diff --git a/GPU_version/vio/CMakeLists.txt b/GPU_version/vio/CMakeLists.txt index 9cabae0..ad72c82 100755 --- a/GPU_version/vio/CMakeLists.txt +++ b/GPU_version/vio/CMakeLists.txt @@ -85,5 +85,3 @@ ADD_DEFINITIONS(-DKERNEL_DIR=\"${PROJECT_SOURCE_DIR}/kernel\") ADD_DEFINITIONS(-DPROJECT_DIR=\"${PROJECT_SOURCE_DIR}\") ADD_DEFINITIONS(-DVIO_DEBUG=true) ADD_DEFINITIONS(-DG2O_USE_VENDORED_CERES=ON) - - diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index bcca6e2..765b7bb 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,212 +1,966 @@ -[18:28:02.505] Init: frame zero: 0.000000, 0.000000 0.000000 -[18:28:02.505] Init: Selected first frame. -[18:28:02.505] frame process finished the id is: 0 the obs is:0 -[18:28:02.519] Init: px average disparity is:0.197090 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:02.519] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:02.519] frame process finished the id is: 1 the obs is:0 -[18:28:02.622] Init: px average disparity is:0.231461 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:02.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:02.622] frame process finished the id is: 2 the obs is:0 -[18:28:02.723] Init: px average disparity is:0.249074 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:02.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:02.723] frame process finished the id is: 3 the obs is:0 -[18:28:02.825] Init: px average disparity is:0.245644 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:02.825] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:02.825] frame process finished the id is: 4 the obs is:0 -[18:28:02.923] Init: px average disparity is:0.250400 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:02.923] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:02.923] frame process finished the id is: 5 the obs is:0 -[18:28:03.024] Init: px average disparity is:0.234691 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:03.024] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:03.024] frame process finished the id is: 6 the obs is:0 -[18:28:03.127] Init: px average disparity is:0.240224 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:03.127] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:03.127] frame process finished the id is: 7 the obs is:0 -[18:28:03.226] Init: px average disparity is:0.239245 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:03.226] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:03.227] frame process finished the id is: 8 the obs is:0 -[18:28:03.322] Init: px average disparity is:0.267733 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:03.322] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:03.322] frame process finished the id is: 9 the obs is:0 -[18:28:03.422] Init: px average disparity is:0.241786 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:03.422] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:03.422] frame process finished the id is: 10 the obs is:0 -[18:28:03.523] Init: px average disparity is:0.244610 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:03.523] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:03.523] frame process finished the id is: 11 the obs is:0 -[18:28:03.623] Init: px average disparity is:0.259375 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:03.623] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:03.623] frame process finished the id is: 12 the obs is:0 -[18:28:03.723] Init: px average disparity is:0.244493 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:03.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:03.723] frame process finished the id is: 13 the obs is:0 -[18:28:03.822] Init: px average disparity is:0.247162 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:03.823] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:03.823] frame process finished the id is: 14 the obs is:0 -[18:28:03.922] Init: px average disparity is:0.235326 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:03.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:03.922] frame process finished the id is: 15 the obs is:0 -[18:28:04.022] Init: px average disparity is:0.253053 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:04.022] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:04.022] frame process finished the id is: 16 the obs is:0 -[18:28:04.123] Init: px average disparity is:0.270201 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:04.123] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:04.123] frame process finished the id is: 17 the obs is:0 -[18:28:04.222] Init: px average disparity is:0.251625 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:04.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:04.222] frame process finished the id is: 18 the obs is:0 -[18:28:04.323] Init: px average disparity is:0.238201 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:04.323] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:04.323] frame process finished the id is: 19 the obs is:0 -[18:28:04.423] Init: px average disparity is:0.235124 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:04.423] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:04.423] frame process finished the id is: 20 the obs is:0 -[18:28:04.514] Init: px average disparity is:0.264161 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:04.514] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:04.514] frame process finished the id is: 21 the obs is:0 -[18:28:04.614] Init: px average disparity is:0.267489 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:04.614] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:04.614] frame process finished the id is: 22 the obs is:0 -[18:28:04.723] Init: px average disparity is:0.238925 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:04.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:04.723] frame process finished the id is: 23 the obs is:0 -[18:28:04.821] Init: px average disparity is:0.238865 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:04.821] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:04.822] frame process finished the id is: 24 the obs is:0 -[18:28:04.912] Init: px average disparity is:0.270427 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:04.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:04.913] frame process finished the id is: 25 the obs is:0 -[18:28:05.025] Init: px average disparity is:0.256237 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:05.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:05.025] frame process finished the id is: 26 the obs is:0 -[18:28:05.129] Init: px average disparity is:0.216764 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:05.129] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:05.129] frame process finished the id is: 27 the obs is:0 -[18:28:05.216] Init: px average disparity is:0.277987 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:05.216] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:05.216] frame process finished the id is: 28 the obs is:0 -[18:28:05.315] Init: px average disparity is:0.230108 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:05.315] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:05.315] frame process finished the id is: 29 the obs is:0 -[18:28:05.362] Odometry x=0.000000, y=0.000000, theta=-0.000000 -[18:28:05.414] Init: px average disparity is:0.237735 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:05.414] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:05.414] frame process finished the id is: 30 the obs is:0 -[18:28:05.457] Odometry x=0.000000, y=0.000000, theta=-0.000000 -[18:28:05.514] Init: px average disparity is:0.218215 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:05.514] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:05.514] frame process finished the id is: 31 the obs is:0 -[18:28:05.558] Odometry x=0.000040, y=0.006144, theta=-0.001157 -[18:28:05.614] Init: px average disparity is:1.712327 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:05.614] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:05.614] frame process finished the id is: 32 the obs is:0 -[18:28:05.659] Odometry x=0.000170, y=0.013148, theta=-0.000448 -[18:28:05.715] Init: px average disparity is:5.987677 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:05.715] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:05.715] frame process finished the id is: 33 the obs is:0 -[18:28:05.760] Odometry x=0.000258, y=0.019764, theta=-0.010322 -[18:28:05.824] Init: px average disparity is:7.661083 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:05.824] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:05.824] frame process finished the id is: 34 the obs is:0 -[18:28:05.861] Odometry x=0.000338, y=0.025878, theta=-0.003238 -[18:28:05.917] Init: px average disparity is:4.968104 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:05.917] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:05.917] frame process finished the id is: 35 the obs is:0 -[18:28:05.958] Odometry x=0.003378, y=0.032417, theta=-0.002440 -[18:28:06.014] Init: px average disparity is:5.353786 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:06.014] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:06.014] frame process finished the id is: 36 the obs is:0 -[18:28:06.065] Odometry x=0.003912, y=0.038428, theta=-0.006393 -[18:28:06.115] Init: px average disparity is:4.237338 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:06.115] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:06.115] frame process finished the id is: 37 the obs is:0 -[18:28:06.162] Odometry x=0.003835, y=0.042872, theta=-0.012875 -[18:28:06.215] Init: px average disparity is:5.731940 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:06.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:06.215] frame process finished the id is: 38 the obs is:0 -[18:28:06.259] Odometry x=0.004051, y=0.049578, theta=-0.000691 -[18:28:06.315] Init: px average disparity is:4.180975 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:06.315] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:06.315] frame process finished the id is: 39 the obs is:0 -[18:28:06.361] Odometry x=0.004110, y=0.054252, theta=-0.026867 -[18:28:06.415] Init: px average disparity is:6.100350 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:06.415] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:06.415] frame process finished the id is: 40 the obs is:0 -[18:28:06.459] Odometry x=0.004212, y=0.060117, theta=-0.017781 -[18:28:06.515] Init: px average disparity is:7.244833 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:06.515] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:06.515] frame process finished the id is: 41 the obs is:0 -[18:28:06.563] Odometry x=0.004257, y=0.063659, theta=-0.012887 -[18:28:06.623] Init: px average disparity is:8.958573 ,While minimum is: 10.000000 KLT tracked : 131 -[18:28:06.623] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:06.623] frame process finished the id is: 42 the obs is:0 -[18:28:06.663] Odometry x=0.004357, y=0.071317, theta=-0.013456 -[18:28:06.763] Odometry x=0.004522, y=0.076936, theta=-0.025164 -[18:28:06.794] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required. px average disparity is:12.266455 ,While minimum is: 10.000000 KLT tracked: 131 -[18:28:06.794] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:06.794] frame process finished the id is: 43 the obs is:0 -[18:28:06.863] Odometry x=0.004839, y=0.083127, theta=-0.013441 -[18:28:06.877] Init: Homography RANSAC (inlier) is:20 ,While 30 inliers minimum required. px average disparity is:15.024849 ,While minimum is: 10.000000 KLT tracked: 131 -[18:28:06.877] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:06.878] frame process finished the id is: 44 the obs is:0 -[18:28:06.962] Odometry x=0.004825, y=0.088371, theta=-0.011639 -[18:28:06.978] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:13.151287 ,While minimum is: 10.000000 KLT tracked: 131 -[18:28:06.978] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:06.978] frame process finished the id is: 45 the obs is:0 -[18:28:07.058] Odometry x=0.004983, y=0.096203, theta=-0.010491 -[18:28:07.089] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:13.062843 ,While minimum is: 10.000000 KLT tracked: 131 -[18:28:07.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:07.089] frame process finished the id is: 46 the obs is:0 -[18:28:07.162] Odometry x=0.007213, y=0.101610, theta=-0.004462 -[18:28:07.178] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:11.528166 ,While minimum is: 10.000000 KLT tracked: 131 -[18:28:07.178] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:07.178] frame process finished the id is: 47 the obs is:0 -[18:28:07.260] Odometry x=0.007410, y=0.107276, theta=-0.003474 -[18:28:07.278] Init: Homography RANSAC (inlier) is:28 ,While 30 inliers minimum required. px average disparity is:13.324742 ,While minimum is: 10.000000 KLT tracked: 131 -[18:28:07.278] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:07.278] frame process finished the id is: 48 the obs is:0 -[18:28:07.363] Odometry x=0.007641, y=0.124522, theta=-0.004625 -[18:28:07.378] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required. px average disparity is:13.410493 ,While minimum is: 10.000000 KLT tracked: 130 -[18:28:07.378] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:07.378] frame process finished the id is: 49 the obs is:0 -[18:28:07.472] Odometry x=0.009022, y=0.133285, theta=0.000549 -[18:28:07.480] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required. px average disparity is:19.576334 ,While minimum is: 10.000000 KLT tracked: 130 -[18:28:07.480] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:07.480] frame process finished the id is: 50 the obs is:0 -[18:28:07.560] Odometry x=0.012895, y=0.139349, theta=-0.015426 -[18:28:07.578] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:13.856049 ,While minimum is: 10.000000 KLT tracked: 130 -[18:28:07.578] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:07.578] frame process finished the id is: 51 the obs is:0 -[18:28:07.664] Odometry x=0.012890, y=0.155111, theta=-0.014808 -[18:28:07.677] Init: Homography RANSAC (inlier) is:11 ,While 30 inliers minimum required. px average disparity is:13.536742 ,While minimum is: 10.000000 KLT tracked: 130 -[18:28:07.677] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:07.677] frame process finished the id is: 52 the obs is:0 -[18:28:07.716] Init: px average disparity is:8.407667 ,While minimum is: 10.000000 KLT tracked : 130 -[18:28:07.716] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:07.716] frame process finished the id is: 53 the obs is:0 -[18:28:07.761] Odometry x=0.014538, y=0.160252, theta=-0.006813 -[18:28:07.823] Init: px average disparity is:8.928041 ,While minimum is: 10.000000 KLT tracked : 130 -[18:28:07.823] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:07.823] frame process finished the id is: 54 the obs is:0 -[18:28:07.858] Odometry x=0.014969, y=0.165578, theta=-0.017024 -[18:28:07.923] Init: px average disparity is:8.519840 ,While minimum is: 10.000000 KLT tracked : 129 -[18:28:07.923] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:07.923] frame process finished the id is: 55 the obs is:0 -[18:28:07.964] Odometry x=0.016254, y=0.170745, theta=-0.016508 -[18:28:08.024] Init: px average disparity is:9.417081 ,While minimum is: 10.000000 KLT tracked : 129 -[18:28:08.024] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:08.024] frame process finished the id is: 56 the obs is:0 -[18:28:08.064] Odometry x=0.016414, y=0.176273, theta=-0.014725 -[18:28:08.165] Odometry x=0.022732, y=0.181561, theta=-0.011214 -[18:28:08.193] Init: Homography RANSAC (inlier) is:12 ,While 30 inliers minimum required. px average disparity is:10.308725 ,While minimum is: 10.000000 KLT tracked: 129 -[18:28:08.193] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:08.193] frame process finished the id is: 57 the obs is:0 -[18:28:08.215] Init: px average disparity is:8.129985 ,While minimum is: 10.000000 KLT tracked : 129 -[18:28:08.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:08.215] frame process finished the id is: 58 the obs is:0 -[18:28:08.266] Odometry x=0.022748, y=0.187362, theta=0.001457 -[18:28:08.366] Odometry x=0.022879, y=0.192814, theta=-0.012806 -[18:28:08.394] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required. px average disparity is:10.681360 ,While minimum is: 10.000000 KLT tracked: 129 -[18:28:08.394] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:28:08.394] frame process finished the id is: 59 the obs is:0 -[18:28:08.463] Odometry x=0.022908 \ No newline at end of file +[14:34:41.318] Init: frame zero: 0.000000, 0.000000 0.000000 +[14:34:41.318] Init: Selected first frame. +[14:34:41.318] frame process finished the id is: 0 the obs is:0 +[14:34:41.353] Init: px average disparity is:0.201870 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:41.