min:0.350223 +[19:07:57.725] need key frame pitch dis: 0.056694 translation dif:0.785248 +[19:07:57.725] Choose frame as a key frame Scene Depth mean:0.721604 ,depth min:0.350223 +[19:07:57.725] frame process finished the id is: 46 the obs is:57 +[19:07:57.884] Odometry x=-0.002575, y=0.447790, theta=0.054150 +[19:07:57.890] After Reprojection Map nMatches:78 ,distance between ekf and vo x:-0.002836 ,z=0.003202,angle between two frames:0.000173 +[19:07:57.891] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =69 error init =0.004715 error end=0.005971 +[19:07:57.891] After pose optimization, distance between ekf and vo x:-0.002836 ,z=0.003202,angle between two frames:0.000173 +[19:07:57.891] Update EKF and 3D points the number of feature in the new frame: 69 and number of obs: 69 +[19:07:57.891] frame Scene Depth mean:0.834815 ,depth min:0.250172 +[19:07:57.892] need key frame pitch dis: 2.899390 translation dif:0.869348 +[19:07:57.892] Choose frame as a key frame Scene Depth mean:0.834815 ,depth min:0.250172 +[19:07:57.892] frame process finished the id is: 47 the obs is:69 +[19:07:58.032] After Reprojection Map nMatches:82 ,distance between ekf and vo x:-0.001697 ,z=0.002509,angle between two frames:0.000069 +[19:07:58.032] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =66 error init =0.019267 error end=0.056642 +[19:07:58.032] After pose optimization, distance between ekf and vo x:-0.001697 ,z=0.002509,angle between two frames:0.000069 +[19:07:58.032] Update EKF and 3D points the number of feature in the new frame: 66 and number of obs: 66 +[19:07:58.032] frame Scene Depth mean:0.764360 ,depth min:0.213546 +[19:07:58.033] need key frame pitch dis: 2.896245 translation dif:0.871927 +[19:07:58.033] Choose frame as a key frame Scene Depth mean:0.764360 ,depth min:0.213546 +[19:07:58.033] frame process finished the id is: 48 the obs is:66 +[19:07:58.165] Odometry x=-0.005055, y=0.487625, theta=0.057294 +[19:07:58.205] After Reprojection Map nMatches:77 ,distance between ekf and vo x:-0.004788 ,z=0.004709,angle between two frames:0.000458 +[19:07:58.205] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =62 error init =0.041164 error end=0.082425 +[19:07:58.205] After pose optimization, distance between ekf and vo x:-0.004788 ,z=0.004709,angle between two frames:0.000458 +[19:07:58.205] Update EKF and 3D points the number of feature in the new frame: 62 and number of obs: 62 +[19:07:58.205] frame Scene Depth mean:0.538488 ,depth min:0.155249 +[19:07:58.206] need key frame pitch dis: 0.899303 translation dif:1.395660 +[19:07:58.206] Choose frame as a key frame Scene Depth mean:0.538488 ,depth min:0.155249 +[19:07:58.206] frame process finished the id is: 49 the obs is:62 +[19:07:58.387] Odometry x=-0.007392, y=0.516207, theta=0.059347 +[19:07:58.404] After Reprojection Map nMatches:66 ,distance between ekf and vo x:-0.005603 ,z=0.006762,angle between two frames:0.000056 +[19:07:58.404] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =58 error init =0.035684 error end=0.127969 +[19:07:58.404] After pose optimization, distance between ekf and vo x:-0.005603 ,z=0.006762,angle between two frames:0.000056 +[19:07:58.404] Update EKF and 3D points the number of feature in the new frame: 58 and number of obs: 58 +[19:07:58.404] frame Scene Depth mean:0.534527 ,depth min:0.061689 +[19:07:58.406] need key frame pitch dis: 0.199591 translation dif:0.420229 +[19:07:58.406] Choose frame as a key frame Scene Depth mean:0.534527 ,depth min:0.061689 +[19:07:58.406] frame process finished the id is: 50 the obs is:57 +[19:07:58.592] After Reprojection Map nMatches:76 ,distance between ekf and vo x:-0.004301 ,z=0.005403,angle between two frames:0.000201 +[19:07:58.592] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =47 error init =0.064996 error end=0.110783 +[19:07:58.592] After pose optimization, distance between ekf and vo x:-0.004301 ,z=0.005403,angle between two frames:0.000201 +[19:07:58.592] Update EKF and 3D points the number of feature in the new frame: 47 and number of obs: 47 +[19:07:58.592] frame Scene Depth mean:0.680989 ,depth min:0.061062 +[19:07:58.593] need key frame pitch dis: 0.184793 translation dif:0.808032 +[19:07:58.593] Choose frame as a key frame Scene Depth mean:0.680989 ,depth min:0.061062 +[19:07:58.593] frame process finished the id is: 51 the obs is:47 +[19:07:58.648] Odometry x=-0.009693, y=0.547924, theta=0.060366 +[19:07:58.890] After Reprojection Map nMatches:81 ,distance between ekf and vo x:-0.010686 ,z=0.012267,angle between two frames:0.000436 +[19:07:58.890] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =64 error init =0.034569 error end=0.049451 +[19:07:58.890] After pose optimization, distance between ekf and vo x:-0.010686 ,z=0.012267,angle between two frames:0.000436 +[19:07:58.890] Update EKF and 3D points the number of feature in the new frame: 64 and number of obs: 64 +[19:07:58.890] frame Scene Depth mean:2.366307 ,depth min:0.069239 +[19:07:58.892] need key frame pitch dis: 0.092998 translation dif:1.345032 +[19:07:58.892] Choose frame as a key frame Scene Depth mean:2.366307 ,depth min:0.069239 +[19:07:58.892] frame process finished the id is: 52 the obs is:64 +[19:07:58.900] Odometry x=-0.012816, y=0.561274, theta=0.057861 +[19:07:59.204] Odometry x=-0.015035, y=0.575016, theta=0.063807 +[19:07:59.204] After Reprojection Map nMatches:112 ,distance between ekf and vo x:-0.011155 ,z=0.013549,angle between two frames:0.000363 +[19:07:59.204] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =78 error init =0.042854 error end=0.058138 +[19:07:59.204] After pose optimization, distance between ekf and vo x:-0.011155 ,z=0.013549,angle between two frames:0.000363 +[19:07:59.204] Update EKF and 3D points the number of feature in the new frame: 78 and number of obs: 78 +[19:07:59.204] frame Scene Depth mean:3.510809 ,depth min:0.129117 +[19:07:59.206] need key frame pitch dis: 0.386819 translation dif:0.588260 +[19:07:59.206] Choose frame as a key frame Scene Depth mean:3.510809 ,depth min:0.129117 +[19:07:59.206] frame process finished the id is: 53 the obs is:78 +[19:07:59.377] Odometry x=-0.018068, y=0.612951, theta=0.073087 +[19:07:59.581] After Reprojection Map nMatches:107 ,distance between ekf and vo x:-0.012535 ,z=0.018159,angle between two frames:0.000005 +[19:07:59.582] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =80 error init =0.029941 error end=0.022475 +[19:07:59.582] After pose optimization, distance between ekf and vo x:-0.012535 ,z=0.018159,angle between two frames:0.000005 +[19:07:59.582] Update EKF and 3D points the number of feature in the new frame: 80 and number of obs: 80 +[19:07:59.582] frame Scene Depth mean:2.765662 ,depth min:0.074678 +[19:07:59.583] need key frame pitch dis: 0.143444 translation dif:0.530452 +[19:07:59.583] Choose frame as a key frame Scene Depth mean:2.765662 ,depth min:0.074678 +[19:07:59.583] frame process finished the id is: 54 the obs is:80 +[19:07:59.664] Odometry x=-0.023157, y=0.632555, theta=0.054065 +[19:07:59.819] After Reprojection Map nMatches:96 ,distance between ekf and vo x:-0.004103 ,z=0.004044,angle between two frames:0.000114 +[19:07:59.820] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =70 error init =0.015743 error end=0.012158 +[19:07:59.820] After pose optimization, distance between ekf and vo x:-0.003501 ,z=0.003844,angle between two frames:0.000089 +[19:07:59.820] Update EKF and 3D points the number of feature in the new frame: 70 and number of obs: 70 +[19:07:59.820] frame Scene Depth mean:3.670456 ,depth min:0.218147 +[19:07:59.821] need key frame pitch dis: 0.114498 translation dif:0.582214 +[19:07:59.821] Choose frame as a key frame Scene Depth mean:3.670456 ,depth min:0.218147 +[19:07:59.821] frame process finished the id is: 55 the obs is:70 +[19:07:59.876] Odometry x=-0.024516, y=0.644025, theta=0.047813 +[19:08:00.075] After Reprojection Map nMatches:93 ,distance between ekf and vo x:-0.009974 ,z=0.015692,angle between two frames:0.000060 +[19:08:00.075] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =77 error init =0.006148 error end=0.001906 +[19:08:00.075] After pose optimization, distance between ekf and vo x:-0.009974 ,z=0.015692,angle between two frames:0.000060 +[19:08:00.075] Update EKF and 3D points the number of feature in the new frame: 77 and number of obs: 77 +[19:08:00.075] frame Scene Depth mean:5.045044 ,depth min:0.560106 +[19:08:00.077] need key frame pitch dis: 3.152453 translation dif:0.974316 +[19:08:00.077] Choose frame as a key frame Scene Depth mean:5.045044 ,depth min:0.560106 +[19:08:00.077] frame process finished the id is: 56 the obs is:77 +[19:08:00.135] Odometry x=-0.027592, y=0.658807, theta=0.044892 +[19:08:00.313] After Reprojection Map nMatches:105 ,distance between ekf and vo x:0.053407 ,z=-0.064597,angle between two frames:0.000585 +[19:08:00.314] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =78 error init =0.043283 error end=0.020017 +[19:08:00.314] After pose optimization, distance between ekf and vo x:0.051066 ,z=-0.062995,angle between two frames:0.000527 +[19:08:00.314] Update EKF and 3D points the number of feature in the new frame: 78 and number of obs: 78 +[19:08:00.314] frame Scene Depth mean:4.666186 ,depth min:0.224751 +[19:08:00.316] need key frame pitch dis: 0.028099 translation dif:1.088520 +[19:08:00.316] Choose frame as a key frame Scene Depth mean:4.666186 ,depth min:0.224751 +[19:08:00.316] frame process finished the id is: 57 the obs is:78 +[19:08:00.399] Odometry x=-0.015336, y=0.653386, theta=0.052759 +[19:08:00.564] After Reprojection Map nMatches:91 ,distance between ekf and vo x:0.001511 ,z=0.030346,angle between two frames:0.013907 +[19:08:00.564] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =63 error init =0.003694 error end=0.005815 +[19:08:00.564] After pose optimization, distance between ekf and vo x:0.001511 ,z=0.030346,angle between two frames:0.013907 +[19:08:00.564] Update EKF and 3D points the number of feature in the new frame: 63 and number of obs: 63 +[19:08:00.564] frame Scene Depth mean:5.800218 ,depth min:0.365645 +[19:08:00.565] need key frame pitch dis: 0.000625 translation dif:1.101400 +[19:08:00.565] Choose frame as a key frame Scene Depth mean:5.800218 ,depth min:0.365645 +[19:08:00.565] frame process finished the id is: 58 the obs is:63 +[19:08:00.629] Odometry x=-0.016559, y=0.671883, theta=0.063667 +[19:08:00.827] After Reprojection Map nMatches:99 ,distance between ekf and vo x:-0.024355 ,z=0.023808,angle between two frames:0.090794 +[19:08:00.828] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =68 error init =0.075980 error end=0.098288 +[19:08:00.828] After pose optimization, distance between ekf and vo x:-0.024355 ,z=0.023808,angle between two frames:0.090794 +[19:08:00.828] Update EKF and 3D points the number of feature in the new frame: 68 and number of obs: 68 +[19:08:00.828] frame Scene Depth mean:5.089148 ,depth min:0.226421 +[19:08:00.829] need key frame pitch dis: 0.077510 translation dif:0.364371 +[19:08:00.829] Choose frame as a key frame Scene Depth mean:5.089148 ,depth min:0.226421 +[19:08:00.829] frame process finished the id is: 59 the obs is:68 +[19:08:00.881] Odometry x=-0.022926, y=0.691473, theta=0.079642 +[19:08:01.073] After Reprojection Map nMatches:107 ,distance between ekf and vo x:-0.000908 ,z=0.001122,angle between two frames:0.000000 +[19:08:01.073] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =79 error init =0.002461 error end=0.001102 +[19:08:01.073] After pose optimization, distance between ekf and vo x:-0.000908 ,z=0.001122,angle between two frames:0.000000 +[19:08:01.073] Update EKF and 3D points the number of feature in the new frame: 79 and number of obs: 79 +[19:08:01.073] frame Scene Depth mean:4.891886 ,depth min:0.146433 +[19:08:01.075] need key frame pitch dis: 3.192513 translation dif:0.354364 +[19:08:01.075] Choose frame as a key frame Scene Depth mean:4.891886 ,depth min:0.146433 +[19:08:01.075] frame process finished the id is: 60 the obs is:79 +[19:08:01.211] Odometry x=-0.023849, y=0.702552, theta=0.083727 +[19:08:01.350] After Reprojection Map nMatches:116 ,distance between ekf and vo x:-0.003668 ,z=0.003348,angle between two frames:0.000041 +[19:08:01.350] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =95 error init =0.016130 error end=0.018447 +[19:08:01.350] After pose optimization, distance between ekf and vo x:-0.003668 ,z=0.003348,angle between two frames:0.000041 +[19:08:01.350] Update EKF and 3D points the number of feature in the new frame: 95 and number of obs: 95 +[19:08:01.350] frame Scene Depth mean:4.480419 ,depth min:0.113790 +[19:08:01.352] need key frame pitch dis: 3.007979 translation dif:0.900980 +[19:08:01.352] Choose frame as a key frame Scene Depth mean:4.480419 ,depth min:0.113790 +[19:08:01.352] frame process finished the id is: 61 the obs is:95 +[19:08:01.376] Odometry x=-0.028121, y=0.712562, theta=0.098333 +[19:08:01.559] After Reprojection Map nMatches:102 ,distance between ekf and vo x:-0.008865 ,z=0.004952,angle between two frames:0.000180 +[19:08:01.560] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =69 error init =0.060537 error end=0.053306 +[19:08:01.560] After pose optimization, distance between ekf and vo x:-0.008865 ,z=0.004952,angle between two frames:0.000180 +[19:08:01.560] Update EKF and 3D points the number of feature in the new frame: 69 and number of obs: 69 +[19:08:01.560] frame Scene Depth mean:5.611353 ,depth min:0.348617 +[19:08:01.561] need key frame pitch dis: 0.170699 translation dif:1.583821 +[19:08:01.561] Choose frame as a key frame Scene Depth mean:5.611353 ,depth min:0.348617 +[19:08:01.561] frame process finished the id is: 62 the obs is:69 +[19:08:01.681] Odometry x=-0.032396, y=0.723334, theta=0.111041 +[19:08:01.753] After Reprojection Map nMatches:116 ,distance between ekf and vo x:-0.003390 ,z=0.003295,angle between two frames:0.000275 +[19:08:01.753] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =91 error init =0.007008 error end=0.003137 +[19:08:01.753] After pose optimization, distance between ekf and vo x:-0.003390 ,z=0.003295,angle between two frames:0.000275 +[19:08:01.753] Update EKF and 3D points the number of feature in the new frame: 91 and number of obs: 91 +[19:08:01.753] frame Scene Depth mean:7.593545 ,depth min:0.122070 +[19:08:01.755] need key frame pitch dis: 0.821111 translation dif:9.168117 +[19:08:01.755] Choose frame as a key frame Scene Depth mean:7.593545 ,depth min:0.122070 +[19:08:01.755] frame process finished the id is: 63 the obs is:91 +[19:08:01.881] Odometry x=-0.034840, y=0.734009, theta=0.105084 +[19:08:01.954] After Reprojection Map nMatches:90 ,distance between ekf and vo x:-0.101104 ,z=-0.102155,angle between two frames:0.100334 +[19:08:01.954] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =85 error init =0.015975 error end=0.008779 +[19:08:01.954] After pose optimization, distance between ekf and vo x:-0.101104 ,z=-0.102155,angle between two frames:0.100334 +[19:08:01.954] Update EKF and 3D points the number of feature in the new frame: 85 and number of obs: 85 +[19:08:01.954] frame Scene Depth mean:5.735229 ,depth min:0.985120 +[19:08:01.957] need key frame pitch dis: 0.067839 translation dif:1.311483 +[19:08:01.957] Choose frame as a key frame Scene Depth mean:5.735229 ,depth min:0.985120 +[19:08:01.957] frame process finished the id is: 64 the obs is:85 +[19:08:02.132] Odometry x=-0.061584, y=0.722479, theta=0.083069 +[19:08:02.147] After Reprojection Map nMatches:128 ,distance between ekf and vo x:-0.097477 ,z=-0.102294,angle between two frames:0.100068 +[19:08:02.148] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =92 error init =0.046503 error end=0.023565 +[19:08:02.148] After pose optimization, distance between ekf and vo x:-0.097477 ,z=-0.102294,angle between two frames:0.100068 +[19:08:02.148] Update EKF and 3D points the number of feature in the new frame: 92 and number of obs: 92 +[19:08:02.148] frame Scene Depth mean:5.785500 ,depth min:0.062565 +[19:08:02.150] need key frame pitch dis: 0.081041 translation dif:1.293830 +[19:08:02.150] Choose frame as a key frame Scene Depth mean:5.785500 ,depth min:0.062565 +[19:08:02.150] frame process finished the id is: 65 the obs is:88 +[19:08:02.354] After Reprojection Map nMatches:116 ,distance between ekf and vo x:-0.118465 ,z=-0.117924,angle between two frames:0.112572 +[19:08:02.354] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =93 error init =0.008306 error end=0.004353 +[19:08:02.354] After pose optimization, distance between ekf and vo x:-0.118465 ,z=-0.117924,angle between two frames:0.112572 +[19:08:02.354] Update EKF and 3D points the number of feature in the new frame: 93 and number of obs: 93 +[19:08:02.354] frame Scene Depth mean:7.021753 ,depth min:0.084580 +[19:08:02.356] need key frame pitch dis: 1.129401 translation dif:12.814132 +[19:08:02.356] Choose frame as a key frame Scene Depth mean:7.021753 ,depth min:0.084580 +[19:08:02.356] frame process finished the id is: 66 the obs is:93 +[19:08:02.385] Odometry x=-0.110877, y=0.705604, theta=0.068262 +[19:08:02.555] After Reprojection Map nMatches:115 ,distance between ekf and vo x:-0.098352 ,z=-0.100945,angle between two frames:0.099982 +[19:08:02.555] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =86 error init =0.021539 error end=0.016114 +[19:08:02.555] After pose optimization, distance between ekf and vo x:-0.098352 ,z=-0.100945,angle between two frames:0.099982 +[19:08:02.555] Update EKF and 3D points the number of feature in the new frame: 86 and number of obs: 86 +[19:08:02.555] frame Scene Depth mean:7.025957 ,depth min:0.380767 +[19:08:02.558] need key frame pitch dis: 3.118916 translation dif:1.558271 +[19:08:02.558] Choose frame as a key frame Scene Depth mean:7.025957 ,depth min:0.380767 +[19:08:02.558] frame process finished the id is: 67 the obs is:86 +[19:08:02.619] Odometry x=-0.135874, y=0.691414, theta=0.044983 +[19:08:02.798] After Reprojection Map nMatches:114 ,distance between ekf and vo x:-0.101259 ,z=-0.098835,angle between two frames:0.100012 +[19:08:02.799] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =90 error init =0.037696 error end=0.010383 +[19:08:02.799] After pose optimization, distance between ekf and vo x:-0.101511 ,z=-0.098945,angle between two frames:0.100014 +[19:08:02.799] Update EKF and 3D points the number of feature in the new frame: 90 and number of obs: 90 +[19:08:02.799] frame Scene Depth mean:8.221427 ,depth min:0.819303 +[19:08:02.801] need key frame pitch dis: 0.103740 translation dif:3.859285 +[19:08:02.801] Choose frame as a key frame Scene Depth mean:8.221427 ,depth min:0.819303 +[19:08:02.801] frame process finished the id is: 68 the obs is:90 +[19:08:02.871] Odometry x=-0.161017, y=0.677627, theta=0.024364 +[19:08:03.102] After Reprojection Map nMatches:120 ,distance between ekf and vo x:-0.102840 ,z=-0.098162,angle between two frames:0.100025 +[19:08:03.102] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =92 error init =0.015864 error end=0.007383 +[19:08:03.102] After pose optimization, distance between ekf and vo x:-0.102840 ,z=-0.098162,angle between two frames:0.100025 +[19:08:03.102] Update EKF and 3D points the number of feature in the new frame: 92 and number of obs: 92 +[19:08:03.102] frame Scene Depth mean:6.946818 ,depth min:0.109610 +[19:08:03.105] need key frame pitch dis: 0.244416 translation dif:4.877928 +[19:08:03.105] Choose frame as a key frame Scene Depth mean:6.946818 ,depth min:0.109610 +[19:08:03.105] frame process finished the id is: 69 the obs is:85 +[19:08:03.336] After Reprojection Map nMatches:127 ,distance between ekf and vo x:-0.107066 ,z=-0.094740,angle between two frames:0.100101 +[19:08:03.336] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =83 error init =0.022660 error end=0.008130 +[19:08:03.336] After pose optimization, distance between ekf and vo x:-0.107066 ,z=-0.094740,angle between two frames:0.100101 +[19:08:03.336] Update EKF and 3D points the number of feature in the new frame: 83 and number of obs: 83 +[19:08:03.336] frame Scene Depth mean:6.787710 ,depth min:1.093623 +[19:08:03.338] need key frame pitch dis: 0.116302 translation dif:2.099660 +[19:08:03.338] Choose frame as a key frame Scene Depth mean:6.787710 ,depth min:1.093623 +[19:08:03.338] frame process finished the id is: 70 the obs is:83 +[19:08:03.591] After Reprojection Map nMatches:126 ,distance between ekf and vo x:-0.003460 ,z=0.000914,angle between two frames:0.000312 +[19:08:03.591] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =105 error init =0.007198 error end=0.009588 +[19:08:03.591] After pose optimization, distance between ekf and vo x:-0.003460 ,z=0.000914,angle between two frames:0.000312 +[19:08:03.591] Update EKF and 3D points the number of feature in the new frame: 105 and number of obs: 105 +[19:08:03.591] frame Scene Depth mean:5.725837 ,depth min:0.325688 +[19:08:03.594] need key frame pitch dis: 0.097244 translation dif:1.562784 +[19:08:03.594] Choose frame as a key frame Scene Depth mean:5.725837 ,depth