diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt
index 00a67ce..0f18fc7 100755
--- a/GPU_version/vio/frame_handler_log.txt
+++ b/GPU_version/vio/frame_handler_log.txt
@@ -1,1018 +1,7987 @@
-[13:20:45.904] Init: frame zero: 0.000000, 0.000000 0.000000
-[13:20:45.904] Init: Selected first frame. 
-[13:20:45.904] frame process finished the id is: 0 the obs is:0 
-[13:20:46.007] Init: px average disparity is:0.200866 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:46.007] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:46.007] frame process finished the id is: 1 the obs is:0 
-[13:20:46.100] Init: px average disparity is:0.239564 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:46.100] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:46.100] frame process finished the id is: 2 the obs is:0 
-[13:20:46.200] Init: px average disparity is:0.254097 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:46.200] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:46.200] frame process finished the id is: 3 the obs is:0 
-[13:20:46.302] Init: px average disparity is:0.269892 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:46.302] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:46.302] frame process finished the id is: 4 the obs is:0 
-[13:20:46.402] Init: px average disparity is:0.253967 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:46.402] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:46.402] frame process finished the id is: 5 the obs is:0 
-[13:20:46.500] Init: px average disparity is:0.240101 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:46.500] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:46.500] frame process finished the id is: 6 the obs is:0 
-[13:20:46.604] Init: px average disparity is:0.246226 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:46.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:46.604] frame process finished the id is: 7 the obs is:0 
-[13:20:46.704] Init: px average disparity is:0.245367 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:46.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:46.704] frame process finished the id is: 8 the obs is:0 
-[13:20:46.799] Init: px average disparity is:0.273102 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:46.799] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:46.799] frame process finished the id is: 9 the obs is:0 
-[13:20:46.899] Init: px average disparity is:0.240946 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:46.899] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:46.899] frame process finished the id is: 10 the obs is:0 
-[13:20:47.000] Init: px average disparity is:0.253455 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:47.000] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:47.000] frame process finished the id is: 11 the obs is:0 
-[13:20:47.100] Init: px average disparity is:0.255972 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:47.100] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:47.100] frame process finished the id is: 12 the obs is:0 
-[13:20:47.200] Init: px average disparity is:0.249367 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:47.200] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:47.200] frame process finished the id is: 13 the obs is:0 
-[13:20:47.299] Init: px average disparity is:0.252182 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:47.299] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:47.299] frame process finished the id is: 14 the obs is:0 
-[13:20:47.399] Init: px average disparity is:0.243911 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:47.399] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:47.399] frame process finished the id is: 15 the obs is:0 
-[13:20:47.506] Init: px average disparity is:0.262573 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:47.506] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:47.506] frame process finished the id is: 16 the obs is:0 
-[13:20:47.599] Init: px average disparity is:0.271009 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:47.599] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:47.599] frame process finished the id is: 17 the obs is:0 
-[13:20:47.706] Init: px average disparity is:0.254086 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:47.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:47.706] frame process finished the id is: 18 the obs is:0 
-[13:20:47.807] Init: px average disparity is:0.247628 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:47.807] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:47.807] frame process finished the id is: 19 the obs is:0 
-[13:20:47.900] Init: px average disparity is:0.238957 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:47.900] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:47.900] frame process finished the id is: 20 the obs is:0 
-[13:20:48.001] Init: px average disparity is:0.266071 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:48.001] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:48.001] frame process finished the id is: 21 the obs is:0 
-[13:20:48.100] Init: px average disparity is:0.278223 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:48.100] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:48.100] frame process finished the id is: 22 the obs is:0 
-[13:20:48.200] Init: px average disparity is:0.247381 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:48.200] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:48.200] frame process finished the id is: 23 the obs is:0 
-[13:20:48.306] Init: px average disparity is:0.239182 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:48.306] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:48.306] frame process finished the id is: 24 the obs is:0 
-[13:20:48.400] Init: px average disparity is:0.265764 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:48.400] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:48.400] frame process finished the id is: 25 the obs is:0 
-[13:20:48.510] Init: px average disparity is:0.249611 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:48.510] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:48.510] frame process finished the id is: 26 the obs is:0 
-[13:20:48.600] Init: px average disparity is:0.230995 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:48.600] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:48.600] frame process finished the id is: 27 the obs is:0 
-[13:20:48.709] Init: px average disparity is:0.269572 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:48.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:48.710] frame process finished the id is: 28 the obs is:0 
-[13:20:48.807] Init: px average disparity is:0.234655 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:48.807] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:48.807] frame process finished the id is: 29 the obs is:0 
-[13:20:48.849] Odometry x=0.000000, y=0.000000, theta=-0.000000
-[13:20:48.907] Init: px average disparity is:0.240181 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:48.907] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:48.907] frame process finished the id is: 30 the obs is:0 
-[13:20:48.945] Odometry x=0.000000, y=0.000000, theta=-0.000000
-[13:20:49.007] Init: px average disparity is:0.222288 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:49.007] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:49.007] frame process finished the id is: 31 the obs is:0 
-[13:20:49.045] Odometry x=0.000035, y=0.006149, theta=-0.001159
-[13:20:49.108] Init: px average disparity is:1.697238 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:49.108] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:49.108] frame process finished the id is: 32 the obs is:0 
-[13:20:49.146] Odometry x=0.000041, y=0.017375, theta=0.001838
-[13:20:49.209] Init: px average disparity is:5.922311 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:49.209] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:49.209] frame process finished the id is: 33 the obs is:0 
-[13:20:49.247] Odometry x=0.000150, y=0.025982, theta=-0.005847
-[13:20:49.309] Init: px average disparity is:7.643958 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:49.309] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:49.309] frame process finished the id is: 34 the obs is:0 
-[13:20:49.347] Odometry x=0.000336, y=0.033102, theta=0.003223
-[13:20:49.415] Init: px average disparity is:4.857568 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:49.415] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:49.415] frame process finished the id is: 35 the obs is:0 
-[13:20:49.446] Odometry x=0.000326, y=0.039021, theta=0.003270
-[13:20:49.502] Init: px average disparity is:5.157370 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:49.502] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:49.502] frame process finished the id is: 36 the obs is:0 
-[13:20:49.545] Odometry x=0.000396, y=0.044435, theta=-0.000391
-[13:20:49.609] Init: px average disparity is:4.020017 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:49.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:49.609] frame process finished the id is: 37 the obs is:0 
-[13:20:49.645] Odometry x=0.000447, y=0.049577, theta=-0.001263
-[13:20:49.709] Init: px average disparity is:5.463182 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:49.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:49.709] frame process finished the id is: 38 the obs is:0 
-[13:20:49.749] Odometry x=0.000636, y=0.057099, theta=0.007905
-[13:20:49.810] Init: px average disparity is:4.041486 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:49.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:49.810] frame process finished the id is: 39 the obs is:0 
-[13:20:49.849] Odometry x=0.000673, y=0.061488, theta=-0.018752
-[13:20:49.909] Init: px average disparity is:5.881265 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:49.909] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:49.909] frame process finished the id is: 40 the obs is:0 
-[13:20:49.949] Odometry x=0.000731, y=0.067642, theta=-0.008436
-[13:20:50.011] Init: px average disparity is:7.183428 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:50.011] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:50.011] frame process finished the id is: 41 the obs is:0 
-[13:20:50.044] Odometry x=0.000725, y=0.072504, theta=-0.003780
-[13:20:50.110] Init: px average disparity is:8.647643 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:50.110] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:50.110] frame process finished the id is: 42 the obs is:0 
-[13:20:50.149] Odometry x=0.000911, y=0.079481, theta=-0.003921
-[13:20:50.210] Init: px average disparity is:12.075291 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:50.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:50.210] frame process finished the id is: 43 the obs is:0 
-[13:20:50.249] Odometry x=0.000977, y=0.084840, theta=-0.016308
-[13:20:50.311] Init: px average disparity is:14.940774 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:50.311] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:50.311] frame process finished the id is: 44 the obs is:0 
-[13:20:50.350] Odometry x=0.001384, y=0.090558, theta=-0.005533
-[13:20:50.410] Init: px average disparity is:13.092673 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:50.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:50.410] frame process finished the id is: 45 the obs is:0 
-[13:20:50.447] Odometry x=0.001380, y=0.095927, theta=-0.001488
-[13:20:50.511] Init: px average disparity is:12.295294 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:50.511] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:50.511] frame process finished the id is: 46 the obs is:0 
-[13:20:50.548] Odometry x=0.001603, y=0.103966, theta=-0.001423
-[13:20:50.610] Init: px average disparity is:10.582953 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:50.610] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:50.610] frame process finished the id is: 47 the obs is:0 
-[13:20:50.649] Odometry x=0.001223, y=0.109444, theta=0.002223
-[13:20:50.710] Init: px average disparity is:12.200701 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:50.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:50.710] frame process finished the id is: 48 the obs is:0 
-[13:20:50.750] Odometry x=0.001292, y=0.114963, theta=0.006026
-[13:20:50.810] Init: px average disparity is:12.945971 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:50.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:50.810] frame process finished the id is: 49 the obs is:0 
-[13:20:50.850] Odometry x=0.001436, y=0.132545, theta=0.004291
-[13:20:50.910] Init: px average disparity is:19.050332 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:50.910] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:50.910] frame process finished the id is: 50 the obs is:0 
-[13:20:50.960] Odometry x=0.002465, y=0.143633, theta=0.010428
-[13:20:51.010] Init: px average disparity is:13.902146 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:51.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:51.010] frame process finished the id is: 51 the obs is:0 
-[13:20:51.050] Odometry x=0.004224, y=0.149556, theta=-0.005699
-[13:20:51.110] Init: px average disparity is:13.731347 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:51.110] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:51.110] frame process finished the id is: 52 the obs is:0 
-[13:20:51.150] Odometry x=0.004264, y=0.162430, theta=-0.005526
-[13:20:51.212] Init: px average disparity is:9.274701 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:51.212] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:51.212] frame process finished the id is: 53 the obs is:0 
-[13:20:51.248] Odometry x=0.006255, y=0.167802, theta=-0.008874
-[13:20:51.309] Init: px average disparity is:9.880701 ,While minimum is: 20.000000  KLT tracked : 135
-[13:20:51.309] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:51.309] frame process finished the id is: 54 the obs is:0 
-[13:20:51.344] Odometry x=0.006951, y=0.174776, theta=-0.013428
-[13:20:51.409] Init: px average disparity is:9.717077 ,While minimum is: 20.000000  KLT tracked : 134
-[13:20:51.409] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:51.409] frame process finished the id is: 55 the obs is:0 
-[13:20:51.448] Odometry x=0.008857, y=0.179877, theta=-0.010011
-[13:20:51.510] Init: px average disparity is:10.611340 ,While minimum is: 20.000000  KLT tracked : 134
-[13:20:51.510] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:51.510] frame process finished the id is: 56 the obs is:0 
-[13:20:51.551] Odometry x=0.008938, y=0.185285, theta=-0.011376
-[13:20:51.612] Init: px average disparity is:11.302614 ,While minimum is: 20.000000  KLT tracked : 134
-[13:20:51.613] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:51.613] frame process finished the id is: 57 the obs is:0 
-[13:20:51.652] Odometry x=0.009407, y=0.190797, theta=-0.013017
-[13:20:51.710] Init: px average disparity is:9.441809 ,While minimum is: 20.000000  KLT tracked : 134
-[13:20:51.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:51.711] frame process finished the id is: 58 the obs is:0 
-[13:20:51.752] Odometry x=0.009426, y=0.196384, theta=0.006469
-[13:20:51.809] Init: px average disparity is:11.521159 ,While minimum is: 20.000000  KLT tracked : 134
-[13:20:51.809] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:51.810] frame process finished the id is: 59 the obs is:0 
-[13:20:51.853] Odometry x=0.009696, y=0.201859, theta=0.001730
-[13:20:51.909] Init: px average disparity is:13.522692 ,While minimum is: 20.000000  KLT tracked : 134
-[13:20:51.910] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:51.910] frame process finished the id is: 60 the obs is:0 
-[13:20:51.948] Odometry x=0.009794, y=0.210357, theta=0.000805
-[13:20:52.010] Init: px average disparity is:14.574476 ,While minimum is: 20.000000  KLT tracked : 134
-[13:20:52.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:52.010] frame process finished the id is: 61 the obs is:0 
-[13:20:52.053] Odometry x=0.011274, y=0.215782, theta=-0.002447
-[13:20:52.112] Init: px average disparity is:15.562186 ,While minimum is: 20.000000  KLT tracked : 134
-[13:20:52.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:52.112] frame process finished the id is: 62 the obs is:0 
-[13:20:52.147] Odometry x=0.011281, y=0.223037, theta=0.005065
-[13:20:52.211] Init: px average disparity is:16.050926 ,While minimum is: 20.000000  KLT tracked : 134
-[13:20:52.211] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:52.211] frame process finished the id is: 63 the obs is:0 
-[13:20:52.247] Odometry x=0.011326, y=0.227974, theta=-0.000706
-[13:20:52.312] Init: px average disparity is:16.464864 ,While minimum is: 20.000000  KLT tracked : 134
-[13:20:52.312] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:52.312] frame process finished the id is: 64 the obs is:0 
-[13:20:52.347] Odometry x=0.011331, y=0.234870, theta=0.006139
-[13:20:52.412] Init: px average disparity is:18.639393 ,While minimum is: 20.000000  KLT tracked : 134
-[13:20:52.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[13:20:52.412] frame process finished the id is: 65 the obs is:0 
-[13:20:52.447] Odometry x=0.011366, y=0.241203, theta=0.001668
-[13:20:52.547] Odometry x=0.009543, y=0.246819, theta=0.006500
-[13:20:52.581] Init finished: Homography RANSAC (inlier) is:42 ,While 25 inliers minimum required.  px average disparity is:21.668524 ,While minimum is: 20.000000  KLT tracked: 134
-[13:20:52.582] Init: distance between the first and current frame is x:0.010092 ,z=0.255309,angle between two frames: 0.011970 
-[13:20:52.582] Init: Selected Second frame. 	 The number of features: 33 depth mean:0.227774 min:-2.178621
-[13:20:52.582] frame process finished the id is: 66 the obs is:33 
-[13:20:52.649] Odometry x=0.010092, y=0.255309, theta=0.011970
-[13:20:52.745] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:-0.000367 ,z=0.000096,angle between two frames:0.000249
-[13:20:52.745] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.156913 	 error end=0.116623
-[13:20:52.745] After pose optimization, distance between ekf and vo x:0.027730 ,z=-0.046123,angle between two frames:0.003241
-[13:20:52.745] frame process finished the id is: 66 the obs is:33 
-[13:20:52.747] Odometry x=0.005718, y=0.260474, theta=-0.000298
-[13:20:52.849] Odometry x=0.007278, y=0.267604, theta=0.024039
-[13:20:52.895] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000377 ,z=0.000108,angle between two frames:0.000201
-[13:20:52.895] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.212351 	 error end=0.162339
-[13:20:52.895] After pose optimization, distance between ekf and vo x:-0.085948 ,z=-0.285302,angle between two frames:0.227095
-[13:20:52.895] frame process finished the id is: 66 the obs is:33 
-[13:20:52.946] Odometry x=0.007228, y=0.274012, theta=0.014415
-[13:20:53.039] After Reprojection Map nPoint:22 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000309 ,z=0.000063,angle between two frames:0.000169
-[13:20:53.039] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.435202 	 error end=0.332261
-[13:20:53.039] After pose optimization, distance between ekf and vo x:0.072860 ,z=0.416883,angle between two frames:0.150908
-[13:20:53.039] frame process finished the id is: 66 the obs is:33 
-[13:20:53.049] Odometry x=0.006787, y=0.301381, theta=0.038525
-[13:20:53.147] Odometry x=0.006932, y=0.306982, theta=0.010954
-[13:20:53.181] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000228 ,z=0.000089,angle between two frames:0.000116
-[13:20:53.181] After pose optimization, distance between ekf and vo x:-0.000228 ,z=0.000089,angle between two frames:0.000116
-[13:20:53.181] frame process finished the id is: 66 the obs is:33 
-[13:20:53.249] Odometry x=0.006791, y=0.314059, theta=0.009850
-[13:20:53.323] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:3 ,distance between ekf and vo x:-0.000268 ,z=0.000062,angle between two frames:0.000144
-[13:20:53.323] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.192182 	 error end=0.192182
-[13:20:53.323] After pose optimization, distance between ekf and vo x:-0.000268 ,z=0.000062,angle between two frames:0.000144
-[13:20:53.323] frame process finished the id is: 66 the obs is:33 
-[13:20:53.346] Odometry x=0.006959, y=0.319421, theta=0.010971
-[13:20:53.444] Odometry x=0.006948, y=0.325550, theta=0.005085
-[13:20:53.466] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000420 ,z=0.000104,angle between two frames:0.000218
-[13:20:53.466] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.469640 	 error end=0.469640
-[13:20:53.466] After pose optimization, distance between ekf and vo x:-0.000420 ,z=0.000104,angle between two frames:0.000218
-[13:20:53.466] frame process finished the id is: 66 the obs is:33 
-[13:20:53.546] Odometry x=0.007012, y=0.331115, theta=0.003121
-[13:20:53.608] After Reprojection Map nPoint:17 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000351 ,z=0.000086,angle between two frames:0.000186
-[13:20:53.608] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.029622 	 error end=0.029622
-[13:20:53.608] After pose optimization, distance between ekf and vo x:-0.000351 ,z=0.000086,angle between two frames:0.000186
-[13:20:53.608] frame process finished the id is: 66 the obs is:33 
-[13:20:53.648] Odometry x=0.007052, y=0.341804, theta=0.029835
-[13:20:53.745] Odometry x=0.007008, y=0.347165, theta=0.004816
-[13:20:53.750] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:3 ,distance between ekf and vo x:-0.000124 ,z=0.000044,angle between two frames:0.000060
-[13:20:53.750] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.097846 	 error end=0.075034
-[13:20:53.750] After pose optimization, distance between ekf and vo x:0.015433 ,z=-0.029761,angle between two frames:0.029932
-[13:20:53.750] frame process finished the id is: 66 the obs is:33 
-[13:20:53.848] Odometry x=0.006994, y=0.352903, theta=0.011286
-[13:20:53.893] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:-0.000277 ,z=0.000066,angle between two frames:0.000151
-[13:20:53.893] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.128091 	 error end=0.128091
-[13:20:53.893] After pose optimization, distance between ekf and vo x:-0.000277 ,z=0.000066,angle between two frames:0.000151
-[13:20:53.893] frame process finished the id is: 66 the obs is:33 
-[13:20:53.951] Odometry x=0.006976, y=0.358367, theta=0.004676
-[13:20:54.036] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:2 ,distance between ekf and vo x:-0.000440 ,z=0.000103,angle between two frames:0.000243
-[13:20:54.036] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.192332 	 error end=0.102225
-[13:20:54.036] After pose optimization, distance between ekf and vo x:0.036713 ,z=-0.146841,angle between two frames:0.014407
-[13:20:54.036] frame process finished the id is: 66 the obs is:33 
-[13:20:54.048] Odometry x=0.006932, y=0.365480, theta=0.013033
-[13:20:54.146] Odometry x=0.007181, y=0.370268, theta=-0.003180
-[13:20:54.179] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.000282 ,z=0.000065,angle between two frames:0.000155
-[13:20:54.179] After pose optimization, distance between ekf and vo x:-0.000282 ,z=0.000065,angle between two frames:0.000155
-[13:20:54.179] frame process finished the id is: 66 the obs is:33 
-[13:20:54.249] Odometry x=0.008356, y=0.375261, theta=0.019695
-[13:20:54.323] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:1 ,distance between ekf and vo x:-0.000336 ,z=0.000094,angle between two frames:0.000181
-[13:20:54.323] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.123158 	 error end=0.119332
-[13:20:54.323] After pose optimization, distance between ekf and vo x:0.003190 ,z=0.001713,angle between two frames:0.000965
-[13:20:54.323] frame process finished the id is: 66 the obs is:33 
-[13:20:54.346] Odometry x=0.008459, y=0.380812, theta=-0.006257
-[13:20:54.448] Odometry x=0.000102, y=0.387009, theta=0.020190
-[13:20:54.467] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.000581 ,z=0.000142,angle between two frames:0.000313
-[13:20:54.467] After pose optimization, distance between ekf and vo x:-0.000581 ,z=0.000142,angle between two frames:0.000313
-[13:20:54.467] frame process finished the id is: 66 the obs is:33 
-[13:20:54.551] Odometry x=0.001781, y=0.392685, theta=0.000959
-[13:20:54.609] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000261 ,z=0.000083,angle between two frames:0.000139
-[13:20:54.609] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.086745 	 error end=0.086529
-[13:20:54.609] After pose optimization, distance between ekf and vo x:-0.000612 ,z=-0.000084,angle between two frames:0.000139
-[13:20:54.609] frame process finished the id is: 66 the obs is:33 
-[13:20:54.649] Odometry x=0.001181, y=0.402946, theta=-0.004845
-[13:20:54.747] Odometry x=0.001195, y=0.409005, theta=0.007949
-[13:20:54.751] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:1 ,distance between ekf and vo x:-0.000375 ,z=0.000069,angle between two frames:0.000225
-[13:20:54.751] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.704996 	 error end=0.083912
-[13:20:54.751] After pose optimization, distance between ekf and vo x:-0.060972 ,z=-1.349650,angle between two frames:0.155364
-[13:20:54.751] frame process finished the id is: 66 the obs is:33 
-[13:20:54.851] Odometry x=0.002656, y=0.419335, theta=-0.002515
-[13:20:54.894] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000352 ,z=0.000089,angle between two frames:0.000202
-[13:20:54.894] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.187584 	 error end=0.187584
-[13:20:54.894] After pose optimization, distance between ekf and vo x:-0.000352 ,z=0.000089,angle between two frames:0.000202
-[13:20:54.894] frame process finished the id is: 66 the obs is:33 
-[13:20:54.948] Odometry x=-0.000681, y=0.424727, theta=-0.015861
-[13:20:55.036] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:2 ,distance between ekf and vo x:-0.000204 ,z=0.000061,angle between two frames:0.000126
-[13:20:55.036] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.393681 	 error end=0.393681
-[13:20:55.036] After pose optimization, distance between ekf and vo x:-0.000204 ,z=0.000061,angle between two frames:0.000126
-[13:20:55.036] frame process finished the id is: 66 the obs is:33 
-[13:20:55.047] Odometry x=-0.000080, y=0.437473, theta=-0.009407
-[13:20:55.151] Odometry x=0.000055, y=0.426427, theta=-0.028440
-[13:20:55.182] After Reprojection Map nPoint:25 ,nCell:25 ,nMatches:0 ,distance between ekf and vo x:-0.000322 ,z=0.000076,angle between two frames:0.000201
-[13:20:55.182] After pose optimization, distance between ekf and vo x:-0.000322 ,z=0.000076,angle between two frames:0.000201
-[13:20:55.182] frame process finished the id is: 66 the obs is:33 
-[13:20:55.249] Odometry x=0.000807, y=0.431961, theta=-0.000609
-[13:20:55.325] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:0 ,distance between ekf and vo x:-0.000406 ,z=0.000090,angle between two frames:0.000249
-[13:20:55.325] After pose optimization, distance between ekf and vo x:-0.000406 ,z=0.000090,angle between two frames:0.000249
-[13:20:55.325] frame process finished the id is: 66 the obs is:33 
-[13:20:55.351] Odometry x=0.001102, y=0.436564, theta=-0.008835
-[13:20:55.446] Odometry x=0.001106, y=0.441772, theta=0.002134
-[13:20:55.468] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:2 ,distance between ekf and vo x:-0.000327 ,z=0.000081,angle between two frames:0.000203
-[13:20:55.468] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.433878 	 error end=0.430917
-[13:20:55.468] After pose optimization, distance between ekf and vo x:-0.038068 ,z=-0.016331,angle between two frames:0.022718
-[13:20:55.468] frame process finished the id is: 66 the obs is:33 
-[13:20:55.548] Odometry x=0.001095, y=0.449342, theta=0.017418
-[13:20:55.610] After Reprojection Map nPoint:23 ,nCell:22 ,nMatches:1 ,distance between ekf and vo x:-0.000319 ,z=0.000097,angle between two frames:0.000178
-[13:20:55.610] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.432084 	 error end=0.212775
-[13:20:55.610] After pose optimization, distance between ekf and vo x:0.079162 ,z=-0.057894,angle between two frames:0.044245
-[13:20:55.610] frame process finished the id is: 66 the obs is:33 
-[13:20:55.646] Odometry x=0.001173, y=0.454781, theta=0.004920
-[13:20:55.750] Odometry x=0.000891, y=0.473947, theta=0.014386
-[13:20:55.752] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.000451 ,z=0.000119,angle between two frames:0.000261
-[13:20:55.752] After pose optimization, distance between ekf and vo x:-0.000451 ,z=0.000119,angle between two frames:0.000261
-[13:20:55.752] frame process finished the id is: 66 the obs is:33 
-[13:20:55.847] Odometry x=0.000853, y=0.479600, theta=0.004820
-[13:20:55.895] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:3 ,distance between ekf and vo x:-0.000460 ,z=0.000118,angle between two frames:0.000284
-[13:20:55.895] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.390208 	 error end=0.255029
-[13:20:55.895] After pose optimization, distance between ekf and vo x:0.152022 ,z=-0.150865,angle between two frames:0.028343
-[13:20:55.895] frame process finished the id is: 66 the obs is:33 
-[13:20:55.950] Odometry x=-0.011122, y=0.503546, theta=0.002954
-[13:20:56.044] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:1 ,distance between ekf and vo x:-0.001019 ,z=0.000360,angle between two frames:0.000664
-[13:20:56.044] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.287275 	 error end=0.287275
-[13:20:56.044] After pose optimization, distance between ekf and vo x:-0.001019 ,z=0.000360,angle between two frames:0.000664
-[13:20:56.044] frame process finished the id is: 66 the obs is:33 
-[13:20:56.048] Odometry x=-0.011127, y=0.509095, theta=0.009359
-[13:20:56.151] Odometry x=-0.012493, y=0.520574, theta=0.008740
-[13:20:56.187] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.000242 ,z=0.000067,angle between two frames:0.000148
-[13:20:56.187] After pose optimization, distance between ekf and vo x:-0.000242 ,z=0.000067,angle between two frames:0.000148
-[13:20:56.187] frame process finished the id is: 66 the obs is:33 
-[13:20:56.249] Odometry x=-0.012579, y=0.526203, theta=0.002607
-[13:20:56.330] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000324 ,z=0.000068,angle between two frames:0.000206
-[13:20:56.330] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.434574 	 error end=0.434574
-[13:20:56.330] After pose optimization, distance between ekf and vo x:-0.000324 ,z=0.000068,angle between two frames:0.000206
-[13:20:56.330] frame process finished the id is: 66 the obs is:33 
-[13:20:56.351] Odometry x=-0.011192, y=0.536863, theta=0.015632
-[13:20:56.448] Odometry x=-0.011231, y=0.542247, theta=0.007726
-[13:20:56.473] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000398 ,z=0.000114,angle between two frames:0.000238
-[13:20:56.473] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.493847 	 error end=0.432969
-[13:20:56.473] After pose optimization, distance between ekf and vo x:0.015035 ,z=-0.007767,angle between two frames:0.004837
-[13:20:56.473] frame process finished the id is: 66 the obs is:33 
-[13:20:56.546] Odometry x=-0.010443, y=0.547317, theta=0.006672
-[13:20:56.617] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000349 ,z=0.000106,angle between two frames:0.000212
-[13:20:56.617] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.452820 	 error end=0.134229
-[13:20:56.617] After pose optimization, distance between ekf and vo x:0.001152 ,z=-0.132072,angle between two frames:0.011808
-[13:20:56.617] frame process finished the id is: 66 the obs is:33 
-[13:20:56.646] Odometry x=-0.010523, y=0.560804, theta=0.003672
-[13:20:56.750] Odometry x=-0.010531, y=0.566925, theta=0.009051
-[13:20:56.761] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.000297 ,z=0.000059,angle between two frames:0.000220
-[13:20:56.761] After pose optimization, distance between ekf and vo x:-0.000297 ,z=0.000059,angle between two frames:0.000220
-[13:20:56.761] frame process finished the id is: 66 the obs is:33 
-[13:20:56.848] Odometry x=-0.010156, y=0.571921, theta=-0.009951
-[13:20:56.904] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:-0.000250 ,z=0.000080,angle between two frames:0.000165
-[13:20:56.904] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.642525 	 error end=0.642525
-[13:20:56.904] After pose optimization, distance between ekf and vo x:-0.000250 ,z=0.000080,angle between two frames:0.000165
-[13:20:56.904] frame process finished the id is: 66 the obs is:33 
-[13:20:56.945] Odometry x=-0.009591, y=0.577096, theta=-0.002362
-[13:20:57.047] Odometry x=-0.009580, y=0.582431, theta=-0.012784
-[13:20:57.047] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:0 ,distance between ekf and vo x:-0.000299 ,z=0.000080,angle between two frames:0.000199
-[13:20:57.047] After pose optimization, distance between ekf and vo x:-0.000299 ,z=0.000080,angle between two frames:0.000199
-[13:20:57.047] frame process finished the id is: 66 the obs is:33 
-[13:20:57.146] Odometry x=-0.009541, y=0.588287, theta=-0.003499
-[13:20:57.190] After Reprojection Map nPoint:22 ,nCell:21 ,nMatches:2 ,distance between ekf and vo x:-0.000322 ,z=0.000091,angle between two frames:0.000208
-[13:20:57.190] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.388088 	 error end=0.388088
-[13:20:57.190] After pose optimization, distance between ekf and vo x:-0.000322 ,z=0.000091,angle between two frames:0.000208
-[13:20:57.190] frame process finished the id is: 66 the obs is:33 
-[13:20:57.246] Odometry x=-0.017413, y=0.594054, theta=-0.001606
-[13:20:57.333] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000226 ,z=0.000063,angle between two frames:0.000143
-[13:20:57.333] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.285117 	 error end=0.285117
-[13:20:57.333] After pose optimization, distance between ekf and vo x:-0.000226 ,z=0.000063,angle between two frames:0.000143
-[13:20:57.333] frame process finished the id is: 66 the obs is:33 
-[13:20:57.348] Odometry x=-0.017118, y=0.600466, theta=-0.003778
-[13:20:57.446] Odometry x=-0.017021, y=0.606055, theta=0.006713
-[13:20:57.477] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:2 ,distance between ekf and vo x:-0.000409 ,z=0.000082,angle between two frames:0.000263
-[13:20:57.477] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.669448 	 error end=0.669448
-[13:20:57.477] After pose optimization, distance between ekf and vo x:-0.000409 ,z=0.000082,angle between two frames:0.000263
-[13:20:57.477] frame process finished the id is: 66 the obs is:33 
-[13:20:57.548] Odometry x=-0.015829, y=0.612673, theta=-0.011172
-[13:20:57.620] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000380 ,z=0.000062,angle between two frames:0.000256
-[13:20:57.620] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.272949 	 error end=0.272949
-[13:20:57.620] After pose optimization, distance between ekf and vo x:-0.000380 ,z=0.000062,angle between two frames:0.000256
-[13:20:57.620] frame process finished the id is: 66 the obs is:33 
-[13:20:57.645] Odometry x=-0.015447, y=0.618016, theta=0.000680
-[13:20:57.747] Odometry x=-0.015422, y=0.626930, theta=-0.017556
-[13:20:57.763] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.000300 ,z=0.000072,angle between two frames:0.000205
-[13:20:57.763] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.250993 	 error end=0.250993
-[13:20:57.763] After pose optimization, distance between ekf and vo x:-0.000300 ,z=0.000072,angle between two frames:0.000205
-[13:20:57.763] frame process finished the id is: 66 the obs is:33 
-[13:20:57.850] Odometry x=-0.015112, y=0.632529, theta=0.000006
-[13:20:57.905] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:0 ,distance between ekf and vo x:-0.000273 ,z=0.000072,angle between two frames:0.000186
-[13:20:57.905] After pose optimization, distance between ekf and vo x:-0.000273 ,z=0.000072,angle between two frames:0.000186
-[13:20:57.905] frame process finished the id is: 66 the obs is:33 
-[13:20:57.947] Odometry x=-0.015028, y=0.637886, theta=-0.004831
-[13:20:58.048] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000412 ,z=0.000094,angle between two frames:0.000270
-[13:20:58.048] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.458728 	 error end=0.122297
-[13:20:58.048] After pose optimization, distance between ekf and vo x:-0.068710 ,z=-5.984052,angle between two frames:0.020599
-[13:20:58.048] frame process finished the id is: 66 the obs is:33 
-[13:20:58.049] Odometry x=-0.015065, y=0.641675, theta=-0.012472
-[13:20:58.146] Odometry x=-0.012865, y=0.647128, theta=-0.005455
-[13:20:58.191] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000336 ,z=0.000089,angle between two frames:0.000235
-[13:20:58.191] After pose optimization, distance between ekf and vo x:-0.000336 ,z=0.000089,angle between two frames:0.000235
-[13:20:58.191] frame process finished the id is: 66 the obs is:33 
-[13:20:58.249] Odometry x=-0.012882, y=0.652655, theta=-0.034897
-[13:20:58.336] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000167 ,z=0.000233,angle between two frames:0.000045
-[13:20:58.336] After pose optimization, distance between ekf and vo x:-0.000167 ,z=0.000233,angle between two frames:0.000045
-[13:20:58.336] frame process finished the id is: 66 the obs is:33 
-[13:20:58.346] Odometry x=-0.012255, y=0.657618, theta=-0.012758
-[13:20:58.449] Odometry x=-0.012752, y=0.663010, theta=-0.024439
-[13:20:58.479] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000338 ,z=0.000059,angle between two frames:0.000238
-[13:20:58.479] After pose optimization, distance between ekf and vo x:-0.000338 ,z=0.000059,angle between two frames:0.000238
-[13:20:58.479] frame process finished the id is: 66 the obs is:33 
-[13:20:58.546] Odometry x=-0.012357, y=0.668456, theta=-0.013601
-[13:20:58.623] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000365 ,z=0.000075,angle between two frames:0.000258
-[13:20:58.623] After pose optimization, distance between ekf and vo x:-0.000365 ,z=0.000075,angle between two frames:0.000258
-[13:20:58.623] frame process finished the id is: 66 the obs is:33 
-[13:20:58.649] Odometry x=-0.018269, y=0.675336, theta=-0.021170
-[13:20:58.746] Odometry x=-0.018168, y=0.680897, theta=-0.021644
-[13:20:58.766] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.000320 ,z=0.000075,angle between two frames:0.000221
-[13:20:58.766] After pose optimization, distance between ekf and vo x:-0.000320 ,z=0.000075,angle between two frames:0.000221
-[13:20:58.766] frame process finished the id is: 66 the obs is:33 
-[13:20:58.850] Odometry x=-0.017379, y=0.686187, theta=0.002609
-[13:20:58.916] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:1 ,distance between ekf and vo x:-0.000801 ,z=0.000276,angle between two frames:0.000599
-[13:20:58.916] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.259860 	 error end=0.200888
-[13:20:58.916] After pose optimization, distance between ekf and vo x:-0.137602 ,z=0.068444,angle between two frames:0.000599
-[13:20:58.916] frame process finished the id is: 66 the obs is:33 
-[13:20:58.948] Odometry x=-0.017197, y=0.691678, theta=-0.013176
-[13:20:59.045] Odometry x=-0.017179, y=0.697034, theta=0.006782
-[13:20:59.059] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000298 ,z=0.000066,angle between two frames:0.000207
-[13:20:59.059] After pose optimization, distance between ekf and vo x:-0.000298 ,z=0.000066,angle between two frames:0.000207
-[13:20:59.059] frame process finished the id is: 66 the obs is:33 
-[13:20:59.142] Odometry x=-0.017124, y=0.702131, theta=-0.008001
-[13:20:59.204] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000346 ,z=0.000077,angle between two frames:0.000251
-[13:20:59.204] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.110445 	 error end=0.110445
-[13:20:59.204] After pose optimization, distance between ekf and vo x:-0.000346 ,z=0.000077,angle between two frames:0.000251
-[13:20:59.204] frame process finished the id is: 66 the obs is:33 
-[13:20:59.245] Odometry x=-0.017011, y=0.707549, theta=0.000964
-[13:20:59.349] After Reprojection Map nPoint:14 ,nCell:13 ,nMatches:1 ,distance between ekf and vo x:-0.000328 ,z=0.000070,angle between two frames:0.000230
-[13:20:59.349] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.951228 	 error end=0.951228
-[13:20:59.349] After pose optimization, distance between ekf and vo x:-0.000328 ,z=0.000070,angle between two frames:0.000230
-[13:20:59.349] frame process finished the id is: 66 the obs is:33 
-[13:20:59.352] Odometry x=-0.017034, y=0.713673, theta=0.001467
-[13:20:59.449] Odometry x=-0.017011, y=0.720092, theta=-0.007146
-[13:20:59.492] After Reprojection Map nPoint:25 ,nCell:24 ,nMatches:1 ,distance between ekf and vo x:-0.000345 ,z=0.000080,angle between two frames:0.000246
-[13:20:59.492] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.447144 	 error end=0.258254
-[13:20:59.492] After pose optimization, distance between ekf and vo x:-0.155225 ,z=4.947971,angle between two frames:0.029508
-[13:20:59.492] frame process finished the id is: 66 the obs is:33 
-[13:20:59.550] Odometry x=-0.017003, y=0.725205, theta=0.005747
-[13:20:59.636] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:0 ,distance between ekf and vo x:-0.000319 ,z=0.000091,angle between two frames:0.000223
-[13:20:59.636] After pose optimization, distance between ekf and vo x:-0.000319 ,z=0.000091,angle between two frames:0.000223
-[13:20:59.636] frame process finished the id is: 66 the obs is:33 
-[13:20:59.648] Odometry x=-0.014115, y=0.732644, theta=-0.001575
-[13:20:59.746] Odometry x=-0.029320, y=0.742029, theta=-0.008017
-[13:20:59.779] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000346 ,z=0.000076,angle between two frames:0.000259
-[13:20:59.779] After pose optimization, distance between ekf and vo x:-0.000346 ,z=0.000076,angle between two frames:0.000259
-[13:20:59.779] frame process finished the id is: 66 the obs is:33 
-[13:20:59.846] Odometry x=-0.029147, y=0.747321, theta=0.001241
-[13:20:59.921] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000310 ,z=0.000076,angle between two frames:0.000238
-[13:20:59.921] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.312454 	 error end=0.161270
-[13:20:59.921] After pose optimization, distance between ekf and vo x:0.341395 ,z=6.824946,angle between two frames:1.149991
-[13:20:59.922] frame process finished the id is: 66 the obs is:33 
-[13:20:59.946] Odometry x=-0.029115, y=0.760576, theta=-0.006669
-[13:21:00.048] Odometry x=-0.028505, y=0.766076, theta=-0.005475
-[13:21:00.064] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000265 ,z=0.000061,angle between two frames:0.000208
-[13:21:00.064] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.724927 	 error end=0.189664
-[13:21:00.064] After pose optimization, distance between ekf and vo x:0.494562 ,z=-7.213938,angle between two frames:0.455365
-[13:21:00.064] frame process finished the id is: 66 the obs is:33 
-[13:21:00.146] Odometry x=-0.028455, y=0.771582, theta=-0.017764
-[13:21:00.215] After Reprojection Map nPoint:24 ,nCell:24 ,nMatches:0 ,distance between ekf and vo x:-0.000930 ,z=0.000318,angle between two frames:0.000765
-[13:21:00.215] After pose optimization, distance between ekf and vo x:-0.000930 ,z=0.000318,angle between two frames:0.000765
-[13:21:00.215] frame process finished the id is: 66 the obs is:33 
-[13:21:00.248] Odometry x=-0.027924, y=0.776996, theta=-0.009181
-[13:21:00.350] Odometry x=-0.027848, y=0.782378, theta=-0.011584
-[13:21:00.360] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000495 ,z=0.000140,angle between two frames:0.000409
-[13:21:00.360] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.559095 	 error end=0.443893
-[13:21:00.360] After pose optimization, distance between ekf and vo x:0.007054 ,z=0.029039,angle between two frames:0.018932
-[13:21:00.360] frame process finished the id is: 66 the obs is:33 
-[13:21:00.448] Odometry x=-0.027760, y=0.788304, theta=-0.016724
-[13:21:00.504] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000311 ,z=0.000069,angle between two frames:0.000217
-[13:21:00.504] After pose optimization, distance between ekf and vo x:-0.000311 ,z=0.000069,angle between two frames:0.000217
-[13:21:00.504] frame process finished the id is: 66 the obs is:33 
-[13:21:00.546] Odometry x=-0.030497, y=0.793842, theta=-0.010699
-[13:21:00.643] Odometry x=-0.030433, y=0.798951, theta=-0.023584
-[13:21:00.654] After Reprojection Map nPoint:19 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000613 ,z=0.000119,angle between two frames:0.000575
-[13:21:00.654] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.695228 	 error end=0.695228
-[13:21:00.654] After pose optimization, distance between ekf and vo x:-0.000613 ,z=0.000119,angle between two frames:0.000575
-[13:21:00.654] frame process finished the id is: 66 the obs is:33 
-[13:21:00.745] Odometry x=-0.030300, y=0.804305, theta=0.001265
-[13:21:00.810] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:1 ,distance between ekf and vo x:-0.001149 ,z=0.000402,angle between two frames:0.000922
-[13:21:00.810] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.692986 	 error end=0.692986
-[13:21:00.810] After pose optimization, distance between ekf and vo x:-0.001149 ,z=0.000402,angle between two frames:0.000922
-[13:21:00.810] frame process finished the id is: 66 the obs is:33 
-[13:21:00.848] Odometry x=-0.030284, y=0.809605, theta=-0.017285
-[13:21:00.950] Odometry x=-0.029726, y=0.815709, theta=0.011918
-[13:21:00.963] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000838 ,z=0.000255,angle between two frames:0.000705
-[13:21:00.963] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.244156 	 error end=0.067416
-[13:21:00.963] After pose optimization, distance between ekf and vo x:0.031372 ,z=-2.405320,angle between two frames:0.008118
-[13:21:00.963] frame process finished the id is: 66 the obs is:33 
-[13:21:01.047] Odometry x=-0.029789, y=0.821577, theta=0.007541
-[13:21:01.125] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:-0.002236 ,z=0.000428,angle between two frames:0.001713
-[13:21:01.125] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.682296 	 error end=0.682296
-[13:21:01.125] After pose optimization, distance between ekf and vo x:-0.002236 ,z=0.000428,angle between two frames:0.001713
-[13:21:01.126] frame process finished the id is: 66 the obs is:33 
-[13:21:01.149] Odometry x=-0.029666, y=0.827092, theta=0.008391
-[13:21:01.246] Odometry x=-0.029607, y=0.832565, theta=0.013476
-[13:21:01.290] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.002808 ,z=0.000573,angle between two frames:0.002226
-[13:21:01.290] After pose optimization, distance between ekf and vo x:-0.002808 ,z=0.000573,angle between two frames:0.002226
-[13:21:01.290] frame process finished the id is: 66 the obs is:33 
-[13:21:01.349] Odometry x=-0.029636, y=0.837921, theta=0.004664
-[13:21:01.452] Odometry x=-0.029655, y=0.843287, theta=0.009934
-[13:21:01.455] After Reprojection Map nPoint:22 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.003035 ,z=0.000603,angle between two frames:0.002564
-[13:21:01.455] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.455829 	 error end=0.455829
-[13:21:01.455] After pose optimization, distance between ekf and vo x:-0.003035 ,z=0.000603,angle between two frames:0.002564
-[13:21:01.455] frame process finished the id is: 66 the obs is:33 
-[13:21:01.544] Odometry x=-0.029652, y=0.848931, theta=0.001573
-[13:21:01.612] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.001813 ,z=0.000267,angle between two frames:0.001678
-[13:21:01.612] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.429191 	 error end=0.429191
-[13:21:01.612] After pose optimization, distance between ekf and vo x:-0.001813 ,z=0.000267,angle between two frames:0.001678
-[13:21:01.612] frame process finished the id is: 66 the obs is:33 
-[13:21:01.645] Odometry x=-0.032902, y=0.876012, theta=0.006279
-[13:21:01.752] Odometry x=-0.032922, y=0.882142, theta=0.005779
-[13:21:01.777] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.002713 ,z=0.000532,angle between two frames:0.002286
-[13:21:01.777] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.787266 	 error end=0.230134
-[13:21:01.777] After pose optimization, distance between ekf and vo x:1.052814 ,z=26.397092,angle between two frames:1.994916
-[13:21:01.777] frame process finished the id is: 66 the obs is:33 
-[13:21:01.845] Odometry x=-0.033275, y=0.888894, theta=0.012413
-[13:21:01.942] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.002706 ,z=0.000682,angle between two frames:0.002360
-[13:21:01.942] After pose optimization, distance between ekf and vo x:-0.002706 ,z=0.000682,angle between two frames:0.002360
-[13:21:01.942] frame process finished the id is: 66 the obs is:33 
-[13:21:01.953] Odometry x=-0.033266, y=0.894113, theta=0.005269
-[13:21:02.060] Odometry x=-0.033306, y=0.900955, theta=0.013630
-[13:21:02.108] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.002710 ,z=0.000657,angle between two frames:0.002252
-[13:21:02.108] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.518192 	 error end=0.518192
-[13:21:02.108] After pose optimization, distance between ekf and vo x:-0.002710 ,z=0.000657,angle between two frames:0.002252
-[13:21:02.108] frame process finished the id is: 66 the obs is:33 
-[13:21:02.145] Odometry x=-0.033318, y=0.906938, theta=0.002324
-[13:21:02.258] Odometry x=-0.033319, y=0.912577, theta=0.003263
-[13:21:02.266] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.001399 ,z=0.000243,angle between two frames:0.001343
-[13:21:02.266] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.832527 	 error end=0.832527
-[13:21:02.266] After pose optimization, distance between ekf and vo x:-0.001399 ,z=0.000243,angle between two frames:0.001343
-[13:21:02.266] frame process finished the id is: 66 the obs is:33 
-[13:21:02.352] Odometry x=-0.033323, y=0.918476, theta=0.001819
-[13:21:02.431] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.002766 ,z=0.000632,angle between two frames:0.002436
-[13:21:02.431] After pose optimization, distance between ekf and vo x:-0.002766 ,z=0.000632,angle between two frames:0.002436
-[13:21:02.431] frame process finished the id is: 66 the obs is:33 
-[13:21:02.450] Odometry x=-0.033243, y=0.923765, theta=0.008248
-[13:21:02.548] Odometry x=-0.033256, y=0.928874, theta=0.002686
-[13:21:02.595] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:-0.002738 ,z=0.000568,angle between two frames:0.002341
-[13:21:02.595] After pose optimization, distance between ekf and vo x:-0.002738 ,z=0.000568,angle between two frames:0.002341
-[13:21:02.595] frame process finished the id is: 66 the obs is:33 
-[13:21:02.647] Odometry x=-0.033249, y=0.934274, theta=-0.003344
-[13:21:02.744] Odometry x=-0.033185, y=0.939961, theta=0.005612
-[13:21:02.753] After Reprojection Map nPoint:13 ,nCell:13 ,nMatches:0 ,distance between ekf and vo x:-0.001552 ,z=0.000241,angle between two frames:0.001449
-[13:21:02.753] After pose optimization, distance between ekf and vo x:-0.001552 ,z=0.000241,angle between two frames:0.001449
-[13:21:02.753] frame process finished the id is: 66 the obs is:33 
-[13:21:02.848] Odometry x=-0.033192, y=0.944958, theta=0.003603
-[13:21:02.916] After Reprojection Map nPoint:13 ,nCell:13 ,nMatches:0 ,distance between ekf and vo x:-0.002237 ,z=0.000393,angle between two frames:0.002040
-[13:21:02.916] After pose optimization, distance between ekf and vo x:-0.002237 ,z=0.000393,angle between two frames:0.002040
-[13:21:02.916] frame process finished the id is: 66 the obs is:33 
-[13:21:02.946] Odometry x=-0.033197, y=0.951121, theta=0.010426
-[13:21:03.049] Odometry x=-0.033223, y=0.957067, theta=0.005174
-[13:21:03.079] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.001991 ,z=0.000325,angle between two frames:0.001943
-[13:21:03.079] After pose optimization, distance between ekf and vo x:-0.001991 ,z=0.000325,angle between two frames:0.001943
-[13:21:03.079] frame process finished the id is: 66 the obs is:33 
-[13:21:03.149] Odometry x=-0.033231, y=0.962269, theta=0.010892
-[13:21:03.244] After Reprojection Map nPoint:17 ,nCell:16 ,nMatches:2 ,distance between ekf and vo x:-0.002337 ,z=0.000511,angle between two frames:0.002263
-[13:21:03.244] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.433684 	 error end=0.433684
-[13:21:03.244] After pose optimization, distance between ekf and vo x:-0.002337 ,z=0.000511,angle between two frames:0.002263
-[13:21:03.244] frame process finished the id is: 66 the obs is:33 
-[13:21:03.247] Odometry x=-0.033260, y=0.968089, theta=0.015499
-[13:21:03.350] Odometry x=-0.033293, y=0.973695, theta=0.012776
-[13:21:03.406] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.001510 ,z=0.000313,angle between two frames:0.001525
-[13:21:03.406] After pose optimization, distance between ekf and vo x:-0.001510 ,z=0.000313,angle between two frames:0.001525
-[13:21:03.406] frame process finished the id is: 66 the obs is:33 
-[13:21:03.447] Odometry x=-0.033311, y=0.979280, theta=0.006999
-[13:21:03.547] Odometry x=-0.033257, y=0.985592, theta=0.012327
-[13:21:03.569] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.001775 ,z=0.000244,angle between two frames:0.001822
-[13:21:03.569] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.340294 	 error end=0.340294
-[13:21:03.569] After pose optimization, distance between ekf and vo x:-0.001775 ,z=0.000244,angle between two frames:0.001822
-[13:21:03.569] frame process finished the id is: 66 the obs is:33 
-[13:21:03.646] Odometry x=-0.033292, y=0.990972, theta=0.015690
-[13:21:03.734] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:-0.002028 ,z=0.000418,angle between two frames:0.002182
-[13:21:03.734] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.559115 	 error end=0.559115
-[13:21:03.734] After pose optimization, distance between ekf and vo x:-0.002028 ,z=0.000418,angle between two frames:0.002182
-[13:21:03.734] frame process finished the id is: 66 the obs is:33 
-[13:21:03.746] Odometry x=-0.033341, y=0.997071, theta=0.013277
-[13:21:03.847] Odometry x=-0.033369, y=1.002309, theta=0.009199
-[13:21:03.903] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.001496 ,z=0.000337,angle between two frames:0.001682
-[13:21:03.903] After pose optimization, distance between ekf and vo x:-0.001496 ,z=0.000337,angle between two frames:0.001682
-[13:21:03.903] frame process finished the id is: 66 the obs is:33 
-[13:21:03.949] Odometry x=-0.033376, y=1.008152, theta=0.009179
-[13:21:04.047] Odometry x=-0.033390, y=1.013504, theta=0.004969
-[13:21:04.066] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.002098 ,z=0.000337,angle between two frames:0.002399
-[13:21:04.066] After pose optimization, distance between ekf and vo x:-0.002098 ,z=0.000337,angle between two frames:0.002399
-[13:21:04.066] frame process finished the id is: 66 the obs is:33 
-[13:21:04.147] Odometry x=-0.033396, y=1.019049, theta=0.007226
-[13:21:04.217] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.001276 ,z=0.000206,angle between two frames:0.001450
-[13:21:04.217] After pose optimization, distance between ekf and vo x:-0.001276 ,z=0.000206,angle between two frames:0.001450
-[13:21:04.217] frame process finished the id is: 66 the obs is:33 
-[13:21:04.249] Odometry x=-0.033400, y=1.024613, theta=-0.000008
-[13:21:04.348] Odometry x=-0.033354, y=1.030305, theta=0.004021
-[13:21:04.380] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:2 ,distance between ekf and vo x:-0.001956 ,z=0.000211,angle between two frames:0.002439
-[13:21:04.380] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.694023 	 error end=0.694023
-[13:21:04.380] After pose optimization, distance between ekf and vo x:-0.001956 ,z=0.000211,angle between two frames:0.002439
-[13:21:04.380] frame process finished the id is: 66 the obs is:33 
-[13:21:04.445] Odometry x=-0.033358, y=1.035720, theta=0.004591
-[13:21:04.531] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000528 ,z=0.000079,angle between two frames:0.000710
-[13:21:04.531] After pose optimization, distance between ekf and vo x:-0.000528 ,z=0.000079,angle between two frames:0.000710
-[13:21:04.531] frame process finished the id is: 66 the obs is:33 
-[13:21:04.547] Odometry x=-0.033371, y=1.041231, theta=0.010350
-[13:21:04.649] Odometry x=-0.033376, y=1.046731, theta=0.015539
-[13:21:04.695] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:1 ,distance between ekf and vo x:-0.001954 ,z=0.000327,angle between two frames:0.002237
-[13:21:04.695] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.072090 	 error end=0.071623
-[13:21:04.695] After pose optimization, distance between ekf and vo x:-0.001919 ,z=-0.000360,angle between two frames:0.002967
-[13:21:04.695] frame process finished the id is: 66 the obs is:33 
-[13:21:04.747] Odometry x=-0.033306, y=1.052379, theta=0.004907
-[13:21:04.848] Odometry x=-0.033320, y=1.057614, theta=0.009462
-[13:21:04.854] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.001954 ,z=0.000246,angle between two frames:0.002201
-[13:21:04.854] After pose optimization, distance between ekf and vo x:-0.001954 ,z=0.000246,angle between two frames:0.002201
-[13:21:04.854] frame process finished the id is: 66 the obs is:33 
-[13:21:04.947] Odometry x=-0.033353, y=1.062577, theta=0.007185
-[13:21:05.011] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:-0.001543 ,z=0.000321,angle between two frames:0.001984
-[13:21:05.011] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.366524 	 error end=0.366524
-[13:21:05.011] After pose optimization, distance between ekf and vo x:-0.001543 ,z=0.000321,angle between two frames:0.001984
-[13:21:05.011] frame process finished the id is: 66 the obs is:33 
-[13:21:05.043] Odometry x=-0.033380, y=1.068531, theta=0.010401
-[13:21:05.147] Odometry x=-0.033404, y=1.073860, theta=0.007745
-[13:21:05.169] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.001173 ,z=0.000171,angle between two frames:0.001352
-[13:21:05.169] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.548393 	 error end=1.548393
-[13:21:05.169] After pose optimization, distance between ekf and vo x:-0.001173 ,z=0.000171,angle between two frames:0.001352
-[13:21:05.169] frame process finished the id is: 66 the obs is:33 
-[13:21:05.251] Odometry x=-0.033431, y=1.080156, theta=0.010800
-[13:21:05.326] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:1 ,distance between ekf and vo x:-0.000750 ,z=0.000107,angle between two frames:0.000902
-[13:21:05.326] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.054558 	 error end=0.054407
-[13:21:05.326] After pose optimization, distance between ekf and vo x:-0.000750 ,z=-0.000059,angle between two frames:0.001053
-[13:21:05.326] frame process finished the id is: 66 the obs is:33 
-[13:21:05.346] Odometry x=-0.033466, y=1.086413, theta=0.010387
-[13:21:05.442] Odometry x=-0.033495, y=1.091616, theta=0.010246
-[13:21:05.489] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.001747 ,z=0.000325,angle between two frames:0.002164
-[13:21:05.489] After pose optimization, distance between ekf and vo x:-0.001747 ,z=0.000325,angle between two frames:0.002164
-[13:21:05.489] frame process finished the id is: 66 the obs is:33 
-[13:21:05.547] Odometry x=-0.033524, y=1.096878, theta=0.010190
-[13:21:05.645] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:-0.001011 ,z=0.000230,angle between two frames:0.001276
-[13:21:05.645] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.185900 	 error end=0.185900
-[13:21:05.645] After pose optimization, distance between ekf and vo x:-0.001011 ,z=0.000230,angle between two frames:0.001276
-[13:21:05.645] frame process finished the id is: 66 the obs is:33 
-[13:21:05.645] Odometry x=-0.033509, y=1.102859, theta=0.008125
-[13:21:05.747] Odometry x=-0.033538, y=1.109113, theta=0.010509
-[13:21:05.802] After Reprojection Map nPoint:13 ,nCell:13 ,nMatches:0 ,distance between ekf and vo x:-0.000703 ,z=0.000098,angle between two frames:0.000967
-[13:21:05.802] After pose optimization, distance between ekf and vo x:-0.000703 ,z=0.000098,angle between two frames:0.000967
-[13:21:05.802] frame process finished the id is: 66 the obs is:33 
-[13:21:05.849] Odometry x=-0.033560, y=1.114576, theta=0.006252
-[13:21:05.946] Odometry x=-0.033556, y=1.120011, theta=0.004018
-[13:21:05.951] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.001134 ,z=0.000233,angle between two frames:0.001406
-[13:21:05.951] After pose optimization, distance between ekf and vo x:-0.001134 ,z=0.000233,angle between two frames:0.001406
-[13:21:05.951] frame process finished the id is: 66 the obs is:33 
-[13:21:06.048] Odometry x=-0.033558, y=1.125371, theta=0.009245
-[13:21:06.100] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:-0.001179 ,z=0.000226,angle between two frames:0.001401
-[13:21:06.100] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.189057 	 error end=0.189057
-[13:21:06.100] After pose optimization, distance between ekf and vo x:-0.001179 ,z=0.000226,angle between two frames:0.001401
-[13:21:06.100] frame process finished the id is: 66 the obs is:33 
-[13:21:06.149] Odometry x=-0.033566, y=1.130737, theta=0.000053
-[13:21:06.246] Odometry x=-0.033563, y=1.136157, theta=0.003710
-[13:21:06.257] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.001683 ,z=0.000255,angle between two frames:0.002049
-[13:21:06.257] After pose optimization, distance between ekf and vo x:-0.001683 ,z=0.000255,angle between two frames:0.002049
-[13:21:06.257] frame process finished the id is: 66 the obs is:33 
-[13:21:06.347] Odometry x=-0.033568, y=1.141749, theta=0.004793
-[13:21:06.411] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:-0.000984 ,z=0.000173,angle between two frames:0.001315
-[13:21:06.411] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.290950 	 error end=0.290950
-[13:21:06.411] After pose optimization, distance between ekf and vo x:-0.000984 ,z=0.000173,angle between two frames:0.001315
-[13:21:06.411] frame process finished the id is: 66 the obs is:33 
-[13:21:06.446] Odometry x=-0.033576, y=1.147241, theta=0.004419
-[13:21:06.543] Odometry x=-0.033521, y=1.152607, theta=0.010958
-[13:21:06.567] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.001323 ,z=0.000341,angle between two frames:0.001722
-[13:21:06.567] After pose optimization, distance between ekf and vo x:-0.001323 ,z=0.000341,angle between two frames:0.001722
-[13:21:06.567] frame process finished the id is: 66 the obs is:33 
-[13:21:06.645] Odometry x=-0.033455, y=1.158282, theta=0.009135
-[13:21:06.717] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.001120 ,z=0.000289,angle between two frames:0.001326
-[13:21:06.717] After pose optimization, distance between ekf and vo x:-0.001120 ,z=0.000289,angle between two frames:0.001326
-[13:21:06.717] frame process finished the id is: 66 the obs is:33 
-[13:21:06.746] Odometry x=-0.033484, y=1.163730, theta=0.011555
-[13:21:06.849] Odometry x=-0.033497, y=1.170090, theta=0.009186
-[13:21:06.867] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000524 ,z=0.000133,angle between two frames:0.000731
-[13:21:06.867] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.482075 	 error end=0.482075
-[13:21:06.867] After pose optimization, distance between ekf and vo x:-0.000524 ,z=0.000133,angle between two frames:0.000731
-[13:21:06.867] frame process finished the id is: 66 the obs is:33 
-[13:21:06.946] Odometry x=-0.033530, y=1.176307, theta=0.012281
-[13:21:07.018] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.001223 ,z=0.000364,angle between two frames:0.001521
-[13:21:07.018] After pose optimization, distance between ekf and vo x:-0.001223 ,z=0.000364,angle between two frames:0.001521
-[13:21:07.018] frame process finished the id is: 66 the obs is:33 
-[13:21:07.049] Odometry x=-0.033554, y=1.181539, theta=0.009995
-[13:21:07.142] Odometry x=-0.033583, y=1.186912, theta=0.008849
-[13:21:07.182] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.001735 ,z=0.000515,angle between two frames:0.002392
-[13:21:07.182] After pose optimization, distance between ekf and vo x:-0.001735 ,z=0.000515,angle between two frames:0.002392
-[13:21:07.182] frame process finished the id is: 66 the obs is:33 
-[13:21:07.249] Odometry x=-0.033601, y=1.192460, theta=0.011499
-[13:21:07.326] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:1 ,distance between ekf and vo x:-0.000225 ,z=0.000072,angle between two frames:0.000324
-[13:21:07.326] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.318950 	 error end=0.305241
-[13:21:07.326] After pose optimization, distance between ekf and vo x:0.013020 ,z=0.021333,angle between two frames:0.010941
-[13:21:07.326] frame process finished the id is: 66 the obs is:33 
-[13:21:07.345] Odometry x=-0.033648, y=1.199833, theta=0.013947
-[13:21:07.447] Odometry x=-0.033646, y=1.204932, theta=0.014022
-[13:21:07.479] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:1 ,distance between ekf and vo x:-0.000874 ,z=0.000195,angle between two frames:0.001093
-[13:21:07.479] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.293396 	 error end=1.253969
-[13:21:07.479] After pose optimization, distance between ekf and vo x:-0.000874 ,z=0.065725,angle between two frames:0.041543
-[13:21:07.479] frame process finished the id is: 66 the obs is:33 
-[13:21:07.544] Odometry x=-0.033679, y=1.210421, theta=0.009040
-[13:21:07.642] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:1 ,distance between ekf and vo x:-0.001171 ,z=0.000233,angle between two frames:0.001871
-[13:21:07.642] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.300830 	 error end=0.271185
-[13:21:07.642] After pose optimization, distance between ekf and vo x:-0.051248 ,z=0.044612,angle between two frames:0.037111
-[13:21:07.642] frame process finished the id is: 66 the obs is:33 
-[13:21:07.642] Odometry x=-0.033682, y=1.215689, theta=0.003773
-[13:21:07.745] Odometry x=-0.033699, y=1.221510, theta=0.005185
-[13:21:07.803] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:0 ,distance between ekf and vo x:-0.001512 ,z=0.000347,angle between two frames:0.002112
-[13:21:07.803] After pose optimization, distance between ekf and vo x:-0.001512 ,z=0.000347,angle between two frames:0.002112
-[13:21:07.803] frame process finished the id is: 66 the obs is:33 
-[13:21:07.848] Odometry x=-0.033667, y=1.227369, theta=0.007276
-[13:21:07.946] Odometry x=-0.033689, y=1.232969, theta=0.003980
-[13:21:07.957] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.001332 ,z=0.000354,angle between two frames:0.001846
-[13:21:07.957] After pose optimization, distance between ekf and vo x:-0.001332 ,z=0.000354,angle between two frames:0.001846
-[13:21:07.957] frame process finished the id is: 66 the obs is:33 
-[13:21:08.045] Odometry x=-0.033116, y=1.238262, theta=0.011119
-[13:21:08.109] After Reprojection Map nPoint:19 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.001029 ,z=0.000249,angle between two frames:0.001350
-[13:21:08.109] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.368644 	 error end=0.368644
-[13:21:08.109] After pose optimization, distance between ekf and vo x:-0.001029 ,z=0.000249,angle between two frames:0.001350
-[13:21:08.109] frame process finished the id is: 66 the obs is:33 
-[13:21:08.156] Odometry x=-0.033138, y=1.243918, theta=0.002147
-[13:21:08.246] Odometry x=-0.033116, y=1.249899, theta=0.003090
-[13:21:08.259] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:-0.001022 ,z=0.000301,angle between two frames:0.001512
-[13:21:08.259] After pose optimization, distance between ekf and vo x:-0.001022 ,z=0.000301,angle between two frames:0.001512
-[13:21:08.259] frame process finished the id is: 66 the obs is:33 
-[13:21:08.350] Odometry x=-0.033107, y=1.255480, theta=-0.001525
-[13:21:08.411] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000680 ,z=0.000214,angle between two frames:0.000987
-[13:21:08.411] After pose optimization, distance between ekf and vo x:-0.000680 ,z=0.000214,angle between two frames:0.000987
-[13:21:08.411] frame process finished the id is: 66 the obs is:33 
-[13:21:08.450] Odometry x=-0.033074, y=1.261369, theta=0.004701
-[13:21:08.548] Odometry x=-0.033087, y=1.267079, theta=0.003609
-[13:21:08.560] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000740 ,z=0.000147,angle between two frames:0.001042
-[13:21:08.560] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.098086 	 error end=0.098086
-[13:21:08.560] After pose optimization, distance between ekf and vo x:-0.000740 ,z=0.000147,angle between two frames:0.001042
-[13:21:08.560] frame process finished the id is: 66 the obs is:33 
-[13:21:08.645] Odometry x=-0.032955, y=1.272464, theta=0.002919
-[13:21:08.702] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:-0.000074 ,z=0.000023,angle between two frames:0.000120
-[13:21:08.702] After pose optimization, distance between ekf and vo x:-0.000074 ,z=0.000023,angle between two frames:0.000120
-[13:21:08.702] frame process finished the id is: 66 the obs is:33 
-[13:21:08.743] Odometry x=-0.032960, y=1.277609, theta=0.006125
-[13:21:08.844] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000176 ,z=0.000052,angle between two frames:0.000284
-[13:21:08.844] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.914660 	 error end=0.861316
-[13:21:08.844] After pose optimization, distance between ekf and vo x:-0.000176 ,z=-0.050471,angle between two frames:0.115271
-[13:21:08.844] frame process finished the id is: 66 the obs is:33 
-[13:21:08.846] Odometry x=-0.032892, y=1.283310, theta=0.012723
-[13:21:08.948] Odometry x=-0.032929, y=1.289185, theta=0.011288
-[13:21:08.998] After Reprojection Map nPoint:14 ,nCell:13 ,nMatches:1 ,distance between ekf and vo x:-0.001341 ,z=0.000303,angle between two frames:0.001844
-[13:21:08.998] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.354002 	 error end=0.354002
-[13:21:08.998] After pose optimization, distance between ekf and vo x:-0.001341 ,z=0.000303,angle between two frames:0.001844
-[13:21:08.998] frame process finished the id is: 66 the obs is:33 
-[13:21:09.048] Odometry x=-0.032954, y=1.294833, theta=0.010451
-[13:21:09.144] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000674 ,z=0.000161,angle between two frames:0.000962
-[13:21:09.144] After pose optimization, distance between ekf and vo x:-0.000674 ,z=0.000161,angle between two frames:0.000962
-[13:21:09.144] frame process finished the id is: 66 the obs is:33 
-[13:21:09.150] Odometry x=-0.032992, y=1.300795, theta=0.016101
-[13:21:09.246] Odometry x=-0.033042, y=1.306670, theta=0.015902
-[13:21:09.287] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:0 ,distance between ekf and vo x:-0.000202 ,z=0.000041,angle between two frames:0.000312
-[13:21:09.287] After pose optimization, distance between ekf and vo x:-0.000202 ,z=0.000041,angle between two frames:0.000312
-[13:21:09.287] frame process finished the id is: 66 the obs is:33 
-[13:21:09.348] Odometry x=-0.033077, y=1.312060, theta=0.011771
-[13:21:09.429] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000084 ,z=0.000014,angle between two frames:0.000149
-[13:21:09.429] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.143686 	 error end=0.139821
-[13:21:09.429] After pose optimization, distance between ekf and vo x:-0.000458 ,z=-0.009701,angle between two frames:0.003531
-[13:21:09.429] frame process finished the id is: 66 the obs is:33 
-[13:21:09.446] Odometry x=-0.033109, y=1.317537, theta=0.013710
-[13:21:09.546] Odometry x=-0.033105, y=1.322932, theta=0.010637
-[13:21:09.586] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:-0.001254 ,z=0.000227,angle between two frames:0.002334
-[13:21:09.587] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.110664 	 error end=0.078493
-[13:21:09.587] After pose optimization, distance between ekf and vo x:-0.002518 ,z=-0.144713,angle between two frames:0.013644
-[13:21:09.587] frame process finished the id is: 66 the obs is:33 
-[13:21:09.644] Odometry x=-0.033135, y=1.328299, theta=0.015051
-[13:21:09.728] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000115 ,z=0.000016,angle between two frames:0.000206
-[13:21:09.728] After pose optimization, distance between ekf and vo x:-0.000115 ,z=0.000016,angle between two frames:0.000206
-[13:21:09.728] frame process finished the id is: 66 the obs is:33 
-[13:21:09.744] Odometry x=-0.033156, y=1.333698, theta=0.005551
-[13:21:09.847] Odometry x=-0.033167, y=1.339052, theta=0.006083
-[13:21:09.876] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000284 ,z=-0.000057,angle between two frames:0.000619
-[13:21:09.876] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.644435 	 error end=0.648283
-[13:21:09.876] After pose optimization, distance between ekf and vo x:0.579353 ,z=-0.152795,angle between two frames:0.909957
-[13:21:09.876] frame process finished the id is: 66 the obs is:33 
-[13:21:09.949] Odometry x=-0.033124, y=1.344598, theta=0.011630
-[13:21:10.025] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:1 ,distance between ekf and vo x:-0.000843 ,z=0.000172,angle between two frames:0.001413
-[13:21:10.025] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =4.143532 	 error end=0.860705
-[13:21:10.025] After pose optimization, distance between ekf and vo x:9.866297 ,z=-90.349525,angle between two frames:1.071138
-[13:21:10.025] frame process finished the id is: 66 the obs is:33 
-[13:21:10.051] Odometry x=-0.033160, y=1.350220, theta=0.013445
-[13:21:10.147] Odometry x=-0.033208, y=1.358478, theta=0.003726
-[13:21:10.166] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000028 ,z=0.000004,angle between two frames:0.000085
-[13:21:10.166] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.292684 	 error end=0.272269
-[13:21:10.166] After pose optimization, distance between ekf and vo x:0.019181 ,z=0.047346,angle between two frames:0.016304
-[13:21:10.166] frame process finished the id is: 66 the obs is:33 
-[13:21:10.244] Odometry x=-0.033203, y=1.363777, theta=0.000944
-[13:21:10.308] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000063 ,z=-0.000002,angle between two frames:0.000165
-[13:21:10.308] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.773620 	 error end=0.708275
-[13:21:10.308] After pose optimization, distance between ekf and vo x:-19.771096 ,z=73.169805,angle between two frames:0.617371
-[13:21:10.308] frame process finished the id is: 66 the obs is:33 
-[13:21:10.346] Odometry x=-0.033215, y=1.369876, theta=0.008101
-[13:21:10.447] Odometry x=-0.033209, y=1.375591, theta=0.005812
-[13:21:10.452] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000504 ,z=0.000009,angle between two frames:0.000883
-[13:21:10.452] After pose optimization, distance between ekf and vo x:-0.000504 ,z=0.000009,angle between two frames:0.000883
-[13:21:10.452] frame process finished the id is: 66 the obs is:33 
-[13:21:10.550] Odometry x=-0.033219, y=1.381538, theta=0.002952
-[13:21:10.593] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000059 ,z=-0.000017,angle between two frames:0.000182
-[13:21:10.593] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.470163 	 error end=0.431280
-[13:21:10.593] After pose optimization, distance between ekf and vo x:0.040565 ,z=0.428672,angle between two frames:0.068260
-[13:21:10.593] frame process finished the id is: 66 the obs is:33 
-[13:21:10.648] Odometry x=-0.033211, y=1.387651, theta=0.008301
-[13:21:10.736] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000054 ,z=-0.000012,angle between two frames:0.000212
-[13:21:10.736] After pose optimization, distance between ekf and vo x:-0.000054 ,z=-0.000012,angle between two frames:0.000212
-[13:21:10.737] frame process finished the id is: 66 the obs is:33 
-[13:21:10.746] Odometry x=-0.033130, y=1.395255, theta=0.012316
-[13:21:10.854] Odometry x=-0.033131, y=1.400451, theta=0.015192
-[13:21:10.879] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:-0.000094 ,z=-0.000012,angle between two frames:0.000243
-[13:21:10.879] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.368951 	 error end=0.368951
-[13:21:10.879] After pose optimization, distance between ekf and vo x:-0.000094 ,z=-0.000012,angle between two frames:0.000243
-[13:21:10.879] frame process finished the id is: 66 the obs is:33 
-[13:21:10.944] Odometry x=-0.033173, y=1.406410, theta=0.009694
-[13:21:11.021] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:-0.000072 ,z=-0.000010,angle between two frames:0.000189
-[13:21:11.021] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.253202 	 error end=0.253202
-[13:21:11.021] After pose optimization, distance between ekf and vo x:-0.000072 ,z=-0.000010,angle between two frames:0.000189
-[13:21:11.021] frame process finished the id is: 66 the obs is:33 
-[13:21:11.048] Odometry x=-0.033160, y=1.411316, theta=0.013954
-[13:21:11.149] Odometry x=-0.033202, y=1.417016, theta=0.013616
-[13:21:11.163] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:-0.000015 ,z=-0.000005,angle between two frames:0.000107
-[13:21:11.163] After pose optimization, distance between ekf and vo x:-0.000015 ,z=-0.000005,angle between two frames:0.000107
-[13:21:11.163] frame process finished the id is: 66 the obs is:33 
-[13:21:11.247] Odometry x=-0.033226, y=1.422403, theta=0.012215
-[13:21:11.305] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:-0.000036 ,z=-0.000008,angle between two frames:0.000134
-[13:21:11.305] After pose optimization, distance between ekf and vo x:-0.000036 ,z=-0.000008,angle between two frames:0.000134
-[13:21:11.305] frame process finished the id is: 66 the obs is:33 
-[13:21:11.349] Odometry x=-0.033270, y=1.430196, theta=-0.002468
-[13:21:11.446] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:1 ,distance between ekf and vo x:-0.000052 ,z=-0.000026,angle between two frames:0.000177
-[13:21:11.446] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.384455 	 error end=0.384455
-[13:21:11.446] After pose optimization, distance between ekf and vo x:-0.000052 ,z=-0.000026,angle between two frames:0.000177
-[13:21:11.446] frame process finished the id is: 66 the obs is:33 
-[13:21:11.448] Odometry x=-0.033261, y=1.435486, theta=0.002429
-[13:21:11.545] Odometry x=-0.033221, y=1.441121, theta=0.005752
-[13:21:11.596] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:-0.000300 ,z=-0.000134,angle between two frames:0.001046
-[13:21:11.596] After pose optimization, distance between ekf and vo x:-0.000300 ,z=-0.000134,angle between two frames:0.001046
-[13:21:11.596] frame process finished the id is: 66 the obs is:33 
-[13:21:11.646] Odometry x=-0.033236, y=1.446787, theta=-0.000336
-[13:21:11.737] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:1 ,distance between ekf and vo x:-0.000063 ,z=-0.000018,angle between two frames:0.000176
-[13:21:11.737] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.274255 	 error end=0.274255
-[13:21:11.737] After pose optimization, distance between ekf and vo x:-0.000063 ,z=-0.000018,angle between two frames:0.000176
-[13:21:11.737] frame process finished the id is: 66 the obs is:33 
-[13:21:11.880] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000001 ,z=-0.000022,angle between two frames:0.000079
-[13:21:11.880] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.420975 	 error end=0.420975
-[13:21:11.880] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000022,angle between two frames:0.000079
-[13:21:11.880] frame process finished the id is: 66 the obs is:33 
-[13:21:12.022] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:1 ,distance between ekf and vo x:-0.000002 ,z=-0.000025,angle between two frames:0.000082
-[13:21:12.022] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.290226 	 error end=0.207779
-[13:21:12.022] After pose optimization, distance between ekf and vo x:-0.206281 ,z=0.043049,angle between two frames:0.036361
-[13:21:12.022] frame process finished the id is: 66 the obs is:33 
-[13:21:12.164] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:-0.000001 ,z=-0.000028,angle between two frames:0.000084
-[13:21:12.164] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000028,angle between two frames:0.000084
-[13:21:12.164] frame process finished the id is: 66 the obs is:33 
-[13:21:12.305] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:-0.000000 ,z=-0.000030,angle between two frames:0.000085
-[13:21:12.305] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000030,angle between two frames:0.000085
-[13:21:12.305] frame process finished the id is: 66 the obs is:33 
-[13:21:12.446] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:0.000005 ,z=-0.000034,angle between two frames:0.000088
-[13:21:12.446] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.755541 	 error end=0.755541
-[13:21:12.446] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000034,angle between two frames:0.000088
-[13:21:12.446] frame process finished the id is: 66 the obs is:33 
-[13:21:12.588] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:0 ,distance between ekf and vo x:0.000005 ,z=-0.000033,angle between two frames:0.000089
-[13:21:12.588] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000033,angle between two frames:0.000089
-[13:21:12.588] frame process finished the id is: 66 the obs is:33 
-[13:21:12.729] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
-[13:21:12.729] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
-[13:21:12.729] frame process finished the id is: 66 the obs is:33 
-[13:21:12.870] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:12.870] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.228645 	 error end=0.228399
-[13:21:12.870] After pose optimization, distance between ekf and vo x:0.012708 ,z=0.003642,angle between two frames:0.001103
-[13:21:12.870] frame process finished the id is: 66 the obs is:33 
-[13:21:13.011] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:13.011] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:13.011] frame process finished the id is: 66 the obs is:33 
-[13:21:13.152] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:0 ,distance between ekf and vo x:0.000005 ,z=-0.000036,angle between two frames:0.000090
-[13:21:13.152] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000036,angle between two frames:0.000090
-[13:21:13.152] frame process finished the id is: 66 the obs is:33 
-[13:21:13.293] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:0.000005 ,z=-0.000036,angle between two frames:0.000090
-[13:21:13.293] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.462418 	 error end=0.462401
-[13:21:13.293] After pose optimization, distance between ekf and vo x:-0.001471 ,z=0.000107,angle between two frames:0.006906
-[13:21:13.293] frame process finished the id is: 66 the obs is:33 
-[13:21:13.434] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:13.434] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:13.435] frame process finished the id is: 66 the obs is:33 
-[13:21:13.575] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:13.575] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.062614 	 error end=1.062614
-[13:21:13.575] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:13.575] frame process finished the id is: 66 the obs is:33 
-[13:21:13.716] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:13.716] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:13.716] frame process finished the id is: 66 the obs is:33 
-[13:21:13.857] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
-[13:21:13.857] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
-[13:21:13.857] frame process finished the id is: 66 the obs is:33 
-[13:21:13.998] After Reprojection Map nPoint:15 ,nCell:15 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:13.998] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.392164 	 error end=0.392164
-[13:21:13.998] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:13.998] frame process finished the id is: 66 the obs is:33 
-[13:21:14.139] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:14.139] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:14.139] frame process finished the id is: 66 the obs is:33 
-[13:21:14.280] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:14.280] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.283050 	 error end=0.257030
-[13:21:14.280] After pose optimization, distance between ekf and vo x:0.040107 ,z=0.069052,angle between two frames:0.336721
-[13:21:14.280] frame process finished the id is: 66 the obs is:33 
-[13:21:14.422] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:14.422] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:14.422] frame process finished the id is: 66 the obs is:33 
-[13:21:14.562] After Reprojection Map nPoint:14 ,nCell:14 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:14.562] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:14.562] frame process finished the id is: 66 the obs is:33 
-[13:21:14.703] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:14.703] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:14.703] frame process finished the id is: 66 the obs is:33 
-[13:21:14.844] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:14.844] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.283181 	 error end=0.223536
-[13:21:14.844] After pose optimization, distance between ekf and vo x:6.971115 ,z=12.851796,angle between two frames:2.122555
-[13:21:14.844] frame process finished the id is: 66 the obs is:33 
-[13:21:14.986] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:14.986] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:14.986] frame process finished the id is: 66 the obs is:33 
-[13:21:15.127] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:2 ,distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
-[13:21:15.127] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.106125 	 error end=1.106125
-[13:21:15.127] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
-[13:21:15.127] frame process finished the id is: 66 the obs is:33 
-[13:21:15.268] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:15.268] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:15.268] frame process finished the id is: 66 the obs is:33 
-[13:21:15.409] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:15.409] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:15.409] frame process finished the id is: 66 the obs is:33 
-[13:21:15.550] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:2 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:15.550] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =2 	 error init =0.329189 	 error end=0.222329
-[13:21:15.550] After pose optimization, distance between ekf and vo x:-2.963968 ,z=12.652779,angle between two frames:0.796909
-[13:21:15.550] frame process finished the id is: 66 the obs is:33 
-[13:21:15.692] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:0 ,distance between ekf and vo x:0.000005 ,z=-0.000036,angle between two frames:0.000090
-[13:21:15.692] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000036,angle between two frames:0.000090
-[13:21:15.692] frame process finished the id is: 66 the obs is:33 
-[13:21:15.833] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:15.833] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.228917 	 error end=0.147320
-[13:21:15.833] After pose optimization, distance between ekf and vo x:-0.032934 ,z=9.596327,angle between two frames:0.253580
-[13:21:15.833] frame process finished the id is: 66 the obs is:33 
-[13:21:15.975] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:15.975] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.235023 	 error end=0.112754
-[13:21:15.975] After pose optimization, distance between ekf and vo x:-0.265285 ,z=0.094274,angle between two frames:0.021671
-[13:21:15.975] frame process finished the id is: 66 the obs is:33 
-[13:21:16.116] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:16.116] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:16.116] frame process finished the id is: 66 the obs is:33 
-[13:21:16.258] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:16.258] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.279888 	 error end=0.272844
-[13:21:16.258] After pose optimization, distance between ekf and vo x:0.011319 ,z=0.006808,angle between two frames:0.078103
-[13:21:16.258] frame process finished the id is: 66 the obs is:33 
-[13:21:16.401] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:16.401] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =0.730266 	 error end=0.722868
-[13:21:16.401] After pose optimization, distance between ekf and vo x:0.017121 ,z=-0.035217,angle between two frames:0.034151
-[13:21:16.401] frame process finished the id is: 66 the obs is:33 
-[13:21:16.542] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000036,angle between two frames:0.000089
-[13:21:16.543] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.180121 	 error end=0.094642
-[13:21:16.543] After pose optimization, distance between ekf and vo x:-0.022069 ,z=6.031163,angle between two frames:0.131666
-[13:21:16.543] frame process finished the id is: 66 the obs is:33 
-[13:21:16.684] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:16.684] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =0 	 error init =1.667467 	 error end=1.667467
-[13:21:16.684] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:16.684] frame process finished the id is: 66 the obs is:33 
-[13:21:16.825] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
-[13:21:16.825] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.180256 	 error end=0.180256
-[13:21:16.825] After pose optimization, distance between ekf and vo x:0.000005 ,z=-0.000035,angle between two frames:0.000089
-[13:21:16.826] frame process finished the id is: 66 the obs is:33 
-[13:21:16.967] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:16.967] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000035,angle between two frames:0.000089
-[13:21:16.967] frame process finished the id is: 66 the obs is:33 
+[13:20:59.349] Init: frame zero: 0.000000, 0.000000 0.000000
+[13:20:59.349] Init: Selected first frame. 