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:41.353] frame process finished the id is: 1 the obs is:0 +[14:34:41.458] Init: px average disparity is:0.235763 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:41.458] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:41.458] frame process finished the id is: 2 the obs is:0 +[14:34:41.559] Init: px average disparity is:0.253975 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:41.559] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:41.559] frame process finished the id is: 3 the obs is:0 +[14:34:41.664] Init: px average disparity is:0.251757 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:41.664] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:41.664] frame process finished the id is: 4 the obs is:0 +[14:34:41.760] Init: px average disparity is:0.247308 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:41.760] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:41.760] frame process finished the id is: 5 the obs is:0 +[14:34:41.859] Init: px average disparity is:0.244166 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:41.859] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:41.859] frame process finished the id is: 6 the obs is:0 +[14:34:41.965] Init: px average disparity is:0.251078 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:41.965] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:41.965] frame process finished the id is: 7 the obs is:0 +[14:34:42.064] Init: px average disparity is:0.231787 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:42.064] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:42.064] frame process finished the id is: 8 the obs is:0 +[14:34:42.159] Init: px average disparity is:0.260209 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:42.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:42.159] frame process finished the id is: 9 the obs is:0 +[14:34:42.258] Init: px average disparity is:0.240296 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:42.258] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:42.258] frame process finished the id is: 10 the obs is:0 +[14:34:42.360] Init: px average disparity is:0.248580 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:42.360] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:42.360] frame process finished the id is: 11 the obs is:0 +[14:34:42.458] Init: px average disparity is:0.258905 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:42.458] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:42.458] frame process finished the id is: 12 the obs is:0 +[14:34:42.558] Init: px average disparity is:0.246382 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:42.559] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:42.559] frame process finished the id is: 13 the obs is:0 +[14:34:42.657] Init: px average disparity is:0.247992 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:42.658] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:42.658] frame process finished the id is: 14 the obs is:0 +[14:34:42.757] Init: px average disparity is:0.237397 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:42.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:42.757] frame process finished the id is: 15 the obs is:0 +[14:34:42.857] Init: px average disparity is:0.251326 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:42.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:42.857] frame process finished the id is: 16 the obs is:0 +[14:34:42.959] Init: px average disparity is:0.277640 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:42.959] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:42.959] frame process finished the id is: 17 the obs is:0 +[14:34:43.059] Init: px average disparity is:0.246569 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:43.059] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:43.059] frame process finished the id is: 18 the obs is:0 +[14:34:43.159] Init: px average disparity is:0.243728 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:43.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:43.159] frame process finished the id is: 19 the obs is:0 +[14:34:43.260] Init: px average disparity is:0.239680 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:43.260] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:43.260] frame process finished the id is: 20 the obs is:0 +[14:34:43.360] Init: px average disparity is:0.258502 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:43.360] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:43.360] frame process finished the id is: 21 the obs is:0 +[14:34:43.460] Init: px average disparity is:0.267150 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:43.461] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:43.461] frame process finished the id is: 22 the obs is:0 +[14:34:43.558] Init: px average disparity is:0.241248 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:43.558] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:43.558] frame process finished the id is: 23 the obs is:0 +[14:34:43.658] Init: px average disparity is:0.233374 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:43.658] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:43.658] frame process finished the id is: 24 the obs is:0 +[14:34:43.758] Init: px average disparity is:0.273961 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:43.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:43.758] frame process finished the id is: 25 the obs is:0 +[14:34:43.862] Init: px average disparity is:0.259759 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:43.862] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:43.862] frame process finished the id is: 26 the obs is:0 +[14:34:43.958] Init: px average disparity is:0.230434 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:43.958] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:43.958] frame process finished the id is: 27 the obs is:0 +[14:34:44.060] Init: px average disparity is:0.274519 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:44.061] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:44.061] frame process finished the id is: 28 the obs is:0 +[14:34:44.159] Init: px average disparity is:0.237630 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:44.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:44.159] frame process finished the id is: 29 the obs is:0 +[14:34:44.196] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[14:34:44.259] Init: px average disparity is:0.237869 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:44.260] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:44.260] frame process finished the id is: 30 the obs is:0 +[14:34:44.294] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[14:34:44.358] Init: px average disparity is:0.219188 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:44.359] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:44.359] frame process finished the id is: 31 the obs is:0 +[14:34:44.395] Odometry x=0.000037, y=0.006144, theta=-0.001122 +[14:34:44.460] Init: px average disparity is:1.780859 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:44.461] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:44.461] frame process finished the id is: 32 the obs is:0 +[14:34:44.496] Odometry x=0.000129, y=0.012020, theta=-0.000993 +[14:34:44.559] Init: px average disparity is:6.042441 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:44.559] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:44.559] frame process finished the id is: 33 the obs is:0 +[14:34:44.595] Odometry x=0.000216, y=0.019102, theta=-0.008383 +[14:34:44.660] Init: px average disparity is:7.685535 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:44.660] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:44.660] frame process finished the id is: 34 the obs is:0 +[14:34:44.698] Odometry x=0.000451, y=0.025712, theta=-0.002271 +[14:34:44.759] Init: px average disparity is:5.010287 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:44.760] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:44.760] frame process finished the id is: 35 the obs is:0 +[14:34:44.796] Odometry x=0.000458, y=0.032160, theta=-0.002608 +[14:34:44.859] Init: px average disparity is:5.373467 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:44.859] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:44.859] frame process finished the id is: 36 the obs is:0 +[14:34:44.899] Odometry x=0.000544, y=0.037573, theta=-0.006361 +[14:34:44.947] Init: px average disparity is:4.266374 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:44.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:44.947] frame process finished the id is: 37 the obs is:0 +[14:34:44.997] Odometry x=0.000611, y=0.042715, theta=-0.007241 +[14:34:45.060] Init: px average disparity is:5.727360 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:45.060] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:45.060] frame process finished the id is: 38 the obs is:0 +[14:34:45.095] Odometry x=0.000836, y=0.049345, theta=0.000573 +[14:34:45.159] Init: px average disparity is:4.119609 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:45.159] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:45.159] frame process finished the id is: 39 the obs is:0 +[14:34:45.198] Odometry x=0.000911, y=0.051147, theta=-0.024614 +[14:34:45.253] Init: px average disparity is:5.954193 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:45.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:45.253] frame process finished the id is: 40 the obs is:0 +[14:34:45.294] Odometry x=0.001008, y=0.057011, theta=-0.012458 +[14:34:45.360] Init: px average disparity is:6.993505 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:45.360] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:45.360] frame process finished the id is: 41 the obs is:0 +[14:34:45.399] Odometry x=0.001038, y=0.062364, theta=-0.006768 +[14:34:45.460] Init: px average disparity is:8.833857 ,While minimum is: 10.000000 KLT tracked : 122 +[14:34:45.460] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:45.460] frame process finished the id is: 42 the obs is:0 +[14:34:45.501] Odometry x=0.001167, y=0.068231, theta=-0.010268 +[14:34:45.594] Odometry x=0.001234, y=0.073663, theta=-0.023707 +[14:34:45.655] Init: Homography RANSAC (inlier) is:0 ,While 30 inliers minimum required. px average disparity is:12.060619 ,While minimum is: 10.000000 KLT tracked: 122 +[14:34:45.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:45.655] frame process finished the id is: 43 the obs is:0 +[14:34:45.699] Odometry x=0.001694, y=0.079405, theta=-0.012849 +[14:34:45.717] Init: Homography RANSAC (inlier) is:28 ,While 30 inliers minimum required. px average disparity is:14.865715 ,While minimum is: 10.000000 KLT tracked: 122 +[14:34:45.717] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:45.717] frame process finished the id is: 44 the obs is:0 +[14:34:45.791] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required. px average disparity is:12.955273 ,While minimum is: 10.000000 KLT tracked: 122 +[14:34:45.791] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:45.791] frame process finished the id is: 45 the obs is:0 +[14:34:45.798] Odometry x=0.001710, y=0.084775, theta=-0.008808 +[14:34:45.887] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required. px average disparity is:12.899217 ,While minimum is: 10.000000 KLT tracked: 122 +[14:34:45.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:45.887] frame process finished the id is: 46 the obs is:0 +[14:34:45.898] Odometry x=0.001988, y=0.090922, theta=-0.006851 +[14:34:45.986] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required. px average disparity is:11.433650 ,While minimum is: 10.000000 KLT tracked: 122 +[14:34:45.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:45.986] frame process finished the id is: 47 the obs is:0 +[14:34:45.995] Odometry x=0.001990, y=0.096438, theta=-0.003317 +[14:34:46.087] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required. px average disparity is:13.661948 ,While minimum is: 10.000000 KLT tracked: 122 +[14:34:46.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:34:46.087] frame process finished the id is: 48 the obs is:0 +[14:34:46.096] Odometry x=0.002197, y=0.102286, theta=-0.001748 +[14:34:46.197] Odometry x=0.002658, y=0.107656, theta=-0.010700 +[14:34:46.202] Init finished: Homography RANSAC (inlier) is:30 ,While 30 inliers minimum required. px average disparity is:13.643162 ,While minimum is: 10.000000 KLT tracked: 121 +[14:34:46.202] Init: distance between the first and current frame is x:0.002658 ,z=0.107656,angle between two frames: -0.010700 +[14:34:46.203] Init: Selected Second frame. The number of features: 30 depth mean:-0.006171 min:-0.512314 +[14:34:46.203] frame process finished the id is: 49 the obs is:30 +[14:34:46.305] Odometry x=0.003318, y=0.114597, theta=-0.002615 +[14:34:46.325] After Reprojection Map nPoint:30 ,nCell:12 ,nMatches:10 ,distance between ekf and vo x:0.001119 ,z=-0.000103,angle between two frames:0.005753 +[14:34:46.325] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =28 error init =0.000395 error end=0.000147 +[14:34:46.325] After pose optimization, distance between ekf and vo x:-0.002957 ,z=-0.003791,angle between two frames:0.002475 +[14:34:46.325] Update EKF and 3D points the number of feature in the new frame: 28 and number of obs: 28 +[14:34:46.326] frame process finished the id is: 50 the obs is:28 +[14:34:46.397] Odometry x=0.003860, y=0.118107, theta=-0.004336 +[14:34:46.455] After Reprojection Map nPoint:28 ,nCell:13 ,nMatches:8 ,distance between ekf and vo x:-0.001811 ,z=0.000283,angle between two frames:0.004549 +[14:34:46.455] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =25 error init =0.000532 error end=0.000532 +[14:34:46.455] After pose optimization, distance between ekf and vo x:-0.001811 ,z=0.000283,angle between two frames:0.004549 +[14:34:46.455] Update EKF and 3D points the number of feature in the new frame: 25 and number of obs: 25 +[14:34:46.456] frame process finished the id is: 51 the obs is:25 +[14:34:46.495] Odometry x=0.002158, y=0.119716, theta=-0.008469 +[14:34:46.532] After Reprojection Map nPoint:25 ,nCell:12 ,nMatches:4 ,distance between ekf and vo x:-0.000835 ,z=0.000230,angle between two frames:0.001512 +[14:34:46.533] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.000511 error end=0.000452 +[14:34:46.533] After pose optimization, distance between ekf and vo x:-0.002233 ,z=0.003060,angle between two frames:0.002320 +[14:34:46.533] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17 +[14:34:46.533] frame process finished the id is: 52 the obs is:17 +[14:34:46.598] Odometry x=0.000364, y=0.122939, theta=-0.006014 +[14:34:46.634] After Reprojection Map nPoint:17 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:-0.001402 ,z=-0.000470,angle between two frames:0.000827 +[14:34:46.634] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.000025 error end=0.000025 +[14:34:46.634] After pose optimization, distance between ekf and vo x:-0.002276 ,z=-0.000544,angle between two frames:0.003589 +[14:34:46.634] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17 +[14:34:46.634] frame process finished the id is: 53 the obs is:17 +[14:34:46.693] Odometry x=-0.001666, y=0.122836, theta=-0.008934 +[14:34:46.729] After Reprojection Map nPoint:17 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:0.000609 ,z=-0.000391,angle between two frames:0.004689 +[14:34:46.729] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.000182 error end=0.000178 +[14:34:46.729] After pose optimization, distance between ekf and vo x:-0.002681 ,z=-0.000594,angle between two frames:0.005571 +[14:34:46.729] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17 +[14:34:46.730] frame process finished the id is: 54 the obs is:17 +[14:34:46.797] Odometry x=-0.003980, y=0.122646, theta=-0.013595 +[14:34:46.829] After Reprojection Map nPoint:17 ,nCell:7 ,nMatches:3 ,distance between ekf and vo x:0.000823 ,z=-0.000497,angle between two frames:0.004795 +[14:34:46.830] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.000154 error end=0.000151 +[14:34:46.830] After pose optimization, distance between ekf and vo x:-0.000580 ,z=-0.000454,angle between two frames:0.000033 +[14:34:46.830] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17 +[14:34:46.830] frame process finished the id is: 55 the obs is:17 +[14:34:46.902] Odometry x=-0.004506, y=0.122591, theta=-0.012758 +[14:34:46.939] After Reprojection Map nPoint:17 ,nCell:6 ,nMatches:3 ,distance between ekf and vo x:0.000390 ,z=-0.000161,angle between two frames:0.002898 +[14:34:46.940] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.000140 error end=0.000136 +[14:34:46.940] After pose optimization, distance between ekf and vo x:0.000765 ,z=-0.000056,angle between two frames:0.004364 +[14:34:46.940] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17 +[14:34:46.940] frame process finished the id is: 56 the obs is:17 +[14:34:47.001] Odometry x=-0.002604, y=0.122892, theta=-0.007993 +[14:34:47.088] After Reprojection Map nPoint:17 ,nCell:3 ,nMatches:2 ,distance between ekf and vo x:-0.002400 ,z=-0.000201,angle between two frames:0.002793 +[14:34:47.088] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.000001 error end=0.000001 +[14:34:47.088] After pose optimization, distance between ekf and vo x:-0.002400 ,z=-0.000201,angle between two frames:0.002793 +[14:34:47.088] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17 +[14:34:47.089] frame process finished the id is: 57 the obs is:17 +[14:34:47.098] Odometry x=-0.004867, y=0.123077, theta=-0.005550 +[14:34:47.172] After Reprojection Map nPoint:17 ,nCell:4 ,nMatches:2 ,distance between ekf and vo x:-0.001821 ,z=0.000030,angle between two frames:0.001543 +[14:34:47.172] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.000027 error end=0.000027 +[14:34:47.172] After pose optimization, distance between ekf and vo x:-0.001821 ,z=0.000030,angle between two frames:0.001543 +[14:34:47.172] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17 +[14:34:47.172] frame process finished the id is: 58 the obs is:17 +[14:34:47.204] Odometry x=-0.006543, y=0.123483, theta=-0.007411 +[14:34:47.223] After Reprojection Map nPoint:17 ,nCell:4 ,nMatches:2 ,distance between ekf and vo x:-0.001241 ,z=-0.000178,angle between two frames:0.000609 +[14:34:47.223] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =17 error init =0.000086 error end=0.000086 +[14:34:47.223] After pose optimization, distance between ekf and vo x:-0.001241 ,z=-0.000178,angle between two frames:0.000609 +[14:34:47.223] Update EKF and 3D points the number of feature in the new frame: 17 and number of obs: 17 +[14:34:47.224] frame process finished the id is: 59 the obs is:17 +[14:34:47.296] After Reprojection Map nPoint:17 ,nCell:4 ,nMatches:2 ,distance between ekf and vo x:-0.001829 ,z=-0.000140,angle between two frames:0.002927 +[14:34:47.296] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000002 error end=0.000002 +[14:34:47.296] After pose optimization, distance between ekf and vo x:-0.001829 ,z=-0.000140,angle between two frames:0.002927 +[14:34:47.296] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:47.297] frame process finished the id is: 60 the obs is:12 +[14:34:47.302] Odometry x=-0.009036, y=0.132707, theta=-0.011002 +[14:34:47.399] Odometry x=-0.007412, y=0.139673, theta=-0.018823 +[14:34:47.451] After Reprojection Map nPoint:12 ,nCell:3 ,nMatches:1 ,distance between ekf and vo x:0.000115 ,z=-0.000079,angle between two frames:0.000819 +[14:34:47.451] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:47.451] After pose optimization, distance between ekf and vo x:0.000115 ,z=-0.000079,angle between two frames:0.000819 +[14:34:47.451] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:47.452] frame process finished the id is: 61 the obs is:12 +[14:34:47.496] Odometry x=-0.007301, y=0.139963, theta=-0.017596 +[14:34:47.529] After Reprojection Map nPoint:12 ,nCell:3 ,nMatches:1 ,distance between ekf and vo x:-0.000060 ,z=-0.000115,angle between two frames:0.000950 +[14:34:47.529] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =1 error init =0.005837 error end=0.005822 +[14:34:47.529] After pose optimization, distance between ekf and vo x:-0.000255 ,z=-0.000127,angle between two frames:0.000596 +[14:34:47.529] frame process finished the id is: 61 the obs is:12 +[14:34:47.598] Odometry x=-0.007188, y=0.146382, theta=-0.021186 +[14:34:47.638] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.002508 ,z=-0.002412,angle between two frames:0.005520 +[14:34:47.638] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:47.638] After pose optimization, distance between ekf and vo x:-0.002508 ,z=-0.002412,angle between two frames:0.005520 +[14:34:47.638] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:47.638] frame process finished the id is: 63 the obs is:12 +[14:34:47.696] Odometry x=-0.009556, y=0.144459, theta=-0.015731 +[14:34:47.758] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000106 ,z=-0.000004,angle between two frames:0.000739 +[14:34:47.759] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:47.759] After pose optimization, distance between ekf and vo x:-0.000107 ,z=-0.000004,angle between two frames:0.000739 +[14:34:47.759] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:47.759] frame process finished the id is: 64 the obs is:12 +[14:34:47.799] Odometry x=-0.009604, y=0.144863, theta=-0.014790 +[14:34:47.821] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000326 ,z=-0.000109,angle between two frames:0.000593 +[14:34:47.822] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:47.822] After pose optimization, distance between ekf and vo x:-0.000326 ,z=-0.000109,angle between two frames:0.000593 +[14:34:47.822] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:47.823] frame process finished the id is: 65 the obs is:12 +[14:34:47.898] Odometry x=-0.009906, y=0.145133, theta=-0.013823 +[14:34:47.972] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.003507 ,z=-0.002520,angle between two frames:0.007264 +[14:34:47.973] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000003 error end=0.000003 +[14:34:47.973] After pose optimization, distance between ekf and vo x:-0.003510 ,z=-0.002521,angle between two frames:0.007269 +[14:34:47.973] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:47.973] frame process finished the id is: 66 the obs is:12 +[14:34:48.001] Odometry x=-0.013194, y=0.143580, theta=-0.020895 +[14:34:48.080] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000166 ,z=-0.000159,angle between two frames:0.000748 +[14:34:48.080] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000013 error end=0.000013 +[14:34:48.080] After pose optimization, distance between ekf and vo x:-0.000166 ,z=-0.000159,angle between two frames:0.000748 +[14:34:48.080] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:48.081] frame process finished the id is: 67 the obs is:12 +[14:34:48.100] Odometry x=-0.013450, y=0.144029, theta=-0.021587 +[14:34:48.141] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000659 ,z=-0.001182,angle between two frames:0.001824 +[14:34:48.141] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000003 error end=0.000003 +[14:34:48.141] After pose optimization, distance between ekf and vo x:0.000659 ,z=-0.001182,angle between two frames:0.001824 +[14:34:48.141] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:48.142] frame process finished the id is: 68 the obs is:12 +[14:34:48.197] Odometry x=-0.012820, y=0.143712, theta=-0.023122 +[14:34:48.200] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000446 ,z=-0.001189,angle between two frames:0.003359 +[14:34:48.200] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:48.200] After pose optimization, distance between ekf and vo x:0.000446 ,z=-0.001189,angle between two frames:0.003359 +[14:34:48.200] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:48.200] frame process finished the id is: 69 the obs is:12 +[14:34:48.298] Odometry x=-0.012149, y=0.150258, theta=-0.026409 +[14:34:48.362] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.001521 ,z=-0.001612,angle between two frames:0.000338 +[14:34:48.362] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000001 error end=0.000001 +[14:34:48.362] After pose optimization, distance between ekf and vo x:0.001521 ,z=-0.001612,angle between two frames:0.000338 +[14:34:48.362] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:48.363] frame process finished the id is: 70 the obs is:12 +[14:34:48.396] Odometry x=-0.010621, y=0.149064, theta=-0.026380 +[14:34:48.417] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000054 ,z=-0.000118,angle between two frames:0.000077 +[14:34:48.418] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000005 error end=0.000005 +[14:34:48.418] After pose optimization, distance between ekf and vo x:0.000051 ,z=-0.000111,angle between two frames:0.000072 +[14:34:48.418] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:48.418] frame process finished the id is: 71 the obs is:12 +[14:34:48.498] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000173 ,z=-0.002325,angle between two frames:0.002335 +[14:34:48.498] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:48.498] After pose optimization, distance between ekf and vo x:0.000173 ,z=-0.002325,angle between two frames:0.002335 +[14:34:48.498] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:48.498] frame process finished the id is: 72 the obs is:12 +[14:34:48.499] Odometry x=-0.010198, y=0.154863, theta=-0.030334 +[14:34:48.597] Odometry x=-0.010984, y=0.162228, theta=-0.027402 +[14:34:48.606] After Reprojection Map nPoint:12 ,nCell:3 ,nMatches:1 ,distance between ekf and vo x:-0.000362 ,z=-0.001265,angle between two frames:0.003412 +[14:34:48.606] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:48.606] After pose optimization, distance between ekf and vo x:-0.000362 ,z=-0.001262,angle between two frames:0.003413 +[14:34:48.606] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:48.606] frame process finished the id is: 73 the obs is:12 +[14:34:48.695] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000528 ,z=0.008422,angle between two frames:0.000779 +[14:34:48.696] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000032 error end=0.000032 +[14:34:48.696] After pose optimization, distance between ekf and vo x:-0.000485 ,z=0.008394,angle between two frames:0.000285 +[14:34:48.696] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:48.696] frame process finished the id is: 74 the obs is:12 +[14:34:48.700] Odometry x=-0.011603, y=0.175270, theta=-0.037352 +[14:34:48.797] Odometry x=-0.011450, y=0.182751, theta=-0.038616 +[14:34:48.800] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000054 ,z=0.001632,angle between two frames:0.000528 +[14:34:48.800] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.004205 error end=0.003888 +[14:34:48.800] After pose optimization, distance between ekf and vo x:0.002028 ,z=-0.025801,angle between two frames:0.039833 +[14:34:48.800] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:48.800] frame process finished the id is: 75 the obs is:12 +[14:34:48.894] Odometry x=-0.009878, y=0.170460, theta=-0.074805 +[14:34:48.897] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000498 ,z=0.000107,angle between two frames:0.001053 +[14:34:48.898] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:48.898] After pose optimization, distance between ekf and vo x:-0.000498 ,z=0.000107,angle between two frames:0.001053 +[14:34:48.898] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:48.898] frame process finished the id is: 76 the obs is:12 +[14:34:48.996] Odometry x=-0.011728, y=0.182837, theta=-0.072676 +[14:34:49.017] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000201 ,z=0.000686,angle between two frames:0.000005 +[14:34:49.018] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000036 error end=0.000036 +[14:34:49.018] After pose optimization, distance between ekf and vo x:-0.000181 ,z=0.000391,angle between two frames:0.000304 +[14:34:49.018] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:49.018] frame process finished the id is: 77 the obs is:12 +[14:34:49.091] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000243 ,z=0.000984,angle between two frames:0.000017 +[14:34:49.091] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000001 error end=0.000001 +[14:34:49.091] After pose optimization, distance between ekf and vo x:-0.000243 ,z=0.000980,angle between two frames:0.000012 +[14:34:49.091] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:49.091] frame process finished the id is: 78 the obs is:12 +[14:34:49.095] Odometry x=-0.012091, y=0.184763, theta=-0.073013 +[14:34:49.186] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000329 ,z=0.001074,angle between two frames:0.000018 +[14:34:49.186] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:49.186] After pose optimization, distance between ekf and vo x:-0.000329 ,z=0.001074,angle between two frames:0.000018 +[14:34:49.186] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:49.187] frame process finished the id is: 79 the obs is:12 +[14:34:49.198] Odometry x=-0.012123, y=0.193524, theta=-0.064362 +[14:34:49.297] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000305 ,z=-0.000054,angle between two frames:0.000879 +[14:34:49.297] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000001 error end=0.000001 +[14:34:49.297] After pose optimization, distance between ekf and vo x:-0.000304 ,z=-0.000061,angle between two frames:0.000888 +[14:34:49.297] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:49.297] frame process finished the id is: 80 the obs is:12 +[14:34:49.301] Odometry x=-0.012172, y=0.199406, theta=-0.071964 +[14:34:49.386] After Reprojection Map nPoint:12 ,nCell:9 ,nMatches:1 ,distance between ekf and vo x:-0.000332 ,z=0.000996,angle between two frames:0.000000 +[14:34:49.386] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000004 error end=0.000004 +[14:34:49.386] After pose optimization, distance between ekf and vo x:-0.000327 ,z=0.000967,angle between two frames:0.000046 +[14:34:49.386] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:49.387] frame process finished the id is: 81 the obs is:12 +[14:34:49.398] Odometry x=-0.012184, y=0.208371, theta=-0.058791 +[14:34:49.494] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:-0.000541 ,z=0.000911,angle between two frames:0.000811 +[14:34:49.494] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:49.494] After pose optimization, distance between ekf and vo x:-0.000541 ,z=0.000910,angle between two frames:0.000812 +[14:34:49.494] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:49.494] frame process finished the id is: 82 the obs is:12 +[14:34:49.496] Odometry x=-0.012501, y=0.215717, theta=-0.070131 +[14:34:49.594] Odometry x=-0.011868, y=0.237625, theta=-0.055985 +[14:34:49.599] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000374 ,z=0.000240,angle between two frames:0.000955 +[14:34:49.600] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:49.600] After pose optimization, distance between ekf and vo x:-0.000374 ,z=0.000240,angle between two frames:0.000955 +[14:34:49.600] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:49.600] frame process finished the id is: 83 the obs is:12 +[14:34:49.696] Odometry x=-0.011652, y=0.243656, theta=-0.071029 +[14:34:49.703] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000973 ,z=-0.006598,angle between two frames:0.005890 +[14:34:49.703] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000278 error end=0.000278 +[14:34:49.703] After pose optimization, distance between ekf and vo x:-0.000897 ,z=-0.007831,angle between two frames:0.006907 +[14:34:49.703] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:49.704] frame process finished the id is: 84 the obs is:12 +[14:34:49.794] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:0.000033 ,z=-0.001337,angle between two frames:0.001340 +[14:34:49.794] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:49.794] After pose optimization, distance between ekf and vo x:0.000033 ,z=-0.001337,angle between two frames:0.001340 +[14:34:49.794] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:49.795] frame process finished the id is: 85 the obs is:12 +[14:34:49.798] Odometry x=-0.014225, y=0.243402, theta=-0.058933 +[14:34:49.900] Odometry x=-0.011952, y=0.247844, theta=-0.078035 +[14:34:49.905] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000039 ,z=-0.001783,angle between two frames:0.002219 +[14:34:49.905] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000031 error end=0.000031 +[14:34:49.905] After pose optimization, distance between ekf and vo x:-0.000030 ,z=-0.001906,angle between two frames:0.002318 +[14:34:49.905] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:49.906] frame process finished the id is: 86 the obs is:12 +[14:34:49.994] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000027 ,z=-0.000731,angle between two frames:0.000931 +[14:34:49.994] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000001 error end=0.000001 +[14:34:49.994] After pose optimization, distance between ekf and vo x:-0.000027 ,z=-0.000731,angle between two frames:0.000931 +[14:34:49.994] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:49.995] frame process finished the id is: 87 the obs is:12 +[14:34:49.999] Odometry x=-0.011563, y=0.256891, theta=-0.083916 +[14:34:50.094] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000012 ,z=-0.000687,angle between two frames:0.000835 +[14:34:50.094] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.006413 error end=0.006413 +[14:34:50.094] After pose optimization, distance between ekf and vo x:-0.000012 ,z=-0.000687,angle between two frames:0.000835 +[14:34:50.094] frame process finished the id is: 87 the obs is:12 +[14:34:50.097] Odometry x=-0.009421, y=0.260110, theta=-0.074921 +[14:34:50.201] Odometry x=-0.005793, y=0.270525, theta=-0.097075 +[14:34:50.209] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000142 ,z=-0.001659,angle between two frames:0.001685 +[14:34:50.209] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000818 error end=0.000818 +[14:34:50.209] After pose optimization, distance between ekf and vo x:-0.000142 ,z=-0.001659,angle between two frames:0.001685 +[14:34:50.209] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:50.209] frame process finished the id is: 89 the obs is:12 +[14:34:50.298] Odometry x=-0.005585, y=0.275416, theta=-0.107370 +[14:34:50.303] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000114 ,z=-0.001513,angle between two frames:0.001953 +[14:34:50.303] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.009425 error end=0.009425 +[14:34:50.303] After pose optimization, distance between ekf and vo x:-0.000114 ,z=-0.001513,angle between two frames:0.001953 +[14:34:50.304] frame process finished the id is: 89 the obs is:12 +[14:34:50.397] Odometry x=-0.004345, y=0.291849, theta=-0.105549 +[14:34:50.402] After Reprojection Map nPoint:12 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:-0.000409 ,z=-0.002148,angle between two frames:0.002516 +[14:34:50.402] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:50.402] After pose optimization, distance between ekf and vo x:-0.000409 ,z=-0.002148,angle between two frames:0.002516 +[14:34:50.402] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:50.402] frame process finished the id is: 91 the obs is:12 +[14:34:50.495] After Reprojection Map nPoint:12 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:-0.000017 ,z=-0.000300,angle between two frames:0.000398 +[14:34:50.495] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000006 error end=0.000006 +[14:34:50.495] After pose optimization, distance between ekf and vo x:-0.000017 ,z=-0.000300,angle between two frames:0.000398 +[14:34:50.495] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:50.495] frame process finished the id is: 92 the obs is:12 +[14:34:50.502] Odometry x=-0.004427, y=0.293568, theta=-0.130647 +[14:34:50.597] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000026 ,z=-0.000436,angle between two frames:0.000567 +[14:34:50.597] n deleted obs = 7 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =5 error init =0.006265 error end=0.006265 +[14:34:50.597] After pose optimization, distance between ekf and vo x:-0.000026 ,z=-0.000436,angle between two frames:0.000567 +[14:34:50.597] frame process finished the id is: 92 the obs is:12 +[14:34:50.599] Odometry x=-0.003889, y=0.301204, theta=-0.118477 +[14:34:50.701] Odometry x=-0.003184, y=0.305198, theta=-0.127845 +[14:34:50.710] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000092 ,z=-0.001133,angle between two frames:0.001809 +[14:34:50.710] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:50.710] After pose optimization, distance between ekf and vo x:-0.000092 ,z=-0.001133,angle between two frames:0.001809 +[14:34:50.710] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:50.710] frame process finished the id is: 94 the obs is:12 +[14:34:50.797] Odometry x=-0.002876, y=0.310014, theta=-0.137962 +[14:34:50.827] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000063 ,z=-0.001007,angle between two frames:0.001294 +[14:34:50.827] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:50.827] After pose optimization, distance between ekf and vo x:-0.000063 ,z=-0.001007,angle between two frames:0.001294 +[14:34:50.827] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:50.827] frame process finished the id is: 95 the obs is:12 +[14:34:50.892] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:-0.000025 ,z=-0.000418,angle between two frames:0.000596 +[14:34:50.893] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:50.893] After pose optimization, distance between ekf and vo x:-0.000025 ,z=-0.000418,angle between two frames:0.000596 +[14:34:50.893] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:50.893] frame process finished the id is: 96 the obs is:12 +[14:34:50.896] Odometry x=-0.002047, y=0.328525, theta=-0.132757 +[14:34:51.002] Odometry x=-0.001586, y=0.335353, theta=-0.141287 +[14:34:51.016] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:-0.000053 ,z=-0.000584,angle between two frames:0.000865 +[14:34:51.016] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:51.016] After pose optimization, distance between ekf and vo x:-0.000053 ,z=-0.000585,angle between two frames:0.000865 +[14:34:51.016] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:51.017] frame process finished the id is: 97 the obs is:12 +[14:34:51.095] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:0.000008 ,z=-0.000316,angle between two frames:0.000454 +[14:34:51.095] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.001234 error end=0.001234 +[14:34:51.095] After pose optimization, distance between ekf and vo x:0.000008 ,z=-0.000316,angle between two frames:0.000454 +[14:34:51.095] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:51.095] frame process finished the id is: 98 the obs is:12 +[14:34:51.101] Odometry x=-0.005411, y=0.351192, theta=-0.143648 +[14:34:51.198] Odometry x=-0.004945, y=0.357622, theta=-0.142346 +[14:34:51.203] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:0.000156 ,z=-0.001686,angle between two frames:0.003272 +[14:34:51.203] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:51.203] After pose optimization, distance between ekf and vo x:0.000156 ,z=-0.001686,angle between two frames:0.003272 +[14:34:51.203] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:51.203] frame process finished the id is: 99 the obs is:12 +[14:34:51.300] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:0.000055 ,z=-0.000204,angle between two frames:0.000402 +[14:34:51.300] After pose optimization, distance between ekf and vo x:0.000055 ,z=-0.000204,angle between two frames:0.000402 +[14:34:51.300] frame process finished the id is: 99 the obs is:12 +[14:34:51.300] Odometry x=-0.013196, y=0.376994, theta=-0.144112 +[14:34:51.400] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:0.000081 ,z=-0.000541,angle between two frames:0.000894 +[14:34:51.400] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:51.400] After pose optimization, distance between ekf and vo x:0.000081 ,z=-0.000541,angle between two frames:0.000894 +[14:34:51.400] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:51.400] frame process finished the id is: 101 the obs is:12 +[14:34:51.400] Odometry x=-0.012484, y=0.381974, theta=-0.146976 +[14:34:51.501] Odometry x=-0.011914, y=0.391217, theta=-0.147131 +[14:34:51.508] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:0.000310 ,z=-0.001603,angle between two frames:0.003273 +[14:34:51.508] After pose optimization, distance between ekf and vo x:0.000310 ,z=-0.001603,angle between two frames:0.003273 +[14:34:51.508] frame process finished the id is: 101 the obs is:12 +[14:34:51.597] Odometry x=-0.011414, y=0.396587, theta=-0.148267 +[14:34:51.600] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:0 ,distance between ekf and vo x:0.000055 ,z=-0.000193,angle between two frames:0.000345 +[14:34:51.600] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:51.600] After pose optimization, distance between ekf and vo x:0.000055 ,z=-0.000193,angle between two frames:0.000345 +[14:34:51.600] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:51.600] frame process finished the id is: 103 the obs is:12 +[14:34:51.699] After Reprojection Map nPoint:12 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:0.000063 ,z=-0.000246,angle between two frames:0.000486 +[14:34:51.699] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:51.699] After pose optimization, distance between ekf and vo x:0.000063 ,z=-0.000246,angle between two frames:0.000486 +[14:34:51.699] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:51.699] frame process finished the id is: 104 the obs is:12 +[14:34:51.702] Odometry x=-0.009818, y=0.403628, theta=-0.141589 +[14:34:51.799] Odometry x=-0.009328, y=0.410047, theta=-0.145824 +[14:34:51.803] After Reprojection Map nPoint:12 ,nCell:6 ,nMatches:1 ,distance between ekf and vo x:0.000130 ,z=-0.000952,angle between two frames:0.001910 +[14:34:51.803] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.003286 error end=0.003286 +[14:34:51.803] After pose optimization, distance between ekf and vo x:0.000130 ,z=-0.000952,angle between two frames:0.001910 +[14:34:51.803] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:51.804] frame process finished the id is: 105 the obs is:12 +[14:34:51.891] After Reprojection Map nPoint:12 ,nCell:9 ,nMatches:1 ,distance between ekf and vo x:0.000042 ,z=-0.000215,angle between two frames:0.000337 +[14:34:51.891] n deleted obs = 3 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =4 error init =0.006905 error end=0.006196 +[14:34:51.891] After pose optimization, distance between ekf and vo x:0.002122 ,z=-0.001673,angle between two frames:0.010570 +[14:34:51.891] frame process finished the id is: 105 the obs is:12 +[14:34:51.897] Odometry x=-0.008133, y=0.415792, theta=-0.147007 +[14:34:51.997] Odometry x=-0.006995, y=0.431714, theta=-0.148288 +[14:34:51.998] After Reprojection Map nPoint:12 ,nCell:4 ,nMatches:1 ,distance between ekf and vo x:0.000069 ,z=-0.000309,angle between two frames:0.000561 +[14:34:51.998] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000001 error end=0.000001 +[14:34:51.998] After pose optimization, distance between ekf and vo x:0.000069 ,z=-0.000309,angle between two frames:0.000561 +[14:34:51.998] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:51.998] frame process finished the id is: 107 the obs is:12 +[14:34:52.100] Odometry x=-0.006452, y=0.438051, theta=-0.144044 +[14:34:52.102] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000227 ,z=-0.000488,angle between two frames:0.001178 +[14:34:52.102] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.001397 error end=0.001397 +[14:34:52.102] After pose optimization, distance between ekf and vo x:0.000227 ,z=-0.000488,angle between two frames:0.001178 +[14:34:52.102] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:52.102] frame process finished the id is: 108 the obs is:12 +[14:34:52.198] Odometry x=-0.005884, y=0.443646, theta=-0.155716 +[14:34:52.221] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000094 ,z=-0.000383,angle between two frames:0.000633 +[14:34:52.221] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:52.221] After pose optimization, distance between ekf and vo x:0.000094 ,z=-0.000383,angle between two frames:0.000633 +[14:34:52.221] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:52.221] frame process finished the id is: 109 the obs is:12 +[14:34:52.299] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000137 ,z=-0.000440,angle between two frames:0.000801 +[14:34:52.300] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000006 error end=0.000006 +[14:34:52.300] After pose optimization, distance between ekf and vo x:0.000137 ,z=-0.000440,angle between two frames:0.000801 +[14:34:52.300] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:52.300] frame process finished the id is: 110 the obs is:12 +[14:34:52.300] Odometry x=-0.005484, y=0.443391, theta=-0.156094 +[14:34:52.398] Odometry x=-0.005250, y=0.450796, theta=-0.160644 +[14:34:52.400] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000173 ,z=-0.000650,angle between two frames:0.001142 +[14:34:52.400] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000050 error end=0.000050 +[14:34:52.400] After pose optimization, distance between ekf and vo x:0.000173 ,z=-0.000650,angle between two frames:0.001142 +[14:34:52.400] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:52.401] frame process finished the id is: 111 the obs is:12 +[14:34:52.496] Odometry x=-0.004619, y=0.456529, theta=-0.167109 +[14:34:52.503] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000206 ,z=-0.000582,angle between two frames:0.001241 +[14:34:52.503] After pose optimization, distance between ekf and vo x:0.000206 ,z=-0.000582,angle between two frames:0.001241 +[14:34:52.503] frame process finished the id is: 111 the obs is:12 +[14:34:52.596] Odometry x=-0.004426, y=0.462386, theta=-0.165991 +[14:34:52.604] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000076 ,z=-0.000311,angle between two frames:0.000474 +[14:34:52.604] After pose optimization, distance between ekf and vo x:0.000076 ,z=-0.000311,angle between two frames:0.000474 +[14:34:52.604] frame process finished the id is: 111 the obs is:12 +[14:34:52.699] Odometry x=-0.003010, y=0.471922, theta=-0.169223 +[14:34:52.706] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000233 ,z=-0.000897,angle between two frames:0.001571 +[14:34:52.706] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:52.706] After pose optimization, distance between ekf and vo x:0.000233 ,z=-0.000897,angle between two frames:0.001571 +[14:34:52.706] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:52.706] frame process finished the id is: 114 the obs is:12 +[14:34:52.796] Odometry x=-0.004246, y=0.454959, theta=-0.170201 +[14:34:52.803] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000081 ,z=-0.000685,angle between two frames:0.000850 +[14:34:52.803] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:52.803] After pose optimization, distance between ekf and vo x:0.000081 ,z=-0.000685,angle between two frames:0.000850 +[14:34:52.803] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:52.803] frame process finished the id is: 115 the obs is:12 +[14:34:52.899] Odometry x=-0.003293, y=0.463548, theta=-0.179426 +[14:34:52.904] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000202 ,z=-0.000414,angle between two frames:0.000926 +[14:34:52.904] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000063 error end=0.000063 +[14:34:52.904] After pose optimization, distance between ekf and vo x:0.000202 ,z=-0.000414,angle between two frames:0.000926 +[14:34:52.904] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:52.904] frame process finished the id is: 116 the obs is:12 +[14:34:52.996] Odometry x=0.000935, y=0.453014, theta=-0.171704 +[14:34:53.002] After Reprojection Map nPoint:12 ,nCell:4 ,nMatches:1 ,distance between ekf and vo x:0.000056 ,z=-0.000532,angle between two frames:0.000636 +[14:34:53.002] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:53.002] After pose optimization, distance between ekf and vo x:0.000056 ,z=-0.000532,angle between two frames:0.000636 +[14:34:53.002] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:53.002] frame process finished the id is: 117 the obs is:12 +[14:34:53.097] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000191 ,z=-0.000525,angle between two frames:0.001166 +[14:34:53.097] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000009 error end=0.000009 +[14:34:53.097] After pose optimization, distance between ekf and vo x:0.000191 ,z=-0.000525,angle between two frames:0.001166 +[14:34:53.097] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:53.097] frame process finished the id is: 118 the obs is:12 +[14:34:53.098] Odometry x=0.003670, y=0.460002, theta=-0.173896 +[14:34:53.196] Odometry x=0.004964, y=0.466474, theta=-0.167186 +[14:34:53.201] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000090 ,z=-0.000181,angle between two frames:0.000393 +[14:34:53.201] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000019 error end=0.000019 +[14:34:53.201] After pose optimization, distance between ekf and vo x:0.000090 ,z=-0.000181,angle between two frames:0.000393 +[14:34:53.201] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:53.201] frame process finished the id is: 119 the obs is:12 +[14:34:53.298] Odometry x=0.006877, y=0.474587, theta=-0.167662 +[14:34:53.309] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000336 ,z=-0.001569,angle between two frames:0.002864 +[14:34:53.309] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000269 error end=0.000269 +[14:34:53.309] After pose optimization, distance between ekf and vo x:0.000336 ,z=-0.001569,angle between two frames:0.002864 +[14:34:53.309] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:53.310] frame process finished the id is: 120 the obs is:12 +[14:34:53.396] Odometry x=0.007284, y=0.474302, theta=-0.170634 +[14:34:53.396] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000043 ,z=-0.000438,angle between two frames:0.000641 +[14:34:53.396] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000033 error end=0.000033 +[14:34:53.396] After pose optimization, distance between ekf and vo x:0.000043 ,z=-0.000438,angle between two frames:0.000641 +[14:34:53.396] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:53.396] frame process finished the id is: 121 the obs is:12 +[14:34:53.495] Odometry