min:0.325688 +[19:08:03.594] frame process finished the id is: 71 the obs is:104 +[19:08:03.760] After Reprojection Map nMatches:130 ,distance between ekf and vo x:0.003235 ,z=0.020704,angle between two frames:0.002148 +[19:08:03.760] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =111 error init =0.005062 error end=0.002840 +[19:08:03.760] After pose optimization, distance between ekf and vo x:0.003235 ,z=0.020704,angle between two frames:0.002148 +[19:08:03.760] Update EKF and 3D points the number of feature in the new frame: 111 and number of obs: 111 +[19:08:03.760] frame Scene Depth mean:5.470644 ,depth min:0.260229 +[19:08:03.762] need key frame pitch dis: 0.338371 translation dif:1.982902 +[19:08:03.762] Choose frame as a key frame Scene Depth mean:5.470644 ,depth min:0.260229 +[19:08:03.762] frame process finished the id is: 72 the obs is:111 +[19:08:03.902] After Reprojection Map nMatches:140 ,distance between ekf and vo x:-0.014747 ,z=0.023405,angle between two frames:0.001605 +[19:08:03.902] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =115 error init =0.039046 error end=0.006603 +[19:08:03.902] After pose optimization, distance between ekf and vo x:-0.014747 ,z=0.023405,angle between two frames:0.001605 +[19:08:03.902] Update EKF and 3D points the number of feature in the new frame: 115 and number of obs: 115 +[19:08:03.902] frame Scene Depth mean:3.742446 ,depth min:0.127611 +[19:08:03.905] need key frame pitch dis: 0.137961 translation dif:0.715047 +[19:08:03.905] Choose frame as a key frame Scene Depth mean:3.742446 ,depth min:0.127611 +[19:08:03.905] frame process finished the id is: 73 the obs is:115 +[19:08:04.132] After Reprojection Map nMatches:130 ,distance between ekf and vo x:-0.055057 ,z=0.080394,angle between two frames:0.006504 +[19:08:04.132] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =99 error init =0.020062 error end=0.025518 +[19:08:04.132] After pose optimization, distance between ekf and vo x:-0.055057 ,z=0.080394,angle between two frames:0.006504 +[19:08:04.132] Update EKF and 3D points the number of feature in the new frame: 99 and number of obs: 99 +[19:08:04.132] frame Scene Depth mean:4.719049 ,depth min:0.140236 +[19:08:04.135] need key frame pitch dis: 0.026359 translation dif:0.492052 +[19:08:04.135] Choose frame as a key frame Scene Depth mean:4.719049 ,depth min:0.140236 +[19:08:04.135] frame process finished the id is: 74 the obs is:99 +[19:08:04.396] After Reprojection Map nMatches:157 ,distance between ekf and vo x:-0.004261 ,z=0.005824,angle between two frames:0.000561 +[19:08:04.397] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =115 error init =0.043612 error end=0.016198 +[19:08:04.397] After pose optimization, distance between ekf and vo x:-0.004261 ,z=0.005824,angle between two frames:0.000561 +[19:08:04.397] Update EKF and 3D points the number of feature in the new frame: 115 and number of obs: 115 +[19:08:04.397] frame Scene Depth mean:3.535424 ,depth min:0.098922 +[19:08:04.399] need key frame pitch dis: 0.328668 translation dif:0.809543 +[19:08:04.399] Choose frame as a key frame Scene Depth mean:3.535424 ,depth min:0.098922 +[19:08:04.399] frame process finished the id is: 75 the obs is:115 +[19:08:04.634] After Reprojection Map nMatches:160 ,distance between ekf and vo x:-0.023098 ,z=0.034259,angle between two frames:0.001881 +[19:08:04.634] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =150 error init =0.020363 error end=0.006721 +[19:08:04.634] After pose optimization, distance between ekf and vo x:-0.023098 ,z=0.034259,angle between two frames:0.001881 +[19:08:04.634] Update EKF and 3D points the number of feature in the new frame: 150 and number of obs: 150 +[19:08:04.634] frame Scene Depth mean:2.853287 ,depth min:0.506901 +[19:08:04.637] need key frame pitch dis: 0.372242 translation dif:0.941180 +[19:08:04.637] Choose frame as a key frame Scene Depth mean:2.853287 ,depth min:0.506901 +[19:08:04.637] frame process finished the id is: 76 the obs is:150 +[19:08:04.645] Odometry x=-0.169877, y=0.691068, theta=0.012201 +[19:08:04.836] After Reprojection Map nMatches:157 ,distance between ekf and vo x:-0.022112 ,z=0.048925,angle between two frames:0.002297 +[19:08:04.837] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =115 error init =0.019824 error end=0.018372 +[19:08:04.837] After pose optimization, distance between ekf and vo x:-0.022112 ,z=0.048925,angle between two frames:0.002297 +[19:08:04.837] Update EKF and 3D points the number of feature in the new frame: 115 and number of obs: 115 +[19:08:04.837] frame Scene Depth mean:3.181730 ,depth min:0.528056 +[19:08:04.840] need key frame pitch dis: 0.092096 translation dif:0.507305 +[19:08:04.840] Choose frame as a key frame Scene Depth mean:3.181730 ,depth min:0.528056 +[19:08:04.840] frame process finished the id is: 77 the obs is:115 +[19:08:04.902] Odometry x=-0.175200, y=0.703424, theta=0.005715 +[19:08:05.060] After Reprojection Map nMatches:156 ,distance between ekf and vo x:-0.031342 ,z=0.055628,angle between two frames:0.000127 +[19:08:05.061] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =106 error init =0.015070 error end=0.023756 +[19:08:05.061] After pose optimization, distance between ekf and vo x:-0.031342 ,z=0.055628,angle between two frames:0.000127 +[19:08:05.061] Update EKF and 3D points the number of feature in the new frame: 106 and number of obs: 106 +[19:08:05.061] frame Scene Depth mean:5.273465 ,depth min:0.187470 +[19:08:05.064] need key frame pitch dis: 0.008865 translation dif:1.819924 +[19:08:05.064] Choose frame as a key frame Scene Depth mean:5.273465 ,depth min:0.187470 +[19:08:05.064] frame process finished the id is: 78 the obs is:106 +[19:08:05.207] Odometry x=-0.182911, y=0.717137, theta=-0.007508 +[19:08:05.251] After Reprojection Map nMatches:210 ,distance between ekf and vo x:0.031441 ,z=-0.048148,angle between two frames:0.004097 +[19:08:05.251] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =178 error init =0.011098 error end=0.007086 +[19:08:05.251] After pose optimization, distance between ekf and vo x:0.031441 ,z=-0.048148,angle between two frames:0.004097 +[19:08:05.251] Update EKF and 3D points the number of feature in the new frame: 178 and number of obs: 178 +[19:08:05.251] frame Scene Depth mean:6.919656 ,depth min:0.400271 +[19:08:05.255] need key frame pitch dis: 0.076095 translation dif:2.589073 +[19:08:05.255] Choose frame as a key frame Scene Depth mean:6.919656 ,depth min:0.400271 +[19:08:05.255] frame process finished the id is: 79 the obs is:178 +[19:08:05.394] Odometry x=-0.175218, y=0.705275, theta=-0.066214 +[19:08:05.604] After Reprojection Map nMatches:167 ,distance between ekf and vo x:0.007217 ,z=-0.005198,angle between two frames:0.001666 +[19:08:05.605] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =119 error init =0.026116 error end=0.016149 +[19:08:05.605] After pose optimization, distance between ekf and vo x:0.007217 ,z=-0.005198,angle between two frames:0.001666 +[19:08:05.605] Update EKF and 3D points the number of feature in the new frame: 119 and number of obs: 119 +[19:08:05.605] frame Scene Depth mean:6.125483 ,depth min:0.074478 +[19:08:05.607] need key frame pitch dis: 0.094379 translation dif:0.815932 +[19:08:05.607] Choose frame as a key frame Scene Depth mean:6.125483 ,depth min:0.074478 +[19:08:05.607] frame process finished the id is: 80 the obs is:119 +[19:08:05.639] Odometry x=-0.173438, y=0.704001, theta=-0.119673 +[19:08:05.957] After Reprojection Map nMatches:226 ,distance between ekf and vo x:0.009611 ,z=-0.019348,angle between two frames:0.000594 +[19:08:05.958] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =152 error init =0.028758 error end=0.019984 +[19:08:05.958] After pose optimization, distance between ekf and vo x:0.009611 ,z=-0.019348,angle between two frames:0.000594 +[19:08:05.958] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152 +[19:08:05.958] frame Scene Depth mean:6.805445 ,depth min:0.293584 +[19:08:05.961] need key frame pitch dis: 0.143936 translation dif:2.484845 +[19:08:05.961] Choose frame as a key frame Scene Depth mean:6.805445 ,depth min:0.293584 +[19:08:05.961] frame process finished the id is: 81 the obs is:151 +[19:08:06.456] After Reprojection Map nMatches:273 ,distance between ekf and vo x:-0.514046 ,z=-0.224963,angle between two frames:0.400473 +[19:08:06.457] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =205 error init =0.106227 error end=0.014233 +[19:08:06.457] After pose optimization, distance between ekf and vo x:-0.514046 ,z=-0.224963,angle between two frames:0.400473 +[19:08:06.457] frame process finished the id is: 81 the obs is:151 +[19:08:06.884] After Reprojection Map nMatches:218 ,distance between ekf and vo x:0.000467 ,z=-0.002916,angle between two frames:0.000037 +[19:08:06.885] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =170 error init =0.005528 error end=0.003045 +[19:08:06.885] After pose optimization, distance between ekf and vo x:0.000469 ,z=-0.002916,angle between two frames:0.000037 +[19:08:06.885] Update EKF and 3D points the number of feature in the new frame: 170 and number of obs: 170 +[19:08:06.885] frame Scene Depth mean:4.091783 ,depth min:0.166781 +[19:08:06.886] Odometry x=-0.172928, y=0.702764, theta=-0.173199 +[19:08:06.888] need key frame pitch dis: 0.455209 translation dif:0.603005 +[19:08:06.888] Choose frame as a key frame Scene Depth mean:4.091783 ,depth min:0.166781 +[19:08:06.888] frame process finished the id is: 83 the obs is:169 +[19:08:07.201] Odometry x=-0.172801, y=0.703448, theta=-0.175431 +[19:08:07.297] After Reprojection Map nMatches:265 ,distance between ekf and vo x:-0.007008 ,z=0.044863,angle between two frames:0.000172 +[19:08:07.298] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =183 error init =0.033774 error end=0.011446 +[19:08:07.298] After pose optimization, distance between ekf and vo x:-0.007008 ,z=0.044863,angle between two frames:0.000172 +[19:08:07.298] Update EKF and 3D points the number of feature in the new frame: 183 and number of obs: 183 +[19:08:07.298] frame Scene Depth mean:6.320973 ,depth min:0.212024 +[19:08:07.302] need key frame pitch dis: 0.174654 translation dif:0.518587 +[19:08:07.302] Choose frame as a key frame Scene Depth mean:6.320973 ,depth min:0.212024 +[19:08:07.302] frame process finished the id is: 84 the obs is:183 +[19:08:07.420] Odometry x=-0.173407, y=0.719801, theta=-0.169188 +[19:08:07.639] Odometry x=-0.171781, y=0.729823, theta=-0.164313 +[19:08:07.702] After Reprojection Map nMatches:222 ,distance between ekf and vo x:-0.002801 ,z=0.000071,angle between two frames:0.000196 +[19:08:07.703] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =152 error init =0.054511 error end=0.026729 +[19:08:07.703] After pose optimization, distance between ekf and vo x:-0.002801 ,z=0.000071,angle between two frames:0.000196 +[19:08:07.703] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152 +[19:08:07.703] frame Scene Depth mean:6.680856 ,depth min:0.172547 +[19:08:07.706] need key frame pitch dis: 3.034479 translation dif:0.768927 +[19:08:07.706] Choose frame as a key frame Scene Depth mean:6.680856 ,depth min:0.172547 +[19:08:07.706] frame process finished the id is: 85 the obs is:152 +[19:08:07.883] Odometry x=-0.171275, y=0.736959, theta=-0.168182 +[19:08:08.032] After Reprojection Map nMatches:233 ,distance between ekf and vo x:-0.001992 ,z=0.042068,angle between two frames:0.000165 +[19:08:08.033] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =177 error init =0.043564 error end=0.011926 +[19:08:08.033] After pose optimization, distance between ekf and vo x:-0.001992 ,z=0.042068,angle between two frames:0.000165 +[19:08:08.033] Update EKF and 3D points the number of feature in the new frame: 177 and number of obs: 177 +[19:08:08.033] frame Scene Depth mean:5.308118 ,depth min:0.092438 +[19:08:08.037] need key frame pitch dis: 0.066514 translation dif:0.056050 +[19:08:08.037] frame process finished the id is: 86 the obs is:177 +[19:08:08.175] Odometry x=-0.169542, y=0.754259, theta=-0.160136 +[19:08:08.370] After Reprojection Map nMatches:261 ,distance between ekf and vo x:0.002370 ,z=0.107913,angle between two frames:0.000945 +[19:08:08.371] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =234 error init =0.010756 error end=0.001759 +[19:08:08.371] After pose optimization, distance between ekf and vo x:0.002370 ,z=0.107913,angle between two frames:0.000945 +[19:08:08.371] Update EKF and 3D points the number of feature in the new frame: 234 and number of obs: 234 +[19:08:08.371] frame Scene Depth mean:4.831193 ,depth min:0.184579 +[19:08:08.376] need key frame pitch dis: 0.240696 translation dif:0.231845 +[19:08:08.376] Choose frame as a key frame Scene Depth mean:4.831193 ,depth min:0.184579 +[19:08:08.376] frame process finished the id is: 87 the obs is:234 +[19:08:08.393] Odometry x=-0.170060, y=0.790743, theta=-0.149682 +[19:08:08.679] Odometry x=-0.168471, y=0.800513, theta=-0.137410 +[19:08:08.761] After Reprojection Map nMatches:257 ,distance between ekf and vo x:-0.002164 ,z=0.002334,angle between two frames:0.000137 +[19:08:08.763] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =218 error init =0.005070 error end=0.001967 +[19:08:08.763] After pose optimization, distance between ekf and vo x:0.015105 ,z=-0.125379,angle between two frames:0.004376 +[19:08:08.763] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218 +[19:08:08.763] frame Scene Depth mean:5.368237 ,depth min:0.299050 +[19:08:08.768] need key frame pitch dis: 2.851909 translation dif:0.032451 +[19:08:08.768] Choose frame as a key frame Scene Depth mean:5.368237 ,depth min:0.299050 +[19:08:08.769] frame process finished the id is: 88 the obs is:218 +[19:08:08.911] Odometry x=-0.164027, y=0.778540, theta=-0.147807 +[19:08:09.141] After Reprojection Map nMatches:304 ,distance between ekf and vo x:0.017872 ,z=0.024670,angle between two frames:0.002043 +[19:08:09.142] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =218 error init =0.043602 error end=0.017132 +[19:08:09.142] After pose optimization, distance between ekf and vo x:0.017872 ,z=0.024670,angle between two frames:0.002043 +[19:08:09.142] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218 +[19:08:09.142] frame Scene Depth mean:5.377891 ,depth min:0.310275 +[19:08:09.146] need key frame pitch dis: 0.028108 translation dif:1.936225 +[19:08:09.146] Choose frame as a key frame Scene Depth mean:5.377891 ,depth min:0.310275 +[19:08:09.146] frame process finished the id is: 89 the obs is:218 +[19:08:09.214] Odometry x=-0.158631, y=0.792221, theta=-0.157909 +[19:08:09.376] Odometry x=-0.156514, y=0.802368, theta=-0.167055 +[19:08:09.502] After Reprojection Map nMatches:261 ,distance between ekf and vo x:0.001850 ,z=0.017695,angle between two frames:0.000293 +[19:08:09.503] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =184 error init =0.034697 error end=0.015032 +[19:08:09.503] After pose optimization, distance between ekf and vo x:0.001850 ,z=0.017695,angle between two frames:0.000293 +[19:08:09.503] Update EKF and 3D points the number of feature in the new frame: 184 and number of obs: 184 +[19:08:09.503] frame Scene Depth mean:5.371862 ,depth min:0.175639 +[19:08:09.507] need key frame pitch dis: 0.158371 translation dif:2.290617 +[19:08:09.507] Choose frame as a key frame Scene Depth mean:5.371862 ,depth min:0.175639 +[19:08:09.507] frame process finished the id is: 90 the obs is:184 +[19:08:09.631] Odometry x=-0.152053, y=0.814666, theta=-0.149266 +[19:08:09.904] After Reprojection Map nMatches:269 ,distance between ekf and vo x:0.004533 ,z=0.015656,angle between two frames:0.000655 +[19:08:09.905] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =172 error init =0.035046 error end=0.012303 +[19:08:09.905] After pose optimization, distance between ekf and vo x:0.004533 ,z=0.015656,angle between two frames:0.000655 +[19:08:09.905] Update EKF and 3D points the number of feature in the new frame: 172 and number of obs: 172 +[19:08:09.905] frame Scene Depth mean:5.178269 ,depth min:0.190028 +[19:08:09.909] need key frame pitch dis: 3.172872 translation dif:1.007180 +[19:08:09.909] Choose frame as a key frame Scene Depth mean:5.178269 ,depth min:0.190028 +[19:08:09.909] frame process finished the id is: 91 the obs is:172 +[19:08:09.919] Odometry x=-0.147559, y=0.828184, theta=-0.144788 +[19:08:10.145] Odometry x=-0.145343, y=0.838382, theta=-0.134831 +[19:08:10.338] After Reprojection Map nMatches:218 ,distance between ekf and vo x:0.006110 ,z=-0.000405,angle between two frames:0.000377 +[19:08:10.338] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =177 error init =0.015726 error end=0.007585 +[19:08:10.338] After pose optimization, distance between ekf and vo x:0.006110 ,z=-0.000405,angle between two frames:0.000377 +[19:08:10.338] Update EKF and 3D points the number of feature in the new frame: 177 and number of obs: 177 +[19:08:10.339] frame Scene Depth mean:5.056200 ,depth min:0.050915 +[19:08:10.343] need key frame pitch dis: 0.046262 translation dif:0.392254 +[19:08:10.343] Choose frame as a key frame Scene Depth mean:5.056200 ,depth min:0.050915 +[19:08:10.343] frame process finished the id is: 92 the obs is:176 +[19:08:10.397] Odometry x=-0.143222, y=0.845992, theta=-0.138970 +[19:08:10.636] Odometry x=-0.141853, y=0.855924, theta=-0.151210 +[19:08:10.758] After Reprojection Map nMatches:305 ,distance between ekf and vo x:-0.039610 ,z=-0.001377,angle between two frames:0.004032 +[19:08:10.759] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =241 error init =0.016017 error end=0.008127 +[19:08:10.759] After pose optimization, distance between ekf and vo x:-0.039610 ,z=-0.001377,angle between two frames:0.004032 +[19:08:10.759] Update EKF and 3D points the number of feature in the new frame: 241 and number of obs: 241 +[19:08:10.759] frame Scene Depth mean:4.966667 ,depth min:0.142967 +[19:08:10.763] need key frame pitch dis: 0.187107 translation dif:1.977009 +[19:08:10.763] Choose frame as a key frame Scene Depth mean:4.966667 ,depth min:0.142967 +[19:08:10.763] frame process finished the id is: 93 the obs is:241 +[19:08:10.891] Odometry x=-0.150958, y=0.862543, theta=-0.173103 +[19:08:11.142] After Reprojection Map nMatches:267 ,distance between ekf and vo x:0.000392 ,z=0.006474,angle between two frames:0.000099 +[19:08:11.143] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =229 error init =0.013191 error end=0.007892 +[19:08:11.143] After pose optimization, distance between ekf and vo x:0.000447 ,z=0.006097,angle between two frames:0.000097 +[19:08:11.143] Update EKF and 3D points the number of feature in the new frame: 229 and number of obs: 229 +[19:08:11.144] frame Scene Depth mean:4.451808 ,depth min:0.238892 +[19:08:11.149] need key frame pitch dis: 3.179886 translation dif:0.671151 +[19:08:11.149] Choose frame as a key frame Scene Depth mean:4.451808 ,depth min:0.238892 +[19:08:11.149] frame process finished the id is: 94 the obs is:229 +[19:08:11.181] Odometry x=-0.150153, y=0.871907, theta=-0.185540 +[19:08:11.413] Odometry x=-0.148281, y=0.881721, theta=-0.183337 +[19:08:11.642] Odometry x=-0.146090, y=0.894149, theta=-0.182776 +[19:08:11.660] After Reprojection Map nMatches:333 ,distance between ekf and vo x:0.023629 ,z=0.084064,angle between two frames:0.002986 +[19:08:11.661] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =253 error init =0.017173 error end=0.017565 +[19:08:11.661] After pose optimization, distance between ekf and vo x:0.023629 ,z=0.084064,angle between two frames:0.002986 +[19:08:11.661] Update EKF and 3D points the number of feature in the new frame: 253 and number of obs: 253 +[19:08:11.661] frame Scene Depth mean:5.052711 ,depth min:0.211640 +[19:08:11.667] need key frame pitch dis: 3.221323 translation dif:0.665451 +[19:08:11.667] Choose frame as a key frame Scene Depth mean:5.052711 ,depth min:0.211640 +[19:08:11.667] frame process finished the id is: 95 the obs is:253 +[19:08:11.874] Odometry x=-0.139663, y=0.918807, theta=-0.188130 +[19:08:12.141] Odometry x=-0.137722, y=0.929108, theta=-0.195275 +[19:08:12.198] After Reprojection Map nMatches:385 ,distance between ekf and vo x:0.000654 ,z=0.002449,angle between two frames:0.000398 +[19:08:12.199] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =314 error init =0.033845 error end=0.011126 +[19:08:12.199] After pose optimization, distance between ekf and vo x:0.000654 ,z=0.002449,angle between two frames:0.000398 +[19:08:12.199] Update EKF and 3D points the number of feature in the new frame: 314 and number of obs: 314 +[19:08:12.199] frame Scene Depth mean:2.369722 ,depth min:0.051240 +[19:08:12.204] need key frame pitch dis: 0.307497 translation dif:0.028592 +[19:08:12.204] Choose frame as a key frame Scene Depth mean:2.369722 ,depth min:0.051240 +[19:08:12.204] frame process finished the id is: 96 the obs is:306 +[19:08:12.396] Odometry x=-0.135381, y=0.937481, theta=-0.198039 +[19:08:12.648] Odometry x=-0.133478, y=0.948119, theta=-0.200658 +[19:08:12.724] After Reprojection Map nMatches:364 ,distance between ekf and vo x:0.002340 ,z=0.002143,angle between two frames:0.001266 +[19:08:12.725] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =286 error init =0.027350 error end=0.021370 +[19:08:12.725] After pose optimization, distance between ekf and vo x:0.002340 ,z=0.002143,angle between two frames:0.001266 +[19:08:12.725] Update EKF and 3D points the number of feature in the new frame: 286 and number of obs: 286 +[19:08:12.725] frame Scene Depth mean:2.869049 ,depth min:0.103461 +[19:08:12.732] need key frame pitch dis: 0.336967 translation dif:0.350346 +[19:08:12.732] Choose frame as a key frame Scene Depth mean:2.869049 ,depth min:0.103461 +[19:08:12.732] frame process finished the id is: 97 the obs is:286 +[19:08:12.870] Odometry x=-0.130610, y=0.957042, theta=-0.206753 +[19:08:13.233] Odometry x=-0.128971, y=0.969822, theta=-0.213539 +[19:08:13.246] After Reprojection Map nMatches:363 ,distance between ekf and vo x:0.002361 ,z=0.017499,angle between two frames:0.001163 +[19:08:13.249] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =234 error init =0.015304 error end=0.026750 +[19:08:13.249] After pose optimization, distance between ekf and vo x:0.002757 ,z=0.015008,angle between two frames:0.001124 +[19:08:13.249] Update EKF and 3D points the number of feature in the new frame: 234 and number of obs: 234 +[19:08:13.249] frame Scene Depth mean:2.282278 ,depth min:0.050510 +[19:08:13.253] need key frame pitch dis: 0.382977 translation dif:0.146335 +[19:08:13.253] Choose frame as a key frame Scene Depth mean:2.282278 ,depth min:0.050510 +[19:08:13.253] frame process finished the id is: 98 the obs is:220 +[19:08:13.408] Odometry x=-0.123280, y=0.995619, theta=-0.208643 +[19:08:13.645] Odometry x=-0.120172, y=1.009883, theta=-0.199330 +[19:08:13.806] After Reprojection Map nMatches:426 ,distance between ekf and vo x:-0.005862 ,z=-0.005751,angle between two frames:0.008784 +[19:08:13.807] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =378 error init =0.006211 error end=0.004032 +[19:08:13.807] After pose optimization, distance between ekf and vo x:-0.005862 ,z=-0.005751,angle between two frames:0.008784 +[19:08:13.807] Update EKF and 3D points the number of feature in the new frame: 378 and number of obs: 378 +[19:08:13.807] frame Scene Depth mean:1.584623 ,depth min:0.096629 +[19:08:13.812] need key frame pitch dis: 0.306957 translation dif:0.723736 +[19:08:13.812] Choose frame as a key frame Scene Depth mean:1.584623 ,depth min:0.096629 +[19:08:13.812] frame process finished the id is: 99 the obs is:377 +[19:08:13.882] Odometry x=-0.119190, y=1.015643, theta=-0.209261 +[19:08:14.132] Odometry x=-0.116784, y=1.026417, theta=-0.205095 +[19:08:14.391] Odometry x=-0.113905, y=1.040055, theta=-0.199826 +[19:08:14.427] After Reprojection Map nMatches:424 ,distance between ekf and vo x:-0.001270 ,z=-0.001424,angle between two frames:0.000231 +[19:08:14.429] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =305 error init =0.065689 error end=0.102579 +[19:08:14.429] After pose optimization, distance between ekf and vo x:0.055671 ,z=0.002935,angle between two frames:0.005529 +[19:08:14.429] Update EKF and 3D points the number of feature in the new frame: 305 and number of obs: 305 +[19:08:14.429] frame Scene Depth mean:2.970628 ,depth min:0.101176 +[19:08:14.437] need key frame pitch dis: 1.067742 translation dif:2.533634 +[19:08:14.437] Choose frame as a key frame Scene Depth mean:2.970628 ,depth min:0.101176 +[19:08:14.437] frame process finished the id is: 100 the obs is:305 +[19:08:14.645] Odometry x=-0.099781, y=1.046238, theta=-0.198901 +[19:08:14.877] Odometry x=-0.097766, y=1.057121, theta=-0.204542 +[19:08:14.894] After Reprojection Map nMatches:326 ,distance between ekf and vo x:0.001171 ,z=0.000279,angle between two frames:0.000142 +[19:08:14.895] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =260 error init =0.031333 error end=0.022124 +[19:08:14.895] After pose optimization, distance between ekf and vo x:0.001171 ,z=0.000279,angle between two frames:0.000142 +[19:08:14.895] Update EKF and 3D points the number of feature in the new frame: 260 and number of obs: 260 +[19:08:14.895] frame Scene Depth mean:3.669894 ,depth min:0.314161 +[19:08:14.901] need key frame pitch dis: 0.597359 translation dif:2.313697 +[19:08:14.901] Choose frame as a key frame Scene Depth mean:3.669894 ,depth min:0.314161 +[19:08:14.901] frame process finished the id is: 101 the obs is:260 +[19:08:15.213] Odometry x=-0.092510, y=1.082109, theta=-0.206759 +[19:08:15.389] Odometry x=-0.089566, y=1.096804, theta=-0.205044 +[19:08:15.422] After Reprojection Map nMatches:392 ,distance between ekf and vo x:0.000850 ,z=0.000140,angle between two frames:0.000073 +[19:08:15.423] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =339 error init =0.010002 error end=0.005600 +[19:08:15.423] After pose optimization, distance between ekf and vo x:0.000850 ,z=0.000140,angle between two frames:0.000073 +[19:08:15.423] Update EKF and 3D points the number of feature in the new frame: 339 and number of obs: 339 +[19:08:15.423] frame Scene Depth mean:4.317574 ,depth min:0.347856 +[19:08:15.429] need key frame pitch dis: 0.472831 translation dif:0.925038 +[19:08:15.429] Choose frame as a key frame Scene Depth mean:4.317574 ,depth min:0.347856 +[19:08:15.429] frame process finished the id is: 102 the obs is:339 +[19:08:15.636] Odometry x=-0.084214, y=1.122095, theta=-0.203830 +[19:08:15.912] Odometry x=-0.079156, y=1.138271, theta=-0.170248 +[19:08:16.134] After Reprojection Map nMatches:441 ,distance between ekf and vo x:0.000981 ,z=-0.000212,angle between two frames:0.000055 +[19:08:16.137] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =262 error init =0.020491 error end=0.021752 +[19:08:16.137] After pose optimization, distance between ekf and vo x:0.002035 ,z=-0.000828,angle between two frames:0.000082 +[19:08:16.137] Update EKF and 3D points the number of feature in the new frame: 262 and number of obs: 262 +[19:08:16.137] frame Scene Depth mean:5.954592 ,depth min:0.052177 +[19:08:16.138] Odometry x=-0.078140, y=1.144757, theta=-0.175456 +[19:08:16.142] need key frame pitch dis: 0.065698 translation dif:0.528112 +[19:08:16.142] Choose frame as a key frame Scene Depth mean:5.954592 ,depth min:0.052177 +[19:08:16.142] frame process finished the id is: 103 the obs is:261 +[19:08:16.387] Odometry x=-0.076029, y=1.155867, theta=-0.161553 +[19:08:16.646] After Reprojection Map nMatches:407 ,distance between ekf and vo x:0.000470 ,z=-0.000183,angle between two frames:0.000023 +[19:08:16.647] Odometry x=-0.074099, y=1.170042, theta=-0.147702 +[19:08:16.648] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =278 error init =0.020501 error end=0.011054 +[19:08:16.648] After pose optimization, distance between ekf and vo x:0.000470 ,z=-0.000183,angle between two frames:0.000023 +[19:08:16.648] Update EKF and 3D points the number of feature in the new frame: 278 and number of obs: 278 +[19:08:16.648] frame Scene Depth mean:2.790472 ,depth min:0.054641 +[19:08:16.652] need key frame pitch dis: 0.171215 translation dif:1.178634 +[19:08:16.652] Choose frame as a key frame Scene Depth mean:2.790472 ,depth min:0.054641 +[19:08:16.652] frame process finished the id is: 104 the obs is:269 +[19:08:16.897] Odometry x=-0.070027, y=1.195160, theta=-0.102073 +[19:08:17.177] Odometry x=-0.068739, y=1.209846, theta=-0.091343 +[19:08:17.378] Odometry x=-0.068108, y=1.225428, theta=-0.096735 +[19:08:17.381] After Reprojection Map nMatches:457 ,distance between ekf and vo x:-0.002957 ,z=-0.010482,angle between two frames:0.000277 +[19:08:17.384] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =345 error init =0.013322 error end=0.016087 +[19:08:17.384] After pose optimization, distance between ekf and vo x:-0.002022 ,z=-0.010700,angle between two frames:0.000239 +[19:08:17.384] Update EKF and 3D points the number of feature in the new frame: 345 and number of obs: 345 +[19:08:17.384] frame Scene Depth mean:2.202305 ,depth min:0.058168 +[19:08:17.390] need key frame pitch dis: 0.196986 translation dif:0.849974 +[19:08:17.390] Choose frame as a key frame Scene Depth mean:2.202305 ,depth min:0.058168 +[19:08:17.390] frame process finished the id is: 105 the obs is:337 +[19:08:17.622] Odometry x=-0.065859, y=1.249072, theta=-0.076055 +[19:08:17.892] Odometry x=-0.064537, y=1.264016, theta=-0.101019 +[19:08:18.119] Odometry x=-0.064015, y=1.279390, theta=-0.128828 +[19:08:18.176] After Reprojection Map nMatches:467 ,distance between ekf and vo x:0.002132 ,z=-0.021190,angle between two frames:0.000071 +[19:08:18.177] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =374 error init =0.027889 error end=0.026948 +[19:08:18.177] After pose optimization, distance between ekf and vo x:0.002132 ,z=-0.021190,angle between two frames:0.000071 +[19:08:18.177] Update EKF and 3D points the number of feature in the new frame: 374 and number of obs: 374 +[19:08:18.177] frame Scene Depth mean:2.294818 ,depth min:0.114459 +[19:08:18.183] need key frame pitch dis: 0.194483 translation dif:0.234518 +[19:08:18.183] Choose frame as a key frame Scene Depth mean:2.294818 ,depth min:0.114459 +[19:08:18.184] frame process finished the id is: 106 the obs is:373 +[19:08:18.366] Odometry x=-0.062555, y=1.277043, theta=-0.125811 +[19:08:18.664] Odometry x=-0.061011, y=1.288015, theta=-0.121680 +[19:08:18.856] After Reprojection Map nMatches:519 ,distance between ekf and vo x:0.000744 ,z=0.000501,angle between two frames:0.000050 +[19:08:18.857] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =343 error init =0.029283 error end=0.034624 +[19:08:18.857] After pose optimization, distance between ekf and vo x:0.000744 ,z=0.000501,angle between two frames:0.000050 +[19:08:18.857] Update EKF and 3D points the number of feature in the new frame: 343 and number of obs: 343 +[19:08:18.857] frame Scene Depth mean:2.186999 ,depth min:0.066037 +[19:08:18.863] need key frame pitch dis: 0.122273 translation dif:0.259435 +[19:08:18.863] Choose frame as a key frame Scene Depth mean:2.186999 ,depth min:0.066037 +[19:08:18.863] frame process finished the id is: 107 the obs is:339 +[19:08:18.887] Odometry x=-0.063273, y=1.299809, theta=-0.091990 +[19:08:19.197] Odometry x=-0.062208, y=1.310998, theta=-0.088661 +[19:08:19.388] Odometry x=-0.060298, y=1.323744, theta=-0.106859 +[19:08:19.507] After Reprojection Map nMatches:578 ,distance between ekf and vo x:0.000960 ,z=0.000833,angle between two frames:0.000056 +[19:08:19.509] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =437 error init =0.019957 error end=0.018455 +[19:08:19.509] After pose optimization, distance between ekf and vo x:0.000960 ,z=0.000833,angle between two frames:0.000056 +[19:08:19.509] Update EKF and 3D points the number of feature in the new frame: 437 and number of obs: 437 +[19:08:19.510] frame Scene Depth mean:2.092229 ,depth min:0.053533 +[19:08:19.517] need key frame pitch dis: 0.028681 translation dif:1.084618 +[19:08:19.517] Choose frame as a key frame Scene Depth mean:2.092229 ,depth min:0.053533 +[19:08:19.517] frame process finished the id is: 108 the obs is:427 +[19:08:19.629] Odometry x=-0.061824, y=1.329730, theta=-0.096526 +[19:08:19.906] Odometry x=-0.060595, y=1.341056, theta=-0.083008 +[19:08:20.140] Odometry x=-0.059136, y=1.355816, theta=-0.096429 +[19:08:20.288] After Reprojection Map nMatches:523 ,distance between ekf and vo x:0.000734 ,z=0.000374,angle between two frames:0.000044 +[19:08:20.290] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =401 error init =0.029890 error end=0.032624 +[19:08:20.290] After pose optimization, distance between ekf and vo x:0.000734 ,z=0.000374,angle between two frames:0.000044 +[19:08:20.290] Update EKF and 3D points the number of feature in the new frame: 401 and number of obs: 401 +[19:08:20.290] frame Scene Depth mean:1.936543 ,depth min:0.051786 +[19:08:20.297] need key frame pitch dis: 0.108020 translation dif:0.525819 +[19:08:20.298] Choose frame as a key frame Scene Depth mean:1.936543 ,depth min:0.051786 +[19:08:20.298] frame process finished the id is: 109 the obs is:400 +[19:08:20.374] Odometry x=-0.060336, y=1.361361, theta=-0.114542 +[19:08:20.979] After Reprojection Map nMatches:491 ,distance between ekf and vo x:0.001070 ,z=0.000167,angle between two frames:0.000064 +[19:08:20.982] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =384 error init =0.010500 error end=0.023347 +[19:08:20.982] After pose optimization, distance between ekf and vo x:0.018434 ,z=-0.003750,angle between two frames:0.001462 +[19:08:20.982] Update EKF and 3D points the number of feature in the new frame: 384 and number of obs: 384 +[19:08:20.983] frame Scene Depth mean:3.327508 ,depth min:0.123623 +[19:08:20.989] need key frame pitch dis: 3.079018 translation dif:1.671072 +[19:08:20.989] Choose frame as a key frame Scene Depth mean:3.327508 ,depth min:0.123623 +[19:08:20.989] frame process finished the id is: 110 the obs is:384 +[19:08:21.639] Odometry x=-0.055866, y=1.360641, theta=-0.121050 +[19:08:21.879] After Reprojection Map nMatches:652 ,distance between ekf and vo x:0.001351 ,z=-0.000835,angle between two frames:0.000097 +[19:08:21.881] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =459 error init =0.013738 error end=0.015389 +[19:08:21.881] After pose optimization, distance between ekf and vo x:0.001351 ,z=-0.000835,angle between two frames:0.000097 +[19:08:21.881] Update EKF and 3D points the number of feature in the new frame: 459 and number of obs: 459 +[19:08:21.881] frame Scene Depth mean:2.800624 ,depth min:0.060292 +[19:08:21.889] need key frame pitch dis: 0.239543 translation dif:1.282616 +[19:08:21.889] Choose frame as a key frame Scene Depth mean:2.800624 ,depth min:0.060292 +[19:08:21.889] frame process finished the id is: 111 the obs is:459 +[19:08:21.913] Odometry x=-0.057667, y=1.363148, theta=-0.121141 +[19:08:22.147] Odometry x=-0.056955, y=1.369070, theta=-0.120404 +[19:08:22.380] Odometry x=-0.056136, y=1.377932, theta=-0.112250 +[19:08:22.618] Odometry x=-0.055298, y=1.388827, theta=-0.100680 +[19:08:22.807] After Reprojection Map nMatches:664 ,distance between ekf and vo x:-0.003322 ,z=0.020076,angle between two frames:0.000314 +[19:08:22.809] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =516 error init =0.008021 error end=0.013526 +[19:08:22.809] After pose optimization, distance between ekf and vo x:-0.003322 ,z=0.020076,angle between two frames:0.000314 +[19:08:22.809] Update EKF and 3D points the number of feature in the new frame: 516 and number of obs: 516 +[19:08:22.809] frame Scene Depth mean:3.162551 ,depth min:0.069259 +[19:08:22.816] need key frame pitch dis: 0.082657 translation dif:0.771971 +[19:08:22.816] Choose frame as a key frame Scene Depth mean:3.162551 ,depth min:0.069259 +[19:08:22.816] frame process finished the id is: 112 the obs is:511 +[19:08:22.888] Odometry x=-0.055780, y=1.395905, theta=-0.102923 +[19:08:23.210] Odometry x=-0.054957, y=1.404073, theta=-0.103801 +[19:08:23.393] Odometry x=-0.054796, y=1.413968, theta=-0.071598 +[19:08:23.444] After Reprojection Map nMatches:509 ,distance between ekf and vo x:0.000441 ,z=0.000637,angle between two frames:0.000025 +[19:08:23.446] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =347 error init =0.022076 error end=0.023957 +[19:08:23.446] After pose optimization, distance between ekf and vo x:0.000441 ,z=0.000637,angle between two frames:0.000025 +[19:08:23.446] Update EKF and 3D points the number of feature in the new frame: 347 and number of obs: 347 +[19:08:23.446] frame Scene Depth mean:3.089965 ,depth min:0.105386 +[19:08:23.453] need key frame pitch dis: 0.266294 translation dif:1.521586 +[19:08:23.453] Choose frame as a key frame Scene Depth mean:3.089965 ,depth min:0.105386 +[19:08:23.453] frame process finished the id is: 113 the obs is:347 +[19:08:23.642] Odometry x=-0.054736, y=1.418662, theta=-0.074543 +[19:08:23.907] Odometry x=-0.054083, y=1.426803, theta=-0.069176 +[19:08:24.024] After Reprojection Map nMatches:483 ,distance between ekf and vo x:0.000967 ,z=-0.000292,angle between two frames:0.000062 +[19:08:24.028] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =374 error init =0.022105 error end=0.018557 +[19:08:24.028] After pose optimization, distance between ekf and vo x:0.006728 ,z=-0.007465,angle between two frames:0.000013 +[19:08:24.028] Update EKF and 3D points the number of feature in the new frame: 374 and number of obs: 374 +[19:08:24.028] frame Scene Depth mean:3.054638 ,depth min:0.096209 +[19:08:24.034] need key frame pitch dis: 0.119879 translation dif:1.709808 +[19:08:24.034] Choose frame as a key frame Scene Depth mean:3.054638 ,depth min:0.096209 +[19:08:24.035] frame process finished the id is: 114 the obs is:371 +[19:08:24.144] Odometry x=-0.053546, y=1.435679, theta=-0.063960 +[19:08:24.404] Odometry x=-0.052983, y=1.443744, theta=-0.051137 +[19:08:24.622] Odometry x=-0.052754, y=1.453061, theta=-0.018909 +[19:08:24.695] After Reprojection Map nMatches:615 ,distance between ekf and vo x:0.000419 ,z=0.000660,angle between two frames:0.000018 +[19:08:24.697] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =505 error init =0.008626 error end=0.014204 +[19:08:24.697] After pose optimization, distance between ekf and vo x:0.000419 ,z=0.000660,angle between two frames:0.000018 +[19:08:24.697] Update EKF and 3D points the number of feature in the new frame: 505 and number of obs: 505 +[19:08:24.697] frame Scene Depth mean:3.107758 ,depth min:0.079955 +[19:08:24.706] need key frame pitch dis: 3.089346 translation dif:0.808961 +[19:08:24.706] Choose frame as a key frame Scene Depth mean:3.107758 ,depth min:0.079955 +[19:08:24.707] frame process finished the id is: 115 the obs is:502 +[19:08:24.894] Odometry x=-0.052917, y=1.457269, theta=-0.010453 +[19:08:25.165] Odometry x=-0.052898, y=1.467643, theta=-0.005949 +[19:08:25.395] Odometry x=-0.052935, y=1.477984, theta=0.000798 +[19:08:25.564] After Reprojection Map nMatches:634 ,distance between ekf and vo x:0.000625 ,z=0.000913,angle between two frames:0.000053 +[19:08:25.565] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =484 error init =0.024491 error end=0.020095 +[19:08:25.565] After pose optimization, distance between ekf and vo x:0.000625 ,z=0.000913,angle between two frames:0.000053 +[19:08:25.566] Update EKF and 3D points the number of feature in the new frame: 484 and number of obs: 484 +[19:08:25.566] frame Scene Depth mean:2.799449 ,depth min:0.073325 +[19:08:25.573] need key frame pitch dis: 0.094833 translation dif:0.232466 +[19:08:25.573] Choose frame as a key frame Scene Depth mean:2.799449 ,depth min:0.073325 +[19:08:25.574] frame process finished the id is: 116 the obs is:484 +[19:08:25.653] Odometry x=-0.055571, y=1.480270, theta=-0.017755 +[19:08:25.869] Odometry x=-0.055533, y=1.488603, theta=-0.024416 +[19:08:26.139] Odometry x=-0.056097, y=1.498511, theta=0.012706 +[19:08:26.369] Odometry x=-0.056783, y=1.510052, theta=0.016121 +[19:08:26.406] After Reprojection Map nMatches:695 ,distance between ekf and vo x:0.000227 ,z=0.001548,angle between two frames:0.000044 +[19:08:26.408] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =556 error init =0.018414 error end=0.013276 +[19:08:26.408] After pose optimization, distance between ekf and vo x:0.000227 ,z=0.001548,angle between two frames:0.000044 +[19:08:26.408] Update EKF and 3D points the number of feature in the new frame: 556 and number of obs: 556 +[19:08:26.408] frame Scene Depth mean:3.458866 ,depth min:0.057092 +[19:08:26.418] need key frame pitch dis: 0.395086 translation dif:0.928757 +[19:08:26.418] Choose frame as a key frame Scene Depth mean:3.458866 ,depth min:0.057092 +[19:08:26.418] frame process finished the id is: 117 the obs is:556 +[19:08:26.627] Odometry x=-0.056868, y=1.528430, theta=0.005921 +[19:08:27.095] After Reprojection Map nMatches:634 ,distance between ekf and vo x:0.000210 ,z=0.000173,angle between two frames:0.000019 +[19:08:27.097] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =416 error init =0.035113 error end=0.043452 +[19:08:27.097] After pose optimization, distance between ekf and vo x:0.000210 ,z=0.000173,angle between two frames:0.000019 +[19:08:27.097] Update EKF and 3D points the number of feature in the new frame: 416 and number of obs: 416 +[19:08:27.097] frame Scene Depth mean:3.429968 ,depth min:0.063328 +[19:08:27.104] need key frame pitch dis: 0.003871 translation dif:0.312856 +[19:08:27.104] Choose frame as a key frame Scene Depth mean:3.429968 ,depth min:0.063328 +[19:08:27.104] frame process finished the id is: 118 the obs is:416 +[19:08:27.906] Odometry x=-0.056990, y=1.528798, theta=-0.007502 +[19:08:28.146] Odometry x=-0.057814, y=1.529193, theta=-0.010019 +[19:08:28.158] After Reprojection Map nMatches:682 ,distance between ekf and vo x:0.000130 ,z=0.000768,angle between two frames:0.000032 +[19:08:28.160] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =537 error init =0.023635 error end=0.024978 +[19:08:28.160] After pose optimization, distance