+[13:20:59.349] frame process finished the id is: 0 the obs is:0 
+[13:20:59.449] Init: px average disparity is:0.189962 ,While minimum is: 20.000000  KLT tracked : 139
+[13:20:59.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:20:59.449] frame process finished the id is: 1 the obs is:0 
+[13:20:59.543] Init: px average disparity is:0.221589 ,While minimum is: 20.000000  KLT tracked : 139
+[13:20:59.543] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:20:59.543] frame process finished the id is: 2 the obs is:0 
+[13:20:59.655] Init: px average disparity is:0.237053 ,While minimum is: 20.000000  KLT tracked : 139
+[13:20:59.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:20:59.655] frame process finished the id is: 3 the obs is:0 
+[13:20:59.767] Init: px average disparity is:0.258011 ,While minimum is: 20.000000  KLT tracked : 139
+[13:20:59.767] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:20:59.767] frame process finished the id is: 4 the obs is:0 
+[13:20:59.845] Init: px average disparity is:0.232369 ,While minimum is: 20.000000  KLT tracked : 139
+[13:20:59.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:20:59.846] frame process finished the id is: 5 the obs is:0 
+[13:20:59.944] Init: px average disparity is:0.224914 ,While minimum is: 20.000000  KLT tracked : 139
+[13:20:59.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:20:59.944] frame process finished the id is: 6 the obs is:0 
+[13:21:00.048] Init: px average disparity is:0.232635 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:00.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:00.048] frame process finished the id is: 7 the obs is:0 
+[13:21:00.150] Init: px average disparity is:0.233555 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:00.150] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:00.151] frame process finished the id is: 8 the obs is:0 
+[13:21:00.250] Init: px average disparity is:0.257153 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:00.250] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:00.250] frame process finished the id is: 9 the obs is:0 
+[13:21:00.350] Init: px average disparity is:0.228337 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:00.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:00.351] frame process finished the id is: 10 the obs is:0 
+[13:21:00.454] Init: px average disparity is:0.233024 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:00.454] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:00.454] frame process finished the id is: 11 the obs is:0 
+[13:21:00.553] Init: px average disparity is:0.242245 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:00.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:00.553] frame process finished the id is: 12 the obs is:0 
+[13:21:00.654] Init: px average disparity is:0.233020 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:00.654] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:00.654] frame process finished the id is: 13 the obs is:0 
+[13:21:00.758] Init: px average disparity is:0.240662 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:00.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:00.758] frame process finished the id is: 14 the obs is:0 
+[13:21:00.851] Init: px average disparity is:0.224340 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:00.851] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:00.851] frame process finished the id is: 15 the obs is:0 
+[13:21:00.953] Init: px average disparity is:0.241857 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:00.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:00.953] frame process finished the id is: 16 the obs is:0 
+[13:21:01.052] Init: px average disparity is:0.256807 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:01.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:01.052] frame process finished the id is: 17 the obs is:0 
+[13:21:01.152] Init: px average disparity is:0.235927 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:01.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:01.152] frame process finished the id is: 18 the obs is:0 
+[13:21:01.245] Init: px average disparity is:0.227601 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:01.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:01.245] frame process finished the id is: 19 the obs is:0 
+[13:21:01.345] Init: px average disparity is:0.230878 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:01.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:01.345] frame process finished the id is: 20 the obs is:0 
+[13:21:01.438] Init: px average disparity is:0.253910 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:01.439] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:01.439] frame process finished the id is: 21 the obs is:0 
+[13:21:01.541] Init: px average disparity is:0.259517 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:01.541] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:01.541] frame process finished the id is: 22 the obs is:0 
+[13:21:01.638] Init: px average disparity is:0.231142 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:01.638] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:01.638] frame process finished the id is: 23 the obs is:0 
+[13:21:01.738] Init: px average disparity is:0.226831 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:01.738] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:01.738] frame process finished the id is: 24 the obs is:0 
+[13:21:01.838] Init: px average disparity is:0.256167 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:01.838] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:01.838] frame process finished the id is: 25 the obs is:0 
+[13:21:01.951] Init: px average disparity is:0.239972 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:01.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:01.951] frame process finished the id is: 26 the obs is:0 
+[13:21:02.052] Init: px average disparity is:0.212816 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:02.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:02.052] frame process finished the id is: 27 the obs is:0 
+[13:21:02.152] Init: px average disparity is:0.256941 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:02.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:02.152] frame process finished the id is: 28 the obs is:0 
+[13:21:02.251] Init: px average disparity is:0.222791 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:02.252] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:02.252] frame process finished the id is: 29 the obs is:0 
+[13:21:02.288] Odometry x=0.000000, y=0.000000, theta=-0.000000
+[13:21:02.350] Init: px average disparity is:0.231257 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:02.351] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:02.351] frame process finished the id is: 30 the obs is:0 
+[13:21:02.386] Odometry x=0.000000, y=0.000000, theta=-0.000000
+[13:21:02.452] Init: px average disparity is:0.207515 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:02.452] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:02.452] frame process finished the id is: 31 the obs is:0 
+[13:21:02.487] Odometry x=0.000083, y=0.006159, theta=-0.001621
+[13:21:02.555] Init: px average disparity is:1.697673 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:02.555] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:02.555] frame process finished the id is: 32 the obs is:0 
+[13:21:02.588] Odometry x=0.000132, y=0.013403, theta=-0.001226
+[13:21:02.651] Init: px average disparity is:5.928957 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:02.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:02.651] frame process finished the id is: 33 the obs is:0 
+[13:21:02.687] Odometry x=0.000365, y=0.018822, theta=-0.004564
+[13:21:02.752] Init: px average disparity is:7.649401 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:02.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:02.752] frame process finished the id is: 34 the obs is:0 
+[13:21:02.790] Odometry x=0.000391, y=0.026550, theta=0.002036
+[13:21:02.852] Init: px average disparity is:4.957758 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:02.852] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:02.852] frame process finished the id is: 35 the obs is:0 
+[13:21:02.887] Odometry x=0.003159, y=0.033023, theta=0.003053
+[13:21:02.953] Init: px average disparity is:5.326358 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:02.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:02.953] frame process finished the id is: 36 the obs is:0 
+[13:21:02.991] Odometry x=0.003676, y=0.039038, theta=-0.000895
+[13:21:03.053] Init: px average disparity is:4.310565 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:03.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:03.053] frame process finished the id is: 37 the obs is:0 
+[13:21:03.090] Odometry x=0.003688, y=0.043677, theta=-0.005531
+[13:21:03.152] Init: px average disparity is:5.726417 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:03.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:03.152] frame process finished the id is: 38 the obs is:0 
+[13:21:03.187] Odometry x=0.003869, y=0.050951, theta=0.005198
+[13:21:03.254] Init: px average disparity is:4.489862 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:03.254] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:03.254] frame process finished the id is: 39 the obs is:0 
+[13:21:03.290] Odometry x=0.003911, y=0.055074, theta=-0.021473
+[13:21:03.354] Init: px average disparity is:6.363761 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:03.354] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:03.354] frame process finished the id is: 40 the obs is:0 
+[13:21:03.388] Odometry x=0.004000, y=0.061002, theta=-0.011064
+[13:21:03.453] Init: px average disparity is:7.776067 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:03.453] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:03.453] frame process finished the id is: 41 the obs is:0 
+[13:21:03.491] Odometry x=0.004824, y=0.066321, theta=0.001161
+[13:21:03.557] Init: px average disparity is:9.271014 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:03.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:03.557] frame process finished the id is: 42 the obs is:0 
+[13:21:03.591] Odometry x=0.004991, y=0.071770, theta=-0.005717
+[13:21:03.651] Init: px average disparity is:12.593284 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:03.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:03.651] frame process finished the id is: 43 the obs is:0 
+[13:21:03.690] Odometry x=0.005061, y=0.075249, theta=-0.026422
+[13:21:03.753] Init: px average disparity is:15.329894 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:03.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:03.753] frame process finished the id is: 44 the obs is:0 
+[13:21:03.791] Odometry x=0.005446, y=0.081704, theta=-0.019041
+[13:21:03.854] Init: px average disparity is:13.584003 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:03.854] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:03.854] frame process finished the id is: 45 the obs is:0 
+[13:21:03.890] Odometry x=0.001925, y=0.085694, theta=-0.019067
+[13:21:03.953] Init: px average disparity is:12.864030 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:03.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:03.953] frame process finished the id is: 46 the obs is:0 
+[13:21:03.991] Odometry x=0.002158, y=0.091913, theta=-0.014238
+[13:21:04.057] Init: px average disparity is:11.320433 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:04.058] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:04.058] frame process finished the id is: 47 the obs is:0 
+[13:21:04.089] Odometry x=0.002194, y=0.097354, theta=-0.009734
+[13:21:04.154] Init: px average disparity is:12.805611 ,While minimum is: 20.000000  KLT tracked : 139
+[13:21:04.154] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:04.154] frame process finished the id is: 48 the obs is:0 
+[13:21:04.192] Odometry x=0.002686, y=0.103764, theta=-0.006431
+[13:21:04.252] Init: px average disparity is:12.948341 ,While minimum is: 20.000000  KLT tracked : 138
+[13:21:04.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:04.253] frame process finished the id is: 49 the obs is:0 
+[13:21:04.292] Odometry x=0.002816, y=0.112834, theta=-0.012598
+[13:21:04.352] Init: px average disparity is:19.077856 ,While minimum is: 20.000000  KLT tracked : 138
+[13:21:04.352] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:04.352] frame process finished the id is: 50 the obs is:0 
+[13:21:04.401] Odometry x=0.002920, y=0.124184, theta=-0.007629
+[13:21:04.453] Init: px average disparity is:13.806053 ,While minimum is: 20.000000  KLT tracked : 138
+[13:21:04.453] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:04.453] frame process finished the id is: 51 the obs is:0 
+[13:21:04.488] Odometry x=0.005017, y=0.130624, theta=-0.015461
+[13:21:04.552] Init: px average disparity is:13.604544 ,While minimum is: 20.000000  KLT tracked : 138
+[13:21:04.552] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:04.552] frame process finished the id is: 52 the obs is:0 
+[13:21:04.591] Odometry x=0.005577, y=0.151493, theta=-0.015079
+[13:21:04.654] Init: px average disparity is:8.973338 ,While minimum is: 20.000000  KLT tracked : 138
+[13:21:04.654] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:04.654] frame process finished the id is: 53 the obs is:0 
+[13:21:04.690] Odometry x=0.007783, y=0.156634, theta=-0.017495
+[13:21:04.751] Init: px average disparity is:9.563895 ,While minimum is: 20.000000  KLT tracked : 138
+[13:21:04.751] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:04.752] frame process finished the id is: 54 the obs is:0 
+[13:21:04.786] Odometry x=0.007864, y=0.162526, theta=-0.017118
+[13:21:04.852] Init: px average disparity is:9.434415 ,While minimum is: 20.000000  KLT tracked : 137
+[13:21:04.852] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:04.852] frame process finished the id is: 55 the obs is:0 
+[13:21:04.889] Odometry x=0.009318, y=0.167619, theta=-0.019604
+[13:21:04.952] Init: px average disparity is:10.380474 ,While minimum is: 20.000000  KLT tracked : 137
+[13:21:04.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:04.952] frame process finished the id is: 56 the obs is:0 
+[13:21:04.992] Odometry x=0.009479, y=0.173024, theta=-0.024642
+[13:21:05.055] Init: px average disparity is:11.195747 ,While minimum is: 20.000000  KLT tracked : 137
+[13:21:05.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:05.055] frame process finished the id is: 57 the obs is:0 
+[13:21:05.094] Odometry x=0.010257, y=0.178505, theta=-0.023305
+[13:21:05.152] Init: px average disparity is:9.168726 ,While minimum is: 20.000000  KLT tracked : 137
+[13:21:05.152] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:05.152] frame process finished the id is: 58 the obs is:0 
+[13:21:05.194] Odometry x=0.010297, y=0.184015, theta=-0.000969
+[13:21:05.252] Init: px average disparity is:11.423539 ,While minimum is: 20.000000  KLT tracked : 137
+[13:21:05.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:05.253] frame process finished the id is: 59 the obs is:0 
+[13:21:05.293] Odometry x=0.010630, y=0.189501, theta=-0.010177
+[13:21:05.352] Init: px average disparity is:13.842928 ,While minimum is: 20.000000  KLT tracked : 137
+[13:21:05.352] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:05.352] frame process finished the id is: 60 the obs is:0 
+[13:21:05.392] Odometry x=0.010779, y=0.197997, theta=-0.011120
+[13:21:05.452] Init: px average disparity is:14.900536 ,While minimum is: 20.000000  KLT tracked : 137
+[13:21:05.452] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:05.452] frame process finished the id is: 61 the obs is:0 
+[13:21:05.494] Odometry x=0.011767, y=0.203269, theta=-0.013050
+[13:21:05.553] Init: px average disparity is:15.811902 ,While minimum is: 20.000000  KLT tracked : 137
+[13:21:05.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:05.554] frame process finished the id is: 62 the obs is:0 
+[13:21:05.587] Odometry x=0.011806, y=0.209434, theta=-0.007901
+[13:21:05.653] Init: px average disparity is:16.280421 ,While minimum is: 20.000000  KLT tracked : 137
+[13:21:05.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:05.653] frame process finished the id is: 63 the obs is:0 
+[13:21:05.690] Odometry x=0.011891, y=0.214714, theta=-0.013155
+[13:21:05.754] Init: px average disparity is:16.779989 ,While minimum is: 20.000000  KLT tracked : 137
+[13:21:05.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:05.754] frame process finished the id is: 64 the obs is:0 
+[13:21:05.788] Odometry x=0.011939, y=0.221610, theta=-0.006310
+[13:21:05.854] Init: px average disparity is:19.134293 ,While minimum is: 20.000000  KLT tracked : 137
+[13:21:05.854] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[13:21:05.854] frame process finished the id is: 65 the obs is:0 
+[13:21:05.893] Odometry x=0.011968, y=0.227149, theta=-0.011129
+[13:21:05.990] Odometry x=0.010236, y=0.233381, theta=-0.005374
+[13:21:06.007] cur: x=-0.466419, y=-0.476442, z=0.745289 ref: x=-0.403867 y=-0.484616 z=0.775911
+[13:21:06.007] cur: x=0.147190, y=-0.532144, z=0.833762 ref: x=0.156084 y=-0.476225 z=0.865360
+[13:21:06.007] cur: x=0.064522, y=-0.509227, z=0.858210 ref: x=0.039918 y=-0.471158 z=0.881145
+[13:21:06.007] cur: x=0.068497, y=-0.509223, z=0.857904 ref: x=0.042762 y=-0.471147 z=0.881017
+[13:21:06.007] cur: x=0.081535, y=-0.520356, z=0.850048 ref: x=0.096787 y=-0.464643 z=0.880193
+[13:21:06.007] cur: x=0.075181, y=-0.513342, z=0.854884 ref: x=0.091179 y=-0.456459 z=0.885060
+[13:21:06.007] cur: x=-0.014099, y=-0.438449, z=0.898645 ref: x=0.008683 y=-0.402739 z=0.915274
+[13:21:06.007] cur: x=-0.050501, y=-0.403500, z=0.913585 ref: x=-0.022836 y=-0.373277 z=0.927439
+[13:21:06.007] cur: x=-0.053243, y=-0.401332, z=0.914384 ref: x=-0.025706 y=-0.371162 z=0.928212
+[13:21:06.007] cur: x=-0.056928, y=-0.398299, z=0.915487 ref: x=-0.028577 y=-0.369045 z=0.928972
+[13:21:06.007] cur: x=-0.076402, y=-0.380436, z=0.921646 ref: x=-0.045820 y=-0.354195 z=0.934048
+[13:21:06.007] cur: x=-0.048134, y=-0.341461, z=0.938663 ref: x=-0.022916 y=-0.313819 z=0.949206
+[13:21:06.007] cur: x=-0.111832, y=-0.345688, z=0.931661 ref: x=-0.083259 y=-0.320054 z=0.943734
+[13:21:06.007] cur: x=-0.244186, y=-0.245493, z=0.938140 ref: x=-0.212743 y=-0.237814 z=0.947726
+[13:21:06.007] cur: x=-0.241265, y=-0.245491, z=0.938896 ref: x=-0.209888 y=-0.237838 z=0.948357
+[13:21:06.007] cur: x=-0.238449, y=-0.243350, z=0.940171 ref: x=-0.207049 y=-0.235711 z=0.949511
+[13:21:06.007] cur: x=-0.229973, y=-0.234674, z=0.944479 ref: x=-0.198538 y=-0.227168 z=0.953403
+[13:21:06.007] cur: x=-0.226999, y=-0.234602, z=0.945216 ref: x=-0.195677 y=-0.227188 z=0.953990
+[13:21:06.007] cur: x=-0.229923, y=-0.236817, z=0.943956 ref: x=-0.198522 y=-0.229321 z=0.952891
+[13:21:06.007] cur: x=-0.235644, y=-0.241194, z=0.941434 ref: x=-0.204208 y=-0.233582 z=0.950652
+[13:21:06.007] cur: x=-0.229842, y=-0.238947, z=0.943439 ref: x=-0.198506 y=-0.231473 z=0.952374
+[13:21:06.007] cur: x=-0.224074, y=-0.232359, z=0.946467 ref: x=-0.192830 y=-0.225054 z=0.955074
+[13:21:06.007] cur: x=-0.215632, y=-0.227211, z=0.949673 ref: x=-0.181415 y=-0.218663 z=0.958788
+[13:21:06.007] cur: x=-0.338281, y=-0.203740, z=0.918725 ref: x=-0.289722 y=-0.213448 z=0.933006
+[13:21:06.007] cur: x=-0.187562, y=-0.212238, z=0.959049 ref: x=-0.152794 y=-0.203705 z=0.967036
+[13:21:06.007] cur: x=-0.187654, y=-0.210157, z=0.959489 ref: x=-0.152805 y=-0.201543 z=0.967487
+[13:21:06.007] cur: x=-0.394710, y=-0.138186, z=0.908355 ref: x=-0.346836 y=-0.135421 z=0.928098
+[13:21:06.007] cur: x=-0.208859, y=-0.062893, z=0.975921 ref: x=-0.176268 y=-0.064590 z=0.982221
+[13:21:06.007] cur: x=-0.205987, y=-0.062907, z=0.976531 ref: x=-0.173389 y=-0.064594 z=0.982733
+[13:21:06.007] cur: x=-0.203118, y=-0.062917, z=0.977131 ref: x=-0.170510 y=-0.064599 z=0.983236
+[13:21:06.007] cur: x=-0.208843, y=-0.060691, z=0.976064 ref: x=-0.176271 y=-0.062410 z=0.982361
+[13:21:06.007] cur: x=-0.205973, y=-0.060703, z=0.976673 ref: x=-0.173393 y=-0.062415 z=0.982873
+[13:21:06.007] cur: x=-0.414127, y=0.009487, z=0.910170 ref: x=-0.358532 y=-0.053273 z=0.931996
+[13:21:06.007] cur: x=-0.411025, y=0.007947, z=0.911590 ref: x=-0.355725 y=-0.053282 z=0.933071
+[13:21:06.007] cur: x=-0.194553, y=-0.056354, z=0.979272 ref: x=-0.161879 y=-0.058071 z=0.985101
+[13:21:06.007] cur: x=-0.194591, y=-0.054141, z=0.979389 ref: x=-0.161882 y=-0.055891 z=0.985226
+[13:21:06.007] cur: x=-0.426643, y=0.042973, z=0.903398 ref: x=-0.369771 y=-0.044588 z=0.928053
+[13:21:06.007] cur: x=-0.424188, y=0.041598, z=0.904618 ref: x=-0.366970 y=-0.044596 z=0.929163
+[13:21:06.007] cur: x=-0.418078, y=0.033844, z=0.907780 ref: x=-0.361364 y=-0.044612 z=0.931357
+[13:21:06.007] cur: x=-0.102048, y=-0.059323, z=0.993009 ref: x=-0.072326 y=-0.047237 z=0.996262
+[13:21:06.007] cur: x=-0.102354, y=-0.053189, z=0.993325 ref: x=-0.072327 y=-0.045053 z=0.996363
+[13:21:06.007] cur: x=-0.203726, y=-0.036658, z=0.978341 ref: x=-0.170544 y=-0.038433 z=0.984600
+[13:21:06.007] cur: x=-0.411707, y=0.036789, z=0.910573 ref: x=-0.355762 y=-0.040299 z=0.933707
+[13:21:06.007] cur: x=-0.203788, y=-0.034476, z=0.978408 ref: x=-0.170546 y=-0.036252 z=0.984683
+[13:21:06.007] cur: x=-0.206709, y=-0.032287, z=0.977870 ref: x=-0.173427 y=-0.034068 z=0.984257
+[13:21:06.007] cur: x=-0.425681, y=0.011983, z=0.904794 ref: x=-0.375420 y=-0.018631 z=0.926667
+[13:21:06.007] cur: x=-0.418423, y=0.018191, z=0.908070 ref: x=-0.367026 y=-0.014315 z=0.930100
+[13:21:06.007] cur: x=-0.435665, y=0.138178, z=0.889440 ref: x=-0.378227 y=0.005152 z=0.925699
+[13:21:06.007] cur: x=-0.415685, y=0.006210, z=0.909487 ref: x=-0.367032 y=0.002992 z=0.930203
+[13:21:06.007] cur: x=-0.431876, y=0.073998, z=0.898892 ref: x=-0.378226 y=0.007314 z=0.925685
+[13:21:06.007] cur: x=-0.305918, y=0.012434, z=0.951977 ref: x=-0.262329 y=0.018235 z=0.964806
+[13:21:06.007] cur: x=-0.436407, y=0.144030, z=0.888147 ref: x=-0.383670 y=0.065634 z=0.921135
+[13:21:06.007] cur: x=-0.366876, y=0.056393, z=0.928559 ref: x=-0.316237 y=0.061567 z=0.946680
+[13:21:06.007] cur: x=-0.353328, y=0.122272, z=0.927474 ref: x=-0.369687 y=0.067856 z=0.926675
+[13:21:06.007] cur: x=-0.357155, y=0.165104, z=0.919337 ref: x=-0.372445 y=0.076482 z=0.924897
+[13:21:06.007] cur: x=-0.208121, y=0.074190, z=0.975285 ref: x=-0.170492 y=0.074987 z=0.982502
+[13:21:06.007] cur: x=-0.205278, y=0.074178, z=0.975889 ref: x=-0.167613 y=0.074992 z=0.982997
+[13:21:06.007] cur: x=-0.208272, y=0.076675, z=0.975061 ref: x=-0.170488 y=0.077166 z=0.982334
+[13:21:06.007] cur: x=-0.205423, y=0.076649, z=0.975667 ref: x=-0.167609 y=0.077171 z=0.982829
+[13:21:06.007] cur: x=-0.288229, y=0.080796, z=0.954147 ref: x=-0.259356 y=0.079114 z=0.962536
+[13:21:06.007] cur: x=-0.285384, y=0.080599, z=0.955018 ref: x=-0.256503 y=0.079123 z=0.963300
+[13:21:06.007] cur: x=-0.575582, y=-0.042539, z=0.816637 ref: x=-0.520196 y=0.088264 z=0.849474
+[13:21:06.007] cur: x=-0.522890, y=-0.031622, z=0.851813 ref: x=-0.490642 y=0.092823 z=0.866403
+[13:21:06.007] cur: x=-0.356062, y=0.088661, z=0.930247 ref: x=-0.377719 y=0.123887 z=0.917595
+[13:21:06.007] cur: x=-0.367346, y=0.079160, z=0.926710 ref: x=-0.372153 y=0.121780 z=0.920148
+[13:21:06.007] cur: x=-0.082310, y=0.164882, z=0.982873 ref: x=-0.051982 y=0.149244 z=0.987433
+[13:21:06.007] cur: x=-0.099838, y=0.168475, z=0.980637 ref: x=-0.069325 y=0.153571 z=0.985703
+[13:21:06.007] cur: x=-0.088008, y=0.172411, z=0.981086 ref: x=-0.057755 y=0.157936 z=0.985759
+[13:21:06.007] cur: x=-0.105403, y=0.194502, z=0.975223 ref: x=-0.075058 y=0.179628 z=0.980867
+[13:21:06.007] cur: x=-0.102487, y=0.194671, z=0.975500 ref: x=-0.072170 y=0.179634 z=0.981083
+[13:21:06.007] cur: x=-0.081929, y=0.192322, z=0.977906 ref: x=-0.051947 y=0.177496 z=0.982750
+[13:21:06.007] cur: x=-0.096496, y=0.192356, z=0.976569 ref: x=-0.066396 y=0.177474 z=0.981883
+[13:21:06.007] cur: x=-0.047746, y=0.198756, z=0.978885 ref: x=-0.023031 y=0.184036 z=0.982650
+[13:21:06.007] cur: x=-0.026426, y=0.205102, z=0.978384 ref: x=-0.002791 y=0.190552 z=0.981673
+[13:21:06.007] cur: x=-0.017798, y=0.200640, z=0.979503 ref: x=0.005883 y=0.186213 z=0.982492
+[13:21:06.007] cur: x=-0.105292, y=0.207998, z=0.972446 ref: x=-0.075031 y=0.192641 z=0.978397
+[13:21:06.007] cur: x=-0.023524, y=0.207232, z=0.978009 ref: x=0.000100 y=0.192721 z=0.981254
+[13:21:06.007] cur: x=-0.588966, y=0.269835, z=0.761779 ref: x=-0.514089 y=0.261491 z=0.816906
+[13:21:06.007] cur: x=0.153621, y=0.290359, z=0.944506 ref: x=0.158330 y=0.272080 z=0.949160
+[13:21:06.007] cur: x=0.156534, y=0.290540, z=0.943972 ref: x=0.161195 y=0.272059 z=0.948683
+[13:21:06.007] cur: x=0.056889, y=0.357477, z=0.932188 ref: x=0.074811 y=0.328112 z=0.941672
+[13:21:06.007] cur: x=0.059844, y=0.357595, z=0.931957 ref: x=0.077682 y=0.328100 z=0.941444
+[13:21:06.007] cur: x=0.059285, y=0.359296, z=0.931339 ref: x=0.077673 y=0.330228 z=0.940700
+[13:21:06.007] cur: x=-0.279474, y=0.359953, z=0.890128 ref: x=-0.256887 y=0.343274 z=0.903423
+[13:21:06.007] cur: x=0.104762, y=0.409007, z=0.906498 ref: x=0.160034 y=0.395045 z=0.904615
+[13:21:06.007] cur: x=0.075193, y=-0.515334, z=0.853684 ref: x=0.091161 y=-0.458519 z=0.883996
+[13:21:06.007] cur: x=0.075367, y=-0.521908, z=0.849666 ref: x=0.091091 y=-0.466745 z=0.879688
+[13:21:06.007] cur: x=0.075075, y=-0.519062, z=0.851433 ref: x=0.091127 y=-0.462635 z=0.881853
+[13:21:06.007] cur: x=-0.028420, y=-0.431941, z=0.901454 ref: x=-0.005626 y=-0.396448 z=0.918040
+[13:21:06.007] cur: x=-0.016959, y=-0.440546, z=0.897570 ref: x=0.005821 y=-0.404835 z=0.914371
+[13:21:06.007] cur: x=-0.016956, y=-0.436303, z=0.899640 ref: x=0.005823 y=-0.400644 z=0.916215
+[13:21:06.007] cur: x=-0.057100, y=-0.404697, z=0.912666 ref: x=-0.028565 y=-0.375378 z=0.926432
+[13:21:06.007] cur: x=-0.062395, y=-0.400602, z=0.914125 ref: x=-0.034306 y=-0.371145 z=0.927941
+[13:21:06.007] cur: x=-0.544186, y=-0.300186, z=0.783422 ref: x=-0.484343 y=-0.279612 z=0.828993
+[13:21:06.007] cur: x=-0.250260, y=-0.245622, z=0.936504 ref: x=-0.218452 y=-0.237766 z=0.946439
+[13:21:06.007] cur: x=-0.244186, y=-0.245493, z=0.938140 ref: x=-0.212743 y=-0.237814 z=0.947726
+[13:21:06.007] cur: x=-0.238517, y=-0.241216, z=0.940704 ref: x=-0.207066 y=-0.233560 z=0.950039
+[13:21:06.007] cur: x=-0.201721, y=-0.216626, z=0.955187 ref: x=-0.167136 y=-0.207954 z=0.963753
+[13:21:06.007] cur: x=-0.402219, y=-0.096106, z=0.910485 ref: x=-0.282264 y=0.026912 z=0.958959
+[13:21:06.007] cur: x=-0.205278, y=0.074178, z=0.975889 ref: x=-0.167613 y=0.074992 z=0.982997
+[13:21:06.007] cur: x=-0.413582, y=-0.050812, z=0.909048 ref: x=-0.471585 y=0.103697 z=0.875702
+[13:21:06.007] cur: x=-0.645734, y=0.221534, z=0.730719 ref: x=-0.570122 y=0.220076 z=0.791535
+[13:21:06.007] cur: x=-0.625817, y=0.254240, z=0.737370 ref: x=-0.548490 y=0.249926 z=0.797932
+[13:21:06.007] cur: x=-0.099594, y=0.285171, z=0.953288 ref: x=-0.069077 y=0.266075 z=0.961474
+[13:21:06.007] cur: x=0.156626, y=0.284199, z=0.945885 ref: x=0.161240 y=0.265625 z=0.950497
+[13:21:06.007] cur: x=-0.610034, y=0.260052, z=0.748486 ref: x=-0.532699 y=0.254627 z=0.807092
+[13:21:06.007] cur: x=0.072344, y=0.292768, z=0.953443 ref: x=0.086521 y=0.274611 z=0.957655
+[13:21:06.007] cur: x=0.156558, y=0.288441, z=0.944612 ref: x=0.161210 y=0.269915 z=0.949293
+[13:21:06.007] cur: x=-0.123673, y=0.321370, z=0.938843 ref: x=-0.091965 y=0.300301 z=0.949401
+[13:21:06.007] cur: x=-0.743072, y=0.320464, z=0.587492 ref: x=-0.566466 y=0.315027 z=0.761495
+[13:21:06.007] cur: x=-0.717914, y=0.302680, z=0.626885 ref: x=-0.571748 y=0.310689 z=0.759326
+[13:21:06.007] cur: x=0.056334, y=0.359196, z=0.931560 ref: x=0.074802 y=0.330240 z=0.940928
+[13:21:06.007] cur: x=0.057214, y=0.355446, z=0.932944 ref: x=0.074820 y=0.325983 z=0.942410
+[13:21:06.007] cur: x=-0.274427, y=0.362194, z=0.890789 ref: x=-0.251209 y=0.345473 z=0.904181
+[13:21:06.007] cur: x=-0.291224, y=0.384011, z=0.876198 ref: x=-0.267739 y=0.366186 z=0.891192
+[13:21:06.007] cur: x=-0.275595, y=0.394324, z=0.876673 ref: x=-0.383200 y=0.400471 z=0.832335
+[13:21:06.007] cur: x=0.117368, y=-0.525216, z=0.842836 ref: x=0.130735 y=-0.470439 z=0.872694
+[13:21:06.007] cur: x=-0.324752, y=-0.241754, z=0.914380 ref: x=-0.281023 y=-0.232853 z=0.931024
+[13:21:06.007] cur: x=-0.313059, y=-0.242435, z=0.918270 ref: x=-0.269694 y=-0.232978 z=0.934337
+[13:21:06.007] cur: x=-0.301622, y=-0.242909, z=0.921965 ref: x=-0.258345 y=-0.233097 z=0.937509
+[13:21:06.007] cur: x=-0.213062, y=-0.216515, z=0.952747 ref: x=-0.178614 y=-0.207890 z=0.961706
+[13:21:06.007] cur: x=-0.301341, y=-0.251438, z=0.919768 ref: x=-0.258255 y=-0.241678 z=0.935359
+[13:21:06.007] cur: x=-0.407317, y=-0.157563, z=0.899593 ref: x=-0.360677 y=-0.154673 z=0.919776
+[13:21:06.007] cur: x=-0.212691, y=-0.083922, z=0.973509 ref: x=-0.179102 y=-0.086370 z=0.980032
+[13:21:06.007] cur: x=-0.223230, y=-0.075774, z=0.971816 ref: x=-0.190623 y=-0.077633 z=0.978589
+[13:21:06.007] cur: x=-0.399499, y=-0.103178, z=0.910909 ref: x=-0.282273 y=0.018219 z=0.959161
+[13:21:06.007] cur: x=-0.527515, y=-0.013401, z=0.849440 ref: x=-0.493234 y=0.103470 z=0.863721
+[13:21:06.007] cur: x=-0.217262, y=0.088395, z=0.972103 ref: x=-0.179098 y=0.088039 z=0.979884
+[13:21:06.007] cur: x=-0.533625, y=-0.026091, z=0.845319 ref: x=-0.504080 y=0.094823 z=0.858436
+[13:21:06.007] cur: x=-0.348377, y=0.007365, z=0.937326 ref: x=-0.394516 y=0.112984 z=0.911916
+[13:21:06.007] cur: x=-0.333106, y=0.005802, z=0.942871 ref: x=-0.383383 y=0.113074 z=0.916642
+[13:21:06.007] cur: x=-0.053504, y=0.189892, z=0.980346 ref: x=-0.028820 y=0.175349 z=0.984084
+[13:21:06.007] cur: x=0.151002, y=0.270971, z=0.950670 ref: x=0.155592 y=0.252776 z=0.954932
+[13:21:06.007] cur: x=-0.648972, y=0.295058, z=0.701268 ref: x=-0.642545 y=0.282517 z=0.712264
+[13:21:06.007] cur: x=-0.212603, y=0.257800, z=0.942517 ref: x=-0.178381 y=0.244024 z=0.953222
+[13:21:06.007] cur: x=-0.212703, y=0.266599, z=0.940044 ref: x=-0.178319 y=0.252622 z=0.950991
+[13:21:06.007] cur: x=0.025240, y=0.391129, z=0.919990 ref: x=0.119921 y=0.422593 z=0.898351
+[13:21:06.007] Init finished: Homography RANSAC (inlier) is:36 ,While 25 inliers minimum required.  px average disparity is:21.598964 ,While minimum is: 20.000000  KLT tracked: 137
+[13:21:06.007] Init: distance between the first and current frame is x:0.011444 ,z=0.239281,angle between two frames: 0.000647 
+[13:21:06.007] Init: Selected Second frame. 	 The number of features: 27 depth mean:0.192025 min:-2.177072
+[13:21:06.007] frame process finished the id is: 66 the obs is:27 
+[13:21:06.088] Odometry x=0.011444, y=0.239281, theta=0.000647
+[13:21:06.111] 67-1/352 : 
+befor : 136.000000  34.000000  after : 127.599037  35.219696   FALSE 72.063835
+befor : 138.000000  32.000000  after : 134.668930  35.172451   TRUE 21.160472
+[13:21:06.112] 67-2/352 : 
+befor : 296.000000  48.000000  after : 297.311127  51.846600   FALSE 16.515382
+befor : 296.000000  55.000000  after : 295.668304  53.868523   TRUE 1.390263
+[13:21:06.112] 67-3/352 : 
+befor : 301.000000  48.000000  after : 302.425995  44.484127   TRUE 14.394824
+[13:21:06.112] 67-4/352 : 
+befor : 196.000000  140.000000  after : 201.700577  146.100769   FALSE 69.715959
+[13:21:06.112] 67-5/352 : 
+befor : 233.000000  133.000000  after : 223.677429  143.794876   FALSE 203.439676
+[13:21:06.112] 67-6/352 : 
+befor : 169.000000  217.000000  after : 169.285156  224.791336   FALSE 60.786232
+[13:21:06.112] 67-7/352 : 
+befor : 200.000000  252.000000  after : 201.848236  250.732742   FALSE 5.021919
+[13:21:06.112] 67-8/352 : 
+befor : 192.000000  276.000000  after : 192.334869  276.213470   TRUE 0.157707
+[13:21:06.112] 67-9/352 : 
+befor : 215.000000  305.000000  after : 212.624908  301.187469   TRUE 20.176449
+[13:21:06.112] 67-10/352 : 
+befor : 240.000000  373.000000  after : 249.047577  363.143555   TRUE 179.008162
+[13:21:06.112] 67-11/352 : 
+befor : 274.000000  392.000000  after : 274.000000  392.000000   FALSE 0.000000
+befor : 272.000000  390.000000  after : 277.649261  398.054993   TRUE 96.797062
+[13:21:06.112] 67-12/352 : 
+befor : 84.000000  444.000000  after : 92.135948  452.146881   TRUE 132.565325
+[13:21:06.112] 67-13/352 : 
+befor : 148.000000  424.000000  after : 148.095688  424.956787   FALSE 0.924598
+[13:21:06.112] 67-14/352 : 
+befor : 150.000000  424.000000  after : 139.050415  436.273834   TRUE 270.540417
+[13:21:06.112] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:9 ,distance between ekf and vo x:-0.000322 ,z=0.000130,angle between two frames:0.000170
+[13:21:06.112] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.280045 	 error end=0.280045
+[13:21:06.112] After pose optimization, distance between ekf and vo x:-0.000322 ,z=0.000130,angle between two frames:0.000170
+[13:21:06.112] frame process finished the id is: 66 the obs is:27 
+[13:21:06.190] Odometry x=0.011511, y=0.244700, theta=-0.016601
+[13:21:06.208] 68-1/352 : 
+befor : 132.000000  54.000000  after : 122.557121  68.599274   FALSE 302.306751
+[13:21:06.208] 68-2/352 : 
+befor : 297.000000  55.000000  after : 297.632172  53.574333   FALSE 2.432167
+[13:21:06.208] 68-3/352 : 
+befor : 311.000000  38.000000  after : 311.000000  38.000000   FALSE 0.000000
+[13:21:06.208] 68-4/352 : 
+befor : 304.000000  80.000000  after : 313.045441  72.830124   FALSE 133.227120
+[13:21:06.208] 68-5/352 : 
+befor : 270.000000  91.000000  after : 269.826569  89.314880   FALSE 2.869707
+[13:21:06.208] 68-6/352 : 
+befor : 231.000000  131.000000  after : 232.215302  135.112885   TRUE 18.392777
+[13:21:06.208] 68-7/352 : 
+befor : 241.000000  139.000000  after : 232.594528  151.026779   FALSE 215.295374
+[13:21:06.208] 68-8/352 : 
+befor : 248.000000  213.000000  after : 248.221405  213.036102   TRUE 0.050324
+[13:21:06.208] 68-9/352 : 
+befor : 284.000000  330.000000  after : 283.230927  330.097839   TRUE 0.601047
+[13:21:06.208] 68-10/352 : 
+befor : 280.000000  380.000000  after : 273.070343  372.440918   FALSE 105.159867
+befor : 284.000000  376.000000  after : 292.344360  397.475464   FALSE 530.823898
+[13:21:06.208] 68-11/352 : 
+befor : 276.000000  392.000000  after : 276.660126  391.793610   TRUE 0.478363
+[13:21:06.208] 68-12/352 : 
+befor : 337.000000  410.000000  after : 338.989380  408.987274   TRUE 4.983246
+[13:21:06.208] 68-13/352 : 
+befor : 68.000000  420.000000  after : 63.524357  429.411224   TRUE 108.602526
+[13:21:06.208] 68-14/352 : 
+befor : 146.000000  422.000000  after : 142.147995  426.021332   FALSE 31.009052
+befor : 148.000000  424.000000  after : 141.428543  424.507202   FALSE 43.441300
+[13:21:06.208] 68-15/352 : 
+befor : 381.000000  470.000000  after : 387.722839  464.475922   FALSE 75.712011
+[13:21:06.208] After Reprojection Map nPoint:20 ,nCell:17 ,nMatches:6 ,distance between ekf and vo x:-0.000134 ,z=0.000050,angle between two frames:0.000081
+[13:21:06.208] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.332937 	 error end=0.324302
+[13:21:06.208] After pose optimization, distance between ekf and vo x:0.033232 ,z=0.059599,angle between two frames:0.034366
+[13:21:06.208] frame process finished the id is: 66 the obs is:27 
+[13:21:06.287] Odometry x=0.011785, y=0.250144, theta=-0.002016
+[13:21:06.307] 69-1/352 : 
+befor : 146.000000  17.000000  after : 144.421539  17.478188   TRUE 2.720202
+[13:21:06.307] 69-2/352 : 
+befor : 299.000000  55.000000  after : 297.565002  56.245140   TRUE 3.609592
+[13:21:06.307] 69-3/352 : 
+befor : 304.000000  48.000000  after : 304.850616  45.614872   TRUE 6.412384
+[13:21:06.307] 69-4/352 : 
+befor : 310.000000  73.000000  after : 310.713837  72.817345   TRUE 0.542926
+[13:21:06.307] 69-5/352 : 
+befor : 239.000000  137.000000  after : 230.859482  148.555420   FALSE 199.795766
+befor : 231.000000  130.000000  after : 232.644226  131.135452   TRUE 3.992731
+[13:21:06.307] 69-6/352 : 
+befor : 174.000000  220.000000  after : 173.863174  220.148102   TRUE 0.040655
+[13:21:06.307] 69-7/352 : 
+befor : 243.000000  225.000000  after : 243.000000  225.000000   FALSE 0.000000
+befor : 249.000000  228.000000  after : 242.425385  232.089951   FALSE 59.953264
+[13:21:06.307] 69-8/352 : 
+befor : 289.000000  333.000000  after : 288.839813  332.636627   TRUE 0.157700
+[13:21:06.307] 69-9/352 : 
+befor : 288.000000  376.000000  after : 286.259155  378.430298   TRUE 8.936888
+[13:21:06.307] 69-10/352 : 
+befor : 280.000000  392.000000  after : 278.148407  392.698273   TRUE 3.915981
+[13:21:06.307] 69-11/352 : 
+befor : 78.000000  448.000000  after : 76.044342  448.436127   FALSE 4.014805
+[13:21:06.307] 69-12/352 : 
+befor : 152.000000  430.000000  after : 149.650177  431.136505   FALSE 6.813312
+[13:21:06.307] 69-13/352 : 
+befor : 362.000000  434.000000  after : 381.377319  424.619019   FALSE 463.483318
+[13:21:06.307] 69-14/352 : 
+befor : 78.000000  450.000000  after : 63.082142  469.442078   FALSE 600.536874
+[13:21:06.307] After Reprojection Map nPoint:18 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:-0.000207 ,z=0.000091,angle between two frames:0.000117
+[13:21:06.307] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.159274 	 error end=0.159033
+[13:21:06.307] After pose optimization, distance between ekf and vo x:0.009013 ,z=-0.002040,angle between two frames:0.005062
+[13:21:06.307] frame process finished the id is: 66 the obs is:27 
+[13:21:06.390] Odometry x=0.012482, y=0.255743, theta=-0.015141
+[13:21:06.409] 70-1/352 : 
+befor : 146.000000  25.000000  after : 146.518066  24.384489   TRUE 0.647247
+[13:21:06.409] 70-2/352 : 
+befor : 309.000000  45.000000  after : 309.077728  45.100636   TRUE 0.016169
+[13:21:06.409] 70-3/352 : 
+befor : 298.000000  60.000000  after : 297.971405  59.123295   TRUE 0.769430
+[13:21:06.409] 70-4/352 : 
+befor : 306.000000  81.000000  after : 318.066101  74.683357   FALSE 185.490771
+[13:21:06.409] 70-5/352 : 
+befor : 248.000000  142.000000  after : 237.967865  157.724197   FALSE 347.894116
+befor : 252.000000  148.000000  after : 252.246140  151.788849   FALSE 14.415960
+[13:21:06.409] 70-6/352 : 
+befor : 240.000000  208.000000  after : 247.134537  206.233078   TRUE 54.023628
+[13:21:06.409] 70-7/352 : 
+befor : 176.000000  220.000000  after : 175.863052  220.062317   TRUE 0.022638
+[13:21:06.409] 70-8/352 : 
+befor : 291.000000  333.000000  after : 291.000000  333.000000   FALSE 0.000000
+befor : 290.000000  333.000000  after : 289.249329  333.077240   TRUE 0.569474
+[13:21:06.409] 70-9/352 : 
+befor : 314.000000  340.000000  after : 319.178406  335.583923   FALSE 46.317619
+[13:21:06.409] 70-10/352 : 
+befor : 92.000000  370.000000  after : 86.309906  369.615173   FALSE 32.525261
+[13:21:06.409] 70-11/352 : 
+befor : 292.000000  376.000000  after : 291.931213  382.641052   TRUE 44.108307
+[13:21:06.409] 70-12/352 : 
+befor : 379.000000  379.000000  after : 392.613739  367.354401   TRUE 320.953875
+[13:21:06.409] 70-13/352 : 
+befor : 41.000000  403.000000  after : 42.471519  403.881744   TRUE 2.942843
+[13:21:06.409] 70-14/352 : 
+befor : 100.000000  404.000000  after : 98.514305  403.432709   TRUE 2.529109
+[13:21:06.409] 70-15/352 : 
+befor : 286.000000  399.000000  after : 285.774902  398.906494   FALSE 0.059412
+[13:21:06.409] 70-16/352 : 
+befor : 68.000000  428.000000  after : 66.332405  431.603485   FALSE 15.765978
+[13:21:06.409] 70-17/352 : 
+befor : 200.000000  423.000000  after : 206.311569  429.457794   FALSE 81.539012
+[13:21:06.409] After Reprojection Map nPoint:20 ,nCell:19 ,nMatches:10 ,distance between ekf and vo x:-0.000212 ,z=0.000057,angle between two frames:0.000133
+[13:21:06.410] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.364382 	 error end=0.364382
+[13:21:06.410] After pose optimization, distance between ekf and vo x:-0.000212 ,z=0.000057,angle between two frames:0.000133
+[13:21:06.410] frame process finished the id is: 66 the obs is:27 
+[13:21:06.492] Odometry x=0.013017, y=0.261291, theta=-0.001768
+[13:21:06.507] 71-1/352 : 
+befor : 312.000000  47.000000  after : 311.914368  46.966263   TRUE 0.008471
+[13:21:06.507] 71-2/352 : 
+befor : 289.000000  79.000000  after : 288.037384  77.579811   FALSE 2.943566
+[13:21:06.507] 71-3/352 : 
+befor : 200.000000  92.000000  after : 200.796951  96.353897   FALSE 19.591551
+[13:21:06.507] 71-4/352 : 
+befor : 250.000000  143.000000  after : 239.571365  158.375381   FALSE 345.158776
+[13:21:06.507] 71-5/352 : 
+befor : 256.000000  152.000000  after : 248.518997  163.086990   FALSE 178.886758
+[13:21:06.507] 71-6/352 : 
+befor : 182.000000  224.000000  after : 188.422333  218.456894   FALSE 71.972383
+[13:21:06.507] 71-7/352 : 
+befor : 252.000000  228.000000  after : 252.000000  228.000000   FALSE 0.000000
+befor : 259.000000  218.000000  after : 259.139862  218.022659   TRUE 0.020075
+[13:21:06.507] 71-8/352 : 
+befor : 254.000000  240.000000  after : 250.536392  242.527100   TRUE 18.382811
+[13:21:06.507] 71-9/352 : 
+befor : 133.000000  301.000000  after : 130.571777  303.790527   FALSE 13.683308
+[13:21:06.507] 71-10/352 : 
+befor : 300.000000  325.000000  after : 300.420959  324.517517   TRUE 0.409997
+[13:21:06.507] 71-11/352 : 
+befor : 297.000000  333.000000  after : 296.108307  333.089478   TRUE 0.803123
+[13:21:06.507] 71-12/352 : 
+befor : 356.000000  379.000000  after : 351.085358  385.444824   TRUE 65.689468
+[13:21:06.507] 71-13/352 : 
+befor : 353.000000  415.000000  after : 353.312042  411.805298   TRUE 10.303492
+[13:21:06.507] 71-14/352 : 
+befor : 70.000000  432.000000  after : 65.232780  438.833069   FALSE 69.417212
+[13:21:06.507] 71-15/352 : 
+befor : 154.000000  434.000000  after : 151.090393  435.798920   FALSE 11.701925
+[13:21:06.507] 71-16/352 : 
+befor : 360.000000  425.000000  after : 362.973083  425.774170   TRUE 9.438565
+[13:21:06.507] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:8 ,distance between ekf and vo x:-0.000250 ,z=0.000064,angle between two frames:0.000144
+[13:21:06.507] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.246808 	 error end=0.246501
+[13:21:06.507] After pose optimization, distance between ekf and vo x:0.033684 ,z=0.000171,angle between two frames:0.019647
+[13:21:06.507] frame process finished the id is: 66 the obs is:27 
+[13:21:06.590] Odometry x=0.013152, y=0.267650, theta=-0.026872
+[13:21:06.623] 72-1/352 : 
+befor : 149.000000  26.000000  after : 142.890640  24.739882   FALSE 38.912175
+[13:21:06.623] 72-2/352 : 
+befor : 320.000000  36.000000  after : 320.000000  36.000000   FALSE 0.000000
+befor : 318.000000  36.000000  after : 317.492950  34.926933   TRUE 1.408571
+[13:21:06.623] 72-3/352 : 
+befor : 297.000000  67.000000  after : 297.096985  66.625343   TRUE 0.149774
+[13:21:06.623] 72-4/352 : 
+befor : 208.000000  140.000000  after : 207.837799  139.912949   TRUE 0.033887
+[13:21:06.623] 72-5/352 : 
+befor : 236.000000  132.000000  after : 242.140549  136.155304   TRUE 54.972889
+[13:21:06.623] 72-6/352 : 
+befor : 180.000000  176.000000  after : 183.014633  170.791672   TRUE 36.214696
+[13:21:06.623] 72-7/352 : 
+befor : 254.000000  240.000000  after : 250.918457  239.077545   TRUE 10.346830
+[13:21:06.623] 72-8/352 : 
+befor : 132.000000  296.000000  after : 137.942902  298.787354   TRUE 43.087419
+[13:21:06.623] 72-9/352 : 
+befor : 301.000000  325.000000  after : 300.677612  327.585358   FALSE 6.788008
+[13:21:06.623] 72-10/352 : 
+befor : 294.000000  334.000000  after : 294.470032  334.167450   TRUE 0.248969
+[13:21:06.623] 72-11/352 : 
+befor : 302.000000  336.000000  after : 304.065826  335.687012   TRUE 4.365600
+[13:21:06.623] 72-12/352 : 
+befor : 301.000000  371.000000  after : 304.889771  370.877686   FALSE 15.145275
+[13:21:06.623] 72-13/352 : 
+befor : 384.000000  376.000000  after : 390.966461  374.072754   FALSE 52.245859
+[13:21:06.623] 72-14/352 : 
+befor : 288.000000  396.000000  after : 285.117065  396.285522   TRUE 8.392835
+[13:21:06.623] 72-15/352 : 
+befor : 352.000000  415.000000  after : 353.210388  412.901337   TRUE 5.869427
+[13:21:06.623] After Reprojection Map nPoint:20 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000394 ,z=0.000215,angle between two frames:0.000416
+[13:21:06.623] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.253549 	 error end=0.250163
+[13:21:06.623] After pose optimization, distance between ekf and vo x:0.021426 ,z=-0.011078,angle between two frames:0.005653
+[13:21:06.623] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11
+[13:21:06.623] frame process finished the id is: 72 the obs is:11 
+[13:21:06.692] Odometry x=0.033288, y=0.257594, theta=-0.021491
+[13:21:06.711] 73-1/352 : 
+befor : 318.000000  32.000000  after : 318.732391  30.903698   TRUE 1.738275
+[13:21:06.711] 73-2/352 : 
+befor : 294.000000  104.000000  after : 293.849457  105.793846   TRUE 3.240547
+[13:21:06.711] 73-3/352 : 
+befor : 243.000000  131.000000  after : 245.077988  134.244400   TRUE 14.844164
+[13:21:06.711] 73-4/352 : 
+befor : 208.000000  150.000000  after : 207.925308  149.911728   TRUE 0.013371
+[13:21:06.711] 73-5/352 : 
+befor : 256.000000  240.000000  after : 257.739563  239.692963   TRUE 3.120351
+[13:21:06.711] 73-6/352 : 
+befor : 140.000000  294.000000  after : 140.906754  294.698547   FALSE 1.310170
+[13:21:06.711] 73-7/352 : 
+befor : 232.000000  306.000000  after : 234.404022  303.025177   FALSE 14.628895
+[13:21:06.711] 73-8/352 : 
+befor : 303.000000  321.000000  after : 304.208496  321.500061   TRUE 1.710524
+[13:21:06.711] 73-9/352 : 
+befor : 299.000000  331.000000  after : 299.690460  331.184906   TRUE 0.510926
+[13:21:06.711] 73-10/352 : 
+befor : 50.000000  374.000000  after : 47.711334  373.893921   TRUE 5.249244
+[13:21:06.711] 73-11/352 : 
+befor : 304.000000  364.000000  after : 304.891937  364.216370   TRUE 0.842368
+[13:21:06.711] 73-12/352 : 
+befor : 36.000000  402.000000  after : 36.000000  402.000000   FALSE 0.000000
+[13:21:06.711] 73-13/352 : 
+befor : 356.000000  408.000000  after : 355.798370  407.417725   TRUE 0.379699
+[13:21:06.711] 73-14/352 : 
+befor : 215.000000  429.000000  after : 225.905823  427.091980   FALSE 122.577510
+[13:21:06.711] 73-15/352 : 
+befor : 374.000000  436.000000  after : 374.402435  436.531799   TRUE 0.444765
+[13:21:06.711] After Reprojection Map nPoint:20 ,nCell:15 ,nMatches:11 ,distance between ekf and vo x:0.001120 ,z=0.000672,angle between two frames:0.001009
+[13:21:06.711] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.350256 	 error end=0.349625
+[13:21:06.712] After pose optimization, distance between ekf and vo x:0.011761 ,z=-0.017131,angle between two frames:0.000043
+[13:21:06.712] frame process finished the id is: 72 the obs is:11 
+[13:21:06.792] Odometry x=0.033360, y=0.264085, theta=-0.031941
+[13:21:06.807] 74-1/352 : 
+befor : 146.000000  31.000000  after : 146.000000  31.000000   FALSE 0.000000
+[13:21:06.807] 74-2/352 : 
+befor : 321.000000  31.000000  after : 320.028076  31.517004   TRUE 1.211929
+[13:21:06.808] 74-3/352 : 
+befor : 207.000000  144.000000  after : 206.989441  143.903122   TRUE 0.009497
+[13:21:06.808] 74-4/352 : 
+befor : 252.000000  140.000000  after : 256.087524  140.313736   TRUE 16.806286
+[13:21:06.808] 74-5/352 : 
+befor : 138.000000  294.000000  after : 138.935608  296.957977   TRUE 9.624992
+[13:21:06.808] 74-6/352 : 
+befor : 228.000000  284.000000  after : 225.783813  287.673706   FALSE 18.407599
+[13:21:06.808] 74-7/352 : 
+befor : 303.000000  328.000000  after : 305.557251  328.241638   TRUE 6.597922
+[13:21:06.808] 74-8/352 : 
+befor : 297.000000  334.000000  after : 292.845215  332.226074   TRUE 20.409052
+[13:21:06.808] 74-9/352 : 
+befor : 254.000000  372.000000  after : 254.990829  371.545532   TRUE 1.188284
+[13:21:06.808] 74-10/352 : 
+befor : 292.000000  399.000000  after : 299.055359  399.390411   TRUE 49.930510
+[13:21:06.808] 74-11/352 : 
+befor : 352.000000  412.000000  after : 353.210297  411.438202   TRUE 1.780435
+[13:21:06.808] After Reprojection Map nPoint:17 ,nCell:11 ,nMatches:9 ,distance between ekf and vo x:0.000208 ,z=0.000460,angle between two frames:0.000284
+[13:21:06.808] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.262935 	 error end=0.262935
+[13:21:06.808] After pose optimization, distance between ekf and vo x:0.000208 ,z=0.000460,angle between two frames:0.000284
+[13:21:06.808] frame process finished the id is: 72 the obs is:11 
+[13:21:06.889] Odometry x=0.033488, y=0.270621, theta=-0.034400
+[13:21:06.908] 75-1/352 : 
+befor : 314.000000  34.000000  after : 313.212250  33.693844   TRUE 0.714282
+[13:21:06.908] 75-2/352 : 
+befor : 238.000000  129.000000  after : 238.473862  129.156952   TRUE 0.249179
+[13:21:06.908] 75-3/352 : 
+befor : 240.000000  129.000000  after : 238.622635  140.665298   FALSE 137.976323
+[13:21:06.908] 75-4/352 : 
+befor : 180.000000  218.000000  after : 183.749863  214.035080   TRUE 29.782061
+[13:21:06.908] 75-5/352 : 
+befor : 250.000000  222.000000  after : 250.000000  222.000000   FALSE 0.000000
+befor : 249.000000  222.000000  after : 248.935715  221.845993   FALSE 0.027851
+[13:21:06.908] 75-6/352 : 
+befor : 136.000000  292.000000  after : 136.151917  293.378601   FALSE 1.923620
+[13:21:06.908] 75-7/352 : 
+befor : 292.000000  328.000000  after : 292.463501  328.180298   TRUE 0.247340
+[13:21:06.908] 75-8/352 : 
+befor : 302.000000  328.000000  after : 302.749451  327.956543   TRUE 0.563565
+[13:21:06.908] 75-9/352 : 
+befor : 38.000000  370.000000  after : 36.800999  370.329803   TRUE 1.546374
+[13:21:06.909] 75-10/352 : 
+befor : 384.000000  370.000000  after : 384.317261  370.841675   TRUE 0.809071
+[13:21:06.909] 75-11/352 : 
+befor : 24.000000  400.000000  after : 26.379463  397.908295   FALSE 10.037076
+[13:21:06.909] 75-12/352 : 
+befor : 282.000000  390.000000  after : 281.817108  389.641907   TRUE 0.161680
+[13:21:06.909] 75-13/352 : 
+befor : 44.000000  428.000000  after : 37.660576  435.220856   TRUE 92.329056
+[13:21:06.909] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:9 ,distance between ekf and vo x:0.000396 ,z=0.000692,angle between two frames:0.000476
+[13:21:06.909] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.459947 	 error end=0.458524
+[13:21:06.909] After pose optimization, distance between ekf and vo x:0.002579 ,z=-0.005195,angle between two frames:0.017088
+[13:21:06.909] frame process finished the id is: 72 the obs is:11 
+[13:21:06.986] Odometry x=0.033587, y=0.275860, theta=-0.030164
+[13:21:07.023] 76-1/352 : 
+befor : 143.000000  13.000000  after : 143.000000  13.000000   FALSE 0.000000
+[13:21:07.023] 76-2/352 : 
+befor : 296.000000  51.000000  after : 292.182983  53.345852   FALSE 20.072637
+[13:21:07.023] 76-3/352 : 
+befor : 310.000000  33.000000  after : 308.655731  33.516239   TRUE 2.073561
+[13:21:07.023] 76-4/352 : 
+befor : 274.000000  78.000000  after : 275.103424  76.660675   FALSE 3.011336
+[13:21:07.023] 76-5/352 : 
+befor : 208.000000  124.000000  after : 213.281464  134.467194   TRUE 137.456000
+[13:21:07.023] 76-6/352 : 
+befor : 224.000000  124.000000  after : 224.418991  124.113998   TRUE 0.188549
+[13:21:07.023] 76-7/352 : 
+befor : 243.000000  133.000000  after : 243.482254  133.210846   TRUE 0.277025
+[13:21:07.023] 76-8/352 : 
+befor : 200.000000  180.000000  after : 204.082611  174.095032   FALSE 51.536363
+[13:21:07.023] 76-9/352 : 
+befor : 196.000000  272.000000  after : 187.271622  283.719635   FALSE 213.534432
+[13:21:07.023] 76-10/352 : 
+befor : 240.000000  280.000000  after : 239.466431  280.675659   TRUE 0.741212
+[13:21:07.023] 76-11/352 : 
+befor : 292.000000  318.000000  after : 298.762573  326.979156   FALSE 126.357648
+[13:21:07.023] 76-12/352 : 
+befor : 298.000000  340.000000  after : 298.366974  339.789612   TRUE 0.178933
+[13:21:07.023] 76-13/352 : 
+befor : 312.000000  334.000000  after : 312.872375  333.765686   TRUE 0.815942
+[13:21:07.023] 76-14/352 : 
+befor : 288.000000  372.000000  after : 286.763245  375.661407   FALSE 14.935469
+[13:21:07.023] 76-15/352 : 
+befor : 118.000000  394.000000  after : 116.947304  395.405151   TRUE 3.082620
+[13:21:07.023] 76-16/352 : 
+befor : 32.000000  420.000000  after : 29.239992  425.527161   TRUE 38.167148
+[13:21:07.023] 76-17/352 : 
+befor : 196.000000  427.000000  after : 203.481277  420.805481   FALSE 94.341579
+[13:21:07.023] After Reprojection Map nPoint:20 ,nCell:17 ,nMatches:9 ,distance between ekf and vo x:-0.000082 ,z=0.002044,angle between two frames:0.000410
+[13:21:07.023] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.414287 	 error end=0.414287
+[13:21:07.023] After pose optimization, distance between ekf and vo x:-0.000082 ,z=0.002044,angle between two frames:0.000410
+[13:21:07.023] frame process finished the id is: 72 the obs is:11 
+[13:21:07.090] Odometry x=0.031821, y=0.287518, theta=-0.021003
+[13:21:07.123] 77-1/352 : 
+befor : 316.000000  26.000000  after : 316.000000  26.000000   FALSE 0.000000
+[13:21:07.123] 77-2/352 : 
+befor : 310.000000  30.000000  after : 309.312897  30.715551   TRUE 0.984125
+[13:21:07.123] 77-3/352 : 
+befor : 274.000000  82.000000  after : 276.358521  81.222984   FALSE 6.166372
+[13:21:07.123] 77-4/352 : 
+befor : 236.000000  130.000000  after : 240.478424  130.471649   TRUE 20.278735
+[13:21:07.123] 77-5/352 : 
+befor : 255.000000  142.000000  after : 243.504547  142.418747   FALSE 132.320786
+[13:21:07.123] 77-6/352 : 
+befor : 199.000000  155.000000  after : 198.811813  154.922699   TRUE 0.041390
+[13:21:07.123] 77-7/352 : 
+befor : 248.000000  208.000000  after : 244.129562  214.346512   FALSE 55.258500
+[13:21:07.123] 77-8/352 : 
+befor : 247.000000  222.000000  after : 245.338943  225.998856   FALSE 18.749955
+[13:21:07.123] 77-9/352 : 
+befor : 204.000000  248.000000  after : 208.026230  249.058807   FALSE 17.331600
+[13:21:07.123] 77-10/352 : 
+befor : 132.000000  292.000000  after : 132.773438  293.305420   TRUE 2.302327
+[13:21:07.123] 77-11/352 : 
+befor : 290.000000  327.000000  after : 290.446869  327.252808   TRUE 0.263604
+[13:21:07.123] 77-12/352 : 
+befor : 298.000000  330.000000  after : 298.148499  330.609161   TRUE 0.393129
+[13:21:07.123] 77-13/352 : 
+befor : 382.000000  368.000000  after : 382.076416  368.426514   TRUE 0.187753
+[13:21:07.123] 77-14/352 : 
+befor : 348.000000  408.000000  after : 347.749207  405.927917   TRUE 4.356423
+[13:21:07.123] 77-15/352 : 
+befor : 368.000000  438.000000  after : 368.190857  437.415771   TRUE 0.377749
+[13:21:07.123] 77-16/352 : 
+befor : 604.000000  448.000000  after : 604.237732  448.018341   TRUE 0.056853
+[13:21:07.123] After Reprojection Map nPoint:18 ,nCell:16 ,nMatches:10 ,distance between ekf and vo x:0.001436 ,z=0.001783,angle between two frames:0.001252
+[13:21:07.124] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.397594 	 error end=0.397594
+[13:21:07.124] After pose optimization, distance between ekf and vo x:0.001436 ,z=0.001783,angle between two frames:0.001252
+[13:21:07.124] frame process finished the id is: 72 the obs is:11 
+[13:21:07.187] Odometry x=0.031970, y=0.292762, theta=-0.032943
+[13:21:07.220] 78-1/352 : 
+befor : 304.000000  24.000000  after : 300.959381  38.635483   FALSE 223.442720
+[13:21:07.220] 78-2/352 : 
+befor : 297.000000  44.000000  after : 296.675720  43.416790   TRUE 0.445291
+[13:21:07.220] 78-3/352 : 
+befor : 268.000000  84.000000  after : 264.358582  82.495888   TRUE 15.522282
+[13:21:07.220] 78-4/352 : 
+befor : 309.000000  60.000000  after : 311.188416  58.150837   TRUE 8.208567
+[13:21:07.220] 78-5/352 : 
+befor : 242.000000  131.000000  after : 242.316452  131.214172   TRUE 0.146012
+[13:21:07.220] 78-6/352 : 
+befor : 243.000000  219.000000  after : 243.000000  219.000000   FALSE 0.000000
+befor : 246.000000  221.000000  after : 244.474335  239.189514   FALSE 333.186080
+befor : 242.000000  219.000000  after : 239.555893  223.938004   FALSE 30.357538
+[13:21:07.220] 78-7/352 : 
+befor : 196.000000  272.000000  after : 211.072556  259.409088   FALSE 385.712992
+[13:21:07.220] 78-8/352 : 
+befor : 218.000000  276.000000  after : 217.794464  277.878204   TRUE 3.569897
+[13:21:07.220] 78-9/352 : 
+befor : 240.000000  272.000000  after : 240.773117  282.420074   TRUE 109.175662
+[13:21:07.220] 78-10/352 : 
+befor : 219.000000  301.000000  after : 231.011810  294.989990   FALSE 180.403804
+[13:21:07.220] 78-11/352 : 
+befor : 286.000000  327.000000  after : 285.359070  326.968903   TRUE 0.411759
+[13:21:07.220] 78-12/352 : 
+befor : 310.000000  332.000000  after : 312.704071  332.687347   TRUE 7.784447
+[13:21:07.220] 78-13/352 : 
+befor : 242.000000  366.000000  after : 244.185822  365.527710   TRUE 5.000874
+[13:21:07.220] 78-14/352 : 
+befor : 376.000000  368.000000  after : 376.452637  367.654602   TRUE 0.324180
+[13:21:07.220] 78-15/352 : 
+befor : 114.000000  394.000000  after : 121.801704  402.310852   FALSE 129.936853
+[13:21:07.220] 78-16/352 : 
+befor : 281.000000  393.000000  after : 288.175720  392.145020   TRUE 52.221952
+[13:21:07.220] 78-17/352 : 
+befor : 300.000000  392.000000  after : 295.177765  392.543060   TRUE 23.548866
+[13:21:07.220] After Reprojection Map nPoint:22 ,nCell:19 ,nMatches:12 ,distance between ekf and vo x:0.001390 ,z=0.002651,angle between two frames:0.001695
+[13:21:07.220] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =12 	 error init =0.288078 	 error end=0.283730
+[13:21:07.220] After pose optimization, distance between ekf and vo x:0.038560 ,z=-0.009489,angle between two frames:0.015572
+[13:21:07.220] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
+[13:21:07.220] frame process finished the id is: 78 the obs is:12 
+[13:21:07.290] Odometry x=0.068431, y=0.284096, theta=-0.017893
+[13:21:07.316] 79-1/352 : 
+befor : 136.000000  26.000000  after : 140.325226  20.181044   FALSE 52.567832
+[13:21:07.316] 79-2/352 : 
+befor : 298.000000  48.000000  after : 298.040863  47.964134   TRUE 0.002956
+[13:21:07.316] 79-3/352 : 
+befor : 308.000000  68.000000  after : 308.598419  68.424263   TRUE 0.538105
+[13:21:07.316] 79-4/352 : 
+befor : 284.000000  99.000000  after : 292.068481  107.596069   FALSE 138.992801
+[13:21:07.316] 79-5/352 : 
+befor : 242.000000  139.000000  after : 242.475494  139.154709   TRUE 0.250030
+[13:21:07.316] 79-6/352 : 
+befor : 244.000000  208.000000  after : 243.292679  209.858505   FALSE 3.954345
+[13:21:07.316] 79-7/352 : 
+befor : 170.000000  216.000000  after : 171.779068  215.917572   TRUE 3.171877
+[13:21:07.316] 79-8/352 : 
+befor : 243.000000  225.000000  after : 243.000000  225.000000   FALSE 0.000000
+befor : 247.000000  230.000000  after : 244.215775  229.037048   FALSE 8.679187
+befor : 242.000000  225.000000  after : 241.425720  225.045395   FALSE 0.331858
+[13:21:07.316] 79-9/352 : 
+befor : 292.000000  324.000000  after : 292.578278  323.933411   TRUE 0.338839
+[13:21:07.316] 79-10/352 : 
+befor : 288.000000  348.000000  after : 288.008392  348.842773   FALSE 0.710337
+befor : 289.000000  334.000000  after : 288.616608  334.002869   TRUE 0.146998
+[13:21:07.316] 79-11/352 : 
+befor : 314.000000  336.000000  after : 314.242523  336.278534   TRUE 0.136399
+[13:21:07.316] 79-12/352 : 
+befor : 245.000000  376.000000  after : 239.233459  371.553864   FALSE 53.021119
+[13:21:07.316] 79-13/352 : 
+befor : 348.000000  378.000000  after : 334.180420  392.067322   FALSE 388.870336
+[13:21:07.316] 79-14/352 : 
+befor : 366.000000  444.000000  after : 365.362274  444.593719   TRUE 0.759197
+[13:21:07.316] 79-15/352 : 
+befor : 380.000000  462.000000  after : 396.463165  451.946442   FALSE 372.109847
+[13:21:07.316] After Reprojection Map nPoint:21 ,nCell:18 ,nMatches:8 ,distance between ekf and vo x:-0.001551 ,z=0.000933,angle between two frames:0.002208
+[13:21:07.316] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.235526 	 error end=0.235526
+[13:21:07.316] After pose optimization, distance between ekf and vo x:-0.001551 ,z=0.000933,angle between two frames:0.002208
+[13:21:07.316] frame process finished the id is: 78 the obs is:12 
+[13:21:07.393] Odometry x=0.068492, y=0.290728, theta=-0.021436
+[13:21:07.427] 80-1/352 : 
+befor : 296.000000  45.000000  after : 297.018433  43.476768   TRUE 3.357439
+[13:21:07.427] 80-2/352 : 
+befor : 310.000000  59.000000  after : 310.857330  58.070107   TRUE 1.599717
+[13:21:07.427] 80-3/352 : 
+befor : 251.000000  138.000000  after : 251.197205  138.237640   TRUE 0.095363
+[13:21:07.427] 80-4/352 : 
+befor : 172.000000  168.000000  after : 173.040878  175.289642   TRUE 54.222313
+[13:21:07.427] 80-5/352 : 
+befor : 244.000000  204.000000  after : 244.479004  206.176834   TRUE 4.968051
+[13:21:07.427] 80-6/352 : 
+befor : 242.000000  219.000000  after : 246.861313  213.129517   FALSE 58.094938
+[13:21:07.427] 80-7/352 : 
+befor : 126.000000  288.000000  after : 121.355247  287.961182   TRUE 21.575233
+[13:21:07.427] 80-8/352 : 
+befor : 230.000000  278.000000  after : 228.954819  278.485260   TRUE 1.327881
+[13:21:07.427] 80-9/352 : 
+befor : 292.000000  328.000000  after : 296.678772  325.851166   TRUE 26.508396
+[13:21:07.427] 80-10/352 : 
+befor : 312.000000  331.000000  after : 312.218597  331.240997   TRUE 0.105865
+[13:21:07.427] 80-11/352 : 
+befor : 36.000000  368.000000  after : 36.489948  367.736084   TRUE 0.309701
+[13:21:07.427] 80-12/352 : 
+befor : 80.000000  362.000000  after : 80.220795  362.188477   TRUE 0.084274
+[13:21:07.427] 80-13/352 : 
+befor : 280.000000  372.000000  after : 288.928467  372.394135   FALSE 79.872861
+[13:21:07.427] 80-14/352 : 
+befor : 346.000000  374.000000  after : 342.531677  378.723999   TRUE 34.345429
+[13:21:07.427] 80-15/352 : 
+befor : 376.000000  368.000000  after : 377.804077  370.764954   TRUE 10.899663
+[13:21:07.427] 80-16/352 : 
+befor : 300.000000  392.000000  after : 282.918701  404.164886   FALSE 439.755233
+[13:21:07.427] 80-17/352 : 
+befor : 172.000000  420.000000  after : 171.999023  419.864563   TRUE 0.018344
+[13:21:07.427] After Reprojection Map nPoint:23 ,nCell:17 ,nMatches:14 ,distance between ekf and vo x:0.000902 ,z=0.002071,angle between two frames:0.000789
+[13:21:07.427] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.377249 	 error end=0.365243
+[13:21:07.427] After pose optimization, distance between ekf and vo x:0.038881 ,z=-0.073715,angle between two frames:0.009278
+[13:21:07.427] Update EKF and 3D points the number of feature in the new frame: 14 and number of obs: 14
+[13:21:07.427] frame process finished the id is: 80 the obs is:14 
+[13:21:07.490] Odometry x=0.095646, y=0.251447, theta=-0.009370
+[13:21:07.514] 81-1/352 : 
+befor : 299.000000  49.000000  after : 298.383423  48.497116   TRUE 0.633060
+[13:21:07.514] 81-2/352 : 
+befor : 309.000000  35.000000  after : 309.199615  33.706913   FALSE 1.711920
+befor : 310.000000  33.000000  after : 309.400360  30.525717   TRUE 6.481645
+[13:21:07.514] 81-3/352 : 
+befor : 192.000000  84.000000  after : 199.077057  79.572304   TRUE 69.689228
+[13:21:07.514] 81-4/352 : 
+befor : 198.000000  141.000000  after : 197.825134  140.923721   TRUE 0.036396
+[13:21:07.514] 81-5/352 : 
+befor : 176.000000  172.000000  after : 174.049026  175.673065   TRUE 17.297705
+[13:21:07.514] 81-6/352 : 
+befor : 248.000000  228.000000  after : 242.394806  250.101257   FALSE 519.883776
+befor : 245.000000  219.000000  after : 247.420746  215.721344   TRUE 16.609596
+[13:21:07.514] 81-7/352 : 
+befor : 130.000000  294.000000  after : 127.433006  296.795685   TRUE 14.405310
+[13:21:07.514] 81-8/352 : 
+befor : 246.000000  282.000000  after : 242.768875  285.572479   TRUE 23.202776
+[13:21:07.514] 81-9/352 : 
+befor : 194.000000  326.000000  after : 194.739410  326.243225   TRUE 0.605886
+[13:21:07.514] 81-10/352 : 
+befor : 220.000000  308.000000  after : 219.809784  309.020325   TRUE 1.077245
+[13:21:07.514] 81-11/352 : 
+befor : 294.000000  322.000000  after : 293.763489  320.806549   TRUE 1.480263
+[13:21:07.514] 81-12/352 : 
+befor : 295.000000  335.000000  after : 295.847015  335.193878   TRUE 0.755024
+[13:21:07.514] 81-13/352 : 
+befor : 24.000000  368.000000  after : 24.533104  372.276184   TRUE 18.569950
+[13:21:07.514] 81-14/352 : 
+befor : 294.000000  370.000000  after : 291.910095  360.865784   FALSE 87.801610
+[13:21:07.514] 81-15/352 : 
+befor : 112.000000  402.000000  after : 111.420685  399.494232   FALSE 6.614478
+[13:21:07.514] 81-16/352 : 
+befor : 222.000000  425.000000  after : 222.384247  424.936127   TRUE 0.151725
+[13:21:07.514] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:14 ,distance between ekf and vo x:0.000056 ,z=0.000330,angle between two frames:0.000268
+[13:21:07.514] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =12 	 error init =0.289421 	 error end=0.287851
+[13:21:07.514] After pose optimization, distance between ekf and vo x:0.014876 ,z=-0.010535,angle between two frames:0.005818
+[13:21:07.514] Update EKF and 3D points the number of feature in the new frame: 14 and number of obs: 14
+[13:21:07.514] frame process finished the id is: 81 the obs is:14 
+[13:21:07.588] Odometry x=0.106204, y=0.249712, theta=-0.014570
+[13:21:07.608] 82-1/352 : 
+befor : 304.000000  28.000000  after : 307.577576  24.841593   FALSE 22.774584
+befor : 306.000000  29.000000  after : 306.178497  29.290249   TRUE 0.116106
+[13:21:07.608] 82-2/352 : 
+befor : 294.000000  45.000000  after : 294.705261  44.527580   TRUE 0.720574
+[13:21:07.608] 82-3/352 : 
+befor : 268.000000  82.000000  after : 270.693237  75.429916   FALSE 50.419526
+[13:21:07.608] 82-4/352 : 
+befor : 292.000000  82.000000  after : 297.532440  91.203468   FALSE 115.311724
+befor : 292.000000  82.000000  after : 301.664520  74.970963   FALSE 142.810320
+[13:21:07.608] 82-5/352 : 
+befor : 196.000000  130.000000  after : 195.644165  129.937820   TRUE 0.130485
+[13:21:07.608] 82-6/352 : 
+befor : 240.000000  132.000000  after : 227.539734  149.414108   FALSE 458.509399
+[13:21:07.608] 82-7/352 : 
+befor : 246.000000  206.000000  after : 237.097229  214.421402   FALSE 150.179343
+befor : 248.000000  208.000000  after : 248.812469  208.385788   TRUE 0.808939
+[13:21:07.608] 82-8/352 : 
+befor : 244.000000  223.000000  after : 241.536011  228.063126   TRUE 31.706484
+[13:21:07.608] 82-9/352 : 
+befor : 124.000000  290.000000  after : 123.158501  289.714966   TRUE 0.789366
+[13:21:07.608] 82-10/352 : 
+befor : 290.000000  318.000000  after : 290.899139  317.944977   TRUE 0.811479
+[13:21:07.608] 82-11/352 : 
+befor : 291.000000  330.000000  after : 291.742279  330.184479   TRUE 0.585011
+[13:21:07.608] 82-12/352 : 
+befor : 378.000000  372.000000  after : 376.415558  372.113098   TRUE 2.523248
+[13:21:07.608] 82-13/352 : 
+befor : 36.000000  398.000000  after : 36.263226  398.569580   TRUE 0.393709
+[13:21:07.608] 82-14/352 : 
+befor : 300.000000  396.000000  after : 301.201019  398.563110   TRUE 8.011982
+[13:21:07.608] 82-15/352 : 
+befor : 168.000000  424.000000  after : 168.367310  423.853149   TRUE 0.156481
+[13:21:07.608] After Reprojection Map nPoint:25 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000151 ,z=0.000143,angle between two frames:0.000092
+[13:21:07.608] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.344657 	 error end=0.344657
+[13:21:07.609] After pose optimization, distance between ekf and vo x:-0.000151 ,z=0.000143,angle between two frames:0.000092
+[13:21:07.609] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
+[13:21:07.609] frame process finished the id is: 82 the obs is:12 
+[13:21:07.687] Odometry x=0.106691, y=0.255907, theta=-0.007571
+[13:21:07.711] 83-1/352 : 
+befor : 304.000000  38.000000  after : 296.752747  37.288082   FALSE 53.029509
+befor : 304.000000  36.000000  after : 299.896118  43.610172   TRUE 74.756568
+[13:21:07.711] 83-2/352 : 
+befor : 274.000000  82.000000  after : 277.317017  80.268364   TRUE 14.001163
+[13:21:07.711] 83-3/352 : 
+befor : 306.000000  74.000000  after : 305.796082  74.509079   TRUE 0.300744
+[13:21:07.711] 83-4/352 : 
+befor : 220.000000  128.000000  after : 220.402924  128.169128   TRUE 0.190952
+[13:21:07.711] 83-5/352 : 
+befor : 251.000000  217.000000  after : 251.904984  217.365387   TRUE 0.952503
+[13:21:07.711] 83-6/352 : 
+befor : 244.000000  280.000000  after : 242.515808  283.559784   FALSE 14.874887
+[13:21:07.711] 83-7/352 : 
+befor : 128.000000  300.000000  after : 126.155106  298.653992   FALSE 5.215374
+[13:21:07.711] 83-8/352 : 
+befor : 221.000000  310.000000  after : 220.917480  311.008698   TRUE 1.024280
+[13:21:07.711] 83-9/352 : 
+befor : 295.000000  326.000000  after : 295.582642  325.943451   TRUE 0.342669
+[13:21:07.711] 83-10/352 : 
+befor : 295.000000  337.000000  after : 295.899597  337.187469   TRUE 0.844420
+[13:21:07.711] 83-11/352 : 
+befor : 316.000000  339.000000  after : 315.927551  338.932343   FALSE 0.009826
+[13:21:07.711] 83-12/352 : 
+befor : 246.000000  374.000000  after : 255.295181  365.007690   TRUE 167.262026
+[13:21:07.711] 83-13/352 : 
+befor : 382.000000  378.000000  after : 382.461090  378.809082   TRUE 0.867218
+[13:21:07.711] 83-14/352 : 
+befor : 308.000000  400.000000  after : 284.353851  433.818054   FALSE 1702.801137
+befor : 304.000000  400.000000  after : 298.189697  407.903015   FALSE 96.217266
+[13:21:07.711] 83-15/352 : 
+befor : 348.000000  418.000000  after : 367.956238  396.667145   FALSE 853.342139
+[13:21:07.711] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:10 ,distance between ekf and vo x:0.000094 ,z=0.000206,angle between two frames:0.000126
+[13:21:07.711] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.226889 	 error end=0.226889
+[13:21:07.711] After pose optimization, distance between ekf and vo x:0.000094 ,z=0.000206,angle between two frames:0.000126
+[13:21:07.711] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[13:21:07.711] frame process finished the id is: 83 the obs is:10 
+[13:21:07.788] Odometry x=0.106834, y=0.256390, theta=-0.007536
+[13:21:07.810] 84-1/352 : 
+befor : 134.000000  22.000000  after : 133.483704  23.180378   TRUE 1.659854
+[13:21:07.810] 84-2/352 : 
+befor : 311.000000  25.000000  after : 310.013306  23.398283   TRUE 3.539063
+[13:21:07.810] 84-3/352 : 
+befor : 299.000000  42.000000  after : 300.750153  38.166355   FALSE 17.759867
+befor : 299.000000  41.000000  after : 301.254211  38.203503   FALSE 12.901867
+[13:21:07.810] 84-4/352 : 
+befor : 196.000000  82.000000  after : 192.216995  82.368279   FALSE 14.446754
+[13:21:07.810] 84-5/352 : 
+befor : 281.000000  66.000000  after : 283.673096  63.580189   FALSE 13.000927
+[13:21:07.810] 84-6/352 : 
+befor : 301.000000  71.000000  after : 316.778839  59.143597   TRUE 389.546064
+[13:21:07.810] 84-7/352 : 
+befor : 244.000000  132.000000  after : 244.357346  132.155746   TRUE 0.151953
+[13:21:07.810] 84-8/352 : 
+befor : 250.000000  209.000000  after : 251.756897  209.769104   TRUE 3.678208
+[13:21:07.810] 84-9/352 : 
+befor : 247.000000  223.000000  after : 230.089233  239.545090   FALSE 559.714021
+befor : 248.000000  220.000000  after : 248.000000  220.000000   FALSE 0.000000
+befor : 246.000000  224.000000  after : 241.469009  226.631348   FALSE 27.453866
+[13:21:07.810] 84-10/352 : 
+befor : 126.000000  290.000000  after : 125.406685  291.070618   TRUE 1.498245
+[13:21:07.810] 84-11/352 : 
+befor : 293.000000  329.000000  after : 293.696533  329.236572   TRUE 0.541125
+[13:21:07.810] 84-12/352 : 
+befor : 304.000000  328.000000  after : 304.287903  327.901184   TRUE 0.092653
+[13:21:07.810] 84-13/352 : 
+befor : 292.000000  364.000000  after : 291.318909  369.521149   TRUE 30.946968
+[13:21:07.810] 84-14/352 : 
+befor : 380.000000  368.000000  after : 382.575562  371.056854   TRUE 15.977875
+[13:21:07.810] 84-15/352 : 
+befor : 344.000000  412.000000  after : 363.107086  392.377045   FALSE 750.141118
+[13:21:07.810] After Reprojection Map nPoint:23 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:0.000637 ,z=0.000945,angle between two frames:0.000692
+[13:21:07.811] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.274511 	 error end=0.273150
+[13:21:07.811] After pose optimization, distance between ekf and vo x:0.022023 ,z=0.001716,angle between two frames:0.012556
+[13:21:07.811] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[13:21:07.811] frame process finished the id is: 84 the obs is:10 
+[13:21:07.890] Odometry x=0.127646, y=0.258369, theta=0.004530
+[13:21:07.928] 85-1/352 : 
+befor : 316.000000  28.000000  after : 316.000000  28.000000   FALSE 0.000000
+[13:21:07.928] 85-2/352 : 
+befor : 310.000000  32.000000  after : 313.870148  28.646837   TRUE 26.221744
+[13:21:07.928] 85-3/352 : 
+befor : 278.000000  80.000000  after : 277.312408  80.679703   TRUE 0.934778
+[13:21:07.928] 85-4/352 : 
+befor : 312.000000  68.000000  after : 311.988190  67.970993   TRUE 0.000981
+[13:21:07.928] 85-5/352 : 
+befor : 288.000000  99.000000  after : 261.525879  133.686462   TRUE 1904.029762
+[13:21:07.928] 85-6/352 : 
+befor : 250.000000  138.000000  after : 250.386703  138.200455   TRUE 0.189722
+[13:21:07.928] 85-7/352 : 
+befor : 254.000000  226.000000  after : 263.073273  216.546921   FALSE 171.684984
+[13:21:07.928] 85-8/352 : 
+befor : 128.000000  292.000000  after : 128.345749  292.032806   TRUE 0.120619
+[13:21:07.928] 85-9/352 : 
+befor : 196.000000  280.000000  after : 188.682236  301.418396   FALSE 512.297361
+[13:21:07.928] 85-10/352 : 
+befor : 300.000000  321.000000  after : 297.106812  324.933502   FALSE 23.842979
+[13:21:07.928] 85-11/352 : 
+befor : 301.000000  330.000000  after : 301.979187  330.075500   TRUE 0.964508
+[13:21:07.928] 85-12/352 : 
+befor : 184.000000  438.000000  after : 184.910751  438.810822   FALSE 1.486900
