From 3fca9926bc644f849a0c013f54fb9439af2b76d1 Mon Sep 17 00:00:00 2001 From: gfuse Date: Thu, 23 Sep 2021 19:52:48 +0200 Subject: [PATCH] confirm that backward motion is not supported during initialization --- GPU_version/vio/depth_filter_log.txt | 22 - GPU_version/vio/frame_handler_log.txt | 2109 +++++++++++++------------ GPU_version/vio/src/math_utils.cpp | 24 +- 3 files changed, 1111 insertions(+), 1044 deletions(-) diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt index 4293df2..e69de29 100755 --- a/GPU_version/vio/depth_filter_log.txt +++ b/GPU_version/vio/depth_filter_log.txt @@ -1,22 +0,0 @@ -[16:31:45.913] init depth filter -[16:31:47.423] init depth filter -[16:31:50.898] DepthFilter: RESET. -[16:32:05.679] add key frame -[16:32:05.679] init seeds -[16:32:05.679] update 0 seeds -[16:32:05.679] init seeds -[16:32:05.682] DepthFilter: Initialized 82 new seeds -[16:32:05.682] add key frame -[16:32:05.682] update 82 seeds -[16:32:05.682] init seeds -[16:32:05.687] DepthFilter: Initialized 112 new seeds -[16:32:05.692] DepthFilter: Initialized 126 new seeds -[16:32:08.165] add new frame -[16:32:08.165] add key frame -[16:32:08.165] update 320 seeds -[16:32:08.165] init seeds -[16:32:08.168] DepthFilter: Initialized 149 new seeds -[16:32:10.624] add new frame -[16:32:10.624] update 469 seeds -[16:32:47.056] DepthFilter stop thread invoked. -[16:32:47.056] DepthFilter interrupt and join thread diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index 256583b..9715b33 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,1013 +1,1096 @@ -[16:31:50.906] frame process finished the id is: 0 the obs is:0 -[16:31:50.997] Init: frame zero: 0.000000, 0.000000 0.000000 -[16:31:50.997] Init: Selected first frame. -[16:31:50.997] frame process finished the id is: 1 the obs is:0 -[16:31:51.099] Init: px average disparity is:0.176662 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:51.099] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:51.099] frame process finished the id is: 2 the obs is:0 -[16:31:51.197] Init: px average disparity is:0.231702 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:51.198] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:51.198] frame process finished the id is: 3 the obs is:0 -[16:31:51.297] Init: px average disparity is:0.243649 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:51.297] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:51.297] frame process finished the id is: 4 the obs is:0 -[16:31:51.396] Init: px average disparity is:0.298366 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:51.396] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:51.396] frame process finished the id is: 5 the obs is:0 -[16:31:51.498] Init: px average disparity is:0.446487 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:51.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:51.498] frame process finished the id is: 6 the obs is:0 -[16:31:51.598] Init: px average disparity is:0.356445 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:51.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:51.598] frame process finished the id is: 7 the obs is:0 -[16:31:51.695] Init: px average disparity is:0.490347 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:51.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:51.695] frame process finished the id is: 8 the obs is:0 -[16:31:51.797] Init: px average disparity is:0.488559 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:51.797] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:51.797] frame process finished the id is: 9 the obs is:0 -[16:31:51.896] Init: px average disparity is:0.486688 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:51.896] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:51.896] frame process finished the id is: 10 the obs is:0 -[16:31:51.996] Init: px average disparity is:0.551365 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:51.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:51.996] frame process finished the id is: 11 the obs is:0 -[16:31:52.095] Init: px average disparity is:0.619942 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:52.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:52.095] frame process finished the id is: 12 the obs is:0 -[16:31:52.195] Init: px average disparity is:0.690610 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:52.195] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:52.195] frame process finished the id is: 13 the obs is:0 -[16:31:52.296] Init: px average disparity is:0.677722 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:52.296] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:52.297] frame process finished the id is: 14 the obs is:0 -[16:31:52.397] Init: px average disparity is:0.647427 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:52.397] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:52.397] frame process finished the id is: 15 the obs is:0 -[16:31:52.495] Init: px average disparity is:0.708423 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:52.495] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:52.495] frame process finished the id is: 16 the obs is:0 -[16:31:52.598] Init: px average disparity is:0.606615 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:52.598] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:52.598] frame process finished the id is: 17 the obs is:0 -[16:31:52.695] Init: px average disparity is:0.630407 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:52.695] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:52.695] frame process finished the id is: 18 the obs is:0 -[16:31:52.795] Init: px average disparity is:0.679305 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:52.795] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:52.795] frame process finished the id is: 19 the obs is:0 -[16:31:52.895] Init: px average disparity is:0.742493 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:52.895] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:52.895] frame process finished the id is: 20 the obs is:0 -[16:31:53.002] Init: px average disparity is:0.626572 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:53.002] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:53.002] frame process finished the id is: 21 the obs is:0 -[16:31:53.102] Init: px average disparity is:0.663087 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:53.102] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:53.102] frame process finished the id is: 22 the obs is:0 -[16:31:53.202] Init: px average disparity is:0.670134 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:53.202] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:53.202] frame process finished the id is: 23 the obs is:0 -[16:31:53.301] Init: px average disparity is:0.621564 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:53.302] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:53.302] frame process finished the id is: 24 the obs is:0 -[16:31:53.401] Init: px average disparity is:0.620483 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:53.402] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:53.402] frame process finished the id is: 25 the obs is:0 -[16:31:53.503] Init: px average disparity is:0.672609 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:53.503] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:53.503] frame process finished the id is: 26 the obs is:0 -[16:31:53.605] Init: px average disparity is:0.566756 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:53.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:53.605] frame process finished the id is: 27 the obs is:0 -[16:31:53.702] Init: px average disparity is:0.684367 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:53.702] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:53.702] frame process finished the id is: 28 the obs is:0 -[16:31:53.802] Init: px average disparity is:0.643930 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:53.802] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:53.802] frame process finished the id is: 29 the obs is:0 -[16:31:53.903] Init: px average disparity is:0.623237 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:53.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:53.903] frame process finished the id is: 30 the obs is:0 -[16:31:54.003] Init: px average disparity is:0.609370 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:54.003] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:54.003] frame process finished the id is: 31 the obs is:0 -[16:31:54.103] Init: px average disparity is:0.673813 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:54.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:54.103] frame process finished the id is: 32 the obs is:0 -[16:31:54.203] Init: px average disparity is:0.696077 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:54.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:54.203] frame process finished the id is: 33 the obs is:0 -[16:31:54.302] Init: px average disparity is:0.581767 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:54.302] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:54.302] frame process finished the id is: 34 the obs is:0 -[16:31:54.403] Init: px average disparity is:0.533788 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:54.403] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:54.403] frame process finished the id is: 35 the obs is:0 -[16:31:54.500] Init: px average disparity is:0.618649 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:54.500] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:54.500] frame process finished the id is: 36 the obs is:0 -[16:31:54.604] Init: px average disparity is:0.634760 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:54.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:54.605] frame process finished the id is: 37 the obs is:0 -[16:31:54.703] Init: px average disparity is:0.591073 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:54.703] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:54.703] frame process finished the id is: 38 the obs is:0 -[16:31:54.803] Init: px average disparity is:0.561905 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:54.803] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:54.803] frame process finished the id is: 39 the obs is:0 -[16:31:54.904] Init: px average disparity is:0.686149 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:54.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:54.904] frame process finished the id is: 40 the obs is:0 -[16:31:55.004] Init: px average disparity is:0.561582 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:55.004] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:55.004] frame process finished the id is: 41 the obs is:0 -[16:31:55.104] Init: px average disparity is:0.673549 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:55.105] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:55.105] frame process finished the id is: 42 the obs is:0 -[16:31:55.203] Init: px average disparity is:0.588607 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:55.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:55.203] frame process finished the id is: 43 the obs is:0 -[16:31:55.303] Init: px average disparity is:0.657390 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:55.303] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:55.303] frame process finished the id is: 44 the obs is:0 -[16:31:55.404] Init: px average disparity is:0.646623 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:55.404] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:55.404] frame process finished the id is: 45 the obs is:0 -[16:31:55.503] Init: px average disparity is:0.694260 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:55.503] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:55.503] frame process finished the id is: 46 the obs is:0 -[16:31:55.605] Init: px average disparity is:0.611804 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:55.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:55.605] frame process finished the id is: 47 the obs is:0 -[16:31:55.704] Init: px average disparity is:0.686522 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:55.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:55.704] frame process finished the id is: 48 the obs is:0 -[16:31:55.806] Init: px average disparity is:0.512358 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:55.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:55.806] frame process finished the id is: 49 the obs is:0 -[16:31:55.895] Init: px average disparity is:0.705084 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:55.895] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:55.895] frame process finished the id is: 50 the obs is:0 -[16:31:56.001] Init: px average disparity is:0.679996 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:56.001] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:56.001] frame process finished the id is: 51 the obs is:0 -[16:31:56.107] Init: px average disparity is:0.681286 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:56.107] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:56.107] frame process finished the id is: 52 the obs is:0 -[16:31:56.208] Init: px average disparity is:0.599166 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:56.208] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:56.208] frame process finished the id is: 53 the obs is:0 -[16:31:56.305] Init: px average disparity is:0.640090 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:56.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:56.305] frame process finished the id is: 54 the obs is:0 -[16:31:56.390] Odometry x=0.000000, y=0.000000, theta=0.000000 -[16:31:56.405] Init: px average disparity is:0.627500 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:56.405] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:56.405] frame process finished the id is: 55 the obs is:0 -[16:31:56.491] Odometry x=0.000000, y=0.000000, theta=0.000000 -[16:31:56.504] Init: px average disparity is:0.583611 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:56.505] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:56.505] frame process finished the id is: 56 the obs is:0 -[16:31:56.590] Odometry x=-0.000000, y=-0.005932, theta=0.001023 -[16:31:56.605] Init: px average disparity is:0.645293 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:56.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:56.605] frame process finished the id is: 57 the obs is:0 -[16:31:56.690] Odometry x=-0.002523, y=-0.043713, theta=0.003731 -[16:31:56.705] Init: px average disparity is:5.093438 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:56.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:56.706] frame process finished the id is: 58 the obs is:0 -[16:31:56.785] Odometry x=-0.002529, y=-0.049048, theta=-0.000767 -[16:31:56.806] Init: px average disparity is:9.921133 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:56.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:56.806] frame process finished the id is: 59 the obs is:0 -[16:31:56.889] Odometry x=-0.002514, y=-0.054155, theta=-0.000421 -[16:31:56.905] Init: px average disparity is:9.389783 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:56.905] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:56.905] frame process finished the id is: 60 the obs is:0 -[16:31:56.986] Odometry x=-0.002427, y=-0.059616, theta=-0.004278 -[16:31:57.006] Init: px average disparity is:10.847570 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:57.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:57.006] frame process finished the id is: 61 the obs is:0 -[16:31:57.089] Odometry x=-0.002401, y=-0.064898, theta=-0.000269 -[16:31:57.105] Init: px average disparity is:13.652140 ,While minimum is: 40.000000 KLT tracked : 123 -[16:31:57.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:57.106] frame process finished the id is: 62 the obs is:0 -[16:31:57.189] Odometry x=-0.002343, y=-0.069973, theta=0.005129 -[16:31:57.207] Init: px average disparity is:17.292907 ,While minimum is: 40.000000 KLT tracked : 122 -[16:31:57.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:57.207] frame process finished the id is: 63 the obs is:0 -[16:31:57.291] Odometry x=-0.002460, y=-0.075410, theta=-0.001224 -[16:31:57.297] Init: px average disparity is:18.699293 ,While minimum is: 40.000000 KLT tracked : 121 -[16:31:57.297] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:57.297] frame process finished the id is: 64 the obs is:0 -[16:31:57.383] Odometry x=-0.002444, y=-0.080998, theta=-0.005174 -[16:31:57.406] Init: px average disparity is:21.120296 ,While minimum is: 40.000000 KLT tracked : 120 -[16:31:57.406] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:57.406] frame process finished the id is: 65 the obs is:0 -[16:31:57.489] Odometry x=-0.002426, y=-0.085616, theta=-0.001409 -[16:31:57.505] Init: px average disparity is:23.236261 ,While minimum is: 40.000000 KLT tracked : 120 -[16:31:57.505] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:57.505] frame process finished the id is: 66 the obs is:0 -[16:31:57.590] Odometry x=-0.002230, y=-0.091294, theta=-0.002806 -[16:31:57.604] Init: px average disparity is:26.126563 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:57.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:57.605] frame process finished the id is: 67 the obs is:0 -[16:31:57.686] Odometry x=-0.002230, y=-0.096925, theta=0.006066 -[16:31:57.711] Init: px average disparity is:25.314079 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:57.711] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:57.711] frame process finished the id is: 68 the obs is:0 -[16:31:57.792] Odometry x=-0.001818, y=-0.102521, theta=0.004114 -[16:31:57.806] Init: px average disparity is:18.448878 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:57.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:57.806] frame process finished the id is: 69 the obs is:0 -[16:31:57.887] Odometry x=-0.001826, y=-0.108179, theta=0.001484 -[16:31:57.904] Init: px average disparity is:14.937389 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:57.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:57.904] frame process finished the id is: 70 the obs is:0 -[16:31:57.989] Odometry x=-0.001710, y=-0.112842, theta=0.007070 -[16:31:58.005] Init: px average disparity is:11.649527 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:58.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:58.005] frame process finished the id is: 71 the obs is:0 -[16:31:58.091] Odometry x=-0.001713, y=-0.116056, theta=0.001882 -[16:31:58.105] Init: px average disparity is:10.527807 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:58.105] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:58.105] frame process finished the id is: 72 the obs is:0 -[16:31:58.192] Odometry x=-0.001722, y=-0.121207, theta=0.002587 -[16:31:58.206] Init: px average disparity is:10.349943 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:58.206] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:58.206] frame process finished the id is: 73 the obs is:0 -[16:31:58.292] Odometry x=-0.001720, y=-0.126831, theta=-0.000953 -[16:31:58.307] Init: px average disparity is:9.816593 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:58.307] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:58.307] frame process finished the id is: 74 the obs is:0 -[16:31:58.391] Odometry x=-0.001733, y=-0.129442, theta=0.004560 -[16:31:58.397] Init: px average disparity is:10.789921 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:58.397] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:58.397] frame process finished the id is: 75 the obs is:0 -[16:31:58.491] Odometry x=-0.001461, y=-0.132372, theta=-0.009195 -[16:31:58.506] Init: px average disparity is:13.466755 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:58.506] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:58.506] frame process finished the id is: 76 the obs is:0 -[16:31:58.591] Odometry x=-0.001461, y=-0.137444, theta=0.012532 -[16:31:58.612] Init: px average disparity is:14.047947 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:58.612] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:58.612] frame process finished the id is: 77 the obs is:0 -[16:31:58.690] Odometry x=-0.001390, y=-0.142885, theta=0.007022 -[16:31:58.706] Init: px average disparity is:14.984088 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:58.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:58.706] frame process finished the id is: 78 the obs is:0 -[16:31:58.790] Odometry x=-0.001402, y=-0.147680, theta=0.011780 -[16:31:58.806] Init: px average disparity is:17.076736 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:58.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:58.806] frame process finished the id is: 79 the obs is:0 -[16:31:58.890] Odometry x=0.000251, y=-0.152547, theta=0.016507 -[16:31:58.906] Init: px average disparity is:15.960668 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:58.906] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:58.906] frame process finished the id is: 80 the obs is:0 -[16:31:58.990] Odometry x=0.000207, y=-0.157904, theta=0.013762 -[16:31:59.006] Init: px average disparity is:20.359493 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:59.