diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt index c480dfa..90274c1 100755 --- a/GPU_version/vio/depth_filter_log.txt +++ b/GPU_version/vio/depth_filter_log.txt @@ -1,123 +1,122 @@ -[11:06:58.541] New key frame -[11:06:58.541] BA loop run -[11:06:58.542] init error: 111.169209 -[11:06:58.543] end error: 0.522741 -[11:06:58.674] New key frame -[11:06:58.674] BA loop run -[11:06:58.674] init error: 1535.405047 -[11:06:58.675] end error: 0.000000 -[11:06:58.782] New key frame -[11:06:58.782] BA loop run -[11:06:58.783] init error: 2166.366615 -[11:06:58.783] end error: 0.000000 -[11:06:58.895] New key frame -[11:06:58.895] BA loop run -[11:06:58.895] init error: 1969008.499946 -[11:06:58.896] end error: 13.098446 -[11:06:59.011] New key frame -[11:06:59.011] BA loop run -[11:06:59.011] init error: 48.044026 -[11:06:59.012] end error: 0.000311 -[11:06:59.127] New key frame -[11:06:59.127] BA loop run -[11:06:59.128] init error: 104.907537 -[11:06:59.129] end error: 0.029171 -[11:06:59.244] New key frame -[11:06:59.244] BA loop run -[11:06:59.244] init error: 29.231466 -[11:06:59.246] end error: 0.185819 -[11:06:59.359] New key frame -[11:06:59.359] BA loop run -[11:06:59.360] init error: 94.753494 -[11:06:59.361] end error: 0.154880 -[11:06:59.467] New key frame -[11:06:59.467] BA loop run -[11:06:59.468] init error: 19.887575 -[11:06:59.470] end error: 0.184039 -[11:06:59.687] New key frame -[11:06:59.687] BA loop run -[11:06:59.688] init error: 749.082843 -[11:06:59.689] end error: 0.267130 -[11:06:59.922] New key frame -[11:06:59.923] BA loop run -[11:06:59.923] init error: 68.437401 -[11:06:59.927] end error: 0.030856 -[11:07:00.046] New key frame -[11:07:00.046] BA loop run -[11:07:00.047] init error: 168.228993 -[11:07:00.050] end error: 0.680629 -[11:07:00.177] New key frame -[11:07:00.177] BA loop run -[11:07:00.178] init error: 226.456550 -[11:07:00.186] end error: 1.624141 -[11:07:00.322] New key frame -[11:07:00.322] BA loop run -[11:07:00.324] init error: 364.297420 -[11:07:00.331] end error: 6.241724 -[11:07:00.592] New key frame -[11:07:00.592] BA loop run -[11:07:00.595] init error: 2947.304509 -[11:07:00.605] end error: 14.801503 -[11:07:00.750] New key frame -[11:07:00.750] BA loop run -[11:07:00.753] init error: 173.564319 -[11:07:00.765] end error: 14.556827 -[11:07:00.904] New key frame -[11:07:00.904] BA loop run -[11:07:00.906] init error: 53039.896271 -[11:07:00.914] end error: 25.636613 -[11:07:01.073] New key frame -[11:07:01.073] BA loop run -[11:07:01.076] init error: 99896.971378 -[11:07:01.087] end error: 46.032739 -[11:07:01.568] New key frame -[11:07:01.568] BA loop run -[11:07:01.572] init error: 9966032.579275 -[11:07:01.587] end error: 95.730038 -[11:07:03.035] New key frame -[11:07:03.035] BA loop run -[11:07:03.040] init error: 606.022870 -[11:07:03.054] end error: 22.251060 -[11:07:03.288] New key frame -[11:07:03.288] BA loop run -[11:07:03.294] init error: 10166.284486 -[11:07:03.310] end error: 14.188260 -[11:07:03.800] New key frame -[11:07:03.801] BA loop run -[11:07:03.808] init error: 3525.805163 -[11:07:03.829] end error: 20.503755 -[11:07:04.084] New key frame -[11:07:04.084] BA loop run -[11:07:04.088] init error: 14189.806864 -[11:07:04.102] end error: 216.837482 -[11:07:04.342] New key frame -[11:07:04.342] BA loop run -[11:07:04.348] init error: 4400.882280 -[11:07:04.367] end error: 37.015205 -[11:07:04.683] New key frame -[11:07:04.683] BA loop run -[11:07:04.689] init error: 19475.042082 -[11:07:04.707] end error: 61.342958 -[11:07:06.465] New key frame -[11:07:06.465] BA loop run -[11:07:06.471] init error: 6078.668617 -[11:07:06.487] end error: 88.529552 -[11:07:06.641] New key frame -[11:07:06.641] BA loop run -[11:07:06.649] init error: 2713.465438 -[11:07:06.664] end error: 56.754345 -[11:07:06.781] New key frame -[11:07:06.781] BA loop run -[11:07:06.787] init error: 8196.651295 -[11:07:06.803] end error: 20.070581 -[11:07:06.921] New key frame -[11:07:06.922] BA loop run -[11:07:06.928] init error: 42486.824606 -[11:07:06.943] end error: 13.026887 -[11:07:07.048] New key frame -[11:07:07.048] BA loop run -[11:07:07.054] init error: 15360.510680 -[11:07:07.068] end error: 20.866226 -[11:07:07.179] New key frame -[11:07:07.179] BA loop run -[11:0 \ No newline at end of file +[13:47:32.811] New key frame +[13:47:32.811] BA loop run +[13:47:32.814] init error: 9.234706 +[13:47:32.820] end error: 0.008980 +[13:47:32.946] New key frame +[13:47:32.946] BA loop run +[13:47:32.948] init error: 27.389863 +[13:47:32.954] end error: 2.236662 +[13:47:33.781] New key frame +[13:47:33.781] BA loop run +[13:47:33.783] init error: 94.643184 +[13:47:33.789] end error: 3.372762 +[13:47:33.984] New key frame +[13:47:33.984] BA loop run +[13:47:33.987] init error: 625.435993 +[13:47:33.994] end error: 5.147586 +[13:47:34.284] New key frame +[13:47:34.284] BA loop run +[13:47:34.287] init error: 107.819050 +[13:47:34.295] end error: 10.211351 +[13:47:34.480] New key frame +[13:47:34.480] BA loop run +[13:47:34.483] init error: 748.273313 +[13:47:34.496] end error: 191.560372 +[13:47:34.712] New key frame +[13:47:34.712] BA loop run +[13:47:34.716] init error: 23103.095029 +[13:47:34.728] end error: 30.581954 +[13:47:34.998] New key frame +[13:47:34.998] BA loop run +[13:47:35.003] init error: 1685.467973 +[13:47:35.027] end error: 29.128400 +[13:47:35.379] New key frame +[13:47:35.379] BA loop run +[13:47:35.385] init error: 450.889359 +[13:47:35.409] end error: 75.097102 +[13:47:35.820] New key frame +[13:47:35.820] BA loop run +[13:47:35.829] init error: 673.634333 +[13:47:36.205] end error: 72.631437 +[13:47:36.434] New key frame +[13:47:36.434] BA loop run +[13:47:36.443] init error: 364.392224 +[13:47:36.814] end error: 930.000115 +[13:47:37.109] New key frame +[13:47:37.109] BA loop run +[13:47:37.121] init error: 6323.348385 +[13:47:37.405] end error: 102.211472 +[13:47:37.644] New key frame +[13:47:37.644] BA loop run +[13:47:37.655] init error: 1095.200795 +[13:47:38.210] end error: 96.963625 +[13:47:38.393] New key frame +[13:47:38.393] BA loop run +[13:47:38.406] init error: 148174.041099 +[13:47:38.653] end error: 622.209864 +[13:47:38.925] New key frame +[13:47:38.925] BA loop run +[13:47:38.937] init error: 2647.081480 +[13:47:39.260] end error: 116.262759 +[13:47:39.532] New key frame +[13:47:39.532] BA loop run +[13:47:39.545] init error: 9444.067840 +[13:47:40.300] end error: 772.068988 +[13:47:40.348] New key frame +[13:47:40.348] BA loop run +[13:47:40.381] init error: 1961.781686 +[13:47:41.300] end error: 504.437870 +[13:47:41.315] New key frame +[13:47:41.315] BA loop run +[13:47:41.331] init error: 55097.105814 +[13:47:42.081] end error: 885.378834 +[13:47:42.241] New key frame +[13:47:42.241] BA loop run +[13:47:42.254] init error: 1434.417662 +[13:47:43.180] end error: 149.152293 +[13:47:43.188] New key frame +[13:47:43.189] BA loop run +[13:47:43.213] init error: 14500.734445 +[13:47:43.549] end error: 1186.435667 +[13:47:43.875] New key frame +[13:47:43.875] BA loop run +[13:47:43.888] init error: 53845.436036 +[13:47:44.139] end error: 504.437132 +[13:47:44.462] New key frame +[13:47:44.462] BA loop run +[13:47:44.477] init error: 44036.338866 +[13:47:44.837] end error: 292.357080 +[13:47:45.095] New key frame +[13:47:45.095] BA loop run +[13:47:45.109] init error: 883.006827 +[13:47:45.410] end error: 156.079028 +[13:47:45.636] New key frame +[13:47:45.637] BA loop run +[13:47:45.656] init error: 2310.251462 +[13:47:45.821] end error: 177.760928 +[13:47:46.218] New key frame +[13:47:46.218] BA loop run +[13:47:46.231] init error: 46169.589454 +[13:47:46.279] end error: 160.495468 +[13:47:46.701] New key frame +[13:47:46.701] BA loop run +[13:47:46.723] init error: 133197.234069 +[13:47:46.768] end error: 261.644316 +[13:47:47.175] New key frame +[13:47:47.176] BA loop run +[13:47:47.193] init error: 1843.110346 +[13:47:47.257] end error: 217.782825 +[13:47:47.619] New key frame +[13:47:47.619] BA loop run +[13:47:47.641] init error: 3208.125969 +[13:47:48.349] end error: 203.439628 +[13:47:48.588] New key frame +[13:47:48.588] BA loop run +[13:47:48.609] init error: 738.226202 +[13:47:49.264] end error: 218.201207 +[13:47:49.406] New key frame +[13:47:49.406] BA loop run +[13:47:49.423] init error: 130088.351726 +[13:47:49.477] end error: 168.185621 +[13:47:49.836] New key frame +[1 \ No newline at end of file diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index 7ba73c5..2903a96 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,728 +1,767 @@ -[11:06:56.451] frame process finished the id is: 0 the obs is:0 -[11:06:56.536] frame process finished the id is: 1 the obs is:0 -[11:06:56.640] Init: frame zero: 0.000000, 0.000000 0.000000 -[11:06:56.640] Init: Selected first frame. -[11:06:56.640] frame process finished the id is: 2 the obs is:0 -[11:06:56.668] Init: px average disparity is:0.152753 ,While minimum is: 10.000000 KLT tracked : 109 -[11:06:56.668] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:56.668] frame process finished the id is: 3 the obs is:0 -[11:06:56.776] Init: px average disparity is:0.221920 ,While minimum is: 10.000000 KLT tracked : 109 -[11:06:56.776] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:56.776] frame process finished the id is: 4 the obs is:0 -[11:06:56.865] Init: px average disparity is:0.152235 ,While minimum is: 10.000000 KLT tracked : 109 -[11:06:56.865] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:56.865] frame process finished the id is: 5 the obs is:0 -[11:06:56.973] Init: px average disparity is:0.197958 ,While minimum is: 10.000000 KLT tracked : 109 -[11:06:56.973] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:56.974] frame process finished the id is: 6 the obs is:0 -[11:06:57.068] Init: px average disparity is:0.221111 ,While minimum is: 10.000000 KLT tracked : 109 -[11:06:57.068] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:57.068] frame process finished the id is: 7 the obs is:0 -[11:06:57.167] Init: px average disparity is:0.224726 ,While minimum is: 10.000000 KLT tracked : 109 -[11:06:57.167] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:57.167] frame process finished the id is: 8 the obs is:0 -[11:06:57.274] Init: px average disparity is:0.158653 ,While minimum is: 10.000000 KLT tracked : 109 -[11:06:57.274] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:57.274] frame process finished the id is: 9 the obs is:0 -[11:06:57.363] Odometry x=0.000000, y=0.000000, theta=-0.000000 -[11:06:57.379] Init: px average disparity is:0.179287 ,While minimum is: 10.000000 KLT tracked : 109 -[11:06:57.379] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:57.379] frame process finished the id is: 10 the obs is:0 -[11:06:57.456] Odometry x=0.000001, y=0.000003, theta=-0.032076 -[11:06:57.466] Init: px average disparity is:0.148421 ,While minimum is: 10.000000 KLT tracked : 109 -[11:06:57.466] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:57.466] frame process finished the id is: 11 the obs is:0 -[11:06:57.554] Odometry x=0.000002, y=0.000008, theta=-0.056012 -[11:06:57.580] Init: px average disparity is:0.137330 ,While minimum is: 10.000000 KLT tracked : 109 -[11:06:57.580] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:57.580] frame process finished the id is: 12 the obs is:0 -[11:06:57.656] Odometry x=0.000006, y=0.000005, theta=-0.079177 -[11:06:57.667] Init: px average disparity is:4.945143 ,While minimum is: 10.000000 KLT tracked : 109 -[11:06:57.667] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:57.667] frame process finished the id is: 13 the obs is:0 -[11:06:57.755] Odometry x=0.000001, y=0.000022, theta=-0.092287 -[11:06:57.844] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:11.912397 ,While minimum is: 10.000000 KLT tracked: 109 -[11:06:57.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:57.844] frame process finished the id is: 14 the obs is:0 -[11:06:57.857] Odometry x=0.000010, y=0.000035, theta=-0.115961 -[11:06:57.935] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:19.121424 ,While minimum is: 10.000000 KLT tracked: 109 -[11:06:57.935] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:57.935] frame process finished the id is: 15 the obs is:0 -[11:06:57.954] Odometry x=0.000015, y=0.000040, theta=-0.148211 -[11:06:58.043] Init: Homography RANSAC (inlier) is:1 ,While 50 inliers minimum required. px average disparity is:29.212896 ,While minimum is: 10.000000 KLT tracked: 109 -[11:06:58.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:58.043] frame process finished the id is: 16 the obs is:0 -[11:06:58.057] Odometry x=0.000019, y=0.000044, theta=-0.179404 -[11:06:58.136] Init: Homography RANSAC (inlier) is:12 ,While 50 inliers minimum required. px average disparity is:40.866547 ,While minimum is: 10.000000 KLT tracked: 109 -[11:06:58.136] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:58.136] frame process finished the id is: 17 the obs is:0 -[11:06:58.155] Odometry x=0.000012, y=0.000052, theta=-0.209564 -[11:06:58.238] Init: Homography RANSAC (inlier) is:12 ,While 50 inliers minimum required. px average disparity is:51.065260 ,While minimum is: 10.000000 KLT tracked: 109 -[11:06:58.238] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:58.238] frame process finished the id is: 18 the obs is:0 -[11:06:58.255] Odometry x=0.000033, y=0.000051, theta=-0.233318 -[11:06:58.335] Init: Homography RANSAC (inlier) is:18 ,While 50 inliers minimum required. px average disparity is:58.238817 ,While minimum is: 10.000000 KLT tracked: 108 -[11:06:58.335] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:58.335] frame process finished the id is: 19 the obs is:0 -[11:06:58.355] Odometry x=0.000041, y=0.000053, theta=-0.260805 -[11:06:58.447] Init: Homography RANSAC (inlier) is:37 ,While 50 inliers minimum required. px average disparity is:68.778966 ,While minimum is: 10.000000 KLT tracked: 106 -[11:06:58.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:06:58.447] frame process finished the id is: 20 the obs is:0 -[11:06:58.457] Odometry x=0.000056, y=0.000052, theta=-0.290973 -[11:06:58.541] Init finished: Homography RANSAC (inlier) is:51 ,While 50 inliers minimum required. px average disparity is:79.322258 ,While minimum is: 10.000000 KLT tracked: 105 -[11:06:58.541] Init: distance between the first and current frame is x:0.000065 ,z=0.000061,angle between two frames: -0.320842 -[11:06:58.541] Init: Selected Second frame. The number of features: 51 depth mean:0.017606 min:-0.079090 -[11:06:58.541] frame process finished the id is: 21 the obs is:51 -[11:06:58.554] Odometry x=0.000065, y=0.000061, theta=-0.320842 -[11:06:58.653] Odometry x=0.000073, y=0.000060, theta=-0.348643 -[11:06:58.674] After Reprojection Map nMatches:50 ,distance between ekf and vo x:-0.000035 ,z=0.000057,angle between two frames:0.001333 -[11:06:58.674] n deleted obs = 22 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.145479 error end=0.145479 -[11:06:58.674] After pose optimization, distance between ekf and vo x:-0.000035 ,z=0.000057,angle between two frames:0.001333 -[11:06:58.674] Update EKF and 3D points the number of feature in the new frame: 28 and number of obs: 28 -[11:06:58.674] need key frame pitch dis: 0.350212 translation dif:0.000104 -[11:06:58.674] Choose frame as a key frame Scene Depth mean:-0.016632 ,depth min:-0.053989 -[11:06:58.674] frame process finished the id is: 22 the obs is:28 -[11:06:58.757] Odometry x=0.000065, y=0.000079, theta=-0.375535 -[11:06:58.782] After Reprojection Map nMatches:26 ,distance between ekf and vo x:-0.000005 ,z=0.000014,angle between two frames:0.000548 -[11:06:58.782] n deleted obs = 8 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =18 error init =0.013782 error end=0.013782 -[11:06:58.782] After pose optimization, distance between ekf and vo x:-0.000005 ,z=0.000014,angle between two frames:0.000548 -[11:06:58.782] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18 -[11:06:58.782] need key frame pitch dis: 0.366246 translation dif:0.000114 -[11:06:58.782] Choose frame as a key frame Scene Depth mean:-0.017656 ,depth min:-0.060820 -[11:06:58.782] frame process finished the id is: 23 the obs is:18 -[11:06:58.854] Odometry x=0.000053, y=0.000101, theta=-0.366246 -[11:06:58.895] After Reprojection Map nMatches:17 ,distance between ekf and vo x:-0.000008 ,z=0.000004,angle between two frames:0.000916 -[11:06:58.895] n deleted obs = 5 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.001871 error end=0.001871 -[11:06:58.895] After pose optimization, distance between ekf and vo x:-0.000008 ,z=0.000004,angle between two frames:0.000916 -[11:06:58.895] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 -[11:06:58.895] need key frame pitch dis: 0.375436 translation dif:0.000122 -[11:06:58.895] Choose frame as a key frame Scene Depth mean:0.099809 ,depth min:-0.052875 -[11:06:58.895] frame process finished the id is: 24 the obs is:12 -[11:06:58.954] Odometry x=0.000059, y=0.000107, theta=-0.375436 -[11:06:59.010] After Reprojection Map nMatches:49 ,distance between ekf and vo x:0.000014 ,z=0.000067,angle between two frames:0.000102 -[11:06:59.010] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =36 error init =0.073159 error end=0.021675 -[11:06:59.011] After pose optimization, distance between ekf and vo x:-0.000981 ,z=-0.000308,angle between two frames:0.142173 -[11:06:59.011] Update EKF and 3D points the number of feature in the new frame: 36 and number of obs: 36 -[11:06:59.011] need key frame pitch dis: 0.212000 translation dif:0.019731 -[11:06:59.011] Choose frame as a key frame Scene Depth mean:0.002210 ,depth min:-0.202268 -[11:06:59.011] frame process finished the id is: 25 the obs is:36 -[11:06:59.056] Odometry x=-0.000660, y=-0.000106, theta=-0.279623 -[11:06:59.126] After Reprojection Map nMatches:52 ,distance between ekf and vo x:0.000013 ,z=0.000078,angle between two frames:0.000085 -[11:06:59.127] n deleted obs = 18 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =34 error init =0.024394 error end=0.023554 -[11:06:59.127] After pose optimization, distance between ekf and vo x:0.000274 ,z=0.000200,angle between two frames:0.018753 -[11:06:59.127] Update EKF and 3D points the number of feature in the new frame: 34 and number of obs: 34 -[11:06:59.127] need key frame pitch dis: 0.206542 translation dif:0.019663 -[11:06:59.127] Choose frame as a key frame Scene Depth mean:-0.020615 ,depth min:-0.245136 -[11:06:59.127] frame process finished the id is: 26 the obs is:34 -[11:06:59.154] Odometry x=-0.000452, y=0.000043, theta=-0.274164 -[11:06:59.243] After Reprojection Map nMatches:31 ,distance between ekf and vo x:-0.000026 ,z=0.000069,angle between two frames:0.000615 -[11:06:59.243] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =22 error init =0.009221 error end=0.009221 -[11:06:59.243] After pose optimization, distance between ekf and vo x:-0.000026 ,z=0.000069,angle between two frames:0.000615 -[11:06:59.243] Update EKF and 3D points the number of feature in the new frame: 22 and number of obs: 22 -[11:06:59.243] need key frame pitch dis: 0.283177 translation dif:0.000483 -[11:06:59.243] Choose frame as a key frame Scene Depth mean:-0.054119 ,depth min:-0.267462 -[11:06:59.244] frame process finished the id is: 27 the obs is:22 -[11:06:59.256] Odometry x=-0.000470, y=0.000110, theta=-0.283177 -[11:06:59.354] Odometry x=-0.000469, y=0.000120, theta=-0.314187 -[11:06:59.359] After Reprojection Map nMatches:21 ,distance between ekf and vo x:-0.000041 ,z=0.000120,angle between two frames:0.000575 -[11:06:59.359] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =19 error init =0.008569 error end=0.008472 -[11:06:59.359] After pose optimization, distance between ekf and vo x:-0.000409 ,z=-0.000311,angle between two frames:0.010902 -[11:06:59.359] Update EKF and 3D points the number of feature in the new frame: 19 and number of obs: 19 -[11:06:59.359] need key frame pitch dis: 0.306483 translation dif:0.000700 -[11:06:59.359] Choose frame as a key frame Scene Depth mean:-0.068819 ,depth min:-0.269408 -[11:06:59.359] frame process finished the id is: 28 the obs is:19 -[11:06:59.456] Odometry x=-0.000534, y=0.000043, theta=-0.334597 -[11:06:59.467] After Reprojection Map nMatches:15 ,distance between ekf and vo x:0.000013 ,z=0.000048,angle between two frames:0.000211 -[11:06:59.467] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =15 error init =0.000040 error end=0.000040 -[11:06:59.467] After pose optimization, distance between ekf and vo x:0.000013 ,z=0.000048,angle between two frames:0.000211 -[11:06:59.467] Update EKF and 3D points the number of feature in the new frame: 15 and number of obs: 15 -[11:06:59.467] need key frame pitch dis: 0.321323 translation dif:0.000641 -[11:06:59.467] Choose frame as a key frame Scene Depth mean:-0.079894 ,depth min:-0.353232 -[11:06:59.467] frame process finished the id is: 29 the obs is:15 -[11:06:59.554] Odometry x=-0.000641, y=0.000006, theta=-0.321323 -[11:06:59.582] After Reprojection Map nMatches:15 ,distance between ekf and vo x:-0.000038 ,z=0.000139,angle between two frames:0.000748 -[11:06:59.582] n deleted obs = 10 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.018059 error end=0.018059 -[11:06:59.582] After pose optimization, distance between ekf and vo x:-0.000038 ,z=0.000139,angle between two frames:0.000748 -[11:06:59.582] frame process finished the id is: 29 the obs is:15 -[11:06:59.656] Odometry x=-0.000633, y=0.000015, theta=-0.353447 -[11:06:59.687] After Reprojection Map nMatches:15 ,distance between ekf and vo x:0.000141 ,z=0.000068,angle between two frames:0.000815 -[11:06:59.687] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.027294 error end=0.025064 -[11:06:59.687] After pose optimization, distance between ekf and vo x:0.001606 ,z=-0.003935,angle between two frames:0.019132 -[11:06:59.687] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 -[11:06:59.687] need key frame pitch dis: 0.348134 translation dif:0.002922 -[11:06:59.687] Choose frame as a key frame Scene Depth mean:-0.264867 ,depth min:-0.449125 -[11:06:59.687] frame process finished the id is: 31 the obs is:12 -[11:06:59.754] Odometry x=0.000551, y=-0.002869, theta=-0.348134 -[11:06:59.803] After Reprojection Map nMatches:12 ,distance between ekf and vo x:-0.000484 ,z=0.000780,angle between two frames:0.001203 -[11:06:59.803] n deleted obs = 9 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 error init =0.007110 error end=0.007056 -[11:06:59.803] After pose optimization, distance between ekf and vo x:-0.000585 ,z=0.000471,angle between two frames:0.001484 -[11:06:59.803] frame process finished the id is: 31 the obs is:12 -[11:06:59.856] Odometry x=0.000559, y=-0.002863, theta=-0.378627 -[11:06:59.922] After Reprojection Map nMatches:44 ,distance between ekf and vo x:0.003857 ,z=0.000058,angle between two frames:0.009751 -[11:06:59.922] n deleted obs = 6 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =38 error init =0.090212 error end=0.079102 -[11:06:59.922] After pose optimization, distance between ekf and vo x:0.008459 ,z=-0.002547,angle between two frames:0.008796 -[11:06:59.922] Update EKF and 3D points the number of feature in the new frame: 38 and number of obs: 38 -[11:06:59.922] need key frame pitch dis: 0.312393 translation dif:0.027152 -[11:06:59.922] Choose frame as a key frame Scene Depth mean:-0.006309 ,depth min:-0.587591 -[11:06:59.922] frame process finished the id is: 33 the obs is:38 -[11:06:59.954] Odometry x=0.006777, y=-0.004721, theta=-0.380015 -[11:07:00.045] After Reprojection Map nMatches:78 ,distance between ekf and vo x:-0.000003 ,z=0.000046,angle between two frames:0.000210 -[11:07:00.045] n deleted obs = 13 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =65 error init =0.058348 error end=0.058348 -[11:07:00.045] After pose optimization, distance between ekf and vo x:-0.000003 ,z=0.000046,angle between two frames:0.000210 -[11:07:00.045] Update EKF and 3D points the number of feature in the new frame: 65 and number of obs: 65 -[11:07:00.046] need key frame pitch dis: 0.320395 translation dif:0.027116 -[11:07:00.046] Choose frame as a key frame Scene Depth mean:-0.032305 ,depth min:-0.510465 -[11:07:00.046] frame process finished the id is: 34 the obs is:65 -[11:07:00.056] Odometry x=0.006779, y=-0.004679, theta=-0.388018 -[11:07:00.158] Odometry x=0.006786, y=-0.004675, theta=-0.411228 -[11:07:00.174] After Reprojection Map nMatches:126 ,distance between ekf and vo x:-0.000020 ,z=0.000017,angle between two frames:0.000568 -[11:07:00.175] n deleted obs = 23 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =103 error init =0.034350 error end=0.027547 -[11:07:00.175] After pose optimization, distance between ekf and vo x:0.001955 ,z=-0.002258,angle between two frames:0.046675 -[11:07:00.175] Update EKF and 3D points the number of feature in the new frame: 103 and number of obs: 103 -[11:07:00.177] need key frame pitch dis: 0.319628 translation dif:0.028763 -[11:07:00.177] Choose frame as a key frame Scene Depth mean:-0.011347 ,depth min:-0.527633 -[11:07:00.177] frame process finished the id is: 35 the obs is:103 -[11:07:00.255] Odometry x=0.007216, y=-0.005158, theta=-0.423667 -[11:07:00.320] After Reprojection Map nMatches:176 ,distance between ekf and vo x:-0.000001 ,z=0.000007,angle between two frames:0.000440 -[11:07:00.321] n deleted obs = 29 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =147 error init =0.121094 error end=0.088411 -[11:07:00.321] After pose optimization, distance between ekf and vo x:-0.003289 ,z=0.007344,angle between two frames:0.137225 -[11:07:00.321] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147 -[11:07:00.322] need key frame pitch dis: 0.234847 translation dif:0.022651 -[11:07:00.322] Choose frame as a key frame Scene Depth mean:-0.159656 ,depth min:-7.115685 -[11:07:00.322] frame process finished the id is: 36 the obs is:147 -[11:07:00.354] Odometry x=0.005287, y=-0.000330, theta=-0.302469 -[11:07:00.456] Odometry x=0.005279, y=-0.000318, theta=-0.327099 -[11:07:00.458] After Reprojection Map nMatches:199 ,distance between ekf and vo x:0.000005 ,z=0.000010,angle between two frames:0.000008 -[11:07:00.459] n deleted obs = 37 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =162 error init =0.316894 error end=0.044814 -[11:07:00.459] After pose optimization, distance between ekf and vo x:-0.001593 ,z=0.000076,angle between two frames:0.483855 -[11:07:00.459] frame process finished the id is: 36 the obs is:147 -[11:07:00.554] Odometry x=0.005285, y=-0.000310, theta=-0.351682 -[11:07:00.590] After Reprojection Map nMatches:173 ,distance between ekf and vo x:0.000006 ,z=0.000013,angle between two frames:0.000003 -[11:07:00.590] n deleted obs = 21 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =152 error init =0.047439 error end=0.047439 -[11:07:00.590] After pose optimization, distance between ekf and vo x:0.000006 ,z=0.000013,angle between two frames:0.000003 -[11:07:00.590] Update EKF and 3D points the number of feature in the new frame: 152 and number of obs: 152 -[11:07:00.592] need key frame pitch dis: 0.310821 translation dif:0.039172 -[11:07:00.592] Choose frame as a key frame Scene Depth mean:-0.272442 ,depth min:-7.160390 -[11:07:00.592] frame process finished the id is: 38 the obs is:152 -[11:07:00.654] Odometry x=0.005301, y=-0.000298, theta=-0.342279 -[11:07:00.748] After Reprojection Map nMatches:236 ,distance between ekf and vo x:0.000011 ,z=0.000016,angle between two frames:0.000010 -[11:07:00.749] n deleted obs = 51 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =185 error init =0.051339 error end=0.041388 -[11:07:00.749] After pose optimization, distance between ekf and vo x:0.003056 ,z=-0.001891,angle between two frames:0.101580 -[11:07:00.749] Update EKF and 3D points the number of feature in the new frame: 185 and number of obs: 185 -[11:07:00.750] need key frame pitch dis: 0.319387 translation dif:0.046637 -[11:07:00.750] Choose frame as a key frame Scene Depth mean:-0.030572 ,depth min:-7.075789 -[11:07:00.750] frame process finished the id is: 39 the obs is:185 -[11:07:00.754] Odometry x=0.007550, y=-0.001715, theta=-0.274779 -[11:07:00.856] Odometry x=0.007553, y=-0.001715, theta=-0.301751 -[11:07:00.901] After Reprojection Map nMatches:282 ,distance between ekf and vo x:0.000006 ,z=0.000002,angle between two frames:0.000008 -[11:07:00.902] n deleted obs = 73 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =209 error init =0.024603 error end=0.021303 -[11:07:00.902] After pose optimization, distance between ekf and vo x:0.000642 ,z=0.001513,angle between two frames:0.098744 -[11:07:00.902] Update EKF and 3D points the number of feature in the new frame: 209 and number of obs: 209 -[11:07:00.904] need key frame pitch dis: 0.261505 translation dif:0.047818 -[11:07:00.904] Choose frame as a key frame Scene Depth mean:0.165577 ,depth min:-0.876819 -[11:07:00.904] frame process finished the id is: 40 the obs is:209 -[11:07:00.949] Odometry x=0.008028, y=-0.000595, theta=-0.216396 -[11:07:01.046] Odometry x=0.008024, y=-0.000597, theta=-0.251493 -[11:07:01.070] After Reprojection Map nMatches:279 ,distance between ekf and vo x:-0.000005 ,z=0.000053,angle between two frames:0.000114 -[11:07:01.070] n deleted obs = 35 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =244 error init =0.006849 error end=0.006849 -[11:07:01.070] After pose optimization, distance between ekf and vo x:-0.000005 ,z=0.000053,angle between two frames:0.000114 -[11:07:01.070] Update EKF and 3D points the number of feature in the new frame: 244 and number of obs: 244 -[11:07:01.073] need key frame pitch dis: 0.240359 translation dif:0.022744 -[11:07:01.073] Choose frame as a key frame Scene Depth mean:-0.114338 ,depth min:-7.010557 -[11:07:01.073] frame process finished the id is: 41 the obs is:244 -[11:07:01.149] Odometry x=0.008027, y=-0.000546, theta=-0.233459 -[11:07:01.239] After Reprojection Map nMatches:301 ,distance between ekf and vo x:0.000020 ,z=0.000023,angle between two frames:0.000014 -[11:07:01.241] n deleted obs = 59 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =242 error init =0.044666 error end=0.030511 -[11:07:01.241] After pose optimization, distance between ekf and vo x:-0.000262 ,z=0.002987,angle between two frames:0.198635 -[11:07:01.241] Update EKF and 3D points the number of feature in the new frame: 242 and number of obs: 242 -[11:07:01.242] need key frame pitch dis: 0.077845 translation dif:0.014837 -[11:07:01.242] frame process finished the id is: 42 the obs is:242 -[11:07:01.248] Odometry x=0.007837, y=0.001659, theta=-0.095298 -[11:07:01.356] Odometry x=0.007834, y=0.001671, theta=-0.126635 -[11:07:01.409] After Reprojection Map nMatches:307 ,distance between ekf and vo x:0.000079 ,z=0.000054,angle between two frames:0.000167 -[11:07:01.409] n deleted obs = 58 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =249 error init =0.053145 error end=0.053145 -[11:07:01.409] After pose optimization, distance between ekf and vo x:0.000079 ,z=0.000054,angle between two frames:0.000167 -[11:07:01.409] Update EKF and 3D points the number of feature in the new frame: 249 and number of obs: 249 -[11:07:01.411] need key frame pitch dis: 0.030538 translation dif:0.016200 -[11:07:01.411] frame process finished the id is: 43 the obs is:249 -[11:07:01.449] Odometry x=0.007913, y=0.001710, theta=-0.112066 -[11:07:01.547] Odometry x=0.007928, y=0.001719, theta=-0.142425 -[11:07:01.566] After Reprojection Map nMatches:311 ,distance between ekf and vo x:0.000023 ,z=0.000028,angle between two frames:0.000003 -[11:07:01.566] n deleted obs = 34 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =277 error init =0.021781 error end=0.021781 -[11:07:01.566] After pose optimization, distance between ekf and vo x:0.000023 ,z=0.000028,angle between two frames:0.000003 -[11:07:01.566] Update EKF and 3D points the number of feature in the new frame: 277 and number of obs: 277 -[11:07:01.568] need key frame pitch dis: 0.124062 translation dif:0.014836 -[11:07:01.568] Choose frame as a key frame Scene Depth mean:0.040162 ,depth min:-0.947652 -[11:07:01.568] frame process finished the id is: 44 the obs is:277 -[11:07:01.649] Odometry x=0.007936, y=0.001729, theta=-0.171015 -[11:07:01.737] After Reprojection Map nMatches:376 ,distance between ekf and vo x:0.000014 ,z=0.000011,angle between two frames:0.000033 -[11:07:01.738] n deleted obs = 118 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =258 error init =0.078687 error end=0.074192 -[11:07:01.738] After pose optimization, distance between ekf and vo x:0.006743 ,z=-0.001360,angle between two frames:0.111099 -[11:07:01.738] Update EKF and 3D points the number of feature in the new frame: 258 and number of obs: 258 -[11:07:01.739] need key frame pitch dis: 0.059787 translation dif:0.019017 -[11:07:01.739] frame process finished the id is: 45 the obs is:258 -[11:07:01.756] Odometry x=0.012901, y=0.000738, theta=-0.077173 -[11:07:01.849] Odometry x=0.012911, y=0.000748, theta=-0.104212 -[11:07:01.904] After Reprojection Map nMatches:338 ,distance between ekf and vo x:0.000022 ,z=0.000010,angle between two frames:0.000013 -[11:07:01.905] n deleted obs = 96 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =242 error init =0.029130 error end=0.029130 -[11:07:01.905] After pose optimization, distance between ekf and vo x:0.000022 ,z=0.000010,angle between two frames:0.000013 -[11:07:01.905] Update EKF and 3D points the number of feature in the new frame: 242 and number of obs: 242 -[11:07:01.906] need key frame pitch dis: 0.047458 translation dif:0.013838 -[11:07:01.906] frame process finished the id is: 46 the obs is:242 -[11:07:01.947] Odometry x=0.012906, y=0.000772, theta=-0.091776 -[11:07:02.048] Odometry x=0.012904, y=0.000783, theta=-0.121549 -[11:07:02.081] After Reprojection Map nMatches:394 ,distance between ekf and vo x:0.000017 ,z=0.000036,angle between two frames:0.000022 -[11:07:02.082] n deleted obs = 141 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =253 error init =0.067085 error end=0.067085 -[11:07:02.082] After pose optimization, distance between ekf and vo x:0.000017 ,z=0.000036,angle between two frames:0.000022 -[11:07:02.082] Update EKF and 3D points the number of feature in the new frame: 253 and number of obs: 253 -[11:07:02.083] need key frame pitch dis: 0.031416 translation dif:0.013872 -[11:07:02.083] frame process finished the id is: 47 the obs is:253 -[11:07:02.147] Odometry x=0.012927, y=0.000806, theta=-0.107818 -[11:07:02.249] Odometry x=0.012925, y=0.000806, theta=-0.142574 -[11:07:02.270] After Reprojection Map nMatches:367 ,distance between ekf and vo x:0.000012 ,z=0.000049,angle between two frames:0.000028 -[11:07:02.271] n deleted obs = 99 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =268 error init =0.032349 error end=0.032349 -[11:07:02.271] After pose optimization, distance between ekf and vo x:0.000012 ,z=0.000049,angle between two frames:0.000028 -[11:07:02.271] Update EKF and 3D points the number of feature in the new frame: 268 and number of obs: 268 -[11:07:02.272] need key frame pitch dis: 0.014126 translation dif:0.013907 -[11:07:02.272] frame process finished the id is: 48 the obs is:268 -[11:07:02.347] Odometry x=0.012944, y=0.000850, theta=-0.125109 -[11:07:02.449] Odometry x=0.012949, y=0.000855, theta=-0.144046 -[11:07:02.450] After Reprojection Map nMatches:444 ,distance between ekf and vo x:0.000016 ,z=0.000024,angle between two frames:0.000004 -[11:07:02.451] n deleted obs = 74 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =370 error init =0.014139 error end=0.014139 -[11:07:02.451] After pose optimization, distance between ekf and vo x:0.000016 ,z=0.000024,angle between two frames:0.000004 -[11:07:02.451] Update EKF and 3D points the number of feature in the new frame: 370 and number of obs: 370 -[11:07:02.453] need key frame pitch dis: 0.010550 translation dif:0.013924 -[11:07:02.453] frame process finished the id is: 49 the obs is:370 -[11:07:02.551] Odometry x=0.012955, y=0.000864, theta=-0.169187 -[11:07:02.647] Odometry x=0.012968, y=0.000872, theta=-0.193294 -[11:07:02.650] After Reprojection Map nMatches:425 ,distance between ekf and vo x:0.000003 ,z=0.000005,angle between two frames:0.000093 -[11:07:02.650] n deleted obs = 95 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =330 error init =0.068766 error end=0.068766 -[11:07:02.650] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000005,angle between two frames:0.000093 -[11:07:02.650] Update EKF and 3D points the number of feature in the new frame: 330 and number of obs: 330 -[11:07:02.652] need key frame pitch dis: 0.045650 translation dif:0.013933 -[11:07:02.652] frame process finished the id is: 50 the obs is:330 -[11:07:02.749] Odometry x=0.012961, y=0.000882, theta=-0.221557 -[11:07:02.847] Odometry x=0.012962, y=0.000887, theta=-0.252179 -[11:07:02.850] After Reprojection Map nMatches:390 ,distance between ekf and vo x:0.000023 ,z=0.000039,angle between two frames:0.000003 -[11:07:02.850] n deleted obs = 106 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =284 error init =0.066814 error end=0.066814 -[11:07:02.850] After pose optimization, distance between ekf and vo x:0.000023 ,z=0.000039,angle between two frames:0.000003 -[11:07:02.850] Update EKF and 3D points the number of feature in the new frame: 284 and number of obs: 284 -[11:07:02.852] need key frame pitch dis: 0.090843 translation dif:0.013957 -[11:07:02.852] frame process finished the id is: 51 the obs is:284 -[11:07:02.948] Odometry x=0.012984, y=0.000896, theta=-0.272707 -[11:07:03.033] After Reprojection Map nMatches:411 ,distance between ekf and vo x:0.000007 ,z=0.000010,angle between two frames:0.000040 -[11:07:03.034] n deleted obs = 135 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =276 error init =0.039324 error end=0.039324 -[11:07:03.034] After pose optimization, distance between ekf and vo x:0.000007 ,z=0.000010,angle between two frames:0.000040 -[11:07:03.034] Update EKF and 3D points the number of feature in the new frame: 276 and number of obs: 276 -[11:07:03.035] need key frame pitch dis: 0.110728 translation dif:0.013971 -[11:07:03.035] Choose frame as a key frame Scene Depth mean:0.029549 ,depth min:-1.484752 -[11:07:03.035] frame process finished the id is: 52 the obs is:276 -[11:07:03.050] Odometry x=0.012987, y=0.000907, theta=-0.249962 -[11:07:03.147] Odometry x=0.012987, y=0.000917, theta=-0.276727 -[11:07:03.250] Odometry x=0.012998, y=0.000922, theta=-0.309878 -[11:07:03.282] After Reprojection Map nMatches:481 ,distance between ekf and vo x:0.000011 ,z=0.000011,angle between two frames:0.000126 -[11:07:03.285] n deleted obs = 154 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =327 error init =0.236551 error end=0.186599 -[11:07:03.285] After pose