+[13:21:07.928] After Reprojection Map nPoint:20 ,nCell:12 ,nMatches:7 ,distance between ekf and vo x:-0.000141 ,z=0.000165,angle between two frames:0.000063
+[13:21:07.928] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.246301 	 error end=0.243707
+[13:21:07.928] After pose optimization, distance between ekf and vo x:-0.039549 ,z=-0.000598,angle between two frames:0.026632
+[13:21:07.928] frame process finished the id is: 84 the obs is:10 
+[13:21:07.992] Odometry x=0.129347, y=0.265371, theta=-0.011899
+[13:21:08.007] 86-1/352 : 
+befor : 318.000000  18.000000  after : 318.042358  18.317379   TRUE 0.102524
+[13:21:08.007] 86-2/352 : 
+befor : 305.000000  36.000000  after : 307.053375  33.687271   FALSE 9.565065
+[13:21:08.007] 86-3/352 : 
+befor : 301.000000  75.000000  after : 300.959534  74.962708   TRUE 0.003028
+[13:21:08.007] 86-4/352 : 
+befor : 249.000000  131.000000  after : 249.377701  131.158447   TRUE 0.167763
+[13:21:08.007] 86-5/352 : 
+befor : 250.000000  219.000000  after : 261.157227  205.873489   FALSE 296.788986
+befor : 249.000000  219.000000  after : 249.000000  219.000000   FALSE 0.000000
+[13:21:08.007] 86-6/352 : 
+befor : 204.000000  276.000000  after : 204.437988  275.914917   TRUE 0.199073
+[13:21:08.007] 86-7/352 : 
+befor : 295.000000  329.000000  after : 295.482330  329.310272   TRUE 0.328911
+[13:21:08.007] 86-8/352 : 
+befor : 316.000000  328.000000  after : 299.433533  348.254883   FALSE 684.708116
+befor : 316.000000  328.000000  after : 316.108063  328.039612   FALSE 0.013247
+[13:21:08.007] 86-9/352 : 
+befor : 320.000000  335.000000  after : 318.183197  335.687042   TRUE 3.772800
+[13:21:08.007] 86-10/352 : 
+befor : 388.000000  372.000000  after : 388.328796  372.462189   TRUE 0.321725
+[13:21:08.007] 86-11/352 : 
+befor : 352.000000  408.000000  after : 353.225311  410.834686   TRUE 9.536834
+[13:21:08.007] 86-12/352 : 
+befor : 88.000000  436.000000  after : 87.877983  443.063812   TRUE 49.912332
+[13:21:08.007] 86-13/352 : 
+befor : 180.000000  438.000000  after : 183.922653  435.241699   FALSE 22.995431
+[13:21:08.007] After Reprojection Map nPoint:17 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000291 ,z=0.000274,angle between two frames:0.000174
+[13:21:08.007] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.366816 	 error end=0.366816
+[13:21:08.007] After pose optimization, distance between ekf and vo x:-0.000291 ,z=0.000274,angle between two frames:0.000174
+[13:21:08.007] frame process finished the id is: 84 the obs is:10 
+[13:21:08.091] Odometry x=0.129755, y=0.273012, theta=-0.019439
+[13:21:08.107] 87-1/352 : 
+befor : 322.000000  21.000000  after : 322.413483  20.117323   TRUE 0.950087
+[13:21:08.107] 87-2/352 : 
+befor : 309.000000  39.000000  after : 311.278870  36.314606   FALSE 12.404589
+befor : 306.000000  40.000000  after : 309.310150  38.620346   TRUE 12.860539
+[13:21:08.107] 87-3/352 : 
+befor : 248.000000  131.000000  after : 248.460678  131.153244   TRUE 0.235708
+[13:21:08.107] 87-4/352 : 
+befor : 184.000000  168.000000  after : 184.418686  167.885986   TRUE 0.188297
+[13:21:08.107] 87-5/352 : 
+befor : 253.000000  221.000000  after : 253.000000  221.000000   FALSE 0.000000
+[13:21:08.107] 87-6/352 : 
+befor : 136.000000  292.000000  after : 135.492859  295.189178   TRUE 10.428051
+[13:21:08.107] 87-7/352 : 
+befor : 256.000000  276.000000  after : 245.001617  296.768250   FALSE 552.284607
+[13:21:08.107] 87-8/352 : 
+befor : 230.000000  303.000000  after : 233.849731  299.231934   FALSE 29.018757
+befor : 230.000000  303.000000  after : 227.322083  307.869720   TRUE 30.885419
+[13:21:08.107] 87-9/352 : 
+befor : 299.000000  329.000000  after : 300.556976  328.952515   TRUE 2.426430
+[13:21:08.107] 87-10/352 : 
+befor : 308.000000  328.000000  after : 308.372345  329.293274   TRUE 1.811198
+[13:21:08.107] 87-11/352 : 
+befor : 305.000000  330.000000  after : 305.790314  330.195435   TRUE 0.662790
+[13:21:08.107] 87-12/352 : 
+befor : 18.000000  364.000000  after : 6.747279  378.048187   FALSE 323.975291
+[13:21:08.107] 87-13/352 : 
+befor : 362.000000  375.000000  after : 361.306519  375.005798   TRUE 0.480950
+[13:21:08.107] 87-14/352 : 
+befor : 346.000000  416.000000  after : 333.880127  434.815918   TRUE 500.930092
+[13:21:08.107] 87-15/352 : 
+befor : 360.000000  412.000000  after : 357.343536  411.679840   TRUE 7.159301
+[13:21:08.107] 87-16/352 : 
+befor : 179.000000  436.000000  after : 157.204758  464.566437   FALSE 1291.073897
+[13:21:08.107] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000240 ,z=0.000250,angle between two frames:0.000139
+[13:21:08.107] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.343666 	 error end=0.342966
+[13:21:08.107] After pose optimization, distance between ekf and vo x:0.010455 ,z=-0.030569,angle between two frames:0.007623
+[13:21:08.107] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
+[13:21:08.107] frame process finished the id is: 87 the obs is:12 
+[13:21:08.189] Odometry x=0.138443, y=0.256918, theta=-0.017018
+[13:21:08.209] 88-1/352 : 
+befor : 316.000000  24.000000  after : 316.248047  24.138453   TRUE 0.080696
+[13:21:08.209] 88-2/352 : 
+befor : 308.000000  36.000000  after : 309.608459  36.750790   TRUE 3.150827
+[13:21:08.209] 88-3/352 : 
+befor : 250.000000  131.000000  after : 251.670670  131.821564   TRUE 3.466104
+[13:21:08.209] 88-4/352 : 
+befor : 184.000000  216.000000  after : 190.363312  210.437332   FALSE 71.435010
+[13:21:08.209] 88-5/352 : 
+befor : 140.000000  298.000000  after : 140.527924  297.806213   TRUE 0.316257
+[13:21:08.209] 88-6/352 : 
+befor : 308.000000  322.000000  after : 308.495575  321.831116   TRUE 0.274116
+[13:21:08.209] 88-7/352 : 
+befor : 312.000000  330.000000  after : 327.617676  318.930328   TRUE 366.449427
+[13:21:08.209] 88-8/352 : 
+befor : 92.000000  372.000000  after : 92.272278  372.193451   TRUE 0.111558
+[13:21:08.209] 88-9/352 : 
+befor : 396.000000  368.000000  after : 398.366852  371.140778   TRUE 15.466471
+[13:21:08.209] 88-10/352 : 
+befor : 320.000000  396.000000  after : 292.359222  435.325836   FALSE 2310.533977
+befor : 320.000000  396.000000  after : 324.647217  400.234406   TRUE 39.526814
+[13:21:08.209] 88-11/352 : 
+befor : 364.000000  416.000000  after : 375.876709  407.751007   FALSE 209.102100
+[13:21:08.209] 88-12/352 : 
+befor : 227.000000  428.000000  after : 228.030792  430.183533   TRUE 5.830348
+[13:21:08.209] After Reprojection Map nPoint:21 ,nCell:13 ,nMatches:10 ,distance between ekf and vo x:-0.000214 ,z=0.000236,angle between two frames:0.000123
+[13:21:08.209] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.442607 	 error end=0.423515
+[13:21:08.209] After pose optimization, distance between ekf and vo x:-0.035006 ,z=0.066477,angle between two frames:0.004190
+[13:21:08.209] frame process finished the id is: 87 the obs is:12 
+[13:21:08.293] Odometry x=0.138713, y=0.265124, theta=-0.025183
+[13:21:08.318] 89-1/352 : 
+befor : 149.000000  10.000000  after : 149.780533  8.499031   TRUE 2.862139
+[13:21:08.318] 89-2/352 : 
+befor : 322.000000  23.000000  after : 325.963074  17.022884   TRUE 51.431865
+[13:21:08.318] 89-3/352 : 
+befor : 306.000000  46.000000  after : 306.058838  44.824863   TRUE 1.384408
+[13:21:08.318] 89-4/352 : 
+befor : 220.000000  124.000000  after : 220.323334  123.993820   TRUE 0.104583
+[13:21:08.318] 89-5/352 : 
+befor : 242.000000  121.000000  after : 245.944809  122.043312   FALSE 16.650018
+[13:21:08.318] 89-6/352 : 
+befor : 261.000000  211.000000  after : 255.632843  210.300781   TRUE 29.295281
+[13:21:08.318] 89-7/352 : 
+befor : 260.000000  272.000000  after : 256.669647  283.835052   FALSE 151.159717
+befor : 260.000000  272.000000  after : 256.536072  277.610168   TRUE 43.472789
+[13:21:08.318] 89-8/352 : 
+befor : 310.000000  318.000000  after : 308.549774  315.595337   TRUE 7.885560
+[13:21:08.318] 89-9/352 : 
+befor : 333.000000  329.000000  after : 332.000946  330.873199   TRUE 4.506985
+[13:21:08.318] 89-10/352 : 
+befor : 316.000000  340.000000  after : 319.603333  337.063232   TRUE 21.608609
+[13:21:08.318] 89-11/352 : 
+befor : 262.000000  372.000000  after : 263.785034  372.425537   TRUE 3.367429
+[13:21:08.318] 89-12/352 : 
+befor : 400.000000  364.000000  after : 404.082031  367.573120   TRUE 29.430166
+[13:21:08.318] 89-13/352 : 
+befor : 108.000000  398.000000  after : 109.907715  400.373047   TRUE 9.270727
+[13:21:08.318] 89-14/352 : 
+befor : 170.000000  430.000000  after : 169.880493  431.287994   FALSE 1.673211
+[13:21:08.318] 89-15/352 : 
+befor : 182.000000  445.000000  after : 181.855255  445.130829   TRUE 0.038067
+[13:21:08.318] After Reprojection Map nPoint:22 ,nCell:16 ,nMatches:13 ,distance between ekf and vo x:-0.000474 ,z=0.000703,angle between two frames:0.000338
+[13:21:08.318] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.364675 	 error end=0.364675
+[13:21:08.318] After pose optimization, distance between ekf and vo x:-0.000474 ,z=0.000703,angle between two frames:0.000338
+[13:21:08.318] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13
+[13:21:08.318] frame process finished the id is: 89 the obs is:13 
+[13:21:08.390] Odometry x=0.135379, y=0.270809, theta=-0.048835
+[13:21:08.411] 90-1/352 : 
+befor : 322.000000  18.000000  after : 322.205536  21.157284   TRUE 10.010686
+[13:21:08.411] 90-2/352 : 
+befor : 306.000000  47.000000  after : 308.503906  42.701321   FALSE 24.748191
+befor : 306.000000  47.000000  after : 305.798370  46.841068   TRUE 0.065914
+[13:21:08.411] 90-3/352 : 
+befor : 204.000000  80.000000  after : 205.662109  77.626907   FALSE 8.394176
+[13:21:08.411] 90-4/352 : 
+befor : 260.000000  140.000000  after : 263.118408  140.899445   TRUE 10.533470
+[13:21:08.411] 90-5/352 : 
+befor : 260.000000  208.000000  after : 260.276367  207.906128   TRUE 0.085191
+[13:21:08.411] 90-6/352 : 
+befor : 264.000000  224.000000  after : 258.148895  225.137283   FALSE 35.528840
+[13:21:08.411] 90-7/352 : 
+befor : 218.000000  248.000000  after : 218.260208  248.083481   TRUE 0.074677
+[13:21:08.411] 90-8/352 : 
+befor : 142.000000  294.000000  after : 142.510544  294.076294   TRUE 0.266476
+[13:21:08.411] 90-9/352 : 
+befor : 311.000000  319.000000  after : 311.760071  320.099640   TRUE 1.786916
+[13:21:08.411] 90-10/352 : 
+befor : 306.000000  330.000000  after : 306.000000  330.000000   FALSE 0.000000
+befor : 307.000000  330.000000  after : 306.585358  330.109985   TRUE 0.184025
+[13:21:08.411] 90-11/352 : 
+befor : 332.000000  333.000000  after : 325.445618  328.733765   FALSE 61.160692
+[13:21:08.411] 90-12/352 : 
+befor : 400.000000  368.000000  after : 389.438812  382.929688   TRUE 334.434255
+[13:21:08.411] 90-13/352 : 
+befor : 176.000000  448.000000  after : 189.752319  432.129730   FALSE 440.991750
+befor : 176.000000  442.000000  after : 178.055649  445.176361   FALSE 14.314962
+[13:21:08.411] After Reprojection Map nPoint:19 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:0.000460 ,z=0.000279,angle between two frames:0.000267
+[13:21:08.411] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.237314 	 error end=0.237314
+[13:21:08.411] After pose optimization, distance between ekf and vo x:0.000460 ,z=0.000279,angle between two frames:0.000267
+[13:21:08.411] frame process finished the id is: 89 the obs is:13 
+[13:21:08.489] Odometry x=0.135751, y=0.280978, theta=-0.039606
+[13:21:08.514] 91-1/352 : 
+befor : 321.000000  21.000000  after : 321.289734  20.776896   TRUE 0.133721
+[13:21:08.514] 91-2/352 : 
+befor : 314.000000  66.000000  after : 312.855225  67.753708   TRUE 4.386002
+[13:21:08.514] 91-3/352 : 
+befor : 172.000000  224.000000  after : 172.301880  223.917328   TRUE 0.097966
+[13:21:08.514] 91-4/352 : 
+befor : 184.000000  214.000000  after : 182.106812  213.474411   TRUE 3.860406
+[13:21:08.514] 91-5/352 : 
+befor : 258.000000  221.000000  after : 255.620178  225.347397   FALSE 24.563411
+befor : 261.000000  224.000000  after : 270.080841  213.416351   FALSE 194.475294
+befor : 256.000000  219.000000  after : 256.000000  219.000000   FALSE 0.000000
+[13:21:08.514] 91-6/352 : 
+befor : 218.000000  246.000000  after : 222.505157  240.480194   TRUE 50.764701
+[13:21:08.514] 91-7/352 : 
+befor : 208.000000  272.000000  after : 208.170929  272.513428   TRUE 0.292825
+[13:21:08.514] 91-8/352 : 
+befor : 303.000000  317.000000  after : 300.148834  320.966888   FALSE 23.865350
+befor : 309.000000  319.000000  after : 309.455658  319.221161   TRUE 0.256536
+[13:21:08.514] 91-9/352 : 
+befor : 330.000000  332.000000  after : 321.397339  328.007965   FALSE 89.942121
+[13:21:08.514] 91-10/352 : 
+befor : 36.000000  372.000000  after : 36.389866  372.142365   TRUE 0.172263
+[13:21:08.514] 91-11/352 : 
+befor : 367.000000  376.000000  after : 365.123138  377.534454   TRUE 5.877160
+[13:21:08.514] 91-12/352 : 
+befor : 102.000000  400.000000  after : 100.765144  403.002014   TRUE 10.536957
+[13:21:08.514] 91-13/352 : 
+befor : 299.000000  398.000000  after : 294.945496  395.822479   TRUE 21.180603
+[13:21:08.514] 91-14/352 : 
+befor : 64.000000  430.000000  after : 60.647343  429.365692   FALSE 11.642658
+[13:21:08.514] 91-15/352 : 
+befor : 170.000000  442.000000  after : 170.537018  445.723419   FALSE 14.152239
+[13:21:08.514] 91-16/352 : 
+befor : 352.000000  420.000000  after : 348.288940  425.241882   TRUE 41.249293
+[13:21:08.514] After Reprojection Map nPoint:23 ,nCell:19 ,nMatches:12 ,distance between ekf and vo x:0.001210 ,z=0.000990,angle between two frames:0.000924
+[13:21:08.514] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.385877 	 error end=0.369597
+[13:21:08.514] After pose optimization, distance between ekf and vo x:-0.016549 ,z=-0.056922,angle between two frames:0.007202
+[13:21:08.514] frame process finished the id is: 89 the obs is:13 
+[13:21:08.594] Odometry x=0.134737, y=0.286228, theta=-0.046242
+[13:21:08.611] 92-1/352 : 
+befor : 321.000000  53.000000  after : 323.324371  53.925697   TRUE 6.259618
+[13:21:08.611] 92-2/352 : 
+befor : 280.000000  79.000000  after : 281.710510  73.201920   FALSE 36.543582
+[13:21:08.611] 92-3/352 : 
+befor : 256.000000  140.000000  after : 256.295898  139.892868   TRUE 0.099033
+[13:21:08.611] 92-4/352 : 
+befor : 180.000000  222.000000  after : 176.089737  228.184387   TRUE 53.536802
+[13:21:08.611] 92-5/352 : 
+befor : 256.000000  219.000000  after : 256.105835  229.376205   FALSE 107.676840
+befor : 260.000000  222.000000  after : 257.187347  223.056030   FALSE 9.026215
+[13:21:08.611] 92-6/352 : 
+befor : 196.000000  272.000000  after : 196.545105  272.151093   TRUE 0.319968
+[13:21:08.611] 92-7/352 : 
+befor : 233.000000  277.000000  after : 232.905746  284.660767   FALSE 58.696229
+[13:21:08.611] 92-8/352 : 
+befor : 254.000000  276.000000  after : 254.526398  276.145111   TRUE 0.298152
+[13:21:08.611] 92-9/352 : 
+befor : 302.000000  330.000000  after : 304.552643  331.791840   TRUE 9.726675
+[13:21:08.611] 92-10/352 : 
+befor : 16.000000  368.000000  after : 22.152370  363.747375   FALSE 55.936477
+[13:21:08.611] 92-11/352 : 
+befor : 396.000000  368.000000  after : 397.862427  368.600372   TRUE 3.829080
+[13:21:08.611] 92-12/352 : 
+befor : 289.000000  392.000000  after : 289.000000  392.000000   FALSE 0.000000
+[13:21:08.611] 92-13/352 : 
+befor : 320.000000  396.000000  after : 309.877106  412.634491   TRUE 379.179278
+[13:21:08.611] 92-14/352 : 
+befor : 156.000000  432.000000  after : 145.959747  444.398193   TRUE 254.521873
+[13:21:08.611] After Reprojection Map nPoint:24 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000083 ,z=0.000056,angle between two frames:0.000098
+[13:21:08.611] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.383697 	 error end=0.383697
+[13:21:08.611] After pose optimization, distance between ekf and vo x:-0.000083 ,z=0.000056,angle between two frames:0.000098
+[13:21:08.611] frame process finished the id is: 89 the obs is:13 
+[13:21:08.692] Odometry x=0.135007, y=0.292876, theta=-0.034437
+[13:21:08.716] 93-1/352 : 
+befor : 310.000000  30.000000  after : 313.552948  24.258631   FALSE 45.586760
+befor : 310.000000  30.000000  after : 309.960724  29.448025   TRUE 0.306219
+[13:21:08.716] 93-2/352 : 
+befor : 276.000000  76.000000  after : 280.148407  70.218948   FALSE 50.629839
+[13:21:08.716] 93-3/352 : 
+befor : 232.000000  120.000000  after : 222.427444  137.843704   FALSE 410.031600
+[13:21:08.716] 93-4/352 : 
+befor : 251.000000  131.000000  after : 231.352585  157.146942   FALSE 1069.683506
+befor : 260.000000  138.000000  after : 260.365448  138.178909   TRUE 0.165561
+[13:21:08.716] 93-5/352 : 
+befor : 256.000000  208.000000  after : 258.065521  205.399460   TRUE 11.029187
+[13:21:08.716] 93-6/352 : 
+befor : 259.000000  211.000000  after : 259.000000  211.000000   FALSE 0.000000
+befor : 257.000000  222.000000  after : 248.660019  233.941666   FALSE 212.158663
+[13:21:08.716] 93-7/352 : 
+befor : 208.000000  276.000000  after : 208.465576  276.183624   TRUE 0.250479
+[13:21:08.716] 93-8/352 : 
+befor : 299.000000  318.000000  after : 295.705536  321.534576   FALSE 23.346724
+[13:21:08.716] 93-9/352 : 
+befor : 304.000000  320.000000  after : 305.532043  320.573456   TRUE 2.676009
+[13:21:08.716] 93-10/352 : 
+befor : 396.000000  364.000000  after : 404.234772  362.057892   TRUE 71.583250
+[13:21:08.716] 93-11/352 : 
+befor : 293.000000  399.000000  after : 293.746185  399.004272   TRUE 0.556811
+[13:21:08.716] 93-12/352 : 
+befor : 358.000000  412.000000  after : 358.915161  411.896393   TRUE 0.848254
+[13:21:08.716] 93-13/352 : 
+befor : 42.000000  422.000000  after : 38.211773  425.114655   FALSE 24.051737
+[13:21:08.716] 93-14/352 : 
+befor : 156.000000  446.000000  after : 157.582947  448.988983   FALSE 11.439741
+befor : 156.000000  444.000000  after : 155.332474  445.251953   TRUE 2.012978
+[13:21:08.716] 93-15/352 : 
+befor : 212.000000  430.000000  after : 221.325012  423.237488   TRUE 132.687424
+[13:21:08.716] After Reprojection Map nPoint:21 ,nCell:19 ,nMatches:10 ,distance between ekf and vo x:0.001189 ,z=0.000734,angle between two frames:0.000304
+[13:21:08.716] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.367030 	 error end=0.359204
+[13:21:08.716] After pose optimization, distance between ekf and vo x:0.026779 ,z=-0.067765,angle between two frames:0.013351
+[13:21:08.716] frame process finished the id is: 89 the obs is:13 
+[13:21:08.793] Odometry x=0.135122, y=0.298295, theta=-0.043200
+[13:21:08.812] 94-1/352 : 
+befor : 316.000000  14.000000  after : 319.430023  13.132576   TRUE 12.517484
+[13:21:08.812] 94-2/352 : 
+befor : 310.000000  61.000000  after : 310.240936  61.320400   TRUE 0.160707
+[13:21:08.812] 94-3/352 : 
+befor : 212.000000  124.000000  after : 204.955170  121.454140   TRUE 56.111039
+[13:21:08.812] 94-4/352 : 
+befor : 256.000000  138.000000  after : 255.107727  141.305405   TRUE 11.721851
+[13:21:08.812] 94-5/352 : 
+befor : 250.000000  219.000000  after : 248.425354  223.674210   FALSE 24.327745
+befor : 249.000000  219.000000  after : 249.000000  219.000000   FALSE 0.000000
+[13:21:08.812] 94-6/352 : 
+befor : 191.000000  266.000000  after : 204.799286  254.932495   TRUE 312.909955
+[13:21:08.812] 94-7/352 : 
+befor : 206.000000  272.000000  after : 194.023697  295.179932   FALSE 680.741067
+[13:21:08.812] 94-8/352 : 
+befor : 250.000000  274.000000  after : 250.462250  274.082642   TRUE 0.220504
+[13:21:08.812] 94-9/352 : 
+befor : 297.000000  318.000000  after : 292.998230  319.334381   FALSE 17.794736
+befor : 297.000000  329.000000  after : 296.460175  329.110321   TRUE 0.303582
+[13:21:08.812] 94-10/352 : 
+befor : 296.000000  376.000000  after : 285.483490  382.879456   FALSE 157.923892
+[13:21:08.812] 94-11/352 : 
+befor : 301.000000  365.000000  after : 299.412018  365.482788   TRUE 2.754772
+[13:21:08.812] 94-12/352 : 
+befor : 222.000000  416.000000  after : 216.023117  414.941345   FALSE 36.843880
+[13:21:08.812] 94-13/352 : 
+befor : 244.000000  411.000000  after : 245.512009  409.589996   FALSE 4.274281
+[13:21:08.812] 94-14/352 : 
+befor : 312.000000  396.000000  after : 305.999939  407.536346   TRUE 169.088022
+[13:21:08.812] 94-15/352 : 
+befor : 40.000000  426.000000  after : 32.754910  437.050903   FALSE 174.613800
+[13:21:08.812] 94-16/352 : 
+befor : 142.000000  434.000000  after : 142.296478  434.197449   TRUE 0.126885
+[13:21:08.812] 94-17/352 : 
+befor : 392.000000  466.000000  after : 392.590027  466.433380   FALSE 0.535950
+[13:21:08.812] After Reprojection Map nPoint:22 ,nCell:19 ,nMatches:10 ,distance between ekf and vo x:-0.000121 ,z=0.000029,angle between two frames:0.000139
+[13:21:08.812] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.331828 	 error end=0.331828
+[13:21:08.812] After pose optimization, distance between ekf and vo x:-0.000121 ,z=0.000029,angle between two frames:0.000139
+[13:21:08.812] frame process finished the id is: 89 the obs is:13 
+[13:21:08.888] Odometry x=0.135252, y=0.303750, theta=-0.035781
+[13:21:08.927] 95-1/352 : 
+befor : 300.000000  34.000000  after : 300.426636  32.518684   TRUE 2.376314
+[13:21:08.928] 95-2/352 : 
+befor : 224.000000  116.000000  after : 225.562302  113.088120   FALSE 10.919834
+[13:21:08.928] 95-3/352 : 
+befor : 204.000000  120.000000  after : 200.808945  119.807655   TRUE 10.219830
+[13:21:08.928] 95-4/352 : 
+befor : 246.000000  128.000000  after : 224.323975  157.472763   FALSE 1338.493839
+[13:21:08.928] 95-5/352 : 
+befor : 317.000000  202.000000  after : 316.962067  202.221298   TRUE 0.050412
+[13:21:08.928] 95-6/352 : 
+befor : 246.000000  210.000000  after : 236.702316  199.018997   TRUE 207.029345
+[13:21:08.928] 95-7/352 : 
+befor : 206.000000  244.000000  after : 206.520477  244.260468   TRUE 0.338740
+[13:21:08.928] 95-8/352 : 
+befor : 244.000000  268.000000  after : 244.777756  268.538086   TRUE 0.894440
+[13:21:08.928] 95-9/352 : 
+befor : 244.000000  272.000000  after : 239.944733  279.407135   FALSE 71.310842
+[13:21:08.928] 95-10/352 : 
+befor : 224.000000  303.000000  after : 216.505371  294.478607   FALSE 128.783598
+[13:21:08.928] 95-11/352 : 
+befor : 297.000000  317.000000  after : 299.100403  314.092560   TRUE 12.864900
+[13:21:08.928] 95-12/352 : 
+befor : 300.000000  320.000000  after : 305.453186  323.577240   FALSE 42.533884
+befor : 300.000000  326.000000  after : 316.835144  313.018097   TRUE 451.951882
+[13:21:08.928] 95-13/352 : 
+befor : 292.000000  376.000000  after : 295.971649  369.405457   FALSE 59.262001
+[13:21:08.928] 95-14/352 : 
+befor : 279.000000  390.000000  after : 279.000000  390.000000   FALSE 0.000000
+[13:21:08.928] 95-15/352 : 
+befor : 308.000000  396.000000  after : 307.843231  397.565369   FALSE 2.474955
+[13:21:08.928] 95-16/352 : 
+befor : 142.000000  442.000000  after : 146.516953  447.283295   TRUE 48.316063
+[13:21:08.928] After Reprojection Map nPoint:20 ,nCell:17 ,nMatches:9 ,distance between ekf and vo x:0.001210 ,z=0.001064,angle between two frames:0.000644
+[13:21:08.928] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.335073 	 error end=0.328117
+[13:21:08.928] After pose optimization, distance between ekf and vo x:0.034357 ,z=-0.028302,angle between two frames:0.013371
+[13:21:08.928] frame process finished the id is: 89 the obs is:13 
+[13:21:08.990] Odometry x=0.135368, y=0.309516, theta=-0.019300
+[13:21:09.016] 96-1/352 : 
+befor : 130.000000  24.000000  after : 129.101547  25.438410   TRUE 2.876240
+[13:21:09.016] 96-2/352 : 
+befor : 315.000000  14.000000  after : 315.781433  12.030204   TRUE 4.490735
+[13:21:09.016] 96-3/352 : 
+befor : 292.000000  40.000000  after : 292.510132  39.927818   TRUE 0.265445
+[13:21:09.016] 96-4/352 : 
+befor : 198.000000  138.000000  after : 204.588104  145.868164   FALSE 105.311123
+befor : 198.000000  138.000000  after : 197.839813  137.922379   TRUE 0.031685
+[13:21:09.016] 96-5/352 : 
+befor : 255.000000  137.000000  after : 255.000000  137.000000   FALSE 0.000000
+[13:21:09.016] 96-6/352 : 
+befor : 252.000000  208.000000  after : 262.025269  196.337555   FALSE 236.518635
+[13:21:09.016] 96-7/352 : 
+befor : 255.000000  210.000000  after : 243.332260  205.965744   TRUE 152.411375
+[13:21:09.016] 96-8/352 : 
+befor : 124.000000  292.000000  after : 124.437904  292.172424   TRUE 0.221490
+[13:21:09.016] 96-9/352 : 
+befor : 200.000000  272.000000  after : 201.266983  271.042572   FALSE 2.521914
+[13:21:09.016] 96-10/352 : 
+befor : 226.000000  275.000000  after : 226.002914  274.900177   TRUE 0.009973
+[13:21:09.016] 96-11/352 : 
+befor : 250.000000  274.000000  after : 249.873245  277.452332   TRUE 11.934660
+[13:21:09.016] 96-12/352 : 
+befor : 296.000000  328.000000  after : 291.147095  325.804810   TRUE 28.369551
+[13:21:09.016] 96-13/352 : 
+befor : 301.000000  329.000000  after : 307.435455  337.594360   FALSE 115.278115
+[13:21:09.016] 96-14/352 : 
+befor : 392.000000  364.000000  after : 391.072540  363.828583   TRUE 0.889565
+[13:21:09.016] 96-15/352 : 
+befor : 290.000000  397.000000  after : 294.806183  397.400146   TRUE 23.259511
+[13:21:09.016] 96-16/352 : 
+befor : 354.000000  408.000000  after : 354.214722  407.729309   TRUE 0.119379
+[13:21:09.016] 96-17/352 : 
+befor : 34.000000  436.000000  after : 34.825535  435.343964   FALSE 1.111891
+[13:21:09.016] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000976 ,z=0.001057,angle between two frames:0.000964
+[13:21:09.016] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =11 	 error init =0.333137 	 error end=0.333137
+[13:21:09.016] After pose optimization, distance between ekf and vo x:-0.000976 ,z=0.001057,angle between two frames:0.000964
+[13:21:09.016] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12
+[13:21:09.016] frame process finished the id is: 96 the obs is:12 
+[13:21:09.093] Odometry x=0.134449, y=0.310848, theta=-0.020854
+[13:21:09.120] 97-1/352 : 
+befor : 309.000000  20.000000  after : 309.477844  19.555962   TRUE 0.425505
+[13:21:09.120] 97-2/352 : 
+befor : 302.000000  30.000000  after : 298.573761  31.826988   FALSE 15.077000
+[13:21:09.120] 97-3/352 : 
+befor : 232.000000  118.000000  after : 232.537552  118.122589   TRUE 0.303990
+[13:21:09.120] 97-4/352 : 
+befor : 208.000000  120.000000  after : 206.822449  122.497429   FALSE 7.623778
+[13:21:09.120] 97-5/352 : 
+befor : 234.000000  120.000000  after : 235.753326  129.659912   FALSE 96.388055
+[13:21:09.120] 97-6/352 : 
+befor : 256.000000  134.000000  after : 255.411301  134.231995   TRUE 0.400388
+[13:21:09.120] 97-7/352 : 
+befor : 176.000000  160.000000  after : 173.252228  159.973740   TRUE 7.550942
+[13:21:09.120] 97-8/352 : 
+befor : 247.000000  209.000000  after : 249.498093  207.025681   TRUE 10.138404
+[13:21:09.120] 97-9/352 : 
+befor : 249.000000  223.000000  after : 249.010925  223.346100   TRUE 0.119904
+[13:21:09.120] 97-10/352 : 
+befor : 124.000000  288.000000  after : 131.906189  280.916229   FALSE 112.687632
+befor : 130.000000  288.000000  after : 133.758545  293.296143   TRUE 42.175786
+[13:21:09.120] 97-11/352 : 
+befor : 236.000000  276.000000  after : 236.398865  276.083527   TRUE 0.166070
+[13:21:09.120] 97-12/352 : 
+befor : 240.000000  276.000000  after : 241.549698  283.412720   FALSE 57.349977
+[13:21:09.120] 97-13/352 : 
+befor : 249.000000  373.000000  after : 248.094299  372.968140   FALSE 0.821309
+befor : 249.000000  373.000000  after : 249.000000  373.000000   FALSE 0.000000
+[13:21:09.120] 97-14/352 : 
+befor : 358.000000  375.000000  after : 357.258850  374.996216   TRUE 0.549317
+[13:21:09.120] 97-15/352 : 
+befor : 78.000000  396.000000  after : 82.077530  397.280487   TRUE 18.265897
+[13:21:09.120] 97-16/352 : 
+befor : 280.000000  390.000000  after : 282.216370  387.993256   FALSE 8.939317
+[13:21:09.120] 97-17/352 : 
+befor : 202.000000  432.000000  after : 201.924408  428.470551   TRUE 12.462728
+[13:21:09.120] After Reprojection Map nPoint:22 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:-0.001372 ,z=0.000040,angle between two frames:0.001452
+[13:21:09.120] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.375990 	 error end=0.375990
+[13:21:09.120] After pose optimization, distance between ekf and vo x:-0.001372 ,z=0.000040,angle between two frames:0.001452
+[13:21:09.120] frame process finished the id is: 96 the obs is:12 
+[13:21:09.193] Odometry x=0.134497, y=0.321314, theta=-0.011445
+[13:21:09.211] 98-1/352 : 
+befor : 293.000000  47.000000  after : 292.172333  48.142685   TRUE 1.990762
+[13:21:09.211] 98-2/352 : 
+befor : 315.000000  50.000000  after : 313.876007  51.803741   FALSE 4.516843
+befor : 315.000000  50.000000  after : 315.242401  49.903488   TRUE 0.068073
+[13:21:09.211] 98-3/352 : 
+befor : 196.000000  72.000000  after : 201.203186  69.636589   TRUE 32.658856
+[13:21:09.211] 98-4/352 : 
+befor : 199.000000  139.000000  after : 201.705383  138.980804   TRUE 7.319467
+[13:21:09.211] 98-5/352 : 
+befor : 228.000000  120.000000  after : 228.564972  120.174538   FALSE 0.349657
+[13:21:09.212] 98-6/352 : 
+befor : 254.000000  134.000000  after : 254.607697  134.171402   TRUE 0.398674
+[13:21:09.212] 98-7/352 : 
+befor : 254.000000  220.000000  after : 241.307465  239.203125   FALSE 529.860465
+[13:21:09.212] 98-8/352 : 
+befor : 210.000000  244.000000  after : 210.522141  244.201294   TRUE 0.313150
+[13:21:09.212] 98-9/352 : 
+befor : 128.000000  292.000000  after : 128.323669  292.074829   TRUE 0.110361
+[13:21:09.212] 98-10/352 : 
+befor : 316.000000  328.000000  after : 315.621521  327.988495   FALSE 0.143379
+befor : 316.000000  328.000000  after : 314.490143  332.484833   TRUE 22.393394
+[13:21:09.212] 98-11/352 : 
+befor : 322.000000  334.000000  after : 312.745819  326.211212   TRUE 146.305080
+[13:21:09.212] 98-12/352 : 
+befor : 396.000000  360.000000  after : 394.328033  357.315674   TRUE 10.001079
+[13:21:09.212] 98-13/352 : 
+befor : 290.000000  394.000000  after : 295.522247  394.399750   TRUE 30.655015
+[13:21:09.212] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:11 ,distance between ekf and vo x:-0.000054 ,z=0.000151,angle between two frames:0.000028
+[13:21:09.212] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =11 	 error init =0.228041 	 error end=0.228041
+[13:21:09.212] After pose optimization, distance between ekf and vo x:-0.000054 ,z=0.000151,angle between two frames:0.000028
+[13:21:09.212] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11
+[13:21:09.212] frame process finished the id is: 98 the obs is:11 
+[13:21:09.290] Odometry x=0.134856, y=0.327488, theta=-0.007380
+[13:21:09.319] 99-1/352 : 
+befor : 308.000000  16.000000  after : 308.397247  15.800109   TRUE 0.197762
+[13:21:09.319] 99-2/352 : 
+befor : 299.000000  31.000000  after : 294.451294  35.167339   FALSE 38.057444
+[13:21:09.319] 99-3/352 : 
+befor : 300.000000  30.000000  after : 301.721130  27.398619   FALSE 9.729474
+[13:21:09.319] 99-4/352 : 
+befor : 244.000000  121.000000  after : 244.511673  121.114227   TRUE 0.274857
+[13:21:09.319] 99-5/352 : 
+befor : 251.000000  206.000000  after : 247.758774  206.726486   FALSE 11.033329
+befor : 251.000000  206.000000  after : 248.897308  209.504974   TRUE 16.706157
+[13:21:09.319] 99-6/352 : 
+befor : 250.000000  268.000000  after : 246.887970  266.586456   TRUE 11.682837
+[13:21:09.319] 99-7/352 : 
+befor : 238.000000  270.000000  after : 238.214813  269.980316   TRUE 0.046532
+[13:21:09.319] 99-8/352 : 
+befor : 297.000000  323.000000  after : 270.606110  344.239380   TRUE 1147.748707
+[13:21:09.319] 99-9/352 : 
+befor : 528.000000  340.000000  after : 528.006531  340.073151   TRUE 0.005394
+[13:21:09.319] 99-10/352 : 
+befor : 296.000000  372.000000  after : 282.219635  362.682434   TRUE 276.715494
+[13:21:09.319] 99-11/352 : 
+befor : 359.000000  415.000000  after : 350.278687  424.528717   FALSE 166.857757
+[13:21:09.319] 99-12/352 : 
+befor : 128.000000  446.000000  after : 122.857063  443.647369   TRUE 31.984669
+[13:21:09.319] After Reprojection Map nPoint:19 ,nCell:13 ,nMatches:9 ,distance between ekf and vo x:0.003612 ,z=0.000321,angle between two frames:0.003179
+[13:21:09.319] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.359368 	 error end=0.359368
+[13:21:09.319] After pose optimization, distance between ekf and vo x:0.003612 ,z=0.000321,angle between two frames:0.003179
+[13:21:09.319] frame process finished the id is: 98 the obs is:11 
+[13:21:09.392] Odometry x=0.129520, y=0.344836, theta=-0.004953
+[13:21:09.413] 100-1/352 : 
+befor : 304.000000  24.000000  after : 305.771271  24.462862   TRUE 3.351641
+[13:21:09.413] 100-2/352 : 
+befor : 204.000000  124.000000  after : 198.470337  133.383530   FALSE 118.627803
+[13:21:09.413] 100-3/352 : 
+befor : 212.000000  120.000000  after : 210.381409  130.024536   FALSE 103.111163
+[13:21:09.413] 100-4/352 : 
+befor : 252.000000  132.000000  after : 252.367416  131.824905   TRUE 0.165653
+[13:21:09.413] 100-5/352 : 
+befor : 128.000000  288.000000  after : 128.051346  288.024902   TRUE 0.003257
+[13:21:09.413] 100-6/352 : 
+befor : 325.000000  329.000000  after : 325.658661  329.240509   TRUE 0.491679
+[13:21:09.413] 100-7/352 : 
+befor : 396.000000  360.000000  after : 392.906403  362.862732   TRUE 17.765579
+[13:21:09.413] 100-8/352 : 
+befor : 358.000000  404.000000  after : 359.327362  409.223846   TRUE 29.050462
+[13:21:09.413] 100-9/352 : 
+befor : 364.000000  415.000000  after : 379.050903  402.651611   FALSE 379.012394
+befor : 360.000000  406.000000  after : 358.626343  405.293945   TRUE 2.385447
+[13:21:09.413] 100-10/352 : 
+befor : 116.000000  428.000000  after : 106.001442  425.252502   FALSE 107.519906
+[13:21:09.413] 100-11/352 : 
+befor : 126.000000  448.000000  after : 126.997505  450.405396   FALSE 6.780944
+[13:21:09.413] After Reprojection Map nPoint:17 ,nCell:12 ,nMatches:7 ,distance between ekf and vo x:0.000262 ,z=0.000148,angle between two frames:0.000272
+[13:21:09.413] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.275738 	 error end=0.221976
+[13:21:09.413] After pose optimization, distance between ekf and vo x:0.063713 ,z=-0.319577,angle between two frames:0.045936
+[13:21:09.413] frame process finished the id is: 98 the obs is:11 
+[13:21:09.491] Odometry x=0.129655, y=0.350325, theta=-0.011371
+[13:21:09.514] 101-1/352 : 
+befor : 313.000000  15.000000  after : 315.199768  12.440599   FALSE 11.389511
+[13:21:09.514] 101-2/352 : 
+befor : 299.000000  35.000000  after : 297.525787  36.049294   FALSE 3.274320
+[13:21:09.514] 101-3/352 : 
+befor : 302.000000  31.000000  after : 302.666016  30.283966   TRUE 0.956281
+[13:21:09.514] 101-4/352 : 
+befor : 196.000000  68.000000  after : 196.650787  71.116028   TRUE 10.133154
+[13:21:09.514] 101-5/352 : 
+befor : 251.000000  124.000000  after : 251.380371  124.178406   TRUE 0.176511
+[13:21:09.514] 101-6/352 : 
+befor : 256.000000  202.000000  after : 256.513519  202.166702   TRUE 0.291492
+[13:21:09.514] 101-7/352 : 
+befor : 253.000000  214.000000  after : 255.137100  214.220749   TRUE 4.615927
+[13:21:09.514] 101-8/352 : 
+befor : 128.000000  288.000000  after : 128.598953  288.216675   FALSE 0.405693
+[13:21:09.514] 101-9/352 : 
+befor : 230.000000  301.000000  after : 234.706558  296.758942   FALSE 40.138266
+[13:21:09.514] 101-10/352 : 
+befor : 52.000000  388.000000  after : 43.766781  395.625366   TRUE 125.932107
+[13:21:09.514] 101-11/352 : 
+befor : 300.000000  376.000000  after : 295.651245  368.528839   TRUE 74.729914
+[13:21:09.514] 101-12/352 : 
+befor : 295.000000  398.000000  after : 294.939606  398.045624   FALSE 0.005729
+[13:21:09.514] 101-13/352 : 
+befor : 118.000000  434.000000  after : 118.316833  433.884644   TRUE 0.113691
+[13:21:09.514] 101-14/352 : 
+befor : 378.000000  438.000000  after : 378.956268  439.610168   TRUE 3.507092
+[13:21:09.514] After Reprojection Map nPoint:19 ,nCell:14 ,nMatches:9 ,distance between ekf and vo x:0.001760 ,z=0.000799,angle between two frames:0.001852
+[13:21:09.514] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.316546 	 error end=0.316546
+[13:21:09.514] After pose optimization, distance between ekf and vo x:0.001760 ,z=0.000799,angle between two frames:0.001852
+[13:21:09.514] frame process finished the id is: 98 the obs is:11 
+[13:21:09.593] Odometry x=0.124778, y=0.363572, theta=-0.005902
+[13:21:09.615] 102-1/352 : 
+befor : 304.000000  24.000000  after : 304.589661  23.882534   TRUE 0.361498
+[13:21:09.615] 102-2/352 : 
+befor : 278.000000  68.000000  after : 278.223053  68.066299   TRUE 0.054148
+[13:21:09.615] 102-3/352 : 
+befor : 216.000000  116.000000  after : 225.905533  131.524078   FALSE 339.116590
+[13:21:09.615] 102-4/352 : 
+befor : 256.000000  128.000000  after : 238.755264  154.908264   FALSE 1021.435590
+[13:21:09.615] 102-5/352 : 
+befor : 258.000000  204.000000  after : 258.595093  204.178696   TRUE 0.386068
+[13:21:09.615] 102-6/352 : 
+befor : 235.000000  268.000000  after : 235.577255  267.494171   TRUE 0.589086
+[13:21:09.615] 102-7/352 : 
+befor : 252.000000  268.000000  after : 252.096756  267.970490   TRUE 0.010233
+[13:21:09.615] 102-8/352 : 
+befor : 234.000000  270.000000  after : 233.968063  270.851593   FALSE 0.726231
+[13:21:09.615] 102-9/352 : 
+befor : 252.000000  272.000000  after : 240.991028  261.633575   TRUE 228.660226
+[13:21:09.615] 102-10/352 : 
+befor : 311.000000  316.000000  after : 311.000000  316.000000   FALSE 0.000000
+[13:21:09.615] 102-11/352 : 
+befor : 330.000000  328.000000  after : 329.330383  328.766022   TRUE 1.035176
+[13:21:09.615] 102-12/352 : 
+befor : 404.000000  364.000000  after : 400.586029  360.723694   TRUE 22.389380
+[13:21:09.615] 102-13/352 : 
+befor : 146.000000  406.000000  after : 154.199631  399.899658   FALSE 104.448114
+befor : 146.000000  406.000000  after : 118.145172  436.490448   FALSE 1705.558855
+[13:21:09.615] 102-14/352 : 
+befor : 299.000000  393.000000  after : 298.900421  393.137909   FALSE 0.028935
+[13:21:09.615] 102-15/352 : 
+befor : 300.000000  390.000000  after : 295.943359  390.128021   TRUE 16.472723
+[13:21:09.615] After Reprojection Map nPoint:22 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:0.002063 ,z=0.001467,angle between two frames:0.002379
+[13:21:09.615] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.439784 	 error end=0.439784
+[13:21:09.615] After pose optimization, distance between ekf and vo x:0.002063 ,z=0.001467,angle between two frames:0.002379
+[13:21:09.615] frame process finished the id is: 98 the obs is:11 
+[13:21:09.691] Odometry x=0.124758, y=0.368897, theta=-0.019911
+[13:21:09.716] 103-1/352 : 
+befor : 318.000000  9.000000  after : 318.712006  8.529403   TRUE 0.728414
+[13:21:09.716] 103-2/352 : 
+befor : 318.000000  46.000000  after : 322.381714  42.872540   FALSE 28.980425
+befor : 318.000000  46.000000  after : 326.782166  39.582096   FALSE 118.315922
+[13:21:09.716] 103-3/352 : 
+befor : 196.000000  68.000000  after : 196.379700  67.828842   TRUE 0.173467
+[13:21:09.716] 103-4/352 : 
+befor : 262.000000  131.000000  after : 262.241028  131.182877   TRUE 0.091538
+[13:21:09.716] 103-5/352 : 
+befor : 256.000000  208.000000  after : 256.608002  208.180008   TRUE 0.402069
+[13:21:09.716] 103-6/352 : 
+befor : 212.000000  272.000000  after : 209.763412  275.988129   TRUE 20.907494
+[13:21:09.716] 103-7/352 : 
+befor : 252.000000  276.000000  after : 252.234512  276.080383   TRUE 0.061458
+[13:21:09.716] 103-8/352 : 
+befor : 309.000000  323.000000  after : 309.000000  323.000000   FALSE 0.000000
+[13:21:09.716] 103-9/352 : 
+befor : 337.000000  384.000000  after : 321.508331  402.567780   FALSE 584.754236
+[13:21:09.716] 103-10/352 : 
+befor : 368.000000  376.000000  after : 367.956482  369.591919   FALSE 41.065397
+befor : 368.000000  376.000000  after : 365.442780  372.788361   TRUE 16.854004
+[13:21:09.716] 103-11/352 : 
+befor : 402.000000  370.000000  after : 403.152161  369.716309   TRUE 1.407955
+[13:21:09.716] 103-12/352 : 
+befor : 296.000000  398.000000  after : 293.351990  396.847717   TRUE 8.339714
+[13:21:09.716] 103-13/352 : 
+befor : 110.000000  454.000000  after : 100.567039  448.727844   TRUE 116.776370
+[13:21:09.716] After Reprojection Map nPoint:21 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:0.003189 ,z=0.001565,angle between two frames:0.003533
+[13:21:09.716] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.408863 	 error end=0.408863
+[13:21:09.716] After pose optimization, distance between ekf and vo x:0.003189 ,z=0.001565,angle between two frames:0.003533
+[13:21:09.716] frame process finished the id is: 98 the obs is:11 
+[13:21:09.794] Odometry x=0.125181, y=0.376975, theta=0.001582
+[13:21:09.817] 104-1/352 : 
+befor : 323.000000  7.000000  after : 323.249451  6.810158   FALSE 0.098266
+befor : 314.000000  16.000000  after : 314.488708  15.783469   TRUE 0.285722
+[13:21:09.817] 104-2/352 : 
+befor : 286.000000  60.000000  after : 284.712708  59.345421   TRUE 2.085596
+[13:21:09.817] 104-3/352 : 
+befor : 220.000000  116.000000  after : 219.037857  116.345299   FALSE 1.044950
+[13:21:09.817] 104-4/352 : 
+befor : 250.000000  117.000000  after : 239.852341  130.486618   FALSE 284.863856
+[13:21:09.817] 104-5/352 : 
+befor : 265.000000  128.000000  after : 265.314056  128.301132   TRUE 0.189312
+[13:21:09.817] 104-6/352 : 
+befor : 261.000000  206.000000  after : 256.848541  209.134903   FALSE 27.062226
+[13:21:09.817] 104-7/352 : 
+befor : 238.000000  269.000000  after : 237.105728  272.099731   FALSE 10.408057
+[13:21:09.817] 104-8/352 : 
+befor : 252.000000  268.000000  after : 252.052750  267.806793   TRUE 0.040111
+[13:21:09.817] 104-9/352 : 
+befor : 256.000000  272.000000  after : 247.282028  264.955566   TRUE 125.627077
+[13:21:09.817] 104-10/352 : 
+befor : 334.000000  329.000000  after : 332.648102  329.516022   TRUE 2.093907
+[13:21:09.817] 104-11/352 : 
+befor : 319.000000  338.000000  after : 319.000000  338.000000   FALSE 0.000000
+[13:21:09.817] 104-12/352 : 
+befor : 408.000000  356.000000  after : 399.235687  366.259247   FALSE 182.065323
+[13:21:09.817] 104-13/352 : 
+befor : 304.000000  372.000000  after : 316.010132  382.956390   TRUE 264.285757
+[13:21:09.817] 104-14/352 : 
+befor : 410.000000  364.000000  after : 396.797180  350.788025   TRUE 348.870737
+[13:21:09.817] 104-15/352 : 
+befor : 248.000000  410.000000  after : 248.348785  410.128113   TRUE 0.138064
+[13:21:09.817] 104-16/352 : 
+befor : 303.000000  395.000000  after : 304.370911  394.426666   TRUE 2.208108
+[13:21:09.817] 104-17/352 : 
+befor : 368.000000  408.000000  after : 380.005432  412.886627   FALSE 168.009526
+[13:21:09.817] 104-18/352 : 
+befor : 111.000000  449.000000  after : 112.098824  448.558807   TRUE 1.402064
+[13:21:09.817] After Reprojection Map nPoint:23 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:0.002471 ,z=0.001660,angle between two frames:0.002905
+[13:21:09.817] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.608826 	 error end=0.608826
+[13:21:09.817] After pose optimization, distance between ekf and vo x:0.002471 ,z=0.001660,angle between two frames:0.002905
+[13:21:09.817] frame process finished the id is: 98 the obs is:11 
+[13:21:09.891] Odometry x=0.121663, y=0.387395, theta=-0.022641
+[13:21:09.919] 105-1/352 : 
+befor : 318.000000  16.000000  after : 317.553070  16.885805   FALSE 0.984397
+befor : 324.000000  11.000000  after : 323.755829  9.628328   TRUE 1.941103
+[13:21:09.919] 105-2/352 : 
+befor : 302.000000  42.000000  after : 302.698273  42.119503   TRUE 0.501866
+[13:21:09.919] 105-3/352 : 
+befor : 286.000000  66.000000  after : 284.650208  65.337875   TRUE 2.260349
+[13:21:09.919] 105-4/352 : 
+befor : 209.000000  134.000000  after : 208.853912  133.948425   TRUE 0.024002
+[13:21:09.919] 105-5/352 : 
+befor : 260.000000  136.000000  after : 259.911560  135.975525   TRUE 0.008421
+[13:21:09.919] 105-6/352 : 
+befor : 260.000000  215.000000  after : 260.000000  215.000000   FALSE 0.000000
+befor : 261.000000  222.000000  after : 243.136856  249.872681   FALSE 1095.978238
+[13:21:09.919] 105-7/352 : 
+befor : 200.000000  248.000000  after : 200.855194  242.775223   TRUE 28.029654
+[13:21:09.919] 105-8/352 : 
+befor : 142.000000  296.000000  after : 139.934280  303.738678   TRUE 64.154334
+[13:21:09.919] 105-9/352 : 
+befor : 200.000000  276.000000  after : 200.622421  276.341217   TRUE 0.503837
+[13:21:09.919] 105-10/352 : 
+befor : 239.000000  279.000000  after : 239.024277  278.889679   TRUE 0.012760
+[13:21:09.919] 105-11/352 : 
+befor : 316.000000  370.000000  after : 317.284027  373.587677   TRUE 14.520152
+[13:21:09.919] 105-12/352 : 
+befor : 304.000000  400.000000  after : 299.078461  402.549957   TRUE 30.723831
+[13:21:09.919] 105-13/352 : 
+befor : 370.000000  412.000000  after : 370.728577  411.635284   TRUE 0.663841
+[13:21:09.919] 105-14/352 : 
+befor : 239.000000  432.000000  after : 217.299225  456.012695   FALSE 1047.533178
+[13:21:09.919] After Reprojection Map nPoint:19 ,nCell:16 ,nMatches:12 ,distance between ekf and vo x:0.005461 ,z=0.002954,angle between two frames:0.006214
+[13:21:09.919] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =9 	 error init =1.240224 	 error end=0.301847
+[13:21:09.919] After pose optimization, distance between ekf and vo x:1.399252 ,z=-4.946812,angle between two frames:0.162753
+[13:21:09.919] frame process finished the id is: 98 the obs is:11 
+[13:21:09.988] Odometry x=0.122126, y=0.392828, theta=-0.022700
+[13:21:10.033] 106-1/352 : 
+befor : 320.000000  10.000000  after : 316.356689  11.637409   TRUE 15.954821
+[13:21:10.033] 106-2/352 : 
+befor : 256.000000  118.000000  after : 239.612396  137.518768   FALSE 649.535873
+[13:21:10.033] 106-3/352 : 
+befor : 209.000000  138.000000  after : 217.794235  138.473053   FALSE 77.562352
+[13:21:10.033] 106-4/352 : 
+befor : 260.000000  120.000000  after : 260.461273  120.196274   TRUE 0.251296
+[13:21:10.033] 106-5/352 : 
+befor : 264.000000  204.000000  after : 264.000000  204.000000   FALSE 0.000000
+[13:21:10.033] 106-6/352 : 
+befor : 264.000000  211.000000  after : 263.671448  211.137024   TRUE 0.126722
+[13:21:10.033] 106-7/352 : 
+befor : 337.000000  229.000000  after : 324.769836  240.227493   FALSE 275.633507
+[13:21:10.033] 106-8/352 : 
+befor : 256.000000  268.000000  after : 255.964844  268.012390   TRUE 0.001389
+[13:21:10.033] 106-9/352 : 
+befor : 140.000000  288.000000  after : 140.649887  287.729309   TRUE 0.495627
+[13:21:10.033] 106-10/352 : 
+befor : 252.000000  272.000000  after : 260.627228  283.900299   TRUE 216.046177
+[13:21:10.033] 106-11/352 : 
+befor : 316.000000  312.000000  after : 310.027496  317.727203   TRUE 68.471658
+[13:21:10.033] 106-12/352 : 
+befor : 332.000000  320.000000  after : 329.427460  319.290100   TRUE 7.121921
+[13:21:10.033] 106-13/352 : 
+befor : 322.000000  336.000000  after : 320.559662  337.766205   FALSE 5.194053
+[13:21:10.033] 106-14/352 : 
+befor : 379.000000  366.000000  after : 379.415100  366.019836   TRUE 0.172702
+[13:21:10.033] 106-15/352 : 
+befor : 414.000000  362.000000  after : 414.550232  362.159607   TRUE 0.328230
+[13:21:10.033] 106-16/352 : 
+befor : 364.000000  422.000000  after : 346.619110  450.653839   TRUE 1123.137829
+[13:21:10.033] 106-17/352 : 
+befor : 102.000000  452.000000  after : 93.677261  446.846680   TRUE 95.824689
+[13:21:10.033] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:12 ,distance between ekf and vo x:0.007723 ,z=0.003669,angle between two frames:0.008580
+[13:21:10.033] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =10 	 error init =2.768095 	 error end=0.332900
+[13:21:10.033] After pose optimization, distance between ekf and vo x:12.675086 ,z=77.432763,angle between two frames:1.111705
+[13:21:10.033] frame process finished the id is: 98 the obs is:11 
+[13:21:10.089] Odometry x=0.111752, y=0.401915, theta=-0.024939
+[13:21:10.117] 107-1/352 : 
+befor : 322.000000  11.000000  after : 323.728577  9.263735   FALSE 6.002594
+befor : 322.000000  11.000000  after : 321.223938  11.315277   FALSE 0.701672
+befor : 323.000000  10.000000  after : 328.145233  0.789455   FALSE 111.307556
+befor : 312.000000  22.000000  after : 312.373749  22.331764   TRUE 0.249756
+[13:21:10.117] 107-2/352 : 
+befor : 282.000000  70.000000  after : 282.035675  69.964058   TRUE 0.002565
+[13:21:10.117] 107-3/352 : 
+befor : 252.000000  123.000000  after : 252.360641  123.238670   TRUE 0.187026
+[13:21:10.117] 107-4/352 : 
+befor : 260.000000  212.000000  after : 264.154877  212.173889   TRUE 17.293238
+[13:21:10.117] 107-5/352 : 
+befor : 200.000000  268.000000  after : 199.404480  269.723511   FALSE 3.325133
+[13:21:10.118] 107-6/352 : 
+befor : 140.000000  296.000000  after : 134.090088  293.500244   FALSE 41.175840
+[13:21:10.118] 107-7/352 : 
+befor : 219.000000  273.000000  after : 216.012924  277.840149   FALSE 32.349663
+[13:21:10.118] 107-8/352 : 
+befor : 250.000000  274.000000  after : 272.045654  258.028442   FALSE 741.101526
+[13:21:10.118] 107-9/352 : 
+befor : 376.000000  372.000000  after : 365.420258  364.351532   TRUE 170.430013
+[13:21:10.118] 107-10/352 : 
+befor : 304.000000  400.000000  after : 304.144592  400.167145   FALSE 0.048844
+[13:21:10.118] 107-11/352 : 
+befor : 188.000000  440.000000  after : 191.138748  445.310089   TRUE 38.048786
+[13:21:10.118] 107-12/352 : 
+befor : 236.000000  428.000000  after : 230.131958  436.181702   FALSE 101.374159
+[13:21:10.118] 107-13/352 : 
+befor : 396.000000  448.000000  after : 397.489624  447.047607   TRUE 3.126031
+[13:21:10.118] 107-14/352 : 
+befor : 86.000000  466.000000  after : 94.873428  467.576996   TRUE 81.224646
+[13:21:10.118] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:8 ,distance between ekf and vo x:0.001898 ,z=0.001244,angle between two frames:0.002251
+[13:21:10.118] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.426007 	 error end=0.419369
+[13:21:10.118] After pose optimization, distance between ekf and vo x:0.056252 ,z=-0.137866,angle between two frames:0.004847
+[13:21:10.118] frame process finished the id is: 98 the obs is:11 
+[13:21:10.192] Odometry x=0.111813, y=0.407272, theta=-0.025533
+[13:21:10.214] 108-1/352 : 
+befor : 311.000000  25.000000  after : 312.287415  23.242359   FALSE 4.746738
+befor : 321.000000  10.000000  after : 324.677032  3.487187   FALSE 55.937305
+[13:21:10.214] 108-2/352 : 
+befor : 299.000000  43.000000  after : 300.437347  40.603317   FALSE 7.810056
+[13:21:10.214] 108-3/352 : 
+befor : 306.000000  32.000000  after : 306.387970  31.933868   FALSE 0.154894
+[13:21:10.214] 108-4/352 : 
+befor : 220.000000  116.000000  after : 220.231735  115.363533   FALSE 0.458791
+[13:21:10.214] 108-5/352 : 
+befor : 254.000000  119.000000  after : 244.167664  133.892609   FALSE 318.464632
+befor : 252.000000  118.000000  after : 258.730835  132.411423   FALSE 252.993244
+[13:21:10.214] 108-6/352 : 
+befor : 260.000000  123.000000  after : 260.238373  123.223282   TRUE 0.106676
+[13:21:10.215] 108-7/352 : 
+befor : 262.000000  214.000000  after : 247.329544  229.996887   FALSE 471.122678
+[13:21:10.215] 108-8/352 : 
+befor : 202.000000  240.000000  after : 204.732803  237.804886   FALSE 12.286740
+befor : 200.000000  240.000000  after : 200.385590  240.009964   TRUE 0.148779
+[13:21:10.215] 108-9/352 : 
+befor : 260.000000  268.000000  after : 226.873734  238.309265   TRUE 1978.889268
+[13:21:10.215] 108-10/352 : 
+befor : 241.000000  270.000000  after : 240.566498  269.779541   TRUE 0.236526
+[13:21:10.215] 108-11/352 : 
+befor : 412.000000  366.000000  after : 413.377472  366.492249   TRUE 2.139738
+[13:21:10.215] 108-12/352 : 
+befor : 376.000000  414.000000  after : 378.318176  414.265533   TRUE 5.444449
+[13:21:10.215] 108-13/352 : 
+befor : 186.000000  438.000000  after : 186.862442  437.936127   TRUE 0.747886
+[13:21:10.215] 108-14/352 : 
+befor : 399.000000  447.000000  after : 418.254700  434.880280   FALSE 517.631085
+[13:21:10.215] 108-15/352 : 
+befor : 90.000000  456.000000  after : 89.286354  458.276184   FALSE 5.690304
+[13:21:10.215] After Reprojection Map nPoint:20 ,nCell:18 ,nMatches:7 ,distance between ekf and vo x:0.001791 ,z=0.001392,angle between two frames:0.002218
+[13:21:10.215] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.403808 	 error end=0.403808
+[13:21:10.215] After pose optimization, distance between ekf and vo x:0.001791 ,z=0.001392,angle between two frames:0.002218
+[13:21:10.215] frame process finished the id is: 98 the obs is:11 
+[13:21:10.290] Odometry x=0.109344, y=0.412844, theta=-0.035913
+[13:21:10.319] 109-1/352 : 
+befor : 140.000000  6.000000  after : 146.709839  -3.854905   FALSE 142.141093
+[13:21:10.319] 109-2/352 : 
+befor : 321.000000  9.000000  after : 323.520935  5.795842   FALSE 16.621741
+befor : 321.000000  9.000000  after : 320.525726  8.833129   TRUE 0.252781
+[13:21:10.320] 109-3/352 : 
+befor : 252.000000  118.000000  after : 241.327469  134.249252   FALSE 377.941122
+[13:21:10.320] 109-4/352 : 
+befor : 259.000000  123.000000  after : 259.281219  123.225281   TRUE 0.129836
+[13:21:10.320] 109-5/352 : 
+befor : 200.000000  236.000000  after : 199.342117  232.354141   TRUE 13.725096
+[13:21:10.320] 109-6/352 : 
+befor : 260.000000  268.000000  after : 258.301086  272.119507   FALSE 19.856644
+[13:21:10.320] 109-7/352 : 
+befor : 136.000000  288.000000  after : 136.629623  292.821747   TRUE 23.645668
+[13:21:10.320] 109-8/352 : 
+befor : 239.000000  270.000000  after : 242.322952  272.203491   FALSE 15.897385
+befor : 239.000000  270.000000  after : 239.000000  270.000000   FALSE 0.000000
+[13:21:10.320] 109-9/352 : 
+befor : 256.000000  272.000000  after : 255.278473  275.186493   TRUE 10.674338
+[13:21:10.320] 109-10/352 : 
+befor : 336.000000  328.000000  after : 333.813934  328.741364   TRUE 5.328503
+[13:21:10.320] 109-11/352 : 
+befor : 48.000000  388.000000  after : 47.953751  389.201935   FALSE 1.446786
+[13:21:10.320] 109-12/352 : 
+befor : 294.000000  389.000000  after : 309.052032  376.887451   FALSE 373.277521
+[13:21:10.320] 109-13/352 : 
+befor : 157.000000  403.000000  after : 160.962830  412.248566   FALSE 101.239985
+[13:21:10.320] 109-14/352 : 
+befor : 300.000000  396.000000  after : 300.219482  395.404510   TRUE 0.402780
+[13:21:10.320] 109-15/352 : 
+befor : 370.000000  412.000000  after : 372.928345  412.113953   TRUE 8.588188
+[13:21:10.320] 109-16/352 : 
+befor : 78.000000  452.000000  after : 78.795685  452.059418   TRUE 0.636645
+[13:21:10.320] 109-17/352 : 
+befor : 370.000000  458.000000  after : 370.483521  458.535095   FALSE 0.520119
+[13:21:10.320] After Reprojection Map nPoint:23 ,nCell:19 ,nMatches:9 ,distance between ekf and vo x:0.001383 ,z=0.000994,angle between two frames:0.001366
+[13:21:10.320] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.632126 	 error end=0.348342
+[13:21:10.320] After pose optimization, distance between ekf and vo x:-0.021262 ,z=-0.206138,angle between two frames:0.098089
+[13:21:10.320] frame process finished the id is: 98 the obs is:11 
+[13:21:10.392] Odometry x=0.109567, y=0.418122, theta=-0.030329
+[13:21:10.421] 110-1/352 : 
+befor : 316.000000  14.000000  after : 316.463318  14.268623   FALSE 0.286822
+[13:21:10.421] 110-2/352 : 
+befor : 326.000000  36.000000  after : 327.428711  36.163261   TRUE 2.067869
+[13:21:10.421] 110-3/352 : 
+befor : 248.000000  116.000000  after : 247.772003  115.998085   TRUE 0.051986
+[13:21:10.421] 110-4/352 : 
+befor : 257.000000  123.000000  after : 257.427063  123.192390   TRUE 0.219397
+[13:21:10.421] 110-5/352 : 
+befor : 184.000000  156.000000  after : 181.452316  157.806412   TRUE 9.753816
+[13:21:10.421] 110-6/352 : 
+befor : 300.000000  180.000000  after : 303.158844  180.005753   TRUE 9.978328
+[13:21:10.421] 110-7/352 : 
+befor : 196.000000  240.000000  after : 189.783432  248.876709   FALSE 117.441680
+[13:21:10.422] 110-8/352 : 
+befor : 238.000000  269.000000  after : 240.768539  272.772980   FALSE 21.900187
+[13:21:10.422] 110-9/352 : 
+befor : 252.000000  268.000000  after : 254.118088  279.303802   TRUE 132.262247
+[13:21:10.422] 110-10/352 : 
+befor : 313.000000  316.000000  after : 312.677704  314.302338   TRUE 2.985932
+[13:21:10.422] 110-11/352 : 
+befor : 334.000000  329.000000  after : 336.131042  327.711273   TRUE 6.202159
+[13:21:10.422] 110-12/352 : 
+befor : 318.000000  341.000000  after : 306.965149  332.274780   TRUE 197.897398
+[13:21:10.422] 110-13/352 : 
+befor : 314.000000  364.000000  after : 301.002899  363.900055   TRUE 168.934619
+[13:21:10.422] 110-14/352 : 
+befor : 374.000000  418.000000  after : 375.250885  416.627960   FALSE 3.447207
+befor : 371.000000  413.000000  after : 363.412476  420.042999   FALSE 107.174365
+[13:21:10.422] 110-15/352 : 
+befor : 174.000000  444.000000  after : 210.805984  413.287567   FALSE 2297.934027
+befor : 174.000000  444.000000  after : 178.186783  446.094604   FALSE 21.916519
+[13:21:10.422] 110-16/352 : 
+befor : 370.000000  448.000000  after : 360.441467  461.719055   TRUE 279.578023
+[13:21:10.422] 110-17/352 : 
+befor : 410.000000  464.000000  after : 410.000000  464.000000   FALSE 0.000000
+[13:21:10.422] After Reprojection Map nPoint:21 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:0.004375 ,z=0.002599,angle between two frames:0.004936
+[13:21:10.422] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =11 	 error init =0.476688 	 error end=0.220825
+[13:21:10.422] After pose optimization, distance between ekf and vo x:-0.177338 ,z=1.092003,angle between two frames:0.252817
+[13:21:10.422] frame process finished the id is: 98 the obs is:11 
+[13:21:10.490] Odometry x=0.109624, y=0.426591, theta=-0.036583
+[13:21:10.522] 111-1/352 : 
+befor : 304.000000  26.000000  after : 306.321289  21.232933   FALSE 28.113310
+[13:21:10.522] 111-2/352 : 
+befor : 297.000000  39.000000  after : 296.884918  39.600666   TRUE 0.374044
+[13:21:10.522] 111-3/352 : 
+befor : 324.000000  35.000000  after : 327.446960  34.813431   TRUE 11.916344
+[13:21:10.522] 111-4/352 : 
+befor : 246.000000  118.000000  after : 258.388580  143.442932   TRUE 800.819718
+[13:21:10.522] 111-5/352 : 
+befor : 204.000000  129.000000  after : 203.899246  128.950333   TRUE 0.012618
+[13:21:10.522] 111-6/352 : 
+befor : 250.000000  121.000000  after : 236.698853  139.124847   FALSE 505.430617
+[13:21:10.522] 111-7/352 : 
+befor : 257.000000  209.000000  after : 257.000000  209.000000   FALSE 0.000000
+[13:21:10.522] 111-8/352 : 
+befor : 256.000000  268.000000  after : 220.899643  238.066925   TRUE 2128.024041
+[13:21:10.522] 111-9/352 : 
+befor : 132.000000  288.000000  after : 132.126572  291.458374   TRUE 11.976371
+[13:21:10.522] 111-10/352 : 
+befor : 236.000000  270.000000  after : 234.172318  273.678497   FALSE 16.871766
+[13:21:10.522] 111-11/352 : 
+befor : 317.000000  341.000000  after : 330.564148  327.726715   TRUE 360.166202
+[13:21:10.522] 111-12/352 : 
+befor : 36.000000  388.000000  after : 31.564556  386.304901   FALSE 22.546523
+[13:21:10.522] 111-13/352 : 
+befor : 408.000000  364.000000  after : 397.829468  377.477325   TRUE 285.078027
+[13:21:10.522] 111-14/352 : 
+befor : 266.000000  406.000000  after : 266.297913  408.395142   TRUE 5.825455
+[13:21:10.522] 111-15/352 : 
+befor : 270.000000  413.000000  after : 270.606354  412.616302   TRUE 0.514889
+[13:21:10.522] 111-16/352 : 
+befor : 300.000000  396.000000  after : 297.693024  398.861969   FALSE 13.513006
+befor : 315.000000  391.000000  after : 314.983063  391.727417   TRUE 0.529422
+[13:21:10.522] 111-17/352 : 
+befor : 223.000000  430.000000  after : 221.968857  432.281799   FALSE 6.269864
+[13:21:10.522] 111-18/352 : 
+befor : 60.000000  458.000000  after : 60.783501  457.888824   TRUE 0.626233
+[13:21:10.522] 111-19/352 : 
+befor : 408.000000  466.000000  after : 406.802612  467.393066   TRUE 3.374371
+[13:21:10.522] After Reprojection Map nPoint:22 ,nCell:20 ,nMatches:13 ,distance between ekf and vo x:0.004882 ,z=0.001513,angle between two frames:0.004904
+[13:21:10.522] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.447777 	 error end=0.399013
+[13:21:10.522] After pose optimization, distance between ekf and vo x:0.111430 ,z=0.528258,angle between two frames:0.006263
+[13:21:10.522] frame process finished the id is: 98 the obs is:11 
+[13:21:10.589] Odometry x=0.109742, y=0.432449, theta=-0.035045
+[13:21:10.607] 112-1/352 : 
+befor : 130.000000  12.000000  after : 125.810623  13.177367   TRUE 18.937072
+[13:21:10.607] 112-2/352 : 
+befor : 317.000000  7.000000  after : 319.241272  1.377171   FALSE 36.639506
+[13:21:10.607] 112-3/352 : 
+befor : 280.000000  56.000000  after : 280.588165  55.725029   TRUE 0.421547
+[13:21:10.607] 112-4/352 : 
+befor : 322.000000  35.000000  after : 324.422760  31.496101   FALSE 18.147072
+befor : 322.000000  35.000000  after : 325.524933  34.187183   TRUE 13.085823
+[13:21:10.607] 112-5/352 : 
+befor : 200.000000  64.000000  after : 191.665024  58.902210   FALSE 95.459289
+[13:21:10.607] 112-6/352 : 
+befor : 236.000000  116.000000  after : 236.532990  116.039574   FALSE 0.285644
+befor : 236.000000  112.000000  after : 235.824905  111.716324   TRUE 0.111130
+[13:21:10.607] 112-7/352 : 
+befor : 249.000000  119.000000  after : 249.433395  119.182922   TRUE 0.221292
+[13:21:10.607] 112-8/352 : 
+befor : 252.000000  124.000000  after : 252.120834  123.918037   TRUE 0.021319
+[13:21:10.607] 112-9/352 : 
+befor : 259.000000  205.000000  after : 265.217438  199.374680   TRUE 70.300762
+[13:21:10.607] 112-10/352 : 
+befor : 233.000000  269.000000  after : 236.423721  272.452118   FALSE 23.638986
+[13:21:10.607] 112-11/352 : 
+befor : 307.000000  318.000000  after : 307.164734  316.892487   TRUE 1.253723
+[13:21:10.607] 112-12/352 : 
+befor : 404.000000  368.000000  after : 418.379913  379.005859   TRUE 327.910848
+[13:21:10.607] 112-13/352 : 
+befor : 264.000000  406.000000  after : 263.064880  406.470459   FALSE 1.095780
+[13:21:10.607] 112-14/352 : 
+befor : 50.000000  454.000000  after : 40.248714  456.532318   FALSE 101.500205
+[13:21:10.607] After Reprojection Map nPoint:19 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:0.000104 ,z=0.000219,angle between two frames:0.000151
+[13:21:10.607] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.372025 	 error end=0.270747
+[13:21:10.607] After pose optimization, distance between ekf and vo x:-0.029138 ,z=0.467021,angle between two frames:0.352902
+[13:21:10.607] frame process finished the id is: 98 the obs is:11 
+[13:21:10.688] Odometry x=0.109457, y=0.438494, theta=-0.031800
+[13:21:10.715] 113-1/352 : 
+befor : 308.000000  14.000000  after : 307.566193  14.719355   FALSE 0.705660
+befor : 308.000000  14.000000  after : 309.516998  13.677961   TRUE 2.404993
+[13:21:10.715] 113-2/352 : 
+befor : 318.000000  40.000000  after : 322.448578  39.571754   TRUE 19.973239
+[13:21:10.715] 113-3/352 : 
+befor : 276.000000  67.000000  after : 279.030853  63.625557   FALSE 20.572937
+[13:21:10.715] 113-4/352 : 
+befor : 100.000000  100.000000  after : 100.487984  100.135536   TRUE 0.256498
+[13:21:10.715] 113-5/352 : 
+befor : 238.000000  113.000000  after : 221.666504  136.228699   FALSE 806.355539
+[13:21:10.715] 113-6/352 : 
+befor : 252.000000  123.000000  after : 252.298187  123.151886   TRUE 0.111985
+[13:21:10.715] 113-7/352 : 
+befor : 259.000000  205.000000  after : 241.633850  185.889450   TRUE 666.796281
+[13:21:10.715] 113-8/352 : 
+befor : 252.000000  220.000000  after : 252.169601  219.958771   TRUE 0.030464
+[13:21:10.715] 113-9/352 : 
+befor : 188.000000  260.000000  after : 181.299423  258.191162   TRUE 48.169624
+[13:21:10.715] 113-10/352 : 
+befor : 240.000000  276.000000  after : 206.039429  310.702026   FALSE 2357.551036
+[13:21:10.715] 113-11/352 : 
+befor : 369.000000  373.000000  after : 369.000000  373.000000   FALSE 0.000000
+befor : 368.000000  372.000000  after : 367.204620  372.184387   TRUE 0.666627
+[13:21:10.715] 113-12/352 : 
+befor : 404.000000  368.000000  after : 409.082855  369.729309   TRUE 28.825927
+[13:21:10.715] 113-13/352 : 
+befor : 316.000000  396.000000  after : 323.670013  406.946564   TRUE 178.656363
+[13:21:10.715] 113-14/352 : 
+befor : 350.000000  413.000000  after : 349.333191  412.254669   TRUE 1.000152
+[13:21:10.715] 113-15/352 : 
+befor : 364.000000  414.000000  after : 362.363708  413.454498   TRUE 2.975022
+[13:21:10.715] 113-16/352 : 
+befor : 48.000000  428.000000  after : 44.866066  432.095001   FALSE 26.590577
+[13:21:10.715] 113-17/352 : 
+befor : 154.000000  444.000000  after : 155.875732  443.564819   TRUE 3.707754
+[13:21:10.715] After Reprojection Map nPoint:22 ,nCell:19 ,nMatches:13 ,distance between ekf and vo x:0.001028 ,z=0.000205,angle between two frames:0.000893
+[13:21:10.715] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.405563 	 error end=0.309528
+[13:21:10.715] After pose optimization, distance between ekf and vo x:0.096127 ,z=-0.385167,angle between two frames:0.017259
+[13:21:10.715] Update EKF and 3D points the number of feature in the new frame: 13 and number of obs: 13
+[13:21:10.715] Choose frame as a key frame Scene Depth mean:0.259262 ,depth min:-0.616945
+[13:21:10.715] frame process finished the id is: 113 the obs is:13 
+[13:21:10.790] Odometry x=0.200431, y=0.075216, theta=-0.047614
+[13:21:10.807] 114-1/352 : 
+befor : 301.000000  22.000000  after : 300.966278  21.647102   TRUE 0.125674
+[13:21:10.807] 114-2/352 : 
+befor : 312.000000  42.000000  after : 313.272156  40.258236   TRUE 4.652122
+[13:21:10.807] 114-3/352 : 
+befor : 192.000000  60.000000  after : 192.282715  60.259449   TRUE 0.147241
+[13:21:10.807] 114-4/352 : 
+befor : 238.000000  116.000000  after : 237.909119  116.559334   FALSE 0.321114
+befor : 232.000000  112.000000  after : 228.872284  117.661186   FALSE 41.831637
+[13:21:10.807] 114-5/352 : 
+befor : 249.000000  121.000000  after : 248.852020  121.021095   TRUE 0.022343
+[13:21:10.807] 114-6/352 : 
+befor : 249.000000  205.000000  after : 251.305054  203.304993   TRUE 8.186322
+[13:21:10.807] 114-7/352 : 
+befor : 184.000000  232.000000  after : 186.154846  228.212891   FALSE 18.985560
+[13:21:10.807] 114-8/352 : 
+befor : 248.000000  220.000000  after : 248.508118  220.278046   TRUE 0.335493
+[13:21:10.807] 114-9/352 : 
+befor : 297.000000  326.000000  after : 296.660461  325.798798   TRUE 0.155769
+[13:21:10.807] 114-10/352 : 
+befor : 301.000000  314.000000  after : 317.147705  302.684937   TRUE 388.779041
+[13:21:10.807] 114-11/352 : 
+befor : 306.000000  339.000000  after : 307.796204  336.449280   TRUE 9.732521
+[13:21:10.807] 114-12/352 : 
+befor : 220.000000  412.000000  after : 221.282104  415.146973   FALSE 11.547229
+[13:21:10.807] 114-13/352 : 
+befor : 352.000000  407.000000  after : 352.000000  407.000000   FALSE 0.000000
+[13:21:10.807] 114-14/352 : 
+befor : 208.000000  426.000000  after : 207.644440  428.844452   TRUE 8.217330
+[13:21:10.807] After Reprojection Map nPoint:20 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:-0.000086 ,z=0.000123,angle between two frames:0.000024
+[13:21:10.807] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.299717 	 error end=0.299717
+[13:21:10.807] After pose optimization, distance between ekf and vo x:-0.000086 ,z=0.000123,angle between two frames:0.000024
+[13:21:10.807] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[13:21:10.807] frame process finished the id is: 114 the obs is:10 
+[13:21:10.887] Odometry x=0.200050, y=0.061710, theta=-0.047542
+[13:21:10.916] 115-1/352 : 
+befor : 301.000000  16.000000  after : 301.456543  16.162394   TRUE 0.234803
+[13:21:10.916] 115-2/352 : 
+befor : 278.000000  50.000000  after : 277.474792  51.442741   FALSE 2.357346
+befor : 278.000000  48.000000  after : 277.900574  51.014374   FALSE 9.096335
+[13:21:10.916] 115-3/352 : 
+befor : 192.000000  60.000000  after : 192.262283  60.248554   TRUE 0.130572
+[13:21:10.916] 115-4/352 : 
+befor : 243.000000  114.000000  after : 242.951950  114.127274   TRUE 0.018507
+[13:21:10.917] 115-5/352 : 
+befor : 244.000000  120.000000  after : 244.923096  124.996689   FALSE 25.819005
+[13:21:10.917] 115-6/352 : 
+befor : 250.000000  204.000000  after : 252.820663  199.567017   TRUE 27.607484
+[13:21:10.917] 115-7/352 : 
+befor : 204.000000  268.000000  after : 204.375473  268.225677   TRUE 0.191910
+[13:21:10.917] 115-8/352 : 
+befor : 244.000000  264.000000  after : 243.560684  263.586456   TRUE 0.364017
+[13:21:10.917] 115-9/352 : 
+befor : 226.000000  296.000000  after : 227.189590  295.326202   FALSE 1.869129
+befor : 226.000000  296.000000  after : 224.132095  300.089508   FALSE 20.213144
+[13:21:10.917] 115-10/352 : 
+befor : 302.000000  316.000000  after : 306.123474  323.176392   FALSE 68.503635
+[13:21:10.917] 115-11/352 : 
+befor : 402.000000  368.000000  after : 402.774811  370.040039   FALSE 4.762091
+[13:21:10.917] 115-12/352 : 
+befor : 361.000000  416.000000  after : 361.859253  416.320435   TRUE 0.840994
+[13:21:10.917] 115-13/352 : 
+befor : 142.000000  442.000000  after : 160.567596  428.101532   TRUE 537.923051
+[13:21:10.917] After Reprojection Map nPoint:20 ,nCell:15 ,nMatches:8 ,distance between ekf and vo x:0.000036 ,z=0.001463,angle between two frames:0.000073
+[13:21:10.917] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.455936 	 error end=0.449159
+[13:21:10.917] After pose optimization, distance between ekf and vo x:-0.008367 ,z=0.037217,angle between two frames:0.005114
+[13:21:10.917] frame process finished the id is: 114 the obs is:10 
+[13:21:10.991] Odometry x=0.200367, y=0.070480, theta=-0.055993
+[13:21:11.013] 116-1/352 : 
+befor : 308.000000  8.000000  after : 308.484589  8.012428   TRUE 0.234981
+[13:21:11.013] 116-2/352 : 
+befor : 290.000000  32.000000  after : 290.604919  34.279034   TRUE 5.559922
+[13:21:11.013] 116-3/352 : 
+befor : 243.000000  116.000000  after : 242.869934  116.139549   TRUE 0.036391
+[13:21:11.013] 116-4/352 : 
+befor : 196.000000  120.000000  after : 195.648636  120.084648   TRUE 0.130622
+[13:21:11.013] 116-5/352 : 
+befor : 243.000000  199.000000  after : 244.050873  200.600006   TRUE 3.664353
+[13:21:11.013] 116-6/352 : 
+befor : 184.000000  256.000000  after : 184.167770  256.233948   TRUE 0.082878
+[13:21:11.013] 116-7/352 : 
+befor : 225.000000  265.000000  after : 229.838287  263.246826   FALSE 26.482643
+befor : 224.000000  266.000000  after : 224.087341  268.526398   TRUE 6.390314
+[13:21:11.013] 116-8/352 : 
+befor : 299.000000  315.000000  after : 319.458832  297.621552   TRUE 720.574270
+[13:21:11.013] 116-9/352 : 
+befor : 300.000000  325.000000  after : 300.756897  325.329834   TRUE 0.681683
+[13:21:11.013] 116-10/352 : 
+befor : 304.000000  336.000000  after : 300.393219  342.053925   FALSE 49.658872
+befor : 305.000000  338.000000  after : 305.000000  338.000000   FALSE 0.000000
+befor : 307.000000  336.000000  after : 306.775330  336.847076   TRUE 0.768015
+[13:21:11.013] 116-11/352 : 
+befor : 92.000000  400.000000  after : 93.557793  401.724060   FALSE 5.399101
+[13:21:11.013] 116-12/352 : 
+befor : 185.000000  418.000000  after : 184.834183  417.964691   TRUE 0.028742
+[13:21:11.013] 116-13/352 : 
+befor : 288.000000  392.000000  after : 289.700073  395.883698   FALSE 17.973355
+[13:21:11.013] 116-14/352 : 
+befor : 308.000000  396.000000  after : 308.626770  399.690857   FALSE 14.015266
+[13:21:11.013] 116-15/352 : 
+befor : 351.000000  405.000000  after : 350.944305  405.763885   TRUE 0.586623
+[13:21:11.013] After Reprojection Map nPoint:23 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000057 ,z=0.000640,angle between two frames:0.000005
+[13:21:11.013] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.345140 	 error end=0.345121
+[13:21:11.013] After pose optimization, distance between ekf and vo x:-0.000890 ,z=0.004031,angle between two frames:0.000426
+[13:21:11.013] frame process finished the id is: 114 the obs is:10 
+[13:21:11.090] Odometry x=0.204933, y=0.060705, theta=-0.034961
+[13:21:11.110] 117-1/352 : 
+befor : 188.000000  56.000000  after : 188.231644  56.232620   TRUE 0.107771
+[13:21:11.110] 117-2/352 : 
+befor : 274.000000  52.000000  after : 273.988037  53.939529   FALSE 3.761917
+[13:21:11.110] 117-3/352 : 
+befor : 241.000000  111.000000  after : 240.852768  111.137032   TRUE 0.040455
+[13:21:11.110] 117-4/352 : 
+befor : 172.000000  148.000000  after : 174.435959  150.061493   TRUE 10.183649
+[13:21:11.110] 117-5/352 : 
+befor : 244.000000  120.000000  after : 243.089584  122.280365   FALSE 6.028921
+[13:21:11.110] 117-6/352 : 
+befor : 249.000000  203.000000  after : 251.219681  202.696030   TRUE 5.019381
+[13:21:11.110] 117-7/352 : 
+befor : 248.000000  216.000000  after : 248.301041  216.296356   TRUE 0.178452
+[13:21:11.110] 117-8/352 : 
+befor : 184.000000  256.000000  after : 184.693832  257.964203   FALSE 4.339496
+befor : 184.000000  256.000000  after : 185.112411  252.277634   TRUE 15.093470
+[13:21:11.110] 117-9/352 : 
+befor : 227.000000  265.000000  after : 223.811523  272.311951   FALSE 63.631006
+[13:21:11.110] 117-10/352 : 
+befor : 323.000000  247.000000  after : 318.426361  255.712692   TRUE 96.829179
+[13:21:11.110] 117-11/352 : 
+befor : 303.000000  320.000000  after : 305.828583  327.542725   TRUE 64.893575
+[13:21:11.110] 117-12/352 : 
+befor : 320.000000  330.000000  after : 320.295532  330.096161   TRUE 0.096586
+[13:21:11.110] 117-13/352 : 
+befor : 365.000000  373.000000  after : 359.557556  379.667450   TRUE 74.075084
+[13:21:11.110] 117-14/352 : 
+befor : 402.000000  368.000000  after : 402.606171  369.971039   FALSE 4.252437
+befor : 400.000000  364.000000  after : 401.315796  369.422791   TRUE 31.137976
+[13:21:11.111] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000072 ,z=0.000135,angle between two frames:0.000022
+[13:21:11.111] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.413107 	 error end=0.407309
+[13:21:11.111] After pose optimization, distance between ekf and vo x:-0.022287 ,z=0.059884,angle between two frames:0.016297