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:59.006] frame process finished the id is: 81 the obs is:0 -[16:31:59.089] Odometry x=0.000218, y=-0.163431, theta=0.007616 -[16:31:59.107] Init: px average disparity is:22.889392 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:59.107] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:59.107] frame process finished the id is: 82 the obs is:0 -[16:31:59.189] Odometry x=0.000197, y=-0.168736, theta=0.009589 -[16:31:59.209] Init: px average disparity is:23.864906 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:59.209] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:59.209] frame process finished the id is: 83 the obs is:0 -[16:31:59.289] Odometry x=0.000176, y=-0.174216, theta=0.006115 -[16:31:59.307] Init: px average disparity is:24.940109 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:59.307] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:59.307] frame process finished the id is: 84 the obs is:0 -[16:31:59.389] Odometry x=0.000154, y=-0.179610, theta=0.012547 -[16:31:59.407] Init: px average disparity is:20.805350 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:59.407] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:59.407] frame process finished the id is: 85 the obs is:0 -[16:31:59.492] Odometry x=0.000164, y=-0.185007, theta=0.003008 -[16:31:59.497] Init: px average disparity is:19.360137 ,While minimum is: 40.000000 KLT tracked : 119 -[16:31:59.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:59.498] frame process finished the id is: 86 the obs is:0 -[16:31:59.598] Odometry x=0.000131, y=-0.190360, theta=0.018428 -[16:31:59.607] Init: px average disparity is:13.951045 ,While minimum is: 40.000000 KLT tracked : 118 -[16:31:59.607] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:59.607] frame process finished the id is: 87 the obs is:0 -[16:31:59.691] Odometry x=0.000104, y=-0.195795, theta=0.011930 -[16:31:59.707] Init: px average disparity is:12.056556 ,While minimum is: 40.000000 KLT tracked : 118 -[16:31:59.707] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:59.707] frame process finished the id is: 88 the obs is:0 -[16:31:59.791] Odometry x=0.000148, y=-0.198915, theta=0.018243 -[16:31:59.815] Init: px average disparity is:13.289181 ,While minimum is: 40.000000 KLT tracked : 118 -[16:31:59.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:59.815] frame process finished the id is: 89 the obs is:0 -[16:31:59.891] Odometry x=0.000082, y=-0.204192, theta=0.020399 -[16:31:59.907] Init: px average disparity is:15.981768 ,While minimum is: 40.000000 KLT tracked : 118 -[16:31:59.908] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:31:59.908] frame process finished the id is: 90 the obs is:0 -[16:31:59.986] Odometry x=0.000027, y=-0.208450, theta=0.000841 -[16:32:00.006] Init: px average disparity is:13.674085 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:00.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:00.006] frame process finished the id is: 91 the obs is:0 -[16:32:00.087] Odometry x=-0.000013, y=-0.213562, theta=0.001724 -[16:32:00.106] Init: px average disparity is:16.058524 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:00.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:00.106] frame process finished the id is: 92 the obs is:0 -[16:32:00.195] Odometry x=-0.000119, y=-0.213182, theta=0.002589 -[16:32:00.207] Init: px average disparity is:13.762964 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:00.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:00.207] frame process finished the id is: 93 the obs is:0 -[16:32:00.286] Odometry x=0.000439, y=-0.218676, theta=-0.003095 -[16:32:00.306] Init: px average disparity is:13.568470 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:00.306] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:00.306] frame process finished the id is: 94 the obs is:0 -[16:32:00.387] Odometry x=0.000389, y=-0.223599, theta=0.003446 -[16:32:00.406] Init: px average disparity is:15.165335 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:00.406] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:00.406] frame process finished the id is: 95 the obs is:0 -[16:32:00.485] Odometry x=0.000495, y=-0.228631, theta=-0.000229 -[16:32:00.508] Init: px average disparity is:16.081270 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:00.508] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:00.508] frame process finished the id is: 96 the obs is:0 -[16:32:00.591] Odometry x=0.000496, y=-0.234301, theta=0.000302 -[16:32:00.612] Init: px average disparity is:23.001996 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:00.612] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:00.612] frame process finished the id is: 97 the obs is:0 -[16:32:00.690] Odometry x=0.003069, y=-0.223732, theta=0.004429 -[16:32:00.701] Init: px average disparity is:22.149165 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:00.701] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:00.701] frame process finished the id is: 98 the obs is:0 -[16:32:00.794] Odometry x=0.003038, y=-0.229881, theta=0.009631 -[16:32:00.808] Init: px average disparity is:21.013592 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:00.808] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:00.808] frame process finished the id is: 99 the obs is:0 -[16:32:00.887] Odometry x=0.003406, y=-0.234084, theta=0.012792 -[16:32:00.907] Init: px average disparity is:19.147360 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:00.907] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:00.907] frame process finished the id is: 100 the obs is:0 -[16:32:00.988] Odometry x=0.003383, y=-0.239128, theta=0.002506 -[16:32:01.007] Init: px average disparity is:20.135640 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:01.007] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:01.007] frame process finished the id is: 101 the obs is:0 -[16:32:01.089] Odometry x=0.003614, y=-0.244615, theta=0.003991 -[16:32:01.107] Init: px average disparity is:20.555002 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:01.107] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:01.107] frame process finished the id is: 102 the obs is:0 -[16:32:01.192] Odometry x=0.003651, y=-0.250146, theta=0.008094 -[16:32:01.198] Init: px average disparity is:19.413411 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:01.198] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:01.198] frame process finished the id is: 103 the obs is:0 -[16:32:01.289] Odometry x=0.003659, y=-0.255649, theta=-0.004196 -[16:32:01.307] Init: px average disparity is:22.195258 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:01.307] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:01.307] frame process finished the id is: 104 the obs is:0 -[16:32:01.390] Odometry x=0.003799, y=-0.260128, theta=0.010205 -[16:32:01.407] Init: px average disparity is:21.626414 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:01.408] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:01.408] frame process finished the id is: 105 the obs is:0 -[16:32:01.489] Odometry x=0.004390, y=-0.264364, theta=0.007403 -[16:32:01.514] Init: px average disparity is:21.513379 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:01.514] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:01.514] frame process finished the id is: 106 the obs is:0 -[16:32:01.589] Odometry x=0.004534, y=-0.269860, theta=0.007934 -[16:32:01.607] Init: px average disparity is:22.921550 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:01.607] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:01.607] frame process finished the id is: 107 the obs is:0 -[16:32:01.691] Odometry x=0.004572, y=-0.274910, theta=-0.006605 -[16:32:01.709] Init: px average disparity is:23.733170 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:01.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:01.709] frame process finished the id is: 108 the obs is:0 -[16:32:01.788] Odometry x=0.004620, y=-0.280607, theta=-0.004723 -[16:32:01.798] Init: px average disparity is:22.727107 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:01.798] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:01.798] frame process finished the id is: 109 the obs is:0 -[16:32:01.887] Odometry x=0.004711, y=-0.285835, theta=-0.010626 -[16:32:01.908] Init: px average disparity is:22.767356 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:01.908] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:01.908] frame process finished the id is: 110 the obs is:0 -[16:32:01.988] Odometry x=0.004738, y=-0.290977, theta=0.001416 -[16:32:02.008] Init: px average disparity is:22.155347 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:02.008] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:02.008] frame process finished the id is: 111 the obs is:0 -[16:32:02.093] Odometry x=0.005450, y=-0.296578, theta=-0.007215 -[16:32:02.108] Init: px average disparity is:23.712618 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:02.109] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:02.109] frame process finished the id is: 112 the obs is:0 -[16:32:02.189] Odometry x=0.004948, y=-0.301987, theta=-0.002522 -[16:32:02.208] Init: px average disparity is:24.651488 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:02.208] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:02.208] frame process finished the id is: 113 the obs is:0 -[16:32:02.293] Odometry x=0.004957, y=-0.307213, theta=-0.004920 -[16:32:02.314] Init: px average disparity is:26.721089 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:02.314] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:02.314] frame process finished the id is: 114 the obs is:0 -[16:32:02.389] Odometry x=0.004966, y=-0.312645, theta=-0.001516 -[16:32:02.408] Init: px average disparity is:26.872318 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:02.409] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:02.409] frame process finished the id is: 115 the obs is:0 -[16:32:02.489] Odometry x=0.005073, y=-0.315958, theta=-0.009413 -[16:32:02.509] Init: px average disparity is:25.744648 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:02.509] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:02.509] frame process finished the id is: 116 the obs is:0 -[16:32:02.589] Odometry x=0.005096, y=-0.321309, theta=-0.004572 -[16:32:02.610] Init: px average disparity is:23.628069 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:02.610] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:02.610] frame process finished the id is: 117 the obs is:0 -[16:32:02.691] Odometry x=0.005132, y=-0.326650, theta=-0.009712 -[16:32:02.714] Init: px average disparity is:24.661978 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:02.714] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:02.714] frame process finished the id is: 118 the obs is:0 -[16:32:02.790] Odometry x=0.005161, y=-0.332113, theta=-0.010277 -[16:32:02.814] Init: px average disparity is:25.049956 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:02.814] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:02.814] frame process finished the id is: 119 the obs is:0 -[16:32:02.888] Odometry x=0.005179, y=-0.337380, theta=-0.003007 -[16:32:02.903] Init: px average disparity is:26.396367 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:02.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:02.903] frame process finished the id is: 120 the obs is:0 -[16:32:02.989] Odometry x=0.005182, y=-0.342678, theta=-0.002181 -[16:32:03.010] Init: px average disparity is:25.234994 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:03.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:03.010] frame process finished the id is: 121 the obs is:0 -[16:32:03.095] Odometry x=0.005183, y=-0.348106, theta=-0.000980 -[16:32:03.108] Init: px average disparity is:26.675480 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:03.108] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:03.108] frame process finished the id is: 122 the obs is:0 -[16:32:03.188] Odometry x=0.005258, y=-0.353824, theta=-0.005902 -[16:32:03.208] Init: px average disparity is:26.265634 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:03.208] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:03.208] frame process finished the id is: 123 the obs is:0 -[16:32:03.294] Odometry x=0.005268, y=-0.359009, theta=-0.004718 -[16:32:03.309] Init: px average disparity is:28.219774 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:03.309] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:03.309] frame process finished the id is: 124 the obs is:0 -[16:32:03.390] Odometry x=0.005270, y=-0.364647, theta=0.000068 -[16:32:03.409] Init: px average disparity is:28.996223 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:03.409] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:03.409] frame process finished the id is: 125 the obs is:0 -[16:32:03.485] Odometry x=0.005266, y=-0.369825, theta=-0.003705 -[16:32:03.508] Init: px average disparity is:32.256793 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:03.509] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:03.509] frame process finished the id is: 126 the obs is:0 -[16:32:03.590] Odometry x=0.005284, y=-0.374079, theta=-0.005087 -[16:32:03.619] Init: px average disparity is:30.452129 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:03.619] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:03.619] frame process finished the id is: 127 the obs is:0 -[16:32:03.690] Odometry x=0.005321, y=-0.379395, theta=-0.008989 -[16:32:03.709] Init: px average disparity is:29.675494 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:03.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:03.709] frame process finished the id is: 128 the obs is:0 -[16:32:03.789] Odometry x=0.005373, y=-0.385117, theta=-0.009392 -[16:32:03.809] Init: px average disparity is:30.339197 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:03.809] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:03.809] frame process finished the id is: 129 the obs is:0 -[16:32:03.890] Odometry x=0.005403, y=-0.390583, theta=-0.012982 -[16:32:03.909] Init: px average disparity is:33.056479 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:03.909] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:03.910] frame process finished the id is: 130 the obs is:0 -[16:32:03.990] Odometry x=0.005422, y=-0.394713, theta=-0.011219 -[16:32:04.009] Init: px average disparity is:32.944858 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:04.009] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:04.009] frame process finished the id is: 131 the obs is:0 -[16:32:04.089] Odometry x=0.005579, y=-0.400057, theta=-0.017518 -[16:32:04.098] Init: px average disparity is:34.336130 ,While minimum is: 40.000000 KLT tracked : 118 -[16:32:04.098] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:04.098] frame process finished the id is: 132 the obs is:0 -[16:32:04.188] Odometry x=0.005657, y=-0.405415, theta=-0.009065 -[16:32:04.217] Init: px average disparity is:36.675949 ,While minimum is: 40.000000 KLT tracked : 117 -[16:32:04.217] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:04.217] frame process finished the id is: 133 the obs is:0 -[16:32:04.288] Odometry x=0.005715, y=-0.408248, theta=-0.017489 -[16:32:04.310] Init: px average disparity is:37.425772 ,While minimum is: 40.000000 KLT tracked : 117 -[16:32:04.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:04.310] frame process finished the id is: 134 the obs is:0 -[16:32:04.388] Odometry x=0.005752, y=-0.413353, theta=-0.009997 -[16:32:04.410] Init: px average disparity is:32.327735 ,While minimum is: 40.000000 KLT tracked : 115 -[16:32:04.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:04.410] frame process finished the id is: 135 the obs is:0 -[16:32:04.488] Odometry x=0.005750, y=-0.418674, theta=-0.016637 -[16:32:04.509] Init: px average disparity is:28.573211 ,While minimum is: 40.000000 KLT tracked : 113 -[16:32:04.510] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:04.510] frame process finished the id is: 136 the obs is:0 -[16:32:04.588] Odometry x=0.005818, y=-0.423990, theta=-0.019360 -[16:32:04.611] Init: px average disparity is:28.717315 ,While minimum is: 40.000000 KLT tracked : 113 -[16:32:04.611] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:04.611] frame process finished the id is: 137 the obs is:0 -[16:32:04.688] Odometry x=0.005868, y=-0.429716, theta=-0.014029 -[16:32:04.711] Init: px average disparity is:34.774880 ,While minimum is: 40.000000 KLT tracked : 113 -[16:32:04.711] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:04.711] frame process finished the id is: 138 the obs is:0 -[16:32:04.788] Odometry x=0.006027, y=-0.434157, theta=-0.019355 -[16:32:04.810] Init: px average disparity is:34.784472 ,While minimum is: 40.000000 KLT tracked : 111 -[16:32:04.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:04.810] frame process finished the id is: 139 the obs is:0 -[16:32:04.888] Odometry x=0.006095, y=-0.439493, theta=-0.008592 -[16:32:04.911] Init: px average disparity is:32.999429 ,While minimum is: 40.000000 KLT tracked : 110 -[16:32:04.911] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:04.911] frame process finished the id is: 140 the obs is:0 -[16:32:04.987] Odometry x=0.006110, y=-0.444647, theta=-0.004616 -[16:32:05.009] Init: px average disparity is:31.624653 ,While minimum is: 40.000000 KLT tracked : 109 -[16:32:05.009] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:05.009] frame process finished the id is: 141 the obs is:0 -[16:32:05.093] Odometry x=0.006140, y=-0.450006, theta=-0.009641 -[16:32:05.109] Init: px average disparity is:32.967347 ,While minimum is: 40.000000 KLT tracked : 109 -[16:32:05.110] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:05.110] frame process finished the id is: 142 the obs is:0 -[16:32:05.186] Odometry x=0.006159, y=-0.455631, theta=-0.014783 -[16:32:05.210] Init: px average disparity is:33.717344 ,While minimum is: 40.000000 KLT tracked : 109 -[16:32:05.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:05.210] frame process finished the id is: 143 the obs is:0 -[16:32:05.286] Odometry x=0.006192, y=-0.460525, theta=-0.015146 -[16:32:05.310] Init: px average disparity is:35.856300 ,While minimum is: 40.000000 KLT tracked : 109 -[16:32:05.