optimization, distance between ekf and vo x:-0.003142 ,z=0.000728,angle between two frames:0.007295 -[11:07:03.285] Update EKF and 3D points the number of feature in the new frame: 327 and number of obs: 327 -[11:07:03.288] need key frame pitch dis: 3.414761 translation dif:0.001851 -[11:07:03.288] Choose frame as a key frame Scene Depth mean:-0.047442 ,depth min:-7.149089 -[11:07:03.288] frame process finished the id is: 53 the obs is:327 -[11:07:03.352] Odometry x=0.010687, y=0.001449, theta=-0.278639 -[11:07:03.450] Odometry x=0.010687, y=0.001453, theta=-0.304854 -[11:07:03.550] Odometry x=0.010691, y=0.001455, theta=-0.334154 -[11:07:03.573] After Reprojection Map nMatches:569 ,distance between ekf and vo x:0.000003 ,z=0.000002,angle between two frames:0.000011 -[11:07:03.576] n deleted obs = 226 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =343 error init =0.789283 error end=0.098799 -[11:07:03.576] After pose optimization, distance between ekf and vo x:0.099806 ,z=-0.053768,angle between two frames:0.845572 -[11:07:03.576] frame process finished the id is: 53 the obs is:327 -[11:07:03.654] Odometry x=0.010694, y=0.001455, theta=-0.365605 -[11:07:03.749] Odometry x=0.010696, y=0.001463, theta=-0.393637 -[11:07:03.796] After Reprojection Map nMatches:524 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000002 -[11:07:03.797] n deleted obs = 168 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =356 error init =0.135030 error end=0.135030 -[11:07:03.797] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000002 -[11:07:03.797] Update EKF and 3D points the number of feature in the new frame: 356 and number of obs: 356 -[11:07:03.800] need key frame pitch dis: 0.227808 translation dif:0.009277 -[11:07:03.800] Choose frame as a key frame Scene Depth mean:-0.008250 ,depth min:-2.140007 -[11:07:03.801] frame process finished the id is: 55 the obs is:356 -[11:07:03.852] Odometry x=0.010701, y=0.001458, theta=-0.378576 -[11:07:03.956] Odometry x=0.010697, y=0.001457, theta=-0.391380 -[11:07:04.049] Odometry x=0.010697, y=0.001448, theta=-0.425112 -[11:07:04.080] After Reprojection Map nMatches:447 ,distance between ekf and vo x:0.000007 ,z=0.000004,angle between two frames:0.000009 -[11:07:04.081] n deleted obs = 133 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =314 error init =0.292479 error end=0.130981 -[11:07:04.081] After pose optimization, distance between ekf and vo x:0.008157 ,z=-0.003021,angle between two frames:0.067508 -[11:07:04.081] Update EKF and 3D points the number of feature in the new frame: 314 and number of obs: 314 -[11:07:04.083] need key frame pitch dis: 2.645695 translation dif:0.011271 -[11:07:04.083] Choose frame as a key frame Scene Depth mean:0.030855 ,depth min:-2.070079 -[11:07:04.084] frame process finished the id is: 56 the obs is:314 -[11:07:04.154] Odometry x=0.012495, y=0.000798, theta=-0.433045 -[11:07:04.251] Odometry x=0.012505, y=0.000810, theta=-0.452732 -[11:07:04.337] After Reprojection Map nMatches:436 ,distance between ekf and vo x:0.000004 ,z=-0.000001,angle between two frames:0.000048 -[11:07:04.339] n deleted obs = 125 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =311 error init =0.171241 error end=0.156063 -[11:07:04.339] After pose optimization, distance between ekf and vo x:0.002805 ,z=-0.001105,angle between two frames:0.005197 -[11:07:04.339] Update EKF and 3D points the number of feature in the new frame: 311 and number of obs: 311 -[11:07:04.341] need key frame pitch dis: 3.526419 translation dif:0.023242 -[11:07:04.342] Choose frame as a key frame Scene Depth mean:-0.010122 ,depth min:-12.353056 -[11:07:04.342] frame process finished the id is: 57 the obs is:311 -[11:07:04.350] Odometry x=0.014559, y=-0.000015, theta=-0.451097 -[11:07:04.447] Odometry x=0.014563, y=-0.000032, theta=-0.486222 -[11:07:04.547] Odometry x=0.014564, y=-0.000029, theta=-0.520927 -[11:07:04.647] Odometry x=0.014568, y=-0.000023, theta=-0.549400 -[11:07:04.679] After Reprojection Map nMatches:467 ,distance between ekf and vo x:0.000001 ,z=0.000000,angle between two frames:0.000005 -[11:07:04.680] n deleted obs = 110 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =357 error init =0.092912 error end=0.078799 -[11:07:04.680] After pose optimization, distance between ekf and vo x:0.001829 ,z=-0.000715,angle between two frames:0.070725 -[11:07:04.680] Update EKF and 3D points the number of feature in the new frame: 357 and number of obs: 357 -[11:07:04.683] need key frame pitch dis: 2.373300 translation dif:0.015132 -[11:07:04.683] Choose frame as a key frame Scene Depth mean:0.030048 ,depth min:-0.951150 -[11:07:04.683] frame process finished the id is: 58 the obs is:357 -[11:07:04.753] Odometry x=0.015913, y=-0.000547, theta=-0.431800 -[11:07:04.847] Odometry x=0.015913, y=-0.000549, theta=-0.457348 -[11:07:04.942] After Reprojection Map nMatches:441 ,distance between ekf and vo x:0.000006 ,z=-0.000003,angle between two frames:0.000088 -[11:07:04.945] n deleted obs = 118 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =323 error init =11.611596 error end=0.039294 -[11:07:04.945] After pose optimization, distance between ekf and vo x:-19.025652 ,z=-74.676610,angle between two frames:1.350734 -[11:07:04.945] frame process finished the id is: 58 the obs is:357 -[11:07:04.947] Odometry x=0.015931, y=-0.000554, theta=-0.468235 -[11:07:05.053] Odometry x=0.015936, y=-0.000549, theta=-0.499693 -[11:07:05.148] Odometry x=0.015946, y=-0.000544, theta=-0.528317 -[11:07:05.248] Odometry x=0.015955, y=-0.000542, theta=-0.558156 -[11:07:05.257] After Reprojection Map nMatches:441 ,distance between ekf and vo x:-0.000004 ,z=0.000000,angle between two frames:0.000263 -[11:07:05.259] n deleted obs = 197 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =244 error init =1.122930 error end=0.246340 -[11:07:05.259] After pose optimization, distance between ekf and vo x:0.175359 ,z=-0.060430,angle between two frames:1.184909 -[11:07:05.259] frame process finished the id is: 58 the obs is:357 -[11:07:05.353] Odometry x=0.015959, y=-0.000549, theta=-0.585232 -[11:07:05.447] Odometry x=0.015969, y=-0.000549, theta=-0.612663 -[11:07:05.502] After Reprojection Map nMatches:511 ,distance between ekf and vo x:-0.000002 ,z=0.000001,angle between two frames:0.000177 -[11:07:05.504] n deleted obs = 178 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =333 error init =2.391029 error end=0.209378 -[11:07:05.504] After pose optimization, distance between ekf and vo x:-0.114263 ,z=0.049805,angle between two frames:2.098815 -[11:07:05.504] frame process finished the id is: 58 the obs is:357 -[11:07:05.553] Odometry x=0.015984, y=-0.000550, theta=-0.643388 -[11:07:05.647] Odometry x=0.015997, y=-0.000551, theta=-0.658456 -[11:07:05.741] After Reprojection Map nMatches:457 ,distance between ekf and vo x:-0.000005 ,z=0.000001,angle between two frames:0.000382 -[11:07:05.742] n deleted obs = 100 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =357 error init =0.258330 error end=0.231143 -[11:07:05.742] After pose optimization, distance between ekf and vo x:-0.006307 ,z=0.000147,angle between two frames:0.635085 -[11:07:05.742] frame process finished the id is: 58 the obs is:357 -[11:07:05.753] Odometry x=0.016011, y=-0.000549, theta=-0.679460 -[11:07:05.848] Odometry x=0.016011, y=-0.000549, theta=-0.708275 -[11:07:05.948] Odometry x=0.016017, y=-0.000547, theta=-0.736179 -[11:07:06.017] After Reprojection Map nMatches:449 ,distance between ekf and vo x:-0.000004 ,z=0.000000,angle between two frames:0.000311 -[11:07:06.019] n deleted obs = 73 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =376 error init =0.277366 error end=0.050855 -[11:07:06.019] After pose optimization, distance between ekf and vo x:-0.018463 ,z=0.000760,angle between two frames:0.977088 -[11:07:06.019] frame process finished the id is: 58 the obs is:357 -[11:07:06.053] Odometry x=0.016018, y=-0.000538, theta=-0.767162 -[11:07:06.148] Odometry x=0.016023, y=-0.000531, theta=-0.798118 -[11:07:06.244] After Reprojection Map nMatches:365 ,distance between ekf and vo x:-0.000003 ,z=-0.000000,angle between two frames:0.000422 -[11:07:06.246] n deleted obs = 128 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =237 error init =0.181203 error end=0.051818 -[11:07:06.246] After pose optimization, distance between ekf and vo x:-0.000031 ,z=0.001262,angle between two frames:0.328805 -[11:07:06.246] frame process finished the id is: 58 the obs is:357 -[11:07:06.249] Odometry x=0.016037, y=-0.000532, theta=-0.825640 -[11:07:06.357] Odometry x=0.016050, y=-0.000530, theta=-0.851662 -[11:07:06.450] Odometry x=0.016059, y=-0.000533, theta=-0.876131 -[11:07:06.461] After Reprojection Map nMatches:380 ,distance between ekf and vo x:-0.000003 ,z=0.000001,angle between two frames:0.000319 -[11:07:06.463] n deleted obs = 86 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =294 error init =0.249988 error end=0.083116 -[11:07:06.463] After pose optimization, distance between ekf and vo x:-0.007377 ,z=0.007322,angle between two frames:0.114627 -[11:07:06.463] Update EKF and 3D points the number of feature in the new frame: 294 and number of obs: 294 -[11:07:06.464] need key frame pitch dis: 0.742504 translation dif:0.015707 -[11:07:06.465] Choose frame as a key frame Scene Depth mean:-0.005774 ,depth min:-6.443161 -[11:07:06.465] frame process finished the id is: 65 the obs is:294 -[11:07:06.550] Odometry x=0.014438, y=0.001076, theta=-0.871516 -[11:07:06.639] After Reprojection Map nMatches:284 ,distance between ekf and vo x:-0.000003 ,z=0.000003,angle between two frames:0.000013 -[11:07:06.640] n deleted obs = 105 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =179 error init =0.156698 error end=0.156698 -[11:07:06.640] After pose optimization, distance between ekf and vo x:-0.000003 ,z=0.000003,angle between two frames:0.000013 -[11:07:06.640] Update EKF and 3D points the number of feature in the new frame: 179 and number of obs: 179 -[11:07:06.641] need key frame pitch dis: 3.914251 translation dif:0.007215 -[11:07:06.641] Choose frame as a key frame Scene Depth mean:0.034777 ,depth min:-1.351853 -[11:07:06.641] frame process finished the id is: 66 the obs is:179 -[11:07:06.654] Odometry x=0.012584, y=0.002919, theta=-0.825449 -[11:07:06.756] Odometry x=0.012586, y=0.002915, theta=-0.855006 -[11:07:06.778] After Reprojection Map nMatches:277 ,distance between ekf and vo x:-0.000001 ,z=0.000003,angle between two frames:0.000042 -[11:07:06.780] n deleted obs = 111 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =166 error init =0.158959 error end=0.155657 -[11:07:06.780] After pose optimization, distance between ekf and vo x:0.000058 ,z=-0.000262,angle between two frames:0.017089 -[11:07:06.780] Update EKF and 3D points the number of feature in the new frame: 166 and number of obs: 166 -[11:07:06.781] need key frame pitch dis: 3.910915 translation dif:0.005977 -[11:07:06.781] Choose frame as a key frame Scene Depth mean:-0.001381 ,depth min:-0.921823 -[11:07:06.781] frame process finished the id is: 67 the obs is:166 -[11:07:06.849] Odometry x=0.012639, y=0.002724, theta=-0.830577 -[11:07:06.919] After Reprojection Map nMatches:246 ,distance between ekf and vo x:0.000003 ,z=0.000004,angle between two frames:0.000363 -[11:07:06.919] n deleted obs = 37 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =209 error init =0.032289 error end=0.032289 -[11:07:06.919] After pose optimization, distance between ekf and vo x:0.000003 ,z=0.000004,angle between two frames:0.000363 -[11:07:06.920] Update EKF and 3D points the number of feature in the new frame: 209 and number of obs: 209 -[11:07:06.921] need key frame pitch dis: 2.264916 translation dif:0.014286 -[11:07:06.921] Choose frame as a key frame Scene Depth mean:0.024923 ,depth min:-0.276906 -[11:07:06.921] frame process finished the id is: 68 the obs is:209 -[11:07:06.952] Odometry x=0.012647, y=0.002726, theta=-0.837456 -[11:07:07.046] After Reprojection Map nMatches:268 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000034 -[11:07:07.046] n deleted obs = 67 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =201 error init =0.397837 error end=0.397837 -[11:07:07.046] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000034 -[11:07:07.046] Update EKF and 3D points the number of feature in the new frame: 201 and number of obs: 201 -[11:07:07.048] need key frame pitch dis: 2.202327 translation dif:0.006333 -[11:07:07.048] Choose frame as a key frame Scene Depth mean:0.012490 ,depth min:-0.382688 -[11:07:07.048] frame process finished the id is: 69 the obs is:201 -[11:07:07.049] Odometry x=0.012643, y=0.002732, theta=-0.845838 -[11:07:07.151] Odometry x=0.012649, y=0.002730, theta=-0.856080 -[11:07:07.177] After Reprojection Map nMatches:229 ,distance between ekf and vo x:0.000000 ,z=0.000001,angle between two frames:0.000048 -[11:07:07.178] n deleted obs = 89 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =140 error init =0.222171 error end=0.179126 -[11:07:07.178] After pose optimization, distance between ekf and vo x:0.000223 ,z=0.000801,angle between two frames:0.191788 -[11:07:07.178] Update EKF and 3D points the number of feature in the new frame: 140 and number of obs: 140 -[11:07:07.179] need key frame pitch dis: 3.984537 translation dif:0.006548 -[11:07:07.179] Choose frame as a key frame Scene Depth mean:0.013431 ,depth min:-0.279727 -[11:07:07.179] frame process finished the id is: 70 the obs is:140 -[11:07:07.249] Odometry x=0.012825, y=0.003320, theta=-1.000166 -[11:07:07.300] After Reprojection Map nMatches:182 ,distance between ekf and vo x:-0.000001 ,z=0.000002,angle between two frames:0.000100 -[11:07:07.301] n deleted obs = 35 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =147 error init =0.016488 error end=0.012840 -[11:07:07.301] After pose optimization, distance between ekf and vo x:0.000075 ,z=-0.000277,angle between two frames:0.032459 -[11:07:07.301] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147 -[11:07:07.303] need key frame pitch dis: 4.122239 translation dif:0.027812 -[11:07:07.303] Choose frame as a key frame Scene Depth mean:0.074168 ,depth min:-0.406359 -[11:07:07.304] frame process finished the id is: 71 the obs is:147 -[11:07:07.349] Odometry x=0.012887, y=0.003117, theta=-1.033620 -[11:07:07.448] After Reprojection Map nMatches:204 ,distance between ekf and vo x:0.000003 ,z=0.000002,angle between two frames:0.000066 -[11:07:07.449] n deleted obs = 64 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =140 error init =0.123807 error end=0.097588 -[11:07:07.449] After pose optimization, distance between ekf and vo x:-0.001381 ,z=-0.000729,angle between two frames:0.022264 -[11:07:07.449] Update EKF and 3D points the number of feature in the new frame: 140 and number of obs: 140 -[11:07:07.450] need key frame pitch dis: 1.421671 translation dif:0.024268 -[11:07:07.450] Choose frame as a key frame Scene Depth mean:0.085112 ,depth min:-0.467078 -[11:07:07.450] frame process finished the id is: 72 the obs is:140 -[11:07:07.452] Odometry x=0.011879, y=0.002575, theta=-1.059555 -[11:07:07.549] Odometry x=0.011883, y=0.002576, theta=-1.098707 -[11:07:07.592] After Reprojection Map nMatches:213 ,distance between ekf and vo x:0.000000 ,z=0.000002,angle between two frames:0.000168 -[11:07:07.593] n deleted obs = 84 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =129 error init =0.353963 error end=0.353963 -[11:07:07.593] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000002,angle between two frames:0.000168 -[11:07:07.593] Update EKF and 3D points the number of feature in the new frame: 129 and number of obs: 129 -[11:07:07.595] need key frame pitch dis: 1.441848 translation dif:0.024312 -[11:07:07.595] Choose frame as a key frame Scene Depth mean:0.113952 ,depth min:-0.081213 -[11:07:07.595] frame process finished the id is: 73 the obs is:129 -[11:07:07.653] Odometry x=0.011892, y=0.002570, theta=-1.077846 -[11:07:07.736] After Reprojection Map nMatches:191 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000097 -[11:07:07.736] n deleted obs = 68 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =123 error init =0.068377 error end=0.068377 -[11:07:07.736] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000097 -[11:07:07.736] Update EKF and 3D points the number of feature in the new frame: 123 and number of obs: 123 -[11:07:07.737] need key frame pitch dis: 1.027010 translation dif:0.022094 -[11:07:07.737] Choose frame as a key frame Scene Depth mean:0.094349 ,depth min:-0.685110 -[11:07:07.737] frame process finished the id is: 74 the obs is:123 -[11:07:07.750] Odometry x=0.011904, y=0.002578, theta=-1.084870 -[11:07:07.852] Odometry x=0.011901, y=0.002568, theta=-1.116177 -[11:07:07.880] After Reprojection Map nMatches:208 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000046 -[11:07:07.881] n deleted obs = 61 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =147 error init =0.240389 error end=0.240389 -[11:07:07.881] After pose optimization, distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000046 -[11:07:07.881] Update EKF and 3D points the number of feature in the new frame: 147 and number of obs: 147 -[11:07:07.882] need key frame pitch dis: 1.271374 translation dif:0.035507 -[11:07:07.883] Choose frame as a key frame Scene Depth mean:0.054283 ,depth min:-1.977791 -[11:07:07.883] frame process finished the id is: 75 the obs is:147 -[11:07:07.950] Odometry x=0.011926, y=0.002566, theta=-1.102505 -[11:07:08.000] After Reprojection Map nMatches:152 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000001 -[11:07:08.001] n deleted obs = 36 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =116 error init =0.033481 error end=0.032619 -[11:07:08.001] After pose optimization, distance between ekf and vo x:-0.000068 ,z=0.000121,angle between two frames:0.000232 -[11:07:08.001] Update EKF and 3D points the number of feature in the new frame: 116 and number of obs: 116 -[11:07:08.002] need key frame pitch dis: 0.745318 translation dif:0.038130 -[11:07:08.002] Choose frame as a key frame Scene Depth mean:0.079111 ,depth min:-0.530107 -[11:07:08.002] frame process finished the id is: 76 the obs is:116 -[11:07:08.053] Odometry x=0.011879, y=0.002655, theta=-1.110722 -[11:07:08.105] After Reprojection Map nMatches:133 ,distance between ekf and vo x:-0.000000 ,z=-0.000000,angle between two frames:0.000039 -[11:07:08.105] n deleted obs = 33 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =100 error init =0.395833 error end=0.295037 -[11:07:08.105] After pose optimization, distance between ekf and vo x:0.002330 ,z=-0.002826,angle between two frames:0.002687 -[11:07:08.105] Update EKF and 3D points the number of feature in the new frame: 100 and number of obs: 100 -[11:07:08.106] need key frame pitch dis: 4.118604 translation dif:0.038917 -[11:07:08.106] Choose frame as a key frame Scene Depth mean:-0.037843 ,depth min:-0.622781 -[11:07:08.106] frame process finished the id is: 77 the obs is:100 -[11:07:08.155] Odometry x=0.013603, y=0.000577, theta=-1.117475 -[11:07:08.220] After Reprojection Map nMatches:130 ,distance between ekf and vo x:-0.000003 ,z=-0.000002,angle between two frames:0.000326 -[11:07:08.220] n deleted obs = 33 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =97 error init =0.052341 error end=0.052341 -[11:07:08.220] After pose optimization, distance between ekf and vo