+[13:21:11.111] frame process finished the id is: 114 the obs is:10 
+[13:21:11.192] Odometry x=0.206752, y=0.068506, theta=-0.042101
+[13:21:11.236] 118-1/352 : 
+befor : 294.000000  28.000000  after : 293.506927  28.120100   TRUE 0.257545
+[13:21:11.236] 118-2/352 : 
+befor : 314.000000  35.000000  after : 324.292328  26.235598   FALSE 182.746762
+[13:21:11.236] 118-3/352 : 
+befor : 102.000000  66.000000  after : 97.918411  70.670082   TRUE 38.469033
+[13:21:11.236] 118-4/352 : 
+befor : 228.000000  108.000000  after : 231.600082  117.618050   FALSE 105.467472
+[13:21:11.236] 118-5/352 : 
+befor : 248.000000  118.000000  after : 247.734116  118.034668   TRUE 0.071896
+[13:21:11.236] 118-6/352 : 
+befor : 244.000000  120.000000  after : 244.348129  120.278175   TRUE 0.198576
+[13:21:11.236] 118-7/352 : 
+befor : 172.000000  152.000000  after : 171.371353  152.738541   TRUE 0.940639
+[13:21:11.236] 118-8/352 : 
+befor : 248.000000  209.000000  after : 248.000000  209.000000   FALSE 0.000000
+[13:21:11.236] 118-9/352 : 
+befor : 248.000000  216.000000  after : 254.588974  221.552536   FALSE 74.245235
+befor : 248.000000  216.000000  after : 242.706589  222.573822   FALSE 71.235339
+befor : 251.000000  218.000000  after : 250.796997  218.871262   TRUE 0.800307
+[13:21:11.236] 118-10/352 : 
+befor : 244.000000  260.000000  after : 244.671036  260.629242   TRUE 0.846234
+[13:21:11.236] 118-11/352 : 
+befor : 297.000000  325.000000  after : 294.618835  325.107697   TRUE 5.681543
+[13:21:11.236] 118-12/352 : 
+befor : 301.000000  314.000000  after : 299.625122  314.959686   TRUE 2.811287
+[13:21:11.236] 118-13/352 : 
+befor : 306.000000  338.000000  after : 306.033752  338.881378   TRUE 0.777967
+[13:21:11.236] 118-14/352 : 
+befor : 404.000000  360.000000  after : 410.370392  347.270660   FALSE 202.617979
+[13:21:11.236] 118-15/352 : 
+befor : 308.000000  392.000000  after : 302.457489  402.324951   FALSE 137.324045
+[13:21:11.236] 118-16/352 : 
+befor : 354.000000  406.000000  after : 353.426270  407.370514   TRUE 2.207475
+[13:21:11.236] 118-17/352 : 
+befor : 360.000000  412.000000  after : 358.996307  413.267761   TRUE 2.614617
+[13:21:11.236] 118-18/352 : 
+befor : 344.000000  432.000000  after : 343.711609  436.561096   TRUE 20.886768
+[13:21:11.236] 118-19/352 : 
+befor : 126.000000  452.000000  after : 127.142349  456.707977   TRUE 23.470012
+[13:21:11.236] After Reprojection Map nPoint:24 ,nCell:21 ,nMatches:14 ,distance between ekf and vo x:-0.000570 ,z=0.001511,angle between two frames:0.000198
+[13:21:11.236] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.476334 	 error end=0.468655
+[13:21:11.236] After pose optimization, distance between ekf and vo x:-0.033905 ,z=0.108369,angle between two frames:0.014108
+[13:21:11.236] frame process finished the id is: 114 the obs is:10 
+[13:21:11.291] Odometry x=0.207255, y=0.074443, theta=-0.031633
+[13:21:11.310] 119-1/352 : 
+befor : 192.000000  52.000000  after : 192.240845  52.248634   TRUE 0.119825
+[13:21:11.310] 119-2/352 : 
+befor : 298.000000  60.000000  after : 315.285522  45.430252   FALSE 511.066841
+[13:21:11.310] 119-3/352 : 
+befor : 238.000000  110.000000  after : 239.748093  115.644493   FALSE 34.916130
+[13:21:11.310] 119-4/352 : 
+befor : 258.000000  125.000000  after : 257.544312  125.176353   TRUE 0.238753
+[13:21:11.310] 119-5/352 : 
+befor : 248.000000  216.000000  after : 246.270264  212.560913   FALSE 14.819307
+[13:21:11.310] 119-6/352 : 
+befor : 244.000000  264.000000  after : 244.539322  264.499146   TRUE 0.540014
+[13:21:11.310] 119-7/352 : 
+befor : 299.000000  314.000000  after : 299.000000  314.000000   FALSE 0.000000
+[13:21:11.310] 119-8/352 : 
+befor : 304.000000  315.000000  after : 302.834625  315.715607   TRUE 1.870191
+[13:21:11.310] 119-9/352 : 
+befor : 568.000000  328.000000  after : 570.194519  331.951447   FALSE 20.429844
+[13:21:11.310] 119-10/352 : 
+befor : 292.000000  372.000000  after : 298.710205  364.059601   TRUE 108.076791
+[13:21:11.310] 119-11/352 : 
+befor : 304.000000  364.000000  after : 311.819885  359.951843   TRUE 77.538178
+[13:21:11.310] 119-12/352 : 
+befor : 404.000000  364.000000  after : 409.153625  359.703705   FALSE 45.018008
+[13:21:11.310] 119-13/352 : 
+befor : 88.000000  404.000000  after : 88.738991  405.162537   FALSE 1.897599
+[13:21:11.310] 119-14/352 : 
+befor : 222.000000  417.000000  after : 217.979340  417.634369   TRUE 16.568134
+[13:21:11.310] 119-15/352 : 
+befor : 308.000000  391.000000  after : 312.317078  383.842133   FALSE 69.872225
+[13:21:11.310] 119-16/352 : 
+befor : 364.000000  412.000000  after : 356.842316  419.592255   TRUE 108.874775
+[13:21:11.310] 119-17/352 : 
+befor : 126.000000  446.000000  after : 127.519783  449.041504   FALSE 11.560486
+[13:21:11.310] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:8 ,distance between ekf and vo x:-0.000062 ,z=0.000130,angle between two frames:0.000019
+[13:21:11.311] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.375355 	 error end=0.329511
+[13:21:11.311] After pose optimization, distance between ekf and vo x:-0.106819 ,z=0.276016,angle between two frames:0.012261
+[13:21:11.311] frame process finished the id is: 114 the obs is:10 
+[13:21:11.388] Odometry x=0.208419, y=0.082058, theta=-0.044080
+[13:21:11.409] 120-1/352 : 
+befor : 307.000000  8.000000  after : 307.402649  7.743535   TRUE 0.227901
+[13:21:11.409] 120-2/352 : 
+befor : 276.000000  48.000000  after : 276.302216  47.996418   TRUE 0.091347
+[13:21:11.409] 120-3/352 : 
+befor : 236.000000  104.000000  after : 236.313477  104.282013   TRUE 0.177799
+[13:21:11.409] 120-4/352 : 
+befor : 252.000000  120.000000  after : 253.836166  124.765289   FALSE 26.079489
+[13:21:11.409] 120-5/352 : 
+befor : 256.000000  196.000000  after : 256.317108  196.409836   TRUE 0.268523
+[13:21:11.409] 120-6/352 : 
+befor : 253.000000  213.000000  after : 251.579941  217.121979   TRUE 19.007277
+[13:21:11.409] 120-7/352 : 
+befor : 248.000000  318.000000  after : 249.383438  321.054260   TRUE 11.242407
+[13:21:11.409] 120-8/352 : 
+befor : 304.000000  311.000000  after : 304.322632  310.873993   TRUE 0.119969
+[13:21:11.409] 120-9/352 : 
+befor : 310.000000  332.000000  after : 311.550354  331.431335   TRUE 2.726977
+[13:21:11.409] 120-10/352 : 
+befor : 283.000000  385.000000  after : 283.551514  385.316071   TRUE 0.404068
+[13:21:11.409] 120-11/352 : 
+befor : 404.000000  360.000000  after : 414.101501  344.540222   FALSE 341.045062
+befor : 408.000000  362.000000  after : 414.434723  357.292480   TRUE 63.566399
+[13:21:11.409] 120-12/352 : 
+befor : 88.000000  400.000000  after : 88.426529  400.892822   TRUE 0.979059
+[13:21:11.410] 120-13/352 : 
+befor : 316.000000  392.000000  after : 318.811829  396.234009   FALSE 25.833211
+[13:21:11.410] 120-14/352 : 
+befor : 366.000000  412.000000  after : 366.678497  412.316071   TRUE 0.560259
+[13:21:11.410] After Reprojection Map nPoint:23 ,nCell:15 ,nMatches:12 ,distance between ekf and vo x:-0.000095 ,z=0.000110,angle between two frames:0.000036
+[13:21:11.410] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.457434 	 error end=0.454932
+[13:21:11.410] After pose optimization, distance between ekf and vo x:-0.017545 ,z=0.056840,angle between two frames:0.010633
+[13:21:11.410] frame process finished the id is: 114 the obs is:10 
+[13:21:11.490] Odometry x=0.210424, y=0.094799, theta=-0.033382
+[13:21:11.514] 121-1/352 : 
+befor : 325.000000  24.000000  after : 326.857635  23.769236   TRUE 3.504062
+[13:21:11.514] 121-2/352 : 
+befor : 196.000000  56.000000  after : 196.207047  55.975792   TRUE 0.043454
+[13:21:11.514] 121-3/352 : 
+befor : 296.000000  31.000000  after : 297.135284  29.393776   FALSE 3.868826
+[13:21:11.514] 121-4/352 : 
+befor : 248.000000  111.000000  after : 248.338531  111.274803   TRUE 0.190120
+[13:21:11.514] 121-5/352 : 
+befor : 256.000000  120.000000  after : 257.336426  129.336914   FALSE 88.963998
+[13:21:11.514] 121-6/352 : 
+befor : 254.000000  199.000000  after : 255.850342  199.745972   TRUE 3.980239
+[13:21:11.514] 121-7/352 : 
+befor : 257.000000  215.000000  after : 257.464478  217.179871   TRUE 4.967575
+[13:21:11.514] 121-8/352 : 
+befor : 248.000000  268.000000  after : 250.600037  261.517578   TRUE 48.781984
+[13:21:11.514] 121-9/352 : 
+befor : 310.000000  319.000000  after : 312.012085  319.819366   TRUE 4.719847
+[13:21:11.514] 121-10/352 : 
+befor : 315.000000  337.000000  after : 312.968231  336.653229   TRUE 4.248335
+[13:21:11.515] 121-11/352 : 
+befor : 311.000000  388.000000  after : 311.000000  388.000000   FALSE 0.000000
+[13:21:11.515] 121-12/352 : 
+befor : 412.000000  366.000000  after : 412.470703  367.045593   FALSE 1.314827
+[13:21:11.515] 121-13/352 : 
+befor : 296.000000  396.000000  after : 293.081757  401.490082   FALSE 38.657143
+[13:21:11.515] 121-14/352 : 
+befor : 181.000000  420.000000  after : 180.820786  419.885956   TRUE 0.045124
+[13:21:11.515] After Reprojection Map nPoint:23 ,nCell:14 ,nMatches:9 ,distance between ekf and vo x:-0.000224 ,z=0.000987,angle between two frames:0.000035
+[13:21:11.515] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.365445 	 error end=0.365445
+[13:21:11.515] After pose optimization, distance between ekf and vo x:-0.000224 ,z=0.000987,angle between two frames:0.000035
+[13:21:11.515] frame process finished the id is: 114 the obs is:10 
+[13:21:11.588] Odometry x=0.211071, y=0.102200, theta=-0.039300
+[13:21:11.610] 122-1/352 : 
+befor : 303.000000  19.000000  after : 303.725708  16.977758   TRUE 4.616113
+[13:21:11.610] 122-2/352 : 
+befor : 111.000000  52.000000  after : 110.377312  53.633003   FALSE 3.054440
+[13:21:11.610] 122-3/352 : 
+befor : 204.000000  56.000000  after : 204.214020  56.301289   TRUE 0.136579
+[13:21:11.610] 122-4/352 : 
+befor : 257.000000  196.000000  after : 260.141815  197.195953   TRUE 11.301307
+[13:21:11.610] 122-5/352 : 
+befor : 258.000000  235.000000  after : 257.975311  235.053696   TRUE 0.003493
+[13:21:11.610] 122-6/352 : 
+befor : 212.000000  264.000000  after : 211.948578  265.159668   TRUE 1.347474
+[13:21:11.610] 122-7/352 : 
+befor : 308.000000  320.000000  after : 305.628113  324.200195   TRUE 23.267490
+[13:21:11.610] 122-8/352 : 
+befor : 334.000000  324.000000  after : 334.435303  323.783020   TRUE 0.236569
+[13:21:11.611] 122-9/352 : 
+befor : 319.000000  334.000000  after : 318.759583  334.136047   TRUE 0.076309
+[13:21:11.611] 122-10/352 : 
+befor : 416.000000  356.000000  after : 412.681702  348.850677   FALSE 62.123916
+[13:21:11.611] 122-11/352 : 
+befor : 414.000000  362.000000  after : 422.312866  347.372711   FALSE 283.061323
+befor : 416.000000  360.000000  after : 415.526245  362.540100   TRUE 6.676552
+[13:21:11.611] 122-12/352 : 
+befor : 374.000000  408.000000  after : 388.777405  389.175140   TRUE 572.747032
+[13:21:11.611] 122-13/352 : 
+befor : 396.000000  438.000000  after : 399.229492  440.934753   FALSE 19.042397
+befor : 396.000000  438.000000  after : 396.739166  438.327759   TRUE 0.653793
+[13:21:11.611] 122-14/352 : 
+befor : 112.000000  460.000000  after : 112.318848  459.960968   TRUE 0.103187
+[13:21:11.611] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:12 ,distance between ekf and vo x:-0.000076 ,z=0.000157,angle between two frames:0.000024
+[13:21:11.611] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.481706 	 error end=0.477743
+[13:21:11.611] After pose optimization, distance between ekf and vo x:-0.030448 ,z=0.073653,angle between two frames:0.011665
+[13:21:11.611] frame process finished the id is: 114 the obs is:10 
+[13:21:11.690] Odometry x=0.211085, y=0.109327, theta=-0.061299
+[13:21:11.713] 123-1/352 : 
+befor : 312.000000  10.000000  after : 311.224762  10.187119   TRUE 0.636008
+[13:21:11.713] 123-2/352 : 
+befor : 110.000000  60.000000  after : 110.075600  60.288658   TRUE 0.089039
+[13:21:11.713] 123-3/352 : 
+befor : 256.000000  116.000000  after : 256.175140  125.019356   FALSE 81.379453
+[13:21:11.713] 123-4/352 : 
+befor : 264.000000  122.000000  after : 259.992096  125.794952   FALSE 30.464959
+befor : 256.000000  120.000000  after : 255.911499  120.181190   FALSE 0.040662
+[13:21:11.713] 123-5/352 : 
+befor : 259.000000  198.000000  after : 263.062836  199.635391   TRUE 19.181138
+[13:21:11.713] 123-6/352 : 
+befor : 310.000000  310.000000  after : 305.134186  316.196686   FALSE 62.075063
+[13:21:11.713] 123-7/352 : 
+befor : 334.000000  324.000000  after : 334.371094  324.415710   TRUE 0.310526
+[13:21:11.713] 123-8/352 : 
+befor : 294.000000  387.000000  after : 293.733917  386.887238   TRUE 0.083515
+[13:21:11.713] 123-9/352 : 
+befor : 308.000000  368.000000  after : 309.271149  366.335785   TRUE 4.385431
+[13:21:11.713] 123-10/352 : 
+befor : 420.000000  364.000000  after : 423.811859  362.413025   TRUE 17.048760
+[13:21:11.713] 123-11/352 : 
+befor : 76.000000  400.000000  after : 76.721848  402.910828   FALSE 8.993981
+[13:21:11.713] 123-12/352 : 
+befor : 216.000000  412.000000  after : 218.681427  414.597046   FALSE 13.934698
+[13:21:11.713] 123-13/352 : 
+befor : 378.000000  414.000000  after : 384.615784  406.147491   TRUE 105.430484
+[13:21:11.713] 123-14/352 : 
+befor : 106.000000  462.000000  after : 106.283722  461.957794   TRUE 0.082279
+[13:21:11.713] After Reprojection Map nPoint:24 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000093 ,z=0.000572,angle between two frames:0.000027
+[13:21:11.713] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.468695 	 error end=0.450322
+[13:21:11.713] After pose optimization, distance between ekf and vo x:0.047564 ,z=0.220120,angle between two frames:0.088524
+[13:21:11.713] frame process finished the id is: 114 the obs is:10 
+[13:21:11.787] Odometry x=0.211327, y=0.114794, theta=-0.052952
+[13:21:11.816] 124-1/352 : 
+befor : 206.000000  52.000000  after : 206.109512  52.162361   TRUE 0.038354
+[13:21:11.816] 124-2/352 : 
+befor : 284.000000  46.000000  after : 284.163147  46.273682   TRUE 0.101519
+[13:21:11.816] 124-3/352 : 
+befor : 116.000000  80.000000  after : 116.272827  80.003128   TRUE 0.074444
+[13:21:11.816] 124-4/352 : 
+befor : 98.000000  94.000000  after : 93.417236  95.190788   FALSE 22.419700
+[13:21:11.816] 124-5/352 : 
+befor : 266.000000  117.000000  after : 255.940109  107.161179   FALSE 198.003809
+[13:21:11.816] 124-6/352 : 
+befor : 201.000000  145.000000  after : 202.762756  145.204956   TRUE 3.149317
+[13:21:11.816] 124-7/352 : 
+befor : 264.000000  120.000000  after : 266.586639  125.127586   FALSE 32.982845
+befor : 266.000000  120.000000  after : 265.007141  122.794205   FALSE 8.793349
+[13:21:11.816] 124-8/352 : 
+befor : 318.000000  322.000000  after : 318.702881  322.020264   TRUE 0.494452
+[13:21:11.816] 124-9/352 : 
+befor : 336.000000  324.000000  after : 333.932739  325.782043   TRUE 7.449246
+[13:21:11.816] 124-10/352 : 
+befor : 316.000000  358.000000  after : 317.732666  355.066467   FALSE 11.607746
+[13:21:11.816] 124-11/352 : 
+befor : 304.000000  368.000000  after : 304.524872  368.733948   TRUE 0.814170
+[13:21:11.816] 124-12/352 : 
+befor : 349.000000  369.000000  after : 369.983032  351.104919   FALSE 760.521550
+[13:21:11.816] 124-13/352 : 
+befor : 80.000000  404.000000  after : 72.775352  410.409668   TRUE 93.279375
+[13:21:11.816] 124-14/352 : 
+befor : 216.000000  412.000000  after : 221.456726  407.187897   FALSE 52.932197
+[13:21:11.816] 124-15/352 : 
+befor : 306.000000  394.000000  after : 306.940155  396.983643   FALSE 9.786015
+[13:21:11.816] 124-16/352 : 
+befor : 376.000000  408.000000  after : 376.000000  408.000000   FALSE 0.000000
+[13:21:11.816] 124-17/352 : 
+befor : 172.000000  420.000000  after : 172.844788  421.892090   TRUE 4.293670
+[13:21:11.817] After Reprojection Map nPoint:21 ,nCell:18 ,nMatches:9 ,distance between ekf and vo x:0.000096 ,z=0.000583,angle between two frames:0.000105
+[13:21:11.817] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.485421 	 error end=0.471893
+[13:21:11.817] After pose optimization, distance between ekf and vo x:-0.040468 ,z=0.032542,angle between two frames:0.016637
+[13:21:11.817] frame process finished the id is: 114 the obs is:10 
+[13:21:11.892] Odometry x=0.205336, y=0.120571, theta=-0.066509
+[13:21:11.913] 125-1/352 : 
+befor : 304.000000  18.000000  after : 303.903381  17.112099   TRUE 0.797704
+[13:21:11.913] 125-2/352 : 
+befor : 280.000000  48.000000  after : 280.373535  48.010426   TRUE 0.139637
+[13:21:11.913] 125-3/352 : 
+befor : 253.000000  111.000000  after : 253.365631  111.219574   TRUE 0.181899
+[13:21:11.913] 125-4/352 : 
+befor : 258.000000  197.000000  after : 260.929382  198.301163   TRUE 10.274305
+[13:21:11.913] 125-5/352 : 
+befor : 236.000000  296.000000  after : 252.647903  281.613953   TRUE 484.111048
+[13:21:11.914] 125-6/352 : 
+befor : 335.000000  323.000000  after : 334.399658  322.972717   TRUE 0.361155
+[13:21:11.914] 125-7/352 : 
+befor : 291.000000  387.000000  after : 309.092896  372.317688   TRUE 542.923154
+[13:21:11.914] 125-8/352 : 
+befor : 57.000000  396.000000  after : 57.174316  397.306122   FALSE 1.736340
+[13:21:11.914] 125-9/352 : 
+befor : 298.000000  394.000000  after : 302.751495  391.547516   FALSE 28.591387
+[13:21:11.914] 125-10/352 : 
+befor : 300.000000  396.000000  after : 302.038452  397.899750   FALSE 7.764336
+[13:21:11.914] 125-11/352 : 
+befor : 372.000000  408.000000  after : 379.831604  392.796570   FALSE 292.478310
+befor : 374.000000  412.000000  after : 377.781799  404.997131   FALSE 63.342175
+[13:21:11.914] 125-12/352 : 
+befor : 98.000000  448.000000  after : 104.159630  445.247681   FALSE 45.516301
+[13:21:11.914] 125-13/352 : 
+befor : 368.000000  440.000000  after : 360.417969  452.479218   TRUE 213.218068
+[13:21:11.914] After Reprojection Map nPoint:21 ,nCell:14 ,nMatches:8 ,distance between ekf and vo x:0.000015 ,z=0.000547,angle between two frames:0.000046
+[13:21:11.914] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.368042 	 error end=0.368042
+[13:21:11.914] After pose optimization, distance between ekf and vo x:0.000015 ,z=0.000547,angle between two frames:0.000046
+[13:21:11.914] frame process finished the id is: 114 the obs is:10 
+[13:21:11.989] Odometry x=0.205541, y=0.126893, theta=-0.048286
+[13:21:12.017] 126-1/352 : 
+befor : 112.000000  80.000000  after : 113.691154  89.420807   TRUE 91.611606
+[13:21:12.017] 126-2/352 : 
+befor : 104.000000  112.000000  after : 104.229530  111.973343   TRUE 0.053395
+[13:21:12.017] 126-3/352 : 
+befor : 256.000000  116.000000  after : 256.265320  116.224930   TRUE 0.120988
+[13:21:12.017] 126-4/352 : 
+befor : 257.000000  195.000000  after : 260.176727  196.229889   TRUE 11.604223
+[13:21:12.017] 126-5/352 : 
+befor : 256.000000  212.000000  after : 257.729156  214.612350   TRUE 9.814357
+[13:21:12.017] 126-6/352 : 
+befor : 212.000000  256.000000  after : 212.309952  256.507507   TRUE 0.353634
+[13:21:12.017] 126-7/352 : 
+befor : 332.000000  320.000000  after : 329.514404  322.800262   TRUE 14.019656
+[13:21:12.017] 126-8/352 : 
+befor : 416.000000  356.000000  after : 424.186554  344.315094   FALSE 203.556694
+[13:21:12.017] 126-9/352 : 
+befor : 313.000000  385.000000  after : 313.347656  386.223083   FALSE 1.616798
+befor : 313.000000  385.000000  after : 313.000000  385.000000   FALSE 0.000000
+[13:21:12.017] 126-10/352 : 
+befor : 299.000000  395.000000  after : 300.846649  396.425751   TRUE 5.442878
+[13:21:12.017] 126-11/352 : 
+befor : 328.000000  394.000000  after : 327.392639  395.970673   TRUE 4.252438
+[13:21:12.017] 126-12/352 : 
+befor : 372.000000  406.000000  after : 372.659760  410.222107   TRUE 18.261470
+[13:21:12.017] 126-13/352 : 
+befor : 186.000000  437.000000  after : 199.348694  428.193451   FALSE 255.742934
+befor : 186.000000  437.000000  after : 185.432770  438.817169   FALSE 3.623854
+[13:21:12.017] 126-14/352 : 
+befor : 368.000000  444.000000  after : 363.695526  445.118835   TRUE 19.780288
+[13:21:12.017] 126-15/352 : 
+befor : 418.000000  470.000000  after : 418.751160  470.271179   TRUE 0.637779
+[13:21:12.017] 126-16/352 : 
+befor : 554.000000  456.000000  after : 554.675781  456.396729   TRUE 0.614074
+[13:21:12.017] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:13 ,distance between ekf and vo x:0.000084 ,z=0.000540,angle between two frames:0.000111
+[13:21:12.017] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.546599 	 error end=0.546599
+[13:21:12.017] After pose optimization, distance between ekf and vo x:0.000084 ,z=0.000540,angle between two frames:0.000111
+[13:21:12.017] frame process finished the id is: 114 the obs is:10 
+[13:21:12.092] Odometry x=0.205411, y=0.132236, theta=-0.049719
+[13:21:12.110] 127-1/352 : 
+befor : 324.000000  23.000000  after : 330.634216  18.836361   TRUE 61.348716
+[13:21:12.110] 127-2/352 : 
+befor : 202.000000  58.000000  after : 202.140366  58.184883   TRUE 0.053884
+[13:21:12.110] 127-3/352 : 
+befor : 282.000000  48.000000  after : 282.162201  48.290470   TRUE 0.110682
+[13:21:12.110] 127-4/352 : 
+befor : 249.000000  110.000000  after : 249.432556  110.491623   FALSE 0.428798
+[13:21:12.110] 127-5/352 : 
+befor : 255.000000  199.000000  after : 259.082458  200.710144   TRUE 19.591060
+[13:21:12.110] 127-6/352 : 
+befor : 256.000000  258.000000  after : 262.125031  272.731018   FALSE 254.518892
+[13:21:12.110] 127-7/352 : 
+befor : 311.000000  314.000000  after : 311.578888  314.278381   TRUE 0.412607
+[13:21:12.110] 127-8/352 : 
+befor : 317.000000  338.000000  after : 318.546722  336.820892   TRUE 3.782645
+[13:21:12.110] 127-9/352 : 
+befor : 377.000000  372.000000  after : 374.026611  373.872345   FALSE 12.346716
+befor : 377.000000  372.000000  after : 377.000000  372.000000   FALSE 0.000000
+[13:21:12.110] 127-10/352 : 
+befor : 416.000000  368.000000  after : 417.977844  364.411377   FALSE 16.790083
+[13:21:12.110] 127-11/352 : 
+befor : 60.000000  400.000000  after : 62.290054  402.136169   TRUE 9.807569
+[13:21:12.110] 127-12/352 : 
+befor : 296.000000  400.000000  after : 299.569061  406.949524   TRUE 61.034081
+[13:21:12.110] 127-13/352 : 
+befor : 312.000000  390.000000  after : 320.501801  382.200989   FALSE 133.105189
+[13:21:12.110] 127-14/352 : 
+befor : 375.000000  419.000000  after : 374.692780  420.916962   TRUE 3.769126
+[13:21:12.110] 127-15/352 : 
+befor : 180.000000  438.000000  after : 184.198273  434.572113   FALSE 29.375903
+befor : 188.000000  440.000000  after : 186.383255  443.246704   FALSE 13.154952
+[13:21:12.110] 127-16/352 : 
+befor : 572.000000  464.000000  after : 572.485840  464.160339   TRUE 0.261749
+[13:21:12.110] After Reprojection Map nPoint:24 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:-0.000047 ,z=0.000078,angle between two frames:0.000017
+[13:21:12.110] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.621002 	 error end=0.619635
+[13:21:12.110] After pose optimization, distance between ekf and vo x:-0.010574 ,z=0.034959,angle between two frames:0.004499
+[13:21:12.110] frame process finished the id is: 114 the obs is:10 
+[13:21:12.192] Odometry x=0.205788, y=0.138153, theta=-0.051831
+[13:21:12.209] 128-1/352 : 
+befor : 238.000000  101.000000  after : 232.821335  96.590469   TRUE 46.262533
+[13:21:12.209] 128-2/352 : 
+befor : 245.000000  107.000000  after : 245.371094  107.232178   TRUE 0.191617
+[13:21:12.210] 128-3/352 : 
+befor : 252.000000  195.000000  after : 253.729691  195.840958   TRUE 3.699039
+[13:21:12.210] 128-4/352 : 
+befor : 252.000000  212.000000  after : 260.398346  201.755692   FALSE 175.478071
+[13:21:12.210] 128-5/352 : 
+befor : 184.000000  248.000000  after : 184.147797  242.325317   TRUE 32.223867
+[13:21:12.210] 128-6/352 : 
+befor : 244.000000  256.000000  after : 244.190018  255.984253   TRUE 0.036355
+[13:21:12.210] 128-7/352 : 
+befor : 226.000000  292.000000  after : 219.955856  302.617065   FALSE 149.253751
+[13:21:12.210] 128-8/352 : 
+befor : 298.000000  320.000000  after : 297.678589  320.023712   TRUE 0.103867
+[13:21:12.210] 128-9/352 : 
+befor : 303.000000  309.000000  after : 303.077789  309.147949   FALSE 0.027940
+befor : 303.000000  309.000000  after : 295.078735  319.425537   TRUE 171.438258
+[13:21:12.210] 128-10/352 : 
+befor : 310.000000  333.000000  after : 310.597717  331.970856   TRUE 1.416404
+[13:21:12.210] 128-11/352 : 
+befor : 292.000000  392.000000  after : 293.687378  395.837952   FALSE 17.577117
+befor : 292.000000  394.000000  after : 292.933716  394.174469   TRUE 0.902265
+[13:21:12.210] 128-12/352 : 
+befor : 364.000000  408.000000  after : 360.992920  406.957703   TRUE 10.128914
+[13:21:12.210] After Reprojection Map nPoint:19 ,nCell:14 ,nMatches:10 ,distance between ekf and vo x:-0.000071 ,z=0.000131,angle between two frames:0.000024
+[13:21:12.210] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.434630 	 error end=0.427847
+[13:21:12.210] After pose optimization, distance between ekf and vo x:-0.033418 ,z=0.080243,angle between two frames:0.010875
+[13:21:12.210] frame process finished the id is: 114 the obs is:10 
+[13:21:12.293] Odometry x=0.205889, y=0.143652, theta=-0.024040
+[13:21:12.310] 129-1/352 : 
+befor : 318.000000  20.000000  after : 318.572754  20.042408   TRUE 0.329845
+[13:21:12.310] 129-2/352 : 
+befor : 104.000000  84.000000  after : 104.257469  83.992264   TRUE 0.066350
+[13:21:12.310] 129-3/352 : 
+befor : 256.000000  119.000000  after : 256.291565  119.252655   TRUE 0.148845
+[13:21:12.310] 129-4/352 : 
+befor : 254.000000  197.000000  after : 254.432938  197.434845   TRUE 0.376525
+[13:21:12.310] 129-5/352 : 
+befor : 212.000000  260.000000  after : 213.211334  264.385895   FALSE 20.703404
+[13:21:12.310] 129-6/352 : 
+befor : 302.000000  324.000000  after : 301.696747  324.118195   TRUE 0.105932
+[13:21:12.310] 129-7/352 : 
+befor : 313.000000  335.000000  after : 313.152344  335.069458   TRUE 0.028033
+[13:21:12.310] 129-8/352 : 
+befor : 308.000000  389.000000  after : 308.052460  390.031128   FALSE 1.065977
+[13:21:12.310] 129-9/352 : 
+befor : 412.000000  360.000000  after : 428.632111  334.114532   FALSE 946.684532
+[13:21:12.310] 129-10/352 : 
+befor : 35.000000  394.000000  after : 61.795120  371.584076   FALSE 1220.452121
+[13:21:12.310] 129-11/352 : 
+befor : 200.000000  416.000000  after : 199.463928  417.094604   FALSE 1.485532
+befor : 208.000000  419.000000  after : 205.298889  424.495880   TRUE 37.500698
+[13:21:12.310] 129-12/352 : 
+befor : 294.000000  398.000000  after : 296.228821  403.793793   FALSE 38.535676
+[13:21:12.310] 129-13/352 : 
+befor : 316.000000  400.000000  after : 310.886932  399.218048   FALSE 26.754909
+[13:21:12.310] 129-14/352 : 
+befor : 399.000000  453.000000  after : 404.109406  448.474518   FALSE 46.586014
+[13:21:12.310] 129-15/352 : 
+befor : 596.000000  454.000000  after : 597.827820  473.240448   FALSE 373.535764
+befor : 590.000000  458.000000  after : 589.790405  459.830933   FALSE 3.396244
+[13:21:12.310] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:7 ,distance between ekf and vo x:-0.000097 ,z=0.000144,angle between two frames:0.000034
+[13:21:12.310] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.406357 	 error end=0.406357
+[13:21:12.310] After pose optimization, distance between ekf and vo x:-0.000097 ,z=0.000144,angle between two frames:0.000034
+[13:21:12.310] frame process finished the id is: 114 the obs is:10 
+[13:21:12.390] Odometry x=0.206370, y=0.149204, theta=-0.044316
+[13:21:12.417] 130-1/352 : 
+befor : 100.000000  88.000000  after : 100.212440  87.966911   TRUE 0.046226
+[13:21:12.417] 130-2/352 : 
+befor : 238.000000  100.000000  after : 238.340240  100.271103   TRUE 0.189260
+[13:21:12.417] 130-3/352 : 
+befor : 251.000000  191.000000  after : 251.719391  191.434860   TRUE 0.706627
+[13:21:12.417] 130-4/352 : 
+befor : 301.000000  307.000000  after : 301.343048  306.973175   TRUE 0.118402
+[13:21:12.417] 130-5/352 : 
+befor : 308.000000  331.000000  after : 308.917725  329.469147   TRUE 3.185730
+[13:21:12.417] 130-6/352 : 
+befor : 290.000000  372.000000  after : 297.771912  361.237000   FALSE 176.244790
+befor : 288.000000  388.000000  after : 289.671326  391.926270   FALSE 18.208922
+[13:21:12.417] 130-7/352 : 
+befor : 410.000000  360.000000  after : 413.685883  365.089661   TRUE 39.490376
+[13:21:12.417] 130-8/352 : 
+befor : 246.000000  400.000000  after : 246.601654  400.983154   FALSE 1.328580
+[13:21:12.417] 130-9/352 : 
+befor : 160.000000  436.000000  after : 151.254776  450.544220   FALSE 288.013277
+[13:21:12.417] After Reprojection Map nPoint:18 ,nCell:10 ,nMatches:6 ,distance between ekf and vo x:0.000049 ,z=0.001318,angle between two frames:0.000077
+[13:21:12.417] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.349337 	 error end=0.349337
+[13:21:12.417] After pose optimization, distance between ekf and vo x:0.000049 ,z=0.001318,angle between two frames:0.000077
+[13:21:12.417] frame process finished the id is: 114 the obs is:10 
+[13:21:12.488] Odometry x=0.206605, y=0.154536, theta=-0.018482
+[13:21:12.510] 131-1/352 : 
+befor : 294.000000  16.000000  after : 293.792236  16.097084   TRUE 0.052591
+[13:21:12.510] 131-2/352 : 
+befor : 315.000000  24.000000  after : 326.812775  12.848117   FALSE 263.906142
+[13:21:12.510] 131-3/352 : 
+befor : 257.000000  118.000000  after : 257.300323  118.285301   TRUE 0.171591
+[13:21:12.510] 131-4/352 : 
+befor : 252.000000  120.000000  after : 252.171875  119.971054   TRUE 0.030379
+[13:21:12.510] 131-5/352 : 
+befor : 254.000000  195.000000  after : 254.496948  195.444168   TRUE 0.444243
+[13:21:12.510] 131-6/352 : 
+befor : 184.000000  248.000000  after : 187.951584  244.344574   TRUE 28.977154
+[13:21:12.510] 131-7/352 : 
+befor : 228.000000  294.000000  after : 229.680695  298.684235   TRUE 24.766788
+[13:21:12.510] 131-8/352 : 
+befor : 298.000000  322.000000  after : 298.210754  323.801514   TRUE 3.289869
+[13:21:12.510] 131-9/352 : 
+befor : 301.000000  323.000000  after : 300.499847  323.184845   TRUE 0.284320
+[13:21:12.510] 131-10/352 : 
+befor : 313.000000  335.000000  after : 313.113831  335.150482   TRUE 0.035602
+[13:21:12.510] 131-11/352 : 
+befor : 292.000000  372.000000  after : 286.536133  383.206879   FALSE 155.447974
+[13:21:12.510] 131-12/352 : 
+befor : 308.000000  389.000000  after : 308.112610  390.225800   FALSE 1.515266
+befor : 308.000000  389.000000  after : 308.000000  389.000000   FALSE 0.000000
+[13:21:12.510] 131-13/352 : 
+befor : 412.000000  364.000000  after : 416.412842  357.164581   FALSE 66.196122
+[13:21:12.510] 131-14/352 : 
+befor : 292.000000  398.000000  after : 298.862793  390.939850   TRUE 96.943647
+[13:21:12.510] 131-15/352 : 
+befor : 148.000000  428.000000  after : 149.403168  432.708130   TRUE 24.135367
+[13:21:12.510] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000077 ,z=0.000136,angle between two frames:0.000022
+[13:21:12.510] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.367194 	 error end=0.349772
+[13:21:12.510] After pose optimization, distance between ekf and vo x:-0.080898 ,z=0.179044,angle between two frames:0.018436
+[13:21:12.510] frame process finished the id is: 114 the obs is:10 
+[13:21:12.585] Odometry x=0.206701, y=0.159634, theta=-0.033343
+[13:21:12.610] 132-1/352 : 
+befor : 100.000000  40.000000  after : 102.181412  37.872883   TRUE 9.283185
+[13:21:12.610] 132-2/352 : 
+befor : 302.000000  40.000000  after : 315.425751  30.628942   FALSE 268.067502
+[13:21:12.610] 132-3/352 : 
+befor : 102.000000  68.000000  after : 102.003029  68.151779   TRUE 0.023046
+[13:21:12.610] 132-4/352 : 
+befor : 100.000000  92.000000  after : 100.244362  91.958572   TRUE 0.061429
+[13:21:12.610] 132-5/352 : 
+befor : 238.000000  98.000000  after : 232.575607  94.159424   TRUE 44.174061
+[13:21:12.610] 132-6/352 : 
+befor : 248.000000  108.000000  after : 257.260437  155.042465   FALSE 2298.749227
+befor : 252.000000  110.000000  after : 247.504959  117.401054   FALSE 74.980999
+[13:21:12.610] 132-7/352 : 
+befor : 250.000000  190.000000  after : 251.837631  190.790970   TRUE 4.002522
+[13:21:12.610] 132-8/352 : 
+befor : 216.000000  255.000000  after : 215.222260  256.836212   TRUE 3.976555
+[13:21:12.610] 132-9/352 : 
+befor : 244.000000  252.000000  after : 245.725388  258.514923   FALSE 45.421185
+[13:21:12.610] 132-10/352 : 
+befor : 299.000000  320.000000  after : 298.823151  319.792511   TRUE 0.074327
+[13:21:12.610] 132-11/352 : 
+befor : 304.000000  358.000000  after : 304.000000  358.000000   FALSE 0.000000
+[13:21:12.610] 132-12/352 : 
+befor : 412.000000  356.000000  after : 416.964447  349.018311   FALSE 73.389722
+[13:21:12.610] 132-13/352 : 
+befor : 336.000000  375.000000  after : 319.993469  399.882111   TRUE 875.328455
+[13:21:12.610] 132-14/352 : 
+befor : 352.000000  412.000000  after : 361.853882  429.254303   FALSE 394.809959
+[13:21:12.610] 132-15/352 : 
+befor : 366.000000  408.000000  after : 376.807434  398.021301   TRUE 216.375060
+[13:21:12.610] 132-16/352 : 
+befor : 160.000000  436.000000  after : 160.900345  436.467651   FALSE 1.029319
+befor : 158.000000  442.000000  after : 148.795898  456.391174   FALSE 291.821384
+[13:21:12.610] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:9 ,distance between ekf and vo x:-0.000067 ,z=0.000076,angle between two frames:0.000025
+[13:21:12.610] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.464946 	 error end=0.458798
+[13:21:12.610] After pose optimization, distance between ekf and vo x:0.020171 ,z=-0.146615,angle between two frames:0.008777
+[13:21:12.610] frame process finished the id is: 114 the obs is:10 
+[13:21:12.687] Odometry x=0.212737, y=0.166120, theta=-0.013017
+[13:21:12.710] 133-1/352 : 
+befor : 318.000000  18.000000  after : 317.900482  17.405416   TRUE 0.363433
+[13:21:12.710] 133-2/352 : 
+befor : 192.000000  44.000000  after : 194.043854  51.573196   TRUE 61.530642
+[13:21:12.710] 133-3/352 : 
+befor : 104.000000  80.000000  after : 104.213913  79.998344   TRUE 0.045761
+[13:21:12.710] 133-4/352 : 
+befor : 246.000000  107.000000  after : 246.391800  107.222931   TRUE 0.203205
+[13:21:12.710] 133-5/352 : 
+befor : 251.000000  194.000000  after : 254.504333  195.323792   TRUE 14.032777
+[13:21:12.710] 133-6/352 : 
+befor : 204.000000  260.000000  after : 200.592453  264.641418   FALSE 33.154142
+[13:21:12.710] 133-7/352 : 
+befor : 218.000000  258.000000  after : 218.131210  258.127930   TRUE 0.033582
+[13:21:12.710] 133-8/352 : 
+befor : 307.000000  323.000000  after : 305.717010  323.617188   TRUE 2.026982
+[13:21:12.710] 133-9/352 : 
+befor : 310.000000  334.000000  after : 310.575043  334.922394   TRUE 1.181484
+[13:21:12.710] 133-10/352 : 
+befor : 308.000000  388.000000  after : 308.333801  389.141693   FALSE 1.414886
+befor : 306.000000  360.000000  after : 306.153107  362.354797   FALSE 5.568512
+befor : 308.000000  388.000000  after : 308.000000  388.000000   FALSE 0.000000
+[13:21:12.710] 133-11/352 : 
+befor : 416.000000  360.000000  after : 413.374634  365.390442   FALSE 35.949412
+[13:21:12.710] 133-12/352 : 
+befor : 198.000000  418.000000  after : 208.134232  408.424103   FALSE 194.400457
+[13:21:12.710] 133-13/352 : 
+befor : 292.000000  398.000000  after : 293.137848  399.663696   TRUE 4.062583
+[13:21:12.710] 133-14/352 : 
+befor : 146.000000  433.000000  after : 144.455200  433.649902   TRUE 2.808779
+[13:21:12.710] 133-15/352 : 
+befor : 155.000000  440.000000  after : 155.644485  439.935944   TRUE 0.419465
+[13:21:12.710] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:11 ,distance between ekf and vo x:-0.000124 ,z=0.000155,angle between two frames:0.000041
+[13:21:12.711] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.353642 	 error end=0.353642
+[13:21:12.711] After pose optimization, distance between ekf and vo x:-0.000124 ,z=0.000155,angle between two frames:0.000041
+[13:21:12.711] frame process finished the id is: 114 the obs is:10 
+[13:21:12.790] Odometry x=0.212781, y=0.170747, theta=-0.023670
+[13:21:12.836] 134-1/352 : 
+befor : 100.000000  40.000000  after : 99.589844  40.085587   TRUE 0.175553
+[13:21:12.836] 134-2/352 : 
+befor : 276.000000  45.000000  after : 278.949341  41.295193   FALSE 22.424208
+[13:21:12.836] 134-3/352 : 
+befor : 108.000000  68.000000  after : 109.366409  78.661873   TRUE 115.542607
+[13:21:12.836] 134-4/352 : 
+befor : 80.000000  96.000000  after : 80.208633  95.972511   TRUE 0.044284
+[13:21:12.836] 134-5/352 : 
+befor : 238.000000  98.000000  after : 238.440994  98.200714   TRUE 0.234762
+[13:21:12.836] 134-6/352 : 
+befor : 256.000000  192.000000  after : 256.341949  192.397232   TRUE 0.274723
+[13:21:12.836] 134-7/352 : 
+befor : 302.000000  308.000000  after : 301.745850  308.044067   TRUE 0.066534
+[13:21:12.836] 134-8/352 : 
+befor : 306.000000  358.000000  after : 302.791534  354.382080   TRUE 23.383596
+[13:21:12.836] 134-9/352 : 
+befor : 16.000000  387.000000  after : 17.769470  390.781403   FALSE 17.430030
+[13:21:12.836] 134-10/352 : 
+befor : 296.000000  374.000000  after : 309.106842  363.926880   FALSE 273.257057
+[13:21:12.836] 134-11/352 : 
+befor : 309.000000  386.000000  after : 313.811890  378.295807   FALSE 82.508874
+[13:21:12.836] 134-12/352 : 
+befor : 58.000000  412.000000  after : 57.467106  412.439972   TRUE 0.477551
+[13:21:12.836] 134-13/352 : 
+befor : 192.000000  416.000000  after : 191.869263  416.587128   FALSE 0.361811
+[13:21:12.836] 134-14/352 : 
+befor : 292.000000  392.000000  after : 296.412506  391.769897   TRUE 19.523157
+[13:21:12.836] 134-15/352 : 
+befor : 372.000000  412.000000  after : 387.975769  389.678009   TRUE 753.496477
+[13:21:12.836] 134-16/352 : 
+befor : 132.000000  420.000000  after : 143.290497  403.355927   FALSE 404.500501
+befor : 140.000000  426.000000  after : 140.557907  426.279663   TRUE 0.389472
+[13:21:12.836] 134-17/352 : 
+befor : 152.000000  444.000000  after : 158.729736  435.968292   FALSE 109.797681
+befor : 156.000000  444.000000  after : 155.818863  444.767365   TRUE 0.621659
+[13:21:12.836] 134-18/352 : 
+befor : 606.000000  464.000000  after : 603.930115  468.388611   FALSE 23.544330
+[13:21:12.836] After Reprojection Map nPoint:24 ,nCell:20 ,nMatches:12 ,distance between ekf and vo x:-0.000114 ,z=0.000151,angle between two frames:0.000040
+[13:21:12.836] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.477963 	 error end=0.472194
+[13:21:12.836] After pose optimization, distance between ekf and vo x:-0.061144 ,z=0.103955,angle between two frames:0.001546
+[13:21:12.836] frame process finished the id is: 114 the obs is:10 
+[13:21:12.891] Odometry x=0.215544, y=0.176884, theta=-0.019556
+[13:21:12.919] 135-1/352 : 
+befor : 100.000000  42.000000  after : 93.826897  33.946720   FALSE 102.962522
+[13:21:12.919] 135-2/352 : 
+befor : 80.000000  92.000000  after : 80.190399  91.962372   TRUE 0.037668
+[13:21:12.919] 135-3/352 : 
+befor : 238.000000  100.000000  after : 238.704895  104.740326   TRUE 22.967567
+[13:21:12.919] 135-4/352 : 
+befor : 245.000000  106.000000  after : 245.369232  106.217125   TRUE 0.183476
+[13:21:12.919] 135-5/352 : 
+befor : 253.000000  195.000000  after : 256.187927  196.123596   TRUE 11.425349
+[13:21:12.919] 135-6/352 : 
+befor : 184.000000  248.000000  after : 188.888275  243.063156   TRUE 48.267661
+[13:21:12.919] 135-7/352 : 
+befor : 210.000000  260.000000  after : 206.116440  266.413910   TRUE 56.220280
+[13:21:12.919] 135-8/352 : 
+befor : 305.000000  312.000000  after : 305.417145  311.912903   TRUE 0.181596
+[13:21:12.919] 135-9/352 : 
+befor : 310.000000  334.000000  after : 312.128632  335.057587   TRUE 5.649562
+[13:21:12.919] 135-10/352 : 
+befor : 294.000000  376.000000  after : 307.124695  365.967621   FALSE 272.906246
+[13:21:12.919] 135-11/352 : 
+befor : 308.000000  388.000000  after : 315.836884  381.116852   FALSE 108.794473
+befor : 309.000000  388.000000  after : 312.429871  382.383759   FALSE 43.306180
+[13:21:12.919] 135-12/352 : 
+befor : 292.000000  399.000000  after : 292.561798  399.168335   TRUE 0.343954
+[13:21:12.919] 135-13/352 : 
+befor : 320.000000  396.000000  after : 319.021027  398.645752   TRUE 7.958392
+[13:21:12.919] 135-14/352 : 
+befor : 372.000000  414.000000  after : 369.510254  414.482666   FALSE 6.431802
+[13:21:12.919] 135-15/352 : 
+befor : 139.000000  427.000000  after : 145.964279  420.070923   TRUE 96.513295
+[13:21:12.919] After Reprojection Map nPoint:22 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000515 ,z=0.001402,angle between two frames:0.000124
+[13:21:12.919] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.495393 	 error end=0.495393
+[13:21:12.919] After pose optimization, distance between ekf and vo x:-0.000515 ,z=0.001402,angle between two frames:0.000124
+[13:21:12.919] frame process finished the id is: 114 the obs is:10 
+[13:21:12.992] Odometry x=0.215060, y=0.181961, theta=-0.013855
+[13:21:13.008] 136-1/352 : 
+befor : 293.000000  21.000000  after : 295.047760  17.845139   TRUE 14.146472
+[13:21:13.008] 136-2/352 : 
+befor : 303.000000  6.000000  after : 302.479523  5.630128   TRUE 0.407702
+[13:21:13.008] 136-3/352 : 
+befor : 192.000000  44.000000  after : 191.654373  43.605766   FALSE 0.274878
+[13:21:13.008] 136-4/352 : 
+befor : 94.000000  60.000000  after : 94.218933  60.231415   TRUE 0.101485
+[13:21:13.008] 136-5/352 : 
+befor : 236.000000  108.000000  after : 234.124100  109.902374   FALSE 7.138030
+[13:21:13.008] 136-6/352 : 
+befor : 252.000000  116.000000  after : 249.018311  115.250671   FALSE 9.451965
+[13:21:13.008] 136-7/352 : 
+befor : 252.000000  120.000000  after : 259.297913  139.407059   TRUE 429.893456
+[13:21:13.008] 136-8/352 : 
+befor : 255.000000  199.000000  after : 258.419769  200.111084   TRUE 12.929330
+[13:21:13.008] 136-9/352 : 
+befor : 184.000000  228.000000  after : 181.016724  235.165482   FALSE 60.244064
+[13:21:13.008] 136-10/352 : 
+befor : 230.000000  296.000000  after : 229.447754  297.260284   FALSE 1.893293
+[13:21:13.008] 136-11/352 : 
+befor : 232.000000  300.000000  after : 232.091721  300.033447   TRUE 0.009531
+[13:21:13.008] 136-12/352 : 
+befor : 310.000000  322.000000  after : 318.584259  316.990021   TRUE 98.789395
+[13:21:13.008] 136-13/352 : 
+befor : 331.000000  329.000000  after : 325.932251  335.383942   FALSE 66.436791
+[13:21:13.008] 136-14/352 : 
+befor : 322.000000  336.000000  after : 322.000000  336.000000   FALSE 0.000000
+befor : 315.000000  339.000000  after : 313.659210  340.435394   TRUE 3.858074
+[13:21:13.008] 136-15/352 : 
+befor : 379.000000  373.000000  after : 375.790619  375.038971   FALSE 14.457530
+[13:21:13.008] 136-16/352 : 
+befor : 420.000000  360.000000  after : 422.530731  363.661621   FALSE 19.812069
+[13:21:13.008] 136-17/352 : 
+befor : 296.000000  402.000000  after : 302.209839  395.948212   TRUE 75.186241
+[13:21:13.008] 136-18/352 : 
+befor : 374.000000  418.000000  after : 374.501678  417.770294   TRUE 0.304446
+[13:21:13.008] 136-19/352 : 
+befor : 396.000000  444.000000  after : 396.699768  444.254364   TRUE 0.554376
+[13:21:13.008] After Reprojection Map nPoint:24 ,nCell:20 ,nMatches:11 ,distance between ekf and vo x:-0.000106 ,z=0.000162,angle between two frames:0.000033
+[13:21:13.008] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.412018 	 error end=0.411223
+[13:21:13.008] After pose optimization, distance between ekf and vo x:-0.011407 ,z=0.031483,angle between two frames:0.010739
+[13:21:13.008] frame process finished the id is: 114 the obs is:10 
+[13:21:13.090] Odometry x=0.215397, y=0.187382, theta=-0.016401
+[13:21:13.109] 137-1/352 : 
+befor : 311.000000  33.000000  after : 311.926300  33.155182   TRUE 0.882113
+[13:21:13.109] 137-2/352 : 
+befor : 108.000000  76.000000  after : 108.249901  75.977829   TRUE 0.062942
+[13:21:13.109] 137-3/352 : 
+befor : 80.000000  100.000000  after : 79.550728  101.186256   FALSE 1.609050
+[13:21:13.109] 137-4/352 : 
+befor : 236.000000  104.000000  after : 236.347687  104.059349   FALSE 0.124408
+[13:21:13.109] 137-5/352 : 
+befor : 256.000000  116.000000  after : 256.353180  116.209831   TRUE 0.168765
+[13:21:13.109] 137-6/352 : 
+befor : 72.000000  132.000000  after : 75.134621  134.197205   TRUE 14.653555
+[13:21:13.109] 137-7/352 : 
+befor : 194.000000  136.000000  after : 195.862839  136.123611   TRUE 3.485448
+[13:21:13.109] 137-8/352 : 
+befor : 258.000000  196.000000  after : 254.955704  195.706100   FALSE 9.354117
+[13:21:13.109] 137-9/352 : 
+befor : 254.000000  236.000000  after : 253.930878  236.154816   TRUE 0.028746
+[13:21:13.109] 137-10/352 : 
+befor : 212.000000  264.000000  after : 211.274017  264.514282   FALSE 0.791537
+[13:21:13.109] 137-11/352 : 
+befor : 244.000000  264.000000  after : 242.380417  266.925232   FALSE 11.180031
+[13:21:13.109] 137-12/352 : 
+befor : 311.000000  326.000000  after : 309.825348  325.311432   TRUE 1.853934
+[13:21:13.109] 137-13/352 : 
+befor : 333.000000  327.000000  after : 332.452026  327.129181   TRUE 0.316963
+[13:21:13.109] 137-14/352 : 
+befor : 314.000000  338.000000  after : 315.020874  337.730499   TRUE 1.114814
+[13:21:13.109] 137-15/352 : 
+befor : 424.000000  360.000000  after : 424.586060  360.592957   TRUE 0.695063
+[13:21:13.109] 137-16/352 : 
+befor : 46.000000  418.000000  after : 53.787376  411.494080   FALSE 102.970232
+[13:21:13.109] 137-17/352 : 
+befor : 134.000000  440.000000  after : 135.597137  439.328400   TRUE 3.001895
+[13:21:13.109] 137-18/352 : 
+befor : 399.000000  444.000000  after : 390.218658  456.648163   FALSE 237.087983
+[13:21:13.109] After Reprojection Map nPoint:23 ,nCell:18 ,nMatches:11 ,distance between ekf and vo x:-0.000087 ,z=0.000154,angle between two frames:0.000027
+[13:21:13.109] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.472894 	 error end=0.469119
+[13:21:13.109] After pose optimization, distance between ekf and vo x:-0.050219 ,z=0.094888,angle between two frames:0.002564
+[13:21:13.109] frame process finished the id is: 114 the obs is:10 
+[13:21:13.189] Odometry x=0.215495, y=0.194262, theta=-0.026526
+[13:21:13.207] 138-1/352 : 
+befor : 282.000000  42.000000  after : 281.907623  42.101631   TRUE 0.018862
+[13:21:13.207] 138-2/352 : 
+befor : 80.000000  116.000000  after : 80.899704  115.873734   TRUE 0.825410
+[13:21:13.207] 138-3/352 : 
+befor : 104.000000  106.000000  after : 104.448021  111.364616   TRUE 28.979832
+[13:21:13.207] 138-4/352 : 
+befor : 258.000000  114.000000  after : 258.320312  114.260857   TRUE 0.170646
+[13:21:13.207] 138-5/352 : 
+befor : 72.000000  150.000000  after : 76.598587  145.478027   FALSE 41.595239
+[13:21:13.207] 138-6/352 : 
+befor : 260.000000  196.000000  after : 260.320831  196.315826   TRUE 0.202679
+[13:21:13.207] 138-7/352 : 
+befor : 256.000000  234.000000  after : 253.259491  233.212433   TRUE 8.130652
+[13:21:13.207] 138-8/352 : 
+befor : 308.000000  313.000000  after : 307.690948  313.150879   TRUE 0.118277
+[13:21:13.207] 138-9/352 : 
+befor : 50.000000  358.000000  after : 61.902901  347.309082   FALSE 255.974772
+[13:21:13.207] 138-10/352 : 
+befor : 320.000000  337.000000  after : 319.908051  337.215942   TRUE 0.055086
+[13:21:13.207] 138-11/352 : 
+befor : 428.000000  356.000000  after : 429.610779  353.249969   FALSE 10.157276
+[13:21:13.207] 138-12/352 : 
+befor : 312.000000  364.000000  after : 321.377991  358.850769   TRUE 114.461289
+[13:21:13.207] 138-13/352 : 
+befor : 84.000000  400.000000  after : 84.553787  401.854279   TRUE 3.745029
+[13:21:13.207] 138-14/352 : 
+befor : 315.000000  391.000000  after : 315.165405  392.150391   FALSE 1.350757
+befor : 315.000000  391.000000  after : 315.000000  391.000000   FALSE 0.000000
+[13:21:13.207] 138-15/352 : 
+befor : 376.000000  414.000000  after : 371.447479  410.452759   TRUE 33.308365
+[13:21:13.207] 138-16/352 : 
+befor : 184.000000  420.000000  after : 177.856674  429.552948   FALSE 128.999267
+[13:21:13.207] After Reprojection Map nPoint:24 ,nCell:17 ,nMatches:11 ,distance between ekf and vo x:-0.000087 ,z=0.000144,angle between two frames:0.000029
+[13:21:13.207] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.463268 	 error end=0.463268
+[13:21:13.207] After pose optimization, distance between ekf and vo x:-0.000087 ,z=0.000144,angle between two frames:0.000029
+[13:21:13.207] frame process finished the id is: 114 the obs is:10 
+[13:21:13.288] Odometry x=0.216025, y=0.199496, theta=-0.013839
+[13:21:13.309] 139-1/352 : 
+befor : 100.000000  54.000000  after : 101.337219  53.058746   TRUE 2.674114
+[13:21:13.309] 139-2/352 : 
+befor : 200.000000  40.000000  after : 200.227859  39.970406   TRUE 0.052796
+[13:21:13.309] 139-3/352 : 
+befor : 286.000000  41.000000  after : 290.701630  34.817593   FALSE 60.327482
+befor : 286.000000  41.000000  after : 287.170258  40.465847   TRUE 1.654822
+[13:21:13.309] 139-4/352 : 
+befor : 302.000000  54.000000  after : 301.816742  54.150139   TRUE 0.056125
+[13:21:13.309] 139-5/352 : 
+befor : 112.000000  76.000000  after : 113.744553  85.622307   TRUE 95.632252
+[13:21:13.309] 139-6/352 : 
+befor : 260.000000  112.000000  after : 268.786682  97.919945   FALSE 275.453738
+befor : 260.000000  116.000000  after : 258.531952  118.477173   FALSE 8.291551
+[13:21:13.309] 139-7/352 : 
+befor : 267.000000  157.000000  after : 260.094482  165.454025   FALSE 119.156716
+[13:21:13.309] 139-8/352 : 
+befor : 265.000000  194.000000  after : 264.239899  194.156937   TRUE 0.602383
+[13:21:13.309] 139-9/352 : 
+befor : 320.000000  322.000000  after : 320.276337  322.054535   TRUE 0.079336
+[13:21:13.309] 139-10/352 : 
+befor : 320.000000  338.000000  after : 321.246857  337.543396   TRUE 1.763139
+[13:21:13.309] 139-11/352 : 
+befor : 318.000000  364.000000  after : 325.945740  360.268829   TRUE 77.056415
+[13:21:13.309] 139-12/352 : 
+befor : 432.000000  364.000000  after : 434.546661  364.650238   TRUE 6.908294
+[13:21:13.309] 139-13/352 : 
+befor : 238.000000  418.000000  after : 239.176300  416.351624   FALSE 4.100827
+[13:21:13.309] 139-14/352 : 
+befor : 240.000000  418.000000  after : 243.769012  425.466919   FALSE 69.960333
+[13:21:13.309] 139-15/352 : 
+befor : 321.000000  391.000000  after : 320.834045  391.768799   FALSE 0.618593
+befor : 304.000000  396.000000  after : 303.781250  395.718536   FALSE 0.127073
+[13:21:13.310] 139-16/352 : 
+befor : 383.000000  415.000000  after : 382.922241  416.551208   TRUE 2.412294
+[13:21:13.310] After Reprojection Map nPoint:23 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:-0.000152 ,z=0.000199,angle between two frames:0.000053
+[13:21:13.310] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.357481 	 error end=0.338581
+[13:21:13.310] After pose optimization, distance between ekf and vo x:0.011796 ,z=0.203586,angle between two frames:0.026280
+[13:21:13.310] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11
+[13:21:13.310] Choose frame as a key frame Scene Depth mean:0.429874 ,depth min:-1.128341
+[13:21:13.310] frame process finished the id is: 139 the obs is:11 
+[13:21:13.388] Odometry x=0.226730, y=0.392263, theta=0.010752
+[13:21:13.408] 140-1/352 : 
+befor : 298.000000  24.000000  after : 298.016327  24.023230   TRUE 0.000806
+[13:21:13.408] 140-2/352 : 
+befor : 305.000000  12.000000  after : 307.565552  8.230435   TRUE 20.791673
+[13:21:13.408] 140-3/352 : 
+befor : 96.000000  72.000000  after : 99.850624  66.029892   FALSE 50.469496
+[13:21:13.408] 140-4/352 : 
+befor : 88.000000  98.000000  after : 87.311371  98.005051   TRUE 0.474236
+[13:21:13.408] 140-5/352 : 
+befor : 252.000000  104.000000  after : 253.721954  128.023163   FALSE 580.077480
+befor : 267.000000  116.000000  after : 259.860352  116.468208   FALSE 51.193799
+befor : 250.000000  103.000000  after : 240.591858  98.512405   TRUE 108.651643
+[13:21:13.408] 140-6/352 : 
+befor : 260.000000  120.000000  after : 259.143860  119.326851   TRUE 1.186106
+[13:21:13.408] 140-7/352 : 
+befor : 256.000000  176.000000  after : 256.363556  176.250580   TRUE 0.194963
+[13:21:13.408] 140-8/352 : 
+befor : 262.000000  232.000000  after : 260.582977  234.994476   TRUE 10.974842
+[13:21:13.408] 140-9/352 : 
+befor : 228.000000  262.000000  after : 218.661545  274.754669   TRUE 249.888332
+[13:21:13.408] 140-10/352 : 
+befor : 324.000000  336.000000  after : 320.761902  335.966980   TRUE 10.486370
+[13:21:13.408] 140-11/352 : 
+befor : 432.000000  356.000000  after : 432.000000  356.000000   FALSE 0.000000
+[13:21:13.408] 140-12/352 : 
+befor : 434.000000  364.000000  after : 437.160339  364.007690   TRUE 9.987804
+[13:21:13.408] 140-13/352 : 
+befor : 36.000000  418.000000  after : 45.173492  426.277954   FALSE 152.677488
+[13:21:13.408] 140-14/352 : 
+befor : 84.000000  402.000000  after : 84.369576  402.099518   TRUE 0.146490
+[13:21:13.408] 140-15/352 : 
+befor : 136.000000  400.000000  after : 138.066071  403.963379   TRUE 19.977020
+[13:21:13.408] 140-16/352 : 
+befor : 261.000000  411.000000  after : 260.724396  411.953552   FALSE 0.985220
+[13:21:13.409] 140-17/352 : 
+befor : 386.000000  412.000000  after : 375.471954  425.525208   FALSE 293.770984
+[13:21:13.409] 140-18/352 : 
+befor : 256.000000  422.000000  after : 256.565338  422.355652   TRUE 0.446095
+[13:21:13.409] 140-19/352 : 
+befor : 129.000000  465.000000  after : 130.865311  464.074921   FALSE 4.335156
+[13:21:13.409] After Reprojection Map nPoint:23 ,nCell:21 ,nMatches:13 ,distance between ekf and vo x:-0.000047 ,z=0.000071,angle between two frames:0.000013
+[13:21:13.409] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.475228 	 error end=0.421397
+[13:21:13.409] After pose optimization, distance between ekf and vo x:-0.024560 ,z=-0.290596,angle between two frames:0.057451
+[13:21:13.409] frame process finished the id is: 139 the obs is:11 
+[13:21:13.490] Odometry x=0.227714, y=0.398847, theta=0.019339
+[13:21:13.528] 141-1/352 : 
+befor : 331.000000  6.000000  after : 340.531281  -2.200068   FALSE 158.086416
+[13:21:13.528] 141-2/352 : 
+befor : 102.000000  53.000000  after : 95.290047  46.226398   FALSE 90.905151
+[13:21:13.528] 141-3/352 : 
+befor : 200.000000  40.000000  after : 191.034912  54.053543   FALSE 277.874874
+[13:21:13.528] 141-4/352 : 
+befor : 285.000000  43.000000  after : 289.818115  37.045567   FALSE 58.669512
+[13:21:13.528] 141-5/352 : 
+befor : 312.000000  35.000000  after : 324.035767  28.138044   TRUE 191.946113
+[13:21:13.528] 141-6/352 : 
+befor : 268.000000  114.000000  after : 268.373016  114.169609   TRUE 0.167908
+[13:21:13.528] 141-7/352 : 
+befor : 265.000000  192.000000  after : 265.475067  192.115768   TRUE 0.239091
+[13:21:13.528] 141-8/352 : 
+befor : 260.000000  224.000000  after : 259.741394  228.183105   TRUE 17.565248
+[13:21:13.528] 141-9/352 : 
+befor : 194.000000  248.000000  after : 194.202591  248.110458   TRUE 0.053244
+[13:21:13.528] 141-10/352 : 
+befor : 230.000000  258.000000  after : 224.329758  250.087708   TRUE 94.756020
+[13:21:13.528] 141-11/352 : 
+befor : 324.000000  320.000000  after : 343.253906  303.446411   TRUE 644.734210
+[13:21:13.528] 141-12/352 : 
+befor : 329.000000  333.000000  after : 326.113983  336.388031   FALSE 19.807847
+befor : 329.000000  333.000000  after : 328.939911  333.023071   TRUE 0.004143
+[13:21:13.528] 141-13/352 : 
+befor : 334.000000  331.000000  after : 336.015839  328.879974   FALSE 8.558114
+[13:21:13.528] 141-14/352 : 
+befor : 80.000000  400.000000  after : 79.774551  401.093872   TRUE 1.247383
+[13:21:13.528] 141-15/352 : 
+befor : 124.000000  442.000000  after : 124.347710  441.809326   TRUE 0.157259
+[13:21:13.528] 141-16/352 : 
+befor : 201.000000  425.000000  after : 204.197311  421.776855   FALSE 20.611461
+[13:21:13.528] 141-17/352 : 
+befor : 132.000000  452.000000  after : 131.239685  458.047272   FALSE 37.147574
+[13:21:13.528] After Reprojection Map nPoint:25 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:-0.000037 ,z=0.000046,angle between two frames:0.000019
+[13:21:13.528] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.395840 	 error end=0.376309
+[13:21:13.528] After pose optimization, distance between ekf and vo x:0.017552 ,z=-0.197209,angle between two frames:0.027464
+[13:21:13.528] frame process finished the id is: 139 the obs is:11 
+[13:21:13.592] Odometry x=0.227328, y=0.405143, theta=0.012765
+[13:21:13.608] 142-1/352 : 
+befor : 321.000000  17.000000  after : 327.552490  23.061783   FALSE 79.680339
+[13:21:13.608] 142-2/352 : 
+befor : 100.000000  46.000000  after : 100.959908  45.701447   TRUE 1.010557
+[13:21:13.608] 142-3/352 : 
+befor : 296.000000  56.000000  after : 301.792480  60.367744   FALSE 52.630022
+[13:21:13.608] 142-4/352 : 
+befor : 96.000000  60.000000  after : 98.040993  58.925770   TRUE 5.319622
+[13:21:13.608] 142-5/352 : 
+befor : 267.000000  111.000000  after : 267.278625  111.175072   TRUE 0.108282
+[13:21:13.608] 142-6/352 : 
+befor : 264.000000  189.000000  after : 264.362976  188.915039   TRUE 0.138970
+[13:21:13.608] 142-7/352 : 
+befor : 212.000000  216.000000  after : 212.391937  215.973206   TRUE 0.154333
+[13:21:13.608] 142-8/352 : 
+befor : 258.000000  316.000000  after : 262.727142  316.085327   TRUE 22.353155
+[13:21:13.608] 142-9/352 : 
+befor : 322.000000  318.000000  after : 322.731567  318.413269   TRUE 0.705982
+[13:21:13.608] 142-10/352 : 
+befor : 318.000000  358.000000  after : 318.062622  358.038391   TRUE 0.005395
+[13:21:13.608] 142-11/352 : 
+befor : 320.000000  385.000000  after : 321.214874  387.513397   FALSE 7.793085
+befor : 320.000000  385.000000  after : 320.000000  385.000000   FALSE 0.000000
+[13:21:13.608] 142-12/352 : 
+befor : 336.000000  398.000000  after : 330.424744  395.838593   FALSE 35.755166
+[13:21:13.608] 142-13/352 : 
+befor : 118.000000  428.000000  after : 115.256073  428.400208   TRUE 7.689301
+[13:21:13.608] 142-14/352 : 
+befor : 360.000000  420.000000  after : 353.081146  429.716278   TRUE 142.276597
+[13:21:13.609] 142-15/352 : 
+befor : 408.000000  468.000000  after : 414.477478  459.280701   FALSE 117.983902
+[13:21:13.609] After Reprojection Map nPoint:20 ,nCell:16 ,nMatches:10 ,distance between ekf and vo x:0.000005 ,z=0.000070,angle between two frames:0.000051
+[13:21:13.609] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.370783 	 error end=0.370783
+[13:21:13.609] After pose optimization, distance between ekf and vo x:0.000005 ,z=0.000070,angle between two frames:0.000051
+[13:21:13.609] frame process finished the id is: 139 the obs is:11 
+[13:21:13.688] Odometry x=0.228746, y=0.410559, theta=0.023840
+[13:21:13.713] 143-1/352 : 
+befor : 98.000000  46.000000  after : 101.054840  43.345901   FALSE 16.376287
+[13:21:13.713] 143-2/352 : 
+befor : 196.000000  40.000000  after : 196.371765  39.842213   TRUE 0.163106
+[13:21:13.713] 143-3/352 : 
+befor : 84.000000  92.000000  after : 91.054268  85.856255   FALSE 87.508303
+befor : 84.000000  92.000000  after : 82.372055  93.506302   FALSE 4.919150
+[13:21:13.713] 143-4/352 : 
+befor : 104.000000  96.000000  after : 84.662048  77.336876   FALSE 722.268575
+[13:21:13.713] 143-5/352 : 
+befor : 248.000000  95.000000  after : 248.527298  95.185593   TRUE 0.312488
+[13:21:13.713] 143-6/352 : 
+befor : 267.000000  150.000000  after : 266.481293  141.501831   FALSE 72.487933
+befor : 267.000000  150.000000  after : 252.674255  168.969864   FALSE 565.082695
+[13:21:13.713] 143-7/352 : 
+befor : 260.000000  224.000000  after : 249.395737  233.796707   TRUE 208.425871
+[13:21:13.713] 143-8/352 : 
+befor : 228.000000  254.000000  after : 228.091553  254.016937   TRUE 0.008669
+[13:21:13.713] 143-9/352 : 
+befor : 258.000000  248.000000  after : 257.929626  247.844894   TRUE 0.029010
+[13:21:13.713] 143-10/352 : 
+befor : 240.000000  294.000000  after : 239.388336  294.130127   TRUE 0.391066
+[13:21:13.713] 143-11/352 : 
+befor : 318.000000  308.000000  after : 310.473175  315.356079   FALSE 110.764994
+befor : 313.000000  307.000000  after : 313.000000  307.000000   FALSE 0.000000
+[13:21:13.713] 143-12/352 : 
+befor : 322.000000  332.000000  after : 321.389557  334.232239   FALSE 5.355531
+befor : 323.000000  333.000000  after : 315.392517  331.871124   FALSE 59.148157
+[13:21:13.713] 143-13/352 : 
+befor : 436.000000  356.000000  after : 433.238647  364.587311   TRUE 81.366974
+[13:21:13.713] 143-14/352 : 
+befor : 70.000000  396.000000  after : 86.020073  382.294159   FALSE 444.492816
+befor : 70.000000  396.000000  after : 41.578712  431.365479   FALSE 2058.486656
+[13:21:13.713] 143-15/352 : 
+befor : 382.000000  408.000000  after : 379.822021  405.597198   TRUE 10.517046
+[13:21:13.713] After Reprojection Map nPoint:23 ,nCell:20 ,nMatches:8 ,distance between ekf and vo x:0.000003 ,z=0.000060,angle between two frames:0.000045
+[13:21:13.713] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.324520 	 error end=0.324520
+[13:21:13.713] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000060,angle between two frames:0.000045
+[13:21:13.713] frame process finished the id is: 139 the obs is:11 
+[13:21:13.790] Odometry x=0.228849, y=0.415988, theta=0.019367
+[13:21:13.808] 144-1/352 : 
+befor : 327.000000  8.000000  after : 330.629639  18.236454   FALSE 117.959268
+[13:21:13.808] 144-2/352 : 
+befor : 102.000000  38.000000  after : 99.594269  39.465851   TRUE 7.936261
+[13:21:13.808] 144-3/352 : 
+befor : 76.000000  116.000000  after : 76.346931  115.866356   TRUE 0.138222
+[13:21:13.808] 144-4/352 : 
+befor : 261.000000  105.000000  after : 261.405609  105.192650   TRUE 0.201633
+[13:21:13.808] 144-5/352 : 
+befor : 267.000000  179.000000  after : 266.101471  181.272675   TRUE 5.972404
+[13:21:13.808] 144-6/352 : 
+befor : 264.000000  188.000000  after : 264.037109  188.150482   TRUE 0.024022
+[13:21:13.808] 144-7/352 : 
+befor : 190.000000  241.000000  after : 197.310196  236.393372   FALSE 74.659990
+[13:21:13.808] 144-8/352 : 
+befor : 221.000000  253.000000  after : 221.000000  253.000000   FALSE 0.000000
+[13:21:13.808] 144-9/352 : 
+befor : 243.000000  253.000000  after : 245.224915  255.009460   TRUE 8.988176
+[13:21:13.808] 144-10/352 : 
+befor : 240.000000  292.000000  after : 241.214081  293.047089   TRUE 2.570387
+[13:21:13.808] 144-11/352 : 
+befor : 314.000000  307.000000  after : 315.755432  303.993378   TRUE 12.121320
+[13:21:13.808] 144-12/352 : 
+befor : 318.000000  358.000000  after : 318.222137  357.850250   TRUE 0.071770
+[13:21:13.808] 144-13/352 : 
+befor : 86.000000  388.000000  after : 83.895111  390.992859   FALSE 13.387762
+[13:21:13.808] 144-14/352 : 
+befor : 296.000000  386.000000  after : 289.455261  376.901794   FALSE 125.610950
+befor : 296.000000  386.000000  after : 297.262329  386.502930   TRUE 1.846413
+[13:21:13.808] 144-15/352 : 
+befor : 249.000000  421.000000  after : 228.348724  446.768280   FALSE 1090.479441
+befor : 249.000000  421.000000  after : 245.129593  427.307190   FALSE 54.760696
+[13:21:13.808] 144-16/352 : 
+befor : 420.000000  446.000000  after : 406.932220  465.985260   FALSE 570.177480
+[13:21:13.808] After Reprojection Map nPoint:23 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:-0.000215 ,z=0.000062,angle between two frames:0.000150
+[13:21:13.808] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.427728 	 error end=0.405618
+[13:21:13.808] After pose optimization, distance between ekf and vo x:-0.058889 ,z=-0.041775,angle between two frames:0.024733
+[13:21:13.808] frame process finished the id is: 139 the obs is:11 
+[13:21:13.893] Odometry x=0.228891, y=0.421431, theta=0.011268
+[13:21:13.909] 145-1/352 : 
+befor : 299.000000  8.000000  after : 298.396423  9.099980   TRUE 1.574262
+[13:21:13.909] 145-2/352 : 
+befor : 323.000000  9.000000  after : 322.959259  9.111612   TRUE 0.014117
+[13:21:13.909] 145-3/352 : 
+befor : 100.000000  100.000000  after : 100.456100  99.853455   TRUE 0.229503
+[13:21:13.909] 145-4/352 : 
+befor : 257.000000  104.000000  after : 261.753571  100.730087   TRUE 33.288762
+[13:21:13.909] 145-5/352 : 
+befor : 263.000000  180.000000  after : 253.558777  187.491806   FALSE 145.263852
+[13:21:13.909] 145-6/352 : 
+befor : 256.000000  228.000000  after : 259.859436  224.231674   FALSE 29.095526
+[13:21:13.909] 145-7/352 : 
+befor : 224.000000  254.000000  after : 223.755524  253.831985   TRUE 0.087998
+[13:21:13.909] 145-8/352 : 
+befor : 332.000000  320.000000  after : 314.239410  302.032135   FALSE 638.282715
+befor : 332.000000  320.000000  after : 328.618835  316.119141   TRUE 26.493343
+[13:21:13.910] 145-9/352 : 
+befor : 432.000000  356.000000  after : 447.318665  337.211700   FALSE 587.661684
+[13:21:13.910] 145-10/352 : 
+befor : 432.000000  360.000000  after : 430.874054  360.130707   TRUE 1.284839
+[13:21:13.910] 145-11/352 : 
+befor : 380.000000  410.000000  after : 380.770569  410.046234   TRUE 0.595914
+[13:21:13.910] 145-12/352 : 
+befor : 243.000000  423.000000  after : 238.077301  430.570557   FALSE 81.546293
+[13:21:13.910] After Reprojection Map nPoint:20 ,nCell:13 ,nMatches:8 ,distance between ekf and vo x:-0.000131 ,z=0.000045,angle between two frames:0.000068
+[13:21:13.910] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.488157 	 error end=0.429351
+[13:21:13.910] After pose optimization, distance between ekf and vo x:-0.033771 ,z=-0.146609,angle between two frames:0.040985
+[13:21:13.910] frame process finished the id is: 139 the obs is:11 
+[13:21:13.990] Odometry x=0.226289, y=0.426254, theta=0.017027
+[13:21:14.007] 146-1/352 : 
+befor : 295.000000  13.000000  after : 292.556854  14.330546   TRUE 7.739315
+[13:21:14.007] 146-2/352 : 
+befor : 310.000000  27.000000  after : 313.709473  33.922688   FALSE 61.683790
+[13:21:14.007] 146-3/352 : 
+befor : 88.000000  56.000000  after : 90.132881  54.532890   TRUE 6.701593
+[13:21:14.007] 146-4/352 : 
+befor : 98.000000  36.000000  after : 95.894859  38.953827   FALSE 13.156711
+befor : 98.000000  36.000000  after : 97.157028  37.062634   TRUE 1.839791
+[13:21:14.007] 146-5/352 : 
+befor : 280.000000  36.000000  after : 289.302795  25.691986   FALSE 192.797153
+[13:21:14.007] 146-6/352 : 
+befor : 263.000000  109.000000  after : 263.345520  109.215469   TRUE 0.165811
+[13:21:14.007] 146-7/352 : 
+befor : 260.000000  176.000000  after : 253.213501  183.920593   TRUE 108.792367
+[13:21:14.007] 146-8/352 : 
+befor : 257.000000  227.000000  after : 257.000000  227.000000   FALSE 0.000000
+[13:21:14.007] 146-9/352 : 
+befor : 190.000000  244.000000  after : 189.800766  243.879578   TRUE 0.054196
+[13:21:14.007] 146-10/352 : 
+befor : 229.000000  254.000000  after : 221.107819  243.289932   TRUE 176.992078
+[13:21:14.007] 146-11/352 : 
+befor : 310.000000  307.000000  after : 307.956085  309.164581   FALSE 8.863000
+[13:21:14.007] 146-12/352 : 
+befor : 324.000000  331.000000  after : 321.902496  333.910492   FALSE 12.870485
+befor : 324.000000  331.000000  after : 316.829315  323.555023   TRUE 106.846400
+[13:21:14.007] 146-13/352 : 
+befor : 432.000000  356.000000  after : 431.894470  356.049438   FALSE 0.013581
+[13:21:14.007] 146-14/352 : 
+befor : 292.000000  386.000000  after : 293.811737  385.968597   TRUE 3.283377
+[13:21:14.007] 146-15/352 : 
+befor : 318.000000  386.000000  after : 317.995056  386.135620   TRUE 0.018417
+[13:21:14.007] 146-16/352 : 
+befor : 384.000000  410.000000  after : 372.816650  400.438599   TRUE 216.487705
+[13:21:14.007] 146-17/352 : 
+befor : 96.000000  432.000000  after : 98.875900  430.205902   FALSE 11.489590
+[13:21:14.007] After Reprojection Map nPoint:22 ,nCell:19 ,nMatches:11 ,distance between ekf and vo x:-0.000102 ,z=0.000046,angle between two frames:0.000046
+[13:21:14.007] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.623450 	 error end=0.610864
+[13:21:14.008] After pose optimization, distance between ekf and vo x:-0.076489 ,z=-0.786643,angle between two frames:0.310112
+[13:21:14.008] frame process finished the id is: 139 the obs is:11 
+[13:21:14.087] Odometry x=0.226337, y=0.431477, theta=0.011820
+[13:21:14.108] 147-1/352 : 
+befor : 278.000000  28.000000  after : 284.910278  22.276642   TRUE 80.508775
+[13:21:14.108] 147-2/352 : 
+befor : 102.000000  76.000000  after : 92.118134  88.695480   FALSE 258.826506
+[13:21:14.108] 147-3/352 : 
+befor : 239.000000  95.000000  after : 239.525497  95.204254   TRUE 0.317867
+[13:21:14.108] 147-4/352 : 
+befor : 248.000000  108.000000  after : 248.331726  107.850456   TRUE 0.132406
+[13:21:14.108] 147-5/352 : 
+befor : 62.000000  134.000000  after : 63.753220  133.203979   TRUE 3.707428
+[13:21:14.108] 147-6/352 : 
+befor : 257.000000  149.000000  after : 254.453293  147.627884   TRUE 8.368420
+[13:21:14.108] 147-7/352 : 
+befor : 254.000000  182.000000  after : 253.323853  182.051285   TRUE 0.459806
+[13:21:14.108] 147-8/352 : 
+befor : 209.000000  252.000000  after : 207.825699  253.026535   FALSE 2.432757
+befor : 209.000000  252.000000  after : 207.156342  259.586273   FALSE 60.950617
+[13:21:14.109] 147-9/352 : 
+befor : 215.000000  257.000000  after : 214.142441  254.639297   TRUE 6.308324
+[13:21:14.109] 147-10/352 : 
+befor : 308.000000  309.000000  after : 300.117706  316.776062   FALSE 122.597694
+befor : 309.000000  320.000000  after : 309.722809  320.177399   TRUE 0.553923
+[13:21:14.109] 147-11/352 : 
+befor : 312.000000  332.000000  after : 311.162415  335.115570   FALSE 10.408326
+befor : 315.000000  333.000000  after : 315.718506  333.261261   TRUE 0.584508
+[13:21:14.109] 147-12/352 : 
+befor : 424.000000  356.000000  after : 425.416107  358.688568   TRUE 9.233758
+[13:21:14.109] 147-13/352 : 
+befor : 310.000000  387.000000  after : 310.357635  390.060516   FALSE 9.494664
+befor : 306.000000  360.000000  after : 306.000000  360.000000   FALSE 0.000000
+[13:21:14.109] 147-14/352 : 
+befor : 320.000000  396.000000  after : 305.801758  381.841095   FALSE 402.064673
+[13:21:14.109] 147-15/352 : 
+befor : 82.000000  430.000000  after : 69.724251  446.161987   TRUE 411.903852
+[13:21:14.109] 147-16/352 : 
+befor : 156.000000  420.000000  after : 145.917206  432.020905   FALSE 246.164885
+[13:21:14.109] After Reprojection Map nPoint:25 ,nCell:20 ,nMatches:11 ,distance between ekf and vo x:-0.000151 ,z=0.000030,angle between two frames:0.000096
+[13:21:14.109] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.430899 	 error end=0.422829
+[13:21:14.109] After pose optimization, distance between ekf and vo x:-0.157084 ,z=-0.102047,angle between two frames:0.148865
+[13:21:14.109] frame process finished the id is: 139 the obs is:11 
+[13:21:14.189] Odometry x=0.226638, y=0.437041, theta=0.036397
+[13:21:14.209] 148-1/352 : 
+befor : 282.000000  18.000000  after : 280.324341  17.862856   TRUE 2.826642
+[13:21:14.209] 148-2/352 : 
+befor : 92.000000  30.000000  after : 94.568031  28.305998   TRUE 9.464428
+[13:21:14.209] 148-3/352 : 
+befor : 274.000000  34.000000  after : 273.970764  36.295780   TRUE 5.271461
+[13:21:14.209] 148-4/352 : 
+befor : 100.000000  72.000000  after : 100.433876  71.838654   TRUE 0.214281
+[13:21:14.209] 148-5/352 : 
+befor : 240.000000  97.000000  after : 240.543518  97.203590   TRUE 0.336861
+[13:21:14.209] 148-6/352 : 
+befor : 214.000000  258.000000  after : 214.281601  257.992737   TRUE 0.079352
+[13:21:14.209] 148-7/352 : 
+befor : 309.000000  310.000000  after : 300.643433  318.705963   FALSE 145.626013
+befor : 309.000000  310.000000  after : 309.691833  309.847687   FALSE 0.501833
+befor : 304.000000  310.000000  after : 299.848816  304.756256   TRUE 44.729179
+[13:21:14.209] 148-8/352 : 
+befor : 330.000000  324.000000  after : 323.353912  331.733215   TRUE 103.973100
+[13:21:14.209] 148-9/352 : 
+befor : 428.000000  362.000000  after : 432.854034  356.357086   FALSE 55.404127
+[13:21:14.209] 148-10/352 : 
+befor : 296.000000  396.000000  after : 296.578857  396.308807   TRUE 0.430438
+[13:21:14.209] 148-11/352 : 
+befor : 380.000000  414.000000  after : 380.418854  414.173981   TRUE 0.205708
+[13:21:14.209] 148-12/352 : 
+befor : 78.000000  432.000000  after : 75.456413  437.195129   TRUE 33.459203
+[13:21:14.209] 148-13/352 : 
+befor : 236.000000  426.000000  after : 230.890152  432.142395   TRUE 63.839563
+[13:21:14.209] 148-14/352 : 
+befor : 364.000000  424.000000  after : 355.871887  434.132782   FALSE 168.739488
+[13:21:14.209] 148-15/352 : 
+befor : 406.000000  440.000000  after : 437.193665  412.937317   FALSE 1705.433525
+[13:21:14.209] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:12 ,distance between ekf and vo x:-0.000046 ,z=0.000065,angle between two frames:0.000033
+[13:21:14.209] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.536267 	 error end=0.504228
+[13:21:14.209] After pose optimization, distance between ekf and vo x:0.016783 ,z=-0.293069,angle between two frames:0.038859
+[13:21:14.209] frame process finished the id is: 139 the obs is:11 
+[13:21:14.291] Odometry x=0.226571, y=0.442331, theta=0.018275
+[13:21:14.310] 149-1/352 : 
+befor : 290.000000  6.000000  after : 290.000000  6.000000   FALSE 0.000000
+befor : 290.000000  6.000000  after : 290.000000  6.000000   FALSE 0.000000
+[13:21:14.310] 149-2/352 : 
+befor : 312.000000  10.000000  after : 311.988708  10.121518   TRUE 0.014894
+[13:21:14.310] 149-3/352 : 
+befor : 184.000000  36.000000  after : 184.240005  35.826286   TRUE 0.087779
+[13:21:14.310] 149-4/352 : 
+befor : 283.000000  54.000000  after : 282.847809  56.656837   TRUE 7.081947
+[13:21:14.310] 149-5/352 : 
+befor : 68.000000  84.000000  after : 65.007378  88.908859   FALSE 33.052688
+[13:21:14.310] 149-6/352 : 
+befor : 48.000000  164.000000  after : 47.020199  165.059311   FALSE 2.082150
+[13:21:14.310] 149-7/352 : 
+befor : 176.000000  239.000000  after : 177.201401  244.871902   TRUE 35.922602
+[13:21:14.310] 149-8/352 : 
+befor : 244.000000  224.000000  after : 234.664963  231.782318   TRUE 147.707395
+[13:21:14.310] 149-9/352 : 
+befor : 210.000000  256.000000  after : 210.855804  256.050323   TRUE 0.734934
+[13:21:14.310] 149-10/352 : 
+befor : 327.000000  242.000000  after : 334.158600  232.440994   FALSE 142.620143
+[13:21:14.310] 149-11/352 : 