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:05.310] frame process finished the id is: 144 the obs is:0 -[16:32:05.388] Odometry x=0.006233, y=-0.465612, theta=-0.018771 -[16:32:05.409] Init: px average disparity is:37.873664 ,While minimum is: 40.000000 KLT tracked : 109 -[16:32:05.409] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:05.409] frame process finished the id is: 145 the obs is:0 -[16:32:05.488] Odometry x=0.006272, y=-0.470918, theta=-0.015033 -[16:32:05.515] Init: px average disparity is:39.989901 ,While minimum is: 40.000000 KLT tracked : 109 -[16:32:05.515] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:32:05.516] frame process finished the id is: 146 the obs is:0 -[16:32:05.593] Odometry x=0.006330, y=-0.475363, theta=-0.015908 -[16:32:05.679] inlier: x=-2.316586, y=2.037493, z=-5.145954 pos: x=-2.214474 y=1.390050 z=-5.878202 -[16:32:05.679] inlier: x=-2.303918, y=2.028512, z=-5.163616 pos: x=-2.201481 y=1.379012 z=-5.894403 -[16:32:05.679] inlier: x=-2.342526, y=2.049010, z=-5.203282 pos: x=-2.239348 y=1.394437 z=-5.936974 -[16:32:05.679] inlier: x=-2.344439, y=2.082391, z=-5.662436 pos: x=-2.232754 y=1.371618 z=-6.396730 -[16:32:05.679] inlier: x=-2.083312, y=2.456384, z=-7.196304 pos: x=-1.943258 y=1.556513 z=-7.959681 -[16:32:05.679] inlier: x=-2.422527, y=2.859102, z=-8.370996 pos: x=-2.260654 y=1.812329 z=-9.180733 -[16:32:05.679] inlier: x=-2.745556, y=2.207917, z=-7.430581 pos: x=-2.601048 y=1.279857 z=-8.174067 -[16:32:05.679] inlier: x=0.146745, y=-0.323411, z=1.469316 pos: x=0.125887 y=-0.141635 z=1.019646 -[16:32:05.679] inlier: x=0.142276, y=-0.328848, z=1.477362 pos: x=0.121270 y=-0.146061 z=1.028211 -[16:32:05.679] inlier: x=0.148215, y=-0.330419, z=1.485039 pos: x=0.127066 y=-0.146672 z=1.036131 -[16:32:05.679] inlier: x=-1.096571, y=0.111344, z=-3.090179 pos: x=-1.032751 y=-0.268495 z=-3.580931 -[16:32:05.679] inlier: x=-1.009955, y=-0.302019, z=-3.151666 pos: x=-0.945011 y=-0.686073 z=-3.589980 -[16:32:05.679] inlier: x=-1.167294, y=-0.378295, z=-1.784291 pos: x=-1.127654 y=-0.595524 z=-2.226627 -[16:32:05.679] inlier: x=-2.386639, y=2.106846, z=-5.760110 pos: x=-2.273138 y=1.383894 z=-6.497416 -[16:32:05.679] inlier: x=-6.025852, y=7.382330, z=-21.349844 pos: x=-5.622930 y=4.712255 z=-22.678124 -[16:32:05.679] inlier: x=6.970421, y=-8.869008, z=27.006518 pos: x=6.475321 y=-5.496463 z=27.529059 -[16:32:05.679] inlier: x=0.149803, y=-0.311724, z=1.448875 pos: x=0.129324 y=-0.132519 z=0.997993 -[16:32:05.679] inlier: x=-1.081253, y=-0.031918, z=-3.006827 pos: x=-1.018980 y=-0.400498 z=-3.480473 -[16:32:05.679] inlier: x=-4.370262, y=5.647190, z=-16.092861 pos: x=-4.065008 y=3.634341 z=-17.219320 -[16:32:05.679] inlier: x=0.132925, y=-0.282150, z=1.372073 pos: x=0.113872 y=-0.112562 z=0.917862 -[16:32:05.679] inlier: x=0.220071, y=-0.654654, z=2.339989 pos: x=0.183072 y=-0.364154 z=1.925397 -[16:32:05.679] Init finished: Homography RANSAC (inlier) is:21 ,While 20 inliers minimum required. px average disparity is:41.625505 ,While minimum is: 40.000000 KLT tracked: 108 -[16:32:05.679] Init: distance between the first and current frame is x:0.006387 ,z=-0.480580,angle between two frames: -0.018526 -[16:32:05.682] Init: Selected Second frame. The number of features: 21 depth mean:-4.076583 min:-23.663468 -[16:32:05.682] frame process finished the id is: 147 the obs is:21 -[16:32:05.693] Odometry x=0.006387, y=-0.480580, theta=-0.018526 -[16:32:05.791] Odometry x=0.006488, y=-0.485119, theta=-0.034196 -[16:32:05.834] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000004 ,z=-0.000003,angle between two frames:0.000000 -[16:32:05.834] After pose optimization, distance between ekf and vo x:-0.000004 ,z=-0.000003,angle between two frames:0.000000 -[16:32:05.834] frame process finished the id is: 147 the obs is:21 -[16:32:05.886] Odometry x=0.006669, y=-0.490335, theta=-0.026023 -[16:32:05.977] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.000007 ,z=-0.000011,angle between two frames:0.000000 -[16:32:05.977] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000011,angle between two frames:0.000000 -[16:32:05.977] frame process finished the id is: 147 the obs is:21 -[16:32:05.990] Odometry x=0.006722, y=-0.495371, theta=-0.017152 -[16:32:06.087] Odometry x=0.006807, y=-0.501009, theta=-0.032935 -[16:32:06.121] After Reprojection Map nPoint:19 ,nCell:18 ,nMatches:1 ,distance between ekf and vo x:-0.000008 ,z=-0.000012,angle between two frames:0.000000 -[16:32:06.121] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.121862 error end=0.119048 -[16:32:06.121] After pose optimization, distance between ekf and vo x:0.001893 ,z=-0.041526,angle between two frames:0.003693 -[16:32:06.121] frame process finished the id is: 147 the obs is:21 -[16:32:06.189] Odometry x=0.006891, y=-0.506089, theta=-0.030343 -[16:32:06.266] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:-0.000025 ,z=-0.000043,angle between two frames:0.000000 -[16:32:06.266] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.299711 error end=0.299711 -[16:32:06.266] After pose optimization, distance between ekf and vo x:-0.000025 ,z=-0.000043,angle between two frames:0.000000 -[16:32:06.266] frame process finished the id is: 147 the obs is:21 -[16:32:06.287] Odometry x=0.006984, y=-0.511488, theta=-0.036134 -[16:32:06.389] Odometry x=0.007097, y=-0.516883, theta=-0.028379 -[16:32:06.410] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:1 ,distance between ekf and vo x:-0.000018 ,z=-0.000040,angle between two frames:0.000000 -[16:32:06.410] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.746387 error end=0.480837 -[16:32:06.410] After pose optimization, distance between ekf and vo x:-0.056921 ,z=-0.147799,angle between two frames:0.079629 -[16:32:06.410] frame process finished the id is: 147 the obs is:21 -[16:32:06.487] Odometry x=0.007192, y=-0.522242, theta=-0.037669 -[16:32:06.560] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000023 ,z=-0.000029,angle between two frames:0.000002 -[16:32:06.560] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.186783 error end=0.186783 -[16:32:06.560] After pose optimization, distance between ekf and vo x:-0.000023 ,z=-0.000029,angle between two frames:0.000002 -[16:32:06.560] frame process finished the id is: 147 the obs is:21 -[16:32:06.585] Odometry x=0.007279, y=-0.527590, theta=-0.028151 -[16:32:06.687] Odometry x=0.007429, y=-0.532556, theta=-0.036683 -[16:32:06.705] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:0.000475 ,z=0.002503,angle between two frames:0.000146 -[16:32:06.705] After pose optimization, distance between ekf and vo x:0.000475 ,z=0.002503,angle between two frames:0.000146 -[16:32:06.705] frame process finished the id is: 147 the obs is:21 -[16:32:06.784] Odometry x=0.007516, y=-0.537495, theta=-0.034721 -[16:32:06.856] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:0.000006 ,z=-0.000021,angle between two frames:0.000000 -[16:32:06.856] n deleted obs = 1 n obs with reprojection error less than 0.5 px =0 error init =0.654590 error end=0.654590 -[16:32:06.856] After pose optimization, distance between ekf and vo x:0.000006 ,z=-0.000021,angle between two frames:0.000000 -[16:32:06.856] frame process finished the id is: 147 the obs is:21 -[16:32:06.886] Odometry x=0.007607, y=-0.542854, theta=-0.030204 -[16:32:06.984] Odometry x=0.007687, y=-0.548176, theta=-0.032988 -[16:32:07.001] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between ekf and vo x:-0.000019 ,z=-0.000029,angle between two frames:0.000000 -[16:32:07.001] After pose optimization, distance between ekf and vo x:-0.000019 ,z=-0.000029,angle between two frames:0.000000 -[16:32:07.001] frame process finished the id is: 147 the obs is:21 -[16:32:07.087] Odometry x=0.007766, y=-0.553373, theta=-0.029916 -[16:32:07.144] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:0 ,distance between ekf and vo x:-0.000014 ,z=-0.000018,angle between two frames:0.000001 -[16:32:07.144] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000018,angle between two frames:0.000001 -[16:32:07.144] frame process finished the id is: 147 the obs is:21 -[16:32:07.185] Odometry x=0.007810, y=-0.558768, theta=-0.030678 -[16:32:07.283] Odometry x=0.008214, y=-0.563365, theta=-0.031652 -[16:32:07.287] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:0 ,distance between ekf and vo x:-0.000008 ,z=0.000001,angle between two frames:0.000001 -[16:32:07.287] After pose optimization, distance between ekf and vo x:-0.000008 ,z=0.000001,angle between two frames:0.000001 -[16:32:07.287] frame process finished the id is: 147 the obs is:21 -[16:32:07.384] Odometry x=0.008288, y=-0.568728, theta=-0.027563 -[16:32:07.434] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:1 ,distance between ekf and vo x:-0.000005 ,z=-0.000018,angle between two frames:0.000000 -[16:32:07.434] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.153272 error end=0.134457 -[16:32:07.434] After pose optimization, distance between ekf and vo x:-0.003364 ,z=0.002861,angle between two frames:0.004134 -[16:32:07.434] frame process finished the id is: 147 the obs is:21 -[16:32:07.486] Odometry x=0.008405, y=-0.573564, theta=-0.030817 -[16:32:07.583] After Reprojection Map nPoint:19 ,nCell:19 ,nMatches:1 ,distance between ekf and vo x:0.000022 ,z=0.000023,angle between two frames:0.000000 -[16:32:07.583] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.459275 error end=0.459275 -[16:32:07.583] After pose optimization, distance between ekf and vo x:0.000022 ,z=0.000023,angle between two frames:0.000000 -[16:32:07.583] frame process finished the id is: 147 the obs is:21 -[16:32:07.585] Odometry x=0.008502, y=-0.577904, theta=-0.044393 -[16:32:07.685] Odometry x=0.008765, y=-0.583069, theta=-0.040863 -[16:32:07.727] After Reprojection Map nPoint:20 ,nCell:20 ,nMatches:2 ,distance between ekf and vo x:-0.000025 ,z=-0.000048,angle between two frames:0.000000 -[16:32:07.727] n deleted obs = 2 n obs with reprojection error less than 0.5 px =0 error init =0.670155 error end=0.670155 -[16:32:07.727] After pose optimization, distance between ekf and vo x:-0.000025 ,z=-0.000048,angle between two frames:0.000000 -[16:32:07.727] frame process finished the id is: 147 the obs is:21 -[16:32:07.782] Odometry x=0.008957, y=-0.587414, theta=-0.041081 -[16:32:07.875] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:2 ,distance between ekf and vo x:-0.000007 ,z=-0.000030,angle between two frames:0.000000 -[16:32:07.875] n deleted obs = 1 n obs with reprojection error less than 0.5 px =1 error init =0.537067 error end=0.537067 -[16:32:07.875] After pose optimization, distance between ekf and vo x:-0.000007 ,z=-0.000030,angle between two frames:0.000000 -[16:32:07.875] frame process finished the id is: 147 the obs is:21 -[16:32:07.887] Odometry x=0.009083, y=-0.592730, theta=-0.042911 -[16:32:07.990] Odometry x=0.009397, y=-0.598063, theta=-0.033465 -[16:32:08.019] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:1 ,distance between ekf and vo x:-0.000013 ,z=-0.000018,angle between two frames:0.000001 -[16:32:08.019] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.498526 error end=0.487367 -[16:32:08.019] After pose optimization, distance between ekf and vo x:0.176049 ,z=0.043105,angle between two frames:0.056793 -[16:32:08.019] frame process finished the id is: 147 the obs is:21 -[16:32:08.087] Odometry x=0.009493, y=-0.603223, theta=-0.033956 -[16:32:08.165] After Reprojection Map nPoint:26 ,nCell:19 ,nMatches:6 ,distance between ekf and vo x:-0.000035 ,z=-0.000077,angle between two frames:0.000000 -[16:32:08.165] n deleted obs = 4 n obs with reprojection error less than 0.5 px =14 error init =0.397616 error end=0.392796 -[16:32:08.165] After pose optimization, distance between ekf and vo x:-0.066712 ,z=-0.020721,angle between two frames:0.026977 -[16:32:08.165] Update EKF and 3D points the number of feature in the new frame: 18 and number of obs: 18 -[16:32:08.165] key frame check new frame:-0.053572 -0.623106 -0.059700, key close:0.006387 -0.480580 -0.018526 -[16:32:08.165] Choose frame as a key frame Scene Depth mean:0.347407 ,depth min:0.316508 -[16:32:08.165] frame process finished the id is: 164 the obs is:18 -[16:32:08.189] Odometry x=-0.053572, y=-0.623106, theta=-0.059700 -[16:32:08.286] Odometry x=-0.053347, y=-0.629593, theta=-0.064351 -[16:32:08.309] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000384 ,z=0.000115,angle between two frames:0.000158 -[16:32:08.309] After pose optimization, distance between ekf and vo x:-0.000384 ,z=0.000115,angle between two frames:0.000158 -[16:32:08.309] frame process finished the id is: 164 the obs is:18 -[16:32:08.388] Odometry x=-0.053155, y=-0.634598, theta=-0.056661 -[16:32:08.452] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:-0.000241 ,z=0.000048,angle between two frames:0.000088 -[16:32:08.452] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.298615 error end=0.298615 -[16:32:08.452] After pose optimization, distance between ekf and vo x:-0.000241 ,z=0.000048,angle between two frames:0.000088 -[16:32:08.452] frame process finished the id is: 164 the obs is:18 -[16:32:08.488] Odometry x=-0.052993, y=-0.640182, theta=-0.059913 -[16:32:08.590] Odometry x=-0.052808, y=-0.645454, theta=-0.053001 -[16:32:08.596] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:-0.000542 ,z=0.000065,angle between two frames:0.000216 -[16:32:08.596] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.305267 error end=0.303649 -[16:32:08.596] After pose optimization, distance between ekf and vo x:-0.001854 ,z=0.002164,angle between two frames:0.000646 -[16:32:08.596] frame process finished the id is: 164 the obs is:18 -[16:32:08.693] Odometry x=-0.052666, y=-0.650550, theta=-0.054826 -[16:32:08.740] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000549 ,z=0.000103,angle between two frames:0.000225 -[16:32:08.740] After pose optimization, distance between ekf and vo x:-0.000549 ,z=0.000103,angle between two frames:0.000225 -[16:32:08.740] frame process finished the id is: 164 the obs is:18 -[16:32:08.788] Odometry x=-0.052522, y=-0.656477, theta=-0.054258 -[16:32:08.883] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000949 ,z=0.000153,angle between two frames:0.000389 -[16:32:08.883] After pose optimization, distance between ekf and vo x:-0.000949 ,z=0.000153,angle between two frames:0.000389 -[16:32:08.883] frame process finished the id is: 164 the obs is:18 -[16:32:08.891] Odometry x=-0.052335, y=-0.661353, theta=-0.057094 -[16:32:08.989] Odometry x=-0.052181, y=-0.667041, theta=-0.055521 -[16:32:09.027] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000494 ,z=0.000117,angle between two frames:0.000199 -[16:32:09.027] After pose optimization, distance between ekf and vo x:-0.000494 ,z=0.000117,angle between two frames:0.000199 -[16:32:09.027] frame process finished the id is: 164 the obs is:18 -[16:32:09.083] Odometry x=-0.052027, y=-0.671902, theta=-0.054103 -[16:32:09.173] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000672 ,z=0.000143,angle between two frames:0.000272 -[16:32:09.173] After pose optimization, distance between ekf and vo x:-0.000672 ,z=0.000143,angle between two frames:0.000272 -[16:32:09.173] frame process finished the id is: 164 the obs is:18 -[16:32:09.187] Odometry x=-0.051893, y=-0.676236, theta=-0.062766 -[16:32:09.288] Odometry x=-0.051701, y=-0.681978, theta=-0.061314 -[16:32:09.318] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000052 ,z=0.000007,angle between two frames:0.000001 -[16:32:09.318] After pose optimization, distance between ekf and vo x:-0.000052 ,z=0.000007,angle between two frames:0.000001 -[16:32:09.318] frame process finished the id is: 164 the obs is:18 -[16:32:09.389] Odometry x=-0.051544, y=-0.687344, theta=-0.059152 -[16:32:09.463] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000119 ,z=0.000020,angle between two frames:0.000035 -[16:32:09.463] After pose optimization, distance between ekf and vo x:-0.000119 ,z=0.000020,angle between two frames:0.000035 -[16:32:09.463] frame process finished the id is: 164 the obs is:18 -[16:32:09.488] Odometry x=-0.051836, y=-0.692291, theta=-0.062371 -[16:32:09.589] Odometry x=-0.051657, y=-0.697434, theta=-0.064931 -[16:32:09.608] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000155 ,z=0.000004,angle between two frames:0.000041 -[16:32:09.609] After pose optimization, distance between ekf and vo x:-0.000155 ,z=0.000004,angle between two frames:0.000041 -[16:32:09.609] frame process finished the id is: 164 the obs is:18 -[16:32:09.689] Odometry x=-0.051274, y=-0.702945, theta=-0.069471 -[16:32:09.753] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000209 ,z=0.000081,angle between two frames:0.000082 -[16:32:09.754] After pose optimization, distance between ekf and vo x:-0.000209 ,z=0.000081,angle between two frames:0.000082 -[16:32:09.754] frame process finished the id is: 164 the obs is:18 -[16:32:09.789] Odometry x=-0.050870, y=-0.708071, theta=-0.059563 -[16:32:09.884] Odometry x=-0.050697, y=-0.713437, theta=-0.061876 -[16:32:09.898] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000100 ,z=0.000010,angle between two frames:0.000023 -[16:32:09.898] After pose optimization, distance between ekf and vo x:-0.000100 ,z=0.000010,angle between two frames:0.000023 -[16:32:09.898] frame process finished the id is: 164 the obs is:18 -[16:32:09.989] Odometry x=-0.050441, y=-0.718474, theta=-0.047867 -[16:32:10.043] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:-0.000172 ,z=0.000032,angle between two frames:0.000063 -[16:32:10.043] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.174213 error end=0.174213 -[16:32:10.043] After pose optimization, distance between ekf and vo x:-0.000172 ,z=0.000032,angle between two frames:0.000063 -[16:32:10.043] frame process finished the id is: 164 the obs is:18 -[16:32:10.089] Odometry x=-0.050251, y=-0.724000, theta=-0.044043 -[16:32:10.184] Odometry x=-0.050117, y=-0.729519, theta=-0.058049 -[16:32:10.188] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000110 ,z=0.000098,angle between two frames:0.000043 -[16:32:10.188] After pose optimization, distance between ekf and vo x:-0.000110 ,z=0.000098,angle between two frames:0.000043 -[16:32:10.188] frame process finished the id is: 164 the obs is:18 -[16:32:10.289] Odometry x=-0.049959, y=-0.734312, theta=-0.058124 -[16:32:10.334] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000276 ,z=0.000040,angle between two frames:0.000104 -[16:32:10.334] After pose optimization, distance between ekf and vo x:-0.000276 ,z=0.000040,angle between two frames:0.000104 -[16:32:10.334] frame process finished the id is: 164 the obs is:18 -[16:32:10.389] Odometry x=-0.049802, y=-0.740008, theta=-0.052477 -[16:32:10.479] After Reprojection Map nPoint:6 ,nCell:6 ,nMatches:0 ,distance between ekf and vo x:-0.000342 ,z=0.000052,angle between two frames:0.000126 -[16:32:10.479] After pose optimization, distance between ekf and vo x:-0.000342 ,z=0.000052,angle between two frames:0.000126 -[16:32:10.479] frame process finished the id is: 164 the obs is:18 -[16:32:10.489] Odometry x=-0.049607, y=-0.745527, theta=-0.056376 -[16:32:10.589] Odometry x=-0.049466, y=-0.750684, theta=-0.055362 -[16:32:10.623] After Reprojection Map nPoint:10 ,nCell:6 ,nMatches:4 ,distance between ekf and vo x:-0.000307 ,z=0.000085,angle between two frames:0.000118 -[16:32:10.623] n deleted obs = 6 n obs with reprojection error less than 0.5 px =6 error init =3.031884 error end=3.031884 -[16:32:10.623] After pose optimization, distance between ekf and vo x:-0.000307 ,z=0.000085,angle between two frames:0.000118 -[16:32:10.623] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 -[16:32:10.624] key frame check new frame:-0.049880 -0.745934 -0.056898, key close:-0.053572 -0.623106 -0.059700 -[16:32:10.624] frame process finished the id is: 181 the obs is:12 -[16:32:10.684] Odometry x=-0.049880, y=-0.745934, theta=-0.056898 -[16:32:10.774] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000219 ,z=-0.000610,angle between two frames:0.000266 -[16:32:10.774] After pose optimization, distance between ekf and vo x:0.000219 ,z=-0.000610,angle between two frames:0.000266 -[16:32:10.774] frame process finished the id is: 181 the obs is:12 -[16:32:10.789] Odometry x=-0.049720, y=-0.751746, theta=-0.058045 -[16:32:10.889] Odometry x=-0.049529, y=-0.757519, theta=-0.064266 -[16:32:10.924] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000188 ,z=-0.000565,angle between two frames:0.000243 -[16:32:10.924] After pose optimization, distance between ekf and vo x:0.000188 ,z=-0.000565,angle between two frames:0.000243 -[16:32:10.924] frame process finished the id is: 181 the obs is:12 -[16:32:10.989] Odometry x=-0.049326, y=-0.758388, theta=-0.057937 -[16:32:11.075] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000151 ,z=-0.000515,angle between two frames:0.000216 -[16:32:11.075] After pose optimization, distance between ekf and vo x:0.000151 ,z=-0.000515,angle between two frames:0.000216 -[16:32:11.075] frame process finished the id is: 181 the obs is:12 -[16:32:11.088] Odometry x=-0.049148, y=-0.763734, theta=-0.058127 -[16:32:11.191] Odometry x=-0.048982, y=-0.769100, theta=-0.065120 -[16:32:11.225] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000165 ,z=-0.000496,angle between two frames:0.000214 -[16:32:11.225] After pose optimization, distance between ekf and vo x:0.000165 ,z=-0.000496,angle between two frames:0.000214 -[16:32:11.225] frame process finished the id is: 181 the obs is:12 -[16:32:11.285] Odometry x=-0.048848, y=-0.772992, theta=-0.063609 -[16:32:11.367] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000204 ,z=0.000044,angle between two frames:0.000068 -[16:32:11.367] After pose optimization, distance between ekf and vo x:-0.000204 ,z=0.000044,angle between two frames:0.000068 -[16:32:11.367] frame process finished the id is: 181 the obs is:12 -[16:32:11.388] Odometry x=-0.048691, y=-0.777889, theta=-0.063274 -[16:32:11.489] Odometry x=-0.048496, y=-0.783509, theta=-0.072459 -[16:32:11.510] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000207 ,z=0.000043,angle between two frames:0.000069 -[16:32:11.510] After pose optimization, distance between ekf and vo x:-0.000207 ,z=0.000043,angle between two frames:0.000069 -[16:32:11.510] frame process finished the id is: 181 the obs is:12 -[16:32:11.587] Odometry x=-0.048329, y=-0.788576, theta=-0.063946 -[16:32:11.655] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000350 ,z=0.000075,angle between two frames:0.000119 -[16:32:11.655] After pose optimization, distance between ekf and vo x:-0.000350 ,z=0.000075,angle between two frames:0.000119 -[16:32:11.655] frame process finished the id is: 181 the obs is:12 -[16:32:11.688] Odometry x=-0.048122, y=-0.793867, theta=-0.078717 -[16:32:11.790] Odometry x=-0.047917, y=-0.799247, theta=-0.061289 -[16:32:11.797] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000287 ,z=0.000060,angle between two frames:0.000095 -[16:32:11.797] After pose optimization, distance between ekf and vo x:-0.000287 ,z=0.000060,angle between two frames:0.000095 -[16:32:11.797] frame process finished the id is: 181 the obs is:12 -[16:32:11.890] Odometry x=-0.047598, y=-0.804724, theta=-0.063974 -[16:32:11.940] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000219 ,z=0.000019,angle between two frames:0.000067 -[16:32:11.940] After pose optimization, distance between ekf and vo x:-0.000219 ,z=0.000019,angle between two frames:0.000067 -[16:32:11.940] frame process finished the id is: 181 the obs is:12 -[16:32:11.990] Odometry x=-0.047436, y=-0.810073, theta=-0.064362 -[16:32:12.083] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000188 ,z=0.000005,angle between