x:-0.000003 ,z=-0.000002,angle between two frames:0.000326 -[11:07:08.220] Update EKF and 3D points the number of feature in the new frame: 97 and number of obs: 97 -[11:07:08.221] need key frame pitch dis: 4.130085 translation dif:0.038302 -[11:07:08.221] Choose frame as a key frame Scene Depth mean:-0.068028 ,depth min:-0.776305 -[11:07:08.221] frame process finished the id is: 78 the obs is:97 -[11:07:08.252] Odometry x=0.013600, y=0.000566, theta=-1.125867 -[11:07:08.343] After Reprojection Map nMatches:150 ,distance between ekf and vo x:-0.000003 ,z=-0.000001,angle between two frames:0.000292 -[11:07:08.344] n deleted obs = 12 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =138 error init =0.101025 error end=0.101025 -[11:07:08.344] After pose optimization, distance between ekf and vo x:-0.000003 ,z=-0.000001,angle between two frames:0.000292 -[11:07:08.344] Update EKF and 3D points the number of feature in the new frame: 138 and number of obs: 138 -[11:07:08.345] need key frame pitch dis: 4.133893 translation dif:0.035146 -[11:07:08.345] Choose frame as a key frame Scene Depth mean:-0.087976 ,depth min:-1.648025 -[11:07:08.345] frame process finished the id is: 79 the obs is:138 -[11:07:08.349] Odometry x=0.013608, y=0.000559, theta=-1.134831 -[11:07:08.452] Odometry x=0.013634, y=0.000554, theta=-1.170567 -[11:07:08.457] After Reprojection Map nMatches:141 ,distance between ekf and vo x:-0.000004 ,z=-0.000002,angle between two frames:0.000342 -[11:07:08.458] n deleted obs = 57 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =84 error init =0.130741 error end=0.130741 -[11:07:08.458] After pose optimization, distance between ekf and vo x:-0.000004 ,z=-0.000002,angle between two frames:0.000342 -[11:07:08.458] Update EKF and 3D points the number of feature in the new frame: 84 and number of obs: 84 -[11:07:08.458] need key frame pitch dis: 0.543366 translation dif:0.027576 -[11:07:08.458] Choose frame as a key frame Scene Depth mean:-0.105817 ,depth min:-3.677933 -[11:07:08.458] frame process finished the id is: 80 the obs is:84 -[11:07:08.549] Odometry x=0.013629, y=0.000550, theta=-1.195068 -[11:07:08.553] After Reprojection Map nMatches:144 ,distance between ekf and vo x:0.000001 ,z=-0.000001,angle between two frames:0.000005 -[11:07:08.554] n deleted obs = 31 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =113 error init =0.017170 error end=0.017091 -[11:07:08.554] After pose optimization, distance between ekf and vo x:-0.000069 ,z=0.000174,angle between two frames:0.000904 -[11:07:08.554] Update EKF and 3D points the number of feature in the new frame: 113 and number of obs: 113 -[11:07:08.555] need key frame pitch dis: 4.232610 translation dif:0.032484 -[11:07:08.555] Choose frame as a key frame Scene Depth mean:0.065932 ,depth min:-0.137363 -[11:07:08.555] frame process finished the id is: 81 the obs is:113 -[11:07:08.653] Odometry x=0.013618, y=0.000585, theta=-1.222878 -[11:07:08.655] After Reprojection Map nMatches:180 ,distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000004 -[11:07:08.655] n deleted obs = 51 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =129 error init =0.335414 error end=0.335414 -[11:07:08.655] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000001,angle between two frames:0.000004 -[11:07:08.655] Update EKF and 3D points the number of feature in the new frame: 129 and number of obs: 129 -[11:07:08.656] need key frame pitch dis: 0.600470 translation dif:0.016136 -[11:07:08.656] Choose frame as a key frame Scene Depth mean:-0.046671 ,depth min:-1.632104 -[11:07:08.656] frame process finished the id is: 82 the obs is:129 -[11:07:08.752] Odometry x=0.013621, y=0.000582, theta=-1.256952 -[11:07:08.773] After Reprojection Map nMatches:183 ,distance between ekf and vo x:-0.000003 ,z=-0.000005,angle between two frames:0.000397 -[11:07:08.774] n deleted obs = 46 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =137 error init =0.055706 error end=0.033474 -[11:07:08.774] After pose optimization, distance between ekf and vo x:-0.001837 ,z=0.010565,angle between two frames:0.116647 -[11:07:08.774] Update EKF and 3D points the number of feature in the new frame: 137 and number of obs: 137 -[11:07:08.775] need key frame pitch dis: 0.260660 translation dif:0.015056 -[11:07:08.775] Choose frame as a key frame Scene Depth mean:-0.056510 ,depth min:-1.597598 -[11:07:08.775] frame process finished the id is: 83 the obs is:137 -[11:07:08.848] Odometry x=0.013223, y=0.002893, theta=-1.314508 -[11:07:08.895] After Reprojection Map nMatches:202 ,distance between ekf and vo x:-0.000002 ,z=-0.000001,angle between two frames:0.000239 -[11:07:08.896] n deleted obs = 68 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =134 error init =0.204926 error end=0.100290 -[11:07:08.896] After pose optimization, distance between ekf and vo x:-0.000890 ,z=0.004903,angle between two frames:0.059950 -[11:07:08.896] Update EKF and 3D points the number of feature in the new frame: 134 and number of obs: 134 -[11:07:08.896] need key frame pitch dis: 0.401488 translation dif:0.007657 -[11:07:08.896] Choose frame as a key frame Scene Depth mean:-0.031356 ,depth min:-1.591866 -[11:07:08.897] frame process finished the id is: 84 the obs is:134 -[11:07:08.952] Odometry x=0.012574, y=0.006491, theta=-1.366009 -[11:07:09.020] After Reprojection Map nMatches:210 ,distance between ekf and vo x:-0.000004 ,z=-0.000006,angle between two frames:0.000436 -[11:07:09.021] n deleted obs = 29 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =181 error init =0.011281 error end=0.011281 -[11:07:09.021] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000010,angle between two frames:0.000537 -[11:07:09.021] Update EKF and 3D points the number of feature in the new frame: 181 and number of obs: 181 -[11:07:09.022] need key frame pitch dis: 0.379444 translation dif:0.006545 -[11:07:09.022] Choose frame as a key frame Scene Depth mean:-0.043153 ,depth min:-1.580078 -[11:07:09.022] frame process finished the id is: 85 the obs is:181 -[11:07:09.055] Odometry x=0.012584, y=0.006488, theta=-1.375095 -[11:07:09.129] After Reprojection Map nMatches:226 ,distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000127 -[11:07:09.130] n deleted obs = 31 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =195 error init =0.108977 error end=0.103497 -[11:07:09.130] After pose optimization, distance between ekf and vo x:0.000815 ,z=-0.002352,angle between two frames:0.012727 -[11:07:09.130] Update EKF and 3D points the number of feature in the new frame: 195 and number of obs: 195 -[11:07:09.132] need key frame pitch dis: 0.309493 translation dif:0.009592 -[11:07:09.132] Choose frame as a key frame Scene Depth mean:0.394038 ,depth min:-1.539462 -[11:07:09.132] frame process finished the id is: 86 the obs is:195 -[11:07:09.157] Odometry x=0.013180, y=0.004761, theta=-1.392369 -[11:07:09.244] After Reprojection Map nMatches:284 ,distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000122 -[11:07:09.245] n deleted obs = 84 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =200 error init =0.032212 error end=0.032177 -[11:07:09.245] After pose optimization, distance between ekf and vo x:-0.000013 ,z=0.000052,angle between two frames:0.000112 -[11:07:09.245] Update EKF and 3D points the number of feature in the new frame: 200 and number of obs: 200 -[11:07:09.247] need key frame pitch dis: 0.345219 translation dif:0.011473 -[11:07:09.247] Choose frame as a key frame Scene Depth mean:-0.002032 ,depth min:-0.377516 -[11:07:09.248] frame process finished the id is: 87 the obs is:200 -[11:07:09.254] Odometry x=0.013175, y=0.004798, theta=-1.402033 -[11:07:09.355] Odometry x=0.013181, y=0.004807, theta=-1.429318 -[11:07:09.357] After Reprojection Map nMatches:208 ,distance between ekf and vo x:-0.000002 ,z=-0.000002,angle between two frames:0.000153 -[11:07:09.358] n deleted obs = 47 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =161 error init =0.018976 error end=0.018891 -[11:07:09.358] After pose optimization, distance between ekf and vo x:-0.000097 ,z=0.000032,angle between two frames:0.008783 -[11:07:09.358] Update EKF and 3D points the number of feature in the new frame: 161 and number of obs: 161 -[11:07:09.360] need key frame pitch dis: 1.703752 translation dif:0.017653 -[11:07:09.360] Choose frame as a key frame Scene Depth mean:-0.021653 ,depth min:-1.493908 -[11:07:09.360] frame process finished the id is: 88 the obs is:161 -[11:07:09.457] Odometry x=0.013161, y=0.004801, theta=-1.458501 -[11:07:09.489] After Reprojection Map nMatches:212 ,distance between ekf and vo x:-0.000001 ,z=-0.000003,angle between two frames:0.000182 -[11:07:09.491] n deleted obs = 54 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =158 error init =0.067111 error end=0.065330 -[11:07:09.491] After pose optimization, distance between ekf and vo x:-0.000098 ,z=0.000656,angle between two frames:0.000637 -[11:07:09.491] Update EKF and 3D points the number of feature in the new frame: 158 and number of obs: 158 -[11:07:09.492] need key frame pitch dis: 0.203474 translation dif:0.013395 -[11:07:09.492] Choose frame as a key frame Scene Depth mean:-0.048193 ,depth min:-1.520407 -[11:07:09.492] frame process finished the id is: 89 the obs is:158 -[11:07:09.554] Odometry x=0.013133, y=0.004949, theta=-1.485270 -[11:07:09.617] After Reprojection Map nMatches:296 ,distance between ekf and vo x:-0.000002 ,z=-0.000002,angle between two frames:0.000149 -[11:07:09.618] n deleted obs = 51 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =245 error init =0.085523 error end=0.085523 -[11:07:09.618] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000002,angle between two frames:0.000149 -[11:07:09.618] Update EKF and 3D points the number of feature in the new frame: 245 and number of obs: 245 -[11:07:09.620] need key frame pitch dis: 0.144032 translation dif:0.011249 -[11:07:09.620] Choose frame as a key frame Scene Depth mean:-0.031465 ,depth min:-1.489282 -[11:07:09.620] frame process finished the id is: 90 the obs is:245 -[11:07:09.651] Odometry x=0.013141, y=0.004944, theta=-1.494291 -[11:07:09.744] After Reprojection Map nMatches:248 ,distance between ekf and vo x:-0.000003 ,z=-0.000003,angle between two frames:0.000252 -[11:07:09.745] n deleted obs = 52 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =196 error init =0.091317 error end=0.079368 -[11:07:09.745] After pose optimization, distance between ekf and vo x:-0.000049 ,z=0.000405,angle between two frames:0.003851 -[11:07:09.745] Update EKF and 3D points the number of feature in the new frame: 196 and number of obs: 196 -[11:07:09.747] need key frame pitch dis: 0.109280 translation dif:0.008870 -[11:07:09.747] Choose frame as a key frame Scene Depth mean:-0.033764 ,depth min:-1.438838 -[11:07:09.747] frame process finished the id is: 91 the obs is:196 -[11:07:09.755] Odometry x=0.013113, y=0.005233, theta=-1.498338 -[11:07:09.847] Odometry x=0.013122, y=0.005228, theta=-1.528300 -[11:07:09.856] After Reprojection Map nMatches:238 ,distance between ekf and vo x:-0.000001 ,z=-0.000001,angle between two frames:0.000114 -[11:07:09.857] n deleted obs = 39 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =199 error init =0.012131 error end=0.012130 -[11:07:09.857] After pose optimization, distance between ekf and vo x:-0.000001 ,z=0.000005,angle between two frames:0.000123 -[11:07:09.857] Update EKF and 3D points the number of feature in the new frame: 199 and number of obs: 199 -[11:07:09.859] need key frame pitch dis: 1.793856 translation dif:0.017499 -[11:07:09.859] Choose frame as a key frame Scene Depth mean:-0.023104 ,depth min:-1.404713 -[11:07:09.859] frame process finished the id is: 92 the obs is:199 -[11:07:09.954] Odometry x=0.013116, y=0.005236, theta=-1.515117 -[11:07:09.981] After Reprojection Map nMatches:240 ,distance between ekf and vo x:-0.000003 ,z=-0.000003,angle between two frames:0.000261 -[11:07:09.982] n deleted obs = 76 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =164 error init =0.018174 error end=0.018042 -[11:07:09.982] After pose optimization, distance between ekf and vo x:0.000004 ,z=-0.000029,angle between two frames:0.000207 -[11:07:09.982] Update EKF and 3D points the number of feature in the new frame: 164 and number of obs: 164 -[11:07:09.983] need key frame pitch dis: 0.136428 translation dif:0.004671 -[11:07:09.983] Choose frame as a key frame Scene Depth mean:0.056638 ,depth min:-1.377374 -[11:07:09.983] frame process finished the id is: 93 the obs is:164 -[11:07:10.051] Odometry x=0.013124, y=0.005225, theta=-1.550542 -[11:07:10.097] After Reprojection Map nMatches:245 ,distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000078 -[11:07:10.097] n deleted obs = 78 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =167 error init =0.057132 error end=0.057132 -[11:07:10.097] After pose optimization, distance between ekf and vo x:0.000001 ,z=-0.000002,angle between two frames:0.000078 -[11:07:10.097] Update EKF and 3D points the number of feature in the new frame: 167 and number of obs: 167 -[11:07:10.099] need key frame pitch dis: 0.252436 translation dif:0.013428 -[11:07:10.099] Choose frame as a key frame Scene Depth mean:-0.008845 ,depth min:-1.384353 -[11:07:10.099] frame process finished the id is: 94 the obs is:167 -[11:07:10.153] Odometry x=0.013124, y=0.005216, theta=-1.558817 -[11:07:10.219] After Reprojection Map nMatches:291 ,distance between ekf and vo x:-0.000002 ,z=-0.000003,angle between two frames:0.000170 -[11:07:10.219] n deleted obs = 41 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =250 error init =0.014755 error end=0.014755 -[11:07:10.219] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000003,angle between two frames:0.000170 -[11:07:10.219] Update EKF and 3D points the number of feature in the new frame: 250 and number of obs: 250 -[11:07:10.221] need key frame pitch dis: 0.243648 translation dif:0.013424 -[11:07:10.221] Choose frame as a key frame Scene Depth mean:-0.016520 ,depth min:-0.317090 -[11:07:10.221] frame process finished the id is: 95 the obs is:250 -[11:07:10.251] Odometry x=0.013139, y=0.005215, theta=-1.567605 -[11:07:10.341] After Reprojection Map nMatches:269 ,distance between ekf and vo x:-0.000003 ,z=-0.000001,angle between two frames:0.000326 -[11:07:10.341] n deleted obs = 63 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =206 error init =0.987960 error end=0.225815 -[11:07:10.341] After pose optimization, distance between ekf and vo x:0.002130 ,z=0.002453,angle between two frames:0.210940 -[11:07:10.341] frame process finished the id is: 95 the obs is:250 -[11:07:10.348] Odometry x=0.013133, y=0.005205, theta=-1.593495 -[11:07:10.457] Odometry x=0.013139, y=0.005203, theta=-1.617107 -[11:07:10.457] After Reprojection Map nMatches:321 ,distance between ekf and vo x:-0.000003 ,z=-0.000000,angle between two frames:0.000276 -[11:07:10.459] n deleted obs = 84 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =237 error init =0.011194 error end=0.011173 -[11:07:10.459] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000052,angle between two frames:0.000134 -[11:07:10.459] Update EKF and 3D points the number of feature in the new frame: 237 and number of obs: 237 -[11:07:10.460] need key frame pitch dis: 0.095077 translation dif:0.008050 -[11:07:10.460] frame process finished the id is: 97 the obs is:237 -[11:07:10.548] Odometry x=0.013136, y=0.005191, theta=-1.639963 -[11:07:10.580] After Reprojection Map nMatches:297 ,distance between ekf and vo x:-0.000004 ,z=-0.000001,angle between two frames:0.000325 -[11:07:10.581] n deleted obs = 100 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =197 error init =0.085961 error end=0.082564 -[11:07:10.581] After pose optimization, distance between ekf and vo x:-0.000123 ,z=-0.000354,angle between two frames:0.002422 -[11:07:10.581] Update EKF and 3D points the number of feature in the new frame: 197 and number of obs: 197 -[11:07:10.582] need key frame pitch dis: 0.068593 translation dif:0.008022 -[11:07:10.582] frame process finished the id is: 98 the obs is:197 -[11:07:10.651] Odometry x=0.013115, y=0.005111, theta=-1.662607 -[11:07:10.701] After Reprojection Map nMatches:357 ,distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000027 -[11:07:10.702] n deleted obs = 95 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =262 error init =0.029260 error end=0.029260 -[11:07:10.702] After pose optimization, distance between ekf and vo x:0.000000 ,z=-0.000000,angle between two frames:0.000027 -[11:07:10.702] Update EKF and 3D points the number of feature in the new frame: 262 and number of obs: 262 -[11:07:10.703] need key frame pitch dis: 0.045788 translation dif:0.008042 -[11:07:10.703] frame process finished the id is: 99 the obs is:262 -[11:07:10.751] Odometry x=0.013111, y=0.005105, theta=-1.669462 -[11:07:10.825] After Reprojection Map nMatches:304 ,distance between ekf and vo x:-0.000002 ,z=-0.000001,angle between two frames:0.000190 -[11:07:10.825] n deleted obs = 92 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =212 error init =0.041762 error end=0.041762 -[11:07:10.826] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000001,angle between two frames:0.000190 -[11:07:10.826] Update EKF and 3D points the number of feature in the new frame: 212 and number of obs: 212 -[11:07:10.827] need key frame pitch dis: 0.071616 translation dif:0.009189 -[11:07:10.827] frame process finished the id is: 100 the obs is:212 -[11:07:10.854] Odometry x=0.013119, y=0.005106, theta=-1.675236 -[11:07:10.931] After Reprojection Map nMatches:246 ,distance between ekf and vo x:-0.000000 ,z=0.000001,angle between two frames:0.000032 -[11:07:10.932] n deleted obs = 78 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =168 error init =0.029848 error end=0.029810 -[11:07:10.932] After pose optimization, distance between ekf and vo x:-0.000054 ,z=-0.000112,angle between two frames:0.000019 -[11:07:10.932] Update EKF and 3D points the number of feature in the new frame: 168 and number of obs: 168 -[11:07:10.933] need key frame pitch dis: 0.030077 translation dif:0.008036 -[11:07:10.933] frame process finished the id is: 101 the obs is:168 -[11:07:10.957] Odometry x=0.013088, y=0.005028, theta=-1.685174 -[11:07:11.054] Odometry x=0.013098, y=0.005026, theta=-1.704063 -[11:07:11.065] After Reprojection Map nMatches:303 ,distance between ekf and vo x:-0.000000 ,z=0.000000,angle between two frames:0.000064 -[11:07:11.066] n deleted obs = 98 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =205 error init =0.034391 error end=0.028070 -[11:07:11.066] After pose optimization, distance between ekf and vo x:-0.000621 ,z=-0.000233,angle between two frames:0.081613 -[11:07:11.066] Update EKF and 3D points the number of feature in the new frame: 205 and number of obs: 205 -[11:07:11.067] need key frame pitch dis: 0.053009 translation dif:0.007731 -[11:07:11.067] frame process finished the id is: 102 the obs is:205 -[11:07:11.157] Odometry x=0.012953, y=0.004975, theta=-1.714570 -[11:07:11.255] Odometry x=0.012958, y=0.004978, theta=-1.745936 -[11:07:11.352] Odometry x=0.012958, y=0.004975, theta=-1.773745 -[11:07:11.456] Odometry x=0.012963, y=0.004967, theta=-1.801145 -[11:07:11.554] Odometry x=0.012970, y=0.004973, theta=-1.827468 -[11:07:11.652] Odometry x=0.012966, y=0.004966, theta=-1.854659 -[11:07:11.751] Odometry x=0.012961, y=0.004965, theta=-1.884182 -[11:07:11.852] Odometry x=0.012967, y=0.004970, theta=-1 \ No newline at end of file +[13:47:23.911] Init: frame zero: 0.000000, 0.000000 0.000000 +[13:47:23.912] Init: Selected first frame. +[13:47:23.912] frame process finished the id is: 0 the obs is:0 +[13:47:23.940] Init: px average disparity is:0.096920 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:23.940] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:23.940] frame process finished the id is: 1 the obs is:0 +[13:47:24.026] Init: px average disparity is:0.120159 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:24.026] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:24.026] frame process finished the id is: 2 the obs is:0 +[13:47:24.122] Init: px average disparity is:0.166353 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:24.122] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:24.122] frame process finished the id is: 3 the obs is:0 +[13:47:24.229] Init: px average disparity is:0.191240 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:24.229] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:24.229] frame process finished the id is: 4 the obs is:0 +[13:47:24.323] Init: px average disparity is:0.207745 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:24.323] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:24.323] frame process finished the id is: 5 the obs is:0 +[13:47:24.432] Init: px average disparity is:0.227178 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:24.