+befor : 298.000000  322.000000  after : 297.814941  322.142181   FALSE 0.054462
+befor : 299.000000  322.000000  after : 289.975464  330.918793   FALSE 160.987116
+befor : 298.000000  322.000000  after : 297.894653  321.790802   TRUE 0.054862
+[13:21:14.310] 149-12/352 : 
+befor : 300.000000  322.000000  after : 303.675964  314.915680   FALSE 63.700305
+[13:21:14.310] 149-13/352 : 
+befor : 316.000000  332.000000  after : 302.021423  345.082001   FALSE 366.539349
+befor : 312.000000  333.000000  after : 304.373871  325.273346   FALSE 117.859029
+[13:21:14.310] 149-14/352 : 
+befor : 424.000000  356.000000  after : 416.972839  348.766357   FALSE 101.706572
+[13:21:14.310] 149-15/352 : 
+befor : 421.000000  365.000000  after : 421.634766  364.910522   TRUE 0.410934
+[13:21:14.310] 149-16/352 : 
+befor : 290.000000  398.000000  after : 294.715973  395.831604   TRUE 26.942342
+[13:21:14.310] After Reprojection Map nPoint:24 ,nCell:20 ,nMatches:9 ,distance between ekf and vo x:-0.000135 ,z=0.000090,angle between two frames:0.000048
+[13:21:14.310] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.481584 	 error end=0.472862
+[13:21:14.310] After pose optimization, distance between ekf and vo x:-0.168117 ,z=0.275470,angle between two frames:0.037321
+[13:21:14.310] frame process finished the id is: 139 the obs is:11 
+[13:21:14.389] Odometry x=0.226538, y=0.447965, theta=0.035059
+[13:21:14.410] 150-1/352 : 
+befor : 279.000000  23.000000  after : 279.099243  23.036097   TRUE 0.011152
+[13:21:14.410] 150-2/352 : 
+befor : 234.000000  94.000000  after : 227.731293  88.582428   TRUE 68.646778
+[13:21:14.410] 150-3/352 : 
+befor : 252.000000  106.000000  after : 251.345200  113.699615   TRUE 59.712842
+[13:21:14.410] 150-4/352 : 
+befor : 292.000000  168.000000  after : 290.668121  169.409119   FALSE 3.759516
+[13:21:14.410] 150-5/352 : 
+befor : 208.000000  256.000000  after : 208.780685  255.892960   TRUE 0.620927
+[13:21:14.410] 150-6/352 : 
+befor : 210.000000  256.000000  after : 210.370911  255.968872   TRUE 0.138544
+[13:21:14.410] 150-7/352 : 
+befor : 226.000000  294.000000  after : 227.876404  293.526489   TRUE 3.745104
+[13:21:14.410] 150-8/352 : 
+befor : 299.000000  309.000000  after : 308.666290  299.918365   FALSE 175.913253
+[13:21:14.410] 150-9/352 : 
+befor : 305.000000  322.000000  after : 305.911560  322.338226   TRUE 0.945339
+[13:21:14.410] 150-10/352 : 
+befor : 564.000000  328.000000  after : 568.146301  332.332428   FALSE 35.961746
+[13:21:14.410] 150-11/352 : 
+befor : 309.000000  335.000000  after : 306.969452  336.479156   FALSE 6.311030
+befor : 311.000000  335.000000  after : 311.000000  335.000000   FALSE 0.000000
+[13:21:14.410] 150-12/352 : 
+befor : 281.000000  388.000000  after : 281.342712  387.754028   TRUE 0.177954
+[13:21:14.410] 150-13/352 : 
+befor : 306.000000  389.000000  after : 291.220734  405.749512   FALSE 498.972857
+[13:21:14.410] 150-14/352 : 
+befor : 237.000000  411.000000  after : 239.987381  410.997406   TRUE 8.924452
+[13:21:14.410] 150-15/352 : 
+befor : 62.000000  427.000000  after : 52.236801  439.312775   FALSE 246.924472
+[13:21:14.410] After Reprojection Map nPoint:22 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:-0.000130 ,z=0.000091,angle between two frames:0.000053
+[13:21:14.410] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.435768 	 error end=0.435768
+[13:21:14.410] After pose optimization, distance between ekf and vo x:-0.000130 ,z=0.000091,angle between two frames:0.000053
+[13:21:14.410] frame process finished the id is: 139 the obs is:11 
+[13:21:14.491] Odometry x=0.226332, y=0.453548, theta=0.028448
+[13:21:14.519] 151-1/352 : 
+befor : 312.000000  12.000000  after : 320.135742  24.006622   FALSE 210.349280
+[13:21:14.519] 151-2/352 : 
+befor : 100.000000  64.000000  after : 100.426453  63.885731   TRUE 0.194919
+[13:21:14.519] 151-3/352 : 
+befor : 252.000000  112.000000  after : 250.189926  115.524307   FALSE 15.697109
+befor : 242.000000  99.000000  after : 242.381927  99.262367   TRUE 0.214705
+[13:21:14.519] 151-4/352 : 
+befor : 247.000000  227.000000  after : 250.222275  222.965897   TRUE 26.657045
+[13:21:14.519] 151-5/352 : 
+befor : 240.000000  256.000000  after : 241.524063  266.914368   TRUE 121.446190
+[13:21:14.519] 151-6/352 : 
+befor : 228.000000  296.000000  after : 228.371613  296.084778   TRUE 0.145283
+[13:21:14.519] 151-7/352 : 
+befor : 330.000000  323.000000  after : 324.920380  329.299377   FALSE 65.484699
+befor : 330.000000  324.000000  after : 331.305756  322.100952   FALSE 5.311380
+[13:21:14.519] 151-8/352 : 
+befor : 312.000000  334.000000  after : 307.364319  340.252533   TRUE 60.583708
+[13:21:14.519] 151-9/352 : 
+befor : 383.000000  369.000000  after : 382.354187  370.017487   TRUE 1.452353
+[13:21:14.519] 151-10/352 : 
+befor : 376.000000  414.000000  after : 373.378754  419.523163   TRUE 37.376260
+[13:21:14.519] 151-11/352 : 
+befor : 60.000000  434.000000  after : 59.791435  433.962036   TRUE 0.044941
+[13:21:14.519] 151-12/352 : 
+befor : 156.000000  430.000000  after : 186.273071  461.197205   FALSE 1889.724419
+[13:21:14.519] 151-13/352 : 
+befor : 208.000000  422.000000  after : 206.718353  423.037476   FALSE 2.718974
+[13:21:14.519] 151-14/352 : 
+befor : 225.000000  429.000000  after : 223.577377  426.372467   TRUE 8.927785
+[13:21:14.519] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:10 ,distance between ekf and vo x:-0.000103 ,z=0.000106,angle between two frames:0.000018
+[13:21:14.519] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.423690 	 error end=0.380786
+[13:21:14.519] After pose optimization, distance between ekf and vo x:-0.454937 ,z=0.624507,angle between two frames:0.171671
+[13:21:14.519] frame process finished the id is: 139 the obs is:11 
+[13:21:14.588] Odometry x=0.226264, y=0.458952, theta=0.027019
+[13:21:14.622] 152-1/352 : 
+befor : 91.000000  24.000000  after : 86.767738  27.296247   TRUE 28.777286
+[13:21:14.622] 152-2/352 : 
+befor : 286.000000  47.000000  after : 285.954559  47.136917   TRUE 0.020811
+[13:21:14.622] 152-3/352 : 
+befor : 84.000000  116.000000  after : 84.459389  115.809715   TRUE 0.247246
+[13:21:14.622] 152-4/352 : 
+befor : 239.000000  95.000000  after : 243.633194  92.850388   FALSE 26.087320
+[13:21:14.622] 152-5/352 : 
+befor : 241.000000  98.000000  after : 251.868546  115.852242   TRUE 436.827809
+[13:21:14.622] 152-6/352 : 
+befor : 244.000000  216.000000  after : 244.902939  216.977173   FALSE 1.770165
+[13:21:14.622] 152-7/352 : 
+befor : 214.000000  252.000000  after : 214.036774  251.757172   TRUE 0.060318
+[13:21:14.622] 152-8/352 : 
+befor : 298.000000  318.000000  after : 298.338989  318.177277   TRUE 0.146341
+[13:21:14.622] 152-9/352 : 
+befor : 297.000000  352.000000  after : 298.023590  349.685547   FALSE 6.404430
+befor : 297.000000  352.000000  after : 294.179382  349.684021   TRUE 13.319643
+[13:21:14.622] 152-10/352 : 
+befor : 292.000000  392.000000  after : 291.255157  392.987549   FALSE 1.530043
+[13:21:14.622] 152-11/352 : 
+befor : 325.000000  403.000000  after : 316.845032  398.505585   TRUE 86.703276
+[13:21:14.622] 152-12/352 : 
+befor : 136.000000  424.000000  after : 96.170006  383.499634   FALSE 3226.708101
+[13:21:14.622] 152-13/352 : 
+befor : 206.000000  420.000000  after : 201.098801  425.976685   FALSE 59.742513
+[13:21:14.622] 152-14/352 : 
+befor : 224.000000  429.000000  after : 230.644363  429.959961   FALSE 45.069090
+befor : 224.000000  428.000000  after : 221.441620  432.234131   FALSE 24.473173
+[13:21:14.622] 152-15/352 : 
+befor : 396.000000  428.000000  after : 396.683350  433.980865   TRUE 36.237719
+[13:21:14.622] 152-16/352 : 
+befor : 428.000000  465.000000  after : 451.490265  444.999512   FALSE 951.812076
+[13:21:14.622] After Reprojection Map nPoint:20 ,nCell:18 ,nMatches:9 ,distance between ekf and vo x:-0.000009 ,z=0.000127,angle between two frames:0.000078
+[13:21:14.622] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.489722 	 error end=0.396061
+[13:21:14.622] After pose optimization, distance between ekf and vo x:0.094809 ,z=-0.486168,angle between two frames:0.081636
+[13:21:14.622] frame process finished the id is: 139 the obs is:11 
+[13:21:14.690] Odometry x=0.226171, y=0.465348, theta=0.037497
+[13:21:14.710] 153-1/352 : 
+befor : 282.000000  19.000000  after : 278.729767  17.064404   TRUE 14.440959
+[13:21:14.710] 153-2/352 : 
+befor : 88.000000  84.000000  after : 89.952454  83.837631   TRUE 3.838439
+[13:21:14.710] 153-3/352 : 
+befor : 239.000000  97.000000  after : 253.287506  119.336540   TRUE 703.053860
+[13:21:14.710] 153-4/352 : 
+befor : 242.000000  99.000000  after : 242.419296  99.213074   TRUE 0.221210
+[13:21:14.710] 153-5/352 : 
+befor : 84.000000  120.000000  after : 84.509186  118.880798   FALSE 1.511883
+[13:21:14.710] 153-6/352 : 
+befor : 244.000000  220.000000  after : 236.653214  229.398682   TRUE 142.310488
+[13:21:14.710] 153-7/352 : 
+befor : 180.000000  244.000000  after : 176.910782  245.670700   TRUE 12.334507
+[13:21:14.710] 153-8/352 : 
+befor : 221.000000  256.000000  after : 210.366669  266.775208   FALSE 229.172832
+befor : 212.000000  260.000000  after : 212.996887  260.047882   TRUE 0.996077
+[13:21:14.710] 153-9/352 : 
+befor : 312.000000  322.000000  after : 317.257629  324.392303   TRUE 33.365783
+[13:21:14.710] 153-10/352 : 
+befor : 316.000000  334.000000  after : 315.653412  334.729248   TRUE 0.651926
+[13:21:14.710] 153-11/352 : 
+befor : 428.000000  360.000000  after : 430.278839  361.194183   TRUE 6.619182
+[13:21:14.710] 153-12/352 : 
+befor : 292.000000  396.000000  after : 277.969391  412.983643   FALSE 485.302108
+[13:21:14.710] 153-13/352 : 
+befor : 343.000000  403.000000  after : 350.576050  397.287720   FALSE 90.026677
+[13:21:14.710] 153-14/352 : 
+befor : 380.000000  414.000000  after : 367.950684  402.468414   FALSE 278.163494
+befor : 378.000000  414.000000  after : 378.000000  414.000000   FALSE 0.000000
+[13:21:14.710] 153-15/352 : 
+befor : 42.000000  428.000000  after : 37.648323  432.793365   FALSE 41.913445
+[13:21:14.710] 153-16/352 : 
+befor : 226.000000  430.000000  after : 226.253571  429.777527   TRUE 0.113792
+[13:21:14.710] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:11 ,distance between ekf and vo x:-0.000038 ,z=0.000062,angle between two frames:0.000033
+[13:21:14.710] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.363958 	 error end=0.363958
+[13:21:14.710] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000062,angle between two frames:0.000033
+[13:21:14.710] frame process finished the id is: 139 the obs is:11 
+[13:21:14.792] Odometry x=0.226202, y=0.471121, theta=0.032539
+[13:21:14.811] 154-1/352 : 
+befor : 297.000000  29.000000  after : 307.189819  21.632059   FALSE 158.118971
+[13:21:14.811] 154-2/352 : 
+befor : 293.000000  34.000000  after : 293.089294  34.176128   TRUE 0.038995
+[13:21:14.811] 154-3/352 : 
+befor : 240.000000  95.000000  after : 230.765350  86.661232   TRUE 154.813806
+[13:21:14.811] 154-4/352 : 
+befor : 254.000000  170.000000  after : 253.737793  165.884094   FALSE 17.009433
+[13:21:14.811] 154-5/352 : 
+befor : 249.000000  197.000000  after : 257.770142  186.626495   FALSE 184.524982
+[13:21:14.811] 154-6/352 : 
+befor : 244.000000  248.000000  after : 241.561523  246.538345   TRUE 8.082602
+[13:21:14.811] 154-7/352 : 
+befor : 228.000000  292.000000  after : 233.264282  294.374329   TRUE 33.350104
+[13:21:14.811] 154-8/352 : 
+befor : 307.000000  309.000000  after : 300.301361  315.514191   FALSE 87.306443
+[13:21:14.811] 154-9/352 : 
+befor : 331.000000  320.000000  after : 330.570618  321.556427   TRUE 2.606834
+[13:21:14.811] 154-10/352 : 
+befor : 313.000000  334.000000  after : 313.001404  333.685852   TRUE 0.098691
+[13:21:14.811] 154-11/352 : 
+befor : 428.000000  356.000000  after : 430.061859  355.591278   TRUE 4.418317
+[13:21:14.811] 154-12/352 : 
+befor : 296.000000  396.000000  after : 292.222992  400.438568   FALSE 33.966677
+[13:21:14.811] 154-13/352 : 
+befor : 320.000000  396.000000  after : 342.761627  419.064575   FALSE 1050.066302
+[13:21:14.811] 154-14/352 : 
+befor : 378.000000  412.000000  after : 378.704315  412.109894   TRUE 0.508137
+[13:21:14.811] 154-15/352 : 
+befor : 224.000000  430.000000  after : 234.482071  424.453369   FALSE 140.638925
+[13:21:14.811] 154-16/352 : 
+befor : 396.000000  428.000000  after : 396.391907  428.027771   TRUE 0.154362
+[13:21:14.811] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:-0.000116 ,z=0.000032,angle between two frames:0.000062
+[13:21:14.811] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.574859 	 error end=0.574859
+[13:21:14.811] After pose optimization, distance between ekf and vo x:-0.000116 ,z=0.000032,angle between two frames:0.000062
+[13:21:14.811] frame process finished the id is: 139 the obs is:11 
+[13:21:14.892] Odometry x=0.225191, y=0.477324, theta=0.044227
+[13:21:14.910] 155-1/352 : 
+befor : 302.000000  26.000000  after : 313.658936  40.418442   FALSE 343.822241
+[13:21:14.910] 155-2/352 : 
+befor : 86.000000  36.000000  after : 90.348892  31.078398   FALSE 43.135032
+[13:21:14.910] 155-3/352 : 
+befor : 239.000000  97.000000  after : 239.439392  97.166229   TRUE 0.220698
+[13:21:14.910] 155-4/352 : 
+befor : 244.000000  108.000000  after : 244.367462  107.803238   TRUE 0.173744
+[13:21:14.910] 155-5/352 : 
+befor : 257.000000  154.000000  after : 236.695328  181.906555   TRUE 1191.055537
+[13:21:14.910] 155-6/352 : 
+befor : 250.000000  226.000000  after : 243.286316  232.331665   TRUE 85.163536
+[13:21:14.910] 155-7/352 : 
+befor : 215.000000  263.000000  after : 215.463318  262.966339   TRUE 0.215797
+[13:21:14.910] 155-8/352 : 
+befor : 232.000000  298.000000  after : 231.993134  297.937561   TRUE 0.003946
+[13:21:14.910] 155-9/352 : 
+befor : 307.000000  324.000000  after : 300.775330  317.374420   TRUE 82.644830
+[13:21:14.910] 155-10/352 : 
+befor : 314.000000  336.000000  after : 305.865509  345.377502   FALSE 154.107495
+befor : 324.000000  333.000000  after : 327.867767  328.847717   FALSE 32.201076
+[13:21:14.910] 155-11/352 : 
+befor : 296.000000  372.000000  after : 299.334320  375.261841   TRUE 21.757296
+[13:21:14.910] 155-12/352 : 
+befor : 311.000000  361.000000  after : 304.370239  369.578094   FALSE 117.537432
+[13:21:14.910] 155-13/352 : 
+befor : 315.000000  391.000000  after : 296.404602  411.504181   FALSE 766.210260
+[13:21:14.910] 155-14/352 : 
+befor : 224.000000  432.000000  after : 223.578049  431.760986   TRUE 0.235170
+[13:21:14.910] After Reprojection Map nPoint:20 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000021 ,z=0.000076,angle between two frames:0.000048
+[13:21:14.910] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.428049 	 error end=0.428049
+[13:21:14.910] After pose optimization, distance between ekf and vo x:-0.000021 ,z=0.000076,angle between two frames:0.000048
+[13:21:14.910] frame process finished the id is: 139 the obs is:11 
+[13:21:14.989] Odometry x=0.225076, y=0.482852, theta=0.035123
+[13:21:15.009] 156-1/352 : 
+befor : 311.000000  13.000000  after : 311.034790  13.082675   TRUE 0.008045
+[13:21:15.009] 156-2/352 : 
+befor : 252.000000  104.000000  after : 252.450607  104.082092   TRUE 0.209786
+[13:21:15.009] 156-3/352 : 
+befor : 253.000000  200.000000  after : 249.075089  195.933929   TRUE 31.937860
+[13:21:15.009] 156-4/352 : 
+befor : 244.000000  220.000000  after : 244.259888  220.053299   TRUE 0.070382
+[13:21:15.009] 156-5/352 : 
+befor : 216.000000  256.000000  after : 216.409958  256.000580   TRUE 0.168066
+[13:21:15.009] 156-6/352 : 
+befor : 244.000000  252.000000  after : 242.648315  254.908783   FALSE 10.288069
+[13:21:15.009] 156-7/352 : 
+befor : 313.000000  323.000000  after : 312.687408  327.184601   TRUE 17.608598
+[13:21:15.009] 156-8/352 : 
+befor : 318.000000  335.000000  after : 315.241150  338.993927   TRUE 23.562707
+[13:21:15.009] 156-9/352 : 
+befor : 440.000000  356.000000  after : 436.355438  359.339996   FALSE 24.438406
+befor : 436.000000  356.000000  after : 431.833252  352.008087   FALSE 33.297157
+[13:21:15.009] 156-10/352 : 
+befor : 315.000000  391.000000  after : 313.951874  386.207428   TRUE 24.067315
+[13:21:15.010] 156-11/352 : 
+befor : 204.000000  426.000000  after : 204.152054  427.842163   TRUE 3.416685
+[13:21:15.010] After Reprojection Map nPoint:22 ,nCell:12 ,nMatches:9 ,distance between ekf and vo x:-0.000019 ,z=0.000067,angle between two frames:0.000049
+[13:21:15.010] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.309818 	 error end=0.303951
+[13:21:15.010] After pose optimization, distance between ekf and vo x:-0.006851 ,z=-0.004563,angle between two frames:0.008684
+[13:21:15.010] frame process finished the id is: 139 the obs is:11 
+[13:21:15.087] Odometry x=0.224963, y=0.488610, theta=0.043489
+[13:21:15.110] 157-1/352 : 
+befor : 302.000000  34.000000  after : 317.536163  54.855118   FALSE 676.308309
+[13:21:15.110] 157-2/352 : 
+befor : 241.000000  99.000000  after : 241.436813  99.136093   TRUE 0.209327
+[13:21:15.110] 157-3/352 : 
+befor : 260.000000  175.000000  after : 259.547028  168.417542   FALSE 43.533944
+[13:21:15.110] 157-4/352 : 
+befor : 300.000000  172.000000  after : 301.660553  171.589478   TRUE 2.925965
+[13:21:15.110] 157-5/352 : 
+befor : 252.000000  228.000000  after : 252.098297  228.029968   TRUE 0.010560
+[13:21:15.110] 157-6/352 : 
+befor : 220.000000  260.000000  after : 178.111618  306.849487   FALSE 3949.511004
+[13:21:15.110] 157-7/352 : 
+befor : 314.000000  317.000000  after : 306.176086  324.865845   FALSE 123.085137
+[13:21:15.110] 157-8/352 : 
+befor : 332.000000  328.000000  after : 331.727997  329.261047   TRUE 1.664226
+[13:21:15.110] 157-9/352 : 
+befor : 320.000000  341.000000  after : 315.710663  344.693542   FALSE 32.040669
+befor : 320.000000  338.000000  after : 311.995697  328.073761   TRUE 162.599087
+[13:21:15.110] 157-10/352 : 
+befor : 300.000000  376.000000  after : 304.989899  382.567871   TRUE 68.036020
+[13:21:15.110] 157-11/352 : 
+befor : 24.000000  408.000000  after : 17.952312  415.005035   FALSE 85.645045
+[13:21:15.110] 157-12/352 : 
+befor : 300.000000  404.000000  after : 294.504456  398.640045   TRUE 58.930124
+[13:21:15.110] 157-13/352 : 
+befor : 209.000000  431.000000  after : 209.000000  431.000000   FALSE 0.000000
+[13:21:15.110] 157-14/352 : 
+befor : 242.000000  422.000000  after : 242.177460  422.027649   TRUE 0.032256
+[13:21:15.110] 157-15/352 : 
+befor : 380.000000  436.000000  after : 384.243530  434.265625   FALSE 21.015606
+[13:21:15.110] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:8 ,distance between ekf and vo x:-0.000085 ,z=0.000084,angle between two frames:0.000005
+[13:21:15.110] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.894232 	 error end=0.392026
+[13:21:15.110] After pose optimization, distance between ekf and vo x:-0.149579 ,z=-0.331620,angle between two frames:0.220711
+[13:21:15.110] frame process finished the id is: 139 the obs is:11 
+[13:21:15.195] Odometry x=0.224844, y=0.494267, theta=0.034525
+[13:21:15.209] 158-1/352 : 
+befor : 280.000000  28.000000  after : 280.523743  27.306873   FALSE 0.754731
+befor : 294.000000  9.000000  after : 288.381531  2.907032   FALSE 68.691461
+[13:21:15.210] 158-2/352 : 
+befor : 305.000000  30.000000  after : 320.681183  17.494493   FALSE 402.287189
+[13:21:15.210] 158-3/352 : 
+befor : 256.000000  112.000000  after : 251.691528  118.859612   FALSE 65.617198
+befor : 260.000000  111.000000  after : 260.387451  111.117516   TRUE 0.163928
+[13:21:15.210] 158-4/352 : 
+befor : 253.000000  229.000000  after : 253.663147  228.780594   TRUE 0.487903
+[13:21:15.210] 158-5/352 : 
+befor : 226.000000  260.000000  after : 220.156693  267.897583   TRUE 96.516060
+[13:21:15.210] 158-6/352 : 
+befor : 311.000000  314.000000  after : 307.839081  309.908722   TRUE 26.729966
+[13:21:15.210] 158-7/352 : 
+befor : 341.000000  327.000000  after : 341.231415  327.203827   TRUE 0.095098
+[13:21:15.210] 158-8/352 : 
+befor : 316.000000  366.000000  after : 316.986023  366.071655   TRUE 0.977376
+[13:21:15.210] 158-9/352 : 
+befor : 319.000000  395.000000  after : 291.505280  425.985352   FALSE 1716.051665
+befor : 319.000000  395.000000  after : 319.172394  396.214722   FALSE 1.505268
+[13:21:15.210] After Reprojection Map nPoint:19 ,nCell:12 ,nMatches:6 ,distance between ekf and vo x:-0.000129 ,z=0.000038,angle between two frames:0.000078
+[13:21:15.210] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.455964 	 error end=0.455964
+[13:21:15.210] After pose optimization, distance between ekf and vo x:-0.000129 ,z=0.000038,angle between two frames:0.000078
+[13:21:15.210] frame process finished the id is: 139 the obs is:11 
+[13:21:15.290] Odometry x=0.224086, y=0.502702, theta=0.035562
+[13:21:15.308] 159-1/352 : 
+befor : 298.000000  6.000000  after : 298.000000  6.000000   FALSE 0.000000
+[13:21:15.308] 159-2/352 : 
+befor : 100.000000  88.000000  after : 100.484970  87.788696   TRUE 0.279845
+[13:21:15.308] 159-3/352 : 
+befor : 249.000000  102.000000  after : 249.551865  102.075577   TRUE 0.310266
+[13:21:15.309] 159-4/352 : 
+befor : 172.000000  140.000000  after : 171.481476  139.643585   FALSE 0.395899
+[13:21:15.309] 159-5/352 : 
+befor : 258.000000  231.000000  after : 262.201935  226.141632   TRUE 41.259995
+[13:21:15.309] 159-6/352 : 
+befor : 224.000000  264.000000  after : 224.379044  267.365326   TRUE 11.469093
+[13:21:15.309] 159-7/352 : 
+befor : 250.000000  302.000000  after : 249.459778  302.153351   FALSE 0.315356
+[13:21:15.309] 159-8/352 : 
+befor : 319.000000  317.000000  after : 319.828247  317.168365   TRUE 0.714340
+[13:21:15.309] 159-9/352 : 
+befor : 344.000000  328.000000  after : 344.388794  328.263794   TRUE 0.220748
+[13:21:15.309] 159-10/352 : 
+befor : 334.000000  337.000000  after : 332.497833  334.820251   TRUE 7.007809
+[13:21:15.309] 159-11/352 : 
+befor : 323.000000  395.000000  after : 300.678680  419.886719   FALSE 1117.590078
+befor : 308.000000  404.000000  after : 308.413971  404.460938   FALSE 0.383835
+[13:21:15.309] 159-12/352 : 
+befor : 208.000000  436.000000  after : 208.023285  435.938751   TRUE 0.004294
+[13:21:15.309] After Reprojection Map nPoint:20 ,nCell:13 ,nMatches:8 ,distance between ekf and vo x:-0.000071 ,z=0.000053,angle between two frames:0.000023
+[13:21:15.309] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.408012 	 error end=0.408012
+[13:21:15.309] After pose optimization, distance between ekf and vo x:-0.000071 ,z=0.000053,angle between two frames:0.000023
+[13:21:15.309] frame process finished the id is: 139 the obs is:11 
+[13:21:15.392] Odometry x=0.223995, y=0.507954, theta=0.033626
+[13:21:15.411] 160-1/352 : 
+befor : 298.000000  6.000000  after : 298.000000  6.000000   FALSE 0.000000
+[13:21:15.411] 160-2/352 : 
+befor : 104.000000  72.000000  after : 104.803375  70.660728   FALSE 2.439060
+[13:21:15.411] 160-3/352 : 
+befor : 236.000000  96.000000  after : 236.494873  95.942566   TRUE 0.248198
+[13:21:15.411] 160-4/352 : 
+befor : 259.000000  106.000000  after : 259.190369  106.167862   TRUE 0.064418
+[13:21:15.411] 160-5/352 : 
+befor : 252.000000  216.000000  after : 242.500854  226.020508   TRUE 190.644342
+[13:21:15.411] 160-6/352 : 
+befor : 186.000000  243.000000  after : 202.692978  230.664642   FALSE 430.816560
+[13:21:15.411] 160-7/352 : 
+befor : 215.000000  256.000000  after : 215.000000  256.000000   FALSE 0.000000
+[13:21:15.411] 160-8/352 : 
+befor : 314.000000  313.000000  after : 312.306152  315.029175   FALSE 6.986670
+[13:21:15.411] 160-9/352 : 
+befor : 340.000000  328.000000  after : 336.987823  332.284607   TRUE 27.431064
+[13:21:15.411] 160-10/352 : 
+befor : 334.000000  336.000000  after : 331.842621  338.257904   FALSE 9.752416
+[13:21:15.411] 160-11/352 : 
+befor : 308.000000  408.000000  after : 299.664520  399.340332   FALSE 144.470072
+befor : 308.000000  408.000000  after : 307.624908  407.381195   TRUE 0.523613
+[13:21:15.411] 160-12/352 : 
+befor : 357.000000  401.000000  after : 339.253693  420.958099   FALSE 713.257156
+befor : 332.000000  408.000000  after : 344.260254  397.704834   FALSE 256.304269
+[13:21:15.411] 160-13/352 : 
+befor : 398.000000  420.000000  after : 401.058014  415.533203   FALSE 29.303723
+[13:21:15.411] 160-14/352 : 
+befor : 134.000000  452.000000  after : 132.971527  450.958435   FALSE 2.142614
+[13:21:15.411] After Reprojection Map nPoint:23 ,nCell:16 ,nMatches:5 ,distance between ekf and vo x:-0.000097 ,z=0.000055,angle between two frames:0.000044
+[13:21:15.411] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.231800 	 error end=0.231800
+[13:21:15.411] After pose optimization, distance between ekf and vo x:-0.000097 ,z=0.000055,angle between two frames:0.000044
+[13:21:15.411] frame process finished the id is: 139 the obs is:11 
+[13:21:15.504] Odometry x=0.223866, y=0.515367, theta=0.039778
+[13:21:15.512] 161-1/352 : 
+befor : 256.000000  108.000000  after : 256.393036  107.770584   TRUE 0.207109
+[13:21:15.512] 161-2/352 : 
+befor : 308.000000  172.000000  after : 292.813538  190.481613   FALSE 572.198665
+befor : 308.000000  172.000000  after : 310.221130  172.585220   TRUE 5.275903
+[13:21:15.512] 161-3/352 : 
+befor : 261.000000  226.000000  after : 267.258667  219.191986   FALSE 85.519966
+[13:21:15.512] 161-4/352 : 
+befor : 237.000000  258.000000  after : 236.381973  256.222687   TRUE 3.540799
+[13:21:15.512] 161-5/352 : 
+befor : 324.000000  314.000000  after : 316.077393  321.514984   FALSE 119.242695
+befor : 325.000000  325.000000  after : 328.840668  325.803986   TRUE 15.397121
+[13:21:15.512] 161-6/352 : 
+befor : 342.000000  326.000000  after : 339.712067  330.315735   TRUE 23.860206
+[13:21:15.512] 161-7/352 : 
+befor : 35.000000  337.000000  after : 32.718842  334.379059   TRUE 12.073016
+[13:21:15.512] 161-8/352 : 
+befor : 328.000000  336.000000  after : 328.000000  336.000000   FALSE 0.000000
+[13:21:15.512] 161-9/352 : 
+befor : 456.000000  352.000000  after : 456.068329  352.054291   TRUE 0.007616
+[13:21:15.512] 161-10/352 : 
+befor : 406.000000  368.000000  after : 405.888580  367.962036   TRUE 0.013856
+[13:21:15.512] 161-11/352 : 
+befor : 454.000000  360.000000  after : 454.930359  361.072357   TRUE 2.015518
+[13:21:15.512] After Reprojection Map nPoint:21 ,nCell:13 ,nMatches:9 ,distance between ekf and vo x:-0.000092 ,z=0.000076,angle between two frames:0.000025
+[13:21:15.512] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =5 	 error init =1.875312 	 error end=0.526782
+[13:21:15.512] After pose optimization, distance between ekf and vo x:0.099774 ,z=-0.489613,angle between two frames:0.109540
+[13:21:15.512] frame process finished the id is: 139 the obs is:11 
+[13:21:15.588] Odometry x=0.223757, y=0.521274, theta=0.032284
+[13:21:15.610] 162-1/352 : 
+befor : 200.000000  28.000000  after : 198.729385  30.141273   FALSE 6.199514
+befor : 200.000000  28.000000  after : 193.827454  37.664970   FALSE 131.511982
+[13:21:15.610] 162-2/352 : 
+befor : 96.000000  104.000000  after : 96.543304  103.762413   TRUE 0.351627
+[13:21:15.610] 162-3/352 : 
+befor : 249.000000  91.000000  after : 249.410995  91.065773   TRUE 0.173243
+[13:21:15.610] 162-4/352 : 
+befor : 268.000000  161.000000  after : 267.546722  154.457245   FALSE 43.013105
+[13:21:15.610] 162-5/352 : 
+befor : 266.000000  185.000000  after : 265.488098  184.976852   TRUE 0.262579
+[13:21:15.610] 162-6/352 : 
+befor : 252.000000  216.000000  after : 248.342926  219.752838   TRUE 27.457984
+[13:21:15.610] 162-7/352 : 
+befor : 226.000000  258.000000  after : 226.398010  258.021271   TRUE 0.158865
+[13:21:15.610] 162-8/352 : 
+befor : 261.000000  242.000000  after : 269.627869  238.690262   TRUE 85.394484
+[13:21:15.610] 162-9/352 : 
+befor : 326.000000  320.000000  after : 330.442139  316.369324   FALSE 32.914406
+befor : 320.000000  321.000000  after : 321.518219  322.283112   TRUE 3.951364
+[13:21:15.610] 162-10/352 : 
+befor : 329.000000  333.000000  after : 324.558167  338.006012   FALSE 44.790041
+befor : 329.000000  334.000000  after : 328.983978  333.775269   TRUE 0.050761
+[13:21:15.610] 162-11/352 : 
+befor : 456.000000  352.000000  after : 463.675018  343.753052   FALSE 126.918061
+befor : 454.000000  358.000000  after : 454.000000  358.000000   FALSE 0.000000
+[13:21:15.610] 162-12/352 : 
+befor : 327.000000  389.000000  after : 303.652405  414.258118   FALSE 1183.082711
+[13:21:15.610] 162-13/352 : 
+befor : 80.000000  414.000000  after : 86.459335  423.735016   FALSE 136.493547
+[13:21:15.610] 162-14/352 : 
+befor : 336.000000  404.000000  after : 347.985016  394.752075   TRUE 229.164719
+[13:21:15.610] 162-15/352 : 
+befor : 401.000000  418.000000  after : 396.924835  413.597351   TRUE 35.990286
+[13:21:15.610] 162-16/352 : 
+befor : 420.000000  428.000000  after : 420.323242  427.883575   TRUE 0.118040
+[13:21:15.610] 162-17/352 : 
+befor : 354.000000  470.000000  after : 360.427704  464.755829   FALSE 68.816708
+[13:21:15.610] After Reprojection Map nPoint:23 ,nCell:21 ,nMatches:11 ,distance between ekf and vo x:-0.000112 ,z=0.000081,angle between two frames:0.000047
+[13:21:15.610] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =6 	 error init =2.028903 	 error end=0.520991
+[13:21:15.610] After pose optimization, distance between ekf and vo x:0.251611 ,z=-0.790874,angle between two frames:0.061100
+[13:21:15.610] frame process finished the id is: 139 the obs is:11 
+[13:21:15.701] Odometry x=0.223682, y=0.526218, theta=0.033037
+[13:21:15.709] 163-1/352 : 
+befor : 196.000000  32.000000  after : 187.150208  41.186481   TRUE 162.710269
+[13:21:15.709] 163-2/352 : 
+befor : 246.000000  91.000000  after : 246.406540  91.098228   TRUE 0.174924
+[13:21:15.709] 163-3/352 : 
+befor : 188.000000  240.000000  after : 188.063080  240.517242   TRUE 0.271519
+[13:21:15.709] 163-4/352 : 
+befor : 252.000000  252.000000  after : 252.416290  251.826675   TRUE 0.203339
+[13:21:15.709] 163-5/352 : 
+befor : 324.000000  313.000000  after : 315.240082  321.771454   FALSE 153.674570
+befor : 316.000000  309.000000  after : 316.000000  309.000000   FALSE 0.000000
+[13:21:15.709] 163-6/352 : 
+befor : 344.000000  322.000000  after : 340.752594  326.344757   TRUE 29.422560
+[13:21:15.709] 163-7/352 : 
+befor : 33.000000  337.000000  after : 32.848610  336.861786   TRUE 0.042022
+[13:21:15.709] 163-8/352 : 
+befor : 329.000000  335.000000  after : 330.696503  333.896454   TRUE 4.095935
+[13:21:15.709] 163-9/352 : 
+befor : 336.000000  331.000000  after : 339.858917  327.060516   TRUE 30.410774
+[13:21:15.709] 163-10/352 : 
+befor : 452.000000  356.000000  after : 453.176361  358.190704   FALSE 6.183011
+[13:21:15.709] 163-11/352 : 
+befor : 322.000000  360.000000  after : 315.410858  367.818207   FALSE 104.541148
+[13:21:15.709] 163-12/352 : 
+befor : 40.000000  404.000000  after : 41.407925  405.364502   TRUE 3.844117
+[13:21:15.710] 163-13/352 : 
+befor : 76.000000  396.000000  after : 75.208267  396.884918   TRUE 1.409921
+[13:21:15.710] 163-14/352 : 
+befor : 324.000000  390.000000  after : 323.471558  389.487244   TRUE 0.542170
+[13:21:15.710] 163-15/352 : 
+befor : 244.000000  421.000000  after : 241.041504  419.571198   TRUE 10.794176
+[13:21:15.710] After Reprojection Map nPoint:20 ,nCell:16 ,nMatches:12 ,distance between ekf and vo x:-0.000087 ,z=0.000096,angle between two frames:0.000019
+[13:21:15.710] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =8 	 error init =3.003206 	 error end=0.473289
+[13:21:15.710] After pose optimization, distance between ekf and vo x:0.090769 ,z=-0.586492,angle between two frames:0.204827
+[13:21:15.710] frame process finished the id is: 139 the obs is:11 
+[13:21:15.794] Odometry x=0.223591, y=0.532000, theta=0.031774
+[13:21:15.809] 164-1/352 : 
+befor : 282.000000  20.000000  after : 288.963257  12.865158   TRUE 99.392915
+[13:21:15.809] 164-2/352 : 
+befor : 309.000000  17.000000  after : 308.974518  17.055971   TRUE 0.003782
+[13:21:15.809] 164-3/352 : 
+befor : 297.000000  37.000000  after : 314.452484  58.903080   FALSE 784.334115
+[13:21:15.809] 164-4/352 : 
+befor : 262.000000  178.000000  after : 262.430725  178.453918   TRUE 0.391566
+[13:21:15.810] 164-5/352 : 
+befor : 46.000000  186.000000  after : 46.577251  186.019653   TRUE 0.333605
+[13:21:15.810] 164-6/352 : 
+befor : 257.000000  219.000000  after : 261.937958  214.018478   FALSE 49.198984
+befor : 254.000000  216.000000  after : 253.847214  215.362579   TRUE 0.429649
+[13:21:15.810] 164-7/352 : 
+befor : 336.000000  316.000000  after : 335.350494  323.832733   TRUE 61.773566
+[13:21:15.810] 164-8/352 : 
+befor : 324.000000  330.000000  after : 324.092560  329.993958   TRUE 0.008604
+[13:21:15.810] 164-9/352 : 
+befor : 452.000000  348.000000  after : 449.255310  352.195984   FALSE 25.139604
+befor : 452.000000  348.000000  after : 452.527649  348.270538   TRUE 0.351604
+[13:21:15.810] 164-10/352 : 
+befor : 324.000000  387.000000  after : 300.843262  412.096191   FALSE 1166.053351
+befor : 324.000000  387.000000  after : 295.739899  417.399323   FALSE 1722.752136
+[13:21:15.810] 164-11/352 : 
+befor : 280.000000  412.000000  after : 280.627686  411.873230   TRUE 0.410060
+[13:21:15.810] 164-12/352 : 
+befor : 308.000000  402.000000  after : 308.555542  402.486450   TRUE 0.545261
+[13:21:15.810] 164-13/352 : 
+befor : 359.000000  393.000000  after : 363.671265  397.003357   TRUE 37.847580
+[13:21:15.810] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000110 ,z=0.000102,angle between two frames:0.000024
+[13:21:15.810] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =7 	 error init =22.908331 	 error end=0.441773
+[13:21:15.810] After pose optimization, distance between ekf and vo x:53.178879 ,z=-151.499735,angle between two frames:1.638836
+[13:21:15.810] frame process finished the id is: 139 the obs is:11 
+[13:21:15.892] Odometry x=0.223519, y=0.537344, theta=0.034356
+[13:21:15.909] 165-1/352 : 
+befor : 92.000000  14.000000  after : 85.795914  20.621891   FALSE 82.340128
+[13:21:15.909] 165-2/352 : 
+befor : 284.000000  19.000000  after : 284.018951  18.876612   TRUE 0.015584
+[13:21:15.909] 165-3/352 : 
+befor : 198.000000  30.000000  after : 197.990829  29.985645   TRUE 0.000290
+[13:21:15.909] 165-4/352 : 
+befor : 256.000000  100.000000  after : 251.518204  107.313400   FALSE 73.572321
+befor : 262.000000  100.000000  after : 263.367828  110.262131   TRUE 107.182282
+[13:21:15.910] 165-5/352 : 
+befor : 84.000000  136.000000  after : 84.431961  135.760025   TRUE 0.244178
+[13:21:15.910] 165-6/352 : 
+befor : 182.000000  235.000000  after : 182.317520  234.683350   TRUE 0.201087
+[13:21:15.910] 165-7/352 : 
+befor : 184.000000  240.000000  after : 180.770706  246.284882   FALSE 49.928075
+[13:21:15.910] 165-8/352 : 
+befor : 241.000000  295.000000  after : 241.000000  295.000000   FALSE 0.000000
+[13:21:15.910] 165-9/352 : 
+befor : 315.000000  307.000000  after : 312.986023  309.457886   FALSE 10.097306
+befor : 315.000000  307.000000  after : 307.559540  316.919647   FALSE 153.759849
+[13:21:15.910] 165-10/352 : 
+befor : 345.000000  321.000000  after : 347.800812  316.944000   FALSE 24.295681
+[13:21:15.910] 165-11/352 : 
+befor : 30.000000  340.000000  after : 32.179295  337.566284   FALSE 10.672298
+[13:21:15.910] 165-12/352 : 
+befor : 328.000000  330.000000  after : 322.352875  336.540436   TRUE 74.667324
+[13:21:15.910] 165-13/352 : 
+befor : 308.000000  372.000000  after : 308.673279  372.289276   TRUE 0.536985
+[13:21:15.910] 165-14/352 : 
+befor : 308.000000  404.000000  after : 308.454773  404.001617   TRUE 0.206821
+[13:21:15.910] 165-15/352 : 
+befor : 336.000000  404.000000  after : 332.137421  399.957245   FALSE 31.263388
+[13:21:15.910] After Reprojection Map nPoint:22 ,nCell:17 ,nMatches:8 ,distance between ekf and vo x:-0.000085 ,z=0.000048,angle between two frames:0.000024
+[13:21:15.910] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.494353 	 error end=0.494353
+[13:21:15.910] After pose optimization, distance between ekf and vo x:-0.000085 ,z=0.000048,angle between two frames:0.000024
+[13:21:15.910] frame process finished the id is: 139 the obs is:11 
+[13:21:15.990] Odometry x=0.223433, y=0.542546, theta=0.032134
+[13:21:16.008] 166-1/352 : 
+befor : 262.000000  99.000000  after : 262.187134  99.106613   TRUE 0.046385
+[13:21:16.008] 166-2/352 : 
+befor : 263.000000  167.000000  after : 262.650421  161.303391   FALSE 32.573565
+[13:21:16.008] 166-3/352 : 
+befor : 262.000000  181.000000  after : 261.286285  180.951294   TRUE 0.511761
+[13:21:16.008] 166-4/352 : 
+befor : 248.000000  212.000000  after : 243.507141  216.431763   TRUE 39.826302
+[13:21:16.008] 166-5/352 : 
+befor : 320.000000  307.000000  after : 311.823181  314.874878   FALSE 128.874069
+befor : 320.000000  307.000000  after : 317.500092  308.902557   TRUE 9.869267
+[13:21:16.008] 166-6/352 : 
+befor : 332.000000  316.000000  after : 332.393799  315.756775   TRUE 0.214236
+[13:21:16.008] 166-7/352 : 
+befor : 328.000000  330.000000  after : 328.644226  330.121826   TRUE 0.429869
+[13:21:16.008] 166-8/352 : 
+befor : 452.000000  348.000000  after : 452.710144  350.160339   FALSE 5.171371
+[13:21:16.008] 166-9/352 : 
+befor : 322.000000  387.000000  after : 319.744141  381.349426   TRUE 37.017885
+[13:21:16.008] 166-10/352 : 
+befor : 306.000000  402.000000  after : 306.540192  402.035614   TRUE 0.293075
+[13:21:16.008] 166-11/352 : 
+befor : 332.000000  396.000000  after : 329.705444  393.722229   FALSE 10.453226
+[13:21:16.008] 166-12/352 : 
+befor : 92.000000  430.000000  after : 95.917145  439.076508   TRUE 97.727013
+[13:21:16.008] 166-13/352 : 
+befor : 192.000000  430.000000  after : 191.938141  429.906830   TRUE 0.012507
+[13:21:16.008] After Reprojection Map nPoint:22 ,nCell:14 ,nMatches:10 ,distance between ekf and vo x:-0.000109 ,z=0.000012,angle between two frames:0.000070
+[13:21:16.008] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.390432 	 error end=0.296442
+[13:21:16.008] After pose optimization, distance between ekf and vo x:-0.968348 ,z=6.577226,angle between two frames:0.005844
+[13:21:16.008] frame process finished the id is: 139 the obs is:11 
+[13:21:16.089] Odometry x=0.223357, y=0.547946, theta=0.027809
+[13:21:16.113] 167-1/352 : 
+befor : 188.000000  24.000000  after : 181.059036  16.735891   FALSE 100.944252
+[13:21:16.113] 167-2/352 : 
+befor : 256.000000  100.000000  after : 256.431213  99.738655   TRUE 0.254246
+[13:21:16.113] 167-3/352 : 
+befor : 44.000000  162.000000  after : 43.843407  162.940231   TRUE 0.908556
+[13:21:16.113] 167-4/352 : 
+befor : 259.000000  165.000000  after : 255.875992  167.504333   TRUE 16.031113
+[13:21:16.113] 167-5/352 : 
+befor : 41.000000  182.000000  after : 44.557949  176.651810   FALSE 41.262141
+befor : 42.000000  180.000000  after : 41.689827  179.987778   TRUE 0.096357
+[13:21:16.113] 167-6/352 : 
+befor : 250.000000  214.000000  after : 250.184280  215.552795   TRUE 2.445133
+[13:21:16.113] 167-7/352 : 
+befor : 22.000000  326.000000  after : 12.160164  316.669281   TRUE 183.884692
+[13:21:16.113] 167-8/352 : 
+befor : 316.000000  321.000000  after : 315.523682  321.673859   TRUE 0.680965
+[13:21:16.113] 167-9/352 : 
+befor : 400.000000  365.000000  after : 399.557648  365.816193   TRUE 0.861846
+[13:21:16.113] After Reprojection Map nPoint:19 ,nCell:10 ,nMatches:8 ,distance between ekf and vo x:-0.000045 ,z=0.000107,angle between two frames:0.000062
+[13:21:16.113] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.474333 	 error end=0.474333
+[13:21:16.113] After pose optimization, distance between ekf and vo x:-0.000045 ,z=0.000107,angle between two frames:0.000062
+[13:21:16.113] frame process finished the id is: 139 the obs is:11 
+[13:21:16.186] Odometry x=0.223316, y=0.555022, theta=0.030700
+[13:21:16.207] 168-1/352 : 
+befor : 287.000000  44.000000  after : 307.809113  67.545486   FALSE 987.409097
+[13:21:16.207] 168-2/352 : 
+befor : 68.000000  68.000000  after : 73.359268  62.091892   FALSE 63.627493
+befor : 68.000000  68.000000  after : 68.543747  68.320969   TRUE 0.398682
+[13:21:16.207] 168-3/352 : 
+befor : 56.000000  104.000000  after : 60.346283  104.448318   TRUE 19.091165
+[13:21:16.207] 168-4/352 : 
+befor : 238.000000  90.000000  after : 237.942886  89.826073   TRUE 0.033513
+[13:21:16.207] 168-5/352 : 
+befor : 241.000000  90.000000  after : 241.391083  90.061592   TRUE 0.156739
+[13:21:16.207] 168-6/352 : 
+befor : 296.000000  168.000000  after : 304.433807  175.940826   TRUE 134.185831
+[13:21:16.207] 168-7/352 : 
+befor : 28.000000  232.000000  after : 48.284023  212.224380   FALSE 802.516728
+[13:21:16.207] 168-8/352 : 
+befor : 176.000000  236.000000  after : 175.838364  236.497299   FALSE 0.273433
+[13:21:16.207] 168-9/352 : 
+befor : 244.000000  212.000000  after : 250.636108  219.095886   FALSE 94.389536
+[13:21:16.208] 168-10/352 : 
+befor : 312.000000  324.000000  after : 302.306122  333.715881   FALSE 188.369624
+befor : 312.000000  310.000000  after : 309.358643  311.283478   TRUE 8.624084
+[13:21:16.208] 168-11/352 : 
+befor : 336.000000  321.000000  after : 334.862854  323.108093   TRUE 5.737158
+[13:21:16.208] 168-12/352 : 
+befor : 19.000000  335.000000  after : 19.000000  335.000000   FALSE 0.000000
+[13:21:16.208] 168-13/352 : 
+befor : 325.000000  333.000000  after : 323.675446  330.855957   TRUE 6.351365
+[13:21:16.208] 168-14/352 : 
+befor : 309.000000  362.000000  after : 302.837891  368.912018   FALSE 85.747582
+[13:21:16.208] 168-15/352 : 
+befor : 397.000000  369.000000  after : 393.488373  371.850311   TRUE 20.455800
+[13:21:16.208] 168-16/352 : 
+befor : 446.000000  362.000000  after : 446.502808  361.629242   TRUE 0.390277
+[13:21:16.208] After Reprojection Map nPoint:20 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:-0.000049 ,z=0.000057,angle between two frames:0.000027
+[13:21:16.208] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.437716 	 error end=0.437716
+[13:21:16.208] After pose optimization, distance between ekf and vo x:-0.000049 ,z=0.000057,angle between two frames:0.000027
+[13:21:16.208] frame process finished the id is: 139 the obs is:11 
+[13:21:16.290] Odometry x=0.223356, y=0.560330, theta=0.031187
+[13:21:16.307] 169-1/352 : 
+befor : 285.000000  43.000000  after : 306.410095  67.610382   FALSE 1064.063083
+[13:21:16.307] 169-2/352 : 
+befor : 88.000000  80.000000  after : 88.257263  79.690323   FALSE 0.162084
+[13:21:16.307] 169-3/352 : 
+befor : 92.000000  64.000000  after : 92.552719  64.337105   TRUE 0.419138
+[13:21:16.307] 169-4/352 : 
+befor : 236.000000  90.000000  after : 225.287643  101.897293   FALSE 256.300166
+befor : 238.000000  90.000000  after : 255.169022  77.231865   FALSE 457.800576
+[13:21:16.307] 169-5/352 : 
+befor : 254.000000  103.000000  after : 254.245361  102.951508   TRUE 0.062554
+[13:21:16.307] 169-6/352 : 
+befor : 170.000000  236.000000  after : 170.101959  235.938293   TRUE 0.014203
+[13:21:16.307] 169-7/352 : 
+befor : 220.000000  256.000000  after : 219.866409  255.747772   TRUE 0.081465
+[13:21:16.307] 169-8/352 : 
+befor : 309.000000  311.000000  after : 310.612762  309.843506   FALSE 3.938481
+befor : 303.000000  311.000000  after : 302.997162  310.965485   TRUE 0.001199
+[13:21:16.307] 169-9/352 : 
+befor : 17.000000  335.000000  after : 19.349434  332.060944   TRUE 14.157892
+[13:21:16.307] 169-10/352 : 
+befor : 314.000000  336.000000  after : 314.951538  335.986450   TRUE 0.905608
+[13:21:16.307] 169-11/352 : 
+befor : 262.000000  418.000000  after : 262.613525  417.971497   TRUE 0.377226
+[13:21:16.307] 169-12/352 : 
+befor : 388.000000  422.000000  after : 385.851929  419.785187   FALSE 9.519608
+[13:21:16.307] 169-13/352 : 
+befor : 434.000000  463.000000  after : 434.434021  462.789276   TRUE 0.232779
+[13:21:16.307] After Reprojection Map nPoint:20 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000069 ,z=0.000047,angle between two frames:0.000004
+[13:21:16.307] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.753466 	 error end=0.394945
+[13:21:16.307] After pose optimization, distance between ekf and vo x:-0.433964 ,z=0.926752,angle between two frames:0.004622
+[13:21:16.307] frame process finished the id is: 139 the obs is:11 
+[13:21:16.389] Odometry x=0.223290, y=0.568656, theta=0.039221
+[13:21:16.410] 170-1/352 : 
+befor : 290.000000  34.000000  after : 306.074005  20.928473   FALSE 429.238472
+[13:21:16.411] 170-2/352 : 
+befor : 236.000000  89.000000  after : 236.435806  89.000435   TRUE 0.189927
+[13:21:16.411] 170-3/352 : 
+befor : 248.000000  100.000000  after : 238.590591  109.531654   FALSE 179.389404
+befor : 244.000000  100.000000  after : 244.219604  100.386955   TRUE 0.197961
+[13:21:16.411] 170-4/352 : 
+befor : 253.000000  158.000000  after : 252.288742  148.603973   FALSE 88.791204
+[13:21:16.411] 170-5/352 : 
+befor : 34.000000  180.000000  after : 33.992764  179.905151   TRUE 0.009049
+[13:21:16.411] 170-6/352 : 
+befor : 244.000000  220.000000  after : 244.919846  219.589645   TRUE 1.014507
+[13:21:16.411] 170-7/352 : 
+befor : 223.000000  254.000000  after : 223.000000  254.000000   FALSE 0.000000
+[13:21:16.411] 170-8/352 : 
+befor : 228.000000  296.000000  after : 227.971924  295.956482   TRUE 0.002682
+[13:21:16.411] 170-9/352 : 
+befor : 303.000000  311.000000  after : 302.477692  310.700043   TRUE 0.362780
+[13:21:16.411] 170-10/352 : 
+befor : 333.000000  323.000000  after : 331.746765  324.888489   TRUE 5.136987
+[13:21:16.411] 170-11/352 : 
+befor : 16.000000  334.000000  after : 16.484322  335.553711   FALSE 2.648585
+[13:21:16.411] 170-12/352 : 
+befor : 299.000000  364.000000  after : 295.469391  361.829010   TRUE 17.178398
+[13:21:16.411] 170-13/352 : 
+befor : 444.000000  364.000000  after : 449.261780  359.047729   FALSE 52.211310
+befor : 444.000000  364.000000  after : 449.385315  358.934784   FALSE 54.658031
+[13:21:16.411] 170-14/352 : 
+befor : 309.000000  393.000000  after : 307.584625  395.977386   FALSE 10.868116
+[13:21:16.411] 170-15/352 : 
+befor : 168.000000  436.000000  after : 168.485397  435.823212   TRUE 0.266865
+[13:21:16.411] After Reprojection Map nPoint:21 ,nCell:17 ,nMatches:9 ,distance between ekf and vo x:-0.000030 ,z=0.000061,angle between two frames:0.000031
+[13:21:16.411] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =5 	 error init =1.220948 	 error end=0.430583
+[13:21:16.411] After pose optimization, distance between ekf and vo x:-0.604749 ,z=0.856389,angle between two frames:0.027211
+[13:21:16.411] frame process finished the id is: 139 the obs is:11 
+[13:21:16.491] Odometry x=0.223160, y=0.575255, theta=0.038620
+[13:21:16.509] 171-1/352 : 
+befor : 56.000000  92.000000  after : 56.608292  91.797203   TRUE 0.411145
+[13:21:16.509] 171-2/352 : 
+befor : 80.000000  100.000000  after : 82.062782  100.920670   TRUE 5.102703
+[13:21:16.509] 171-3/352 : 
+befor : 244.000000  100.000000  after : 237.192291  107.982277   FALSE 110.061643
+befor : 241.000000  91.000000  after : 252.098511  135.588135   TRUE 2111.278703
+[13:21:16.509] 171-4/352 : 
+befor : 32.000000  182.000000  after : 32.477547  181.939011   TRUE 0.231771
+[13:21:16.509] 171-5/352 : 
+befor : 245.000000  219.000000  after : 243.696274  220.119888   FALSE 2.953852
+[13:21:16.509] 171-6/352 : 
+befor : 210.000000  262.000000  after : 210.605392  261.467743   TRUE 0.649798
+[13:21:16.509] 171-7/352 : 
+befor : 240.000000  248.000000  after : 234.070160  254.193130   FALSE 73.517869
+[13:21:16.509] 171-8/352 : 
+befor : 226.000000  294.000000  after : 226.000000  294.000000   FALSE 0.000000
+[13:21:16.509] 171-9/352 : 
+befor : 15.000000  323.000000  after : 22.543264  316.226593   TRUE 102.779880
+[13:21:16.509] 171-10/352 : 
+befor : 312.000000  322.000000  after : 315.452606  324.648193   TRUE 18.933418
+[13:21:16.509] 171-11/352 : 
+befor : 13.000000  334.000000  after : 17.141623  328.686340   TRUE 45.388016
+[13:21:16.509] 171-12/352 : 
+befor : 312.000000  334.000000  after : 304.094025  324.591766   TRUE 151.019306
+[13:21:16.509] 171-13/352 : 
+befor : 311.000000  392.000000  after : 310.954681  391.880066   TRUE 0.016438
+[13:21:16.509] 171-14/352 : 
+befor : 216.000000  424.000000  after : 220.468735  418.999084   FALSE 44.978746
+[13:21:16.509] After Reprojection Map nPoint:22 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:-0.000048 ,z=0.000065,angle between two frames:0.000009
+[13:21:16.509] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.639562 	 error end=0.639562
+[13:21:16.509] After pose optimization, distance between ekf and vo x:-0.000048 ,z=0.000065,angle between two frames:0.000009
+[13:21:16.509] frame process finished the id is: 139 the obs is:11 
+[13:21:16.591] Odometry x=0.223236, y=0.580684, theta=0.036201
+[13:21:16.610] 172-1/352 : 
+befor : 291.000000  23.000000  after : 299.357635  32.944572   FALSE 168.744592
+befor : 291.000000  23.000000  after : 313.888702  4.771366   FALSE 856.175790
+[13:21:16.610] 172-2/352 : 
+befor : 92.000000  52.000000  after : 100.460487  43.132313   FALSE 150.215723
+befor : 92.000000  52.000000  after : 92.499977  52.335762   TRUE 0.362713
+[13:21:16.610] 172-3/352 : 
+befor : 238.000000  86.000000  after : 240.361603  112.334290   FALSE 699.071974
+befor : 234.000000  84.000000  after : 233.958588  83.902344   TRUE 0.011252
+[13:21:16.610] 172-4/352 : 
+befor : 250.000000  95.000000  after : 246.050064  97.961823   TRUE 24.374386
+[13:21:16.610] 172-5/352 : 
+befor : 34.000000  156.000000  after : 33.533535  156.064041   TRUE 0.221691
+[13:21:16.610] 172-6/352 : 
+befor : 169.000000  173.000000  after : 169.215256  172.922272   TRUE 0.052377
+[13:21:16.610] 172-7/352 : 
+befor : 240.000000  168.000000  after : 240.409607  167.731537   TRUE 0.239850
+[13:21:16.610] 172-8/352 : 
+befor : 28.000000  184.000000  after : 57.064434  215.590866   FALSE 1842.724147
+[13:21:16.610] 172-9/352 : 
+befor : 242.000000  215.000000  after : 242.000000  215.000000   FALSE 0.000000
+[13:21:16.610] 172-10/352 : 
+befor : 12.000000  320.000000  after : 11.892414  322.321564   TRUE 5.401233
+[13:21:16.610] 172-11/352 : 
+befor : 301.000000  307.000000  after : 299.742340  308.028961   FALSE 2.640470
+befor : 300.000000  306.000000  after : 312.949799  293.804108   FALSE 316.437073
+[13:21:16.611] 172-12/352 : 
+befor : 13.000000  330.000000  after : 14.835633  327.254700   TRUE 10.906223
+[13:21:16.611] 172-13/352 : 
+befor : 312.000000  330.000000  after : 309.872040  332.982391   FALSE 13.422873
+befor : 310.000000  330.000000  after : 312.588379  328.146759   FALSE 10.134207
+[13:21:16.611] After Reprojection Map nPoint:21 ,nCell:18 ,nMatches:8 ,distance between ekf and vo x:-0.000038 ,z=0.000048,angle between two frames:0.000019
+[13:21:16.611] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =3 	 error init =1.973949 	 error end=0.671433
+[13:21:16.611] After pose optimization, distance between ekf and vo x:-0.103643 ,z=-1.033869,angle between two frames:0.173306
+[13:21:16.611] frame process finished the id is: 139 the obs is:11 
+[13:21:16.690] Odometry x=0.223112, y=0.586440, theta=0.044434
+[13:21:16.708] 173-1/352 : 
+befor : 303.000000  6.000000  after : 303.000000  6.000000   FALSE 0.000000
+[13:21:16.708] 173-2/352 : 
+befor : 60.000000  72.000000  after : 65.067619  67.565857   FALSE 45.342390
+[13:21:16.708] 173-3/352 : 
+befor : 48.000000  112.000000  after : 54.446606  104.374413   FALSE 99.708309
+befor : 48.000000  112.000000  after : 48.417423  112.339233   TRUE 0.289321
+[13:21:16.708] 173-4/352 : 
+befor : 250.000000  97.000000  after : 250.271454  96.976761   TRUE 0.074227
+[13:21:16.708] 173-5/352 : 
+befor : 34.000000  162.000000  after : 61.189167  192.145996   FALSE 1648.031884
+[13:21:16.708] 173-6/352 : 
+befor : 292.000000  164.000000  after : 293.603394  162.645050   FALSE 4.406760
+[13:21:16.708] 173-7/352 : 
+befor : 30.000000  180.000000  after : 30.489779  179.875366   TRUE 0.255417
+[13:21:16.708] 173-8/352 : 
+befor : 243.000000  217.000000  after : 242.983200  217.036377   TRUE 0.001606
+[13:21:16.708] 173-9/352 : 
+befor : 333.000000  247.000000  after : 342.253723  237.640793   FALSE 173.226151
+[13:21:16.708] 173-10/352 : 
+befor : 14.000000  324.000000  after : -0.114165  339.280701   FALSE 432.709476
+[13:21:16.708] 173-11/352 : 
+befor : 303.000000  310.000000  after : 300.240997  314.098022   FALSE 24.405884
+[13:21:16.708] 173-12/352 : 
+befor : 332.000000  322.000000  after : 333.533112  321.861603   TRUE 2.369585
+[13:21:16.708] 173-13/352 : 
+befor : 15.000000  336.000000  after : 2.719722  323.729553   FALSE 301.369097
+befor : 15.000000  336.000000  after : 15.174273  336.054688   TRUE 0.033362
+[13:21:16.708] 173-14/352 : 
+befor : 317.000000  334.000000  after : 317.000000  334.000000   FALSE 0.000000
+[13:21:16.708] 173-15/352 : 
+befor : 452.000000  352.000000  after : 452.412445  351.731293   TRUE 0.242315
+[13:21:16.708] 173-16/352 : 
+befor : 296.000000  380.000000  after : 300.617920  375.325378   FALSE 43.177271
+[13:21:16.708] 173-17/352 : 
+befor : 44.000000  432.000000  after : 44.990822  430.998779   FALSE 1.984171
+[13:21:16.708] 173-18/352 : 
+befor : 158.000000  436.000000  after : 150.876846  445.985168   TRUE 150.442908
+[13:21:16.708] After Reprojection Map nPoint:23 ,nCell:20 ,nMatches:8 ,distance between ekf and vo x:0.000025 ,z=0.000092,angle between two frames:0.000147
+[13:21:16.708] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =3 	 error init =5.052845 	 error end=0.757510
+[13:21:16.708] After pose optimization, distance between ekf and vo x:-0.959750 ,z=-4.709801,angle between two frames:1.554844
+[13:21:16.708] frame process finished the id is: 139 the obs is:11 
+[13:21:16.792] Odometry x=0.223013, y=0.592370, theta=0.043106
+[13:21:16.809] 174-1/352 : 
+befor : 190.000000  26.000000  after : 213.744507  3.855544   FALSE 1054.178532
+[13:21:16.809] 174-2/352 : 
+befor : 292.000000  28.000000  after : 307.387939  15.909592   FALSE 382.966654
+[13:21:16.809] 174-3/352 : 
+befor : 68.000000  56.000000  after : 68.064194  55.957897   TRUE 0.005893
+[13:21:16.809] 174-4/352 : 
+befor : 60.000000  76.000000  after : 67.135155  67.206436   TRUE 128.237198
+[13:21:16.809] 174-5/352 : 
+befor : 236.000000  88.000000  after : 229.140015  85.941231   TRUE 51.297930
+[13:21:16.809] 174-6/352 : 
+befor : 80.000000  104.000000  after : 83.917938  99.213982   FALSE 38.256212
+[13:21:16.809] 174-7/352 : 
+befor : 254.000000  97.000000  after : 254.192719  97.003181   TRUE 0.037151
+[13:21:16.809] 174-8/352 : 
+befor : 253.000000  180.000000  after : 242.061203  172.681335   TRUE 173.220131
+[13:21:16.809] 174-9/352 : 
+befor : 222.000000  255.000000  after : 222.000000  255.000000   FALSE 0.000000
+[13:21:16.809] 174-10/352 : 
+befor : 206.000000  318.000000  after : 200.152557  325.068726   FALSE 84.159467
+[13:21:16.809] 174-11/352 : 
+befor : 307.000000  308.000000  after : 306.963287  308.035706   TRUE 0.002623
+[13:21:16.809] 174-12/352 : 
+befor : 13.000000  334.000000  after : 5.818379  341.840118   FALSE 113.043131
+[13:21:16.809] 174-13/352 : 
+befor : 326.000000  330.000000  after : 325.839020  329.209625   TRUE 0.650607
+[13:21:16.809] 174-14/352 : 
+befor : 452.000000  352.000000  after : 453.685333  350.235291   FALSE 5.954548
+[13:21:16.809] 174-15/352 : 
+befor : 300.000000  372.000000  after : 303.345093  375.590576   FALSE 24.081883
+[13:21:16.809] 174-16/352 : 
+befor : 216.000000  426.000000  after : 216.380997  425.745605   TRUE 0.209875
+[13:21:16.809] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:8 ,distance between ekf and vo x:-0.000128 ,z=0.000073,angle between two frames:0.000060
+[13:21:16.809] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =5 	 error init =7.952305 	 error end=0.445044
+[13:21:16.809] After pose optimization, distance between ekf and vo x:-5.449231 ,z=-51.747775,angle between two frames:1.745399
+[13:21:16.809] frame process finished the id is: 139 the obs is:11 
+[13:21:16.890] Odometry x=0.222878, y=0.597970, theta=0.039909
+[13:21:16.909] 175-1/352 : 
+befor : 188.000000  24.000000  after : 182.980011  28.843897   TRUE 48.663627
+[13:21:16.909] 175-2/352 : 
+befor : 76.000000  36.000000  after : 80.437645  28.582884   TRUE 74.706305
+[13:21:16.909] 175-3/352 : 
+befor : 286.000000  40.000000  after : 334.152649  -0.208088   FALSE 3935.367933
+[13:21:16.909] 175-4/352 : 
+befor : 84.000000  92.000000  after : 86.383743  92.206612   TRUE 5.724920
+[13:21:16.909] 175-5/352 : 
+befor : 256.000000  163.000000  after : 255.226242  154.481430   FALSE 73.164735
+befor : 255.000000  178.000000  after : 246.853745  174.218475   TRUE 80.661407
+[13:21:16.909] 175-6/352 : 
+befor : 300.000000  164.000000  after : 300.538086  163.731186   TRUE 0.361797
+[13:21:16.909] 175-7/352 : 
+befor : 32.000000  182.000000  after : 32.509926  181.846558   TRUE 0.283569
+[13:21:16.909] 175-8/352 : 
+befor : 246.000000  216.000000  after : 248.150375  215.831665   TRUE 4.652451
+[13:21:16.909] 175-9/352 : 
+befor : 338.000000  238.000000  after : 335.655548  240.450333   FALSE 11.500585
+[13:21:16.909] 175-10/352 : 
+befor : 314.000000  311.000000  after : 312.236908  312.098938   FALSE 4.316158
+befor : 315.000000  323.000000  after : 323.578888  315.835480   FALSE 124.927669
+befor : 318.000000  322.000000  after : 318.746277  322.461670   TRUE 0.770068
+[13:21:16.909] 175-11/352 : 
+befor : 352.000000  300.000000  after : 352.645386  300.127625   TRUE 0.432811
+[13:21:16.909] 175-12/352 : 
+befor : 14.000000  347.000000  after : 13.793710  347.237823   FALSE 0.099116
+befor : 18.000000  337.000000  after : 7.022759  326.166382   FALSE 237.867093
+[13:21:16.909] 175-13/352 : 
+befor : 322.000000  334.000000  after : 319.227814  337.452240   FALSE 19.602978
+[13:21:16.909] 175-14/352 : 
+befor : 246.000000  418.000000  after : 246.394669  418.578308   FALSE 0.490204
+[13:21:16.909] 175-15/352 : 
+befor : 317.000000  392.000000  after : 316.950684  391.937836   TRUE 0.006297
+[13:21:16.909] 175-16/352 : 
+befor : 334.000000  410.000000  after : 331.155060  413.672302   TRUE 21.579488
+[13:21:16.909] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:11 ,distance between ekf and vo x:-0.000090 ,z=0.000060,angle between two frames:0.000041
+[13:21:16.909] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =4 	 error init =9.850194 	 error end=0.687103
+[13:21:16.909] After pose optimization, distance between ekf and vo x:90.015611 ,z=195.188386,angle between two frames:1.526088
+[13:21:16.909] frame process finished the id is: 139 the obs is:11 
+[13:21:16.989] Odometry x=0.222758, y=0.603714, theta=0.042989
+[13:21:17.008] 176-1/352 : 
+befor : 240.000000  88.000000  after : 240.424911  87.809631   TRUE 0.216790
+[13:21:17.008] 176-2/352 : 
+befor : 80.000000  112.000000  after : 80.462830  112.343163   TRUE 0.331972
+[13:21:17.008] 176-3/352 : 
+befor : 256.000000  98.000000  after : 255.911392  97.887695   TRUE 0.020464
+[13:21:17.008] 176-4/352 : 
+befor : 36.000000  162.000000  after : 65.998528  195.455429   FALSE 2019.177389
+[13:21:17.008] 176-5/352 : 
+befor : 176.000000  178.000000  after : 182.743912  184.951447   FALSE 93.802955
+[13:21:17.008] 176-6/352 : 
+befor : 36.000000  182.000000  after : 44.590866  175.586990   FALSE 114.929673
+[13:21:17.008] 176-7/352 : 
+befor : 176.000000  231.000000  after : 141.374069  265.268188   FALSE 2373.263824
+befor : 176.000000  232.000000  after : 176.000000  232.000000   FALSE 0.000000
+[13:21:17.008] 176-8/352 : 
+befor : 224.000000  254.000000  after : 228.370224  250.684647   FALSE 30.090426
+[13:21:17.008] 176-9/352 : 
+befor : 317.000000  323.000000  after : 316.642914  324.097778   FALSE 1.332628
+befor : 317.000000  309.000000  after : 317.955872  308.947540   TRUE 0.916443
+[13:21:17.008] 176-10/352 : 
+befor : 355.000000  307.000000  after : 354.426727  307.189423   TRUE 0.364523
+[13:21:17.009] 176-11/352 : 
+befor : 15.000000  346.000000  after : 50.224442  315.054749   FALSE 2198.369869
+[13:21:17.009] 176-12/352 : 
+befor : 326.000000  333.000000  after : 324.767639  334.489319   TRUE 3.736784
+[13:21:17.009] 176-13/352 : 
+befor : 314.000000  361.000000  after : 314.061493  361.059021   TRUE 0.007265
+[13:21:17.009] 176-14/352 : 
+befor : 320.000000  392.000000  after : 322.307587  396.775024   FALSE 28.125814
+[13:21:17.009] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:7 ,distance between ekf and vo x:-0.000048 ,z=0.000050,angle between two frames:0.000002
+[13:21:17.009] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =3 	 error init =2.108401 	 error end=0.467270
+[13:21:17.009] After pose optimization, distance between ekf and vo x:0.797629 ,z=1.086896,angle between two frames:0.709506
+[13:21:17.009] frame process finished the id is: 139 the obs is:11 
+[13:21:17.089] Odometry x=0.222824, y=0.609118, theta=0.044867
+[13:21:17.109] 177-1/352 : 
+befor : 300.000000  22.000000  after : 300.031525  22.010561   TRUE 0.001105
+[13:21:17.109] 177-2/352 : 
+befor : 164.000000  132.000000  after : 164.053772  131.999939   TRUE 0.002891
+[13:21:17.109] 177-3/352 : 
+befor : 39.000000  166.000000  after : 45.621078  157.188904   FALSE 121.474096
+[13:21:17.109] 177-4/352 : 
+befor : 248.000000  172.000000  after : 248.394485  172.287811   TRUE 0.238454
+[13:21:17.109] 177-5/352 : 
+befor : 304.000000  164.000000  after : 309.641815  170.887939   TRUE 79.273788
+[13:21:17.109] 177-6/352 : 
+befor : 248.000000  212.000000  after : 248.653244  211.583603   TRUE 0.600114
+[13:21:17.109] 177-7/352 : 
+befor : 222.000000  260.000000  after : 223.157166  259.658783   TRUE 1.455461
+[13:21:17.109] 177-8/352 : 
+befor : 248.000000  248.000000  after : 256.579926  257.560944   FALSE 165.026765
+[13:21:17.109] 177-9/352 : 
+befor : 345.000000  250.000000  after : 354.517487  239.829880   FALSE 194.013896
+[13:21:17.109] 177-10/352 : 
+befor : 315.000000  323.000000  after : 315.280579  323.355347   TRUE 0.204996
+[13:21:17.109] 177-11/352 : 
+befor : 345.000000  323.000000  after : 345.832489  322.310150   TRUE 1.168931
+[13:21:17.109] 177-12/352 : 
+befor : 17.000000  347.000000  after : 15.927942  348.047577   FALSE 2.246725
+befor : 18.000000  348.000000  after : 28.729792  338.476929   TRUE 205.817315
+[13:21:17.109] 177-13/352 : 
+befor : 464.000000  356.000000  after : 467.317291  358.999908   TRUE 20.003872
+[13:21:17.109] 177-14/352 : 
+befor : 410.000000  404.000000  after : 407.944885  405.742554   FALSE 7.259990
+[13:21:17.109] After Reprojection Map nPoint:20 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:-0.000077 ,z=0.000058,angle between two frames:0.000018
+[13:21:17.109] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =6 	 error init =1.155801 	 error end=0.490264
+[13:21:17.109] After pose optimization, distance between ekf and vo x:-0.121439 ,z=1.723513,angle between two frames:0.571425
+[13:21:17.109] frame process finished the id is: 139 the obs is:11 
+[13:21:17.188] Odometry x=0.222628, y=0.617602, theta=0.041771
+[13:21:17.208] 178-1/352 : 
+befor : 248.000000  87.000000  after : 248.433548  86.915421   TRUE 0.195118
+[13:21:17.208] 178-2/352 : 
+befor : 82.000000  132.000000  after : 80.264618  131.697174   TRUE 3.103255
+[13:21:17.208] 178-3/352 : 
+befor : 40.000000  164.000000  after : 46.431904  156.697433   FALSE 94.696865
+[13:21:17.208] 178-4/352 : 
+befor : 252.000000  172.000000  after : 252.435333  171.708801   TRUE 0.274312
+[13:21:17.208] 178-5/352 : 
+befor : 36.000000  188.000000  after : 36.499825  187.944687   TRUE 0.252884
+[13:21:17.208] 178-6/352 : 
+befor : 252.000000  212.000000  after : 243.988998  220.397995   FALSE 134.702466
+befor : 256.000000  212.000000  after : 261.067444  207.970871   FALSE 41.912868
+[13:21:17.209] 178-7/352 : 
+befor : 208.000000  244.000000  after : 208.065567  243.890442   TRUE 0.016302
+[13:21:17.209] 178-8/352 : 
+befor : 224.000000  260.000000  after : 226.492126  259.350037   TRUE 6.633147
+[13:21:17.209] 178-9/352 : 
+befor : 320.000000  322.000000  after : 319.413116  321.726166   TRUE 0.419417
+[13:21:17.209] 178-10/352 : 
+befor : 349.000000  321.000000  after : 346.078064  324.039551   FALSE 17.776579
+befor : 344.000000  322.000000  after : 344.000000  322.000000   FALSE 0.000000
+[13:21:17.209] 178-11/352 : 
+befor : 18.000000  347.000000  after : 13.592885  351.508423   FALSE 39.748539
+befor : 19.000000  349.000000  after : 7.742045  335.276367   FALSE 315.079639
+[13:21:17.209] 178-12/352 : 
+befor : 329.000000  335.000000  after : 329.075684  334.800415   TRUE 0.045562
+[13:21:17.209] 178-13/352 : 
+befor : 337.000000  331.000000  after : 344.514069  324.389954   FALSE 100.153940
+befor : 330.000000  334.000000  after : 321.177307  323.256195   TRUE 193.269254
+[13:21:17.209] 178-14/352 : 
+befor : 468.000000  352.000000  after : 506.674438  392.636475   FALSE 3147.035260
+[13:21:17.209] After Reprojection Map nPoint:20 ,nCell:18 ,nMatches:9 ,distance between ekf and vo x:-0.000010 ,z=0.000074,angle between two frames:0.000078
+[13:21:17.209] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.966046 	 error end=0.364406
+[13:21:17.209] After pose optimization, distance between ekf and vo x:0.020059 ,z=-0.812492,angle between two frames:0.074654
+[13:21:17.209] frame process finished the id is: 139 the obs is:11 
+[13:21:17.290] Odometry x=0.222533, y=0.623353, theta=0.037770
+[13:21:17.309] 179-1/352 : 
+befor : 255.000000  89.000000  after : 259.587646  94.741127   FALSE 54.007040
+[13:21:17.309] 179-2/352 : 
+befor : 256.000000  96.000000  after : 265.223694  123.081161   TRUE 818.465836
+[13:21:17.309] 179-3/352 : 
+befor : 84.000000  120.000000  after : 84.378418  120.312447   TRUE 0.240823
+[13:21:17.309] 179-4/352 : 
+befor : 187.000000  145.000000  after : 218.078232  176.701599   TRUE 1970.847879
+[13:21:17.309] 179-5/352 : 
+befor : 40.000000  164.000000  after : 50.530010  175.939713   TRUE 253.437850
+[13:21:17.309] 179-6/352 : 
+befor : 260.000000  172.000000  after : 260.534698  172.069672   TRUE 0.290757
+[13:21:17.309] 179-7/352 : 
+befor : 260.000000  215.000000  after : 257.609924  216.717255   FALSE 8.661425
+[13:21:17.309] 179-8/352 : 
+befor : 325.000000  312.000000  after : 325.672272  312.507843   TRUE 0.709854
+[13:21:17.309] 179-9/352 : 
+befor : 351.000000  321.000000  after : 348.662323  323.672577   FALSE 12.607401
+befor : 348.000000  322.000000  after : 347.799896  321.940186   TRUE 0.043619
+[13:21:17.309] 179-10/352 : 
+befor : 24.000000  350.000000  after : 22.038404  352.083740   TRUE 8.189830
+[13:21:17.309] 179-11/352 : 
+befor : 340.000000  331.000000  after : 353.806091  317.335419   FALSE 377.328939
+[13:21:17.309] 179-12/352 : 
+befor : 328.000000  392.000000  after : 328.155945  391.811768   TRUE 0.059750
+[13:21:17.309] 179-13/352 : 
+befor : 368.000000  410.000000  after : 371.875305  405.687317   FALSE 33.617226
+[13:21:17.309] 179-14/352 : 
+befor : 404.000000  412.000000  after : 404.594971  411.601318   TRUE 0.512937
+[13:21:17.309] After Reprojection Map nPoint:22 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:-0.000072 ,z=0.000085,angle between two frames:0.000002
+[13:21:17.309] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.890095 	 error end=0.890095
+[13:21:17.309] After pose optimization, distance between ekf and vo x:-0.000072 ,z=0.000085,angle between two frames:0.000002
+[13:21:17.309] frame process finished the id is: 139 the obs is:11 
+[13:21:17.389] Odometry x=0.222421, y=0.629571, theta=0.035312
+[13:21:17.409] 180-1/352 : 
+befor : 84.000000  28.000000  after : 81.816833  28.077179   TRUE 4.772173
+[13:21:17.409] 180-2/352 : 
+befor : 92.000000  88.000000  after : 92.420837  88.261787   TRUE 0.245637
+[13:21:17.409] 180-3/352 : 
+befor : 252.000000  83.000000  after : 252.469696  82.879562   TRUE 0.235120
+[13:21:17.409] 180-4/352 : 
+befor : 256.000000  92.000000  after : 239.089523  108.670128   FALSE 563.857385
+[13:21:17.409] 180-5/352 : 
+befor : 44.000000  158.000000  after : 44.373947  158.024933   TRUE 0.140458
+[13:21:17.409] 180-6/352 : 
+befor : 184.000000  168.000000  after : 185.093979  168.371063   TRUE 1.334478
+[13:21:17.409] 180-7/352 : 
+befor : 264.000000  178.000000  after : 273.679962  168.457886   TRUE 184.753612
+[13:21:17.409] 180-8/352 : 
+befor : 308.000000  160.000000  after : 323.070862  151.117691   FALSE 306.026288
+[13:21:17.409] 180-9/352 : 
+befor : 258.000000  210.000000  after : 258.000000  210.000000   FALSE 0.000000
+[13:21:17.409] 180-10/352 : 
+befor : 210.000000  242.000000  after : 202.329041  249.788681   FALSE 119.507171
+[13:21:17.409] 180-11/352 : 
+befor : 212.000000  316.000000  after : 207.041672  311.557709   TRUE 44.318971
+[13:21:17.409] 180-12/352 : 
+befor : 323.000000  307.000000  after : 321.898438  306.713989   TRUE 1.295242
+[13:21:17.409] 180-13/352 : 
+befor : 341.000000  326.000000  after : 343.792084  323.241577   FALSE 15.404628
+[13:21:17.409] 180-14/352 : 
+befor : 19.000000  346.000000  after : 23.626507  340.511597   TRUE 51.527136
+[13:21:17.409] 180-15/352 : 
+befor : 334.000000  330.000000  after : 333.519867  330.855042   TRUE 0.961624
+[13:21:17.409] 180-16/352 : 
+befor : 324.000000  360.000000  after : 325.959778  359.863037   TRUE 3.859488
+[13:21:17.409] 180-17/352 : 
+befor : 330.000000  388.000000  after : 329.937469  387.828156   TRUE 0.033441
+[13:21:17.409] 180-18/352 : 
+befor : 220.000000  428.000000  after : 220.042908  428.279785   FALSE 0.080121
+[13:21:17.409] After Reprojection Map nPoint:24 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000091 ,z=0.000096,angle between two frames:0.000009
+[13:21:17.409] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.997371 	 error end=0.596843
+[13:21:17.409] After pose optimization, distance between ekf and vo x:0.783517 ,z=4.171739,angle between two frames:2.917490
+[13:21:17.409] frame process finished the id is: 139 the obs is:11 
+[13:21:17.489] Odometry x=0.222355, y=0.635061, theta=0.029122
+[13:21:17.508] 181-1/352 : 
+befor : 254.000000  86.000000  after : 264.020020  119.579468   TRUE 1227.981447
+[13:21:17.508] 181-2/352 : 
+befor : 84.000000  108.000000  after : 84.049545  109.445930   TRUE 2.093170
+[13:21:17.508] 181-3/352 : 
+befor : 252.000000  92.000000  after : 252.438126  91.708160   TRUE 0.277124
+[13:21:17.508] 181-4/352 : 
+befor : 42.000000  160.000000  after : 43.904858  159.117874   TRUE 4.406629
+[13:21:17.508] 181-5/352 : 
+befor : 263.000000  175.000000  after : 262.064606  175.095535   TRUE 0.884089
+[13:21:17.508] 181-6/352 : 
+befor : 257.000000  211.000000  after : 255.164124  212.917175   FALSE 7.046003
+[13:21:17.508] 181-7/352 : 
+befor : 229.000000  257.000000  after : 217.149902  268.572266   TRUE 274.342146
+[13:21:17.508] 181-8/352 : 
+befor : 17.000000  347.000000  after : 20.044815  343.669464   TRUE 20.363368
+[13:21:17.508] 181-9/352 : 
+befor : 329.000000  332.000000  after : 328.758026  332.821503   TRUE 0.733418
+[13:21:17.508] 181-10/352 : 
+befor : 332.000000  331.000000  after : 330.676483  332.665039   TRUE 4.524052
+[13:21:17.508] 181-11/352 : 
+befor : 325.000000  389.000000  after : 313.591888  399.807770   FALSE 246.952897
+befor : 326.000000  389.000000  after : 336.554840  399.343964   FALSE 218.402233
+befor : 325.000000  389.000000  after : 325.548401  389.392426   TRUE 0.454741
+[13:21:17.508] 181-12/352 : 
+befor : 94.000000  410.000000  after : 94.803772  410.412537   TRUE 0.816236
+[13:21:17.508] 181-13/352 : 
+befor : 365.000000  398.000000  after : 365.683014  397.798248   TRUE 0.507212
+[13:21:17.508] After Reprojection Map nPoint:22 ,nCell:15 ,nMatches:12 ,distance between ekf and vo x:-0.000038 ,z=0.000070,angle between two frames:0.000022
+[13:21:17.508] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.791561 	 error end=0.440777
+[13:21:17.508] After pose optimization, distance between ekf and vo x:-0.265940 ,z=0.501534,angle between two frames:0.047559
+[13:21:17.508] frame process finished the id is: 139 the obs is:11 
+[13:21:17.591] Odometry x=0.222294, y=0.640752, theta=0.031737
+[13:21:17.610] 182-1/352 : 
+befor : 96.000000  56.000000  after : 91.994293  60.729462   FALSE 38.413495
+[13:21:17.610] 182-2/352 : 
+befor : 248.000000  84.000000  after : 248.473404  83.877975   TRUE 0.239001
+[13:21:17.610] 182-3/352 : 
+befor : 72.000000  144.000000  after : 72.500572  143.738205   TRUE 0.319109
+[13:21:17.610] 182-4/352 : 
+befor : 178.000000  167.000000  after : 180.744156  169.414246   TRUE 13.358973
+[13:21:17.610] 182-5/352 : 
+befor : 250.000000  208.000000  after : 250.104767  209.325150   TRUE 1.766997
+[13:21:17.610] 182-6/352 : 
+befor : 238.000000  292.000000  after : 231.013565  299.296051   FALSE 102.042634
+[13:21:17.610] 182-7/352 : 
+befor : 12.000000  322.000000  after : 25.361448  311.308075   TRUE 292.845562
+[13:21:17.610] 182-8/352 : 
+befor : 324.000000  318.000000  after : 320.664581  321.892761   FALSE 26.278608
+befor : 321.000000  307.000000  after : 320.381195  306.158447   TRUE 1.091131
+[13:21:17.610] 182-9/352 : 
+befor : 335.000000  328.000000  after : 332.098328  331.371490   TRUE 19.786651
+[13:21:17.610] 182-10/352 : 
+befor : 11.000000  346.000000  after : 5.755134  351.092743   FALSE 53.444649
+befor : 12.000000  347.000000  after : 49.708099  314.015533   FALSE 2509.875792
+[13:21:17.610] 182-11/352 : 
+befor : 328.000000  331.000000  after : 317.679352  318.386993   TRUE 265.603714
+[13:21:17.610] 182-12/352 : 
+befor : 470.000000  352.000000  after : 502.093262  386.020630   FALSE 2187.380705
+[13:21:17.610] 182-13/352 : 
+befor : 325.000000  390.000000  after : 311.292511  403.068634   FALSE 358.684451
+befor : 325.000000  390.000000  after : 325.219147  390.347778   TRUE 0.168975
+[13:21:17.610] 182-14/352 : 
+befor : 342.000000  414.000000  after : 341.969635  413.647919   TRUE 0.124883