x=0.008626, y=0.482881, theta=-0.164664 +[14:34:53.497] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:-0.000263 ,z=-0.000860,angle between two frames:0.001472 +[14:34:53.497] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:53.497] After pose optimization, distance between ekf and vo x:-0.000263 ,z=-0.000860,angle between two frames:0.001472 +[14:34:53.497] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:53.497] frame process finished the id is: 122 the obs is:12 +[14:34:53.597] Odometry x=0.008952, y=0.489931, theta=-0.178696 +[14:34:53.606] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000099 ,z=-0.000409,angle between two frames:0.000752 +[14:34:53.606] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000724 error end=0.000724 +[14:34:53.606] After pose optimization, distance between ekf and vo x:0.000099 ,z=-0.000409,angle between two frames:0.000752 +[14:34:53.606] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:53.606] frame process finished the id is: 123 the obs is:12 +[14:34:53.693] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:0.000085 ,z=-0.000422,angle between two frames:0.000741 +[14:34:53.693] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000011 error end=0.000011 +[14:34:53.693] After pose optimization, distance between ekf and vo x:0.000085 ,z=-0.000422,angle between two frames:0.000741 +[14:34:53.693] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:53.693] frame process finished the id is: 124 the obs is:12 +[14:34:53.700] Odometry x=0.009721, y=0.495139, theta=-0.180487 +[14:34:53.799] Odometry x=0.014102, y=0.500206, theta=-0.193238 +[14:34:53.808] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000128 ,z=-0.000462,angle between two frames:0.000655 +[14:34:53.808] n deleted obs = 2 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =3 error init =0.006692 error end=0.006692 +[14:34:53.808] After pose optimization, distance between ekf and vo x:0.000128 ,z=-0.000462,angle between two frames:0.000655 +[14:34:53.808] frame process finished the id is: 124 the obs is:12 +[14:34:53.896] Odometry x=0.014881, y=0.505521, theta=-0.183700 +[14:34:53.904] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000217 ,z=-0.000473,angle between two frames:0.000918 +[14:34:53.904] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000012 error end=0.000012 +[14:34:53.904] After pose optimization, distance between ekf and vo x:0.000217 ,z=-0.000473,angle between two frames:0.000918 +[14:34:53.904] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:53.904] frame process finished the id is: 126 the obs is:12 +[14:34:53.999] Odometry x=0.015075, y=0.505371, theta=-0.184359 +[14:34:54.006] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000285 ,z=-0.000177,angle between two frames:0.000747 +[14:34:54.006] After pose optimization, distance between ekf and vo x:0.000285 ,z=-0.000177,angle between two frames:0.000747 +[14:34:54.006] frame process finished the id is: 126 the obs is:12 +[14:34:54.096] Odometry x=0.015920, y=0.512183, theta=-0.185472 +[14:34:54.101] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000362 ,z=-0.000215,angle between two frames:0.000945 +[14:34:54.101] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:54.101] After pose optimization, distance between ekf and vo x:0.000362 ,z=-0.000215,angle between two frames:0.000945 +[14:34:54.101] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:54.101] frame process finished the id is: 128 the obs is:12 +[14:34:54.200] Odometry x=0.016779, y=0.519071, theta=-0.167990 +[14:34:54.210] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000819 ,z=-0.000528,angle between two frames:0.002099 +[14:34:54.210] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:54.210] After pose optimization, distance between ekf and vo x:0.000819 ,z=-0.000528,angle between two frames:0.002099 +[14:34:54.210] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:54.211] frame process finished the id is: 129 the obs is:12 +[14:34:54.297] Odometry x=0.018153, y=0.524578, theta=-0.174679 +[14:34:54.299] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000213 ,z=-0.000377,angle between two frames:0.000666 +[14:34:54.299] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000710 error end=0.000710 +[14:34:54.299] After pose optimization, distance between ekf and vo x:0.000213 ,z=-0.000377,angle between two frames:0.000666 +[14:34:54.299] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:54.299] frame process finished the id is: 130 the obs is:12 +[14:34:54.393] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000072 ,z=-0.000198,angle between two frames:0.000273 +[14:34:54.393] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.002813 error end=0.002813 +[14:34:54.393] After pose optimization, distance between ekf and vo x:0.000072 ,z=-0.000198,angle between two frames:0.000273 +[14:34:54.393] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:54.393] frame process finished the id is: 131 the obs is:12 +[14:34:54.396] Odometry x=0.018908, y=0.529965, theta=-0.160965 +[14:34:54.493] Odometry x=0.019446, y=0.536016, theta=-0.173174 +[14:34:54.514] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000231 ,z=-0.000563,angle between two frames:0.000853 +[14:34:54.514] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000005 error end=0.000005 +[14:34:54.514] After pose optimization, distance between ekf and vo x:0.000231 ,z=-0.000563,angle between two frames:0.000853 +[14:34:54.514] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:54.514] frame process finished the id is: 132 the obs is:12 +[14:34:54.595] Odometry x=0.020223, y=0.541523, theta=-0.173518 +[14:34:54.603] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000206 ,z=-0.000406,angle between two frames:0.000653 +[14:34:54.603] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000001 error end=0.000001 +[14:34:54.603] After pose optimization, distance between ekf and vo x:0.000206 ,z=-0.000406,angle between two frames:0.000653 +[14:34:54.603] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:54.603] frame process finished the id is: 133 the obs is:12 +[14:34:54.703] Odometry x=0.020845, y=0.547080, theta=-0.175028 +[14:34:54.705] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000470 ,z=-0.000840,angle between two frames:0.001673 +[14:34:54.705] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:54.705] After pose optimization, distance between ekf and vo x:0.000470 ,z=-0.000840,angle between two frames:0.001673 +[14:34:54.705] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:54.705] frame process finished the id is: 134 the obs is:12 +[14:34:54.799] Odometry x=0.021748, y=0.552737, theta=-0.184422 +[14:34:54.800] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000156 ,z=-0.000497,angle between two frames:0.000644 +[14:34:54.800] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:54.800] After pose optimization, distance between ekf and vo x:0.000156 ,z=-0.000497,angle between two frames:0.000644 +[14:34:54.800] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:54.800] frame process finished the id is: 135 the obs is:12 +[14:34:54.898] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000283 ,z=-0.000586,angle between two frames:0.000960 +[14:34:54.898] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:54.898] After pose optimization, distance between ekf and vo x:0.000283 ,z=-0.000586,angle between two frames:0.000960 +[14:34:54.898] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:54.898] frame process finished the id is: 136 the obs is:12 +[14:34:54.901] Odometry x=0.022870, y=0.559890, theta=-0.179005 +[14:34:54.998] Odometry x=0.023592, y=0.566513, theta=-0.183340 +[14:34:55.007] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000176 ,z=-0.001514,angle between two frames:0.001303 +[14:34:55.007] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000146 error end=0.000146 +[14:34:55.007] After pose optimization, distance between ekf and vo x:0.000176 ,z=-0.001514,angle between two frames:0.001303 +[14:34:55.007] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:55.007] frame process finished the id is: 137 the obs is:12 +[14:34:55.097] Odometry x=0.017135, y=0.577331, theta=-0.182361 +[14:34:55.098] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000187 ,z=-0.000385,angle between two frames:0.000573 +[14:34:55.098] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:55.098] After pose optimization, distance between ekf and vo x:0.000187 ,z=-0.000385,angle between two frames:0.000573 +[14:34:55.098] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:55.098] frame process finished the id is: 138 the obs is:12 +[14:34:55.197] Odometry x=0.019496, y=0.582700, theta=-0.167637 +[14:34:55.215] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000173 ,z=-0.000544,angle between two frames:0.000616 +[14:34:55.215] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:55.215] After pose optimization, distance between ekf and vo x:0.000173 ,z=-0.000544,angle between two frames:0.000616 +[14:34:55.215] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:55.215] frame process finished the id is: 139 the obs is:12 +[14:34:55.296] Odometry x=0.018713, y=0.588757, theta=-0.175279 +[14:34:55.297] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000247 ,z=-0.000425,angle between two frames:0.000821 +[14:34:55.297] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000131 error end=0.000131 +[14:34:55.297] After pose optimization, distance between ekf and vo x:0.000247 ,z=-0.000425,angle between two frames:0.000821 +[14:34:55.297] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:55.297] frame process finished the id is: 140 the obs is:12 +[14:34:55.396] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000132 ,z=-0.000193,angle between two frames:0.000416 +[14:34:55.396] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =0 error init =0.009035 error end=0.009035 +[14:34:55.396] After pose optimization, distance between ekf and vo x:0.000132 ,z=-0.000193,angle between two frames:0.000416 +[14:34:55.396] frame process finished the id is: 140 the obs is:12 +[14:34:55.399] Odometry x=0.019784, y=0.594312, theta=-0.175896 +[14:34:55.496] Odometry x=0.020646, y=0.599701, theta=-0.184304 +[14:34:55.513] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000366 ,z=-0.001141,angle between two frames:0.001369 +[14:34:55.513] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:55.513] After pose optimization, distance between ekf and vo x:0.000366 ,z=-0.001141,angle between two frames:0.001369 +[14:34:55.513] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:55.514] frame process finished the id is: 142 the obs is:12 +[14:34:55.596] Odometry x=0.022360, y=0.604392, theta=-0.183857 +[14:34:55.598] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000061 ,z=-0.000284,angle between two frames:0.000232 +[14:34:55.598] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:55.598] After pose optimization, distance between ekf and vo x:0.000061 ,z=-0.000284,angle between two frames:0.000232 +[14:34:55.598] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:55.599] frame process finished the id is: 143 the obs is:12 +[14:34:55.698] Odometry x=0.022948, y=0.610051, theta=-0.184336 +[14:34:55.708] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000322 ,z=-0.000840,angle between two frames:0.001113 +[14:34:55.708] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:55.708] After pose optimization, distance between ekf and vo x:0.000322 ,z=-0.000840,angle between two frames:0.001113 +[14:34:55.708] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:55.709] frame process finished the id is: 144 the obs is:12 +[14:34:55.796] Odometry x=0.023784, y=0.615528, theta=-0.197531 +[14:34:55.819] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000061 ,z=-0.000602,angle between two frames:0.000316 +[14:34:55.820] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:55.820] After pose optimization, distance between ekf and vo x:0.000061 ,z=-0.000602,angle between two frames:0.000316 +[14:34:55.820] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:55.820] frame process finished the id is: 145 the obs is:12 +[14:34:55.898] Odometry x=0.023883, y=0.615260, theta=-0.197446 +[14:34:55.906] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000421 ,z=-0.000766,angle between two frames:0.001195 +[14:34:55.906] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:55.906] After pose optimization, distance between ekf and vo x:0.000421 ,z=-0.000766,angle between two frames:0.001195 +[14:34:55.906] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:55.906] frame process finished the id is: 146 the obs is:12 +[14:34:55.995] Odometry x=0.025250, y=0.622864, theta=-0.209822 +[14:34:55.998] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000086 ,z=-0.000072,angle between two frames:0.000192 +[14:34:55.998] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:55.998] After pose optimization, distance between ekf and vo x:0.000086 ,z=-0.000072,angle between two frames:0.000192 +[14:34:55.998] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:55.998] frame process finished the id is: 147 the obs is:12 +[14:34:56.096] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000095 ,z=-0.000140,angle between two frames:0.000241 +[14:34:56.096] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000012 error end=0.000012 +[14:34:56.096] After pose optimization, distance between ekf and vo x:0.000095 ,z=-0.000140,angle between two frames:0.000241 +[14:34:56.096] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:56.097] frame process finished the id is: 148 the obs is:12 +[14:34:56.097] Odometry x=0.026008, y=0.628411, theta=-0.209012 +[14:34:56.198] Odometry x=0.026661, y=0.634670, theta=-0.222699 +[14:34:56.201] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000119 ,z=-0.000276,angle between two frames:0.000388 +[14:34:56.201] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000209 error end=0.000209 +[14:34:56.201] After pose optimization, distance between ekf and vo x:0.000119 ,z=-0.000276,angle between two frames:0.000388 +[14:34:56.201] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:56.202] frame process finished the id is: 149 the obs is:12 +[14:34:56.295] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000029 ,z=-0.000207,angle between two frames:0.000137 +[14:34:56.295] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000220 error end=0.000220 +[14:34:56.295] After pose optimization, distance between ekf and vo x:0.000029 ,z=-0.000207,angle between two frames:0.000137 +[14:34:56.295] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:56.295] frame process finished the id is: 150 the obs is:12 +[14:34:56.297] Odometry x=0.027901, y=0.640944, theta=-0.218088 +[14:34:56.396] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000023 ,z=-0.000127,angle between two frames:0.000076 +[14:34:56.396] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:56.396] After pose optimization, distance between ekf and vo x:0.000023 ,z=-0.000127,angle between two frames:0.000076 +[14:34:56.396] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:56.396] frame process finished the id is: 151 the obs is:12 +[14:34:56.399] Odometry x=0.028586, y=0.648429, theta=-0.221627 +[14:34:56.492] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000009 ,z=-0.000042,angle between two frames:0.000009 +[14:34:56.492] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000003 error end=0.000003 +[14:34:56.492] After pose optimization, distance between ekf and vo x:-0.000009 ,z=-0.000042,angle between two frames:0.000009 +[14:34:56.492] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:56.493] frame process finished the id is: 152 the obs is:12 +[14:34:56.496] Odometry x=0.029329, y=0.654719, theta=-0.224640 +[14:34:56.598] Odometry x=0.029369, y=0.667427, theta=-0.216206 +[14:34:56.603] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000045 ,z=-0.000121,angle between two frames:0.000130 +[14:34:56.603] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000014 error end=0.000014 +[14:34:56.603] After pose optimization, distance between ekf and vo x:0.000045 ,z=-0.000121,angle between two frames:0.000130 +[14:34:56.603] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:56.603] frame process finished the id is: 153 the obs is:12 +[14:34:56.696] Odometry x=0.030052, y=0.673211, theta=-0.218249 +[14:34:56.701] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000053 ,z=-0.000218,angle between two frames:0.000192 +[14:34:56.701] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000476 error end=0.000476 +[14:34:56.701] After pose optimization, distance between ekf and vo x:0.000053 ,z=-0.000218,angle between two frames:0.000192 +[14:34:56.701] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:56.701] frame process finished the id is: 154 the obs is:12 +[14:34:56.800] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000033 ,z=-0.000155,angle