two frames:0.000054 -[16:32:12.083] After pose optimization, distance between ekf and vo x:-0.000188 ,z=0.000005,angle between two frames:0.000054 -[16:32:12.083] frame process finished the id is: 181 the obs is:12 -[16:32:12.089] Odometry x=-0.047179, y=-0.815407, theta=-0.068484 -[16:32:12.191] Odometry x=-0.047020, y=-0.820786, theta=-0.062309 -[16:32:12.224] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000188 ,z=0.000019,angle between two frames:0.000057 -[16:32:12.224] After pose optimization, distance between ekf and vo x:-0.000188 ,z=0.000019,angle between two frames:0.000057 -[16:32:12.224] frame process finished the id is: 181 the obs is:12 -[16:32:12.288] Odometry x=-0.046842, y=-0.826396, theta=-0.064403 -[16:32:12.367] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000200 ,z=0.000020,angle between two frames:0.000061 -[16:32:12.367] After pose optimization, distance between ekf and vo x:-0.000200 ,z=0.000020,angle between two frames:0.000061 -[16:32:12.367] frame process finished the id is: 181 the obs is:12 -[16:32:12.391] Odometry x=-0.046697, y=-0.831118, theta=-0.062170 -[16:32:12.490] Odometry x=-0.046442, y=-0.836578, theta=-0.060818 -[16:32:12.508] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000207 ,z=0.000015,angle between two frames:0.000061 -[16:32:12.508] After pose optimization, distance between ekf and vo x:-0.000207 ,z=0.000015,angle between two frames:0.000061 -[16:32:12.508] frame process finished the id is: 181 the obs is:12 -[16:32:12.590] Odometry x=-0.046291, y=-0.841658, theta=-0.061804 -[16:32:12.649] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000208 ,z=0.000016,angle between two frames:0.000062 -[16:32:12.649] After pose optimization, distance between ekf and vo x:-0.000208 ,z=0.000016,angle between two frames:0.000062 -[16:32:12.649] frame process finished the id is: 181 the obs is:12 -[16:32:12.687] Odometry x=-0.046100, y=-0.846696, theta=-0.062685 -[16:32:12.790] Odometry x=-0.045903, y=-0.851791, theta=-0.062923 -[16:32:12.793] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000343 ,z=0.000068,angle between two frames:0.000114 -[16:32:12.793] After pose optimization, distance between ekf and vo x:-0.000343 ,z=0.000068,angle between two frames:0.000114 -[16:32:12.793] frame process finished the id is: 181 the obs is:12 -[16:32:12.893] Odometry x=-0.045698, y=-0.857383, theta=-0.064097 -[16:32:12.936] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000345 ,z=0.000073,angle between two frames:0.000116 -[16:32:12.937] After pose optimization, distance between ekf and vo x:-0.000345 ,z=0.000073,angle between two frames:0.000116 -[16:32:12.937] frame process finished the id is: 181 the obs is:12 -[16:32:12.990] Odometry x=-0.045485, y=-0.861792, theta=-0.060091 -[16:32:13.077] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000233 ,z=0.000037,angle between two frames:0.000075 -[16:32:13.077] After pose optimization, distance between ekf and vo x:-0.000233 ,z=0.000037,angle between two frames:0.000075 -[16:32:13.077] frame process finished the id is: 181 the obs is:12 -[16:32:13.088] Odometry x=-0.045314, y=-0.867137, theta=-0.071861 -[16:32:13.190] Odometry x=-0.045134, y=-0.872154, theta=-0.069362 -[16:32:13.226] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000162 ,z=-0.000372,angle between two frames:0.000171 -[16:32:13.226] After pose optimization, distance between ekf and vo x:0.000162 ,z=-0.000372,angle between two frames:0.000171 -[16:32:13.226] frame process finished the id is: 181 the obs is:12 -[16:32:13.287] Odometry x=-0.044927, y=-0.877749, theta=-0.077578 -[16:32:13.369] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000158 ,z=0.000009,angle between two frames:0.000043 -[16:32:13.369] After pose optimization, distance between ekf and vo x:-0.000158 ,z=0.000009,angle between two frames:0.000043 -[16:32:13.369] frame process finished the id is: 181 the obs is:12 -[16:32:13.384] Odometry x=-0.044551, y=-0.882436, theta=-0.074406 -[16:32:13.492] Odometry x=-0.044308, y=-0.887658, theta=-0.073098 -[16:32:13.511] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000303 ,z=0.000079,angle between two frames:0.000103 -[16:32:13.511] After pose optimization, distance between ekf and vo x:-0.000303 ,z=0.000079,angle between two frames:0.000103 -[16:32:13.511] frame process finished the id is: 181 the obs is:12 -[16:32:13.588] Odometry x=-0.044080, y=-0.892860, theta=-0.072866 -[16:32:13.653] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000243 ,z=0.000062,angle between two frames:0.000081 -[16:32:13.653] After pose optimization, distance between ekf and vo x:-0.000243 ,z=0.000062,angle between two frames:0.000081 -[16:32:13.653] frame process finished the id is: 181 the obs is:12 -[16:32:13.691] Odometry x=-0.043892, y=-0.897937, theta=-0.073505 -[16:32:13.788] Odometry x=-0.043670, y=-0.903518, theta=-0.078064 -[16:32:13.796] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000332 ,z=0.000077,angle between two frames:0.000109 -[16:32:13.796] After pose optimization, distance between ekf and vo x:-0.000332 ,z=0.000077,angle between two frames:0.000109 -[16:32:13.796] frame process finished the id is: 181 the obs is:12 -[16:32:13.887] Odometry x=-0.043469, y=-0.908669, theta=-0.071563 -[16:32:13.939] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000257 ,z=-0.000010,angle between two frames:0.000062 -[16:32:13.939] After pose optimization, distance between ekf and vo x:-0.000257 ,z=-0.000010,angle between two frames:0.000062 -[16:32:13.939] frame process finished the id is: 181 the obs is:12 -[16:32:13.989] Odometry x=-0.043275, y=-0.913763, theta=-0.074298 -[16:32:14.086] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000083 ,z=-0.000170,angle between two frames:0.000035 -[16:32:14.086] After pose optimization, distance between ekf and vo x:-0.000083 ,z=-0.000170,angle between two frames:0.000035 -[16:32:14.086] frame process finished the id is: 181 the obs is:12 -[16:32:14.088] Odometry x=-0.043001, y=-0.918971, theta=-0.068116 -[16:32:14.185] Odometry x=-0.042791, y=-0.924356, theta=-0.064391 -[16:32:14.229] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000243 ,z=0.000072,angle between two frames:0.000081 -[16:32:14.229] After pose optimization, distance between ekf and vo x:-0.000243 ,z=0.000072,angle between two frames:0.000081 -[16:32:14.229] frame process finished the id is: 181 the obs is:12 -[16:32:14.294] Odometry x=-0.042620, y=-0.929441, theta=-0.069377 -[16:32:14.378] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000251 ,z=-0.000576,angle between two frames:0.000243 -[16:32:14.378] After pose optimization, distance between ekf and vo x:0.000251 ,z=-0.000576,angle between two frames:0.000243 -[16:32:14.378] frame process finished the id is: 181 the obs is:12 -[16:32:14.392] Odometry x=-0.042401, y=-0.931926, theta=-0.066797 -[16:32:14.491] Odometry x=-0.042219, y=-0.937059, theta=-0.070868 -[16:32:14.521] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000248 ,z=0.000075,angle between two frames:0.000083 -[16:32:14.521] After pose optimization, distance between ekf and vo x:-0.000248 ,z=0.000075,angle between two frames:0.000083 -[16:32:14.521] frame process finished the id is: 181 the obs is:12 -[16:32:14.589] Odometry x=-0.042009, y=-0.941896, theta=-0.068986 -[16:32:14.671] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:0.000245 ,z=-0.000543,angle between two frames:0.000232 -[16:32:14.671] After pose optimization, distance between ekf and vo x:0.000245 ,z=-0.000543,angle between two frames:0.000232 -[16:32:14.671] frame process finished the id is: 181 the obs is:12 -[16:32:14.688] Odometry x=-0.041608, y=-0.943900, theta=-0.058619 -[16:32:14.788] Odometry x=-0.041465, y=-0.948834, theta=-0.056895 -[16:32:14.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000491 ,z=0.000158,angle between two frames:0.000168 -[16:32:14.814] After pose optimization, distance between ekf and vo x:-0.000491 ,z=0.000158,angle between two frames:0.000168 -[16:32:14.814] frame process finished the id is: 181 the obs is:12 -[16:32:14.882] Odometry x=-0.041311, y=-0.954338, theta=-0.060732 -[16:32:14.957] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000356 ,z=0.000117,angle between two frames:0.000123 -[16:32:14.957] After pose optimization, distance between ekf and vo x:-0.000356 ,z=0.000117,angle between two frames:0.000123 -[16:32:14.957] frame process finished the id is: 181 the obs is:12 -[16:32:14.989] Odometry x=-0.041175, y=-0.958815, theta=-0.060944 -[16:32:15.090] Odometry x=-0.040991, y=-0.965231, theta=-0.055827 -[16:32:15.100] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000360 ,z=0.000099,angle between two frames:0.000121 -[16:32:15.100] After pose optimization, distance between ekf and vo x:-0.000360 ,z=0.000099,angle between two frames:0.000121 -[16:32:15.100] frame process finished the id is: 181 the obs is:12 -[16:32:15.190] Odometry x=-0.040832, y=-0.970594, theta=-0.063962 -[16:32:15.242] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000287 ,z=0.000071,angle between two frames:0.000093 -[16:32:15.242] After pose optimization, distance between ekf and vo x:-0.000287 ,z=0.000071,angle between two frames:0.000093 -[16:32:15.242] frame process finished the id is: 181 the obs is:12 -[16:32:15.289] Odometry x=-0.040360, y=-0.975680, theta=-0.048021 -[16:32:15.384] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000357 ,z=0.000087,angle between two frames:0.000118 -[16:32:15.384] After pose optimization, distance between ekf and vo x:-0.000357 ,z=0.000087,angle between two frames:0.000118 -[16:32:15.384] frame process finished the id is: 181 the obs is:12 -[16:32:15.389] Odometry x=-0.040277, y=-0.980073, theta=-0.046366 -[16:32:15.489] Odometry x=-0.039702, y=-0.984852, theta=-0.056812 -[16:32:15.528] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000328 ,z=0.000088,angle between two frames:0.000109 -[16:32:15.528] After pose optimization, distance between ekf and vo x:-0.000328 ,z=0.000088,angle between two frames:0.000109 -[16:32:15.528] frame process finished the id is: 181 the obs is:12 -[16:32:15.589] Odometry x=-0.039553, y=-0.989908, theta=-0.063742 -[16:32:15.671] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000274 ,z=0.000072,angle between two frames:0.000087 -[16:32:15.671] After pose optimization, distance between ekf and vo x:-0.000274 ,z=0.000072,angle between two frames:0.000087 -[16:32:15.671] frame process finished the id is: 181 the obs is:12 -[16:32:15.689] Odometry x=-0.039368, y=-0.994974, theta=-0.059524 -[16:32:15.789] Odometry x=-0.039217, y=-0.999883, theta=-0.062310 -[16:32:15.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000258 ,z=0.000058,angle between two frames:0.000081 -[16:32:15.814] After pose optimization, distance between ekf and vo x:-0.000258 ,z=0.000058,angle between two frames:0.000081 -[16:32:15.814] frame process finished the id is: 181 the obs is:12 -[16:32:15.889] Odometry x=-0.039000, y=-1.005211, theta=-0.058736 -[16:32:15.955] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000271 ,z=0.000066,angle between two frames:0.000087 -[16:32:15.956] After pose optimization, distance between ekf and vo x:-0.000271 ,z=0.000066,angle between two frames:0.000087 -[16:32:15.956] frame process finished the id is: 181 the obs is:12 -[16:32:15.991] Odometry x=-0.038746, y=-1.010576, theta=-0.067243 -[16:32:16.089] Odometry x=-0.038562, y=-1.016161, theta=-0.062131 -[16:32:16.100] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000325 ,z=0.000093,angle between two frames:0.000107 -[16:32:16.100] After pose optimization, distance between ekf and vo x:-0.000325 ,z=0.000093,angle between two frames:0.000107 -[16:32:16.100] frame process finished the id is: 181 the obs is:12 -[16:32:16.191] Odometry x=-0.038393, y=-1.021729, theta=-0.063299 -[16:32:16.243] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000287 ,z=0.000075,angle between two frames:0.000095 -[16:32:16.243] After pose optimization, distance between ekf and vo x:-0.000287 ,z=0.000075,angle between two frames:0.000095 -[16:32:16.243] frame process finished the id is: 181 the obs is:12 -[16:32:16.289] Odometry x=-0.038083, y=-1.026208, theta=-0.064449 -[16:32:16.386] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000306 ,z=0.000073,angle between two frames:0.000098 -[16:32:16.386] After pose optimization, distance between ekf and vo x:-0.000306 ,z=0.000073,angle between two frames:0.000098 -[16:32:16.386] frame process finished the id is: 181 the obs is:12 -[16:32:16.389] Odometry x=-0.037865, y=-1.031143, theta=-0.066292 -[16:32:16.491] Odometry x=-0.037656, y=-1.036480, theta=-0.062520 -[16:32:16.529] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000293 ,z=0.000089,angle between two frames:0.000097 -[16:32:16.529] After pose optimization, distance between ekf and vo x:-0.000293 ,z=0.000089,angle between two frames:0.000097 -[16:32:16.529] frame process finished the id is: 181 the obs is:12 -[16:32:16.589] Odometry x=-0.037435, y=-1.040294, theta=-0.074396 -[16:32:16.672] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000315 ,z=0.000089,angle between two frames:0.000105 -[16:32:16.672] After pose optimization, distance between ekf and vo x:-0.000315 ,z=0.000089,angle between two frames:0.000105 -[16:32:16.672] frame process finished the id is: 181 the obs is:12 -[16:32:16.693] Odometry x=-0.037231, y=-1.045616, theta=-0.073257 -[16:32:16.786] Odometry x=-0.037065, y=-1.050086, theta=-0.066025 -[16:32:16.816] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000309 ,z=0.000079,angle between two frames:0.000101 -[16:32:16.816] After pose optimization, distance between ekf and vo x:-0.000309 ,z=0.000079,angle between two frames:0.000101 -[16:32:16.816] frame process finished the id is: 181 the obs is:12 -[16:32:16.888] Odometry x=-0.036895, y=-1.054841, theta=-0.071708 -[16:32:16.959] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000309 ,z=0.000073,angle between two frames:0.000099 -[16:32:16.959] After pose optimization, distance between ekf and vo x:-0.000309 ,z=0.000073,angle between two frames:0.000099 -[16:32:16.959] frame process finished the id is: 181 the obs is:12 -[16:32:16.988] Odometry x=-0.036684, y=-1.060136, theta=-0.072268 -[16:32:17.087] Odometry x=-0.036472, y=-1.065417, theta=-0.071192 -[16:32:17.102] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000260 ,z=0.000057,angle between two frames:0.000082 -[16:32:17.102] After pose optimization, distance between ekf and vo x:-0.000260 ,z=0.000057,angle between two frames:0.000082 -[16:32:17.102] frame process finished the id is: 181 the obs is:12 -[16:32:17.245] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000315 ,z=0.000054,angle between two frames:0.000094 -[16:32:17.245] After pose optimization, distance between ekf and vo x:-0.000315 ,z=0.000054,angle between two frames:0.000094 -[16:32:17.245] frame process finished the id is: 181 the obs is:12 -[16:32:17.386] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000319 ,z=0.000058,angle between two frames:0.000096 -[16:32:17.386] After pose optimization, distance between ekf and vo x:-0.000319 ,z=0.000058,angle between two frames:0.000096 -[16:32:17.386] frame process finished the id is: 181 the obs is:12 -[16:32:17.529] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000321 ,z=0.000059,angle between two frames:0.000097 -[16:32:17.529] After pose optimization, distance between ekf and vo x:-0.000321 ,z=0.000059,angle between two frames:0.000097 -[16:32:17.529] frame process finished the id is: 181 the obs is:12 -[16:32:17.672] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000322 ,z=0.000060,angle between two frames:0.000098 -[16:32:17.672] After pose optimization, distance between ekf and vo x:-0.000322 ,z=0.000060,angle between two frames:0.000098 -[16:32:17.672] frame process finished the id is: 181 the obs is:12 -[16:32:17.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000323 ,z=0.000063,angle between two frames:0.000099 -[16:32:17.814] After pose optimization, distance between ekf and vo x:-0.000323 ,z=0.000063,angle between two frames:0.000099 -[16:32:17.814] frame process finished the id is: 181 the obs is:12 -[16:32:17.957] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000323 ,z=0.000069,angle between two frames:0.000100 -[16:32:17.957] After pose optimization, distance between ekf and vo x:-0.000323 ,z=0.000069,angle between two frames:0.000100 -[16:32:17.957] frame process finished the id is: 181 the obs is:12 -[16:32:18.098] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000323 ,z=0.000070,angle between two frames:0.000101 -[16:32:18.098] After pose optimization, distance between ekf and vo x:-0.000323 ,z=0.000070,angle between two frames:0.000101 -[16:32:18.098] frame process finished the id is: 181 the obs is:12 -[16:32:18.240] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000319 ,z=0.000065,angle between two frames:0.000099 -[16:32:18.240] After pose optimization, distance between ekf and vo x:-0.000319 ,z=0.000065,angle between two frames:0.000099 -[16:32:18.240] frame process finished the id is: 181 the obs is:12 -[16:32:18.383] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000058,angle between two frames:0.000097 -[16:32:18.383] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000058,angle between two frames:0.000097 -[16:32:18.384] frame process finished the id is: 181 the obs is:12 -[16:32:18.528] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000060,angle between two frames:0.000097 -[16:32:18.528] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000060,angle between two frames:0.000097 -[16:32:18.528] frame process finished the id is: 181 the obs is:12 -[16:32:18.671] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:18.671] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:18.671] frame process finished the id is: 181 the obs is:12 -[16:32:18.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000060,angle between two frames:0.000097 -[16:32:18.814] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000060,angle between two frames:0.000097 -[16:32:18.814] frame process finished the id is: 181 the obs is:12 -[16:32:18.957] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 -[16:32:18.957] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 -[16:32:18.957] frame process finished the id is: 181 the obs is:12 -[16:32:19.099] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.100] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.100] frame process finished the id is: 181 the obs is:12 -[16:32:19.242] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.242] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.243] frame process finished the id is: 181 the obs is:12 -[16:32:19.385] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.385] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.385] frame process finished the id is: 181 the obs is:12 -[16:32:19.528] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.528] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.528] frame process finished the id is: 181 the obs is:12 -[16:32:19.671] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.671] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.671] frame process finished the id is: 181 the obs is:12 -[16:32:19.814] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.814] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.814] frame process finished the id is: 181 the obs is:12 -[16:32:19.958] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.958] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:19.958] frame process finished the id is: 181 the obs is:12 -[16:32:20.102] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.102] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.102] frame process finished the id is: 181 the obs is:12 -[16:32:20.245] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000319 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.245] After pose optimization, distance between ekf and vo x:-0.000319 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.245] frame process finished the id is: 181 the obs is:12 -[16:32:20.389] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.389] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.389] frame process finished the id is: 181 the obs is:12 -[16:32:20.532] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.532] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.532] frame process finished the id is: 181 the obs is:12 -[16:32:20.674] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.674] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.674] frame process finished the id is: 181 the obs is:12 -[16:32:20.816] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.816] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.816] frame process finished the id is: 181 the obs is:12 -[16:32:20.959] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.959] After pose optimization, distance between ekf and vo x:-0.000318 ,z=0.000059,angle between two frames:0.000097 -[16:32:20.959] frame process finished the id is: 181 the obs is:12 -[16:32:21.102] After Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between ekf and vo x:-0.000317 ,z=0.000060,angle between two frames:0.000097 -[16:32:21.102] After pose optimization, distance between ekf and vo x:-0.000317 ,z=0.000060,angle between two frames:0.000097 -[16:32:21.102] frame process finished the id is: 181 the obs is:12 +[19:40:43.386] frame process finished the id is: 0 the obs is:0 +[19:40:43.479] Init: frame zero: 0.000000, 0.000000 0.000000 +[19:40:43.479] Init: Selected first frame. +[19:40:43.479] frame process finished the id is: 1 the obs is:0 +[19:40:43.581] Init: px average disparity is:0.181787 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:43.