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:24.432] frame process finished the id is: 6 the obs is:0 +[13:47:24.529] Init: px average disparity is:0.236689 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:24.529] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:24.529] frame process finished the id is: 7 the obs is:0 +[13:47:24.629] Init: px average disparity is:0.269724 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:24.629] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:24.629] frame process finished the id is: 8 the obs is:0 +[13:47:24.723] Init: px average disparity is:0.279740 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:24.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:24.723] frame process finished the id is: 9 the obs is:0 +[13:47:24.843] Init: px average disparity is:0.324433 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:24.843] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:24.843] frame process finished the id is: 10 the obs is:0 +[13:47:24.942] Init: px average disparity is:0.332425 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:24.942] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:24.942] frame process finished the id is: 11 the obs is:0 +[13:47:25.055] Init: px average disparity is:0.360695 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:25.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:25.056] frame process finished the id is: 12 the obs is:0 +[13:47:25.139] Init: px average disparity is:0.331429 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:25.139] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:25.139] frame process finished the id is: 13 the obs is:0 +[13:47:25.232] Init: px average disparity is:0.364890 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:25.232] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:25.232] frame process finished the id is: 14 the obs is:0 +[13:47:25.356] Init: px average disparity is:0.336525 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:25.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:25.356] frame process finished the id is: 15 the obs is:0 +[13:47:25.441] Init: px average disparity is:0.393741 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:25.441] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:25.441] frame process finished the id is: 16 the obs is:0 +[13:47:25.524] Init: px average disparity is:0.365818 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:25.524] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:25.524] frame process finished the id is: 17 the obs is:0 +[13:47:25.656] Init: px average disparity is:0.362293 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:25.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:25.656] frame process finished the id is: 18 the obs is:0 +[13:47:25.744] Init: px average disparity is:0.361204 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:25.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:25.744] frame process finished the id is: 19 the obs is:0 +[13:47:25.841] Init: px average disparity is:0.348439 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:25.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:25.841] frame process finished the id is: 20 the obs is:0 +[13:47:25.930] Init: px average disparity is:0.350235 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:25.930] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:25.930] frame process finished the id is: 21 the obs is:0 +[13:47:26.040] Init: px average disparity is:0.355781 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:26.040] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:26.040] frame process finished the id is: 22 the obs is:0 +[13:47:26.134] Init: px average disparity is:0.350137 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:26.134] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:26.134] frame process finished the id is: 23 the obs is:0 +[13:47:26.237] Init: px average disparity is:0.351329 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:26.237] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:26.237] frame process finished the id is: 24 the obs is:0 +[13:47:26.332] Init: px average disparity is:0.309508 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:26.332] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:26.332] frame process finished the id is: 25 the obs is:0 +[13:47:26.442] Init: px average disparity is:0.347856 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:26.442] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:26.442] frame process finished the id is: 26 the obs is:0 +[13:47:26.529] Init: px average disparity is:0.323454 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:26.529] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:26.529] frame process finished the id is: 27 the obs is:0 +[13:47:26.629] Init: px average disparity is:0.334123 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:26.629] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:26.629] frame process finished the id is: 28 the obs is:0 +[13:47:26.727] Init: px average disparity is:0.373803 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:26.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:26.727] frame process finished the id is: 29 the obs is:0 +[13:47:26.830] Init: px average disparity is:0.323537 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:26.830] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:26.830] frame process finished the id is: 30 the obs is:0 +[13:47:26.926] Init: px average disparity is:0.339853 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:26.926] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:26.926] frame process finished the id is: 31 the obs is:0 +[13:47:27.027] Init: px average disparity is:0.355549 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:27.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:27.027] frame process finished the id is: 32 the obs is:0 +[13:47:27.140] Init: px average disparity is:0.327988 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:27.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:27.140] frame process finished the id is: 33 the obs is:0 +[13:47:27.242] Init: px average disparity is:0.334005 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:27.242] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:27.242] frame process finished the id is: 34 the obs is:0 +[13:47:27.342] Init: px average disparity is:0.329450 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:27.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:27.343] frame process finished the id is: 35 the obs is:0 +[13:47:27.444] Init: px average disparity is:0.353743 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:27.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:27.444] frame process finished the id is: 36 the obs is:0 +[13:47:27.540] Init: px average disparity is:0.325713 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:27.540] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:27.540] frame process finished the id is: 37 the obs is:0 +[13:47:27.641] Init: px average disparity is:0.336127 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:27.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:27.641] frame process finished the id is: 38 the obs is:0 +[13:47:27.741] Init: px average disparity is:0.339370 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:27.741] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:27.741] frame process finished the id is: 39 the obs is:0 +[13:47:27.841] Init: px average disparity is:0.341702 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:27.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:27.841] frame process finished the id is: 40 the obs is:0 +[13:47:27.944] Init: px average disparity is:0.322163 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:27.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:27.944] frame process finished the id is: 41 the obs is:0 +[13:47:28.042] Init: px average disparity is:0.327227 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:28.042] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:28.042] frame process finished the id is: 42 the obs is:0 +[13:47:28.140] Init: px average disparity is:0.337917 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:28.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:28.140] frame process finished the id is: 43 the obs is:0 +[13:47:28.250] Init: px average disparity is:0.347184 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:28.250] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:28.250] frame process finished the id is: 44 the obs is:0 +[13:47:28.342] Init: px average disparity is:0.345335 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:28.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:28.342] frame process finished the id is: 45 the obs is:0 +[13:47:28.450] Init: px average disparity is:0.349314 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:28.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:28.450] frame process finished the id is: 46 the obs is:0 +[13:47:28.540] Init: px average disparity is:0.325428 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:28.540] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:28.540] frame process finished the id is: 47 the obs is:0 +[13:47:28.642] Init: px average disparity is:0.333423 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:28.642] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:28.642] frame process finished the id is: 48 the obs is:0 +[13:47:28.745] Init: px average disparity is:0.322207 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:28.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:28.745] frame process finished the id is: 49 the obs is:0 +[13:47:28.843] Init: px average disparity is:0.332989 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:28.843] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:28.843] frame process finished the id is: 50 the obs is:0 +[13:47:28.942] Init: px average disparity is:0.326103 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:28.942] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:28.942] frame process finished the id is: 51 the obs is:0 +[13:47:29.042] Init: px average disparity is:0.338467 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:29.042] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:29.042] frame process finished the id is: 52 the obs is:0 +[13:47:29.143] Init: px average disparity is:0.351026 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:29.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:29.144] frame process finished the id is: 53 the obs is:0 +[13:47:29.249] Init: px average disparity is:0.344845 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:29.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:29.249] frame process finished the id is: 54 the obs is:0 +[13:47:29.342] Init: px average disparity is:0.332508 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:29.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:29.342] frame process finished the id is: 55 the obs is:0 +[13:47:29.443] Init: px average disparity is:0.340312 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:29.443] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:29.444] frame process finished the id is: 56 the obs is:0 +[13:47:29.543] Init: px average disparity is:0.359988 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:29.543] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:29.543] frame process finished the id is: 57 the obs is:0 +[13:47:29.644] Init: px average disparity is:0.342481 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:29.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:29.644] frame process finished the id is: 58 the obs is:0 +[13:47:29.743] Init: px average disparity is:0.336252 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:29.743] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:29.743] frame process finished the id is: 59 the obs is:0 +[13:47:29.842] Init: px average disparity is:0.332147 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:29.842] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:29.842] frame process finished the id is: 60 the obs is:0 +[13:47:29.941] Init: px average disparity is:0.330074 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:29.941] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:29.941] frame process finished the id is: 61 the obs is:0 +[13:47:30.045] Init: px average disparity is:0.344951 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:30.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:30.045] frame process finished the id is: 62 the obs is:0 +[13:47:30.143] Init: px average disparity is:0.336023 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:30.143] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:30.143] frame process finished the id is: 63 the obs is:0 +[13:47:30.243] Init: px average disparity is:0.336179 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:30.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:30.243] frame process finished the id is: 64 the obs is:0 +[13:47:30.340] Init: px average disparity is:0.331562 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:30.340] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:30.340] frame process finished the id is: 65 the obs is:0 +[13:47:30.442] Init: px average disparity is:0.343314 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:30.442] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:30.442] frame process finished the id is: 66 the obs is:0 +[13:47:30.542] Init: px average disparity is:0.344914 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:30.542] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:30.542] frame process finished the id is: 67 the obs is:0 +[13:47:30.648] Init: px average disparity is:0.343931 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:30.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:30.648] frame process finished the id is: 68 the obs is:0 +[13:47:30.738] Init: px average disparity is:0.342843 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:30.739] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:30.739] frame process finished the id is: 69 the obs is:0 +[13:47:30.843] Init: px average disparity is:0.319272 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:30.843] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:30.843] frame process finished the id is: 70 the obs is:0 +[13:47:30.941] Init: px average disparity is:0.332929 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:30.942] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:30.942] frame process finished the id is: 71 the obs is:0 +[13:47:31.043] Init: px average disparity is:0.335166 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:31.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:31.043] frame process finished the id is: 72 the obs is:0 +[13:47:31.141] Init: px average disparity is:0.322458 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:31.141] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:31.141] frame process finished the id is: 73 the obs is:0 +[13:47:31.245] Init: px average disparity is:0.333361 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:31.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:31.246] frame process finished the id is: 74 the obs is:0 +[13:47:31.342] Init: px average disparity is:0.364620 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:31.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:31.342] frame process finished the id is: 75 the obs is:0 +[13:47:31.448] Init: px average disparity is:0.361013 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:31.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:31.449] frame process finished the id is: 76 the obs is:0 +[13:47:31.544] Init: px average disparity is:0.352700 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:31.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:31.545] frame process finished the id is: 77 the obs is:0 +[13:47:31.630] Init: px average disparity is:0.342237 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:31.630] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:31.630] frame process finished the id is: 78 the obs is:0 +[13:47:31.669] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[13:47:31.751] Init: px average disparity is:0.338066 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:31.751] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:31.751] frame process finished the id is: 79 the obs is:0 +[13:47:31.770] Odometry x=0.000001, y=0.031996, theta=-0.000009 +[13:47:31.848] Init: px average disparity is:0.342626 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:31.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:31.848] frame process finished the id is: 80 the obs is:0 +[13:47:31.870] Odometry x=0.000006, y=0.059582, theta=0.000463 +[13:47:31.961] Init: px average disparity is:6.551406 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:31.961] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:31.961] frame process finished the id is: 81 the obs is:0 +[13:47:31.971] Odometry x=-0.000019, y=0.085225, theta=-0.000062 +[13:47:32.034] Init: px average disparity is:3.524687 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:32.034] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:32.034] frame process finished the id is: 82 the obs is:0 +[13:47:32.072] Odometry x=-0.000019, y=0.110088, theta=0.002562 +[13:47:32.145] Init: px average disparity is:5.077399 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:32.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:32.145] frame process finished the id is: 83 the obs is:0 +[13:47:32.166] Odometry x=-0.000088, y=0.134663, theta=0.007494 +[13:47:32.249] Init: px average disparity is:4.551499 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:32.