between two frames:0.000111 +[14:34:56.800] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000027 error end=0.000027 +[14:34:56.800] After pose optimization, distance between ekf and vo x:0.000033 ,z=-0.000155,angle between two frames:0.000111 +[14:34:56.800] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:56.800] Odometry x=0.030201, y=0.673423, theta=-0.218456 +[14:34:56.800] frame process finished the id is: 155 the obs is:12 +[14:34:56.897] Odometry x=0.030908, y=0.679798, theta=-0.224643 +[14:34:56.903] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000360 ,z=-0.000663,angle between two frames:0.001049 +[14:34:56.903] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:56.903] After pose optimization, distance between ekf and vo x:0.000360 ,z=-0.000663,angle between two frames:0.001049 +[14:34:56.903] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:56.904] frame process finished the id is: 156 the obs is:12 +[14:34:56.995] Odometry x=0.032017, y=0.687914, theta=-0.218103 +[14:34:56.996] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000013 ,z=-0.000118,angle between two frames:0.000015 +[14:34:56.996] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:56.996] After pose optimization, distance between ekf and vo x:-0.000013 ,z=-0.000118,angle between two frames:0.000015 +[14:34:56.996] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:56.996] frame process finished the id is: 157 the obs is:12 +[14:34:57.098] Odometry x=0.032716, y=0.694232, theta=-0.216169 +[14:34:57.098] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000002 ,z=-0.000120,angle between two frames:0.000003 +[14:34:57.098] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000012 error end=0.000012 +[14:34:57.098] After pose optimization, distance between ekf and vo x:-0.000002 ,z=-0.000120,angle between two frames:0.000003 +[14:34:57.098] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:57.099] frame process finished the id is: 158 the obs is:12 +[14:34:57.197] Odometry x=0.033003, y=0.703515, theta=-0.212668 +[14:34:57.203] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000028 ,z=-0.000320,angle between two frames:0.000059 +[14:34:57.203] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:57.203] After pose optimization, distance between ekf and vo x:-0.000028 ,z=-0.000320,angle between two frames:0.000059 +[14:34:57.203] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:57.203] frame process finished the id is: 159 the obs is:12 +[14:34:57.286] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000008 ,z=-0.000025,angle between two frames:0.000027 +[14:34:57.286] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:57.286] After pose optimization, distance between ekf and vo x:-0.000008 ,z=-0.000025,angle between two frames:0.000027 +[14:34:57.286] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:57.286] frame process finished the id is: 160 the obs is:12 +[14:34:57.300] Odometry x=0.033615, y=0.709179, theta=-0.212203 +[14:34:57.388] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000005 ,z=-0.000094,angle between two frames:0.000027 +[14:34:57.389] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:57.389] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000094,angle between two frames:0.000027 +[14:34:57.389] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:57.389] frame process finished the id is: 161 the obs is:12 +[14:34:57.413] Odometry x=0.034516, y=0.717482, theta=-0.207741 +[14:34:57.496] Odometry x=0.035255, y=0.724479, theta=-0.214395 +[14:34:57.501] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000028 ,z=-0.000159,angle between two frames:0.000001 +[14:34:57.501] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:57.501] After pose optimization, distance between ekf and vo x:-0.000028 ,z=-0.000159,angle between two frames:0.000001 +[14:34:57.501] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:57.501] frame process finished the id is: 162 the obs is:12 +[14:34:57.603] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000140 ,z=-0.000444,angle between two frames:0.000087 +[14:34:57.603] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000058 error end=0.000058 +[14:34:57.603] After pose optimization, distance between ekf and vo x:-0.000140 ,z=-0.000444,angle between two frames:0.000087 +[14:34:57.603] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:57.603] frame process finished the id is: 163 the obs is:12 +[14:34:57.608] Odometry x=0.035698, y=0.729354, theta=-0.216079 +[14:34:57.702] Odometry x=0.036502, y=0.736654, theta=-0.218960 +[14:34:57.703] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000164 ,z=-0.000506,angle between two frames:0.000097 +[14:34:57.703] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:57.703] After pose optimization, distance between ekf and vo x:-0.000164 ,z=-0.000506,angle between two frames:0.000097 +[14:34:57.703] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:57.703] frame process finished the id is: 164 the obs is:12 +[14:34:57.800] Odometry x=0.037042, y=0.742063, theta=-0.219086 +[14:34:57.833] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000014 ,z=-0.000050,angle between two frames:0.000010 +[14:34:57.833] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000008 error end=0.000008 +[14:34:57.833] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000050,angle between two frames:0.000010 +[14:34:57.833] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:57.833] frame process finished the id is: 165 the obs is:12 +[14:34:57.894] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000050 ,z=-0.000175,angle between two frames:0.000047 +[14:34:57.894] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000133 error end=0.000133 +[14:34:57.894] After pose optimization, distance between ekf and vo x:-0.000050 ,z=-0.000175,angle between two frames:0.000047 +[14:34:57.895] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:57.895] frame process finished the id is: 166 the obs is:12 +[14:34:57.898] Odometry x=0.037046, y=0.742422, theta=-0.218872 +[14:34:57.997] Odometry x=0.037742, y=0.748780, theta=-0.222678 +[14:34:58.009] After Reprojection Map nPoint:12 ,nCell:2 ,nMatches:1 ,distance between ekf and vo x:-0.000005 ,z=-0.000102,angle between two frames:0.000050 +[14:34:58.009] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:58.009] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000102,angle between two frames:0.000050 +[14:34:58.009] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:58.010] frame process finished the id is: 167 the obs is:12 +[14:34:58.094] Odometry x=0.037796, y=0.749193, theta=-0.221959 +[14:34:58.098] After Reprojection Map nPoint:12 ,nCell:5 ,nMatches:1 ,distance between ekf and vo x:-0.000119 ,z=-0.000402,angle between two frames:0.000142 +[14:34:58.098] After pose optimization, distance between ekf and vo x:-0.000119 ,z=-0.000402,angle between two frames:0.000142 +[14:34:58.098] frame process finished the id is: 167 the obs is:12 +[14:34:58.188] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000013 ,z=-0.000056,angle between two frames:0.000016 +[14:34:58.189] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:58.189] After pose optimization, distance between ekf and vo x:-0.000013 ,z=-0.000056,angle between two frames:0.000016 +[14:34:58.189] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:58.189] frame process finished the id is: 169 the obs is:12 +[14:34:58.198] Odometry x=0.038448, y=0.755037, theta=-0.222141 +[14:34:58.297] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000025 ,z=-0.000085,angle between two frames:0.000007 +[14:34:58.297] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:58.297] After pose optimization, distance between ekf and vo x:-0.000025 ,z=-0.000085,angle between two frames:0.000007 +[14:34:58.297] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:58.297] frame process finished the id is: 170 the obs is:12 +[14:34:58.298] Odometry x=0.039409, y=0.763297, theta=-0.213572 +[14:34:58.392] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000012 ,z=-0.000047,angle between two frames:0.000008 +[14:34:58.392] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:58.392] After pose optimization, distance between ekf and vo x:-0.000012 ,z=-0.000047,angle between two frames:0.000008 +[14:34:58.392] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:58.393] frame process finished the id is: 171 the obs is:12 +[14:34:58.399] Odometry x=0.040211, y=0.770761, theta=-0.214175 +[14:34:58.499] Odometry x=0.040892, y=0.776907, theta=-0.213857 +[14:34:58.502] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000014 ,z=-0.000059,angle between two frames:0.000014 +[14:34:58.502] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:58.502] After pose optimization, distance between ekf and vo x:-0.000014 ,z=-0.000059,angle between two frames:0.000014 +[14:34:58.502] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:58.502] frame process finished the id is: 172 the obs is:12 +[14:34:58.587] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000009 ,z=-0.000040,angle between two frames:0.000017 +[14:34:58.587] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000010 error end=0.000010 +[14:34:58.587] After pose optimization, distance between ekf and vo x:-0.000009 ,z=-0.000040,angle between two frames:0.000017 +[14:34:58.587] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:58.588] frame process finished the id is: 173 the obs is:12 +[14:34:58.598] Odometry x=0.041564, y=0.783091, theta=-0.210255 +[14:34:58.700] Odometry x=0.042358, y=0.790435, theta=-0.212535 +[14:34:58.712] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000195 ,z=-0.000719,angle between two frames:0.000521 +[14:34:58.712] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:58.712] After pose optimization, distance between ekf and vo x:0.000195 ,z=-0.000719,angle between two frames:0.000521 +[14:34:58.712] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:58.712] frame process finished the id is: 174 the obs is:12 +[14:34:58.786] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000005 ,z=-0.000022,angle between two frames:0.000008 +[14:34:58.786] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:58.786] After pose optimization, distance between ekf and vo x:-0.000005 ,z=-0.000022,angle between two frames:0.000008 +[14:34:58.786] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:58.786] frame process finished the id is: 175 the obs is:12 +[14:34:58.798] Odometry x=0.042600, y=0.790441, theta=-0.213336 +[14:34:58.898] Odometry x=0.043432, y=0.798083, theta=-0.209337 +[14:34:58.918] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000205 ,z=-0.000784,angle between two frames:0.000628 +[14:34:58.918] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:58.918] After pose optimization, distance between ekf and vo x:0.000205 ,z=-0.000784,angle between two frames:0.000628 +[14:34:58.918] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:58.919] frame process finished the id is: 176 the obs is:12 +[14:34:58.987] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000066 ,z=-0.000055,angle between two frames:0.000121 +[14:34:58.987] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000297 error end=0.000297 +[14:34:58.987] After pose optimization, distance between ekf and vo x:-0.000066 ,z=-0.000055,angle between two frames:0.000121 +[14:34:58.987] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:58.987] frame process finished the id is: 177 the obs is:12 +[14:34:58.997] Odometry x=0.044137, y=0.803346, theta=-0.205331 +[14:34:59.096] Odometry x=0.045002, y=0.811666, theta=-0.207105 +[14:34:59.106] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000077 ,z=-0.000723,angle between two frames:0.000432 +[14:34:59.106] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:59.106] After pose optimization, distance between ekf and vo x:0.000077 ,z=-0.000723,angle between two frames:0.000432 +[14:34:59.106] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:59.107] frame process finished the id is: 178 the obs is:12 +[14:34:59.189] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000017 ,z=-0.000066,angle between two frames:0.000024 +[14:34:59.189] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:59.189] After pose optimization, distance between ekf and vo x:-0.000017 ,z=-0.000066,angle between two frames:0.000024 +[14:34:59.189] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:59.189] frame process finished the id is: 179 the obs is:12 +[14:34:59.198] Odometry x=0.045721, y=0.817329, theta=-0.207052 +[14:34:59.297] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:0.000098 ,z=-0.001188,angle between two frames:0.000768 +[14:34:59.297] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:59.297] After pose optimization, distance between ekf and vo x:0.000098 ,z=-0.001188,angle between two frames:0.000768 +[14:34:59.297] Odometry x=0.046496, y=0.824657, theta=-0.208537 +[14:34:59.297] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:59.297] frame process finished the id is: 180 the obs is:12 +[14:34:59.396] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000072 ,z=-0.000267,angle between two frames:0.000010 +[14:34:59.397] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =12 error init =0.000000 error end=0.000000 +[14:34:59.397] After pose optimization, distance between ekf and vo x:-0.000072 ,z=-0.000267,angle between two frames:0.000010 +[14:34:59.397] Update EKF and 3D points the number of feature in the new frame: 12 and number of obs: 12 +[14:34:59.397] frame process finished the id is: 181 the obs is:12 +[14:34:59.397] Odometry x=0.047123, y=0.829368, theta=-0.217054 +[14:34:59.496] After Reprojection Map nPoint:12 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000107 ,z=-0.000661,angle between two frames:0.000015 +[14:34:59.496] n deleted obs = 1 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.005281 error end=0.005281 +[14:34:59.496] After pose optimization, distance between ekf and vo x:-0.000107 ,z=-0.000661,angle between two frames:0.000015 +[14:34:59.496] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11 +[14:34:59.496] frame process finished the id is: 182 the obs is:11 +[14:34:59.498] Odometry x=0.047743, y=0.835075, theta=-0.214120 +[14:34:59.601] Odometry x=0.048422, y=0.841310, theta=-0.216892 +[14:34:59.602] After Reprojection Map nPoint:11 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000031 ,z=-0.001016,angle between two frames:0.000477 +[14:34:59.602] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.000087 error end=0.000087 +[14:34:59.602] After pose optimization, distance between ekf and vo x:-0.000031 ,z=-0.001016,angle between two frames:0.000477 +[14:34:59.602] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11 +[14:34:59.602] frame process finished the id is: 183 the obs is:11 +[14:34:59.686] After Reprojection Map nPoint:11 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000032 ,z=-0.000092,angle between two frames:0.000013 +[14:34:59.686] n deleted obs = 0 n obs with reprojection error less than 2.0 / frame->cam_->errorMultiplier2() =11 error init =0.000000 error end=0.000000 +[14:34:59.686] After pose optimization, distance between ekf and vo x:-0.000032 ,z=-0.000092,angle between two frames:0.000013 +[14:34:59.686] Update EKF and 3D points the number of feature in the new frame: 11 and number of obs: 11 +[14:34:59.686] frame process finished the id is: 184 the obs is:11 +[14:34:59.698] Odometry x=0.049065, y=0.846594, theta=-0.224229 +[14:34:59.796] Odometry x=0.049778, y=0.852740, theta=-0.223256 +[14:34:59.820] After Reprojection Map nPoint:11 ,nCell:1 ,nMatches:1 ,distance between ekf and vo x:-0.000151 ,z=-0.000449,angle between two frames:0.000193 +[14:34:59.820] n deleted obs = 0 n obs with reprojection err \ No newline at end of file diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index 39b3042..02acab2 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -166,8 +166,8 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() fprintf(log_,"[%s] Init: Selected Second frame. \t The number of features: %d depth mean:%f min:%f\n", vio::time_in_HH_MM_SS_MMM().c_str(),new_frame_->fts_.size(),depth_mean,depth_min); #endif - std::cerr<<"run BA\n"; - ba_glob_->new_key_frame(); + //std::cerr<<"run BA\n"; + //ba_glob_->new_key_frame(); ROS_INFO("VIO initialized :)"); ROS_INFO("Running ..."); return RESULT_IS_KEYFRAME; @@ -261,7 +261,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() // add keyframe to map map_.addKeyframe(new_frame_); //std::cerr<<"BA run\n"; - ba_glob_->new_key_frame(); + //ba_glob_->new_key_frame(); return RESULT_IS_KEYFRAME; } diff --git a/GPU_version/vio/src/point.cpp b/GPU_version/vio/src/point.cpp index e3c4d20..c9fbfc1 100644 --- a/GPU_version/vio/src/point.cpp +++ b/GPU_version/vio/src/point.cpp @@ -184,6 +184,17 @@ void Point::optimize(const size_t n_iter) break; } + for(auto it=obs_.begin(); it!