between ekf and vo x:0.000130 ,z=0.000768,angle between two frames:0.000032 +[19:08:28.160] Update EKF and 3D points the number of feature in the new frame: 537 and number of obs: 537 +[19:08:28.160] frame Scene Depth mean:3.823346 ,depth min:0.186173 +[19:08:28.169] need key frame pitch dis: 0.548946 translation dif:0.752401 +[19:08:28.170] Choose frame as a key frame Scene Depth mean:3.823346 ,depth min:0.186173 +[19:08:28.170] frame process finished the id is: 119 the obs is:529 +[19:08:28.401] Odometry x=-0.057712, y=1.529234, theta=-0.140003 +[19:08:28.645] Odometry x=-0.058096, y=1.529751, theta=-0.256127 +[19:08:28.897] Odometry x=-0.058726, y=1.529866, theta=-0.402947 +[19:08:29.202] Odometry x=-0.058784, y=1.530102, theta=-0.553986 +[19:08:29.303] After Reprojection Map nMatches:720 ,distance between ekf and vo x:0.000464 ,z=0.000912,angle between two frames:0.000041 +[19:08:29.306] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =593 error init =0.019674 error end=0.015439 +[19:08:29.306] After pose optimization, distance between ekf and vo x:0.000464 ,z=0.000912,angle between two frames:0.000041 +[19:08:29.306] Update EKF and 3D points the number of feature in the new frame: 593 and number of obs: 593 +[19:08:29.306] frame Scene Depth mean:3.914182 ,depth min:0.061721 +[19:08:29.319] need key frame pitch dis: 0.284540 translation dif:0.116150 +[19:08:29.319] Choose frame as a key frame Scene Depth mean:3.914182 ,depth min:0.061721 +[19:08:29.319] frame process finished the id is: 120 the obs is:590 +[19:08:29.870] After Reprojection Map nMatches:553 ,distance between ekf and vo x:-0.000009 ,z=-0.000018,angle between two frames:0.000003 +[19:08:29.874] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =443 error init =0.026842 error end=0.009484 +[19:08:29.874] After pose optimization, distance between ekf and vo x:0.022787 ,z=-0.017528,angle between two frames:0.001790 +[19:08:29.874] Update EKF and 3D points the number of feature in the new frame: 443 and number of obs: 443 +[19:08:29.874] frame Scene Depth mean:4.614778 ,depth min:0.074523 +[19:08:29.885] need key frame pitch dis: 3.718996 translation dif:1.322922 +[19:08:29.885] Choose frame as a key frame Scene Depth mean:4.614778 ,depth min:0.074523 +[19:08:29.885] frame process finished the id is: 121 the obs is:443 +[19:08:30.641] Odometry x=-0.053421, y=1.526050, theta=-0.603219 +[19:08:30.881] Odometry x=-0.053424, y=1.526055, theta=-0.602748 +[19:08:30.959] After Reprojection Map nMatches:773 ,distance between ekf and vo x:0.000004 ,z=-0.000014,angle between two frames:0.000003 +[19:08:30.961] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =622 error init =0.052937 error end=0.012496 +[19:08:30.961] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000014,angle between two frames:0.000003 +[19:08:30.961] Update EKF and 3D points the number of feature in the new frame: 622 and number of obs: 622 +[19:08:30.961] frame Scene Depth mean:4.859708 ,depth min:0.062650 +[19:08:30.974] need key frame pitch dis: 0.724938 translation dif:0.905935 +[19:08:30.974] Choose frame as a key frame Scene Depth mean:4.859708 ,depth min:0.062650 +[19:08:30.974] frame process finished the id is: 122 the obs is:622 +[19:08:31.213] Odometry x=-0.053426, y=1.526062, theta=-0.627226 +[19:08:31.388] Odometry x=-0.053442, y=1.526409, theta=-0.678155 +[19:08:31.669] Odometry x=-0.053429, y=1.526491, theta=-0.747707 +[19:08:32.215] After Reprojection Map nMatches:951 ,distance between ekf and vo x:0.000011 ,z=0.000004,angle between two frames:0.000000 +[19:08:32.220] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =712 error init =0.071102 error end=0.017374 +[19:08:32.220] After pose optimization, distance between ekf and vo x:0.015468 ,z=-0.017212,angle between two frames:0.002130 +[19:08:32.220] Update EKF and 3D points the number of feature in the new frame: 712 and number of obs: 712 +[19:08:32.221] frame Scene Depth mean:4.483658 ,depth min:0.103676 +[19:08:32.234] need key frame pitch dis: 1.021269 translation dif:1.269501 +[19:08:32.234] Choose frame as a key frame Scene Depth mean:4.483658 ,depth min:0.103676 +[19:08:32.234] frame process finished the id is: 123 the obs is:712 +[19:08:33.192] Odometry x=-0.051386, y=1.524591, theta=-0.771164 +[19:08:33.382] Odometry x=-0.051364, y=1.525116, theta=-0.793631 +[19:08:33.628] Odometry x=-0.051342, y=1.525195, theta=-0.852885 +[19:08:33.753] After Reprojection Map nMatches:936 ,distance between ekf and vo x:-0.000023 ,z=0.000016,angle between two frames:0.000002 +[19:08:33.755] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =666 error init =0.119565 error end=0.018783 +[19:08:33.755] After pose optimization, distance between ekf and vo x:-0.000023 ,z=0.000016,angle between two frames:0.000002 +[19:08:33.755] Update EKF and 3D points the number of feature in the new frame: 666 and number of obs: 666 +[19:08:33.756] frame Scene Depth mean:4.631617 ,depth min:0.057598 +[19:08:33.768] need key frame pitch dis: 0.538995 translation dif:1.537596 +[19:08:33.768] Choose frame as a key frame Scene Depth mean:4.631617 ,depth min:0.057598 +[19:08:33.769] frame process finished the id is: 124 the obs is:666 +[19:08:33.894] Odometry x=-0.051004, y=1.524908, theta=-0.944600 +[19:08:34.128] Odometry x=-0.050616, y=1.525096, theta=-1.010011 +[19:08:34.406] Odometry x=-0.050504, y=1.525131, theta=-1.072455 +[19:08:34.645] Odometry x=-0.050568, y=1.525171, theta=-1.139396 +[19:08:34.899] After Reprojection Map nMatches:975 ,distance between ekf and vo x:0.000009 ,z=-0.000001,angle between two frames:0.000001 +[19:08:34.902] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =711 error init =0.165071 error end=0.052063 +[19:08:34.902] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000001,angle between two frames:0.000001 +[19:08:34.902] Update EKF and 3D points the number of feature in the new frame: 711 and number of obs: 711 +[19:08:34.903] frame Scene Depth mean:3.508296 ,depth min:0.136653 +[19:08:34.914] need key frame pitch dis: 0.961131 translation dif:2.618109 +[19:08:34.914] Choose frame as a key frame Scene Depth mean:3.508296 ,depth min:0.136653 +[19:08:34.914] frame process finished the id is: 125 the obs is:702 +[19:08:35.635] Odometry x=-0.049771, y=1.525595, theta=-1.123551 +[19:08:35.889] Odometry x=-0.046087, y=1.527336, theta=-1.122049 +[19:08:36.118] Odometry x=-0.031151, y=1.534695, theta=-1.120220 +[19:08:36.127] After Reprojection Map nMatches:864 ,distance between ekf and vo x:-0.000001 ,z=-0.000003,angle between two frames:0.000000 +[19:08:36.133] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =634 error init =0.350250 error end=0.052200 +[19:08:36.133] After pose optimization, distance between ekf and vo x:0.054712 ,z=-0.149404,angle between two frames:0.005512 +[19:08:36.133] Update EKF and 3D points the number of feature in the new frame: 634 and number of obs: 634 +[19:08:36.133] frame Scene Depth mean:3.198993 ,depth min:0.185816 +[19:08:36.148] need key frame pitch dis: 4.148485 translation dif:1.488363 +[19:08:36.148] Choose frame as a key frame Scene Depth mean:3.198993 ,depth min:0.185816 +[19:08:36.148] frame process finished the id is: 126 the obs is:634 +[19:08:36.396] Odometry x=-0.010125, y=1.504044, theta=-1.103153 +[19:08:36.638] Odometry x=0.004030, y=1.511249, theta=-1.107765 +[19:08:36.870] Odometry x=0.018606, y=1.518322, theta=-1.101006 +[19:08:37.024] After Reprojection Map nMatches:846 ,distance between ekf and vo x:0.000006 ,z=-0.000003,angle between two frames:0.000000 +[19:08:37.029] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =659 error init =0.209829 error end=0.066231 +[19:08:37.029] After pose optimization, distance between ekf and vo x:0.106794 ,z=0.040761,angle between two frames:0.022818 +[19:08:37.029] Update EKF and 3D points the number of feature in the new frame: 659 and number of obs: 659 +[19:08:37.029] frame Scene Depth mean:3.513984 ,depth min:0.096474 +[19:08:37.044] need key frame pitch dis: 0.983323 translation dif:0.515802 +[19:08:37.044] Choose frame as a key frame Scene Depth mean:3.513984 ,depth min:0.096474 +[19:08:37.044] frame process finished the id is: 127 the obs is:659 +[19:08:38.403] After Reprojection Map nMatches:862 ,distance between ekf and vo x:0.000025 ,z=-0.000026,angle between two frames:0.000000 +[19:08:38.406] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =623 error init =0.260472 error end=0.068802 +[19:08:38.406] After pose optimization, distance between ekf and vo x:0.000025 ,z=-0.000026,angle between two frames:0.000000 +[19:08:38.406] Update EKF and 3D points the number of feature in the new frame: 623 and number of obs: 623 +[19:08:38.406] frame Scene Depth mean:3.116213 ,depth min:0.102041 +[19:08:38.419] need key frame pitch dis: 0.315362 translation dif:1.262559 +[19:08:38.419] Choose frame as a key frame Scene Depth mean:3.116213 ,depth min:0.102041 +[19:08:38.420] frame process finished the id is: 128 the obs is:623 +[19:08:38.638] Odometry x=0.027928, y=1.523967, theta=-1.097555 +[19:08:38.885] Odometry x=0.030854, y=1.524939, theta=-1.096054 +[19:08:39.221] Odometry x=0.036955, y=1.527575, theta=-1.093895 +[19:08:39.373] Odometry x=0.043801, y=1.531099, theta=-1.087879 +[19:08:39.599] After Reprojection Map nMatches:789 ,distance between ekf and vo x:0.000009 ,z=-0.000003,angle between two frames:0.000000 +[19:08:39.602] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =556 error init =0.152698 error end=0.091487 +[19:08:39.602] After pose optimization, distance between ekf and vo x:0.000009 ,z=-0.000003,angle between two frames:0.000000 +[19:08:39.602] Update EKF and 3D points the number of feature in the new frame: 556 and number of obs: 556 +[19:08:39.602] frame Scene Depth mean:2.648624 ,depth min:0.100903 +[19:08:39.613] need key frame pitch dis: 1.981665 translation dif:1.367926 +[19:08:39.613] Choose frame as a key frame Scene Depth mean:2.648624 ,depth min:0.100903 +[19:08:39.613] frame process finished the id is: 129 the obs is:556 +[19:08:39.643] Odometry x=0.046604, y=1.532185, theta=-1.084769 +[19:08:39.910] Odometry x=0.052170, y=1.535101, theta=-1.081177 +[19:08:40.154] Odometry x=0.059999, y=1.539092, theta=-1.080662 +[19:08:40.403] Odometry x=0.068319, y=1.543509, theta=-1.072939 +[19:08:40.630] Odometry x=0.077266, y=1.548347, theta=-1.077635 +[19:08:40.856] After Reprojection Map nMatches:1047 ,distance between ekf and vo x:0.000140 ,z=-0.000014,angle between two frames:0.000000 +[19:08:40.859] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =859 error init =0.087174 error end=0.021242 +[19:08:40.859] After pose optimization, distance between ekf and vo x:0.000140 ,z=-0.000014,angle between two frames:0.000000 +[19:08:40.859] Update EKF and 3D points the number of feature in the new frame: 859 and number of obs: 859 +[19:08:40.859] frame Scene Depth mean:2.632292 ,depth min:0.071035 +[19:08:40.874] need key frame pitch dis: 1.531702 translation dif:0.526394 +[19:08:40.874] Choose frame as a key frame Scene Depth mean:2.632292 ,depth min:0.071035 +[19:08:40.874] frame process finished the id is: 130 the obs is:859 +[19:08:40.880] Odometry x=0.077085, y=1.548299, theta=-1.074424 +[19:08:41.213] Odometry x=0.084188, y=1.551505, theta=-1.068684 +[19:08:41.420] Odometry x=0.092462, y=1.556000, theta=-1.061138 +[19:08:41.641] Odometry x=0.101366, y=1.560950, theta=-1.058147 +[19:08:41.906] Odometry x=0.110442, y=1.565715, theta=-1.053936 +[19:08:42.142] After Reprojection Map nMatches:979 ,distance between ekf and vo x:0.000027 ,z=-0.000013,angle between two frames:0.000000 +[19:08:42.149] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =682 error init =0.301343 error end=0.020745 +[19:08:42.149] After pose optimization, distance between ekf and vo x:0.604816 ,z=-1.129894,angle between two frames:0.012142 +[19:08:42.149] frame process finished the id is: 130 the obs is:859 +[19:08:42.151] Odometry x=0.119217, y=1.570611, theta=-1.051336 +[19:08:43.347] After Reprojection Map nMatches:993 ,distance between ekf and vo x:0.000015 ,z=-0.000002,angle between two frames:0.000001 +[19:08:43.350] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =805 error init =0.098115 error end=0.019550 +[19:08:43.350] After pose optimization, distance between ekf and vo x:0.000015 ,z=-0.000002,angle between two frames:0.000001 +[19:08:43.350] Update EKF and 3D points the number of feature in the new frame: 805 and number of obs: 805 +[19:08:43.350] frame Scene Depth mean:2.721778 ,depth min:0.078245 +[19:08:43.363] need key frame pitch dis: 1.297817 translation dif:2.128961 +[19:08:43.363] Choose frame as a key frame Scene Depth mean:2.721778 ,depth min:0.078245 +[19:08:43.363] frame process finished the id is: 132 the obs is:805 +[19:08:43.411] Odometry x=0.119233, y=1.570602, theta=-1.054253 +[19:08:43.454] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000064 ,z=-0.000021,angle between two frames:0.000003 +[19:08:43.454] After pose optimization, distance between ekf and vo x:0.000064 ,z=-0.000021,angle between two frames:0.000003 +[19:08:43.454] frame process finished the id is: 132 the obs is:805 +[19:08:43.548] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000070 ,z=-0.000019,angle between two frames:0.000003 +[19:08:43.548] After pose optimization, distance between ekf and vo x:0.000070 ,z=-0.000019,angle between two frames:0.000003 +[19:08:43.548] frame process finished the id is: 132 the obs is:805 +[19:08:43.639] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000072 ,z=-0.000020,angle between two frames:0.000002 +[19:08:43.639] After pose optimization, distance between ekf and vo x:0.000072 ,z=-0.000020,angle between two frames:0.000002 +[19:08:43.639] frame process finished the id is: 132 the obs is:805 +[19:08:43.649] Odometry x=0.119258, y=1.570564, theta=-1.076119 +[19:08:43.734] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000072 ,z=-0.000020,angle between two frames:0.000002 +[19:08:43.734] After pose optimization, distance between ekf and vo x:0.000072 ,z=-0.000020,angle between two frames:0.000002 +[19:08:43.734] frame process finished the id is: 132 the obs is:805 +[19:08:43.874] Odometry x=0.119275, y=1.570563, theta=-1.153539 +[19:08:44.150] Odometry x=0.119288, y=1.570469, theta=-1.284343 +[19:08:44.395] Odometry x=0.119287, y=1.570496, theta=-1.413010 +[19:08:44.719] After Reprojection Map nMatches:1064 ,distance between ekf and vo x:0.000053 ,z=-0.000021,angle between two frames:0.000002 +[19:08:44.722] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =824 error init =0.160930 error end=0.026693 +[19:08:44.722] After pose optimization, distance between ekf and vo x:0.000053 ,z=-0.000021,angle between two frames:0.000002 +[19:08:44.722] Update EKF and 3D points the number of feature in the new frame: 824 and number of obs: 824 +[19:08:44.722] frame Scene Depth mean:2.692931 ,depth min:0.064861 +[19:08:44.737] need key frame pitch dis: 1.891740 translation dif:2.947645 +[19:08:44.737] Choose frame as a key frame Scene Depth mean:2.692931 ,depth min:0.064861 +[19:08:44.738] frame process finished the id is: 137 the obs is:807 +[19:08:44.829] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000028 ,z=-0.000028,angle between two frames:0.000000 +[19:08:44.829] After pose optimization, distance between ekf and vo x:0.000028 ,z=-0.000028,angle between two frames:0.000000 +[19:08:44.829] frame process finished the id is: 137 the obs is:807 +[19:08:44.911] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 +[19:08:44.911] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 +[19:08:44.911] frame process finished the id is: 137 the obs is:807 +[19:08:44.992] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 +[19:08:44.992] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 +[19:08:44.992] frame process finished the id is: 137 the obs is:807 +[19:08:45.094] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001 +[19:08:45.095] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001 +[19:08:45.095] frame process finished the id is: 137 the obs is:807 +[19:08:45.183] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 +[19:08:45.183] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 +[19:08:45.183] frame process finished the id is: 137 the obs is:807 +[19:08:45.297] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001 +[19:08:45.297] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001 +[19:08:45.297] frame process finished the id is: 137 the obs is:807 +[19:08:45.377] Odometry x=0.119191, y=1.569948, theta=-1.426706 +[19:08:45.386] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001 +[19:08:45.386] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000022,angle between two frames:0.000001 +[19:08:45.386] frame process finished the id is: 137 the obs is:807 +[19:08:45.488] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 +[19:08:45.488] After pose optimization, distance between ekf and vo x:0.000018 ,z=-0.000021,angle between two frames:0.000001 +[19:08:45.488] frame process finished the id is: 137 the obs is:807 +[19:08:45.592] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000013 ,z=-0.000017,angle between two frames:0.000000 +[19:08:45.592] After pose optimization, distance between ekf and vo x:0.000013 ,z=-0.000017,angle between two frames:0.000000 +[19:08:45.592] frame process finished the id is: 137 the obs is:807 +[19:08:45.636] Odometry x=0.119178, y=1.569899, theta=-1.451161 +[19:08:45.693] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000013 ,z=-0.000016,angle between two frames:0.000001 +[19:08:45.693] After pose optimization, distance between ekf and vo x:0.000013 ,z=-0.000016,angle between two frames:0.000001 +[19:08:45.693] frame process finished the id is: 137 the obs is:807 +[19:08:45.780] After Reprojection Map nMatches:0 ,distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000001 +[19:08:45.780] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000001 +[19:08:45.780] frame process finished the id is: 137 the obs is:807 +[19:08:45.882] Odometry x=0.119130, y=1.569842, theta=-1.516541 +[19:08:46.137] Odometry x=0.119155, y=1.569871, theta=-1.617934 +[19:08:46.380] Odometry x=0.119149, y=1.569850, theta=-1.728217 +[19:08:46.557] After Reprojection Map nMatches:873 ,distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000001 +[19:08:46.560] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =559 error init =0.215918 error end=0.253845 +[19:08:46.560] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000008,angle between two frames:0.000001 +[19:08:46.560] Update EKF and 3D points the number of feature in the new frame: 559 and number of obs: 559 +[19:08:46.561] frame Scene Depth mean:3.379793 ,depth min:0.052674 +[19:08:46.569] need key frame pitch dis: 0.788090 translation dif:6.662733 +[19:08:46.569] Choose frame as a key frame Scene Depth mean:3.379793 ,depth min:0.052674 +[19:08:46.569] frame process finished the id is: 149 the obs is:454 +[19:08:46.633] Odometry x=0.119220, y=1.569534, theta=-1.856107 +[19:08:46.920] Odometry x=0.119194, y=1.569568, theta=-1.939685 +[19:08:47.322] After Reprojection Map nMatches:716 ,distance between ekf and vo x:0.000004 ,z=-0.000040,angle between two frames:0.000003 +[19:08:47.327] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =464 error init =0.155072 error end=0.084434 +[19:08:47.327] After pose optimization, distance between ekf and vo x:0.022013 ,z=0.013355,angle between two frames:0.003195 +[19:08:47.327] Update EKF and 3D points the number of feature in the new frame: 464 and number of obs: 464 +[19:08:47.328] frame Scene Depth mean:2.913452 ,depth min:0.086289 +[19:08:47.336] need key frame pitch dis: 2.284302 translation dif:1.580027 +[19:08:47.336] Choose frame as a key frame Scene Depth mean:2.913452 ,depth min:0.086289 +[19:08:47.336] frame process finished the id is: 150 the obs is:426 +[19:08:48.038] After Reprojection Map nMatches:506 ,distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000001 +[19:08:48.042] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =292 error init =0.188098 error end=0.147132 +[19:08:48.042] After pose optimization, distance between ekf and vo x:0.000023 ,z=0.000041,angle between two frames:0.000002 +[19:08:48.042] Update EKF and 3D points the number of feature in the new frame: 292 and number of obs: 292 +[19:08:48.042] frame Scene Depth mean:4.162992 ,depth min:0.092066 +[19:08:48.048] need key frame pitch dis: 4.913533 translation dif:4.865920 +[19:08:48.048] Choose frame as a key frame Scene Depth mean:4.162992 ,depth min:0.092066 +[19:08:48.048] frame process finished the id is: 151 the obs is:292 +[19:08:48.156] Odometry x=0.120276, y=1.570277, theta=-1.982779 +[19:08:48.376] Odometry x=0.120273, y=1.570274, theta=-1.999037 +[19:08:48.629] Odometry x=0.120257, y=1.570268, theta=-2.057196 +[19:08:48.688] After Reprojection Map nMatches:394 ,distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000003 +[19:08:48.691] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =238 error init =0.083938 error end=0.091798 +[19:08:48.691] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000061,angle between two frames:0.000000 +[19:08:48.691] Update EKF and 3D points the number of feature in the new frame: 238 and number of obs: 238 +[19:08:48.691] frame Scene Depth mean:5.485150 ,depth min:0.116261 +[19:08:48.695] need key frame pitch dis: 0.468237 translation dif:2.979594 +[19:08:48.695] Choose frame as a key frame Scene Depth mean:5.485150 ,depth min:0.116261 +[19:08:48.696] frame process finished the id is: 152 the obs is:213 +[19:08:48.893] Odometry x=0.120261, y=1.570281, theta=-2.140816 +[19:08:49.193] Odometry x=0.120254, y=1.570273, theta=-2.211995 +[19:08:49.204] After Reprojection Map nMatches:363 ,distance between ekf and vo x:-0.008829 ,z=0.562177,angle between two frames:0.400037 +[19:08:49.206] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =256 error init =0.039534 error end=0.060363 +[19:08:49.206] After pose optimization, distance between ekf and vo x:-0.007097 ,z=0.563031,angle between two frames:0.400053 +[19:08:49.206] frame process finished the id is: 152 the obs is:213 +[19:08:49.382] Odometry x=0.120264, y=1.570249, theta=-2.313300 +[19:08:49.608] After Reprojection Map nMatches:312 ,distance between ekf and vo x:0.198315 ,z=0.950063,angle between two frames:0.700068 +[19:08:49.610] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =191 error init =0.153525 error end=0.559753 +[19:08:49.610] After pose optimization, distance between ekf and vo x:0.198544 ,z=0.950108,angle between two frames:0.700068 +[19:08:49.610] frame process finished the id is: 152 the obs is:213 +[19:08:50.164] After Reprojection Map nMatches:213 ,distance between ekf and vo x:0.248680 ,z=0.797557,angle between two frames:0.599929 +[19:08:50.166] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =140 error init =1.436337 error end=0.114395 +[19:08:50.166] After pose optimization, distance between ekf and vo x:0.248680 ,z=0.797557,angle between two frames:0.599929 +[19:08:50.166] frame process finished the id is: 152 the obs is:213 +[19:08:50.533] After Reprojection Map nMatches:295 ,distance between ekf and vo x:0.007435 ,z=0.141168,angle between two frames:0.100000 +[19:08:50.534] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =218 error init =0.016935 error end=0.014367 +[19:08:50.534] After pose optimization, distance between ekf and vo x:0.007640 ,z=0.141267,angle between two frames:0.100006 +[19:08:50.534] Update EKF and 3D points the number of feature in the new frame: 218 and number of obs: 218 +[19:08:50.534] frame Scene Depth mean:2.848498 ,depth min:0.620156 +[19:08:50.537] need key frame pitch dis: 2.258919 translation dif:1.526918 +[19:08:50.537] Choose frame as a key frame Scene Depth mean:2.848498 ,depth min:0.620156 +[19:08:50.537] frame process finished the id is: 156 the obs is:215 +[19:08:50.937] After Reprojection Map nMatches:271 ,distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000000 +[19:08:50.939] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =215 error init =0.254372 error end=0.016372 +[19:08:50.939] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000000 +[19:08:50.939] Update EKF and 3D points the number of feature in the new frame: 215 and number of obs: 215 +[19:08:50.940] frame Scene Depth mean:3.521079 ,depth min:0.096342 +[19:08:50.944] need key frame pitch dis: 4.972940 translation dif:4.434875 +[19:08:50.944] Choose frame as a key frame Scene Depth mean:3.521079 ,depth min:0.096342 +[19:08:50.944] frame process finished the id is: 157 the obs is:215 +[19:08:51.394] After Reprojection Map nMatches:353 ,distance between ekf and vo x:0.008881 ,z=0.141082,angle between two frames:0.100000 +[19:08:51.396] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =287 error init =0.168934 error end=0.020201 +[19:08:51.396] After pose optimization, distance between ekf and vo x:0.008884 ,z=0.141083,angle between two frames:0.100000 +[19:08:51.396] Update EKF and 3D points the number of feature in the new frame: 287 and number of obs: 287 +[19:08:51.396] frame Scene Depth mean:4.275350 ,depth min:0.391104 +[19:08:51.401] need key frame pitch dis: 4.953530 translation dif:0.975848 +[19:08:51.401] Choose frame as a key frame Scene Depth mean:4.275350 ,depth min:0.391104 +[19:08:51.401] frame process finished the id is: 158 the obs is:287 +[19:08:51.872] After Reprojection Map nMatches:434 ,distance between ekf and vo x:-0.000066 ,z=-0.000081,angle between two frames:0.000010 +[19:08:51.875] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =208 error init =0.208172 error end=0.100608 +[19:08:51.875] After pose optimization, distance between ekf and vo x:0.001755 ,z=0.001895,angle between two frames:0.000073 +[19:08:51.875] Update EKF and 3D points the number of feature in the new frame: 208 and number of obs: 208 +[19:08:51.875] frame Scene Depth mean:4.311469 ,depth min:0.370871 +[19:08:51.879] need key frame pitch dis: 0.089296 translation dif:5.950477 +[19:08:51.879] Choose frame as a key frame Scene Depth mean:4.311469 ,depth min:0.370871 +[19:08:51.879] frame process finished the id is: 159 the obs is:208 +[19:08:51.902] Odometry x=0.121056, y=1.578592, theta=-2.369192 +[19:08:52.157] Odometry x=0.121054, y=1.578579, theta=-2.372067 +[19:08:52.323] After Reprojection Map nMatches:293 ,distance between ekf and vo x:0.008902 ,z=0.141081,angle between two frames:0.100000 +[19:08:52.325] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =207 error init =0.030061 error end=0.040087 +[19:08:52.325] After pose optimization, distance between ekf and vo x:0.009624 ,z=0.142031,angle between two frames:0.099893 +[19:08:52.325] Update EKF and 3D points the number of feature in the new frame: 207 and number of obs: 207 +[19:08:52.325] frame Scene Depth mean:4.296439 ,depth min:0.412402 +[19:08:52.330] need key frame pitch dis: 0.021236 translation dif:5.657905 +[19:08:52.330] Choose frame as a key frame Scene Depth mean:4.296439 ,depth min:0.412402 +[19:08:52.330] frame process finished the id is: 160 the obs is:207 +[19:08:52.376] Odometry x=0.123263, y=1.611617, theta=-2.397659 +[19:08:52.633] Odometry x=0.123234, y=1.611588, theta=-2.413955 +[19:08:52.716] After Reprojection Map nMatches:299 ,distance between ekf and vo x:0.012912 ,z=0.140771,angle between two frames:0.100000 +[19:08:52.718] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =209 error init =0.141978 error end=0.033408 +[19:08:52.718] After pose optimization, distance between ekf and vo x:0.013005 ,z=0.140808,angle between two frames:0.100008 +[19:08:52.718] Update EKF and 3D points the number of feature in the new frame: 209 and number of obs: 209 +[19:08:52.718] frame Scene Depth mean:6.430306 ,depth min:0.370892 +[19:08:52.723] need key frame pitch dis: 0.122049 translation dif:5.752578 +[19:08:52.723] Choose frame as a key frame Scene Depth mean:6.430306 ,depth min:0.370892 +[19:08:52.723] frame process finished the id is: 161 the obs is:209 +[19:08:52.895] Odometry x=0.125928, y=1.644458, theta=-2.455434 +[19:08:53.040] After Reprojection Map nMatches:275 ,distance between ekf and vo x:0.021019 ,z=0.139791,angle between two frames:0.100000 +[19:08:53.042] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =215 error init =0.123860 error end=0.017795 +[19:08:53.042] After pose optimization, distance between ekf and vo x:0.021043 ,z=0.139805,angle between two frames:0.100000 +[19:08:53.042] Update EKF and 3D points the number of feature in the new frame: 215 and number of obs: 215 +[19:08:53.042] frame Scene Depth mean:5.232192 ,depth min:0.514313 +[19:08:53.046] need key frame pitch dis: 1.467668 translation dif:5.504385 +[19:08:53.046] Choose frame as a key frame Scene Depth mean:5.232192 ,depth min:0.514313 +[19:08:53.046] frame process finished the id is: 162 the obs is:215 +[19:08:53.331] After Reprojection Map nMatches:279 ,distance between ekf and vo x:0.000004 ,z=-0.000001,angle between two frames:0.000000 +[19:08:53.333] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =179 error init =0.503934 error end=0.062247 +[19:08:53.333] After pose optimization, distance between ekf and vo x:0.000139 ,z=0.000124,angle between two frames:0.000001 +[19:08:53.333] Update EKF and 3D points the number of feature in the new frame: 179 and number of obs: 179 +[19:08:53.333] frame Scene Depth mean:5.649374 ,depth min:0.485740 +[19:08:53.337] need key frame pitch dis: 0.291993 translation dif:8.200772 +[19:08:53.337] Choose frame as a key frame Scene Depth mean:5.649374 ,depth min:0.485740 +[19:08:53.337] frame process finished the id is: 163 the obs is:179 +[19:08:53.627] After Reprojection Map nMatches:249 ,distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000000 +[19:08:53.629] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =177 error init =1.031501 error end=0.034666 +[19:08:53.629] After pose optimization, distance between ekf and vo x:0.000097 ,z=0.000094,angle between two frames:0.000002 +[19:08:53.629] Update EKF and 3D points the number of feature in the new frame: 177 and number of obs: 177 +[19:08:53.629] frame Scene Depth mean:5.666079 ,depth min:0.479403 +[19:08:53.632] need key frame pitch dis: 0.556490 translation dif:4.785711 +[19:08:53.632] Choose frame as a key frame Scene Depth mean:5.666079 ,depth min:0.479403 +[19:08:53.632] frame process finished the id is: 164 the obs is:177 +[19:08:53.922] After Reprojection Map nMatches:229 ,distance between ekf and vo x:0.000006 ,z=-0.000002,angle between two frames:0.000002 +[19:08:53.924] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =153 error init =0.197852 error end=0.081893 +[19:08:53.924] After pose optimization, distance between ekf and vo x:0.000032 ,z=0.000019,angle between two frames:0.000002 +[19:08:53.924] Update EKF and 3D points the number of feature in the new frame: 153 and number of obs: 153 +[19:08:53.924] frame Scene Depth mean:5.124951 ,depth min:1.161673 +[19:08:53.928] need key frame pitch dis: 0.556293 translation dif:4.785115 +[19:08:53.928] Choose frame as a key frame Scene Depth mean:5.124951 ,depth min:1.161673 +[19:08:53.928] frame process finished the id is: 165 the obs is:153 +[19:08:54.157] Odometry x=0.126026, y=1.644977, theta=-2.465449 +[19:08:54.193] After Reprojection Map nMatches:187 ,distance between ekf and vo x:0.000002 ,z=-0.000001,angle between two frames:0.000000 +[19:08:54.195] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =152 error init =0.231922 error end=0.010930 +[19:08:54.195] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000000 +[19:08:54.195] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152 +[19:08:54.195] frame Scene Depth mean:4.874925 ,depth min:1.199333 +[19:08:54.198] need key frame pitch dis: 1.881429 translation dif:2.868665 +[19:08:54.198] Choose frame as a key frame Scene Depth mean:4.874925 ,depth min:1.199333 +[19:08:54.198] frame process finished the id is: 166 the obs is:152 +[19:08:54.422] Odometry x=0.126227, y=1.644672, theta=-2.465421 +[19:08:54.509] After Reprojection Map nMatches:263 ,distance between ekf and vo x:0.000001 ,z=-0.000001,angle between two frames:0.000000 +[19:08:54.511] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =205 error init =0.159396 error end=0.028222 +[19:08:54.511] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000000,angle between two frames:0.000000 +[19:08:54.511] Update EKF and 3D points the number of feature in the new frame: 205 and number of obs: 205 +[19:08:54.511] frame Scene Depth mean:4.335582 ,depth min:0.241710 +[19:08:54.516] need key frame pitch dis: 1.498487 translation dif:3.165179 +[19:08:54.516] Choose frame as a key frame Scene Depth mean:4.335582 ,depth min:0.241710 +[19:08:54.516] frame process finished the id is: 167 the obs is:205 +[19:08:54.652] Odometry x=0.131779, y=1.638545, theta=-2.460860 +[19:08:54.808] After Reprojection Map nMatches:336 ,distance between ekf and vo x:0.000001 ,z=0.000001,angle between two frames:0.000000 +[19:08:54.811] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =271 error init =0.088123 error end=0.033563 +[19:08:54.811] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000001,angle between two frames:0.000000 +[19:08:54.811] Update EKF and 3D points the number of feature in the new frame: 271 and number of obs: 271 +[19:08:54.811] frame Scene Depth mean:3.305145 ,depth min:0.445639 +[19:08:54.816] need key frame pitch dis: 0.395376 translation dif:0.436608 +[19:08:54.816] Choose frame as a key frame Scene Depth mean:3.305145 ,depth min:0.445639 +[19:08:54.817] frame process finished the id is: 168 the obs is:271 +[19:08:54.915] Odometry x=0.135075, y=1.634408, theta=-2.454598 +[19:08:55.135] After Reprojection Map nMatches:397 ,distance between ekf and vo x:0.000002 ,z=-0.000001,angle between two frames:0.000000 +[19:08:55.138] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =316 error init =0.110650 error end=0.021209 +[19:08:55.138] After pose optimization, distance between ekf and vo x:0.000003 ,z=-0.000001,angle between two frames:0.000000 +[19:08:55.138] Update EKF and 3D points the number of feature in the new frame: 316 and number of obs: 316 +[19:08:55.138] frame Scene Depth mean:2.930400 ,depth min:0.475973 +[19:08:55.144] need key frame pitch dis: 0.505729 translation dif:0.663558 +[19:08:55.144] Choose frame as a key frame Scene Depth mean:2.930400 ,depth min:0.475973 +[19:08:55.144] frame process finished the id is: 169 the obs is:316 +[19:08:55.187] Odometry x=0.138348, y=1.630364, theta=-2.453342 +[19:08:55.360] Odometry x=0.142722, y=1.625078, theta=-2.457596 +[19:08:55.443] After Reprojection Map nMatches:390 ,distance between ekf and vo x:0.000000 ,z=0.000002,angle between two frames:0.000000 +[19:08:55.446] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =310 error init =0.070028 error end=0.027988 +[19:08:55.446] After pose optimization, distance between ekf and vo x:0.000261 ,z=0.000228,angle between two frames:0.000005 +[19:08:55.446] Update EKF and 3D points the number of feature in the new frame: 310 and number of obs: 310 +[19:08:55.446] frame Scene Depth mean:2.332547 ,depth min:0.200468 +[19:08:55.452] need key frame pitch dis: 1.190081 translation dif:1.151456 +[19:08:55.452] Choose frame as a key frame Scene Depth mean:2.332547 ,depth min:0.200468 +[19:08:55.452] frame process finished the id is: 170 the obs is:310 +[19:08:55.639] Odometry x=0.146302, y=1.620545, theta=-2.459953 +[19:08:55.763] After Reprojection Map nMatches:432 ,distance between ekf and vo x:0.000001 ,z=0.000001,angle between two frames:0.000000 +[19:08:55.767] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =352 error init =0.078891 error end=0.032588 +[19:08:55.767] After pose optimization, distance between ekf and vo x:0.000001 ,z=0.000001,angle between two frames:0.000000 +[19:08:55.767] Update EKF and 3D points the number of feature in the new frame: 352 and number of obs: 352 +[19:08:55.767] frame Scene Depth mean:2.251489 ,depth min:0.224080 +[19:08:55.776] need key frame pitch dis: 0.641012 translation dif:0.584982 +[19:08:55.776] Choose frame as a key frame Scene Depth mean:2.251489 ,depth min:0.224080 +[19:08:55.776] frame process finished the id is: 171 the obs is:352 +[19:08:55.875] Odometry x=0.148861, y=1.616477, theta=-2.461982 +[19:08:56.126] After Reprojection Map nMatches:525 ,distance between ekf and vo x:0.000001 ,z=0.000002,angle between two frames:0.000000 +[19:08:56.130] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =391 error init =0.106907 error end=0.103163 +[19:08:56.130] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000004,angle between two frames:0.000000 +[19:08:56.130] Update EKF and 3D points the number of feature in the new frame: 391 and number of obs: 391 +[19:08:56.130] frame Scene Depth mean:1.517007 ,depth min:0.073505 +[19:08:56.139] need key frame pitch dis: 0.606481 translation dif:1.763317 +[19:08:56.139] Choose frame as a key frame Scene Depth mean:1.517007 ,depth min:0.073505 +[19:08:56.139] frame process finished the id is: 172 the obs is:391 +[19:08:56.145] Odometry x=0.152306, y=1.612146, theta=-2.459771 +[19:08:56.556] After Reprojection Map nMatches:548 ,distance between ekf and vo x:-0.000003 ,z=0.000000,angle between two frames:0.000000 +[19:08:56.560] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =432 error init =0.109507 error end=0.086448 +[19:08:56.560] After pose optimization, distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000000 +[19:08:56.560] Update EKF and 3D points the number of feature in the new frame: 432 and number of obs: 432 +[19:08:56.560] frame Scene Depth mean:1.716561 ,depth min:0.231057 +[19:08:56.564] Odometry x=0.157581, y=1.606650, theta=-2.452416 +[19:08:56.568] need key frame pitch dis: 0.690688 translation dif:1.635784 +[19:08:56.568] Choose frame as a key frame Scene Depth mean:1.716561 ,depth min:0.231057 +[19:08:56.569] frame process finished the id is: 173 the obs is:432 +[19:08:56.784] Odometry x=0.162418, y=1.600727, theta=-2.450653 +[19:08:56.926] Odometry x=0.168087, y=1.594055, theta=-2.449912 +[19:08:57.075] After Reprojection Map nMatches:648 ,distance between ekf and vo x:-0.000015 ,z=0.000016,angle between two frames:0.000000 +[19:08:57.079] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =485 error init =0.179072 error end=0.037011 +[19:08:57.079] After pose optimization, distance between ekf and vo x:0.000443 ,z=0.000391,angle between two frames:0.000011 +[19:08:57.079] Update EKF and 3D points the number of feature in the new frame: 485 and number of obs: 485 +[19:08:57.079] frame Scene Depth mean:1.578128 ,depth min:0.201971 +[19:08:57.087] need key frame pitch dis: 0.553263 translation dif:0.825328 +[19:08:57.087] Choose frame as a key frame Scene Depth mean:1.578128 ,depth min:0.201971 +[19:08:57.088] frame process finished the id is: 174 the obs is:485 +[19:08:57.367] Odometry x=0.170141, y=1.591492, theta=-2.448369 +[19:08:57.501] Odometry x=0.174522, y=1.586095, theta=-2.447591 +[19:08:57.634] Odometry x=0.180290, y=1.579142, theta=-2.445283 +[19:08:57.640] After Reprojection Map nMatches:716 ,distance between ekf and vo x:-0.000005 ,z=0.000005,angle between two frames:0.000000 +[19:08:57.644] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =569 error init =0.009696 error end=0.017383 +[19:08:57.644] After pose optimization, distance between ekf and vo x:0.000008 ,z=0.000013,angle between two frames:0.000002 +[19:08:57.644] Update EKF and 3D points the number of feature in the new frame: 569 and number of obs: 569 +[19:08:57.644] frame Scene Depth mean:0.989067 ,depth min:0.224008 +[19:08:57.655] need key frame pitch dis: 1.100993 translation dif:0.969880 +[19:08:57.655] Choose frame as a key frame Scene Depth mean:0.989067 ,depth min:0.224008 +[19:08:57.655] frame process finished the id is: 175 the obs is:569 +[19:08:57.884] Odometry x=0.190822, y=1.566405, theta=-2.438813 +[19:08:58.142] Odometry x=0.197185, y=1.558878, theta=-2.429558 +[19:08:58.384] After Reprojection Map nMatches:884 ,distance between ekf and vo x:-0.000005 ,z=0.000006,angle between two frames:0.000000 +[19:08:58.390] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =723 error init =0.077503 error end=0.023825 +[19:08:58.390] After pose optimization, distance between ekf and vo x:0.000075 ,z=0.000055,angle between two frames:0.000000 +[19:08:58.390] Update EKF and 3D points the number of feature in the new frame: 723 and number of obs: 723 +[19:08:58.390] frame Scene Depth mean:1.346718 ,depth min:0.368302 +[19:08:58.400] Odometry x=0.200759, y=1.555054, theta=-2.427831 +[19:08:58.406] need key frame pitch dis: 1.027541 translation dif:1.211106 +[19:08:58.406] Choose frame as a key frame Scene Depth mean:1.346718 ,depth min:0.368302 +[19:08:58.406] frame process finished the id is: 176 the obs is:723 +[19:08:58.626] Odometry x=0.205974, y=1.548923, theta=-2.417248 +[19:08:58.914] Odometry x=0.213058, y=1.540853, theta=-2.415087 +[19:08:59.206] Odometry x=0.221537, y=1.531279, theta=-2.419816 +[19:08:59.265] After Reprojection Map nMatches:982 ,distance between ekf and vo x:-0.000000 ,z=0.000007,angle between two frames:0.000000 +[19:08:59.271] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =830 error init =0.063773 error end=0.022274 +[19:08:59.271] After pose optimization, distance between ekf and vo x:0.000036 ,z=0.000014,angle between two frames:0.000002 +[19:08:59.271] Update EKF and 3D points the number of feature in the new frame: 830 and number of obs: 830 +[19:08:59.272] frame Scene Depth mean:1.449441 ,depth min:0.178427 +[19:08:59.291] need key frame pitch dis: 1.202487 translation dif:1.525741 +[19:08:59.291] Choose frame as a key frame Scene Depth mean:1.449441 ,depth min:0.178427 +[19:08:59.291] frame process finished the id is: 177 the obs is:830 +[19:08:59.402] Odometry x=0.223191, y=1.529606, theta=-2.419542 +[19:08:59.641] Odometry x=0.229508, y=1.522089, theta=-2.417013 +[19:08:59.917] Odometry x=0.237152, y=1.512585, theta=-2.413079 +[19:08:59.987] After Reprojection Map nMatches:966 ,distance between ekf and vo x:-0.000021 ,z=0.000028,angle between two frames:0.000000 +[19:08:59.994] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =744 error init =0.126400 error end=0.042646 +[19:08:59.994] After pose optimization, distance between ekf and vo x:0.000660 ,z=0.000622,angle between two frames:0.000003 +[19:08:59.994] Update EKF and 3D points the number of feature in the new frame: 744 and number of obs: 744 +[19:08:59.994] frame Scene Depth mean:1.355863 ,depth min:0.074743 +[19:09:00.010] need key frame pitch dis: 1.478948 translation dif:0.987928 +[19:09:00.010] Choose frame as a key frame Scene Depth mean:1.355863 ,depth min:0.074743 +[19:09:00.011] frame process finished the id is: 178 the obs is:736 +[19:09:00.140] Odometry x=0.240560, y=1.509198, theta=-2.408368 +[19:09:00.387] Odometry x=0.247472, y=1.502126, theta=-2.410391 +[19:09:00.647] Odometry x=0.255729, y=1.492934, theta=-2.417619 +[19:09:00.725] After Reprojection Map nMatches:955 ,distance between ekf and vo x:-0.000027 ,z=0.000007,angle between two frames:0.000000 +[19:09:00.729] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =696 error init =0.158847 error end=0.053764 +[19:09:00.729] After pose optimization, distance between ekf and vo x:-0.000027 ,z=0.000007,angle between two frames:0.000000 +[19:09:00.729] Update EKF and 3D points the number of feature in the new frame: 696 and number of obs: 696 +[19:09:00.729] frame Scene Depth mean:1.320771 ,depth min:0.073765 +[19:09:00.744] need key frame pitch dis: 1.228502 translation dif:1.394220 +[19:09:00.744] Choose frame as a key frame Scene Depth mean:1.320771 ,depth min:0.073765 +[19:09:00.744] frame process finished the id is: 179 the obs is:696 +[19:09:00.894] Odometry x=0.258280, y=1.489216, theta=-2.425323 +[19:09:01.177] Odometry x=0.265544, y=1.480571, theta=-2.422713 +[19:09:01.356] After Reprojection Map nMatches:719 ,distance between ekf and vo x:0.000007 ,z=-0.000007,angle between two frames:0.000000 +[19:09:01.361] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =500 error init =0.122687 error end=0.032288 +[19:09:01.361] After pose optimization, distance between ekf and vo x:0.000007 ,z=-0.000007,angle between two frames:0.000000 +[19:09:01.361] Update EKF and 3D points the number of feature in the new frame: 500 and number of obs: 500 +[19:09:01.362] frame Scene Depth mean:1.259979 ,depth min:0.063559 +[19:09:01.371] need key frame pitch dis: 1.193786 translation dif:1.169945 +[19:09:01.371] Choose frame as a key frame Scene Depth mean:1.259979 ,depth min:0.063559 +[19:09:01.371] frame process finished the id is: 180 the obs is:499 +[19:09:01.387] Odometry x=0.272697, y=1.471631, theta=-2.416208 +[19:09:01.653] Odometry x=0.278748, y=1.464619, theta=-2.400133 +[19:09:01.883] Odometry x=0.286168, y=1.456573, theta=-2.369970 +[19:09:02.128] Odometry x=0.295436, y=1.447442, theta=-2.363502 +[19:09:02.397] Odometry x=0.305018, y=1.437669, theta=-2.354517 +[19:09:02.495] After Reprojection Map nMatches:964 ,distance between ekf and vo x:-0.000001 ,z=0.000000,angle between two frames:0.000000 +[19:09:02.502] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =726 error init =0.173781 error end=0.048840 +[19:09:02.502] After pose optimization, distance between ekf and vo x:0.000037 ,z=0.000044,angle between two frames:0.000001 +[19:09:02.502] Update EKF and 3D points the number of feature in the new frame: 726 and number of obs: 726 +[19:09:02.503] frame Scene Depth mean:1.221820 ,depth min:0.065771 +[19:09:02.517] need key frame pitch dis: 1.091039 translation dif:1.243617 +[19:09:02.517] Choose frame as a key frame Scene Depth mean:1.221820 ,depth min:0.065771 +[19:09:02.517] frame process finished the id is: 181 the obs is:726 +[19:09:02.634] Odometry x=0.306638, y=1.436410, theta=-2.356279 +[19:09:02.916] Odometry x=0.314485, y=1.429211, theta=-2.359894 +[19:09:03.231] Odometry x=0.324249, y=1.419801, theta=-2.366154 +[19:09:03.384] Odometry x=0.333921, y=1.410419, theta=-2.370100 +[19:09:03.497] After Reprojection Map nMatches:916 ,distance between ekf and vo x:-0.000074 ,z=0.000047,angle between two frames:0.000000 +[19:09:03.505] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =693 error init =0.165262 error end=0.054206 +[19:09:03.505] After pose optimization, distance between ekf and vo x:-0.000054 ,z=0.000040,angle between two frames:0.000006 +[19:09:03.505] Update EKF and 3D points the number of feature in the new frame: 693 and number of obs: 693 +[19:09:03.505] frame Scene Depth mean:1.103501 ,depth min:0.059206 +[19:09:03.518] need key frame pitch dis: 1.039475 translation dif:1.153795 +[19:09:03.518] Choose frame as a key frame Scene Depth mean:1.103501 ,depth min:0.059206 +[19:09:03.518] frame process finished the id is: 182 the obs is:693 +[19:09:03.650] Odometry x=0.335070, y=1.408663, theta=-2.364292 +[19:09:03.874] Odometry x=0.342049, y=1.400864, theta=-2.359286 +[19:09:04.145] Odometry x=0.351293, y=1.391709, theta=-2.353615 +[19:09:04.378] Odometry x=0.360892, y=1.382241, theta=-2.354031 +[19:09:04.536] After Reprojection Map nMatches:822 ,distance between ekf and vo x:-0.000264 ,z=0.000112,angle between two frames:0.000007 +[19:09:04.542] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =571 error init =0.108453 error end=0.063638 +[19:09:04.542] After pose optimization, distance between ekf and vo x:0.733444 ,z=0.753993,angle between two frames:0.002474 +[19:09:04.542] frame process finished the id is: 182 the obs is:693 +[19:09:04.625] Odometry x=0.370604, y=1.372569, theta=-2.353664 +[19:09:04.898] Odometry x=0.380404, y=1.362847, theta=-2.352638 +[19:09:05.184] Odometry x=0.390181, y=1.353147, theta=-2.346466 +[19:09:05.388] Odometry x=0.400881, y=1.342717, theta=-2.348644 +[19:09:05.621] Odometry x=0.411146, y=1.332607, theta=-2.343890 +[19:09:05.669] After Reprojection Map nMatches:725 ,distance between ekf and vo x:-0.001397 ,z=0.000229,angle between two frames:0.000986 +[19:09:05.675] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =520 error init =0.076917 error end=0.079075 +[19:09:05.675] After pose optimization, distance between ekf and vo x:-0.001217 ,z=0.000882,angle between two frames:0.001045 +[19:09:05.675] Update EKF and 3D points the number of feature in the new frame: 520 and number of obs: 520 +[19:09:05.675] frame Scene Depth mean:0.964814 ,depth min:0.057796 +[19:09:05.686] need key frame pitch dis: 0.893824 translation dif:0.775501 +[19:09:05.686] Choose frame as a key frame Scene Depth mean:0.964814 ,depth min:0.057796 +[19:09:05.686] frame process finished the id is: 184 the obs is:520 +[19:09:05.879] Odometry x=0.410116, y=1.333831, theta=-2.344914 +[19:09:06.144] Odometry x=0.417473, y=1.326184, theta=-2.339198 +[19:09:06.388] Odometry x=0.427343, y=1.316815, theta=-2.337554 +[19:09:06.644] Odometry x=0.437473, y=1.306728, theta=-2.340098 +[19:09:06.744] After Reprojection Map nMatches:771 ,distance between ekf and vo x:-0.000225 ,z=0.000447,angle between two frames:0.000591 +[19:09:06.750] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =588 error init =0.101734 error end=0.057316 +[19:09:06.750] After pose optimization, distance between ekf and vo x:-0.000203 ,z=0.000480,angle between two frames:0.000589 +[19:09:06.750] Update EKF and 3D points the number of feature in the new frame: 588 and number of obs: 588 +[19:09:06.750] frame Scene Depth mean:1.145524 ,depth min:0.064561 +[19:09:06.761] need key frame pitch dis: 0.880810 translation dif:0.544931 +[19:09:06.762] Choose frame as a key frame Scene Depth mean:1.145524 ,depth min:0.064561 +[19:09:06.762] frame process finished the id is: 185 the obs is:588 +[19:09:06.902] Odometry x=0.438571, y=1.305089, theta=-2.348521 +[19:09:07.188] Odometry x=0.446228, y=1.297382, theta=-2.352965 +[19:09:07.385] Odometry x=0.456377, y=1.287943, theta=-2.354474 +[19:09:07.631] Odometry x=0.466330, y=1.278138, theta=-2.357681 +[19:09:07.718] After Reprojection Map nMatches:790 ,distance between ekf and vo x:-0.000147 ,z=0.000055,angle between two frames:0.000000 +[19:09:07.724] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =576 error init =0.112529 error end=0.053443 +[19:09:07.724] After pose optimization, distance between ekf and vo x:0.001199 ,z=0.001500,angle between two frames:0.000037 +[19:09:07.724] Update EKF and 3D points the number of feature in the new frame: 576 and number of obs: 576 +[19:09:07.724] frame Scene Depth mean:1.281792 ,depth min:0.052262 +[19:09:07.733] need key frame pitch dis: 0.898883 translation dif:0.510322 +[19:09:07.734] Choose frame as a key frame Scene Depth mean:1.281792 ,depth min:0.052262 +[19:09:07.734] frame process finished the id is: 186 the obs is:576 +[19:09:07.932] Odometry x=0.470863, y=1.274877, theta=-2.362113 +[19:09:08.130] Odometry x=0.477494, y=1.267696, theta=-2.351950 +[19:09:08.306] After Reprojection Map nMatches:469 ,distance between ekf and vo x:-0.000019 ,z=0.000017,angle between two frames:0.000000 +[19:09:08.310] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =314 error init =1.258258 error end=0.128917 +[19:09:08.310] After pose optimization, distance between ekf and vo x:0.007116 ,z=0.006654,angle between two frames:0.000330 +[19:09:08.310] Update EKF and 3D points the number of feature in the new frame: 314 and number of obs: 314 +[19:09:08.311] frame Scene Depth mean:1.268006 ,depth min:0.072989 +[19:09:08.316] need key frame pitch dis: 1.257273 translation dif:0.459143 +[19:09:08.316] Choose frame as a key frame Scene Depth mean:1.268006 ,depth min:0.072989 +[19:09:08.316] frame process finished the id is: 187 the obs is:314 +[19:09:08.402] Odometry x=0.484833, y=1.263910, theta=-2.356273 +[19:09:08.646] Odometry x=0.491908, y=1.256068, theta=-2.352224 +[19:09:08.878] After Reprojection Map nMatches:611 ,distance between ekf and vo x:-0.000052 ,z=0.000033,angle between two frames:0.000000 +[19:09:08.880] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =422 error init =0.177629 error end=0.040739 +[19:09:08.880] After pose optimization, distance between ekf and vo x:-0.000052 ,z=0.000033,angle between two frames:0.000000 +[19:09:08.880] Update EKF and 3D points the number of feature in the new frame: 422 and number of obs: 422 +[19:09:08.880] frame Scene Depth mean:1.109916 ,depth min:0.050825 +[19:09:08.888] need key frame pitch dis: 1.217433 translation dif:0.537726 +[19:09:08.888] Choose frame as a key frame Scene Depth mean:1.109916 ,depth min:0.050825 +[19:09:08.888] frame process finished the id is: 188 the obs is:422 +[19:09:08.891] Odometry x=0.497379, y=1.250766, theta=-2.336620 +[19:09:09.202] Odometry x=0.505337, y=1.243676, theta=-2.332981 +[19:09:09.385] Odometry x=0.515223, y=1.234212, theta=-2.340663 +[19:09:09.645] Odometry x=0.525385, y=1.223960, theta=-2.338149 +[19:09:09.743] After Reprojection Map nMatches:1056 ,distance between ekf and vo x:-0.000066 ,z=0.000023,angle between two frames:0.000000 +[19:09:09.749] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =813 error init =0.167644 error end=0.036928 +[19:09:09.749] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000661,angle between two frames:0.000032 +[19:09:09.749] Update EKF and 3D points the number of feature in the new frame: 813 and number of obs: 813 +[19:09:09.749] frame Scene Depth mean:1.329058 ,depth min:0.053605 +[19:09:09.764] need key frame pitch dis: 1.245225 translation dif:0.943365 +[19:09:09.764] Choose frame as a key frame Scene Depth mean:1.329058 ,depth min:0.053605 +[19:09:09.764] frame process finished the id is: 189 the obs is:813 +[19:09:09.910] Odometry x=0.526635, y=1.222838, theta=-2.335948 +[19:09:10.151] Odometry x=0.534148, y=1.215522, theta=-2.330097 +[19:09:10.376] Odometry x=0.543765, y=1.206463, theta=-2.334180 +[19:09:10.634] Odometry x=0.553816, y=1.196832, theta=-2.329905 +[19:09:10.820] After Reprojection Map nMatches:1075 ,distance between ekf and vo x:-0.000149 ,z=0.000114,angle between two frames:0.000022 +[19:09:10.827] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =881 error init =0.036533 error end=0.029911 +[19:09:10.827] After pose optimization, distance between ekf and vo x:-0.000092 ,z=0.000175,angle between two frames:0.000022 +[19:09:10.827] Update EKF and 3D points the number of feature in the new frame: 881 and number of obs: 881 +[19:09:10.827] frame Scene Depth mean:1.125584 ,depth min:0.056398 +[19:09:10.842] need key frame pitch dis: 1.252957 translation dif:0.930980 +[19:09:10.843] Choose frame as a key frame Scene Depth mean:1.125584 ,depth min:0.056398 +[19:09:10.843] frame process finished the id is: 190 the obs is:881 +[19:09:10.917] Odometry x=0.554705, y=1.194951, theta=-2.336006 +[19:09:11.180] Odometry x=0.562157, y=1.187574, theta=-2.336452 +[19:09:11.410] Odometry x=0.571689, y=1.178215, theta=-2.333501 +[19:09:11.640] Odometry x=0.581593, y=1.168245, theta=-2.330118 +[19:09:11.897] Odometry x=0.592798, y=1.158114, theta=-2.331543 +[19:09:11.912] After Reprojection Map nMatches:1010 ,distance between ekf and vo x:-0.000134 ,z=0.000094,angle between two frames:0.000000 +[19:09:11.919] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =675 error init =0.124931 error end=0.079103 +[19:09:11.919] After pose optimization, distance between ekf and vo x:0.000757 ,z=0.001812,angle between two frames:0.000087 +[19:09:11.919] Update EKF and 3D points the number of feature in the new frame: 675 and number of obs: 675 +[19:09:11.920] frame Scene Depth mean:1.433193 ,depth min:0.055254 +[19:09:11.932] need key frame pitch dis: 1.379949 translation dif:0.736164 +[19:09:11.932] Choose frame as a key frame Scene Depth mean:1.433193 ,depth min:0.055254 +[19:09:11.932] frame process finished the id is: 191 the obs is:675 +[19:09:12.152] Odometry x=0.592035, y=1.159598, theta=-2.328320 +[19:09:12.404] Odometry x=0.599658, y=1.152588, theta=-2.324900 +[19:09:12.630] Odometry x=0.609231, y=1.143738, theta=-2.319033 +[19:09:12.816] After Reprojection Map nMatches:824 ,distance between ekf and vo x:-0.000089 ,z=0.000084,angle between two frames:0.000003 +[19:09:12.818] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =650 error init =0.057883 error end=0.064654 +[19:09:12.818] After pose optimization, distance between ekf and vo x:-0.000089 ,z=0.000084,angle between two frames:0.000003 +[19:09:12.818] Update EKF and 3D points the number of feature in the new frame: 650 and number of obs: 650 +[19:09:12.818] frame Scene Depth mean:1.589307 ,depth min:0.083292 +[19:09:12.831] need key frame pitch dis: 1.298203 translation dif:0.872662 +[19:09:12.831] Choose frame as a key frame Scene Depth mean:1.589307 ,depth min:0.083292 +[19:09:12.832] frame process finished the id is: 192 the obs is:650 +[19:09:12.884] Odometry x=0.614203, y=1.139504, theta=-2.311514 +[19:09:13.221] Odometry x=0.621995, y=1.132384, theta=-2.312014 +[19:09:13.376] Odometry x=0.631708, y=1.123388, theta=-2.301252 +[19:09:13.620] After Reprojection Map nMatches:529 ,distance between ekf and vo x:-0.000089 ,z=0.000059,angle between two frames:0.000000 +[19:09:13.625] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =395 error init =0.049908 error end=0.068969 +[19:09:13.625] After pose optimization, distance between ekf and vo x:0.000210 ,z=0.000168,angle between two frames:0.000032 +[19:09:13.625] Update EKF and 3D points the number of feature in the new frame: 395 and number of obs: 395 +[19:09:13.625] frame Scene Depth mean:1.370725 ,depth min:0.063762 +[19:09:13.632] need key frame pitch dis: 1.272559 translation dif:0.841129 +[19:09:13.632] Choose frame as a key frame Scene Depth mean:1.370725 ,depth min:0.063762 +[19:09:13.632] frame process finished the id is: 193 the obs is:395 +[19:09:13.649] Odometry x=0.635617, y=1.120015, theta=-2.299241 +[19:09:13.892] Odometry x=0.644352, y=1.112322, theta=-2.298508 +[19:09:14.121] Odometry x=0.655097, y=1.102628, theta=-2.295011 +[19:09:14.390] Odometry x=0.664142, y=1.094510, theta=-2.301240 +[19:09:14.552] After Reprojection Map nMatches:439 ,distance between ekf and vo x:-0.000066 ,z=0.000062,angle between two frames:0.000000 +[19:09:14.556] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =280 error init =0.053063 error end=0.045443 +[19:09:14.556] After pose optimization, distance between ekf and vo x:0.000002 ,z=0.000139,angle between two frames:0.000000 +[19:09:14.556] Update EKF and 3D points the number of feature in the new frame: 280 and number of obs: 280 +[19:09:14.556] frame Scene Depth mean:1.407705 ,depth min:0.096057 +[19:09:14.562] need key frame pitch dis: 1.230496 translation dif:0.420429 +[19:09:14.562] Choose frame as a key frame Scene Depth mean:1.407705 ,depth min:0.096057 +[19:09:14.562] frame process finished the id is: 194 the obs is:280 +[19:09:14.619] Odometry x=0.661652, y=1.098982, theta=-2.313564 +[19:09:14.860] Odometry x=0.669485, y=1.091571, theta=-2.313454 +[19:09:15.182] Odometry x=0.678933, y=1.082718, theta=-2.313714 +[19:09:15.399] After Reprojection Map nMatches:503 ,distance between ekf and vo x:-0.000055 ,z=0.000072,angle between two frames:0.000007 +[19:09:15.403] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =355 error init =0.073142 error end=0.040438 +[19:09:15.403] After pose optimization, distance between ekf and vo x:0.000105 ,z=0.000249,angle between two frames:0.000006 +[19:09:15.403] Update EKF and 3D points the number of feature in the new frame: 355 and number of obs: 355 +[19:09:15.403] frame Scene Depth mean:1.436304 ,depth min:0.083229 +[19:09:15.404] Odometry x=0.682774, y=1.079370, theta=-2.306834 +[19:09:15.410] need key frame pitch dis: 1.221920 translation dif:0.728772 +[19:09:15.410] Choose frame as a key frame Scene Depth mean:1.436304 ,depth min:0.083229 +[19:09:15.411] frame process finished the id is: 195 the obs is:355 +[19:09:15.647] Odometry x=0.690467, y=1.072206, theta=-2.288870 +[19:09:15.890] Odometry x=0.700395, y=1.063436, theta=-2.271456 +[19:09:16.055] After Reprojection Map nMatches:543 ,distance between ekf and vo x:-0.000046 ,z=0.000050,angle between two frames:0.000000 +[19:09:16.058] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =420 error init =0.064906 error end=0.048604 +[19:09:16.058] After pose optimization, distance between ekf and vo x:0.000034 ,z=0.000124,angle between two frames:0.000000 +[19:09:16.058] Update EKF and 3D points the number of feature in the new frame: 420 and number of obs: 420 +[19:09:16.058] frame Scene Depth mean:1.131370 ,depth min:0.066897 +[19:09:16.068] need key frame pitch dis: 0.958089 translation dif:0.586786 +[19:09:16.068] Choose frame as a key frame Scene Depth mean:1.131370 ,depth min:0.066897 +[19:09:16.068] frame process finished the id is: 196 the obs is:420 +[19:09:16.125] Odometry x=0.704438, y=1.060205, theta=-2.246910 +[19:09:16.383] Odometry x=0.712430, y=1.053065, theta=-2.224823 +[19:09:16.631] Odometry x=0.722844, y=1.044937, theta=-2.203250 +[19:09:16.803] After Reprojection Map nMatches:514 ,distance between ekf and vo x:-0.000088 ,z=0.000114,angle between two frames:0.000014 +[19:09:16.807] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =379 error init =0.103914 error end=0.058455 +[19:09:16.807] After pose optimization, distance between ekf and vo x:0.001244 ,z=0.001806,angle between two frames:0.000028 +[19:09:16.808] Update EKF and 3D points the number of feature in the new frame: 379 and number of obs: 379 +[19:09:16.808] frame Scene Depth mean:1.150947 ,depth min:0.066890 +[19:09:16.817] need key frame pitch dis: 1.160760 translation dif:0.739101 +[19:09:16.817] Choose frame as a key frame Scene Depth mean:1.150947 ,depth min:0.066890 +[19:09:16.817] frame process finished the id is: 197 the obs is:379 +[19:09:16.885] Odometry x=0.727287, y=1.042698, theta=-2.224777 +[19:09:17.185] Odometry x=0.735624, y=1.035998, theta=-2.233854 +[19:09:17.375] After Reprojection Map nMatches:547 ,distance between ekf and vo x:-0.000085 ,z=0.000117,angle between two frames:0.000002 +[19:09:17.376] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =414 error init =0.027977 error end=0.018183 +[19:09:17.376] After pose optimization, distance between ekf and vo x:-0.000085 ,z=0.000117,angle between two frames:0.000002 +[19:09:17.377] Update EKF and 3D points the number of feature in the new frame: 414 and number of obs: 414 +[19:09:17.377] frame Scene Depth mean:1.106667 ,depth min:0.072547 +[19:09:17.385] need key frame pitch dis: 0.897510 translation dif:0.494617 +[19:09:17.385] Choose frame as a key frame Scene Depth mean:1.106667 ,depth min:0.072547 +[19:09:17.385] frame process finished the id is: 198 the obs is:414 +[19:09:17.398] Odometry x=0.739663, y=1.031758, theta=-2.246751 +[19:09:17.643] Odometry x=0.747932, y=1.025240, theta=-2.257404 +[19:09:17.880] After Reprojection Map nMatches:467 ,distance between ekf and vo x:-0.000060 ,z=0.000088,angle between two frames:0.000008 +[19:09:17.882] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =392 error init =0.023020 error end=0.019841 +[19:09:17.882] After pose optimization, distance between ekf and vo x:-0.000060 ,z=0.000088,angle between two frames:0.000008 +[19:09:17.882] Update EKF and 3D points the number of feature in the new frame: 392 and number