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:32.249] frame process finished the id is: 84 the obs is:0 +[13:47:32.261] Odometry x=-0.000247, y=0.159084, theta=0.011284 +[13:47:32.348] Init: px average disparity is:6.954029 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:32.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:32.348] frame process finished the id is: 85 the obs is:0 +[13:47:32.366] Odometry x=-0.000540, y=0.183520, theta=0.008246 +[13:47:32.449] Init: px average disparity is:8.102174 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:32.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:32.449] frame process finished the id is: 86 the obs is:0 +[13:47:32.468] Odometry x=-0.000707, y=0.207913, theta=0.012489 +[13:47:32.571] Odometry x=-0.000988, y=0.232296, theta=0.017467 +[13:47:32.646] Init: Homography RANSAC (inlier) is:0 ,While 50 inliers minimum required. px average disparity is:12.099699 ,While minimum is: 10.000000 KLT tracked: 1212 +[13:47:32.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:32.646] frame process finished the id is: 87 the obs is:0 +[13:47:32.668] Odometry x=-0.001433, y=0.256687, theta=0.013994 +[13:47:32.674] Init: px average disparity is:9.941098 ,While minimum is: 10.000000 KLT tracked : 1212 +[13:47:32.674] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[13:47:32.674] frame process finished the id is: 88 the obs is:0 +[13:47:32.765] Odometry x=-0.001764, y=0.281063, theta=0.013765 +[13:47:32.811] Init finished: Homography RANSAC (inlier) is:198 ,While 50 inliers minimum required. px average disparity is:11.320633 ,While minimum is: 10.000000 KLT tracked: 1212 +[13:47:32.811] Init: distance between the first and current frame is x:-0.002072 ,z=0.305442,angle between two frames: 0.019250 +[13:47:32.811] Init: Selected Second frame. The number of features: 198 depth mean:-0.277677 min:-1.071510 +[13:47:32.811] frame process finished the id is: 89 the obs is:198 +[13:47:32.865] Odometry x=-0.002072, y=0.305442, theta=0.019250 +[13:47:32.945] After Reprojection Map nMatches:172 ,distance between ekf and vo x:0.000052 ,z=-0.000103,angle between two frames:0.000215 +[13:47:32.945] n deleted obs = 31 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =141 error init =0.016296 error end=0.016296 +[13:47:32.945] After pose optimization, distance between ekf and vo x:0.000052 ,z=-0.000103,angle between two frames:0.000215 +[13:47:32.945] Update EKF and 3D points the number of feature in the new frame: 141 and number of obs: 141 +[13:47:32.946] need key frame pitch dis: 0.019160 translation dif:0.311811 +[13:47:32.946] Choose frame as a key frame Scene Depth mean:-0.175752 ,depth min:-1.060124 +[13:47:32.946] frame process finished the id is: 90 the obs is:141 +[13:47:32.962] Odometry x=-0.002154, y=0.311803, theta=0.019160 +[13:47:33.064] Odometry x=-0.002615, y=0.336531, theta=0.020491 +[13:47:33.102] After Reprojection Map nMatches:217 ,distance between ekf and vo x:0.000179 ,z=-0.000457,angle between two frames:0.000497 +[13:47:33.103] n deleted obs = 44 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =173 error init =0.011985 error end=0.011956 +[13:47:33.103] After pose optimization, distance between ekf and vo x:0.000579 ,z=-0.000769,angle between two frames:0.000309 +[13:47:33.103] Update EKF and 3D points the number of feature in the new frame: 173 and number of obs: 173 +[13:47:33.104] need key frame pitch dis: 0.004164 translation dif:0.075715 +[13:47:33.104] frame process finished the id is: 91 the obs is:173 +[13:47:33.166] Odometry x=-0.001966, y=0.324296, theta=0.020250 +[13:47:33.268] Odometry x=-0.002417, y=0.349038, theta=0.025398 +[13:47:33.275] After Reprojection Map nMatches:249 ,distance between ekf and vo x:0.000201 ,z=-0.000243,angle between two frames:0.000643 +[13:47:33.277] n deleted obs = 54 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =195 error init =0.013984 error end=0.013959 +[13:47:33.277] After pose optimization, distance between ekf and vo x:0.000745 ,z=-0.000256,angle between two frames:0.002301 +[13:47:33.277] Update EKF and 3D points the number of feature in the new frame: 195 and number of obs: 195 +[13:47:33.278] need key frame pitch dis: 0.003654 translation dif:0.065230 +[13:47:33.278] frame process finished the id is: 92 the obs is:195 +[13:47:33.366] Odometry x=-0.002875, y=0.374992, theta=0.024933 +[13:47:33.443] After Reprojection Map nMatches:279 ,distance between ekf and vo x:0.000116 ,z=-0.000165,angle between two frames:0.000258 +[13:47:33.444] n deleted obs = 51 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =228 error init =0.020683 error end=0.020683 +[13:47:33.444] After pose optimization, distance between ekf and vo x:0.000116 ,z=-0.000165,angle between two frames:0.000258 +[13:47:33.444] Update EKF and 3D points the number of feature in the new frame: 228 and number of obs: 228 +[13:47:33.445] need key frame pitch dis: 0.003523 translation dif:0.077464 +[13:47:33.445] frame process finished the id is: 93 the obs is:228 +[13:47:33.466] Odometry x=-0.002395, y=0.364983, theta=0.020932 +[13:47:33.568] Odometry x=-0.002833, y=0.389706, theta=0.029732 +[13:47:33.612] After Reprojection Map nMatches:329 ,distance between ekf and vo x:0.000156 ,z=-0.000390,angle between two frames:0.000358 +[13:47:33.613] n deleted obs = 57 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =272 error init =0.010974 error end=0.010974 +[13:47:33.613] After pose optimization, distance between ekf and vo x:0.000156 ,z=-0.000390,angle between two frames:0.000358 +[13:47:33.613] Update EKF and 3D points the number of feature in the new frame: 272 and number of obs: 272 +[13:47:33.614] need key frame pitch dis: 0.006410 translation dif:0.090221 +[13:47:33.614] frame process finished the id is: 94 the obs is:272 +[13:47:33.667] Odometry x=-0.002574, y=0.377739, theta=0.023820 +[13:47:33.765] Odometry x=-0.003157, y=0.402453, theta=0.025075 +[13:47:33.779] After Reprojection Map nMatches:299 ,distance between ekf and vo x:0.000094 ,z=-0.000410,angle between two frames:0.000150 +[13:47:33.779] n deleted obs = 60 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =239 error init =0.015657 error end=0.015657 +[13:47:33.779] After pose optimization, distance between ekf and vo x:0.000094 ,z=-0.000410,angle between two frames:0.000150 +[13:47:33.779] Update EKF and 3D points the number of feature in the new frame: 239 and number of obs: 239 +[13:47:33.781] need key frame pitch dis: 0.008172 translation dif:0.157510 +[13:47:33.781] Choose frame as a key frame Scene Depth mean:-0.024402 ,depth min:-89.105605 +[13:47:33.781] frame process finished the id is: 95 the obs is:239 +[13:47:33.878] Odometry x=-0.003771, y=0.428370, theta=0.031491 +[13:47:33.972] Odometry x=-0.004540, y=0.452795, theta=0.028182 +[13:47:33.980] After Reprojection Map nMatches:328 ,distance between ekf and vo x:0.000412 ,z=-0.001146,angle between two frames:0.000977 +[13:47:33.981] n deleted obs = 59 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =269 error init =0.053290 error end=0.053290 +[13:47:33.981] After pose optimization, distance between ekf and vo x:0.000412 ,z=-0.001146,angle between two frames:0.000977 +[13:47:33.981] Update EKF and 3D points the number of feature in the new frame: 269 and number of obs: 269 +[13:47:33.984] need key frame pitch dis: 2.991277 translation dif:0.102553 +[13:47:33.984] Choose frame as a key frame Scene Depth mean:0.418518 ,depth min:-27.496346 +[13:47:33.984] frame process finished the id is: 96 the obs is:269 +[13:47:34.069] Odometry x=-0.005174, y=0.478425, theta=0.025254 +[13:47:34.134] After Reprojection Map nMatches:297 ,distance between ekf and vo x:0.000045 ,z=-0.000027,angle between two frames:0.000000 +[13:47:34.136] n deleted obs = 73 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =224 error init =0.029011 error end=0.028900 +[13:47:34.136] After pose optimization, distance between ekf and vo x:-0.000979 ,z=0.001795,angle between two frames:0.000020 +[13:47:34.136] Update EKF and 3D points the number of feature in the new frame: 224 and number of obs: 224 +[13:47:34.139] need key frame pitch dis: 0.053527 translation dif:0.098524 +[13:47:34.139] frame process finished the id is: 97 the obs is:224 +[13:47:34.162] Odometry x=-0.006043, y=0.486212, theta=0.025128 +[13:47:34.265] Odometry x=-0.006640, y=0.510938, theta=0.026364 +[13:47:34.280] After Reprojection Map nMatches:295 ,distance between ekf and vo x:-0.000007 ,z=-0.000019,angle between two frames:0.000001 +[13:47:34.281] n deleted obs = 51 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =244 error init =0.007590 error end=0.007588 +[13:47:34.281] After pose optimization, distance between ekf and vo x:-0.000114 ,z=-0.000064,angle between two frames:0.000003 +[13:47:34.281] Update EKF and 3D points the number of feature in the new frame: 244 and number of obs: 244 +[13:47:34.284] need key frame pitch dis: 0.054425 translation dif:0.111269 +[13:47:34.284] Choose frame as a key frame Scene Depth mean:-0.489860 ,depth min:-55.472294 +[13:47:34.284] frame process finished the id is: 98 the obs is:244 +[13:47:34.367] Odometry x=-0.006455, y=0.499202, theta=0.024230 +[13:47:34.464] Odometry x=-0.006982, y=0.523944, theta=0.031365 +[13:47:34.476] After Reprojection Map nMatches:318 ,distance between ekf and vo x:-0.000003 ,z=0.000139,angle between two frames:0.000019 +[13:47:34.477] n deleted obs = 60 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =258 error init =0.021262 error end=0.021262 +[13:47:34.477] After pose optimization, distance between ekf and vo x:-0.000003 ,z=0.000139,angle between two frames:0.000019 +[13:47:34.477] Update EKF and 3D points the number of feature in the new frame: 258 and number of obs: 258 +[13:47:34.480] need key frame pitch dis: 3.053110 translation dif:0.101210 +[13:47:34.480] Choose frame as a key frame Scene Depth mean:0.675490 ,depth min:-27.545104 +[13:47:34.480] frame process finished the id is: 99 the obs is:258 +[13:47:34.567] Odometry x=-0.007788, y=0.549936, theta=0.019739 +[13:47:34.663] Odometry x=-0.008253, y=0.574386, theta=0.011844 +[13:47:34.706] After Reprojection Map nMatches:479 ,distance between ekf and vo x:0.000048 ,z=-0.000473,angle between two frames:0.000555 +[13:47:34.709] n deleted obs = 115 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =364 error init =0.018014 error end=0.017999 +[13:47:34.709] After pose optimization, distance between ekf and vo x:-0.000131 ,z=0.000410,angle between two frames:0.000561 +[13:47:34.709] Update EKF and 3D points the number of feature in the new frame: 364 and number of obs: 364 +[13:47:34.711] need key frame pitch dis: 3.078537 translation dif:0.106306 +[13:47:34.711] Choose frame as a key frame Scene Depth mean:1.041358 ,depth min:-10.864702 +[13:47:34.712] frame process finished the id is: 100 the obs is:364 +[13:47:34.767] Odometry x=-0.007641, y=0.546960, theta=0.024400 +[13:47:34.869] Odometry x=-0.008186, y=0.571681, theta=0.032984 +[13:47:34.971] Odometry x=-0.008984, y=0.596199, theta=0.038547 +[13:47:34.991] After Reprojection Map nMatches:561 ,distance between ekf and vo x:-0.000195 ,z=-0.000187,angle between two frames:0.000335 +[13:47:34.993] n deleted obs = 92 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =469 error init =0.008319 error end=0.007906 +[13:47:34.993] After pose optimization, distance between ekf and vo x:0.008541 ,z=0.012781,angle between two frames:0.001744 +[13:47:34.993] Update EKF and 3D points the number of feature in the new frame: 469 and number of obs: 469 +[13:47:34.997] need key frame pitch dis: 3.026775 translation dif:0.139155 +[13:47:34.998] Choose frame as a key frame Scene Depth mean:1.034973 ,depth min:-50.344316 +[13:47:34.998] frame process finished the id is: 101 the obs is:469 +[13:47:35.073] Odometry x=-0.001929, y=0.575868, theta=0.032755 +[13:47:35.168] Odometry x=-0.002673, y=0.600605, theta=0.040933 +[13:47:35.265] Odometry x=-0.003683, y=0.625102, theta=0.037507 +[13:47:35.371] Odometry x=-0.004581, y=0.649511, theta=0.034990 +[13:47:35.372] After Reprojection Map nMatches:614 ,distance between ekf and vo x:0.000037 ,z=-0.001169,angle between two frames:0.000980 +[13:47:35.375] n deleted obs = 137 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =477 error init =0.020441 error end=0.020421 +[13:47:35.375] After pose optimization, distance between ekf and vo x:0.007806 ,z=0.000559,angle between two frames:0.001040 +[13:47:35.375] Update EKF and 3D points the number of feature in the new frame: 477 and number of obs: 477 +[13:47:35.379] need key frame pitch dis: 3.071891 translation dif:0.073845 +[13:47:35.379] Choose frame as a key frame Scene Depth mean:-0.058013 ,depth min:-21.996557 +[13:47:35.379] frame process finished the id is: 102 the obs is:477 +[13:47:35.468] Odometry x=-0.003351, y=0.664763, theta=0.033046 +[13:47:35.561] Odometry x=-0.004154, y=0.689168, theta=0.038930 +[13:47:35.660] Odometry x=-0.005115, y=0.713531, theta=0.039391 +[13:47:35.762] Odometry x=-0.006072, y=0.737893, theta=0.043550 +[13:47:35.813] After Reprojection Map nMatches:717 ,distance between ekf and vo x:-0.000114 ,z=-0.000536,angle between two frames:0.000066 +[13:47:35.816] n deleted obs = 160 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =557 error init =0.012949 error end=0.012930 +[13:47:35.816] After pose optimization, distance between ekf and vo x:-0.001501 ,z=-0.000157,angle between two frames:0.000001 +[13:47:35.816] Update EKF and 3D points the number of feature in the new frame: 557 and number of obs: 557 +[13:47:35.820] need key frame pitch dis: 3.063542 translation dif:0.109826 +[13:47:35.820] Choose frame as a key frame Scene Depth mean:1.120520 ,depth min:-272.910277 +[13:47:35.820] frame process finished the id is: 103 the obs is:557 +[13:47:35.866] Odometry x=-0.002466, y=0.661962, theta=0.036209 +[13:47:35.979] Odometry x=-0.003414, y=0.686682, theta=0.031216 +[13:47:36.064] Odometry x=-0.004160, y=0.711192, theta=0.036539 +[13:47:36.178] Odometry x=-0.005052, y=0.735633, theta=0.040188 +[13:47:36.265] Odometry x=-0.006041, y=0.760024, theta=0.036963 +[13:47:36.363] Odometry x=-0.006942, y=0.784429, theta=0.038789 +[13:47:36.426] After Reprojection Map nMatches:681 ,distance between ekf and vo x:-0.000168 ,z=-0.000138,angle between two frames:0.000035 +[13:47:36.430] n deleted obs = 138 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =543 error init =0.017944 error end=0.017905 +[13:47:36.430] After pose optimization, distance between ekf and vo x:-0.001787 ,z=0.000410,angle between two frames:0.000030 +[13:47:36.430] Update EKF and 3D points the number of feature in the new frame: 543 and number of obs: 543 +[13:47:36.434] need key frame pitch dis: 0.016171 translation dif:0.306705 +[13:47:36.434] Choose frame as a key frame Scene Depth mean:2.916095 ,depth min:-41.710382 +[13:47:36.434] frame process finished the id is: 104 the obs is:543 +[13:47:36.462] Odometry x=-0.005208, y=0.701126, theta=0.037633 +[13:47:36.563] Odometry x=-0.006189, y=0.725865, theta=0.032125 +[13:47:36.660] Odometry x=-0.006964, y=0.750361, theta=0.033246 +[13:47:36.766] Odometry x=-0.007793, y=0.774792, theta=0.029850 +[13:47:36.867] Odometry x=-0.008525, y=0.799210, theta=0.029765 +[13:47:36.960] Odometry x=-0.009248, y=0.823596, theta=0.026931 +[13:47:37.063] Odometry x=-0.009888, y=0.847990, theta=0.025635 +[13:47:37.103] After Reprojection Map nMatches:694 ,distance between ekf and vo x:-0.000017 ,z=-0.000267,angle between two frames:0.000082 +[13:47:37.106] n deleted obs = 153 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =541 error init =0.015073 error end=0.015069 +[13:47:37.106] After pose optimization, distance between ekf and vo x:-0.000677 ,z=-0.000268,angle between two frames:0.000081 +[13:47:37.106] Update EKF and 3D points the number of feature in the new frame: 541 and number of obs: 541 +[13:47:37.109] need key frame pitch dis: 0.017851 translation dif:0.781903 +[13:47:37.109] Choose frame as a key frame Scene Depth mean:0.346140 ,depth min:-897.768818 +[13:47:37.109] frame process finished the id is: 105 the obs is:541 +[13:47:37.193] Odometry x=-0.007117, y=0.746219, theta=0.036426 +[13:47:37.267] Odometry x=-0.008061, y=0.770923, theta=0.031986 +[13:47:37.365] Odometry x=-0.008850, y=0.795432, theta=0.030040 +[13:47:37.466] Odometry x=-0.009599, y=0.819850, theta=0.033129 +[13:47:37.566] Odometry x=-0.010410, y=0.844232, theta=0.029710 +[13:47:37.637] After Reprojection Map nMatches:757 ,distance between ekf and vo x:0.000106 ,z=0.000019,angle between two frames:0.000287 +[13:47:37.641] n deleted obs = 260 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =497 error init =0.038161 error end=0.038152 +[13:47:37.641] After pose optimization, distance between ekf and vo x:0.001556 ,z=0.001310,angle between two frames:0.000292 +[13:47:37.641] Update EKF and 3D points the number of feature in the new frame: 497 and number of obs: 497 +[13:47:37.644] need key frame pitch dis: 0.025086 translation dif:0.731298 +[13:47:37.644] Choose frame as a key frame Scene Depth mean:-1.603310 ,depth min:-897.972734 +[13:47:37.644] frame process finished the id is: 106 the obs is:497 +[13:47:37.664] Odometry x=-0.007047, y=0.779567, theta=0.034307 +[13:47:37.766] Odometry x=-0.007777, y=0.804281, theta=0.048554 +[13:47:37.867] Odometry x=-0.008942, y=0.828779, theta=0.060388 +[13:47:37.969] Odometry x=-0.010395, y=0.853172, theta=0.072434 +[13:47:38.073] Odometry x=-0.012165, y=0.877524, theta=0.073269 +[13:47:38.166] Odometry x=-0.013932, y=0.901863, theta=0.077353 +[13:47:38.266] Odometry x=-0.015793, y=0.926177, theta=0.083454 +[13:47:38.367] Odometry x=-0.017891, y=0.950480, theta=0.068748 +[13:47:38.385] After Reprojection Map nMatches:804 ,distance between ekf and vo x:-0.000037 ,z=-0.000233,angle between two frames:0.000152 +[13:47:38.389] n deleted obs = 173 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =631 error init =0.018253 error end=0.018236 +[13:47:38.389] After pose optimization, distance between ekf and vo x:-0.004638 ,z=-0.000377,angle between two frames:0.000247 +[13:47:38.389] Update EKF and 3D points the number of feature in the new frame: 631 and number of obs: 631 +[13:47:38.393] need key frame pitch dis: 0.019261 translation dif:0.677702 +[13:47:38.393] Choose frame as a key frame Scene Depth mean:0.460842 ,depth min:-897.266888 +[13:47:38.393] frame process finished the id is: 107 the obs is:631 +[13:47:38.467] Odometry x=-0.013731, y=0.830925, theta=0.043343 +[13:47:38.566] Odometry x=-0.014773, y=0.855646, theta=0.049499 +[13:47:38.662] Odometry x=-0.015977, y=0.880133, theta=0.051852 +[13:47:38.766] Odometry x=-0.017229, y=0.904548, theta=0.053749 +[13:47:38.866] Odometry x=-0.018540, y=0.928914, theta=0.052096 +[13:47:38.915] After Reprojection Map nMatches:848 ,distance between ekf and vo x:-0.000059 ,z=0.000014,angle between two frames:0.000002 +[13:47:38.919] n deleted obs = 183 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =665 error init =0.022299 error end=0.022298 +[13:47:38.919] After pose optimization, distance between ekf and vo x:-0.000159 ,z=-0.000029,angle between two frames:0.000003 +[13:47:38.919] Update EKF and 3D points the number of feature in the new frame: 665 and number of obs: 665 +[13:47:38.924] need key frame pitch dis: 3.169951 translation dif:0.627693 +[13:47:38.924] Choose