+[13:21:17.610] 182-15/352 : 
+befor : 548.000000  467.000000  after : 548.582153  466.882050   TRUE 0.352815
+[13:21:17.610] After Reprojection Map nPoint:23 ,nCell:18 ,nMatches:11 ,distance between ekf and vo x:-0.000105 ,z=0.000059,angle between two frames:0.000075
+[13:21:17.610] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.860598 	 error end=0.860598
+[13:21:17.610] After pose optimization, distance between ekf and vo x:-0.000105 ,z=0.000059,angle between two frames:0.000075
+[13:21:17.610] frame process finished the id is: 139 the obs is:11 
+[13:21:17.693] Odometry x=0.222203, y=0.647078, theta=0.025154
+[13:21:17.708] 183-1/352 : 
+befor : 30.000000  164.000000  after : 41.816204  153.700500   FALSE 245.702369
+[13:21:17.708] 183-2/352 : 
+befor : 257.000000  158.000000  after : 256.281250  153.852280   FALSE 17.720186
+[13:21:17.708] 183-3/352 : 
+befor : 246.000000  208.000000  after : 246.668167  207.742889   TRUE 0.512553
+[13:21:17.708] 183-4/352 : 
+befor : 172.000000  226.000000  after : 176.139725  220.702240   FALSE 45.203582
+[13:21:17.708] 183-5/352 : 
+befor : 248.000000  210.000000  after : 249.940430  209.750580   TRUE 3.827478
+[13:21:17.708] 183-6/352 : 
+befor : 216.000000  252.000000  after : 216.571991  251.716644   TRUE 0.407464
+[13:21:17.708] 183-7/352 : 
+befor : 235.000000  294.000000  after : 234.673035  293.375610   TRUE 0.496769
+[13:21:17.708] 183-8/352 : 
+befor : 316.000000  307.000000  after : 311.790710  311.529327   FALSE 38.232925
+befor : 318.000000  320.000000  after : 317.778229  320.012817   TRUE 0.049347
+[13:21:17.708] 183-9/352 : 
+befor : 342.000000  317.000000  after : 336.701416  311.585785   TRUE 57.388717
+[13:21:17.708] 183-10/352 : 
+befor : 7.000000  346.000000  after : 7.000000  346.000000   FALSE 0.000000
+befor : 15.000000  335.000000  after : 20.738499  331.538239   TRUE 44.914160
+[13:21:17.708] 183-11/352 : 
+befor : 318.000000  332.000000  after : 318.000000  332.000000   FALSE 0.000000
+[13:21:17.708] 183-12/352 : 
+befor : 468.000000  352.000000  after : 468.046478  351.874329   TRUE 0.017954
+[13:21:17.708] 183-13/352 : 
+befor : 319.000000  390.000000  after : 315.358459  393.860352   FALSE 28.163132
+befor : 319.000000  390.000000  after : 319.311218  390.369080   TRUE 0.233077
+[13:21:17.708] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:-0.000051 ,z=0.000096,angle between two frames:0.000031
+[13:21:17.708] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.597720 	 error end=0.597720
+[13:21:17.708] After pose optimization, distance between ekf and vo x:-0.000051 ,z=0.000096,angle between two frames:0.000031
+[13:21:17.708] frame process finished the id is: 139 the obs is:11 
+[13:21:17.790] Odometry x=0.222151, y=0.653808, theta=0.027664
+[13:21:17.808] 184-1/352 : 
+befor : 88.000000  56.000000  after : 115.878464  86.458572   FALSE 1704.933373
+[13:21:17.808] 184-2/352 : 
+befor : 238.000000  80.000000  after : 237.956039  79.856544   TRUE 0.022512
+[13:21:17.808] 184-3/352 : 
+befor : 248.000000  88.000000  after : 241.577942  95.185669   FALSE 92.876669
+[13:21:17.808] 184-4/352 : 
+befor : 254.000000  90.000000  after : 254.284668  89.704117   TRUE 0.168583
+[13:21:17.808] 184-5/352 : 
+befor : 28.000000  148.000000  after : 30.201996  151.166946   TRUE 14.878335
+[13:21:17.808] 184-6/352 : 
+befor : 169.000000  165.000000  after : 171.896317  167.920670   TRUE 16.918960
+[13:21:17.808] 184-7/352 : 
+befor : 253.000000  155.000000  after : 251.914505  150.360901   FALSE 22.699540
+[13:21:17.809] 184-8/352 : 
+befor : 296.000000  156.000000  after : 299.075043  157.090424   TRUE 10.644911
+[13:21:17.809] 184-9/352 : 
+befor : 244.000000  204.000000  after : 244.322281  204.075272   TRUE 0.109531
+[13:21:17.809] 184-10/352 : 
+befor : 245.000000  229.000000  after : 255.366455  241.881790   TRUE 273.403909
+[13:21:17.809] 184-11/352 : 
+befor : 230.000000  290.000000  after : 232.432953  290.460754   TRUE 6.131554
+[13:21:17.809] 184-12/352 : 
+befor : 312.000000  305.000000  after : 313.799530  303.195648   FALSE 6.493994
+befor : 307.000000  305.000000  after : 301.167816  299.487732   TRUE 64.399468
+[13:21:17.809] 184-13/352 : 
+befor : 338.000000  315.000000  after : 337.395813  315.860016   FALSE 1.104669
+[13:21:17.809] 184-14/352 : 
+befor : 318.000000  330.000000  after : 317.820740  330.502380   TRUE 0.284520
+[13:21:17.809] 184-15/352 : 
+befor : 409.000000  361.000000  after : 408.527435  361.459320   FALSE 0.434292
+befor : 409.000000  361.000000  after : 409.000000  361.000000   FALSE 0.000000
+[13:21:17.809] 184-16/352 : 
+befor : 353.000000  396.000000  after : 407.075867  350.569641   TRUE 4988.116868
+[13:21:17.809] 184-17/352 : 
+befor : 560.000000  464.000000  after : 560.426086  463.691284   TRUE 0.276855
+[13:21:17.809] After Reprojection Map nPoint:22 ,nCell:19 ,nMatches:12 ,distance between ekf and vo x:-0.000064 ,z=0.000087,angle between two frames:0.000000
+[13:21:17.809] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.792427 	 error end=0.792427
+[13:21:17.809] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.000087,angle between two frames:0.000000
+[13:21:17.809] frame process finished the id is: 139 the obs is:11 
+[13:21:17.888] Odometry x=0.222084, y=0.659216, theta=0.029142
+[13:21:17.910] 185-1/352 : 
+befor : 238.000000  82.000000  after : 230.636215  90.012856   FALSE 118.431180
+befor : 238.000000  82.000000  after : 238.196182  82.501480   TRUE 0.289970
+[13:21:17.910] 185-2/352 : 
+befor : 170.000000  146.000000  after : 185.071136  159.067215   FALSE 397.891262
+[13:21:17.910] 185-3/352 : 
+befor : 24.000000  152.000000  after : 28.855766  146.967667   FALSE 48.902846
+[13:21:17.910] 185-4/352 : 
+befor : 166.000000  172.000000  after : 177.479111  184.298080   FALSE 283.012765
+[13:21:17.910] 185-5/352 : 
+befor : 251.000000  155.000000  after : 233.430023  170.194031   FALSE 539.562656
+[13:21:17.910] 185-6/352 : 
+befor : 242.000000  206.000000  after : 242.259918  205.761551   TRUE 0.124415
+[13:21:17.910] 185-7/352 : 
+befor : 164.000000  224.000000  after : 162.604965  228.506821   FALSE 22.257555
+[13:21:17.910] 185-8/352 : 
+befor : 311.000000  320.000000  after : 309.145996  322.996674   TRUE 12.417383
+[13:21:17.910] 185-9/352 : 
+befor : 336.000000  317.000000  after : 336.337524  316.892792   FALSE 0.125416
+[13:21:17.910] 185-10/352 : 
+befor : 7.000000  342.000000  after : 6.634041  342.322815   TRUE 0.238136
+[13:21:17.910] 185-11/352 : 
+befor : 154.000000  342.000000  after : 154.763229  341.705017   TRUE 0.669534
+[13:21:17.910] 185-12/352 : 
+befor : 310.000000  358.000000  after : 338.654144  388.025635   FALSE 1722.598728
+[13:21:17.910] 185-13/352 : 
+befor : 464.000000  354.000000  after : 464.346741  354.222198   TRUE 0.169601
+[13:21:17.910] 185-14/352 : 
+befor : 324.000000  412.000000  after : 313.363007  423.145020   FALSE 237.357089
+[13:21:17.910] After Reprojection Map nPoint:24 ,nCell:15 ,nMatches:6 ,distance between ekf and vo x:-0.000112 ,z=0.000060,angle between two frames:0.000052
+[13:21:17.910] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.641900 	 error end=0.641900
+[13:21:17.910] After pose optimization, distance between ekf and vo x:-0.000112 ,z=0.000060,angle between two frames:0.000052
+[13:21:17.910] frame process finished the id is: 139 the obs is:11 
+[13:21:17.991] Odometry x=0.222004, y=0.664563, theta=0.034430
+[13:21:18.009] 186-1/352 : 
+befor : 84.000000  56.000000  after : 84.535011  55.736305   TRUE 0.355772
+[13:21:18.009] 186-2/352 : 
+befor : 238.000000  79.000000  after : 236.884323  79.911018   TRUE 2.074689
+[13:21:18.009] 186-3/352 : 
+befor : 244.000000  88.000000  after : 239.777100  92.315277   FALSE 36.454504
+[13:21:18.009] 186-4/352 : 
+befor : 250.000000  90.000000  after : 248.329559  91.935242   FALSE 6.535532
+befor : 250.000000  90.000000  after : 249.336960  90.357597   TRUE 0.567498
+[13:21:18.009] 186-5/352 : 
+befor : 169.000000  142.000000  after : 193.874786  159.657394   FALSE 930.538575
+[13:21:18.009] 186-6/352 : 
+befor : 165.000000  171.000000  after : 221.736404  121.699158   FALSE 5649.592636
+befor : 165.000000  166.000000  after : 177.846848  179.525146   FALSE 347.971079
+befor : 167.000000  156.000000  after : 171.619247  161.204926   TRUE 48.428697
+[13:21:18.009] 186-7/352 : 
+befor : 240.000000  204.000000  after : 240.398300  203.792969   TRUE 0.201505
+[13:21:18.009] 186-8/352 : 
+befor : 209.000000  257.000000  after : 205.532852  260.407928   TRUE 23.635090
+[13:21:18.009] 186-9/352 : 
+befor : 238.000000  290.000000  after : 241.922714  292.280487   TRUE 20.588308
+[13:21:18.009] 186-10/352 : 
+befor : 305.000000  318.000000  after : 287.284027  329.348328   FALSE 442.640236
+befor : 303.000000  305.000000  after : 304.520813  302.190887   TRUE 10.203985
+[13:21:18.009] 186-11/352 : 
+befor : 152.000000  344.000000  after : 145.680023  349.960022   FALSE 75.463969
+[13:21:18.009] 186-12/352 : 
+befor : 314.000000  330.000000  after : 314.000000  330.000000   FALSE 0.000000
+[13:21:18.009] 186-13/352 : 
+befor : 461.000000  355.000000  after : 470.938843  345.674591   FALSE 185.743847
+befor : 464.000000  354.000000  after : 464.558228  354.027557   TRUE 0.312377
+[13:21:18.009] 186-14/352 : 
+befor : 312.000000  389.000000  after : 312.110260  388.855621   TRUE 0.033002
+[13:21:18.009] 186-15/352 : 
+befor : 186.000000  434.000000  after : 186.143631  435.013184   TRUE 1.047171
+[13:21:18.009] After Reprojection Map nPoint:22 ,nCell:20 ,nMatches:11 ,distance between ekf and vo x:-0.000019 ,z=0.000059,angle between two frames:0.000051
+[13:21:18.009] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.863862 	 error end=0.571250
+[13:21:18.009] After pose optimization, distance between ekf and vo x:0.258078 ,z=-0.373824,angle between two frames:0.326499
+[13:21:18.009] frame process finished the id is: 139 the obs is:11 
+[13:21:18.093] Odometry x=0.222013, y=0.670059, theta=0.039725
+[13:21:18.110] 187-1/352 : 
+befor : 238.000000  82.000000  after : 232.823776  87.915314   FALSE 61.784229
+befor : 238.000000  82.000000  after : 238.224228  82.515915   TRUE 0.316446
+[13:21:18.110] 187-2/352 : 
+befor : 245.000000  86.000000  after : 245.415161  85.827194   TRUE 0.202221
+[13:21:18.110] 187-3/352 : 
+befor : 248.000000  92.000000  after : 237.584717  104.507378   FALSE 264.912619
+[13:21:18.110] 187-4/352 : 
+befor : 170.000000  146.000000  after : 219.368927  197.073730   FALSE 5045.816897
+[13:21:18.110] 187-5/352 : 
+befor : 250.000000  174.000000  after : 233.239410  158.275726   FALSE 528.170147
+[13:21:18.110] 187-6/352 : 
+befor : 242.000000  204.000000  after : 237.612335  207.981491   TRUE 35.103874
+[13:21:18.110] 187-7/352 : 
+befor : 236.000000  240.000000  after : 242.790100  254.406799   TRUE 253.661326
+[13:21:18.110] 187-8/352 : 
+befor : 331.000000  325.000000  after : 330.115631  325.900787   FALSE 1.593526
+befor : 331.000000  325.000000  after : 328.908508  326.853058   TRUE 7.808161
+[13:21:18.110] 187-9/352 : 
+befor : 466.000000  356.000000  after : 466.403839  355.891602   TRUE 0.174836
+[13:21:18.110] 187-10/352 : 
+befor : 116.000000  400.000000  after : 118.379402  398.323608   TRUE 8.471843
+[13:21:18.110] 187-11/352 : 
+befor : 314.000000  392.000000  after : 314.564911  395.444366   TRUE 12.182785
+[13:21:18.110] 187-12/352 : 
+befor : 100.000000  448.000000  after : 100.383194  447.666748   TRUE 0.257894
+[13:21:18.110] 187-13/352 : 
+befor : 588.000000  468.000000  after : 579.109070  478.022675   FALSE 179.502645
+[13:21:18.110] After Reprojection Map nPoint:22 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000091 ,z=0.000079,angle between two frames:0.000019
+[13:21:18.110] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.718787 	 error end=0.594237
+[13:21:18.110] After pose optimization, distance between ekf and vo x:-0.485904 ,z=0.414381,angle between two frames:0.122550
+[13:21:18.110] frame process finished the id is: 139 the obs is:11 
+[13:21:18.190] Odometry x=0.221918, y=0.676708, theta=0.029422
+[13:21:18.209] 188-1/352 : 
+befor : 24.000000  148.000000  after : 24.546406  148.406982   TRUE 0.464194
+[13:21:18.209] 188-2/352 : 
+befor : 251.000000  145.000000  after : 249.596832  141.720276   TRUE 12.725470
+[13:21:18.209] 188-3/352 : 
+befor : 236.000000  164.000000  after : 236.401642  164.590286   TRUE 0.509754
+[13:21:18.209] 188-4/352 : 
+befor : 247.000000  172.000000  after : 246.364441  171.914642   TRUE 0.411221
+[13:21:18.209] 188-5/352 : 
+befor : 296.000000  156.000000  after : 296.224365  155.812485   FALSE 0.085502
+[13:21:18.209] 188-6/352 : 
+befor : 242.000000  204.000000  after : 242.808548  203.899261   TRUE 0.663898
+[13:21:18.209] 188-7/352 : 
+befor : 162.000000  222.000000  after : 162.000000  222.000000   FALSE 0.000000
+[13:21:18.209] 188-8/352 : 
+befor : 311.000000  303.000000  after : 336.824158  281.630005   FALSE 1123.563813
+befor : 306.000000  317.000000  after : 303.168060  314.372375   FALSE 14.924293
+befor : 311.000000  317.000000  after : 322.389832  310.370239   FALSE 173.681990
+[13:21:18.209] 188-9/352 : 
+befor : 330.000000  318.000000  after : 328.190247  314.810822   TRUE 13.446067
+[13:21:18.209] 188-10/352 : 
+befor : 6.000000  340.000000  after : 5.513264  340.663177   TRUE 0.676717
+[13:21:18.209] 188-11/352 : 
+befor : 308.000000  358.000000  after : 315.902008  366.926819   FALSE 142.129826
+[13:21:18.209] 188-12/352 : 
+befor : 468.000000  344.000000  after : 468.468719  343.689026   TRUE 0.316403
+[13:21:18.209] 188-13/352 : 
+befor : 296.000000  368.000000  after : 296.392242  367.805359   TRUE 0.191739
+[13:21:18.209] 188-14/352 : 
+befor : 410.000000  360.000000  after : 407.812653  361.817993   TRUE 8.089588
+[13:21:18.209] 188-15/352 : 
+befor : 350.000000  397.000000  after : 349.359619  396.903137   TRUE 0.419470
+[13:21:18.209] 188-16/352 : 
+befor : 406.000000  422.000000  after : 409.977112  427.823425   TRUE 49.729701
+[13:21:18.209] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:12 ,distance between ekf and vo x:-0.000046 ,z=0.000061,angle between two frames:0.000015
+[13:21:18.209] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.983727 	 error end=0.711421
+[13:21:18.209] After pose optimization, distance between ekf and vo x:-2.246530 ,z=2.619104,angle between two frames:0.421953
+[13:21:18.209] frame process finished the id is: 139 the obs is:11 
+[13:21:18.290] Odometry x=0.221877, y=0.681926, theta=0.032954
+[13:21:18.310] 189-1/352 : 
+befor : 238.000000  76.000000  after : 238.348511  75.900917   TRUE 0.131277
+[13:21:18.310] 189-2/352 : 
+befor : 244.000000  92.000000  after : 244.456284  91.692574   TRUE 0.302706
+[13:21:18.310] 189-3/352 : 
+befor : 251.000000  146.000000  after : 249.536499  142.183716   TRUE 16.705860
+[13:21:18.310] 189-4/352 : 
+befor : 166.000000  160.000000  after : 171.926819  166.928787   TRUE 83.135274
+[13:21:18.310] 189-5/352 : 
+befor : 249.000000  171.000000  after : 233.699600  156.601486   FALSE 441.419433
+[13:21:18.310] 189-6/352 : 
+befor : 228.000000  290.000000  after : 231.744431  293.623138   TRUE 27.147892
+[13:21:18.310] 189-7/352 : 
+befor : 306.000000  305.000000  after : 305.336304  305.271149   TRUE 0.514014
+[13:21:18.310] 189-8/352 : 
+befor : 338.000000  315.000000  after : 337.564758  315.645020   TRUE 0.605486
+[13:21:18.310] 189-9/352 : 
+befor : 316.000000  330.000000  after : 311.177155  334.926453   TRUE 47.529774
+[13:21:18.310] 189-10/352 : 
+befor : 315.000000  389.000000  after : 310.276245  393.393097   FALSE 41.613161
+befor : 314.000000  389.000000  after : 309.593262  393.105225   FALSE 36.272211
+[13:21:18.310] 189-11/352 : 
+befor : 411.000000  402.000000  after : 415.915955  397.432007   TRUE 45.033171
+[13:21:18.310] 189-12/352 : 
+befor : 88.000000  448.000000  after : 83.933372  452.755768   FALSE 39.154787
+befor : 84.000000  444.000000  after : 81.093636  440.832184   FALSE 18.482014
+[13:21:18.310] 189-13/352 : 
+befor : 246.000000  426.000000  after : 246.069321  425.858887   TRUE 0.024718
+[13:21:18.310] After Reprojection Map nPoint:19 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:-0.000111 ,z=0.000076,angle between two frames:0.000046
+[13:21:18.310] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =9 	 error init =1.196561 	 error end=0.299698
+[13:21:18.310] After pose optimization, distance between ekf and vo x:-0.175952 ,z=0.991667,angle between two frames:0.565629
+[13:21:18.310] frame process finished the id is: 139 the obs is:11 
+[13:21:18.389] Odometry x=0.221791, y=0.687044, theta=0.032636
+[13:21:18.410] 190-1/352 : 
+befor : 239.000000  78.000000  after : 239.443695  77.802513   TRUE 0.235866
+[13:21:18.411] 190-2/352 : 
+befor : 252.000000  110.000000  after : 251.730927  110.054489   TRUE 0.075370
+[13:21:18.411] 190-3/352 : 
+befor : 167.000000  159.000000  after : 168.216934  159.301636   TRUE 1.571913
+[13:21:18.411] 190-4/352 : 
+befor : 250.000000  170.000000  after : 244.131882  166.737274   FALSE 45.080192
+[13:21:18.411] 190-5/352 : 
+befor : 313.000000  305.000000  after : 309.279510  309.321564   FALSE 32.517955
+befor : 314.000000  318.000000  after : 314.562683  317.979095   TRUE 0.317049
+[13:21:18.411] 190-6/352 : 
+befor : 332.000000  318.000000  after : 332.036987  317.942688   TRUE 0.004653
+[13:21:18.411] 190-7/352 : 
+befor : 319.000000  331.000000  after : 318.978027  331.237366   TRUE 0.056825
+[13:21:18.411] 190-8/352 : 
+befor : 415.000000  359.000000  after : 414.302551  359.051392   TRUE 0.489076
+[13:21:18.411] 190-9/352 : 
+befor : 472.000000  350.000000  after : 471.813995  350.206299   FALSE 0.077157
+[13:21:18.411] 190-10/352 : 
+befor : 296.000000  372.000000  after : 309.646362  387.456818   TRUE 425.136415
+[13:21:18.411] 190-11/352 : 
+befor : 315.000000  388.000000  after : 315.000000  388.000000   FALSE 0.000000
+[13:21:18.411] 190-12/352 : 
+befor : 42.000000  402.000000  after : 39.812080  404.461151   TRUE 10.844257
+[13:21:18.411] 190-13/352 : 
+befor : 300.000000  408.000000  after : 300.519806  407.668518   TRUE 0.380078
+[13:21:18.411] 190-14/352 : 
+befor : 413.000000  401.000000  after : 418.777740  395.138245   TRUE 67.742461
+[13:21:18.411] After Reprojection Map nPoint:22 ,nCell:15 ,nMatches:11 ,distance between ekf and vo x:-0.000049 ,z=0.000072,angle between two frames:0.000017
+[13:21:18.411] n deleted obs = 9 	 n obs with reprojection error less than 0.5 px =2 	 error init =17.965942 	 error end=1.080389
+[13:21:18.411] After pose optimization, distance between ekf and vo x:-168.669566 ,z=-149.647347,angle between two frames:2.542256
+[13:21:18.411] frame process finished the id is: 139 the obs is:11 
+[13:21:18.484] Odometry x=0.221674, y=0.692841, theta=0.036923
+[13:21:18.509] 191-1/352 : 
+befor : 241.000000  79.000000  after : 241.373886  78.864754   TRUE 0.158082
+[13:21:18.509] 191-2/352 : 
+befor : 244.000000  204.000000  after : 244.689148  203.679642   TRUE 0.577554
+[13:21:18.509] 191-3/352 : 
+befor : 244.000000  290.000000  after : 244.470016  290.035645   TRUE 0.222186
+[13:21:18.509] 191-4/352 : 
+befor : 310.000000  308.000000  after : 310.121429  307.984253   TRUE 0.014993
+[13:21:18.509] 191-5/352 : 
+befor : 341.000000  318.000000  after : 340.480438  318.740021   TRUE 0.817575
+[13:21:18.509] 191-6/352 : 
+befor : 314.000000  360.000000  after : 320.783661  367.601410   FALSE 103.799488
+[13:21:18.509] 191-7/352 : 
+befor : 418.000000  362.000000  after : 417.627289  362.692108   TRUE 0.617927
+[13:21:18.509] 191-8/352 : 
+befor : 318.000000  391.000000  after : 341.345856  370.722473   FALSE 956.207074
+befor : 318.000000  391.000000  after : 321.787964  396.535461   FALSE 44.990003
+[13:21:18.509] 191-9/352 : 
+befor : 338.000000  419.000000  after : 332.336945  413.428497   TRUE 63.111839
+[13:21:18.509] 191-10/352 : 
+befor : 248.000000  432.000000  after : 245.576584  428.951782   FALSE 15.164577
+[13:21:18.509] 191-11/352 : 
+befor : 414.000000  426.000000  after : 412.474976  427.194122   TRUE 3.751628
+[13:21:18.509] After Reprojection Map nPoint:21 ,nCell:12 ,nMatches:8 ,distance between ekf and vo x:-0.000055 ,z=0.000044,angle between two frames:0.000022
+[13:21:18.509] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.920883 	 error end=0.311317
+[13:21:18.509] After pose optimization, distance between ekf and vo x:1.425146 ,z=6.034093,angle between two frames:0.683391
+[13:21:18.509] frame process finished the id is: 139 the obs is:11 
+[13:21:18.590] Odometry x=0.221572, y=0.698499, theta=0.033360
+[13:21:18.610] 192-1/352 : 
+befor : 190.000000  14.000000  after : 190.515717  14.011817   TRUE 0.266103
+[13:21:18.610] 192-2/352 : 
+befor : 255.000000  90.000000  after : 255.336075  89.607826   TRUE 0.266747
+[13:21:18.610] 192-3/352 : 
+befor : 172.000000  142.000000  after : 172.714630  141.344650   FALSE 0.940179
+befor : 172.000000  142.000000  after : 174.052368  142.811234   TRUE 4.870315
+[13:21:18.610] 192-4/352 : 
+befor : 255.000000  147.000000  after : 254.482788  147.633820   TRUE 0.669235
+[13:21:18.610] 192-5/352 : 
+befor : 169.000000  164.000000  after : 171.552216  165.097931   TRUE 7.719257
+[13:21:18.610] 192-6/352 : 
+befor : 252.000000  176.000000  after : 246.324158  171.065369   TRUE 56.565772
+[13:21:18.611] 192-7/352 : 
+befor : 246.000000  206.000000  after : 246.448746  205.704712   TRUE 0.288568
+[13:21:18.611] 192-8/352 : 
+befor : 168.000000  228.000000  after : 164.908630  231.847290   FALSE 24.358207
+[13:21:18.611] 192-9/352 : 
+befor : 216.000000  261.000000  after : 215.799698  261.463959   TRUE 0.255379
+[13:21:18.611] 192-10/352 : 
+befor : 317.000000  307.000000  after : 313.877350  309.721313   TRUE 17.156491
+[13:21:18.611] 192-11/352 : 
+befor : 344.000000  317.000000  after : 343.598083  317.590027   TRUE 0.509669
+[13:21:18.611] 192-12/352 : 
+befor : 9.000000  347.000000  after : 9.000000  347.000000   FALSE 0.000000
+[13:21:18.611] 192-13/352 : 
+befor : 325.000000  331.000000  after : 324.975067  331.369476   TRUE 0.137134
+[13:21:18.611] 192-14/352 : 
+befor : 478.000000  350.000000  after : 488.193970  361.616882   TRUE 238.868974
+[13:21:18.611] 192-15/352 : 
+befor : 300.000000  372.000000  after : 301.787964  371.418213   TRUE 3.535291
+[13:21:18.611] 192-16/352 : 
+befor : 421.000000  361.000000  after : 420.802734  361.510529   TRUE 0.299553
+[13:21:18.611] 192-17/352 : 
+befor : 320.000000  392.000000  after : 342.145721  373.184448   FALSE 844.457966
+[13:21:18.611] 192-18/352 : 
+befor : 419.000000  405.000000  after : 418.513550  405.513672   TRUE 0.500493
+[13:21:18.611] 192-19/352 : 
+befor : 418.000000  428.000000  after : 444.517426  450.147888   FALSE 1193.702808
+[13:21:18.611] After Reprojection Map nPoint:22 ,nCell:20 ,nMatches:15 ,distance between ekf and vo x:-0.000090 ,z=0.000015,angle between two frames:0.000069
+[13:21:18.611] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.651638 	 error end=0.651638
+[13:21:18.611] After pose optimization, distance between ekf and vo x:-0.000090 ,z=0.000015,angle between two frames:0.000069
+[13:21:18.611] frame process finished the id is: 139 the obs is:11 
+[13:21:18.693] Odometry x=0.221464, y=0.704638, theta=0.036613
+[13:21:18.708] 193-1/352 : 
+befor : 254.000000  87.000000  after : 254.234833  86.926193   TRUE 0.060594
+[13:21:18.708] 193-2/352 : 
+befor : 68.000000  124.000000  after : 65.728310  122.062614   TRUE 8.914040
+[13:21:18.708] 193-3/352 : 
+befor : 174.000000  143.000000  after : 174.766846  143.456894   TRUE 0.796804
+[13:21:18.708] 193-4/352 : 
+befor : 169.000000  176.000000  after : 266.212982  93.700455   TRUE 16223.579059
+[13:21:18.708] 193-5/352 : 
+befor : 254.000000  176.000000  after : 254.816193  176.085800   TRUE 0.673532
+[13:21:18.708] 193-6/352 : 
+befor : 249.000000  230.000000  after : 243.863419  235.495605   TRUE 56.586148
+[13:21:18.708] 193-7/352 : 
+befor : 244.000000  240.000000  after : 259.442474  256.867249   TRUE 522.974088
+[13:21:18.708] 193-8/352 : 
+befor : 338.000000  324.000000  after : 339.128113  323.288269   FALSE 1.779199
+befor : 345.000000  320.000000  after : 347.054932  317.349548   FALSE 11.247638
+befor : 346.000000  318.000000  after : 344.037292  318.002167   TRUE 3.852226
+[13:21:18.709] 193-9/352 : 
+befor : 10.000000  348.000000  after : 9.648774  348.478058   TRUE 0.351899
+[13:21:18.709] 193-10/352 : 
+befor : 158.000000  350.000000  after : 158.000000  350.000000   FALSE 0.000000
+[13:21:18.709] 193-11/352 : 
+befor : 326.000000  332.000000  after : 325.707214  331.901764   TRUE 0.095374
+[13:21:18.709] 193-12/352 : 
+befor : 304.000000  376.000000  after : 308.755768  378.024719   TRUE 26.716816
+[13:21:18.709] 193-13/352 : 
+befor : 424.000000  363.000000  after : 423.881653  363.375397   TRUE 0.154929
+[13:21:18.709] 193-14/352 : 
+befor : 304.000000  412.000000  after : 306.578033  408.467041   FALSE 19.128056
+[13:21:18.709] 193-15/352 : 
+befor : 224.000000  428.000000  after : 224.486465  428.011597   TRUE 0.236783
+[13:21:18.709] 193-16/352 : 
+befor : 342.000000  421.000000  after : 342.071930  420.998352   TRUE 0.005177
+[13:21:18.709] After Reprojection Map nPoint:22 ,nCell:18 ,nMatches:14 ,distance between ekf and vo x:-0.000056 ,z=0.000085,angle between two frames:0.000029
+[13:21:18.709] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =11 	 error init =0.602789 	 error end=0.323915
+[13:21:18.709] After pose optimization, distance between ekf and vo x:-3.184771 ,z=10.844307,angle between two frames:1.658521
+[13:21:18.709] frame process finished the id is: 139 the obs is:11 
+[13:21:18.788] Odometry x=0.221347, y=0.710955, theta=0.035573
+[13:21:18.808] 194-1/352 : 
+befor : 292.000000  20.000000  after : 287.287537  24.060373   TRUE 38.693942
+[13:21:18.808] 194-2/352 : 
+befor : 256.000000  87.000000  after : 256.102600  86.944595   TRUE 0.013596
+[13:21:18.808] 194-3/352 : 
+befor : 171.000000  167.000000  after : 170.953018  167.193970   TRUE 0.039832
+[13:21:18.808] 194-4/352 : 
+befor : 250.000000  207.000000  after : 252.276901  207.472824   TRUE 5.407842
+[13:21:18.808] 194-5/352 : 
+befor : 248.000000  292.000000  after : 248.755829  291.978943   TRUE 0.571721
+[13:21:18.808] 194-6/352 : 
+befor : 324.000000  318.000000  after : 324.552765  317.912231   TRUE 0.313252
+[13:21:18.808] 194-7/352 : 
+befor : 340.000000  325.000000  after : 341.095642  324.284760   TRUE 1.712001
+[13:21:18.808] 194-8/352 : 
+befor : 328.000000  333.000000  after : 327.893097  333.283234   TRUE 0.091650
+[13:21:18.808] 194-9/352 : 
+befor : 426.000000  358.000000  after : 425.876831  358.281433   TRUE 0.094375
+[13:21:18.808] 194-10/352 : 
+befor : 484.000000  350.000000  after : 483.468536  350.422394   TRUE 0.460870
+[13:21:18.808] 194-11/352 : 
+befor : 362.000000  378.000000  after : 362.000000  378.000000   FALSE 0.000000
+[13:21:18.808] 194-12/352 : 
+befor : 304.000000  412.000000  after : 304.849701  411.717865   TRUE 0.801592
+[13:21:18.808] 194-13/352 : 
+befor : 426.000000  430.000000  after : 440.530945  441.591888   FALSE 345.520235
+[13:21:18.809] After Reprojection Map nPoint:21 ,nCell:13 ,nMatches:11 ,distance between ekf and vo x:-0.000004 ,z=0.000055,angle between two frames:0.000067
+[13:21:18.809] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.489095 	 error end=0.321012
+[13:21:18.809] After pose optimization, distance between ekf and vo x:-0.175797 ,z=0.600004,angle between two frames:0.364709
+[13:21:18.809] frame process finished the id is: 139 the obs is:11 
+[13:21:18.884] Odometry x=0.221257, y=0.716089, theta=0.034220
+[13:21:18.908] 195-1/352 : 
+befor : 80.000000  84.000000  after : 80.540451  83.679932   TRUE 0.394531
+[13:21:18.908] 195-2/352 : 
+befor : 258.000000  87.000000  after : 258.283081  86.737801   TRUE 0.148883
+[13:21:18.908] 195-3/352 : 
+befor : 259.000000  145.000000  after : 252.240005  145.302094   TRUE 45.788786
+[13:21:18.908] 195-4/352 : 
+befor : 256.000000  174.000000  after : 255.498795  172.961761   TRUE 1.329146
+[13:21:18.908] 195-5/352 : 
+befor : 358.000000  159.000000  after : 357.779327  159.113861   TRUE 0.061661
+[13:21:18.908] 195-6/352 : 
+befor : 248.000000  204.000000  after : 247.633362  204.287109   TRUE 0.216855
+[13:21:18.908] 195-7/352 : 
+befor : 246.000000  258.000000  after : 246.745209  257.941437   TRUE 0.558766
+[13:21:18.908] 195-8/352 : 
+befor : 326.000000  320.000000  after : 324.850372  320.429993   TRUE 1.506538
+[13:21:18.908] 195-9/352 : 
+befor : 336.000000  320.000000  after : 335.650787  320.350769   TRUE 0.244988
+[13:21:18.908] 195-10/352 : 
+befor : 12.000000  335.000000  after : 12.035994  334.304443   FALSE 0.485095
+[13:21:18.908] 195-11/352 : 
+befor : 328.000000  334.000000  after : 319.257080  324.454407   TRUE 167.556999
+[13:21:18.908] 195-12/352 : 
+befor : 488.000000  348.000000  after : 488.000000  348.000000   FALSE 0.000000
+[13:21:18.908] 195-13/352 : 
+befor : 340.000000  416.000000  after : 350.141205  423.743683   TRUE 162.808660
+[13:21:18.908] 195-14/352 : 
+befor : 344.000000  420.000000  after : 343.973236  419.947571   TRUE 0.003465
+[13:21:18.908] 195-15/352 : 
+befor : 427.000000  429.000000  after : 427.191132  428.764862   TRUE 0.091821
+[13:21:18.909] After Reprojection Map nPoint:23 ,nCell:15 ,nMatches:13 ,distance between ekf and vo x:-0.000034 ,z=0.000050,angle between two frames:0.000018
+[13:21:18.909] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =11 	 error init =0.500679 	 error end=0.307503
+[13:21:18.909] After pose optimization, distance between ekf and vo x:-1.244711 ,z=9.062324,angle between two frames:0.988766
+[13:21:18.909] frame process finished the id is: 139 the obs is:11 
+[13:21:18.990] Odometry x=0.221148, y=0.722108, theta=0.037518
+[13:21:19.009] 196-1/352 : 
+befor : 259.000000  85.000000  after : 259.311981  84.702347   TRUE 0.185930
+[13:21:19.009] 196-2/352 : 
+befor : 175.000000  149.000000  after : 175.077087  149.473648   TRUE 0.230285
+[13:21:19.009] 196-3/352 : 
+befor : 252.000000  200.000000  after : 252.281265  199.814041   TRUE 0.113691
+[13:21:19.009] 196-4/352 : 
+befor : 224.000000  254.000000  after : 224.812469  254.675995   TRUE 1.117076
+[13:21:19.009] 196-5/352 : 
+befor : 325.000000  317.000000  after : 335.377777  326.664612   FALSE 201.102979
+befor : 328.000000  316.000000  after : 331.230499  319.074188   TRUE 19.886759
+[13:21:19.009] 196-6/352 : 
+befor : 352.000000  314.000000  after : 352.647278  313.496033   TRUE 0.672952
+[13:21:19.009] 196-7/352 : 
+befor : 162.000000  347.000000  after : 162.793228  348.319885   TRUE 2.371308
+[13:21:19.009] 196-8/352 : 
+befor : 331.000000  330.000000  after : 330.692932  330.534973   TRUE 0.380487
+[13:21:19.009] 196-9/352 : 
+befor : 327.000000  388.000000  after : 326.664673  388.365173   TRUE 0.245796
+[13:21:19.009] 196-10/352 : 
+befor : 312.000000  412.000000  after : 312.500977  411.675873   TRUE 0.356036
+[13:21:19.009] 196-11/352 : 
+befor : 170.000000  442.000000  after : 169.916748  441.919189   TRUE 0.013461
+[13:21:19.009] 196-12/352 : 
+befor : 252.000000  436.000000  after : 274.221039  458.156097   FALSE 984.667219
+[13:21:19.009] 196-13/352 : 
+befor : 281.000000  421.000000  after : 280.374084  421.605621   TRUE 0.758547
+[13:21:19.009] After Reprojection Map nPoint:20 ,nCell:14 ,nMatches:12 ,distance between ekf and vo x:-0.000071 ,z=0.000017,angle between two frames:0.000042
+[13:21:19.009] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =10 	 error init =1.238896 	 error end=0.375156
+[13:21:19.009] After pose optimization, distance between ekf and vo x:6.064838 ,z=27.052141,angle between two frames:0.659344
+[13:21:19.009] frame process finished the id is: 139 the obs is:11 
+[13:21:19.087] Odometry x=0.221049, y=0.727962, theta=0.034842
+[13:21:19.109] 197-1/352 : 
+befor : 253.000000  79.000000  after : 250.592422  98.374626   TRUE 381.172568
+[13:21:19.109] 197-2/352 : 
+befor : 259.000000  172.000000  after : 257.918152  171.714279   TRUE 1.252032
+[13:21:19.109] 197-3/352 : 
+befor : 308.000000  156.000000  after : 309.704468  156.720764   TRUE 3.424711
+[13:21:19.109] 197-4/352 : 
+befor : 198.000000  188.000000  after : 198.291565  187.721939   TRUE 0.162328
+[13:21:19.109] 197-5/352 : 
+befor : 248.000000  236.000000  after : 248.109451  235.402435   TRUE 0.369063
+[13:21:19.109] 197-6/352 : 
+befor : 250.000000  256.000000  after : 250.629639  255.987000   TRUE 0.396614
+[13:21:19.109] 197-7/352 : 
+befor : 322.000000  319.000000  after : 320.710968  319.579376   TRUE 1.997280
+[13:21:19.109] 197-8/352 : 
+befor : 330.000000  318.000000  after : 328.859283  318.421509   TRUE 1.478904
+[13:21:19.109] 197-9/352 : 
+befor : 164.000000  346.000000  after : 164.000000  346.000000   FALSE 0.000000
+[13:21:19.109] 197-10/352 : 
+befor : 328.000000  332.000000  after : 327.854095  331.870728   TRUE 0.038000
+[13:21:19.109] 197-11/352 : 
+befor : 334.000000  330.000000  after : 332.725525  332.167297   TRUE 6.321465
+[13:21:19.109] 197-12/352 : 
+befor : 434.000000  405.000000  after : 434.413544  404.297058   TRUE 0.665146
+[13:21:19.109] 197-13/352 : 
+befor : 154.000000  437.000000  after : 153.794327  436.980865   TRUE 0.042668
+[13:21:19.109] 197-14/352 : 
+befor : 228.000000  428.000000  after : 229.585724  430.124481   FALSE 7.027941
+[13:21:19.109] 197-15/352 : 
+befor : 350.000000  420.000000  after : 345.672760  415.380890   TRUE 40.061184
+[13:21:19.109] 197-16/352 : 
+befor : 462.000000  446.000000  after : 462.740295  445.559357   TRUE 0.742204
+[13:21:19.109] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:14 ,distance between ekf and vo x:-0.000060 ,z=0.000039,angle between two frames:0.000036
+[13:21:19.109] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =7 	 error init =1.402912 	 error end=0.486924
+[13:21:19.109] After pose optimization, distance between ekf and vo x:0.143157 ,z=-0.394851,angle between two frames:0.114526
+[13:21:19.109] frame process finished the id is: 139 the obs is:11 
+[13:21:19.189] Odometry x=0.220969, y=0.733468, theta=0.035733
+[13:21:19.208] 198-1/352 : 
+befor : 96.000000  40.000000  after : 93.870605  38.256413   TRUE 7.574418
+[13:21:19.208] 198-2/352 : 
+befor : 252.000000  75.000000  after : 252.510406  74.704704   TRUE 0.347714
+[13:21:19.209] 198-3/352 : 
+befor : 264.000000  145.000000  after : 263.994080  146.724228   FALSE 2.972997
+[13:21:19.209] 198-4/352 : 
+befor : 176.000000  167.000000  after : 182.075623  164.870407   TRUE 41.448355
+[13:21:19.209] 198-5/352 : 
+befor : 254.000000  196.000000  after : 254.043716  195.641251   TRUE 0.130612
+[13:21:19.209] 198-6/352 : 
+befor : 355.000000  227.000000  after : 354.835510  226.449081   TRUE 0.330568
+[13:21:19.209] 198-7/352 : 
+befor : 234.000000  250.000000  after : 234.711639  249.950928   TRUE 0.508839
+[13:21:19.209] 198-8/352 : 
+befor : 329.000000  303.000000  after : 352.582397  283.935242   FALSE 919.594479
+befor : 324.000000  315.000000  after : 322.928955  315.867249   TRUE 1.899257
+[13:21:19.209] 198-9/352 : 
+befor : 330.000000  316.000000  after : 330.470093  316.273987   TRUE 0.296056
+[13:21:19.209] 198-10/352 : 
+befor : 60.000000  388.000000  after : 62.745243  391.763794   TRUE 21.702504
+[13:21:19.209] 198-11/352 : 
+befor : 304.000000  386.000000  after : 304.299225  385.683502   TRUE 0.189706
+[13:21:19.209] 198-12/352 : 
+befor : 332.000000  387.000000  after : 357.718475  365.925415   FALSE 1105.578105
+[13:21:19.209] 198-13/352 : 
+befor : 372.000000  371.000000  after : 371.981934  370.875580   TRUE 0.015807
+[13:21:19.209] 198-14/352 : 
+befor : 104.000000  400.000000  after : 104.463295  399.734711   TRUE 0.285021
+[13:21:19.209] 198-15/352 : 
+befor : 312.000000  408.000000  after : 312.084351  407.498688   TRUE 0.258429
+[13:21:19.209] 198-16/352 : 
+befor : 438.000000  401.000000  after : 437.930450  400.870239   TRUE 0.021675
+[13:21:19.209] After Reprojection Map nPoint:23 ,nCell:17 ,nMatches:14 ,distance between ekf and vo x:-0.000089 ,z=0.000092,angle between two frames:0.000026
+[13:21:19.209] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =11 	 error init =2.282344 	 error end=0.369187
+[13:21:19.209] After pose optimization, distance between ekf and vo x:11.616667 ,z=-91.573417,angle between two frames:2.191262
+[13:21:19.209] frame process finished the id is: 139 the obs is:11 
+[13:21:19.291] Odometry x=0.220877, y=0.738884, theta=0.032653
+[13:21:19.312] 199-1/352 : 
+befor : 251.000000  70.000000  after : 251.464035  69.710808   TRUE 0.298961
+[13:21:19.312] 199-2/352 : 
+befor : 178.000000  149.000000  after : 180.062836  149.502319   TRUE 4.507616
+[13:21:19.312] 199-3/352 : 
+befor : 312.000000  152.000000  after : 333.094482  171.882523   FALSE 840.291893
+[13:21:19.312] 199-4/352 : 
+befor : 11.000000  199.000000  after : 13.965548  198.475052   TRUE 9.070043
+[13:21:19.312] 199-5/352 : 
+befor : 256.000000  196.000000  after : 258.283417  195.529099   TRUE 5.435740
+[13:21:19.312] 199-6/352 : 
+befor : 257.000000  219.000000  after : 257.174042  218.843933   TRUE 0.054647
+[13:21:19.312] 199-7/352 : 
+befor : 232.000000  250.000000  after : 233.121323  249.060028   FALSE 2.140912
+befor : 236.000000  247.000000  after : 237.649887  250.093353   TRUE 12.290962
+[13:21:19.312] 199-8/352 : 
+befor : 332.000000  312.000000  after : 332.045319  311.387573   TRUE 0.377120
+[13:21:19.312] 199-9/352 : 
+befor : 12.000000  344.000000  after : 11.810916  344.566345   TRUE 0.356500
+[13:21:19.312] 199-10/352 : 
+befor : 320.000000  343.000000  after : 321.688416  344.703003   TRUE 5.750966
+[13:21:19.312] 199-11/352 : 
+befor : 373.000000  368.000000  after : 419.912781  331.316742   FALSE 3546.470420
+[13:21:19.312] 199-12/352 : 
+befor : 24.000000  408.000000  after : 24.526047  407.715210   TRUE 0.357831
+[13:21:19.312] 199-13/352 : 
+befor : 96.000000  396.000000  after : 96.369522  396.343292   TRUE 0.254396
+[13:21:19.312] 199-14/352 : 
+befor : 354.000000  414.000000  after : 357.442719  410.892517   TRUE 21.508761
+[13:21:19.313] 199-15/352 : 
+befor : 439.000000  398.000000  after : 439.000000  398.000000   FALSE 0.000000
+[13:21:19.313] After Reprojection Map nPoint:22 ,nCell:16 ,nMatches:12 ,distance between ekf and vo x:-0.000056 ,z=0.000053,angle between two frames:0.000015
+[13:21:19.313] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.814188 	 error end=0.814188
+[13:21:19.313] After pose optimization, distance between ekf and vo x:-0.000056 ,z=0.000053,angle between two frames:0.000015
+[13:21:19.313] frame process finished the id is: 139 the obs is:11 
+[13:21:19.388] Odometry x=0.220801, y=0.743920, theta=0.030817
+[13:21:19.409] 200-1/352 : 
+befor : 260.000000  76.000000  after : 259.919708  76.489922   TRUE 0.246470
+[13:21:19.409] 200-2/352 : 
+befor : 175.000000  160.000000  after : 183.190811  156.794937   TRUE 77.361815
+[13:21:19.409] 200-3/352 : 
+befor : 256.000000  158.000000  after : 255.926056  158.706558   TRUE 0.504692
+[13:21:19.409] 200-4/352 : 
+befor : 8.000000  202.000000  after : 15.291524  194.778152   FALSE 105.321403
+[13:21:19.409] 200-5/352 : 
+befor : 256.000000  190.000000  after : 256.120972  189.739532   TRUE 0.082477
+[13:21:19.409] 200-6/352 : 
+befor : 432.000000  192.000000  after : 430.707520  194.817505   TRUE 9.608840
+[13:21:19.409] 200-7/352 : 
+befor : 228.000000  244.000000  after : 233.180283  250.125778   TRUE 64.360486
+[13:21:19.409] 200-8/352 : 
+befor : 328.000000  297.000000  after : 328.003174  297.626740   TRUE 0.392812
+[13:21:19.409] 200-9/352 : 
+befor : 329.000000  310.000000  after : 351.334534  332.785431   FALSE 1018.007257
+befor : 322.000000  302.000000  after : 320.015228  301.309875   TRUE 4.415591
+[13:21:19.409] 200-10/352 : 
+befor : 330.000000  305.000000  after : 328.931213  305.443970   TRUE 1.339414
+[13:21:19.409] 200-11/352 : 
+befor : 166.000000  338.000000  after : 166.865158  337.761322   TRUE 0.805466
+[13:21:19.409] 200-12/352 : 
+befor : 327.000000  349.000000  after : 327.342285  353.364380   TRUE 19.164971
+[13:21:19.409] 200-13/352 : 
+befor : 331.000000  381.000000  after : 365.414154  353.723328   FALSE 1928.350854
+[13:21:19.409] 200-14/352 : 
+befor : 312.000000  404.000000  after : 343.464081  434.533691   FALSE 1922.294692
+[13:21:19.409] 200-15/352 : 
+befor : 376.000000  404.000000  after : 376.521423  403.969025   TRUE 0.272842
+[13:21:19.409] After Reprojection Map nPoint:20 ,nCell:16 ,nMatches:12 ,distance between ekf and vo x:-0.000034 ,z=0.000024,angle between two frames:0.000002
+[13:21:19.410] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =11 	 error init =0.608741 	 error end=0.258320
+[13:21:19.410] After pose optimization, distance between ekf and vo x:-0.526274 ,z=1.290175,angle between two frames:0.043603
+[13:21:19.410] frame process finished the id is: 139 the obs is:11 
+[13:21:19.490] Odometry x=0.220709, y=0.749352, theta=0.037162
+[13:21:19.514] 201-1/352 : 
+befor : 76.000000  96.000000  after : 77.736298  95.925705   TRUE 3.020249
+[13:21:19.514] 201-2/352 : 
+befor : 36.000000  149.000000  after : 39.903694  152.903076   TRUE 30.472832
+[13:21:19.514] 201-3/352 : 
+befor : 176.000000  146.000000  after : 175.652130  146.215042   FALSE 0.167257
+[13:21:19.514] 201-4/352 : 
+befor : 312.000000  148.000000  after : 312.123932  148.208252   TRUE 0.058728
+[13:21:19.514] 201-5/352 : 
+befor : 263.000000  154.000000  after : 257.242828  154.973984   FALSE 34.093670
+[13:21:19.514] 201-6/352 : 
+befor : 7.000000  206.000000  after : 9.502668  200.267227   TRUE 39.128033
+[13:21:19.514] 201-7/352 : 
+befor : 369.000000  185.000000  after : 369.000183  184.831390   FALSE 0.028429
+[13:21:19.514] 201-8/352 : 
+befor : 212.000000  226.000000  after : 211.947800  225.915955   TRUE 0.009789
+[13:21:19.514] 201-9/352 : 
+befor : 228.000000  250.000000  after : 228.646011  249.980316   TRUE 0.417718
+[13:21:19.514] 201-10/352 : 
+befor : 329.000000  298.000000  after : 329.303589  298.500946   TRUE 0.343113
+[13:21:19.514] 201-11/352 : 
+befor : 323.000000  303.000000  after : 321.645020  303.361359   TRUE 1.966552
+[13:21:19.514] 201-12/352 : 
+befor : 325.000000  331.000000  after : 325.000000  331.000000   FALSE 0.000000
+[13:21:19.514] 201-13/352 : 
+befor : 332.000000  383.000000  after : 338.051086  378.566772   FALSE 56.269153
+[13:21:19.514] 201-14/352 : 
+befor : 316.000000  404.000000  after : 356.407715  443.346375   FALSE 3180.920606
+[13:21:19.514] 201-15/352 : 
+befor : 352.000000  414.000000  after : 351.905151  414.790466   TRUE 0.633833
+[13:21:19.514] 201-16/352 : 
+befor : 148.000000  444.000000  after : 148.567459  443.667786   TRUE 0.432376
+[13:21:19.514] After Reprojection Map nPoint:20 ,nCell:16 ,nMatches:10 ,distance between ekf and vo x:-0.000066 ,z=0.000085,angle between two frames:0.000002
+[13:21:19.514] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.882735 	 error end=0.504259
+[13:21:19.514] After pose optimization, distance between ekf and vo x:-0.347926 ,z=0.354951,angle between two frames:0.477478
+[13:21:19.515] frame process finished the id is: 139 the obs is:11 
+[13:21:19.587] Odometry x=0.220629, y=0.754705, theta=0.023560
+[13:21:19.610] 202-1/352 : 
+befor : 84.000000  60.000000  after : 82.440643  62.067085   TRUE 6.704435
+[13:21:19.610] 202-2/352 : 
+befor : 172.000000  148.000000  after : 217.331085  113.818153   FALSE 3223.305924
+befor : 172.000000  148.000000  after : 204.651047  179.446915   TRUE 2054.999297
+[13:21:19.610] 202-3/352 : 
+befor : 258.000000  161.000000  after : 257.864777  160.377197   TRUE 0.406169
+[13:21:19.610] 202-4/352 : 
+befor : 172.000000  216.000000  after : 172.509048  217.495499   TRUE 2.495647
+[13:21:19.610] 202-5/352 : 
+befor : 252.000000  216.000000  after : 251.792191  215.885788   TRUE 0.056229
+[13:21:19.610] 202-6/352 : 
+befor : 229.000000  248.000000  after : 229.135056  248.262253   TRUE 0.087017
+[13:21:19.610] 202-7/352 : 
+befor : 325.000000  298.000000  after : 325.196716  298.276093   TRUE 0.114924
+[13:21:19.610] 202-8/352 : 
+befor : 320.000000  304.000000  after : 319.679932  306.508789   TRUE 6.396466
+[13:21:19.610] 202-9/352 : 
+befor : 161.000000  341.000000  after : 161.000000  341.000000   FALSE 0.000000
+[13:21:19.610] 202-10/352 : 
+befor : 502.000000  334.000000  after : 502.428253  334.341370   TRUE 0.299934
+[13:21:19.610] 202-11/352 : 
+befor : 308.000000  364.000000  after : 309.617310  363.493164   TRUE 2.872573
+[13:21:19.610] 202-12/352 : 
+befor : 344.000000  408.000000  after : 343.748596  408.165253   TRUE 0.090512
+[13:21:19.610] 202-13/352 : 
+befor : 120.000000  428.000000  after : 117.763771  426.223572   TRUE 8.156417
+[13:21:19.610] 202-14/352 : 
+befor : 278.000000  420.000000  after : 279.079071  421.170990   TRUE 2.535612
+[13:21:19.610] After Reprojection Map nPoint:23 ,nCell:15 ,nMatches:13 ,distance between ekf and vo x:-0.000051 ,z=0.000064,angle between two frames:0.000000
+[13:21:19.610] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =8 	 error init =1.611644 	 error end=0.433747
+[13:21:19.610] After pose optimization, distance between ekf and vo x:-0.585695 ,z=1.366128,angle between two frames:1.507746
+[13:21:19.610] frame process finished the id is: 139 the obs is:11 
+[13:21:19.692] Odometry x=0.220566, y=0.760283, theta=0.027729
+[13:21:19.709] 203-1/352 : 
+befor : 92.000000  28.000000  after : 98.558846  35.284081   FALSE 96.076283
+[13:21:19.709] 203-2/352 : 
+befor : 256.000000  77.000000  after : 256.288361  76.659767   TRUE 0.198910
+[13:21:19.709] 203-3/352 : 
+befor : 167.000000  156.000000  after : 168.702271  156.464279   TRUE 3.113280
+[13:21:19.709] 203-4/352 : 
+befor : 248.000000  192.000000  after : 248.298737  191.839340   TRUE 0.115055
+[13:21:19.709] 203-5/352 : 
+befor : 198.000000  227.000000  after : 199.158478  228.752731   FALSE 4.414138
+[13:21:19.709] 203-6/352 : 
+befor : 349.000000  229.000000  after : 349.042328  229.185455   TRUE 0.036185
+[13:21:19.709] 203-7/352 : 
+befor : 317.000000  314.000000  after : 316.734680  316.225708   TRUE 5.024171
+[13:21:19.709] 203-8/352 : 
+befor : 335.000000  323.000000  after : 335.316254  322.750702   TRUE 0.162166
+[13:21:19.709] 203-9/352 : 
+befor : 438.000000  353.000000  after : 435.002075  350.266296   TRUE 16.460689
+[13:21:19.709] 203-10/352 : 
+befor : 304.000000  368.000000  after : 304.798859  367.713379   TRUE 0.720327
+[13:21:19.709] 203-11/352 : 
+befor : 232.000000  440.000000  after : 231.896545  439.670044   TRUE 0.119574
+[13:21:19.709] 203-12/352 : 
+befor : 272.000000  424.000000  after : 272.545105  424.924652   TRUE 1.152121
+[13:21:19.709] 203-13/352 : 
+befor : 323.000000  422.000000  after : 328.958801  428.038544   FALSE 71.971323
+[13:21:19.709] 203-14/352 : 
+befor : 347.000000  420.000000  after : 347.267334  419.901306   TRUE 0.081208
+[13:21:19.709] After Reprojection Map nPoint:23 ,nCell:14 ,nMatches:11 ,distance between ekf and vo x:-0.000079 ,z=0.000106,angle between two frames:0.000003
+[13:21:19.709] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =11 	 error init =1.125503 	 error end=0.241287
+[13:21:19.709] After pose optimization, distance between ekf and vo x:0.723792 ,z=48.068471,angle between two frames:0.289101
+[13:21:19.709] frame process finished the id is: 139 the obs is:11 
+[13:21:19.789] Odometry x=0.220513, y=0.765691, theta=0.027803
+[13:21:19.809] 204-1/352 : 
+befor : 28.000000  80.000000  after : 28.413689  82.330597   TRUE 5.602820
+[13:21:19.809] 204-2/352 : 
+befor : 165.000000  147.000000  after : 168.138977  148.630783   TRUE 12.512630
+[13:21:19.809] 204-3/352 : 
+befor : 194.000000  226.000000  after : 200.918152  233.737732   FALSE 107.733321
+[13:21:19.809] 204-4/352 : 
+befor : 320.000000  312.000000  after : 320.429443  311.915985   TRUE 0.191480
+[13:21:19.809] 204-5/352 : 
+befor : 336.000000  308.000000  after : 336.487427  307.681335   TRUE 0.339132
+[13:21:19.809] 204-6/352 : 
+befor : 316.000000  354.000000  after : 316.538269  353.518097   TRUE 0.521964
+[13:21:19.809] 204-7/352 : 
+befor : 36.000000  384.000000  after : 40.099419  387.641357   FALSE 30.064717
+[13:21:19.809] 204-8/352 : 
+befor : 320.000000  387.000000  after : 321.518616  385.515839   TRUE 4.508929
+[13:21:19.809] 204-9/352 : 
+befor : 336.000000  412.000000  after : 336.274628  412.384521   TRUE 0.223277
+[13:21:19.809] 204-10/352 : 
+befor : 433.000000  403.000000  after : 434.169159  401.974365   FALSE 2.418859
+[13:21:19.809] 204-11/352 : 
+befor : 112.000000  436.000000  after : 112.053192  435.966949   TRUE 0.003922
+[13:21:19.809] 204-12/352 : 
+befor : 128.000000  446.000000  after : 127.939117  445.924835   TRUE 0.009356
+[13:21:19.809] 204-13/352 : 
+befor : 228.000000  436.000000  after : 228.501907  436.574982   TRUE 0.582515
+[13:21:19.809] 204-14/352 : 
+befor : 342.000000  423.000000  after : 342.241821  422.303192   TRUE 0.544019
+[13:21:19.809] After Reprojection Map nPoint:20 ,nCell:14 ,nMatches:11 ,distance between ekf and vo x:-0.000072 ,z=0.000095,angle between two frames:0.000008
+[13:21:19.809] n deleted obs = 8 	 n obs with reprojection error less than 0.5 px =3 	 error init =1.092369 	 error end=1.092369
+[13:21:19.809] After pose optimization, distance between ekf and vo x:-0.000072 ,z=0.000095,angle between two frames:0.000008
+[13:21:19.809] frame process finished the id is: 139 the obs is:11 
+[13:21:19.888] Odometry x=0.220440, y=0.771727, theta=0.030507
+[13:21:19.909] 205-1/352 : 
+befor : 184.000000  20.000000  after : 183.983597  22.339203   TRUE 5.472139
+[13:21:19.909] 205-2/352 : 
+befor : 163.000000  146.000000  after : 163.670944  146.313217   TRUE 0.548271
+[13:21:19.909] 205-3/352 : 
+befor : 240.000000  224.000000  after : 240.659637  223.329529   TRUE 0.884653
+[13:21:19.909] 205-4/352 : 
+befor : 343.000000  232.000000  after : 343.340057  231.627747   TRUE 0.254212
+[13:21:19.909] 205-5/352 : 
+befor : 236.000000  248.000000  after : 236.554596  247.663803   TRUE 0.420605
+[13:21:19.909] 205-6/352 : 
+befor : 230.000000  288.000000  after : 230.864868  287.939178   TRUE 0.751696
+[13:21:19.909] 205-7/352 : 
+befor : 315.000000  306.000000  after : 316.458679  304.758881   TRUE 3.668122
+[13:21:19.909] 205-8/352 : 
+befor : 344.000000  313.000000  after : 344.201996  312.373474   TRUE 0.433337
+[13:21:19.909] 205-9/352 : 
+befor : 320.000000  330.000000  after : 320.639984  329.342987   TRUE 0.841246
+[13:21:19.909] 205-10/352 : 
+befor : 300.000000  416.000000  after : 300.674774  416.693634   TRUE 0.936448
+[13:21:19.909] 205-11/352 : 
+befor : 431.000000  409.000000  after : 433.728119  406.317627   TRUE 14.637758
+[13:21:19.909] 205-12/352 : 
+befor : 118.000000  446.000000  after : 117.965828  445.896820   TRUE 0.011814
+[13:21:19.909] 205-13/352 : 
+befor : 206.000000  438.000000  after : 205.890839  438.027405   TRUE 0.012667
+[13:21:19.909] After Reprojection Map nPoint:20 ,nCell:13 ,nMatches:13 ,distance between ekf and vo x:-0.000086 ,z=0.000085,angle between two frames:0.000003
+[13:21:19.909] n deleted obs = 12 	 n obs with reprojection error less than 0.5 px =1 	 error init =0.975533 	 error end=0.827916
+[13:21:19.909] After pose optimization, distance between ekf and vo x:-3.004696 ,z=2.029641,angle between two frames:0.226145
+[13:21:19.909] frame process finished the id is: 139 the obs is:11 
+[13:21:19.987] Odometry x=0.220381, y=0.777117, theta=0.036040
+[13:21:20.009] 206-1/352 : 
+befor : 40.000000  40.000000  after : 40.818031  43.577950   TRUE 13.470898
+[13:21:20.009] 206-2/352 : 
+befor : 163.000000  146.000000  after : 165.180023  140.851227   FALSE 31.262367
+befor : 167.000000  124.000000  after : 185.418793  142.457947   FALSE 679.947725
+befor : 163.000000  148.000000  after : 164.545059  148.613770   TRUE 2.763921
+[13:21:20.009] 206-3/352 : 
+befor : 246.000000  166.000000  after : 245.931519  165.892151   TRUE 0.016321
+[13:21:20.009] 206-4/352 : 
+befor : 168.000000  220.000000  after : 168.547974  219.470245   TRUE 0.580915
+[13:21:20.009] 206-5/352 : 
+befor : 236.000000  224.000000  after : 237.579193  225.346909   TRUE 4.308014
+[13:21:20.009] 206-6/352 : 
+befor : 343.000000  235.000000  after : 343.400421  234.594879   TRUE 0.324460
+[13:21:20.009] 206-7/352 : 
+befor : 228.000000  284.000000  after : 227.343369  283.408142   TRUE 0.781461
+[13:21:20.009] 206-8/352 : 
+befor : 316.000000  318.000000  after : 316.872528  317.884277   TRUE 0.774697
+[13:21:20.009] 206-9/352 : 
+befor : 332.000000  316.000000  after : 332.491302  315.683746   TRUE 0.341395
+[13:21:20.009] 206-10/352 : 
+befor : 320.000000  332.000000  after : 320.300781  332.622803   TRUE 0.478353
+[13:21:20.009] 206-11/352 : 
+befor : 312.000000  362.000000  after : 310.043091  363.906677   TRUE 7.464912
+[13:21:20.009] 206-12/352 : 
+befor : 317.000000  393.000000  after : 317.301514  392.697693   FALSE 0.182300
+befor : 315.000000  393.000000  after : 314.619568  392.330811   TRUE 0.592543
+[13:21:20.010] 206-13/352 : 
+befor : 432.000000  411.000000  after : 433.350677  409.817139   TRUE 3.223491
+[13:21:20.010] 206-14/352 : 
+befor : 112.000000  448.000000  after : 112.480354  447.499146   TRUE 0.481595
+[13:21:20.010] After Reprojection Map nPoint:24 ,nCell:17 ,nMatches:14 ,distance between ekf and vo x:-0.000046 ,z=0.000050,angle between two frames:0.000004
+[13:21:20.010] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =13 	 error init =1.539302 	 error end=0.313499
+[13:21:20.010] After pose optimization, distance between ekf and vo x:-2.448119 ,z=11.853557,angle between two frames:1.226601
+[13:21:20.010] frame process finished the id is: 139 the obs is:11 
+[13:21:20.089] Odometry x=0.220335, y=0.782386, theta=0.032606
+[13:21:20.109] 207-1/352 : 
+befor : 26.000000  74.000000  after : 26.563860  73.415634   TRUE 0.659421
+[13:21:20.109] 207-2/352 : 
+befor : 241.000000  73.000000  after : 241.503098  72.641685   TRUE 0.381496
+[13:21:20.109] 207-3/352 : 
+befor : 427.000000  208.000000  after : 430.598541  204.016006   TRUE 28.821704
+[13:21:20.109] 207-4/352 : 
+befor : 186.000000  230.000000  after : 187.964157  230.151535   TRUE 3.880876
+[13:21:20.109] 207-5/352 : 
+befor : 236.000000  228.000000  after : 235.875229  228.141632   FALSE 0.035627
+befor : 236.000000  228.000000  after : 236.530289  228.410934   TRUE 0.450073
+[13:21:20.109] 207-6/352 : 
+befor : 318.000000  320.000000  after : 318.218689  319.975922   TRUE 0.048405
+[13:21:20.109] 207-7/352 : 
+befor : 332.000000  316.000000  after : 332.495575  315.681549   TRUE 0.347006
+[13:21:20.109] 207-8/352 : 
+befor : 150.000000  344.000000  after : 149.097260  341.907288   TRUE 5.194386
+[13:21:20.109] 207-9/352 : 
+befor : 328.000000  330.000000  after : 329.593384  328.405243   FALSE 5.082122
+befor : 318.000000  334.000000  after : 318.115967  334.626617   TRUE 0.406098
+[13:21:20.110] 207-10/352 : 
+befor : 296.000000  376.000000  after : 296.101044  376.894562   TRUE 0.810451
+[13:21:20.110] 207-11/352 : 
+befor : 312.000000  362.000000  after : 310.966248  363.206940   TRUE 2.525348
+[13:21:20.110] 207-12/352 : 
+befor : 360.000000  402.000000  after : 362.391083  404.016663   TRUE 9.784205
+[13:21:20.110] 207-13/352 : 
+befor : 192.000000  436.000000  after : 190.499466  434.768677   FALSE 3.767759
+[13:21:20.110] 207-14/352 : 
+befor : 212.000000  450.000000  after : 212.470016  449.788635   TRUE 0.265591
+[13:21:20.110] After Reprojection Map nPoint:22 ,nCell:16 ,nMatches:13 ,distance between ekf and vo x:-0.000033 ,z=0.000056,angle between two frames:0.000036
+[13:21:20.110] n deleted obs = 7 	 n obs with reprojection error less than 0.5 px =6 	 error init =2.054649 	 error end=0.561137
+[13:21:20.110] After pose optimization, distance between ekf and vo x:0.113537 ,z=-0.239238,angle between two frames:0.033217
+[13:21:20.110] frame process finished the id is: 139 the obs is:11 
+[13:21:20.187] Odometry x=0.220240, y=0.787863, theta=0.037282
+[13:21:20.208] 208-1/352 : 
+befor : 182.000000  26.000000  after : 178.352005  29.670235   FALSE 26.778490
+befor : 182.000000  26.000000  after : 180.957626  28.528181   FALSE 7.478242
+[13:21:20.208] 208-2/352 : 
+befor : 30.000000  62.000000  after : 29.863445  62.135906   FALSE 0.037118
+befor : 32.000000  60.000000  after : 31.238632  60.096981   TRUE 0.589086
+[13:21:20.208] 208-3/352 : 
+befor : 180.000000  62.000000  after : 178.552704  70.205635   TRUE 69.427113
+[13:21:20.208] 208-4/352 : 
+befor : 242.000000  74.000000  after : 242.458588  73.701164   TRUE 0.299605
+[13:21:20.208] 208-5/352 : 
+befor : 240.000000  164.000000  after : 202.817352  199.852646   FALSE 2667.961507
+[13:21:20.208] 208-6/352 : 
+befor : 240.000000  224.000000  after : 240.689209  224.206345   TRUE 0.517587
+[13:21:20.208] 208-7/352 : 
+befor : 236.000000  252.000000  after : 236.284943  251.953644   TRUE 0.083341
+[13:21:20.208] 208-8/352 : 
+befor : 320.000000  320.000000  after : 320.264374  319.994415   TRUE 0.069925
+[13:21:20.208] 208-9/352 : 
+befor : 330.000000  330.000000  after : 347.076202  314.742279   FALSE 524.394737
+[13:21:20.209] 208-10/352 : 
+befor : 318.000000  395.000000  after : 317.529846  394.217773   FALSE 0.832923
+[13:21:20.209] 208-11/352 : 
+befor : 437.000000  412.000000  after : 437.992523  411.033997   TRUE 1.918265
+[13:21:20.209] 208-12/352 : 
+befor : 200.000000  446.000000  after : 199.894470  446.136139   TRUE 0.029670
+[13:21:20.209] 208-13/352 : 
+befor : 260.000000  435.000000  after : 263.234894  431.864777   TRUE 20.294164
+[13:21:20.209] 208-14/352 : 
+befor : 332.000000  424.000000  after : 331.800171  424.701813   TRUE 0.532473
+[13:21:20.209] 208-15/352 : 
+befor : 438.000000  440.000000  after : 435.053802  436.805481   FALSE 18.885032
+[13:21:20.209] 208-16/352 : 
+befor : 456.000000  444.000000  after : 467.704071  455.804688   FALSE 276.335926
+[13:21:20.209] After Reprojection Map nPoint:24 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:-0.000078 ,z=0.000052,angle between two frames:0.000027
+[13:21:20.209] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.528545 	 error end=0.441507
+[13:21:20.209] After pose optimization, distance between ekf and vo x:-0.946806 ,z=1.539169,angle between two frames:0.222760
+[13:21:20.209] frame process finished the id is: 139 the obs is:11 
+[13:21:20.291] Odometry x=0.220131, y=0.793718, theta=0.037078
+[13:21:20.310] 209-1/352 : 
+befor : 44.000000  28.000000  after : 44.273468  31.133137   TRUE 9.891331
+[13:21:20.310] 209-2/352 : 
+befor : 76.000000  60.000000  after : 76.699837  58.874592   FALSE 1.756315
+[13:21:20.310] 209-3/352 : 
+befor : 180.000000  62.000000  after : 178.001328  64.309868   FALSE 9.330181
+befor : 180.000000  62.000000  after : 180.231171  61.761646   TRUE 0.110252
+[13:21:20.310] 209-4/352 : 
+befor : 241.000000  75.000000  after : 241.456467  74.666405   TRUE 0.319648
+[13:21:20.310] 209-5/352 : 
+befor : 20.000000  151.000000  after : 13.225766  145.500885   FALSE 76.130509
+[13:21:20.310] 209-6/352 : 
+befor : 240.000000  164.000000  after : 240.499908  163.684616   TRUE 0.349375
+[13:21:20.310] 209-7/352 : 
+befor : 300.000000  160.000000  after : 300.491821  160.324905   TRUE 0.347452
+[13:21:20.310] 209-8/352 : 
+befor : 242.000000  198.000000  after : 242.358139  197.685196   TRUE 0.227365
+[13:21:20.310] 209-9/352 : 
+befor : 242.000000  226.000000  after : 242.196884  226.038864   TRUE 0.040274
+[13:21:20.310] 209-10/352 : 
+befor : 344.000000  217.000000  after : 329.132690  233.708679   FALSE 500.216854
+[13:21:20.310] 209-11/352 : 
+befor : 235.000000  264.000000  after : 235.105667  262.165619   TRUE 3.376120
+[13:21:20.310] 209-12/352 : 
+befor : 232.000000  294.000000  after : 232.165512  293.887024   TRUE 0.040158
+[13:21:20.310] 209-13/352 : 
+befor : 311.000000  310.000000  after : 312.609100  307.723755   FALSE 7.770496
+befor : 320.000000  322.000000  after : 320.000000  322.000000   FALSE 0.000000
+[13:21:20.310] 209-14/352 : 
+befor : 336.000000  328.000000  after : 338.314880  326.052734   FALSE 9.150515
+[13:21:20.310] 209-15/352 : 
+befor : 304.000000  380.000000  after : 303.753021  380.717682   TRUE 0.576066
+[13:21:20.310] 209-16/352 : 
+befor : 319.000000  396.000000  after : 319.116028  395.841003   FALSE 0.038742
+[13:21:20.310] 209-17/352 : 
+befor : 334.000000  399.000000  after : 334.779297  399.432190   TRUE 0.794092
+[13:21:20.310] 209-18/352 : 
+befor : 439.000000  413.000000  after : 442.119690  410.040680   TRUE 18.490041
+[13:21:20.310] 209-19/352 : 
+befor : 342.000000  434.000000  after : 342.934814  432.992371   FALSE 1.889195
+befor : 336.000000  424.000000  after : 336.763428  424.532532   FALSE 0.866412
+[13:21:20.310] After Reprojection Map nPoint:25 ,nCell:22 ,nMatches:12 ,distance between ekf and vo x:-0.000078 ,z=0.000032,angle between two frames:0.000049
+[13:21:20.310] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =10 	 error init =5.848107 	 error end=0.297918
+[13:21:20.310] After pose optimization, distance between ekf and vo x:3.090901 ,z=-10.257504,angle between two frames:0.322939
+[13:21:20.310] frame process finished the id is: 139 the obs is:11 
+[13:21:20.388] Odometry x=0.220027, y=0.799141, theta=0.038484
+[13:21:20.409] 210-1/352 : 
+befor : 288.000000  10.000000  after : 287.635895  10.490059   TRUE 0.372730
+[13:21:20.409] 210-2/352 : 
+befor : 34.000000  54.000000  after : 35.345402  52.515873   FALSE 4.012739
+befor : 34.000000  52.000000  after : 32.503246  52.901665   TRUE 3.053271
+[13:21:20.409] 210-3/352 : 
+befor : 68.000000  88.000000  after : 64.391037  86.983131   TRUE 14.058636
+[13:21:20.409] 210-4/352 : 
+befor : 248.000000  84.000000  after : 248.363556  84.359581   TRUE 0.261471
+[13:21:20.409] 210-5/352 : 
+befor : 18.000000  96.000000  after : 18.810366  95.862740   TRUE 0.675533
+[13:21:20.409] 210-6/352 : 
+befor : 304.000000  156.000000  after : 304.498627  155.686493   TRUE 0.346915
+[13:21:20.409] 210-7/352 : 
+befor : 244.000000  196.000000  after : 244.897949  195.724915   TRUE 0.881985
+[13:21:20.409] 210-8/352 : 
+befor : 244.000000  222.000000  after : 244.927139  223.395950   TRUE 2.808265
+[13:21:20.409] 210-9/352 : 
+befor : 348.000000  235.000000  after : 348.000000  235.000000   FALSE 0.000000
+[13:21:20.409] 210-10/352 : 
+befor : 234.000000  294.000000  after : 232.322495  297.531982   TRUE 15.288925
+[13:21:20.409] 210-11/352 : 
+befor : 320.000000  321.000000  after : 318.833954  322.554199   FALSE 3.775199
+befor : 320.000000  307.000000  after : 313.422607  297.655640   TRUE 130.579164
+[13:21:20.410] 210-12/352 : 
+befor : 154.000000  348.000000  after : 153.936356  347.765869   TRUE 0.058868
+[13:21:20.410] 210-13/352 : 
+befor : 510.000000  342.000000  after : 511.989075  342.452026   TRUE 4.160746
+[13:21:20.410] 210-14/352 : 
+befor : 318.000000  362.000000  after : 318.348053  361.162628   TRUE 0.822332
+[13:21:20.410] 210-15/352 : 
+befor : 323.000000  394.000000  after : 331.399323  388.374542   FALSE 102.194394
+befor : 321.000000  394.000000  after : 321.229218  393.699249   FALSE 0.142992
+[13:21:20.410] 210-16/352 : 
+befor : 445.000000  439.000000  after : 446.229401  437.907684   FALSE 2.704579
+befor : 432.000000  426.000000  after : 431.361725  425.618896   TRUE 0.552635
+[13:21:20.410] After Reprojection Map nPoint:22 ,nCell:20 ,nMatches:14 ,distance between ekf and vo x:-0.000088 ,z=0.000116,angle between two frames:0.000013
+[13:21:20.410] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =10 	 error init =2.037592 	 error end=0.454744
+[13:21:20.410] After pose optimization, distance between ekf and vo x:-14.145760 ,z=61.388339,angle between two frames:1.204372
+[13:21:20.410] frame process finished the id is: 139 the obs is:11 
+[13:21:20.490] Odometry x=0.219929, y=0.804986, theta=0.035943
+[13:21:20.510] 211-1/352 : 
+befor : 52.000000  14.000000  after : 52.000000  14.000000   FALSE 0.000000
+[13:21:20.510] 211-2/352 : 
+befor : 40.000000  40.000000  after : 42.217506  37.624989   TRUE 10.558014
+[13:21:20.510] 211-3/352 : 
+befor : 84.000000  44.000000  after : 83.063263  45.234486   FALSE 2.401431
+[13:21:20.510] 211-4/352 : 
+befor : 32.000000  60.000000  after : 29.700714  63.059666   FALSE 14.648270
+[13:21:20.510] 211-5/352 : 
+befor : 255.000000  80.000000  after : 255.334518  79.514328   TRUE 0.347780
+[13:21:20.510] 211-6/352 : 
+befor : 60.000000  116.000000  after : 60.469971  116.338936   TRUE 0.335750
+[13:21:20.510] 211-7/352 : 
+befor : 164.000000  154.000000  after : 163.577896  153.554810   TRUE 0.376366
+[13:21:20.510] 211-8/352 : 
+befor : 240.000000  164.000000  after : 253.809662  177.218018   FALSE 365.422750
+[13:21:20.510] 211-9/352 : 
+befor : 244.000000  194.000000  after : 244.637573  193.717667   TRUE 0.486212
+[13:21:20.510] 211-10/352 : 
+befor : 242.000000  256.000000  after : 242.513977  255.990662   TRUE 0.264260
+[13:21:20.510] 211-11/352 : 
+befor : 149.000000  328.000000  after : 150.399277  330.841431   TRUE 10.031704
+[13:21:20.510] 211-12/352 : 
+befor : 322.000000  308.000000  after : 317.916046  312.003052   FALSE 32.703102
+befor : 321.000000  309.000000  after : 321.582825  309.604248   TRUE 0.704800
+[13:21:20.510] 211-13/352 : 
+befor : 340.000000  320.000000  after : 340.499054  319.687347   TRUE 0.346806
+[13:21:20.510] 211-14/352 : 
+befor : 328.000000  333.000000  after : 331.030853  331.341949   TRUE 11.935203
+[13:21:20.510] 211-15/352 : 
+befor : 448.000000  357.000000  after : 447.287903  357.454895   TRUE 0.714012
+[13:21:20.510] 211-16/352 : 
+befor : 325.000000  395.000000  after : 324.170593  395.815704   FALSE 1.353289
+befor : 324.000000  394.000000  after : 324.000000  394.000000   FALSE 0.000000
+[13:21:20.510] 211-17/352 : 
+befor : 368.000000  406.000000  after : 370.757080  403.003723   FALSE 16.579166
+[13:21:20.510] 211-18/352 : 
+befor : 304.000000  424.000000  after : 303.791901  424.745392   TRUE 0.598914
+[13:21:20.510] 211-19/352 : 
+befor : 438.000000  428.000000  after : 435.859070  429.933746   FALSE 8.322957
+[13:21:20.510] After Reprojection Map nPoint:22 ,nCell:21 ,nMatches:12 ,distance between ekf and vo x:-0.000057 ,z=0.000071,angle between two frames:0.000002
+[13:21:20.510] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =10 	 error init =3.129500 	 error end=0.392528
+[13:21:20.510] After pose optimization, distance between ekf and vo x:-23.904445 ,z=123.274842,angle between two frames:0.166715
+[13:21:20.510] frame process finished the id is: 139 the obs is:11 
+[13:21:20.587] Odometry x=0.219822, y=0.810359, theta=0.034578
+[13:21:20.610] 212-1/352 : 
+befor : 34.000000  54.000000  after : 33.070412  55.021282   FALSE 1.907152
+befor : 44.000000  30.000000  after : 44.631901  28.769264   FALSE 1.914009
+[13:21:20.610] 212-2/352 : 
+befor : 28.000000  70.000000  after : 29.676115  71.261841   TRUE 4.401604
+[13:21:20.610] 212-3/352 : 
+befor : 248.000000  80.000000  after : 249.556915  78.498566   TRUE 4.678290
+[13:21:20.610] 212-4/352 : 
+befor : 164.000000  156.000000  after : 164.641647  156.187820   TRUE 0.446988
+[13:21:20.610] 212-5/352 : 
+befor : 304.000000  156.000000  after : 305.665741  155.586426   TRUE 2.945737
+[13:21:20.610] 212-6/352 : 
+befor : 156.000000  348.000000  after : 156.827942  347.776886   TRUE 0.735268
+[13:21:20.610] 212-7/352 : 
+befor : 329.000000  333.000000  after : 326.412170  335.097198   TRUE 11.095103
+[13:21:20.610] 212-8/352 : 
+befor : 296.000000  392.000000  after : 295.411560  391.434906   TRUE 0.665593
+[13:21:20.610] 212-9/352 : 
+befor : 326.000000  394.000000  after : 326.166016  393.779724   FALSE 0.076083
+befor : 324.000000  394.000000  after : 324.188019  393.721680   FALSE 0.112813
+befor : 326.000000  394.000000  after : 326.000000  394.000000   FALSE 0.000000
+[13:21:20.610] 212-10/352 : 
+befor : 449.000000  411.000000  after : 452.126556  408.159180   TRUE 17.845615
+[13:21:20.610] 212-11/352 : 
+befor : 62.000000  438.000000  after : 65.075363  439.586273   FALSE 11.974121
+[13:21:20.610] 212-12/352 : 
+befor : 319.000000  436.000000  after : 320.443512  434.615753   FALSE 3.999866
+[13:21:20.610] 212-13/352 : 
+befor : 344.000000  432.000000  after : 344.453064  431.722748   TRUE 0.282136
+[13:21:20.610] 212-14/352 : 
+befor : 440.000000  428.000000  after : 438.811279  429.107574   FALSE 2.639778
+[13:21:20.610] 212-15/352 : 
+befor : 206.000000  458.000000  after : 204.581741  454.447601   TRUE 14.630994
+[13:21:20.610] After Reprojection Map nPoint:23 ,nCell:18 ,nMatches:10 ,distance between ekf and vo x:-0.000040 ,z=0.000094,angle between two frames:0.000063
+[13:21:20.610] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =8 	 error init =1.261287 	 error end=0.363080
+[13:21:20.610] After pose optimization, distance between ekf and vo x:-1.039632 ,z=2.243206,angle between two frames:0.084923
+[13:21:20.610] frame process finished the id is: 139 the obs is:11 
+[13:21:20.690] Odometry x=0.219715, y=0.816799, theta=0.038541
+[13:21:20.709] 213-1/352 : 
+befor : 44.000000  28.000000  after : 44.154388  30.204266   TRUE 4.882623
+[13:21:20.709] 213-2/352 : 
+befor : 34.000000  56.000000  after : 32.009979  58.810410   FALSE 11.858584
+[13:21:20.709] 213-3/352 : 
+befor : 26.000000  76.000000  after : 30.586411  81.177391   TRUE 47.840540
+[13:21:20.710] 213-4/352 : 
+befor : 247.000000  73.000000  after : 247.491669  72.620987   TRUE 0.385389
+[13:21:20.710] 213-5/352 : 
+befor : 166.000000  151.000000  after : 165.653183  149.820755   TRUE 1.510901
+[13:21:20.710] 213-6/352 : 
+befor : 252.000000  160.000000  after : 247.862640  163.785522   FALSE 31.447925
+befor : 252.000000  160.000000  after : 252.367493  160.367126   TRUE 0.269833
+[13:21:20.710] 213-7/352 : 
+befor : 168.000000  218.000000  after : 167.334320  217.342010   TRUE 0.876080
+[13:21:20.710] 213-8/352 : 
+befor : 244.000000  228.000000  after : 244.524872  227.774063   TRUE 0.326538
+[13:21:20.710] 213-9/352 : 
+befor : 227.000000  258.000000  after : 242.510925  243.337540   FALSE 455.576546
+[13:21:20.710] 213-10/352 : 
+befor : 328.000000  322.000000  after : 333.052551  320.765869   TRUE 27.051353
+[13:21:20.710] 213-11/352 : 
+befor : 326.000000  396.000000  after : 327.169189  397.214142   TRUE 2.841144
+[13:21:20.710] 213-12/352 : 
+befor : 452.000000  413.000000  after : 456.079315  409.134369   TRUE 31.583916
+[13:21:20.710] 213-13/352 : 
+befor : 66.000000  450.000000  after : 66.277603  450.008636   TRUE 0.077138
+[13:21:20.710] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:11 ,distance between ekf and vo x:-0.000083 ,z=0.000074,angle between two frames:0.000025
+[13:21:20.710] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =10 	 error init =1.772344 	 error end=0.319872
+[13:21:20.710] After pose optimization, distance between ekf and vo x:-1.696039 ,z=4.391919,angle between two frames:0.037828
+[13:21:20.710] frame process finished the id is: 139 the obs is:11 
+[13:21:20.787] Odometry x=0.219595, y=0.823365, theta=0.037427
+[13:21:20.815] 214-1/352 : 
+befor : 36.000000  52.000000  after : 34.549736  51.720535   TRUE 2.181366
+[13:21:20.815] 214-2/352 : 
+befor : 30.000000  68.000000  after : 30.361761  67.275497   TRUE 0.655775
+[13:21:20.815] 214-3/352 : 
+befor : 252.000000  76.000000  after : 253.446136  85.974510   TRUE 101.582164
+[13:21:20.815] 214-4/352 : 
+befor : 244.000000  164.000000  after : 243.705383  165.742401   TRUE 3.122761
+[13:21:20.815] 214-5/352 : 
+befor : 226.000000  261.000000  after : 244.017349  244.148453   FALSE 608.599518
+[13:21:20.815] 214-6/352 : 
+befor : 248.000000  256.000000  after : 248.371796  256.018768   TRUE 0.138584
+[13:21:20.815] 214-7/352 : 
+befor : 153.000000  329.000000  after : 153.445709  329.523743   TRUE 0.472963
+[13:21:20.815] 214-8/352 : 
+befor : 358.000000  316.000000  after : 358.294281  315.329956   TRUE 0.535560
+[13:21:20.815] 214-9/352 : 
+befor : 333.000000  335.000000  after : 332.048279  334.034393   FALSE 1.838170
+[13:21:20.815] 214-10/352 : 
+befor : 528.000000  342.000000  after : 528.039734  341.771637   TRUE 0.053728
+[13:21:20.815] 214-11/352 : 
+befor : 330.000000  395.000000  after : 330.697205  395.717712   TRUE 1.001205
+[13:21:20.815] 214-12/352 : 
+befor : 457.000000  412.000000  after : 461.328156  407.882263   TRUE 35.688687
+[13:21:20.815] 214-13/352 : 
+befor : 192.000000  448.000000  after : 192.475891  447.877594   TRUE 0.241456
+[13:21:20.816] 214-14/352 : 
+befor : 448.000000  430.000000  after : 448.673187  430.119690   TRUE 0.467507
+[13:21:20.816] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:12 ,distance between ekf and vo x:-0.001059 ,z=0.000399,angle between two frames:0.001344
+[13:21:20.816] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.673331 	 error end=0.621697
+[13:21:20.816] After pose optimization, distance between ekf and vo x:-0.072055 ,z=0.076400,angle between two frames:0.038427
+[13:21:20.816] frame process finished the id is: 139 the obs is:11 
+[13:21:20.891] Odometry x=0.219555, y=0.828731, theta=0.041014
+[13:21:20.910] 215-1/352 : 
+befor : 54.000000  12.000000  after : 52.934212  13.418327   FALSE 3.147557
+[13:21:20.910] 215-2/352 : 
+befor : 36.000000  52.000000  after : 34.585278  52.077320   TRUE 2.007418
+[13:21:20.910] 215-3/352 : 
+befor : 186.000000  62.000000  after : 187.985535  61.538425   TRUE 4.155399
+[13:21:20.910] 215-4/352 : 
+befor : 169.000000  151.000000  after : 170.895538  152.289597   TRUE 5.256125
+[13:21:20.910] 215-5/352 : 
+befor : 312.000000  156.000000  after : 309.313568  158.578369   FALSE 13.864904
+befor : 312.000000  156.000000  after : 312.370422  156.344681   TRUE 0.256018
+[13:21:20.910] 215-6/352 : 
+befor : 252.000000  190.000000  after : 252.475983  189.948944   TRUE 0.229166
+[13:21:20.910] 215-7/352 : 
+befor : 233.000000  255.000000  after : 250.025696  239.008347   FALSE 545.607297