of obs: 392 +[19:09:17.882] frame Scene Depth mean:1.139866 ,depth min:0.098902 +[19:09:17.891] need key frame pitch dis: 0.940548 translation dif:0.562789 +[19:09:17.891] Choose frame as a key frame Scene Depth mean:1.139866 ,depth min:0.098902 +[19:09:17.892] frame process finished the id is: 199 the obs is:392 +[19:09:17.902] Odometry x=0.753792, y=1.020363, theta=-2.254619 +[19:09:18.141] Odometry x=0.761885, y=1.013816, theta=-2.247680 +[19:09:18.407] Odometry x=0.772092, y=1.005496, theta=-2.238428 +[19:09:18.589] After Reprojection Map nMatches:679 ,distance between ekf and vo x:-0.000116 ,z=0.000133,angle between two frames:0.000007 +[19:09:18.594] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =521 error init =0.009284 error end=0.016670 +[19:09:18.594] After pose optimization, distance between ekf and vo x:-0.000113 ,z=0.000135,angle between two frames:0.000007 +[19:09:18.594] Update EKF and 3D points the number of feature in the new frame: 521 and number of obs: 521 +[19:09:18.594] frame Scene Depth mean:1.234621 ,depth min:0.074158 +[19:09:18.604] need key frame pitch dis: 0.933401 translation dif:0.527987 +[19:09:18.604] Choose frame as a key frame Scene Depth mean:1.234621 ,depth min:0.074158 +[19:09:18.604] frame process finished the id is: 200 the obs is:521 +[19:09:18.644] Odometry x=0.775642, y=1.000120, theta=-2.239223 +[19:09:18.920] Odometry x=0.784592, y=0.994056, theta=-2.249538 +[19:09:19.165] Odometry x=0.795183, y=0.985451, theta=-2.256466 +[19:09:19.303] After Reprojection Map nMatches:629 ,distance between ekf and vo x:-0.000084 ,z=0.000077,angle between two frames:0.000007 +[19:09:19.306] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =393 error init =0.040180 error end=0.026007 +[19:09:19.306] After pose optimization, distance between ekf and vo x:-0.000084 ,z=0.000077,angle between two frames:0.000007 +[19:09:19.306] Update EKF and 3D points the number of feature in the new frame: 393 and number of obs: 393 +[19:09:19.306] frame Scene Depth mean:1.331490 ,depth min:0.064988 +[19:09:19.314] need key frame pitch dis: 1.111025 translation dif:0.776013 +[19:09:19.314] Choose frame as a key frame Scene Depth mean:1.331490 ,depth min:0.064988 +[19:09:19.314] frame process finished the id is: 201 the obs is:393 +[19:09:19.386] Odometry x=0.802174, y=0.981561, theta=-2.242861 +[19:09:19.646] Odometry x=0.810608, y=0.974704, theta=-2.228576 +[19:09:19.890] Odometry x=0.821482, y=0.967290, theta=-2.214675 +[19:09:20.032] After Reprojection Map nMatches:636 ,distance between ekf and vo x:-0.000141 ,z=0.000114,angle between two frames:0.000014 +[19:09:20.035] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =446 error init =0.065269 error end=0.028095 +[19:09:20.035] After pose optimization, distance between ekf and vo x:-0.000141 ,z=0.000114,angle between two frames:0.000014 +[19:09:20.035] Update EKF and 3D points the number of feature in the new frame: 446 and number of obs: 446 +[19:09:20.035] frame Scene Depth mean:1.046629 ,depth min:0.060342 +[19:09:20.044] need key frame pitch dis: 1.043684 translation dif:0.819848 +[19:09:20.044] Choose frame as a key frame Scene Depth mean:1.046629 ,depth min:0.060342 +[19:09:20.044] frame process finished the id is: 202 the obs is:446 +[19:09:20.125] Odometry x=0.825711, y=0.964009, theta=-2.209805 +[19:09:20.384] Odometry x=0.834559, y=0.957592, theta=-2.224066 +[19:09:20.652] Odometry x=0.845295, y=0.949183, theta=-2.218642 +[19:09:20.754] After Reprojection Map nMatches:715 ,distance between ekf and vo x:-0.000117 ,z=0.000111,angle between two frames:0.000006 +[19:09:20.757] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =483 error init =0.075034 error end=0.032867 +[19:09:20.757] After pose optimization, distance between ekf and vo x:-0.000117 ,z=0.000111,angle between two frames:0.000006 +[19:09:20.757] Update EKF and 3D points the number of feature in the new frame: 483 and number of obs: 483 +[19:09:20.757] frame Scene Depth mean:1.524689 ,depth min:0.156163 +[19:09:20.768] need key frame pitch dis: 0.934056 translation dif:0.608232 +[19:09:20.768] Choose frame as a key frame Scene Depth mean:1.524689 ,depth min:0.156163 +[19:09:20.768] frame process finished the id is: 203 the obs is:483 +[19:09:20.878] Odometry x=0.849396, y=0.945396, theta=-2.235775 +[19:09:21.188] Odometry x=0.858292, y=0.938498, theta=-2.234757 +[19:09:21.287] After Reprojection Map nMatches:376 ,distance between ekf and vo x:-0.000134 ,z=0.000122,angle between two frames:0.000006 +[19:09:21.290] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =258 error init =0.117769 error end=0.074208 +[19:09:21.290] After pose optimization, distance between ekf and vo x:0.000237 ,z=0.000537,angle between two frames:0.000051 +[19:09:21.290] Update EKF and 3D points the number of feature in the new frame: 258 and number of obs: 258 +[19:09:21.290] frame Scene Depth mean:1.093960 ,depth min:0.073159 +[19:09:21.296] need key frame pitch dis: 0.074644 translation dif:0.360075 +[19:09:21.296] Choose frame as a key frame Scene Depth mean:1.093960 ,depth min:0.073159 +[19:09:21.296] frame process finished the id is: 204 the obs is:258 +[19:09:22.040] After Reprojection Map nMatches:782 ,distance between ekf and vo x:-0.000174 ,z=0.000141,angle between two frames:0.000007 +[19:09:22.043] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =517 error init =0.079773 error end=0.044766 +[19:09:22.043] After pose optimization, distance between ekf and vo x:-0.000174 ,z=0.000141,angle between two frames:0.000007 +[19:09:22.043] Update EKF and 3D points the number of feature in the new frame: 517 and number of obs: 517 +[19:09:22.044] frame Scene Depth mean:1.161524 ,depth min:0.084150 +[19:09:22.053] need key frame pitch dis: 0.830690 translation dif:0.543875 +[19:09:22.053] Choose frame as a key frame Scene Depth mean:1.161524 ,depth min:0.084150 +[19:09:22.053] frame process finished the id is: 205 the obs is:517 +[19:09:22.969] After Reprojection Map nMatches:941 ,distance between ekf and vo x:-0.000220 ,z=0.000096,angle between two frames:0.000003 +[19:09:22.975] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =707 error init =0.097006 error end=0.064697 +[19:09:22.975] After pose optimization, distance between ekf and vo x:-0.000213 ,z=0.000104,angle between two frames:0.000003 +[19:09:22.975] Update EKF and 3D points the number of feature in the new frame: 707 and number of obs: 707 +[19:09:22.976] frame Scene Depth mean:1.183506 ,depth min:0.124622 +[19:09:22.990] need key frame pitch dis: 0.779435 translation dif:0.537237 +[19:09:22.990] Choose frame as a key frame Scene Depth mean:1.183506 ,depth min:0.124622 +[19:09:22.991] frame process finished the id is: 206 the obs is:707 +[19:09:23.864] After Reprojection Map nMatches:886 ,distance between ekf and vo x:-0.000243 ,z=0.000144,angle between two frames:0.000058 +[19:09:23.870] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =574 error init =0.090578 error end=0.040344 +[19:09:23.870] After pose optimization, distance between ekf and vo x:-0.000015 ,z=0.000161,angle between two frames:0.000102 +[19:09:23.870] Update EKF and 3D points the number of feature in the new frame: 574 and number of obs: 574 +[19:09:23.870] frame Scene Depth mean:1.386107 ,depth min:0.091644 +[19:09:23.883] need key frame pitch dis: 1.045724 translation dif:0.436922 +[19:09:23.883] Choose frame as a key frame Scene Depth mean:1.386107 ,depth min:0.091644 +[19:09:23.883] frame process finished the id is: 207 the obs is:574 +[19:09:23.890] Odometry x=0.859767, y=0.940459, theta=-2.244533 +[19:09:24.127] Odometry x=0.859769, y=0.940449, theta=-2.244148 +[19:09:24.409] Odometry x=0.859818, y=0.940336, theta=-2.264717 +[19:09:24.632] Odometry x=0.860133, y=0.940208, theta=-2.341269 +[19:09:24.701] After Reprojection Map nMatches:1001 ,distance between ekf and vo x:-0.000257 ,z=0.000232,angle between two frames:0.000343 +[19:09:24.707] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =691 error init =0.154180 error end=0.062567 +[19:09:24.707] After pose optimization, distance between ekf and vo x:-0.000290 ,z=0.000485,angle between two frames:0.000315 +[19:09:24.707] Update EKF and 3D points the number of feature in the new frame: 691 and number of obs: 691 +[19:09:24.707] frame Scene Depth mean:1.006580 ,depth min:0.101583 +[19:09:24.720] need key frame pitch dis: 1.253279 translation dif:0.363370 +[19:09:24.720] Choose frame as a key frame Scene Depth mean:1.006580 ,depth min:0.101583 +[19:09:24.720] frame process finished the id is: 208 the obs is:687 +[19:09:24.921] Odometry x=0.860034, y=0.940044, theta=-2.411279 +[19:09:25.181] Odometry x=0.860055, y=0.940010, theta=-2.458734 +[19:09:25.384] Odometry x=0.860270, y=0.939684, theta=-2.534627 +[19:09:25.463] After Reprojection Map nMatches:793 ,distance between ekf and vo x:-0.000170 ,z=0.000215,angle between two frames:0.000000 +[19:09:25.469] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =578 error init =0.068785 error end=0.015506 +[19:09:25.469] After pose optimization, distance between ekf and vo x:-0.000291 ,z=0.000177,angle between two frames:0.000008 +[19:09:25.469] Update EKF and 3D points the number of feature in the new frame: 578 and number of obs: 578 +[19:09:25.469] frame Scene Depth mean:1.157397 ,depth min:0.104844 +[19:09:25.480] need key frame pitch dis: 1.312002 translation dif:0.348742 +[19:09:25.480] Choose frame as a key frame Scene Depth mean:1.157397 ,depth min:0.104844 +[19:09:25.480] frame process finished the id is: 209 the obs is:569 +[19:09:25.650] Odometry x=0.860171, y=0.939866, theta=-2.607678 +[19:09:25.918] Odometry x=0.860171, y=0.939865, theta=-2.652559 +[19:09:26.138] After Reprojection Map nMatches:633 ,distance between ekf and vo x:-0.000050 ,z=0.000153,angle between two frames:0.000011 +[19:09:26.143] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =427 error init =0.447151 error end=0.095984 +[19:09:26.143] After pose optimization, distance between ekf and vo x:0.028788 ,z=0.016887,angle between two frames:0.000027 +[19:09:26.143] Update EKF and 3D points the number of feature in the new frame: 427 and number of obs: 427 +[19:09:26.143] frame Scene Depth mean:0.997610 ,depth min:0.179814 +[19:09:26.147] Odometry x=0.865878, y=0.942615, theta=-2.736029 +[19:09:26.154] need key frame pitch dis: 1.659143 translation dif:0.754620 +[19:09:26.154] Choose frame as a key frame Scene Depth mean:0.997610 ,depth min:0.179814 +[19:09:26.154] frame process finished the id is: 210 the obs is:427 +[19:09:26.405] Odometry x=0.865880, y=0.942617, theta=-2.775777 +[19:09:26.624] After Reprojection Map nMatches:516 ,distance between ekf and vo x:-0.000016 ,z=0.000066,angle between two frames:0.000006 +[19:09:26.625] Odometry x=0.865874, y=0.942570, theta=-2.828235 +[19:09:26.627] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =401 error init =0.114240 error end=0.052675 +[19:09:26.627] After pose optimization, distance between ekf and vo x:-0.000016 ,z=0.000066,angle between two frames:0.000006 +[19:09:26.627] Update EKF and 3D points the number of feature in the new frame: 401 and number of obs: 401 +[19:09:26.627] frame Scene Depth mean:0.858628 ,depth min:0.071935 +[19:09:26.638] need key frame pitch dis: 2.042321 translation dif:1.003497 +[19:09:26.638] Choose frame as a key frame Scene Depth mean:0.858628 ,depth min:0.071935 +[19:09:26.639] frame process finished the id is: 211 the obs is:401 +[19:09:26.880] Odometry x=0.865881, y=0.942566, theta=-2.946338 +[19:09:27.181] After Reprojection Map nMatches:367 ,distance between ekf and vo x:-0.000026 ,z=0.000089,angle between two frames:0.000012 +[19:09:27.184] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =253 error init =0.005451 error end=0.003905 +[19:09:27.184] After pose optimization, distance between ekf and vo x:-0.000028 ,z=0.000092,angle between two frames:0.000013 +[19:09:27.184] Update EKF and 3D points the number of feature in the new frame: 253 and number of obs: 253 +[19:09:27.184] frame Scene Depth mean:0.965758 ,depth min:0.078956 +[19:09:27.192] need key frame pitch dis: 2.205783 translation dif:0.369844 +[19:09:27.192] Choose frame as a key frame Scene Depth mean:0.965758 ,depth min:0.078956 +[19:09:27.192] frame process finished the id is: 212 the obs is:253 +[19:09:27.201] Odometry x=0.865853, y=0.942570, theta=-3.018003 +[19:09:27.383] Odometry x=0.865576, y=0.942383, theta=-3.067106 +[19:09:27.623] After Reprojection Map nMatches:439 ,distance between ekf and vo x:0.000006 ,z=0.000019,angle between two frames:0.000000 +[19:09:27.627] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =290 error init =0.074679 error end=0.059112 +[19:09:27.627] After pose optimization, distance between ekf and vo x:-0.000087 ,z=0.000149,angle between two frames:0.000026 +[19:09:27.627] Update EKF and 3D points the number of feature in the new frame: 290 and number of obs: 290 +[19:09:27.627] frame Scene Depth mean:0.905291 ,depth min:0.275329 +[19:09:27.636] need key frame pitch dis: 2.291409 translation dif:0.402103 +[19:09:27.636] Choose frame as a key frame Scene Depth mean:0.905291 ,depth min:0.275329 +[19:09:27.636] frame process finished the id is: 213 the obs is:290 +[19:09:27.645] Odometry x=0.865551, y=0.942394, theta=-3.124123 +[19:09:28.009] After Reprojection Map nMatches:460 ,distance between ekf and vo x:0.000046 ,z=-0.000041,angle between two frames:0.000013 +[19:09:28.011] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =341 error init =0.283887 error end=0.058693 +[19:09:28.011] After pose optimization, distance between ekf and vo x:0.000046 ,z=-0.000041,angle between two frames:0.000013 +[19:09:28.012] Update EKF and 3D points the number of feature in the new frame: 341 and number of obs: 341 +[19:09:28.012] frame Scene Depth mean:1.349902 ,depth min:0.121060 +[19:09:28.021] need key frame pitch dis: 6.102654 translation dif:0.593885 +[19:09:28.021] Choose frame as a key frame Scene Depth mean:1.349902 ,depth min:0.121060 +[19:09:28.021] frame process finished the id is: 214 the obs is:341 +[19:09:28.420] Odometry x=0.866266, y=0.943000, theta=3.122711 +[19:09:28.633] After Reprojection Map nMatches:582 ,distance between ekf and vo x:-0.000048 ,z=-0.000017,angle between two frames:0.000007 +[19:09:28.635] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =465 error init =0.043260 error end=0.045172 +[19:09:28.635] After pose optimization, distance between ekf and vo x:-0.000048 ,z=-0.000017,angle between two frames:0.000007 +[19:09:28.635] Update EKF and 3D points the number of feature in the new frame: 465 and number of obs: 465 +[19:09:28.635] Odometry x=0.866101, y=0.942779, theta=-2.297688 +[19:09:28.635] frame Scene Depth mean:1.793862 ,depth min:0.073556 +[19:09:28.645] need key frame pitch dis: 0.651305 translation dif:0.628138 +[19:09:28.645] Choose frame as a key frame Scene Depth mean:1.793862 ,depth min:0.073556 +[19:09:28.645] frame process finished the id is: 215 the obs is:448 +[19:09:28.877] Odometry x=0.866131, y=0.942669, theta=-2.301481 +[19:09:29.215] Odometry x=0.866162, y=0.942661, theta=-2.341730 +[19:09:29.301] After Reprojection Map nMatches:781 ,distance between ekf and vo x:-0.000047 ,z=0.000107,angle between two frames:0.000006 +[19:09:29.304] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =596 error init =0.162936 error end=0.043747 +[19:09:29.304] After pose optimization, distance between ekf and vo x:-0.000047 ,z=0.000107,angle between two frames:0.000006 +[19:09:29.304] Update EKF and 3D points the number of feature in the new frame: 596 and number of obs: 596 +[19:09:29.304] frame Scene Depth mean:1.491091 ,depth min:0.092058 +[19:09:29.317] need key frame pitch dis: 0.742077 translation dif:0.257240 +[19:09:29.317] Choose frame as a key frame Scene Depth mean:1.491091 ,depth min:0.092058 +[19:09:29.317] frame process finished the id is: 216 the obs is:596 +[19:09:29.953] After Reprojection Map nMatches:802 ,distance between ekf and vo x:-0.000056 ,z=0.000100,angle between two frames:0.000026 +[19:09:29.955] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =669 error init =0.013290 error end=0.031033 +[19:09:29.955] After pose optimization, distance between ekf and vo x:-0.000056 ,z=0.000100,angle between two frames:0.000026 +[19:09:29.955] Update EKF and 3D points the number of feature in the new frame: 669 and number of obs: 669 +[19:09:29.956] frame Scene Depth mean:1.468670 ,depth min:0.115167 +[19:09:29.969] need key frame pitch dis: 1.274524 translation dif:0.164664 +[19:09:29.969] Choose frame as a key frame Scene Depth mean:1.468670 ,depth min:0.115167 +[19:09:29.969] frame process finished the id is: 217 the obs is:669 +[19:09:30.580] After Reprojection Map nMatches:803 ,distance between ekf and vo x:0.008736 ,z=0.141131,angle between two frames:0.100016 +[19:09:30.584] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =639 error init =0.033964 error end=0.016848 +[19:09:30.584] After pose optimization, distance between ekf and vo x:0.008781 ,z=0.140959,angle between two frames:0.100068 +[19:09:30.584] Update EKF and 3D points the number of feature in the new frame: 639 and number of obs: 639 +[19:09:30.584] frame Scene Depth mean:1.615642 ,depth min:0.298077 +[19:09:30.595] need key frame pitch dis: 1.517077 translation dif:0.690389 +[19:09:30.595] Choose frame as a key frame Scene Depth mean:1.615642 ,depth min:0.298077 +[19:09:30.596] frame process finished the id is: 218 the obs is:632 +[19:09:30.625] Odometry x=0.869425, y=0.973992, theta=-2.380271 +[19:09:30.886] Odometry x=0.869530, y=0.973840, theta=-2.379753 +[19:09:31.226] Odometry x=0.873434, y=0.967308, theta=-2.377534 +[19:09:31.337] After Reprojection Map nMatches:803 ,distance between ekf and vo x:0.010347 ,z=0.141248,angle between two frames:0.100205 +[19:09:31.343] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =672 error init =0.051518 error end=0.016318 +[19:09:31.343] After pose optimization, distance between ekf and vo x:0.010353 ,z=0.141253,angle between two frames:0.100205 +[19:09:31.343] Update EKF and 3D points the number of feature in the new frame: 672 and number of obs: 672 +[19:09:31.343] frame Scene Depth mean:1.897107 ,depth min:0.413362 +[19:09:31.358] need key frame pitch dis: 0.033302 translation dif:1.128878 +[19:09:31.358] Choose frame as a key frame Scene Depth mean:1.897107 ,depth min:0.413362 +[19:09:31.359] frame process finished the id is: 219 the obs is:672 +[19:09:31.378] Odometry x=0.878814, y=0.997565, theta=-2.386870 +[19:09:31.646] Odometry x=0.885450, y=0.990528, theta=-2.388402 +[19:09:31.902] Odometry x=0.894507, y=0.980869, theta=-2.388785 +[19:09:32.030] After Reprojection Map nMatches:763 ,distance between ekf and vo x:0.011364 ,z=0.140984,angle between two frames:0.100015 +[19:09:32.036] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =604 error init =0.086678 error end=0.064171 +[19:09:32.036] After pose optimization, distance between ekf and vo x:0.012702 ,z=0.141873,angle between two frames:0.100072 +[19:09:32.036] Update EKF and 3D points the number of feature in the new frame: 604 and number of obs: 604 +[19:09:32.037] frame Scene Depth mean:1.937123 ,depth min:0.358365 +[19:09:32.052] need key frame pitch dis: 1.549299 translation dif:1.050067 +[19:09:32.052] Choose frame as a key frame Scene Depth mean:1.937123 ,depth min:0.358365 +[19:09:32.052] frame process finished the id is: 220 the obs is:604 +[19:09:32.154] Odometry x=0.901609, y=1.009871, theta=-2.407283 +[19:09:32.390] Odometry x=0.909326, y=1.002332, theta=-2.411497 +[19:09:32.633] Odometry x=0.918081, y=0.992364, theta=-2.397669 +[19:09:32.663] After Reprojection Map nMatches:716 ,distance between ekf and vo x:0.013993 ,z=0.140864,angle between two frames:0.100201 +[19:09:32.665] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =575 error init =0.015554 error end=0.018382 +[19:09:32.665] After pose optimization, distance between ekf and vo x:0.013993 ,z=0.140864,angle between two frames:0.100201 +[19:09:32.665] Update EKF and 3D points the number of feature in the new frame: 575 and number of obs: 575 +[19:09:32.665] frame Scene Depth mean:1.882569 ,depth min:0.312255 +[19:09:32.677] need key frame pitch dis: 0.185130 translation dif:0.866960 +[19:09:32.677] Choose frame as a key frame Scene Depth mean:1.882569 ,depth min:0.312255 +[19:09:32.677] frame process finished the id is: 221 the obs is:575 +[19:09:32.900] Odometry x=0.924542, y=1.021167, theta=-2.403711 +[19:09:33.238] After Reprojection Map nMatches:492 ,distance between ekf and vo x:-0.000267 ,z=0.000357,angle between two frames:0.000315 +[19:09:33.242] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =421 error init =0.023790 error end=0.125647 +[19:09:33.242] After pose optimization, distance between ekf and vo x:-0.000198 ,z=0.000487,angle between two frames:0.000266 +[19:09:33.242] Update EKF and 3D points the number of feature in the new frame: 421 and number of obs: 421 +[19:09:33.242] frame Scene Depth mean:1.629531 ,depth min:0.076634 +[19:09:33.252] need key frame pitch dis: 0.045375 translation