frame as a key frame Scene Depth mean:-0.319144 ,depth min:-140.505132 +[13:47:38.925] frame process finished the id is: 108 the obs is:665 +[13:47:38.970] Odometry x=-0.015431, y=0.863256, theta=0.045161 +[13:47:39.071] Odometry x=-0.016513, y=0.887983, theta=0.049985 +[13:47:39.161] Odometry x=-0.017760, y=0.912476, theta=0.049385 +[13:47:39.271] Odometry x=-0.018971, y=0.936899, theta=0.053939 +[13:47:39.366] Odometry x=-0.020276, y=0.961259, theta=0.046335 +[13:47:39.466] Odometry x=-0.021412, y=0.985612, theta=0.046813 +[13:47:39.525] After Reprojection Map nMatches:908 ,distance between ekf and vo x:-0.000206 ,z=0.000063,angle between two frames:0.000120 +[13:47:39.527] n deleted obs = 233 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =675 error init =0.070435 error end=0.070435 +[13:47:39.527] After pose optimization, distance between ekf and vo x:-0.000206 ,z=0.000063,angle between two frames:0.000120 +[13:47:39.527] Update EKF and 3D points the number of feature in the new frame: 675 and number of obs: 675 +[13:47:39.532] need key frame pitch dis: 0.014976 translation dif:0.691921 +[13:47:39.532] Choose frame as a key frame Scene Depth mean:-0.365943 ,depth min:-138.492070 +[13:47:39.532] frame process finished the id is: 109 the obs is:675 +[13:47:39.571] Odometry x=-0.017442, y=0.902103, theta=0.047007 +[13:47:39.669] Odometry x=-0.018574, y=0.926804, theta=0.050426 +[13:47:39.764] Odometry x=-0.019805, y=0.951283, theta=0.051654 +[13:47:39.868] Odometry x=-0.021076, y=0.975695, theta=0.049699 +[13:47:39.966] Odometry x=-0.022287, y=1.000066, theta=0.050401 +[13:47:40.070] Odometry x=-0.023536, y=1.024456, theta=0.047096 +[13:47:40.167] Odometry x=-0.024697, y=1.048826, theta=0.045313 +[13:47:40.267] Odometry x=-0.025778, y=1.073207, theta=0.049037 +[13:47:40.320] After Reprojection Map nMatches:900 ,distance between ekf and vo x:-0.000044 ,z=0.000011,angle between two frames:0.000001 +[13:47:40.332] n deleted obs = 246 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =654 error init =0.014922 error end=0.014920 +[13:47:40.332] After pose optimization, distance between ekf and vo x:-0.000200 ,z=-0.000001,angle between two frames:0.000003 +[13:47:40.332] Update EKF and 3D points the number of feature in the new frame: 654 and number of obs: 654 +[13:47:40.347] need key frame pitch dis: 3.165356 translation dif:0.951987 +[13:47:40.347] Choose frame as a key frame Scene Depth mean:-0.786662 ,depth min:-138.538715 +[13:47:40.348] frame process finished the id is: 110 the obs is:654 +[13:47:40.365] Odometry x=-0.020092, y=0.953823, theta=0.048491 +[13:47:40.460] Odometry x=-0.021205, y=0.978537, theta=0.058627 +[13:47:40.566] Odometry x=-0.022635, y=1.003013, theta=0.063222 +[13:47:40.666] Odometry x=-0.024170, y=1.027410, theta=0.060376 +[13:47:40.768] Odometry x=-0.025645, y=1.051763, theta=0.052908 +[13:47:40.875] Odometry x=-0.026922, y=1.076126, theta=0.053326 +[13:47:40.969] Odometry x=-0.028229, y=1.100504, theta=0.050193 +[13:47:41.067] After Reprojection Map nMatches:829 ,distance between ekf and vo x:-0.000263 ,z=0.000014,angle between two frames:0.000010 +[13:47:41.080] Odometry x=-0.029455, y=1.124876, theta=0.053243 +[13:47:41.168] Odometry x=-0.030750, y=1.149221, theta=0.051138 +[13:47:41.266] Odometry x=-0.031981, y=1.173567, theta=0.057225 +[13:47:41.306] n deleted obs = 235 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =594 error init =0.035849 error end=0.035849 +[13:47:41.306] After pose optimization, distance between ekf and vo x:-0.000263 ,z=0.000014,angle between two frames:0.000010 +[13:47:41.306] Update EKF and 3D points the number of feature in the new frame: 594 and number of obs: 594 +[13:47:41.314] need key frame pitch dis: 0.010327 translation dif:1.112906 +[13:47:41.315] Choose frame as a key frame Scene Depth mean:4.448541 ,depth min:-26.299795 +[13:47:41.315] frame process finished the id is: 111 the obs is:594 +[13:47:41.368] Odometry x=-0.023794, y=1.018421, theta=0.050310 +[13:47:41.466] Odometry x=-0.025113, y=1.043093, theta=0.040341 +[13:47:41.567] Odometry x=-0.026094, y=1.067583, theta=0.043046 +[13:47:41.669] Odometry x=-0.027137, y=1.092019, theta=0.044632 +[13:47:41.768] Odometry x=-0.028231, y=1.116403, theta=0.036891 +[13:47:41.869] Odometry x=-0.029121, y=1.140759, theta=0.043406 +[13:47:41.968] Odometry x=-0.029121, y=1.140759, theta=0.043406 +[13:47:42.070] Odometry x=-0.029121, y=1.140759, theta=0.043406 +[13:47:42.168] Odometry x=-0.030160, y=1.164987, theta=0.043544 +[13:47:42.233] After Reprojection Map nMatches:792 ,distance between ekf and vo x:-0.000133 ,z=-0.000084,angle between two frames:0.000002 +[13:47:42.237] n deleted obs = 180 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =612 error init =0.036331 error end=0.036325 +[13:47:42.237] After pose optimization, distance between ekf and vo x:0.001727 ,z=0.000776,angle between two frames:0.000065 +[13:47:42.237] Update EKF and 3D points the number of feature in the new frame: 612 and number of obs: 612 +[13:47:42.240] need key frame pitch dis: 0.001537 translation dif:1.050747 +[13:47:42.241] Choose frame as a key frame Scene Depth mean:-0.302071 ,depth min:-14.472274 +[13:47:42.241] frame process finished the id is: 112 the obs is:612 +[13:47:42.272] Odometry x=-0.024442, y=1.061823, theta=0.046612 +[13:47:42.377] Odometry x=-0.025626, y=1.086460, theta=0.041343 +[13:47:42.470] Odometry x=-0.026653, y=1.110887, theta=0.042316 +[13:47:42.577] Odometry x=-0.027689, y=1.135299, theta=0.031650 +[13:47:42.675] Odometry x=-0.028436, y=1.159665, theta=0.044156 +[13:47:42.778] Odometry x=-0.029491, y=1.184023, theta=0.051578 +[13:47:42.866] Odometry x=-0.030718, y=1.208381, theta=0.060703 +[13:47:42.960] Odometry x=-0.032180, y=1.232745, theta=0.060902 +[13:47:43.052] After Reprojection Map nMatches:593 ,distance between ekf and vo x:-0.000208 ,z=-0.000088,angle between two frames:0.000011 +[13:47:43.068] Odometry x=-0.033673, y=1.257105, theta=0.056725 +[13:47:43.166] Odometry x=-0.035075, y=1.281454, theta=0.050373 +[13:47:43.183] n deleted obs = 104 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =489 error init =0.017228 error end=0.017228 +[13:47:43.183] After pose optimization, distance between ekf and vo x:-0.000208 ,z=-0.000088,angle between two frames:0.000011 +[13:47:43.183] Update EKF and 3D points the number of feature in the new frame: 489 and number of obs: 489 +[13:47:43.187] need key frame pitch dis: 0.029184 translation dif:0.381937 +[13:47:43.188] Choose frame as a key frame Scene Depth mean:-0.243035 ,depth min:-18.299772 +[13:47:43.188] frame process finished the id is: 113 the obs is:489 +[13:47:43.281] Odometry x=-0.034350, y=1.264484, theta=0.044300 +[13:47:43.360] Odometry x=-0.035455, y=1.288850, theta=0.042554 +[13:47:43.470] Odometry x=-0.036521, y=1.313201, theta=0.039165 +[13:47:43.563] Odometry x=-0.037459, y=1.337582, theta=0.042403 +[13:47:43.679] Odometry x=-0.038506, y=1.361907, theta=0.038319 +[13:47:43.766] Odometry x=-0.039465, y=1.386292, theta=0.038814 +[13:47:43.865] After Reprojection Map nMatches:912 ,distance between ekf and vo x:-0.000444 ,z=0.000120,angle between two frames:0.000060 +[13:47:43.866] Odometry x=-0.040400, y=1.410635, theta=0.044016 +[13:47:43.869] n deleted obs = 200 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =712 error init =0.018409 error end=0.018409 +[13:47:43.869] After pose optimization, distance between ekf and vo x:-0.000454 ,z=0.000123,angle between two frames:0.000060 +[13:47:43.869] Update EKF and 3D points the number of feature in the new frame: 712 and number of obs: 712 +[13:47:43.875] need key frame pitch dis: 3.030240 translation dif:0.137479 +[13:47:43.875] Choose frame as a key frame Scene Depth mean:-0.097453 ,depth min:-41.868738 +[13:47:43.875] frame process finished the id is: 114 the obs is:712 +[13:47:43.966] Odometry x=-0.039653, y=1.390350, theta=0.043016 +[13:47:44.074] Odometry x=-0.040755, y=1.414708, theta=0.029823 +[13:47:44.171] Odometry x=-0.041474, y=1.439117, theta=0.027758 +[13:47:44.263] Odometry x=-0.042130, y=1.463483, theta=0.031345 +[13:47:44.369] Odometry x=-0.042859, y=1.487829, theta=0.046409 +[13:47:44.455] After Reprojection Map nMatches:958 ,distance between ekf and vo x:-0.000370 ,z=-0.000042,angle between two frames:0.000048 +[13:47:44.457] n deleted obs = 244 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =714 error init =0.028392 error end=0.028392 +[13:47:44.457] After pose optimization, distance between ekf and vo x:-0.000370 ,z=-0.000042,angle between two frames:0.000048 +[13:47:44.457] Update EKF and 3D points the number of feature in the new frame: 714 and number of obs: 714 +[13:47:44.462] need key frame pitch dis: 3.048705 translation dif:0.188382 +[13:47:44.462] Choose frame as a key frame Scene Depth mean:-0.342962 ,depth min:-41.924844 +[13:47:44.462] frame process finished the id is: 115 the obs is:714 +[13:47:44.468] Odometry x=-0.038158, y=1.353308, theta=0.046492 +[13:47:44.567] Odometry x=-0.039439, y=1.378000, theta=0.034804 +[13:47:44.678] Odometry x=-0.040343, y=1.402462, theta=0.020008 +[13:47:44.769] Odometry x=-0.040827, y=1.426880, theta=0.010240 +[13:47:44.867] Odometry x=-0.041080, y=1.451282, theta=0.018604 +[13:47:44.968] Odometry x=-0.041543, y=1.475671, theta=0.026926 +[13:47:45.066] Odometry x=-0.042206, y=1.500046, theta=0.031889 +[13:47:45.089] After Reprojection Map nMatches:874 ,distance between ekf and vo x:-0.000127 ,z=-0.000047,angle between two frames:0.000024 +[13:47:45.091] n deleted obs = 223 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =651 error init =0.026626 error end=0.026626 +[13:47:45.091] After pose optimization, distance between ekf and vo x:-0.000127 ,z=-0.000047,angle between two frames:0.000024 +[13:47:45.091] Update EKF and 3D points the number of feature in the new frame: 651 and number of obs: 651 +[13:47:45.095] need key frame pitch dis: 3.176602 translation dif:0.682236 +[13:47:45.095] Choose frame as a key frame Scene Depth mean:1.243473 ,depth min:-42.024169 +[13:47:45.095] frame process finished the id is: 116 the obs is:651 +[13:47:45.162] Odometry x=-0.042515, y=1.499081, theta=0.024037 +[13:47:45.271] Odometry x=-0.043157, y=1.523462, theta=0.007685 +[13:47:45.365] Odometry x=-0.043282, y=1.547847, theta=0.018345 +[13:47:45.469] Odometry x=-0.043720, y=1.572233, theta=0.023907 +[13:47:45.566] Odometry x=-0.044292, y=1.596615, theta=0.021595 +[13:47:45.629] After Reprojection Map nMatches:941 ,distance between ekf and vo x:-0.000166 ,z=-0.000234,angle between two frames:0.000017 +[13:47:45.632] n deleted obs = 274 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =667 error init =0.025050 error end=0.025050 +[13:47:45.632] After pose optimization, distance between ekf and vo x:-0.000166 ,z=-0.000234,angle between two frames:0.000017 +[13:47:45.632] Update EKF and 3D points the number of feature in the new frame: 667 and number of obs: 667 +[13:47:45.636] need key frame pitch dis: 3.088951 translation dif:1.077485 +[13:47:45.636] Choose frame as a key frame Scene Depth mean:-0.016076 ,depth min:-42.043154 +[13:47:45.637] frame process finished the id is: 117 the obs is:667 +[13:47:45.666] Odometry x=-0.041924, y=1.484147, theta=0.037879 +[13:47:45.767] Odometry x=-0.042829, y=1.508858, theta=0.043641 +[13:47:45.872] Odometry x=-0.043830, y=1.533348, theta=0.057914 +[13:47:45.975] Odometry x=-0.045293, y=1.557728, theta=0.047778 +[13:47:46.060] Odometry x=-0.046457, y=1.582111, theta=0.040028 +[13:47:46.163] Odometry x=-0.047445, y=1.606518, theta=0.043370 +[13:47:46.209] After Reprojection Map nMatches:969 ,distance between ekf and vo x:-0.000265 ,z=-0.000166,angle between two frames:0.000002 +[13:47:46.211] n deleted obs = 235 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =734 error init =0.017008 error end=0.017008 +[13:47:46.211] After pose optimization, distance between ekf and vo x:-0.000265 ,z=-0.000166,angle between two frames:0.000002 +[13:47:46.211] Update EKF and 3D points the number of feature in the new frame: 734 and number of obs: 734 +[13:47:46.217] need key frame pitch dis: 3.107831 translation dif:1.279393 +[13:47:46.217] Choose frame as a key frame Scene Depth mean:-1.719640 ,depth min:-146.675958 +[13:47:46.218] frame process finished the id is: 118 the obs is:734 +[13:47:46.266] Odometry x=-0.047584, y=1.610862, theta=0.044431 +[13:47:46.365] Odometry x=-0.048665, y=1.635230, theta=0.039575 +[13:47:46.464] Odometry x=-0.049637, y=1.659613, theta=0.046391 +[13:47:46.566] Odometry x=-0.050717, y=1.683986, theta=0.062063 +[13:47:46.663] Odometry x=-0.052253, y=1.708349, theta=0.061295 +[13:47:46.694] After Reprojection Map nMatches:998 ,distance between ekf and vo x:-0.000159 ,z=-0.000132,angle between two frames:0.000005 +[13:47:46.696] n deleted obs = 220 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =778 error init =0.035767 error end=0.035767 +[13:47:46.696] After pose optimization, distance between ekf and vo x:-0.000159 ,z=-0.000132,angle between two frames:0.000005 +[13:47:46.696] Update EKF and 3D points the number of feature in the new frame: 778 and number of obs: 778 +[13:47:46.700] need key frame pitch dis: 0.058317 translation dif:1.283075 +[13:47:46.700] Choose frame as a key frame Scene Depth mean:-0.756660 ,depth min:-91.486332 +[13:47:46.701] frame process finished the id is: 119 the obs is:778 +[13:47:46.765] Odometry x=-0.047588, y=1.602043, theta=0.045432 +[13:47:46.864] Odometry x=-0.048646, y=1.626761, theta=0.053303 +[13:47:46.966] Odometry x=-0.050001, y=1.651219, theta=0.050414 +[13:47:47.064] Odometry x=-0.051203, y=1.675633, theta=0.056249 +[13:47:47.163] After Reprojection Map nMatches:1139 ,distance between ekf and vo x:-0.000133 ,z=-0.000162,angle between two frames:0.000008 +[13:47:47.166] Odometry x=-0.052579, y=1.699997, theta=0.059012 +[13:47:47.168] n deleted obs = 251 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =888 error init =0.022385 error end=0.022385 +[13:47:47.168] After pose optimization, distance between ekf and vo x:-0.000211 ,z=-0.000166,angle between two frames:0.000008 +[13:47:47.168] Update EKF and 3D points the number of feature in the new frame: 888 and number of obs: 888 +[13:47:47.175] need key frame pitch dis: 3.073008 translation dif:1.272166 +[13:47:47.175] Choose frame as a key frame Scene Depth mean:-2.807168 ,depth min:-917.883523 +[13:47:47.175] frame process finished the id is: 120 the obs is:888 +[13:47:47.264] Odometry x=-0.053226, y=1.709719, theta=0.064572 +[13:47:47.362] Odometry x=-0.054755, y=1.734067, theta=0.074071 +[13:47:47.464] Odometry x=-0.056583, y=1.758401, theta=0.072916 +[13:47:47.562] Odometry x=-0.058319, y=1.782730, theta=0.076426 +[13:47:47.609] After Reprojection Map nMatches:1084 ,distance between ekf and vo x:-0.000102 ,z=-0.000196,angle between two frames:0.000003 +[13:47:47.614] n deleted obs = 259 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =825 error init =0.026479 error end=0.026407 +[13:47:47.614] After pose optimization, distance between ekf and vo x:0.018517 ,z=0.004482,angle between two frames:0.000115 +[13:47:47.614] Update EKF and 3D points the number of feature in the new frame: 825 and number of obs: 825 +[13:47:47.619] need key frame pitch dis: 3.045053 translation dif:0.456146 +[13:47:47.619] Choose frame as a key frame Scene Depth mean:-1.748414 ,depth min:-70.336199 +[13:47:47.619] frame process finished the id is: 121 the obs is:825 +[13:47:47.684] Odometry x=-0.039616, y=1.703950, theta=0.057318 +[13:47:47.764] Odometry x=-0.041065, y=1.728618, theta=0.052954 +[13:47:47.863] Odometry x=-0.042353, y=1.753086, theta=0.051971 +[13:47:47.963] Odometry x=-0.043629, y=1.777516, theta=0.059273 +[13:47:48.061] Odometry x=-0.045111, y=1.801863, theta=0.064632 +[13:47:48.168] Odometry x=-0.046703, y=1.826193, theta=0.061098 +[13:47:48.266] Odometry x=-0.048182, y=1.850561, theta=0.067125 +[13:47:48.363] Odometry x=-0.049826, y=1.874911, theta=0.076638 +[13:47:48.467] Odometry x=-0.051700, y=1.899203, theta=0.076238 +[13:47:48.571] Odometry x=-0.053572, y=1.923548, theta=0.073527 +[13:47:48.575] After Reprojection Map nMatches:1100 ,distance between ekf and vo x:-0.000011 ,z=-0.000138,angle between two frames:0.000002 +[13:47:48.581] n deleted obs = 256 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =844 error init =0.023623 error end=0.023594 +[13:47:48.581] After pose optimization, distance between ekf and vo x:-0.010654 ,z=-0.000742,angle between two frames:0.000118 +[13:47:48.581] Update EKF and 3D points the number of feature in the new frame: 844 and number of obs: 844 +[13:47:48.588] need key frame pitch dis: 3.042348 translation dif:1.113879 +[13:47:48.588] Choose frame as a key frame Scene Depth mean:-12.187374 ,depth min:-4447.297859 +[13:47:48.588] frame process finished the id is: 122 the obs is:844 +[13:47:48.670] Odometry x=-0.054962, y=1.906417, theta=0.079568 +[13:47:49.395] After Reprojection Map nMatches:939 ,distance between ekf and vo x:0.000030 ,z=-0.000105,angle between two frames:0.000007 +[13:47:49.400] n deleted obs = 218 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =721 error init =0.023611 error end=0.023609 +[13:47:49.400] After pose optimization, distance between ekf and vo x:0.000872 ,z=-0.000116,angle between two frames:0.000105 +[13:47:49.400] Update EKF and 3D points the number of feature in the new frame: 721 and number of obs: 721 +[13:47:49.405] need key frame pitch dis: 3.041087 translation dif:1.336475 +[13:47:49.405] Choose frame as a key frame Scene Depth mean:-1.097231 ,depth min:-72.032392 +[13:47:49.406] frame process finished the id is: 123 the obs is:721 +[13:47:49.829] After Reprojection Map nMatches:912 ,distance between ekf and vo x:-0.000062 ,z=-0.000111,angle between two frames:0.000005 +[13:47:49.831] n deleted obs = 187 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =725 error init =0.047071 error end=0.047071 +[13:47:49.831] After pose optimization, distance between ekf and vo x:-0.000062 ,z=-0.000111,angle between two frames:0.000005 +[13:47:49.831] Update EKF and 3D points the number of feature in the new frame: 725 and number of obs: 725 +[13:47:49.836] need key frame pitch dis: 3.061452 translation dif:1.426970 +[13:47:49.836] Choose frame as a key frame Scene Depth mean:0.672809 ,depth min:-56.864567 +[13:47:49.836] frame process finished the id is: 124 the obs is:725 +[13:47:50.646] After Reprojection Map nMatches:995 ,distance between ekf and vo x:-0.000050 ,z=-0.000151,angle between two frames:0.000003 +[13:47:50.652] n deleted obs = 196 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =799 error init =0.019128 error end=0.018128 +[13:47:50.652] After pose optimization, distance between ekf and vo x:-0.000746 ,z=-0.005567,angle between two frames:0.000013 +[13:47:50.652] Update EKF and 3D points the number of feature in the new frame: 799 and number of obs: 799 +[13:47:50.658] need key frame pitch dis: 3.018220 translation dif:1.448412 +[13:47:50.659] Choose frame as a key frame Scene Depth mean:-2.116686 ,depth min:-204.620287 +[13:47:50.659] frame process finished the id is: 125 the obs is:799 +[13:47:51.570] After Reprojection Map nMatches:1221 ,distance between ekf and vo x:-0.000088 ,z=-0.000114,angle between two frames:0.000004 +[13:47:51.577] n deleted obs = 206 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1015 error init =0.024298 error end=0.024297 +[13:47:51.577] After