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:43.581] frame process finished the id is: 2 the obs is:0 +[19:40:43.679] Init: px average disparity is:0.239343 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:43.679] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:43.679] frame process finished the id is: 3 the obs is:0 +[19:40:43.777] Init: px average disparity is:0.252471 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:43.777] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:43.777] frame process finished the id is: 4 the obs is:0 +[19:40:43.877] Init: px average disparity is:0.307369 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:43.877] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:43.877] frame process finished the id is: 5 the obs is:0 +[19:40:43.978] Init: px average disparity is:0.463217 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:43.978] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:43.978] frame process finished the id is: 6 the obs is:0 +[19:40:44.084] Init: px average disparity is:0.370744 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:44.084] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:44.084] frame process finished the id is: 7 the obs is:0 +[19:40:44.178] Init: px average disparity is:0.508368 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:44.178] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:44.178] frame process finished the id is: 8 the obs is:0 +[19:40:44.279] Init: px average disparity is:0.507115 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:44.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:44.279] frame process finished the id is: 9 the obs is:0 +[19:40:44.381] Init: px average disparity is:0.500017 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:44.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:44.381] frame process finished the id is: 10 the obs is:0 +[19:40:44.479] Init: px average disparity is:0.570553 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:44.479] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:44.479] frame process finished the id is: 11 the obs is:0 +[19:40:44.578] Init: px average disparity is:0.643874 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:44.578] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:44.578] frame process finished the id is: 12 the obs is:0 +[19:40:44.682] Init: px average disparity is:0.716885 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:44.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:44.682] frame process finished the id is: 13 the obs is:0 +[19:40:44.785] Init: px average disparity is:0.704752 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:44.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:44.785] frame process finished the id is: 14 the obs is:0 +[19:40:44.883] Init: px average disparity is:0.671469 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:44.883] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:44.883] frame process finished the id is: 15 the obs is:0 +[19:40:44.982] Init: px average disparity is:0.732591 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:44.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:44.983] frame process finished the id is: 16 the obs is:0 +[19:40:45.083] Init: px average disparity is:0.625697 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:45.083] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:45.083] frame process finished the id is: 17 the obs is:0 +[19:40:45.182] Init: px average disparity is:0.652830 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:45.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:45.183] frame process finished the id is: 18 the obs is:0 +[19:40:45.284] Init: px average disparity is:0.699982 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:45.284] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:45.284] frame process finished the id is: 19 the obs is:0 +[19:40:45.384] Init: px average disparity is:0.767700 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:45.384] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:45.384] frame process finished the id is: 20 the obs is:0 +[19:40:45.484] Init: px average disparity is:0.647153 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:45.485] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:45.485] frame process finished the id is: 21 the obs is:0 +[19:40:45.584] Init: px average disparity is:0.684126 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:45.584] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:45.584] frame process finished the id is: 22 the obs is:0 +[19:40:45.678] Init: px average disparity is:0.695500 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:45.678] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:45.678] frame process finished the id is: 23 the obs is:0 +[19:40:45.783] Init: px average disparity is:0.645300 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:45.783] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:45.783] frame process finished the id is: 24 the obs is:0 +[19:40:45.884] Init: px average disparity is:0.643848 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:45.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:45.885] frame process finished the id is: 25 the obs is:0 +[19:40:45.985] Init: px average disparity is:0.695306 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:45.985] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:45.985] frame process finished the id is: 26 the obs is:0 +[19:40:46.086] Init: px average disparity is:0.587571 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:46.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:46.086] frame process finished the id is: 27 the obs is:0 +[19:40:46.185] Init: px average disparity is:0.711292 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:46.185] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:46.185] frame process finished the id is: 28 the obs is:0 +[19:40:46.285] Init: px average disparity is:0.668747 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:46.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:46.285] frame process finished the id is: 29 the obs is:0 +[19:40:46.385] Init: px average disparity is:0.645173 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:46.385] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:46.385] frame process finished the id is: 30 the obs is:0 +[19:40:46.485] Init: px average disparity is:0.634112 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:46.485] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:46.485] frame process finished the id is: 31 the obs is:0 +[19:40:46.586] Init: px average disparity is:0.698086 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:46.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:46.586] frame process finished the id is: 32 the obs is:0 +[19:40:46.685] Init: px average disparity is:0.722132 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:46.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:46.685] frame process finished the id is: 33 the obs is:0 +[19:40:46.784] Init: px average disparity is:0.604671 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:46.784] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:46.784] frame process finished the id is: 34 the obs is:0 +[19:40:46.886] Init: px average disparity is:0.553103 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:46.886] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:46.886] frame process finished the id is: 35 the obs is:0 +[19:40:46.976] Init: px average disparity is:0.642887 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:46.976] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:46.976] frame process finished the id is: 36 the obs is:0 +[19:40:47.087] Init: px average disparity is:0.657819 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:47.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:47.087] frame process finished the id is: 37 the obs is:0 +[19:40:47.184] Init: px average disparity is:0.613608 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:47.184] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:47.184] frame process finished the id is: 38 the obs is:0 +[19:40:47.285] Init: px average disparity is:0.580937 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:47.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:47.285] frame process finished the id is: 39 the obs is:0 +[19:40:47.386] Init: px average disparity is:0.707341 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:47.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:47.386] frame process finished the id is: 40 the obs is:0 +[19:40:47.485] Init: px average disparity is:0.582254 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:47.486] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:47.486] frame process finished the id is: 41 the obs is:0 +[19:40:47.586] Init: px average disparity is:0.699619 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:47.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:47.586] frame process finished the id is: 42 the obs is:0 +[19:40:47.685] Init: px average disparity is:0.611877 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:47.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:47.685] frame process finished the id is: 43 the obs is:0 +[19:40:47.785] Init: px average disparity is:0.678798 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:47.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:47.785] frame process finished the id is: 44 the obs is:0 +[19:40:47.885] Init: px average disparity is:0.669401 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:47.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:47.885] frame process finished the id is: 45 the obs is:0 +[19:40:47.985] Init: px average disparity is:0.722483 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:47.985] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:47.985] frame process finished the id is: 46 the obs is:0 +[19:40:48.086] Init: px average disparity is:0.635076 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:48.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:48.086] frame process finished the id is: 47 the obs is:0 +[19:40:48.185] Init: px average disparity is:0.712988 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:48.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:48.186] frame process finished the id is: 48 the obs is:0 +[19:40:48.285] Init: px average disparity is:0.531575 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:48.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:48.285] frame process finished the id is: 49 the obs is:0 +[19:40:48.378] Init: px average disparity is:0.729184 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:48.378] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:48.378] frame process finished the id is: 50 the obs is:0 +[19:40:48.485] Init: px average disparity is:0.703436 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:48.485] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:48.485] frame process finished the id is: 51 the obs is:0 +[19:40:48.589] Init: px average disparity is:0.707106 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:48.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:48.589] frame process finished the id is: 52 the obs is:0 +[19:40:48.686] Init: px average disparity is:0.620616 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:48.686] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:48.686] frame process finished the id is: 53 the obs is:0 +[19:40:48.786] Init: px average disparity is:0.666593 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:48.786] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:48.786] frame process finished the id is: 54 the obs is:0 +[19:40:48.873] Odometry x=0.000000, y=0.000000, theta=0.000000 +[19:40:48.887] Init: px average disparity is:0.649498 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:48.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:48.887] frame process finished the id is: 55 the obs is:0 +[19:40:48.972] Odometry x=0.000000, y=0.000000, theta=0.000000 +[19:40:48.985] Init: px average disparity is:0.607032 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:48.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:48.986] frame process finished the id is: 56 the obs is:0 +[19:40:49.073] Odometry x=-0.000001, y=-0.005261, theta=0.001454 +[19:40:49.086] Init: px average disparity is:0.669184 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:49.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:49.086] frame process finished the id is: 57 the obs is:0 +[19:40:49.173] Odometry x=-0.000004, y=-0.011545, theta=0.000504 +[19:40:49.187] Init: px average disparity is:5.129996 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:49.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:49.187] frame process finished the id is: 58 the obs is:0 +[19:40:49.267] Odometry x=0.000035, y=-0.015679, theta=-0.000838 +[19:40:49.287] Init: px average disparity is:9.966312 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:49.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:49.287] frame process finished the id is: 59 the obs is:0 +[19:40:49.371] Odometry x=0.000051, y=-0.020807, theta=-0.002745 +[19:40:49.387] Init: px average disparity is:9.467743 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:49.387] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:49.387] frame process finished the id is: 60 the obs is:0 +[19:40:49.467] Odometry x=0.000296, y=-0.026268, theta=-0.006246 +[19:40:49.487] Init: px average disparity is:10.938882 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:49.487] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:49.487] frame process finished the id is: 61 the obs is:0 +[19:40:49.572] Odometry x=0.000342, y=-0.031083, theta=0.002185 +[19:40:49.587] Init: px average disparity is:13.757237 ,While minimum is: 40.000000 KLT tracked : 117 +[19:40:49.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:49.588] frame process finished the id is: 62 the obs is:0 +[19:40:49.673] Odometry x=0.000351, y=-0.030483, theta=0.004376 +[19:40:49.688] Init: px average disparity is:17.379244 ,While minimum is: 40.000000 KLT tracked : 116 +[19:40:49.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:49.688] frame process finished the id is: 63 the obs is:0 +[19:40:49.774] Odometry x=0.000317, y=-0.036139, theta=0.000249 +[19:40:49.779] Init: px average disparity is:18.784021 ,While minimum is: 40.000000 KLT tracked : 115 +[19:40:49.779] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:49.779] frame process finished the id is: 64 the obs is:0 +[19:40:49.865] Odometry x=0.000322, y=-0.041462, theta=-0.004965 +[19:40:49.888] Init: px average disparity is:21.220005 ,While minimum is: 40.000000 KLT tracked : 114 +[19:40:49.888] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:49.888] frame process finished the id is: 65 the obs is:0 +[19:40:49.971] Odometry x=0.000342, y=-0.046081, theta=-0.002413 +[19:40:49.986] Init: px average disparity is:23.363265 ,While minimum is: 40.000000 KLT tracked : 114 +[19:40:49.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:49.986] frame process finished the id is: 66 the obs is:0 +[19:40:50.066] Odometry x=0.000588, y=-0.051799, theta=-0.002386 +[19:40:50.085] Init: px average disparity is:26.263364 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:50.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:50.086] frame process finished the id is: 67 the obs is:0 +[19:40:50.167] Odometry x=0.000580, y=-0.057687, theta=0.004392 +[19:40:50.186] Init: px average disparity is:25.458221 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:50.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:50.187] frame process finished the id is: 68 the obs is:0 +[19:40:50.269] Odometry x=0.001239, y=-0.063219, theta=-0.000088 +[19:40:50.288] Init: px average disparity is:18.605852 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:50.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:50.288] frame process finished the id is: 69 the obs is:0 +[19:40:50.370] Odometry x=0.001239, y=-0.068519, theta=-0.000832 +[19:40:50.386] Init: px average disparity is:15.131617 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:50.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:50.386] frame process finished the id is: 70 the obs is:0 +[19:40:50.472] Odometry x=0.001375, y=-0.073849, theta=0.002895 +[19:40:50.488] Init: px average disparity is:11.865697 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:50.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:50.488] frame process finished the id is: 71 the obs is:0 +[19:40:50.573] Odometry x=0.001375, y=-0.076456, theta=0.000084 +[19:40:50.588] Init: px average disparity is:10.765171 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:50.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:50.588] frame process finished the id is: 72 the obs is:0 +[19:40:50.673] Odometry x=0.001369, y=-0.081698, theta=-0.000469 +[19:40:50.688] Init: px average disparity is:10.617586 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:50.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:50.688] frame process finished the id is: 73 the obs is:0 +[19:40:50.775] Odometry x=0.001381, y=-0.087054, theta=-0.003962 +[19:40:50.788] Init: px average disparity is:10.093803 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:50.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:50.788] frame process finished the id is: 74 the obs is:0 +[19:40:50.873] Odometry x=0.001372, y=-0.089933, theta=0.001567 +[19:40:50.879] Init: px average disparity is:11.096210 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:50.879] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:50.879] frame process finished the id is: 75 the obs is:0 +[19:40:50.973] Odometry x=0.002081, y=-0.092899, theta=-0.012752 +[19:40:50.987] Init: px average disparity is:13.747084 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:50.987] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:50.987] frame process finished the id is: 76 the obs is:0 +[19:40:51.072] Odometry x=0.002088, y=-0.098390, theta=0.006126 +[19:40:51.089] Init: px average disparity is:14.333469 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:51.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:51.089] frame process finished the id is: 77 the obs is:0 +[19:40:51.172] Odometry x=0.002203, y=-0.103558, theta=0.000875 +[19:40:51.188] Init: px average disparity is:15.281518 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:51.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:51.188] frame process finished the id is: 78 the obs is:0 +[19:40:51.272] Odometry x=0.002198, y=-0.108618, theta=0.004018 +[19:40:51.288] Init: px average disparity is:17.381624 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:51.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:51.288] frame process finished the id is: 79 the obs is:0 +[19:40:51.372] Odometry x=0.004054, y=-0.112882, theta=0.012114 +[19:40:51.388] Init: px average disparity is:16.270868 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:51.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:51.388] frame process finished the id is: 80 the obs is:0 +[19:40:51.472] Odometry x=0.004023, y=-0.118241, theta=0.008261 +[19:40:51.488] Init: px average disparity is:20.628982 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:51.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:51.488] frame process finished the id is: 81 the obs is:0 +[19:40:51.571] Odometry x=0.004011, y=-0.123592, theta=0.004443 +[19:40:51.588] Init: px average disparity is:23.159982 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:51.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:51.588] frame process finished the id is: 82 the obs is:0 +[19:40:51.670] Odometry x=0.004000, y=-0.128929, theta=0.008347 +[19:40:51.689] Init: px average disparity is:24.144341 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:51.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:51.689] frame process finished the id is: 83 the obs is:0 +[19:40:51.771] Odometry x=0.003983, y=-0.134645, theta=0.003350 +[19:40:51.788] Init: px average disparity is:25.239371 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:51.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:51.789] frame process finished the id is: 84 the obs is:0 +[19:40:51.870] Odometry x=0.003969, y=-0.140006, theta=0.011048 +[19:40:51.888] Init: px average disparity is:21.103070 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:51.