dif:1.022365 +[19:09:33.252] Choose frame as a key frame Scene Depth mean:1.629531 ,depth min:0.076634 +[19:09:33.253] frame process finished the id is: 222 the obs is:421 +[19:09:33.644] Odometry x=0.924630, y=1.021442, theta=-2.413310 +[19:09:33.918] Odometry x=0.926498, y=1.019335, theta=-2.411939 +[19:09:34.067] After Reprojection Map nMatches:700 ,distance between ekf and vo x:-0.000111 ,z=0.000095,angle between two frames:0.000020 +[19:09:34.070] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =569 error init =0.081902 error end=0.036307 +[19:09:34.070] After pose optimization, distance between ekf and vo x:-0.000111 ,z=0.000095,angle between two frames:0.000020 +[19:09:34.070] Update EKF and 3D points the number of feature in the new frame: 569 and number of obs: 569 +[19:09:34.070] frame Scene Depth mean:1.799135 ,depth min:0.225861 +[19:09:34.085] need key frame pitch dis: 0.495937 translation dif:0.979510 +[19:09:34.085] Choose frame as a key frame Scene Depth mean:1.799135 ,depth min:0.225861 +[19:09:34.085] frame process finished the id is: 223 the obs is:569 +[19:09:34.144] Odometry x=0.931834, y=1.013202, theta=-2.408116 +[19:09:34.413] Odometry x=0.938665, y=1.007073, theta=-2.415456 +[19:09:34.769] After Reprojection Map nMatches:741 ,distance between ekf and vo x:-0.000045 ,z=0.000068,angle between two frames:0.000000 +[19:09:34.775] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =552 error init =0.087746 error end=0.052547 +[19:09:34.775] After pose optimization, distance between ekf and vo x:0.000106 ,z=0.000186,angle between two frames:0.000003 +[19:09:34.775] Update EKF and 3D points the number of feature in the new frame: 552 and number of obs: 552 +[19:09:34.775] frame Scene Depth mean:1.896821 ,depth min:0.222796 +[19:09:34.789] need key frame pitch dis: 0.149504 translation dif:0.607901 +[19:09:34.789] Choose frame as a key frame Scene Depth mean:1.896821 ,depth min:0.222796 +[19:09:34.790] frame process finished the id is: 224 the obs is:552 +[19:09:35.640] After Reprojection Map nMatches:706 ,distance between ekf and vo x:-0.000233 ,z=0.000133,angle between two frames:0.000208 +[19:09:35.646] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =520 error init =0.057584 error end=0.028301 +[19:09:35.646] After pose optimization, distance between ekf and vo x:-0.000225 ,z=0.000148,angle between two frames:0.000207 +[19:09:35.646] Update EKF and 3D points the number of feature in the new frame: 520 and number of obs: 520 +[19:09:35.646] frame Scene Depth mean:1.756442 ,depth min:0.149414 +[19:09:35.659] need key frame pitch dis: 0.109839 translation dif:0.603034 +[19:09:35.659] Choose frame as a key frame Scene Depth mean:1.756442 ,depth min:0.149414 +[19:09:35.659] frame process finished the id is: 225 the obs is:520 +[19:09:36.513] After Reprojection Map nMatches:736 ,distance between ekf and vo x:-0.000240 ,z=0.000113,angle between two frames:0.000250 +[19:09:36.518] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =558 error init =0.046580 error end=0.021623 +[19:09:36.518] After pose optimization, distance between ekf and vo x:0.001332 ,z=0.001707,angle between two frames:0.000183 +[19:09:36.518] Update EKF and 3D points the number of feature in the new frame: 558 and number of obs: 558 +[19:09:36.519] frame Scene Depth mean:1.826381 ,depth min:0.363538 +[19:09:36.533] need key frame pitch dis: 0.950902 translation dif:0.561608 +[19:09:36.533] Choose frame as a key frame Scene Depth mean:1.826381 ,depth min:0.363538 +[19:09:36.533] frame process finished the id is: 226 the obs is:558 +[19:09:37.435] After Reprojection Map nMatches:775 ,distance between ekf and vo x:-0.000025 ,z=0.000044,angle between two frames:0.000021 +[19:09:37.438] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =593 error init =0.034096 error end=0.030129 +[19:09:37.438] After pose optimization, distance between ekf and vo x:-0.000025 ,z=0.000044,angle between two frames:0.000021 +[19:09:37.438] Update EKF and 3D points the number of feature in the new frame: 593 and number of obs: 593 +[19:09:37.438] frame Scene Depth mean:1.710265 ,depth min:0.084964 +[19:09:37.454] need key frame pitch dis: 0.452788 translation dif:0.493467 +[19:09:37.454] Choose frame as a key frame Scene Depth mean:1.710265 ,depth min:0.084964 +[19:09:37.454] frame process finished the id is: 227 the obs is:593 +[19:09:38.316] After Reprojection Map nMatches:776 ,distance between ekf and vo x:0.000023 ,z=-0.000012,angle between two frames:0.000005 +[19:09:38.322] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =568 error init =0.065394 error end=0.064366 +[19:09:38.322] After pose optimization, distance between ekf and vo x:0.002570 ,z=0.002403,angle between two frames:0.000089 +[19:09:38.322] Update EKF and 3D points the number of feature in the new frame: 568 and number of obs: 568 +[19:09:38.323] frame Scene Depth mean:1.605166 ,depth min:0.108616 +[19:09:38.341] need key frame pitch dis: 0.450289 translation dif:0.492126 +[19:09:38.341] Choose frame as a key frame Scene Depth mean:1.605166 ,depth min:0.108616 +[19:09:38.341] frame process finished the id is: 228 the obs is:568 +[19:09:39.248] After Reprojection Map nMatches:817 ,distance between ekf and vo x:0.000031 ,z=-0.000019,angle between two frames:0.000004 +[19:09:39.254] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =652 error init =0.067207 error end=0.053330 +[19:09:39.254] After pose optimization, distance between ekf and vo x:0.000373 ,z=0.000311,angle between two frames:0.000004 +[19:09:39.254] Update EKF and 3D points the number of feature in the new frame: 652 and number of obs: 652 +[19:09:39.254] frame Scene Depth mean:1.622706 ,depth min:0.108242 +[19:09:39.274] need key frame pitch dis: 0.028337 translation dif:0.323849 +[19:09:39.274] Choose frame as a key frame Scene Depth mean:1.622706 ,depth min:0.108242 +[19:09:39.275] frame process finished the id is: 229 the obs is:652 +[19:09:40.306] After Reprojection Map nMatches:732 ,distance between ekf and vo x:-0.000056 ,z=0.000042,angle between two frames:0.000005 +[19:09:40.312] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =560 error init =0.064117 error end=0.162470 +[19:09:40.312] After pose optimization, distance between ekf and vo x:0.001586 ,z=0.002057,angle between two frames:0.000168 +[19:09:40.312] Update EKF and 3D points the number of feature in the new frame: 560 and number of obs: 560 +[19:09:40.312] frame Scene Depth mean:1.932263 ,depth min:0.184998 +[19:09:40.328] need key frame pitch dis: 0.311630 translation dif:0.483592 +[19:09:40.328] Choose frame as a key frame Scene Depth mean:1.932263 ,depth min:0.184998 +[19:09:40.328] frame process finished the id is: 230 the obs is:560 +[19:09:41.334] After Reprojection Map nMatches:789 ,distance between ekf and vo x:-0.000048 ,z=0.000023,angle between two frames:0.000002 +[19:09:41.339] n obs with reprojection error less than 1.0 / frame->cam_->errorMultiplier2() =568 error init =0.053787 error end=0.025728 +[19:09:41.339] After pose optimization, distance between ekf and vo x:0.000184 ,z=0.000152,angle between two frames:0.000016 +[19:09:41.339] Update EKF and 3D points the number of feature in the new frame: 568 and number of obs: 568 +[19:09:41.340] frame Scene Depth mean:1.795506 ,depth min:0.172455 +[19:09:41.352] need key frame pitch dis: 0.701687 translation dif:0.585070 +[19:09:41.352] Choose frame as a key frame Scene Depth mean:1.795506 ,depth min:0.172455 +[19:09:41.352] frame process finished the id is: 231 the obs is:568 diff --git a/GPU_version/vio/include/vio/frame.h b/GPU_version/vio/include/vio/frame.h index f72cf94..50cfccd 100644 --- a/GPU_version/vio/include/vio/frame.h +++ b/GPU_version/vio/include/vio/frame.h @@ -52,7 +52,7 @@ namespace vio { Features fts_; //!< List of features in the image. vector> key_pts_; //!< Five features and associated 3D points which are used to detect if two frames have overlapping field of view. bool is_keyframe_; //!< Was this frames selected as keyframe? - g2o::VertexSE3Expmap* v_kf_=NULL; //!< Temporary pointer to the g2o node object of the keyframe. + std::shared_ptr v_kf_=NULL; //!< Temporary pointer to the g2o node object of the keyframe. int last_published_ts_; //!< Timestamp of last publishing. Frame(vk::AbstractCamera* cam, const cv::Mat& img, double timestamp); diff --git a/GPU_version/vio/include/vio/global_optimizer.h b/GPU_version/vio/include/vio/global_optimizer.h index bdb1ddc..03c803b 100644 --- a/GPU_version/vio/include/vio/global_optimizer.h +++ b/GPU_version/vio/include/vio/global_optimizer.h @@ -77,27 +77,23 @@ protected: boost::thread* thread_; Map& map_; size_t v_id_ = 0; + std::unique_ptr optimizer_=NULL; + std::shared_ptr cam_params_=NULL; #if VIO_DEBUG FILE* log_=nullptr; #endif - /// Temporary container to hold the g2o edge with reference to frame and point. - struct EdgeContainerSE3{ - g2o::EdgeProjectXYZ2UV* edge; - g2o::VertexSE3Expmap* expmap; - g2o::VertexSBAPointXYZ* point; - }; /// Create a g2o vertice from a keyframe object. - g2o::VertexSE3Expmap* createG2oFrameSE3( + std::shared_ptr createG2oFrameSE3( FramePtr kf); /// Creates a g2o vertice from a mappoint object. - g2o::VertexSBAPointXYZ* createG2oPoint( + std::shared_ptr createG2oPoint( Vector3d pos); /// Creates a g2o edge between a g2o keyframe and mappoint vertice with the provided measurement. - g2o::EdgeProjectXYZ2UV* createG2oEdgeSE3( - g2o::VertexSE3Expmap* v_kf, - g2o::VertexSBAPointXYZ* v_mp, + std::shared_ptr createG2oEdgeSE3( + std::shared_ptr v_kf, + std::shared_ptrv_mp, const Vector2d& f_up, bool robust_kernel, double huber_width, @@ -105,6 +101,7 @@ protected: /// A thread that is continuously optimizing the map. /// Global bundle adjustment. void updateLoop(); + void reset_map(); }; } // namespace vio diff --git a/GPU_version/vio/include/vio/point.h b/GPU_version/vio/include/vio/point.h index ab237c3..08021cb 100644 --- a/GPU_version/vio/include/vio/point.h +++ b/GPU_version/vio/include/vio/point.h @@ -49,8 +49,7 @@ public: Vector3d pos_; //!< 3d pos of the point in the world coordinate frame. list> obs_; //!< References to keyframes which observe the point. size_t n_obs_; //!< Number of obervations: Keyframes AND successful reprojections in intermediate frames. - std::pair> v_pt_=std::make_pair>(NULL, - std::vector()); //!< Temporary pointer to the point-vertex in g2o during bundle adjustment. + std::shared_ptr v_pt_=NULL; //!< Temporary pointer to the point-vertex in g2o during bundle adjustment. int last_frame_overlap_id_; //!< Flag for the reprojection: don't reproject a pt twice. PointType type_; //!< Quality of the point. int n_failed_reproj_; //!< Number of failed reprojections. Used to assess the quality of the point. diff --git a/GPU_version/vio/include/vio/reprojector.h b/GPU_version/vio/include/vio/reprojector.h index fd1c7e8..f58d42e 100644 --- a/GPU_version/vio/include/vio/reprojector.h +++ b/GPU_version/vio/include/vio/reprojector.h @@ -75,9 +75,8 @@ private: /// will search a maching feature in the image. struct Candidate { EIGEN_MAKE_ALIGNED_OPERATOR_NEW - std::shared_ptr pt; //!< 3D point. Vector2d px; //!< projected 2D pixel location. - Candidate(std::shared_ptr pt, Vector2d& px) : pt(pt), px(px) {} + Candidate(Vector2d& px) : px(px) {} }; typedef std::list Cell; typedef std::vector CandidateGrid; diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch index d12f08d..7c4cbdf 100644 --- a/GPU_version/vio/launch/Px30.launch +++ b/GPU_version/vio/launch/Px30.launch @@ -1,6 +1,6 @@ - + diff --git a/GPU_version/vio/src/frame_handler_base.cpp b/GPU_version/vio/src/frame_handler_base.cpp index 9bc6258..16d6df9 100644 --- a/GPU_version/vio/src/frame_handler_base.cpp +++ b/GPU_version/vio/src/frame_handler_base.cpp @@ -54,7 +54,6 @@ bool FrameHandlerBase::startFrameProcessingCommon(const double timestamp) if(stage_ == STAGE_PAUSED) return false; - // some cleanup from last iteration, can't do before because of visualization map_.emptyTrash(); return true; } diff --git a/GPU_version/vio/src/global_optimizer.cpp b/GPU_version/vio/src/global_optimizer.cpp index 5e27428..c0d7228 100644 --- a/GPU_version/vio/src/global_optimizer.cpp +++ b/GPU_version/vio/src/global_optimizer.cpp @@ -34,7 +34,19 @@ namespace vio { BA_Glob::BA_Glob(Map& map) :map_(map),thread_(NULL) { - + optimizer_=std::make_unique(); + optimizer_->setVerbose(false); + /*g2o::BlockSolver_6_3::LinearSolverType * linearSolver=new g2o::LinearSolverCholmod();*/ + std::unique_ptr linearSolver=g2o::make_unique>(); + std::unique_ptr solver(new g2o::OptimizationAlgorithmLevenberg( + g2o::make_unique(std::move(linearSolver)))); + optimizer_->setAlgorithm(std::move(solver)); + // setup camera + cam_params_ =std::make_shared(1.0, Vector2d(0.,0.), 0.); + cam_params_->setId(0); + if (!optimizer_->addParameter(cam_params_)) { + assert(false && "Camera initialization in BA"); + } #if VIO_DEBUG log_ =fopen((std::string(PROJECT_DIR)+"/depth_filter_log.txt").c_str(),"w+"); assert(log_); @@ -78,7 +90,8 @@ namespace vio { vio::time_in_HH_MM_SS_MMM().c_str()); #endif new_keyframe_=false; - + // init g2o + g2o::OptimizableGraph::VertexContainer points; ba_mux_.lock(); // Go through all Keyframes v_id_ = 0; @@ -86,6 +99,7 @@ namespace vio { { // New Keyframe Vertex (*it_kf)->v_kf_ = createG2oFrameSE3(*it_kf); + optimizer_->addVertex((*it_kf)->v_kf_); for(auto& it_ftr:(*it_kf)->fts_) { if(it_ftr->point==NULL)continue; @@ -93,140 +107,117 @@ namespace vio { // for each keyframe add edges to all observed mapoints if(it_ftr->point->pos_.hasNaN())continue; if(it_ftr->point->pos_.norm()==0.)continue; - if(it_ftr->point->v_pt_.first == NULL) + if(it_ftr->point->v_pt_ == NULL) { // mappoint-vertex doesn't exist yet. create a new one: - it_ftr->point->v_pt_.first = createG2oPoint(it_ftr->point->pos_); + it_ftr->point->v_pt_ = createG2oPoint(it_ftr->point->pos_); + optimizer_->addVertex(it_ftr->point->v_pt_); } - it_ftr->point->v_pt_.second.push_back(createG2oEdgeSE3((*it_kf)->v_kf_, it_ftr->point->v_pt_.first, vk::project2d(it_ftr->f), + optimizer_->addEdge(createG2oEdgeSE3((*it_kf)->v_kf_, it_ftr->point->v_pt_, vk::project2d(it_ftr->f), true, Config::poseOptimThresh()/(*it_kf)->cam_->errorMultiplier2()*Config::lobaRobustHuberWidth())); } } - ba_mux_.unlock(); - g2o::SparseOptimizer optimizer; - optimizer.setVerbose(false); - - /*g2o::BlockSolver_6_3::LinearSolverType * linearSolver=new g2o::LinearSolverCholmod();*/ - g2o::BlockSolver_6_3::LinearSolverType * linearSolver=new g2o::LinearSolverCSparse(); - g2o::BlockSolver_6_3 * solver_ptr= new g2o::BlockSolver_6_3(linearSolver); - - g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); - - optimizer.setAlgorithm(solver); - double* pam=map_.keyframes_.back()->cam_->params(); - // setup camera - g2o::CameraParameters* cam_params = new g2o::CameraParameters(1.0, Vector2d(0.,0.), 0.); - cam_params->setId(0); - if (!optimizer.addParameter(cam_params)) { - assert(false && "Camera initialization in BA"); - } - // init g2o - g2o::OptimizableGraph::VertexContainer points; - auto end=map_.keyframes_.end(); - auto end_1=end--; - for(auto it=map_.keyframes_.begin(); it!=map_.keyframes_.end();++it){ - optimizer.addVertex((*it)->v_kf_); - for(auto& p:(*it)->fts_){ - if(p->point == NULL)continue; - if(p->point->v_pt_.first == NULL || p->point->v_pt_.second.empty())continue; - if(p->point->v_pt_.second.size()>1){ - optimizer.addVertex(p->point->v_pt_.first);///TODO - points.push_back(p->point->v_pt_.first); - for(auto&& e:p->point->v_pt_.second)optimizer.addEdge(e); - p->point->v_pt_.second.clear(); - } - } - if(it == end_1-- || it ==end || it==map_.keyframes_.end()) (*it)->v_kf_->setFixed(false); - if((*it)->v_kf_->dimension()==3)points.push_back((*it)->v_kf_); + for (g2o::OptimizableGraph::VertexIDMap::const_iterator it = optimizer_->vertices().begin(); + it != optimizer_->vertices().end(); ++it) { + auto v = std::static_pointer_cast(it->second); + if (v->dimension() == 3 && v->edges().size()>2) points.push_back(v); } // Optimization - if(points.empty() || optimizer.vertices().empty()){ - optimizer.clear(); + if(points.empty() || optimizer_->vertices().empty()){ + optimizer_->clear(); + ba_mux_.unlock(); continue; } - optimizer.initializeOptimization(); - optimizer.computeActiveErrors(); + optimizer_->initializeOptimization(); + optimizer_->computeActiveErrors(); g2o::StructureOnlySolver<3> structure_only_ba; structure_only_ba.calc(points, vio::Config::lobaNumIter()); + #if VIO_DEBUG fprintf(log_,"[%s] init error: %f \n", - vio::time_in_HH_MM_SS_MMM().c_str(),optimizer.activeChi2()); + vio::time_in_HH_MM_SS_MMM().c_str(),optimizer_->activeChi2()); #endif - if(optimizer.optimize(vio::Config::lobaNumIter())<1){ - optimizer.clear(); + if(optimizer_->optimize(vio::Config::lobaNumIter())<1){ + optimizer_->clear(); + ba_mux_.unlock(); continue; } #if VIO_DEBUG fprintf(log_,"[%s] end error: %f \n", - vio::time_in_HH_MM_SS_MMM().c_str(),optimizer.activeChi2()); + vio::time_in_HH_MM_SS_MMM().c_str(),optimizer_->activeChi2()); #endif - ba_mux_.lock(); // Update Keyframe and MapPoint Positions for(list::iterator it_kf = map_.keyframes_.begin(); it_kf != map_.keyframes_.end();++it_kf) { (*it_kf)->T_f_w_ = SE2_5(SE3((*it_kf)->v_kf_->estimate().rotation().toRotationMatrix(), (*it_kf)->v_kf_->estimate().translation())); - (*it_kf)->v_kf_ = NULL; for(Features::iterator it_ftr=(*it_kf)->fts_.begin(); it_ftr!=(*it_kf)->fts_.end(); ++it_ftr) { if((*it_ftr)->point == NULL) continue; - if((*it_ftr)->point->v_pt_.first == NULL) + if((*it_ftr)->point->v_pt_ == NULL) continue; // mp was updated before - (*it_ftr)->point->pos_ = (*it_ftr)->point->v_pt_.first->estimate(); - (*it_ftr)->point->v_pt_ = std::make_pair>(NULL, - std::vector()); + (*it_ftr)->point->pos_ = (*it_ftr)->point->v_pt_->estimate(); + (*it_ftr)->point->v_pt_.reset(); } } + optimizer_->clear(); ba_mux_.unlock(); - optimizer.clear(); } } - g2o::VertexSE3Expmap* + std::shared_ptr BA_Glob::createG2oFrameSE3(FramePtr frame) { - g2o::VertexSE3Expmap* v= new g2o::VertexSE3Expmap(); + std::shared_ptr v= std::make_shared(); ++v_id_; v->setId(v_id_); - v->setFixed(true); + v->setFixed(false); v->setEstimate(g2o::SE3Quat(frame->se3().unit_quaternion(), frame->se3().translation())); return v; } - g2o::VertexSBAPointXYZ* + std::shared_ptr BA_Glob::createG2oPoint(Vector3d pos) { ++v_id_; - g2o::VertexSBAPointXYZ* v =new g2o::VertexSBAPointXYZ(); + std::shared_ptr v =std::make_shared(); v->setId(v_id_); - v->setFixed(false); + //v->setFixed(false); v->setMarginalized(true); v->setEstimate(pos); return v; } - g2o::EdgeProjectXYZ2UV* BA_Glob::createG2oEdgeSE3( g2o::VertexSE3Expmap* v_frame, - g2o::VertexSBAPointXYZ* v_point, + std::shared_ptr BA_Glob::createG2oEdgeSE3( + std::shared_ptr v_frame, + std::shared_ptr v_point, const Vector2d& f_up, bool robust_kernel, double huber_width, double weight) { - g2o::EdgeProjectXYZ2UV* e= new g2o::EdgeProjectXYZ2UV; - e->setVertex(0, dynamic_cast(v_point)); - e->setVertex(1, dynamic_cast(v_frame)); + std::shared_ptr e= std::make_shared(); + e->vertices()[0]=v_point; + e->vertices()[1]=v_frame; e->setMeasurement(f_up); e->information() = weight*Eigen::Matrix2d::Identity(); g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber; rk->setDelta(huber_width); e->setRobustKernel(rk); - e->setParameterId(0, 0); //old: e->setId(v_point->id()); return e; } + void BA_Glob::reset_map(){ + for(auto&& f:map_.keyframes_){ + f->v_kf_.reset(); + for(auto p:f->fts_) + if(p->point!=NULL) + p->point->v_pt_.reset(); + } + } } // namespace vio diff --git a/GPU_version/vio/src/point.cpp b/GPU_version/vio/src/point.cpp index e56bdf6..d5b2597 100644 --- a/GPU_version/vio/src/point.cpp +++ b/GPU_version/vio/src/point.cpp @@ -29,8 +29,7 @@ Point::Point(const Vector3d& pos) : id_(point_counter_++), pos_(pos), n_obs_(0), - v_pt_(std::make_pair>(NULL, - std::vector())), + v_pt_(NULL), last_frame_overlap_id_(-10), type_(TYPE_UNKNOWN), n_failed_reproj_(0), @@ -41,8 +40,7 @@ Point::Point(const Vector3d& pos, std::shared_ptr ftr) : id_(point_counter_++), pos_(pos), n_obs_(1), - v_pt_(std::make_pair>(NULL, - std::vector())), + v_pt_(NULL), last_frame_overlap_id_(-10), type_(TYPE_UNKNOWN), n_failed_reproj_(0), diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp index b2072ab..3fd31ae 100644 --- a/GPU_version/vio/src/reprojector.cpp +++ b/GPU_version/vio/src/reprojector.cpp @@ -153,7 +153,7 @@ namespace vio { added_keypoints.push_back(match.trainIdx); frame->fts_.back()->point->last_frame_overlap_id_=it_frame.item.first->id_; frame->fts_.back()->point->type_=vio::Point::TYPE_UNKNOWN; - grid_.cells.at(k)->push_back(Candidate(frame->fts_.back()->point, px)); + grid_.cells.at(k)->push_back(Candidate( px)); overlap_kfs.back().second++; ++points_count; }else{ @@ -164,7 +164,7 @@ namespace vio { px,(*it_cur)->level,(*it_cur)->score,(*it_cur)->descriptor)); (*it_ref)->point->type_=vio::Point::TYPE_CANDIDATE; added_keypoints.push_back(match.trainIdx); - grid_.cells.at(k)->push_back(Candidate(frame->fts_.back()->point, px)); + grid_.cells.at(k)->push_back(Candidate( px)); overlap_kfs.back().second++; ++points_count; }