=obs_.end(); ++it) { + Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d((*it)->frame->se3() * (*it)->point->pos_)); + //e /= (1 << (*it)->level); +// std::cerr<<"error - point.h : "< 1.0) //{ + // we don't need to delete a reference in the point since it was not created yet + (*it)->point->n_failed_reproj_++; +// } else +// it++; + } + } } // namespace vio diff --git a/GPU_version/vio/src/pose_optimizer.cpp b/GPU_version/vio/src/pose_optimizer.cpp index a74c4af..15ef0df 100644 --- a/GPU_version/vio/src/pose_optimizer.cpp +++ b/GPU_version/vio/src/pose_optimizer.cpp @@ -47,7 +47,7 @@ void optimizeGaussNewton( // compute the scale of the error for robust estimation std::vector errors; - for(auto it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + for(auto it=frame->fts_.begin(); it!=frame->fts_.end(); /*++it*/) { if((*it)->point == NULL) continue; @@ -55,8 +55,14 @@ void optimizeGaussNewton( Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_)); e *= 1.0 / (1<<(*it)->level); + //std::cerr<<"pose optimizer - error : "< 0.01){ + it = frame->fts_.erase(it); + continue; + } chi2_vec_init.push_back(e.norm()); // just for debug errors.push_back(e.norm()); + it++; } if(errors.empty()) @@ -118,20 +124,34 @@ void optimizeGaussNewton( } size_t n_deleted_refs = 0; - for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) + //for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); /*++it*/) + for(auto it=frame->fts_.begin(); it!=frame->fts_.end(); /*++it*/) { - if((*it)->point == NULL) - continue; + //std::cerr<<"123 - pose optimizer - frame->fts_.size() : "<fts_.size()<point : "<<(*it)->point<point == NULL) { + it++; + //std::cerr<<"126 - pose optimizer - (*it)->point == NULL : "<f.x()<<" "<<(*it)->f.y()<<" "<<(*it)->f.z()<<"\t"<<(*it)->point->pos_.x()<<" "<<(*it)->point->pos_.y()<<" "<<(*it)->point->pos_.z()<f) - vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_)); + //std::cerr<<"131 - pose optimizer"<level); + //std::cerr<<"133 - pose optimizer"< 2.0 / frame->cam_->errorMultiplier2()) { // we don't need to delete a reference in the point since it was not created yet (*it)->point.reset(); + //std::cerr<<"befor erase 140 pose optimizer"<fts_.erase(it); + //std::cerr<<"after erase 142 pose optimizer"< keypoints_cur; list>::iterator it_cur=keypoints.begin(); cv::Mat cur_des=cv::Mat(keypoints.size(),64,CV_8UC1); +// std::cerr<<"84"<(1, keypoints.size()); + cv::Mat maskdown = cv::Mat_(1, keypoints.size()); +// std::cerr<<"88"<px.x(), (*it_cur)->px.y(), 7.f,(*it_cur)->score)); + keypoints_cur.push_back(cv::KeyPoint((*it_cur)->px.x(), (*it_cur)->px.y(), 7.f, (*it_cur)->score)); memcpy(cur_des.data+(i*64),(*it_cur)->descriptor,sizeof(uint8_t)*64); + if ((*it_cur)->px.y() < frame->img().rows/2) { + maskup.at(0, i) = 1; + maskdown.at(0, i) = 0; + //memcpy(maskup.data + (i * 64), one, sizeof(uint8_t) * 64); + //memcpy(maskdown.data + (i * 64), zero, sizeof(uint8_t) * 64); + } + else{ + maskup.at(0, i) = 0; + maskdown.at(0, i) = 1; + //memcpy(maskup.data + (i * 64), zero, sizeof(uint8_t) * 64); + //memcpy(maskdown.data + (i * 64), one, sizeof(uint8_t) * 64); + } ++it_cur; } +// std::cerr<<"114"< > close_kfs; map_.getCloseKeyframes(frame, close_kfs); if (!last_frame->fts_.empty()) @@ -103,8 +129,32 @@ namespace vio { std::vector keypoints_kfs; std::vector> matches; keypoints_kfs.push_back(cv::KeyPoint((*it_ref)->px.x(), (*it_ref)->px.y(), 7.f,(*it_ref)->score)); + + +// std::cerr<<"135"<descriptor); - matcher->knnMatch(ref_des, cur_des, matches,1); +// std::cerr<<"136"<px.y() < frame->img().rows/2) { + std::cerr<<"if"<knnMatch(ref_des, cur_des, matches, 1, cv::InputArray(maskup)); + } + else{ + std::cerr<<"else"<knnMatch(ref_des, cur_des, matches, 1, cv::InputArray(maskdown)); + } +// std::cerr<<"144"<knnMatch(ref_des, cur_des, matches, 1); + + + + for(auto&& match:matches.back()){ it_cur=keypoints.begin(); std::advance(it_cur,match.trainIdx); diff --git a/GPU_version/vio/test/README.md b/GPU_version/vio/test/README.md deleted file mode 100644 index c70f832..0000000 --- a/GPU_version/vio/test/README.md +++ /dev/null @@ -1,24 +0,0 @@ -#### Download Test Data - -Create a folder where you will store all datasets, e.g.: - - mkdir Datasets - -In your `.bashrc` script, create a new environment variable pointing to the dataset folder: - - export SVO_DATASET_DIR=${HOME}/Datasets - -Source your new `.bashrc` script, go to the new dataset folder and download the test data: - - source ~/.bashrc - cd ${SVO_DATASET_DIR} - wget http://rpg.ifi.uzh.ch/datasets/sin2_tex2_h1_v8_d.tar.gz -O - | tar -xz - -You can then run the tests, e.g.: - - rosrun svo test_pipeline - -or if you are not using ROS: - - cd svo/bin - ./test_pipeline diff --git a/GPU_version/vio/test/benchmark.csv b/GPU_version/vio/test/benchmark.csv deleted file mode 100644 index a3831e4..0000000 --- a/GPU_version/vio/test/benchmark.csv +++ /dev/null @@ -1,307 +0,0 @@ -local_ba,point_optimizer,pose_optimizer,pyramid_creation,reproject,sparse_img_align,tot_time,dropout,img_align_n_tracked,loba_err_fin,loba_err_init,loba_n_erredges_fin,loba_n_erredges_init,n_candidates,repr_n_mps,repr_n_new_references,sfba_error_final,sfba_error_init,sfba_n_edges_final,sfba_thresh 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b/GPU_version/vio/test/results/.gitignore deleted file mode 100644 index cf57c3b..0000000 --- a/GPU_version/vio/test/results/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -.gitignore -!.gitignore \ No newline at end of file diff --git a/GPU_version/vio/test/test_depth_filter.cpp b/GPU_version/vio/test/test_depth_filter.cpp deleted file mode 100644 index 4d22493..0000000 --- a/GPU_version/vio/test/test_depth_filter.cpp +++ /dev/null @@ -1,206 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "test_utils.h" - -namespace { - -struct ConvergedSeed { - int x_, y_; - double depth_, error_; - ConvergedSeed(int x, int y, double depth, double error) : - x_(x), y_(y), depth_(depth), error_(error) - {} -}; - -/// DepthFilter Test-Fixture -class DepthFilterTest { - public: - DepthFilterTest(); - virtual ~DepthFilterTest(); - void depthFilterCb(svo::Point* point, double depth_sigma2); - void testReconstruction(std::string dataset_dir, std::string experiment_name); - - std::list results_; - std::vector errors_; - size_t n_converged_seeds_; - vk::PinholeCamera* cam_; - svo::DepthFilter* depth_filter_; - svo::FramePtr frame_ref_; - svo::FramePtr frame_cur_; - cv::Mat depth_ref_; -}; - -DepthFilterTest::DepthFilterTest() : - n_converged_seeds_(0), - cam_(new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0)), - depth_filter_(NULL) -{ - errors_.reserve(1000); -} - -DepthFilterTest::~DepthFilterTest() -{ - delete cam_; -} - -void DepthFilterTest::depthFilterCb(svo::Point* point, double depth_sigma2) -{ - double depth = (frame_ref_->pos() - point->pos_).norm(); - double error = fabs(depth - depth_ref_.at(point->obs_.front()->px[1], - point->obs_.front()->px[0])); - results_.push_back(ConvergedSeed( - point->obs_.front()->px[0], point->obs_.front()->px[1], depth, error)); - errors_.push_back(error); - delete point->obs_.front(); - delete point; - ++n_converged_seeds_; -} - -void DepthFilterTest::testReconstruction( - std::string dataset_dir, - std::string experiment_name) -{ - vk::FileReader sequence_file_reader(dataset_dir+"/trajectory.txt"); - std::vector sequence; - sequence_file_reader.skipComments(); - if(!sequence_file_reader.next()) - std::runtime_error("Failed to open sequence file"); - sequence_file_reader.readAllEntries(sequence); - std::cout << "RUN EXPERIMENT: read " << sequence.size() << " dataset entries." << std::endl; - std::vector::iterator it = sequence.begin(); - vk::Timer t; - std::list n_converged_per_iteration; - - svo::feature_detection::DetectorPtr feature_detector( - new svo::feature_detection::FastDetector( - cam_->width(), cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels())); - svo::DepthFilter::callback_t depth_filter_cb = boost::bind(&DepthFilterTest::depthFilterCb, this, _1, _2); - depth_filter_ = new svo::DepthFilter(feature_detector, depth_filter_cb); - depth_filter_->options_.verbose = true; - - for(int i=0; it != sequence.end() && i<20; ++it, ++i) - { - std::string img_name(dataset_dir+"/img/" + (*it).image_name_ + "_0.png"); - printf("reading image: '%s'\n", img_name.c_str()); - cv::Mat img(cv::imread(img_name, 0)); - assert(!img.empty()); - - Sophus::SE3 T_w_f(it->q_, it->t_); - if(i == 0) - { - // create reference frame and load ground truth depthmap - frame_ref_ = boost::make_shared(cam_, img, 0.0); - frame_ref_->T_f_w_ = T_w_f.inverse(); - depth_filter_->addKeyframe(frame_ref_, 2, 0.5); - vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/" + (*it).image_name_ + "_0.depth", *cam_, depth_ref_); - continue; - } - - n_converged_seeds_ = 0; - frame_cur_ = boost::make_shared(cam_, img, 0.0); - frame_cur_->T_f_w_ = T_w_f.inverse(); - depth_filter_->addFrame(frame_cur_); - n_converged_per_iteration.push_back(n_converged_seeds_); - } - printf("Experiment '%s' took %f ms\n", experiment_name.c_str(), t.stop()*1000); - - // compute mean, median and variance of error in converged area - { - printf("# converged: \t %zu (ref: 287)\n", errors_.size()); - double sum_error = 0; - std::for_each(errors_.begin(), errors_.end(), [&](double& e){sum_error+=e;}); - printf("mean error: \t %f cm (ref: 0.080357)\n", sum_error*100/errors_.size()); - std::vector::iterator it = errors_.begin()+0.5*errors_.size(); - std::nth_element(errors_.begin(), it, errors_.end()); - printf("50-percentile: \t %f cm (ref: 0.062042)\n", *it*100); - it = errors_.begin()+0.8*errors_.size(); - std::nth_element(errors_.begin(), it, errors_.end()); - printf("80-percentile: \t %f cm (ref: 0.124526)\n", *it*100); - it = errors_.begin()+0.95*errors_.size(); - std::nth_element(errors_.begin(), it, errors_.end()); - printf("95-percentile: \t %f cm (ref: 0.200417)\n", *it*100); - } - - // trace error - std::string trace_dir(svo::test_utils::getTraceDir()); - std::string trace_name(trace_dir + "/depth_filter_" + experiment_name + ".txt"); - std::ofstream ofs(trace_name.c_str()); - for(std::list::iterator i=results_.begin(); i!=results_.end(); ++i) - ofs << i->x_ << ", " << i->y_ << ", " << fabs(i->error_) << std::endl; - ofs.close(); - - // trace convergence rate - trace_name = trace_dir + "/depth_filter_" + experiment_name + "_convergence.txt"; - ofs.open(trace_name.c_str()); - for(std::list::iterator it=n_converged_per_iteration.begin(); - it!=n_converged_per_iteration.end(); ++it) - ofs << *it << std::endl; - ofs.close(); - - // write ply file for pointcloud visualization in Meshlab - trace_name = trace_dir + "/depth_filter_" + experiment_name + ".ply"; - ofs.open(trace_name.c_str()); - ofs << "ply" << std::endl - << "format ascii 1.0" << std::endl - << "element vertex " << results_.size() << std::endl - << "property float x" << std::endl - << "property float y" << std::endl - << "property float z" << std::endl - << "property uchar blue" << std::endl - << "property uchar green" << std::endl - << "property uchar red" << std::endl - << "end_header" << std::endl; - - for(std::list::iterator i=results_.begin(); i!=results_.end(); ++i) - { - cv::Vec3b c = frame_ref_->img_pyr_[0].at(i->y_, i->x_); - Eigen::Vector3d p = cam_->cam2world(i->x_, i->y_)*i->depth_; - ofs << p[0] << " " << p[1] << " " << p[2] << " " - << (int) c[0] << " " << (int) c[1] << " " << (int) c[2] << std::endl; - } -} - -} // namespace - -int main(int argc, char** argv) -{ - DepthFilterTest test; - std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d"); - std::string experiment_name("sin2_tex2_h1_v8_d"); - test.testReconstruction(dataset_dir, experiment_name); - return 0; -} diff --git a/GPU_version/vio/test/test_feature_alignment.cpp b/GPU_version/vio/test/test_feature_alignment.cpp deleted file mode 100644 index dac8911..0000000 --- a/GPU_version/vio/test/test_feature_alignment.cpp +++ /dev/null @@ -1,124 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#include -#include -#include -#include -#include -#include "test_utils.h" -#if __ARM_NEON__ -#include -#endif - -using namespace Eigen; - -void generateRefPatchNoWarpInterpolate(const cv::Mat& img, const Vector2d& px, - cv::Mat& ref_patch_with_border) -{ - // compute interpolation weights - const int u_r = floor(px[0]); - const int v_r = floor(px[1]); - const float subpix_u = px[0]-u_r; - const float subpix_v = px[1]-v_r; - const float wTL = (1.0-subpix_u)*(1.0-subpix_v); - const float wTR = subpix_u * (1.0-subpix_v); - const float wBL = (1.0-subpix_u)*subpix_v; - const float wBR = subpix_u * subpix_v; - - // loop through search_patch, interpolate - ref_patch_with_border = cv::Mat(10, 10, CV_8UC1); - uint8_t* patch_ptr = ref_patch_with_border.data; - const int stride = img.step.p[0]; - for(int y=0; y<10; ++y) - { - uint8_t* img_ptr = (uint8_t*) img.data + (v_r+y-4-1)*stride + u_r-4-1; - for(int x=0; x<10; ++x, ++patch_ptr, ++img_ptr) - *patch_ptr = wTL*img_ptr[0] + wTR*img_ptr[1] + wBL*img_ptr[stride] + wBR*img_ptr[stride+1]; - } -} - -int main(int argc, char **argv) -{ - - std::string img_name(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d/img/frame_000002_0.png"); - printf("Loading image '%s'\n", img_name.c_str()); - cv::Mat img(cv::imread(img_name, 0)); - assert(img.type() == CV_8UC1); - - // TODO: test on corner/gradient features! - Vector2d px_true(130.2,120.3); - - // create reference patch with border - cv::Mat ref_patch_with_border; - generateRefPatchNoWarpInterpolate(img, px_true, ref_patch_with_border); - - // create reference patch, aligned - uint8_t* ref_patch = vk::aligned_mem::aligned_alloc(64, 16); - uint8_t* ref_patch_ptr = ref_patch; - for(int y=1; y<9; ++y) - { - uint8_t* ref_patch_border_ptr = ref_patch_with_border.data + y*10 + 1; - for(int x=0; x<8; ++x, ++ref_patch_border_ptr, ++ref_patch_ptr) - *ref_patch_ptr = *ref_patch_border_ptr; - } - - Vector2d px_est, px_error(-1.1, -0.8); - double h_inv; - vk::Timer t; - for(int i=0; i<1000; ++i) - { - px_est = px_true-px_error; - Vector2f dir = px_error.normalized().cast(); - svo::feature_alignment::align1D(img, dir, ref_patch_with_border.data, ref_patch, 3, px_est, h_inv); - } - Vector2d e = px_est-px_true; - printf("1000Xalign 1D took %fms, error = %fpx \t (ref i7-W520: 1.982000ms, 0.000033px) \n", t.stop()*1000, e.norm()); - - t.start(); - for(int i=0; i<1000; ++i) - { - px_est = px_true-px_error; - svo::feature_alignment::align2D(img, ref_patch_with_border.data, ref_patch, 3, px_est, true); - } - e = px_est-px_true; - printf("1000Xalign 2D took %fms, error = %fpx \t (ref i7-W520: 2.306000ms, 0.015102px)\n", t.stop()*1000, e.norm()); - -#ifdef __SSE2__ - // Note, this KLT implementation is not invariant to illuminatino changes! - t.start(); - for(int i=0; i<1000; ++i) - { - px_est = px_true-px_error; - svo::feature_alignment::align2D_SSE2(img, ref_patch_with_border.data, ref_patch, 3, px_est); - } - e = px_est-px_true; - printf("1000Xalign 2D SSE2 %fms, error = %fpx \t (ref i7-W520: 0.460000ms, 0.021881px)\n", t.stop()*1000, e.norm()); -#endif - -#ifdef __ARM_NEON__ - t.start(); - for(int i=0; i<1000; ++i) - { - px_est = px_true-px_error; - svo::feature_alignment::align2D_NEON(img, ref_patch_with_border.data, ref_patch, 3, px_est); - } - e = px_est-px_true; - printf("1000Xalign 2D NEON %fms, error = %fpx \t (ref Odroid-U2: ?, ?)\n", t.stop()*1000, e.norm()); -#endif - - return 0; -} diff --git a/GPU_version/vio/test/test_feature_detection.cpp b/GPU_version/vio/test/test_feature_detection.cpp deleted file mode 100644 index 3ba2b2f..0000000 --- a/GPU_version/vio/test/test_feature_detection.cpp +++ /dev/null @@ -1,74 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "test_utils.h" - -namespace { - -using namespace Eigen; -using namespace std; - -void testCornerDetector() -{ - std::string img_name(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d/img/frame_000002_0.png"); - printf("Loading image '%s'\n", img_name.c_str()); - cv::Mat img(cv::imread(img_name, 0)); - assert(img.type() == CV_8UC1 && !img.empty()); - - vk::AbstractCamera* cam = new vk::ATANCamera(752, 480, 0.511496, 0.802603, 0.530199, 0.496011, 0.934092); - svo::FramePtr frame(new svo::Frame(cam, img, 0.0)); - - // Corner detection - vk::Timer t; - svo::Features fts; - svo::feature_detection::FastDetector fast_detector( - img.cols, img.rows, svo::Config::gridSize(), svo::Config::nPyrLevels()); - for(int i=0; i<100; ++i) - { - fast_detector.detect(frame.get(), frame->img_pyr_, svo::Config::triangMinCornerScore(), fts); - } - printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 7.166360ms, 40000)\n", t.stop()*10, fts.size()); - printf("Note, in this case, feature detection also contains the cam2world projection of the feature.