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:51.889] frame process finished the id is: 85 the obs is:0 +[19:40:51.973] Odometry x=0.003945, y=-0.145389, theta=0.005506 +[19:40:51.979] Init: px average disparity is:19.712978 ,While minimum is: 40.000000 KLT tracked : 113 +[19:40:51.979] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:51.979] frame process finished the id is: 86 the obs is:0 +[19:40:52.079] Odometry x=0.003908, y=-0.150786, theta=0.020892 +[19:40:52.089] Init: px average disparity is:14.357505 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:52.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:52.089] frame process finished the id is: 87 the obs is:0 +[19:40:52.173] Odometry x=0.003878, y=-0.156197, theta=0.013049 +[19:40:52.189] Init: px average disparity is:12.441069 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:52.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:52.189] frame process finished the id is: 88 the obs is:0 +[19:40:52.273] Odometry x=0.003992, y=-0.159825, theta=0.019250 +[19:40:52.290] Init: px average disparity is:13.483968 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:52.290] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:52.290] frame process finished the id is: 89 the obs is:0 +[19:40:52.375] Odometry x=0.003946, y=-0.164806, theta=0.020170 +[19:40:52.389] Init: px average disparity is:16.048428 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:52.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:52.389] frame process finished the id is: 90 the obs is:0 +[19:40:52.468] Odometry x=0.003878, y=-0.169583, theta=0.008889 +[19:40:52.487] Init: px average disparity is:13.787453 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:52.487] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:52.487] frame process finished the id is: 91 the obs is:0 +[19:40:52.569] Odometry x=0.003807, y=-0.174686, theta=0.009140 +[19:40:52.587] Init: px average disparity is:16.044162 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:52.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:52.587] frame process finished the id is: 92 the obs is:0 +[19:40:52.677] Odometry x=0.003794, y=-0.175126, theta=0.007432 +[19:40:52.689] Init: px average disparity is:13.957701 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:52.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:52.689] frame process finished the id is: 93 the obs is:0 +[19:40:52.767] Odometry x=0.004086, y=-0.180361, theta=0.001324 +[19:40:52.787] Init: px average disparity is:13.868453 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:52.787] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:52.787] frame process finished the id is: 94 the obs is:0 +[19:40:52.868] Odometry x=0.004043, y=-0.185330, theta=0.013355 +[19:40:52.887] Init: px average disparity is:15.333970 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:52.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:52.887] frame process finished the id is: 95 the obs is:0 +[19:40:52.966] Odometry x=0.004299, y=-0.190370, theta=0.009248 +[19:40:52.989] Init: px average disparity is:16.277480 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:52.989] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:52.989] frame process finished the id is: 96 the obs is:0 +[19:40:53.072] Odometry x=0.004276, y=-0.196029, theta=0.009630 +[19:40:53.094] Init: px average disparity is:23.110018 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:53.094] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:53.094] frame process finished the id is: 97 the obs is:0 +[19:40:53.172] Odometry x=0.006101, y=-0.185728, theta=0.020443 +[19:40:53.179] Init: px average disparity is:22.215885 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:53.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:53.179] frame process finished the id is: 98 the obs is:0 +[19:40:53.275] Odometry x=0.006020, y=-0.191983, theta=0.022320 +[19:40:53.289] Init: px average disparity is:21.061951 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:53.289] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:53.289] frame process finished the id is: 99 the obs is:0 +[19:40:53.369] Odometry x=0.006098, y=-0.196233, theta=0.024170 +[19:40:53.388] Init: px average disparity is:19.445168 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:53.388] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:53.388] frame process finished the id is: 100 the obs is:0 +[19:40:53.469] Odometry x=0.006045, y=-0.201275, theta=0.014406 +[19:40:53.487] Init: px average disparity is:20.355723 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:53.487] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:53.487] frame process finished the id is: 101 the obs is:0 +[19:40:53.570] Odometry x=0.006011, y=-0.206662, theta=0.013523 +[19:40:53.588] Init: px average disparity is:20.792560 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:53.588] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:53.588] frame process finished the id is: 102 the obs is:0 +[19:40:53.674] Odometry x=0.005963, y=-0.212083, theta=0.022459 +[19:40:53.688] Init: px average disparity is:19.581194 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:53.688] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:53.689] frame process finished the id is: 103 the obs is:0 +[19:40:53.770] Odometry x=0.005935, y=-0.217557, theta=0.016998 +[19:40:53.788] Init: px average disparity is:22.186160 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:53.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:53.788] frame process finished the id is: 104 the obs is:0 +[19:40:53.871] Odometry x=0.005851, y=-0.222564, theta=0.039120 +[19:40:53.889] Init: px average disparity is:21.522802 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:53.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:53.889] frame process finished the id is: 105 the obs is:0 +[19:40:53.970] Odometry x=0.006717, y=-0.226787, theta=0.027951 +[19:40:53.995] Init: px average disparity is:21.272553 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:53.995] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:53.995] frame process finished the id is: 106 the obs is:0 +[19:40:54.071] Odometry x=0.006630, y=-0.232275, theta=0.034306 +[19:40:54.088] Init: px average disparity is:22.569489 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:54.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:54.088] frame process finished the id is: 107 the obs is:0 +[19:40:54.172] Odometry x=0.006724, y=-0.237422, theta=0.024166 +[19:40:54.190] Init: px average disparity is:23.378648 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:54.190] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:54.190] frame process finished the id is: 108 the obs is:0 +[19:40:54.270] Odometry x=0.006649, y=-0.242995, theta=0.026776 +[19:40:54.279] Init: px average disparity is:22.427062 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:54.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:54.279] frame process finished the id is: 109 the obs is:0 +[19:40:54.369] Odometry x=0.006597, y=-0.248221, theta=0.014510 +[19:40:54.389] Init: px average disparity is:22.564942 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:54.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:54.389] frame process finished the id is: 110 the obs is:0 +[19:40:54.470] Odometry x=0.006553, y=-0.253348, theta=0.025609 +[19:40:54.488] Init: px average disparity is:22.065385 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:54.489] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:54.489] frame process finished the id is: 111 the obs is:0 +[19:40:54.575] Odometry x=0.007294, y=-0.258979, theta=0.025879 +[19:40:54.589] Init: px average disparity is:23.496199 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:54.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:54.589] frame process finished the id is: 112 the obs is:0 +[19:40:54.671] Odometry x=0.007141, y=-0.264397, theta=0.029866 +[19:40:54.689] Init: px average disparity is:24.472010 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:54.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:54.689] frame process finished the id is: 113 the obs is:0 +[19:40:54.774] Odometry x=0.007066, y=-0.269621, theta=0.026950 +[19:40:54.789] Init: px average disparity is:26.532810 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:54.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:54.789] frame process finished the id is: 114 the obs is:0 +[19:40:54.869] Odometry x=0.006991, y=-0.275086, theta=0.029674 +[19:40:54.889] Init: px average disparity is:26.731810 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:54.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:54.889] frame process finished the id is: 115 the obs is:0 +[19:40:54.971] Odometry x=0.006979, y=-0.279211, theta=0.021568 +[19:40:54.990] Init: px average disparity is:25.747171 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:54.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:54.990] frame process finished the id is: 116 the obs is:0 +[19:40:55.070] Odometry x=0.006915, y=-0.284567, theta=0.028297 +[19:40:55.091] Init: px average disparity is:23.708194 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:55.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:55.091] frame process finished the id is: 117 the obs is:0 +[19:40:55.172] Odometry x=0.006854, y=-0.289901, theta=0.024761 +[19:40:55.196] Init: px average disparity is:24.848067 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:55.196] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:55.196] frame process finished the id is: 118 the obs is:0 +[19:40:55.271] Odometry x=0.006706, y=-0.295830, theta=0.025422 +[19:40:55.291] Init: px average disparity is:25.290622 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:55.291] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:55.291] frame process finished the id is: 119 the obs is:0 +[19:40:55.369] Odometry x=0.006633, y=-0.301094, theta=0.028687 +[19:40:55.379] Init: px average disparity is:26.621214 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:55.379] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:55.379] frame process finished the id is: 120 the obs is:0 +[19:40:55.466] Odometry x=0.006562, y=-0.306555, theta=0.033285 +[19:40:55.491] Init: px average disparity is:25.389881 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:55.491] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:55.492] frame process finished the id is: 121 the obs is:0 +[19:40:55.572] Odometry x=0.006469, y=-0.311980, theta=0.031109 +[19:40:55.588] Init: px average disparity is:26.713312 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:55.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:55.589] frame process finished the id is: 122 the obs is:0 +[19:40:55.669] Odometry x=0.006409, y=-0.317424, theta=0.032267 +[19:40:55.689] Init: px average disparity is:26.284566 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:55.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:55.689] frame process finished the id is: 123 the obs is:0 +[19:40:55.773] Odometry x=0.006524, y=-0.322619, theta=0.029345 +[19:40:55.790] Init: px average disparity is:28.212458 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:55.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:55.790] frame process finished the id is: 124 the obs is:0 +[19:40:55.873] Odometry x=0.006426, y=-0.328254, theta=0.036128 +[19:40:55.889] Init: px average disparity is:28.812336 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:55.890] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:55.890] frame process finished the id is: 125 the obs is:0 +[19:40:55.968] Odometry x=0.006324, y=-0.333624, theta=0.033339 +[19:40:55.989] Init: px average disparity is:31.977450 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:55.989] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:55.989] frame process finished the id is: 126 the obs is:0 +[19:40:56.071] Odometry x=0.006257, y=-0.338262, theta=0.034483 +[19:40:56.101] Init: px average disparity is:30.321090 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:56.101] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:56.101] frame process finished the id is: 127 the obs is:0 +[19:40:56.171] Odometry x=0.006285, y=-0.343484, theta=0.029085 +[19:40:56.190] Init: px average disparity is:29.649238 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:56.190] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:56.190] frame process finished the id is: 128 the obs is:0 +[19:40:56.271] Odometry x=0.006204, y=-0.349026, theta=0.030626 +[19:40:56.290] Init: px average disparity is:30.315056 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:56.290] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:56.290] frame process finished the id is: 129 the obs is:0 +[19:40:56.367] Odometry x=0.006124, y=-0.354410, theta=0.021334 +[19:40:56.390] Init: px average disparity is:32.984059 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:56.390] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:56.390] frame process finished the id is: 130 the obs is:0 +[19:40:56.467] Odometry x=0.006070, y=-0.359045, theta=0.025534 +[19:40:56.490] Init: px average disparity is:33.114110 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:56.491] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:56.491] frame process finished the id is: 131 the obs is:0 +[19:40:56.571] Odometry x=0.006116, y=-0.364408, theta=0.020173 +[19:40:56.589] Init: px average disparity is:35.714657 ,While minimum is: 40.000000 KLT tracked : 112 +[19:40:56.589] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:56.589] frame process finished the id is: 132 the obs is:0 +[19:40:56.671] Odometry x=0.006053, y=-0.369814, theta=0.029226 +[19:40:56.698] Init: px average disparity is:36.133503 ,While minimum is: 40.000000 KLT tracked : 110 +[19:40:56.698] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:56.698] frame process finished the id is: 133 the obs is:0 +[19:40:56.772] Odometry x=0.006041, y=-0.373946, theta=0.026799 +[19:40:56.791] Init: px average disparity is:37.112664 ,While minimum is: 40.000000 KLT tracked : 110 +[19:40:56.791] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:56.791] frame process finished the id is: 134 the obs is:0 +[19:40:56.871] Odometry x=0.005958, y=-0.379568, theta=0.038925 +[19:40:56.890] Init: px average disparity is:32.054235 ,While minimum is: 40.000000 KLT tracked : 108 +[19:40:56.890] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:56.891] frame process finished the id is: 135 the obs is:0 +[19:40:56.971] Odometry x=0.005850, y=-0.384582, theta=0.035163 +[19:40:56.990] Init: px average disparity is:28.552922 ,While minimum is: 40.000000 KLT tracked : 106 +[19:40:56.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:56.991] frame process finished the id is: 136 the obs is:0 +[19:40:57.071] Odometry x=0.005759, y=-0.389936, theta=0.038738 +[19:40:57.091] Init: px average disparity is:28.441995 ,While minimum is: 40.000000 KLT tracked : 106 +[19:40:57.091] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:57.091] frame process finished the id is: 137 the obs is:0 +[19:40:57.175] Odometry x=0.005701, y=-0.395211, theta=0.027675 +[19:40:57.191] Init: px average disparity is:34.457979 ,While minimum is: 40.000000 KLT tracked : 106 +[19:40:57.191] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:57.191] frame process finished the id is: 138 the obs is:0 +[19:40:57.271] Odometry x=0.005654, y=-0.399450, theta=0.025763 +[19:40:57.291] Init: px average disparity is:34.148071 ,While minimum is: 40.000000 KLT tracked : 104 +[19:40:57.291] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:57.291] frame process finished the id is: 139 the obs is:0 +[19:40:57.372] Odometry x=0.005569, y=-0.404348, theta=0.048449 +[19:40:57.390] Init: px average disparity is:31.703826 ,While minimum is: 40.000000 KLT tracked : 103 +[19:40:57.390] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:57.390] frame process finished the id is: 140 the obs is:0 +[19:40:57.472] Odometry x=0.005450, y=-0.409599, theta=0.049617 +[19:40:57.490] Init: px average disparity is:30.224320 ,While minimum is: 40.000000 KLT tracked : 102 +[19:40:57.490] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:57.490] frame process finished the id is: 141 the obs is:0 +[19:40:57.577] Odometry x=0.005286, y=-0.414677, theta=0.045192 +[19:40:57.590] Init: px average disparity is:31.572699 ,While minimum is: 40.000000 KLT tracked : 102 +[19:40:57.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:57.590] frame process finished the id is: 142 the obs is:0 +[19:40:57.670] Odometry x=0.005134, y=-0.420564, theta=0.043830 +[19:40:57.684] Init: px average disparity is:32.290828 ,While minimum is: 40.000000 KLT tracked : 102 +[19:40:57.684] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:57.684] frame process finished the id is: 143 the obs is:0 +[19:40:57.768] Odometry x=0.005028, y=-0.425235, theta=0.042664 +[19:40:57.790] Init: px average disparity is:34.361833 ,While minimum is: 40.000000 KLT tracked : 102 +[19:40:57.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:57.790] frame process finished the id is: 144 the obs is:0 +[19:40:57.869] Odometry x=0.004892, y=-0.430581, theta=0.041959 +[19:40:57.891] Init: px average disparity is:36.412778 ,While minimum is: 40.000000 KLT tracked : 102 +[19:40:57.891] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:57.891] frame process finished the id is: 145 the obs is:0 +[19:40:57.970] Odometry x=0.004776, y=-0.435690, theta=0.044619 +[19:40:57.996] Init: px average disparity is:38.582458 ,While minimum is: 40.000000 KLT tracked : 102 +[19:40:57.996] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:57.996] frame process finished the id is: 146 the obs is:0 +[19:40:58.074] Odometry x=0.004713, y=-0.439962, theta=0.041850 +[19:40:58.159] Init: Homography RANSAC (inlier) is:0 ,While 20 inliers minimum required. px average disparity is:40.027571 ,While minimum is: 40.000000 KLT tracked: 101 +[19:40:58.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:58.159] frame process finished the id is: 147 the obs is:0 +[19:40:58.175] Odometry x=0.004625, y=-0.445162, theta=0.039462 +[19:40:58.249] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required. px average disparity is:41.648672 ,While minimum is: 40.000000 KLT tracked: 101 +[19:40:58.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:58.249] frame process finished the id is: 148 the obs is:0 +[19:40:58.273] Odometry x=0.004562, y=-0.449919, theta=0.024453 +[19:40:58.283] Init: px average disparity is:39.513608 ,While minimum is: 40.000000 KLT tracked : 100 +[19:40:58.283] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:58.283] frame process finished the id is: 149 the obs is:0 +[19:40:58.365] Odometry x=0.004633, y=-0.455260, theta=0.031059 +[19:40:58.445] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:41.505918 ,While minimum is: 40.000000 KLT tracked: 100 +[19:40:58.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:58.445] frame process finished the id is: 150 the obs is:0 +[19:40:58.474] Odometry x=0.004659, y=-0.459424, theta=0.032329 +[19:40:58.481] Init: px average disparity is:37.469068 ,While minimum is: 40.000000 KLT tracked : 98 +[19:40:58.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:58.481] frame process finished the id is: 151 the obs is:0 +[19:40:58.570] Odometry x=0.004582, y=-0.465063, theta=0.030571 +[19:40:58.592] Init: px average disparity is:35.433600 ,While minimum is: 40.000000 KLT tracked : 97 +[19:40:58.592] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:58.592] frame process finished the id is: 152 the obs is:0 +[19:40:58.670] Odometry x=0.004505, y=-0.470214, theta=0.031151 +[19:40:58.693] Init: px average disparity is:32.654778 ,While minimum is: 40.000000 KLT tracked : 96 +[19:40:58.693] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:58.693] frame process finished the id is: 153 the obs is:0 +[19:40:58.774] Odometry x=0.004429, y=-0.475615, theta=0.026974 +[19:40:58.780] Init: px average disparity is:33.264641 ,While minimum is: 40.000000 KLT tracked : 96 +[19:40:58.780] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:58.780] frame process finished the id is: 154 the obs is:0 +[19:40:58.871] Odometry x=0.004344, y=-0.481120, theta=0.035351 +[19:40:58.891] Init: px average disparity is:35.161410 ,While minimum is: 40.000000 KLT tracked : 96 +[19:40:58.891] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:58.891] frame process finished the id is: 155 the obs is:0 +[19:40:58.972] Odometry x=0.004280, y=-0.486224, theta=0.030029 +[19:40:58.993] Init: px average disparity is:36.382789 ,While minimum is: 40.000000 KLT tracked : 95 +[19:40:58.993] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:58.993] frame process finished the id is: 156 the obs is:0 +[19:40:59.068] Odometry x=0.004191, y=-0.491541, theta=0.038293 +[19:40:59.095] Init: px average disparity is:33.777953 ,While minimum is: 40.000000 KLT tracked : 94 +[19:40:59.095] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:59.095] frame process finished the id is: 157 the obs is:0 +[19:40:59.169] Odometry x=0.004240, y=-0.496540, theta=0.029706 +[19:40:59.193] Init: px average disparity is:35.307063 ,While minimum is: 40.000000 KLT tracked : 94 +[19:40:59.