pose optimization, distance between ekf and vo x:-0.001223 ,z=-0.000480,angle between two frames:0.000002 +[13:47:51.578] Update EKF and 3D points the number of feature in the new frame: 1015 and number of obs: 1015 +[13:47:51.587] need key frame pitch dis: 3.056070 translation dif:1.494097 +[13:47:51.587] Choose frame as a key frame Scene Depth mean:-1.168827 ,depth min:-204.753590 +[13:47:51.588] frame process finished the id is: 126 the obs is:1015 +[13:47:52.651] After Reprojection Map nMatches:1406 ,distance between ekf and vo x:-0.000143 ,z=-0.000229,angle between two frames:0.000006 +[13:47:52.659] n deleted obs = 284 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1122 error init =0.044757 error end=0.044686 +[13:47:52.659] After pose optimization, distance between ekf and vo x:-0.001480 ,z=-0.001526,angle between two frames:0.000006 +[13:47:52.659] Update EKF and 3D points the number of feature in the new frame: 1122 and number of obs: 1122 +[13:47:52.669] need key frame pitch dis: 3.197138 translation dif:0.647609 +[13:47:52.669] Choose frame as a key frame Scene Depth mean:-1.052815 ,depth min:-204.832754 +[13:47:52.670] frame process finished the id is: 127 the obs is:1122 +[13:47:54.008] After Reprojection Map nMatches:1419 ,distance between ekf and vo x:-0.000143 ,z=-0.000248,angle between two frames:0.000006 +[13:47:54.015] n deleted obs = 343 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1076 error init =0.024432 error end=0.024322 +[13:47:54.015] After pose optimization, distance between ekf and vo x:-0.000326 ,z=-0.000483,angle between two frames:0.000006 +[13:47:54.015] Update EKF and 3D points the number of feature in the new frame: 1076 and number of obs: 1076 +[13:47:54.025] need key frame pitch dis: 3.201720 translation dif:0.787489 +[13:47:54.025] Choose frame as a key frame Scene Depth mean:-2.741875 ,depth min:-251.267058 +[13:47:54.026] frame process finished the id is: 128 the obs is:1076 +[13:47:54.998] After Reprojection Map nMatches:1404 ,distance between ekf and vo x:-0.000190 ,z=-0.000276,angle between two frames:0.000008 +[13:47:55.007] n deleted obs = 319 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1085 error init =0.067623 error end=0.067620 +[13:47:55.007] After pose optimization, distance between ekf and vo x:-0.000271 ,z=-0.000328,angle between two frames:0.000005 +[13:47:55.007] Update EKF and 3D points the number of feature in the new frame: 1085 and number of obs: 1085 +[13:47:55.013] need key frame pitch dis: 3.195909 translation dif:1.329345 +[13:47:55.014] Choose frame as a key frame Scene Depth mean:-2.988076 ,depth min:-251.339465 +[13:47:55.014] frame process finished the id is: 129 the obs is:1085 +[13:47:56.198] After Reprojection Map nMatches:1392 ,distance between ekf and vo x:-0.000318 ,z=-0.000599,angle between two frames:0.000016 +[13:47:56.202] n deleted obs = 321 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1071 error init =0.035984 error end=0.035984 +[13:47:56.202] After pose optimization, distance between ekf and vo x:-0.000318 ,z=-0.000599,angle between two frames:0.000016 +[13:47:56.202] Update EKF and 3D points the number of feature in the new frame: 1071 and number of obs: 1071 +[13:47:56.210] need key frame pitch dis: 3.204809 translation dif:1.464723 +[13:47:56.211] Choose frame as a key frame Scene Depth mean:4.767964 ,depth min:-75.331660 +[13:47:56.211] frame process finished the id is: 130 the obs is:1071 +[13:47:57.384] After Reprojection Map nMatches:1487 ,distance between ekf and vo x:-0.000384 ,z=-0.000316,angle between two frames:0.000030 +[13:47:57.395] n deleted obs = 276 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1211 error init =0.055256 error end=0.054860 +[13:47:57.395] After pose optimization, distance between ekf and vo x:0.006272 ,z=0.000379,angle between two frames:0.000234 +[13:47:57.395] Update EKF and 3D points the number of feature in the new frame: 1211 and number of obs: 1211 +[13:47:57.407] need key frame pitch dis: 3.033249 translation dif:1.118617 +[13:47:57.407] Choose frame as a key frame Scene Depth mean:1.628955 ,depth min:-361.270093 +[13:47:57.408] frame process finished the id is: 131 the obs is:1211 +[13:47:58.278] After Reprojection Map nMatches:1500 ,distance between ekf and vo x:-0.000443 ,z=-0.000229,angle between two frames:0.000020 +[13:47:58.281] n deleted obs = 417 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1083 error init =0.055240 error end=0.055240 +[13:47:58.281] After pose optimization, distance between ekf and vo x:-0.000443 ,z=-0.000229,angle between two frames:0.000020 +[13:47:58.281] Update EKF and 3D points the number of feature in the new frame: 1083 and number of obs: 1083 +[13:47:58.289] need key frame pitch dis: 3.034139 translation dif:1.160500 +[13:47:58.290] Choose frame as a key frame Scene Depth mean:1.002246 ,depth min:-204.788663 +[13:47:58.290] frame process finished the id is: 132 the obs is:1083 +[13:47:59.525] After Reprojection Map nMatches:1537 ,distance between ekf and vo x:-0.000393 ,z=-0.000178,angle between two frames:0.000026 +[13:47:59.528] n deleted obs = 323 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1214 error init =0.053318 error end=0.053318 +[13:47:59.528] After pose optimization, distance between ekf and vo x:-0.000393 ,z=-0.000178,angle between two frames:0.000026 +[13:47:59.528] Update EKF and 3D points the number of feature in the new frame: 1214 and number of obs: 1214 +[13:47:59.539] need key frame pitch dis: 3.026973 translation dif:1.807622 +[13:47:59.540] Choose frame as a key frame Scene Depth mean:1352736419113.896973 ,depth min:-228.472813 +[13:47:59.541] frame process finished the id is: 133 the obs is:1214 +[13:48:00.668] After Reprojection Map nMatches:1597 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[13:48:00.670] n deleted obs = 415 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1182 error init =-nan error end=-nan +[13:48:00.670] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[13:48:00.670] Update EKF and 3D points the number of feature in the new frame: 1182 and number of obs: 1182 +[13:48:00.680] need key frame pitch dis: 3.014107 translation dif:1.755699 +[13:48:00.680] Choose frame as a key frame Scene Depth mean:-nan ,depth min:-204.727032 +[13:48:00.681] frame process finished the id is: 134 the obs is:1182 +[13:48:01.758] After Reprojection Map nMatches:1543 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[13:48:01.760] n deleted obs = 355 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1188 error init =-nan error end=-nan +[13:48:01.760] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[13:48:01.760] Update EKF and 3D points the number of feature in the new frame: 1188 and number of obs: 1188 +[13:48:01.770] need key frame pitch dis: 3.031565 translation dif:1.651917 +[13:48:01.771] Choose frame as a key frame Scene Depth mean:-nan ,depth min:-2017.671193 +[13:48:01.772] frame process finished the id is: 135 the obs is:1188 +[13:48:03.009] After Reprojection Map nMatches:1614 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[13:48:03.011] n deleted obs = 390 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1224 error init =-nan error end=-nan +[13:48:03.011] After pose optimization, distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[13:48:03.011] Update EKF and 3D points the number of feature in the new frame: 1224 and number of obs: 1224 +[13:48:03.021] need key frame pitch dis: 0.000092 translation dif:0.000807 +[13:48:03.021] frame process finished the id is: 136 the obs is:1224 +[13:48:03.765] After Reprojection Map nMatches:1664 ,distance between ekf and vo x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[13:48:03.769] n deleted obs = 411 n obs with \ No newline at end of file diff --git a/GPU_version/vio/include/vio/frame_handler_mono.h b/GPU_version/vio/include/vio/frame_handler_mono.h index d0160eb..0b19532 100644 --- a/GPU_version/vio/include/vio/frame_handler_mono.h +++ b/GPU_version/vio/include/vio/frame_handler_mono.h @@ -24,7 +24,6 @@ #include #include #include -#include #include namespace vio { diff --git a/GPU_version/vio/include/vio/map.h b/GPU_version/vio/include/vio/map.h index 9de354b..afa738b 100644 --- a/GPU_version/vio/include/vio/map.h +++ b/GPU_version/vio/include/vio/map.h @@ -22,6 +22,8 @@ #include #include #include +#include +#include namespace vio { @@ -54,7 +56,25 @@ public: void addKeyframe(FramePtr new_keyframe); /// Given a frame, return all keyframes which have an overlapping field of view. - void getCloseKeyframes(const FramePtr& frame, list< pair >& close_kfs) const; + void getCloseKeyframes(const FramePtr& frame, list< pair >& close_kfs){ + for(auto kf : keyframes_) + { + // check if kf has overlaping field of view with frame, use therefore KeyPoints + for(auto keypoint : kf->key_pts_) + { + if(keypoint == nullptr) + continue; + if(keypoint->point==NULL)continue; + if(frame->isVisible(keypoint->point->pos_)) + { + close_kfs.push_back( + std::make_pair( + kf, (frame->T_f_w_.se2().translation()-kf->T_f_w_.se2().translation()).norm())); + break; // this keyframe has an overlapping field of view -> add to close_kfs + } + } + } + } /// Return the keyframe which is furthest apart from pos. FramePtr getFurthestKeyframe(const Vector2d& pos); diff --git a/GPU_version/vio/include/vio/matcher.h b/GPU_version/vio/include/vio/matcher.h index d9e5102..0823a6e 100644 --- a/GPU_version/vio/include/vio/matcher.h +++ b/GPU_version/vio/include/vio/matcher.h @@ -93,6 +93,7 @@ public: uint8_t patch_[patch_size_*patch_size_] __attribute__ ((aligned (16))); uint8_t patch_with_border_[(patch_size_+2)*(patch_size_+2)] __attribute__ ((aligned (16))); + uint8_t patch_with_border_cur_[(patch_size_+2)*(patch_size_+2)] __attribute__ ((aligned (16))); Matrix2d A_cur_ref_; //!< affine warp matrix Vector2d epi_dir_; double epi_length_; //!< length of epipolar line segment in pixels (only used for epipolar search) 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 @@ - + diff --git a/GPU_version/vio/src/feature_alignment.cpp b/GPU_version/vio/src/feature_alignment.cpp index cdb1162..78fdb46 100644 --- a/GPU_version/vio/src/feature_alignment.cpp +++ b/GPU_version/vio/src/feature_alignment.cpp @@ -202,7 +202,7 @@ bool align2D( bool sign=true;// + // termination condition - const float min_update_squared = 1.0;//0.001 + const float min_update_squared = 0.1;//0.001 const int cur_step = cur_img.step.p[0]; // float chi2 = 0; Vector3f update; update.setZero(); diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index 8e584f5..4389223 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -21,7 +21,6 @@ #include #include #include -#include #include #include #include @@ -145,22 +144,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() auto init_f= ukfPtr_.get_location(); new_frame_->T_f_w_=init_f.second; new_frame_->Cov_ = init_f.first; - // sparse image align - std::unique_ptr img_align=std::make_unique(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_); - size_t err=img_align->run(last_frame_, new_frame_, log_); - if(err==-1){ -#if VIO_DEBUG - fprintf(log_,"[%s] Image Alignment failed -1\n",vio::time_in_HH_MM_SS_MMM().c_str()); -#endif - new_frame_=last_frame_; - return RESULT_FAILURE; - }else if(err==0){ -#if VIO_DEBUG - fprintf(log_,"[%s] Image Alignment failed 0\n",vio::time_in_HH_MM_SS_MMM().c_str()); -#endif - new_frame_=last_frame_; - return RESULT_FAILURE; - } reprojector_.reprojectMap(new_frame_, last_frame_,overlap_kfs_, gpu_fast_, log_); int n_point=0; for(auto i:overlap_kfs_)n_point+=i.second; diff --git a/GPU_version/vio/src/map.cpp b/GPU_version/vio/src/map.cpp index fb3452a..5df1ab7 100644 --- a/GPU_version/vio/src/map.cpp +++ b/GPU_version/vio/src/map.cpp @@ -103,29 +103,6 @@ void Map::addKeyframe(FramePtr new_keyframe) keyframes_.push_back(new_keyframe); } -void Map::getCloseKeyframes( - const FramePtr& frame, - std::list< std::pair >& close_kfs) const -{ - for(auto kf : keyframes_) - { - // check if kf has overlaping field of view with frame, use therefore KeyPoints - for(auto keypoint : kf->key_pts_) - { - if(keypoint == nullptr) - continue; - if(keypoint->point==NULL)continue; - if(frame->isVisible(keypoint->point->pos_)) - { - close_kfs.push_back( - std::make_pair( - kf, (frame->T_f_w_.se2().translation()-kf->T_f_w_.se2().translation()).norm())); - break; // this keyframe has an overlapping field of view -> add to close_kfs - } - } - } -} - FramePtr Map::getFurthestKeyframe(const Vector2d& pos) { diff --git a/GPU_version/vio/src/matcher.cpp b/GPU_version/vio/src/matcher.cpp index 443c181..c85f9b8 100644 --- a/GPU_version/vio/src/matcher.cpp +++ b/GPU_version/vio/src/matcher.cpp @@ -126,6 +126,42 @@ void Matcher::createPatchFromPatchWithBorder() ref_patch_ptr[x] = ref_patch_border_ptr[x]; } } +cv::Scalar getMSSIM( const cv::Mat& i1, const cv::Mat& i2){ + const double C1 = 6.5025, C2 = 58.5225; + /**************************** INITS *********************************/ + int d = CV_32F; + cv::Mat I1, I2; + i1.convertTo(I1, d); // cannot calculate on one byte large values + i2.convertTo(I2, d); + cv::Mat I2_2 = I2.mul(I2); // I2^2 + cv::Mat I1_2 = I1.mul(I1); // I1^2 + cv::Mat I1_I2 = I1.mul(I2); // I1 * I2 + /************************** END INITS *********************************/ + cv::Mat mu1, mu2; // PRELIMINARY COMPUTING + GaussianBlur(I1, mu1, cv::Size(11, 11), 1.5); + GaussianBlur(I2, mu2, cv::Size(11, 11), 1.5); + cv::Mat mu1_2 = mu1.mul(mu1); + cv::Mat mu2_2 = mu2.mul(mu2); + cv::Mat mu1_mu2 = mu1.mul(mu2); + cv::Mat sigma1_2, sigma2_2, sigma12; + GaussianBlur(I1_2, sigma1_2, cv::Size(11, 11), 1.5); + sigma1_2 -= mu1_2; + GaussianBlur(I2_2, sigma2_2, cv::Size(11, 11), 1.5); + sigma2_2 -= mu2_2; + GaussianBlur(I1_I2, sigma12, cv::Size(11, 11), 1.5); + sigma12 -= mu1_mu2; + cv::Mat t1, t2, t3; + t1 = 2 * mu1_mu2 + C1; + t2 = 2 * sigma12 + C2; + t3 = t1.mul(t2); // t3 = ((2*mu1_mu2 + C1).*(2*sigma12 + C2)) + t1 = mu1_2 + mu2_2 + C1; + t2 = sigma1_2 + sigma2_2 + C2; + t1 = t1.mul(t2); // t1 =((mu1_2 + mu2_2 + C1).*(sigma1_2 + sigma2_2 + C2)) + cv::Mat ssim_map; + divide(t3, t1, ssim_map); // ssim_map = t3./t1; + cv::Scalar mssim = mean( ssim_map ); // mssim = average of ssim map + return mssim; +} bool Matcher::findMatchDirect( const Point& pt, @@ -163,26 +199,20 @@ bool Matcher::findMatchDirect( ref_ftr_->level, ref_ftr_->level, halfpatch_size_+1, patch_with_border_))return false; createPatchFromPatchWithBorder(); // px_cur should be set - Vector2d px_scaled(px_cur); bool success = false; - if(ref_ftr_->type == Feature::EDGELET) - { - Vector2d dir_cur(A_cur_ref_*ref_ftr_->grad); - dir_cur.normalize(); - success = feature_alignment::align1D( - cur_frame.img_pyr_[ref_ftr_->level], dir_cur.cast(), - patch_with_border_, patch_, options_.align_max_iter, px_scaled, h_inv_); - } + if(!warp::warpAffine(A_cur_ref_.inverse(), cur_frame.img_pyr_[ref_ftr_->level], px_cur, + ref_ftr_->level, ref_ftr_->level, halfpatch_size_+1, patch_with_border_cur_))return false; + cv::Mat Patch_ref = cv::Mat(patch_size_+2, patch_size_+2, CV_8UC1, patch_with_border_); + cv::Mat Patch_cur = cv::Mat(patch_size_+2, patch_size_+2, CV_8UC1, patch_with_border_cur_); + cv::Scalar res = getMSSIM(Patch_cur, Patch_ref); + if(res[0] >= 0.75) + success = true; else - { - success = feature_alignment::align2D( - cur_frame.img_pyr_[ref_ftr_->level], patch_with_border_, patch_, - options_.align_max_iter, px_scaled); - } + success = false; /* debug(ref_ftr_->frame->img_pyr_[ref_ftr_->level],cur_frame.img_pyr_[ref_ftr_->level],ref_ftr_->px, px_cur,px_scaled ,success,patch_,patch_with_border_,(ref_ftr_->frame->se3().inverse()*pt.pos_).z());*/ - px_cur = px_scaled; + //px_cur = px_scaled; return success; } diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp index 43da972..ff3febd 100644 --- a/GPU_version/vio/src/reprojector.cpp +++ b/GPU_version/vio/src/reprojector.cpp @@ -29,7 +29,7 @@ #include #include #include - +#include #include #include #include @@ -81,11 +81,8 @@ namespace vio { std::vector keypoints_cur; list>::iterator it_cur=keypoints.begin(); cv::Mat cur_des=cv::Mat(keypoints.size(),64,CV_8UC1); - cv::Mat maskup = cv::Mat_(1, keypoints.size()); cv::Mat maskdown = cv::Mat_(1, keypoints.size()); - - for (int i=0;ipx.x(), (*it_cur)->px.y(), 7.f, (*it_cur)->score)); memcpy(cur_des.data+(i*64),(*it_cur)->descriptor,sizeof(uint8_t)*64); @@ -106,6 +103,10 @@ namespace vio { last_frame->T_f_w_.se2().translation()).norm())); close_kfs.sort(boost::bind(&std::pair::second, _1) < boost::bind(&std::pair::second, _2)); + std::unique_ptr img_align=std::make_unique(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_); + for (auto &&it_frame:_for(close_kfs)) { + img_align->run(it_frame.item.first, frame, log_); + } overlap_kfs.reserve(options_.max_n_kfs); std::vector added_keypoints; for (auto &&it_frame:_for(close_kfs)) { @@ -166,6 +167,8 @@ namespace vio { ++it_ref; } } +/* std::cerr<<"here\n"; + exit(0);*/ } } \ No newline at end of file diff --git a/GPU_version/vio/src/sparse_img_align_gpu.cpp b/GPU_version/vio/src/sparse_img_align_gpu.cpp index c946dcf..437dc7c 100644 --- a/GPU_version/vio/src/sparse_img_align_gpu.cpp +++ b/GPU_version/vio/src/sparse_img_align_gpu.cpp @@ -38,31 +38,25 @@ size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame, FILE* log) reset(); cl_float3 ref_pos[1]={(float)ref_frame->pos()(0),(float)ref_frame->pos()(1),(float)ref_frame->T_f_w_.pitch()}; cl_float3 cur_pos[1]={(float)cur_frame->pos()(0),(float)cur_frame->pos()(1),(float)cur_frame->T_f_w_.pitch()}; - cl_float3 features[ref_frame->fts_.size()]; - cl_float2 featue_px[ref_frame->fts_.size()]; + cl_float3* features=(cl_float3*)calloc(ref_frame->fts_.size(), sizeof(cl_float3)); + cl_float2* featue_px=(cl_float2*)calloc(ref_frame->fts_.size(), sizeof(cl_float2)); feature_counter_ = 0; // is used to compute the index of the cached jacobian - for(auto it:_for(ref_frame->fts_)){ - if(it.item->point == nullptr){ - features[it.index].x=0.f; - features[it.index].y=0.f; - features[it.index].z=0.f; - featue_px[it.index].x=0.f; - featue_px[it.index].y=0.f; - continue; - } - Vector3d xyz_ref=it.item->f*(ref_frame->se3().inverse()*it.item->point->pos_).norm(); - features[it.index].x=xyz_ref(0); - features[it.index].y=xyz_ref(1); - features[it.index].z=xyz_ref(2); - featue_px[it.index].x=it.item->px(0); - featue_px[it.index].y=it.item->px(1); + for(auto it=ref_frame->fts_.begin();it!=ref_frame->fts_.end();++it){ + if((*it)->point == nullptr)continue; + Vector3d xyz_ref=(*it)->f*(ref_frame->se3().inverse()*(*it)->point->pos_).norm(); + features[feature_counter_].x=xyz_ref(0); + features[feature_counter_].y=xyz_ref(1); + features[feature_counter_].z=xyz_ref(2); + featue_px[feature_counter_].x=(*it)->px(0); + featue_px[feature_counter_].y=(*it)->px(1); ++feature_counter_; } if(!feature_counter_) // more than 10 { + free(featue_px); + free(features); return 0; } - feature_counter_=ref_frame->fts_.size(); residual_->load(1,2,1,cur_pos); residual_->load(1,3,1,ref_pos); residual_->load(1,4,feature_counter_,features); @@ -102,7 +96,9 @@ size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame, FILE* log) free(H); free(J); free(chi2_); - if(isnan(pos[0].x) || isnan(pos[0].y) || isnan(pos[0].z))return 1; + free(featue_px); + free(features); + if(isnan(pos[0].x) || isnan(pos[0].y) || isnan(pos[0].z) || fabs(pos[0].z-cur_pos[0].z)>M_PI_2)return 1; cur_frame->T_f_w_ = SE2_5(pos[0].x,pos[0].y,pos[0].z); return 1; }