\n"); - cv::Mat img_rgb = cv::Mat(img.size(), CV_8UC3); - cv::cvtColor(img, img_rgb, CV_GRAY2RGB); - std::for_each(fts.begin(), fts.end(), [&](svo::Feature* i){ - cv::circle(img_rgb, cv::Point2f(i->px[0], i->px[1]), 4*(i->level+1), cv::Scalar(0,255,0), 1); - }); - cv::imshow("ref_img", img_rgb); - cv::waitKey(0); - - std::for_each(fts.begin(), fts.end(), [&](svo::Feature* i){ delete i; }); -} - -} // namespace - - -int main(int argc, char **argv) -{ - testCornerDetector(); - return 0; -} diff --git a/GPU_version/vio/test/test_matcher.cpp b/GPU_version/vio/test/test_matcher.cpp deleted file mode 100644 index 0b65cb9..0000000 --- a/GPU_version/vio/test/test_matcher.cpp +++ /dev/null @@ -1,200 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#include -#include -#include -#include -#include -#include -#include -#include -#include "test_utils.h" - -namespace { - -/// Matcher Test-Fixture -class MatcherTest { - public: - MatcherTest() - { - cam_ = new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0); - - // load images - std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d"); - std::string img_name(dataset_dir+"/img/frame_000002_0.png"); - printf("Loading image '%s'\n", img_name.c_str()); - cv::Mat img_ref(cv::imread(img_name, 0)); - img_name = std::string(dataset_dir+"/img/frame_000006_0.png"); - printf("Loading image '%s'\n", img_name.c_str()); - cv::Mat img_cur(cv::imread(img_name, 0)); - assert(!img_ref.empty() && !img_cur.empty()); - - // create frame - frame_ref_ = new svo::Frame(cam_, img_ref, 1.0); - frame_cur_ = new svo::Frame(cam_, img_cur, 2.0); - ref_ftr_ = new svo::Feature(frame_ref_, Eigen::Vector2d(300, 260), 0); - - // set poses - Eigen::Vector3d t_w_ref(0.1131, 0.1131, 2.0000); - Eigen::Vector3d t_w_cur(0.5673, 0.5641, 2.0000); - Eigen::Quaterniond q_w_ref(0.0, 0.8227, 0.2149, 0.0); - Eigen::Quaterniond q_w_cur(0.0, 0.8235, 0.2130, 0.0); - frame_ref_->T_f_w_ = Sophus::SE3(q_w_ref, t_w_ref).inverse(); - frame_cur_->T_f_w_ = Sophus::SE3(q_w_cur, t_w_cur).inverse(); - - // load ground-truth depth - vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/frame_000002_0.depth", *cam_, depth_ref_); - } - - virtual ~MatcherTest() - { - delete cam_; - delete frame_ref_; - delete frame_cur_; - delete ref_ftr_; - } - - // Individual tests - void testEpipolarSearchFullImg(); - void testWarpAffine(); - - // Objects declared here can be used by all tests - vk::PinholeCamera* cam_; - svo::Frame* frame_ref_; - svo::Frame* frame_cur_; - svo::Feature* ref_ftr_; - cv::Mat depth_ref_; -}; - -void MatcherTest::testEpipolarSearchFullImg() -{ - svo::Matcher matcher; - cv::Mat depthmap(frame_ref_->cam_->height(), frame_ref_->cam_->width(), CV_32FC1, cv::Scalar(0)); - cv::Mat error_map(depthmap.rows, depthmap.cols, CV_32FC1, cv::Scalar(0)); - cv::Mat mask(depthmap.rows, depthmap.cols, CV_8UC1, cv::Scalar(1)); - double depth_range = 0.8; - size_t n_converged = 0; - double sum_error = 0; - std::vector errors; errors.reserve(depthmap.cols*depthmap.rows); - for(int y=4; y(y, x); - double depth_estimate; - int res = matcher.findEpipolarMatchDirect( - *frame_ref_, *frame_cur_, ftr, depth_gt, fmax(depth_gt-depth_range,0.0), - depth_gt+depth_range, depth_estimate); - if(res) - { - depthmap.at(y,x) = depth_estimate; - error_map.at(y,x) = fabsf(depth_estimate-depth_gt); - ++n_converged; - sum_error += error_map.at(y,x); - errors.push_back(error_map.at(y,x)); - } - else - mask.at(y,x) = 0; - } - } - - // compute mean, median and variance of error in converged area - printf("n converged: \t %zu mm (ref: 216114)\n", n_converged); - printf("mean error: \t %f mm (ref: 0.410084)\n", sum_error*100/n_converged); - std::vector::iterator it = errors.begin()+0.5*errors.size(); - std::nth_element(errors.begin(), it, errors.end()); - printf("50-percentile: \t %f mm (ref: 0.083203)\n", *it*100); - it = errors.begin()+0.8*errors.size(); - std::nth_element(errors.begin(), it, errors.end()); - printf("80-percentile: \t %f mm (ref: 0.161824)\n", *it*100); - it = errors.begin()+0.95*errors.size(); - std::nth_element(errors.begin(), it, errors.end()); - printf("95-percentile: \t %f mm (ref: 0.263539)\n", *it*100); - - // save results to file - std::ofstream output_stream; - std::string trace_dir(svo::test_utils::getTraceDir()); - std::string output_filename(trace_dir + "/depthmap.bin"); - output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc); - output_stream.write((const char *)depthmap.data, depthmap.rows*depthmap.cols*sizeof(float)); - output_stream.close(); - - output_filename.assign(trace_dir + "/depthmap_error.bin"); - output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc); - output_stream.write((const char *)error_map.data, error_map.rows*error_map.cols*sizeof(float)); - output_stream.close(); - - output_filename.assign(trace_dir + "/depthmap_mask.bin"); - output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc); - output_stream.write((const char *)mask.data, mask.rows*mask.cols*sizeof(uint8_t)); - output_stream.close(); -} - -void MatcherTest::testWarpAffine() -{ - const int halfpatch_size = 15; - const int patch_size=halfpatch_size*2; - svo::Matcher matcher; - double depth = 1.0; - - Sophus::SE3 T_cur_ref(frame_cur_->T_f_w_*frame_ref_->T_f_w_.inverse()); - Eigen::Vector2d px_cur(frame_cur_->cam_->world2cam(T_cur_ref*(ref_ftr_->f*depth))); - - // compute reference patch - cv::Mat ref_patch(matcher.halfpatch_size_+1, matcher.halfpatch_size_+1, - CV_8U, matcher.patch_with_border_); - - Eigen::Matrix2d A_cur_ref; - svo::warp::getWarpMatrixAffine( - *cam_, *cam_, ref_ftr_->px, ref_ftr_->f, 1.0, T_cur_ref, ref_ftr_->level, A_cur_ref); - int level_cur = svo::warp::getBestSearchLevel(A_cur_ref, svo::Config::nPyrLevels()-1); - svo::warp::warpAffine( - A_cur_ref, ref_ftr_->frame->img_pyr_[ref_ftr_->level], ref_ftr_->px, - ref_ftr_->level, level_cur, matcher.halfpatch_size_+1, matcher.patch_with_border_); - - // copy current patch - Eigen::Vector2i pxi(px_cur[0]/(1<img_pyr_.at(level_cur)(cv::Range(pxi[1]-halfpatch_size, - pxi[1]+halfpatch_size), - cv::Range(pxi[0]-halfpatch_size, - pxi[0]+halfpatch_size)).copyTo(cur_patch); - - // display results - cv::circle(frame_cur_->img_pyr_[level_cur], - cv::Point2f(pxi[0], pxi[1]), - patch_size, cv::Scalar(255), 2); - cv::circle(frame_ref_->img_pyr_[ref_ftr_->level], - cv::Point2f(ref_ftr_->px[0]/(1<level), ref_ftr_->px[1]/(1<level)), - patch_size, cv::Scalar(255), 2); - cv::imshow("cur_patch", cur_patch); - cv::imshow("ref_patch", ref_patch); - cv::imshow("ref_img", frame_ref_->img_pyr_[ref_ftr_->level]); - cv::imshow("cur_img", frame_cur_->img_pyr_[level_cur]); - cv::waitKey(0); -} - -} // namespace - -int main(int argc, char** argv) -{ - MatcherTest test; - test.testEpipolarSearchFullImg(); -// test.testWarpAffine(); - return 0; -} diff --git a/GPU_version/vio/test/test_pipeline.cpp b/GPU_version/vio/test/test_pipeline.cpp deleted file mode 100644 index 4365e8b..0000000 --- a/GPU_version/vio/test/test_pipeline.cpp +++ /dev/null @@ -1,98 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "test_utils.h" - -namespace vio { - -class BenchmarkNode -{ - vk::AbstractCamera* cam_; - svo::FrameHandlerMono* vo_; - -public: - BenchmarkNode(); - ~BenchmarkNode(); - void runFromFolder(); -}; - -BenchmarkNode::BenchmarkNode() -{ - cam_ = new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0); - vo_ = new svo::FrameHandlerMono(cam_); - vo_->start(); -} - -BenchmarkNode::~BenchmarkNode() -{ - delete vo_; - delete cam_; -} - -void BenchmarkNode::runFromFolder() -{ - for(int img_id = 2; img_id < 188; ++img_id) - { - // load image - std::stringstream ss; - ss << svo::test_utils::getDatasetDir() << "/sin2_tex2_h1_v8_d/img/frame_" - << std::setw( 6 ) << std::setfill( '0' ) << img_id << "_0.png"; - if(img_id == 2) - std::cout << "reading image " << ss.str() << std::endl; - cv::Mat img(cv::imread(ss.str().c_str(), 0)); - assert(!img.empty()); - - // process frame - vo_->addImage(img, 0.01*img_id); - - // display tracking quality - if(vo_->lastFrame() != NULL) - { - std::cout << "Frame-Id: " << vo_->lastFrame()->id_ << " \t" - << "#Features: " << vo_->lastNumObservations() << " \t" - << "Proc. Time: " << vo_->lastProcessingTime()*1000 << "ms \n"; - - // access the pose of the camera via vo_->lastFrame()->T_f_w_. - } - } -} - -} // namespace vio - -int main(int argc, char** argv) -{ - { - svo::BenchmarkNode benchmark; - benchmark.runFromFolder(); - } - printf("BenchmarkNode finished.\n"); - return 0; -} - diff --git a/GPU_version/vio/test/test_pose_optimizer.cpp b/GPU_version/vio/test/test_pose_optimizer.cpp deleted file mode 100644 index 45118eb..0000000 --- a/GPU_version/vio/test/test_pose_optimizer.cpp +++ /dev/null @@ -1,110 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "test_utils.h" - -namespace { - -using namespace vio; -using namespace Eigen; - -/// Pose Optimizer Test-Fixture -class PoseOptimizerTest { - public: - PoseOptimizerTest() - { - cam_ = new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0); - - // load image - std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d"); - std::string img_name(dataset_dir+"/img/frame_000002_0.png"); - printf("Loading image '%s'\n", img_name.c_str()); - cv::Mat img(cv::imread(img_name, 0)); - assert(!img.empty()); - - // create frame - frame_.reset(new svo::Frame(cam_, img, 1.0)); - - // set pose - Eigen::Vector3d t_w_ref(0.1131, 0.1131, 2.0000); - Eigen::Quaterniond q_w_ref(0.0, 0.8227, 0.2149, 0.0); - frame_->T_f_w_ = Sophus::SE3(q_w_ref, t_w_ref).inverse(); - - // load ground-truth depth - vk::blender_utils::loadBlenderDepthmap(dataset_dir + "/depth/frame_000002_0.depth", *cam_, depthmap_); - - // detect features - feature_detection::FastDetector detector( - cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels()); - detector.detect(frame_.get(), frame_->img_pyr_, Config::triangMinCornerScore(), frame_->fts_); - size_t n_fts = 0; - std::for_each(frame_->fts_.begin(), frame_->fts_.end(), [&](Feature* i){ - Point* point(new Point(frame_->f2w(i->f*depthmap_.at(i->px[1], i->px[0])), i)); - i->point = point; - ++n_fts; - }); - printf("Added %zu features to frame.\n", n_fts); - } - - virtual ~PoseOptimizerTest() - { - delete cam_; - } - - // Individual tests - void test(const Vector3d& pose_disturbance, double pixel_sigma2); - - // Objects declared here can be used by all tests - vk::PinholeCamera* cam_; - FramePtr frame_; - cv::Mat depthmap_; -}; - -void PoseOptimizerTest::test(const Vector3d& pose_disturbance, double pixel_sigma2) -{ - printf("Add %f px noise to each observation\n", pixel_sigma2); - for(Features::iterator it=frame_->fts_.begin(); it!=frame_->fts_.end(); ++it) - { - (*it)->px += Vector2d(vk::Sample::gaussian(pixel_sigma2), vk::Sample::gaussian(pixel_sigma2)); - (*it)->f = frame_->c2f((*it)->px); - } - frame_->T_f_w_ = frame_->T_f_w_*SE3(Matrix3d::Identity(), pose_disturbance); - double estimated_scale, error_init, error_final; - size_t num_obs; - pose_optimizer::optimizeGaussNewton( - Config::reprojThresh(), 10, true, frame_, - estimated_scale, error_init, error_final, num_obs); -} - -} // namespace - -int main(int argc, char** argv) -{ - PoseOptimizerTest test; - test.test(Eigen::Vector3d(0.2, 0.2, 0.2), 1.0); - return 0; -} diff --git a/GPU_version/vio/test/test_sparse_img_align.cpp b/GPU_version/vio/test/test_sparse_img_align.cpp deleted file mode 100644 index 521c2ba..0000000 --- a/GPU_version/vio/test/test_sparse_img_align.cpp +++ /dev/null @@ -1,162 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "test_utils.h" - -namespace { - -/// SparseImgAlign Test-Fixture -class SparseImgAlignTest { - public: - - SparseImgAlignTest(); - virtual ~SparseImgAlignTest(); - void testSequence( - const std::string& dataset_dir, - const std::string& experiment_name, - svo::feature_detection::AbstractDetector* feature_detector); - - vk::PinholeCamera* cam_; - svo::FramePtr frame_ref_; - svo::FramePtr frame_cur_; -}; - -SparseImgAlignTest::SparseImgAlignTest() : - cam_(new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0)) -{} - -SparseImgAlignTest::~SparseImgAlignTest() -{} - -void SparseImgAlignTest::testSequence( - const std::string& dataset_dir, - const std::string& experiment_name, - svo::feature_detection::AbstractDetector* feature_detector) -{ - vk::FileReader sequence_file_reader(dataset_dir+"/trajectory.txt"); - std::vector sequence; - sequence_file_reader.skipComments(); - if(!sequence_file_reader.next()) - std::runtime_error("Failed to open sequence file"); - sequence_file_reader.readAllEntries(sequence); - printf("RUN EXPERIMENT: read %zu dataset entries.\n", sequence.size()); - std::vector::iterator iter = sequence.begin(); - std::list translation_error; - - Sophus::SE3 T_prev_w, T_prevgt_w; - std::string trace_dir(svo::test_utils::getTraceDir()); - std::string trace_name(trace_dir + "/sparse_img_align_" + experiment_name + "_trans_estimate.txt"); - std::ofstream ofs(trace_name.c_str()); - for(int i=0; iter != sequence.end() && i<30; ++iter, ++i) - { - // load img - // IMPORTANT: We need to flip the image because the Povray dataset has a - // negative focal length in y direction which we didn't set. - std::string img_name(dataset_dir+"/img/" + iter->image_name_ + "_0.png"); - cv::Mat img(cv::imread(img_name, 0)); - assert(!img.empty()); - - // load pose - Sophus::SE3 T_w_gt(iter->q_, iter->t_); - Sophus::SE3 T_gt_w = T_w_gt.inverse(); // ground-truth - - if(i==0) - { - // set reference frame - frame_ref_.reset(new svo::Frame(cam_, img, 0.0)); - frame_ref_->T_f_w_ = T_gt_w; - - // load ground-truth depth - cv::Mat depthmap; - vk::blender_utils::loadBlenderDepthmap( - dataset_dir+"/depth/"+iter->image_name_+"_0.depth", *cam_, depthmap); - - // extract features, generate features with 3D points - feature_detector->detect( - frame_ref_.get(), frame_ref_->img_pyr_, svo::Config::triangMinCornerScore(), frame_ref_->fts_); - std::for_each(frame_ref_->fts_.begin(), frame_ref_->fts_.end(), [&](svo::Feature* i) { - Eigen::Vector3d pt_pos_cur = i->f*depthmap.at(i->px[1], i->px[0]); - Eigen::Vector3d pt_pos_w = frame_ref_->T_f_w_.inverse()*pt_pos_cur; - svo::Point* pt = new svo::Point(pt_pos_w, i); - i->point = pt; - }); - - printf("Added %zu 3d pts to the reference frame.\n", frame_ref_->nObs()); - T_prev_w = frame_ref_->T_f_w_; - T_prevgt_w = T_gt_w; - continue; - } - - frame_cur_.reset(new svo::Frame(cam_, img, 0.0)); - //frame_cur_->T_f_w_ = frame_ref_->T_f_w_; // start at reference frame - frame_cur_->T_f_w_ = T_prev_w; // start at last frame - - // run image align - vk::Timer t; - svo::SparseImgAlign img_align(svo::Config::kltMaxLevel(), svo::Config::kltMinLevel(), - 30, svo::SparseImgAlign::GaussNewton, false, false); - img_align.run(frame_ref_, frame_cur_); - - // compute error - Sophus::SE3 T_f_gt = frame_cur_->T_f_w_ * T_gt_w.inverse(); - translation_error.push_back(T_f_gt.translation().norm()); - printf("[%3.i] time = %f ms \t |t| = %f \t translation error = %f\n", - i, t.stop()*1000, (frame_ref_->T_f_w_*T_gt_w.inverse()).translation().norm(), - translation_error.back()); - - // save old pose for next iteration - T_prev_w = frame_cur_->T_f_w_; - T_prevgt_w = T_gt_w; - - ofs << frame_cur_->T_f_w_.inverse().translation().transpose() << " " - << T_gt_w.inverse().translation().transpose() << std::endl; - } - ofs.close(); - - // trace error - trace_name = trace_dir + "/sparse_img_align_" + experiment_name + "_trans_error.txt"; - ofs.open(trace_name.c_str()); - for(std::list::iterator it=translation_error.begin(); it!=translation_error.end(); ++it) - ofs << *it << std::endl; - ofs.close(); -} - -} // namespace - - -int main(int argc, char** argv) -{ - std::string experiment_name("flying_room_1_rig_1_fast_minlev0"); - std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d"); - svo::Config::triangMinCornerScore() = 20; - svo::Config::kltMinLevel() = 0; - SparseImgAlignTest test; - svo::feature_detection::FastDetector detector( - test.cam_->width(), test.cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels()); - test.testSequence(dataset_dir, experiment_name, &detector); - return 0; -} diff --git a/GPU_version/vio/test/test_utils.h b/GPU_version/vio/test/test_utils.h deleted file mode 100644 index 6de377a..0000000 --- a/GPU_version/vio/test/test_utils.h +++ /dev/null @@ -1,57 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO is free software: you can redistribute it and/or modify it under the -// terms of the GNU General Public License as published by the Free Software -// Foundation, either version 3 of the License, or any later version. -// -// SVO is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . - -#ifndef TEST_UTILS_H_ -#define TEST_UTILS_H_ - -#include -#include // for getenv -#ifdef SVO_USE_ROS -# include -# include -#endif - -namespace vio { -namespace test_utils { - -std::string getDatasetDir() -{ - const char* env_dir = std::getenv("SVO_DATASET_DIR"); -#ifdef SVO_USE_ROS - std::string dataset_dir(ros::package::getPath("svo")+"/test/data"); - if(env_dir != NULL) - dataset_dir = std::string(env_dir); - return dataset_dir; -#else - return std::string(env_dir); -#endif -} - -std::string getTraceDir() -{ -#ifdef SVO_USE_ROS - std::string default_dir(ros::package::getPath("svo")+"/test/results"); - return vk::getParam("svo/trace_dir", default_dir); -#else - return "/tmp"; -#endif -} - -} // namespace test_utils -} // namespace vio - - -#endif // TEST_UTILS_H_