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:59.193] frame process finished the id is: 158 the obs is:0 +[19:40:59.268] Odometry x=0.004154, y=-0.501788, theta=0.033515 +[19:40:59.293] Init: px average disparity is:35.190033 ,While minimum is: 40.000000 KLT tracked : 94 +[19:40:59.293] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:59.293] frame process finished the id is: 159 the obs is:0 +[19:40:59.368] Odometry x=0.004076, y=-0.507145, theta=0.034369 +[19:40:59.392] Init: px average disparity is:36.634610 ,While minimum is: 40.000000 KLT tracked : 94 +[19:40:59.392] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:59.392] frame process finished the id is: 160 the obs is:0 +[19:40:59.468] Odometry x=0.003986, y=-0.512411, theta=0.032426 +[19:40:59.492] Init: px average disparity is:38.185946 ,While minimum is: 40.000000 KLT tracked : 94 +[19:40:59.492] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:59.492] frame process finished the id is: 161 the obs is:0 +[19:40:59.569] Odometry x=0.003909, y=-0.517601, theta=0.036122 +[19:40:59.660] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:40.077656 ,While minimum is: 40.000000 KLT tracked: 94 +[19:40:59.661] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:59.661] frame process finished the id is: 162 the obs is:0 +[19:40:59.666] Odometry x=0.003692, y=-0.522927, theta=0.034158 +[19:40:59.746] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:43.379333 ,While minimum is: 40.000000 KLT tracked: 94 +[19:40:59.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:59.746] frame process finished the id is: 163 the obs is:0 +[19:40:59.769] Odometry x=0.003858, y=-0.528039, theta=0.033753 +[19:40:59.857] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:43.867539 ,While minimum is: 40.000000 KLT tracked: 94 +[19:40:59.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:59.857] frame process finished the id is: 164 the obs is:0 +[19:40:59.866] Odometry x=0.003773, y=-0.533229, theta=0.036903 +[19:40:59.945] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:47.381344 ,While minimum is: 40.000000 KLT tracked: 93 +[19:40:59.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:40:59.945] frame process finished the id is: 165 the obs is:0 +[19:40:59.969] Odometry x=0.003680, y=-0.537988, theta=0.033646 +[19:41:00.046] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:50.780715 ,While minimum is: 40.000000 KLT tracked: 92 +[19:41:00.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:00.046] frame process finished the id is: 166 the obs is:0 +[19:41:00.067] Odometry x=0.003644, y=-0.541942, theta=0.021524 +[19:41:00.146] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:53.410648 ,While minimum is: 40.000000 KLT tracked: 92 +[19:41:00.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:00.146] frame process finished the id is: 167 the obs is:0 +[19:41:00.164] Odometry x=0.003670, y=-0.547278, theta=0.025434 +[19:41:00.245] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:51.492800 ,While minimum is: 40.000000 KLT tracked: 90 +[19:41:00.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:00.245] frame process finished the id is: 168 the obs is:0 +[19:41:00.268] Odometry x=0.003600, y=-0.552627, theta=0.028985 +[19:41:00.345] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:47.546651 ,While minimum is: 40.000000 KLT tracked: 89 +[19:41:00.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:00.345] frame process finished the id is: 169 the obs is:0 +[19:41:00.370] Odometry x=0.003537, y=-0.557923, theta=0.019935 +[19:41:00.446] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:47.897267 ,While minimum is: 40.000000 KLT tracked: 87 +[19:41:00.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:00.446] frame process finished the id is: 170 the obs is:0 +[19:41:00.468] Odometry x=0.003479, y=-0.563276, theta=0.025159 +[19:41:00.544] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:49.139325 ,While minimum is: 40.000000 KLT tracked: 87 +[19:41:00.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:00.544] frame process finished the id is: 171 the obs is:0 +[19:41:00.571] Odometry x=0.003409, y=-0.568622, theta=0.026647 +[19:41:00.645] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:47.541373 ,While minimum is: 40.000000 KLT tracked: 87 +[19:41:00.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:00.645] frame process finished the id is: 172 the obs is:0 +[19:41:00.670] Odometry x=0.003332, y=-0.573934, theta=0.028764 +[19:41:00.744] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:41.183032 ,While minimum is: 40.000000 KLT tracked: 86 +[19:41:00.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:00.744] frame process finished the id is: 173 the obs is:0 +[19:41:00.768] Odometry x=0.003355, y=-0.579328, theta=0.021805 +[19:41:00.851] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:43.649691 ,While minimum is: 40.000000 KLT tracked: 86 +[19:41:00.851] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:00.851] frame process finished the id is: 174 the obs is:0 +[19:41:00.870] Odometry x=0.003292, y=-0.584319, theta=0.028369 +[19:41:00.944] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:43.539901 ,While minimum is: 40.000000 KLT tracked: 85 +[19:41:00.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:00.944] frame process finished the id is: 175 the obs is:0 +[19:41:00.966] Odometry x=0.003223, y=-0.589868, theta=0.025468 +[19:41:01.042] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:43.818694 ,While minimum is: 40.000000 KLT tracked: 85 +[19:41:01.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:01.043] frame process finished the id is: 176 the obs is:0 +[19:41:01.073] Odometry x=0.003136, y=-0.595366, theta=0.030533 +[19:41:01.157] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:43.182689 ,While minimum is: 40.000000 KLT tracked: 85 +[19:41:01.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:01.157] frame process finished the id is: 177 the obs is:0 +[19:41:01.176] Odometry x=0.003058, y=-0.600422, theta=0.026400 +[19:41:01.248] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:44.076407 ,While minimum is: 40.000000 KLT tracked: 85 +[19:41:01.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:01.249] frame process finished the id is: 178 the obs is:0 +[19:41:01.270] Odometry x=0.002942, y=-0.606353, theta=0.027184 +[19:41:01.349] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:45.603789 ,While minimum is: 40.000000 KLT tracked: 85 +[19:41:01.349] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:01.349] frame process finished the id is: 179 the obs is:0 +[19:41:01.373] Odometry x=0.002905, y=-0.611515, theta=0.024860 +[19:41:01.443] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:46.897005 ,While minimum is: 40.000000 KLT tracked: 85 +[19:41:01.443] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:01.443] frame process finished the id is: 180 the obs is:0 +[19:41:01.471] Odometry x=0.002067, y=-0.659816, theta=0.000082 +[19:41:01.546] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:48.273424 ,While minimum is: 40.000000 KLT tracked: 85 +[19:41:01.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:01.546] frame process finished the id is: 181 the obs is:0 +[19:41:01.565] Odometry x=0.002158, y=-0.665473, theta=-0.000096 +[19:41:01.643] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:50.801805 ,While minimum is: 40.000000 KLT tracked: 85 +[19:41:01.643] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:01.643] frame process finished the id is: 182 the obs is:0 +[19:41:01.670] Odometry x=0.002167, y=-0.670405, theta=-0.007600 +[19:41:01.744] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:50.883861 ,While minimum is: 40.000000 KLT tracked: 85 +[19:41:01.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:01.744] frame process finished the id is: 183 the obs is:0 +[19:41:01.770] Odometry x=0.002203, y=-0.676167, theta=-0.006344 +[19:41:01.845] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:54.275297 ,While minimum is: 40.000000 KLT tracked: 85 +[19:41:01.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:01.845] frame process finished the id is: 184 the obs is:0 +[19:41:01.871] Odometry x=0.002216, y=-0.681560, theta=-0.003668 +[19:41:01.945] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:58.988292 ,While minimum is: 40.000000 KLT tracked: 84 +[19:41:01.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:01.945] frame process finished the id is: 185 the obs is:0 +[19:41:01.971] Odometry x=0.002223, y=-0.683129, theta=-0.008231 +[19:41:02.045] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:51.696542 ,While minimum is: 40.000000 KLT tracked: 83 +[19:41:02.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:02.045] frame process finished the id is: 186 the obs is:0 +[19:41:02.071] Odometry x=0.002261, y=-0.688245, theta=-0.011308 +[19:41:02.145] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:48.399246 ,While minimum is: 40.000000 KLT tracked: 83 +[19:41:02.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:02.145] frame process finished the id is: 187 the obs is:0 +[19:41:02.171] Odometry x=0.002290, y=-0.693184, theta=-0.009568 +[19:41:02.254] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:46.792650 ,While minimum is: 40.000000 KLT tracked: 82 +[19:41:02.254] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:02.254] frame process finished the id is: 188 the obs is:0 +[19:41:02.271] Odometry x=0.002454, y=-0.698354, theta=-0.008124 +[19:41:02.344] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:46.935610 ,While minimum is: 40.000000 KLT tracked: 82 +[19:41:02.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:02.344] frame process finished the id is: 189 the obs is:0 +[19:41:02.365] Odometry x=0.002484, y=-0.703661, theta=-0.011288 +[19:41:02.444] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:47.876634 ,While minimum is: 40.000000 KLT tracked: 82 +[19:41:02.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:02.444] frame process finished the id is: 190 the obs is:0 +[19:41:02.471] Odometry x=0.002545, y=-0.708708, theta=-0.002657 +[19:41:02.545] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:47.525093 ,While minimum is: 40.000000 KLT tracked: 82 +[19:41:02.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:02.545] frame process finished the id is: 191 the obs is:0 +[19:41:02.571] Odometry x=0.002545, y=-0.714793, theta=0.000468 +[19:41:02.644] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:46.883112 ,While minimum is: 40.000000 KLT tracked: 81 +[19:41:02.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:02.644] frame process finished the id is: 192 the obs is:0 +[19:41:02.666] Odometry x=0.002545, y=-0.720448, theta=-0.004051 +[19:41:02.744] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:47.369053 ,While minimum is: 40.000000 KLT tracked: 80 +[19:41:02.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:02.744] frame process finished the id is: 193 the obs is:0 +[19:41:02.770] Odometry x=0.002601, y=-0.725237, theta=-0.006792 +[19:41:02.844] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:49.885112 ,While minimum is: 40.000000 KLT tracked: 80 +[19:41:02.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:02.844] frame process finished the id is: 194 the obs is:0 +[19:41:02.871] Odometry x=0.002598, y=-0.730891, theta=0.001425 +[19:41:02.943] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:49.204924 ,While minimum is: 40.000000 KLT tracked: 80 +[19:41:02.943] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:02.943] frame process finished the id is: 195 the obs is:0 +[19:41:02.971] Odometry x=0.002601, y=-0.736445, theta=0.000540 +[19:41:03.044] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:49.882219 ,While minimum is: 40.000000 KLT tracked: 80 +[19:41:03.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:03.044] frame process finished the id is: 196 the obs is:0 +[19:41:03.071] Odometry x=0.002595, y=-0.741594, theta=0.000846 +[19:41:03.143] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:50.538318 ,While minimum is: 40.000000 KLT tracked: 80 +[19:41:03.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:03.144] frame process finished the id is: 197 the obs is:0 +[19:41:03.166] Odometry x=0.002592, y=-0.746994, theta=0.002271 +[19:41:03.243] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:51.119686 ,While minimum is: 40.000000 KLT tracked: 80 +[19:41:03.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:03.243] frame process finished the id is: 198 the obs is:0 +[19:41:03.271] Odometry x=0.002577, y=-0.751820, theta=0.002147 +[19:41:03.344] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:52.449873 ,While minimum is: 40.000000 KLT tracked: 80 +[19:41:03.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:03.344] frame process finished the id is: 199 the obs is:0 +[19:41:03.371] Odometry x=0.002594, y=-0.757521, theta=-0.003749 +[19:41:03.444] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:54.549349 ,While minimum is: 40.000000 KLT tracked: 80 +[19:41:03.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:03.444] frame process finished the id is: 200 the obs is:0 +[19:41:03.471] Odometry x=0.002771, y=-0.758405, theta=0.002581 +[19:41:03.544] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:53.360961 ,While minimum is: 40.000000 KLT tracked: 79 +[19:41:03.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:03.544] frame process finished the id is: 201 the obs is:0 +[19:41:03.571] Odometry x=0.002787, y=-0.763762, theta=0.002394 +[19:41:03.644] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:55.062292 ,While minimum is: 40.000000 KLT tracked: 79 +[19:41:03.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:03.644] frame process finished the id is: 202 the obs is:0 +[19:41:03.671] Odometry x=0.002806, y=-0.768771, theta=-0.003207 +[19:41:03.743] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:60.436133 ,While minimum is: 40.000000 KLT tracked: 79 +[19:41:03.743] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:03.743] frame process finished the id is: 203 the obs is:0 +[19:41:03.767] Odometry x=0.002818, y=-0.773197, theta=-0.004505 +[19:41:03.844] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:53.934931 ,While minimum is: 40.000000 KLT tracked: 77 +[19:41:03.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:03.844] frame process finished the id is: 204 the obs is:0 +[19:41:03.870] Odometry x=0.002823, y=-0.776455, theta=-0.001144 +[19:41:03.943] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:51.083417 ,While minimum is: 40.000000 KLT tracked: 77 +[19:41:03.943] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:03.943] frame process finished the id is: 205 the obs is:0 +[19:41:03.972] Odometry x=0.002857, y=-0.782084, theta=-0.007496 +[19:41:04.044] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:49.456241 ,While minimum is: 40.000000 KLT tracked: 77 +[19:41:04.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:04.044] frame process finished the id is: 206 the obs is:0 +[19:41:04.070] Odometry x=0.003012, y=-0.787298, theta=0.009202 +[19:41:04.149] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:48.703453 ,While minimum is: 40.000000 KLT tracked: 77 +[19:41:04.149] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:04.149] frame process finished the id is: 207 the obs is:0 +[19:41:04.170] Odometry x=0.003016, y=-0.792604, theta=-0.003963 +[19:41:04.243] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:51.299803 ,While minimum is: 40.000000 KLT tracked: 76 +[19:41:04.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:04.243] frame process finished the id is: 208 the obs is:0 +[19:41:04.273] Odometry x=0.003008, y=-0.797993, theta=0.014259 +[19:41:04.344] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:55.131634 ,While minimum is: 40.000000 KLT tracked: 76 +[19:41:04.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:04.344] frame process finished the id is: 209 the obs is:0 +[19:41:04.374] Odometry x=0.003224, y=-0.803636, theta=0.010491 +[19:41:04.445] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:54.731732 ,While minimum is: 40.000000 KLT tracked: 76 +[19:41:04.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:04.445] frame process finished the id is: 210 the obs is:0 +[19:41:04.473] Odometry x=0.003189, y=-0.809259, theta=0.013248 +[19:41:04.545] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:56.393642 ,While minimum is: 40.000000 KLT tracked: 76 +[19:41:04.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:04.545] frame process finished the id is: 211 the obs is:0 +[19:41:04.571] Odometry x=0.003220, y=-0.814327, theta=0.007489 +[19:41:04.644] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:58.254943 ,While minimum is: 40.000000 KLT tracked: 76 +[19:41:04.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:04.644] frame process finished the id is: 212 the obs is:0 +[19:41:04.671] Odometry x=0.002958, y=-0.819714, theta=0.013963 +[19:41:04.758] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:58.728432 ,While minimum is: 40.000000 KLT tracked: 76 +[19:41:04.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:04.758] frame process finished the id is: 213 the obs is:0 +[19:41:04.770] Odometry x=0.003013, y=-0.825077, theta=0.013676 +[19:41:04.845] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:59.160493 ,While minimum is: 40.000000 KLT tracked: 76 +[19:41:04.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:04.845] frame process finished the id is: 214 the obs is:0 +[19:41:04.871] Odometry x=0.002974, y=-0.830311, theta=0.012931 +[19:41:04.944] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:58.321910 ,While minimum is: 40.000000 KLT tracked: 75 +[19:41:04.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:04.945] frame process finished the id is: 215 the obs is:0 +[19:41:04.972] Odometry x=0.002972, y=-0.835547, theta=0.015056 +[19:41:05.045] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:58.457062 ,While minimum is: 40.000000 KLT tracked: 75 +[19:41:05.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:05.045] frame process finished the id is: 216 the obs is:0 +[19:41:05.072] Odometry x=0.002926, y=-0.840904, theta=0.014659 +[19:41:05.146] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:60.119849 ,While minimum is: 40.000000 KLT tracked: 75 +[19:41:05.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:05.146] frame process finished the id is: 217 the obs is:0 +[19:41:05.170] Odometry x=0.002925, y=-0.845957, theta=0.013796 +[19:41:05.261] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:60.821224 ,While minimum is: 40.000000 KLT tracked: 75 +[19:41:05.262] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:05.262] frame process finished the id is: 218 the obs is:0 +[19:41:05.273] Odometry x=0.002953, y=-0.851090, theta=0.013442 +[19:41:05.345] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:62.833775 ,While minimum is: 40.000000 KLT tracked: 75 +[19:41:05.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:05.345] frame process finished the id is: 219 the obs is:0 +[19:41:05.376] Odometry x=0.002939, y=-0.856699, theta=0.012433 +[19:41:05.445] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:63.667912 ,While minimum is: 40.000000 KLT tracked: 75 +[19:41:05.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:05.445] frame process finished the id is: 220 the obs is:0 +[19:41:05.474] Odometry x=0.001162, y=-0.906021, theta=0.000337 +[19:41:05.546] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:63.942436 ,While minimum is: 40.000000 KLT tracked: 75 +[19:41:05.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:05.546] frame process finished the id is: 221 the obs is:0 +[19:41:05.571] Odometry x=0.001160, y=-0.912481, theta=-0.009602 +[19:41:05.646] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:64.130494 ,While minimum is: 40.000000 KLT tracked: 75 +[19:41:05.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:05.646] frame process finished the id is: 222 the obs is:0 +[19:41:05.675] Odometry x=0.001182, y=-0.917569, theta=-0.006586 +[19:41:05.747] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:64.248782 ,While minimum is: 40.000000 KLT tracked: 75 +[19:41:05.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:05.747] frame process finished the id is: 223 the obs is:0 +[19:41:05.772] Odometry x=0.001216, y=-0.923193, theta=-0.015231 +[19:41:05.846] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:63.261276 ,While minimum is: 40.000000 KLT tracked: 75 +[19:41:05.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:05.846] frame process finished the id is: 224 the obs is:0 +[19:41:05.871] Odometry x=0.001380, y=-0.928404, theta=-0.010885 +[19:41:05.946] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:64.724416 ,While minimum is: 40.000000 KLT tracked: 75 +[19:41:05.