+[13:21:20.910] 215-8/352 : 
+befor : 331.000000  319.000000  after : 330.724426  319.685394   TRUE 0.545706
+[13:21:20.910] 215-9/352 : 
+befor : 360.000000  315.000000  after : 360.049042  314.378143   TRUE 0.389111
+[13:21:20.910] 215-10/352 : 
+befor : 336.000000  331.000000  after : 335.849731  331.573975   TRUE 0.352027
+[13:21:20.910] 215-11/352 : 
+befor : 462.000000  352.000000  after : 459.887360  353.293121   TRUE 6.135412
+[13:21:20.910] 215-12/352 : 
+befor : 333.000000  393.000000  after : 333.861786  393.856293   TRUE 1.475912
+[13:21:20.910] 215-13/352 : 
+befor : 462.000000  410.000000  after : 463.506409  408.725128   TRUE 3.894565
+[13:21:20.910] 215-14/352 : 
+befor : 266.000000  440.000000  after : 267.791534  439.477783   TRUE 3.482306
+[13:21:20.910] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:12 ,distance between ekf and vo x:-0.000025 ,z=0.000079,angle between two frames:0.000092
+[13:21:20.910] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.761246 	 error end=0.388202
+[13:21:20.910] After pose optimization, distance between ekf and vo x:-0.316318 ,z=0.589756,angle between two frames:0.036387
+[13:21:20.910] frame process finished the id is: 139 the obs is:11 
+[13:21:20.986] Odometry x=0.219440, y=0.834480, theta=0.036871
+[13:21:21.010] 216-1/352 : 
+befor : 40.000000  44.000000  after : 42.013573  43.780426   TRUE 4.102688
+[13:21:21.010] 216-2/352 : 
+befor : 32.000000  60.000000  after : 32.309402  59.468292   TRUE 0.378443
+[13:21:21.010] 216-3/352 : 
+befor : 76.000000  76.000000  after : 71.341278  60.242599   FALSE 269.999361
+[13:21:21.010] 216-4/352 : 
+befor : 188.000000  60.000000  after : 189.845383  59.555397   TRUE 3.603109
+[13:21:21.010] 216-5/352 : 
+befor : 255.000000  74.000000  after : 257.335693  80.018318   TRUE 41.675617
+[13:21:21.010] 216-6/352 : 
+befor : 171.000000  145.000000  after : 172.428558  145.680450   TRUE 2.503792
+[13:21:21.010] 216-7/352 : 
+befor : 248.000000  164.000000  after : 247.724350  164.246277   FALSE 0.136635
+befor : 248.000000  164.000000  after : 248.363602  164.363312   TRUE 0.264202
+[13:21:21.010] 216-8/352 : 
+befor : 252.000000  190.000000  after : 251.915390  189.499313   TRUE 0.257846
+[13:21:21.010] 216-9/352 : 
+befor : 236.000000  252.000000  after : 236.444092  251.983109   TRUE 0.197503
+[13:21:21.010] 216-10/352 : 
+befor : 334.000000  332.000000  after : 331.063385  335.801697   TRUE 23.076606
+[13:21:21.010] 216-11/352 : 
+befor : 466.000000  352.000000  after : 466.122040  351.351044   TRUE 0.436038
+[13:21:21.010] 216-12/352 : 
+befor : 534.000000  336.000000  after : 533.743042  336.191040   TRUE 0.102524
+[13:21:21.010] 216-13/352 : 
+befor : 334.000000  393.000000  after : 333.983765  392.945862   FALSE 0.003195
+befor : 334.000000  393.000000  after : 334.742767  393.687744   TRUE 1.024695
+[13:21:21.010] 216-14/352 : 
+befor : 465.000000  411.000000  after : 471.606110  404.802216   TRUE 82.053216
+[13:21:21.010] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:13 ,distance between ekf and vo x:-0.000010 ,z=0.000070,angle between two frames:0.000105
+[13:21:21.010] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =8 	 error init =1.214080 	 error end=0.522429
+[13:21:21.010] After pose optimization, distance between ekf and vo x:-1.725791 ,z=6.688334,angle between two frames:1.190749
+[13:21:21.010] frame process finished the id is: 139 the obs is:11 
+[13:21:21.085] Odometry x=0.219376, y=0.839564, theta=0.030835
+[13:21:21.108] 217-1/352 : 
+befor : 40.000000  40.000000  after : 38.535973  39.615681   TRUE 2.291078
+[13:21:21.108] 217-2/352 : 
+befor : 32.000000  60.000000  after : 32.455540  59.219154   TRUE 0.817236
+[13:21:21.108] 217-3/352 : 
+befor : 252.000000  76.000000  after : 252.497833  75.705643   TRUE 0.334484
+[13:21:21.108] 217-4/352 : 
+befor : 254.000000  190.000000  after : 254.042343  189.973541   FALSE 0.002493
+[13:21:21.108] 217-5/352 : 
+befor : 244.000000  228.000000  after : 248.831512  223.418472   FALSE 44.333909
+befor : 248.000000  224.000000  after : 248.373962  224.424240   TRUE 0.319828
+[13:21:21.108] 217-6/352 : 
+befor : 327.000000  308.000000  after : 316.263611  294.138519   TRUE 307.410700
+[13:21:21.108] 217-7/352 : 
+befor : 362.000000  313.000000  after : 362.161377  312.415985   TRUE 0.367116
+[13:21:21.108] 217-8/352 : 
+befor : 164.000000  348.000000  after : 164.438339  347.932617   TRUE 0.196682
+[13:21:21.108] 217-9/352 : 
+befor : 312.000000  376.000000  after : 318.239716  376.236786   TRUE 38.990118
+[13:21:21.108] 217-10/352 : 
+befor : 334.000000  394.000000  after : 334.927917  393.044708   FALSE 1.773613
+[13:21:21.108] 217-11/352 : 
+befor : 464.000000  408.000000  after : 464.211700  407.940765   TRUE 0.048326
+[13:21:21.108] After Reprojection Map nPoint:16 ,nCell:12 ,nMatches:9 ,distance between ekf and vo x:-0.000018 ,z=0.000062,angle between two frames:0.000078
+[13:21:21.109] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.632392 	 error end=0.591773
+[13:21:21.109] After pose optimization, distance between ekf and vo x:-0.096836 ,z=0.099420,angle between two frames:0.058799
+[13:21:21.109] frame process finished the id is: 139 the obs is:11 
+[13:21:21.188] Odometry x=0.219279, y=0.845427, theta=0.032052
+[13:21:21.210] 218-1/352 : 
+befor : 44.000000  28.000000  after : 44.923973  27.893358   TRUE 0.865099
+[13:21:21.210] 218-2/352 : 
+befor : 80.000000  56.000000  after : 75.940315  50.268742   FALSE 49.328363
+[13:21:21.210] 218-3/352 : 
+befor : 251.000000  70.000000  after : 254.920197  78.301208   TRUE 84.278003
+[13:21:21.210] 218-4/352 : 
+befor : 167.000000  150.000000  after : 170.945175  151.808105   TRUE 18.833653
+[13:21:21.210] 218-5/352 : 
+befor : 308.000000  156.000000  after : 311.133698  156.638962   TRUE 10.228332
+[13:21:21.210] 218-6/352 : 
+befor : 250.000000  188.000000  after : 250.447937  187.820770   TRUE 0.232771
+[13:21:21.210] 218-7/352 : 
+befor : 359.000000  234.000000  after : 365.948395  227.494995   FALSE 90.595278
+[13:21:21.210] 218-8/352 : 
+befor : 360.000000  313.000000  after : 360.152405  312.402191   TRUE 0.380603
+[13:21:21.210] 218-9/352 : 
+befor : 162.000000  348.000000  after : 163.053940  346.936920   FALSE 2.240928
+befor : 161.000000  349.000000  after : 160.611343  349.269989   TRUE 0.223948
+[13:21:21.210] 218-10/352 : 
+befor : 536.000000  336.000000  after : 528.589600  302.258606   TRUE 1193.395706
+[13:21:21.210] 218-11/352 : 
+befor : 330.000000  394.000000  after : 329.968903  393.951202   FALSE 0.003348
+befor : 330.000000  394.000000  after : 331.089722  394.974670   TRUE 2.137476
+[13:21:21.210] 218-12/352 : 
+befor : 465.000000  413.000000  after : 467.668213  410.386322   TRUE 13.950673
+[13:21:21.210] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:10 ,distance between ekf and vo x:-0.000049 ,z=0.000068,angle between two frames:0.000005
+[13:21:21.210] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.546643 	 error end=0.446628
+[13:21:21.210] After pose optimization, distance between ekf and vo x:-0.611308 ,z=0.637913,angle between two frames:0.055966
+[13:21:21.210] frame process finished the id is: 139 the obs is:11 
+[13:21:21.291] Odometry x=0.219232, y=0.851285, theta=0.034132
+[13:21:21.336] 219-1/352 : 
+befor : 84.000000  40.000000  after : 78.057320  27.845894   FALSE 183.037746
+[13:21:21.336] 219-2/352 : 
+befor : 184.000000  56.000000  after : 187.573318  55.736824   TRUE 12.837867
+[13:21:21.336] 219-3/352 : 
+befor : 248.000000  67.000000  after : 248.427917  66.662842   TRUE 0.296789
+[13:21:21.336] 219-4/352 : 
+befor : 353.000000  132.000000  after : 360.534302  125.139992   FALSE 103.825416
+[13:21:21.336] 219-5/352 : 
+befor : 256.000000  167.000000  after : 256.570740  165.955368   TRUE 1.417000
+[13:21:21.336] 219-6/352 : 
+befor : 248.000000  188.000000  after : 247.696274  186.491776   FALSE 2.366991
+[13:21:21.336] 219-7/352 : 
+befor : 240.000000  224.000000  after : 249.119644  214.332672   FALSE 176.625138
+befor : 240.000000  224.000000  after : 240.421631  224.432480   TRUE 0.364811
+[13:21:21.336] 219-8/352 : 
+befor : 242.000000  292.000000  after : 242.602661  291.962463   TRUE 0.364609
+[13:21:21.337] 219-9/352 : 
+befor : 330.000000  318.000000  after : 330.971039  319.006622   TRUE 1.956205
+[13:21:21.337] 219-10/352 : 
+befor : 466.000000  352.000000  after : 459.103973  341.253052   TRUE 163.052080
+[13:21:21.337] 219-11/352 : 
+befor : 538.000000  336.000000  after : 537.734680  336.204041   TRUE 0.112027
+[13:21:21.337] 219-12/352 : 
+befor : 377.000000  376.000000  after : 383.315155  381.595734   TRUE 71.193418
+[13:21:21.337] 219-13/352 : 
+befor : 329.000000  394.000000  after : 329.893219  392.995422   FALSE 1.807016
+befor : 329.000000  394.000000  after : 330.449554  395.366211   TRUE 3.967740
+[13:21:21.337] 219-14/352 : 
+befor : 466.000000  412.000000  after : 465.683014  411.700775   TRUE 0.190016
+[13:21:21.337] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:11 ,distance between ekf and vo x:-0.000031 ,z=0.000077,angle between two frames:0.000054
+[13:21:21.337] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.584513 	 error end=0.467331
+[13:21:21.337] After pose optimization, distance between ekf and vo x:-0.185675 ,z=0.411617,angle between two frames:0.043711
+[13:21:21.337] frame process finished the id is: 139 the obs is:11 
+[13:21:21.388] Odometry x=0.219144, y=0.856913, theta=0.031149
+[13:21:21.410] 220-1/352 : 
+befor : 186.000000  12.000000  after : 187.182999  13.012671   TRUE 2.424987
+[13:21:21.410] 220-2/352 : 
+befor : 32.000000  40.000000  after : 29.457144  39.197441   TRUE 7.110219
+[13:21:21.410] 220-3/352 : 
+befor : 76.000000  52.000000  after : 76.561058  51.735241   TRUE 0.384883
+[13:21:21.410] 220-4/352 : 
+befor : 250.000000  66.000000  after : 251.796967  72.050110   TRUE 39.832918
+[13:21:21.410] 220-5/352 : 
+befor : 164.000000  132.000000  after : 166.288925  133.771210   TRUE 8.376362
+[13:21:21.410] 220-6/352 : 
+befor : 308.000000  148.000000  after : 308.123413  147.974762   TRUE 0.015868
+[13:21:21.410] 220-7/352 : 
+befor : 160.000000  158.000000  after : 161.829926  157.685715   TRUE 3.447403
+[13:21:21.410] 220-8/352 : 
+befor : 244.000000  156.000000  after : 245.114838  154.931229   FALSE 2.385135
+[13:21:21.410] 220-9/352 : 
+befor : 324.000000  303.000000  after : 324.771606  302.126343   FALSE 1.358653
+[13:21:21.410] 220-10/352 : 
+befor : 355.000000  309.000000  after : 355.133575  308.247742   TRUE 0.583735
+[13:21:21.410] 220-11/352 : 
+befor : 156.000000  342.000000  after : 155.849182  342.075104   TRUE 0.028387
+[13:21:21.410] 220-12/352 : 
+befor : 314.000000  346.000000  after : 314.776031  345.096863   TRUE 1.417882
+[13:21:21.410] 220-13/352 : 
+befor : 326.000000  388.000000  after : 325.958466  387.962646   TRUE 0.003120
+[13:21:21.410] After Reprojection Map nPoint:16 ,nCell:13 ,nMatches:11 ,distance between ekf and vo x:-0.000062 ,z=0.000095,angle between two frames:0.000022
+[13:21:21.410] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.553697 	 error end=0.374820
+[13:21:21.410] After pose optimization, distance between ekf and vo x:-0.465256 ,z=1.200587,angle between two frames:0.510136
+[13:21:21.410] frame process finished the id is: 139 the obs is:11 
+[13:21:21.485] Odometry x=0.219284, y=0.862010, theta=0.036804
+[13:21:21.509] 221-1/352 : 
+befor : 24.000000  52.000000  after : 21.589382  51.409992   TRUE 6.159187
+[13:21:21.509] 221-2/352 : 
+befor : 244.000000  68.000000  after : 244.488235  67.721664   TRUE 0.315845
+[13:21:21.509] 221-3/352 : 
+befor : 304.000000  148.000000  after : 313.082672  146.974304   TRUE 83.546985
+[13:21:21.509] 221-4/352 : 
+befor : 246.000000  208.000000  after : 247.068405  208.896072   TRUE 1.944435
+[13:21:21.509] 221-5/352 : 
+befor : 240.000000  216.000000  after : 239.613113  216.921936   FALSE 0.999647
+befor : 240.000000  216.000000  after : 240.426804  216.406998   TRUE 0.347808
+[13:21:21.509] 221-6/352 : 
+befor : 326.000000  314.000000  after : 326.229980  313.953125   TRUE 0.055088
+[13:21:21.509] 221-7/352 : 
+befor : 356.000000  309.000000  after : 356.331421  308.234344   TRUE 0.696068
+[13:21:21.509] 221-8/352 : 
+befor : 156.000000  342.000000  after : 155.613571  342.351929   TRUE 0.273181
+[13:21:21.509] 221-9/352 : 
+befor : 374.000000  372.000000  after : 379.606384  377.684296   TRUE 63.742762
+[13:21:21.509] 221-10/352 : 
+befor : 325.000000  390.000000  after : 325.369904  389.567261   FALSE 0.324092
+befor : 325.000000  390.000000  after : 326.396423  391.258179   TRUE 3.533012
+[13:21:21.509] 221-11/352 : 
+befor : 464.000000  410.000000  after : 458.743774  403.923676   TRUE 64.549626
+[13:21:21.509] 221-12/352 : 
+befor : 319.000000  443.000000  after : 324.436707  437.419800   FALSE 60.696412
+[13:21:21.509] 221-13/352 : 
+befor : 352.000000  440.000000  after : 352.100983  439.991760   TRUE 0.010265
+[13:21:21.509] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:12 ,distance between ekf and vo x:-0.000096 ,z=0.000126,angle between two frames:0.000051
+[13:21:21.509] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.614833 	 error end=0.516076
+[13:21:21.509] After pose optimization, distance between ekf and vo x:-0.384323 ,z=0.797479,angle between two frames:0.058361
+[13:21:21.509] frame process finished the id is: 139 the obs is:11 
+[13:21:21.593] Odometry x=0.219182, y=0.867452, theta=0.029342
+[13:21:21.608] 222-1/352 : 
+befor : 28.000000  40.000000  after : 25.534695  39.111534   TRUE 6.867102
+[13:21:21.608] 222-2/352 : 
+befor : 253.000000  71.000000  after : 253.517670  70.417503   TRUE 0.607284
+[13:21:21.608] 222-3/352 : 
+befor : 160.000000  134.000000  after : 162.950668  135.393982   TRUE 10.649629
+[13:21:21.608] 222-4/352 : 
+befor : 240.000000  156.000000  after : 240.940475  156.564560   TRUE 1.203222
+[13:21:21.608] 222-5/352 : 
+befor : 304.000000  152.000000  after : 302.989532  152.104355   TRUE 1.031935
+[13:21:21.608] 222-6/352 : 
+befor : 242.000000  182.000000  after : 242.572342  181.688187   TRUE 0.424803
+[13:21:21.608] 222-7/352 : 
+befor : 353.000000  230.000000  after : 360.977325  222.506577   FALSE 119.789116
+[13:21:21.608] 222-8/352 : 
+befor : 144.000000  298.000000  after : 144.213623  297.832642   TRUE 0.073644
+[13:21:21.608] 222-9/352 : 
+befor : 144.000000  328.000000  after : 143.671585  328.232544   TRUE 0.161933
+[13:21:21.608] 222-10/352 : 
+befor : 322.000000  307.000000  after : 325.838989  303.288208   FALSE 28.515238
+[13:21:21.608] 222-11/352 : 
+befor : 465.000000  349.000000  after : 458.870605  339.128723   TRUE 135.011584
+[13:21:21.608] 222-12/352 : 
+befor : 318.000000  360.000000  after : 320.384857  363.164062   TRUE 15.698835
+[13:21:21.608] 222-13/352 : 
+befor : 322.000000  391.000000  after : 322.495880  391.059723   TRUE 0.249464
+[13:21:21.608] 222-14/352 : 
+befor : 465.000000  411.000000  after : 466.375671  409.606934   TRUE 3.833106
+[13:21:21.608] 222-15/352 : 
+befor : 612.000000  400.000000  after : 612.418152  399.836151   TRUE 0.201697
+[13:21:21.608] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:13 ,distance between ekf and vo x:-0.000043 ,z=0.000023,angle between two frames:0.000021
+[13:21:21.608] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =11 	 error init =0.633308 	 error end=0.397768
+[13:21:21.608] After pose optimization, distance between ekf and vo x:-0.272802 ,z=1.365713,angle between two frames:0.056048
+[13:21:21.608] frame process finished the id is: 139 the obs is:11 
+[13:21:21.688] Odometry x=0.219106, y=0.872954, theta=0.030491
+[13:21:21.707] 223-1/352 : 
+befor : 178.000000  18.000000  after : 178.309921  17.659599   FALSE 0.211924
+[13:21:21.707] 223-2/352 : 
+befor : 64.000000  68.000000  after : 64.483147  67.751869   TRUE 0.295000
+[13:21:21.707] 223-3/352 : 
+befor : 236.000000  68.000000  after : 242.115067  62.040760   FALSE 72.906580
+[13:21:21.707] 223-4/352 : 
+befor : 240.000000  68.000000  after : 240.609283  69.361588   TRUE 2.225147
+[13:21:21.707] 223-5/352 : 
+befor : 156.000000  136.000000  after : 158.906067  137.861710   TRUE 11.911187
+[13:21:21.707] 223-6/352 : 
+befor : 240.000000  160.000000  after : 240.363190  160.386169   TRUE 0.281034
+[13:21:21.707] 223-7/352 : 
+befor : 232.000000  220.000000  after : 232.176910  219.960648   TRUE 0.032846
+[13:21:21.707] 223-8/352 : 
+befor : 320.000000  316.000000  after : 320.563232  315.842682   TRUE 0.341980
+[13:21:21.707] 223-9/352 : 
+befor : 322.000000  330.000000  after : 321.939636  329.996552   TRUE 0.003656
+[13:21:21.707] 223-10/352 : 
+befor : 464.000000  351.000000  after : 457.170502  340.575287   TRUE 155.316691
+[13:21:21.707] 223-11/352 : 
+befor : 465.000000  361.000000  after : 478.197296  348.040588   FALSE 342.114975
+[13:21:21.707] 223-12/352 : 
+befor : 319.000000  394.000000  after : 318.138397  393.154541   TRUE 1.457160
+[13:21:21.707] 223-13/352 : 
+befor : 462.000000  412.000000  after : 459.112823  408.678986   TRUE 19.364925
+[13:21:21.707] 223-14/352 : 
+befor : 350.000000  449.000000  after : 350.255249  448.256927   TRUE 0.617309
+[13:21:21.707] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:11 ,distance between ekf and vo x:-0.000039 ,z=0.000086,angle between two frames:0.000093
+[13:21:21.708] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.617504 	 error end=0.434545
+[13:21:21.708] After pose optimization, distance between ekf and vo x:-0.275799 ,z=0.425086,angle between two frames:0.017410
+[13:21:21.708] frame process finished the id is: 139 the obs is:11 
+[13:21:21.792] Odometry x=0.219040, y=0.878618, theta=0.025964
+[13:21:21.807] 224-1/352 : 
+befor : 153.000000  134.000000  after : 158.445953  138.630188   FALSE 51.097049
+[13:21:21.808] 224-2/352 : 
+befor : 246.000000  129.000000  after : 231.316071  102.129387   FALSE 937.647632
+[13:21:21.808] 224-3/352 : 
+befor : 150.000000  152.000000  after : 157.799820  150.463882   TRUE 63.196848
+[13:21:21.808] 224-4/352 : 
+befor : 242.000000  162.000000  after : 242.226257  161.665298   TRUE 0.163217
+[13:21:21.808] 224-5/352 : 
+befor : 232.000000  216.000000  after : 232.229614  215.904327   TRUE 0.061876
+[13:21:21.808] 224-6/352 : 
+befor : 316.000000  316.000000  after : 316.585205  315.841644   TRUE 0.367542
+[13:21:21.808] 224-7/352 : 
+befor : 332.000000  316.000000  after : 332.486603  315.730164   TRUE 0.309594
+[13:21:21.808] 224-8/352 : 
+befor : 146.000000  346.000000  after : 145.826645  346.078003   TRUE 0.036136
+[13:21:21.808] 224-9/352 : 
+befor : 322.000000  330.000000  after : 325.156860  326.448120   FALSE 22.581618
+[13:21:21.808] 224-10/352 : 
+befor : 462.000000  352.000000  after : 462.274017  351.237610   TRUE 0.656324
+[13:21:21.808] 224-11/352 : 
+befor : 463.000000  361.000000  after : 476.562775  347.630829   FALSE 362.683593
+[13:21:21.808] 224-12/352 : 
+befor : 315.000000  394.000000  after : 314.008057  393.007599   TRUE 1.968812
+[13:21:21.808] 224-13/352 : 
+befor : 344.000000  448.000000  after : 366.221802  425.117249   FALSE 1017.428788
+[13:21:21.808] 224-14/352 : 
+befor : 231.000000  454.000000  after : 241.068512  454.864990   TRUE 102.123141
+[13:21:21.808] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:9 ,distance between ekf and vo x:-0.000082 ,z=0.000041,angle between two frames:0.000043
+[13:21:21.808] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.461423 	 error end=0.383299
+[13:21:21.808] After pose optimization, distance between ekf and vo x:-0.122073 ,z=0.244241,angle between two frames:0.051230
+[13:21:21.808] frame process finished the id is: 139 the obs is:11 
+[13:21:21.892] Odometry x=0.218979, y=0.884089, theta=0.032079
+[13:21:21.913] 225-1/352 : 
+befor : 236.000000  68.000000  after : 237.530685  67.073982   TRUE 3.200507
+[13:21:21.913] 225-2/352 : 
+befor : 149.000000  138.000000  after : 150.504105  138.831741   TRUE 2.954124
+[13:21:21.913] 225-3/352 : 
+befor : 243.000000  126.000000  after : 226.665161  89.703560   FALSE 1584.258527
+[13:21:21.913] 225-4/352 : 
+befor : 296.000000  152.000000  after : 296.355377  152.394638   TRUE 0.282032
+[13:21:21.913] 225-5/352 : 
+befor : 233.000000  183.000000  after : 230.752579  178.654800   FALSE 23.931662
+[13:21:21.913] 225-6/352 : 
+befor : 134.000000  298.000000  after : 138.463486  299.810974   TRUE 23.202332
+[13:21:21.913] 225-7/352 : 
+befor : 343.000000  313.000000  after : 343.281067  312.283813   TRUE 0.591922
+[13:21:21.913] 225-8/352 : 
+befor : 600.000000  326.000000  after : 603.045471  322.501953   FALSE 21.511227
+[13:21:21.913] 225-9/352 : 
+befor : 143.000000  346.000000  after : 142.780640  346.090698   TRUE 0.056345
+[13:21:21.913] 225-10/352 : 
+befor : 460.000000  354.000000  after : 481.008026  333.211365   FALSE 873.504517
+befor : 460.000000  354.000000  after : 449.319366  340.638733   FALSE 292.599391
+[13:21:21.913] 225-11/352 : 
+befor : 292.000000  376.000000  after : 292.516357  375.724884   TRUE 0.342314
+[13:21:21.913] 225-12/352 : 
+befor : 308.000000  362.000000  after : 309.138275  363.268585   TRUE 2.904979
+[13:21:21.913] 225-13/352 : 
+befor : 313.000000  394.000000  after : 313.021515  393.913269   TRUE 0.007985
+[13:21:21.913] 225-14/352 : 
+befor : 338.000000  450.000000  after : 340.108368  447.554291   FALSE 10.426709
+[13:21:21.913] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:9 ,distance between ekf and vo x:-0.000681 ,z=-0.000082,angle between two frames:0.000783
+[13:21:21.913] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.551663 	 error end=0.551663
+[13:21:21.913] After pose optimization, distance between ekf and vo x:-0.000681 ,z=-0.000082,angle between two frames:0.000783
+[13:21:21.913] frame process finished the id is: 139 the obs is:11 
+[13:21:21.990] Odometry x=0.218886, y=0.889930, theta=0.031042
+[13:21:22.008] 226-1/352 : 
+befor : 241.000000  138.000000  after : 224.674942  95.692581   FALSE 2056.425206
+[13:21:22.008] 226-2/352 : 
+befor : 230.000000  180.000000  after : 230.742630  179.651703   TRUE 0.672810
+[13:21:22.008] 226-3/352 : 
+befor : 359.000000  197.000000  after : 358.722504  196.908752   TRUE 0.085330
+[13:21:22.008] 226-4/352 : 
+befor : 310.000000  305.000000  after : 313.760254  301.070343   FALSE 29.581713
+befor : 302.000000  318.000000  after : 302.360443  317.954437   TRUE 0.131995
+[13:21:22.008] 226-5/352 : 
+befor : 332.000000  312.000000  after : 332.486023  311.738739   TRUE 0.304476
+[13:21:22.008] 226-6/352 : 
+befor : 142.000000  344.000000  after : 141.554199  344.252838   TRUE 0.262665
+[13:21:22.008] 226-7/352 : 
+befor : 308.000000  360.000000  after : 308.798798  360.543060   TRUE 0.932992
+[13:21:22.008] 226-8/352 : 
+befor : 362.000000  376.000000  after : 367.187195  379.769867   TRUE 41.118887
+[13:21:22.008] 226-9/352 : 
+befor : 310.000000  394.000000  after : 309.208618  393.207275   TRUE 1.254698
+[13:21:22.008] 226-10/352 : 
+befor : 600.000000  410.000000  after : 597.200439  406.201599   FALSE 22.265388
+[13:21:22.008] 226-11/352 : 
+befor : 300.000000  453.000000  after : 300.403900  452.708893   FALSE 0.247879
+[13:21:22.008] 226-12/352 : 
+befor : 340.000000  455.000000  after : 340.273499  454.443024   TRUE 0.385024
+[13:21:22.008] After Reprojection Map nPoint:16 ,nCell:13 ,nMatches:9 ,distance between ekf and vo x:-0.000073 ,z=0.000082,angle between two frames:0.000018
+[13:21:22.008] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.532051 	 error end=0.439569
+[13:21:22.008] After pose optimization, distance between ekf and vo x:-0.122791 ,z=0.241960,angle between two frames:0.038483
+[13:21:22.008] frame process finished the id is: 139 the obs is:11 
+[13:21:22.088] Odometry x=0.219007, y=0.895262, theta=0.030161
+[13:21:22.108] 227-1/352 : 
+befor : 242.000000  70.000000  after : 242.357193  69.458252   TRUE 0.421078
+[13:21:22.108] 227-2/352 : 
+befor : 237.000000  153.000000  after : 221.429779  107.890907   FALSE 2277.262026
+[13:21:22.108] 227-3/352 : 
+befor : 292.000000  152.000000  after : 292.483124  151.743362   TRUE 0.299271
+[13:21:22.108] 227-4/352 : 
+befor : 228.000000  182.000000  after : 229.635529  181.355972   TRUE 3.089725
+[13:21:22.108] 227-5/352 : 
+befor : 339.000000  232.000000  after : 342.782013  228.620544   FALSE 25.724342
+[13:21:22.108] 227-6/352 : 
+befor : 128.000000  296.000000  after : 128.446152  295.771545   TRUE 0.251243
+[13:21:22.108] 227-7/352 : 
+befor : 298.000000  320.000000  after : 291.070892  309.018707   TRUE 168.601323
+[13:21:22.108] 227-8/352 : 
+befor : 138.000000  344.000000  after : 137.787369  344.003815   TRUE 0.045227
+[13:21:22.108] 227-9/352 : 
+befor : 302.000000  364.000000  after : 301.487732  363.557648   FALSE 0.458094
+[13:21:22.108] 227-10/352 : 
+befor : 308.000000  396.000000  after : 306.438293  397.575500   FALSE 4.921129
+befor : 307.000000  396.000000  after : 306.201141  395.144592   TRUE 1.369897
+[13:21:22.108] 227-11/352 : 
+befor : 214.000000  460.000000  after : 216.694565  456.864380   FALSE 17.092793
+befor : 214.000000  460.000000  after : 214.733154  460.023834   TRUE 0.538083
+[13:21:22.108] 227-12/352 : 
+befor : 309.000000  462.000000  after : 309.624573  455.297241   TRUE 45.317067
+[13:21:22.108] 227-13/352 : 
+befor : 336.000000  461.000000  after : 343.038147  454.339661   TRUE 93.895633
+[13:21:22.108] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:10 ,distance between ekf and vo x:-0.000072 ,z=0.000079,angle between two frames:0.000014
+[13:21:22.108] n deleted obs = 6 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.494225 	 error end=0.494225
+[13:21:22.108] After pose optimization, distance between ekf and vo x:-0.000072 ,z=0.000079,angle between two frames:0.000014
+[13:21:22.108] frame process finished the id is: 139 the obs is:11 
+[13:21:22.186] Odometry x=0.218915, y=0.900450, theta=0.040544
+[13:21:22.210] 228-1/352 : 
+befor : 232.000000  68.000000  after : 232.482819  67.751671   TRUE 0.294781
+[13:21:22.210] 228-2/352 : 
+befor : 240.000000  68.000000  after : 240.298279  67.265480   TRUE 0.628490
+[13:21:22.210] 228-3/352 : 
+befor : 148.000000  112.000000  after : 154.456451  108.733246   FALSE 52.357448
+[13:21:22.210] 228-4/352 : 
+befor : 447.000000  166.000000  after : 443.658447  152.648697   FALSE 189.423269
+[13:21:22.210] 228-5/352 : 
+befor : 226.000000  208.000000  after : 225.767166  207.975510   TRUE 0.054811
+[13:21:22.210] 228-6/352 : 
+befor : 128.000000  328.000000  after : 127.366096  328.492828   TRUE 0.644713
+[13:21:22.210] 228-7/352 : 
+befor : 332.000000  312.000000  after : 326.160095  304.603394   FALSE 88.814275
+[13:21:22.211] 228-8/352 : 
+befor : 604.000000  322.000000  after : 612.847534  312.876343   FALSE 161.519982
+[13:21:22.211] 228-9/352 : 
+befor : 138.000000  344.000000  after : 136.114105  340.694214   FALSE 14.484821
+[13:21:22.211] 228-10/352 : 
+befor : 312.000000  331.000000  after : 313.288971  330.453613   TRUE 1.959985
+[13:21:22.211] 228-11/352 : 
+befor : 540.000000  334.000000  after : 533.057068  341.490845   FALSE 104.317061
+[13:21:22.211] 228-12/352 : 
+befor : 307.000000  394.000000  after : 306.392853  394.518768   FALSE 0.637748
+befor : 307.000000  394.000000  after : 308.385864  395.199249   TRUE 3.358819
+[13:21:22.211] 228-13/352 : 
+befor : 592.000000  408.000000  after : 591.236267  405.064453   TRUE 9.200723
+[13:21:22.211] 228-14/352 : 
+befor : 311.000000  463.000000  after : 311.356293  462.457336   TRUE 0.421428
+[13:21:22.211] 228-15/352 : 
+befor : 338.000000  458.000000  after : 337.803864  458.363586   TRUE 0.170665
+[13:21:22.211] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:9 ,distance between ekf and vo x:-0.000115 ,z=0.000083,angle between two frames:0.000040
+[13:21:22.211] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.485084 	 error end=0.400694
+[13:21:22.211] After pose optimization, distance between ekf and vo x:-0.567812 ,z=1.090416,angle between two frames:0.011167
+[13:21:22.211] frame process finished the id is: 139 the obs is:11 
+[13:21:22.288] Odometry x=0.218807, y=0.906453, theta=0.041699
+[13:21:22.324] 229-1/352 : 
+befor : 232.000000  68.000000  after : 237.739594  62.768597   FALSE 60.310515
+befor : 236.000000  66.000000  after : 236.744003  65.666985   TRUE 0.664440
+[13:21:22.324] 229-2/352 : 
+befor : 241.000000  69.000000  after : 241.326599  68.330658   TRUE 0.554686
+[13:21:22.324] 229-3/352 : 
+befor : 239.000000  123.000000  after : 218.827362  64.905533   TRUE 3781.902436
+[13:21:22.324] 229-4/352 : 
+befor : 222.000000  242.000000  after : 222.297546  241.973175   TRUE 0.089253
+[13:21:22.324] 229-5/352 : 
+befor : 544.000000  328.000000  after : 544.585083  327.775635   TRUE 0.392662
+[13:21:22.324] 229-6/352 : 
+befor : 608.000000  320.000000  after : 622.149475  308.451385   TRUE 333.578142
+[13:21:22.324] 229-7/352 : 
+befor : 141.000000  345.000000  after : 140.452255  345.315613   TRUE 0.399636
+[13:21:22.324] 229-8/352 : 
+befor : 466.000000  350.000000  after : 459.863922  340.427795   TRUE 129.278552
+[13:21:22.324] 229-9/352 : 
+befor : 311.000000  394.000000  after : 310.179169  393.045044   TRUE 1.585705
+[13:21:22.324] 229-10/352 : 
+befor : 464.000000  416.000000  after : 452.975677  426.798065   FALSE 238.133899
+[13:21:22.324] 229-11/352 : 
+befor : 580.000000  418.000000  after : 580.112244  417.871552   TRUE 0.029098
+[13:21:22.324] 229-12/352 : 
+befor : 341.000000  463.000000  after : 362.030762  441.306824   FALSE 912.886835
+befor : 340.000000  462.000000  after : 332.914581  451.758789   FALSE 155.085560
+befor : 340.000000  460.000000  after : 340.190216  460.395569   TRUE 0.192657
+[13:21:22.324] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:11 ,distance between ekf and vo x:-0.001437 ,z=0.000090,angle between two frames:0.001830
+[13:21:22.324] n deleted obs = 4 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.565714 	 error end=0.526665
+[13:21:22.324] After pose optimization, distance between ekf and vo x:-0.112274 ,z=0.374121,angle between two frames:0.015762
+[13:21:22.324] frame process finished the id is: 139 the obs is:11 
+[13:21:22.390] Odometry x=0.218674, y=0.911947, theta=0.041565
+[13:21:22.416] 230-1/352 : 
+befor : 242.000000  67.000000  after : 242.535965  66.449074   TRUE 0.590778
+[13:21:22.416] 230-2/352 : 
+befor : 239.000000  142.000000  after : 223.085587  95.271545   FALSE 2436.817024
+[13:21:22.416] 230-3/352 : 
+befor : 228.000000  156.000000  after : 228.478714  155.760864   TRUE 0.286353
+[13:21:22.416] 230-4/352 : 
+befor : 220.000000  236.000000  after : 220.222092  235.765335   FALSE 0.104392
+[13:21:22.416] 230-5/352 : 
+befor : 224.000000  288.000000  after : 224.761948  287.853638   TRUE 0.601986
+[13:21:22.416] 230-6/352 : 
+befor : 314.000000  316.000000  after : 314.732269  316.507263   TRUE 0.793534
+[13:21:22.416] 230-7/352 : 
+befor : 596.000000  324.000000  after : 595.800720  324.022949   TRUE 0.040239
+[13:21:22.416] 230-8/352 : 
+befor : 142.000000  344.000000  after : 141.335999  342.211731   TRUE 3.638804
+[13:21:22.416] 230-9/352 : 
+befor : 316.000000  331.000000  after : 312.681671  328.357208   TRUE 17.995655
+[13:21:22.416] 230-10/352 : 
+befor : 470.000000  349.000000  after : 464.133484  339.528625   TRUE 124.122946
+[13:21:22.416] 230-11/352 : 
+befor : 310.000000  360.000000  after : 312.354279  361.892426   TRUE 9.123902
+[13:21:22.416] 230-12/352 : 
+befor : 314.000000  394.000000  after : 312.295135  395.729767   FALSE 5.898656
+befor : 312.000000  394.000000  after : 311.086182  393.085907   TRUE 1.670630
+[13:21:22.416] 230-13/352 : 
+befor : 598.000000  420.000000  after : 601.293701  416.744507   TRUE 21.446703
+[13:21:22.416] 230-14/352 : 
+befor : 210.000000  466.000000  after : 210.537140  465.705902   TRUE 0.375013
+[13:21:22.416] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:12 ,distance between ekf and vo x:-0.000380 ,z=0.000334,angle between two frames:0.000171
+[13:21:22.416] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =9 	 error init =0.609847 	 error end=0.474466
+[13:21:22.416] After pose optimization, distance between ekf and vo x:-0.028433 ,z=0.744921,angle between two frames:0.150371
+[13:21:22.416] frame process finished the id is: 139 the obs is:11 
+[13:21:22.490] Odometry x=0.218529, y=0.918883, theta=0.041578
+[13:21:22.509] 231-1/352 : 
+befor : 232.000000  68.000000  after : 232.349457  68.389740   TRUE 0.274017
+[13:21:22.509] 231-2/352 : 
+befor : 244.000000  70.000000  after : 244.539032  69.266090   TRUE 0.829179
+[13:21:22.509] 231-3/352 : 
+befor : 144.000000  152.000000  after : 146.292511  151.389328   TRUE 5.628527
+[13:21:22.509] 231-4/352 : 
+befor : 238.000000  165.000000  after : 236.829712  165.872894   TRUE 2.131519
+[13:21:22.509] 231-5/352 : 
+befor : 142.000000  198.000000  after : 142.079605  197.920578   TRUE 0.012645
+[13:21:22.509] 231-6/352 : 
+befor : 214.000000  252.000000  after : 213.070892  249.542633   TRUE 6.901893
+[13:21:22.509] 231-7/352 : 
+befor : 130.000000  294.000000  after : 132.201691  293.309540   TRUE 5.324177
+[13:21:22.509] 231-8/352 : 
+befor : 316.000000  318.000000  after : 315.526154  318.265900   TRUE 0.295233
+[13:21:22.509] 231-9/352 : 
+befor : 600.000000  324.000000  after : 600.069275  323.967041   TRUE 0.005885
+[13:21:22.509] 231-10/352 : 
+befor : 146.000000  346.000000  after : 148.285126  342.383331   FALSE 18.302092
+[13:21:22.509] 231-11/352 : 
+befor : 322.000000  331.000000  after : 336.825012  316.520935   FALSE 429.424309
+[13:21:22.509] 231-12/352 : 
+befor : 368.000000  377.000000  after : 374.231506  381.459473   TRUE 58.718568
+[13:21:22.509] 231-13/352 : 
+befor : 316.000000  396.000000  after : 314.631226  394.818817   TRUE 3.268736
+[13:21:22.509] 231-14/352 : 
+befor : 594.000000  418.000000  after : 583.989075  428.640198   FALSE 213.432433
+[13:21:22.509] 231-15/352 : 
+befor : 608.000000  420.000000  after : 603.679871  415.842316   TRUE 35.949857
+[13:21:22.509] After Reprojection Map nPoint:16 ,nCell:15 ,nMatches:12 ,distance between ekf and vo x:-0.000095 ,z=0.000037,angle between two frames:0.000064
+[13:21:22.509] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.509495 	 error end=0.405879
+[13:21:22.509] After pose optimization, distance between ekf and vo x:-0.428886 ,z=0.680353,angle between two frames:0.087924
+[13:21:22.509] frame process finished the id is: 139 the obs is:11 
+[13:21:22.593] Odometry x=0.218375, y=0.926025, theta=0.046779
+[13:21:22.608] 232-1/352 : 
+befor : 236.000000  68.000000  after : 242.336304  61.662052   FALSE 80.318328
+befor : 236.000000  68.000000  after : 236.358505  68.412979   TRUE 0.299078
+[13:21:22.608] 232-2/352 : 
+befor : 250.000000  71.000000  after : 250.245895  70.246178   TRUE 0.628713
+[13:21:22.608] 232-3/352 : 
+befor : 150.000000  152.000000  after : 151.925873  149.905304   FALSE 8.096738
+[13:21:22.608] 232-4/352 : 
+befor : 239.000000  182.000000  after : 228.839279  128.358185   FALSE 2980.684584
+[13:21:22.608] 232-5/352 : 
+befor : 322.000000  322.000000  after : 322.015686  322.700378   TRUE 0.490776
+[13:21:22.608] 232-6/352 : 
+befor : 337.000000  328.000000  after : 336.817078  320.806122   TRUE 51.785344
+[13:21:22.608] 232-7/352 : 
+befor : 608.000000  322.000000  after : 607.341003  322.334961   TRUE 0.546475
+[13:21:22.608] 232-8/352 : 
+befor : 140.000000  334.000000  after : 128.924606  322.713837   TRUE 250.041828
+[13:21:22.608] 232-9/352 : 
+befor : 486.000000  349.000000  after : 513.505859  319.572723   FALSE 1622.536909
+befor : 486.000000  349.000000  after : 474.869171  334.454773   FALSE 335.458981
+[13:21:22.608] 232-10/352 : 
+befor : 484.000000  420.000000  after : 484.599121  419.787811   TRUE 0.403970
+[13:21:22.608] 232-11/352 : 
+befor : 607.000000  425.000000  after : 610.713867  428.868835   TRUE 28.760697
+[13:21:22.608] 232-12/352 : 
+befor : 355.000000  474.000000  after : 355.155884  473.298737   TRUE 0.516070
+[13:21:22.608] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:9 ,distance between ekf and vo x:-0.000070 ,z=0.000062,angle between two frames:0.000042
+[13:21:22.608] n deleted obs = 5 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.700681 	 error end=0.640266
+[13:21:22.608] After pose optimization, distance between ekf and vo x:-0.026219 ,z=0.630744,angle between two frames:0.049400
+[13:21:22.608] frame process finished the id is: 139 the obs is:11 
+[13:21:22.690] Odometry x=0.218312, y=0.932140, theta=0.044496
+[13:21:22.709] 233-1/352 : 
+befor : 254.000000  71.000000  after : 254.476700  70.227585   TRUE 0.823868
+[13:21:22.709] 233-2/352 : 
+befor : 159.000000  126.000000  after : 196.416428  93.798164   TRUE 2436.947273
+[13:21:22.709] 233-3/352 : 
+befor : 253.000000  123.000000  after : 238.977310  91.814491   FALSE 1169.171784
+[13:21:22.709] 233-4/352 : 
+befor : 152.000000  164.000000  after : 152.879074  163.731125   TRUE 0.845065
+[13:21:22.709] 233-5/352 : 
+befor : 249.000000  165.000000  after : 249.782883  164.576218   TRUE 0.792497
+[13:21:22.709] 233-6/352 : 
+befor : 148.000000  328.000000  after : 147.183441  328.717224   FALSE 1.181179
+[13:21:22.709] 233-7/352 : 
+befor : 330.000000  320.000000  after : 332.799408  315.962555   FALSE 24.137648
+befor : 341.000000  328.000000  after : 340.437042  327.148712   FALSE 1.041612
+befor : 330.000000  320.000000  after : 330.598297  320.490967   TRUE 0.599008
+[13:21:22.709] 233-8/352 : 
+befor : 140.000000  332.000000  after : 133.555481  325.385529   TRUE 85.283058
+[13:21:22.709] 233-9/352 : 
+befor : 317.000000  353.000000  after : 323.185944  356.487122   TRUE 50.425915
+[13:21:22.709] 233-10/352 : 
+befor : 332.000000  330.000000  after : 332.201965  329.749512   TRUE 0.103534
+[13:21:22.709] 233-11/352 : 
+befor : 492.000000  418.000000  after : 484.993103  425.299408   FALSE 102.377962
+[13:21:22.709] 233-12/352 : 
+befor : 612.000000  414.000000  after : 612.485474  414.020294   TRUE 0.236097
+[13:21:22.709] After Reprojection Map nPoint:16 ,nCell:14 ,nMatches:9 ,distance between ekf and vo x:-0.000058 ,z=0.000083,angle between two frames:0.000023
+[13:21:22.709] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.555341 	 error end=0.487560
+[13:21:22.709] After pose optimization, distance between ekf and vo x:-0.079119 ,z=0.273639,angle between two frames:0.018346
+[13:21:22.709] frame process finished the id is: 139 the obs is:11 
+[13:21:22.788] Odometry x=0.218232, y=0.937473, theta=0.039747
+[13:21:22.809] 234-1/352 : 
+befor : 256.000000  67.000000  after : 256.488068  66.319412   TRUE 0.701410
+[13:21:22.809] 234-2/352 : 
+befor : 162.000000  116.000000  after : 197.629181  84.641159   TRUE 2252.815437
+[13:21:22.809] 234-3/352 : 
+befor : 252.000000  161.000000  after : 252.739227  160.482071   TRUE 0.814708
+[13:21:22.810] 234-4/352 : 
+befor : 379.000000  178.000000  after : 378.547974  178.132126   TRUE 0.221785
+[13:21:22.810] 234-5/352 : 
+befor : 154.000000  196.000000  after : 153.863159  196.024292   TRUE 0.019316
+[13:21:22.810] 234-6/352 : 
+befor : 145.000000  273.000000  after : 158.533325  256.647308   FALSE 450.561415
+[13:21:22.810] 234-7/352 : 
+befor : 345.000000  322.000000  after : 341.911591  324.774170   FALSE 17.234292
+[13:21:22.810] 234-8/352 : 
+befor : 160.000000  346.000000  after : 160.043076  322.008942   TRUE 575.572736
+[13:21:22.810] 234-9/352 : 
+befor : 328.000000  358.000000  after : 328.813873  358.082184   TRUE 0.669144
+[13:21:22.810] 234-10/352 : 
+befor : 501.000000  351.000000  after : 489.449738  334.812012   TRUE 395.459527
+[13:21:22.810] 234-11/352 : 
+befor : 332.000000  391.000000  after : 329.618774  393.400116   FALSE 11.430792
+[13:21:22.810] 234-12/352 : 
+befor : 618.000000  422.000000  after : 616.587646  420.150604   TRUE 5.415007
+[13:21:22.810] 234-13/352 : 
+befor : 366.000000  468.000000  after : 365.860962  468.018250   TRUE 0.019665
+[13:21:22.810] After Reprojection Map nPoint:16 ,nCell:13 ,nMatches:10 ,distance between ekf and vo x:-0.000059 ,z=0.000033,angle between two frames:0.000016
+[13:21:22.810] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.376058 	 error end=0.367779
+[13:21:22.810] After pose optimization, distance between ekf and vo x:-0.092659 ,z=0.135833,angle between two frames:0.045472
+[13:21:22.810] frame process finished the id is: 139 the obs is:11 
+[13:21:22.890] Odometry x=0.218103, y=0.942836, theta=0.037152
+[13:21:22.908] 235-1/352 : 
+befor : 257.000000  62.000000  after : 257.290466  61.415333   TRUE 0.426206
+[13:21:22.908] 235-2/352 : 
+befor : 154.000000  160.000000  after : 154.834641  159.716080   TRUE 0.777235
+[13:21:22.908] 235-3/352 : 
+befor : 381.000000  174.000000  after : 381.510010  170.700180   TRUE 11.148922
+[13:21:22.908] 235-4/352 : 
+befor : 363.000000  213.000000  after : 371.488647  204.986511   FALSE 136.273138
+[13:21:22.908] 235-5/352 : 
+befor : 144.000000  292.000000  after : 144.339706  291.802917   TRUE 0.154242
+[13:21:22.909] 235-6/352 : 
+befor : 325.000000  300.000000  after : 332.505188  291.791962   FALSE 123.699740
+befor : 324.000000  310.000000  after : 324.389130  309.679810   TRUE 0.253944
+[13:21:22.909] 235-7/352 : 
+befor : 505.000000  347.000000  after : 493.461090  330.736755   TRUE 397.639568
+[13:21:22.909] 235-8/352 : 
+befor : 334.000000  389.000000  after : 331.514130  391.490295   FALSE 12.381123
+[13:21:22.909] 235-9/352 : 
+befor : 594.000000  442.000000  after : 595.922546  442.693298   TRUE 4.176847
+[13:21:22.909] 235-10/352 : 
+befor : 578.000000  452.000000  after : 578.615173  452.625854   TRUE 0.770132
+[13:21:22.909] After Reprojection Map nPoint:16 ,nCell:11 ,nMatches:8 ,distance between ekf and vo x:-0.000069 ,z=0.000053,angle between two frames:0.000045
+[13:21:22.909] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.629648 	 error end=0.608289
+[13:21:22.909] After pose optimization, distance between ekf and vo x:-0.450605 ,z=0.812147,angle between two frames:0.066378
+[13:21:22.909] frame process finished the id is: 139 the obs is:11 
+[13:21:22.988] Odometry x=0.218016, y=0.948315, theta=0.038619
+[13:21:23.008] 236-1/352 : 
+befor : 252.000000  58.000000  after : 251.904327  57.363636   TRUE 0.414112
+[13:21:23.009] 236-2/352 : 
+befor : 258.000000  62.000000  after : 258.521515  61.261646   TRUE 0.817144
+[13:21:23.009] 236-3/352 : 
+befor : 161.000000  127.000000  after : 172.897156  116.725906   FALSE 247.099315
+[13:21:23.009] 236-4/352 : 
+befor : 257.000000  129.000000  after : 237.136459  56.307781   TRUE 5678.718918
+[13:21:23.009] 236-5/352 : 
+befor : 360.000000  121.000000  after : 369.289825  112.356018   FALSE 161.019280
+[13:21:23.009] 236-6/352 : 
+befor : 252.000000  154.000000  after : 252.075943  153.888535   TRUE 0.018192
+[13:21:23.009] 236-7/352 : 
+befor : 156.000000  190.000000  after : 161.731247  197.809464   TRUE 93.834912
+[13:21:23.009] 236-8/352 : 
+befor : 248.000000  198.000000  after : 247.757629  198.034607   TRUE 0.059941
+[13:21:23.009] 236-9/352 : 
+befor : 242.000000  236.000000  after : 241.719696  235.793457   FALSE 0.121230
+befor : 242.000000  236.000000  after : 242.347549  236.340851   TRUE 0.236970
+[13:21:23.009] 236-10/352 : 
+befor : 326.000000  312.000000  after : 315.458282  295.098969   TRUE 396.772674
+[13:21:23.009] 236-11/352 : 
+befor : 322.000000  346.000000  after : 349.276245  318.800446   FALSE 1483.809310
+befor : 322.000000  345.000000  after : 322.662079  344.629364   TRUE 0.575719
+[13:21:23.009] 236-12/352 : 
+befor : 304.000000  386.000000  after : 304.484283  386.443878   TRUE 0.431558
+[13:21:23.009] After Reprojection Map nPoint:15 ,nCell:14 ,nMatches:10 ,distance between ekf and vo x:-0.000065 ,z=0.000076,angle between two frames:0.000004
+[13:21:23.009] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =10 	 error init =0.323285 	 error end=0.225842
+[13:21:23.009] After pose optimization, distance between ekf and vo x:-0.162070 ,z=0.417071,angle between two frames:0.020418
+[13:21:23.009] Update EKF and 3D points the number of feature in the new frame: 10 and number of obs: 10
+[13:21:23.009] Choose frame as a key frame Scene Depth mean:-1.147977 ,depth min:-3.540812
+[13:21:23.009] frame process finished the id is: 236 the obs is:10 
+[13:21:23.091] Odometry x=0.064800, y=1.342914, theta=0.057778
+[13:21:23.123] 237-1/352 : 
+befor : 80.000000  28.000000  after : 78.141640  28.560801   TRUE 3.768000
+[13:21:23.123] 237-2/352 : 
+befor : 256.000000  54.000000  after : 242.396072  62.978817   FALSE 265.686001
+[13:21:23.123] 237-3/352 : 
+befor : 261.000000  60.000000  after : 258.941071  61.201897   TRUE 5.683746
+[13:21:23.123] 237-4/352 : 
+befor : 383.000000  119.000000  after : 379.003601  120.924042   TRUE 19.673141
+[13:21:23.124] 237-5/352 : 
+befor : 256.000000  144.000000  after : 256.328552  144.251556   TRUE 0.171227
+[13:21:23.124] 237-6/352 : 
+befor : 258.000000  154.000000  after : 257.528137  153.975510   TRUE 0.223254
+[13:21:23.124] 237-7/352 : 
+befor : 387.000000  164.000000  after : 391.804535  160.134232   TRUE 38.027721
+[13:21:23.124] 237-8/352 : 
+befor : 340.000000  312.000000  after : 341.950684  312.262604   TRUE 3.874127
+[13:21:23.124] 237-9/352 : 
+befor : 325.000000  387.000000  after : 325.608948  388.429718   TRUE 2.414911
+[13:21:23.124] After Reprojection Map nPoint:9 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:0.000088 ,z=-0.000215,angle between two frames:0.000012
+[13:21:23.124] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.292092 	 error end=0.292092
+[13:21:23.124] After pose optimization, distance between ekf and vo x:0.000088 ,z=-0.000215,angle between two frames:0.000012
+[13:21:23.124] frame process finished the id is: 236 the obs is:10 
+[13:21:23.187] Odometry x=0.064633, y=1.349430, theta=0.046884
+[13:21:23.208] 238-1/352 : 
+befor : 258.000000  57.000000  after : 245.702103  62.457741   TRUE 181.025213
+[13:21:23.208] 238-2/352 : 
+befor : 261.000000  60.000000  after : 258.282349  61.507217   TRUE 9.657333
+[13:21:23.208] 238-3/352 : 
+befor : 158.000000  158.000000  after : 160.126282  156.238632   TRUE 7.623491
+[13:21:23.208] 238-4/352 : 
+befor : 251.000000  168.000000  after : 252.386719  167.111420   FALSE 2.712564
+[13:21:23.208] 238-5/352 : 
+befor : 248.000000  284.000000  after : 248.414978  284.154205   TRUE 0.195986
+[13:21:23.208] 238-6/352 : 
+befor : 150.000000  326.000000  after : 152.492569  334.119141   TRUE 72.133345
+[13:21:23.208] 238-7/352 : 
+befor : 338.000000  308.000000  after : 336.891052  308.707397   TRUE 1.730176
+[13:21:23.208] 238-8/352 : 
+befor : 166.000000  342.000000  after : 166.710373  341.810669   TRUE 0.540476
+[13:21:23.208] After Reprojection Map nPoint:9 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000058 ,z=-0.000017,angle between two frames:0.000019
+[13:21:23.208] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.192767 	 error end=0.192767
+[13:21:23.208] After pose optimization, distance between ekf and vo x:-0.000058 ,z=-0.000017,angle between two frames:0.000019
+[13:21:23.208] frame process finished the id is: 236 the obs is:10 
+[13:21:23.290] Odometry x=0.064509, y=1.354859, theta=0.046640
+[13:21:23.316] 239-1/352 : 
+befor : 261.000000  59.000000  after : 258.018311  60.441563   TRUE 10.968575
+[13:21:23.316] 239-2/352 : 
+befor : 60.000000  80.000000  after : 57.897160  80.973763   TRUE 5.370151
+[13:21:23.316] 239-3/352 : 
+befor : 158.000000  156.000000  after : 159.893219  154.566406   TRUE 5.639469
+[13:21:23.316] 239-4/352 : 
+befor : 146.000000  294.000000  after : 146.016190  294.095703   TRUE 0.009421
+[13:21:23.316] 239-5/352 : 
+befor : 330.000000  312.000000  after : 314.841583  320.609253   TRUE 303.896834
+[13:21:23.316] 239-6/352 : 
+befor : 522.000000  344.000000  after : 508.026978  316.961426   TRUE 926.329852
+[13:21:23.316] 239-7/352 : 
+befor : 628.000000  372.000000  after : 628.404114  371.676025   TRUE 0.268267
+[13:21:23.316] 239-8/352 : 
+befor : 518.000000  412.000000  after : 518.411926  411.925537   TRUE 0.175228
+[13:21:23.316] 239-9/352 : 
+befor : 626.000000  438.000000  after : 625.718201  438.412994   TRUE 0.249975
+[13:21:23.316] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:9 ,distance between ekf and vo x:-0.000041 ,z=-0.000052,angle between two frames:0.000015
+[13:21:23.316] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.798722 	 error end=0.798722
+[13:21:23.316] After pose optimization, distance between ekf and vo x:-0.000041 ,z=-0.000052,angle between two frames:0.000015
+[13:21:23.316] frame process finished the id is: 236 the obs is:10 
+[13:21:23.388] Odometry x=0.064417, y=1.360824, theta=0.046940
+[13:21:23.415] 240-1/352 : 
+befor : 258.000000  58.000000  after : 246.056274  63.662048   TRUE 174.711372
+[13:21:23.415] 240-2/352 : 
+befor : 261.000000  62.000000  after : 258.197296  63.489651   TRUE 10.074208
+[13:21:23.415] 240-3/352 : 
+befor : 158.000000  151.000000  after : 160.758026  148.651840   TRUE 13.120562
+[13:21:23.415] 240-4/352 : 
+befor : 388.000000  157.000000  after : 394.498871  160.075989   TRUE 51.697029
+[13:21:23.415] 240-5/352 : 
+befor : 633.000000  309.000000  after : 633.000000  309.000000   FALSE 0.000000
+[13:21:23.415] 240-6/352 : 
+befor : 165.000000  346.000000  after : 166.270630  350.366943   TRUE 20.684695
+[13:21:23.415] 240-7/352 : 
+befor : 522.000000  414.000000  after : 521.666260  413.361359   TRUE 0.519245
+[13:21:23.415] 240-8/352 : 
+befor : 608.000000  462.000000  after : 607.845642  462.184265   TRUE 0.057780
+[13:21:23.415] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:0.000017 ,z=-0.000082,angle between two frames:0.000001
+[13:21:23.415] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.502641 	 error end=0.502641
+[13:21:23.415] After pose optimization, distance between ekf and vo x:0.000017 ,z=-0.000082,angle between two frames:0.000001
+[13:21:23.415] frame process finished the id is: 236 the obs is:10 
+[13:21:23.495] Odometry x=0.064308, y=1.366219, theta=0.054233
+[13:21:23.524] 241-1/352 : 
+befor : 257.000000  59.000000  after : 245.131546  66.193855   TRUE 192.611754
+[13:21:23.524] 241-2/352 : 
+befor : 384.000000  98.000000  after : 387.557983  97.170113   TRUE 13.347959
+[13:21:23.524] 241-3/352 : 
+befor : 159.000000  151.000000  after : 158.143036  151.279694   TRUE 0.812616
+[13:21:23.524] 241-4/352 : 
+befor : 148.000000  300.000000  after : 148.147141  299.955872   TRUE 0.023598
+[13:21:23.524] 241-5/352 : 
+befor : 368.000000  304.000000  after : 367.618011  303.828278   TRUE 0.175404
+[13:21:23.524] 241-6/352 : 
+befor : 344.000000  330.000000  after : 338.374786  330.157135   FALSE 31.667720
+[13:21:23.524] 241-7/352 : 
+befor : 526.000000  332.000000  after : 526.356018  331.640656   TRUE 0.255877
+[13:21:23.524] 241-8/352 : 
+befor : 336.000000  360.000000  after : 336.102112  359.821747   TRUE 0.042201
+[13:21:23.524] 241-9/352 : 
+befor : 342.000000  395.000000  after : 342.936401  395.145996   TRUE 0.898162
+[13:21:23.525] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:0.000199 ,z=-0.000305,angle between two frames:0.000041
+[13:21:23.525] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.424349 	 error end=0.424349
+[13:21:23.525] After pose optimization, distance between ekf and vo x:0.000199 ,z=-0.000305,angle between two frames:0.000041
+[13:21:23.525] frame process finished the id is: 236 the obs is:10 
+[13:21:23.588] Odometry x=0.064137, y=1.372846, theta=0.047935
+[13:21:23.609] 242-1/352 : 
+befor : 80.000000  28.000000  after : 77.994835  28.592190   TRUE 4.371376
+[13:21:23.609] 242-2/352 : 
+befor : 261.000000  67.000000  after : 258.034943  68.568855   TRUE 11.252872
+[13:21:23.609] 242-3/352 : 
+befor : 157.000000  164.000000  after : 158.646652  161.449432   FALSE 9.216859
+[13:21:23.609] 242-4/352 : 
+befor : 132.000000  180.000000  after : 132.309464  180.033936   TRUE 0.096919
+[13:21:23.609] 242-5/352 : 
+befor : 158.000000  198.000000  after : 157.967575  198.142471   TRUE 0.021349
+[13:21:23.609] 242-6/352 : 
+befor : 340.000000  320.000000  after : 339.916046  320.138641   TRUE 0.026270
+[13:21:23.609] 242-7/352 : 
+befor : 346.000000  331.000000  after : 338.941437  332.587158   FALSE 52.342386
+[13:21:23.609] 242-8/352 : 
+befor : 399.000000  415.000000  after : 409.950226  419.185181   TRUE 137.423183
+[13:21:23.609] 242-9/352 : 
+befor : 374.000000  454.000000  after : 374.146759  453.811310   TRUE 0.057142
+[13:21:23.609] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000064 ,z=0.000011,angle between two frames:0.000016
+[13:21:23.609] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.354068 	 error end=0.354068
+[13:21:23.609] After pose optimization, distance between ekf and vo x:-0.000064 ,z=0.000011,angle between two frames:0.000016
+[13:21:23.609] frame process finished the id is: 236 the obs is:10 
+[13:21:23.685] Odometry x=0.064044, y=1.378532, theta=0.048139
+[13:21:23.709] 243-1/352 : 
+befor : 58.000000  88.000000  after : 58.309280  87.716171   TRUE 0.176213
+[13:21:23.709] 243-2/352 : 
+befor : 60.000000  76.000000  after : 58.174633  76.663689   TRUE 3.772447
+[13:21:23.709] 243-3/352 : 
+befor : 259.000000  66.000000  after : 255.844910  67.320267   TRUE 11.697699
+[13:21:23.709] 243-4/352 : 
+befor : 155.000000  151.000000  after : 154.459030  151.110809   TRUE 0.304927
+[13:21:23.709] 243-5/352 : 
+befor : 255.000000  159.000000  after : 250.839310  153.053391   TRUE 52.673508
+[13:21:23.709] 243-6/352 : 
+befor : 387.000000  151.000000  after : 388.871155  148.995987   TRUE 7.517289
+[13:21:23.709] 243-7/352 : 
+befor : 341.000000  331.000000  after : 336.366425  331.579498   FALSE 21.805840
+[13:21:23.709] 243-8/352 : 
+befor : 335.000000  397.000000  after : 335.424805  395.963165   TRUE 1.255485
+[13:21:23.709] 243-9/352 : 
+befor : 371.000000  431.000000  after : 370.981110  431.076630   TRUE 0.006229
+[13:21:23.709] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000041 ,z=-0.000061,angle between two frames:0.000016
+[13:21:23.709] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.418618 	 error end=0.375606
+[13:21:23.709] After pose optimization, distance between ekf and vo x:-0.080513 ,z=-0.242006,angle between two frames:0.053256
+[13:21:23.709] frame process finished the id is: 236 the obs is:10 
+[13:21:23.789] Odometry x=0.063953, y=1.384048, theta=0.054053
+[13:21:23.816] 244-1/352 : 
+befor : 255.000000  59.000000  after : 243.422928  64.792244   TRUE 167.578689
+[13:21:23.816] 244-2/352 : 
+befor : 153.000000  160.000000  after : 152.497696  160.128159   TRUE 0.268734
+[13:21:23.816] 244-3/352 : 
+befor : 228.000000  152.000000  after : 228.402756  152.018295   TRUE 0.162547
+[13:21:23.816] 244-4/352 : 
+befor : 255.000000  155.000000  after : 254.221329  155.027588   TRUE 0.607090
+[13:21:23.816] 244-5/352 : 
+befor : 389.000000  167.000000  after : 395.201172  170.263702   TRUE 49.106286
+[13:21:23.816] 244-6/352 : 
+befor : 328.000000  304.000000  after : 327.406799  303.902679   TRUE 0.361358
+[13:21:23.817] 244-7/352 : 
+befor : 620.000000  315.000000  after : 606.629395  322.456055   TRUE 234.365842
+[13:21:23.817] 244-8/352 : 
+befor : 336.000000  394.000000  after : 336.953094  393.861603   TRUE 0.927543
+[13:21:23.817] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:8 ,distance between ekf and vo x:-0.000025 ,z=-0.000081,angle between two frames:0.000008
+[13:21:23.817] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.303096 	 error end=0.303096
+[13:21:23.817] After pose optimization, distance between ekf and vo x:-0.000025 ,z=-0.000081,angle between two frames:0.000008
+[13:21:23.817] frame process finished the id is: 236 the obs is:10 
+[13:21:23.889] Odometry x=0.064201, y=1.389540, theta=0.045326
+[13:21:23.924] 245-1/352 : 
+befor : 253.000000  57.000000  after : 241.547348  62.531746   TRUE 161.763450
+[13:21:23.924] 245-2/352 : 
+befor : 255.000000  61.000000  after : 252.755081  62.278721   TRUE 6.674788
+[13:21:23.924] 245-3/352 : 
+befor : 149.000000  158.000000  after : 148.764832  157.786575   TRUE 0.100854
+[13:21:23.924] 245-4/352 : 
+befor : 150.000000  151.000000  after : 150.828079  150.973969   TRUE 0.686393
+[13:21:23.924] 245-5/352 : 
+befor : 244.000000  167.000000  after : 245.719650  165.258347   FALSE 5.990554
+[13:21:23.924] 245-6/352 : 
+befor : 202.000000  210.000000  after : 201.997223  210.014572   TRUE 0.000220
+[13:21:23.924] 245-7/352 : 
+befor : 142.000000  294.000000  after : 142.141098  294.131805   TRUE 0.037281
+[13:21:23.924] 245-8/352 : 
+befor : 150.000000  325.000000  after : 133.109894  334.625275   TRUE 377.921600
+[13:21:23.924] 245-9/352 : 
+befor : 334.000000  393.000000  after : 334.569824  392.894470   TRUE 0.335836
+[13:21:23.924] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:0.000038 ,z=-0.000381,angle between two frames:0.000006
+[13:21:23.924] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =8 	 error init =0.263105 	 error end=0.263105
+[13:21:23.924] After pose optimization, distance between ekf and vo x:0.000038 ,z=-0.000381,angle between two frames:0.000006
+[13:21:23.924] frame process finished the id is: 236 the obs is:10 
+[13:21:23.992] Odometry x=0.064081, y=1.395249, theta=0.043937
+[13:21:24.019] 246-1/352 : 
+befor : 253.000000  62.000000  after : 249.679626  63.515694   TRUE 13.322208
+[13:21:24.019] 246-2/352 : 
+befor : 148.000000  140.000000  after : 149.311035  139.535721   TRUE 1.934368
+[13:21:24.019] 246-3/352 : 
+befor : 146.000000  158.000000  after : 148.353348  154.230988   TRUE 19.743701
+[13:21:24.019] 246-4/352 : 
+befor : 248.000000  154.000000  after : 247.631485  154.143951   TRUE 0.156525
+[13:21:24.020] 246-5/352 : 
+befor : 156.000000  196.000000  after : 156.158920  196.069336   TRUE 0.030063
+[13:21:24.020] 246-6/352 : 
+befor : 386.000000  188.000000  after : 404.344818  172.559341   FALSE 574.946289
+[13:21:24.020] 246-7/352 : 
+befor : 537.000000  342.000000  after : 561.676086  356.231018   FALSE 811.431116
+[13:21:24.020] 246-8/352 : 
+befor : 328.000000  394.000000  after : 328.035706  392.147522   TRUE 3.432950
+[13:21:24.020] 246-9/352 : 
+befor : 534.000000  418.000000  after : 533.191162  417.526581   TRUE 0.878344
+[13:21:24.020] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:0.000028 ,z=-0.000142,angle between two frames:0.000012
+[13:21:24.020] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.323302 	 error end=0.323302
+[13:21:24.020] After pose optimization, distance between ekf and vo x:0.000028 ,z=-0.000142,angle between two frames:0.000012
+[13:21:24.020] frame process finished the id is: 236 the obs is:10 
+[13:21:24.090] Odometry x=0.063999, y=1.401742, theta=0.050256
+[13:21:24.108] 247-1/352 : 
+befor : 251.000000  59.000000  after : 269.615387  82.257103   TRUE 887.425470
+[13:21:24.108] 247-2/352 : 
+befor : 250.000000  60.000000  after : 248.713547  60.339062   TRUE 1.769925
+[13:21:24.108] 247-3/352 : 
+befor : 144.000000  154.000000  after : 144.665161  154.014969   TRUE 0.442663
+[13:21:24.108] 247-4/352 : 
+befor : 232.000000  152.000000  after : 185.574982  162.259460   TRUE 2260.538854
+[13:21:24.109] 247-5/352 : 
+befor : 240.000000  164.000000  after : 241.170624  161.009171   FALSE 10.315421
+[13:21:24.109] 247-6/352 : 
+befor : 234.000000  240.000000  after : 233.939209  240.082031   TRUE 0.010425
+[13:21:24.109] 247-7/352 : 
+befor : 322.000000  314.000000  after : 297.327576  331.179443   TRUE 903.861796
+[13:21:24.109] 247-8/352 : 
+befor : 366.000000  305.000000  after : 365.343658  304.940857   TRUE 0.434282
+[13:21:24.109] 247-9/352 : 
+befor : 391.000000  370.000000  after : 405.742950  378.960602   FALSE 297.646972
+[13:21:24.109] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000070 ,z=0.000038,angle between two frames:0.000012
+[13:21:24.109] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.247721 	 error end=0.247721
+[13:21:24.109] After pose optimization, distance between ekf and vo x:-0.000070 ,z=0.000038,angle between two frames:0.000012
+[13:21:24.109] frame process finished the id is: 236 the obs is:10 
+[13:21:24.189] Odometry x=0.063837, y=1.407461, theta=0.056012
+[13:21:24.211] 248-1/352 : 
+befor : 250.000000  54.000000  after : 248.433029  55.058964   TRUE 3.576802
+[13:21:24.211] 248-2/352 : 
+befor : 146.000000  152.000000  after : 145.440002  152.131577   TRUE 0.330910
+[13:21:24.211] 248-3/352 : 
+befor : 227.000000  151.000000  after : 228.901550  107.389076   FALSE 1905.528565
+[13:21:24.211] 248-4/352 : 
+befor : 247.000000  150.000000  after : 247.237106  150.143982   TRUE 0.076950
+[13:21:24.211] 248-5/352 : 
+befor : 144.000000  184.000000  after : 144.608017  183.928955   TRUE 0.374732
+[13:21:24.211] 248-6/352 : 
+befor : 148.000000  323.000000  after : 130.237488  334.455750   TRUE 446.741037
+[13:21:24.211] 248-7/352 : 
+befor : 395.000000  411.000000  after : 402.935669  423.583160   FALSE 221.310767
+[13:21:24.211] 248-8/352 : 
+befor : 624.000000  404.000000  after : 624.000000  404.000000   FALSE 0.000000
+[13:21:24.211] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000023 ,z=-0.000058,angle between two frames:0.000010
+[13:21:24.211] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.321079 	 error end=0.321079
+[13:21:24.211] After pose optimization, distance between ekf and vo x:-0.000023 ,z=-0.000058,angle between two frames:0.000010
+[13:21:24.211] frame process finished the id is: 236 the obs is:10 
+[13:21:24.296] Odometry x=0.063740, y=1.412733, theta=0.056638
+[13:21:24.307] 249-1/352 : 
+befor : 228.000000  147.000000  after : 228.377197  146.603195   TRUE 0.299732
+[13:21:24.307] 249-2/352 : 
+befor : 240.000000  144.000000  after : 244.636536  143.136871   TRUE 22.242454
+[13:21:24.307] 249-3/352 : 
+befor : 230.000000  248.000000  after : 263.766632  221.967056   FALSE 1817.899601
+[13:21:24.307] 249-4/352 : 
+befor : 628.000000  290.000000  after : 628.604980  290.110535   TRUE 0.378219
+[13:21:24.307] 249-5/352 : 
+befor : 326.000000  308.000000  after : 326.101562  308.143158   TRUE 0.030809
+[13:21:24.307] 249-6/352 : 
+befor : 371.000000  302.000000  after : 370.431885  301.757019   TRUE 0.381795
+[13:21:24.307] 249-7/352 : 
+befor : 630.000000  315.000000  after : 632.312866  315.050110   TRUE 5.351861
+[13:21:24.307] 249-8/352 : 
+befor : 335.000000  389.000000  after : 336.748962  388.331207   TRUE 3.506153
+[13:21:24.307] 249-9/352 : 
+befor : 372.000000  426.000000  after : 371.918884  426.046722   TRUE 0.008763
+[13:21:24.307] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000034 ,z=-0.000056,angle between two frames:0.000014
+[13:21:24.307] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.674606 	 error end=0.674606
+[13:21:24.307] After pose optimization, distance between ekf and vo x:-0.000034 ,z=-0.000056,angle between two frames:0.000014
+[13:21:24.307] frame process finished the id is: 236 the obs is:10 
+[13:21:24.386] Odometry x=0.063575, y=1.418652, theta=0.051798
+[13:21:24.407] 250-1/352 : 
+befor : 255.000000  54.000000  after : 252.872223  55.206467   TRUE 5.982997
+[13:21:24.407] 250-2/352 : 
+befor : 252.000000  60.000000  after : 251.914215  60.129890   TRUE 0.024231
+[13:21:24.407] 250-3/352 : 
+befor : 137.000000  107.000000  after : 138.663483  108.041313   TRUE 3.851508
+[13:21:24.407] 250-4/352 : 
+befor : 229.000000  148.000000  after : 229.351715  147.641907   TRUE 0.251934
+[13:21:24.407] 250-5/352 : 
+befor : 149.000000  150.000000  after : 166.924438  122.713913   FALSE 1065.816040
+[13:21:24.407] 250-6/352 : 
+befor : 330.000000  313.000000  after : 305.173096  330.892242   TRUE 936.507516
+[13:21:24.407] 250-7/352 : 
+befor : 548.000000  312.000000  after : 547.761292  311.549896   TRUE 0.259575
+[13:21:24.407] 250-8/352 : 
+befor : 140.000000  332.000000  after : 140.565231  332.144989   TRUE 0.340508
+[13:21:24.407] 250-9/352 : 
+befor : 375.000000  428.000000  after : 372.915802  422.843323   FALSE 30.935202
+[13:21:24.407] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000036 ,z=-0.000027,angle between two frames:0.000009
+[13:21:24.407] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.322209 	 error end=0.322209
+[13:21:24.407] After pose optimization, distance between ekf and vo x:-0.000036 ,z=-0.000027,angle between two frames:0.000009
+[13:21:24.407] frame process finished the id is: 236 the obs is:10 
+[13:21:24.491] Odometry x=0.063466, y=1.423661, theta=0.056581
+[13:21:24.535] 251-1/352 : 
+befor : 139.000000  106.000000  after : 140.668762  107.037743   TRUE 3.861677
+[13:21:24.535] 251-2/352 : 
+befor : 9.000000  143.000000  after : 9.000000  143.000000   FALSE 0.000000
+[13:21:24.535] 251-3/352 : 
+befor : 151.000000  149.000000  after : 149.355362  148.827713   TRUE 2.734517
+[13:21:24.535] 251-4/352 : 
+befor : 226.000000  142.000000  after : 226.305191  142.087875   TRUE 0.100864
+[13:21:24.536] 251-5/352 : 
+befor : 150.000000  150.000000  after : 149.895615  149.637161   TRUE 0.142548
+[13:21:24.536] 251-6/352 : 
+befor : 241.000000  151.000000  after : 240.971451  151.184326   TRUE 0.034791
+[13:21:24.536] 251-7/352 : 
+befor : 240.000000  236.000000  after : 239.158844  235.557816   TRUE 0.903071
+[13:21:24.536] 251-8/352 : 
+befor : 332.000000  312.000000  after : 315.587097  322.085968   TRUE 371.110130
+[13:21:24.536] 251-9/352 : 
+befor : 166.000000  344.000000  after : 166.565552  343.719727   TRUE 0.398402
+[13:21:24.536] 251-10/352 : 
+befor : 384.000000  461.000000  after : 376.568451  445.667511   FALSE 290.313141
+[13:21:24.536] After Reprojection Map nPoint:10 ,nCell:10 ,nMatches:8 ,distance between ekf and vo x:-0.000031 ,z=-0.001158,angle between two frames:0.000077
+[13:21:24.536] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.280105 	 error end=0.280105
+[13:21:24.536] After pose optimization, distance between ekf and vo x:-0.000031 ,z=-0.001158,angle between two frames:0.000077
+[13:21:24.536] frame process finished the id is: 236 the obs is:10 
+[13:21:24.589] Odometry x=0.063304, y=1.429202, theta=0.057371
+[13:21:24.614] 252-1/352 : 
+befor : 259.000000  54.000000  after : 257.087799  54.957489   TRUE 4.573298
+[13:21:24.614] 252-2/352 : 
+befor : 392.000000  88.000000  after : 381.956573  91.588394   TRUE 113.746989
+[13:21:24.614] 252-3/352 : 
+befor : 222.000000  143.000000  after : 239.232452  99.151192   FALSE 2219.675404
+befor : 232.000000  144.000000  after : 232.198502  144.045197   TRUE 0.041446
+[13:21:24.614] 252-4/352 : 
+befor : 152.000000  153.000000  after : 151.826828  152.662933   TRUE 0.143602
+[13:21:24.614] 252-5/352 : 
+befor : 406.000000  223.000000  after : 425.073853  208.618347   FALSE 570.643789
+[13:21:24.614] 252-6/352 : 
+befor : 168.000000  344.000000  after : 168.887970  343.986633   TRUE 0.788669
+[13:21:24.614] 252-7/352 : 
+befor : 345.000000  395.000000  after : 345.631348  394.618927   TRUE 0.543816
+[13:21:24.614] 252-8/352 : 
+befor : 384.000000  430.000000  after : 382.782471  427.853882   FALSE 6.088201
+[13:21:24.614] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000019 ,z=-0.000034,angle between two frames:0.000003
+[13:21:24.614] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.302064 	 error end=0.302064
+[13:21:24.614] After pose optimization, distance between ekf and vo x:-0.000019 ,z=-0.000034,angle between two frames:0.000003
+[13:21:24.614] frame process finished the id is: 236 the obs is:10 
+[13:21:24.691] Odometry x=0.063154, y=1.434579, theta=0.053843
+[13:21:24.709] 253-1/352 : 
+befor : 231.000000  144.000000  after : 278.201691  103.711952   TRUE 3851.126397
+[13:21:24.709] 253-2/352 : 
+befor : 320.000000  140.000000  after : 314.644562  140.502121   TRUE 28.932844
+[13:21:24.709] 253-3/352 : 
+befor : 154.000000  184.000000  after : 154.322098  184.084518   TRUE 0.110890
+[13:21:24.709] 253-4/352 : 
+befor : 242.000000  248.000000  after : 241.526871  247.635757   TRUE 0.356524
+[13:21:24.709] 253-5/352 : 
+befor : 346.000000  310.000000  after : 346.219238  310.051636   TRUE 0.050732
+[13:21:24.709] 253-6/352 : 
+befor : 345.000000  390.000000  after : 348.554443  392.873871   TRUE 20.893201
+[13:21:24.709] 253-7/352 : 
+befor : 385.000000  430.000000  after : 383.081421  424.132111   FALSE 38.113072
+[13:21:24.710] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:-0.000015 ,z=-0.000046,angle between two frames:0.000006
+[13:21:24.710] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.227630 	 error end=0.227630
+[13:21:24.710] After pose optimization, distance between ekf and vo x:-0.000015 ,z=-0.000046,angle between two frames:0.000006
+[13:21:24.710] frame process finished the id is: 236 the obs is:10 
+[13:21:24.789] Odometry x=0.062949, y=1.442087, theta=0.043418
+[13:21:24.808] 254-1/352 : 
+befor : 254.000000  48.000000  after : 254.116943  50.075661   TRUE 4.322043
+[13:21:24.808] 254-2/352 : 
+befor : 152.000000  148.000000  after : 151.573166  147.981567   TRUE 0.182527
+[13:21:24.808] 254-3/352 : 
+befor : 244.000000  144.000000  after : 231.647156  140.960510   FALSE 161.831259
+[13:21:24.808] 254-4/352 : 
+befor : 243.000000  150.000000  after : 278.379333  123.838768   TRUE 1936.107298
+[13:21:24.808] 254-5/352 : 
+befor : 246.000000  236.000000  after : 246.076828  235.973190   TRUE 0.006621
+[13:21:24.808] 254-6/352 : 
+befor : 407.000000  214.000000  after : 426.184174  199.410400   FALSE 580.888933
+[13:21:24.808] After Reprojection Map nPoint:9 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:-0.000044 ,z=-0.000015,angle between two frames:0.000011
+[13:21:24.808] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.150075 	 error end=0.129082
+[13:21:24.808] After pose optimization, distance between ekf and vo x:0.005636 ,z=-0.181575,angle between two frames:0.030874
+[13:21:24.808] frame process finished the id is: 236 the obs is:10 
+[13:21:24.890] Odometry x=0.062830, y=1.447123, theta=0.050320
+[13:21:24.916] 255-1/352 : 
+befor : 255.000000  44.000000  after : 254.210831  44.205399   TRUE 0.664977
+[13:21:24.916] 255-2/352 : 
+befor : 147.000000  141.000000  after : 147.539749  141.294022   TRUE 0.377778
+[13:21:24.916] 255-3/352 : 
+befor : 231.000000  138.000000  after : 273.354736  86.585648   TRUE 4437.359324
+[13:21:24.916] 255-4/352 : 
+befor : 244.000000  136.000000  after : 244.676407  135.926666   TRUE 0.462904
+[13:21:24.916] 255-5/352 : 
+befor : 158.000000  182.000000  after : 158.017151  181.977356   TRUE 0.000807
+[13:21:24.916] 255-6/352 : 
+befor : 240.000000  234.000000  after : 240.035721  233.947449   TRUE 0.004038
+[13:21:24.916] 255-7/352 : 
+befor : 332.000000  306.000000  after : 307.007294  323.935699   TRUE 946.324683
+[13:21:24.916] 255-8/352 : 
+befor : 352.000000  401.000000  after : 353.151703  403.112091   TRUE 5.787348
+[13:21:24.917] 255-9/352 : 
+befor : 380.000000  426.000000  after : 377.697510  420.425385   FALSE 36.377799
+[13:21:24.917] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000011 ,z=-0.000141,angle between two frames:0.000011
+[13:21:24.917] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.241663 	 error end=0.241663
+[13:21:24.917] After pose optimization, distance between ekf and vo x:-0.000011 ,z=-0.000141,angle between two frames:0.000011
+[13:21:24.917] frame process finished the id is: 236 the obs is:10 
+[13:21:24.988] Odometry x=0.062707, y=1.452769, theta=0.051649
+[13:21:25.018] 256-1/352 : 
+befor : 255.000000  45.000000  after : 254.392899  45.182232   TRUE 0.401781
+[13:21:25.018] 256-2/352 : 
+befor : 6.000000  137.000000  after : 6.000000  137.000000   FALSE 0.000000
+[13:21:25.018] 256-3/352 : 
+befor : 236.000000  136.000000  after : 236.376938  136.133377   TRUE 0.159872
+[13:21:25.018] 256-4/352 : 
+befor : 251.000000  142.000000  after : 250.821243  142.087799   TRUE 0.039663
+[13:21:25.018] 256-5/352 : 
+befor : 144.000000  288.000000  after : 144.033066  287.949158   TRUE 0.003678
+[13:21:25.018] 256-6/352 : 
+befor : 591.000000  314.000000  after : 573.939880  325.680023   FALSE 427.470624
+[13:21:25.018] 256-7/352 : 
+befor : 588.000000  406.000000  after : 587.354553  405.655396   TRUE 0.535354
+[13:21:25.018] 256-8/352 : 
+befor : 381.000000  429.000000  after : 378.307068  422.185486   FALSE 53.689487
+[13:21:25.018] After Reprojection Map nPoint:9 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:0.000107 ,z=-0.000371,angle between two frames:0.000027
+[13:21:25.018] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.443453 	 error end=0.443453
+[13:21:25.018] After pose optimization, distance between ekf and vo x:0.000107 ,z=-0.000371,angle between two frames:0.000027
+[13:21:25.018] frame process finished the id is: 236 the obs is:10 
+[13:21:25.091] Odometry x=0.062547, y=1.458112, theta=0.047257
+[13:21:25.117] 257-1/352 : 
+befor : 252.000000  117.000000  after : 251.151596  116.858215   TRUE 0.739892
+[13:21:25.117] 257-2/352 : 
+befor : 228.000000  138.000000  after : 268.785950  100.296989   TRUE 3085.010699
+[13:21:25.117] 257-3/352 : 
+befor : 248.000000  142.000000  after : 247.851486  142.003860   TRUE 0.022071
+[13:21:25.117] 257-4/352 : 
+befor : 316.000000  136.000000  after : 315.428009  136.057800   TRUE 0.330515
+[13:21:25.117] 257-5/352 : 
+befor : 336.000000  306.000000  after : 337.907898  305.988342   TRUE 3.640210
+[13:21:25.117] 257-6/352 : 
+befor : 324.000000  343.000000  after : 303.528168  356.640320   TRUE 605.154242
+[13:21:25.117] 257-7/352 : 
+befor : 306.000000  386.000000  after : 305.858246  386.131714   TRUE 0.037443
+[13:21:25.117] 257-8/352 : 
+befor : 353.000000  397.000000  after : 353.403992  397.505676   TRUE 0.418918
+[13:21:25.117] 257-9/352 : 
+befor : 384.000000  462.000000  after : 376.780701  448.638184   FALSE 230.656420
+[13:21:25.118] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000001 ,z=-0.000083,angle between two frames:0.000002