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:05.946] frame process finished the id is: 225 the obs is:0 +[19:41:05.975] Odometry x=0.001485, y=-0.933385, theta=-0.010700 +[19:41:06.044] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:71.657108 ,While minimum is: 40.000000 KLT tracked: 75 +[19:41:06.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:06.044] frame process finished the id is: 226 the obs is:0 +[19:41:06.076] Odometry x=0.001666, y=-0.938279, theta=-0.007935 +[19:41:06.146] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:72.246189 ,While minimum is: 40.000000 KLT tracked: 74 +[19:41:06.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:06.146] frame process finished the id is: 227 the obs is:0 +[19:41:06.174] Odometry x=0.001696, y=-0.943905, theta=-0.011433 +[19:41:06.245] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:67.169009 ,While minimum is: 40.000000 KLT tracked: 72 +[19:41:06.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:06.245] frame process finished the id is: 228 the obs is:0 +[19:41:06.272] Odometry x=0.001745, y=-0.948983, theta=-0.015052 +[19:41:06.345] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:66.135621 ,While minimum is: 40.000000 KLT tracked: 72 +[19:41:06.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:06.345] frame process finished the id is: 229 the obs is:0 +[19:41:06.370] Odometry x=0.001811, y=-0.954427, theta=-0.010604 +[19:41:06.445] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:70.878605 ,While minimum is: 40.000000 KLT tracked: 72 +[19:41:06.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:06.445] frame process finished the id is: 230 the obs is:0 +[19:41:06.469] Odometry x=0.001845, y=-0.959516, theta=-0.011219 +[19:41:06.546] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:72.985927 ,While minimum is: 40.000000 KLT tracked: 72 +[19:41:06.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:06.546] frame process finished the id is: 231 the obs is:0 +[19:41:06.572] Odometry x=0.001927, y=-0.964919, theta=-0.008855 +[19:41:06.646] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:76.910455 ,While minimum is: 40.000000 KLT tracked: 70 +[19:41:06.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:06.646] frame process finished the id is: 232 the obs is:0 +[19:41:06.670] Odometry x=0.001948, y=-0.970332, theta=-0.004849 +[19:41:06.750] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:81.764548 ,While minimum is: 40.000000 KLT tracked: 70 +[19:41:06.750] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:06.750] frame process finished the id is: 233 the obs is:0 +[19:41:06.776] Odometry x=0.001967, y=-0.975687, theta=-0.006776 +[19:41:06.846] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:85.882410 ,While minimum is: 40.000000 KLT tracked: 70 +[19:41:06.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:06.846] frame process finished the id is: 234 the obs is:0 +[19:41:06.874] Odometry x=0.002014, y=-0.980285, theta=-0.005224 +[19:41:06.946] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:86.225662 ,While minimum is: 40.000000 KLT tracked: 70 +[19:41:06.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:06.946] frame process finished the id is: 235 the obs is:0 +[19:41:06.973] Odometry x=0.002033, y=-0.985280, theta=-0.008483 +[19:41:07.046] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:90.013520 ,While minimum is: 40.000000 KLT tracked: 70 +[19:41:07.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:07.046] frame process finished the id is: 236 the obs is:0 +[19:41:07.076] Odometry x=0.002179, y=-0.990052, theta=-0.004436 +[19:41:07.147] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:90.076082 ,While minimum is: 40.000000 KLT tracked: 69 +[19:41:07.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:07.147] frame process finished the id is: 237 the obs is:0 +[19:41:07.170] Odometry x=0.002372, y=-0.991597, theta=0.002348 +[19:41:07.243] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:84.571464 ,While minimum is: 40.000000 KLT tracked: 69 +[19:41:07.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:07.243] frame process finished the id is: 238 the obs is:0 +[19:41:07.270] Odometry x=0.002357, y=-0.996370, theta=0.004012 +[19:41:07.347] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:79.305290 ,While minimum is: 40.000000 KLT tracked: 69 +[19:41:07.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:07.347] frame process finished the id is: 239 the obs is:0 +[19:41:07.364] Odometry x=0.002345, y=-1.001882, theta=0.000307 +[19:41:07.447] Init: Homography RANSAC (inlier) is:13 ,While 20 inliers minimum required. px average disparity is:78.866095 ,While minimum is: 40.000000 KLT tracked: 69 +[19:41:07.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:07.447] frame process finished the id is: 240 the obs is:0 +[19:41:07.471] Odometry x=0.002344, y=-1.006384, theta=0.001017 +[19:41:07.544] Init: Homography RANSAC (inlier) is:14 ,While 20 inliers minimum required. px average disparity is:80.524792 ,While minimum is: 40.000000 KLT tracked: 69 +[19:41:07.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:07.544] frame process finished the id is: 241 the obs is:0 +[19:41:07.573] Odometry x=0.002333, y=-1.012824, theta=0.003549 +[19:41:07.646] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:81.711968 ,While minimum is: 40.000000 KLT tracked: 69 +[19:41:07.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:07.646] frame process finished the id is: 242 the obs is:0 +[19:41:07.673] Odometry x=0.002333, y=-1.018429, theta=-0.005177 +[19:41:07.744] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:82.037246 ,While minimum is: 40.000000 KLT tracked: 69 +[19:41:07.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:07.744] frame process finished the id is: 243 the obs is:0 +[19:41:07.771] Odometry x=0.002479, y=-1.023309, theta=0.011480 +[19:41:07.844] Init: Homography RANSAC (inlier) is:15 ,While 20 inliers minimum required. px average disparity is:80.930680 ,While minimum is: 40.000000 KLT tracked: 69 +[19:41:07.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:07.844] frame process finished the id is: 244 the obs is:0 +[19:41:07.871] Odometry x=0.002425, y=-1.027758, theta=0.013211 +[19:41:07.948] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:82.274263 ,While minimum is: 40.000000 KLT tracked: 69 +[19:41:07.948] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:07.948] frame process finished the id is: 245 the obs is:0 +[19:41:07.971] Odometry x=0.002737, y=-1.032732, theta=0.001977 +[19:41:08.044] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:77.848624 ,While minimum is: 40.000000 KLT tracked: 67 +[19:41:08.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:08.044] frame process finished the id is: 246 the obs is:0 +[19:41:08.071] Odometry x=0.002739, y=-1.037934, theta=-0.004323 +[19:41:08.145] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:76.965251 ,While minimum is: 40.000000 KLT tracked: 67 +[19:41:08.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:08.145] frame process finished the id is: 247 the obs is:0 +[19:41:08.171] Odometry x=0.002781, y=-1.042959, theta=0.000772 +[19:41:08.246] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:75.920588 ,While minimum is: 40.000000 KLT tracked: 67 +[19:41:08.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:08.246] frame process finished the id is: 248 the obs is:0 +[19:41:08.271] Odometry x=0.002790, y=-1.048297, theta=-0.001900 +[19:41:08.345] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:74.324589 ,While minimum is: 40.000000 KLT tracked: 67 +[19:41:08.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:08.345] frame process finished the id is: 249 the obs is:0 +[19:41:08.371] Odometry x=0.002863, y=-1.053657, theta=0.001742 +[19:41:08.446] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:72.395837 ,While minimum is: 40.000000 KLT tracked: 67 +[19:41:08.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:08.446] frame process finished the id is: 250 the obs is:0 +[19:41:08.471] Odometry x=0.002945, y=-1.059018, theta=-0.005368 +[19:41:08.545] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:74.424309 ,While minimum is: 40.000000 KLT tracked: 67 +[19:41:08.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:08.545] frame process finished the id is: 251 the obs is:0 +[19:41:08.570] Odometry x=0.002966, y=-1.064376, theta=-0.002615 +[19:41:08.644] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:69.706275 ,While minimum is: 40.000000 KLT tracked: 66 +[19:41:08.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:08.644] frame process finished the id is: 252 the obs is:0 +[19:41:08.674] Odometry x=0.002985, y=-1.069858, theta=-0.002648 +[19:41:08.744] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:72.270429 ,While minimum is: 40.000000 KLT tracked: 66 +[19:41:08.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:08.744] frame process finished the id is: 253 the obs is:0 +[19:41:08.772] Odometry x=0.002988, y=-1.075417, theta=-0.002484 +[19:41:08.844] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:71.166135 ,While minimum is: 40.000000 KLT tracked: 66 +[19:41:08.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:08.844] frame process finished the id is: 254 the obs is:0 +[19:41:08.872] Odometry x=0.002997, y=-1.080612, theta=-0.004403 +[19:41:08.951] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:74.125175 ,While minimum is: 40.000000 KLT tracked: 66 +[19:41:08.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:08.951] frame process finished the id is: 255 the obs is:0 +[19:41:08.975] Odometry x=0.003002, y=-1.086206, theta=-0.000112 +[19:41:09.045] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:75.892983 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:09.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:09.045] frame process finished the id is: 256 the obs is:0 +[19:41:09.070] Odometry x=0.003251, y=-1.088097, theta=-0.009986 +[19:41:09.144] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:76.075064 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:09.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:09.144] frame process finished the id is: 257 the obs is:0 +[19:41:09.170] Odometry x=0.003271, y=-1.093421, theta=-0.009348 +[19:41:09.244] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:76.186763 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:09.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:09.244] frame process finished the id is: 258 the obs is:0 +[19:41:09.271] Odometry x=0.003293, y=-1.098775, theta=-0.006326 +[19:41:09.344] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:75.058829 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:09.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:09.344] frame process finished the id is: 259 the obs is:0 +[19:41:09.370] Odometry x=0.003319, y=-1.103751, theta=-0.014269 +[19:41:09.445] Init: Homography RANSAC (inlier) is:1 ,While 20 inliers minimum required. px average disparity is:75.071646 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:09.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:09.445] frame process finished the id is: 260 the obs is:0 +[19:41:09.471] Odometry x=0.003369, y=-1.109092, theta=-0.014127 +[19:41:09.545] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:76.717813 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:09.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:09.545] frame process finished the id is: 261 the obs is:0 +[19:41:09.569] Odometry x=0.003459, y=-1.114406, theta=-0.018336 +[19:41:09.648] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:76.595332 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:09.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:09.648] frame process finished the id is: 262 the obs is:0 +[19:41:09.744] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required. px average disparity is:75.870237 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:09.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:09.744] frame process finished the id is: 263 the obs is:0 +[19:41:09.843] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required. px average disparity is:76.206211 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:09.843] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:09.843] frame process finished the id is: 264 the obs is:0 +[19:41:09.943] Init: Homography RANSAC (inlier) is:7 ,While 20 inliers minimum required. px average disparity is:75.532084 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:09.943] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:09.943] frame process finished the id is: 265 the obs is:0 +[19:41:10.044] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:76.404789 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:10.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:10.044] frame process finished the id is: 266 the obs is:0 +[19:41:10.146] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:75.115590 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:10.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:10.146] frame process finished the id is: 267 the obs is:0 +[19:41:10.247] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:74.439096 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:10.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:10.247] frame process finished the id is: 268 the obs is:0 +[19:41:10.344] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:76.678308 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:10.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:10.344] frame process finished the id is: 269 the obs is:0 +[19:41:10.444] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:76.969031 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:10.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:10.444] frame process finished the id is: 270 the obs is:0 +[19:41:10.544] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:78.480797 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:10.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:10.544] frame process finished the id is: 271 the obs is:0 +[19:41:10.645] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:80.448019 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:10.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:10.645] frame process finished the id is: 272 the obs is:0 +[19:41:10.746] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.590493 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:10.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:10.746] frame process finished the id is: 273 the obs is:0 +[19:41:10.846] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.287902 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:10.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:10.846] frame process finished the id is: 274 the obs is:0 +[19:41:10.946] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.132668 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:10.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:10.946] frame process finished the id is: 275 the obs is:0 +[19:41:11.045] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.956922 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:11.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:11.045] frame process finished the id is: 276 the obs is:0 +[19:41:11.146] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.977326 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:11.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:11.146] frame process finished the id is: 277 the obs is:0 +[19:41:11.246] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.909074 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:11.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:11.246] frame process finished the id is: 278 the obs is:0 +[19:41:11.345] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.847158 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:11.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:11.345] frame process finished the id is: 279 the obs is:0 +[19:41:11.446] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.820092 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:11.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:11.446] frame process finished the id is: 280 the obs is:0 +[19:41:11.546] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.969920 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:11.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:11.546] frame process finished the id is: 281 the obs is:0 +[19:41:11.647] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.024493 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:11.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:11.647] frame process finished the id is: 282 the obs is:0 +[19:41:11.746] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.228966 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:11.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:11.746] frame process finished the id is: 283 the obs is:0 +[19:41:11.846] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.073650 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:11.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:11.846] frame process finished the id is: 284 the obs is:0 +[19:41:11.945] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.980951 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:11.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:11.946] frame process finished the id is: 285 the obs is:0 +[19:41:12.048] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.048380 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:12.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:12.048] frame process finished the id is: 286 the obs is:0 +[19:41:12.146] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.288833 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:12.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:12.146] frame process finished the id is: 287 the obs is:0 +[19:41:12.245] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.098728 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:12.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:12.245] frame process finished the id is: 288 the obs is:0 +[19:41:12.345] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.989991 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:12.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:12.345] frame process finished the id is: 289 the obs is:0 +[19:41:12.445] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.920108 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:12.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:12.445] frame process finished the id is: 290 the obs is:0 +[19:41:12.546] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.242796 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:12.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:12.546] frame process finished the id is: 291 the obs is:0 +[19:41:12.645] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.221516 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:12.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:12.645] frame process finished the id is: 292 the obs is:0 +[19:41:12.746] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.954688 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:12.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:12.746] frame process finished the id is: 293 the obs is:0 +[19:41:12.845] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.137832 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:12.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:12.845] frame process finished the id is: 294 the obs is:0 +[19:41:12.957] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:82.114056 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:12.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:41:12.957] frame process finished the id is: 295 the obs is:0 +[19:41:13.047] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:81.818391 ,While minimum is: 40.000000 KLT tracked: 65 +[19:41:13.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0. \ No newline at end of file diff --git a/GPU_version/vio/src/math_utils.cpp b/GPU_version/vio/src/math_utils.cpp index ec2fa82..84af97b 100644 --- a/GPU_version/vio/src/math_utils.cpp +++ b/GPU_version/vio/src/math_utils.cpp @@ -6,6 +6,7 @@ */ #include +#include namespace vk { @@ -80,16 +81,21 @@ computeInliers(const vector& features1, // c1 //triangulate all features and compute reprojection errors and inliers for(size_t j=0; j reproj_thresh || e2 > reproj_thresh) - outliers.push_back(j); - else - { - inliers.push_back(j); - tot_error += e1+e2; + if(t.z()>0.0){ + xyz_vec.push_back(triangulateFeatureNonLin(R, t, features1[j], features2[j] )); + double e1 = reprojError(features1[j], xyz_vec.back(), error_multiplier2); + double e2 = reprojError(features2[j], R.transpose()*(xyz_vec.back()-t), error_multiplier2); + if(e1 > reproj_thresh || e2 > reproj_thresh) + outliers.push_back(j); + else + { + inliers.push_back(j); + tot_error += e1+e2; + } + }else{ + ROS_ERROR("Backward motion is not supported for initialization, the robot needs to start its motion with a forward maneuver"); } + } return tot_error; }