+[13:21:25.118] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.284273 	 error end=0.284273
+[13:21:25.118] After pose optimization, distance between ekf and vo x:-0.000001 ,z=-0.000083,angle between two frames:0.000002
+[13:21:25.118] frame process finished the id is: 236 the obs is:10 
+[13:21:25.216] 258-1/352 : 
+befor : 251.000000  46.000000  after : 250.154221  46.138626   TRUE 0.734560
+[13:21:25.216] 258-2/352 : 
+befor : 219.000000  135.000000  after : 231.414352  90.838341   FALSE 2104.368293
+befor : 238.000000  144.000000  after : 237.965897  143.943832   TRUE 0.004318
+[13:21:25.216] 258-3/352 : 
+befor : 240.000000  148.000000  after : 240.118515  148.047913   TRUE 0.016341
+[13:21:25.216] 258-4/352 : 
+befor : 142.000000  324.000000  after : 142.853577  323.914429   TRUE 0.735916
+[13:21:25.216] 258-5/352 : 
+befor : 321.000000  343.000000  after : 301.504333  357.051361   FALSE 577.521761
+[13:21:25.216] 258-6/352 : 
+befor : 355.000000  397.000000  after : 355.189484  397.207184   TRUE 0.078829
+[13:21:25.216] 258-7/352 : 
+befor : 592.000000  406.000000  after : 592.420715  406.109955   TRUE 0.189091
+[13:21:25.216] 258-8/352 : 
+befor : 385.000000  466.000000  after : 375.532867  449.756042   FALSE 353.492755
+[13:21:25.216] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000002 ,z=-0.000115,angle between two frames:0.000001
+[13:21:25.216] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.555803 	 error end=0.555803
+[13:21:25.216] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000115,angle between two frames:0.000001
+[13:21:25.217] frame process finished the id is: 236 the obs is:10 
+[13:21:25.315] 259-1/352 : 
+befor : 221.000000  134.000000  after : 262.158417  107.392197   TRUE 2401.990468
+[13:21:25.315] 259-2/352 : 
+befor : 242.000000  138.000000  after : 241.823425  137.905762   TRUE 0.040059
+[13:21:25.315] 259-3/352 : 
+befor : 232.000000  180.000000  after : 232.060669  180.863403   TRUE 0.749146
+[13:21:25.315] 259-4/352 : 
+befor : 228.000000  228.000000  after : 228.439484  228.131424   TRUE 0.210418
+[13:21:25.315] 259-5/352 : 
+befor : 367.000000  298.000000  after : 366.747620  297.748596   TRUE 0.126900
+[13:21:25.316] 259-6/352 : 
+befor : 318.000000  339.000000  after : 305.273438  346.314941   TRUE 215.473761
+[13:21:25.316] 259-7/352 : 
+befor : 373.000000  431.000000  after : 373.182159  430.937256   TRUE 0.037119
+[13:21:25.316] 259-8/352 : 
+befor : 378.000000  463.000000  after : 372.140106  451.873199   TRUE 158.144046
+[13:21:25.316] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:8 ,distance between ekf and vo x:0.000001 ,z=-0.000114,angle between two frames:0.000000
+[13:21:25.316] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.279964 	 error end=0.279836
+[13:21:25.316] After pose optimization, distance between ekf and vo x:-0.008050 ,z=0.025779,angle between two frames:0.001958
+[13:21:25.316] frame process finished the id is: 236 the obs is:10 
+[13:21:25.415] 260-1/352 : 
+befor : 209.000000  129.000000  after : 209.142136  128.426224   TRUE 0.349422
+[13:21:25.415] 260-2/352 : 
+befor : 211.000000  130.000000  after : 230.982910  81.298080   FALSE 2771.193667
+befor : 232.000000  136.000000  after : 231.819031  136.157867   TRUE 0.057672
+[13:21:25.415] 260-3/352 : 
+befor : 304.000000  136.000000  after : 295.634338  137.768661   TRUE 73.112458
+[13:21:25.415] 260-4/352 : 
+befor : 136.000000  328.000000  after : 137.077713  330.131165   TRUE 5.703328
+[13:21:25.415] 260-5/352 : 
+befor : 322.000000  352.000000  after : 322.001617  351.922638   TRUE 0.005988
+[13:21:25.415] 260-6/352 : 
+befor : 304.000000  374.000000  after : 304.435669  374.069061   TRUE 0.194577
+[13:21:25.415] 260-7/352 : 
+befor : 377.000000  471.000000  after : 369.814423  457.310699   TRUE 239.029472
+[13:21:25.415] After Reprojection Map nPoint:9 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000007 ,z=-0.000108,angle between two frames:0.000002
+[13:21:25.415] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.264918 	 error end=0.264918
+[13:21:25.415] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000108,angle between two frames:0.000002
+[13:21:25.415] frame process finished the id is: 236 the obs is:10 
+[13:21:25.510] 261-1/352 : 
+befor : 242.000000  50.000000  after : 241.206589  49.850983   TRUE 0.651708
+[13:21:25.510] 261-2/352 : 
+befor : 208.000000  132.000000  after : 208.087021  113.406982   FALSE 345.707875
+befor : 207.000000  135.000000  after : 224.138657  95.037239   FALSE 1890.755811
+[13:21:25.510] 261-3/352 : 
+befor : 224.000000  140.000000  after : 214.391769  137.188126   FALSE 100.224733
+[13:21:25.510] 261-4/352 : 
+befor : 229.000000  150.000000  after : 226.530685  142.663788   TRUE 59.917523
+[13:21:25.510] 261-5/352 : 
+befor : 230.000000  182.000000  after : 229.995346  182.114197   TRUE 0.013063
+[13:21:25.510] 261-6/352 : 
+befor : 124.000000  326.000000  after : 123.966949  325.901031   TRUE 0.010887
+[13:21:25.510] 261-7/352 : 
+befor : 311.000000  348.000000  after : 297.901550  354.864990   TRUE 218.697476
+[13:21:25.510] After Reprojection Map nPoint:9 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000023 ,z=-0.000062,angle between two frames:0.000007
+[13:21:25.510] n deleted obs = 0 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.257952 	 error end=0.231091
+[13:21:25.510] After pose optimization, distance between ekf and vo x:-0.078738 ,z=0.008216,angle between two frames:0.169043
+[13:21:25.510] frame process finished the id is: 236 the obs is:10 
+[13:21:25.608] 262-1/352 : 
+befor : 238.000000  50.000000  after : 234.431274  46.938251   TRUE 22.110106
+[13:21:25.608] 262-2/352 : 
+befor : 201.000000  134.000000  after : 201.137253  133.432205   TRUE 0.341229
+[13:21:25.608] 262-3/352 : 
+befor : 232.000000  144.000000  after : 231.841370  143.930801   TRUE 0.029952
+[13:21:25.608] 262-4/352 : 
+befor : 224.000000  186.000000  after : 223.915680  186.142960   TRUE 0.027547
+[13:21:25.608] 262-5/352 : 
+befor : 391.000000  210.000000  after : 414.948944  191.873398   FALSE 902.125629
+[13:21:25.608] 262-6/352 : 
+befor : 288.000000  395.000000  after : 289.628265  398.527191   TRUE 15.092326
+[13:21:25.608] 262-7/352 : 
+befor : 337.000000  407.000000  after : 337.580231  407.629913   TRUE 0.733458
+[13:21:25.608] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:-0.000024 ,z=-0.000059,angle between two frames:0.000007
+[13:21:25.608] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.222350 	 error end=0.222350
+[13:21:25.608] After pose optimization, distance between ekf and vo x:-0.000024 ,z=-0.000059,angle between two frames:0.000007
+[13:21:25.608] frame process finished the id is: 236 the obs is:10 
+[13:21:25.711] 263-1/352 : 
+befor : 190.000000  129.000000  after : 209.375870  88.471191   FALSE 2018.008655
+[13:21:25.711] 263-2/352 : 
+befor : 230.000000  142.000000  after : 229.950668  141.931625   TRUE 0.007109
+[13:21:25.711] 263-3/352 : 
+befor : 296.000000  144.000000  after : 308.222595  144.869202   FALSE 150.147345
+[13:21:25.711] 263-4/352 : 
+befor : 225.000000  151.000000  after : 223.903275  147.583817   TRUE 12.873116
+[13:21:25.711] 263-5/352 : 
+befor : 224.000000  184.000000  after : 223.921494  184.122604   TRUE 0.021195
+[13:21:25.711] 263-6/352 : 
+befor : 360.000000  296.000000  after : 361.868042  295.425751   TRUE 3.819343
+[13:21:25.711] 263-7/352 : 
+befor : 356.000000  308.000000  after : 355.783478  307.787598   TRUE 0.091997
+[13:21:25.711] 263-8/352 : 
+befor : 360.000000  300.000000  after : 360.382355  300.124115   TRUE 0.161600
+[13:21:25.711] 263-9/352 : 
+befor : 306.000000  352.000000  after : 283.748474  367.061157   TRUE 721.968861
+[13:21:25.711] 263-10/352 : 
+befor : 333.000000  401.000000  after : 333.690643  401.537476   TRUE 0.765868
+[13:21:25.711] After Reprojection Map nPoint:10 ,nCell:10 ,nMatches:8 ,distance between ekf and vo x:-0.000024 ,z=-0.000059,angle between two frames:0.000007
+[13:21:25.711] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.295506 	 error end=0.295396
+[13:21:25.711] After pose optimization, distance between ekf and vo x:-0.003634 ,z=0.007126,angle between two frames:0.000616
+[13:21:25.711] frame process finished the id is: 236 the obs is:10 
+[13:21:25.809] 264-1/352 : 
+befor : 234.000000  46.000000  after : 231.959885  46.504311   TRUE 4.416400
+[13:21:25.809] 264-2/352 : 
+befor : 376.000000  61.000000  after : 390.048309  48.059490   FALSE 364.811789
+[13:21:25.809] 264-3/352 : 
+befor : 234.000000  105.000000  after : 250.770645  93.428848   TRUE 415.146091
+[13:21:25.809] 264-4/352 : 
+befor : 125.000000  135.000000  after : 124.460938  134.875626   TRUE 0.306057
+[13:21:25.809] 264-5/352 : 
+befor : 198.000000  131.000000  after : 198.157089  130.408615   TRUE 0.374413
+[13:21:25.809] 264-6/352 : 
+befor : 224.000000  140.000000  after : 224.382339  140.124115   TRUE 0.161588
+[13:21:25.809] 264-7/352 : 
+befor : 296.000000  376.000000  after : 297.456116  375.597778   TRUE 2.282055
+[13:21:25.809] 264-8/352 : 
+befor : 360.000000  448.000000  after : 361.029541  448.961060   TRUE 1.983590
+[13:21:25.809] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000025 ,z=-0.000059,angle between two frames:0.000008
+[13:21:25.809] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.325094 	 error end=0.324978
+[13:21:25.809] After pose optimization, distance between ekf and vo x:-0.001255 ,z=-0.000913,angle between two frames:0.000430
+[13:21:25.809] frame process finished the id is: 236 the obs is:10 
+[13:21:25.910] 265-1/352 : 
+befor : 124.000000  130.000000  after : 123.576393  129.839615   TRUE 0.205166
+[13:21:25.910] 265-2/352 : 
+befor : 194.000000  127.000000  after : 194.117706  126.493668   TRUE 0.270227
+[13:21:25.910] 265-3/352 : 
+befor : 222.000000  147.000000  after : 220.877121  143.489792   TRUE 13.582418
+[13:21:25.910] 265-4/352 : 
+befor : 104.000000  284.000000  after : 101.576736  284.318390   TRUE 5.973578
+[13:21:25.910] 265-5/352 : 
+befor : 530.000000  330.000000  after : 530.158142  330.045807   TRUE 0.027107
+[13:21:25.910] 265-6/352 : 
+befor : 310.000000  360.000000  after : 309.976257  359.886536   TRUE 0.013438
+[13:21:25.910] 265-7/352 : 
+befor : 360.000000  449.000000  after : 356.587372  442.115326   FALSE 59.044768
+[13:21:25.910] After Reprojection Map nPoint:8 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:25.910] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.450344 	 error end=0.450344
+[13:21:25.910] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:25.910] frame process finished the id is: 236 the obs is:10 
+[13:21:26.008] 266-1/352 : 
+befor : 232.000000  44.000000  after : 229.863846  44.365215   TRUE 4.696537
+[13:21:26.008] 266-2/352 : 
+befor : 121.000000  131.000000  after : 120.634781  130.736191   TRUE 0.202980
+[13:21:26.008] 266-3/352 : 
+befor : 190.000000  125.000000  after : 190.115936  124.466660   TRUE 0.297893
+[13:21:26.008] 266-4/352 : 
+befor : 221.000000  147.000000  after : 220.008743  143.826782   TRUE 11.051901
+[13:21:26.008] 266-5/352 : 
+befor : 356.000000  296.000000  after : 352.981903  296.961212   TRUE 10.032838
+[13:21:26.008] 266-6/352 : 
+befor : 122.000000  326.000000  after : 122.350731  326.024689   TRUE 0.123622
+[13:21:26.008] 266-7/352 : 
+befor : 300.000000  351.000000  after : 279.004425  366.670319   TRUE 686.373053
+[13:21:26.008] 266-8/352 : 
+befor : 612.000000  416.000000  after : 612.045227  415.847290   TRUE 0.025366
+[13:21:26.008] 266-9/352 : 
+befor : 358.000000  448.000000  after : 359.023499  449.697144   FALSE 3.927845
+[13:21:26.008] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.008] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.443209 	 error end=0.443209
+[13:21:26.008] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.008] frame process finished the id is: 236 the obs is:10 
+[13:21:26.108] 267-1/352 : 
+befor : 195.000000  128.000000  after : 217.925507  64.029030   FALSE 4617.863875
+[13:21:26.108] 267-2/352 : 
+befor : 220.000000  136.000000  after : 220.382339  136.124115   TRUE 0.161588
+[13:21:26.108] 267-3/352 : 
+befor : 296.000000  144.000000  after : 296.249603  131.426743   FALSE 158.149105
+[13:21:26.108] 267-4/352 : 
+befor : 218.000000  180.000000  after : 217.959854  180.119415   TRUE 0.015872
+[13:21:26.108] 267-5/352 : 
+befor : 300.000000  350.000000  after : 278.905762  365.509094   TRUE 685.498893
+[13:21:26.108] 267-6/352 : 
+befor : 390.000000  374.000000  after : 389.610809  374.073669   TRUE 0.156897
+[13:21:26.108] 267-7/352 : 
+befor : 358.000000  448.000000  after : 358.711487  448.944305   TRUE 1.397926
+[13:21:26.108] 267-8/352 : 
+befor : 357.000000  456.000000  after : 356.766876  456.215179   TRUE 0.100649
+[13:21:26.108] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.108] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.427797 	 error end=0.427797
+[13:21:26.108] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.108] frame process finished the id is: 236 the obs is:10 
+[13:21:26.208] 268-1/352 : 
+befor : 224.000000  44.000000  after : 225.897461  40.206268   TRUE 17.992758
+[13:21:26.209] 268-2/352 : 
+befor : 376.000000  75.000000  after : 404.312744  52.272705   FALSE 1318.141415
+[13:21:26.209] 268-3/352 : 
+befor : 121.000000  131.000000  after : 120.551811  130.816971   TRUE 0.234373
+[13:21:26.209] 268-4/352 : 
+befor : 193.000000  127.000000  after : 215.684570  75.757576   FALSE 3140.375749
+[13:21:26.209] 268-5/352 : 
+befor : 228.000000  131.000000  after : 227.112411  130.911453   TRUE 0.795654
+[13:21:26.209] 268-6/352 : 
+befor : 114.000000  324.000000  after : 114.500534  323.911865   TRUE 0.258302
+[13:21:26.209] 268-7/352 : 
+befor : 390.000000  374.000000  after : 389.644135  374.053558   TRUE 0.129509
+[13:21:26.209] 268-8/352 : 
+befor : 358.000000  448.000000  after : 358.713562  448.911926   TRUE 1.340780
+[13:21:26.209] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.209] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.385604 	 error end=0.385604
+[13:21:26.209] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.209] frame process finished the id is: 236 the obs is:10 
+[13:21:26.309] 269-1/352 : 
+befor : 122.000000  127.000000  after : 134.877640  109.733894   FALSE 463.952010
+[13:21:26.309] 269-2/352 : 
+befor : 196.000000  124.000000  after : 196.400726  124.024254   TRUE 0.161170
+[13:21:26.309] 269-3/352 : 
+befor : 220.000000  136.000000  after : 221.801666  135.695587   FALSE 3.338668
+befor : 222.000000  144.000000  after : 221.849121  144.165283   TRUE 0.050083
+[13:21:26.309] 269-4/352 : 
+befor : 296.000000  144.000000  after : 296.825745  143.565735   TRUE 0.870440
+[13:21:26.309] 269-5/352 : 
+befor : 216.000000  184.000000  after : 216.063995  183.841232   TRUE 0.029303
+[13:21:26.309] 269-6/352 : 
+befor : 300.000000  349.000000  after : 286.792084  356.026825   TRUE 223.825321
+[13:21:26.309] 269-7/352 : 
+befor : 314.000000  397.000000  after : 315.032898  398.413574   TRUE 3.065070
+[13:21:26.309] 269-8/352 : 
+befor : 360.000000  454.000000  after : 359.657501  454.010101   TRUE 0.117407
+[13:21:26.309] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.309] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.317599 	 error end=0.317599
+[13:21:26.309] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.309] frame process finished the id is: 236 the obs is:10 
+[13:21:26.408] 270-1/352 : 
+befor : 121.000000  131.000000  after : 120.513779  130.826111   TRUE 0.266649
+[13:21:26.408] 270-2/352 : 
+befor : 193.000000  127.000000  after : 193.149918  126.406708   TRUE 0.374471
+[13:21:26.408] 270-3/352 : 
+befor : 220.000000  140.000000  after : 220.384186  140.114120   TRUE 0.160622
+[13:21:26.408] 270-4/352 : 
+befor : 336.000000  312.000000  after : 335.323761  300.311707   FALSE 137.073503
+[13:21:26.408] 270-5/352 : 
+befor : 300.000000  350.000000  after : 278.841187  364.498718   TRUE 657.908219
+[13:21:26.408] 270-6/352 : 
+befor : 358.000000  448.000000  after : 358.643890  448.958099   TRUE 1.332549
+[13:21:26.408] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.409] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.411386 	 error end=0.410590
+[13:21:26.409] After pose optimization, distance between ekf and vo x:-0.009184 ,z=0.016535,angle between two frames:0.000015
+[13:21:26.409] frame process finished the id is: 236 the obs is:10 
+[13:21:26.509] 271-1/352 : 
+befor : 232.000000  44.000000  after : 229.806778  44.415424   TRUE 4.982800
+[13:21:26.509] 271-2/352 : 
+befor : 121.000000  131.000000  after : 120.584900  130.807312   TRUE 0.209437
+[13:21:26.509] 271-3/352 : 
+befor : 189.000000  125.000000  after : 189.125961  124.446823   TRUE 0.321871
+[13:21:26.509] 271-4/352 : 
+befor : 228.000000  132.000000  after : 267.106598  131.174774   FALSE 1530.006997
+befor : 220.000000  140.000000  after : 220.385101  140.109131   TRUE 0.160213
+[13:21:26.509] 271-5/352 : 
+befor : 385.000000  173.000000  after : 388.109344  169.149033   TRUE 24.497973
+[13:21:26.509] 271-6/352 : 
+befor : 392.000000  372.000000  after : 391.982178  371.874329   TRUE 0.016111
+[13:21:26.509] 271-7/352 : 
+befor : 358.000000  448.000000  after : 358.822754  448.852051   TRUE 1.402915
+[13:21:26.509] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.509] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.368797 	 error end=0.368797
+[13:21:26.509] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.509] frame process finished the id is: 236 the obs is:10 
+[13:21:26.617] 272-1/352 : 
+befor : 232.000000  44.000000  after : 229.646744  44.299313   TRUE 5.627403
+[13:21:26.617] 272-2/352 : 
+befor : 191.000000  126.000000  after : 191.127289  125.440277   TRUE 0.329492
+[13:21:26.617] 272-3/352 : 
+befor : 229.000000  122.000000  after : 247.809662  110.423622   TRUE 487.815904
+[13:21:26.617] 272-4/352 : 
+befor : 218.000000  180.000000  after : 217.945404  180.131470   TRUE 0.020265
+[13:21:26.617] 272-5/352 : 
+befor : 300.000000  350.000000  after : 286.728363  357.588898   TRUE 233.727716
+[13:21:26.617] 272-6/352 : 
+befor : 392.000000  372.000000  after : 391.978394  371.882538   TRUE 0.014264
+[13:21:26.617] 272-7/352 : 
+befor : 358.000000  448.000000  after : 358.875671  448.968414   TRUE 1.704627
+[13:21:26.617] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.617] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.286093 	 error end=0.286093
+[13:21:26.617] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.617] frame process finished the id is: 236 the obs is:10 
+[13:21:26.709] 273-1/352 : 
+befor : 224.000000  44.000000  after : 224.087906  43.841183   TRUE 0.032950
+[13:21:26.709] 273-2/352 : 
+befor : 380.000000  115.000000  after : 392.222687  103.215736   FALSE 288.262941
+[13:21:26.709] 273-3/352 : 
+befor : 121.000000  131.000000  after : 120.525620  130.850616   TRUE 0.247352
+[13:21:26.709] 273-4/352 : 
+befor : 193.000000  127.000000  after : 193.157333  126.376930   TRUE 0.412970
+[13:21:26.709] 273-5/352 : 
+befor : 220.000000  146.000000  after : 218.966003  142.675339   TRUE 12.122521
+[13:21:26.709] 273-6/352 : 
+befor : 120.000000  170.000000  after : 120.169594  170.023483   TRUE 0.029314
+[13:21:26.709] 273-7/352 : 
+befor : 358.000000  448.000000  after : 358.219788  448.119690   FALSE 0.062632
+[13:21:26.709] 273-8/352 : 
+befor : 358.000000  457.000000  after : 357.678955  457.102142   FALSE 0.113503
+[13:21:26.709] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:5 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.709] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.341413 	 error end=0.341413
+[13:21:26.709] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.709] frame process finished the id is: 236 the obs is:10 
+[13:21:26.808] 274-1/352 : 
+befor : 124.000000  112.000000  after : 124.556381  112.150681   TRUE 0.332265
+[13:21:26.808] 274-2/352 : 
+befor : 121.000000  131.000000  after : 120.549294  130.843353   TRUE 0.227675
+[13:21:26.808] 274-3/352 : 
+befor : 191.000000  126.000000  after : 191.129791  125.460846   TRUE 0.307533
+[13:21:26.808] 274-4/352 : 
+befor : 220.000000  147.000000  after : 218.979019  143.671509   TRUE 12.121256
+[13:21:26.808] 274-5/352 : 
+befor : 160.000000  192.000000  after : 160.392441  192.052338   TRUE 0.156749
+[13:21:26.808] 274-6/352 : 
+befor : 351.000000  308.000000  after : 378.845917  285.833130   FALSE 1266.765210
+befor : 336.000000  312.000000  after : 333.253540  313.528198   TRUE 9.878432
+[13:21:26.808] 274-7/352 : 
+befor : 300.000000  350.000000  after : 278.644257  365.063446   TRUE 682.975183
+[13:21:26.808] 274-8/352 : 
+befor : 358.000000  448.000000  after : 359.124023  449.195343   TRUE 2.692274
+[13:21:26.808] 274-9/352 : 
+befor : 358.000000  457.000000  after : 357.163849  456.326721   FALSE 1.152453
+[13:21:26.808] After Reprojection Map nPoint:10 ,nCell:10 ,nMatches:8 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.808] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.353779 	 error end=0.353779
+[13:21:26.808] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.808] frame process finished the id is: 236 the obs is:10 
+[13:21:26.909] 275-1/352 : 
+befor : 197.000000  129.000000  after : 215.777328  80.526154   FALSE 2702.301854
+befor : 184.000000  122.000000  after : 184.141785  121.777077   TRUE 0.069798
+[13:21:26.909] 275-2/352 : 
+befor : 216.000000  132.000000  after : 217.385391  131.791550   TRUE 1.962760
+[13:21:26.909] 275-3/352 : 
+befor : 296.000000  144.000000  after : 296.414581  144.009567   TRUE 0.171969
+[13:21:26.909] 275-4/352 : 
+befor : 216.000000  180.000000  after : 216.004776  180.162430   TRUE 0.026406
+[13:21:26.909] 275-5/352 : 
+befor : 300.000000  350.000000  after : 278.951599  364.865814   TRUE 664.027612
+[13:21:26.909] 275-6/352 : 
+befor : 358.000000  448.000000  after : 358.611816  449.025391   TRUE 1.425745
+[13:21:26.909] 275-7/352 : 
+befor : 358.000000  457.000000  after : 357.304047  456.162994   FALSE 1.184929
+befor : 358.000000  456.000000  after : 357.702393  455.988922   TRUE 0.088693
+[13:21:26.909] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:26.909] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.371332 	 error end=0.321062
+[13:21:26.909] After pose optimization, distance between ekf and vo x:-0.479736 ,z=1.652846,angle between two frames:0.005899
+[13:21:26.909] frame process finished the id is: 236 the obs is:10 
+[13:21:27.009] 276-1/352 : 
+befor : 224.000000  44.000000  after : 224.064194  43.839813   TRUE 0.029781
+[13:21:27.009] 276-2/352 : 
+befor : 124.000000  112.000000  after : 116.500816  115.243111   TRUE 66.755522
+[13:21:27.009] 276-3/352 : 
+befor : 121.000000  131.000000  after : 120.544922  130.801895   TRUE 0.246342
+[13:21:27.009] 276-4/352 : 
+befor : 229.000000  121.000000  after : 247.682571  109.374611   TRUE 484.188146
+[13:21:27.009] 276-5/352 : 
+befor : 148.000000  188.000000  after : 148.333923  188.000870   TRUE 0.111506
+[13:21:27.009] 276-6/352 : 
+befor : 300.000000  350.000000  after : 286.860870  357.031647   TRUE 222.080783
+[13:21:27.009] 276-7/352 : 
+befor : 358.000000  448.000000  after : 358.801270  449.070435   TRUE 1.787863
+[13:21:27.009] 276-8/352 : 
+befor : 358.000000  457.000000  after : 357.199707  456.086517   FALSE 1.474919
+befor : 358.000000  456.000000  after : 357.706299  456.021851   TRUE 0.086738
+[13:21:27.009] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.009] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.391378 	 error end=0.391378
+[13:21:27.009] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.009] frame process finished the id is: 236 the obs is:10 
+[13:21:27.108] 277-1/352 : 
+befor : 186.000000  124.000000  after : 206.777527  78.807663   FALSE 2474.052949
+[13:21:27.108] 277-2/352 : 
+befor : 220.000000  147.000000  after : 219.013489  143.721771   TRUE 11.719988
+[13:21:27.108] 277-3/352 : 
+befor : 160.000000  192.000000  after : 160.463989  192.085281   TRUE 0.222559
+[13:21:27.108] 277-4/352 : 
+befor : 216.000000  180.000000  after : 216.010406  180.170532   TRUE 0.029190
+[13:21:27.108] 277-5/352 : 
+befor : 210.000000  244.000000  after : 210.070419  243.833145   TRUE 0.032799
+[13:21:27.108] 277-6/352 : 
+befor : 356.000000  296.000000  after : 352.049774  297.106171   TRUE 16.827898
+[13:21:27.108] 277-7/352 : 
+befor : 300.000000  349.000000  after : 286.748962  355.934387   TRUE 223.675723
+[13:21:27.108] 277-8/352 : 
+befor : 334.000000  407.000000  after : 334.512024  407.453888   TRUE 0.468183
+[13:21:27.108] 277-9/352 : 
+befor : 358.000000  456.000000  after : 357.687317  455.848755   FALSE 0.120646
+befor : 357.000000  456.000000  after : 356.806091  456.221466   TRUE 0.086648
+[13:21:27.108] After Reprojection Map nPoint:10 ,nCell:10 ,nMatches:8 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.108] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.280746 	 error end=0.280746
+[13:21:27.108] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.108] frame process finished the id is: 236 the obs is:10 
+[13:21:27.208] 278-1/352 : 
+befor : 193.000000  127.000000  after : 193.144653  126.439751   TRUE 0.334804
+[13:21:27.208] 278-2/352 : 
+befor : 220.000000  140.000000  after : 220.382339  140.124115   TRUE 0.161588
+[13:21:27.208] 278-3/352 : 
+befor : 218.000000  180.000000  after : 217.980057  180.122147   TRUE 0.015318
+[13:21:27.208] 278-4/352 : 
+befor : 336.000000  312.000000  after : 333.322815  313.640717   TRUE 9.859271
+[13:21:27.208] 278-5/352 : 
+befor : 300.000000  350.000000  after : 278.176971  365.649445   TRUE 721.149691
+[13:21:27.208] 278-6/352 : 
+befor : 288.000000  382.000000  after : 296.792664  374.342377   FALSE 135.950127
+[13:21:27.208] 278-7/352 : 
+befor : 392.000000  372.000000  after : 391.941559  371.874023   TRUE 0.019285
+[13:21:27.208] 278-8/352 : 
+befor : 358.000000  448.000000  after : 358.619049  448.524902   TRUE 0.658744
+[13:21:27.209] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.209] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.344391 	 error end=0.344243
+[13:21:27.209] After pose optimization, distance between ekf and vo x:-0.004428 ,z=0.008096,angle between two frames:0.000395
+[13:21:27.209] frame process finished the id is: 236 the obs is:10 
+[13:21:27.333] 279-1/352 : 
+befor : 124.000000  112.000000  after : 124.492477  112.116302   TRUE 0.256060
+[13:21:27.333] 279-2/352 : 
+befor : 229.000000  122.000000  after : 247.975479  110.684715   TRUE 488.104477
+[13:21:27.333] 279-3/352 : 
+befor : 126.000000  174.000000  after : 125.711914  174.212509   TRUE 0.128154
+[13:21:27.333] 279-4/352 : 
+befor : 356.000000  296.000000  after : 352.931244  296.969818   TRUE 10.357811
+[13:21:27.333] 279-5/352 : 
+befor : 312.000000  306.000000  after : 312.381409  305.327454   FALSE 0.597791
+[13:21:27.333] 279-6/352 : 
+befor : 392.000000  372.000000  after : 407.577637  371.102142   FALSE 243.468914
+[13:21:27.333] 279-7/352 : 
+befor : 358.000000  448.000000  after : 358.289337  448.422577   TRUE 0.262287
+[13:21:27.333] 279-8/352 : 
+befor : 358.000000  456.000000  after : 357.711182  456.033112   TRUE 0.084512
+[13:21:27.333] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.333] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.458189 	 error end=0.458189
+[13:21:27.333] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.333] frame process finished the id is: 236 the obs is:10 
+[13:21:27.409] 280-1/352 : 
+befor : 232.000000  44.000000  after : 229.483719  43.974991   TRUE 6.332296
+[13:21:27.409] 280-2/352 : 
+befor : 121.000000  131.000000  after : 120.564407  130.818207   TRUE 0.222790
+[13:21:27.409] 280-3/352 : 
+befor : 193.000000  127.000000  after : 193.148911  126.428879   TRUE 0.348354
+[13:21:27.409] 280-4/352 : 
+befor : 220.000000  140.000000  after : 220.382339  140.124115   TRUE 0.161588
+[13:21:27.409] 280-5/352 : 
+befor : 336.000000  312.000000  after : 334.218506  313.119324   TRUE 4.426607
+[13:21:27.409] 280-6/352 : 
+befor : 300.000000  350.000000  after : 286.708191  356.847870   TRUE 223.565510
+[13:21:27.409] 280-7/352 : 
+befor : 392.000000  372.000000  after : 391.952911  371.880127   TRUE 0.016587
+[13:21:27.409] 280-8/352 : 
+befor : 332.000000  423.000000  after : 333.056244  424.210876   TRUE 2.581873
+[13:21:27.409] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:8 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.409] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.353847 	 error end=0.353833
+[13:21:27.409] After pose optimization, distance between ekf and vo x:-0.001377 ,z=0.000292,angle between two frames:0.000469
+[13:21:27.409] frame process finished the id is: 236 the obs is:10 
+[13:21:27.508] 281-1/352 : 
+befor : 228.000000  48.000000  after : 228.894653  42.904236   TRUE 26.767217
+[13:21:27.508] 281-2/352 : 
+befor : 121.000000  131.000000  after : 120.567780  130.825150   TRUE 0.217387
+[13:21:27.508] 281-3/352 : 
+befor : 193.000000  127.000000  after : 193.160309  126.396988   TRUE 0.389322
+[13:21:27.508] 281-4/352 : 
+befor : 216.000000  136.000000  after : 216.382339  136.124115   TRUE 0.161588
+[13:21:27.508] 281-5/352 : 
+befor : 300.000000  350.000000  after : 278.529907  364.785889   TRUE 679.587388
+[13:21:27.508] 281-6/352 : 
+befor : 612.000000  414.000000  after : 612.013123  413.847595   TRUE 0.023399
+[13:21:27.508] 281-7/352 : 
+befor : 358.000000  448.000000  after : 358.567657  448.561829   TRUE 0.637886
+[13:21:27.508] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.508] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.566416 	 error end=0.566416
+[13:21:27.508] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.508] frame process finished the id is: 236 the obs is:10 
+[13:21:27.608] 282-1/352 : 
+befor : 24.000000  76.000000  after : 24.089611  75.839844   TRUE 0.033680
+[13:21:27.608] 282-2/352 : 
+befor : 375.000000  66.000000  after : 393.306000  50.005627   FALSE 590.929605
+[13:21:27.608] 282-3/352 : 
+befor : 191.000000  126.000000  after : 191.124756  125.460648   TRUE 0.306465
+[13:21:27.608] 282-4/352 : 
+befor : 228.000000  132.000000  after : 267.359741  131.573227   FALSE 1549.371363
+befor : 216.000000  136.000000  after : 216.382339  136.124115   TRUE 0.161588
+[13:21:27.608] 282-5/352 : 
+befor : 222.000000  172.000000  after : 222.206497  172.068329   TRUE 0.047310
+[13:21:27.608] 282-6/352 : 
+befor : 216.000000  180.000000  after : 215.381699  180.602402   TRUE 0.745184
+[13:21:27.608] 282-7/352 : 
+befor : 358.000000  448.000000  after : 358.840149  448.373169   TRUE 0.845105
+[13:21:27.608] 282-8/352 : 
+befor : 358.000000  457.000000  after : 357.370117  456.417755   FALSE 0.735761
+[13:21:27.608] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.608] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.468874 	 error end=0.448517
+[13:21:27.608] After pose optimization, distance between ekf and vo x:-0.211965 ,z=0.146385,angle between two frames:0.065092
+[13:21:27.608] frame process finished the id is: 236 the obs is:10 
+[13:21:27.708] 283-1/352 : 
+befor : 224.000000  44.000000  after : 225.748291  40.211086   TRUE 17.412389
+[13:21:27.708] 283-2/352 : 
+befor : 193.000000  127.000000  after : 193.147491  126.426971   TRUE 0.350115
+[13:21:27.708] 283-3/352 : 
+befor : 220.000000  140.000000  after : 220.383255  140.119110   TRUE 0.161072
+[13:21:27.708] 283-4/352 : 
+befor : 218.000000  180.000000  after : 217.964890  180.116486   TRUE 0.014802
+[13:21:27.708] 283-5/352 : 
+befor : 352.000000  307.000000  after : 378.963196  286.219788   FALSE 1158.831155
+befor : 336.000000  312.000000  after : 332.434570  313.970367   TRUE 16.594637
+[13:21:27.708] 283-6/352 : 
+befor : 300.000000  351.000000  after : 278.230682  366.177887   TRUE 704.271443
+[13:21:27.708] 283-7/352 : 
+befor : 358.000000  448.000000  after : 358.260742  448.560791   TRUE 0.382473
+[13:21:27.708] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000061,angle between two frames:0.000008
+[13:21:27.708] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.289188 	 error end=0.289130
+[13:21:27.708] After pose optimization, distance between ekf and vo x:-0.000895 ,z=0.000001,angle between two frames:0.000417
+[13:21:27.708] frame process finished the id is: 236 the obs is:10 
+[13:21:27.810] 284-1/352 : 
+befor : 224.000000  44.000000  after : 225.829575  40.080307   TRUE 18.711336
+[13:21:27.810] 284-2/352 : 
+befor : 184.000000  120.000000  after : 184.053207  119.856903   TRUE 0.023308
+[13:21:27.810] 284-3/352 : 
+befor : 228.000000  132.000000  after : 268.651367  131.910004   FALSE 1652.541754
+befor : 220.000000  140.000000  after : 220.382339  140.124115   TRUE 0.161588
+[13:21:27.810] 284-4/352 : 
+befor : 218.000000  180.000000  after : 217.960892  180.116837   TRUE 0.015180
+[13:21:27.810] 284-5/352 : 
+befor : 388.000000  215.000000  after : 411.578186  197.131973   FALSE 875.197236
+[13:21:27.810] 284-6/352 : 
+befor : 356.000000  296.000000  after : 353.003021  297.007751   TRUE 9.997445
+[13:21:27.810] 284-7/352 : 
+befor : 358.000000  439.000000  after : 358.592010  439.177490   TRUE 0.381979
+[13:21:27.810] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.810] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.311896 	 error end=0.311850
+[13:21:27.810] After pose optimization, distance between ekf and vo x:-0.000564 ,z=-0.000554,angle between two frames:0.000497
+[13:21:27.810] frame process finished the id is: 236 the obs is:10 
+[13:21:27.909] 285-1/352 : 
+befor : 228.000000  48.000000  after : 228.075775  47.834747   TRUE 0.033050
+[13:21:27.909] 285-2/352 : 
+befor : 375.000000  66.000000  after : 394.265564  49.319332   FALSE 649.406636
+[13:21:27.909] 285-3/352 : 
+befor : 124.000000  112.000000  after : 124.937729  111.733246   TRUE 0.950493
+[13:21:27.909] 285-4/352 : 
+befor : 198.000000  128.000000  after : 196.364441  108.174637   FALSE 395.720078
+befor : 198.000000  129.000000  after : 215.911011  78.160782   FALSE 2905.430407
+[13:21:27.909] 285-5/352 : 
+befor : 220.000000  147.000000  after : 219.012405  143.686127   TRUE 11.957099
+[13:21:27.909] 285-6/352 : 
+befor : 222.000000  172.000000  after : 222.226624  172.061737   TRUE 0.055170
+[13:21:27.909] 285-7/352 : 
+befor : 356.000000  296.000000  after : 351.981201  297.130341   TRUE 17.428414
+[13:21:27.909] 285-8/352 : 
+befor : 312.000000  314.000000  after : 315.477936  316.263794   TRUE 17.220800
+[13:21:27.909] 285-9/352 : 
+befor : 358.000000  448.000000  after : 357.788239  448.081970   TRUE 0.051562
+[13:21:27.909] After Reprojection Map nPoint:10 ,nCell:10 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.909] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.337040 	 error end=0.337040
+[13:21:27.909] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:27.909] frame process finished the id is: 236 the obs is:10 
+[13:21:28.009] 286-1/352 : 
+befor : 200.000000  130.000000  after : 216.530807  78.273544   FALSE 2948.893815
+[13:21:28.009] 286-2/352 : 
+befor : 225.000000  141.000000  after : 224.905731  140.920624   TRUE 0.015187
+[13:21:28.009] 286-3/352 : 
+befor : 120.000000  168.000000  after : 119.729408  168.208023   TRUE 0.116493
+[13:21:28.009] 286-4/352 : 
+befor : 306.000000  336.000000  after : 278.801422  353.595856   TRUE 1049.376777
+[13:21:28.009] 286-5/352 : 
+befor : 314.000000  397.000000  after : 314.687531  398.133789   TRUE 1.758176
+[13:21:28.009] 286-6/352 : 
+befor : 358.000000  448.000000  after : 357.752502  448.073578   TRUE 0.066669
+[13:21:28.009] 286-7/352 : 
+befor : 358.000000  456.000000  after : 357.848267  456.145996   FALSE 0.044338
+[13:21:28.009] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:5 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:28.009] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.426536 	 error end=0.420307
+[13:21:28.009] After pose optimization, distance between ekf and vo x:-0.224590 ,z=0.415877,angle between two frames:0.073909
+[13:21:28.009] frame process finished the id is: 236 the obs is:10 
+[13:21:28.113] 287-1/352 : 
+befor : 224.000000  44.000000  after : 224.077118  43.846058   TRUE 0.029645
+[13:21:28.113] 287-2/352 : 
+befor : 195.000000  128.000000  after : 218.311874  64.965179   FALSE 4516.832090
+befor : 196.000000  124.000000  after : 196.392456  124.069191   TRUE 0.158809
+[13:21:28.113] 287-3/352 : 
+befor : 220.000000  147.000000  after : 218.991196  143.654724   TRUE 12.208557
+[13:21:28.113] 287-4/352 : 
+befor : 222.000000  174.000000  after : 222.034195  174.096207   TRUE 0.010425
+[13:21:28.113] 287-5/352 : 
+befor : 212.000000  236.000000  after : 209.712112  236.676971   TRUE 5.692720
+[13:21:28.113] 287-6/352 : 
+befor : 351.000000  308.000000  after : 350.764282  307.688232   TRUE 0.152762
+[13:21:28.113] 287-7/352 : 
+befor : 300.000000  350.000000  after : 278.520264  364.772827   TRUE 679.615495
+[13:21:28.113] 287-8/352 : 
+befor : 358.000000  439.000000  after : 358.688324  439.386505   TRUE 0.623176
+[13:21:28.113] 287-9/352 : 
+befor : 358.000000  457.000000  after : 357.281097  456.187805   FALSE 1.176481
+[13:21:28.113] After Reprojection Map nPoint:10 ,nCell:10 ,nMatches:8 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:28.113] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =7 	 error init =0.298504 	 error end=0.296298
+[13:21:28.113] After pose optimization, distance between ekf and vo x:-0.053428 ,z=0.130551,angle between two frames:0.011013
+[13:21:28.113] frame process finished the id is: 236 the obs is:10 
+[13:21:28.209] 288-1/352 : 
+befor : 189.000000  125.000000  after : 189.129150  124.449188   TRUE 0.320073
+[13:21:28.209] 288-2/352 : 
+befor : 220.000000  147.000000  after : 219.001526  143.661438   TRUE 12.142947
+[13:21:28.209] 288-3/352 : 
+befor : 120.000000  170.000000  after : 119.761452  170.175690   TRUE 0.087772
+[13:21:28.209] 288-4/352 : 
+befor : 162.000000  192.000000  after : 162.322311  191.921417   TRUE 0.110060
+[13:21:28.209] 288-5/352 : 
+befor : 216.000000  180.000000  after : 215.859451  180.650894   TRUE 0.443417
+[13:21:28.209] 288-6/352 : 
+befor : 300.000000  351.000000  after : 278.960571  366.032715   TRUE 668.640076
+[13:21:28.209] 288-7/352 : 
+befor : 614.000000  330.000000  after : 614.037598  329.866974   TRUE 0.019110
+[13:21:28.209] 288-8/352 : 
+befor : 358.000000  448.000000  after : 358.665405  449.177002   TRUE 1.828098
+[13:21:28.209] 288-9/352 : 
+befor : 358.000000  457.000000  after : 357.580200  456.903625   FALSE 0.185520
+[13:21:28.209] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:28.209] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.449344 	 error end=0.447694
+[13:21:28.209] After pose optimization, distance between ekf and vo x:-0.059926 ,z=0.131466,angle between two frames:0.007592
+[13:21:28.209] frame process finished the id is: 236 the obs is:10 
+[13:21:28.309] 289-1/352 : 
+befor : 188.000000  125.000000  after : 188.125305  124.420410   TRUE 0.351626
+[13:21:28.309] 289-2/352 : 
+befor : 229.000000  122.000000  after : 247.520050  109.803780   TRUE 491.740046
+[13:21:28.309] 289-3/352 : 
+befor : 122.000000  172.000000  after : 121.747269  172.198975   TRUE 0.103464
+[13:21:28.309] 289-4/352 : 
+befor : 160.000000  192.000000  after : 160.357498  192.004913   TRUE 0.127829
+[13:21:28.309] 289-5/352 : 
+befor : 212.000000  242.000000  after : 212.059052  241.841507   TRUE 0.028607
+[13:21:28.309] 289-6/352 : 
+befor : 352.000000  300.000000  after : 351.350311  296.068207   FALSE 15.881093
+[13:21:28.309] 289-7/352 : 
+befor : 300.000000  350.000000  after : 278.738892  365.015381   TRUE 677.496393
+[13:21:28.309] 289-8/352 : 
+befor : 358.000000  448.000000  after : 358.734344  448.619537   TRUE 0.923088
+[13:21:28.309] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:28.309] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.301874 	 error end=0.301450
+[13:21:28.309] After pose optimization, distance between ekf and vo x:-0.007364 ,z=0.013489,angle between two frames:0.000424
+[13:21:28.309] frame process finished the id is: 236 the obs is:10 
+[13:21:28.409] 290-1/352 : 
+befor : 612.000000  40.000000  after : 612.067627  39.862713   TRUE 0.023421
+[13:21:28.409] 290-2/352 : 
+befor : 121.000000  131.000000  after : 120.602638  130.839447   TRUE 0.183674
+[13:21:28.409] 290-3/352 : 
+befor : 193.000000  127.000000  after : 193.150970  126.425934   TRUE 0.352344
+[13:21:28.409] 290-4/352 : 
+befor : 220.000000  147.000000  after : 218.964615  143.629105   TRUE 12.434958
+[13:21:28.409] 290-5/352 : 
+befor : 292.000000  140.000000  after : 292.382355  140.124115   TRUE 0.161600
+[13:21:28.409] 290-6/352 : 
+befor : 216.000000  184.000000  after : 215.240723  183.586777   TRUE 0.747256
+[13:21:28.409] 290-7/352 : 
+befor : 300.000000  349.000000  after : 286.810455  355.803314   TRUE 220.249173
+[13:21:28.409] 290-8/352 : 
+befor : 358.000000  448.000000  after : 355.824554  443.988892   FALSE 20.821554
+[13:21:28.409] 290-9/352 : 
+befor : 360.000000  450.000000  after : 358.939484  448.929810   TRUE 2.270003
+[13:21:28.409] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:28.409] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.526891 	 error end=0.526870
+[13:21:28.409] After pose optimization, distance between ekf and vo x:-0.000469 ,z=0.000892,angle between two frames:0.000102
+[13:21:28.409] frame process finished the id is: 236 the obs is:10 
+[13:21:28.509] 291-1/352 : 
+befor : 199.000000  130.000000  after : 217.517822  78.993660   FALSE 2944.556464
+[13:21:28.509] 291-2/352 : 
+befor : 216.000000  140.000000  after : 217.432938  138.727875   TRUE 3.671613
+[13:21:28.509] 291-3/352 : 
+befor : 292.000000  140.000000  after : 302.699738  142.665131   FALSE 121.587305
+[13:21:28.509] 291-4/352 : 
+befor : 222.000000  172.000000  after : 222.193604  172.076019   TRUE 0.043261
+[13:21:28.509] 291-5/352 : 
+befor : 216.000000  184.000000  after : 215.084991  183.485611   TRUE 1.101837
+[13:21:28.509] 291-6/352 : 
+befor : 304.000000  302.000000  after : 278.776489  319.716675   TRUE 950.106060
+[13:21:28.509] 291-7/352 : 
+befor : 122.000000  350.000000  after : 122.056030  349.841675   TRUE 0.028206
+[13:21:28.509] 291-8/352 : 
+befor : 612.000000  414.000000  after : 612.086853  413.960632   TRUE 0.009093
+[13:21:28.509] 291-9/352 : 
+befor : 358.000000  456.000000  after : 357.708649  456.052460   TRUE 0.087638
+[13:21:28.509] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:28.509] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.528538 	 error end=0.528538
+[13:21:28.509] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:28.509] frame process finished the id is: 236 the obs is:10 
+[13:21:28.608] 292-1/352 : 
+befor : 191.000000  126.000000  after : 191.131149  125.452461   TRUE 0.316999
+[13:21:28.608] 292-2/352 : 
+befor : 220.000000  147.000000  after : 219.019531  143.644760   TRUE 12.218954
+[13:21:28.608] 292-3/352 : 
+befor : 132.000000  178.000000  after : 132.007034  177.865982   TRUE 0.018010
+[13:21:28.608] 292-4/352 : 
+befor : 222.000000  172.000000  after : 222.206940  172.060867   TRUE 0.046529
+[13:21:28.608] 292-5/352 : 
+befor : 218.000000  180.000000  after : 218.624237  179.933563   TRUE 0.394086
+[13:21:28.608] 292-6/352 : 
+befor : 128.000000  292.000000  after : 129.308838  291.823120   TRUE 1.744343
+[13:21:28.608] 292-7/352 : 
+befor : 143.000000  345.000000  after : 137.708374  347.916504   FALSE 36.507301
+[13:21:28.608] 292-8/352 : 
+befor : 314.000000  397.000000  after : 314.919647  398.442139   TRUE 2.925515
+[13:21:28.608] 292-9/352 : 
+befor : 358.000000  450.000000  after : 357.523163  450.073212   FALSE 0.232734
+[13:21:28.608] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:28.608] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.280839 	 error end=0.248478
+[13:21:28.608] After pose optimization, distance between ekf and vo x:-0.290819 ,z=0.400758,angle between two frames:0.025847
+[13:21:28.608] frame process finished the id is: 236 the obs is:10 
+[13:21:28.709] 293-1/352 : 
+befor : 193.000000  127.000000  after : 193.142242  126.416817   TRUE 0.360336
+[13:21:28.709] 293-2/352 : 
+befor : 222.000000  146.000000  after : 222.043427  145.903076   TRUE 0.011280
+[13:21:28.709] 293-3/352 : 
+befor : 356.000000  296.000000  after : 352.043182  297.223297   TRUE 17.152862
+[13:21:28.709] 293-4/352 : 
+befor : 388.000000  375.000000  after : 393.382996  370.384094   TRUE 50.283228
+[13:21:28.709] 293-5/352 : 
+befor : 358.000000  448.000000  after : 359.217346  449.307068   TRUE 3.190358
+[13:21:28.709] 293-6/352 : 
+befor : 358.000000  457.000000  after : 357.574524  456.833130   FALSE 0.208876
+[13:21:28.709] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:28.709] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.330274 	 error end=0.330274
+[13:21:28.709] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:28.709] frame process finished the id is: 236 the obs is:10 
+[13:21:28.808] 294-1/352 : 
+befor : 202.000000  132.000000  after : 218.291901  79.704399   FALSE 3000.255899
+befor : 196.000000  124.000000  after : 182.118164  120.306824   FALSE 206.344920
+[13:21:28.808] 294-2/352 : 
+befor : 216.000000  140.000000  after : 217.441650  138.686462   TRUE 3.803737
+[13:21:28.808] 294-3/352 : 
+befor : 120.000000  168.000000  after : 119.695374  168.202316   TRUE 0.133729
+[13:21:28.808] 294-4/352 : 
+befor : 174.000000  192.000000  after : 174.044128  191.868973   TRUE 0.019115
+[13:21:28.808] 294-5/352 : 
+befor : 216.000000  184.000000  after : 217.220245  184.851868   TRUE 2.214677
+[13:21:28.808] 294-6/352 : 
+befor : 352.000000  307.000000  after : 351.805908  306.712830   TRUE 0.120138
+[13:21:28.808] 294-7/352 : 
+befor : 300.000000  350.000000  after : 278.642120  364.748047   TRUE 673.663909
+[13:21:28.808] 294-8/352 : 
+befor : 288.000000  382.000000  after : 296.659332  374.235016   FALSE 135.279014
+[13:21:28.808] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:28.808] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.335367 	 error end=0.335367
+[13:21:28.808] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:28.808] frame process finished the id is: 236 the obs is:10 
+[13:21:28.908] 295-1/352 : 
+befor : 228.000000  44.000000  after : 228.081772  43.844952   TRUE 0.030727
+[13:21:28.908] 295-2/352 : 
+befor : 376.000000  75.000000  after : 383.777893  66.443443   FALSE 133.710283
+[13:21:28.908] 295-3/352 : 
+befor : 191.000000  126.000000  after : 191.129654  125.439430   TRUE 0.331049
+[13:21:28.908] 295-4/352 : 
+befor : 220.000000  144.000000  after : 221.237228  142.758026   TRUE 3.073233
+[13:21:28.908] 295-5/352 : 
+befor : 296.000000  144.000000  after : 296.793274  143.571075   TRUE 0.813260
+[13:21:28.908] 295-6/352 : 
+befor : 120.000000  170.000000  after : 119.763191  170.170471   TRUE 0.085139
+[13:21:28.908] 295-7/352 : 
+befor : 358.000000  448.000000  after : 358.785828  448.663391   TRUE 1.057613
+[13:21:28.908] 295-8/352 : 
+befor : 358.000000  457.000000  after : 357.097351  455.983795   FALSE 1.847447
+[13:21:28.908] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:28.908] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.395942 	 error end=0.395642
+[13:21:28.908] After pose optimization, distance between ekf and vo x:-0.050472 ,z=0.070725,angle between two frames:0.000564
+[13:21:28.908] frame process finished the id is: 236 the obs is:10 
+[13:21:29.010] 296-1/352 : 
+befor : 124.000000  112.000000  after : 124.478706  112.119820   TRUE 0.243517
+[13:21:29.010] 296-2/352 : 
+befor : 191.000000  126.000000  after : 191.117615  125.456024   TRUE 0.309743
+[13:21:29.010] 296-3/352 : 
+befor : 220.000000  147.000000  after : 218.983856  143.709427   TRUE 11.860420
+[13:21:29.010] 296-4/352 : 
+befor : 222.000000  172.000000  after : 222.181076  172.076630   TRUE 0.038661
+[13:21:29.010] 296-5/352 : 
+befor : 218.000000  180.000000  after : 218.647079  179.983597   TRUE 0.418981
+[13:21:29.010] 296-6/352 : 
+befor : 204.000000  248.000000  after : 204.598770  246.338211   TRUE 3.120068
+[13:21:29.010] 296-7/352 : 
+befor : 358.000000  448.000000  after : 359.172058  449.215302   TRUE 2.850678
+[13:21:29.010] 296-8/352 : 
+befor : 358.000000  457.000000  after : 357.237427  456.280884   FALSE 1.098646
+[13:21:29.010] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.010] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.304250 	 error end=0.284294
+[13:21:29.010] After pose optimization, distance between ekf and vo x:-0.244262 ,z=0.331627,angle between two frames:0.029941
+[13:21:29.010] frame process finished the id is: 236 the obs is:10 
+[13:21:29.108] 297-1/352 : 
+befor : 228.000000  44.000000  after : 228.764069  42.063133   TRUE 4.335254
+[13:21:29.108] 297-2/352 : 
+befor : 193.000000  127.000000  after : 193.144653  126.418648   TRUE 0.358895
+[13:21:29.108] 297-3/352 : 
+befor : 220.000000  136.000000  after : 220.382339  136.124115   TRUE 0.161588
+[13:21:29.108] 297-4/352 : 
+befor : 218.000000  180.000000  after : 217.973785  180.117996   TRUE 0.014610
+[13:21:29.108] 297-5/352 : 
+befor : 393.000000  345.000000  after : 405.106354  335.248962   FALSE 241.646536
+[13:21:29.108] 297-6/352 : 
+befor : 358.000000  448.000000  after : 358.793182  448.710754   TRUE 1.134310
+[13:21:29.108] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:5 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.108] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.309037 	 error end=0.308921
+[13:21:29.108] After pose optimization, distance between ekf and vo x:-0.000092 ,z=-0.001462,angle between two frames:0.000415
+[13:21:29.108] frame process finished the id is: 236 the obs is:10 
+[13:21:29.209] 298-1/352 : 
+befor : 228.000000  48.000000  after : 228.075317  47.830765   TRUE 0.034313
+[13:21:29.209] 298-2/352 : 
+befor : 124.000000  114.000000  after : 132.671219  99.430962   FALSE 287.446916
+befor : 124.000000  112.000000  after : 116.461861  115.287682   TRUE 67.632395
+[13:21:29.209] 298-3/352 : 
+befor : 121.000000  131.000000  after : 120.561607  130.830887   TRUE 0.220787
+[13:21:29.209] 298-4/352 : 
+befor : 200.000000  128.000000  after : 200.662308  127.253799   TRUE 0.995467
+[13:21:29.209] 298-5/352 : 
+befor : 229.000000  122.000000  after : 247.484787  109.975395   TRUE 486.278470
+[13:21:29.209] 298-6/352 : 
+befor : 614.000000  330.000000  after : 609.210693  332.381653   FALSE 28.609728
+[13:21:29.209] 298-7/352 : 
+befor : 358.000000  439.000000  after : 358.644897  439.249420   TRUE 0.478103
+[13:21:29.209] 298-8/352 : 
+befor : 357.000000  456.000000  after : 356.788849  456.151764   TRUE 0.067617
+[13:21:29.209] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.209] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.426938 	 error end=0.426938
+[13:21:29.209] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.209] frame process finished the id is: 236 the obs is:10 
+[13:21:29.309] 299-1/352 : 
+befor : 234.000000  46.000000  after : 233.200256  45.912666   TRUE 0.647217
+[13:21:29.309] 299-2/352 : 
+befor : 197.000000  129.000000  after : 215.656784  81.416542   FALSE 2612.261062
+[13:21:29.309] 299-3/352 : 
+befor : 220.000000  142.000000  after : 222.094971  133.848343   FALSE 70.838416
+befor : 220.000000  140.000000  after : 220.384186  140.114120   TRUE 0.160622
+[13:21:29.309] 299-4/352 : 
+befor : 216.000000  182.000000  after : 215.942673  182.140198   TRUE 0.022942
+[13:21:29.309] 299-5/352 : 
+befor : 387.000000  200.000000  after : 399.387970  189.853149   FALSE 256.420377
+[13:21:29.309] 299-6/352 : 
+befor : 356.000000  296.000000  after : 353.002106  296.939423   TRUE 9.869885
+[13:21:29.309] 299-7/352 : 
+befor : 614.000000  330.000000  after : 614.046082  329.854492   TRUE 0.023296
+[13:21:29.310] 299-8/352 : 
+befor : 358.000000  448.000000  after : 358.953827  449.260681   TRUE 2.499103
+[13:21:29.310] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.310] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.566488 	 error end=0.566488
+[13:21:29.310] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.310] frame process finished the id is: 236 the obs is:10 
+[13:21:29.410] 300-1/352 : 
+befor : 197.000000  129.000000  after : 215.558487  81.426697   FALSE 2607.636617
+befor : 192.000000  124.000000  after : 163.633423  114.809662   TRUE 889.125014
+[13:21:29.410] 300-2/352 : 
+befor : 216.000000  140.000000  after : 217.433929  138.753174   TRUE 3.610729
+[13:21:29.410] 300-3/352 : 
+befor : 222.000000  172.000000  after : 222.210556  172.091873   TRUE 0.052775
+[13:21:29.410] 300-4/352 : 
+befor : 300.000000  350.000000  after : 278.800201  364.859222   TRUE 670.227951
+[13:21:29.410] 300-5/352 : 
+befor : 614.000000  330.000000  after : 614.018982  329.849854   TRUE 0.022904
+[13:21:29.410] 300-6/352 : 
+befor : 392.000000  372.000000  after : 407.499329  374.239136   FALSE 245.242916
+[13:21:29.410] 300-7/352 : 
+befor : 360.000000  439.000000  after : 360.142242  438.929688   TRUE 0.025177
+[13:21:29.410] 300-8/352 : 
+befor : 358.000000  456.000000  after : 357.706696  455.996246   TRUE 0.086042
+[13:21:29.410] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.410] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.534272 	 error end=0.534272
+[13:21:29.411] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.411] frame process finished the id is: 236 the obs is:10 
+[13:21:29.508] 301-1/352 : 
+befor : 375.000000  67.000000  after : 382.110046  58.533390   FALSE 122.236244
+[13:21:29.508] 301-2/352 : 
+befor : 199.000000  130.000000  after : 217.564697  78.820183   FALSE 2964.021673
+befor : 196.000000  124.000000  after : 196.389694  124.084167   TRUE 0.158946
+[13:21:29.508] 301-3/352 : 
+befor : 220.000000  147.000000  after : 218.974396  143.634811   TRUE 12.376358
+[13:21:29.508] 301-4/352 : 
+befor : 222.000000  172.000000  after : 222.229889  172.071213   TRUE 0.057920
+[13:21:29.508] 301-5/352 : 
+befor : 288.000000  382.000000  after : 288.049896  381.851776   TRUE 0.024460
+[13:21:29.508] 301-6/352 : 
+befor : 390.000000  374.000000  after : 404.180450  387.432190   FALSE 381.508901
+[13:21:29.508] 301-7/352 : 
+befor : 270.000000  396.000000  after : 277.487610  397.708496   FALSE 58.983260
+[13:21:29.508] 301-8/352 : 
+befor : 357.000000  456.000000  after : 356.826752  456.121063   TRUE 0.044671
+[13:21:29.508] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:5 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.508] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.313480 	 error end=0.313480
+[13:21:29.508] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.508] frame process finished the id is: 236 the obs is:10 
+[13:21:29.608] 302-1/352 : 
+befor : 228.000000  48.000000  after : 229.204727  42.706131   TRUE 29.476417
+[13:21:29.608] 302-2/352 : 
+befor : 121.000000  131.000000  after : 120.561760  130.823044   TRUE 0.223368
+[13:21:29.608] 302-3/352 : 
+befor : 229.000000  122.000000  after : 248.054504  111.010628   TRUE 483.840440
+[13:21:29.608] 302-4/352 : 
+befor : 148.000000  188.000000  after : 148.052551  187.810471   TRUE 0.038683
+[13:21:29.608] 302-5/352 : 
+befor : 356.000000  296.000000  after : 352.985443  296.915405   TRUE 9.925520
+[13:21:29.608] 302-6/352 : 
+befor : 114.000000  324.000000  after : 114.457512  323.927795   TRUE 0.214531
+[13:21:29.608] 302-7/352 : 
+befor : 300.000000  350.000000  after : 278.911163  365.323547   TRUE 679.550136
+[13:21:29.608] 302-8/352 : 
+befor : 334.000000  407.000000  after : 334.347565  407.428375   TRUE 0.304307
+[13:21:29.609] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:8 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.609] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.305058 	 error end=0.305058
+[13:21:29.609] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.609] frame process finished the id is: 236 the obs is:10 
+[13:21:29.709] 303-1/352 : 
+befor : 230.000000  44.000000  after : 230.041946  44.849014   TRUE 0.722585
+[13:21:29.709] 303-2/352 : 
+befor : 121.000000  131.000000  after : 120.571571  130.824310   TRUE 0.214418
+[13:21:29.709] 303-3/352 : 
+befor : 193.000000  127.000000  after : 193.150009  126.436409   TRUE 0.340138
+[13:21:29.709] 303-4/352 : 
+befor : 228.000000  132.000000  after : 267.786774  131.436035   FALSE 1583.305416
+befor : 220.000000  136.000000  after : 220.382339  136.124115   TRUE 0.161588
+[13:21:29.709] 303-5/352 : 
+befor : 336.000000  312.000000  after : 332.487701  314.005188   TRUE 16.357020
+[13:21:29.710] 303-6/352 : 
+befor : 300.000000  350.000000  after : 286.874817  356.553711   TRUE 215.221559
+[13:21:29.710] 303-7/352 : 
+befor : 358.000000  448.000000  after : 358.475342  448.567780   TRUE 0.548323
+[13:21:29.710] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.710] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.345222 	 error end=0.345131
+[13:21:29.710] After pose optimization, distance between ekf and vo x:-0.001681 ,z=-0.000133,angle between two frames:0.000329
+[13:21:29.710] frame process finished the id is: 236 the obs is:10 
+[13:21:29.808] 304-1/352 : 
+befor : 224.000000  44.000000  after : 224.100494  43.839970   TRUE 0.035709
+[13:21:29.808] 304-2/352 : 
+befor : 374.000000  57.000000  after : 376.916656  52.010227   TRUE 33.404718
+[13:21:29.808] 304-3/352 : 
+befor : 121.000000  131.000000  after : 120.536957  130.833954   TRUE 0.241980
+[13:21:29.808] 304-4/352 : 
+befor : 192.000000  127.000000  after : 192.161346  126.373383   TRUE 0.418682
+[13:21:29.808] 304-5/352 : 
+befor : 216.000000  140.000000  after : 217.415115  138.707108   TRUE 3.674122
+[13:21:29.808] 304-6/352 : 
+befor : 356.000000  296.000000  after : 352.968201  296.878326   TRUE 9.963264
+[13:21:29.808] 304-7/352 : 
+befor : 281.000000  394.000000  after : 282.514496  397.617310   TRUE 15.378626
+[13:21:29.808] 304-8/352 : 
+befor : 332.000000  423.000000  after : 333.101074  423.999451   TRUE 2.211266
+[13:21:29.808] 304-9/352 : 
+befor : 358.000000  457.000000  after : 357.121185  456.141235   FALSE 1.509792
+[13:21:29.809] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between ekf and vo x:-0.000027 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.809] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =6 	 error init =0.346248 	 error end=0.344730
+[13:21:29.809] After pose optimization, distance between ekf and vo x:-0.096498 ,z=0.134238,angle between two frames:0.002595
+[13:21:29.809] frame process finished the id is: 236 the obs is:10 
+[13:21:29.908] 305-1/352 : 
+befor : 228.000000  48.000000  after : 228.923065  42.373791   TRUE 32.506280
+[13:21:29.908] 305-2/352 : 
+befor : 124.000000  112.000000  after : 124.533112  112.081329   TRUE 0.290822
+[13:21:29.908] 305-3/352 : 
+befor : 193.000000  127.000000  after : 193.151718  126.439034   TRUE 0.337702
+[13:21:29.908] 305-4/352 : 
+befor : 228.000000  132.000000  after : 268.360779  131.674637   FALSE 1629.098327
+befor : 216.000000  140.000000  after : 217.398880  138.795761   TRUE 3.407057
+[13:21:29.908] 305-5/352 : 
+befor : 216.000000  180.000000  after : 215.973740  180.171356   TRUE 0.030053
+[13:21:29.908] 305-6/352 : 
+befor : 389.000000  228.000000  after : 410.497711  211.684631   FALSE 728.342840
+[13:21:29.908] 305-7/352 : 
+befor : 356.000000  296.000000  after : 351.980225  297.105225   TRUE 17.380116
+[13:21:29.908] 305-8/352 : 
+befor : 334.000000  407.000000  after : 334.295746  407.437683   TRUE 0.279032
+[13:21:29.908] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:7 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:29.908] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.323625 	 error end=0.323480
+[13:21:29.908] After pose optimization, distance between ekf and vo x:-0.000858 ,z=-0.000847,angle between two frames:0.000549
+[13:21:29.908] frame process finished the id is: 236 the obs is:10 
+[13:21:30.009] 306-1/352 : 
+befor : 224.000000  44.000000  after : 224.086563  43.832504   TRUE 0.035548
+[13:21:30.009] 306-2/352 : 
+befor : 374.000000  57.000000  after : 417.329163  24.003311   FALSE 2966.197806
+[13:21:30.009] 306-3/352 : 
+befor : 193.000000  127.000000  after : 193.120483  126.448311   TRUE 0.318877
+[13:21:30.009] 306-4/352 : 
+befor : 220.000000  147.000000  after : 219.022217  143.658752   TRUE 12.119995
+[13:21:30.009] 306-5/352 : 
+befor : 122.000000  172.000000  after : 121.731918  172.194244   TRUE 0.109599
+[13:21:30.009] 306-6/352 : 
+befor : 216.000000  180.000000  after : 217.903183  180.102188   TRUE 3.632548
+[13:21:30.009] 306-7/352 : 
+befor : 353.000000  306.000000  after : 378.635620  284.997009   FALSE 1098.310638
+[13:21:30.009] 306-8/352 : 
+befor : 360.000000  439.000000  after : 360.142883  439.062378   TRUE 0.024307
+[13:21:30.009] 306-9/352 : 
+befor : 358.000000  457.000000  after : 357.693054  457.231995   FALSE 0.148037
+[13:21:30.009] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:6 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:30.009] n deleted obs = 1 	 n obs with reprojection error less than 0.5 px =5 	 error init =0.368755 	 error end=0.360272
+[13:21:30.009] After pose optimization, distance between ekf and vo x:-0.168735 ,z=0.278387,angle between two frames:0.001581
+[13:21:30.009] frame process finished the id is: 236 the obs is:10 
+[13:21:30.112] 307-1/352 : 
+befor : 228.000000  48.000000  after : 228.084335  47.831783   TRUE 0.035409
+[13:21:30.112] 307-2/352 : 
+befor : 122.000000  127.000000  after : 121.360474  126.654358   TRUE 0.528462
+[13:21:30.112] 307-3/352 : 
+befor : 228.000000  131.000000  after : 265.417267  153.745316   FALSE 1917.401238
+befor : 222.000000  146.000000  after : 222.001175  145.947388   TRUE 0.002769
+[13:21:30.112] 307-4/352 : 
+befor : 216.000000  180.000000  after : 215.737625  180.675629   TRUE 0.525315
+[13:21:30.112] 307-5/352 : 
+befor : 336.000000  312.000000  after : 336.382355  312.124115   TRUE 0.161600
+[13:21:30.112] 307-6/352 : 
+befor : 358.000000  456.000000  after : 357.865601  456.159363   FALSE 0.043460
+[13:21:30.112] 307-7/352 : 
+befor : 360.000000  450.000000  after : 358.874359  448.627258   TRUE 3.151487
+[13:21:30.112] After Reprojection Map nPoint:10 ,nCell:8 ,nMatches:6 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:30.112] n deleted obs = 3 	 n obs with reprojection error less than 0.5 px =3 	 error init =0.402113 	 error end=0.401810
+[13:21:30.112] After pose optimization, distance between ekf and vo x:-0.001482 ,z=0.000634,angle between two frames:0.000283
+[13:21:30.112] frame process finished the id is: 236 the obs is:10 
+[13:21:30.211] 308-1/352 : 
+befor : 121.000000  131.000000  after : 120.586975  130.815994   TRUE 0.204448
+[13:21:30.211] 308-2/352 : 
+befor : 193.000000  127.000000  after : 193.120071  126.467247   TRUE 0.298243
+[13:21:30.211] 308-3/352 : 
+befor : 220.000000  147.000000  after : 219.013199  143.675613   TRUE 12.025323
+[13:21:30.211] 308-4/352 : 
+befor : 296.000000  144.000000  after : 296.077637  143.837234   TRUE 0.032520
+[13:21:30.211] 308-5/352 : 
+befor : 300.000000  350.000000  after : 278.838837  365.060791   TRUE 674.622259
+[13:21:30.212] 308-6/352 : 
+befor : 358.000000  439.000000  after : 358.496552  439.119354   TRUE 0.260809
+[13:21:30.212] 308-7/352 : 
+befor : 358.000000  457.000000  after : 357.782928  457.325012   FALSE 0.152753
+[13:21:30.212] After Reprojection Map nPoint:10 ,nCell:7 ,nMatches:6 ,distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:30.212] n deleted obs = 2 	 n obs with reprojection error less than 0.5 px =4 	 error init =0.328380 	 error end=0.328380
+[13:21:30.212] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000060,angle between two frames:0.000008
+[13:21:30.212] frame process finished the id is: 236 the obs is:10 
diff --git a/GPU_version/vio/include/vio/point.h b/GPU_version/vio/include/vio/point.h
index b784b1c..0aebe4e 100644
--- a/GPU_version/vio/include/vio/point.h
+++ b/GPU_version/vio/include/vio/point.h
@@ -100,6 +100,45 @@ public:
     point_jac(1, 2) = -p_in_f[1] * z_inv_sq;
     point_jac = - point_jac * R_f_w;
   }
+
+    void jacobian_xyz2uv_(
+            const Vector3d& p_in_f,
+            const Matrix3d& R_f_w,
+            Matrix23d& point_jac,
+            double * cam_params,
+            SE2_5 fram_t_f_w)
+    {
+        double fx = cam_params[0];
+        double fy = cam_params[1];
+        double s = cam_params[4];
+        double r = cam_params[5];
+        double x_n = p_in_f.x();
+        double y_n = p_in_f.y();
+        double z_n = p_in_f.z();
+        double x_c =  fram_t_f_w.se3().translation().x();
+        double z_c = fram_t_f_w.se3().translation().y();
+        double theta = fram_t_f_w.pitch();
+
+        double alpha = (fx*(theta/r))-(fx*((x_n*x_n)/(r*r))*theta)+((1+3*s*theta*theta)/((r*r)+1))*((fx*x_n*x_n)/(r*r));
+        double beta  =               -(fx*((x_n*y_n)/(r*r))*theta)+((1+3*s*theta*theta)/((r*r)+1))*((fx*x_n*y_n)/(r*r));
+        double gamma =               -(fy*((x_n*y_n)/(r*r))*theta)+((1+3*s*theta*theta)/((r*r)+1))*((fy*x_n*y_n)/(r*r));
+        double lamda = (fy*(theta/r))-(fy*((y_n*y_n)/(r*r))*theta)+((1+3*s*theta*theta)/((r*r)+1))*((fy*y_n*y_n)/(r*r));
+
+        double Xf_Xc = x_n - x_c;
+        double Zf_Zc = z_n - z_c;
+        double n1 = -1*sin(theta)*Xf_Xc + cos(theta)*Zf_Zc;
+        double n2 = -1*cos(theta)*Xf_Xc - sin(theta)*Zf_Zc;
+
+        point_jac(0, 0) = ((cos(theta)/z_n)*alpha)+(((x_n/(z_n*z_n))*alpha + (y_n/(z_n*z_n))*beta)*sin(theta));
+        point_jac(0, 1) = ((sin(theta)/z_n)*alpha)-(((x_n/(z_n*z_n))*alpha + (y_n/(z_n*z_n))*beta)*cos(theta));
+        point_jac(0, 2) = ((1/z_n)*alpha*n1)-(((x_n/(z_n*z_n))*alpha + (y_n/(z_n*z_n))*beta)*n2);
+
+        point_jac(1, 0) = ((cos(theta)/z_n)*gamma)+(((x_n/(z_n*z_n))*gamma + (y_n/(z_n*z_n))*lamda)*sin(theta));
+        point_jac(1, 1) = ((sin(theta)/z_n)*gamma)-(((x_n/(z_n*z_n))*gamma + (y_n/(z_n*z_n))*lamda)*cos(theta));
+        point_jac(1, 2) = ((1/z_n)*gamma*n1)-(((x_n/(z_n*z_n))*gamma + (y_n/(z_n*z_n))*lamda)*n2);
+        //point_jac = - point_jac * R_f_w;
+    }
+
 };
 
 } // namespace vio
diff --git a/GPU_version/vio/include/vio/reprojector.h b/GPU_version/vio/include/vio/reprojector.h
index 5ea867f..ddbba24 100644
--- a/GPU_version/vio/include/vio/reprojector.h
+++ b/GPU_version/vio/include/vio/reprojector.h
@@ -66,7 +66,8 @@ public:
       FramePtr frame,
       FramePtr last_frame,
       std::vector< std::pair<FramePtr,std::size_t> >& overlap_kfs,
-      opencl* gpu_fast_);
+      opencl* gpu_fast_,
+      FILE* log_);
 
 
 private:
@@ -99,7 +100,7 @@ private:
   static bool pointQualityComparator(Candidate& lhs, Candidate& rhs);
   void initializeGrid(vk::AbstractCamera* cam);
   void resetGrid();
-  bool reprojectCell(Cell& cell, FramePtr frame);
+  bool reprojectCell(Cell& cell, FramePtr frame, FILE* log_);
 };
 
 } // namespace vio
diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch
index 7c4cbdf..d12f08d 100644
--- a/GPU_version/vio/launch/Px30.launch
+++ b/GPU_version/vio/launch/Px30.launch
@@ -1,6 +1,6 @@
 <launch>
 
-  <!-- node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" / -->
+  <node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" />
 
     <!-- Camera topic to subscribe to -->
     <param name="vio/cam_topic" value="/CoreNode/grey_img" type="str" />
diff --git a/GPU_version/vio/src/feature_alignment.cpp b/GPU_version/vio/src/feature_alignment.cpp
index f640542..43dc2f5 100644
--- a/GPU_version/vio/src/feature_alignment.cpp
+++ b/GPU_version/vio/src/feature_alignment.cpp
@@ -216,6 +216,7 @@ bool align2D(
 
     if(isnan(u) || isnan(v)) {
         // TODO very rarely this can happen, maybe H is singular? should not be at corner.. check
+        std::cerr<<"if is nan"<<std::endl;
       return false;
     }
 
diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp
index d4f4151..df6b6fb 100644
--- a/GPU_version/vio/src/frame_handler_mono.cpp
+++ b/GPU_version/vio/src/frame_handler_mono.cpp
@@ -194,7 +194,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
       new_frame_=last_frame_;
       return RESULT_FAILURE;
   }
-  reprojector_.reprojectMap2(new_frame_, last_frame_,overlap_kfs_, gpu_fast_);
+  reprojector_.reprojectMap2(new_frame_, last_frame_,overlap_kfs_, gpu_fast_, log_);
   int n_point=0;
   for(auto i:overlap_kfs_)n_point+=i.second;
 #if VIO_DEBUG
diff --git a/GPU_version/vio/src/matcher.cpp b/GPU_version/vio/src/matcher.cpp
index a26b20e..14a533d 100644
--- a/GPU_version/vio/src/matcher.cpp
+++ b/GPU_version/vio/src/matcher.cpp
@@ -41,7 +41,7 @@ void getWarpMatrixAffine(
     Matrix2d& A_cur_ref)
 {
   // Compute affine warp matrix A_ref_cur
-  const int halfpatch_size = 5;
+  const int halfpatch_size = 4;
   const Vector3d xyz_ref(f_ref*depth_ref);
   Vector3d xyz_du_ref(cam_ref.cam2world(px_ref + Vector2d(halfpatch_size,0)*(1<<level_ref)));
   Vector3d xyz_dv_ref(cam_ref.cam2world(px_ref + Vector2d(0,halfpatch_size)*(1<<level_ref)));
@@ -160,7 +160,7 @@ bool Matcher::findMatchDirect(
   // warp affine
   warp::getWarpMatrixAffine(
       *ref_ftr_->frame->cam_, *(cur_frame.cam_), ref_ftr_->px, ref_ftr_->f,
-      (Vector3d(ref_ftr_->frame->pos()(0),0.0,ref_ftr_->frame->pos()(1)) - pt.pos_).norm(),
+      (ref_ftr_->frame->se3().inverse()*pt.pos_).norm(),/*(Vector3d(ref_ftr_->frame->pos()(0),0.0,ref_ftr_->frame->pos()(1)) - pt.pos_).norm(),*/
       cur_frame.se3().inverse() * ref_ftr_->frame->se3(), ref_ftr_->level, A_cur_ref_);
   search_level_ = warp::getBestSearchLevel(A_cur_ref_, Config::nPyrLevels()-1);
   if(!warp::warpAffine(A_cur_ref_, ref_ftr_->frame->img_pyr_[ref_ftr_->level], ref_ftr_->px,
diff --git a/GPU_version/vio/src/point.cpp b/GPU_version/vio/src/point.cpp
index d60b38f..e3c4d20 100644
--- a/GPU_version/vio/src/point.cpp
+++ b/GPU_version/vio/src/point.cpp
@@ -155,7 +155,8 @@ void Point::optimize(const size_t n_iter)
     {
       Matrix23d J;
       const Vector3d p_in_f((*it)->frame->se3()*pos_);
-      Point::jacobian_xyz2uv(p_in_f, (*it)->frame->se3().rotation_matrix(), J);
+      //Point::jacobian_xyz2uv(p_in_f, (*it)->frame->se3().rotation_matrix(), J);
+      Point::jacobian_xyz2uv_(p_in_f, (*it)->frame->se3().rotation_matrix(), J, (*it)->frame->cam_->params(), (*it)->frame->T_f_w_);
       const Vector2d e(vk::project2d((*it)->f) - vk::project2d(p_in_f));
       new_chi2 += e.squaredNorm();
       A.noalias() += J.transpose() * J;
diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp
index df53ce3..6188ef3 100644
--- a/GPU_version/vio/src/reprojector.cpp
+++ b/GPU_version/vio/src/reprojector.cpp
@@ -69,7 +69,8 @@ namespace vio {
             FramePtr frame,
             FramePtr last_frame,
             std::vector<std::pair<FramePtr, std::size_t> > &overlap_kfs,
-            opencl* gpu_fast_) {
+            opencl* gpu_fast_,
+            FILE* log_) {
         if(frame->id_<1)return;
         resetGrid();
         cv::Mat descriptors_cur;
@@ -142,13 +143,22 @@ namespace vio {
             }
         }
         {
+            int cl = 0;
             for (auto&& cell : grid_.cells) {
-                if (reprojectCell(*cell, frame))
+#if VIO_DEBUG
+                if(cell->size()>=1) {
+                    fprintf(log_, "[%s] %d-%d/%d : \n", vio::time_in_HH_MM_SS_MMM().c_str(), frame->id_, ++cl,
+                            grid_.cells.size());
+                }
+#endif
+                //std::cerr<<frame->id_<<"-"<<++cl<<"/"<<grid_.cells.size()<<" : ";
+                if (reprojectCell(*cell, frame, log_))
                     ++n_matches_;
                 if (n_matches_ > (size_t) Config::maxFts())
                     break;
             }
         }
+        //std::exit(154);
     }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -158,8 +168,11 @@ namespace vio {
         return false;
     }
 
-    bool Reprojector::reprojectCell(Cell &cell, FramePtr frame) {
-        if(cell.size()<1)return false;
+    bool Reprojector::reprojectCell(Cell &cell, FramePtr frame, FILE* log_) {
+        //cv::Mat image = frame->img();
+        if(cell.size()<1){
+            return false;
+        }
         cell.sort(boost::bind(&Reprojector::pointQualityComparator, _1, _2));
         Cell::iterator it=cell.begin();
         while(it!=cell.end())
@@ -175,8 +188,22 @@ namespace vio {
                 continue;
             }
 ///TODO check point candidate handling
-
-            if(!matcher_.findMatchDirect(*it->pt, *frame, it->px))
+            //cv::Point pointb(it->px.x(), it->px.y());
+            //cv::circle(image, pointb,1,(255, 0, 0), 1);
+            Vector2d uvb(it->px.x(), it->px.y());
+#if VIO_DEBUG
+            fprintf(log_,"befor : %f  %f  after : ", it->px.x(), it->px.y());
+#endif
+            //std::cerr<<"before : "<<it->px.x()<<" "<<it->px.y()<<" after : ";
+            bool res = matcher_.findMatchDirect(*it->pt, *frame, it->px);
+            Vector2d uva(it->px.x(), it->px.y());
+#if VIO_DEBUG
+            fprintf(log_,"%f  %f  %s %f\n", it->px.x(), it->px.y(), (res?" TRUE":" FALSE"), (uvb - uva).squaredNorm());
+#endif
+            //std::cerr<<it->px.x()<<" "<<it->px.y()<<(res?" TRUE":" FALSE")<<std::endl;
+            //cv::Point pointa(it->px.x(), it->px.y());
+            //cv::circle(image, pointa,1,(0, 255, 0), 1);
+            if(!res)
             {
                 it->pt->n_failed_reproj_++;
 /*                if(it->pt->type_ == Point::TYPE_UNKNOWN && it->pt->n_failed_reproj_ > 15)
@@ -214,6 +241,8 @@ namespace vio {
             // Maximum one point per cell.
             return true;
         }
+        //cv::imwrite("/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/image.png", image);
+        //std::exit(223);
         return false;
     }